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Add belt printer transform pipeline: slicing rotation, G-code coords, preview

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- Implement core belt slicing pipeline: R(-alpha, X) mesh rotation in PrintObjectSlice with corrected object height calculation for proper layer count
Add to_machine_coords() in GCodeWriter to convert slicing-frame coordinates back to machine-frame, propagated through GCode,
GCodeProcessor, and GCodeViewer
Add belt-mode UI: tilted bed visualization, slicing-direction arrow, and raw G-code toggle to switch between machine-frame and slicing-frame views

This is a combination of 6 commits.

checkpoint 1: initial MVP.  Slicing functions, but rotates instead of skews are happening and a lot of other stuff too

getting somewhere, getting to the point where I need to figure out how to verify this stuff

this appears to be a dead end.

getting somewhere I think maybe

I'm pretty sure we've completely lost the plot at this point and need to restart this process...

remove slice logic in preparation for new, more invasive plan
This commit is contained in:
harrierpigeon
2026-04-09 23:07:06 -05:00
parent a7441c7f48
commit c808653565
22 changed files with 375 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/libslic3r/GCodeWriter.cpp
+76 -15
View File
@@ -1,5 +1,6 @@
#include "GCodeWriter.hpp"
#include "CustomGCode.hpp"
#include "Geometry.hpp"
#include "PrintConfig.hpp"
#include <algorithm>
#include <iomanip>
@@ -19,6 +20,19 @@ namespace Slic3r {
bool GCodeWriter::full_gcode_comment = true;
void GCodeWriter::set_belt_angle(double angle_deg)
{
m_belt_angle_rad = Geometry::deg2rad(angle_deg);
m_belt_cos = std::cos(m_belt_angle_rad);
m_belt_sin = std::sin(m_belt_angle_rad);
}
Vec3d GCodeWriter::to_machine_coords(const Vec3d &pos) const
{
// Belt printer: coordinate transform placeholder (to be implemented in next cycle).
return pos;
}
bool GCodeWriter::supports_separate_travel_acceleration(GCodeFlavor flavor)
{
return (flavor == gcfRepetier || flavor == gcfMarlinFirmware || flavor == gcfRepRapFirmware);
@@ -561,7 +575,13 @@ std::string GCodeWriter::travel_to_xy(const Vec2d &point, const std::string &com
Vec2d point_on_plate = { point(0) - m_x_offset, point(1) - m_y_offset };
GCodeG1Formatter w;
w.emit_xy(point_on_plate);
if (is_belt_printer()) {
// Belt printer: transform to machine coordinates (XY travel also needs Z due to YZ rotation)
Vec3d machine = to_machine_coords(Vec3d(point_on_plate.x(), point_on_plate.y(), m_pos.z()));
w.emit_xyz(machine);
} else {
w.emit_xy(point_on_plate);
}
auto speed = m_is_first_layer
? this->config.get_abs_value("initial_layer_travel_speed") : this->config.travel_speed.value;
w.emit_f(speed * 60.0);
@@ -575,6 +595,11 @@ it will not perform subsequent lifts, even if Z was raised manually
(i.e. with travel_to_z()) and thus _lifted was reduced. */
std::string GCodeWriter::lazy_lift(LiftType lift_type, bool spiral_vase)
{
// Belt printer: force NormalLift since SpiralLift and SlopeLift compute slope angles
// that don't account for the YZ coordinate rotation.
if (is_belt_printer())
lift_type = LiftType::NormalLift;
// check whether the above/below conditions are met
double target_lift = 0;
{
@@ -601,8 +626,10 @@ std::string GCodeWriter::lazy_lift(LiftType lift_type, bool spiral_vase)
}
// BBS: immediately execute an undelayed lift move with a spiral lift pattern
// designed specifically for subsequent gcode injection (e.g. timelapse)
// designed specifically for subsequent gcode injection (e.g. timelapse)
std::string GCodeWriter::eager_lift(const LiftType type) {
// Belt printer: force NormalLift (SpiralLift/SlopeLift don't account for YZ rotation).
const LiftType effective_type = is_belt_printer() ? LiftType::NormalLift : type;
