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refactor(imex): Mirror reflects about zone-boundary plane, not primary origin

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Replace imex_head_transform's fifth argument (Vec3d primary_origin) with a
Vec2d primary_zone_center and rewrite the Mirror branch as a true reflection
about the plane x = primary_zone_center.x + gantry_offset.x/2. Previous math
flipped about the primary's current origin, which:
  * let the ghost drift out of the target zone as the primary moved, and
  * made mirrored drag motion track 1:1 with the primary instead of reflecting.

The new transform places the ghost at the mirrored position within the target
zone (matching where the mirror tool actually prints) and reflects drag so
primary +X → ghost -X while Y tracks 1:1 — i.e. the ghost stays a true
mirror while the user drags. Off-row Mirror targets (e.g. T3 on a 2x2) still
reflect across the same X-plane as on-row peers.

PartPlate::calc_imex_ghosts and update_imex_ghost_transforms now feed primary_off
(the primary head's zone center) instead of an instance-space Vec3d.

Mirror tests rewritten against the new geometric contract: ghost origin at the
reflected position, primary drag deltas reflected across the zone-boundary plane.

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
This commit is contained in:
Clifford Garwood
2026-04-21 22:51:56 -04:00
co-authored by Claude Opus 4.7
parent 6a3de6a28f
commit 9a87b96ded
4 changed files with 66 additions and 67 deletions
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src/libslic3r/IMEXHelpers.cpp
+16 -23
View File
@@ -167,7 +167,7 @@ int resolve_filament_for_head(const std::map<int,int>& plate_map,
Transform3d imex_head_transform(int /*primary*/, int /*target*/, ImexRole role,
const Vec2d& gantry_offset,
const Vec3d& primary_origin)
const Vec2d& primary_zone_center)
{
switch (role) {
case ImexRole::Primary:
@@ -179,29 +179,22 @@ Transform3d imex_head_transform(int /*primary*/, int /*target*/, ImexRole role,
const double len2 = gantry_offset.squaredNorm();
if (len2 < 1e-12)
return Transform3d::Identity();
// Reflection plane normal is the primary-row gantry axis (X for all
// current IMEX printers), not gantry_offset.normalized(). An off-row
// Mirror target (e.g. T3 on a 2x2 where primary is T0) has a diagonal
// gantry_offset; reflecting across that diagonal plane rotates the
// ghost ~45° in plan view, which visually reads as the object laying
// on its side. All Mirror ghosts must flip across the same plane
// (the one the primary-row Primary↔Mirror pair defines), so that
// off-row mirrors look like their on-row counterparts, just placed
// at the off-row position.
// Formula: head_xf = T(gantry) * T(p) * Reflect(n) * T(-p)
// .linear() = Reflect(n) = I - 2 n n^T
// .translation() = gantry + (I - Reflect) * p = gantry + 2 n n^T p
// TODO: if a future IMEX printer has Y-oriented gantries, lift this
// to a caller-supplied axis.
const Vec3d n(1.0, 0.0, 0.0);
Eigen::Matrix3d I3 = Eigen::Matrix3d::Identity();
Eigen::Matrix3d nnT = n * n.transpose();
Eigen::Matrix3d L = I3 - 2.0 * nnT;
Vec3d t = Vec3d(gantry_offset.x(), gantry_offset.y(), 0.0)
+ (I3 - L) * primary_origin;
// True reflection about the zone-boundary plane (perpendicular to X, passing
// through primary_zone_center.x + gantry_offset.x/2). This makes the ghost
// land at the mirrored position within the target zone — matching where the
// mirror tool will actually print — and reflects drag motion so X is inverted
// while Y translates 1:1 by gantry_offset.y. Off-row Mirror targets (e.g. T3
// on a 2x2) still reflect across this X-plane rather than the diagonal, so
// they visually match their on-row counterparts.
// .linear() = Reflect(X) = diag(-1, 1, 1)
// .translation() = (2*primary_zone_center.x + gantry_offset.x, gantry_offset.y, 0)
// TODO: if a future IMEX printer has Y-oriented gantries, lift this to a
// caller-supplied axis.
Transform3d out = Transform3d::Identity();
out.linear() = L;
out.translation() = t;
out.linear() = Eigen::DiagonalMatrix<double, 3>(-1.0, 1.0, 1.0);
out.translation() = Vec3d(2.0 * primary_zone_center.x() + gantry_offset.x(),
gantry_offset.y(),
0.0);
return out;
}
}