New Cam simulator based on low level OpenGL functions (faster and more precise) (#13884)
* Initial opengl test window * added core files * some fixes for code comparability with other platforms * more compatibility cleanup * add missing opengl libraries * Basic simulation window works! * try using different define * fix wrapper for better compatibility * Gui is now operational * Finally SIM works on actual freecad models * support drill commands * cleanup python script and add tool profile generation * Now using actual tools specified in the operation. * support mouse wheel and freecad-style 3d navigation * Support accuracy gauge * remove endsimulation reference * show simulation speed indicator * apply clang-format * apply changes suggested by code review * gui items are loaded via QT resource system instead of hard coded * use vector instead of pointer to pass tool profile points * Fix some more formatting errors.
This commit is contained in:
Shai Seger
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src/Mod/CAM/PathSimulator/AppGL/MillPathSegment.cpp
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242
src/Mod/CAM/PathSimulator/AppGL/MillPathSegment.cpp
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/***************************************************************************
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* Copyright (c) 2024 Shai Seger <shaise at gmail> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#include "OpenGlWrapper.h"
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#include "MillPathSegment.h"
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#include "SimShapes.h"
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#include "linmath.h"
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#include "GlUtils.h"
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#include <iostream>
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#define N_MILL_SLICES 8
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#define MAX_SEG_DEG (PI / 2.0f) // 90 deg
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#define NIN_SEG_DEG (PI / 90.0f) // 2 deg
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#define SWEEP_ARC_PAD 1.05f
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#define PX 0
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#define PY 1
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#define PZ 2
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namespace MillSim
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{
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bool IsVerticalMotion(MillMotion* m1, MillMotion* m2)
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{
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return (m1->z != m2->z && EQ_FLOAT(m1->x, m2->x) && EQ_FLOAT(m1->y, m2->y));
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}
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bool IsArcMotion(MillMotion* m)
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{
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if (m->cmd != eRotateCCW && m->cmd != eRotateCW) {
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return false;
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}
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return fabs(m->i > EPSILON) || fabs(m->j) > EPSILON;
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}
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float MillPathSegment::mResolution = 1;
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float MillPathSegment::mSmallRadStep = (PI / 8);
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MillPathSegment::MillPathSegment(EndMill* _endmill, MillMotion* from, MillMotion* to)
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: mShearMat {1.0f,
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0.0f,
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0.0f,
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0.0f,
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0.0f,
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1.0f,
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0.0f,
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0.0f,
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0.0f,
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0.0f,
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1.0f,
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0.0f,
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0.0f,
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0.0f,
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0.0f,
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1.0f}
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{
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MotionPosToVec(mStartPos, from);
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MotionPosToVec(mDiff, to);
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vec3_sub(mDiff, mDiff, mStartPos);
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mXYDistance = sqrtf(mDiff[PX] * mDiff[PX] + mDiff[PY] * mDiff[PY]);
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mZDistance = fabsf(mDiff[PY]);
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mXYZDistance = sqrtf(mXYDistance * mXYDistance + mDiff[PZ] * mDiff[PZ]);
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mXYAngle = atan2f(mDiff[PY], mDiff[PX]);
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endmill = _endmill;
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mStartAngRad = mStepAngRad = 0;
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if (IsArcMotion(to)) {
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mMotionType = MTCurved;
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mRadius = sqrtf(to->j * to->j + to->i * to->i);
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mSmallRad = mRadius <= endmill->radius;
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if (mSmallRad) {
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mStepAngRad = mSmallRadStep;
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}
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else {
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mStepAngRad = asinf(mResolution / mRadius);
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if (mStepAngRad > MAX_SEG_DEG) {
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mStepAngRad = MAX_SEG_DEG;
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}
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else if (mStepAngRad < NIN_SEG_DEG) {
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mStepAngRad = NIN_SEG_DEG;
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}
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}
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MotionPosToVec(mCenter, from);
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mCenter[PX] += to->i;
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mCenter[PY] += to->j;
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mArcDir = to->cmd == eRotateCCW ? -1.f : 1.f;
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mStartAngRad = atan2f(mCenter[PX] - from->x, from->y - mCenter[PY]);
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float endAng = atan2f(mCenter[PX] - to->x, to->y - mCenter[PY]);
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mSweepAng = (mStartAngRad - endAng) * mArcDir;
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if (mSweepAng < EPSILON) {
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mSweepAng += PI * 2;
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}
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numSimSteps = (int)(mSweepAng / mStepAngRad) + 1;
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mStepAngRad = mArcDir * mSweepAng / numSimSteps;
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if (mSmallRad) {
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// when the radius is too small, we just use the tool itself to carve the stock
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mShape = endmill->toolShape;
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}
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else {
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endmill->GenerateArcSegmentDL(mRadius,
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mStepAngRad * SWEEP_ARC_PAD,
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mDiff[PZ] / numSimSteps,
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&mShape);
