fix non 45 degree slicing methods (#15181)

# Description
During the UI/UX improvements about a month ago, I got the transforms
wrong, and slicing at anything other than a 45 degree angle was
affected.

Validated on a baby belt pro at 30 & 45 degrees.


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src/CMakeLists.txt

@@ -90,6 +90,12 @@ if (SLIC3R_GUI)
 #    list(REMOVE_ITEM wxWidgets_LIBRARIES oleacc)
 
     find_package(wxInspector REQUIRED)
+    # wxInspector 1.0.0 installs its headers but accidentally declares the
+    # INSTALL_INTERFACE include directory PRIVATE, so its imported target does
+    # not expose them to consumers. Restore the package prefix include path until
+    # the upstream export is fixed.
+    get_filename_component(WXINSPECTOR_PREFIX "${wxInspector_DIR}/../../.." ABSOLUTE)
+    target_include_directories(wxInspector::wxInspector INTERFACE "${WXINSPECTOR_PREFIX}/include")
     list(APPEND wxWidgets_LIBRARIES "wxInspector::wxInspector")
 
     message(STATUS "wx libs: ${wxWidgets_LIBRARIES}")
@@ -175,7 +181,7 @@ endif ()
 # Add the Slic3r GUI library, libcurl, OpenGL and GLU libraries.
 if (SLIC3R_GUI)
 #    target_link_libraries(OrcaSlicer ws2_32 uxtheme setupapi libslic3r_gui ${wxWidgets_LIBRARIES})
-target_link_libraries(OrcaSlicer libslic3r_gui)
+target_link_libraries(OrcaSlicer libslic3r_gui wxInspector::wxInspector)
     if (MSVC)
         # Generate debug symbols even in release mode.
         target_link_options(OrcaSlicer PUBLIC "$<$<CONFIG:RELEASE>:/DEBUG>")

src/libslic3r/GCode/MachineFrameTransform.cpp

@@ -29,31 +29,34 @@ bool MachineFrameTransform::init_from_config(const PrintConfig &config)
         return false;
 
     const double angle_rad = Geometry::deg2rad(angle_deg);
-    const double cos_a      = std::cos(angle_rad);
+    const double sin_a      = std::sin(angle_rad);
-    if (std::abs(cos_a) <= EPSILON)
+    if (std::abs(sin_a) <= EPSILON)
         return false;
-    const double tan_a   = std::sin(angle_rad) / cos_a;
+    const double cot_a   = std::cos(angle_rad) / sin_a;
-    const double inv_cos = 1.0 / cos_a;
+    const double inv_sin = 1.0 / std::abs(sin_a);
 
-    // Couple the height axis (Z) to the belt-feed axis and stretch the belt-feed
+    // This stage runs after the conventional belt axis swap. For an X-axis
-    // axis by 1/cos so a unit slicing move maps to the correct belt travel.  The
+    // slicing rotation, remapped Y is model height and remapped Z is travel
-    // shear sign matches the belt-floor slope derived from the same rotation in
+    // along the belt. Convert those Cartesian coordinates to machine axes with
-    // BeltTransformPipeline::compute_belt_height_and_floor:
+    // the established belt-printer convention:
-    //   tilt about X: feed axis Y, Z += +tan·Y, scale Y *= 1/cos
+    //   machine gantry = model height / sin(a)
-    //   tilt about Y: feed axis X, Z += -tan·X, scale X *= 1/cos
+    //   machine belt   = model belt + model height * cot(a)
+    // The Y-rotation case is the same mapping on X/Z, with the rotation sign.
+    // At 45 degrees tan/cot and sin/cos are equal, which previously hid the
+    // incorrect complementary-angle formulas used by this unified transform.
     Matrix3d shear = Matrix3d::Identity();
     Matrix3d scale = Matrix3d::Identity();
     if (axis == BeltRotationAxis::X) {
-        shear(2, 1) =  tan_a;   // Z from Y
+        shear(2, 1) =  cot_a;   // Z from Y
-        scale(1, 1) =  inv_cos; // Y
+        scale(1, 1) =  inv_sin; // Y
     } else { // BeltRotationAxis::Y
-        shear(2, 0) = -tan_a;   // Z from X
+        shear(2, 0) = -cot_a;   // Z from X
-        scale(0, 0) =  inv_cos; // X
+        scale(0, 0) =  inv_sin; // X
     }
 
