From 91b97337b0e1385b5b891220fc546dc2900d06f1 Mon Sep 17 00:00:00 2001
From: Enrico Turri <enricoturri@seznam.cz>
Date: Tue, 21 May 2019 10:16:44 +0200
Subject: [PATCH] Tech ENABLE_NEW_EULER_ANGLES set as default

---
 src/libslic3r/Geometry.cpp     | 36 +---------------------------------
 src/libslic3r/Technologies.hpp |  9 ---------
 2 files changed, 1 insertion(+), 44 deletions(-)

diff --git a/src/libslic3r/Geometry.cpp b/src/libslic3r/Geometry.cpp
index 36f4016b2..ccc629723 100644
--- a/src/libslic3r/Geometry.cpp
+++ b/src/libslic3r/Geometry.cpp
@@ -1180,7 +1180,6 @@ Transform3d assemble_transform(const Vec3d& translation, const Vec3d& rotation,
 
 Vec3d extract_euler_angles(const Eigen::Matrix<double, 3, 3, Eigen::DontAlign>& rotation_matrix)
 {
-#if ENABLE_NEW_EULER_ANGLES
     // reference: http://www.gregslabaugh.net/publications/euler.pdf
     Vec3d angles1 = Vec3d::Zero();
     Vec3d angles2 = Vec3d::Zero();
@@ -1219,40 +1218,7 @@ Vec3d extract_euler_angles(const Eigen::Matrix<double, 3, 3, Eigen::DontAlign>&
     double min_2 = angles2.cwiseAbs().minCoeff();
     bool use_1 = (min_1 < min_2) || (is_approx(min_1, min_2) && (angles1.norm() <= angles2.norm()));
 
-    Vec3d angles = use_1 ? angles1 : angles2;
-#else
-    auto y_only = [](const Eigen::Matrix<double, 3, 3, Eigen::DontAlign>& matrix) -> bool {
-        return (matrix(0, 1) == 0.0) && (matrix(1, 0) == 0.0) && (matrix(1, 1) == 1.0) && (matrix(1, 2) == 0.0) && (matrix(2, 1) == 0.0);
-    };
-
-    // see: https://www.learnopencv.com/rotation-matrix-to-euler-angles/
-    double cy_abs = ::sqrt(sqr(rotation_matrix(0, 0)) + sqr(rotation_matrix(1, 0)));
-
-    Vec3d angles = Vec3d::Zero();
-
-    if (cy_abs >= 1e-6)
-    {
-        angles(0) = ::atan2(rotation_matrix(2, 1), rotation_matrix(2, 2));
-        angles(1) = ::atan2(-rotation_matrix(2, 0), cy_abs);
-        angles(2) = ::atan2(rotation_matrix(1, 0), rotation_matrix(0, 0));
-
-        // this is an hack to try to avoid this function to return "strange" values due to gimbal lock
-        if (y_only(rotation_matrix) && (angles(0) == (double)PI) && (angles(2) == (double)PI))
-        {
-            angles(0) = 0.0;
-            angles(1) = ::atan2(rotation_matrix(2, 0), cy_abs) - (double)PI;
-            angles(2) = 0.0;
-        }
-    }
-    else
-    {
-        angles(0) = 0.0;
-        angles(1) = ::atan2(-rotation_matrix(2, 0), cy_abs);
-        angles(2) = (angles(1) >= 0.0) ? ::atan2(rotation_matrix(1, 2), rotation_matrix(1, 1)) : ::atan2(-rotation_matrix(1, 2), rotation_matrix(1, 1));
-    }
-#endif // ENABLE_NEW_EULER_ANGLES
-
-    return angles;
+    return use_1 ? angles1 : angles2;
 }
 
 Vec3d extract_euler_angles(const Transform3d& transform)
diff --git a/src/libslic3r/Technologies.hpp b/src/libslic3r/Technologies.hpp
index 7e1f14334..bffc45cde 100644
--- a/src/libslic3r/Technologies.hpp
+++ b/src/libslic3r/Technologies.hpp
@@ -28,15 +28,6 @@
 #define ENABLE_NONCUSTOM_DATA_VIEW_RENDERING (0 && ENABLE_1_42_0_ALPHA1)
 
 
-//====================
-// 1.42.0.alpha4 techs
-//====================
-#define ENABLE_1_42_0_ALPHA4 1
-
-// Changed algorithm to extract euler angles from rotation matrix
-#define ENABLE_NEW_EULER_ANGLES (1 && ENABLE_1_42_0_ALPHA4)
-
-
 //====================
 // 1.42.0.alpha7 techs
 //====================