C++ PolygonRef类代码示例

void GCodeExport::writeMove(int x, int y, int z, double speed, double extrusion_mm3_per_mm)
{
    if (currentPosition.x == x && currentPosition.y == y && currentPosition.z == z)
        return;

#ifdef ASSERT_INSANE_OUTPUT
    assert(speed < 200 && speed > 1); // normal F values occurring in UM2 gcode (this code should not be compiled for release)
    assert(currentPosition != no_point3);
    assert((Point3(x,y,z) - currentPosition).vSize() < MM2INT(300)); // no crazy positions (this code should not be compiled for release)
#endif //ASSERT_INSANE_OUTPUT

    if (extrusion_mm3_per_mm < 0)
        logWarning("Warning! Negative extrusion move!");

    if (flavor == EGCodeFlavor::BFB)
    {
        writeMoveBFB(x, y, z, speed, extrusion_mm3_per_mm);
        return;
    }

    double extrusion_per_mm = extrusion_mm3_per_mm;
    if (!is_volumatric)
    {
        extrusion_per_mm = extrusion_mm3_per_mm / extruder_attr[current_extruder].filament_area;
    }

    Point gcode_pos = getGcodePos(x,y, current_extruder);

    if (extrusion_mm3_per_mm > 0.000001)
    {
        Point3 diff = Point3(x,y,z) - getPosition();
        if (isZHopped > 0)
        {
            *output_stream << std::setprecision(3) << "G1 Z" << INT2MM(currentPosition.z) << "\n";
            isZHopped = 0;
        }
        double prime_volume = extruder_attr[current_extruder].prime_volume;
        current_e_value += (is_volumatric) ? prime_volume : prime_volume / extruder_attr[current_extruder].filament_area;   
        if (extruder_attr[current_extruder].retraction_e_amount_current)
        {
            if (firmware_retract)
            { // note that BFB is handled differently
                *output_stream << "G11\n";
                //Assume default UM2 retraction settings.
                if (prime_volume > 0)
                {
                    *output_stream << "G1 F" << (extruder_attr[current_extruder].last_retraction_prime_speed * 60) << " " << extruder_attr[current_extruder].extruderCharacter << std::setprecision(5) << current_e_value << "\n";
                    currentSpeed = extruder_attr[current_extruder].last_retraction_prime_speed;
                }
                estimateCalculator.plan(TimeEstimateCalculator::Position(INT2MM(currentPosition.x), INT2MM(currentPosition.y), INT2MM(currentPosition.z), current_e_value), 25.0);
            }
            else
            {
                current_e_value += extruder_attr[current_extruder].retraction_e_amount_current;
                *output_stream << "G1 F" << (extruder_attr[current_extruder].last_retraction_prime_speed * 60) << " " << extruder_attr[current_extruder].extruderCharacter << std::setprecision(5) << current_e_value << "\n";
                currentSpeed = extruder_attr[current_extruder].last_retraction_prime_speed;
                estimateCalculator.plan(TimeEstimateCalculator::Position(INT2MM(currentPosition.x), INT2MM(currentPosition.y), INT2MM(currentPosition.z), current_e_value), currentSpeed);
            }
            if (getCurrentExtrudedVolume() > 10000.0) //According to https://github.com/Ultimaker/CuraEngine/issues/14 having more then 21m of extrusion causes inaccuracies. So reset it every 10m, just to be sure.
            {
                resetExtrusionValue();
            }
            extruder_attr[current_extruder].retraction_e_amount_current = 0.0;
        }
        else if (prime_volume > 0.0)
        {
            current_e_value += prime_volume;
            *output_stream << "G1 F" << (extruder_attr[current_extruder].last_retraction_prime_speed * 60) << " " << extruder_attr[current_extruder].extruderCharacter << std::setprecision(5) << current_e_value << "\n";
            currentSpeed = extruder_attr[current_extruder].last_retraction_prime_speed;
            estimateCalculator.plan(TimeEstimateCalculator::Position(INT2MM(currentPosition.x), INT2MM(currentPosition.y), INT2MM(currentPosition.z), current_e_value), currentSpeed);
        }
        extruder_attr[current_extruder].prime_volume = 0.0;
        current_e_value += extrusion_per_mm * diff.vSizeMM();
        *output_stream << "G1";
    }
    else
    {
        *output_stream << "G0";
                
        if (commandSocket) 
        {
            // we should send this travel as a non-retraction move
            cura::Polygons travelPoly;
            PolygonRef travel = travelPoly.newPoly();
            travel.add(Point(currentPosition.x, currentPosition.y));
            travel.add(Point(x, y));
            commandSocket->sendPolygons(extruder_attr[current_extruder].retraction_e_amount_current ? PrintFeatureType::MoveRetraction : PrintFeatureType::MoveCombing, layer_nr, travelPoly, extruder_attr[current_extruder].retraction_e_amount_current ? MM2INT(0.2) : MM2INT(0.1));
        }                    
    }

    if (currentSpeed != speed)
    {
        *output_stream << " F" << (speed * 60);
        currentSpeed = speed;
    }

    *output_stream << std::setprecision(3) << 
        " X" << INT2MM(gcode_pos.X) << 
        " Y" << INT2MM(gcode_pos.Y);
    if (z != currentPosition.z + isZHopped)
//.........这里部分代码省略.........

  void generateTroctInfill(const Polygons& in_outline, Polygons& result, int extrusionWidth, int lineSpacing, int infillOverlap, double rotation, int posZ)
  {
    Polygons outline = in_outline.offset(extrusionWidth * infillOverlap / 100);
    PointMatrix matrix(rotation);
    outline.applyMatrix(matrix);
    AABB boundary(outline);

    // ignore infill for areas smaller than line spacing
    if((abs(boundary.min.X - boundary.max.X) + abs(boundary.min.Y - boundary.max.Y)) < lineSpacing){
      return;
    }

