-
Notifications
You must be signed in to change notification settings - Fork 164
/
cam.js
333 lines (302 loc) · 13.9 KB
/
cam.js
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
"use strict";
define(['cnc/maths/bezier', 'clipper', 'cnc/cam/toolpath', 'libs/simplify', 'cnc/util', 'libs/extractedRaphael'],
function (bezier, clipper, tp, simplify, util, _) {
var CLIPPER_SCALE = Math.pow(2, 20);
function fromClipper(polygons, scale, reorder, areaPositive) {
var result = [];
$.each(polygons, function (_, polygon) {
if (reorder) {
var area = clipper.Clipper.Area(polygon) / (scale * scale);
if (area >= 0 && !areaPositive || area < 0 && areaPositive)
polygon.reverse();
}
var newPoly = new tp.ConstantZPolygonToolpath();
$.each(polygon, function (_, point) {
newPoly.pushPointXYZ(point.X / scale, point.Y / scale);
});
result.push(newPoly);
});
return result;
}
var geom = (function () {
function op(l, x, y) {
return l + x + ',' + y;
}
function createCircle(centerX, centerY, radius) {
function coords(x, y) {
return x + ', ' + y;
}
function arc(dx, dy) {
return 'A' + coords(radius, radius) + ' 0 0 0 ' + coords(centerX + dx * radius, centerY + dy * radius);
}
//avoid long arcs because webkit makes huge errors with them in getPointAtLength()
var arcs = [arc(1, 0), arc(0, -1), arc(-1, 0), arc(0, 1)];
return 'M' + coords(centerX, centerY + radius) + ' ' + arcs.join(' ') + 'Z';
}
function createRelativeRectangle(xSpan, ySpan) {
function lineTo(x, y) {
return 'l' + x + ',' + y;
}
return lineTo(xSpan, 0) + lineTo(0, ySpan) + lineTo(-xSpan, 0) + 'Z';
}
function closePolygons(polygon) {
for (var i = 0; i < polygon.length; i++) {
var poly = polygon[i];
if (poly.length != 0) {
var lastPoint = poly[poly.length - 1];
if (!(lastPoint.X == poly[0].X && lastPoint.Y == poly[0].Y))
poly.push(poly[0]);
}
}
return polygon;
}
return {
createCircle: createCircle,
createRelativeRectangle: createRelativeRectangle,
op: op,
closePolygons: closePolygons
};
})();
function Machine() {
this.clipperScale = CLIPPER_SCALE;
}
Machine.prototype = {
contourToolpath: function (clipperPolygon, signedDistance) {
function sortedChildren(polygon) {
return polygon.Childs().slice().sort(function polygonDifference(p1, p2) {
return util.mortonClipper(p1.Contour()[0], p2.Contour()[0]);
});
}
function reorderPolytreeForContour(polytree) {
var result = [];
var outerStack = sortedChildren(polytree);
for (var j = 0; j < outerStack.length; j++) {
var outerNode = outerStack[j];
var holes = sortedChildren(outerNode);
for (var i = 0; i < holes.length; i++) {
result = result.concat(reorderPolytreeForContour(holes[i]));
result.push(holes[i].Contour());
}
result.push(outerNode.Contour());
}
return result;
}
function orderContourInside2Outside(clipperContour) {
return reorderPolytreeForContour(polyOp(clipperContour, [], clipper.ClipType.ctUnion, true));
}
clipperPolygon = this.polyOp(clipperPolygon, [], clipper.ClipType.ctUnion);
var toolpath = this.offsetPolygon(clipperPolygon, signedDistance);
return {toolpath: orderContourInside2Outside(toolpath), rawToolpath: toolpath};
},
rampToolPath: function (toolpath, startZ, stopZ, turns) {
var distances = [0];
var toolpathLength = 0;
for (var i = 0; i < toolpath.path.length; i++) {
var p1 = toolpath.path[i];
