Part 3.1: refactor BeltTransform pipeline

add BeltGCodeWriter

add BeltGCode

consolidate changes into shared classes for BeltGcode

src/libslic3r/BeltGCode.cpp

@@ -0,0 +1,119 @@
+#include "BeltGCode.hpp"
+#include "BeltGCodeWriter.hpp"
+#include "BeltTransform.hpp"
+#include "Print.hpp"
+
+#include <limits>
+
+namespace Slic3r {
+
+void BeltGCode::init_belt_writer(Print &print, bool is_bbl_printers)
+{
+    if (!print.config().belt_printer.value)
+        return;
+
+    auto belt_writer = std::make_unique<BeltGCodeWriter>();
+    belt_writer->set_is_bbl_machine(is_bbl_printers);
+    belt_writer->set_belt_angle(print.config().belt_printer_angle.value);
+    belt_writer->set_axis_remap(
+        int(print.config().belt_gcode_remap_x.value),
+        int(print.config().belt_gcode_remap_y.value),
+        int(print.config().belt_gcode_remap_z.value));
+    BoundingBoxf bbox_bed(print.config().printable_area.values);
+    belt_writer->set_build_volume_max(Vec3d(bbox_bed.max.x(), bbox_bed.max.y(),
+                                            print.config().printable_height.value));
+    belt_writer->set_belt_back_transform(print.config());
+    m_writer = std::move(belt_writer);
+
+    // Per-axis origin snap config.
+    m_origin_snap[0] = print.config().belt_origin_snap_x.value;
+    m_origin_snap[1] = print.config().belt_origin_snap_y.value;
+    m_origin_snap[2] = print.config().belt_origin_snap_z.value;
+    m_origin_snap_offset[0] = print.config().belt_origin_offset_x.value;
+    m_origin_snap_offset[1] = print.config().belt_origin_offset_y.value;
+    m_origin_snap_offset[2] = print.config().belt_origin_offset_z.value;
+}
+
+void BeltGCode::write_belt_header(GCodeOutputStream &file, const Print &print)
+{
+    if (!print.config().belt_printer.value)
+        return;
+
+    file.write_format("; belt_printer_angle = %.1f\n", print.config().belt_printer_angle.value);
+    // Shear configs
+    const auto &full_cfg = print.full_print_config();
+    file.write_format("; belt_shear_x = %s\n",       full_cfg.opt_serialize("belt_shear_x").c_str());
+    file.write_format("; belt_shear_x_angle = %.1f\n", print.config().belt_shear_x_angle.value);
+    file.write_format("; belt_shear_x_from = %s\n",  full_cfg.opt_serialize("belt_shear_x_from").c_str());
+    file.write_format("; belt_shear_y = %s\n",       full_cfg.opt_serialize("belt_shear_y").c_str());
+    file.write_format("; belt_shear_y_angle = %.1f\n", print.config().belt_shear_y_angle.value);
+    file.write_format("; belt_shear_y_from = %s\n",  full_cfg.opt_serialize("belt_shear_y_from").c_str());
+    file.write_format("; belt_shear_z = %s\n",       full_cfg.opt_serialize("belt_shear_z").c_str());
+    file.write_format("; belt_shear_z_angle = %.1f\n", print.config().belt_shear_z_angle.value);
+    file.write_format("; belt_shear_z_from = %s\n",  full_cfg.opt_serialize("belt_shear_z_from").c_str());
+    // Scale configs
+    file.write_format("; belt_scale_x = %s\n",       full_cfg.opt_serialize("belt_scale_x").c_str());
+    file.write_format("; belt_scale_x_angle = %.1f\n", print.config().belt_scale_x_angle.value);
+    file.write_format("; belt_scale_y = %s\n",       full_cfg.opt_serialize("belt_scale_y").c_str());
+    file.write_format("; belt_scale_y_angle = %.1f\n", print.config().belt_scale_y_angle.value);
+    file.write_format("; belt_scale_z = %s\n",       full_cfg.opt_serialize("belt_scale_z").c_str());
+    file.write_format("; belt_scale_z_angle = %.1f\n", print.config().belt_scale_z_angle.value);
+    // Pre-slice remap configs
+    file.write_format("; belt_preslice_remap_x = %s\n", full_cfg.opt_serialize("belt_preslice_remap_x").c_str());
+    file.write_format("; belt_preslice_remap_y = %s\n", full_cfg.opt_serialize("belt_preslice_remap_y").c_str());
+    file.write_format("; belt_preslice_remap_z = %s\n", full_cfg.opt_serialize("belt_preslice_remap_z").c_str());
+}
+
+void BeltGCode::on_set_origin(const PrintObject *obj, const Point &inst_shift)
+{
+    if (!m_origin_snap[0] && !m_origin_snap[1] && !m_origin_snap[2])
+        return;
+
+    auto *belt_writer = dynamic_cast<BeltGCodeWriter*>(m_writer.get());
+    if (!belt_writer)
+        return;
+
+    // Clear existing snap so to_machine_coords gives raw machine coords for bbox computation.
+    for (int a = 0; a < 3; ++a)
+        belt_writer->set_origin_snap(a, false, 0., 0.);
+
+    // Reconstruct the belt pipeline transform for this object.
+    Transform3d belt = BeltTransformPipeline::build_forward_transform(m_config);
+
+    // Z-shift
+    double zs = (obj->belt_min_z() < 0.) ? -obj->belt_min_z() : 0.;
+    if (zs > 0.) {
+        Transform3d zsh = Transform3d::Identity();
+        zsh.matrix()(2, 3) = zs;
+        belt = zsh * belt;
+    }
+
+    // Full transform: belt * trafo_centered
+    Transform3d full = belt * obj->trafo_centered();
+
+    // Instance shift in slicer space + global Z offset
+    Vec3d shift(unscale<double>(inst_shift.x()),
+                unscale<double>(inst_shift.y()),
+                obj->belt_global_z_offset());
+
+    // Compute this instance's machine-space bbox min
+    BoundingBoxf3 bb = obj->model_object()->raw_bounding_box();
+    Vec3d mn = bb.min.cast<double>(), mx = bb.max.cast<double>();
+    Vec3d inst_min(std::numeric_limits<double>::max(),
+                   std::numeric_limits<double>::max(),
+                   std::numeric_limits<double>::max());
+    for (int i = 0; i < 8; ++i) {
+        Vec3d c((i & 1) ? mx.x() : mn.x(),
+                (i & 2) ? mx.y() : mn.y(),
+                (i & 4) ? mx.z() : mn.z());
+        Vec3d mc = belt_writer->to_machine_coords(full * c + shift);
+        for (int a = 0; a < 3; ++a)
+            inst_min[a] = std::min(inst_min[a], mc[a]);
+    }
+
+    // Update writer snap for each enabled axis
+    for (int a = 0; a < 3; ++a)
+        belt_writer->set_origin_snap(a, m_origin_snap[a], m_origin_snap_offset[a], inst_min[a]);
+}
+
+} // namespace Slic3r