Workaround to fix SPE-1082 + refactoring of 6 dof camera

src/slic3r/GUI/Camera.cpp

@@ -240,17 +240,27 @@ void Camera::apply_view_matrix() const
 
 void Camera::apply_projection(const BoundingBoxf3& box, double near_z, double far_z) const
 {
+#if !ENABLE_6DOF_CAMERA
     set_distance(DefaultDistance);
+#endif // !ENABLE_6DOF_CAMERA
 
     double w = 0.0;
     double h = 0.0;
 
+#if ENABLE_6DOF_CAMERA
+    double old_distance = m_distance;
+    m_frustrum_zs = calc_tight_frustrum_zs_around(box);
+    if (m_distance != old_distance)
+        // the camera has been moved re-apply view matrix
+        apply_view_matrix();
+#else
     while (true)
     {
         m_frustrum_zs = calc_tight_frustrum_zs_around(box);
+#endif // !ENABLE_6DOF_CAMERA
 
         if (near_z > 0.0)
-            m_frustrum_zs.first = std::min(m_frustrum_zs.first, near_z);
+            m_frustrum_zs.first = std::max(std::min(m_frustrum_zs.first, near_z), FrustrumMinNearZ);
 
         if (far_z > 0.0)
             m_frustrum_zs.second = std::max(m_frustrum_zs.second, far_z);
@@ -281,6 +291,7 @@ void Camera::apply_projection(const BoundingBoxf3& box, double near_z, double fa
         }
         }
 
+#if !ENABLE_6DOF_CAMERA
         if (m_type == Perspective)
         {
             double fov_deg = Geometry::rad2deg(2.0 * std::atan(h / m_frustrum_zs.first));
@@ -300,6 +311,7 @@ void Camera::apply_projection(const BoundingBoxf3& box, double near_z, double fa
         else
             break;
     }
+#endif // !ENABLE_6DOF_CAMERA
 
     glsafe(::glMatrixMode(GL_PROJECTION));
     glsafe(::glLoadIdentity());
@@ -324,14 +336,22 @@ void Camera::apply_projection(const BoundingBoxf3& box, double near_z, double fa
 }
 
 #if ENABLE_THUMBNAIL_GENERATOR
+#if ENABLE_6DOF_CAMERA
+void Camera::zoom_to_box(const BoundingBoxf3& box, double margin_factor)
+#else
 void Camera::zoom_to_box(const BoundingBoxf3& box, int canvas_w, int canvas_h, double margin_factor)
+#endif // ENABLE_6DOF_CAMERA
 #else
 void Camera::zoom_to_box(const BoundingBoxf3& box, int canvas_w, int canvas_h)
 #endif // ENABLE_THUMBNAIL_GENERATOR
 {
     // Calculate the zoom factor needed to adjust the view around the given box.
 #if ENABLE_THUMBNAIL_GENERATOR
+#if ENABLE_6DOF_CAMERA
+    double zoom = calc_zoom_to_bounding_box_factor(box, margin_factor);
+#else
     double zoom = calc_zoom_to_bounding_box_factor(box, canvas_w, canvas_h, margin_factor);
+#endif // ENABLE_6DOF_CAMERA
 #else
     double zoom = calc_zoom_to_bounding_box_factor(box, canvas_w, canvas_h);
 #endif // ENABLE_THUMBNAIL_GENERATOR
@@ -348,10 +368,18 @@ void Camera::zoom_to_box(const BoundingBoxf3& box, int canvas_w, int canvas_h)
 }
 
