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|
||||
95,95,5987,1,0,1:0:0:0:
|
||||
288,352,6123,1,0,1:0:0:0:
|
||||
159,192,6259,1,0,1:0:0:0:
|
||||
384,127,6396,1,0,1:0:0:0:
|
||||
255,95,6532,1,0,1:0:0:0:
|
||||
@ -0,0 +1,332 @@
|
||||
use osu_file_parser::{
|
||||
osu_file::{
|
||||
hitobjects::{
|
||||
CurveType::*,
|
||||
HitObjectParams::*
|
||||
}
|
||||
},
|
||||
OsuFile
|
||||
};
|
||||
use rust_decimal::{Decimal, prelude::ToPrimitive};
|
||||
|
||||
mod types;
|
||||
use types::*;
|
||||
|
||||
/*
|
||||
The input file.
|
||||
*/
|
||||
const OSU: &str = include_str!("../osu/test2/test2.osu");
|
||||
|
||||
/*
|
||||
Machine's maximum acceleration in mm/s².
|
||||
*/
|
||||
const MAX_ACCEL: f64 = 110_000.0;
|
||||
/*
|
||||
The default acceleration to use for max_v calculation.
|
||||
*/
|
||||
const DEFAULT_ACCEL: f64 = MAX_ACCEL / 2.0;
|
||||
/*
|
||||
The acceleration to use for groups of hitobjects. This should be higher as
|
||||
groups of hitobjects usually have to be traveled with "linear" velocity
|
||||
across all the hitobjects.
|
||||
*/
|
||||
const GROUP_ACCEL: f64 = MAX_ACCEL;
|
||||
/*
|
||||
How much to increase the acceleration if the current acceleration doesn't
|
||||
produce a result.
|
||||
*/
|
||||
const ACCEL_RETRY_STEP: f64 = 5_000.0;
|
||||
/*
|
||||
Since hitobjects' times are rounded to the nearest millisecond, linear
|
||||
velocity calculations aren't very precise, leading to hitobjects with linear
|
||||
velocities perceived to be identical not counted for grouping. To compensate
|
||||
for this, a threshold is set, and any difference between linear velocities
|
||||
under this threshold are counted.
|
||||
*/
|
||||
const GROUP_VEL_LENIENCY: f64 = 0.2;
|
||||
|
||||
/*
|
||||
Size of the bounding box for the beatmap in storage. Do not change.
|
||||
*/
|
||||
const BOUNDING_BOX_SIZE: (f64, f64) = (512.0, 384.0); // lazer default ig
|
||||
/*
|
||||
Physical limits of the machine
|
||||
*/
|
||||
const PHYSICAL_MAX: (f64, f64) = (105.0, 110.0);
|
||||
/*
|
||||
Active area
|
||||
*/
|
||||
const AREA_ORIGIN: (f64, f64) = (10.0, 10.0);
|
||||
const AREA_MAX: (f64, f64) = (95.0, 95.0);
|
||||
/*
|
||||
Rotation in degrees anteclockwise
|
||||
*/
|
||||
const ROTATION: f64 = 90.0;
|
||||
|
||||
const AREA_SIZE: (f64, f64) = (
|
||||
AREA_MAX.0 - AREA_ORIGIN.0,
|
||||
AREA_MAX.1 - AREA_ORIGIN.1
|
||||
);
|
||||
const BOX_TO_AREA_OFFSET: (f64, f64) = (
|
||||
AREA_SIZE.0 / 2.0 - BOUNDING_BOX_SIZE.0 / 2.0,
|
||||
AREA_SIZE.1 / 2.0 - BOUNDING_BOX_SIZE.1 / 2.0
|
||||
);
|
||||
|
||||
/*
|
||||
Calculates the maximum velocity (mm/ms) given the the start and end
|
||||
position, acceleration, and required total move time.
|
||||
|
||||
This uses an equation from 19aksh https://math.stackexchange.com/a/3304761
|
||||
rearranged to solve for v.
