bherbruckandClaude Opus 5.5
a000bd69cf
The icon check from #853 requires every command to have one; #1900 added inspect.clearance without, which failed Format and repository checks on main and every PR. Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>
457 lines
20 KiB
Rust
457 lines
20 KiB
Rust
//! Clearance (`inspect.clearance`): in one call, which bodies overlap and by how much, which
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//! come closer than a clearance and where, and each body's nearest neighbours. Pairs are pruned
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//! by bounding boxes grown by the clearance, then by the bodies' meshes (which lie within their
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//! chord tolerance of the faces); distances are measured on the exact faces and edges
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//! ([`solidcraft_kernel::body_distance`]) and overlaps by intersecting the bodies. The pairs
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//! that are left run in parallel.
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use std::collections::{BTreeMap, HashMap};
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use std::sync::Arc;
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use serde_json::{Value, json};
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use solidcraft_geom::mesh_distance::box_gap;
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use solidcraft_geom::{Aabb3, Mesh};
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use solidcraft_kernel::{BodyDistance, DistanceShape};
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use super::CommandSpec;
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use crate::params::{bad, num, str_, string_list};
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use crate::{Result, Session};
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pub static COMMANDS: &[CommandSpec] = &[CommandSpec::new("inspect.clearance", "Clearance", clearance).icon("interference").noundo().params(
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"bodies?: [names] (default: every solid body, in world placement, but those in `against`); against?: [names] (only pairs with one body in `bodies` and the other here); \
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min_volume?: mm³ (default 0.01: smaller overlaps count as contact); clearance?: mm (default 0: report pairs closer than this); \
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nearest?: n (each body of `bodies` gets its n nearest others); skip_within?: \"occurrence\" (pairs of bodies of one occurrence) | \
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\"component\" (pairs of bodies inside one placed component, its subcomponents included) | null; tolerance?: mm (default 1e-6: a gap \
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below it is contact, 0) → overlaps: [{a, b, volume_mm3, area_mm2, bbox, center}]; near: [{a, b, distance_mm, from, to, overlap_mm3?: \
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a contact's shared volume below min_volume, exact?: false when measured on the meshes}], nearest by body (the same for pairs that overlap: 0); \
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nearest: {body: [{body, distance_mm}]}; unchecked: [{a, b, reason}] (pairs whose overlap could not be worked out); pairs_checked; \
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pairs_pruned (ruled out by their boxes); ms. Distances are measured on the exact faces and edges, the meshes only rule pairs out",
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)];
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/// Most bodies one call takes.
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const MAX_BODIES: usize = 20_000;
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/// Most pairs whose grown boxes meet that one call measures.
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const MAX_PAIRS: usize = 200_000;
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/// Most neighbours a body's `nearest` list holds.
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const MAX_NEAREST: usize = 1000;
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/// Largest clearance (mm).
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const MAX_CLEARANCE: f64 = 1e6;
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#[derive(Clone, Copy, PartialEq, Eq)]
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enum SkipWithin {
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Nothing,
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Occurrence,
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Component,
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}
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/// What one pair came to.
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#[derive(Default)]
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struct PairResult {
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/// Shared volume, area, box and centre.
