Feat/gcode

bench.md

@@ -13,45 +13,48 @@
 | **lookup** | Replace 36-branch vertex shader switch with a uniform-buffer lookup table |
 | **passes** | CPU layer culling for line draws (LineBatch); opaque/transparent pipeline split; infill promoted to opaque |
 | **packed** | Rhombus instance data packed 48 B → 28 B (f32 dir, palette UBO, half_width moved to FrameUniforms) |
+| **simplify** | Douglas–Peucker perimeter simplification (0.01 mm tol) — drops near-collinear vertices before toolpaths become rhombus instances |
+
+> **simplify** is the largest render win to date: on the VS-bound liver model FPS jumped **6.0 → 21.6 (3.6×)** purely from emitting fewer rhombus instances. Note `offset ms` ticks *up* slightly (the DP pass is extra CPU work), but `plan ms` drops sharply (172 → 45 ms on liver) because nearest-neighbor ordering now walks far fewer vertices. Non-VS-bound models (sphere, block) are vsync-capped at ~31 fps, so their gains show up in `plan ms` instead.
 
 ---
 
 ## liver.stl (38 k triangles, 998 layers, dense toolpaths) (VS-bound)
 
-| metric | legacy | wgpu | lookup | passes | packed |
-|---|--:|--:|--:|--:|--:|
-| load ms | 20.4 | 21.1 | 18.4 | 17.4 | 18.4 |
-| slice ms | 20.4 | 21.1 | 18.4 | 17.4 | 18.4 |
-| offset ms | 2,877.9 | 2,893.5 | 2,733.2 | **2,741.0** | **2,836.5** |
-| plan ms | 175.2 | 175.3 | 177.1 | **146.8** | **172.4** |
-| **init total ms** | **3,093.9** | **3,111.0** | 2,947.1 | **2,922.6** | **3,045.7** |
-| avg fps | 3.1 | 3.4 | 5.0 | **5.7** | **6.0** |
-| avg frame ms | 322.6 | 294.1 | 200.0 | **175.4** | **166.7** |
+| metric | legacy | wgpu | lookup | passes | packed | simplify |
+|---|--:|--:|--:|--:|--:|--:|
+| load ms | 20.4 | 21.1 | 18.4 | 17.4 | 18.4 | 18.8 |
+| slice ms | 20.4 | 21.1 | 18.4 | 17.4 | 18.4 | 18.8 |
+| offset ms | 2,877.9 | 2,893.5 | 2,733.2 | **2,741.0** | **2,836.5** | 2,995.6 |
+| plan ms | 175.2 | 175.3 | 177.1 | **146.8** | **172.4** | **44.6** |
+| **init total ms** | **3,093.9** | **3,111.0** | 2,947.1 | **2,922.6** | **3,045.7** | 3,077.8 |
+| avg fps | 3.1 | 3.4 | 5.0 | **5.7** | **6.0** | **21.6** |
+| avg frame ms | 322.6 | 294.1 | 200.0 | **175.4** | **166.7** | **46.3** |
 
 ---
 
 ## sphere_smooth.stl (29 k triangles, 249 layers) (not VS-bound)
 
-| metric | legacy | wgpu | lookup | passes | packed |
-|---|--:|--:|--:|--:|--:|
-| load ms | 5.6 | 5.6 | 6.0 | 5.0 | 4.6 |
-| slice ms | 5.6 | 5.6 | 6.0 | 5.0 | 4.6 |
-| offset ms | 85.9 | 83.1 | 76.0 | **69.9** | **80.8** |
-| plan ms | 7.9 | 8.0 | 7.9 | **6.3** | **8.5** |
-| **init total ms** | 105.0 | 102.3 | 95.9 | **86.2** | **98.5** |
-| avg fps | 31.6 | 32.1 | 30.2 | **34.1** | **30.9** |
-| avg frame ms | 31.6 | 31.2 | 33.1 | **29.3** | **32.4** |
+| metric | legacy | wgpu | lookup | passes | packed | simplify |
+|---|--:|--:|--:|--:|--:|--:|
+| load ms | 5.6 | 5.6 | 6.0 | 5.0 | 4.6 | 5.8 |
+| slice ms | 5.6 | 5.6 | 6.0 | 5.0 | 4.6 | 5.8 |
+| offset ms | 85.9 | 83.1 | 76.0 | **69.9** | **80.8** | 79.4 |
+| plan ms | 7.9 | 8.0 | 7.9 | **6.3** | **8.5** | **2.7** |
+| **init total ms** | 105.0 | 102.3 | 95.9 | **86.2** | **98.5** | 93.7 |
+| avg fps | 31.6 | 32.1 | 30.2 | **34.1** | **30.9** | 30.9 |
+| avg frame ms | 31.6 | 31.2 | 33.1 | **29.3** | **32.4** | 32.4 |
 
