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Part 3.1: refactor BeltTransform pipeline

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add BeltGCodeWriter

add BeltGCode

consolidate changes into shared classes for BeltGcode
This commit is contained in:
harrierpigeon
2026-03-27 17:34:19 -05:00
parent 9bbac19de4
commit 2facaac9e8
24 changed files with 1522 additions and 1229 deletions
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124
src/libslic3r/GCode/BeltBackTransform.cpp
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@@ -1,40 +1,8 @@
#include "BeltBackTransform.hpp"
#include "../Geometry.hpp"
#include <cmath>
#include "../BeltTransform.hpp"
namespace Slic3r {
// Keep in sync with PrintObjectSlice.cpp compute_shear_factor (lines ~147-157).
static double compute_shear_factor(BeltShearMode mode, double angle_deg)
{
double angle_rad = Geometry::deg2rad(angle_deg);
double sin_a = std::sin(angle_rad);
double cos_a = std::cos(angle_rad);
switch (mode) {
case BeltShearMode::PosCot: return (sin_a > EPSILON) ? cos_a / sin_a : 0.;
case BeltShearMode::NegCot: return (sin_a > EPSILON) ? -cos_a / sin_a : 0.;
case BeltShearMode::PosTan: return (cos_a > EPSILON) ? sin_a / cos_a : 0.;
case BeltShearMode::NegTan: return (cos_a > EPSILON) ? -sin_a / cos_a : 0.;
default: return 0.;
}
}
// Keep in sync with PrintObjectSlice.cpp compute_scale_factor (lines ~180-192).
static double compute_scale_factor(BeltScaleMode mode, double angle_deg)
{
if (mode == BeltScaleMode::None) return 1.;
double angle_rad = Geometry::deg2rad(angle_deg);
double sin_a = std::sin(angle_rad);
double cos_a = std::cos(angle_rad);
switch (mode) {
case BeltScaleMode::InvSin: return (sin_a > EPSILON) ? 1. / sin_a : 1.;
case BeltScaleMode::InvCos: return (cos_a > EPSILON) ? 1. / cos_a : 1.;
case BeltScaleMode::Sin: return sin_a;
case BeltScaleMode::Cos: return cos_a;
default: return 1.;
}
}
bool BeltBackTransform::init_from_config(const PrintConfig &config)
{
m_active = false;
@@ -43,99 +11,19 @@ bool BeltBackTransform::init_from_config(const PrintConfig &config)
if (!config.belt_printer.value || !config.belt_gcode_back_transform.value)
return false;
// --- Pre-slice axis remap (same as PrintObjectSlice.cpp) ---
int pre_rx = int(config.belt_preslice_remap_x.value);
int pre_ry = int(config.belt_preslice_remap_y.value);
int pre_rz = int(config.belt_preslice_remap_z.value);
bool has_preslice_remap = (pre_rx != int(BeltRemapAxis::PosX) ||
pre_ry != int(BeltRemapAxis::PosY) ||
pre_rz != int(BeltRemapAxis::PosZ));
// Require at least one active transform to proceed.
bool has_global_shear = config.belt_shear_x_global.value ||
config.belt_shear_y_global.value ||
config.belt_shear_z_global.value;
if (!has_global_shear && !has_preslice_remap)
if (!has_global_shear && !BeltTransformPipeline::has_preslice_remap(config))
return false;
// Build pre-slice remap matrix.
Transform3d pre_remap = Transform3d::Identity();
if (has_preslice_remap) {
auto remap_column = [](int r) -> Vec3d {
int axis = r % 3;
Vec3d col = Vec3d::Zero();
if (r < 3) col[axis] = 1.0;
else if (r < 6) col[axis] = -1.0;
else col[axis] = -1.0; // Rev: max - pos
return col;
};
Matrix3d remap_lin;
remap_lin.col(0) = remap_column(pre_rx);
remap_lin.col(1) = remap_column(pre_ry);
remap_lin.col(2) = remap_column(pre_rz);
pre_remap.linear() = remap_lin;
// Rev mode translation (needs build volume extents).
Vec3d remap_trans = Vec3d::Zero();
if (pre_rx >= 6 || pre_ry >= 6 || pre_rz >= 6) {
BoundingBoxf bbox_bed(config.printable_area.values);
Vec3d vol_max(bbox_bed.max.x(), bbox_bed.max.y(),
config.printable_height.value);
auto add_rev = [&](int r, int out) {
if (r >= 6) remap_trans[out] = vol_max[r % 3];
};
add_rev(pre_rx, 0);
add_rev(pre_ry, 1);
add_rev(pre_rz, 2);
}
pre_remap.translation() = remap_trans;
}
// Build per-axis shear matrix (same as PrintObjectSlice.cpp).
struct AxisShear { BeltShearMode mode; double angle; int from; };
AxisShear axes[3] = {
{ config.belt_shear_x.value, config.belt_shear_x_angle.value, int(config.belt_shear_x_from.value) },
{ config.belt_shear_y.value, config.belt_shear_y_angle.value, int(config.belt_shear_y_from.value) },
{ config.belt_shear_z.value, config.belt_shear_z_angle.value, int(config.belt_shear_z_from.value) },
};
Matrix3d shear = Matrix3d::Identity();
bool has_shear = false;
for (int row = 0; row < 3; ++row) {
if (axes[row].mode != BeltShearMode::None) {
double factor = compute_shear_factor(axes[row].mode, axes[row].angle);
if (std::abs(factor) > EPSILON) {
shear(row, axes[row].from) += factor;
has_shear = true;
}
}
}
// Build per-axis scale diagonal matrix (same as PrintObjectSlice.cpp).
double sx = compute_scale_factor(config.belt_scale_x.value, config.belt_scale_x_angle.value);
double sy = compute_scale_factor(config.belt_scale_y.value, config.belt_scale_y_angle.value);
double sz = compute_scale_factor(config.belt_scale_z.value, config.belt_scale_z_angle.value);
Matrix3d scale = Matrix3d::Identity();
bool has_scale = (std::abs(sx - 1.) > EPSILON ||
std::abs(sy - 1.) > EPSILON ||
std::abs(sz - 1.) > EPSILON);
if (has_scale) {
scale(0, 0) = sx;
scale(1, 1) = sy;
scale(2, 2) = sz;
}
if (!has_shear && !has_scale && !has_preslice_remap)
// Build the forward pipeline (scale * shear * pre_remap) and store its inverse.
Transform3d forward = BeltTransformPipeline::build_forward_transform(config);
if (forward.isApprox(Transform3d::Identity()))
return false;
// Forward pipeline: scale * shear * pre_remap (same order as PrintObjectSlice.cpp).
Transform3d combined = Transform3d::Identity();
combined.linear() = scale * shear;
combined = combined * pre_remap;
m_inverse = combined.inverse();
m_inverse = forward.inverse();
m_active = true;
return true;
}