|
||||
|
||||
In loose mathematical format:
|
||||
|
||||
2t - sqrt(4t² - 8d (1 / a - 1 / -a))
|
||||
v = -----------------------------------
|
||||
2 (1 / a - 1 / -a)
|
||||
|
||||
Where:
|
||||
t = time (ms)
|
||||
d = distance (mm)
|
||||
a = kinematic acceleration (mm/1000² since 1s == 1000ms)
|
||||
v = velocity (mm/ms)
|
||||
|
||||
(multiply v by 60_000 to get the feedrate (mm/min))
|
||||
|
||||
There are some combinations of t, d, and a that can result in no solution,
|
||||
usually because the acceleration and deceleration periods overlap. In this
|
||||
case, the acceleration should be increased until a solution is found. To
|
||||
compensate for the possibility of this exceeding the MAX_ACCEL, this will
|
||||
normally calculate with half of MAX_ACCEL. If no solution is found even
|
||||
at MAX_ACCEL, an error will be thrown.
|
||||
*/
|
||||
fn max_velocity(
|
||||
p1: PositionF64,
|
||||
p2: PositionF64,
|
||||
accel: f64,
|
||||
ms: f64,
|
||||
) -> f64 {
|
||||
let dist = p1 >> p2;
|
||||
let accel_divided = accel / 1_000_000.0; // accel / 1000² since 1s == 1000ms
|
||||
let accel_factor = 1.0 / accel_divided - 1.0 / -accel_divided;
|
||||
let sqrt_fac = (4.0 * ms.powf(2.0) - 8.0 * dist * accel_factor).sqrt();
|
||||
(2.0 * ms - sqrt_fac) / (2.0 * accel_factor)
|
||||
}
|
||||
|
||||
fn find_bbox_scale_factor(
|
||||
box_size: (f64, f64),
|
||||
target_size: (f64, f64),
|
||||
rotation: f64
|
||||
) -> f64 {
|
||||
let target_size = if rotation == 90.0 || rotation == 270.0 {
|
||||
(target_size.1, target_size.0)
|
||||
} else {
|
||||
target_size
|
||||
};
|
||||
if target_size.0 > target_size.1 {
|
||||
target_size.1 / box_size.1
|
||||
} else {
|
||||
target_size.0 / box_size.0
|
||||
}
|
||||
}
|
||||
|
||||
fn solve_feedrate_and_accel(
|
||||
p1: PositionF64,
|
||||
p2: PositionF64,
|
||||
starting_accel: f64,
|
||||
ms: f64
|
||||
) -> (f64, f64) {
|
||||
let mut accel = starting_accel;
|
||||
let mut max_v: f64;
|
||||
|
||||
loop {
|
||||
max_v = max_velocity(p1, p2, accel, ms);
|
||||
if !max_v.is_nan() { break }
|
||||
accel += ACCEL_RETRY_STEP;
|
||||
if accel >= MAX_ACCEL {
|
||||
panic!("couldn't calculate max_v for dist {} within {}ms", p1 >> p2, ms);
|
||||
}
|
||||
}
|
||||
|
||||
let speed = max_v * 1_000.0; // mm/s
|
||||
let feedrate = speed * 60.0; // mm/min
|
||||
|
||||
eprintln!(
|
||||
"; feedrate: {:.2} ({:.2}mm/s) ({})->({}) dist {}, accel={}, Δms={}",
|
||||
feedrate, speed,
|
||||
p1, p2,
|
||||
p1 >> p2,
|
||||
accel,
|
||||
ms
|
||||
);
|
||||
|
||||
(feedrate, accel)
|
||||
}
|
||||
|
||||
fn main() -> Result<(), Box<dyn std::error::Error>> {
|
||||
/* Steps
|
||||
1. Read beatmap and hitcircles
|
||||
a. convert curves to lines
|
||||
b. apply scaling for every point
|
||||
c. apply rotation for every point
|
||||
2. Convert to gcode paths
|
||||
a. add preliminary gcode
|
||||
b. calculate F for a given movement
|
||||
c. write movements to file
|
||||
*/
|
||||
|
||||
let src = OSU.parse::<OsuFile>()?;
|
||||
let binding = src.hitobjects.expect("Beatmap has no hit objects!");
|
||||
let mut hitobjects = binding.0.iter();
|
||||
let scale_fac = find_bbox_scale_factor(
|
||||
BOUNDING_BOX_SIZE,
|
||||
AREA_SIZE,
|
||||
ROTATION
|
||||
);
|
||||
|
||||
println!("G90\nG0 Z0");
|
||||
let corners = [
|
||||
AREA_ORIGIN,
|
||||
(AREA_ORIGIN.0, AREA_MAX.1),
|
||||
(AREA_MAX.0, AREA_MAX.1),
|
||||
(AREA_MAX.0, AREA_ORIGIN.1)
|
||||
];
|
||||
for corner in corners {
|
||||
println!("G0 X{} Y{} F7500", corner.0, corner.1);
|
||||
}
|
||||
|
||||
let mut total_time: f64 = 0.0;
|
||||
|
||||
let mut p1 = PositionF64::new(0.0, 0.0);
|
||||
let mut p1_ms: Decimal = 0.into();
|
||||
let mut last_accel: f64 = 0.0;
|
||||
|
||||
/*
|
||||
These are used for merging notes that share the same angle and linear
|
||||
velocity into one move. Linear velocity is plainly (dist / ms_delta).
