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Part 3.1: refactor BeltTransform pipeline
add BeltGCodeWriter add BeltGCode consolidate changes into shared classes for BeltGcode
This commit is contained in:
harrierpigeon
committed by
Joseph Robertson
Joseph Robertson
parent
b297f68921
commit
c7aa4ca3ef
@@ -0,0 +1,246 @@
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#include "BeltTransform.hpp"
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#include "Model.hpp"
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#include <limits>
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namespace Slic3r {
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// ---- Matrix builders ------------------------------------------------------
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Transform3d BeltTransformPipeline::build_preslice_remap(const PrintConfig &config)
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{
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Transform3d pre_remap = Transform3d::Identity();
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if (!has_preslice_remap(config))
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return pre_remap;
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int pre_rx = int(config.belt_preslice_remap_x.value);
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int pre_ry = int(config.belt_preslice_remap_y.value);
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int pre_rz = int(config.belt_preslice_remap_z.value);
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// Each remap value selects a source axis and sign.
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auto remap_column = [](int r) -> Vec3d {
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int axis = r % 3;
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Vec3d col = Vec3d::Zero();
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if (r < 3) col[axis] = 1.0; // +axis
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else if (r < 6) col[axis] = -1.0; // -axis
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else col[axis] = -1.0; // Rev: max - pos = -(pos - max)
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return col;
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};
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Matrix3d remap_lin;
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remap_lin.col(0) = remap_column(pre_rx);
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remap_lin.col(1) = remap_column(pre_ry);
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remap_lin.col(2) = remap_column(pre_rz);
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pre_remap.linear() = remap_lin;
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// Translation for Rev modes (needs build volume extents).
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if (pre_rx >= 6 || pre_ry >= 6 || pre_rz >= 6) {
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BoundingBoxf bbox_bed(config.printable_area.values);
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Vec3d vol_max(bbox_bed.max.x(), bbox_bed.max.y(),
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config.printable_height.value);
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Vec3d remap_trans = Vec3d::Zero();
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auto add_rev = [&](int r, int out) {
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if (r >= 6) remap_trans[out] = vol_max[r % 3];
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};
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add_rev(pre_rx, 0);
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add_rev(pre_ry, 1);
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add_rev(pre_rz, 2);
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pre_remap.translation() = remap_trans;
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}
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return pre_remap;
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}
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Matrix3d BeltTransformPipeline::build_shear_matrix(const PrintConfig &config, bool *has_shear_out)
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{
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struct AxisShear { BeltShearMode mode; double angle; int from; };
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AxisShear axes[3] = {
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{ config.belt_shear_x.value, config.belt_shear_x_angle.value, int(config.belt_shear_x_from.value) },
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{ config.belt_shear_y.value, config.belt_shear_y_angle.value, int(config.belt_shear_y_from.value) },
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{ config.belt_shear_z.value, config.belt_shear_z_angle.value, int(config.belt_shear_z_from.value) },
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};
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Matrix3d shear = Matrix3d::Identity();
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bool active = false;
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for (int row = 0; row < 3; ++row) {
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if (axes[row].mode != BeltShearMode::None) {
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double factor = compute_shear_factor(axes[row].mode, axes[row].angle);
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if (std::abs(factor) > EPSILON) {
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shear(row, axes[row].from) += factor;
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active = true;
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}
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}
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}
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if (has_shear_out) *has_shear_out = active;
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return shear;
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}
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Matrix3d BeltTransformPipeline::build_scale_matrix(const PrintConfig &config, bool *has_scale_out)
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{
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double sx = compute_scale_factor(config.belt_scale_x.value, config.belt_scale_x_angle.value);
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double sy = compute_scale_factor(config.belt_scale_y.value, config.belt_scale_y_angle.value);
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double sz = compute_scale_factor(config.belt_scale_z.value, config.belt_scale_z_angle.value);
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bool active = (std::abs(sx - 1.) > EPSILON ||
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std::abs(sy - 1.) > EPSILON ||
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std::abs(sz - 1.) > EPSILON);
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Matrix3d scale = Matrix3d::Identity();
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if (active) {
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scale(0, 0) = sx;
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scale(1, 1) = sy;
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scale(2, 2) = sz;
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}
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if (has_scale_out) *has_scale_out = active;
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return scale;
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}
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Transform3d BeltTransformPipeline::build_forward_transform(const PrintConfig &config)
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{
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Transform3d pre_remap = build_preslice_remap(config);
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bool shear_active = false;
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Matrix3d shear = build_shear_matrix(config, &shear_active);
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bool scale_active = false;
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Matrix3d scale = build_scale_matrix(config, &scale_active);
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// Pipeline: scale * shear * pre_remap
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Transform3d combined = Transform3d::Identity();
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combined.linear() = scale * shear;
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combined = combined * pre_remap;
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return combined;
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}
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// ---- Bounding box remap ---------------------------------------------------
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BoundingBoxf3 BeltTransformPipeline::remap_bbox(const BoundingBoxf3 &bb, const PrintConfig &config)
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{
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int pre_rx = int(config.belt_preslice_remap_x.value);
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int pre_ry = int(config.belt_preslice_remap_y.value);
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int pre_rz = int(config.belt_preslice_remap_z.value);
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if (pre_rx == int(BeltRemapAxis::PosX) &&
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pre_ry == int(BeltRemapAxis::PosY) &&
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pre_rz == int(BeltRemapAxis::PosZ))
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return bb; // Identity remap.
