Fix many slicer issues

.gitignore

@@ -1,3 +1,4 @@
 /target
 /*output
-*.goo
+*.goo
+*.stl

TODO.md

@@ -0,0 +1,15 @@
+# TODO
+
+- [ ] Verify slicer on more models
+- [ ] Preprocess mesh to remove self-intersections?
+- [ ] Integrate remote send into ui
+- [ ] Allow slicing multiple modals at once
+- [ ] Fix translation in slicer (its currently moved by pixels not mm)
+- [ ] Allow rotating modals
+- [ ] Optimize slicer (BVH?)
+- [ ] Allow saving / loading projects
+- [ ] Allow deleting objects
+- [ ] Use instancing both for object mesh storage and rendering
+- [ ] Less internal dependence on GOO format
+- [ ] Anti-aliasing
+- [ ] Cache transformed points

remote_send/src/main.rs

@@ -54,19 +54,22 @@ fn main() -> Result<()> {
     let mut buf = String::new();
     stdin().read_line(&mut buf).unwrap();
 
-    let teapot = Arc::new(fs::read("out.goo")?);
-    http.add_file("teapot4.goo", teapot.clone());
+    let teapot = Arc::new(fs::read("fox.goo")?);
+    http.add_file("fox.goo", teapot.clone());
 
     mqtt.send_command(
         &mainboard_id,
-        UploadFile::new("teapot4.goo".to_owned(), http_port, &teapot),
+        UploadFile::new("fox.goo".to_owned(), http_port, &teapot),
     )
     .unwrap();
 
+    let mut buf = String::new();
+    stdin().read_line(&mut buf).unwrap();
+
     mqtt.send_command(
         &mainboard_id,
         StartPrinting {
-            filename: "out.goo".to_owned(),
+            filename: "fox.goo".to_owned(),
             start_layer: 0,
         },
     )

slicer/src/mesh.rs

@@ -50,28 +50,37 @@ impl Mesh {
                 let v1 = self.transform(&self.vertices[face[1] as usize]);
                 let v2 = self.transform(&self.vertices[face[2] as usize]);
 
-                let dot0 = v0.z - height;
-                let dot1 = v1.z - height;
-                let dot2 = v2.z - height;
+                let mut dot0 = v0.z - height;
+                let mut dot1 = v1.z - height;
+                let mut dot2 = v2.z - height;
 
-                let mut result = Vec::new();
+                if dot0 == 0.0 || dot1 == 0.0 || dot2 == 0.0 {
+                    dot0 -= 0.0001;
+                    dot1 -= 0.0001;
+                    dot2 -= 0.0001;
+                }
+
+                let mut result = [Pos::zeros(); 2];
+                let mut index = 0;
 
                 if dot0 * dot1 < 0.0 {
                     let t = dot0 / (dot0 - dot1);
                     let intersection = v0 + t * (v1 - v0);
-                    result.push(intersection);
+                    result[index] = intersection;
+                    index += 1;
                 }
 
                 if dot1 * dot2 < 0.0 {
                     let t = dot1 / (dot1 - dot2);
                     let intersection = v1 + t * (v2 - v1);
-                    result.push(intersection);
+                    result[index] = intersection;
+                    index += 1;
                 }
 
                 if dot2 * dot0 < 0.0 {
                     let t = dot2 / (dot2 - dot0);
                     let intersection = v2 + t * (v0 - v2);
-                    result.push(intersection);
+                    result[index] = intersection;
                 }
 
                 result

slicer/src/slicer.rs

@@ -79,8 +79,12 @@ pub fn slice_goo(slice_config: &SliceConfig, model: &Mesh, progress: impl Fn(u32
                     encoder.add_run(start - last, 0);
                 }
 
-                encoder.add_run(end - start, 255);
-                last = end;
+                if start > end {
+                    eprintln!("Invalid run {}-{}", start, end);
+                } else {
+                    encoder.add_run(end - start, 255);
+                    last = end;
+                }
             }
 
             let image_size = slice_config.platform_resolution.x as u64