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overlap: Option<(f64, f64, Aabb3, solidcraft_geom::Vec3)>,
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distance: Option<BodyDistance>,
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unchecked: Option<String>,
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}
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fn clearance(s: &mut Session, p: &Value) -> Result<Value> {
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let cmd = "inspect.clearance";
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let started = web_time::Instant::now();
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let param = |k: &str, default: f64, max: f64| -> Result<f64> {
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match p.get(k) {
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None | Some(Value::Null) => Ok(default),
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Some(_) => match num(p, k) {
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Some(v) if (0.0..=max).contains(&v) => Ok(v),
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_ => Err(bad(cmd, format!("`{k}` must be a number from 0 to {max}"))),
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},
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}
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};
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let min_volume = param("min_volume", 0.01, f64::MAX)?;
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let gap = param("clearance", 0.0, MAX_CLEARANCE)?;
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let tolerance = param("tolerance", 1e-6, 1.0)?;
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let nearest = param("nearest", 0.0, MAX_NEAREST as f64)?.floor() as usize;
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let skip = match p.get("skip_within") {
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None | Some(Value::Null) => SkipWithin::Nothing,
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Some(_) => match str_(p, "skip_within") {
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Some("occurrence") => SkipWithin::Occurrence,
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Some("component") => SkipWithin::Component,
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_ => return Err(bad(cmd, "`skip_within` must be \"occurrence\", \"component\" or null")),
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},
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};
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let st = s.world_state();
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let solid: Vec<&solidcraft_doc::ModelBody> = st.bodies.iter().filter(|b| !b.body.is_mesh()).collect();
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let named = |key: &str| -> Result<Vec<usize>> {
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let names = string_list(p, key);
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let mut out = Vec::new();
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for n in &names {
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let i = solid.iter().position(|b| &b.name == n).ok_or_else(|| bad(cmd, format!("no solid body `{n}`")))?;
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if !out.contains(&i) {
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out.push(i);
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}
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}
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Ok(out)
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};
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let against = if p.get("against").is_none_or(Value::is_null) { None } else { Some(named("against")?) };
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// Without `bodies`: every body (every body not in `against`, when it is given).
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let subjects = if p.get("bodies").is_none_or(Value::is_null) {
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(0..solid.len()).filter(|i| against.as_ref().is_none_or(|a| !a.contains(i))).collect()
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} else {
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named("bodies")?
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};
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if solid.len() > MAX_BODIES {
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return Err(bad(cmd, format!("at most {MAX_BODIES} bodies")));
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}
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let n = solid.len();
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let mut in_subjects = vec![false; n];
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for &i in &subjects {
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if let Some(x) = in_subjects.get_mut(i) {
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*x = true;
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}
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}
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let mut in_against = vec![false; n];
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for &i in against.iter().flatten() {
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if let Some(x) = in_against.get_mut(i) {
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*x = true;
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}
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}
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let used: Vec<bool> = (0..n).map(|i| in_subjects.get(i).copied().unwrap_or(false) || in_against.get(i).copied().unwrap_or(false)).collect();
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// The occurrence path of each body, for `skip_within`.
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let paths: HashMap<String, Vec<u64>> = s.doc.body_frames(&s.model.state()).into_iter().map(|(name, _, path, _)| (name, path)).collect();
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let path_by_body: Vec<&[u64]> = solid.iter().map(|b| paths.get(&b.name).map(Vec::as_slice).unwrap_or(&[])).collect();
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let path_of = |i: usize| path_by_body.get(i).copied().unwrap_or(&[]);
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let flag = |v: &[bool], i: usize| v.get(i).copied().unwrap_or(false);
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let allowed = |i: usize, j: usize| -> bool {
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if i == j {
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return false;
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}
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let paired = match &against {
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None => flag(&in_subjects, i) && flag(&in_subjects, j),
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Some(_) => (flag(&in_subjects, i) && flag(&in_against, j)) || (flag(&in_subjects, j) && flag(&in_against, i)),
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};
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if !paired {
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return false;
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}
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let (a, b) = (path_of(i), path_of(j));
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match skip {
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SkipWithin::Nothing => true,
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SkipWithin::Occurrence => a.is_empty() || a != b,
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SkipWithin::Component => a.is_empty() || a.first() != b.first(),
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}
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};
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// Meshes (made once, in parallel) and the distance shapes over them.
