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Fixed rotation of SLA instances in case a rotation in X or Y was applied

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to the instances.
This commit is contained in:
bubnikv 2019-04-08 13:35:03 +02:00
parent 9bc93134f9
commit ca6a5af1dc
4 changed files with 47 additions and 34 deletions
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24
src/libslic3r/Geometry.cpp
View file

@ -1455,4 +1455,28 @@ Transformation Transformation::operator * (const Transformation& other) const
return Transformation(get_matrix() * other.get_matrix());
}
Eigen::Quaterniond rotation_xyz_diff(const Vec3d &rot_xyz_from, const Vec3d &rot_xyz_to)
{
return
// From the current coordinate system to world.
Eigen::AngleAxisd(rot_xyz_to(2), Vec3d::UnitZ()) * Eigen::AngleAxisd(rot_xyz_to(1), Vec3d::UnitY()) * Eigen::AngleAxisd(rot_xyz_to(0), Vec3d::UnitX()) *
// From world to the initial coordinate system.
Eigen::AngleAxisd(-rot_xyz_from(0), Vec3d::UnitX()) * Eigen::AngleAxisd(-rot_xyz_from(1), Vec3d::UnitY()) * Eigen::AngleAxisd(-rot_xyz_from(2), Vec3d::UnitZ());
}
// This should only be called if it is known, that the two rotations only differ in rotation around the Z axis.
double rotation_diff_z(const Vec3d &rot_xyz_from, const Vec3d &rot_xyz_to)
{
Eigen::AngleAxisd angle_axis(rotation_xyz_diff(rot_xyz_from, rot_xyz_to));
Vec3d axis = angle_axis.axis();
double angle = angle_axis.angle();
#ifndef NDEBUG
if (std::abs(angle) > 1e-8) {
assert(std::abs(axis.x()) < 1e-8);
assert(std::abs(axis.y()) < 1e-8);
}
#endif /* NDEBUG */
return (axis.z() < 0) ? -angle : angle;
}
} }

7
src/libslic3r/Geometry.hpp
View file

@ -262,6 +262,13 @@ public:
Transformation operator * (const Transformation& other) const;
};
// Rotation when going from the first coordinate system with rotation rot_xyz_from applied
// to a coordinate system with rot_xyz_to applied.
extern Eigen::Quaterniond rotation_xyz_diff(const Vec3d &rot_xyz_from, const Vec3d &rot_xyz_to);
// Rotation by Z to align rot_xyz_from to rot_xyz_to.
// This should only be called if it is known, that the two rotations only differ in rotation around the Z axis.
extern double rotation_diff_z(const Vec3d &rot_xyz_from, const Vec3d &rot_xyz_to);
} }
#endif

20
src/libslic3r/SLAPrint.cpp
View file

@ -3,6 +3,7 @@
#include "SLA/SLABasePool.hpp"
#include "SLA/SLAAutoSupports.hpp"
#include "ClipperUtils.hpp"
#include "Geometry.hpp"
#include "MTUtils.hpp"
#include <unordered_set>
@ -103,13 +104,18 @@ static Transform3d sla_trafo(const ModelObject &model_object)
static std::vector<SLAPrintObject::Instance> sla_instances(const ModelObject &model_object)
{
std::vector<SLAPrintObject::Instance> instances;
for (ModelInstance *model_instance : model_object.instances)
if (model_instance->is_printable()) {
instances.emplace_back(
model_instance->id(),
Point::new_scale(model_instance->get_offset(X), model_instance->get_offset(Y)),
float(model_instance->get_rotation(Z)));
}
assert(! model_object.instances.empty());
if (! model_object.instances.empty()) {
Vec3d rotation0 = model_object.instances.front()->get_rotation();
rotation0(2) = 0.;
for (ModelInstance *model_instance : model_object.instances)
if (model_instance->is_printable()) {
instances.emplace_back(
model_instance->id(),
Point::new_scale(model_instance->get_offset(X), model_instance->get_offset(Y)),
float(Geometry::rotation_diff_z(rotation0, model_instance->get_rotation())));
}
}
return instances;
}