var p2 = toolpath.path[(i + 1) % toolpath.path.length];
toolpathLength += new util.Point(p1[0], p1[1]).distance(new util.Point(p2[0], p2[1]));
distances.push(toolpathLength);
}
var resultPolyline = new tp.GeneralPolylineToolpath();
for (i = 0; i < turns; i++) {
toolpath.forEachPoint(function (x, y, z, index) {
var xyLength = distances[index];
z = startZ + (stopZ - startZ) * ((i + xyLength / toolpathLength) / turns);
resultPolyline.pushPointXYZ(x, y, z);
}, null);
}
//push constant Z bottom loop
toolpath.forEachPoint(function (x, y) {
resultPolyline.pushPointXYZ(x, y, stopZ);
}, null);
var startPoint = toolpath.getStartPoint(stopZ);
resultPolyline.pushPointXYZ(startPoint.x, startPoint.y, startPoint.z);
return resultPolyline;
},
rampToolPathArray: function (toolpath, startZ, stopZ, turns) {
var machine = this;
return toolpath.map(function (path) {
return machine.rampToolPath(path, startZ, stopZ, turns);
});
},
offsetPolygon: function (polygon, radius) {
var result = [];
var co = new clipper.ClipperOffset(2, 0.0001 * this.clipperScale);
co.AddPaths(polyOp(polygon, [], clipper.ClipType.ctUnion), clipper.JoinType.jtRound, clipper.EndType.etClosedPolygon);
co.Execute(result, radius * this.clipperScale);
return result;
},
/**
*
* @param polygon
* @param {boolean} [reorder]
* @param {boolean} [areaPositive]
* @returns {*}
*/
fromClipper: function (polygon, reorder, areaPositive) {
if (polygon[0] instanceof tp.ConstantZPolygonToolpath)
throw 'oops';
return fromClipper(polygon, this.clipperScale, reorder, areaPositive);
},
polyOp: function (clipperP1, clippreP2, clipperOp, fillType) {
return polyOp(clipperP1, clippreP2, clipperOp, false, fillType);
},
/**
* what sign should the area of a slice polygon be?
* it's positive for trigonometric direction (CCW)
* @param inside
* @param climbMilling
*/
contourAreaPositive: function (inside, climbMilling) {
return (!!climbMilling) ^ (!inside);
},
addCornerActions: function (clipperPolyline, clipperRadius, toleranceAngleRadians) {
if (clipperRadius == 0 || clipperPolyline.length == 0)
return clipperPolyline;
var result = [];
result.push(clipperPolyline[0]);
//previous point is not always at i-1, because repeated points in the polygon are skipped
var previousPoint = clipperPolyline[0];
for (var i = 1; i < clipperPolyline.length - 1; i++) {
previousPoint = clipperPolyline[i - 1];
var point = clipperPolyline[i];
if (previousPoint.sqDistance(point) == 0)
// you don't want to play with atan2() if a point is repeated
continue;
var incomingVector = point.sub(previousPoint);
var nextPoint = clipperPolyline[i + 1];
var angle = point.angle(previousPoint, nextPoint);
var overshoot = point.add(incomingVector.normalized().scale(clipperRadius));
result.push(overshoot);
if (Math.abs(angle) > toleranceAngleRadians) {
var arcPoints = 100 / (2 * Math.PI) * Math.abs(angle);
var incomingAngle = incomingVector.atan2();
for (var j = 0; j <= arcPoints; j++) {
var a = incomingAngle + angle / arcPoints * j;
var pt = point.add(util.polarPoint(clipperRadius, a));
result.push(pt);
}
}
previousPoint = point;
}
if (clipperPolyline.length > 1)
result.push(clipperPolyline[clipperPolyline.length - 1]);
return result;
}
};
function pathDefToPolygons(pathDef) {