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auto remap_coord = [](int r, const Vec3d &v) -> double {
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int axis = r % 3;
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if (r < 3) return v[axis];
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return -v[axis];
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};
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Vec3d mn = bb.min.cast<double>(), mx = bb.max.cast<double>();
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BoundingBoxf3 rbb;
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for (int i = 0; i < 8; ++i) {
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Vec3d c((i & 1) ? mx.x() : mn.x(),
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(i & 2) ? mx.y() : mn.y(),
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(i & 4) ? mx.z() : mn.z());
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Vec3d rc(remap_coord(pre_rx, c), remap_coord(pre_ry, c), remap_coord(pre_rz, c));
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if (i == 0) rbb = BoundingBoxf3(rc, rc);
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else rbb.merge(rc);
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}
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return rbb;
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}
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BoundingBoxf3 BeltTransformPipeline::remap_bbox(const ModelObject &model_object, const PrintConfig &config)
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{
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return remap_bbox(model_object.raw_bounding_box(), config);
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}
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// ---- Belt floor parameters ------------------------------------------------
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// Shared implementation for both PrintConfig and DynamicPrintConfig.
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// Template avoids duplicating the math for the two config types.
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namespace {
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template<typename Config>
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BeltTransformPipeline::BeltHeightResult compute_belt_height_and_floor_impl(
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const Config &config, const BoundingBoxf3 &bb, double original_height)
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{
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BeltTransformPipeline::BeltHeightResult result;
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result.object_height = original_height;
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// Extract Z-axis shear/scale config.
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BeltShearMode z_shear_mode;
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double z_shear_angle;
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BeltScaleMode z_scale_mode;
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double z_scale_angle;
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int z_shear_from;
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if constexpr (std::is_same_v<Config, PrintConfig>) {
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z_shear_mode = config.belt_shear_z.value;
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z_shear_angle = config.belt_shear_z_angle.value;
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z_scale_mode = config.belt_scale_z.value;
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z_scale_angle = config.belt_scale_z_angle.value;
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z_shear_from = int(config.belt_shear_z_from.value);
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} else {
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// DynamicPrintConfig path
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auto get_shear = [&](const char *key) {
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auto *opt = config.template option<ConfigOptionEnum<BeltShearMode>>(key);
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return opt ? opt->value : BeltShearMode::None;
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};
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auto get_scale = [&](const char *key) {
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auto *opt = config.template option<ConfigOptionEnum<BeltScaleMode>>(key);
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return opt ? opt->value : BeltScaleMode::None;
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};
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auto get_float = [&](const char *key) {
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auto *opt = config.template option<ConfigOptionFloat>(key);
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return opt ? opt->value : 45.0;
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};
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auto get_axis = [&](const char *key) {
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auto *opt = config.template option<ConfigOptionEnum<BeltAxis>>(key);
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return opt ? int(opt->value) : 1;
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};
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z_shear_mode = get_shear("belt_shear_z");
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z_shear_angle = get_float("belt_shear_z_angle");
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z_scale_mode = get_scale("belt_scale_z");
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z_scale_angle = get_float("belt_scale_z_angle");
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z_shear_from = get_axis("belt_shear_z_from");
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}
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bool has_z_shear = z_shear_mode != BeltShearMode::None;
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bool has_z_scale = z_scale_mode != BeltScaleMode::None;
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if (!has_z_shear && !has_z_scale)
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return result;
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double shear_factor = has_z_shear
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? BeltTransformPipeline::compute_shear_factor(z_shear_mode, z_shear_angle) : 0.;
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double scale_z = BeltTransformPipeline::compute_scale_factor(z_scale_mode, z_scale_angle);
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if (has_z_shear && std::abs(shear_factor) > EPSILON) {
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int from = z_shear_from;
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double min_rz = std::numeric_limits<double>::max();
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double max_rz = std::numeric_limits<double>::lowest();
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for (double vz : {bb.min.z(), bb.max.z()})
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for (double vs : {bb.min(from), bb.max(from)}) {
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double new_z = scale_z * (vz + shear_factor * vs);
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min_rz = std::min(min_rz, new_z);
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max_rz = std::max(max_rz, new_z);
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}
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result.object_height = max_rz - min_rz;
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result.floor_params.shear_factor = shear_factor;
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result.floor_params.from_axis = from;
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result.floor_params.z_shift = bb.min.z() + ((min_rz < 0.) ? -min_rz : 0.);
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} else {
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result.object_height = original_height * scale_z;
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}
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return result;
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}
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} // anonymous namespace
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BeltTransformPipeline::BeltHeightResult BeltTransformPipeline::compute_belt_height_and_floor(
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const PrintConfig &config, const BoundingBoxf3 &remapped_bbox, double original_height)
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{
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return compute_belt_height_and_floor_impl(config, remapped_bbox, original_height);
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}
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BeltTransformPipeline::BeltHeightResult BeltTransformPipeline::compute_belt_height_and_floor(
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const DynamicPrintConfig &config, const BoundingBoxf3 &remapped_bbox, double original_height)
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{
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return compute_belt_height_and_floor_impl(config, remapped_bbox, original_height);
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}
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} // namespace Slic3r
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