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557f1e49d9
| Author | SHA1 | Date |
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 linchforever
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557f1e49d9 | 4 months ago |
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linchforever
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16f32e18cc | 4 months ago |
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linchforever
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da3efa945c | 4 months ago |
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linchforever
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57c7a7a865 | 4 months ago |
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linchforever
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717b151b0a | 4 months ago |
7 changed files with 338 additions and 183 deletions
@ -0,0 +1,25 @@ |
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#pragma once |
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#include <vector> |
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#include <primitive_descriptor.h> |
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namespace internal |
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{ |
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struct fillet_config_t { |
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double segment_ratio = 0.05 ;// 圆角切除量占相邻两段中较短段弦长的比例
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double min_turn_angle_deg = 0.5; // 低于此角度（度）的衔接处视为共线，跳过
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// 当锐角过尖（turn_angle > max_fillet_angle_deg），
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// 即使达到 min_fillet_radius 也无法避免自相交时的处理策略:
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// true → 跳过该顶点（保留原始尖角，不插入圆弧）
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// false → 用最大允许 trim 插入圆弧（会有轻微自相交，但尽力修复）
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bool is_axis = false; |
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}; |
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// 对 2D profile / axis 多段线的衔接顶点插入微小圆角弧，实现 G1 连续。
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void insert_polyline_corner_fillets(const polyline_descriptor_t& profile, |
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std::vector<vector3d>& out_points, |
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std::vector<double>& out_bulges, |
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const fillet_config_t& cfg = {}); |
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} // namespace internal
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@ -0,0 +1,192 @@ |
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#include <subface/geometry/polyline_fillet.hpp> |
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#include <math/math_defs.hpp> |
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namespace internal |
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{ |
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namespace |
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{ |
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// 将 2D 向量 v 旋转 angle 弧度（逆时针为正）
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inline Eigen::Vector2d rotate2d(Eigen::Vector2d v, double angle) |
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{ |
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const double c = std::cos(angle), s = std::sin(angle); |
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return {c * v.x() - s * v.y(), s * v.x() + c * v.y()}; |
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} |
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// 圆弧段 A→B（bulge b）在终点 B 处的切线方向
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Eigen::Vector2d arc_end_tangent(Eigen::Vector2d A, Eigen::Vector2d B, double bulge) |
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{ |
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Eigen::Vector2d d = B - A; |
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if (d.norm() < 1e-12) return Eigen::Vector2d::UnitX(); |
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d.normalize(); |
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if (std::abs(bulge) < 1e-12) return d; // 直线段
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const double sign = bulge > 0 ? 1.0 : -1.0; |
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const double theta = 4.0 * std::atan(std::abs(bulge)); |
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return rotate2d(d, sign * theta / 2.0); |
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} |
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// 圆弧段 A→B（bulge b）在起点 A 处的切线方向
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Eigen::Vector2d arc_start_tangent(Eigen::Vector2d A, Eigen::Vector2d B, double bulge) |
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{ |
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Eigen::Vector2d d = B - A; |
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if (d.norm() < 1e-12) return Eigen::Vector2d::UnitX(); |
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d.normalize(); |
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if (std::abs(bulge) < 1e-12) return d; |
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const double sign = bulge > 0 ? 1.0 : -1.0; |
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const double theta = 4.0 * std::atan(std::abs(bulge)); |
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return rotate2d(d, -sign * theta / 2.0); |
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} |
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struct Corner { |
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bool active = false; |
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Eigen::Vector2d trim_in; // 圆弧起点
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Eigen::Vector2d trim_out; // 圆弧终点
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double fillet_bulge = 0; // 圆弧的 bulge
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}; |
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// 计算顶点 i 的圆角参数
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// @param pts 所有顶点
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// @param bulges 所有段的 bulge（bulges[i] 对应段 i→i+1，bulges[prev] 对应入射段）
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// @param i 当前顶点索引
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// @param prev 入射段起点索引
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// @param next 出射段终点索引
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Corner compute_corner(const std::vector<Eigen::Vector2d>& pts, |
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const std::vector<double>& bulges, |
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uint32_t i, |
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uint32_t prev, |
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uint32_t next, |
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const fillet_config_t& cfg) |
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{ |
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Corner c{}; |
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const Eigen::Vector2d T_in = arc_end_tangent(pts[prev], pts[i], bulges[prev]); |
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const Eigen::Vector2d T_out = arc_start_tangent(pts[i], pts[next], bulges[i]); |
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const double cos_a = std::clamp(T_in.dot(T_out), -1.0, 1.0); |
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const double turn_angle = std::acos(cos_a); |
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const double min_turn = cfg.min_turn_angle_deg * (pi / 180.0); |
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if (turn_angle < min_turn) return c; // 视为共线，不处理
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// 切除距离：取相邻两段弦长最小值的比例，并硬限幅
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const double chord_in = (pts[i] - pts[prev]).norm(); |
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const double chord_out = (pts[next] - pts[i]).norm(); |
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const double trim = std::min({std::min(chord_in, chord_out) * cfg.segment_ratio, chord_in * 0.45, chord_out * 0.45}); |
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if (trim < 1e-12) return c; |