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let idx: Vec<usize> = (0..n).filter(|&i| flag(&used, i)).collect();
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let meshes: Vec<Option<Arc<Mesh>>> = {
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let made = solidcraft_kernel::map_with_local_pools(&idx, usize::MAX, |&i| Ok(solid.get(i).map(|b| b.mesh())));
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let mut out = vec![None; n];
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for (&i, m) in idx.iter().zip(made) {
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if let (Some(slot), Ok(m)) = (out.get_mut(i), m) {
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*slot = m;
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}
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}
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out
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};
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let shapes: Vec<Option<DistanceShape>> = (0..n)
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.map(|i| match (solid.get(i), meshes.get(i).and_then(Option::as_ref)) {
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(Some(b), Some(m)) if flag(&used, i) => Some(DistanceShape::new(&b.body, m, b.display_tol())),
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_ => None,
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})
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.collect();
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let shape = |i: usize| shapes.get(i).and_then(Option::as_ref);
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let boxes: Vec<Aabb3> = (0..n).map(|i| shape(i).map_or(Aabb3::EMPTY, DistanceShape::bounds)).collect();
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// Pairs whose boxes, grown by half the clearance each, meet.
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let half = solidcraft_geom::Vec3::new(1.0, 1.0, 1.0) * (gap / 2.0);
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let grown: Vec<Aabb3> = boxes.iter().map(|b| if b.is_empty() { *b } else { Aabb3 { min: b.min - half, max: b.max + half } }).collect();
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let (close, truncated) = super::joints::overlapping_pairs(&grown, MAX_PAIRS);
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let close: Vec<(usize, usize)> = close.into_iter().filter(|&(i, j)| allowed(i, j) && shape(i).is_some() && shape(j).is_some()).collect();
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let mut total = 0usize;
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for i in 0..n {
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for j in i + 1..n {
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if allowed(i, j) {
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total += 1;
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}
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}
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}
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let results = solidcraft_kernel::map_with_local_pools(&close, usize::MAX, |&(i, j)| {
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let (Some(a), Some(b)) = (shape(i), shape(j)) else { return Ok(PairResult::default()) };
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let (Some(ba), Some(bb)) = (solid.get(i), solid.get(j)) else { return Ok(PairResult::default()) };
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Ok(measure_pair(ba, a, bb, b, gap, min_volume, tolerance))
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});
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let mut known: HashMap<(usize, usize), f64> = HashMap::new();
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let (mut overlaps, mut near, mut unchecked) = (Vec::new(), Vec::new(), Vec::new());
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let name = |i: usize| solid.get(i).map_or("", |b| b.name.as_str());
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for (&(i, j), r) in close.iter().zip(results) {
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let r = match r {
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Ok(r) => r,
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Err(e) => {
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unchecked.push(json!({"a": name(i), "b": name(j), "reason": e.to_string()}));
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continue;
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}
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};
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if let Some(reason) = r.unchecked {
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unchecked.push(json!({"a": name(i), "b": name(j), "reason": reason}));
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continue;
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}
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if let Some((volume, area, bbox, center)) = r.overlap
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&& volume >= min_volume
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{
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overlaps.push(json!({"a": name(i), "b": name(j), "volume_mm3": volume, "area_mm2": area,
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"bbox": {"min": bbox.min, "max": bbox.max}, "center": center}));
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known.insert((i, j), 0.0);
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continue;
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}
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let Some(d) = r.distance else { continue };
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known.insert((i, j), d.distance);
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if d.distance < gap {
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let mut e = json!({"a": name(i), "b": name(j), "distance_mm": d.distance, "from": d.from, "to": d.to});
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if let Some((v, ..)) = r.overlap.filter(|o| o.0 > 0.0) {
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e["overlap_mm3"] = json!(v);
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}
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if !d.exact {
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e["exact"] = json!(false);
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}
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near.push(e);
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}
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}
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near.sort_by(|x, y| x["distance_mm"].as_f64().unwrap_or(0.0).total_cmp(&y["distance_mm"].as_f64().unwrap_or(0.0)));
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let mut nearest_out = serde_json::Map::new();
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if nearest > 0 {
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let lists = nearest_lists(&subjects, n, nearest, &boxes, &allowed, &mut known, |pairs| {
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solidcraft_kernel::map_with_local_pools(pairs, usize::MAX, |&(i, j)| {