|
||||
|
||||
move_p1 is the starting point of a g-code move.
|
||||
*/
|
||||
let mut move_p1: PositionF64 = p1;
|
||||
let mut move_p1_ms: Decimal = 0.into();
|
||||
let mut group_linear_vel = 0.0;
|
||||
let mut group_slope = 0.0;
|
||||
let mut group_size = 0;
|
||||
let mut dwell_state = false;
|
||||
|
||||
for (count, obj) in hitobjects.enumerate() {
|
||||
let p2_ms = obj.time.get().clone().unwrap_left();
|
||||
let p1_to_p2_ms = p2_ms
|
||||
.checked_sub(p1_ms)
|
||||
.unwrap()
|
||||
.to_f64()
|
||||
.unwrap();
|
||||
|
||||
let p2 = PositionF64
|
||||
::from_position(obj.position.clone())
|
||||
.unwrap()
|
||||
.convert_to_machine_space(
|
||||
scale_fac,
|
||||
BOUNDING_BOX_SIZE,
|
||||
AREA_ORIGIN,
|
||||
AREA_SIZE,
|
||||
ROTATION
|
||||
);
|
||||
|
||||
eprintln!("point {}", count);
|
||||
|
||||
if count == 0 {
|
||||
println!("PAUSE");
|
||||
} else if p1 == p2 && !dwell_state {
|
||||
dwell_state = true;
|
||||
} else if p1 != p2 {
|
||||
let move_p1_to_p1_ms = p1_ms
|
||||
.checked_sub(move_p1_ms)
|
||||
.unwrap()
|
||||
.to_f64()
|
||||
.unwrap();
|
||||
|
||||
let linear_vel = (p1 >> p2) / p1_to_p2_ms;
|
||||
let slope = p1 / p2;
|
||||
|
||||
println!("; linear_vel {:.4}, slope {:.4}", linear_vel, slope);
|
||||
|
||||
if
|
||||
linear_vel - group_linear_vel < GROUP_VEL_LENIENCY
|
||||
&& slope == group_slope
|
||||
{
|
||||
println!("; !! merging point");
|
||||
group_size += 1;
|
||||
} else {
|
||||
let (feedrate, accel) = solve_feedrate_and_accel(
|
||||
move_p1,
|
||||
p1,
|
||||
if group_size > 0 {
|
||||
GROUP_ACCEL
|
||||
} else {
|
||||
DEFAULT_ACCEL
|
||||
},
|
||||
move_p1_to_p1_ms
|
||||
);
|
||||
|
||||
if accel != last_accel {
|
||||
println!("M204 S{}", accel);
|
||||
}
|
||||
|
||||
println!("G0 F{:.4}\nG0 X{} Y{}", feedrate, p1.x, p1.y);
|
||||
|
||||
last_accel = accel;
|
||||
group_linear_vel = linear_vel;
|
||||
group_slope = slope;
|
||||
group_size = 0;
|
||||
}
|
||||
|
||||
if dwell_state {
|
||||
println!("G4 P{}", move_p1_to_p1_ms);
|
||||
dwell_state = false;
|
||||
}
|
||||
|
||||
move_p1_ms = p1_ms;
|
||||
move_p1 = p1;
|
||||
}
|
||||
|
||||
p1 = p2;
|
||||
p1_ms = p2_ms;
|
||||
total_time += p1_to_p2_ms;
|
||||
}
|
||||
|
||||
eprintln!("total time should be {}ms", total_time);
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/*
|
||||
println!(
|
||||
"x={} y={} Δms={} type={}",
|
||||
obj.position.x,
|
||||
obj.position.y let move_p1_to_p1_ms = p1_ms
|
||||
.checked_sub(move_p1_ms)
|
||||
.unwrap()
|
||||
.to_f64()
|
||||
.unwrap();,
|
||||
delta_ms,
|
||||
match obj.obj_params {
|
||||
HitCircle => String::from("HitCircle"),
|
||||
Slider(s) => format!(
|
||||
"Slider type={} points={} slides={} length={}",
|
||||
match s.curve_type {
|
||||
Bezier => "Bezier",
|
||||
Centripetal => "Centripetal",
|
||||
Linear => "Linear",
|
||||
PerfectCircle => "PerfectCircle",
|
||||
_ => "Other"
|
||||
},
|
||||
s.curve_points.len(),
|
||||
s.slides,
|
||||
s.length.get().clone()
|
||||
),
|
||||
Spinner => String::from("Spinner"),
|
||||
_ => String::from("Other")
|
||||
}
|
||||
);
|
||||
*/
|
||||
@ -0,0 +1,129 @@
|
||||
use osu_file_parser::Position;
|
||||
use rust_decimal::{Decimal, prelude::ToPrimitive};
|
||||
|
||||
pub type DecimalTuple = (Decimal, Decimal);
|
||||
|
||||
#[derive(Copy, Clone, PartialEq)]
|
||||
pub struct PositionF64 {
|
||||
pub x: f64,
|
||||
pub y: f64
|
||||
}
|
||||
|
||||
pub enum Axis {
|
||||
X,
|
||||
Y
|
||||
}
|
||||
|
||||
impl PositionF64 {
|
||||
pub fn new(x: f64, y: f64) -> Self { Self { x, y } }
