Added ModelInstance::world_matrix() method and stl_transform using eigen transform

lib/Slic3r/GUI/Plater.pm

@@ -1141,13 +1141,12 @@ sub rotate {
     }
 
     # Let's calculate vector of rotation axis (if we don't have it already)
-    # The minus is there so that the direction is the same as was established
     if (defined $axis) {
         if ($axis == X) {
-            $axis_x = -1;
+            $axis_x = 1;
         }
         if ($axis == Y) {
-            $axis_y = -1;
+            $axis_y = 1;
         }
     }
     

xs/src/admesh/stl.h

@@ -173,6 +173,7 @@ extern void stl_mirror_xy(stl_file *stl);
 extern void stl_mirror_yz(stl_file *stl);
 extern void stl_mirror_xz(stl_file *stl);
 extern void stl_transform(stl_file *stl, float *trafo3x4);
+extern void stl_transform(stl_file *stl, const Eigen::Transform<float, 3, Eigen::Affine, Eigen::DontAlign>& t);
 extern void stl_open_merge(stl_file *stl, char *file);
 extern void stl_invalidate_shared_vertices(stl_file *stl);
 extern void stl_generate_shared_vertices(stl_file *stl);

xs/src/admesh/util.cpp

@@ -155,6 +155,47 @@ void stl_transform(stl_file *stl, float *trafo3x4) {
   calculate_normals(stl);
 }
 
+void stl_transform(stl_file *stl, const Eigen::Transform<float, 3, Eigen::Affine, Eigen::DontAlign>& t)
+{
+    if (stl->error)
+        return;
+
+    unsigned int vertices_count = 3 * (unsigned int)stl->stats.number_of_facets;
+    if (vertices_count == 0)
+        return;
+
+    Eigen::MatrixXf src_vertices(3, vertices_count);
+    stl_facet* facet_ptr = stl->facet_start;
+    unsigned int v_id = 0;
+    while (facet_ptr < stl->facet_start + stl->stats.number_of_facets)
+    {
+        for (int i = 0; i < 3; ++i)
+        {
+            ::memcpy((void*)src_vertices.col(v_id).data(), (const void*)&facet_ptr->vertex[i], 3 * sizeof(float));
+            ++v_id;
+        }
+        facet_ptr += 1;
+    }
+
+    Eigen::MatrixXf dst_vertices(3, vertices_count);
+    dst_vertices = t * src_vertices.colwise().homogeneous();
+
+    facet_ptr = stl->facet_start;
+    v_id = 0;
+    while (facet_ptr < stl->facet_start + stl->stats.number_of_facets)
+    {
+        for (int i = 0; i < 3; ++i)
+        {
+            ::memcpy((void*)&facet_ptr->vertex[i], (const void*)dst_vertices.col(v_id).data(), 3 * sizeof(float));
+            ++v_id;
+        }
+        facet_ptr += 1;
+    }
+
+    stl_get_size(stl);
+    calculate_normals(stl);
+}
+
 void
 stl_rotate_x(stl_file *stl, float angle) {
   int i;

xs/src/libslic3r/Model.cpp

@@ -672,20 +672,18 @@ void ModelObject::center_around_origin()
     
     // First align to origin on XYZ, then center it on XY.
     Vec3d size = bb.size();
-    size(2) = 0.;
+    size(2) = 0.0;
-    Vec3d shift3 = - bb.min - 0.5 * size;
+    Vec3d shift = -bb.min - 0.5 * size;
-    // Unaligned vector, for the Rotation2D to work on Visual Studio 2013.
-    Eigen::Vector2d shift2 = to_2d(shift3);
 
-    this->translate(shift3);
+    this->translate(shift);
-    this->origin_translation += shift3;
+    this->origin_translation += shift;
 
     if (!this->instances.empty()) {
         for (ModelInstance *i : this->instances) {
             // apply rotation and scaling to vector as well before translating instance,
             // in order to leave final position unaltered
-            Eigen::Rotation2Dd rot(i->rotation);
+            Vec3d i_shift = i->world_matrix(true) * shift;
-            i->offset -= rot * shift2 * i->scaling_factor;
+            i->offset -= to_2d(i_shift);
         }
         this->invalidate_bounding_box();
     }
@@ -861,12 +859,7 @@ void ModelObject::check_instances_print_volume_state(const BoundingBoxf3& print_
         {
             for (ModelInstance* inst : this->instances)
             {
-                Transform3d m = Transform3d::Identity();
+                BoundingBoxf3 bb = vol->get_convex_hull().transformed_bounding_box(inst->world_matrix());
-                m.translate(Vec3d(inst->offset(0), inst->offset(1), 0.0));
-                m.rotate(Eigen::AngleAxisd(inst->rotation, Vec3d::UnitZ()));
-                m.scale(inst->scaling_factor);
-
-                BoundingBoxf3 bb = vol->get_convex_hull().transformed_bounding_box(m);
 
                 if (print_volume.contains(bb))
                     inst->print_volume_state = ModelInstance::PVS_Inside;
@@ -995,26 +988,17 @@ size_t ModelVolume::split(unsigned int max_extruders)
 
 void ModelInstance::transform_mesh(TriangleMesh* mesh, bool dont_translate) const
 {
-    mesh->rotate_z(this->rotation);                 // rotate around mesh origin
+    mesh->transform(world_matrix(dont_translate).cast<float>());
-    mesh->scale(this->scaling_factor);              // scale around mesh origin
-    if (!dont_translate)
-        mesh->translate(this->offset(0), this->offset(1), 0);
 }
 