 #if ENABLE_THUMBNAIL_GENERATOR
+#if ENABLE_6DOF_CAMERA
+void Camera::zoom_to_volumes(const GLVolumePtrs& volumes, double margin_factor)
+#else
 void Camera::zoom_to_volumes(const GLVolumePtrs& volumes, int canvas_w, int canvas_h, double margin_factor)
+#endif // ENABLE_6DOF_CAMERA
 {
     Vec3d center;
+#if ENABLE_6DOF_CAMERA
+    double zoom = calc_zoom_to_volumes_factor(volumes, center, margin_factor);
+#else
     double zoom = calc_zoom_to_volumes_factor(volumes, canvas_w, canvas_h, center, margin_factor);
+#endif // ENABLE_6DOF_CAMERA
     if (zoom > 0.0)
     {
         m_zoom = zoom;
@@ -389,6 +417,7 @@ void Camera::debug_render() const
     float deltaZ = farZ - nearZ;
     float zoom = (float)m_zoom;
     float fov = (float)get_fov();
+    std::array<int, 4>viewport = get_viewport();
     float gui_scale = (float)get_gui_scale();
 
     ImGui::InputText("Type", type.data(), type.length(), ImGuiInputTextFlags_ReadOnly);
@@ -408,6 +437,8 @@ void Camera::debug_render() const
     ImGui::InputFloat("Zoom", &zoom, 0.0f, 0.0f, "%.6f", ImGuiInputTextFlags_ReadOnly);
     ImGui::InputFloat("Fov", &fov, 0.0f, 0.0f, "%.6f", ImGuiInputTextFlags_ReadOnly);
     ImGui::Separator();
+    ImGui::InputInt4("Viewport", viewport.data(), ImGuiInputTextFlags_ReadOnly);
+    ImGui::Separator();
     ImGui::InputFloat("GUI scale", &gui_scale, 0.0f, 0.0f, "%.6f", ImGuiInputTextFlags_ReadOnly);
     imgui.end();
 }
@@ -427,10 +458,31 @@ void Camera::translate_world(const Vec3d& displacement)
 
 void Camera::rotate_on_sphere(double delta_azimut_rad, double delta_zenit_rad)
 {
+    // FIXME -> The following is a HACK !!!
+    // When the value of the zenit rotation is large enough, the following call to rotate() shows
+    // numerical instability introducing some scaling into m_view_matrix (verified by checking
+    // that the camera space unit vectors are no more unit).
+    // See also https://dev.prusa3d.com/browse/SPE-1082
+    // We split the zenit rotation into a set of smaller rotations which are then applied.
+    static const double MAX_ALLOWED = Geometry::deg2rad(0.1);
+    unsigned int zenit_steps_count = 1 + (unsigned int)(std::abs(delta_zenit_rad) / MAX_ALLOWED);
+    double zenit_step = delta_zenit_rad / (double)zenit_steps_count;
+
     Vec3d target = m_target;
     translate_world(-target);
-    m_view_matrix.rotate(Eigen::AngleAxisd(delta_zenit_rad, get_dir_right()));
+
-    m_view_matrix.rotate(Eigen::AngleAxisd(delta_azimut_rad, Vec3d::UnitZ()));
+    if (zenit_step != 0.0)
+    {
+        Vec3d right = get_dir_right();
+        for (unsigned int i = 0; i < zenit_steps_count; ++i)
+        {
+            m_view_matrix.rotate(Eigen::AngleAxisd(zenit_step, right));
+        }
+    }
+
+    if (delta_azimut_rad != 0.0)
+        m_view_matrix.rotate(Eigen::AngleAxisd(delta_azimut_rad, Vec3d::UnitZ()));
+
     translate_world(target);
 }
 
@@ -453,7 +505,11 @@ void Camera::rotate_local_around_pivot(const Vec3d& rotation_rad, const Vec3d& p
 
 double Camera::min_zoom() const
 {
+#if ENABLE_6DOF_CAMERA
+    return 0.7 * calc_zoom_to_bounding_box_factor(m_scene_box);
+#else
     return 0.7 * calc_zoom_to_bounding_box_factor(m_scene_box, (int)m_viewport[2], (int)m_viewport[3]);
+#endif // ENABLE_6DOF_CAMERA
 }
 #endif // ENABLE_6DOF_CAMERA
 
