From 6a2d690f459e265963eb81ddf3aa9a615e95bc82 Mon Sep 17 00:00:00 2001
From: Joseph Robertson <32232925+HarrierPigeon@users.noreply.github.com>
Date: Mon, 18 May 2026 19:01:43 -0500
Subject: [PATCH] Decouple Slicing From Machine Frame Logic (#21)

* minor logic swap

* first attempt, has a race condition

* fixed the offset issue

* found a solution, I think things work now (at least once I quash this race condition)

* still chasing down race conditions

* add manual shear / scale order strategy swap

* tweak manual shear, fix ui uninitialization crash

* fix z height / g-code desync issue

* fix shear then scale cutoff planes

* getting closer

* fix support termination planes

* fix incorrect offsets in shear-then-scale mode

* test - fix overextrusion due to model/layer scale
---
 .claude/scheduled_tasks.lock                  |   1 -
 src/libslic3r/BeltGCode.cpp                   |  52 ++++++-
 src/libslic3r/BeltGCodeWriter.cpp             |  26 +++-
 src/libslic3r/BeltGCodeWriter.hpp             |   9 +-
 src/libslic3r/BeltSliceStrategy.cpp           |  17 +-
 src/libslic3r/BeltSliceStrategy.hpp           |   9 +-
 src/libslic3r/BeltTransform.cpp               |  73 +++++++--
 src/libslic3r/BeltTransform.hpp               |   4 +-
 src/libslic3r/CMakeLists.txt                  |   2 +
 src/libslic3r/GCode.cpp                       |  14 ++
 src/libslic3r/GCode/MachineFrameTransform.cpp | 147 ++++++++++++++++++
 src/libslic3r/GCode/MachineFrameTransform.hpp |  43 +++++
 src/libslic3r/Preset.cpp                      |   9 ++
 src/libslic3r/Print.cpp                       |  12 ++
 src/libslic3r/PrintConfig.cpp                 |  65 ++++++++
 src/libslic3r/PrintConfig.hpp                 |  30 ++++
 src/libslic3r/PrintObject.cpp                 |  14 +-
 src/libslic3r/PrintObjectSlice.cpp            |  53 ++++++-
 src/slic3r/GUI/Tab.cpp                        |  87 +++++++++++
 19 files changed, 621 insertions(+), 46 deletions(-)
 delete mode 100644 .claude/scheduled_tasks.lock
 create mode 100644 src/libslic3r/GCode/MachineFrameTransform.cpp
 create mode 100644 src/libslic3r/GCode/MachineFrameTransform.hpp

diff --git a/.claude/scheduled_tasks.lock b/.claude/scheduled_tasks.lock
deleted file mode 100644
index cce3208834..0000000000
--- a/.claude/scheduled_tasks.lock
+++ /dev/null
@@ -1 +0,0 @@
-{"sessionId":"597ab29b-cd70-40f4-95d9-fee98b3968ad","pid":1159657,"acquiredAt":1775936463783}
\ No newline at end of file
diff --git a/src/libslic3r/BeltGCode.cpp b/src/libslic3r/BeltGCode.cpp
index a34acf95bd..767d280579 100644
--- a/src/libslic3r/BeltGCode.cpp
+++ b/src/libslic3r/BeltGCode.cpp
@@ -17,6 +17,7 @@ void BeltGCode::init_belt_writer(Print &print, bool is_bbl_printers)
     belt_writer->set_belt_angle(print.config().belt_printer_angle.value);
     // Axis remap and build volume max are set by base GCode after init_belt_writer returns.
     belt_writer->set_belt_back_transform(print.config());
+    belt_writer->set_machine_frame_transform(print.config());
     m_writer = std::move(belt_writer);
 
     // Per-axis origin snap config.
@@ -52,12 +53,33 @@ void BeltGCode::write_belt_header(GCodeOutputStream &file, const Print &print)
     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);
+    file.write_format("; belt_mesh_transform_order = %s\n", full_cfg.opt_serialize("belt_mesh_transform_order").c_str());
     // Pre-slice remap configs
     file.write_format("; preslice_remap_x = %s\n", full_cfg.opt_serialize("preslice_remap_x").c_str());
     file.write_format("; preslice_remap_y = %s\n", full_cfg.opt_serialize("preslice_remap_y").c_str());
     file.write_format("; preslice_remap_z = %s\n", full_cfg.opt_serialize("preslice_remap_z").c_str());
     file.write_format("; preslice_remap_global = %d\n", print.config().preslice_remap_global.value ? 1 : 0);
     file.write_format("; belt_preslice_global = %d\n", print.config().belt_preslice_global.value ? 1 : 0);
+    // Machine-frame transform configs
+    file.write_format("; gcode_shear_x = %s\n",       full_cfg.opt_serialize("gcode_shear_x").c_str());
+    file.write_format("; gcode_shear_x_angle = %.1f\n", print.config().gcode_shear_x_angle.value);
+    file.write_format("; gcode_shear_x_from = %s\n",  full_cfg.opt_serialize("gcode_shear_x_from").c_str());
+    file.write_format("; gcode_shear_y = %s\n",       full_cfg.opt_serialize("gcode_shear_y").c_str());
+    file.write_format("; gcode_shear_y_angle = %.1f\n", print.config().gcode_shear_y_angle.value);
+    file.write_format("; gcode_shear_y_from = %s\n",  full_cfg.opt_serialize("gcode_shear_y_from").c_str());
+    file.write_format("; gcode_shear_z = %s\n",       full_cfg.opt_serialize("gcode_shear_z").c_str());
+    file.write_format("; gcode_shear_z_angle = %.1f\n", print.config().gcode_shear_z_angle.value);
+    file.write_format("; gcode_shear_z_from = %s\n",  full_cfg.opt_serialize("gcode_shear_z_from").c_str());
+    file.write_format("; gcode_scale_x = %s\n",       full_cfg.opt_serialize("gcode_scale_x").c_str());
+    file.write_format("; gcode_scale_x_angle = %.1f\n", print.config().gcode_scale_x_angle.value);
+    file.write_format("; gcode_scale_y = %s\n",       full_cfg.opt_serialize("gcode_scale_y").c_str());
+    file.write_format("; gcode_scale_y_angle = %.1f\n", print.config().gcode_scale_y_angle.value);
+    file.write_format("; gcode_scale_z = %s\n",       full_cfg.opt_serialize("gcode_scale_z").c_str());
+    file.write_format("; gcode_scale_z_angle = %.1f\n", print.config().gcode_scale_z_angle.value);
+    file.write_format("; belt_gcode_transform_order = %s\n", full_cfg.opt_serialize("belt_gcode_transform_order").c_str());
+    file.write_format("; post_gcode_remap_x = %s\n",  full_cfg.opt_serialize("post_gcode_remap_x").c_str());
+    file.write_format("; post_gcode_remap_y = %s\n",  full_cfg.opt_serialize("post_gcode_remap_y").c_str());
+    file.write_format("; post_gcode_remap_z = %s\n",  full_cfg.opt_serialize("post_gcode_remap_z").c_str());
 }
 
 void BeltGCode::on_set_origin(const PrintObject *obj, const Point &inst_shift)
@@ -67,20 +89,31 @@ void BeltGCode::on_set_origin(const PrintObject *obj, const Point &inst_shift)
     // back_transform(T * origin) = origin (correct machine position).
     // This replaces the bbox-based axis snap with an exact formula.
     //
-    // Two flags trigger this path:
+    // Flags that trigger this path:
     //   belt_preslice_global   — full pipeline (scale * shear * remap) is global
     //   preslice_remap_global  — only the pre-slice remap is global
+    //   belt_shear_z_global    — Z-row shear treated as global (matches per-axis
+    //                            Z-offset added in PrintObjectSlice.cpp)
     // The XY origin adjustment uses the FULL forward transform either way,
     // because the back_transform applied during G-code emission is always the
-    // inverse of the full pipeline. When only the remap is configured, both
-    // flags produce identical math (T == R).
+    // inverse of the full pipeline. Without pre-multiplication under
+    // ShearThenScale order with sy != 1, machine_y of bed position cy ends up
+    // at cy/sy instead of cy, which also leaves the object bottom off the belt
+    // plane.
     bool use_global = m_config.belt_preslice_global.value
         || (m_config.preslice_remap_global.value
-            && BeltTransformPipeline::has_preslice_remap(m_config));
+            && BeltTransformPipeline::has_preslice_remap(m_config))
+        || (m_config.belt_shear_z_global.value
+            && m_config.belt_shear_z.value != BeltShearMode::None);
     if (use_global && m_config.belt_printer.value) {
         auto *belt_writer = dynamic_cast<BeltGCodeWriter*>(m_writer.get());
         if (belt_writer) {
-            // Clear snap — not needed with computed corrections
+            // The per-object lift (z_shift_val = max(0, -m_belt_min_z)) added by
+            // BeltSliceStrategy::apply_to_trafo is already compensated inside
+            // global_z_offset (via the shear_min_z term in PrintObjectSlice.cpp's
+            // preslice_global branch).  Snap was previously used here for the same
+            // purpose, but with both active the lift gets subtracted twice.  Clear
+            // any leftover snap state from a prior instance.
             for (int a = 0; a < 3; ++a)
                 belt_writer->set_origin_snap(a, false, 0., 0.);
         }
@@ -125,7 +158,12 @@ void BeltGCode::on_set_origin(const PrintObject *obj, const Point &inst_shift)
                 unscale<double>(inst_shift.y()),
                 obj->belt_global_z_offset());
 