    // fix to normalise against diagonal infill
    lineSpacing = lineSpacing * 2;

    uint64_t Zscale = SQRT2MUL(lineSpacing);

    int offset = abs(posZ % (Zscale) - (Zscale/2)) - (Zscale/4);
    boundary.min.X = ((boundary.min.X / lineSpacing) - 1) * lineSpacing;
    boundary.min.Y = ((boundary.min.Y / lineSpacing) - 1) * lineSpacing;

    unsigned int lineCountX = (boundary.max.X - boundary.min.X + (lineSpacing - 1)) / lineSpacing;
    unsigned int lineCountY = (boundary.max.Y - boundary.min.Y + (lineSpacing - 1)) / lineSpacing;
    int rtMod = int(rotation / 90) % 2;
    // with an odd number of lines, sides need to be swapped around
    if(rtMod == 1){
      rtMod = (lineCountX + int(rotation / 90)) % 2;
    }

    // draw non-horizontal walls of octohedrons
    Polygons po;
    PolygonRef p = po.newPoly();
    for(unsigned int ly=0; ly < lineCountY;){
      for(size_t it = 0; it < 2; ly++, it++){
        int side = (2*((ly + it + rtMod) % 2) - 1);
        int y = (ly * lineSpacing) + boundary.min.Y + lineSpacing / 2 - (offset/2 * side);
        int x = boundary.min.X-(offset/2);
        if(it == 1){
          x = (lineCountX * (lineSpacing)) + boundary.min.X + lineSpacing / 2 - (offset/2);
        }
        p.add(Point(x,y));
        for(unsigned int lx=0; lx < lineCountX; lx++){
          if(it == 1){
            side = (2*((lx + ly + it + rtMod + lineCountX) % 2) - 1);
            y = (ly * lineSpacing) + boundary.min.Y + lineSpacing / 2 + (offset/2 * side);
            x = ((lineCountX - lx - 1) * lineSpacing) + boundary.min.X + lineSpacing / 2;
            p.add(Point(x+lineSpacing-abs(offset/2), y));
            p.add(Point(x+abs(offset/2), y));
          } else {
            side = (2*((lx + ly + it + rtMod) % 2) - 1);
            y = (ly * lineSpacing) + boundary.min.Y + lineSpacing / 2 + (offset/2 * side);
            x = (lx * lineSpacing) + boundary.min.X + lineSpacing / 2;
            p.add(Point(x+abs(offset/2), y));
            p.add(Point(x+lineSpacing-abs(offset/2), y));
          }
        }
        x = (lineCountX * lineSpacing) + boundary.min.X + lineSpacing / 2 - (offset/2);
        if(it == 1){
          x = boundary.min.X-(offset/2);
        }
        y = (ly * lineSpacing) + boundary.min.Y + lineSpacing / 2 - (offset/2 * side);
        p.add(Point(x,y));
      }
    }
    // Generate tops / bottoms of octohedrons
    if(abs((abs(offset) - Zscale/4)) < (extrusionWidth/2)){
      uint64_t startLine = (offset < 0) ? 0 : 1;
      uint64_t coverWidth = OCTSLEN(lineSpacing);
      vector<Point> points;
      for(size_t xi = 0; xi < (lineCountX+1); xi++){
        for(size_t yi = 0; yi < (lineCountY); yi += 2){
          points.push_back(Point(boundary.min.X + OCTDLEN(lineSpacing)
                                 + (xi - startLine + rtMod) * lineSpacing,
                                 boundary.min.Y + OCTDLEN(lineSpacing)
                                 + (yi + (xi%2)) * lineSpacing
                                 + extrusionWidth/2));
        }
      }
      uint64_t order = 0;
      for(Point pp : points){
        PolygonRef p = po.newPoly();
        for(size_t yi = 0; yi <= coverWidth; yi += extrusionWidth) {
          if(order == 0){
            p.add(Point(pp.X, pp.Y + yi));
            p.add(Point(pp.X + coverWidth + extrusionWidth, pp.Y + yi));
          } else {
            p.add(Point(pp.X + coverWidth + extrusionWidth, pp.Y + yi));
            p.add(Point(pp.X, pp.Y + yi));
          }
          order = (order + 1) % 2;
        }
      }
    }
    // intersect with outline polygon(s)
    Polygons pi = po.intersection(outline);
    // Hack to add intersection to result. There doesn't seem
    // to be a direct way to do this
    for(unsigned int polyNr=0; polyNr < pi.size(); polyNr++) {
      PolygonRef p = result.newPoly(); //  = result.newPoly()
      for(unsigned int i=0; i < pi[polyNr].size(); i++) {
//.........这里部分代码省略.........

void AreaSupport::handleWallStruts(
    Polygons& supportLayer_this,
    int supportMinAreaSqrt,
    int supportTowerDiameter
    )
{
    for (unsigned int p = 0; p < supportLayer_this.size(); p++)
    {
        PolygonRef poly = supportLayer_this[p];
        if (poly.size() < 6) // might be a single wall
        {
            PolygonRef poly = supportLayer_this[p];
            int best = -1;
            int best_length2 = -1;
            for (unsigned int i = 0; i < poly.size(); i++)
            {
                int length2 = vSize2(poly[i] - poly[(i+1) % poly.size()]);
                if (length2 > best_length2)
                {
                    best = i;
                    best_length2 = length2;
                }
            }
            
            if (best_length2 < supportMinAreaSqrt * supportMinAreaSqrt)
                break; // this is a small area, not a wall!
                
            
            // an estimate of the width of the area
            int width = sqrt( poly.area() * poly.area() / best_length2 ); // sqrt (a^2 / l^2) instead of a / sqrt(l^2)
            
            // add square tower (strut) in the middle of the wall
            if (width < supportMinAreaSqrt)
            {
                Point mid = (poly[best] + poly[(best+1) % poly.size()] ) / 2;
                Polygons struts;
                PolygonRef strut = struts.newPoly();
                strut.add(mid + Point( supportTowerDiameter/2,  supportTowerDiameter/2));
                strut.add(mid + Point(-supportTowerDiameter/2,  supportTowerDiameter/2));
                strut.add(mid + Point(-supportTowerDiameter/2, -supportTowerDiameter/2));
                strut.add(mid + Point( supportTowerDiameter/2, -supportTowerDiameter/2));
                supportLayer_this = supportLayer_this.unionPolygons(struts);
            }
        }
    }
}

//.........这里部分代码省略.........
            // (Trick copied from KISSlicer, thanks Jonathan)
            fspeed *= (rpm / (roundf(rpm * 100) / 100));

