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985c397

// SPDX-License-Identifier: LGPL-2.1-or-later

/**************************************************************************
 *   Copyright (c) 2017 Shai Seger <shaise at gmail>                       *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  is distributed in the hope that it will be useful,      *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************
 *   Volumetric Path simulation engine                                     *
 ***************************************************************************/

#ifndef PATHSIMULATOR_VolSim_H
#define PATHSIMULATOR_VolSim_H

#include <vector>

#include <Mod/Mesh/App/Mesh.h>
#include <Mod/CAM/App/Command.h>


#define SIM_EPSILON 0.00001
#define SIM_TESSEL_TOP 1
#define SIM_TESSEL_BOT 2
#define SIM_WALK_RES \
    0.6  // step size in pixel units (to make sure all pixels in the path are visited)

struct toolShapePoint
{
    float radiusPos;
    float heightPos;

    struct less_than
    {
        bool operator()(const toolShapePoint& a, const toolShapePoint& b)
        {
            return a.radiusPos < b.radiusPos;
        }
    };
};

struct Point3D
{
    Point3D()
        : x(0)
        , y(0)
        , z(0)
        , sina(0)
        , cosa(0)
    {}
    Point3D(float x, float y, float z)
        : x(x)
        , y(y)
        , z(z)
        , sina(0)
        , cosa(0)
    {}
    explicit Point3D(Base::Vector3d& vec)
        : x(vec[0])
        , y(vec[1])
        , z(vec[2])
        , sina(0)
        , cosa(0)
    {}
    explicit Point3D(Base::Placement& pl)
        : x(pl.getPosition()[0])
        , y(pl.getPosition()[1])
        , z(pl.getPosition()[2])
        , sina(0)
        , cosa(0)
    {}
    inline void set(float px, float py, float pz)
    {
        x = px;
        y = py;
        z = pz;
    }
    inline void Add(Point3D& p)
    {
        x += p.x;
        y += p.y;
        z += p.z;
    }
    inline void Rotate()
    {
        float tx = x;
        x = x * cosa - y * sina;
        y = tx * sina + y * cosa;
    }
    void UpdateCmd(Path::Command& cmd);
    void SetRotationAngle(float angle);
    void SetRotationAngleRad(float angle);
    float x, y, z;
    float sina, cosa;
};

// some vector manipulations
inline static Point3D operator+(const Point3D& a, const Point3D& b)
{
    return Point3D(a.x + b.x, a.y + b.y, a.z + b.z);
}
inline static Point3D operator-(const Point3D& a, const Point3D& b)
{
    return Point3D(a.x - b.x, a.y - b.y, a.z - b.z);
}
inline static Point3D operator*(const Point3D& a, double b)
{
    return Point3D(a.x * b, a.y * b, a.z * b);
}
inline static Point3D operator/(const Point3D& a, double b)
{
    return a * (1.0f / b);
}
inline static double dot(const Point3D& a, const Point3D& b)
{
    return a.x * b.x + a.y * b.y + a.z * b.z;
}
inline static double length(const Point3D& a)
{
    return sqrtf(dot(a, a));
}
inline static Point3D unit(const Point3D& a)
{
    return a / length(a);
}


struct Triangle3D
{
    Triangle3D()
    {}
    Triangle3D(Point3D& p1, Point3D& p2, Point3D& p3)
    {
        points[0] = p1;
        points[1] = p2;
        points[2] = p3;
    }
    Point3D points[3];
};

struct cLineSegment
{
    cLineSegment()
        : len(0)
        , lenXY(0)
    {}
    cLineSegment(Point3D& p1, Point3D& p2)
    {
        SetPoints(p1, p2);
    }
    void SetPoints(Point3D& p1, Point3D& p2);
    void PointAt(float dist, Point3D& retp);
    Point3D pStart;
    Point3D pDir;
    Point3D pDirXY;
    float len;
    float lenXY;
};

class cSimTool
{
public:
    cSimTool(const TopoDS_Shape& toolShape, float res);
    ~cSimTool()
    {}

    float GetToolProfileAt(float pos);
    bool isInside(const TopoDS_Shape& toolShape, Base::Vector3d pnt, float res);

    /* m_toolShape has to be populated with linearly increased
       radiusPos to get the tool profile at given position */
    std::vector<toolShapePoint> m_toolShape;
    float radius;
    float length;
};

template<class T>
class Array2D
{
public:
    Array2D()
        : data(nullptr)
        , height(0)
    {}

    ~Array2D()
    {
        if (data) {
            delete[] data;
        }
    }

    void Init(int x, int y)
    {
        data = new T[x * y];
        height = y;
    }

    T* operator[](int i)
    {
        return data + i * height;
    }

private:
    T* data;
    int height;
};

class cStock
{
public:
    cStock(float px, float py, float pz, float lx, float ly, float lz, float res);
    ~cStock();
    void Tessellate(Mesh::MeshObject& meshOuter, Mesh::MeshObject& meshInner);
    void CreatePocket(float x, float y, float rad, float height);
    void ApplyLinearTool(Point3D& p1, Point3D& p2, cSimTool& tool);
    void ApplyCircularTool(Point3D& p1, Point3D& p2, Point3D& cent, cSimTool& tool, bool isCCW);
    inline Point3D ToInner(Point3D& p)
    {
        return Point3D((p.x - m_px) / m_res, (p.y - m_py) / m_res, p.z);
    }

private:
    float FindRectTop(int& xp, int& yp, int& x_size, int& y_size, bool scanHoriz);
    void FindRectBot(int& xp, int& yp, int& x_size, int& y_size, bool scanHoriz);
    void SetFacetPoints(MeshCore::MeshGeomFacet& facet, Point3D& p1, Point3D& p2, Point3D& p3);
    void AddQuad(
        Point3D& p1,
        Point3D& p2,
        Point3D& p3,
        Point3D& p4,
        std::vector<MeshCore::MeshGeomFacet>& facets
    );
    int TesselTop(int x, int y);
    int TesselBot(int x, int y);
    int TesselSidesX(int yp);
    int TesselSidesY(int xp);
    Array2D<float> m_stock;
    Array2D<char> m_attr;
    float m_px, m_py, m_pz;  // stock zero position
    float m_lx, m_ly, m_lz;  // stock dimensions
    float m_res;             // resoulution
    float m_plane;           // stock plane height
    int m_x, m_y;            // stock array size
    std::vector<MeshCore::MeshGeomFacet> facetsOuter;
    std::vector<MeshCore::MeshGeomFacet> facetsInner;
};

class cVolSim
{
public:
    cVolSim();
    ~cVolSim();
    void CreateStock();

private:
    cStock* stock;
};

#endif  // PATHSIMULATOR_VolSim_H