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c.trim_in = pts[i] - trim * T_in; |
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c.trim_out = pts[i] + trim * T_out; |
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// bulge 符号：cross>0 → 左转(CCW多边形凸角) → CW弧 → 负 bulge
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double fillet_bulge = std::tan(turn_angle / 4.0); |
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const double cross = T_in.x() * T_out.y() - T_in.y() * T_out.x(); |
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if (cross < 0.0) fillet_bulge = -fillet_bulge; |
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c.active = true; |
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c.fillet_bulge = fillet_bulge; |
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return c; |
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} |
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inline void push_point(std::vector<vector3d>& out_points, |
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std::vector<double>& out_bulges, |
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const Eigen::Vector2d& p, |
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double z, |
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double bulge) |
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{ |
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out_points.push_back({p.x(), p.y(), z}); |
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out_bulges.push_back(bulge); |
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} |
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} // anonymous namespace
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void insert_polyline_corner_fillets(const polyline_descriptor_t& desc, |
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std::vector<vector3d>& out_points, |
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std::vector<double>& out_bulges, |
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const fillet_config_t& cfg) |
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{ |
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out_points.clear(); |
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out_bulges.clear(); |
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const uint32_t n = desc.point_number; |
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const bool closed = desc.is_close; |
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std::function<Eigen::Vector2d(const vector3d&)> to_2d; |
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std::function<vector3d(const Eigen::Vector2d&, double)> to_3d; |
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if (cfg.is_axis) { |
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// axis：XZ 平面
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to_2d = [](const vector3d& p) -> Eigen::Vector2d { return {p.z, p.x}; }; // 3D -> 2D: (Z, X)
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to_3d = [](const Eigen::Vector2d& q, double fixed_y) -> vector3d {return {q.y(), fixed_y, q.x()};}; // 2D -> 3D: (X, Y, Z) = (q.y, fixed_y, q.x)
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} else { |
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// profile：XY 平面
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to_2d = [](const vector3d& p) -> Eigen::Vector2d {return {p.x, p.y};}; |
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to_3d = [](const Eigen::Vector2d& q, double fixed_z) -> vector3d {return {q.x(), q.y(), fixed_z};}; |
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} |
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// 退化情况
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if (n < 3) { |
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for (uint32_t i = 0; i < n; ++i) { |
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out_points.push_back(desc.points[i]); |
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if (i < n - 1) out_bulges.push_back(desc.bulges ? desc.bulges[i] : 0.0); |
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} |
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return; |
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} |
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std::vector<Eigen::Vector2d> pts(n); |
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std::vector<double> bulges(n); |
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// fixed_coord：axis→y分量（恒=0），profile→z分量（恒=0）
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std::vector<double> fixed_coords(n); |
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for (uint32_t i = 0; i < n; ++i) { |
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pts[i] = to_2d(desc.points[i]); |
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bulges[i] = desc.bulges ? desc.bulges[i] : 0.0; |
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fixed_coords[i] = cfg.is_axis ? desc.points[i].y // axis：保留 y（=0）
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: desc.points[i].z; // profile：保留 z（=0）
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} |
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// 计算每个顶点的圆角
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std::vector<Corner> corners(n); |
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if (closed) { |
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for (uint32_t i = 0; i < n; ++i) corners[i] = compute_corner(pts, bulges, i, (i + n - 1) % n, (i + 1) % n, cfg); |
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} else { |
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for (uint32_t i = 1; i <= n - 2; ++i) corners[i] = compute_corner(pts, bulges, i, i - 1, i + 1, cfg); |
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} |
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auto push_pt = [&](const Eigen::Vector2d& p2d, double fixed, double bulge) { |
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out_points.push_back(to_3d(p2d, fixed)); |
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out_bulges.push_back(bulge); |
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}; |
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out_points.reserve(n * 2); |
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out_bulges.reserve(n * 2); |
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if (closed) { |
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for (uint32_t i = 0; i < n; ++i) { |
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const uint32_t next = (i + 1) % n; |
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const auto& seg_start = corners[i].active ? corners[i].trim_out : pts[i]; |
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push_pt(seg_start, fixed_coords[i], bulges[i]); |
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if (corners[next].active) push_pt(corners[next].trim_in, fixed_coords[next], corners[next].fillet_bulge); |
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} |
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} else { |
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for (uint32_t i = 0; i < n - 1; ++i) { |
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const uint32_t next = i + 1; |
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const auto& seg_start = (i == 0) ? pts[0] : corners[i].active ? corners[i].trim_out : pts[i]; |
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push_pt(seg_start, fixed_coords[i], bulges[i]); |
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if (next < n - 1 && corners[next].active) |
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push_pt(corners[next].trim_in, fixed_coords[next], corners[next].fillet_bulge); |
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} |
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out_points.push_back(desc.points[n - 1]); // 末点原样保留
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} |
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if (closed) |
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assert(out_points.size() == out_bulges.size()); |
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else |
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assert(out_bulges.size() + 1 == out_points.size()); |
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} |
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} // namespace internal
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