            //Increase the extrusion amount to calculate the amount of filament used.
            Point3 diff = Point3(x,y,z) - getPosition();
            
            extrusion_amount += extrusion_per_mm * diff.vSizeMM();
        }else{
            //If we are not extruding, check if we still need to disable the extruder. This causes a retraction due to auto-retraction.
            if (!isRetracted)
            {
                *output_stream << "M103\r\n";
                isRetracted = true;
            }
        }
        *output_stream << std::setprecision(3) << 
            "G1 X" << INT2MM(gcode_pos.X) << 
            " Y" << INT2MM(gcode_pos.Y) << 
            " Z" << INT2MM(z) << std::setprecision(1) << " F" << fspeed << "\r\n";
    }
    else
    {
        //Normal E handling.
        
        if (extrusion_mm3_per_mm > 0.000001)
        {
            Point3 diff = Point3(x,y,z) - getPosition();
            if (isZHopped > 0)
            {
                // TinyG G1: Straight feed
                *output_stream << std::setprecision(3) << "G1 Z" << INT2MM(currentPosition.z) << "\n";
                isZHopped = 0;
            }
            extrusion_amount += (is_volumatric) ? last_coasted_amount_mm3 : last_coasted_amount_mm3 / getFilamentArea(current_extruder);   
            if (isRetracted)
            {
                if (flavor == EGCodeFlavor::ULTIGCODE || flavor == EGCodeFlavor::REPRAP_VOLUMATRIC)
                {
                    *output_stream << "G11\n"; //TODO try this code and see what happens
                    //Assume default UM2 retraction settings.
                    if (last_coasted_amount_mm3 > 0)
                    {
                        *output_stream << "G1 F" << (retractionPrimeSpeed * 60) << " " << extruder_attr[current_extruder].extruderCharacter << std::setprecision(5) << extrusion_amount << "\n";
                    }
                    estimateCalculator.plan(TimeEstimateCalculator::Position(INT2MM(currentPosition.x), INT2MM(currentPosition.y), INT2MM(currentPosition.z), extrusion_amount), 25.0);
                }else{
                    // TinyG checked
                    *output_stream << "G1 F" << (retractionPrimeSpeed * 60) << " " << extruder_attr[current_extruder].extruderCharacter << std::setprecision(5) << extrusion_amount << "\n";
                    currentSpeed = retractionPrimeSpeed;
                    estimateCalculator.plan(TimeEstimateCalculator::Position(INT2MM(currentPosition.x), INT2MM(currentPosition.y), INT2MM(currentPosition.z), extrusion_amount), currentSpeed);
                }
                if (getExtrusionAmountMM3(current_extruder) > 10000.0) //According to https://github.com/Ultimaker/CuraEngine/issues/14 having more then 21m of extrusion causes inaccuracies. So reset it every 10m, just to be sure.
                    resetExtrusionValue();
                isRetracted = false;
            }
            else 
            {
                if (last_coasted_amount_mm3 > 0)
                {
                    *output_stream << "G1 F" << (retractionPrimeSpeed * 60) << " " << extruder_attr[current_extruder].extruderCharacter << std::setprecision(5) << extrusion_amount << "\n";
                    estimateCalculator.plan(TimeEstimateCalculator::Position(INT2MM(currentPosition.x), INT2MM(currentPosition.y), INT2MM(currentPosition.z), extrusion_amount), currentSpeed);
                }
            }
            last_coasted_amount_mm3 = 0;
            extrusion_amount += extrusion_per_mm * diff.vSizeMM();
            // TinyG TODO: add one axis
            *output_stream << "G1";
        }else{
            *output_stream << "G0";
                    
            if (commandSocket) {
                // we should send this travel as a non-retraction move
                cura::Polygons travelPoly;
                PolygonRef travel = travelPoly.newPoly();
                travel.add(Point(currentPosition.x, currentPosition.y));
                travel.add(Point(x, y));
                commandSocket->sendPolygons(isRetracted ? MoveRetractionType : MoveCombingType, layer_nr, travelPoly, isRetracted ? MM2INT(0.2) : MM2INT(0.1));
            }                    
        }

        if (currentSpeed != speed)
        {
            *output_stream << " F" << (speed * 60);
            currentSpeed = speed;
        }

        *output_stream << std::setprecision(3) << 
            " X" << INT2MM(gcode_pos.X) << 
            " Y" << INT2MM(gcode_pos.Y);
        if (z != currentPosition.z)
            *output_stream << " Z" << INT2MM(z + isZHopped);
        if (extrusion_mm3_per_mm > 0.000001)
            *output_stream << " " << extruder_attr[current_extruder].extruderCharacter << std::setprecision(5) << extrusion_amount;
        *output_stream << "\n";
    }
    
    currentPosition = Point3(x, y, z);
    startPosition = currentPosition;
    estimateCalculator.plan(TimeEstimateCalculator::Position(INT2MM(currentPosition.x), INT2MM(currentPosition.y), INT2MM(currentPosition.z), extrusion_amount), speed);
}

void PathOrderOptimizer::optimize()
{
    std::vector<bool> picked;
    for(unsigned int i=0;i<polygons.size(); i++)
    {
        int best = -1;
        float bestDist = 0xFFFFFFFFFFFFFFFFLL;
        PolygonRef poly = polygons[i];
        for(unsigned int j=0; j<poly.size(); j++)
        {
            float dist = vSize2f(poly[j] - startPoint);
            if (dist < bestDist)
            {
                best = j;
                bestDist = dist;
            }
        }
        polyStart.push_back(best);
        picked.push_back(false);
    }

