// a function for displaying the normals in an STL file
public static void draw_stl_normals(GLWindow g, STLSurf s)
{
// draw triangle normas
foreach (Geo.Tri t in s.tris)
{
// from STL file
Geo.Point p1 = new Geo.Point(t.p[0].x, t.p[0].y, t.p[0].z);
Geo.Point p2 = new Geo.Point(t.p[0].x + t.n.x, t.p[0].y + t.n.y, t.p[0].z + t.n.z);
GeoLine l = new GeoLine(p1, p2);
l.color = System.Drawing.Color.Green;
g.addGeom(l);
// calculate yourself:
Vector v1 = new Vector(t.p[0].x - t.p[1].x, t.p[0].y - t.p[1].y, t.p[0].z - t.p[1].z);
Vector v2 = new Vector(t.p[0].x - t.p[2].x, t.p[0].y - t.p[2].y, t.p[0].z - t.p[2].z);
Vector n;
n = v1.Cross(v2); // the normal is in the direction of the cross product between the edge vectors
n = (1 / n.Length()) * n; // normalize to length==1
p1 = new Geo.Point(t.p[0].x, t.p[0].y, t.p[0].z);
p2 = new Geo.Point(t.p[0].x + n.x, t.p[0].y + n.y, t.p[0].z + n.z);
l = new GeoLine(p1, p2);
l.color = System.Drawing.Color.Blue;
g.addGeom(l);
}
}
public static bool isinside(Geo.Tri t, Geo.Point p)
{
// point in triangle test
// a new Tri projected onto the xy plane:
Geo.Point p1 = new Geo.Point(t.p[0].x, t.p[0].y, 0);
Geo.Point p2 = new Geo.Point(t.p[1].x, t.p[1].y, 0);
Geo.Point p3 = new Geo.Point(t.p[2].x, t.p[2].y, 0);
Geo.Point pt = new Geo.Point(p.x, p.y, 0);
bool b1 = isright(p1, p2, pt);
bool b2 = isright(p3, p1, pt);
bool b3 = isright(p2, p3, pt);
if ((b1) && (b2) && (b3))
{
return true;
}
else if ((!b1) && (!b2) && (!b3))
{
return true;
}
else
{
return false;
}
} // end isinside()
public static double? VertexTest(Cutter c,Geo.Point e, Geo.Point p)
{
// c.R and c.r define the cutter
// e.x and e.y is the xy-position of the cutter (e.z is ignored)
// p is the vertex tested against
// q is the distance along xy-plane from e to vertex
double q = Math.Sqrt(Math.Pow(e.x - p.x, 2) + Math.Pow((e.y - p.y), 2));
if (q > c.R)
{
// vertex is outside cutter. no need to do anything!
return null;
}
else if (q <= (c.R - c.r))
{
// vertex is in the cylindical/flat part of the cutter
return p.z;
}
else if ((q > (c.R - c.r)) && (q <= c.R))
{
// vertex is in the toroidal part of the cutter
double h2 = Math.Sqrt(Math.Pow(c.r, 2) - Math.Pow((q - (c.R - c.r)), 2));
double h1 = c.r - h2;
return p.z - h1;
}
else
{
// SERIOUS ERROR, we should not be here!
System.Console.WriteLine("DropCutter: VertexTest: ERROR!");
return null;
}
} // end VertexTest
// a function for displaying the normals in an STL file
public static void draw_stl_normals(GLWindow g, STLSurf s)
{
// draw triangle normas
foreach (Geo.Tri t in s.tris)
{
// from STL file
Geo.Point p1 = new Geo.Point(t.p[0].x, t.p[0].y, t.p[0].z);
Geo.Point p2 = new Geo.Point(t.p[0].x + t.n.x, t.p[0].y + t.n.y, t.p[0].z + t.n.z);
GeoLine l = new GeoLine(p1, p2);
l.color = System.Drawing.Color.Green;
g.addGeom(l);
// calculate yourself:
Vector v1 = new Vector(t.p[0].x - t.p[1].x, t.p[0].y - t.p[1].y, t.p[0].z - t.p[1].z);
Vector v2 = new Vector(t.p[0].x - t.p[2].x, t.p[0].y - t.p[2].y, t.p[0].z - t.p[2].z);
Vector n;
n = v1.Cross(v2); // the normal is in the direction of the cross product between the edge vectors
n = (1 / n.Length()) * n; // normalize to length==1
p1 = new Geo.Point(t.p[0].x, t.p[0].y, t.p[0].z);
p2 = new Geo.Point(t.p[0].x + n.x, t.p[0].y + n.y, t.p[0].z + n.z);
l = new GeoLine(p1, p2);
l.color = System.Drawing.Color.Blue;
g.addGeom(l);
}
}
public Vector Cross(Geo.Point p)
{
// cross product with point
// point coordinates are treated as vector coordinates
double xc = y * p.z - z * p.y;
double yc = z * p.x - x * p.z;
double zc = x * p.y - y * p.x;
return(new Vector(xc, yc, zc));
}
public Camera()
{
eye = new Geo.Point(0, 0, 0);
cen = new Geo.Point(0, 0, 0);
up = new Vector(0, 0, 1);
_theta = 0.1;
_fi = 1;
_r = 3;
recalc();
}
private void addRandomGeoLineToolStripMenuItem_Click(object sender, EventArgs e)
{
Geo.Point p1 = new Geo.Point((double)RandomNumber(-10, 10), (double)RandomNumber(-10, 10), (double)RandomNumber(-10, 10));
Geo.Point p2 = new Geo.Point((double)RandomNumber(-10, 10), (double)RandomNumber(-10, 10), (double)RandomNumber(-10, 10));
GeoLine l = new GeoLine(p1, p2);
l.color = System.Drawing.Color.Red;