 ---
 
 ## block100.stl (12 triangles, 500 layers) (not VS-bound)
 
-| metric | legacy | wgpu | lookup | passes | packed |
-|---|--:|--:|--:|--:|--:|
-| load ms | 1.2 | 0.8 | 0.8 | 1.2 | 0.9 |
-| slice ms | 1.2 | 0.8 | 0.8 | 1.2 | 0.9 |
-| offset ms | 3.7 | 4.1 | 4.0 | **4.2** | **3.7** |
-| plan ms | 11.6 | 11.5 | 13.4 | **13.6** | **12.4** |
-| **init total ms** | 17.7 | **17.2** | 19.0 | 20.2 | **17.9** |
-| avg fps | 22.1 | 19.3 | 19.4 | **28.2** | **27.7** |
-| avg frame ms | 45.2 | 51.8 | 51.6 | **35.5** | **36.1** |
+| metric | legacy | wgpu | lookup | passes | packed | simplify |
+|---|--:|--:|--:|--:|--:|--:|
+| load ms | 1.2 | 0.8 | 0.8 | 1.2 | 0.9 | 0.7 |
+| slice ms | 1.2 | 0.8 | 0.8 | 1.2 | 0.9 | 0.7 |
+| offset ms | 3.7 | 4.1 | 4.0 | **4.2** | **3.7** | 3.2 |
+| plan ms | 11.6 | 11.5 | 13.4 | **13.6** | **12.4** | **5.0** |
+| **init total ms** | 17.7 | **17.2** | 19.0 | 20.2 | **17.9** | **9.6** |
+| avg fps | 22.1 | 19.3 | 19.4 | **28.2** | **27.7** | **30.9** |
+| avg frame ms | 45.2 | 51.8 | 51.6 | **35.5** | **36.1** | **32.4** |

crates/katana-cli/src/main.rs

@@ -1,9 +1,8 @@
 use std::fs;
 use std::time::Instant;
 
-use clap::{Parser, Subcommand};
-use katana_core::{offset, slicer, stl, svg};
-use rayon::prelude::*;
+use clap::{ Parser, Subcommand };
+use katana_core::{ gcode::{ self, GcodeConfig }, offset, slicer, stl, planner };
 
 #[derive(Parser)]
 #[command(name = "katana", about = "3D printing slicer")]
@@ -61,7 +60,17 @@ fn main() {
             infill_density,
             bottom_layers,
             top_layers,
-        } => cmd_slice(&file, layer_height, &output, nozzle_width, perimeters, infill_density, bottom_layers, top_layers),
+        } =>
+            cmd_slice(
+                &file,
+                layer_height,
+                &output,
+                nozzle_width,
+                perimeters,
+                infill_density,
+                bottom_layers,
+                top_layers
+            ),
     }
 }
 
@@ -86,16 +95,20 @@ fn cmd_info(file: &str) {
     println!("  Bounding box:");
     println!("    min: ({:.3}, {:.3}, {:.3})", min.x, min.y, min.z);
     println!("    max: ({:.3}, {:.3}, {:.3})", max.x, max.y, max.z);
-    println!(
-        "    size: {:.3} x {:.3} x {:.3}",
-        max.x - min.x,
-        max.y - min.y,
-        max.z - min.z
-    );
+    println!("    size: {:.3} x {:.3} x {:.3}", max.x - min.x, max.y - min.y, max.z - min.z);
     println!("  Volume: {:.3}", mesh.volume());
 }
 
