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Assembly: Port BBS' assembly gizmo
Co-authored-by: zhou.xu <zhou.xu@bambulab.com>
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17 changed files with 715 additions and 104 deletions
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@ -717,53 +717,6 @@ Transformation Transformation::volume_to_bed_transformation(const Transformation
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return out;
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}
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TransformationSVD::TransformationSVD(const Transform3d& trafo)
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{
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const auto &m0 = trafo.matrix().block<3, 3>(0, 0);
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mirror = m0.determinant() < 0.0;
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Matrix3d m;
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if (mirror)
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m = m0 * Eigen::DiagonalMatrix<double, 3, 3>(-1.0, 1.0, 1.0);
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else
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m = m0;
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const Eigen::JacobiSVD<Matrix3d> svd(m, Eigen::ComputeFullU | Eigen::ComputeFullV);
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u = svd.matrixU();
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v = svd.matrixV();
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s = svd.singularValues().asDiagonal();
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scale = !s.isApprox(Matrix3d::Identity());
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anisotropic_scale = ! is_approx(s(0, 0), s(1, 1)) || ! is_approx(s(1, 1), s(2, 2));
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rotation = !v.isApprox(u);
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if (anisotropic_scale) {
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rotation_90_degrees = true;
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for (int i = 0; i < 3; ++i) {
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const Vec3d row = v.row(i).cwiseAbs();
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const size_t num_zeros = is_approx(row[0], 0.) + is_approx(row[1], 0.) + is_approx(row[2], 0.);
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const size_t num_ones = is_approx(row[0], 1.) + is_approx(row[1], 1.) + is_approx(row[2], 1.);
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if (num_zeros != 2 || num_ones != 1) {
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rotation_90_degrees = false;
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break;
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}
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}
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// Detect skew by brute force: check if the axes are still orthogonal after transformation
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const Matrix3d trafo_linear = trafo.linear();
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const std::array<Vec3d, 3> axes = { Vec3d::UnitX(), Vec3d::UnitY(), Vec3d::UnitZ() };
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std::array<Vec3d, 3> transformed_axes;
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for (int i = 0; i < 3; ++i) {
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transformed_axes[i] = trafo_linear * axes[i];
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}
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skew = std::abs(transformed_axes[0].dot(transformed_axes[1])) > EPSILON ||
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std::abs(transformed_axes[1].dot(transformed_axes[2])) > EPSILON ||
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std::abs(transformed_axes[2].dot(transformed_axes[0])) > EPSILON;
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// This following old code does not work under all conditions. The v matrix can become non diagonal (see SPE-1492)
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// skew = ! rotation_90_degrees;
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} else
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skew = false;
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}
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// For parsing a transformation matrix from 3MF / AMF.
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Transform3d transform3d_from_string(const std::string& transform_str)
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{
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@ -812,4 +765,78 @@ double rotation_diff_z(const Vec3d &rot_xyz_from, const Vec3d &rot_xyz_to)
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return (axis.z() < 0) ? -angle : angle;
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}
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TransformationSVD::TransformationSVD(const Transform3d& trafo)
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{
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const auto &m0 = trafo.matrix().block<3, 3>(0, 0);
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mirror = m0.determinant() < 0.0;
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Matrix3d m;
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if (mirror)
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m = m0 * Eigen::DiagonalMatrix<double, 3, 3>(-1.0, 1.0, 1.0);
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else
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m = m0;
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const Eigen::JacobiSVD<Matrix3d> svd(m, Eigen::ComputeFullU | Eigen::ComputeFullV);
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u = svd.matrixU();
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v = svd.matrixV();
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s = svd.singularValues().asDiagonal();
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scale = !s.isApprox(Matrix3d::Identity());
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anisotropic_scale = ! is_approx(s(0, 0), s(1, 1)) || ! is_approx(s(1, 1), s(2, 2));
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rotation = !v.isApprox(u);
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if (anisotropic_scale) {
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rotation_90_degrees = true;
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for (int i = 0; i < 3; ++i) {
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const Vec3d row = v.row(i).cwiseAbs();
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const size_t num_zeros = is_approx(row[0], 0.) + is_approx(row[1], 0.) + is_approx(row[2], 0.);
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const size_t num_ones = is_approx(row[0], 1.) + is_approx(row[1], 1.) + is_approx(row[2], 1.);
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if (num_zeros != 2 || num_ones != 1) {
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rotation_90_degrees = false;
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break;
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}
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}
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// Detect skew by brute force: check if the axes are still orthogonal after transformation
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const Matrix3d trafo_linear = trafo.linear();
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const std::array<Vec3d, 3> axes = { Vec3d::UnitX(), Vec3d::UnitY(), Vec3d::UnitZ() };
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std::array<Vec3d, 3> transformed_axes;
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for (int i = 0; i < 3; ++i) {
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transformed_axes[i] = trafo_linear * axes[i];
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}
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skew = std::abs(transformed_axes[0].dot(transformed_axes[1])) > EPSILON ||
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std::abs(transformed_axes[1].dot(transformed_axes[2])) > EPSILON ||
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std::abs(transformed_axes[2].dot(transformed_axes[0])) > EPSILON;
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// This following old code does not work under all conditions. The v matrix can become non diagonal (see SPE-1492)
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// skew = ! rotation_90_degrees;
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} else
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skew = false;
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}
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Transformation mat_around_a_point_rotate(const Transformation &InMat, const Vec3d &pt, const Vec3d &axis, float rotate_theta_radian)
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{
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auto xyz = InMat.get_offset();
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Transformation left;
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left.set_offset(-xyz); // at world origin
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auto curMat = left * InMat;
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auto qua = Eigen::Quaterniond(Eigen::AngleAxisd(rotate_theta_radian, axis));
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qua.normalize();
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Transform3d cur_matrix;
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Transformation rotateMat4;
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rotateMat4.set_matrix(cur_matrix.fromPositionOrientationScale(Vec3d(0., 0., 0.), qua, Vec3d(1., 1., 1.)));
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curMat = rotateMat4 * curMat; // along_fix_axis
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// rotate mat4 along fix pt
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Transformation temp_world;
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auto qua_world = Eigen::Quaterniond(Eigen::AngleAxisd(0, axis));
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qua_world.normalize();
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Transform3d cur_matrix_world;
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temp_world.set_matrix(cur_matrix_world.fromPositionOrientationScale(pt, qua_world, Vec3d(1., 1., 1.)));
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auto temp_xyz = temp_world.get_matrix().inverse() * xyz;
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auto new_pos = temp_world.get_matrix() * (rotateMat4.get_matrix() * temp_xyz);
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curMat.set_offset(new_pos);
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return curMat;
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}
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}} // namespace Slic3r::Geometry
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