Reworked the "new modifier mesh place on face" code to not place
on face if the instance coordinate system is skewed.
This commit is contained in:
bubnikv
parent
f88cc6a5c1
commit
1f7db3d40c
2 changed files with 34 additions and 104 deletions
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@ -1180,25 +1180,29 @@ Geometry::Transformation volume_to_bed_transformation(const Geometry::Transforma
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{
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Geometry::Transformation out;
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// Is the angle close to a multiple of 90 degrees?
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auto ninety_degrees = [](double a) {
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a = fmod(std::abs(a), 0.5 * PI);
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if (a > 0.25 * PI)
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a = 0.5 * PI - a;
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return a < 0.001;
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};
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if (instance_transformation.is_scaling_uniform()) {
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// No need to run the non-linear least squares fitting for uniform scaling.
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// Just set the inverse.
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out.set_from_transform(instance_transformation.get_matrix(true).inverse());
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}
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else
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else if (ninety_degrees(instance_transformation.get_rotation().x()) && ninety_degrees(instance_transformation.get_rotation().y()) && ninety_degrees(instance_transformation.get_rotation().z()))
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{
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// Anisotropic scaling, rotation by multiples of ninety degrees.
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Eigen::Matrix3d instance_rotation_trafo =
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(Eigen::AngleAxisd(instance_transformation.get_rotation().z(), Vec3d::UnitZ()) *
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Eigen::AngleAxisd(instance_transformation.get_rotation().y(), Vec3d::UnitY()) *
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Eigen::AngleAxisd(instance_transformation.get_rotation().x(), Vec3d::UnitX())).toRotationMatrix();
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Eigen::Matrix3d instance_rotation_trafo_inv =
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(Eigen::AngleAxisd(- instance_transformation.get_rotation().x(), Vec3d::UnitX()) *
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Eigen::AngleAxisd(- instance_transformation.get_rotation().y(), Vec3d::UnitY()) *
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Eigen::AngleAxisd(- instance_transformation.get_rotation().z(), Vec3d::UnitZ())).toRotationMatrix();
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Vec3d euler_angles_inv = Geometry::extract_euler_angles(instance_rotation_trafo_inv);
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Eigen::Matrix3d instance_trafo = instance_rotation_trafo *
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Eigen::Scaling(instance_transformation.get_scaling_factor().cwiseProduct(instance_transformation.get_mirror()));
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Eigen::Matrix3d volume_rotation_trafo =
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(Eigen::AngleAxisd(-instance_transformation.get_rotation().x(), Vec3d::UnitX()) *
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Eigen::AngleAxisd(-instance_transformation.get_rotation().y(), Vec3d::UnitY()) *
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Eigen::AngleAxisd(-instance_transformation.get_rotation().z(), Vec3d::UnitZ())).toRotationMatrix();
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// 8 corners of the bounding box.
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auto pts = Eigen::MatrixXd(8, 3);
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@ -1211,100 +1215,26 @@ Geometry::Transformation volume_to_bed_transformation(const Geometry::Transforma
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pts(6, 0) = bbox.max.x(); pts(6, 1) = bbox.max.y(); pts(6, 2) = bbox.min.z();
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pts(7, 0) = bbox.max.x(); pts(7, 1) = bbox.max.y(); pts(7, 2) = bbox.max.z();
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// Current parameters: 3x scale, 3x rotation
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auto beta = Eigen::MatrixXd(3 + 3, 1);
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beta << 1., 1., 1., euler_angles_inv(0), euler_angles_inv(1), euler_angles_inv(2);
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{
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// Trafo from world to the coordinate system of the modifier mesh, with the inverse rotation applied to the modifier.
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Eigen::Matrix3d A_scaling = instance_trafo * instance_rotation_trafo_inv;
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// Corners of the bounding box transformed into the modifier mesh coordinate space, with inverse rotation applied to the modifier.
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auto qs = pts * A_scaling.inverse().transpose();
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auto qs = pts *
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(instance_rotation_trafo *
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Eigen::Scaling(instance_transformation.get_scaling_factor().cwiseProduct(instance_transformation.get_mirror())) *
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volume_rotation_trafo).inverse().transpose();
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// Fill in scaling based on least squares fitting of the bounding box corners.
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for (int i = 0; i < 3; ++i)
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beta(i) = pts.col(i).dot(qs.col(i)) / pts.col(i).dot(pts.col(i));
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}
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Vec3d scale;
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for (int i = 0; i < 3; ++ i)
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scale(i) = pts.col(i).dot(qs.col(i)) / pts.col(i).dot(pts.col(i));
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// Jacobian
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// rows: 8 corners of a cube times 3 dimensions,
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// cols: 3x scale, 3x rotation
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auto J = Eigen::MatrixXd(8 * 3, 3 + 3);
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// Until convergence:
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Eigen::Matrix3d s, dsx, dsy, dsz;
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Eigen::Matrix3d rx, drx, ry, dry, rz, drz;
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s.setIdentity();
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rx.setIdentity(); ry.setIdentity(); rz.setIdentity();
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dsx.setZero(); dsy.setZero(); dsz.setZero();
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drx.setZero(); dry.setZero(); drz.setZero();
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dsx(0, 0) = 1.; dsy(1, 1) = 1.; dsz(2, 2) = 1.;
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// Solve the non-linear Least Squares problem by Levenberg–Marquardt algorithm (modified Gauss–Newton iteration)
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const double eps = 1.e-7;
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auto beta_best = beta;
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double beta_best_error = 1e10;
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for (size_t iter = 0; iter < 200; ++ iter) {
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// Current rotation & scaling transformation.