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numSimSteps++;
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}
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isMultyPart = true;
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}
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else {
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numSimSteps = (int)(mXYZDistance / mResolution);
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if (numSimSteps == 0) {
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numSimSteps = 1;
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}
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isMultyPart = false;
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mStepDistance = mXYDistance / numSimSteps;
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mStepLength[PX] = mDiff[PX];
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mStepLength[PY] = mDiff[PY];
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mStepLength[PZ] = mDiff[PZ];
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vec3_scale(mStepLength, mStepLength, 1.f / (float)numSimSteps);
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if (IsVerticalMotion(from, to)) {
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mMotionType = MTVertical;
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}
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else {
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mMotionType = MTHorizontal;
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mShearMat[0][2] = mDiff[PZ] / mXYDistance;
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}
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}
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}
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MillPathSegment::~MillPathSegment()
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{
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mShape.FreeResources();
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}
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void MillPathSegment::render(int step)
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{
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mStepNumber = step;
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mat4x4 mat, mat2, rmat;
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mat4x4_identity(mat);
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mat4x4_identity(rmat);
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if (mMotionType == MTCurved) {
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mat4x4_translate_in_place(mat,
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mCenter[PX],
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mCenter[PY],
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mCenter[PZ] + mDiff[PZ] * (step - 1) / numSimSteps);
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mat4x4_rotate_Z(mat, mat, mStartAngRad - (step - 1) * mStepAngRad);
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mat4x4_rotate_Z(rmat, rmat, mStartAngRad - (step - 1) * mStepAngRad);
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if (mSmallRad || step == numSimSteps) {
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mat4x4_translate_in_place(mat, 0, mRadius, 0);
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endmill->toolShape.Render(mat, rmat);
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}
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else {
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mShape.Render(mat, rmat);
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}
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}
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else {
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if (mMotionType == MTVertical) {
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if (mStepLength[PZ] > 0) {
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mat4x4_translate_in_place_v(mat, mStartPos);
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}
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else {
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mat4x4_translate_in_place(mat,
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mStartPos[PX],
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mStartPos[PY],
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mStartPos[PZ] + mStepNumber * mStepLength[PZ]);
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}
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endmill->toolShape.Render(mat, rmat);
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}
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else {
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float renderDist = step * mStepDistance;
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mat4x4_translate_in_place_v(mat, mStartPos);
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mat4x4_rotate_Z(mat, mat, mXYAngle);
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mat4x4_rotate_Z(rmat, rmat, mXYAngle);
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mat4x4_dup(mat2, mat);
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if (mDiff[PZ] != 0.0) {
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mat4x4_mul(mat2, mat2, mShearMat);
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}
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mat4x4_scale_aniso(mat2, mat2, renderDist, 1, 1);
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endmill->pathShape.Render(mat2, rmat);
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mat4x4_translate_in_place(mat, renderDist, 0, mDiff[PZ]);
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endmill->halfToolShape.Render(mat, rmat);
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}
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}
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}
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void MillPathSegment::GetHeadPosition(vec3 headPos)
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{
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if (mMotionType == MTCurved) {
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float angRad = mStartAngRad - mStepNumber * mStepAngRad;
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vec3_set(mHeadPos, -mRadius * sinf(angRad), mRadius * cosf(angRad), 0);
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vec3_add(mHeadPos, mHeadPos, mCenter);
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}
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else {
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vec3_dup(mHeadPos, mStepLength);
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vec3_scale(mHeadPos, mHeadPos, (float)mStepNumber);
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vec3_add(mHeadPos, mHeadPos, mStartPos);
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}
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vec3_dup(headPos, mHeadPos);
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}
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float MillPathSegment::SetQuality(float quality, float maxStockDimension)
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{
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mResolution = maxStockDimension * 0.05 / quality;
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if (mResolution > 4) {
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mResolution = 4;
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}
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if (mResolution < 0.5) {
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mResolution = 0.5;
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}
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mSmallRadStep = PI / 8;
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if (quality < 4) {
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mSmallRadStep = PI / 2;
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}
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else if (quality < 8) {
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mSmallRadStep = PI / 4;
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}
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return mResolution;
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}
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} // namespace MillSim
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