@@ -462,8 +518,10 @@ std::pair<double, double> Camera::calc_tight_frustrum_zs_around(const BoundingBo
     std::pair<double, double> ret;
     auto& [near_z, far_z] = ret;
 
+#if !ENABLE_6DOF_CAMERA
     while (true)
     {
+#endif // !ENABLE_6DOF_CAMERA
         // box in eye space
         BoundingBoxf3 eye_box = box.transformed(m_view_matrix);
         near_z = -eye_box.max(2);
@@ -482,18 +540,39 @@ std::pair<double, double> Camera::calc_tight_frustrum_zs_around(const BoundingBo
             far_z = mid_z + half_size;
         }
 
+#if ENABLE_6DOF_CAMERA
+        if (near_z < FrustrumMinNearZ)
+        {
+            float delta = FrustrumMinNearZ - near_z;
+            set_distance(m_distance + delta);
+            near_z += delta;
+            far_z += delta;
+        }
+        else if ((near_z > 2.0 * FrustrumMinNearZ) && (m_distance > DefaultDistance))
+        {
+            float delta = m_distance - DefaultDistance;
+            set_distance(DefaultDistance);
+            near_z -= delta;
+            far_z -= delta;
+        }
+#else
         if (near_z >= FrustrumMinNearZ)
             break;
 
-        // ensure min Near Z
+        // ensure min near z
         set_distance(m_distance + FrustrumMinNearZ - near_z);
     }
+#endif // ENABLE_6DOF_CAMERA
 
     return ret;
 }
 
 #if ENABLE_THUMBNAIL_GENERATOR
+#if ENABLE_6DOF_CAMERA
+double Camera::calc_zoom_to_bounding_box_factor(const BoundingBoxf3& box, double margin_factor) const
+#else
 double Camera::calc_zoom_to_bounding_box_factor(const BoundingBoxf3& box, int canvas_w, int canvas_h, double margin_factor) const
+#endif // ENABLE_6DOF_CAMERA
 #else
 double Camera::calc_zoom_to_bounding_box_factor(const BoundingBoxf3& box, int canvas_w, int canvas_h) const
 #endif // ENABLE_THUMBNAIL_GENERATOR
@@ -505,8 +584,10 @@ double Camera::calc_zoom_to_bounding_box_factor(const BoundingBoxf3& box, int ca
     // project the box vertices on a plane perpendicular to the camera forward axis
     // then calculates the vertices coordinate on this plane along the camera xy axes
 
+#if !ENABLE_6DOF_CAMERA
     // ensure that the view matrix is updated
     apply_view_matrix();
+#endif // !ENABLE_6DOF_CAMERA
 
     Vec3d right = get_dir_right();
     Vec3d up = get_dir_up();
@@ -563,11 +644,19 @@ double Camera::calc_zoom_to_bounding_box_factor(const BoundingBoxf3& box, int ca
     dx *= margin_factor;
     dy *= margin_factor;
 
+#if ENABLE_6DOF_CAMERA
+    return std::min((double)m_viewport[2] / dx, (double)m_viewport[3] / dy);
+#else
     return std::min((double)canvas_w / dx, (double)canvas_h / dy);
+#endif // ENABLE_6DOF_CAMERA
 }
 
 #if ENABLE_THUMBNAIL_GENERATOR
+#if ENABLE_6DOF_CAMERA
+double Camera::calc_zoom_to_volumes_factor(const GLVolumePtrs& volumes, Vec3d& center, double margin_factor) const
+#else
 double Camera::calc_zoom_to_volumes_factor(const GLVolumePtrs& volumes, int canvas_w, int canvas_h, Vec3d& center, double margin_factor) const
+#endif // ENABLE_6DOF_CAMERA
 {
     if (volumes.empty())
         return -1.0;
@@ -575,8 +664,10 @@ double Camera::calc_zoom_to_volumes_factor(const GLVolumePtrs& volumes, int canv
     // project the volumes vertices on a plane perpendicular to the camera forward axis
     // then calculates the vertices coordinate on this plane along the camera xy axes
 