return bezier.pathToPolygons(R.path2curve(pathDef), {a: 1, b: 0, c: 0, d: 1, e: 0, f: 0}, 0.0001);
}
function polygonsToClipper(polygons) {
return polygons.map(function (poly) {
return poly.map(function (point) {
return new util.Point(Math.round(CLIPPER_SCALE * point.x), Math.round(CLIPPER_SCALE * point.y));
});
});
}
/**
*
* @param pathDef a SVG path
* @returns a Clipper polygon array
*/
function pathDefToClipper(pathDef) {
return polygonsToClipper(pathDefToPolygons(pathDef));
}
function clipperToPathDef(clipperPoly) {
var res = [];
for (var i = 0; i < clipperPoly.length; i++)
if (clipperPoly[i].length) {
for (var j = 0; j < clipperPoly[i].length; j++)
res.push((j == 0 ? 'M' : 'L') + new util.Point(clipperPoly[i][j].X, clipperPoly[i][j].Y)
.scale(1 / CLIPPER_SCALE).svg());
res.push('Z');
}
return res.join(' ');
}
function decomposePolytreeInTopLevelPolygons(polytree) {
var result = [];
var outerStack = polytree.Childs().slice();
while (outerStack.length) {
var outerNode = outerStack.pop();
var polygon = [outerNode.Contour()];
var holes = outerNode.Childs();
for (var i = 0; i < holes.length; i++) {
polygon.push(holes[i].Contour());
var subOuter = holes[i].Childs();
for (var j = 0; j < subOuter.length; j++)
outerStack.push(subOuter[j]);
}
result.push(polygon);
}
return result;
}
function polyOp(op1, op2, operation, treeResult, fillType) {
if (fillType == null)
fillType = clipper.PolyFillType.pftNonZero;
var cpr = new clipper.Clipper();
var result = treeResult ? new clipper.PolyTree() : [];
cpr.AddPaths(op1, clipper.PolyType.ptSubject, true);
cpr.AddPaths(op2, clipper.PolyType.ptClip, true);
cpr.Execute(operation, result, fillType, fillType);
return result;
}
function simplifyPolygons(polys, tolerance) {
return polys.map(function (poly) {
return simplify(poly, tolerance, true);
});
}
function dumpGCode(feedRate, codeGenerator) {
function pos(point) {
var res = '';
if (point['x'] != null)
res += ' X' + util.formatCoord(point.x);
if (point['y'] != null)
res += ' Y' + util.formatCoord(point.y);
if (point['z'] != null)
res += ' Z' + util.formatCoord(point.z);
return res;
}
var code = ['F' + feedRate];
codeGenerator({
goToTravelSpeed: function (point) {
code.push('G0 ' + pos(point));
},
goToWorkSpeed: function (point) {
code.push('G1 ' + pos(point));
},
changeWorkSpeed: function (newSpeed) {
code.push('F' + newSpeed)
}
});
return code.join('\n');
}
function simplifyScaleAndCreatePathDef(polygons, scale, tolerance, closed) {
polygons = simplifyPolygons(polygons, tolerance * scale);
var d = '';
polygons.forEach(function (poly) {
if (poly.length) {
var firstPoint = poly[0];
d += ' M ' + firstPoint.X / scale + ',' + firstPoint.Y / scale;
for (var i = 1; i < poly.length; i++)
d += ' L ' + poly[i].X / scale + ',' + poly[i].Y / scale;
if (closed)
d += 'Z';
}
});
return d;
}
return {
CLIPPER_SCALE: CLIPPER_SCALE,
geom: geom,
Machine: Machine,
decomposePolytreeInTopLevelPolygons: decomposePolytreeInTopLevelPolygons,
polyOp: polyOp,
simplifyPolygons: simplifyPolygons,
polygonsToClipper: polygonsToClipper,
pathDefToPolygons: pathDefToPolygons,
pathDefToClipper: pathDefToClipper,
clipperToPathDef: clipperToPathDef,
dumpGCode: dumpGCode,
simplifyScaleAndCreatePathDef: simplifyScaleAndCreatePathDef
};
});