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Merge pull request #138 from compas-dev/documentation_updates
Documentation updates
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‎CHANGELOG.rst‎

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----------
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**Added**
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* Documentation updates
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**Changed**
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‎docs/examples.rst‎

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examples/01_planar_slicing_simple
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examples/02_curved_slicing_simple
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examples/03_planar_slicing_vertical_sorting
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examples/04_gcode_generation
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examples/05_non_planar_slicing_on_custom_base
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examples/06_attributes_transfer

‎docs/examples/02_curved_slicing_simple.rst‎

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Make sure to read the :ref:`example on simple planar slicing <compas_slicer_example_1>` before reading this example,
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as it explains the main concepts of compas_slicer.
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Having done that, in this example, we go through the basics of using the non-planar interpolation slicer.
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Having done that, in this example, we go through the basics of using the non-planar interpolation slicer, which generates
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paths by interpolating user-defined boundaries.
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This example uses the method described in `Print Paths KeyFraming <https://dl.acm.org/doi/fullHtml/10.1145/3424630.3425408>`_.
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.. figure:: figures/curved_slicing.PNG
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.. figure:: figures/02_curved_slicing.PNG
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:figclass: figure
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:class: figure-img img-fluid
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‎docs/examples/03_planar_slicing_vertical_sorting.rst‎

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.. _compas_slicer_example_3:
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************************************
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Planar slicing with vertical sorting
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************************************
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During the print of branching shell shapes, the layers can be sorted;
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- following a horizontal logic, with all paths that are on the same height being adjacent.
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- following a vertical logic, with all paths that are on the same branch being adjacent.
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The vertical sorting can enable significant reduction of the interruptions of the print and the traveling of the tool
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from one path to the next, as it is shown in the illustration below.
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.. figure:: figures/03_print_organization_planar_slicing_vertical_sorting.png
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:figclass: figure
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:class: figure-img img-fluid
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*Fabrication path using horizontal sorting (left), and vertical sorting (right). The traveling paths are shown with orange lines.*
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In planar slicing, horizontal ordering of paths is the default method, while in non-planar slicing vertical ordering of paths is
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the default method. The example below demonstrates how planar paths can be sorted in a vertical logic.
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.. code-block:: python
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import os
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import logging
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import compas_slicer.utilities as utils
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from compas_slicer.pre_processing import move_mesh_to_point
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from compas_slicer.slicers import PlanarSlicer
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from compas_slicer.post_processing import generate_brim
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from compas_slicer.post_processing import simplify_paths_rdp
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from compas_slicer.post_processing import sort_into_vertical_layers
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from compas_slicer.post_processing import reorder_vertical_layers
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from compas_slicer.post_processing import seams_smooth
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from compas_slicer.print_organization import PlanarPrintOrganizer
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from compas_slicer.print_organization import set_extruder_toggle
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from compas_slicer.print_organization import add_safety_printpoints
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from compas_slicer.print_organization import set_linear_velocity_constant
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from compas_slicer.print_organization import set_blend_radius
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from compas_slicer.utilities import save_to_json
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from compas.datastructures import Mesh
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from compas.geometry import Point
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# ==============================================================================
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# Logging
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# ==============================================================================
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logger = logging.getLogger('logger')
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logging.basicConfig(format='%(levelname)s-%(message)s', level=logging.INFO)
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# ==============================================================================
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# Select location of data folder and specify model to slice
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# ==============================================================================
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DATA = os.path.join(os.path.dirname(__file__), 'data')
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OUTPUT_DIR = utils.get_output_directory(DATA) # creates 'output' folder if it doesn't already exist
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MODEL = 'distorted_v_closed_mid_res.obj'
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def main():
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compas_mesh = Mesh.from_obj(os.path.join(DATA, MODEL))
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move_mesh_to_point(compas_mesh, Point(0, 0, 0))
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# Slicing
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slicer = PlanarSlicer(compas_mesh, slicer_type="cgal", layer_height=5.0)
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slicer.slice_model()
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# Sorting into vertical layers and reordering
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sort_into_vertical_layers(slicer, max_paths_per_layer=10)
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reorder_vertical_layers(slicer, align_with="x_axis")
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# Post-processing
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generate_brim(slicer, layer_width=3.0, number_of_brim_offsets=5)
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simplify_paths_rdp(slicer, threshold=0.7)
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seams_smooth(slicer, smooth_distance=10)
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slicer.printout_info()
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save_to_json(slicer.to_data(), OUTPUT_DIR, 'slicer_data.json')
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# PlanarPrintOrganization
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print_organizer = PlanarPrintOrganizer(slicer)
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print_organizer.create_printpoints()
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set_extruder_toggle(print_organizer, slicer)
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add_safety_printpoints(print_organizer, z_hop=10.0)
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set_linear_velocity_constant(print_organizer, v=25.0)
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set_blend_radius(print_organizer, d_fillet=10.0)
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print_organizer.printout_info()
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printpoints_data = print_organizer.output_printpoints_dict()
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utils.save_to_json(printpoints_data, OUTPUT_DIR, 'out_printpoints.json')
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if __name__ == "__main__":
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main()