     // Apply shear first, then scale (the historical default ShearThenScale order:
     // result = scale * shear * p).  For the canonical 45°/X belt this maps
-    // (x,y,z) -> (x, y/cos, y + z), matching the previous per-axis config.
+    // (x,y,z) -> (x, y/sin, y + z), matching the previous per-axis config.
     Transform3d combined = Transform3d::Identity();
     combined.linear() = scale * shear;
 

src/libslic3r/GCode/MachineFrameTransform.hpp

@@ -15,7 +15,7 @@ namespace Slic3r {
 //
 // Derived entirely from the single belt tilt (belt_slice_rotation axis +
 // belt_slice_rotation_angle): a shear coupling the height axis to the belt-feed
-// axis (factor tan a) plus a 1/cos a scale on the belt-feed axis.  The expert
+// axis (factor cot a) plus a 1/sin a scale on the gantry-height axis.  The expert
 // belt_frame_tilt_decouple flag lets the machine-frame angle differ from the
 // pre-slice rotation angle via belt_frame_tilt_angle.
 class MachineFrameTransform

src/libslic3r/PrintConfig.cpp

@@ -7216,9 +7216,9 @@ void PrintConfigDef::init_fff_params()
     def = this->add("gcode_back_transform", coBool);
     def->label = L("G-code back-transform");
     def->category = L("Printable space");
-    def->tooltip = L("Reverse the shear/scale transform applied during slicing so G-code "
+    def->tooltip = L("Undo the pre-slice mesh transform before applying the G-code axis remap "
-                      "coordinates are in the machine's physical coordinate space. "
+                      "and machine-frame shear/scale. Required for the standard belt-printer "
-                      "Requires at least one shear axis with global mode enabled.");
+                      "rotation pipeline.");
     def->mode = comExpert;
     def->set_default_value(new ConfigOptionBool(true));
 

tests/fff_print/test_gcodewriter.cpp

@@ -20,12 +20,49 @@
 #include <algorithm>
 #include <limits>
 #include "libslic3r/BeltGCodeWriter.hpp"
+#include "libslic3r/BeltTransform.hpp"
 #include "libslic3r/GCodeReader.hpp"
 #include "libslic3r/PrintConfig.hpp"
 
 using namespace Slic3r;
 using namespace Slic3r::Test;
 
+TEST_CASE("Belt machine coordinates retain a non-45-degree slicing angle", "[GCodeWriter][belt]")
+{
+    PrintConfig config;
+    config.belt_printer.value               = true;
+    config.belt_slice_rotation.value        = BeltRotationAxis::X;
+    config.belt_slice_rotation_angle.value  = 30.;
+    config.belt_slice_rotation_global.value = true;
+    config.gcode_back_transform.value       = true;
+    config.gcode_remap_x.value              = RemapAxis::PosX;
+    config.gcode_remap_y.value              = RemapAxis::PosZ;
+    config.gcode_remap_z.value              = RemapAxis::PosY;
+
+    BeltGCodeWriter writer;
+    writer.set_belt_back_transform(config);
+    writer.set_machine_frame_transform(config);
+    writer.set_axis_remap(int(config.gcode_remap_x.value),
+                          int(config.gcode_remap_y.value),
+                          int(config.gcode_remap_z.value));
+
+    // Start with a point in the unrotated model frame, then feed the writer the
+    // same rotated coordinate produced by the pre-slice mesh transform. The
+    // back-transform must recover the model point before the axis swap and
+    // machine-frame shear/scale are applied.
+    const Vec3d model(4., 10., 3.);
+    Transform3d forward = BeltTransformPipeline::build_forward_transform(config);
+    const Vec3d machine = writer.to_machine_coords(forward * model);
+
+    // The conventional X-tilt remap produces (x, z, y). At 30 degrees the
+    // gantry coordinate is z/sin(30) and belt travel is y + z*cot(30).
+    // The complementary tan/inv-cos formulas accidentally used by the unified
+    // transform are indistinguishable at 45 degrees, but fail this case.
+    REQUIRE_THAT(machine.x(), Catch::Matchers::WithinAbs(4., 1e-9));
+    REQUIRE_THAT(machine.y(), Catch::Matchers::WithinAbs(3. / std::sin(Geometry::deg2rad(30.)), 1e-9));
+    REQUIRE_THAT(machine.z(), Catch::Matchers::WithinAbs(10. + 3. / std::tan(Geometry::deg2rad(30.)), 1e-9));
+}
+
 // Arrange on a finite bed, not an unbounded InfiniteBed: the latter places items
 // near INT64_MIN/4 (~2.3e18), which reaches ClipperLib's coordinate limit and throws
 // "Coordinate outside allowed range" on Windows/arm64. A 500x500 bed keeps coordinates