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Rotate instead of shear for slicing stage (#30)

Browse Source 
* initial commit

* fix upper bounds for assemblies

* significantly less Z shift issues, still not quite tamped down yet though

* add instrumentation to logs

* finally found the issue

* update printer defaults
This commit is contained in:
Joseph Robertson
2026-05-22 15:21:33 -05:00
committed by GitHub
parent 218881c6f6
commit a9bae54f20
16 changed files with 513 additions and 96 deletions
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src/libslic3r/BeltTransform.cpp
+87 -7
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@@ -95,23 +95,47 @@ Matrix3d BeltTransformPipeline::build_scale_matrix(const PrintConfig &config, bo
return scale;
}
Matrix3d BeltTransformPipeline::build_rotation_matrix(const PrintConfig &config, bool *has_rot_out)
{
BeltRotationAxis axis = config.belt_slice_rotation.value;
double angle_deg = config.belt_slice_rotation_angle.value;
bool active = axis != BeltRotationAxis::None && std::abs(angle_deg) > EPSILON;
if (has_rot_out) *has_rot_out = active;
if (!active)
return Matrix3d::Identity();
double angle_rad = Geometry::deg2rad(angle_deg);
Vec3d unit_axis;
switch (axis) {
case BeltRotationAxis::X: unit_axis = Vec3d::UnitX(); break;
case BeltRotationAxis::Y: unit_axis = Vec3d::UnitY(); break;
case BeltRotationAxis::Z: unit_axis = Vec3d::UnitZ(); break;
default: return Matrix3d::Identity();
}
return Eigen::AngleAxisd(angle_rad, unit_axis).toRotationMatrix();
}
Transform3d BeltTransformPipeline::build_forward_transform(const PrintConfig &config)
{
Transform3d pre_remap = build_preslice_remap(config);
Transform3d pre_remap = build_preslice_remap(config);
bool shear_active = false;
Matrix3d shear = build_shear_matrix(config, &shear_active);
bool scale_active = false;
Matrix3d scale = build_scale_matrix(config, &scale_active);
bool rot_active = false;
Matrix3d rot = build_rotation_matrix(config, &rot_active);
// 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() = (config.belt_mesh_transform_order.value == BeltTransformOrder::ScaleThenShear)
// Rotation is applied AFTER shear/scale: rot * shear_scale * pre_remap.
Matrix3d shear_scale = (config.belt_mesh_transform_order.value == BeltTransformOrder::ScaleThenShear)
? Matrix3d(shear * scale)
: Matrix3d(scale * shear);
Transform3d combined = Transform3d::Identity();
combined.linear() = Matrix3d(rot * shear_scale);
combined = combined * pre_remap;
return combined;
}
@@ -166,7 +190,7 @@ BeltTransformPipeline::BeltHeightResult compute_belt_height_and_floor_impl(
BeltTransformPipeline::BeltHeightResult result;
result.object_height = original_height;
// Extract Z-axis shear/scale + per-axis scale + transform order from config.
// Extract Z-axis shear/scale + per-axis scale + transform order + rotation from config.
BeltShearMode z_shear_mode;
double z_shear_angle;
BeltScaleMode z_scale_mode;
@@ -175,6 +199,8 @@ BeltTransformPipeline::BeltHeightResult compute_belt_height_and_floor_impl(
BeltScaleMode from_scale_mode; // scale on the shear's source axis
double from_scale_angle;
BeltTransformOrder order;
BeltRotationAxis rot_axis;
double rot_angle;
if constexpr (std::is_same_v<Config, PrintConfig>) {
z_shear_mode = config.belt_shear_z.value;
@@ -183,6 +209,8 @@ BeltTransformPipeline::BeltHeightResult compute_belt_height_and_floor_impl(
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;
rot_axis = config.belt_slice_rotation.value;
