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Added ModelInstance::world_matrix() method and stl_transform using eigen transform

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This commit is contained in:
Enrico Turri 2018-09-04 14:42:14 +02:00
parent 5f2afad95e
commit 15b1340514
8 changed files with 89 additions and 46 deletions
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70
xs/src/libslic3r/Model.cpp
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@ -672,20 +672,18 @@ void ModelObject::center_around_origin()
// First align to origin on XYZ, then center it on XY.
Vec3d size = bb.size();
size(2) = 0.;
Vec3d shift3 = - bb.min - 0.5 * size;
// Unaligned vector, for the Rotation2D to work on Visual Studio 2013.
Eigen::Vector2d shift2 = to_2d(shift3);
this->translate(shift3);
this->origin_translation += shift3;
size(2) = 0.0;
Vec3d shift = -bb.min - 0.5 * size;
this->translate(shift);
this->origin_translation += shift;
if (!this->instances.empty()) {
for (ModelInstance *i : this->instances) {
// apply rotation and scaling to vector as well before translating instance,
// in order to leave final position unaltered
Eigen::Rotation2Dd rot(i->rotation);
i->offset -= rot * shift2 * i->scaling_factor;
Vec3d i_shift = i->world_matrix(true) * shift;
i->offset -= to_2d(i_shift);
}
this->invalidate_bounding_box();
}
@ -861,12 +859,7 @@ void ModelObject::check_instances_print_volume_state(const BoundingBoxf3& print_
{
for (ModelInstance* inst : this->instances)
{
Transform3d m = Transform3d::Identity();
m.translate(Vec3d(inst->offset(0), inst->offset(1), 0.0));
m.rotate(Eigen::AngleAxisd(inst->rotation, Vec3d::UnitZ()));
m.scale(inst->scaling_factor);
BoundingBoxf3 bb = vol->get_convex_hull().transformed_bounding_box(m);
BoundingBoxf3 bb = vol->get_convex_hull().transformed_bounding_box(inst->world_matrix());
if (print_volume.contains(bb))
inst->print_volume_state = ModelInstance::PVS_Inside;
@ -995,26 +988,17 @@ size_t ModelVolume::split(unsigned int max_extruders)
void ModelInstance::transform_mesh(TriangleMesh* mesh, bool dont_translate) const
{
mesh->rotate_z(this->rotation); // rotate around mesh origin
mesh->scale(this->scaling_factor); // scale around mesh origin
if (!dont_translate)
mesh->translate(this->offset(0), this->offset(1), 0);
mesh->transform(world_matrix(dont_translate).cast<float>());
}
BoundingBoxf3 ModelInstance::transform_mesh_bounding_box(const TriangleMesh* mesh, bool dont_translate) const
{
// Rotate around mesh origin.
double c = cos(this->rotation);
double s = sin(this->rotation);
BoundingBoxf3 bbox;
for (int i = 0; i < mesh->stl.stats.number_of_facets; ++ i) {
const stl_facet &facet = mesh->stl.facet_start[i];
for (int j = 0; j < 3; ++ j) {
const stl_vertex &v = facet.vertex[j];
bbox.merge(Vec3d(c * v(0) - s * v(1), s * v(0) + c * v(1), v(2)));
}
}
if (! empty(bbox)) {
TriangleMesh copy(*mesh);
copy.transform(world_matrix(dont_translate, false, true).cast<float>());
BoundingBoxf3 bbox = copy.bounding_box();
if (!empty(bbox)) {
// Scale the bounding box uniformly.
if (std::abs(this->scaling_factor - 1.) > EPSILON) {
bbox.min *= this->scaling_factor;
@ -1031,13 +1015,7 @@ BoundingBoxf3 ModelInstance::transform_mesh_bounding_box(const TriangleMesh* mes
BoundingBoxf3 ModelInstance::transform_bounding_box(const BoundingBoxf3 &bbox, bool dont_translate) const
{
Transform3d matrix = Transform3d::Identity();
if (!dont_translate)
matrix.translate(Vec3d(offset(0), offset(1), 0.0));
matrix.rotate(Eigen::AngleAxisd(rotation, Vec3d::UnitZ()));
matrix.scale(scaling_factor);
return bbox.transformed(matrix);
return bbox.transformed(world_matrix(dont_translate));
}
void ModelInstance::transform_polygon(Polygon* polygon) const
@ -1046,4 +1024,20 @@ void ModelInstance::transform_polygon(Polygon* polygon) const
polygon->scale(this->scaling_factor); // scale around polygon origin
}
Transform3d ModelInstance::world_matrix(bool dont_translate, bool dont_rotate, bool dont_scale) const
{
Transform3d m = Transform3d::Identity();
if (!dont_translate)
m.translate(Vec3d(offset(0), offset(1), 0.0));
if (!dont_rotate)
m.rotate(Eigen::AngleAxisd(rotation, Vec3d::UnitZ()));
if (!dont_scale)
m.scale(scaling_factor);
return m;
}
}