3DPrinting/PrusaSlicer-NonPlainar
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Fixed issue with Euler angles:

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the function to extract Euler angles did not work reliably in some of the corner cases.
The bug was not present in 2.5.0 release.
This commit is contained in:
Lukas Matena 2022-09-23 10:46:43 +02:00
parent bb993b8f94
commit 70be93d112
6 changed files with 48 additions and 53 deletions
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24
tests/libslic3r/test_geometry.cpp
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@ -764,3 +764,27 @@ TEST_CASE("Convex polygon intersection test prusa polygons", "[Geometry][Rotcali
REQUIRE(res == ref);
}
}
TEST_CASE("Euler angles roundtrip", "[Geometry]") {
std::vector<Vec3d> euler_angles_vec = {{M_PI/2., -M_PI, 0.},
{M_PI, -M_PI, 0.},
{M_PI, -M_PI, 2*M_PI},
{0., 0., M_PI},
{M_PI, M_PI/2., 0.},
{0.2, 0.3, -0.5}};
// Also include all combinations of zero and +-pi/2:
for (double x : {0., M_PI/2., -M_PI/2.})
for (double y : {0., M_PI/2., -M_PI/2.})
for (double z : {0., M_PI/2., -M_PI/2.})
euler_angles_vec.emplace_back(x, y, z);
for (Vec3d& euler_angles : euler_angles_vec) {
Transform3d trafo1 = Geometry::rotation_transform(euler_angles);
euler_angles = Geometry::extract_rotation(trafo1);
Transform3d trafo2 = Geometry::rotation_transform(euler_angles);
REQUIRE(trafo1.isApprox(trafo2));
}
}