rot_angle = config.belt_slice_rotation_angle.value;
if (z_shear_from == 0) {
from_scale_mode = config.belt_scale_x.value;
from_scale_angle = config.belt_scale_x_angle.value;
@@ -212,12 +240,18 @@ BeltTransformPipeline::BeltHeightResult compute_belt_height_and_floor_impl(
auto *opt = config.template option<ConfigOptionEnum<BeltTransformOrder>>(key);
return opt ? opt->value : BeltTransformOrder::ScaleThenShear;
};
auto get_rot_axis = [&](const char *key) {
auto *opt = config.template option<ConfigOptionEnum<BeltRotationAxis>>(key);
return opt ? opt->value : BeltRotationAxis::None;
};
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");
rot_axis = get_rot_axis("belt_slice_rotation");
rot_angle = get_float("belt_slice_rotation_angle");
if (z_shear_from == 0) {
from_scale_mode = get_scale("belt_scale_x");
from_scale_angle = get_float("belt_scale_x_angle");
@@ -227,10 +261,11 @@ BeltTransformPipeline::BeltHeightResult compute_belt_height_and_floor_impl(
}
}
bool has_z_shear = z_shear_mode != BeltShearMode::None;
bool has_z_scale = z_scale_mode != BeltScaleMode::None;
bool has_z_shear = z_shear_mode != BeltShearMode::None;
bool has_z_scale = z_scale_mode != BeltScaleMode::None;
bool has_rotation = rot_axis != BeltRotationAxis::None && std::abs(rot_angle) > EPSILON;
if (!has_z_shear && !has_z_scale)
if (!has_z_shear && !has_z_scale && !has_rotation)
return result;
double shear_factor = has_z_shear
@@ -267,6 +302,51 @@ BeltTransformPipeline::BeltHeightResult compute_belt_height_and_floor_impl(
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 if (has_rotation) {
// Rotation-only path (no Z-shear): sweep 8 bbox corners through R.
double angle_rad = Geometry::deg2rad(rot_angle);
Vec3d unit_axis;
switch (rot_axis) {
case BeltRotationAxis::X: unit_axis = Vec3d::UnitX(); break;
case BeltRotationAxis::Y: unit_axis = Vec3d::UnitY(); break;
case BeltRotationAxis::Z: unit_axis = Vec3d::UnitZ(); break;
default: unit_axis = Vec3d::UnitX(); break;
}
Matrix3d R = Eigen::AngleAxisd(angle_rad, unit_axis).toRotationMatrix();
double min_rz = std::numeric_limits<double>::max();
double max_rz = std::numeric_limits<double>::lowest();
for (int i = 0; i < 8; ++i) {
Vec3d c((i & 1) ? bb.max.x() : bb.min.x(),
(i & 2) ? bb.max.y() : bb.min.y(),
(i & 4) ? bb.max.z() : bb.min.z());
double z = (R * c).z();
min_rz = std::min(min_rz, z);
max_rz = std::max(max_rz, z);
}
// Optional Z-scale still applies multiplicatively if both are set.
result.object_height = (max_rz - min_rz) * (has_z_scale ? scale_z : 1.0);
// Belt floor in slicer-frame is the image of z_machine = 0 under R.
// R(+α, X): point (·, y, 0) → (·, cos α · y, sin α · y) ⇒ z = tan(α) · y_s
// R(+α, Y): point (x, ·, 0) → (cos α · x, ·, -sin α · x) ⇒ z = -tan(α) · x_s
// R(+α, Z): point (·, ·, 0) → (·, ·, 0); no tilt → no floor
double sin_a = std::sin(angle_rad), cos_a = std::cos(angle_rad);
switch (rot_axis) {
case BeltRotationAxis::X:
result.floor_params.shear_factor = (std::abs(cos_a) > EPSILON) ? sin_a / cos_a : 0.;
result.floor_params.from_axis = 1; // Y
break;
case BeltRotationAxis::Y:
result.floor_params.shear_factor = (std::abs(cos_a) > EPSILON) ? -sin_a / cos_a : 0.;
result.floor_params.from_axis = 0; // X
break;
case BeltRotationAxis::Z:
default:
result.floor_params.shear_factor = 0.0;
result.floor_params.from_axis = 1;
break;
}
result.floor_params.z_shift = bb.min.z() + ((min_rz < 0.) ? -min_rz : 0.);
} else {
result.object_height = original_height * scale_z;
}