addGeom(l);
// l.gengldata();
// Renderer.MakeRenderList(ref l.gldata[0]);
// dlist.Add((int)l.gldata[0].dlistID);
// geom.add(l);
// GLPanel.Refresh();
}
// test for bounding box function
public static void bbox_test(GLWindow g)
{
// draw a triangle
Geo.Point p1 = new Geo.Point(0.1, 0.1, 0);
Geo.Point p2 = new Geo.Point(0.8, 0.3, 0);
Geo.Point p3 = new Geo.Point(0.2, 0.6, 0);
GeoLine l1 = new GeoLine(p1, p2);
GeoLine l2 = new GeoLine(p1, p3);
GeoLine l3 = new GeoLine(p3, p2);
l1.color = System.Drawing.Color.RoyalBlue;
l2.color = System.Drawing.Color.RoyalBlue;
l3.color = System.Drawing.Color.RoyalBlue;
g.addGeom(l1);
g.addGeom(l2);
g.addGeom(l3);
// create triangle and calculate bounding box
Geo.Tri t = new Geo.Tri(p1, p2, p3);
t.calc_bbox();
Geo.Point a = new Geo.Point(t.bb.minx, t.bb.miny, 0);
Geo.Point b = new Geo.Point(t.bb.maxx, t.bb.miny, 0);
Geo.Point c = new Geo.Point(t.bb.maxx, t.bb.maxy, 0);
Geo.Point d = new Geo.Point(t.bb.minx, t.bb.maxy, 0);
GeoLine h1 = new GeoLine(a, b);
GeoLine h2 = new GeoLine(b, c);
GeoLine h3 = new GeoLine(c, d);
GeoLine h4 = new GeoLine(d, a);
h1.color = System.Drawing.Color.Red;
h2.color = System.Drawing.Color.Red;
h3.color = System.Drawing.Color.Red;
h4.color = System.Drawing.Color.Red;
g.addGeom(h1);
g.addGeom(h2);
g.addGeom(h3);
g.addGeom(h4);
// check that the points are OK
GeoPoint v1 = new GeoPoint(t.bb.minx, t.bb.miny, 0);
v1.color = System.Drawing.Color.Green;
g.addGeom(v1);
GeoPoint v2 = new GeoPoint(t.bb.maxx, t.bb.maxy, 0);
v2.color = System.Drawing.Color.Azure;
g.addGeom(v2);
}
// testing that the isinside function works OK
public static void isinside_test(GLWindow g)
{
Random r = new Random();
// generate lots of random points
int N = 100;
List <GeoPoint> points = new List <GeoPoint>();
for (int n = 0; n < N; n++)
{
GeoPoint p = new GeoPoint(0.001 * (float)r.Next(0, 1000), 0.001 * (float)r.Next(0, 1000), 0);
points.Add(p);
}
// draw a triangle
Geo.Point p1 = new Geo.Point(0.1, 0.1, 0);
Geo.Point p2 = new Geo.Point(0.8, 0.1, 0);
Geo.Point p3 = new Geo.Point(0.2, 0.6, 0);
GeoLine l1 = new GeoLine(p1, p2);
GeoLine l2 = new GeoLine(p1, p3);
GeoLine l3 = new GeoLine(p3, p2);
l1.color = System.Drawing.Color.RoyalBlue;
l2.color = System.Drawing.Color.RoyalBlue;
l3.color = System.Drawing.Color.RoyalBlue;
g.addGeom(l1);
g.addGeom(l2);
g.addGeom(l3);
// p.color = System.Drawing.Color.Aqua;
// draw points
Geo.Tri t = new Geo.Tri(p2, p3, p1);
foreach (GeoPoint p in points)
{
if (DropCutter.isinside(t, p.p))
{
p.color = System.Drawing.Color.Aqua;
}
else
{
p.color = System.Drawing.Color.Red;
}
g.addGeom(p);
}
}
// test for bounding box function
public static void bbox_test(GLWindow g)
{
// draw a triangle
Geo.Point p1 = new Geo.Point(0.1, 0.1, 0);
Geo.Point p2 = new Geo.Point(0.8, 0.3, 0);
Geo.Point p3 = new Geo.Point(0.2, 0.6, 0);
GeoLine l1 = new GeoLine(p1, p2);
GeoLine l2 = new GeoLine(p1, p3);
GeoLine l3 = new GeoLine(p3, p2);
l1.color = System.Drawing.Color.RoyalBlue;
l2.color = System.Drawing.Color.RoyalBlue;
l3.color = System.Drawing.Color.RoyalBlue;
g.addGeom(l1);
g.addGeom(l2);
g.addGeom(l3);
// create triangle and calculate bounding box
Geo.Tri t = new Geo.Tri(p1, p2, p3);
t.calc_bbox();
Geo.Point a = new Geo.Point(t.bb.minx, t.bb.miny, 0);
Geo.Point b = new Geo.Point(t.bb.maxx, t.bb.miny, 0);
Geo.Point c = new Geo.Point(t.bb.maxx, t.bb.maxy, 0);
Geo.Point d = new Geo.Point(t.bb.minx, t.bb.maxy, 0);
GeoLine h1 = new GeoLine(a, b);
GeoLine h2 = new GeoLine(b, c);
GeoLine h3 = new GeoLine(c, d);
GeoLine h4 = new GeoLine(d, a);
h1.color = System.Drawing.Color.Red;
h2.color = System.Drawing.Color.Red;
h3.color = System.Drawing.Color.Red;
h4.color = System.Drawing.Color.Red;
g.addGeom(h1);
g.addGeom(h2);
g.addGeom(h3);
g.addGeom(h4);
// check that the points are OK
GeoPoint v1 = new GeoPoint(t.bb.minx, t.bb.miny, 0);
v1.color = System.Drawing.Color.Green;
g.addGeom(v1);
GeoPoint v2 = new GeoPoint(t.bb.maxx, t.bb.maxy, 0);
v2.color = System.Drawing.Color.Azure;
g.addGeom(v2);
}
} // end isinside()
public static bool isright(Geo.Point p1, Geo.Point p2, Geo.Point p)
{
// is point p right of line through points p1 and p2 ?
