Fermat3D

An implementation for Coverage Path Planning(CPP) problem. It can fill any watertight manifold tri mesh with a connected fermat spirals. Simpily, one inward and one outward only.

Fill a mesh with one line only(网格一笔画).

Demo Time

Dependencies

libigl: Heat Geodesic Distance Scalar Feild Generator

OpenMesh: iso-countour cut the watertight manifold mesh by the scalar field.

Algorithm

1. Calc heat geodesic distance field.
2. Gen Iso-countour from the mesh and corresponding scalar field.
3. Construct the spaning tree
4. Convert iso-countour into connected fermat spirals.
5. Connect all child connnected fermat spirals to the parent spiral.

References

1. Connected Fermat Spirals
2. Coverage Path Planning for General Terrain Surfaces

TODO

1. curves optimizations.