-    // Compute this instance's machine-space bbox min
+    // Compute this instance's bbox min in the Cartesian frame (post back_transform
+    // + axis_remap, before machine_frame_transform).  Using to_cartesian instead of
+    // to_machine_coords ensures the 8 axis-aligned bbox corners coincide with the
+    // geometry's extreme points — a property that breaks under shear, which would
+    // mis-normalize non-cubic shapes (inverted cone, benchy) by their bbox-volume
+    // corners rather than their actual lowest geometry point.
     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(),
@@ -135,7 +173,7 @@ void BeltGCode::on_set_origin(const PrintObject *obj, const Point &inst_shift)
         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);
+        Vec3d mc = belt_writer->to_cartesian(full * c + shift);
         for (int a = 0; a < 3; ++a)
             inst_min[a] = std::min(inst_min[a], mc[a]);
     }
diff --git a/src/libslic3r/BeltGCodeWriter.cpp b/src/libslic3r/BeltGCodeWriter.cpp
index ea90f2588e..1987d0127a 100644
--- a/src/libslic3r/BeltGCodeWriter.cpp
+++ b/src/libslic3r/BeltGCodeWriter.cpp
@@ -34,6 +34,11 @@ void BeltGCodeWriter::set_belt_back_transform(const PrintConfig &config)
     m_belt_back_transform.init_from_config(config);
 }
 
+void BeltGCodeWriter::set_machine_frame_transform(const PrintConfig &config)
+{
+    m_machine_frame_transform.init_from_config(config);
+}
+
 void BeltGCodeWriter::set_origin_snap(int axis, bool enable, double offset, double bbox_min)
 {
     if (axis >= 0 && axis < 3) {
@@ -43,17 +48,26 @@ void BeltGCodeWriter::set_origin_snap(int axis, bool enable, double offset, doub
     }
 }
 
+Vec3d BeltGCodeWriter::to_cartesian(const Vec3d &pos) const
+{
+    // back_transform → axis_remap, no origin_snap, no machine_frame_transform.
+    return apply_axis_remap(m_belt_back_transform.apply(pos));
+}
+
 Vec3d BeltGCodeWriter::to_machine_coords(const Vec3d &pos) const
 {
-    // Step 1: Undo the shear/scale applied during slicing.
-    Vec3d p = m_belt_back_transform.apply(pos);
-    // Step 2: Apply axis remap (uses inherited base class method).
-    Vec3d result = apply_axis_remap(p);
-    // Step 3: Per-axis origin snap.
+    // Step 1+2: To Cartesian (back_transform + axis_remap).
+    Vec3d result = to_cartesian(pos);
+    // Step 3: Per-axis origin snap (computed in the Cartesian frame).
     for (int i = 0; i < 3; ++i)
         if (m_origin_snap[i])
             result[i] -= (m_origin_bbox_min[i] - m_origin_offset[i]);
-    return result;
+    // Step 4: Machine-frame transform (gcode_shear / gcode_scale / post_gcode_remap)
+    // applied LAST so it acts as a global linear transform on the placed coords.
+    // Order matters: putting it before origin_snap would feed sheared bbox corners
+    // into the snap's per-object min calculation, mis-normalizing non-cubic geometries
+    // (the corners of the original bbox aren't extreme points of the sheared shape).
+    return m_machine_frame_transform.apply(result);
 }
 
 // ---- Overridden movement methods ------------------------------------------
diff --git a/src/libslic3r/BeltGCodeWriter.hpp b/src/libslic3r/BeltGCodeWriter.hpp
index 828dd43bb3..60fd93f3e0 100644
--- a/src/libslic3r/BeltGCodeWriter.hpp
+++ b/src/libslic3r/BeltGCodeWriter.hpp
@@ -2,6 +2,7 @@
 
 #include "GCodeWriter.hpp"
 #include "GCode/BeltBackTransform.hpp"
+#include "GCode/MachineFrameTransform.hpp"
 
 namespace Slic3r {
 
@@ -21,8 +22,13 @@ public:
     void set_belt_angle(double angle_deg);
     bool is_belt_printer() const { return m_belt_angle_rad != 0.; }
     void set_belt_back_transform(const PrintConfig &config);
+    void set_machine_frame_transform(const PrintConfig &config);
     void set_origin_snap(int axis, bool enable, double offset, double bbox_min);
     Vec3d to_machine_coords(const Vec3d &pos) const;
+    // back_transform + axis_remap only (no origin_snap, no machine_frame_transform).
+    // Used by on_set_origin for bbox computation in the Cartesian frame, where
+    // axis-aligned bbox corners coincide with the geometry's extreme points.
+    Vec3d to_cartesian(const Vec3d &pos) const;
 
     // First-layer plane: when set to a non-null active evaluator, travel
     // speed selection consults the plane per-move and uses
@@ -47,7 +53,8 @@ protected:
 
 private:
     double          m_belt_angle_rad = 0.;
-    BeltBackTransform m_belt_back_transform;
+    BeltBackTransform     m_belt_back_transform;
+    MachineFrameTransform m_machine_frame_transform;
     bool            m_origin_snap[3]     = {false, false, false};
     double          m_origin_offset[3]   = {0., 0., 0.};
     double          m_origin_bbox_min[3] = {0., 0., 0.};
diff --git a/src/libslic3r/BeltSliceStrategy.cpp b/src/libslic3r/BeltSliceStrategy.cpp
index c1a300869e..850a4ad221 100644
--- a/src/libslic3r/BeltSliceStrategy.cpp
+++ b/src/libslic3r/BeltSliceStrategy.cpp
@@ -1,6 +1,7 @@
 #include "BeltSliceStrategy.hpp"
 
 #include <boost/log/trivial.hpp>
+#include <thread>
 
 namespace Slic3r {
 
@@ -15,6 +16,7 @@ BeltSliceStrategy::BeltSliceStrategy(const PrintConfig &config)
 {
     m_shear = BeltTransformPipeline::build_shear_matrix(config, &m_has_shear);
     m_scale = BeltTransformPipeline::build_scale_matrix(config, &m_has_scale);
+    m_order = config.belt_mesh_transform_order.value;
 }
 
 void BeltSliceStrategy::apply_to_trafo(Transform3d &trafo,
@@ -22,10 +24,13 @@ void BeltSliceStrategy::apply_to_trafo(Transform3d &trafo,
                                         bool has_remap,
                                         double *out_belt_min_z) const
 {
-    // Shear + scale (belt-only; pre-slice remap is handled separately).
+    // ScaleThenShear: applied to a point, scale runs first then shear (m_shear * m_scale).
+    // ShearThenScale: applied to a point, shear runs first then scale (m_scale * m_shear).
     if (m_has_shear || m_has_scale) {
         Transform3d belt_xform = Transform3d::Identity();
-        belt_xform.linear() = m_scale * m_shear;
+        belt_xform.linear() = (m_order == BeltTransformOrder::ScaleThenShear)
+            ? Matrix3d(m_shear * m_scale)
+            : Matrix3d(m_scale * m_shear);
         trafo = belt_xform * trafo;
     }
 
