From 625baaefeee0e58cb37a0a68375b03b39c2abf8a Mon Sep 17 00:00:00 2001
From: Lukas Matena <lukasmatena@seznam.cz>
Date: Thu, 15 Dec 2022 16:02:33 +0100
Subject: [PATCH] Follow-up to previous commit (wipe tower rotation)

---
 src/slic3r/GUI/GLCanvas3D.cpp | 54 ++---------------------------------
 1 file changed, 3 insertions(+), 51 deletions(-)

diff --git a/src/slic3r/GUI/GLCanvas3D.cpp b/src/slic3r/GUI/GLCanvas3D.cpp
index cdb893a7b..de912a134 100644
--- a/src/slic3r/GUI/GLCanvas3D.cpp
+++ b/src/slic3r/GUI/GLCanvas3D.cpp
@@ -3627,56 +3627,6 @@ 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)
@@ -3710,7 +3660,9 @@ void GLCanvas3D::do_rotate(const std::string& snapshot_type)
         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())));
+            Vec3d rot_unit_x = v->get_volume_transformation().get_matrix().linear() * Vec3d::UnitX();
+            double z_rot = std::atan2(rot_unit_x.y(), rot_unit_x.x());
+            post_event(Vec3dEvent(EVT_GLCANVAS_WIPETOWER_ROTATED, Vec3d(offset.x(), offset.y(), z_rot)));
 #else
             post_event(Vec3dEvent(EVT_GLCANVAS_WIPETOWER_ROTATED, Vec3d(offset.x(), offset.y(), v->get_volume_rotation().z())));
 #endif // ENABLE_WORLD_COORDINATE