// this is an ugly way of doing a determinant
// should be prettyfied sometime...
double a1 = p2.x - p1.x;
double a2 = p2.y - p1.y;
double t1 = a2;
double t2 = -a1;
double b1 = p.x - p1.x;
double b2 = p.y - p1.y;
double t = t1 * b1 + t2 * b2;
if (t > 0)
return true;
else
return false;
} // end isright()
} // end FacetTest
public static double? EdgeTest(Cutter cu, Geo.Point e, Geo.Point p1, Geo.Point p2)
{
// contact cutter against edge from p1 to p2
// translate segment so that cutter is at (0,0)
Geo.Point start = new Geo.Point(p1.x - e.x, p1.y - e.y, p1.z);
Geo.Point end = new Geo.Point(p2.x - e.x, p2.y - e.y, p2.z);
// find angle btw. segment and X-axis
double dx = end.x - start.x;
double dy = end.y - start.y;
double alfa;
if (dx != 0)
alfa = Math.Atan(dy / dx);
else
alfa = Math.PI / 2;
//alfa = -alfa;
// rotation matrix for rotation around z-axis:
// should probably implement a matrix class later
// rotate by angle alfa
// need copy of data that does not change as we go through each line:
double sx = start.x, sy = start.y, ex = end.x, ey = end.y;
start.x = sx * Math.Cos(alfa) + sy * Math.Sin(alfa);
start.y = -sx * Math.Sin(alfa) + sy * Math.Cos(alfa);
end.x = ex * Math.Cos(alfa) + ey * Math.Sin(alfa);
end.y = -ex * Math.Sin(alfa) + ey * Math.Cos(alfa);
// check if segment is below cutter
if (start.y > 0)
{
alfa = alfa+Math.PI;
start.x = sx * Math.Cos(alfa) + sy * Math.Sin(alfa);
start.y = -sx * Math.Sin(alfa) + sy * Math.Cos(alfa);
end.x = ex * Math.Cos(alfa) + ey * Math.Sin(alfa);
end.y = -ex * Math.Sin(alfa) + ey * Math.Cos(alfa);
}
if (Math.Abs(start.y-end.y)>0.0000001)
{
System.Console.WriteLine("EdgeTest ERROR! (start.y - end.y) = " +(start.y-end.y));
return null;
}
double l = -start.y; // distance from cutter to edge
if (l < 0)
System.Console.WriteLine("EdgeTest ERROR! l<0 !");
// System.Console.WriteLine("l=" + l+" start.y="+start.y+" end.y="+end.y);
// now we have two different algorithms depending on the cutter:
if (cu.r == 0)
{
// this is the flat endmill case
// it is easier and faster than the general case, so we handle it separately
if (l > cu.R) // edge is outside of the cutter
return null;
else // we are inside the cutter
{ // so calculate CC point
double xc1 = Math.Sqrt(Math.Pow(cu.R, 2) - Math.Pow(l, 2));
double xc2 = -xc1;
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// choose the higher point
double zc,xc;
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
// now that we have a CC point, check if it's in the edge
if ((start.x > xc) && (xc < end.x))
return null;
else if ((end.x < xc) && (xc > start.x))
return null;
else
return zc;
}
// unreachable place (according to compiler)
} // end of flat endmill (r=0) case
else if (cu.r > 0)
{
// System.Console.WriteLine("edgetest r>0 case!");
// this is the general case (r>0) ball-nose or bull-nose (spherical or toroidal)
// later a separate case for the ball-cutter might be added (for performance)
double xd=0, w=0, h=0, xd1=0, xd2=0, xc=0 , ze=0, zc=0;
if (l > cu.R) // edge is outside of the cutter
return null;
else if (((cu.R-cu.r)<l)&&(l<=cu.R))
{ // toroidal case
xd=0; // center of ellipse
w=Math.Sqrt(Math.Pow(cu.R,2)-Math.Pow(l,2)); // width of ellipse
h=Math.Sqrt(Math.Pow(cu.r,2)-Math.Pow((l-(cu.R-cu.r)),2)); // height of ellipse
}
else if ((cu.R-cu.r)>=l)
{
// quarter ellipse case
xd1=Math.Sqrt( Math.Pow((cu.R-cu.r),2)-Math.Pow(l,2));
xd2=-xd1;
h=cu.r; // ellipse height
w=Math.Sqrt( Math.Pow(cu.R,2)-Math.Pow(l,2) )- Math.Sqrt( Math.Pow((cu.R-cu.r),2)-Math.Pow(l,2) ); // ellipse height
}
// now there is a special case where the theta calculation will fail if
// the segment is horziontal, i.e. start.z==end.z so we need to catch that here
if (start.z==end.z)
{
if ((cu.R-cu.r)<l)
{
// half-ellipse case
xc=0;
h=Math.Sqrt(Math.Pow(cu.r,2)-Math.Pow((l-(cu.R-cu.r)),2));
ze = start.z + h - cu.r;
}
else if ((cu.R - cu.r) > l)
{
// quarter ellipse case
xc = 0;
ze = start.z;
}
// now we have a CC point
// so we need to check if the CC point is in the edge
if (isinrange(start.x, end.x, xc))
return ze;
else
return null;
} // end horizontal edge special case
// now the general case where the theta calculation works
double theta = Math.Atan( h*(start.x-end.x)/(w*(start.z-end.z)) );
// based on this calculate the CC point
if (((cu.R - cu.r) < l) && (cu.R <= l))
{
// half-ellipse case
double xc1 = xd + Math.Abs(w * Math.Cos(theta));
double xc2 = xd - Math.Abs(w * Math.Cos(theta));
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// select the higher point:
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
}
else if ((cu.R - cu.r) > l)
{
// quarter ellipse case
double xc1 = xd1 + Math.Abs(w * Math.Cos(theta));
double xc2 = xd2 - Math.Abs(w * Math.Cos(theta));
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// select the higher point:
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
}
// now we have a valid xc value, so calculate the ze value:
ze = zc + Math.Abs(h * Math.Sin(theta)) - cu.r;
// finally, check that the CC point is in the edge
if (isinrange(start.x,end.x,xc))
return ze;
else
return null;
// this line is unreachable (according to compiler)
} // end of toroidal/spherical case
// if we ever get here it is probably a serious error!