@@ -47,8 +52,12 @@ void BeltSliceStrategy::apply_to_trafo(Transform3d &trafo,
             z_shift.matrix()(2, 3) = belt_z_shift_val;
             trafo = z_shift * trafo;
         }
-        if (out_belt_min_z)
-            *out_belt_min_z = (min_z != std::numeric_limits<double>::max()) ? min_z : 0.;
+        if (out_belt_min_z) {
+            double new_val = (min_z != std::numeric_limits<double>::max()) ? min_z : 0.;
+            BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] write m_belt_min_z tid=" << std::this_thread::get_id()
+                << " target=" << out_belt_min_z << " old=" << *out_belt_min_z << " new=" << new_val;
+            *out_belt_min_z = new_val;
+        }
     }
 }
 
diff --git a/src/libslic3r/BeltSliceStrategy.hpp b/src/libslic3r/BeltSliceStrategy.hpp
index ef6e038ee7..c2362e3552 100644
--- a/src/libslic3r/BeltSliceStrategy.hpp
+++ b/src/libslic3r/BeltSliceStrategy.hpp
@@ -34,10 +34,11 @@ public:
 private:
     explicit BeltSliceStrategy(const PrintConfig &config);
 
-    bool        m_has_shear  = false;
-    bool        m_has_scale  = false;
-    Matrix3d    m_shear      = Matrix3d::Identity();
-    Matrix3d    m_scale      = Matrix3d::Identity();
+    bool               m_has_shear  = false;
+    bool               m_has_scale  = false;
+    Matrix3d           m_shear      = Matrix3d::Identity();
+    Matrix3d           m_scale      = Matrix3d::Identity();
+    BeltTransformOrder m_order      = BeltTransformOrder::ScaleThenShear;
 };
 
 } // namespace Slic3r
diff --git a/src/libslic3r/BeltTransform.cpp b/src/libslic3r/BeltTransform.cpp
index 9bb66fcfb6..6c0838b2eb 100644
--- a/src/libslic3r/BeltTransform.cpp
+++ b/src/libslic3r/BeltTransform.cpp
@@ -103,9 +103,15 @@ Transform3d BeltTransformPipeline::build_forward_transform(const PrintConfig &co
     bool        scale_active = false;
     Matrix3d    scale        = build_scale_matrix(config, &scale_active);
 
-    // Pipeline: scale * shear * pre_remap
+    // Match the mesh-side ordering selected by belt_mesh_transform_order so
+    // BeltBackTransform inverts the same composition that BeltSliceStrategy
+    // applied to the mesh.
+    //   ScaleThenShear: applied to p, scale runs first then shear (shear * scale).
+    //   ShearThenScale: applied to p, shear runs first then scale (scale * shear).
     Transform3d combined = Transform3d::Identity();
-    combined.linear() = scale * shear;
+    combined.linear() = (config.belt_mesh_transform_order.value == BeltTransformOrder::ScaleThenShear)
+        ? Matrix3d(shear * scale)
+        : Matrix3d(scale * shear);
     combined = combined * pre_remap;
     return combined;
 }
@@ -160,19 +166,30 @@ BeltTransformPipeline::BeltHeightResult compute_belt_height_and_floor_impl(
     BeltTransformPipeline::BeltHeightResult result;
     result.object_height = original_height;
 
-    // Extract Z-axis shear/scale config.
+    // Extract Z-axis shear/scale + per-axis scale + transform order from config.
     BeltShearMode z_shear_mode;
     double        z_shear_angle;
     BeltScaleMode z_scale_mode;
     double        z_scale_angle;
     int           z_shear_from;
+    BeltScaleMode from_scale_mode;   // scale on the shear's source axis
+    double        from_scale_angle;
+    BeltTransformOrder order;
 
     if constexpr (std::is_same_v<Config, PrintConfig>) {
-        z_shear_mode  = config.belt_shear_z.value;
-        z_shear_angle = config.belt_shear_z_angle.value;
-        z_scale_mode  = config.belt_scale_z.value;
-        z_scale_angle = config.belt_scale_z_angle.value;
-        z_shear_from  = int(config.belt_shear_z_from.value);
+        z_shear_mode      = config.belt_shear_z.value;
+        z_shear_angle     = config.belt_shear_z_angle.value;
+        z_scale_mode      = config.belt_scale_z.value;
+        z_scale_angle     = config.belt_scale_z_angle.value;
+        z_shear_from      = int(config.belt_shear_z_from.value);
+        order             = config.belt_mesh_transform_order.value;
+        if (z_shear_from == 0) {
+            from_scale_mode  = config.belt_scale_x.value;
+            from_scale_angle = config.belt_scale_x_angle.value;
+        } else {
+            from_scale_mode  = config.belt_scale_y.value;
+            from_scale_angle = config.belt_scale_y_angle.value;
+        }
     } else {
         // DynamicPrintConfig path
         auto get_shear = [&](const char *key) {
@@ -191,11 +208,23 @@ BeltTransformPipeline::BeltHeightResult compute_belt_height_and_floor_impl(
             auto *opt = config.template option<ConfigOptionEnum<BeltAxis>>(key);
             return opt ? int(opt->value) : 1;
         };
+        auto get_order = [&](const char *key) {
+            auto *opt = config.template option<ConfigOptionEnum<BeltTransformOrder>>(key);
+            return opt ? opt->value : BeltTransformOrder::ScaleThenShear;
+        };
         z_shear_mode  = get_shear("belt_shear_z");
         z_shear_angle = get_float("belt_shear_z_angle");
         z_scale_mode  = get_scale("belt_scale_z");
         z_scale_angle = get_float("belt_scale_z_angle");
         z_shear_from  = get_axis("belt_shear_z_from");
+        order         = get_order("belt_mesh_transform_order");
+        if (z_shear_from == 0) {
+            from_scale_mode  = get_scale("belt_scale_x");
+            from_scale_angle = get_float("belt_scale_x_angle");
+        } else {
+            from_scale_mode  = get_scale("belt_scale_y");
+            from_scale_angle = get_float("belt_scale_y_angle");
+        }
     }
 
     bool has_z_shear = z_shear_mode != BeltShearMode::None;
@@ -206,7 +235,8 @@ BeltTransformPipeline::BeltHeightResult compute_belt_height_and_floor_impl(
 
     double shear_factor = has_z_shear
         ? BeltTransformPipeline::compute_shear_factor(z_shear_mode, z_shear_angle) : 0.;
-    double scale_z = BeltTransformPipeline::compute_scale_factor(z_scale_mode, z_scale_angle);
+    double scale_z    = BeltTransformPipeline::compute_scale_factor(z_scale_mode, z_scale_angle);
+    double scale_from = BeltTransformPipeline::compute_scale_factor(from_scale_mode, from_scale_angle);
 
     if (has_z_shear && std::abs(shear_factor) > EPSILON) {
         int from = z_shear_from;
@@ -214,14 +244,29 @@ BeltTransformPipeline::BeltHeightResult compute_belt_height_and_floor_impl(
         double max_rz = std::numeric_limits<double>::lowest();
         for (double vz : {bb.min.z(), bb.max.z()})
             for (double vs : {bb.min(from), bb.max(from)}) {
-                double new_z = scale_z * (vz + shear_factor * vs);
+                // Mesh-frame new_z computed per ordering.
+                //   scale-then-shear: Z_s = sz*Z_m + s_from*tan(α)*from_m
+                //   shear-then-scale: Z_s = sz*(Z_m + tan(α)*from_m)
+                double new_z = (order == BeltTransformOrder::ScaleThenShear)
+                    ? scale_z * vz + scale_from * shear_factor * vs
+                    : scale_z * (vz + shear_factor * vs);
                 min_rz = std::min(min_rz, new_z);
                 max_rz = std::max(max_rz, new_z);
             }
-        result.object_height              = max_rz - min_rz;
-        result.floor_params.shear_factor  = shear_factor;
-        result.floor_params.from_axis     = from;
-        result.floor_params.z_shift       = bb.min.z() + ((min_rz < 0.) ? -min_rz : 0.);
+        result.object_height          = max_rz - min_rz;
+        // Effective slicer-frame slope of the belt surface (Z_m=0 line):
+        //   scale-then-shear: Z_s = tan(α) * Y_s          → slope = tan(α)
+        //   shear-then-scale: Z_s = sz/s_from * tan(α) * Y_s → slope = sz*tan(α)/s_from
+        // The downstream cutoff formula `Y_s = (print_z - z_shift) / slope`
+        // and floor_print_z(Y_s) = slope * Y_s + z_shift use this slope.
+        double effective_shear = (order == BeltTransformOrder::ScaleThenShear)
+            ? shear_factor
+            : (std::abs(scale_from) > EPSILON
+                ? scale_z * shear_factor / scale_from
+                : shear_factor);
+        result.floor_params.shear_factor = effective_shear;
+        result.floor_params.from_axis    = from;
+        result.floor_params.z_shift      = bb.min.z() + ((min_rz < 0.) ? -min_rz : 0.);
     } else {
         result.object_height = original_height * scale_z;
     }
diff --git a/src/libslic3r/BeltTransform.hpp b/src/libslic3r/BeltTransform.hpp
index 3c0665c252..f15a9995c3 100644
--- a/src/libslic3r/BeltTransform.hpp
+++ b/src/libslic3r/BeltTransform.hpp
@@ -105,7 +105,9 @@ public:
     // Also sets has_scale_out if non-null.
     static Matrix3d build_scale_matrix(const PrintConfig &config, bool *has_scale_out = nullptr);
 