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let (Some(a), Some(b)) = (shape(i), shape(j)) else { return Ok(None) };
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Ok(solidcraft_kernel::body_distance(a, b, f64::INFINITY)?.map(|d| if d.distance < tolerance { 0.0 } else { d.distance }))
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})
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});
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for (i, list) in lists {
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let rows: Vec<Value> = list.iter().map(|&(j, d)| json!({"body": name(j), "distance_mm": d})).collect();
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nearest_out.insert(name(i).to_string(), Value::Array(rows));
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}
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}
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Ok(json!({
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"overlaps": overlaps,
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"near": near,
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"nearest": nearest_out,
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"unchecked": unchecked,
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"bodies": subjects.len(),
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"pairs_checked": close.len(),
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"pairs_pruned": total.saturating_sub(close.len()),
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"truncated": truncated > 0,
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"ms": started.elapsed().as_secs_f64() * 1000.0,
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}))
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}
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/// One pair: its overlap when the meshes meet or one holds the other, otherwise its distance
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/// when it may be closer than `gap`.
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fn measure_pair(
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ba: &solidcraft_doc::ModelBody,
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a: &DistanceShape,
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bb: &solidcraft_doc::ModelBody,
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b: &DistanceShape,
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gap: f64,
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min_volume: f64,
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tolerance: f64,
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) -> PairResult {
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let mut out = PairResult::default();
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let slack = 2.0 * (a.chord() + b.chord());
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let mesh = a.mesh_closest(b, gap + slack);
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let holds = |outer: &solidcraft_doc::ModelBody, inner: &solidcraft_doc::ModelBody| {
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let (o, i) = (outer.mesh(), inner.mesh());
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let (ob, ib) = (o.bounds(), i.bounds());
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let nested = ob.min.x <= ib.min.x
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&& ob.min.y <= ib.min.y
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&& ob.min.z <= ib.min.z
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&& ib.max.x <= ob.max.x
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&& ib.max.y <= ob.max.y
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&& ib.max.z <= ob.max.z;
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nested && i.positions.first().is_some_and(|p| o.contains(*p))
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};
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let touching = mesh.is_some_and(|m| m.distance <= slack);
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if touching || holds(ba, bb) || holds(bb, ba) {
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// A pair whose shared part can't be worked out is reported, not passed as clear.
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let region = shared_region(a, b);
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let (ca, cb) = (clipped(&ba.body, region), clipped(&bb.body, region));
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let (shared, report) = solidcraft_kernel::capture_boolean_diagnostics(|| {
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solidcraft_kernel::boolean(ca.as_ref().unwrap_or(&ba.body), cb.as_ref().unwrap_or(&bb.body), solidcraft_kernel::BoolOp::Intersect)
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});
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match shared {
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Err(e) => {
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out.unchecked = Some(e.to_string());
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return out;
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}
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Ok(shared) => {
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if let Some(reason) = report.unverified() {
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out.unchecked = Some(reason);
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return out;
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}
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if let Some(o) = shared {
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match measure_near_origin(&o, region.center()) {
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Ok(m) if !plausible(m.volume, m.centroid, m.bbox) => {
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out.unchecked = Some(format!(
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"the shared part came out malformed ({:.4} mm³ with its centre outside its own box), so it is not measured",
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m.volume
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));
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return out;
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}
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Ok(m) => out.overlap = Some((m.volume, m.area, m.bbox, m.centroid)),
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Err(e) => {
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out.unchecked = Some(e.to_string());
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return out;
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}
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}
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}
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}
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}
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if out.overlap.is_some_and(|o| o.0 >= min_volume) {
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return out;
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}
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if out.overlap.is_some_and(|o| o.0 > 0.0) {
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// Contact with a sliver of shared volume.