    Point p0 = startPoint;
    for(unsigned int n=0; n<polygons.size(); n++)
    {
        int best = -1;
        float bestDist = 0xFFFFFFFFFFFFFFFFLL;
        for(unsigned int i=0;i<polygons.size(); i++)
        {
            if (picked[i] || polygons[i].size() < 1)
                continue;
            if (polygons[i].size() == 2)
            {
                float dist = vSize2f(polygons[i][0] - p0);
                if (dist < bestDist)
                {
                    best = i;
                    bestDist = dist;
                    polyStart[i] = 0;
                }
                dist = vSize2f(polygons[i][1] - p0);
                if (dist < bestDist)
                {
                    best = i;
                    bestDist = dist;
                    polyStart[i] = 1;
                }
            }else{
                float dist = vSize2f(polygons[i][polyStart[i]] - p0);
                if (dist < bestDist)
                {
                    best = i;
                    bestDist = dist;
                }
            }
        }
        if (best > -1)
        {
            if (polygons[best].size() == 2)
            {
                p0 = polygons[best][(polyStart[best] + 1) % 2];
            }else{
                p0 = polygons[best][polyStart[best]];
            }
            picked[best] = true;
            polyOrder.push_back(best);
        }
    }
    
    p0 = startPoint;
    for(unsigned int n=0; n<polyOrder.size(); n++)
    {
        int nr = polyOrder[n];
        int best = -1;
        float bestDist = 0xFFFFFFFFFFFFFFFFLL;
        for(unsigned int i=0;i<polygons[nr].size(); i++)
        {
            float dist = vSize2f(polygons[nr][i] - p0);
            if (dist < bestDist)
            {
                best = i;
                bestDist = dist;
            }
        }
        polyStart[nr] = best;
        if (polygons[nr].size() <= 2)
        {
            p0 = polygons[nr][(best + 1) % 2];
        }else{
            p0 = polygons[nr][best];
        }
    }
}

void generateZigZagIninfill_noEndPieces(const Polygons& in_outline, Polygons& result, int extrusionWidth, int lineSpacing, double infillOverlap, double rotation)
{
    if (in_outline.size() == 0) return;
    Polygons outline = in_outline.offset(extrusionWidth * infillOverlap / 100 - extrusionWidth / 2);
    if (outline.size() == 0) return;
    
    PointMatrix matrix(rotation);
    
    outline.applyMatrix(matrix);
    
    auto addLine = [&](Point from, Point to)
    {            
        PolygonRef p = result.newPoly();
        p.add(matrix.unapply(from));
        p.add(matrix.unapply(to));
    };   
        
    AABB boundary(outline);
    
    int scanline_min_idx = boundary.min.X / lineSpacing;
    int lineCount = (boundary.max.X + (lineSpacing - 1)) / lineSpacing - scanline_min_idx;
    
    std::vector<std::vector<int64_t> > cutList; // mapping from scanline to all intersections with polygon segments
    
    for(int n=0; n<lineCount; n++)
        cutList.push_back(std::vector<int64_t>());
    for(unsigned int polyNr=0; polyNr < outline.size(); polyNr++)
    {
        std::vector<Point> firstBoundarySegment;
        std::vector<Point> boundarySegment;
        
        bool isFirstBoundarySegment = true;
        bool firstBoundarySegmentEndsInEven;
        
        bool isEvenScanSegment = false; 
        
        
        Point p0 = outline[polyNr][outline[polyNr].size()-1];
        for(unsigned int i=0; i < outline[polyNr].size(); i++)
        {
            Point p1 = outline[polyNr][i];
            int64_t xMin = p1.X, xMax = p0.X;
            if (xMin == xMax) {
                p0 = p1;
                continue; 
            }
            if (xMin > xMax) { xMin = p0.X; xMax = p1.X; }
            
            int scanline_idx0 = (p0.X + ((p0.X > 0)? -1 : -lineSpacing)) / lineSpacing; // -1 cause a linesegment on scanline x counts as belonging to scansegment x-1   ...
            int scanline_idx1 = (p1.X + ((p1.X > 0)? -1 : -lineSpacing)) / lineSpacing; // -linespacing because a line between scanline -n and -n-1 belongs to scansegment -n-1 (for n=positive natural number)
            int direction = 1;
            if (p0.X > p1.X) 
            { 
                direction = -1; 
                scanline_idx1 += 1; // only consider the scanlines in between the scansegments
            } else scanline_idx0 += 1; // only consider the scanlines in between the scansegments
            
            
            if (isFirstBoundarySegment) firstBoundarySegment.push_back(p0);
            else boundarySegment.push_back(p0);
            for(int scanline_idx = scanline_idx0; scanline_idx != scanline_idx1+direction; scanline_idx+=direction)
            {
                int x = scanline_idx * lineSpacing;
                int y = p1.Y + (p0.Y - p1.Y) * (x - p1.X) / (p0.X - p1.X);
                cutList[scanline_idx - scanline_min_idx].push_back(y);
                
                
                bool last_isEvenScanSegment = isEvenScanSegment;
                if (scanline_idx % 2 == 0) isEvenScanSegment = true;
                else isEvenScanSegment = false;
                
                if (!isFirstBoundarySegment)
                {
                    if (last_isEvenScanSegment && !isEvenScanSegment)
                    { // add whole boundarySegment (including the just obtained point)
                        for (unsigned int p = 1; p < boundarySegment.size(); p++)
                        {
                            addLine(boundarySegment[p-1], boundarySegment[p]);
                        }
                        addLine(boundarySegment[boundarySegment.size()-1], Point(x,y));
                        boundarySegment.clear();
                    } 
                    else if (isEvenScanSegment) // we are either in an end piece or an uneven boundary segment
                    {
                        boundarySegment.clear();
                        boundarySegment.emplace_back(x,y);
                    } else
                        boundarySegment.clear();
                        
                }
                
                if (isFirstBoundarySegment) 
                {
                    firstBoundarySegment.emplace_back(x,y);
                    firstBoundarySegmentEndsInEven = isEvenScanSegment;
                    isFirstBoundarySegment = false;
                    boundarySegment.emplace_back(x,y);
                }
                
            }
//.........这里部分代码省略.........