-    // Combined forward transform: scale * shear * pre_remap.
+    // Combined forward transform.  Shear/scale order is selected by
+    // belt_mesh_transform_order so the result matches what BeltSliceStrategy
+    // applied to the mesh (BeltBackTransform inverts this).
     // Does NOT include the per-object Z-shift.
     static Transform3d build_forward_transform(const PrintConfig &config);
 
diff --git a/src/libslic3r/CMakeLists.txt b/src/libslic3r/CMakeLists.txt
index a887336361..f9910dc894 100644
--- a/src/libslic3r/CMakeLists.txt
+++ b/src/libslic3r/CMakeLists.txt
@@ -221,6 +221,8 @@ set(lisbslic3r_sources
     GCode/AvoidCrossingPerimeters.hpp
     GCode/BeltBackTransform.cpp
     GCode/BeltBackTransform.hpp
+    GCode/MachineFrameTransform.cpp
+    GCode/MachineFrameTransform.hpp
     GCode/ConflictChecker.cpp
     GCode/ConflictChecker.hpp
     GCode/CoolingBuffer.cpp
diff --git a/src/libslic3r/GCode.cpp b/src/libslic3r/GCode.cpp
index c3c3532364..b2aba1e35c 100644
--- a/src/libslic3r/GCode.cpp
+++ b/src/libslic3r/GCode.cpp
@@ -6462,6 +6462,20 @@ std::string GCode::_extrude(const ExtrusionPath &path, std::string description,
     auto _mm3_per_mm = path.mm3_per_mm * this->config().print_flow_ratio;
     _mm3_per_mm *= filament_flow_ratio;
 