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let at = out.overlap.map(|o| o.3).unwrap_or_default();
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out.distance = Some(BodyDistance { distance: 0.0, from: at, to: at, exact: true });
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return out;
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}
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}
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if mesh.is_none() {
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return out;
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}
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match solidcraft_kernel::body_distance(a, b, gap) {
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Ok(Some(mut d)) => {
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if d.distance < tolerance {
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d.distance = 0.0;
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}
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out.distance = Some(d);
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}
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Ok(None) => {}
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Err(e) => out.unchecked = Some(e.to_string()),
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}
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out
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}
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/// The box where two bodies may share volume: where their boxes meet, grown by a margin so that
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/// a cut there stays clear of both bodies' faces.
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fn shared_region(a: &DistanceShape, b: &DistanceShape) -> Aabb3 {
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let (x, y) = (a.bounds(), b.bounds());
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let min = x.min.max(y.min);
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let max = x.max.min(y.max);
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if x.is_empty() || y.is_empty() || !(min.x <= max.x && min.y <= max.y && min.z <= max.z) {
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return Aabb3::EMPTY;
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}
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let grow = 1.0 + 0.05 * min.dist(max);
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let g = solidcraft_geom::Vec3::new(grow, grow, grow);
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Aabb3 { min: min - g, max: max + g }
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}
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/// `body` cut down to `region` when the body is much larger than it. The boolean works to a
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/// tolerance that grows with the bodies' size: a 0.01 mm overlap against a plate 1.7 m long
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/// comes out a quarter too small, and thinner ones not at all. Cut to the region first, the
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/// body is small and its faces there are the same faces. `None`: use the whole body.
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fn clipped(body: &solidcraft_kernel::Body, region: Aabb3) -> Option<solidcraft_kernel::Body> {
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if region.is_empty() || body.size() <= 4.0 * region.diagonal() {
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return None;
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}
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let cut = solidcraft_kernel::box_solid(region.min, region.max).ok()?;
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let (r, report) = solidcraft_kernel::capture_boolean_diagnostics(|| solidcraft_kernel::boolean(body, &cut, solidcraft_kernel::BoolOp::Intersect));
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match r {
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Ok(Some(c)) if report.unverified().is_none() => Some(c),
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_ => None,
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}
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}
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/// [`solidcraft_kernel::measure`] of `body` moved by `-at` and back: far from the origin, the
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/// centre of a thin part loses its precision (its moments are large numbers that nearly cancel).
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fn measure_near_origin(body: &solidcraft_kernel::Body, at: solidcraft_geom::Vec3) -> solidcraft_kernel::Result<solidcraft_kernel::BodyMeasure> {
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let Ok(moved) = solidcraft_kernel::transform(body, -at, solidcraft_geom::Vec3::ZERO, solidcraft_geom::Vec3::Z, 0.0) else {
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return solidcraft_kernel::measure(body);
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};
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let mut m = solidcraft_kernel::measure(&moved)?;
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m.centroid += at;
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m.bbox = Aabb3 { min: m.bbox.min + at, max: m.bbox.max + at };
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Ok(m)
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}
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/// Is a measured shared part well formed? A part whose shell came out inside out or open can
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/// carry a volume with its centre outside its own box, or more volume than its box holds.