System.Console.WriteLine("EdgeTest: ERROR: no case returned a valid ze!");
return null;
} // end of EdgeTest method
// testing that the isinside function works OK
public static void isinside_test(GLWindow g)
{
Random r = new Random();
// generate lots of random points
int N = 100;
List<GeoPoint> points = new List<GeoPoint>();
for (int n = 0; n < N; n++)
{
GeoPoint p = new GeoPoint(0.001 * (float)r.Next(0, 1000), 0.001 * (float)r.Next(0, 1000), 0);
points.Add(p);
}
// draw a triangle
Geo.Point p1 = new Geo.Point(0.1, 0.1, 0);
Geo.Point p2 = new Geo.Point(0.8, 0.1, 0);
Geo.Point p3 = new Geo.Point(0.2, 0.6, 0);
GeoLine l1 = new GeoLine(p1, p2);
GeoLine l2 = new GeoLine(p1, p3);
GeoLine l3 = new GeoLine(p3, p2);
l1.color = System.Drawing.Color.RoyalBlue;
l2.color = System.Drawing.Color.RoyalBlue;
l3.color = System.Drawing.Color.RoyalBlue;
g.addGeom(l1);
g.addGeom(l2);
g.addGeom(l3);
// p.color = System.Drawing.Color.Aqua;
// draw points
Geo.Tri t = new Geo.Tri(p2, p3, p1);
foreach (GeoPoint p in points)
{
if (DropCutter.isinside(t,p.p))
p.color = System.Drawing.Color.Aqua;
else
p.color = System.Drawing.Color.Red;
g.addGeom(p);
}
}
public static void stlmachine(GLWindow g, STLSurf s)
{
List <Geo.Point> pointlist = new List <Geo.Point>();
// seems to work...
// foreach (Geo.Tri t in s.tris)
// System.Console.WriteLine("loop1 triangles " + t);
// System.Console.ReadKey();
// recalculate normal data
// create bounding box data
foreach (Geo.Tri t in s.tris)
{
t.recalc_normals(); // FIXME why don't new values stick??
t.calc_bbox(); // FIXME: why doen't bb-data 'stick' ??
}
/*
* // FIXME: if we check bb-data here it is gone!!(??)
* foreach (Geo.Tri t in s.tris)
* {
* System.Console.WriteLine("loop2 triangles " + t);
* System.Console.WriteLine("loop2 direct maxx" + t.bb.maxx + " minx:" + t.bb.minx);
* }
* System.Console.ReadKey();
*/
// find bounding box (this should probably be done in the STLSurf class?)
double minx = 0, maxx = 10, miny = 0, maxy = 10;
// generate XY pattern (a general zigzag-strategy, needed also for pocketing)
double Nx = 50;
double Ny = 50;
double dx = (maxx - minx) / (double)(Nx - 1);
double dy = (maxy - miny) / (double)(Ny - 1);
double x = minx;
for (int n = 0; n < Nx; n++)
{
if (n % 2 == 0)
{
double y = miny;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Geo.Point(x, y, 5));
// System.Console.WriteLine("x:"+x+" y:"+y);
y += dy;
// System.Console.ReadKey();
}
}
else
{
double y = maxy;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Geo.Point(x, y, 5));
//System.Console.WriteLine("x:" + x + " y:" + y);
y -= dy;
//System.Console.ReadKey();
}
}
x += dx;
}
// drop cutter (i.e. add z-data)
double R = 1, r = 0.2;
Cutter cu = new Cutter(R, r);
List <Geo.Point> drop_points = new List <Geo.Point>();
double redundant = 0;
double checks = 0;
foreach (Geo.Point p in pointlist)
{
double? v1 = null, v2 = null, v3 = null, z_new = null, f = null, e1 = null, e2 = null, e3 = null;
List <double> zlist = new List <double>();
foreach (Geo.Tri t in s.tris)
{
checks++;
t.calc_bbox(); // why do we have to re-calculate bb-data here??