‎docs/examples/04_gcode_generation.rst‎

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.. _compas_slicer_example_4:
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************************************
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Gcode generation
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************************************
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While compas slicer has been mostly developed for robotic printing, we can also export the gcode of the generated paths
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to materialize them in a typical desktop 3D printer. The gcode generation is still at a basic level and is a work in progress.
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.. code-block:: python
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import os
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import logging
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import compas_slicer.utilities as utils
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from compas_slicer.pre_processing import move_mesh_to_point
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from compas_slicer.slicers import PlanarSlicer
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from compas_slicer.post_processing import generate_brim
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from compas_slicer.post_processing import simplify_paths_rdp
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from compas_slicer.post_processing import seams_smooth
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from compas_slicer.print_organization import PlanarPrintOrganizer
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from compas_slicer.print_organization import set_extruder_toggle
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from compas_slicer.utilities import save_to_json
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from compas_slicer.parameters import get_param
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from compas.datastructures import Mesh
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from compas.geometry import Point
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logger = logging.getLogger('logger')
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logging.basicConfig(format='%(levelname)s-%(message)s', level=logging.INFO)
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DATA = os.path.join(os.path.dirname(__file__), 'data')
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OUTPUT_DIR = utils.get_output_directory(DATA) # creates 'output' folder if it doesn't already exist
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MODEL = 'simple_vase_open_low_res.obj'
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def main():
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compas_mesh = Mesh.from_obj(os.path.join(DATA, MODEL))
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delta = get_param({}, key='delta', defaults_type='gcode') # boolean for delta printers
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print_volume_x = get_param({}, key='print_volume_x', defaults_type='gcode') # in mm
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print_volume_y = get_param({}, key='print_volume_y', defaults_type='gcode') # in mm
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if delta:
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move_mesh_to_point(compas_mesh, Point(0, 0, 0))
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else:
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move_mesh_to_point(compas_mesh, Point(print_volume_x/2, print_volume_y/2, 0))
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# ----- slicing
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slicer = PlanarSlicer(compas_mesh, slicer_type="cgal", layer_height=4.5)
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slicer.slice_model()
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generate_brim(slicer, layer_width=3.0, number_of_brim_offsets=4)
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simplify_paths_rdp(slicer, threshold=0.6)
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seams_smooth(slicer, smooth_distance=10)
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slicer.printout_info()
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save_to_json(slicer.to_data(), OUTPUT_DIR, 'slicer_data.json')
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# ----- print organization
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print_organizer = PlanarPrintOrganizer(slicer)
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print_organizer.create_printpoints()
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# Set fabrication-related parameters
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set_extruder_toggle(print_organizer, slicer)
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print_organizer.printout_info()
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# create and output gcode
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gcode_parameters = {} # leave all to default
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gcode_text = print_organizer.output_gcode(gcode_parameters)
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utils.save_to_text_file(gcode_text, OUTPUT_DIR, 'my_gcode.gcode')