-fn cmd_slice(file: &str, layer_height: f32, output_dir: &str, nozzle_width: f32, perimeters: usize, infill_density: f32, bottom_layers: usize, top_layers: usize) {
+fn cmd_slice(
+    file: &str,
+    layer_height: f32,
+    output_dir: &str,
+    nozzle_width: f32,
+    perimeters: usize,
+    infill_density: f32,
+    bottom_layers: usize,
+    top_layers: usize
+) {
     let t_load = Instant::now();
     let mesh = load_mesh(file);
     let load_ms = t_load.elapsed().as_secs_f64() * 1000.0;
@@ -104,12 +117,12 @@ fn cmd_slice(file: &str, layer_height: f32, output_dir: &str, nozzle_width: f32,
     println!("Slicing: {file}");
     println!("  Triangles: {} (loaded in {:.1}ms)", mesh.triangles.len(), load_ms);
     println!("  Layer height: {layer_height} mm");
-    println!("  Nozzle: {nozzle_width} mm, {perimeters} perimeters, {:.0}% infill", infill_density * 100.0);
-    println!("  Bottom layers: {bottom_layers}, Top layers: {top_layers}");
     println!(
-        "  Z range: {:.3} to {:.3}",
-        min.z, max.z
+        "  Nozzle: {nozzle_width} mm, {perimeters} perimeters, {:.0}% infill",
+        infill_density * 100.0
     );
+    println!("  Bottom layers: {bottom_layers}, Top layers: {top_layers}");
+    println!("  Z range: {:.3} to {:.3}", min.z, max.z);
 
     let t_slice = Instant::now();
     let result = slicer::slice_mesh(&mesh, layer_height);
@@ -132,32 +145,42 @@ fn cmd_slice(file: &str, layer_height: f32, output_dir: &str, nozzle_width: f32,
     };
 
     let t_offset = Instant::now();
-    let toolpath_result = offset::generate_toolpaths(&result, &perim_config, &infill_config, &surface_config);
+    let toolpath_result = offset::generate_toolpaths(
+        &result,
+        &perim_config,
+        &infill_config,
+        &surface_config
+    );
     let offset_ms = t_offset.elapsed().as_secs_f64() * 1000.0;
 
     println!("  Perimeters generated in {:.1}ms", offset_ms);
 
-    let t_svg = Instant::now();
-    fs::create_dir_all(output_dir).unwrap_or_else(|e| {
-        eprintln!("Failed to create output directory: {e}");
-        std::process::exit(1);
-    });
+    let t_plan = Instant::now();
+    let speed_config = planner::SpeedConfig {
+        travel: 150.0,
+        perimeter: 30.0,
+        infill: 60.0,
+        surface: 40.0,
+    };
+    let planned_result = planner::plan_toolpaths(&toolpath_result, &speed_config);
+    let plan_ms = t_plan.elapsed().as_secs_f64() * 1000.0;
+
+    println!("  Planned result generated in {:.1}ms", plan_ms);
+
+    let t_gcode = Instant::now();
+    let mut exporter = gcode::Gcode {
+        e: 0.0,
+        config: GcodeConfig {
+            filament_diameter: 1.75,
+            nozzle_width,
+            layer_height,
+        },
+        out: String::new(),
+    };
+    let out = exporter.export(&planned_result);
+    let gcode_file = file.replace(".stl", ".gcode");
+    fs::write(gcode_file, out).unwrap_err();
+    let gcode_ms = t_gcode.elapsed().as_secs_f64() * 1000.0;
 
-    let output_dir_owned = output_dir.to_string();
-    toolpath_result
-        .layers
-        .par_iter()
-        .zip(result.layers.par_iter())
-        .enumerate()
-        .for_each(|(i, (tp_layer, orig_layer))| {
-            let svg_content = svg::toolpath_layer_to_svg(tp_layer, orig_layer, 2.0);
-            let path = format!("{output_dir_owned}/layer_{i:04}.svg");
-            fs::write(&path, &svg_content).unwrap_or_else(|e| {
-                eprintln!("Failed to write {path}: {e}");
-                std::process::exit(1);
-            });
-        });
-    let svg_ms = t_svg.elapsed().as_secs_f64() * 1000.0;
-
-    println!("  SVGs written to: {output_dir}/ ({:.1}ms)", svg_ms);
+    println!("  G-code written to: {output_dir}/ ({:.1}ms)", gcode_ms);
 }

crates/katana-core/Cargo.toml

@@ -9,3 +9,6 @@ byteorder = "1"
 thiserror = "2"
 i_overlay = "4.4"
 rayon = "1"
+
+[dev-dependencies]
+nalgebra = "0.33"