//System.Console.WriteLine("testing triangle" + t);
if (t.bb.minx > (p.x + cu.R))
{
redundant++;
continue;
}
else if (t.bb.maxx < (p.x - cu.R))
{
redundant++;
continue;
}
if (t.bb.miny > (p.y + cu.R))
{
redundant++;
continue;
}
if (t.bb.maxy < (p.y - cu.R))
{
redundant++;
continue;
}
v1 = DropCutter.VertexTest(cu, p, t.p[0]);
v2 = DropCutter.VertexTest(cu, p, t.p[1]);
v3 = DropCutter.VertexTest(cu, p, t.p[2]);
if (v2 != null)
{
zlist.Add((double)v2);
}
if (v1 != null)
{
zlist.Add((double)v1);
}
if (v3 != null)
{
zlist.Add((double)v3);
}
f = DropCutter.FacetTest(cu, p, t);
if (f != null)
{
zlist.Add((double)f);
}
e1 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[1]);
e2 = DropCutter.EdgeTest(cu, p, t.p[1], t.p[2]);
e3 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[2]);
if (e1 != null)
{
zlist.Add((double)e1);
}
if (e2 != null)
{
zlist.Add((double)e2);
}
if (e3 != null)
{
zlist.Add((double)e3);
}
/*
* if (zlist.Count > 1)
* {
* System.Console.Write("Before: ");
* foreach (double d in zlist)
* System.Console.Write(d.ToString() + " ");
* System.Console.Write("\n");
* }
*/
zlist.Sort();
/*
* if (zlist.Count > 2)
* {
* System.Console.Write("After: ");
* foreach (double d in zlist)
* System.Console.Write(d.ToString() + " ");
* System.Console.Write("\n");
* }
*/
// System.Console.Write("Sorted: ");
// foreach (double d in zlist)
// System.Console.Write(d.ToString() + " ");
// System.Console.Write("\n");
if (zlist.Count > 0)
{
z_new = zlist[zlist.Count - 1];
}
/*
* if (zlist.Count > 1)
* System.Console.WriteLine("chosen: " + z_new);
*/
// System.Console.ReadKey();
} // end triangle loop
if (z_new != null)
{
drop_points.Add(new Geo.Point(p.x, p.y, (double)z_new));
}
} // end point-list loop
System.Console.WriteLine("checked: " + checks + " redundant: " + redundant);
System.Console.WriteLine("relevant: " + (checks - redundant) + " (" + 100 * (double)(checks - redundant) / (double)checks + "%)");
// check to see that STL has not changed
// display drop-points
int i = 1;
Geo.Point p0 = new Geo.Point();
foreach (Geo.Point p in drop_points)
{
if (i == 1) // first move
{
p0 = new Geo.Point(p.x, p.y, 10);
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Yellow;
g.addGeom(l);
p0 = p;
}
else // don't do anything for last move
{
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Magenta;
g.addGeom(l);
p0 = p;
}
i++;
/*
* GeoPoint pg = new GeoPoint(p);
* pg.color = System.Drawing.Color.Aqua;
* g.addGeom(pg);
*/
}
// display zigzag and points
/*
* i = 1;
* foreach (Geo.Point p in pointlist)
* {
* if (i == 1)
* {
* p0 = new Geo.Point(p.x, p.y, 10);
* GeoLine l = new GeoLine(p0, p);
* l.color = System.Drawing.Color.Yellow;
* g.addGeom(l);
* p0 = p;
* }
* else
* {
* GeoLine l = new GeoLine(p0, p);
* l.color = System.Drawing.Color.Cyan;
* g.addGeom(l);
* p0 = p;
* }
* i++;
* }
*/
// dummy test:
/*
* foreach (Geo.Tri t in s.tris)
* {
* GeoPoint p = new GeoPoint(t.p[0].x, t.p[0].y, t.p[0].z);
* pointlist.Add(p);
* }
*/
}
public static void stlmachine(GLWindow g, STLSurf s)
{
List<Geo.Point> pointlist=new List<Geo.Point>();
// seems to work...
// foreach (Geo.Tri t in s.tris)
// System.Console.WriteLine("loop1 triangles " + t);
// System.Console.ReadKey();
// recalculate normal data
// create bounding box data
foreach (Geo.Tri t in s.tris)
{
t.recalc_normals(); // FIXME why don't new values stick??
t.calc_bbox(); // FIXME: why doen't bb-data 'stick' ??
}
/*
// FIXME: if we check bb-data here it is gone!!(??)
foreach (Geo.Tri t in s.tris)
{
System.Console.WriteLine("loop2 triangles " + t);
System.Console.WriteLine("loop2 direct maxx" + t.bb.maxx + " minx:" + t.bb.minx);
}
System.Console.ReadKey();
*/
// find bounding box (this should probably be done in the STLSurf class?)
double minx = 0, maxx = 10, miny = 0, maxy = 10;
// generate XY pattern (a general zigzag-strategy, needed also for pocketing)
double Nx=50;
double Ny=50;
double dx=(maxx-minx)/(double)(Nx-1);
double dy = (maxy - miny) / (double)(Ny-1);
double x = minx;
for (int n = 0; n < Nx; n++)
{
if (n%2==0)
{
double y = miny;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Geo.Point(x,y,5));
// System.Console.WriteLine("x:"+x+" y:"+y);
y += dy;
// System.Console.ReadKey();
}
}
else
{
double y = maxy;
for (int m = 0; m < Ny; m++)
{
pointlist.Add(new Geo.Point(x,y,5));
//System.Console.WriteLine("x:" + x + " y:" + y);
y -= dy;
//System.Console.ReadKey();
}
}
x += dx;
}
// drop cutter (i.e. add z-data)
double R=1,r=0.2;
Cutter cu = new Cutter(R,r);
List<Geo.Point> drop_points = new List<Geo.Point>();
double redundant = 0;
double checks = 0;
foreach (Geo.Point p in pointlist)
{
double? v1 = null,v2=null,v3=null,z_new=null,f=null,e1=null,e2=null,e3=null;
List<double> zlist = new List<double>();
foreach (Geo.Tri t in s.tris)
{
checks++;
t.calc_bbox(); // why do we have to re-calculate bb-data here??