‎docs/examples/05_non_planar_slicing_on_custom_base.rst‎

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.. _compas_slicer_example_5:
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************************************
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Non-planar slicing on custom base
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************************************
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In this example we describe the process of non-planar slicing of a mesh, generating paths that are an offset to its
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custom base. We are using the ScalarFieldSlicer, which generates paths as contours of a scalar field defined on every
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vertex of the mesh. In this case we create a scalar field with the distance of each vertex from the custom base.
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.. figure:: figures/05_scalar_field_slicing.PNG
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:figclass: figure
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:class: figure-img img-fluid
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*Result of scalar field slicing considering the distance of each vertex from the custom base.*
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.. code-block:: python
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import logging
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from compas.geometry import distance_point_point
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from compas.datastructures import Mesh
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import os
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import compas_slicer.utilities as slicer_utils
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from compas_slicer.post_processing import simplify_paths_rdp
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from compas_slicer.slicers import ScalarFieldSlicer
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import compas_slicer.utilities as utils
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from compas_slicer.print_organization import ScalarFieldPrintOrganizer
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logger = logging.getLogger('logger')
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logging.basicConfig(format='%(levelname)s-%(message)s', level=logging.INFO)
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DATA_PATH = os.path.join(os.path.dirname(__file__), 'data')
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OUTPUT_PATH = slicer_utils.get_output_directory(DATA_PATH)
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MODEL = 'geom_to_slice.obj'
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BASE = 'custom_base.obj'
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if __name__ == '__main__':
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# --- load meshes
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mesh = Mesh.from_obj(os.path.join(DATA_PATH, MODEL))
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base = Mesh.from_obj(os.path.join(DATA_PATH, BASE))
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# --- Create per-vertex scalar field (distance of every vertex from the custom base)
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pts = [mesh.vertex_coordinates(v_key, axes='xyz') for v_key in
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mesh.vertices()] # list of the vertex coordinates of the mesh as compas.geometry.Point instances
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_, projected_pts = utils.pull_pts_to_mesh_faces(base, pts) # list with projections of all mesh vertices on the mesh
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u = [distance_point_point(pt, proj_pt) for pt, proj_pt in
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zip(pts, projected_pts)] # list with distance between initial+projected pts (one per vertex)
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utils.save_to_json(u, OUTPUT_PATH, 'distance_field.json') # save distance field to json for visualization
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# --- assign the scalar field to the mesh's attributes, under the name 'scalar_field'
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mesh.update_default_vertex_attributes({'scalar_field': 0.0})
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for i, (v_key, data) in enumerate(mesh.vertices(data=True)):
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data['scalar_field'] = u[i]
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# --- Slice model by generating contours of scalar field
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slicer = ScalarFieldSlicer(mesh, u, no_of_isocurves=50)
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slicer.slice_model()
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# simplify_paths_rdp(slicer, threshold=0.3)
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slicer_utils.save_to_json(slicer.to_data(), OUTPUT_PATH, 'isocontours.json') # save results to json
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# --- Print organization calculations (i.e. generation of printpoints with fabrication-related information)
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simplify_paths_rdp(slicer, threshold=0.3)
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print_organizer = ScalarFieldPrintOrganizer(slicer, parameters={}, DATA_PATH=DATA_PATH)
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print_organizer.create_printpoints()
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print_organizer.printout_info()
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printpoints_data = print_organizer.output_printpoints_dict()
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utils.save_to_json(printpoints_data, OUTPUT_PATH, 'out_printpoints.json') # save results to json