+    // Belt printer: compensate for the volume change introduced by the mesh
+    // forward transform.  path.mm3_per_mm is derived from slicer-frame layer
+    // height × line width, but a slicer-frame slab of volume V maps under the
+    // back-transform to a machine-frame region of volume V / |det(T)|.  When
+    // det(T) > 1 — e.g. belt_scale_y = 1/cos(α) ≈ 1.155 at α = 30° — the
+    // machine slab holds less plastic than the slicer thinks it is filling
+    // and we over-extrude by det(T).  Pure shear has det 1, so this is a
+    // no-op until scale factors deviate from 1.
+    if (m_config.belt_printer.value) {
+        double det = std::abs(BeltTransformPipeline::build_forward_transform(m_config).linear().determinant());
+        if (det > EPSILON)
+            _mm3_per_mm /= det;
+    }
+
     if (path.role() == erTopSolidInfill) {
         _mm3_per_mm *= m_config.top_solid_infill_flow_ratio;
     } else if (path.role() == erBottomSurface) {
diff --git a/src/libslic3r/GCode/MachineFrameTransform.cpp b/src/libslic3r/GCode/MachineFrameTransform.cpp
new file mode 100644
index 0000000000..10a658c7f7
--- /dev/null
+++ b/src/libslic3r/GCode/MachineFrameTransform.cpp
@@ -0,0 +1,147 @@
+#include "MachineFrameTransform.hpp"
+#include "../BeltTransform.hpp"
+#include "../BoundingBox.hpp"
+
+namespace Slic3r {
+
+namespace {
+
+// Build the post-gcode axis-remap transform (mirrors BeltTransformPipeline::build_preslice_remap
+// but reads post_gcode_remap_* keys).  Includes Rev-mode translation derived from build volume.
+Transform3d build_post_gcode_remap(const PrintConfig &config)
+{
+    Transform3d remap = Transform3d::Identity();
+
+    int rx = int(config.post_gcode_remap_x.value);
+    int ry = int(config.post_gcode_remap_y.value);
+    int rz = int(config.post_gcode_remap_z.value);
+
+    if (rx == int(RemapAxis::PosX) && ry == int(RemapAxis::PosY) && rz == int(RemapAxis::PosZ))
+        return 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 lin;
+    lin.col(0) = remap_column(rx);
+    lin.col(1) = remap_column(ry);
+    lin.col(2) = remap_column(rz);
+    remap.linear() = lin;
+
+    if (rx >= 6 || ry >= 6 || rz >= 6) {
+        BoundingBoxf bbox_bed(config.printable_area.values);
+        Vec3d vol_max(bbox_bed.max.x(), bbox_bed.max.y(), config.printable_height.value);
+        Vec3d trans = Vec3d::Zero();
+        auto add_rev = [&](int r, int out) {
+            if (r >= 6) trans[out] = vol_max[r % 3];
+        };
+        add_rev(rx, 0);
+        add_rev(ry, 1);
+        add_rev(rz, 2);
+        remap.translation() = trans;
+    }
+
+    return remap;
+}
+
+// Build the 3x3 shear matrix from gcode_shear_* keys.
+Matrix3d build_gcode_shear_matrix(const PrintConfig &config, bool &active)
+{
+    struct AxisShear { BeltShearMode mode; double angle; int from; };
+    AxisShear axes[3] = {
+        { config.gcode_shear_x.value, config.gcode_shear_x_angle.value, int(config.gcode_shear_x_from.value) },
+        { config.gcode_shear_y.value, config.gcode_shear_y_angle.value, int(config.gcode_shear_y_from.value) },
+        { config.gcode_shear_z.value, config.gcode_shear_z_angle.value, int(config.gcode_shear_z_from.value) },
+    };
+
+    Matrix3d shear = Matrix3d::Identity();
+    active = false;
+    for (int row = 0; row < 3; ++row) {
+        if (axes[row].mode != BeltShearMode::None) {
+            double factor = BeltTransformPipeline::compute_shear_factor(axes[row].mode, axes[row].angle);
+            if (std::abs(factor) > EPSILON) {
+                shear(row, axes[row].from) += factor;
+                active = true;
+            }
+        }
+    }
+    return shear;
+}
+
+// Build the 3x3 diagonal scale matrix from gcode_scale_* keys.
+Matrix3d build_gcode_scale_matrix(const PrintConfig &config, bool &active)
+{
+    double sx = BeltTransformPipeline::compute_scale_factor(config.gcode_scale_x.value, config.gcode_scale_x_angle.value);
+    double sy = BeltTransformPipeline::compute_scale_factor(config.gcode_scale_y.value, config.gcode_scale_y_angle.value);
+    double sz = BeltTransformPipeline::compute_scale_factor(config.gcode_scale_z.value, config.gcode_scale_z_angle.value);
+
+    active = (std::abs(sx - 1.) > EPSILON ||
+              std::abs(sy - 1.) > EPSILON ||
+              std::abs(sz - 1.) > EPSILON);
+
+    Matrix3d scale = Matrix3d::Identity();
+    if (active) {
+        scale(0, 0) = sx;
+        scale(1, 1) = sy;
+        scale(2, 2) = sz;
+    }
+    return scale;
+}
+
+bool has_post_gcode_remap(const PrintConfig &config)
+{
+    return int(config.post_gcode_remap_x.value) != int(RemapAxis::PosX) ||
+           int(config.post_gcode_remap_y.value) != int(RemapAxis::PosY) ||
+           int(config.post_gcode_remap_z.value) != int(RemapAxis::PosZ);
+}
+
+} // namespace
+
+bool MachineFrameTransform::init_from_config(const PrintConfig &config)
+{
+    m_active    = false;
+    m_transform = Transform3d::Identity();
+
+    if (!config.belt_printer.value)
+        return false;
+
+    Transform3d post_remap   = build_post_gcode_remap(config);
+    bool        shear_active = false;
+    Matrix3d    shear        = build_gcode_shear_matrix(config, shear_active);
+    bool        scale_active = false;
+    Matrix3d    scale        = build_gcode_scale_matrix(config, scale_active);
+
+    if (!shear_active && !scale_active && !has_post_gcode_remap(config))
+        return false;
+
+    // Compose per belt_gcode_transform_order:
+    //   ScaleThenShear: applied to p, scale runs first then shear (shear * scale).
+    //   ShearThenScale: applied to p, shear runs first then scale (scale * shear).
+    Transform3d combined = Transform3d::Identity();
+    combined.linear() = (config.belt_gcode_transform_order.value == BeltTransformOrder::ScaleThenShear)
+        ? Matrix3d(shear * scale)
+        : Matrix3d(scale * shear);
+    combined = combined * post_remap;
+
+    if (combined.isApprox(Transform3d::Identity()))
+        return false;
+
+    m_transform = combined;
+    m_active    = true;
+    return true;
+}
+
+Vec3d MachineFrameTransform::apply(const Vec3d &pos) const
+{
+    if (!m_active)
+        return pos;
+    return m_transform * pos;
+}
+
+} // namespace Slic3r
diff --git a/src/libslic3r/GCode/MachineFrameTransform.hpp b/src/libslic3r/GCode/MachineFrameTransform.hpp
new file mode 100644
index 0000000000..4a2f189802
--- /dev/null
+++ b/src/libslic3r/GCode/MachineFrameTransform.hpp
@@ -0,0 +1,43 @@
+#ifndef slic3r_MachineFrameTransform_hpp_
+#define slic3r_MachineFrameTransform_hpp_
+
+#include "../libslic3r.h"
+#include "../Point.hpp"
+#include "../PrintConfig.hpp"
+
+namespace Slic3r {
+
+// Post-stage machine-frame transform for belt printers.
+//
+// Applied in BeltGCodeWriter::to_machine_coords AFTER the back-transform
+// and the existing gcode_remap_* axis remap, and BEFORE per-axis origin snap.
+// Maps Cartesian (axis-permuted) G-code coordinates into the printer's
+// physical machine frame using a parallel set of options:
+//   gcode_shear_x/y/z + _angle + _from
+//   gcode_scale_x/y/z + _angle
+//   post_gcode_remap_x/y/z
+//
+// Composition matches the mesh-side pipeline: shear * scale * post_remap.
+class MachineFrameTransform
+{
+public:
+    MachineFrameTransform() = default;
+
+    // Initialize from belt printer config.  Returns true if a non-identity
+    // transform was computed.  Inactive when belt_printer is disabled or
+    // all three sub-stages are identity.
+    bool init_from_config(const PrintConfig &config);
+
+    // Apply the transform to a point.  Returns pos unchanged if not active.
+    Vec3d apply(const Vec3d &pos) const;
+
+    bool is_active() const { return m_active; }
+
+private:
+    bool        m_active    = false;
+    Transform3d m_transform = Transform3d::Identity();
+};
+
+} // namespace Slic3r
+
+#endif // slic3r_MachineFrameTransform_hpp_
diff --git a/src/libslic3r/Preset.cpp b/src/libslic3r/Preset.cpp
index 6c6382f91d..a62628b3cd 100644
--- a/src/libslic3r/Preset.cpp
+++ b/src/libslic3r/Preset.cpp
@@ -1326,8 +1326,17 @@ static std::vector<std::string> s_Preset_printer_options {
     "belt_shear_y", "belt_shear_y_angle", "belt_shear_y_from", "belt_shear_y_global",
     "belt_shear_z", "belt_shear_z_angle", "belt_shear_z_from", "belt_shear_z_global",
     "belt_scale_x", "belt_scale_x_angle", "belt_scale_y", "belt_scale_y_angle", "belt_scale_z", "belt_scale_z_angle",
+    "belt_mesh_transform_order",
     "preslice_remap_x", "preslice_remap_y", "preslice_remap_z", "preslice_remap_global",
     "gcode_remap_x", "gcode_remap_y", "gcode_remap_z", "gcode_back_transform",
+    "gcode_shear_x", "gcode_shear_x_angle", "gcode_shear_x_from",
+    "gcode_shear_y", "gcode_shear_y_angle", "gcode_shear_y_from",
+    "gcode_shear_z", "gcode_shear_z_angle", "gcode_shear_z_from",
+    "gcode_scale_x", "gcode_scale_x_angle",
+    "gcode_scale_y", "gcode_scale_y_angle",
+    "gcode_scale_z", "gcode_scale_z_angle",
+    "belt_gcode_transform_order",
+    "post_gcode_remap_x", "post_gcode_remap_y", "post_gcode_remap_z",
     "belt_preslice_global",
     "first_layer_plane", "first_layer_plane_offset", "first_layer_plane_thickness",
     "belt_origin_snap_x", "belt_origin_offset_x",
diff --git a/src/libslic3r/Print.cpp b/src/libslic3r/Print.cpp
index 09a8a50923..de5621a67a 100644
--- a/src/libslic3r/Print.cpp
+++ b/src/libslic3r/Print.cpp
@@ -104,6 +104,15 @@ bool Print::invalidate_state_by_config_options(const ConfigOptionResolver & /* n
         "gcode_remap_x",
         "gcode_remap_y",
         "gcode_remap_z",
+        // Machine-frame transforms (only affect G-code output, not slicing).
+        "gcode_shear_x", "gcode_shear_x_angle", "gcode_shear_x_from",
+        "gcode_shear_y", "gcode_shear_y_angle", "gcode_shear_y_from",
+        "gcode_shear_z", "gcode_shear_z_angle", "gcode_shear_z_from",
+        "gcode_scale_x", "gcode_scale_x_angle",
+        "gcode_scale_y", "gcode_scale_y_angle",
+        "gcode_scale_z", "gcode_scale_z_angle",
+        "belt_gcode_transform_order",
+        "post_gcode_remap_x", "post_gcode_remap_y", "post_gcode_remap_z",
         "belt_origin_snap_x", "belt_origin_offset_x",
         "belt_origin_snap_y", "belt_origin_offset_y",
         "belt_origin_snap_z", "belt_origin_offset_z",
@@ -310,6 +319,9 @@ bool Print::invalidate_state_by_config_options(const ConfigOptionResolver & /* n
             || opt_key == "belt_scale_y_angle"
             || opt_key == "belt_scale_z"
             || opt_key == "belt_scale_z_angle"
+            || opt_key == "belt_mesh_transform_order"
+            || opt_key == "belt_preslice_global"
+            || opt_key == "preslice_remap_global"
             || opt_key == "preslice_remap_x"
             || opt_key == "preslice_remap_y"
             || opt_key == "preslice_remap_z") {
diff --git a/src/libslic3r/PrintConfig.cpp b/src/libslic3r/PrintConfig.cpp
index 5a9b63fc0f..ed0892ea04 100644
--- a/src/libslic3r/PrintConfig.cpp
+++ b/src/libslic3r/PrintConfig.cpp
@@ -307,6 +307,12 @@ static t_config_enum_values s_keys_map_BeltAxis {
 };
 CONFIG_OPTION_ENUM_DEFINE_STATIC_MAPS(BeltAxis)
 
+static t_config_enum_values s_keys_map_BeltTransformOrder {
+    { "scale_then_shear", int(BeltTransformOrder::ScaleThenShear) },
+    { "shear_then_scale", int(BeltTransformOrder::ShearThenScale) },
+};
+CONFIG_OPTION_ENUM_DEFINE_STATIC_MAPS(BeltTransformOrder)
+
 static t_config_enum_values s_keys_map_BeltScaleMode {
     { "none",      int(BeltScaleMode::None) },
     { "inv_sin",   int(BeltScaleMode::InvSin) },
@@ -6320,6 +6326,24 @@ void PrintConfigDef::init_fff_params()
     add_belt_scale_mode("belt_scale_z", "Function", BeltScaleMode::None);
     add_belt_scale_angle("belt_scale_z_angle", "Angle");
 