//System.Console.WriteLine("testing triangle" + t);
if (t.bb.minx > (p.x + cu.R))
{
redundant++;
continue;
}
else if (t.bb.maxx < (p.x - cu.R))
{
redundant++;
continue;
}
if (t.bb.miny > (p.y + cu.R))
{
redundant++;
continue;
}
if (t.bb.maxy < (p.y - cu.R))
{
redundant++;
continue;
}
v1 = DropCutter.VertexTest(cu, p, t.p[0]);
v2 = DropCutter.VertexTest(cu, p, t.p[1]);
v3 = DropCutter.VertexTest(cu, p, t.p[2]);
if (v2 != null)
{
zlist.Add((double)v2);
}
if (v1 != null)
{
zlist.Add((double)v1);
}
if (v3 != null)
{
zlist.Add((double)v3);
}
f = DropCutter.FacetTest(cu, p, t);
if (f != null)
{
zlist.Add((double)f);
}
e1 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[1]);
e2 = DropCutter.EdgeTest(cu, p, t.p[1], t.p[2]);
e3 = DropCutter.EdgeTest(cu, p, t.p[0], t.p[2]);
if (e1 != null)
zlist.Add((double)e1);
if (e2 != null)
zlist.Add((double)e2);
if (e3 != null)
zlist.Add((double)e3);
/*
if (zlist.Count > 1)
{
System.Console.Write("Before: ");
foreach (double d in zlist)
System.Console.Write(d.ToString() + " ");
System.Console.Write("\n");
}
*/
zlist.Sort();
/*
if (zlist.Count > 2)
{
System.Console.Write("After: ");
foreach (double d in zlist)
System.Console.Write(d.ToString() + " ");
System.Console.Write("\n");
}
*/
// System.Console.Write("Sorted: ");
// foreach (double d in zlist)
// System.Console.Write(d.ToString() + " ");
// System.Console.Write("\n");
if (zlist.Count > 0)
z_new = zlist[zlist.Count-1];
/*
if (zlist.Count > 1)
System.Console.WriteLine("chosen: " + z_new);
*/
// System.Console.ReadKey();
} // end triangle loop
if (z_new != null)
{
drop_points.Add(new Geo.Point(p.x, p.y, (double)z_new));
}
} // end point-list loop
System.Console.WriteLine("checked: "+ checks + " redundant: " + redundant);
System.Console.WriteLine("relevant: "+(checks-redundant) + " ("+100*(double)(checks-redundant)/(double)checks+"%)");
// check to see that STL has not changed
// display drop-points
int i = 1;
Geo.Point p0=new Geo.Point();
foreach (Geo.Point p in drop_points)
{
if (i == 1) // first move
{
p0 = new Geo.Point(p.x, p.y, 10);
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Yellow;
g.addGeom(l);
p0 = p;
}
else // don't do anything for last move
{
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Magenta;
g.addGeom(l);
p0 = p;
}
i++;
/*
GeoPoint pg = new GeoPoint(p);
pg.color = System.Drawing.Color.Aqua;
g.addGeom(pg);
*/
}
// display zigzag and points
/*
i = 1;
foreach (Geo.Point p in pointlist)
{
if (i == 1)
{
p0 = new Geo.Point(p.x, p.y, 10);
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Yellow;
g.addGeom(l);
p0 = p;
}
else
{
GeoLine l = new GeoLine(p0, p);
l.color = System.Drawing.Color.Cyan;
g.addGeom(l);
p0 = p;
}
i++;
}
*/
// dummy test:
/*
foreach (Geo.Tri t in s.tris)
{
GeoPoint p = new GeoPoint(t.p[0].x, t.p[0].y, t.p[0].z);
pointlist.Add(p);
}
*/
}
} // end VertexTest
public static double? FacetTest(Cutter cu, Geo.Point e, Geo.Tri t)
{
// local copy of the surface normal
t.recalc_normals(); // don't trust the pre-calculated normal! calculate it separately here.
Vector n = new Vector(t.n.x, t.n.y, t.n.z);
Geo.Point cc;
if (n.z == 0)
{
// vertical plane, can't touch cutter against that!
return null;
}
else if (n.z < 0)
{
// flip the normal so it points up (? is this always required?)
n = -1*n;
}
// define plane containing facet
double a = n.x;
double b = n.y;
double c = n.z;
double d = - n.x * t.p[0].x - n.y * t.p[0].y - n.z * t.p[0].z;
// the z-direction normal is a special case (?required?)
// in debug phase, see if this is a useful case!
if ((a == 0) && (b == 0))
{
// System.Console.WriteLine("facet-test:z-dir normal case!");
e.z = t.p[0].z;
cc = new Geo.Point(e.x,e.y,e.z);
if (isinside(t, cc))
{
// System.Console.WriteLine("facet-test:z-dir normal case!, returning {0}",e.z);
// System.Console.ReadKey();
return e.z;
}
else
return null;
}
// System.Console.WriteLine("facet-test:general case!");
// facet test general case
// uses trigonometry, so might be too slow?
// flat endmill and ballnose should be simple to do without trig
// toroidal case might require offset-ellipse idea?