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fn plausible(volume: f64, centre: solidcraft_geom::Vec3, bbox: Aabb3) -> bool {
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let slack = 1e-6 * bbox.diagonal().max(1.0);
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let (lo, hi) = (bbox.min, bbox.max);
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let inside = [(centre.x, lo.x, hi.x), (centre.y, lo.y, hi.y), (centre.z, lo.z, hi.z)].iter().all(|&(c, l, h)| c >= l - slack && c <= h + slack);
|
|
let s = bbox.size();
|
|
volume.is_finite() && volume >= 0.0 && inside && volume <= s.x * s.y * s.z + slack
|
|
}
|
|
|
|
/// Each subject's `count` nearest bodies, nearest first: pairs are measured in the order of their
|
|
/// boxes' gaps (a lower bound of their distance), in rounds, until the boxes of the next ones
|
|
/// are farther apart than the last neighbour kept. `known` holds distances already measured.
|
|
fn nearest_lists(
|
|
subjects: &[usize],
|
|
n: usize,
|
|
count: usize,
|
|
boxes: &[Aabb3],
|
|
allowed: &dyn Fn(usize, usize) -> bool,
|
|
known: &mut HashMap<(usize, usize), f64>,
|
|
measure: impl Fn(&[(usize, usize)]) -> Vec<solidcraft_kernel::Result<Option<f64>>>,
|
|
) -> BTreeMap<usize, Vec<(usize, f64)>> {
|
|
let key = |i: usize, j: usize| (i.min(j), i.max(j));
|
|
let gap_of = |i: usize, j: usize| match (boxes.get(i), boxes.get(j)) {
|
|
(Some(a), Some(b)) => box_gap(a, b),
|
|
_ => f64::INFINITY,
|
|
};
|
|
// Each subject's candidates, by box gap.
|
|
let mut order: BTreeMap<usize, (Vec<(f64, usize)>, usize)> = BTreeMap::new();
|
|
for &i in subjects {
|
|
let mut c: Vec<(f64, usize)> = (0..n).filter(|&j| allowed(i, j)).map(|j| (gap_of(i, j), j)).filter(|(g, _)| g.is_finite()).collect();
|
|
c.sort_by(|x, y| x.0.total_cmp(&y.0).then(x.1.cmp(&y.1)));
|
|
order.insert(i, (c, 0));
|
|
}
|
|
let mut failed: std::collections::HashSet<(usize, usize)> = std::collections::HashSet::new();
|
|
let measured = |known: &HashMap<(usize, usize), f64>, i: usize, c: &[(f64, usize)]| -> Vec<(usize, f64)> {
|
|
let mut l: Vec<(usize, f64)> = c.iter().filter_map(|&(_, j)| known.get(&key(i, j)).map(|d| (j, *d))).collect();
|
|
l.sort_by(|x, y| x.1.total_cmp(&y.1).then(x.0.cmp(&y.0)));
|
|
l
|
|
};
|
|
// Each round measures, for every subject not settled yet, the next `count` candidates.
|
|
for _ in 0..n.max(1) {
|
|
let mut todo: Vec<(usize, usize)> = Vec::new();
|
|
for (&i, (c, next)) in order.iter_mut() {
|
|
let have = measured(known, i, c);
|
|
let mut added = 0;
|
|
while let Some(&(g, j)) = c.get(*next) {
|
|
let bound = if have.len() >= count { have.get(count - 1).map_or(f64::INFINITY, |x| x.1) } else { f64::INFINITY };
|
|
if g > bound || added >= count {
|
|
break;
|
|
}
|
|
*next += 1;
|
|
let k = key(i, j);
|
|
if !known.contains_key(&k) && !failed.contains(&k) && !todo.contains(&k) {
|
|
todo.push(k);
|
|
added += 1;
|
|
}
|
|
}
|
|
}
|
|
if todo.is_empty() {
|
|
break;
|
|
}
|
|
for (k, r) in todo.iter().zip(measure(&todo)) {
|
|
match r {
|
|
Ok(Some(d)) => {
|
|
known.insert(*k, d);
|
|
}
|
|
_ => {
|
|
failed.insert(*k);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
order.iter().map(|(&i, (c, _))| (i, measured(known, i, c).into_iter().take(count).collect())).collect()
|
|
}
|
|
|
|
#[cfg(test)]
|
|
#[path = "clearance_tests.rs"]
|
|
mod tests;
|