+    auto add_belt_transform_order = [this](const char *key, const char *label, const char *tooltip) {
+        auto def = this->add(key, coEnum);
+        def->label = L(label);
+        def->category = L("Printable space");
+        def->tooltip = L(tooltip);
+        def->enum_keys_map = &ConfigOptionEnum<BeltTransformOrder>::get_enum_values();
+        def->enum_values  = {"scale_then_shear", "shear_then_scale"};
+        def->enum_labels  = {L("Scale, then shear"), L("Shear, then scale")};
+        def->mode = comAdvanced;
+        def->set_default_value(new ConfigOptionEnum<BeltTransformOrder>(BeltTransformOrder::ScaleThenShear));
+    };
+
+    add_belt_transform_order("belt_mesh_transform_order", "Mesh transform order",
+        "Order in which the mesh shear and scale matrices are composed before slicing. "
+        "'Scale, then shear' applies scale first and then shear (current default). "
+        "'Shear, then scale' applies shear first and then scale. The g-code back-transform "
+        "follows the same order so that it correctly inverts the mesh transform.");
+
     // G-code axis remap with sign
     auto add_belt_remap = [this](const char *key, const char *label, const char *tooltip, RemapAxis default_axis) {
         auto def = this->add(key, coEnum);
@@ -6367,6 +6391,47 @@ void PrintConfigDef::init_fff_params()
     add_belt_remap("gcode_remap_y", "Y", "Which slicing axis maps to machine Y in G-code output. Applied AFTER slicing, during G-code generation.", RemapAxis::PosY);
     add_belt_remap("gcode_remap_z", "Z", "Which slicing axis maps to machine Z in G-code output. Applied AFTER slicing, during G-code generation.", RemapAxis::PosZ);
 
+    // Machine-frame G-code transforms: applied AFTER back-transform and gcode_remap,
+    // before per-axis origin snap.  Maps Cartesian G-code to the printer's physical machine frame.
+    add_belt_shear_mode ("gcode_shear_x", "Function", BeltShearMode::None);
+    add_belt_shear_angle("gcode_shear_x_angle", "Angle");
+    add_belt_axis_enum  ("gcode_shear_x_from", "From", "Source axis for X shear in the machine-frame stage.", BeltAxis::Z);
+
+    add_belt_shear_mode ("gcode_shear_y", "Function", BeltShearMode::None);
+    add_belt_shear_angle("gcode_shear_y_angle", "Angle");
+    add_belt_axis_enum  ("gcode_shear_y_from", "From", "Source axis for Y shear in the machine-frame stage.", BeltAxis::Z);
+
+    add_belt_shear_mode ("gcode_shear_z", "Function", BeltShearMode::None);
+    add_belt_shear_angle("gcode_shear_z_angle", "Angle");
+    add_belt_axis_enum  ("gcode_shear_z_from", "From", "Source axis for Z shear in the machine-frame stage.", BeltAxis::Y);
+
+    add_belt_scale_mode ("gcode_scale_x", "Function", BeltScaleMode::None);
+    add_belt_scale_angle("gcode_scale_x_angle", "Angle");
+
+    add_belt_scale_mode ("gcode_scale_y", "Function", BeltScaleMode::None);
+    add_belt_scale_angle("gcode_scale_y_angle", "Angle");
+
+    add_belt_scale_mode ("gcode_scale_z", "Function", BeltScaleMode::None);
+    add_belt_scale_angle("gcode_scale_z_angle", "Angle");
+
+    add_belt_transform_order("belt_gcode_transform_order", "G-code transform order",
+        "Order in which the machine-frame shear and scale matrices are composed when "
+        "applied to G-code coordinates. 'Scale, then shear' applies scale first and then "
+        "shear (current default). 'Shear, then scale' applies shear first and then scale.");
+
+    add_belt_remap("post_gcode_remap_x", "X",
+        "Axis remap in the machine-frame stage. Applied AFTER gcode_remap, "
+        "to put coordinates into the printer's physical axis labelling. Default +X: no change.",
+        RemapAxis::PosX);
+    add_belt_remap("post_gcode_remap_y", "Y",
+        "Axis remap in the machine-frame stage. Applied AFTER gcode_remap, "
+        "to put coordinates into the printer's physical axis labelling. Default +Y: no change.",
+        RemapAxis::PosY);
+    add_belt_remap("post_gcode_remap_z", "Z",
+        "Axis remap in the machine-frame stage. Applied AFTER gcode_remap, "
+        "to put coordinates into the printer's physical axis labelling. Default +Z: no change.",
+        RemapAxis::PosZ);
+
     def = this->add("gcode_back_transform", coBool);
     def->label = L("G-code back-transform");
     def->category = L("Printable space");
diff --git a/src/libslic3r/PrintConfig.hpp b/src/libslic3r/PrintConfig.hpp
index 601cfcbb7e..904ecd742d 100644
--- a/src/libslic3r/PrintConfig.hpp
+++ b/src/libslic3r/PrintConfig.hpp
@@ -183,6 +183,15 @@ enum class BeltAxis
     Z = 2,
 };
 
+// Order in which the belt shear and scale matrices are composed.
+// ScaleThenShear: applied to a point p, the result is shear(scale(p)).
+// ShearThenScale: applied to a point p, the result is scale(shear(p)).
+enum class BeltTransformOrder
+{
+    ScaleThenShear = 0,
+    ShearThenScale = 1,
+};
+
 enum class RemapAxis
 {
     PosX = 0, PosY = 1, PosZ = 2,
@@ -571,6 +580,7 @@ CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(SlicingMode)
 CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(BeltShearMode)
 CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(BeltScaleMode)
 CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(BeltAxis)
+CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(BeltTransformOrder)
 CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(RemapAxis)
 CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(BeltSupportFloorMode)
 CONFIG_OPTION_ENUM_DECLARE_STATIC_MAPS(BeltSupportZOffsetMode)
@@ -1535,6 +1545,26 @@ PRINT_CONFIG_CLASS_DERIVED_DEFINE(
     ((ConfigOptionEnum<RemapAxis>,  gcode_remap_x))
     ((ConfigOptionEnum<RemapAxis>,  gcode_remap_y))
     ((ConfigOptionEnum<RemapAxis>,  gcode_remap_z))
+    ((ConfigOptionEnum<BeltShearMode>,  gcode_shear_x))
+    ((ConfigOptionFloat,                gcode_shear_x_angle))
+    ((ConfigOptionEnum<BeltAxis>,       gcode_shear_x_from))
+    ((ConfigOptionEnum<BeltShearMode>,  gcode_shear_y))
+    ((ConfigOptionFloat,                gcode_shear_y_angle))
+    ((ConfigOptionEnum<BeltAxis>,       gcode_shear_y_from))
+    ((ConfigOptionEnum<BeltShearMode>,  gcode_shear_z))
+    ((ConfigOptionFloat,                gcode_shear_z_angle))
+    ((ConfigOptionEnum<BeltAxis>,       gcode_shear_z_from))
+    ((ConfigOptionEnum<BeltScaleMode>,  gcode_scale_x))
+    ((ConfigOptionFloat,                gcode_scale_x_angle))
+    ((ConfigOptionEnum<BeltScaleMode>,  gcode_scale_y))
+    ((ConfigOptionFloat,                gcode_scale_y_angle))
+    ((ConfigOptionEnum<BeltScaleMode>,  gcode_scale_z))
+    ((ConfigOptionFloat,                gcode_scale_z_angle))
+    ((ConfigOptionEnum<BeltTransformOrder>, belt_mesh_transform_order))
+    ((ConfigOptionEnum<BeltTransformOrder>, belt_gcode_transform_order))
+    ((ConfigOptionEnum<RemapAxis>,      post_gcode_remap_x))
+    ((ConfigOptionEnum<RemapAxis>,      post_gcode_remap_y))
+    ((ConfigOptionEnum<RemapAxis>,      post_gcode_remap_z))
     ((ConfigOptionBool,                 gcode_back_transform))
     ((ConfigOptionBool,                 belt_preslice_global))
     ((ConfigOptionEnum<FirstLayerPlaneMode>, first_layer_plane))
diff --git a/src/libslic3r/PrintObject.cpp b/src/libslic3r/PrintObject.cpp
index 78b75a8bbb..596053f685 100644
--- a/src/libslic3r/PrintObject.cpp
+++ b/src/libslic3r/PrintObject.cpp
@@ -3,6 +3,8 @@
 #include "Point.hpp"
 #include "Print.hpp"
 #include "BeltTransform.hpp"
+
+#include <thread>
 #include "BoundingBox.hpp"
 #include "ClipperUtils.hpp"
 #include "ElephantFootCompensation.hpp"
@@ -425,11 +427,15 @@ std::vector<std::set<int>> PrintObject::detect_extruder_geometric_unprintables()
 // 3) Generates perimeters, gap fills and fill regions (fill regions of type stInternal).
 void PrintObject::make_perimeters()
 {
+    BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] make_perimeters request tid=" << std::this_thread::get_id() << " obj=" << this;
     // prerequisites
     this->slice();
 