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auto trafo = instance_trafo *
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Eigen::AngleAxisd(beta(5), Vec3d::UnitZ()) *
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Eigen::AngleAxisd(beta(4), Vec3d::UnitY()) *
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Eigen::AngleAxisd(beta(3), Vec3d::UnitX()) *
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Eigen::Scaling(Vec3d(beta(0), beta(1), beta(2)));
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// Current error after rotation & scaling.
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auto dy = (pts - pts * trafo.transpose()).eval();
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double err = 0;
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for (int i = 0; i < 8; ++i)
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err += dy.row(i).norm();
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if (err < beta_best_error) {
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beta_best = beta;
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beta_best_error = err;
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out.set_rotation(Geometry::extract_euler_angles(volume_rotation_trafo));
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out.set_scaling_factor(Vec3d(std::abs(scale(0)), std::abs(scale(1)), std::abs(scale(2))));
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out.set_mirror(Vec3d(scale(0) > 0 ? 1. : -1, scale(1) > 0 ? 1. : -1, scale(2) > 0 ? 1. : -1));
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}
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// Fill in the Jacobian at current beta.
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double cos_rx = cos(beta(3));
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double sin_rx = sin(beta(3));
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double cos_ry = cos(beta(4));
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double sin_ry = sin(beta(4));
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double cos_rz = cos(beta(5));
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double sin_rz = sin(beta(5));
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rx << 1., 0., 0., 0., cos_rx, -sin_rx, 0., sin_rx, cos_rx;
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drx << 0., 0., 0., 0., -sin_rx, -cos_rx, 0., cos_rx, -sin_rx;
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ry << cos_ry, 0., sin_ry, 0., 1., 0., -sin_ry, 0., cos_ry;
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dry << -sin_ry, 0., cos_ry, 0., 0., 0., -cos_ry, 0., -sin_ry;
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rz << cos_rz, -sin_rz, 0., sin_rz, cos_rz, 0., 0., 0., 1.;
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drz << -sin_rz, -cos_rz, 0., cos_rz, -sin_rz, 0., 0., 0., 0.;
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s(0, 0) = beta(0);
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s(1, 1) = beta(1);
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s(2, 2) = beta(2);
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auto rot = (instance_trafo * rz * ry * rx).eval();
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auto jrx = pts * (instance_trafo * rz * ry * drx * s).transpose();
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auto jry = pts * (instance_trafo * rz * dry * rx * s).transpose();
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auto jrz = pts * (instance_trafo * drz * ry * rx * s).transpose();
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for (int r = 0; r < 8; ++ r) {
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for (int i = 0; i < 3; ++ i) {
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J(r * 3 + i, 0) = rot(i, 0) * pts(r, 0);
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J(r * 3 + i, 1) = rot(i, 1) * pts(r, 1);
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J(r * 3 + i, 2) = rot(i, 2) * pts(r, 2);
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J(r * 3 + i, 3) = jrx(r, i);
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J(r * 3 + i, 4) = jry(r, i);
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J(r * 3 + i, 5) = jrz(r, i);
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}
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}
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// Solving the normal equations for delta beta.
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auto rhs = (J.transpose() * Eigen::Map<Eigen::VectorXd>(dy.data(), dy.size())).eval();
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double lambda = 1.; // 0.01;
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auto A = (J.transpose() * J + Eigen::Matrix<double, 6, 6>::Identity() * lambda).eval();
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auto L = A.ldlt();
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auto delta_beta = L.solve(rhs).eval();
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// Check for convergence.
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auto delta_beta_max = delta_beta.cwiseAbs().maxCoeff();
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if (delta_beta_max < eps)
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break;
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beta = beta + delta_beta;
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}
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out.set_rotation(Vec3d(beta_best(3), beta_best(4), beta_best(5)));
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out.set_scaling_factor(Vec3d(std::abs(beta_best(0)), std::abs(beta_best(1)), std::abs(beta_best(2))));
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out.set_mirror(Vec3d(beta_best(0) > 0 ? 1. : -1, beta_best(1) > 0 ? 1. : -1, beta_best(2) > 0 ? 1. : -1));
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else
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{
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// General anisotropic scaling, general rotation.
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// Keep the modifier mesh in the instance coordinate system, so the modifier mesh will not be aligned with the world.
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// Scale it to get the required size.
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out.set_scaling_factor(instance_transformation.get_scaling_factor().cwiseInverse());
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}
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return out;
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@ -2972,7 +2972,7 @@ void Plater::export_gcode()
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default_output_file = fs::path(Slic3r::fold_utf8_to_ascii(default_output_file.string()));
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auto start_dir = wxGetApp().app_config->get_last_output_dir(default_output_file.parent_path().string());
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wxFileDialog dlg(this, (printer_technology() == ptFFF) ? _(L("Save G-code file as:")) : _(L("Save Zip file as:")),
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wxFileDialog dlg(this, (printer_technology() == ptFFF) ? _(L("Save G-code file as:")) : _(L("Save SL1 file as:")),
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start_dir,
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from_path(default_output_file.filename()),
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GUI::file_wildcards((printer_technology() == ptFFF) ? FT_GCODE : FT_PNGZIP, default_output_file.extension().string()),
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