/*
theta = asin(c);
zf= -d/c - (a*xe+b*ye)/c+ (R-r)/tan(theta) + r/sin(theta) -r;
e=[xe ye zf];
u=[0 0 1];
rc=e + ((R-r)*tan(theta)+r)*u - ((R-r)/cos(theta) + r)*n;
t=isinside(p1,p2,p3,rc);
*/
double theta = Math.Asin(c);
double zf = -d/c - (a*e.x+b*e.y)/c + (cu.R-cu.r)/Math.Tan(theta) + cu.r/Math.Sin(theta) - cu.r;
Vector ve = new Vector(e.x,e.y,zf);
Vector u = new Vector(0,0,1);
Vector rc = new Vector();
rc = ve +((cu.R-cu.r)*Math.Tan(theta)+cu.r)*u - ((cu.R-cu.r)/Math.Cos(theta)+cu.r)*n;
/*
if (rc.z > 1000)
System.Console.WriteLine("z>1000 !");
*/
cc = new Geo.Point(rc.x, rc.y, rc.z);
// check that CC lies in plane:
// a*rc(1)+b*rc(2)+c*rc(3)+d
double test = a * cc.x + b * cc.y + c * cc.z + d;
if (test > 0.000001)
System.Console.WriteLine("FacetTest ERROR! CC point not in plane");
if (isinside(t, cc))
{
if (Math.Abs(zf) > 100)
{
System.Console.WriteLine("serious problem... at" +e.x + "," + e.y);
}
return zf;
}
else
return null;
} // end FacetTest
public static double? FacetTest(Cutter cu, Geo.Point e, Geo.Tri t)
{
// local copy of the surface normal
t.recalc_normals(); // don't trust the pre-calculated normal! calculate it separately here.
Vector n = new Vector(t.n.x, t.n.y, t.n.z);
Geo.Point cc;
if (n.z == 0)
{
// vertical plane, can't touch cutter against that!
return null;
}
else if (n.z < 0)
{
// flip the normal so it points up (? is this always required?)
n = -1*n;
}
// define plane containing facet
double a = n.x;
double b = n.y;
double c = n.z;
double d = - n.x * t.p[0].x - n.y * t.p[0].y - n.z * t.p[0].z;
// the z-direction normal is a special case (?required?)
// in debug phase, see if this is a useful case!
if ((a == 0) && (b == 0))
{
// System.Console.WriteLine("facet-test:z-dir normal case!");
e.z = t.p[0].z;
cc = new Geo.Point(e.x,e.y,e.z);
if (isinside(t, cc))
{
// System.Console.WriteLine("facet-test:z-dir normal case!, returning {0}",e.z);
// System.Console.ReadKey();
return e.z;
}
else
return null;
}
// System.Console.WriteLine("facet-test:general case!");
// facet test general case
// uses trigonometry, so might be too slow?
// flat endmill and ballnose should be simple to do without trig
// toroidal case might require offset-ellipse idea?
/*
theta = asin(c);
zf= -d/c - (a*xe+b*ye)/c+ (R-r)/tan(theta) + r/sin(theta) -r;
e=[xe ye zf];
u=[0 0 1];
rc=e + ((R-r)*tan(theta)+r)*u - ((R-r)/cos(theta) + r)*n;
t=isinside(p1,p2,p3,rc);
*/
double theta = Math.Asin(c);
double zf = -d/c - (a*e.x+b*e.y)/c + (cu.R-cu.r)/Math.Tan(theta) + cu.r/Math.Sin(theta) - cu.r;
Vector ve = new Vector(e.x,e.y,zf);
Vector u = new Vector(0,0,1);
Vector rc = new Vector();
rc = ve +((cu.R-cu.r)*Math.Tan(theta)+cu.r)*u - ((cu.R-cu.r)/Math.Cos(theta)+cu.r)*n;
/*
if (rc.z > 1000)
System.Console.WriteLine("z>1000 !");
*/
cc = new Geo.Point(rc.x, rc.y, rc.z);
// check that CC lies in plane:
// a*rc(1)+b*rc(2)+c*rc(3)+d
double test = a * cc.x + b * cc.y + c * cc.z + d;
if (test > 0.000001)
System.Console.WriteLine("FacetTest ERROR! CC point not in plane");
if (isinside(t, cc))
{
if (Math.Abs(zf) > 100)
{
System.Console.WriteLine("serious problem... at" +e.x + "," + e.y);
}
return zf;
}
else
return null;
}
public static bool isinside(Geo.Tri t, Geo.Point p)
{
// point in triangle test
// a new Tri projected onto the xy plane:
Geo.Point p1 = new Geo.Point(t.p[0].x, t.p[0].y, 0);
Geo.Point p2 = new Geo.Point(t.p[1].x, t.p[1].y, 0);
Geo.Point p3 = new Geo.Point(t.p[2].x, t.p[2].y, 0);
Geo.Point pt = new Geo.Point(p.x, p.y, 0);
bool b1 = isright(p1, p2, pt);
bool b2 = isright(p3, p1, pt);
bool b3 = isright(p2, p3, pt);
if ((b1) && (b2) && (b3))
{
return true;
}
else if ((!b1) && (!b2) && (!b3))
{
return true;
}
else
{
return false;
}
}
private void addRandomGeoLineToolStripMenuItem_Click(object sender, EventArgs e)
{
Geo.Point p1 = new Geo.Point((double)RandomNumber(-10, 10), (double)RandomNumber(-10, 10), (double)RandomNumber(-10, 10));
Geo.Point p2 = new Geo.Point((double)RandomNumber(-10, 10), (double)RandomNumber(-10, 10), (double)RandomNumber(-10, 10));
GeoLine l = new GeoLine(p1, p2);
l.color = System.Drawing.Color.Red;
addGeom(l);
// l.gengldata();
// Renderer.MakeRenderList(ref l.gldata[0]);
// dlist.Add((int)l.gldata[0].dlistID);
// geom.add(l);
// GLPanel.Refresh();
}
public static double? EdgeTest(Cutter cu, Geo.Point e, Geo.Point p1, Geo.Point p2)
{
// contact cutter against edge from p1 to p2
// translate segment so that cutter is at (0,0)
Geo.Point start = new Geo.Point(p1.x - e.x, p1.y - e.y, p1.z);
Geo.Point end = new Geo.Point(p2.x - e.x, p2.y - e.y, p2.z);
// find angle btw. segment and X-axis
double dx = end.x - start.x;
double dy = end.y - start.y;
double alfa;
if (dx != 0)