+#if !ENABLE_6DOF_CAMERA
     // ensure that the view matrix is updated
     apply_view_matrix();
+#endif // !ENABLE_6DOF_CAMERA
 
     Vec3d right = get_dir_right();
     Vec3d up = get_dir_up();
@@ -628,14 +719,26 @@ double Camera::calc_zoom_to_volumes_factor(const GLVolumePtrs& volumes, int canv
     if ((dx <= 0.0) || (dy <= 0.0))
         return -1.0f;
 
+#if ENABLE_6DOF_CAMERA
+    return std::min((double)m_viewport[2] / dx, (double)m_viewport[3] / dy);
+#else
     return std::min((double)canvas_w / dx, (double)canvas_h / dy);
+#endif // ENABLE_6DOF_CAMERA
 }
 #endif // ENABLE_THUMBNAIL_GENERATOR
 
 void Camera::set_distance(double distance) const
 {
+#if ENABLE_6DOF_CAMERA
+    if (m_distance != distance)
+    {
+        m_view_matrix.translate((distance - m_distance) * get_dir_forward());
+        m_distance = distance;
+    }
+#else
     m_distance = distance;
     apply_view_matrix();
+#endif // ENABLE_6DOF_CAMERA
 }
 
 #if ENABLE_6DOF_CAMERA

src/slic3r/GUI/Camera.hpp

@@ -48,11 +48,7 @@ private:
     mutable double m_gui_scale;
 
     mutable std::array<int, 4> m_viewport;
-#if ENABLE_6DOF_CAMERA
-    Transform3d m_view_matrix;
-#else
     mutable Transform3d m_view_matrix;
-#endif // ENABLE_6DOF_CAMERA
     mutable Transform3d m_projection_matrix;
     mutable std::pair<double, double> m_frustrum_zs;
 
@@ -71,7 +67,11 @@ public:
     const Vec3d& get_target() const { return m_target; }
     void set_target(const Vec3d& target);
 
+#if ENABLE_6DOF_CAMERA
+    double get_distance() const { return (get_position() - m_target).norm(); }
+#else
     double get_distance() const { return m_distance; }
+#endif // ENABLE_6DOF_CAMERA
     double get_gui_scale() const { return m_gui_scale; }
 
 #if !ENABLE_6DOF_CAMERA
@@ -115,8 +115,13 @@ public:
     void apply_projection(const BoundingBoxf3& box, double near_z = -1.0, double far_z = -1.0) const;
 
 #if ENABLE_THUMBNAIL_GENERATOR
+#if ENABLE_6DOF_CAMERA
+    void zoom_to_box(const BoundingBoxf3& box, double margin_factor = DefaultZoomToBoxMarginFactor);
+    void zoom_to_volumes(const GLVolumePtrs& volumes, double margin_factor = DefaultZoomToVolumesMarginFactor);
+#else
     void zoom_to_box(const BoundingBoxf3& box, int canvas_w, int canvas_h, double margin_factor = DefaultZoomToBoxMarginFactor);
     void zoom_to_volumes(const GLVolumePtrs& volumes, int canvas_w, int canvas_h, double margin_factor = DefaultZoomToVolumesMarginFactor);
+#endif // ENABLE_6DOF_CAMERA
 #else
     void zoom_to_box(const BoundingBoxf3& box, int canvas_w, int canvas_h);
 #endif // ENABLE_THUMBNAIL_GENERATOR
@@ -151,8 +156,13 @@ private:
     // the camera MUST be outside of the bounding box in eye coordinate of the given box
     std::pair<double, double> calc_tight_frustrum_zs_around(const BoundingBoxf3& box) const;
 #if ENABLE_THUMBNAIL_GENERATOR
+#if ENABLE_6DOF_CAMERA
+    double calc_zoom_to_bounding_box_factor(const BoundingBoxf3& box, double margin_factor = DefaultZoomToBoxMarginFactor) const;
+    double calc_zoom_to_volumes_factor(const GLVolumePtrs& volumes, Vec3d& center, double margin_factor = DefaultZoomToVolumesMarginFactor) const;
+#else
     double calc_zoom_to_bounding_box_factor(const BoundingBoxf3& box, int canvas_w, int canvas_h, double margin_factor = DefaultZoomToBoxMarginFactor) const;
     double calc_zoom_to_volumes_factor(const GLVolumePtrs& volumes, int canvas_w, int canvas_h, Vec3d& center, double margin_factor = DefaultZoomToVolumesMarginFactor) const;
+#endif // ENABLE_6DOF_CAMERA
 #else
     double calc_zoom_to_bounding_box_factor(const BoundingBoxf3& box, int canvas_w, int canvas_h) const;
 #endif // ENABLE_THUMBNAIL_GENERATOR