‎docs/examples/06_attributes_transfer.rst‎

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.. _compas_slicer_example_6:
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************************************
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Transferring attributes to PrintPoints
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************************************
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Often in 3D printing we need to transfer information from the mesh that is being sliced to the PrintPoints that
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are used in the fabrication process. We might want, for example, to print paths that are generated from different parts of
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the geometry using different parameters. This is enabled by the *transfer_mesh_attributes_to_printpoints()* function, as
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shown in the example below. During the slicing process each printpoint is projected to the closest mesh face.
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It takes directly all the face attributes, and it takes the averaged vertex attributes of the face vertices using
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barycentric coordinates.
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.. figure:: figures/06_attributes.png
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:figclass: figure
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:class: figure-img img-fluid
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*PrintPoints with visualization of the attribute: overhang angle of the underlying mesh.*
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.. code-block:: python
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import logging
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import os
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from compas.geometry import Point, Vector, distance_point_plane, normalize_vector
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from compas.datastructures import Mesh
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import compas_slicer.utilities as slicer_utils
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from compas_slicer.post_processing import simplify_paths_rdp
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from compas_slicer.slicers import PlanarSlicer
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import compas_slicer.utilities.utils as utils
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from compas_slicer.utilities.attributes_transfer import transfer_mesh_attributes_to_printpoints
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from compas_slicer.print_organization import PlanarPrintOrganizer
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import numpy as np
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logger = logging.getLogger('logger')
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logging.basicConfig(format='%(levelname)s-%(message)s', level=logging.INFO)
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DATA_PATH = os.path.join(os.path.dirname(__file__), 'data')
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OUTPUT_PATH = slicer_utils.get_output_directory(DATA_PATH)
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MODEL = 'distorted_v_closed_low_res.obj'
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if __name__ == '__main__':
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# load mesh
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mesh = Mesh.from_obj(os.path.join(DATA_PATH, MODEL))
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# --------------- Add attributes to mesh
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# Face attributes can be anything (ex. float, bool, array, text ...)
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# Vertex attributes can only be entities that can be meaningfully multiplied with a float (ex. float, np.array ...)
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# overhand attribute - Scalar value (per face)
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mesh.update_default_face_attributes({'overhang': 0.0})
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for f_key, data in mesh.faces(data=True):
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face_normal = mesh.face_normal(f_key, unitized=True)
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data['overhang'] = Vector(0.0, 0.0, 1.0).dot(face_normal)
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# face looking towards the positive y axis - Boolean value (per face)
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mesh.update_default_face_attributes({'positive_y_axis': False})
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for f_key, data in mesh.faces(data=True):
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face_normal = mesh.face_normal(f_key, unitized=True)
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is_positive_y = Vector(0.0, 1.0, 0.0).dot(face_normal) > 0 # boolean value
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data['positive_y_axis'] = is_positive_y
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# distance from plane - Scalar value (per vertex)
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mesh.update_default_vertex_attributes({'dist_from_plane': 0.0})
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plane = (Point(0.0, 0.0, -30.0), Vector(0.0, 0.5, 0.5))
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for v_key, data in mesh.vertices(data=True):
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v_coord = mesh.vertex_coordinates(v_key, axes='xyz')
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data['dist_from_plane'] = distance_point_plane(v_coord, plane)
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# direction towards point - Vector value (per vertex)
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mesh.update_default_vertex_attributes({'direction_to_pt': 0.0})
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pt = Point(4.0, 1.0, 0.0)
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for v_key, data in mesh.vertices(data=True):
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v_coord = mesh.vertex_coordinates(v_key, axes='xyz')
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data['direction_to_pt'] = np.array(normalize_vector(Vector.from_start_end(v_coord, pt)))
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# --------------- Slice mesh
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slicer = PlanarSlicer(mesh, slicer_type="default", layer_height=5.0)
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slicer.slice_model()
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simplify_paths_rdp(slicer, threshold=1.0)
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slicer_utils.save_to_json(slicer.to_data(), OUTPUT_PATH, 'slicer_data.json')
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# --------------- Create printpoints
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print_organizer = PlanarPrintOrganizer(slicer)
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print_organizer.create_printpoints()
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# --------------- Transfer mesh attributes to printpoints
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transfer_mesh_attributes_to_printpoints(mesh, print_organizer.printpoints_dict)
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# --------------- Save printpoints to json (only json-serializable attributes are saved)
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printpoints_data = print_organizer.output_printpoints_dict()
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utils.save_to_json(printpoints_data, OUTPUT_PATH, 'out_printpoints.json')
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# --------------- Print the info to see the attributes of the printpoints (you can also visualize them on gh)
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print_organizer.printout_info()
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# --------------- Save printpoints attributes for visualization
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overhangs_list = print_organizer.get_printpoints_attribute(attr_name='overhang')
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positive_y_axis_list = print_organizer.get_printpoints_attribute(attr_name='positive_y_axis')
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dist_from_plane_list = print_organizer.get_printpoints_attribute(attr_name='dist_from_plane')
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direction_to_pt_list = print_organizer.get_printpoints_attribute(attr_name='direction_to_pt')
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utils.save_to_json(overhangs_list, OUTPUT_PATH, 'overhangs_list.json')
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utils.save_to_json(positive_y_axis_list, OUTPUT_PATH, 'positive_y_axis_list.json')
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utils.save_to_json(dist_from_plane_list, OUTPUT_PATH, 'dist_from_plane_list.json')
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utils.save_to_json(utils.point_list_to_dict(direction_to_pt_list), OUTPUT_PATH, 'direction_to_pt_list.json')

‎docs/examples/figures/02_curved_slicing.PNG‎

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‎docs/examples/figures/03_print_organization_planar_slicing_vertical_sorting.png‎

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‎docs/examples/figures/05_scalar_field_slicing.PNG‎

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