alfa = Math.Atan(dy / dx);
else
alfa = Math.PI / 2;
//alfa = -alfa;
// rotation matrix for rotation around z-axis:
// should probably implement a matrix class later
// rotate by angle alfa
// need copy of data that does not change as we go through each line:
double sx = start.x, sy = start.y, ex = end.x, ey = end.y;
start.x = sx * Math.Cos(alfa) + sy * Math.Sin(alfa);
start.y = -sx * Math.Sin(alfa) + sy * Math.Cos(alfa);
end.x = ex * Math.Cos(alfa) + ey * Math.Sin(alfa);
end.y = -ex * Math.Sin(alfa) + ey * Math.Cos(alfa);
// check if segment is below cutter
if (start.y > 0)
{
alfa = alfa+Math.PI;
start.x = sx * Math.Cos(alfa) + sy * Math.Sin(alfa);
start.y = -sx * Math.Sin(alfa) + sy * Math.Cos(alfa);
end.x = ex * Math.Cos(alfa) + ey * Math.Sin(alfa);
end.y = -ex * Math.Sin(alfa) + ey * Math.Cos(alfa);
}
if (Math.Abs(start.y-end.y)>0.0000001)
{
System.Console.WriteLine("EdgeTest ERROR! (start.y - end.y) = " +(start.y-end.y));
return null;
}
double l = -start.y; // distance from cutter to edge
if (l < 0)
System.Console.WriteLine("EdgeTest ERROR! l<0 !");
// System.Console.WriteLine("l=" + l+" start.y="+start.y+" end.y="+end.y);
// now we have two different algorithms depending on the cutter:
if (cu.r == 0)
{
// this is the flat endmill case
// it is easier and faster than the general case, so we handle it separately
if (l > cu.R) // edge is outside of the cutter
return null;
else // we are inside the cutter
{ // so calculate CC point
double xc1 = Math.Sqrt(Math.Pow(cu.R, 2) - Math.Pow(l, 2));
double xc2 = -xc1;
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// choose the higher point
double zc,xc;
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
// now that we have a CC point, check if it's in the edge
if ((start.x > xc) && (xc < end.x))
return null;
else if ((end.x < xc) && (xc > start.x))
return null;
else
return zc;
}
// unreachable place (according to compiler)
} // end of flat endmill (r=0) case
else if (cu.r > 0)
{
// System.Console.WriteLine("edgetest r>0 case!");
// this is the general case (r>0) ball-nose or bull-nose (spherical or toroidal)
// later a separate case for the ball-cutter might be added (for performance)
double xd=0, w=0, h=0, xd1=0, xd2=0, xc=0 , ze=0, zc=0;
if (l > cu.R) // edge is outside of the cutter
return null;
else if (((cu.R-cu.r)<l)&&(l<=cu.R))
{ // toroidal case
xd=0; // center of ellipse
w=Math.Sqrt(Math.Pow(cu.R,2)-Math.Pow(l,2)); // width of ellipse
h=Math.Sqrt(Math.Pow(cu.r,2)-Math.Pow((l-(cu.R-cu.r)),2)); // height of ellipse
}
else if ((cu.R-cu.r)>=l)
{
// quarter ellipse case
xd1=Math.Sqrt( Math.Pow((cu.R-cu.r),2)-Math.Pow(l,2));
xd2=-xd1;
h=cu.r; // ellipse height
w=Math.Sqrt( Math.Pow(cu.R,2)-Math.Pow(l,2) )- Math.Sqrt( Math.Pow((cu.R-cu.r),2)-Math.Pow(l,2) ); // ellipse height
}
// now there is a special case where the theta calculation will fail if
// the segment is horziontal, i.e. start.z==end.z so we need to catch that here
if (start.z==end.z)
{
if ((cu.R-cu.r)<l)
{
// half-ellipse case
xc=0;
h=Math.Sqrt(Math.Pow(cu.r,2)-Math.Pow((l-(cu.R-cu.r)),2));
ze = start.z + h - cu.r;
}
else if ((cu.R - cu.r) > l)
{
// quarter ellipse case
xc = 0;
ze = start.z;
}
// now we have a CC point
// so we need to check if the CC point is in the edge
if (isinrange(start.x, end.x, xc))
return ze;
else
return null;
} // end horizontal edge special case
// now the general case where the theta calculation works
double theta = Math.Atan( h*(start.x-end.x)/(w*(start.z-end.z)) );
// based on this calculate the CC point
if (((cu.R - cu.r) < l) && (cu.R <= l))
{
// half-ellipse case
double xc1 = xd + Math.Abs(w * Math.Cos(theta));
double xc2 = xd - Math.Abs(w * Math.Cos(theta));
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// select the higher point:
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
}
else if ((cu.R - cu.r) > l)
{
// quarter ellipse case
double xc1 = xd1 + Math.Abs(w * Math.Cos(theta));
double xc2 = xd2 - Math.Abs(w * Math.Cos(theta));
double zc1 = ((xc1 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
double zc2 = ((xc2 - start.x) / (end.x - start.x)) * (end.z - start.z) + start.z;
// select the higher point:
if (zc1 > zc2)
{
zc = zc1;
xc = xc1;
}
else
{
zc = zc2;
xc = xc2;
}
}
// now we have a valid xc value, so calculate the ze value:
ze = zc + Math.Abs(h * Math.Sin(theta)) - cu.r;
// finally, check that the CC point is in the edge
if (isinrange(start.x,end.x,xc))
return ze;
else
return null;
// this line is unreachable (according to compiler)
} // end of toroidal/spherical case
// if we ever get here it is probably a serious error!
System.Console.WriteLine("EdgeTest: ERROR: no case returned a valid ze!");
return null;
}