-    if (! this->set_started(posPerimeters))
+    if (! this->set_started(posPerimeters)) {
+        BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] make_perimeters SKIP tid=" << std::this_thread::get_id() << " obj=" << this << " (already started/done)";
         return;
+    }
+    BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] make_perimeters ENTER tid=" << std::this_thread::get_id() << " obj=" << this;
 
     m_print->set_status(15, L("Generating walls"));
     BOOST_LOG_TRIVIAL(info) << "Generating walls..." << log_memory_info();
@@ -527,6 +533,7 @@ void PrintObject::make_perimeters()
     m_print->throw_if_canceled();
     BOOST_LOG_TRIVIAL(debug) << "Generating perimeters in parallel - end";
 
+    BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] make_perimeters EXIT tid=" << std::this_thread::get_id() << " obj=" << this;
     this->set_done(posPerimeters);
 }
 
@@ -822,7 +829,9 @@ void PrintObject::detect_overhangs_for_lift()
 
 void PrintObject::generate_support_material()
 {
+    BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] generate_support_material request tid=" << std::this_thread::get_id() << " obj=" << this;
     if (this->set_started(posSupportMaterial)) {
+        BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] generate_support_material ENTER tid=" << std::this_thread::get_id() << " obj=" << this;
         this->clear_support_layers();
 
         if(!has_support() && !m_print->get_no_check_flag()) {
@@ -863,7 +872,10 @@ void PrintObject::generate_support_material()
             this->_generate_support_material();
             m_print->throw_if_canceled();
         }
+        BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] generate_support_material EXIT tid=" << std::this_thread::get_id() << " obj=" << this;
         this->set_done(posSupportMaterial);
+    } else {
+        BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] generate_support_material SKIP tid=" << std::this_thread::get_id() << " obj=" << this << " (already started/done)";
     }
 }
 
diff --git a/src/libslic3r/PrintObjectSlice.cpp b/src/libslic3r/PrintObjectSlice.cpp
index 23e3583a2f..4454ce87ea 100644
--- a/src/libslic3r/PrintObjectSlice.cpp
+++ b/src/libslic3r/PrintObjectSlice.cpp
@@ -1,5 +1,6 @@
 #include <boost/log/trivial.hpp>
 #include <limits>
+#include <thread>
 
 #include <tbb/parallel_for.h>
 
@@ -837,8 +838,12 @@ void groupingVolumesForBrim(PrintObject* object, LayerPtrs& layers, int firstLay
 // Resulting expolygons of layer regions are marked as Internal.
 void PrintObject::slice()
 {
-    if (! this->set_started(posSlice))
+    BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] slice request tid=" << std::this_thread::get_id() << " obj=" << this;
+    if (! this->set_started(posSlice)) {
+        BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] slice SKIP tid=" << std::this_thread::get_id() << " obj=" << this << " (already started/done)";
         return;
+    }
+    BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] slice ENTER tid=" << std::this_thread::get_id() << " obj=" << this;
     //BBS: add flag to reload scene for shell rendering
     m_print->set_status(5, L("Slicing mesh"), PrintBase::SlicingStatus::RELOAD_SCENE);
     std::vector<coordf_t> layer_height_profile;
@@ -942,11 +947,25 @@ void PrintObject::slice()
                 Vec3d d(unscale<double>(inst_shift.x()), unscale<double>(inst_shift.y()), 0.);
                 Vec3d c = T.linear() * d - d;
 
-                global_z_offset = c.z();
+                // Per-object shape contribution: BeltSliceStrategy::apply_to_trafo
+                // lifts the mesh by max(0, -m_belt_min_z) to keep slicer-frame Z
+                // above 0.  Two objects at the same bed position but different
+                // m_belt_min_z (e.g. cube vs inverted-cone tip) otherwise end up
+                // at the same print_z, which causes the inverted-cone tip to
+                // start on the same layer as the cube's lowest sheared corner.
+                double belt_surface_z = BeltTransformPipeline::has_preslice_remap(pcfg)
+                    ? BeltTransformPipeline::remap_bbox(*this->model_object(), pcfg).min.z() : 0.;
+                double shear_min_z = m_belt_min_z - belt_surface_z;
+
+                global_z_offset = c.z() + shear_min_z;
+                BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] write m_belt_global_xy_correction tid=" << std::this_thread::get_id()
+                    << " obj=" << this << " old=(" << m_belt_global_xy_correction.x() << "," << m_belt_global_xy_correction.y()
+                    << ") new=(" << c.x() << "," << c.y() << ")";
                 m_belt_global_xy_correction = Vec2d(c.x(), c.y());
 
                 BOOST_LOG_TRIVIAL(warning) << "Belt preslice_global: correction=("
-                    << c.x() << ", " << c.y() << ", " << c.z() << ")";
+                    << c.x() << ", " << c.y() << ", " << c.z() << ")"
+                    << " shear_min_z=" << shear_min_z << " (m_belt_min_z=" << m_belt_min_z << ")";
             } else {
                 struct GAxis { BeltShearMode mode; double angle; int from; bool global; };
                 GAxis gaxes[3] = {
@@ -959,13 +978,27 @@ void PrintObject::slice()
                 // (X/Y row shears with global would offset X/Y, not Z — not useful here.)
                 const auto &za = gaxes[2]; // Z row
                 if (za.global && za.mode != BeltShearMode::None && za.from < 2) {
-                    double factor = BeltTransformPipeline::compute_shear_factor(za.mode, za.angle);
+                    // Use the full forward-transform correction (same formula as
+                    // preslice_global) so the per-bed-position offset matches what
+                    // BeltGCode::on_set_origin's T.linear() pre-multiplication
+                    // expects after back-transform.  The simple `cy*tan(α)` form
+                    // is exact only for ScaleThenShear; under ShearThenScale with
+                    // sy != 1 it leaves the object bottom off the belt plane by
+                    // cy*tan(α)*(sy-1)/sy.
+                    Transform3d T = BeltTransformPipeline::build_forward_transform(pcfg);
+                    Vec3d d(unscale<double>(inst_shift.x()), unscale<double>(inst_shift.y()), 0.);
+                    Vec3d c = T.linear() * d - d;
                     double belt_surface_z = BeltTransformPipeline::has_preslice_remap(pcfg)
                         ? BeltTransformPipeline::remap_bbox(*this->model_object(), pcfg).min.z() : 0.;
                     double shear_min_z = m_belt_min_z - belt_surface_z;
-                    Point phys = inst_shift;
-                    double center_on_axis = (za.from == 0) ? unscale<double>(phys.x()) : unscale<double>(phys.y());
-                    global_z_offset += center_on_axis * factor + shear_min_z;
+                    global_z_offset += c.z() + shear_min_z;
+                    BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] write m_belt_global_xy_correction tid=" << std::this_thread::get_id()
+                        << " obj=" << this << " old=(" << m_belt_global_xy_correction.x() << "," << m_belt_global_xy_correction.y()
+                        << ") new=(" << c.x() << "," << c.y() << ")";
+                    m_belt_global_xy_correction = Vec2d(c.x(), c.y());
+                    BOOST_LOG_TRIVIAL(warning) << "Belt per-axis Z-shear-global: correction=("
+                        << c.x() << ", " << c.y() << ", " << c.z() << ")"
+                        << " shear_min_z=" << shear_min_z << " (m_belt_min_z=" << m_belt_min_z << ")";
                 }
 