|
||||
|
||||
pub fn from_tuple(a: (f64, f64)) -> Self {
|
||||
Self { x: a.0, y: a.1 }
|
||||
}
|
||||
|
||||
pub fn from_position(a: Position) -> Option<Self> {
|
||||
Some(Self {
|
||||
x: a.x.get().clone().left()?.to_f64()?,
|
||||
y: a.y.get().clone().left()?.to_f64()?
|
||||
})
|
||||
}
|
||||
|
||||
pub fn scale(mut self, fac: f64) -> Self {
|
||||
self.x *= fac;
|
||||
self.y *= fac;
|
||||
self
|
||||
}
|
||||
|
||||
pub fn offset(mut self, x: f64, y: f64) -> Self {
|
||||
self.x += x;
|
||||
self.y += y;
|
||||
self
|
||||
}
|
||||
|
||||
pub fn rotate(mut self, angle_deg: f64) -> Self {
|
||||
let theta = angle_deg * std::f64::consts::PI / 180.0;
|
||||
let sin_theta = theta.sin();
|
||||
let cos_theta = theta.cos();
|
||||
let x = self.x * cos_theta - self.y * sin_theta;
|
||||
let y = self.x * sin_theta + self.y * cos_theta;
|
||||
self.x = x;
|
||||
self.y = y;
|
||||
self
|
||||
}
|
||||
|
||||
pub fn flip(mut self, axis: Axis, bisect: f64) -> Self {
|
||||
match axis {
|
||||
Axis::Y => self.x = self.x - (self.x - bisect) * 2.0,
|
||||
Axis::X => self.y = self.y - (self.y - bisect) * 2.0,
|
||||
}
|
||||
self
|
||||
}
|
||||
|
||||
pub fn convert_to_machine_space(
|
||||
mut self,
|
||||
scale_fac: f64,
|
||||
bbox_size: (f64, f64),
|
||||
area_origin: (f64, f64),
|
||||
area_size: (f64, f64),
|
||||
rotation: f64
|
||||
) -> Self {
|
||||
self.flip(Axis::X, bbox_size.1 / 2.0)
|
||||
.scale(scale_fac)
|
||||
.rotate(rotation)
|
||||
.offset(
|
||||
area_origin.0 + area_size.0,
|
||||
area_origin.1 + area_size.1 / 2.0 - bbox_size.0 * scale_fac / 2.0
|
||||
)
|
||||
}
|
||||
|
||||
pub fn to_string(&self) -> String {
|
||||
format!("{:.4}, {:.4}", self.x, self.y)
|
||||
}
|
||||
}
|
||||
|
||||
impl std::fmt::Display for PositionF64 {
|
||||
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
|
||||
f.write_str(&self.to_string());
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
// Add/offset
|
||||
impl std::ops::Add for PositionF64 {
|
||||
type Output = Self;
|
||||
fn add(self, other: Self) -> Self::Output {
|
||||
Self {
|
||||
x: self.x + other.x,
|
||||
y: self.y + other.y
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Subtract/difference
|
||||
impl std::ops::Sub for PositionF64 {
|
||||
type Output = Self;
|
||||
fn sub(self, other: Self) -> Self::Output {
|
||||
Self {
|
||||
x: self.x - other.x,
|
||||
y: self.y - other.y
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Distance
|
||||
impl std::ops::Shr for PositionF64 {
|
||||
type Output = f64;
|
||||
fn shr(self, other: Self) -> Self::Output {
|
||||
let dist = other - self;
|
||||
(dist.x.powi(2) + dist.y.powi(2)).sqrt().abs()
|
||||
}
|
||||
}
|
||||
|
||||
// Slope
|
||||
impl std::ops::Div for PositionF64 {
|
||||
type Output = f64;
|
||||
fn div(self, rhs: Self) -> Self::Output {
|
||||
let diff = rhs - self;
|
||||
diff.y / diff.x
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,78 @@
|
||||
G90
|
||||
G0 Z0
|
||||
G0 X10 Y10 F7500
|
||||
G0 X10 Y95 F7500
|
||||
G0 X95 Y95 F7500
|
||||
G0 X95 Y10 F7500
|
||||
PAUSE
|
||||
; linear_vel 0.1064, slope 5.3750
|
||||
M204 S55000
|
||||
G0 F14734.6525
|
||||
G0 X51.171875 Y35.8984375
|
||||
; linear_vel 0.0818, slope -2.3846
|
||||
G0 F6429.3272
|
||||
G0 X56.484375 Y64.453125
|
||||
; linear_vel 0.1392, slope 2.5238
|
||||
G0 F982.1545
|
||||
G0 X65.1171875 Y43.8671875
|
||||
G4 P1364
|
||||
; linear_vel 0.0584, slope -inf
|
||||
G0 F8430.0676
|
||||
G0 X79.0625 Y79.0625
|
||||