//.........这里部分代码省略.........
                    if (res.len > 0 && res.len < bestResult.len)
                    {
                        bestA = i;
                        bestB = i;
                        bestResult = res;
                    }
                }

                for(unsigned int j=0; j<openPolygonList.size(); j++)
                {
                    if (openPolygonList[j].size() < 1 || i == j) continue;
                    
                    gapCloserResult res = findPolygonGapCloser(openPolygonList[i][0], openPolygonList[j][openPolygonList[j].size()-1]);
                    if (res.len > 0 && res.len < bestResult.len)
                    {
                        bestA = i;
                        bestB = j;
                        bestResult = res;
                    }
                }
            }
            
            if (bestResult.len < LLONG_MAX)
            {
                if (bestA == bestB)
                {
                    if (bestResult.pointIdxA == bestResult.pointIdxB)
                    {
                        polygonList.add(openPolygonList[bestA]);
                        openPolygonList[bestA].clear();
                    }
                    else if (bestResult.AtoB)
                    {
                        PolygonRef poly = polygonList.newPoly();
                        for(unsigned int j = bestResult.pointIdxA; j != bestResult.pointIdxB; j = (j + 1) % polygonList[bestResult.polygonIdx].size())
                            poly.add(polygonList[bestResult.polygonIdx][j]);
                        for(unsigned int j = openPolygonList[bestA].size() - 1; int(j) >= 0; j--)
                            poly.add(openPolygonList[bestA][j]);
                        openPolygonList[bestA].clear();
                    }
                    else
                    {
                        unsigned int n = polygonList.size();
                        polygonList.add(openPolygonList[bestA]);
                        for(unsigned int j = bestResult.pointIdxB; j != bestResult.pointIdxA; j = (j + 1) % polygonList[bestResult.polygonIdx].size())
                            polygonList[n].add(polygonList[bestResult.polygonIdx][j]);
                        openPolygonList[bestA].clear();
                    }
                }
                else
                {
                    if (bestResult.pointIdxA == bestResult.pointIdxB)
                    {
                        for(unsigned int n=0; n<openPolygonList[bestA].size(); n++)
                            openPolygonList[bestB].add(openPolygonList[bestA][n]);
                        openPolygonList[bestA].clear();
                    }
                    else if (bestResult.AtoB)
                    {
                        Polygon poly;
                        for(unsigned int n = bestResult.pointIdxA; n != bestResult.pointIdxB; n = (n + 1) % polygonList[bestResult.polygonIdx].size())
                            poly.add(polygonList[bestResult.polygonIdx][n]);
                        for(unsigned int n=poly.size()-1;int(n) >= 0; n--)
                            openPolygonList[bestB].add(poly[n]);
                        for(unsigned int n=0; n<openPolygonList[bestA].size(); n++)
                            openPolygonList[bestB].add(openPolygonList[bestA][n]);

/* 
 * algorithm:
 * 1. for each line segment of each polygon:
 *      store the intersections of that line segment with all scanlines in a mapping (vector of vectors) from scanline to intersections
 *      (zigzag): add boundary segments to result
 * 2. for each scanline:
 *      sort the associated intersections 
 *      and connect them using the even-odd rule
 * 
 * rough explanation of the zigzag algorithm:
 * while walking around (each) polygon (1.)
 *  if polygon intersects with even scanline
 *      start boundary segment (add each following segment to the [result])
 *  when polygon intersects with a scanline again
 *      stop boundary segment (stop adding segments to the [result])
 *  (see infill/ZigzagConnectorProcessor.h for actual implementation details)
 * 
 * 
 * we call the areas between two consecutive scanlines a 'scansegment'.
 * Scansegment x is the area between scanline x and scanline x+1
 * Edit: the term scansegment is wrong, since I call a boundary segment leaving from an even scanline to the left as belonging to an even scansegment, 
 *  while I also call a boundary segment leaving from an even scanline toward the right as belonging to an even scansegment.
 */
void Infill::generateLinearBasedInfill(const int outline_offset, Polygons& result, const int line_distance, const PointMatrix& rotation_matrix, ZigzagConnectorProcessor& zigzag_connector_processor, const bool connected_zigzags, int64_t extra_shift)
{
    if (line_distance == 0)
    {
        return;
    }
    if (in_outline.size() == 0)
    {
        return;
    }

    int shift = extra_shift + this->shift;

    Polygons outline;
    if (outline_offset != 0)
    {
        outline = in_outline.offset(outline_offset);
        if (perimeter_gaps)
        {
            perimeter_gaps->add(in_outline.difference(outline.offset(infill_line_width / 2 + perimeter_gaps_extra_offset)));
        }
    }
    else
    {
        outline = in_outline;
    }

    outline = outline.offset(infill_overlap);

    if (outline.size() == 0)
    {
        return;
    }

    outline.applyMatrix(rotation_matrix);

    if (shift < 0)
    {
        shift = line_distance - (-shift) % line_distance;
    }
    else
    {
        shift = shift % line_distance;
    }

    AABB boundary(outline);

    int scanline_min_idx = computeScanSegmentIdx(boundary.min.X - shift, line_distance);
    int line_count = computeScanSegmentIdx(boundary.max.X - shift, line_distance) + 1 - scanline_min_idx;

    std::vector<std::vector<int64_t> > cut_list; // mapping from scanline to all intersections with polygon segments

    for(int scanline_idx = 0; scanline_idx < line_count; scanline_idx++)
    {
        cut_list.push_back(std::vector<int64_t>());
    }

    for(unsigned int poly_idx = 0; poly_idx < outline.size(); poly_idx++)
    {
        PolygonRef poly = outline[poly_idx];
        Point p0 = poly.back();
        zigzag_connector_processor.registerVertex(p0); // always adds the first point to ZigzagConnectorProcessorEndPieces::first_zigzag_connector when using a zigzag infill type
        for(unsigned int point_idx = 0; point_idx < poly.size(); point_idx++)
        {
            Point p1 = poly[point_idx];
            if (p1.X == p0.X)
            {
                zigzag_connector_processor.registerVertex(p1); 
                // TODO: how to make sure it always adds the shortest line? (in order to prevent overlap with the zigzag connectors)
                // note: this is already a problem for normal infill, but hasn't really cothered anyone so far.
                p0 = p1;
                continue; 
            }

            int scanline_idx0;
            int scanline_idx1;
            // this way of handling the indices takes care of the case where a boundary line segment ends exactly on a scanline:
//.........这里部分代码省略.........

