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Fix some rotation-related issues (#3890)

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* Fix issue with max_z after rotation

* Don't use `object.bounding_box()`, use `bounding_box_exact()` instead.

* Fix auto-orient

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Co-authored-by: SoftFever <softfeverever@gmail.com>
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Noisyfox 2024-01-30 19:45:14 +08:00 • committed by GitHub
parent d1eea4c677
commit 73ab032e82
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12 changed files with 186 additions and 137 deletions
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36
src/libslic3r/Geometry.cpp
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@ -418,36 +418,12 @@ Vec3d extract_euler_angles(const Transform3d& transform)
void rotation_from_two_vectors(Vec3d from, Vec3d to, Vec3d& rotation_axis, double& phi, Matrix3d* rotation_matrix)
{
double epsilon = 1e-5;
// note: a.isMuchSmallerThan(b,prec) compares a.abs().sum()<b*prec, so previously we set b=0 && prec=dummpy_prec() is wrong
if ((from + to).isMuchSmallerThan(1, epsilon))
{
rotation_axis << 1, 0, 0;
phi = M_PI;
if (rotation_matrix)
*rotation_matrix = -Matrix3d::Identity();
}
else if ((from - to).isMuchSmallerThan(1, epsilon)) {
rotation_axis << 1, 0, 0;
phi = 0;
if (rotation_matrix)
*rotation_matrix = Matrix3d::Identity();
}
else {
rotation_axis = from.cross(to);
double s = rotation_axis.norm(); // sin(phi)
double c = from.dot(to); // cos(phi)
auto& v = rotation_axis;
Matrix3d kmat;
kmat << 0, -v[2], v[1],
v[2], 0, -v[0],
-v[1], v[0], 0;
rotation_axis.normalize();
phi = acos(std::min(from.dot(to), 1.0));
if (rotation_matrix)
*rotation_matrix = Matrix3d::Identity() + kmat + kmat * kmat * ((1 - c) / (s * s));
}
const Matrix3d m = Transform3d(Eigen::Quaterniond().setFromTwoVectors(from, to)).matrix().block<3, 3>(0, 0);
const Eigen::AngleAxisd aa(m);
rotation_axis = aa.axis();
phi = aa.angle();
if (rotation_matrix)
*rotation_matrix = m;
}
Transform3d Transformation::get_offset_matrix() const