                 // Pre-slice remap global mode: when on, the remap accounts for the
@@ -983,6 +1016,8 @@ void PrintObject::slice()
 
             BOOST_LOG_TRIVIAL(warning) << "Belt global: z_offset=" << global_z_offset
                 << " (relative to min across " << this->print()->objects().size() << " objects)";
+            BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] write m_belt_global_z_offset tid=" << std::this_thread::get_id()
+                << " obj=" << this << " old=" << m_belt_global_z_offset << " new=" << global_z_offset;
             m_belt_global_z_offset = global_z_offset;
             if (std::abs(global_z_offset) > EPSILON) {
                 for (Layer *layer : m_layers)
@@ -1003,6 +1038,10 @@ void PrintObject::slice()
     }
 
     // BBS
+    BOOST_LOG_TRIVIAL(warning) << "[BELTRACE] slice EXIT tid=" << std::this_thread::get_id() << " obj=" << this
+        << " layers=" << m_layers.size() << " belt_min_z=" << m_belt_min_z
+        << " belt_global_z_offset=" << m_belt_global_z_offset
+        << " belt_xy=(" << m_belt_global_xy_correction.x() << "," << m_belt_global_xy_correction.y() << ")";
     this->set_done(posSlice);
 }
 
diff --git a/src/slic3r/GUI/Tab.cpp b/src/slic3r/GUI/Tab.cpp
index e707386576..92302c583e 100644
--- a/src/slic3r/GUI/Tab.cpp
+++ b/src/slic3r/GUI/Tab.cpp
@@ -4491,6 +4491,7 @@ void TabPrinter::build_fff()
             line.append_option(optgroup->get_option("belt_scale_z_angle"));
             optgroup->append_line(line);
         }
+        optgroup->append_single_option_line("belt_mesh_transform_order");
         {
             Line line = { L("Pre-slice axis remap"),
                           L("Remap model axes before slicing so the slicer's coordinate system matches "
@@ -4548,6 +4549,63 @@ void TabPrinter::build_fff()
             line.append_option(optgroup->get_option("belt_support_z_offset_mode"));
             optgroup->append_line(line);
         }
+
+        // Machine-frame transforms: applied to G-code after back-transform and
+        // gcode_remap, before per-axis origin snap.  Maps Cartesian G-code into
+        // the printer's physical machine frame.
+        {
+            auto mf = page->new_optgroup(L("Machine frame transforms"), L"param_advanced");
+            {
+                Line line = { L("G-code shear X"), L("Shear applied to the X axis in the machine-frame stage (after back-transform and gcode_remap).") };
+                line.append_option(mf->get_option("gcode_shear_x"));
+                line.append_option(mf->get_option("gcode_shear_x_angle"));
+                line.append_option(mf->get_option("gcode_shear_x_from"));
+                mf->append_line(line);
+            }
+            {
+                Line line = { L("G-code shear Y"), L("Shear applied to the Y axis in the machine-frame stage (after back-transform and gcode_remap).") };
+                line.append_option(mf->get_option("gcode_shear_y"));
+                line.append_option(mf->get_option("gcode_shear_y_angle"));
+                line.append_option(mf->get_option("gcode_shear_y_from"));
+                mf->append_line(line);
+            }
+            {
+                Line line = { L("G-code shear Z"), L("Shear applied to the Z axis in the machine-frame stage (after back-transform and gcode_remap).") };
+                line.append_option(mf->get_option("gcode_shear_z"));
+                line.append_option(mf->get_option("gcode_shear_z_angle"));
+                line.append_option(mf->get_option("gcode_shear_z_from"));
+                mf->append_line(line);
+            }
+            {
+                Line line = { L("G-code scale X"), L("Scale applied to the X axis in the machine-frame stage.") };
+                line.append_option(mf->get_option("gcode_scale_x"));
+                line.append_option(mf->get_option("gcode_scale_x_angle"));
+                mf->append_line(line);
+            }
+            {
+                Line line = { L("G-code scale Y"), L("Scale applied to the Y axis in the machine-frame stage.") };
+                line.append_option(mf->get_option("gcode_scale_y"));
+                line.append_option(mf->get_option("gcode_scale_y_angle"));
+                mf->append_line(line);
+            }
+            {
+                Line line = { L("G-code scale Z"), L("Scale applied to the Z axis in the machine-frame stage.") };
+                line.append_option(mf->get_option("gcode_scale_z"));
+                line.append_option(mf->get_option("gcode_scale_z_angle"));
+                mf->append_line(line);
+            }
+            mf->append_single_option_line("belt_gcode_transform_order");
+            {
+                Line line = { L("Post-gcode axis remap"),
+                              L("Axis remap in the machine-frame stage. Applied AFTER gcode_remap, "
+                                "to put coordinates into the printer's physical axis labelling.") };
+                line.append_option(mf->get_option("post_gcode_remap_x"));
+                line.append_option(mf->get_option("post_gcode_remap_y"));
+                line.append_option(mf->get_option("post_gcode_remap_z"));
+                mf->append_line(line);
+            }
+        }
+
         option = optgroup->get_option("thumbnails");
         option.opt.full_width = true;
         optgroup->append_single_option_line(option, "printer_basic_information_advanced#g-code-thumbnails");
@@ -5395,6 +5453,7 @@ void TabPrinter::toggle_options()
         toggle_line("belt_printer_infinite_y", is_belt);
         for (auto el : {"belt_shear_x", "belt_shear_y", "belt_shear_z",
                         "belt_scale_x", "belt_scale_y", "belt_scale_z",
+                        "belt_mesh_transform_order",
                         "belt_origin_snap_x", "belt_origin_snap_y", "belt_origin_snap_z"})
             toggle_line(el, is_belt);
 
@@ -5435,6 +5494,34 @@ void TabPrinter::toggle_options()
         auto scz = m_config->option<ConfigOptionEnum<BeltScaleMode>>("belt_scale_z")->value;
         toggle_option("belt_scale_z_angle", is_belt && scz != BeltScaleMode::None);
 
+        // Machine-frame transforms: shown only in belt mode.
+        for (auto el : {"gcode_shear_x", "gcode_shear_y", "gcode_shear_z",
+                        "gcode_scale_x", "gcode_scale_y", "gcode_scale_z",
+                        "belt_gcode_transform_order",
+                        "post_gcode_remap_x"})
+            toggle_line(el, is_belt);
+
+        auto gsx = m_config->option<ConfigOptionEnum<BeltShearMode>>("gcode_shear_x")->value;
+        toggle_option("gcode_shear_x_angle", is_belt && gsx != BeltShearMode::None);
+        toggle_option("gcode_shear_x_from",  is_belt && gsx != BeltShearMode::None);
+
+        auto gsy = m_config->option<ConfigOptionEnum<BeltShearMode>>("gcode_shear_y")->value;
+        toggle_option("gcode_shear_y_angle", is_belt && gsy != BeltShearMode::None);
+        toggle_option("gcode_shear_y_from",  is_belt && gsy != BeltShearMode::None);
+
+        auto gsz = m_config->option<ConfigOptionEnum<BeltShearMode>>("gcode_shear_z")->value;
+        toggle_option("gcode_shear_z_angle", is_belt && gsz != BeltShearMode::None);
+        toggle_option("gcode_shear_z_from",  is_belt && gsz != BeltShearMode::None);
+
+        auto gscx = m_config->option<ConfigOptionEnum<BeltScaleMode>>("gcode_scale_x")->value;
+        toggle_option("gcode_scale_x_angle", is_belt && gscx != BeltScaleMode::None);
+
+        auto gscy = m_config->option<ConfigOptionEnum<BeltScaleMode>>("gcode_scale_y")->value;
+        toggle_option("gcode_scale_y_angle", is_belt && gscy != BeltScaleMode::None);
+
+        auto gscz = m_config->option<ConfigOptionEnum<BeltScaleMode>>("gcode_scale_z")->value;
+        toggle_option("gcode_scale_z_angle", is_belt && gscz != BeltScaleMode::None);
+
         // Origin snap is superseded by belt_preslice_global
         toggle_option("belt_origin_offset_x", is_belt && m_config->opt_bool("belt_origin_snap_x") && !belt_global);
         toggle_option("belt_origin_offset_y", is_belt && m_config->opt_bool("belt_origin_snap_y") && !belt_global);