src/slic3r/GUI/GLCanvas3D.cpp

@@ -1710,11 +1710,16 @@ void GLCanvas3D::render()
     }
 
     const Size& cnv_size = get_canvas_size();
+#if ENABLE_6DOF_CAMERA
+    m_camera.apply_viewport(0, 0, (unsigned int)cnv_size.get_width(), (unsigned int)cnv_size.get_height());
+#endif // ENABLE_6DOF_CAMERA
 
     if (m_camera.requires_zoom_to_bed)
     {
         zoom_to_bed();
+#if !ENABLE_6DOF_CAMERA
         _resize((unsigned int)cnv_size.get_width(), (unsigned int)cnv_size.get_height());
+#endif // !ENABLE_6DOF_CAMERA
         m_camera.requires_zoom_to_bed = false;
     }
 
@@ -3814,8 +3819,13 @@ void GLCanvas3D::_render_thumbnail_internal(ThumbnailData& thumbnail_data, bool
 #if ENABLE_6DOF_CAMERA
     camera.set_scene_box(scene_bounding_box());
 #endif // ENABLE_6DOF_CAMERA
+#if ENABLE_6DOF_CAMERA
+    camera.apply_viewport(0, 0, thumbnail_data.width, thumbnail_data.height);
+    camera.zoom_to_volumes(visible_volumes);
+#else
     camera.zoom_to_volumes(visible_volumes, thumbnail_data.width, thumbnail_data.height);
     camera.apply_viewport(0, 0, thumbnail_data.width, thumbnail_data.height);
+#endif // ENABLE_6DOF_CAMERA
     camera.apply_view_matrix();
 
     double near_z = -1.0;
@@ -4406,8 +4416,10 @@ void GLCanvas3D::_resize(unsigned int w, unsigned int h)
     // ensures that this canvas is current
     _set_current();
 
+#if !ENABLE_6DOF_CAMERA
     // updates camera
     m_camera.apply_viewport(0, 0, w, h);
+#endif // !ENABLE_6DOF_CAMERA
 }
 
 BoundingBoxf3 GLCanvas3D::_max_bounding_box(bool include_gizmos, bool include_bed_model) const
@@ -4431,8 +4443,12 @@ BoundingBoxf3 GLCanvas3D::_max_bounding_box(bool include_gizmos, bool include_be
 #if ENABLE_THUMBNAIL_GENERATOR
 void GLCanvas3D::_zoom_to_box(const BoundingBoxf3& box, double margin_factor)
 {
+#if ENABLE_6DOF_CAMERA
+    m_camera.zoom_to_box(box, margin_factor);
+#else
     const Size& cnv_size = get_canvas_size();
     m_camera.zoom_to_box(box, cnv_size.get_width(), cnv_size.get_height(), margin_factor);
+#endif // ENABLE_6DOF_CAMERA
     m_dirty = true;
 }
 #else