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Added helper functions to extract euler angles from 3d transforms

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This commit is contained in:
Enrico Turri 2018-10-12 12:19:57 +02:00
parent d843f1a76f
commit 9bb93cc4f4
4 changed files with 61 additions and 46 deletions
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23
src/slic3r/GUI/GLCanvas3D.cpp
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@ -1413,33 +1413,14 @@ void GLCanvas3D::Selection::rotate(const Vec3d& rotation)
for (unsigned int i : m_list)
{
Vec3d radius = m * (m_cache.volumes_data[i].get_position() - m_cache.dragging_center);
(*m_volumes)[i]->set_offset(m_cache.dragging_center + radius);
if (single_full_instance)
(*m_volumes)[i]->set_rotation(rotation);
else
{
Eigen::Matrix<double, 3, 3, Eigen::DontAlign> new_rotation_matrix = (m * m_cache.volumes_data[i].get_rotation_matrix()).matrix().block(0, 0, 3, 3);
// extracts euler angles from the composed transformation
// not using Eigen eulerAngles() method because it returns weird results
// see: https://www.learnopencv.com/rotation-matrix-to-euler-angles/
double sy = ::sqrt(sqr(new_rotation_matrix(0, 0)) + sqr(new_rotation_matrix(1, 0)));
Vec3d angles = Vec3d::Zero();
if (sy >= 1e-6)
{
angles(0) = ::atan2(new_rotation_matrix(2, 1), new_rotation_matrix(2, 2));
angles(1) = ::atan2(-new_rotation_matrix(2, 0), sy);
angles(2) = ::atan2(new_rotation_matrix(1, 0), new_rotation_matrix(0, 0));
}
else
{
angles(0) = ::atan2(-new_rotation_matrix(1, 2), new_rotation_matrix(1, 1));
angles(1) = ::atan2(-new_rotation_matrix(2, 0), sy);
angles(2) = 0.0;
}
Vec3d angles = Geometry::extract_euler_angles(new_rotation_matrix);
(*m_volumes)[i]->set_offset(m_cache.dragging_center + m * (m_cache.volumes_data[i].get_position() - m_cache.dragging_center));
(*m_volumes)[i]->set_rotation(Vec3d(angles(0), angles(1), angles(2)));
}
}