//.........这里部分代码省略.........
                    if (res.len > 0 && res.len < bestResult.len)
                    {
                        bestA = i;
                        bestB = i;
                        bestResult = res;
                    }
                }

                for(unsigned int j=0; j<openPolygonList.size(); j++)
                {
                    if (openPolygonList[j].size() < 1 || i == j) continue;
                    
                    gapCloserResult res = findPolygonGapCloser(openPolygonList[i][0], openPolygonList[j][openPolygonList[j].size()-1]);
                    if (res.len > 0 && res.len < bestResult.len)
                    {
                        bestA = i;
                        bestB = j;
                        bestResult = res;
                    }
                }
            }
            
            if (bestResult.len < POINT_MAX)
            {
                if (bestA == bestB)
                {
                    if (bestResult.pointIdxA == bestResult.pointIdxB)
                    {
                        polygonList.add(openPolygonList[bestA]);
                        openPolygonList[bestA].clear();
                    }
                    else if (bestResult.AtoB)
                    {
                        PolygonRef poly = polygonList.newPoly();
                        for(unsigned int j = bestResult.pointIdxA; j != bestResult.pointIdxB; j = (j + 1) % polygonList[bestResult.polygonIdx].size())
                            poly.add(polygonList[bestResult.polygonIdx][j]);
                        for(unsigned int j = openPolygonList[bestA].size() - 1; int(j) >= 0; j--)
                            poly.add(openPolygonList[bestA][j]);
                        openPolygonList[bestA].clear();
                    }
                    else
                    {
                        unsigned int n = polygonList.size();
                        polygonList.add(openPolygonList[bestA]);
                        for(unsigned int j = bestResult.pointIdxB; j != bestResult.pointIdxA; j = (j + 1) % polygonList[bestResult.polygonIdx].size())
                            polygonList[n].add(polygonList[bestResult.polygonIdx][j]);
                        openPolygonList[bestA].clear();
                    }
                }
                else
                {
                    if (bestResult.pointIdxA == bestResult.pointIdxB)
                    {
                        for(unsigned int n=0; n<openPolygonList[bestA].size(); n++)
                            openPolygonList[bestB].add(openPolygonList[bestA][n]);
                        openPolygonList[bestA].clear();
                    }
                    else if (bestResult.AtoB)
                    {
                        Polygon poly;
                        for(unsigned int n = bestResult.pointIdxA; n != bestResult.pointIdxB; n = (n + 1) % polygonList[bestResult.polygonIdx].size())
                            poly.add(polygonList[bestResult.polygonIdx][n]);
                        for(unsigned int n=poly.size()-1;int(n) >= 0; n--)
                            openPolygonList[bestB].add(poly[n]);
                        for(unsigned int n=0; n<openPolygonList[bestA].size(); n++)
                            openPolygonList[bestB].add(openPolygonList[bestA][n]);

unsigned int moveInside(Polygons& polygons, Point& from, int distance, int64_t maxDist2)
{
    Point ret = from;
    int64_t bestDist2 = maxDist2;
    unsigned int bestPoly = NO_INDEX;
    for (unsigned int poly_idx = 0; poly_idx < polygons.size(); poly_idx++)
    {
        PolygonRef poly = polygons[poly_idx];
        if (poly.size() < 2)
            continue;
        Point p0 = poly[poly.size()-2];
        Point p1 = poly.back();
        bool projected_p_beyond_prev_segment = dot(p1 - p0, from - p0) > vSize2(p1 - p0);
        for(Point& p2 : poly)
        {   
            // X = A + Normal( B - A ) * ((( B - A ) dot ( P - A )) / VSize( A - B ));
            // X = P projected on AB
            Point& a = p1;
            Point& b = p2;
            Point& p = from;
            Point ab = b - a;
            Point ap = p - a;
            int64_t ab_length = vSize(ab);
            int64_t ax_length = dot(ab, ap) / ab_length;
            if (ax_length < 0) // x is projected to before ab
            {
                if (projected_p_beyond_prev_segment)
                { //  case which looks like:   > .
                    projected_p_beyond_prev_segment = false;
                    Point& x = p1;
                    
                    int64_t dist2 = vSize2(x - p);
                    if (dist2 < bestDist2)
                    {
                        bestDist2 = dist2;
                        if (distance == 0) { ret = x; }
                        else { ret = x + normal(crossZ(normal(a, distance*4) + normal(p1 - p0, distance*4)), distance); } // *4 to retain more precision for the eventual normalization 
                        bestPoly = poly_idx;
                    }
                }
                else
                {
                    projected_p_beyond_prev_segment = false;
                    p0 = p1;
                    p1 = p2;
                    continue;
                }
            }
            else if (ax_length > ab_length) // x is projected to beyond ab
            {
                projected_p_beyond_prev_segment = true;
                p0 = p1;
                p1 = p2;
                continue;
            }
            else 
            {
                projected_p_beyond_prev_segment = false;
                Point x = a + ab * ax_length / ab_length;
                
                int64_t dist2 = vSize2(x - from);
                if (dist2 < bestDist2)
                {
                    bestDist2 = dist2;
                    if (distance == 0) { ret = x; }
                    else { ret = x + crossZ(normal(ab, distance)); }
                    bestPoly = poly_idx;
                }
            }
            
            
            p0 = p1;
            p1 = p2;
        }
    }
    if (bestDist2 < maxDist2)
    {
        from = ret;
        return bestPoly;
    }
    return NO_INDEX;
}

unsigned int Polygons::findInside(Point p, bool border_result)
{
    Polygons& thiss = *this;
    if (size() < 1)
    {
        return false;
    }
    
    int64_t min_x[size()];
    std::fill_n(min_x, size(), std::numeric_limits<int64_t>::max());  // initialize with int.max
    int crossings[size()];
    std::fill_n(crossings, size(), 0);  // initialize with zeros
    
    for (unsigned int poly_idx = 0; poly_idx < size(); poly_idx++)
    {
        PolygonRef poly = thiss[poly_idx];
        Point p0 = poly.back();
        for(Point& p1 : poly)
        {
            short comp = pointLiesOnTheRightOfLine(p, p0, p1);
            if (comp == 1)
            {
                crossings[poly_idx]++;
                int64_t x;
                if (p1.Y == p0.Y)
                {
                    x = p0.X;
                }
                else 
                {
                    x = p0.X + (p1.X-p0.X) * (p.Y-p0.Y) / (p1.Y-p0.Y);
                }
                if (x < min_x[poly_idx])
                {
                    min_x[poly_idx] = x;
                }
            }
            else if (border_result && comp == 0)
            {
                return poly_idx;
            }
            p0 = p1;
        }
    }
    
    int64_t min_x_uneven = std::numeric_limits<int64_t>::max();
    unsigned int ret = NO_INDEX;
    unsigned int n_unevens = 0;
    for (unsigned int array_idx = 0; array_idx < size(); array_idx++)
    {
        if (crossings[array_idx] % 2 == 1)
        {
            n_unevens++;
            if (min_x[array_idx] < min_x_uneven)
            {
                min_x_uneven = min_x[array_idx];
                ret = array_idx;
            }
        }
    }
    if (n_unevens % 2 == 0) { ret = NO_INDEX; }
    return ret;
}

bool getNextPointWithDistance(Point from, int64_t dist, const PolygonRef poly, int start_idx, int poly_start_idx, GivenDistPoint& result)
{
    