; linear_vel 0.0590, slope -inf
|
||||
; !! merging point
|
||||
; linear_vel 0.0584, slope -inf
|
||||
; !! merging point
|
||||
; linear_vel 0.0334, slope 0.3735
|
||||
M204 S110000
|
||||
G0 F3509.5833
|
||||
G0 X79.0625 Y31.083984375
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||||
; linear_vel 0.5068, slope 13.0312
|
||||
M204 S55000
|
||||
G0 F2005.8322
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||||
G0 X36.396484375 Y15.146484375000004
|
||||
; linear_vel 0.4223, slope -2.4884
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||||
G0 F32785.7872
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G0 X41.70898437500001 Y84.375
|
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; linear_vel 0.2518, slope -1.2481
|
||||
G0 F26957.4090
|
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G0 X63.125 Y31.083984375000004
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G0 F15656.4508
|
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G0 X41.708984375 Y57.8125
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G0 F14715.1658
|
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G0 X73.75 Y52.333984375
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; linear_vel 0.1614, slope 3.8788
|
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G0 F7145.0001
|
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G0 X57.8125 Y52.333984375
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; linear_vel 0.4009, slope 1.7950
|
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G0 F9899.9328
|
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G0 X52.333984375 Y31.083984375000004
|
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; linear_vel 0.4309, slope -inf
|
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G0 F25490.3308
|
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G0 X79.0625 Y79.0625
|
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; linear_vel 0.1953, slope -1.3333
|
||||
G0 F27545.0689
|
||||
G0 X79.0625 Y20.458984375
|
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; linear_vel 0.2371, slope -6.0313
|
||||
G0 F12041.8473
|
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G0 X63.125 Y41.708984375
|
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; linear_vel 0.1758, slope -2.0156
|
||||
G0 F14702.2521
|
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G0 X57.81250000000001 Y73.75
|
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; linear_vel 0.2491, slope 1.2403
|
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G0 F10807.3775
|
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G0 X68.4375 Y52.333984375
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|
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G0 F15472.8573
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G0 X47.021484375 Y25.771484375000004
|
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|
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G0 F24924.2159
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G0 X89.6875 Y57.8125
|
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; linear_vel 0.2838, slope -3.4615
|
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G0 F15595.0898
|
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G0 X63.125 Y36.396484375
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|
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G0 F17722.9324
|
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G0 X52.33398437500001 Y73.75
|
||||
Loading…
Reference in New Issue