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Tech ENABLE_WORLD_COORDINATE - Fixed rotation of wipe tower

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This commit is contained in:
enricoturri1966 2022-12-15 12:48:48 +01:00
parent f02478f14c
commit 58688139fd
2 changed files with 63 additions and 1 deletions
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62
src/slic3r/GUI/GLCanvas3D.cpp
View File

@ -3627,6 +3627,56 @@ void GLCanvas3D::do_move(const std::string& snapshot_type)
m_dirty = true;
}
#if ENABLE_WORLD_COORDINATE
// This function is a replacement for function Vec3d Geometry::extract_rotation(const Transform3d& transform)
// which is returning wrong values for the call made in the following method GLCanvas3D::do_rotate() when rotating the wipe tower
Vec3d extract_rotation(const Transform3d& transform)
{
// use only the non-translational part of the transform
Eigen::Matrix<double, 3, 3, Eigen::DontAlign> rotation_matrix = transform.matrix().block(0, 0, 3, 3);
// remove scale
rotation_matrix.col(0).normalize();
rotation_matrix.col(1).normalize();
rotation_matrix.col(2).normalize();
// reference: http://eecs.qmul.ac.uk/~gslabaugh/publications/euler.pdf
Vec3d angles1 = Vec3d::Zero();
Vec3d angles2 = Vec3d::Zero();
if (std::abs(std::abs(rotation_matrix(2, 0)) - 1.0) < 1e-5) {
angles1.z() = 0.0;
if (rotation_matrix(2, 0) < 0.0) { // == -1.0
angles1.y() = 0.5 * double(PI);
angles1.x() = angles1.z() + ::atan2(rotation_matrix(0, 1), rotation_matrix(0, 2));
}
else { // == 1.0
angles1.y() = -0.5 * double(PI);
angles1.x() = -angles1.y() + ::atan2(-rotation_matrix(0, 1), -rotation_matrix(0, 2));
}
angles2 = angles1;
}
else {
angles1.y() = -::asin(rotation_matrix(2, 0));
const double inv_cos1 = 1.0 / ::cos(angles1.y());
angles1.x() = ::atan2(rotation_matrix(2, 1) * inv_cos1, rotation_matrix(2, 2) * inv_cos1);
angles1.z() = ::atan2(rotation_matrix(1, 0) * inv_cos1, rotation_matrix(0, 0) * inv_cos1);
angles2.y() = double(PI) - angles1.y();
const double inv_cos2 = 1.0 / ::cos(angles2.y());
angles2.x() = ::atan2(rotation_matrix(2, 1) * inv_cos2, rotation_matrix(2, 2) * inv_cos2);
angles2.z() = ::atan2(rotation_matrix(1, 0) * inv_cos2, rotation_matrix(0, 0) * inv_cos2);
}
// The following euristic is the best found up to now (in the sense that it works fine with the greatest number of edge use-cases)
// but there are other use-cases were it does not
// We need to improve it
const double min_1 = angles1.cwiseAbs().minCoeff();
const double min_2 = angles2.cwiseAbs().minCoeff();
const bool use_1 = (min_1 < min_2) || (is_approx(min_1, min_2) && (angles1.norm() <= angles2.norm()));
return use_1 ? angles1 : angles2;
}
#endif // ENABLE_WORLD_COORDINATE
void GLCanvas3D::do_rotate(const std::string& snapshot_type)
{
if (m_model == nullptr)
@ -3659,7 +3709,11 @@ void GLCanvas3D::do_rotate(const std::string& snapshot_type)
for (const GLVolume* v : m_volumes.volumes) {
if (v->is_wipe_tower) {
const Vec3d offset = v->get_volume_offset();
#if ENABLE_WORLD_COORDINATE
post_event(Vec3dEvent(EVT_GLCANVAS_WIPETOWER_ROTATED, Vec3d(offset.x(), offset.y(), extract_rotation(v->get_volume_transformation().get_matrix()).z())));
#else
post_event(Vec3dEvent(EVT_GLCANVAS_WIPETOWER_ROTATED, Vec3d(offset.x(), offset.y(), v->get_volume_rotation().z())));
#endif // ENABLE_WORLD_COORDINATE
}
const int object_idx = v->object_idx();
if (object_idx < 0 || (int)m_model->objects.size() <= object_idx)
@ -5109,9 +5163,17 @@ void GLCanvas3D::_refresh_if_shown_on_screen()
const Size& cnv_size = get_canvas_size();
_resize((unsigned int)cnv_size.get_width(), (unsigned int)cnv_size.get_height());
// When the application starts the following call to render() triggers the opengl initialization.
// We need to ask for an extra call to reload_scene() to force the generation of the model for wipe tower
// for printers using it, which is skipped by all the previous calls to reload_scene() because m_initialized == false
const bool requires_reload_scene = !m_initialized;
// Because of performance problems on macOS, where PaintEvents are not delivered
// frequently enough, we call render() here directly when we can.
render();
assert(m_initialized);
if (requires_reload_scene)
reload_scene(true);
}
}

2
src/slic3r/GUI/Gizmos/GLGizmoRotate.cpp
View File

@ -614,7 +614,7 @@ bool GLGizmoRotate3D::on_mouse(const wxMouseEvent &mouse_event)
#if ENABLE_WORLD_COORDINATE
TransformationType transformation_type;
if (m_parent.get_selection().is_wipe_tower())
transformation_type = TransformationType::Instance_Relative_Joint;
transformation_type = TransformationType::World_Relative_Joint;
else {
switch (wxGetApp().obj_manipul()->get_coordinates_type())
{