    Point prev_poly_point = poly[(start_idx + poly_start_idx) % poly.size()];
    
    for (unsigned int prev_idx = start_idx; prev_idx < poly.size(); prev_idx++) 
    {
        int next_idx = (prev_idx + 1 + poly_start_idx) % poly.size(); // last checked segment is between last point in poly and poly[0]...
        Point& next_poly_point = poly[next_idx];
        if ( !shorterThen(next_poly_point - from, dist) )
        {
            /*
             *                 x    r
             *      p.---------+---+------------.n
             *                L|  /
             *                 | / dist
             *                 |/
             *                f.
             * 
             * f=from
             * p=prev_poly_point
             * n=next_poly_point
             * x= f projected on pn
             * r=result point at distance [dist] from f
             */
            
            Point pn = next_poly_point - prev_poly_point;
            
            if (shorterThen(pn, 100)) // when precision is limited
            {
                Point middle = (next_poly_point + prev_poly_point) / 2;
                int64_t dist_to_middle = vSize(from - middle);
                if (dist_to_middle - dist < 100 && dist_to_middle - dist > -100)
                {
                    result.location = middle;
                    result.pos = prev_idx;
                    return true;
                } else
                {
                    prev_poly_point = next_poly_point;
                    continue;
                }
            }
            
            Point pf = from - prev_poly_point;
            Point px = dot(pf, pn) / vSize(pn) * pn / vSize(pn);
            Point xf = pf - px;
            
            if (!shorterThen(xf, dist)) // line lies wholly further than pn
            {
                prev_poly_point = next_poly_point;
                continue;
                
            }
            
            int64_t xr_dist = std::sqrt(dist*dist - vSize2(xf)); // inverse Pythagoras
            
            if (vSize(pn - px) - xr_dist < 1) // r lies beyond n
            {
                prev_poly_point = next_poly_point;
                continue;
            }
            
            Point xr = xr_dist * pn / vSize(pn);
            Point pr = px + xr;
            
            result.location = prev_poly_point + pr;
            result.pos = prev_idx;
            return true;
        }
        prev_poly_point = next_poly_point;
    }
    return false;
}

void LineOrderOptimizer::optimize()
{
    int gridSize = 5000; // the size of the cells in the hash grid. TODO
    SparsePointGridInclusive<unsigned int> line_bucket_grid(gridSize);
    bool picked[polygons.size()];
    memset(picked, false, sizeof(bool) * polygons.size());/// initialized as falses
    
    for (unsigned int poly_idx = 0; poly_idx < polygons.size(); poly_idx++) /// find closest point to initial starting point within each polygon +initialize picked
    {
        int best_point_idx = -1;
        float best_point_dist = std::numeric_limits<float>::infinity();
        PolygonRef poly = polygons[poly_idx];
        for (unsigned int point_idx = 0; point_idx < poly.size(); point_idx++) /// get closest point from polygon
        {
            float dist = vSize2f(poly[point_idx] - startPoint);
            if (dist < best_point_dist)
            {
                best_point_idx = point_idx;
                best_point_dist = dist;
            }
        }
        polyStart.push_back(best_point_idx);

        assert(poly.size() == 2);

        line_bucket_grid.insert(poly[0], poly_idx);
        line_bucket_grid.insert(poly[1], poly_idx);

    }


    Point incoming_perpundicular_normal(0, 0);
    Point prev_point = startPoint;
    for (unsigned int order_idx = 0; order_idx < polygons.size(); order_idx++) /// actual path order optimizer
    {
        int best_line_idx = -1;
        float best_score = std::numeric_limits<float>::infinity(); // distance score for the best next line

        /// check if single-line-polygon is close to last point
        for(unsigned int close_line_idx :
                line_bucket_grid.getNearbyVals(prev_point, gridSize))
        {
            if (picked[close_line_idx] || polygons[close_line_idx].size() < 1)
            {
                continue;
            }

            updateBestLine(close_line_idx, best_line_idx, best_score, prev_point, incoming_perpundicular_normal);
        }

        if (best_line_idx == -1) /// if single-line-polygon hasn't been found yet
        {
            for (unsigned int poly_idx = 0; poly_idx < polygons.size(); poly_idx++)
            {
                if (picked[poly_idx] || polygons[poly_idx].size() < 1) /// skip single-point-polygons
                {
                    continue;
                }
                assert(polygons[poly_idx].size() == 2);

                updateBestLine(poly_idx, best_line_idx, best_score, prev_point, incoming_perpundicular_normal);

            }
        }

        if (best_line_idx > -1) /// should always be true; we should have been able to identify the best next polygon
        {
            PolygonRef best_line = polygons[best_line_idx];
            assert(best_line.size() == 2);

            int line_start_point_idx = polyStart[best_line_idx];
            int line_end_point_idx = line_start_point_idx * -1 + 1; /// 1 -> 0 , 0 -> 1
            Point& line_start = best_line[line_start_point_idx];
            Point& line_end = best_line[line_end_point_idx];
            prev_point = line_end;
            incoming_perpundicular_normal = turn90CCW(normal(line_end - line_start, 1000));

            picked[best_line_idx] = true;
            polyOrder.push_back(best_line_idx);
        }
        else
        {
            logError("Failed to find next closest line.\n");
        }
    }
}

