WIP: HP: Allow prism-like setups instead of just pyramid-like setups

3.5 HP: Change from bool to class and introduce None mode

3.5 HP: refactor out IsInsidePyramidSides

3.5 HP: refactor out IsInsidePrismSides

Author: jtimon

src/Movement/Kinematics/HangprinterKinematics.cpp

@@ -99,6 +99,7 @@ void HangprinterKinematics::Init() noexcept
 	constexpr float DefaultTorqueConstants[HANGPRINTER_AXES] = { 0.0F };
 
 	ARRAY_INIT(anchors, DefaultAnchors);
+	anchorMode = HangprinterAnchorMode::LastOnTop;
 	printRadius = DefaultPrintRadius;
 	spoolBuildupFactor = DefaultSpoolBuildupFactor;
 	ARRAY_INIT(spoolRadii, DefaultSpoolRadii);
@@ -419,25 +420,51 @@ static bool isSameSide(float const v0[3], float const v1[3], float const v2[3],
 	return dot0*dot1 > 0.0F;
 }
 
-// For each triangle side in a pseudo-pyramid, check if the point is inside the pyramid (Except for the base)
-// Also check that any point below the line between two exterior anchors (all anchors are exterior except for the last one)
-// is in the "inside part" all the way down to min_Z, however low it may be.
-// To further limit the movements in the X and Y axes one can simply set a smaller print radius.
-bool HangprinterKinematics::IsReachable(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept /*override*/
+bool HangprinterKinematics::IsInsidePyramidSides(float const coords[3]) const noexcept
 {
-	float const coords[3] = {axesCoords[X_AXIS], axesCoords[Y_AXIS], axesCoords[Z_AXIS]};
 	bool reachable = true;
 
 	// Check all the planes defined by triangle sides in the pyramid
 	for (size_t i = 0; reachable && i < HANGPRINTER_AXES - 1; ++i) {
 		reachable = reachable && isSameSide(anchors[i], anchors[(i+1) % (HANGPRINTER_AXES - 1)], anchors[HANGPRINTER_AXES - 1], anchors[(i+2) % (HANGPRINTER_AXES - 1)], coords);
 	}
+	return reachable;
+}
+
+bool HangprinterKinematics::IsInsidePrismSides(float const coords[3], unsigned const discount_last) const noexcept
+{
+	bool reachable = true;
 
 	// For each side of the base, check the plane formed by side and another point bellow them in z.
-	for (size_t i = 0; reachable && i < HANGPRINTER_AXES - 1; ++i) {
+	for (size_t i = 0; reachable && i < HANGPRINTER_AXES - discount_last; ++i) {
 		float const lower_point[3] = {anchors[i][0], anchors[i][1], anchors[i][2] - 1};
 		reachable = reachable && isSameSide(anchors[i], anchors[(i+1) % (HANGPRINTER_AXES - 1)], lower_point, anchors[(i+2) % (HANGPRINTER_AXES - 1)], coords);
 	}
+	return reachable;
+}
+
+// For each triangle side in a pseudo-pyramid, check if the point is inside the pyramid (Except for the base)
+// Also check that any point below the line between two exterior anchors (all anchors are exterior except for the last one)
+// is in the "inside part" all the way down to min_Z, however low it may be.
+// To further limit the movements in the X and Y axes one can simply set a smaller print radius.
+bool HangprinterKinematics::IsReachable(float axesCoords[MaxAxes], AxesBitmap axes) const noexcept /*override*/
+{
+	float const coords[3] = {axesCoords[X_AXIS], axesCoords[Y_AXIS], axesCoords[Z_AXIS]};
+	bool reachable = true;
+
+	switch (anchorMode) {
+		case HangprinterAnchorMode::None:
+			return true;
+
+		// This reaches a pyramid on top of the lower prism if the bed is below the lower anchors
+		case HangprinterAnchorMode::LastOnTop:
+		default:
+			reachable = reachable && IsInsidePyramidSides(coords);
+			reachable = reachable && IsInsidePrismSides(coords, 1);
+
+		case HangprinterAnchorMode::AllOnTop:
+			reachable = reachable && IsInsidePrismSides(coords, 0);
+	};
 
 	return reachable;
 }

src/Movement/Kinematics/HangprinterKinematics.h

@@ -12,6 +12,13 @@
 
 #if SUPPORT_HANGPRINTER
 
+// Different modes can be configured for different tradeoffs in terms of printing volumes and speeds
+enum class HangprinterAnchorMode {
+	None, // All is reacheable in None anchor mode as printing volume
+	LastOnTop, // (Default) Rsults in a pyramid plus a prism below if the lower anchors are above the printing bed
+	AllOnTop, // Result in a prism (speeds get limited, specially going down in Z)
+};
+
 class HangprinterKinematics : public RoundBedKinematics
 {
 public:
@@ -55,6 +62,9 @@ class HangprinterKinematics : public RoundBedKinematics
 protected:
 	DECLARE_OBJECT_MODEL_WITH_ARRAYS
 
+	bool IsInsidePyramidSides(float const coords[3]) const noexcept;
+	bool IsInsidePrismSides(float const coords[3], unsigned const discount_last) const noexcept;
+
 private:
 	// Basic facts about movement system
 	static constexpr size_t HANGPRINTER_AXES = 4;
@@ -71,6 +81,7 @@ class HangprinterKinematics : public RoundBedKinematics
 	void PrintParameters(const StringRef& reply) const noexcept;			// Print all the parameters for debugging
 
 	// The real defaults are in the cpp file
+	HangprinterAnchorMode anchorMode = HangprinterAnchorMode::LastOnTop;
 	float printRadius = 0.0F;
 	float anchors[HANGPRINTER_AXES][3] = {{ 0.0, 0.0, 0.0},
 	                                      { 0.0, 0.0, 0.0},