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Tweak to euler angles euristic

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This commit is contained in:
Enrico Turri 2019-01-25 12:46:45 +01:00
parent 348aa48121
commit 9d51348272
1 changed files with 8 additions and 6 deletions
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14
src/libslic3r/Geometry.cpp
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@ -1194,15 +1194,12 @@ Vec3d extract_euler_angles(const Eigen::Matrix<double, 3, 3, Eigen::DontAlign>&
{
angles1(1) = 0.5 * (double)PI;
angles1(2) = angles1(0) + ::atan2(rotation_matrix(0, 1), rotation_matrix(0, 2));
}
else // == -1.0
{
angles1(1) = 0.5 * (double)PI;
angles1(2) = -angles1(0) - ::atan2(rotation_matrix(0, 1), rotation_matrix(0, 2));
}
angles2 = angles1;
}
else
@ -1218,9 +1215,14 @@ Vec3d extract_euler_angles(const Eigen::Matrix<double, 3, 3, Eigen::DontAlign>&
angles2(2) = ::atan2(rotation_matrix(1, 0) * inv_cos2, rotation_matrix(0, 0) * inv_cos2);
}
// The following euristic seems to work fine, but there may be use cases were it does not
// We'll need to modify it if/when we'll meet such use cases
Vec3d angles = (angles1.cwiseAbs().minCoeff() <= angles2.cwiseAbs().minCoeff()) ? angles1 : angles2;
// 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 imrove it
double min_1 = angles1.cwiseAbs().minCoeff();
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);