void FffPolygonGenerator::processFuzzyWalls(SliceMeshStorage& mesh)
{
    if (mesh.getSettingAsCount("wall_line_count") == 0)
    {
        return;
    }
    int64_t fuzziness = mesh.getSettingInMicrons("magic_fuzzy_skin_thickness");
    int64_t avg_dist_between_points = mesh.getSettingInMicrons("magic_fuzzy_skin_point_dist");
    int64_t min_dist_between_points = avg_dist_between_points * 3 / 4; // hardcoded: the point distance may vary between 3/4 and 5/4 the supplied value
    int64_t range_random_point_dist = avg_dist_between_points / 2;
    for (unsigned int layer_nr = 0; layer_nr < mesh.layers.size(); layer_nr++)
    {
        SliceLayer& layer = mesh.layers[layer_nr];
        for (SliceLayerPart& part : layer.parts)
        {
            Polygons results;
            Polygons& skin = (mesh.getSettingAsSurfaceMode("magic_mesh_surface_mode") == ESurfaceMode::SURFACE)? part.outline : part.insets[0];
            for (PolygonRef poly : skin)
            {
                // generate points in between p0 and p1
                PolygonRef result = results.newPoly();
                
                int64_t dist_left_over = rand() % (min_dist_between_points / 2); // the distance to be traversed on the line before making the first new point
                Point* p0 = &poly.back();
                for (Point& p1 : poly)
                { // 'a' is the (next) new point between p0 and p1
                    Point p0p1 = p1 - *p0;
                    int64_t p0p1_size = vSize(p0p1);    
                    int64_t dist_last_point = dist_left_over + p0p1_size * 2; // so that p0p1_size - dist_last_point evaulates to dist_left_over - p0p1_size
                    for (int64_t p0pa_dist = dist_left_over; p0pa_dist < p0p1_size; p0pa_dist += min_dist_between_points + rand() % range_random_point_dist)
                    {
                        int r = rand() % (fuzziness * 2) - fuzziness;
                        Point perp_to_p0p1 = crossZ(p0p1);
                        Point fuzz = normal(perp_to_p0p1, r);
                        Point pa = *p0 + normal(p0p1, p0pa_dist) + fuzz;
                        result.add(pa);
                        dist_last_point = p0pa_dist;
                    }
                    dist_left_over = p0p1_size - dist_last_point;
                    
                    p0 = &p1;
                }
                while (result.size() < 3 )
                {
                    unsigned int point_idx = poly.size() - 2;
                    result.add(poly[point_idx]);
                    if (point_idx == 0) { break; }
                    point_idx--;
                }
                if (result.size() < 3)
                {
                    result.clear();
                    for (Point& p : poly)
                        result.add(p);
                }
            }
            skin = results;
            sendPolygons(Inset0Type, layer_nr, skin, mesh.getSettingInMicrons("wall_line_width_0"));
        }
    }
}

void LineOrderOptimizer::optimize()
{
    int gridSize = 5000; // the size of the cells in the hash grid.
    BucketGrid2D<unsigned int> line_bucket_grid(gridSize);

	bool* picked = new bool[polygons.size()];
   // bool picked[polygons.size()];
    memset(picked, false, sizeof(bool) * polygons.size());/// initialized as falses
    
    for(unsigned int i_polygon=0 ; i_polygon<polygons.size() ; i_polygon++) /// find closest point to initial starting point within each polygon +initialize picked
    {
        int best = -1;
        float bestDist = std::numeric_limits<float>::infinity();
        PolygonRef poly = polygons[i_polygon];
        for(unsigned int i_point=0; i_point<poly.size(); i_point++) /// get closest point from polygon
        {
            float dist = vSize2f(poly[i_point] - startPoint);
            if (dist < bestDist)
            {
                best = i_point;
                bestDist = dist;
            }
        }
        polyStart.push_back(best);

        assert(poly.size() == 2);

        line_bucket_grid.insert(poly[0], i_polygon);
        line_bucket_grid.insert(poly[1], i_polygon);

    }


    Point incommingPerpundicularNormal(0, 0);
    Point prev_point = startPoint;
    for(unsigned int i_polygon=0 ; i_polygon<polygons.size() ; i_polygon++) /// actual path order optimizer
    {
        int best = -1;
        float bestDist = std::numeric_limits<float>::infinity();

        for(unsigned int i_close_line_polygon :  line_bucket_grid.findNearbyObjects(prev_point)) /// check if single-line-polygon is close to last point
        {
            if (picked[i_close_line_polygon] || polygons[i_close_line_polygon].size() < 1)
                continue;


            checkIfLineIsBest(i_close_line_polygon, best, bestDist, prev_point, incommingPerpundicularNormal);

        }

        if (best == -1) /// if single-line-polygon hasn't been found yet
        {
           for(unsigned int i_polygon=0 ; i_polygon<polygons.size() ; i_polygon++)
            {
                if (picked[i_polygon] || polygons[i_polygon].size() < 1) /// skip single-point-polygons
                    continue;
                assert(polygons[i_polygon].size() == 2);

                checkIfLineIsBest(i_polygon, best, bestDist, prev_point, incommingPerpundicularNormal);

            }
        }

        if (best > -1) /// should always be true; we should have been able to identify the best next polygon
        {
            assert(polygons[best].size() == 2);

            int endIdx = polyStart[best] * -1 + 1; /// 1 -> 0 , 0 -> 1
            prev_point = polygons[best][endIdx];
            incommingPerpundicularNormal = crossZ(normal(polygons[best][endIdx] - polygons[best][polyStart[best]], 1000));

            picked[best] = true;
            polyOrder.push_back(best);
        }
        else
            logError("Failed to find next closest line.\n");
    }

    prev_point = startPoint;
    for(unsigned int n=0; n<polyOrder.size(); n++) /// decide final starting points in each polygon
    {
        int nr = polyOrder[n];
        PolygonRef poly = polygons[nr];
        int best = -1;
        float bestDist = std::numeric_limits<float>::infinity();
        bool orientation = poly.orientation();
        for(unsigned int i=0;i<poly.size(); i++)
        {
            float dist = vSize2f(polygons[nr][i] - prev_point);
            Point n0 = normal(poly[(i+poly.size()-1)%poly.size()] - poly[i], 2000);
            Point n1 = normal(poly[i] - poly[(i + 1) % poly.size()], 2000);
            float dot_score = dot(n0, n1) - dot(crossZ(n0), n1);
            if (orientation)
                dot_score = -dot_score;
            if (dist + dot_score < bestDist)
            {
                best = i;
                bestDist = dist + dot_score;
            }
        }
//.........这里部分代码省略.........