 BoundingBoxf3 ModelInstance::transform_mesh_bounding_box(const TriangleMesh* mesh, bool dont_translate) const
 {
     // Rotate around mesh origin.
-    double c = cos(this->rotation);
+    TriangleMesh copy(*mesh);
-    double s = sin(this->rotation);
+    copy.transform(world_matrix(dont_translate, false, true).cast<float>());
-    BoundingBoxf3 bbox;
+    BoundingBoxf3 bbox = copy.bounding_box();
-    for (int i = 0; i < mesh->stl.stats.number_of_facets; ++ i) {
+
-        const stl_facet &facet = mesh->stl.facet_start[i];
+    if (!empty(bbox)) {
-        for (int j = 0; j < 3; ++ j) {
-            const stl_vertex &v = facet.vertex[j];
-			bbox.merge(Vec3d(c * v(0) - s * v(1), s * v(0) + c * v(1), v(2)));
-        }
-    }
-    if (! empty(bbox)) {
         // Scale the bounding box uniformly.
         if (std::abs(this->scaling_factor - 1.) > EPSILON) {
             bbox.min *= this->scaling_factor;
@@ -1031,13 +1015,7 @@ BoundingBoxf3 ModelInstance::transform_mesh_bounding_box(const TriangleMesh* mes
 
 BoundingBoxf3 ModelInstance::transform_bounding_box(const BoundingBoxf3 &bbox, bool dont_translate) const
 {
-    Transform3d matrix = Transform3d::Identity();
+    return bbox.transformed(world_matrix(dont_translate));
-    if (!dont_translate)
-        matrix.translate(Vec3d(offset(0), offset(1), 0.0));
-
-    matrix.rotate(Eigen::AngleAxisd(rotation, Vec3d::UnitZ()));
-    matrix.scale(scaling_factor);
-    return bbox.transformed(matrix);
 }
 
 void ModelInstance::transform_polygon(Polygon* polygon) const
@@ -1046,4 +1024,20 @@ void ModelInstance::transform_polygon(Polygon* polygon) const
     polygon->scale(this->scaling_factor);           // scale around polygon origin
 }
 
+Transform3d ModelInstance::world_matrix(bool dont_translate, bool dont_rotate, bool dont_scale) const
+{
+    Transform3d m = Transform3d::Identity();
+
+    if (!dont_translate)
+        m.translate(Vec3d(offset(0), offset(1), 0.0));
+
+    if (!dont_rotate)
+        m.rotate(Eigen::AngleAxisd(rotation, Vec3d::UnitZ()));
+
+    if (!dont_scale)
+        m.scale(scaling_factor);
+
+    return m;
+}
+
 }

xs/src/libslic3r/Model.hpp

@@ -243,6 +243,8 @@ public:
     // To be called on an external polygon. It does not translate the polygon, only rotates and scales.
     void transform_polygon(Polygon* polygon) const;
 
+    Transform3d world_matrix(bool dont_translate = false, bool dont_rotate = false, bool dont_scale = false) const;
+
     bool is_printable() const { return print_volume_state == PVS_Inside; }
 
 private:

xs/src/libslic3r/TriangleMesh.cpp

@@ -264,7 +264,7 @@ void TriangleMesh::rotate(float angle, const Vec3d& axis)
     Vec3f axis_norm = axis.cast<float>().normalized();
     Transform3f m = Transform3f::Identity();
     m.rotate(Eigen::AngleAxisf(angle, axis_norm));
-    stl_transform(&stl, (float*)m.data());
+    stl_transform(&stl, m);
 }
 
 void TriangleMesh::mirror(const Axis &axis)
@@ -279,6 +279,11 @@ void TriangleMesh::mirror(const Axis &axis)
     stl_invalidate_shared_vertices(&this->stl);
 }
 
+void TriangleMesh::transform(const Transform3f& t)
+{
+    stl_transform(&stl, t);
+}
+
 void TriangleMesh::align_to_origin()
 {
     this->translate(
@@ -523,9 +528,9 @@ BoundingBoxf3 TriangleMesh::transformed_bounding_box(const Transform3d& t) const
                 src_vertices(0, v_id) = (double)facet_ptr->vertex[i](0);
                 src_vertices(1, v_id) = (double)facet_ptr->vertex[i](1);
                 src_vertices(2, v_id) = (double)facet_ptr->vertex[i](2);
+                ++v_id;
             }
             facet_ptr += 1;
-            ++v_id;
         }
     }
 

xs/src/libslic3r/TriangleMesh.hpp

@@ -48,6 +48,7 @@ public:
     void mirror_x() { this->mirror(X); }
     void mirror_y() { this->mirror(Y); }
     void mirror_z() { this->mirror(Z); }
+    void transform(const Transform3f& t);
     void align_to_origin();
     void rotate(double angle, Point* center);
     TriangleMeshPtrs split() const;

xs/src/slic3r/GUI/GLGizmo.cpp

@@ -1051,6 +1051,8 @@ void GLGizmoFlatten::on_render(const BoundingBoxf3& box) const
             ::glPopMatrix();
         }
     }
+
+    ::glDisable(GL_BLEND);
 }
 
 void GLGizmoFlatten::on_render_for_picking(const BoundingBoxf3& box) const
@@ -1278,9 +1280,7 @@ bool GLGizmoFlatten::is_plane_update_necessary() const
 }
 
 Vec3d GLGizmoFlatten::get_flattening_normal() const {
-    Transform3d m = Transform3d::Identity();
+    Vec3d normal = m_model_object->instances.front()->world_matrix().matrix().block(0, 0, 3, 3) * m_normal;
-    m.rotate(Eigen::AngleAxisd(-m_model_object->instances.front()->rotation, Vec3d::UnitZ()));
-    Vec3d normal = m * m_normal;
     m_normal = Vec3d::Zero();
     return normal;
 }