std::string lift_move;
double target_lift = 0;
{
@@ -617,7 +644,7 @@ std::string GCodeWriter::eager_lift(const LiftType type) {
// BBS: spiral lift only safe with known position
// TODO: check the arc will move within bed area
if (type == LiftType::SpiralLift && this->is_current_position_clear()) {
if (effective_type == LiftType::SpiralLift && this->is_current_position_clear()) {
double radius = target_lift / (2 * PI * atan(filament()->travel_slope()));
// static spiral alignment when no move in x,y plane.
// spiral centra is a radius distance to the right (y=0)
@@ -689,6 +716,8 @@ std::string GCodeWriter::travel_to_xyz(const Vec3d &point, const std::string &co
// / to make the z list early to avoid to hit some warping place when travel is long.
Vec2d temp = delta_no_z.normalized() * delta(2) / tan(this->filament()->travel_slope());
Vec3d slope_top_point = Vec3d(temp(0), temp(1), delta(2)) + source;
if (is_belt_printer())
slope_top_point = to_machine_coords(slope_top_point);
GCodeG1Formatter w0;
w0.emit_xyz(slope_top_point);
w0.emit_f(travel_speed * 60.0);
@@ -703,18 +732,27 @@ std::string GCodeWriter::travel_to_xyz(const Vec3d &point, const std::string &co
std::string xy_z_move;
{
Vec3d emit_target = is_belt_printer() ? to_machine_coords(target) : target;
GCodeG1Formatter w0;
if (this->is_current_position_clear()) {
w0.emit_xyz(target);
w0.emit_xyz(emit_target);
w0.emit_f(travel_speed * 60.0);
w0.emit_comment(GCodeWriter::full_gcode_comment, comment);
xy_z_move = w0.string();
}
else {
w0.emit_xy(Vec2d(target.x(), target.y()));
w0.emit_f(travel_speed * 60.0);
w0.emit_comment(GCodeWriter::full_gcode_comment, comment);
xy_z_move = w0.string() + _travel_to_z(target.z(), comment);
if (is_belt_printer()) {
// Belt mode: can't split XY and Z moves independently, emit full XYZ
w0.emit_xyz(emit_target);
w0.emit_f(travel_speed * 60.0);
w0.emit_comment(GCodeWriter::full_gcode_comment, comment);
xy_z_move = w0.string();
} else {
w0.emit_xy(Vec2d(target.x(), target.y()));
w0.emit_f(travel_speed * 60.0);
w0.emit_comment(GCodeWriter::full_gcode_comment, comment);
xy_z_move = w0.string() + _travel_to_z(target.z(), comment);
}
}
}
m_pos = dest_point;
@@ -740,15 +778,25 @@ std::string GCodeWriter::travel_to_xyz(const Vec3d &point, const std::string &co
//BBS: take plate offset into consider
Vec3d point_on_plate = { dest_point(0) - m_x_offset, dest_point(1) - m_y_offset, dest_point(2) };
if (is_belt_printer())
point_on_plate = to_machine_coords(point_on_plate);
std::string out_string;
GCodeG1Formatter w;
if (!this->is_current_position_clear())
{
//force to move xy first then z after filament change
w.emit_xy(Vec2d(point_on_plate.x(), point_on_plate.y()));
w.emit_f(this->config.travel_speed.value * 60.0);
w.emit_comment(GCodeWriter::full_gcode_comment, comment);
out_string = w.string() + _travel_to_z(point_on_plate.z(), comment);
if (is_belt_printer()) {
// Belt mode: emit full XYZ since Y and Z are coupled
w.emit_xyz(point_on_plate);
w.emit_f(this->config.travel_speed.value * 60.0);
w.emit_comment(GCodeWriter::full_gcode_comment, comment);
out_string = w.string();
} else {
//force to move xy first then z after filament change
w.emit_xy(Vec2d(point_on_plate.x(), point_on_plate.y()));
w.emit_f(this->config.travel_speed.value * 60.0);
w.emit_comment(GCodeWriter::full_gcode_comment, comment);
out_string = w.string() + _travel_to_z(point_on_plate.z(), comment);
}
} else {
GCodeG1Formatter w;
w.emit_xyz(point_on_plate);
@@ -792,7 +840,13 @@ std::string GCodeWriter::_travel_to_z(double z, const std::string &comment)
}
GCodeG1Formatter w;
w.emit_z(z);
if (is_belt_printer()) {
// Belt printer: a Z-only move in slicing frame needs to emit both Y and Z in machine coords.
Vec3d machine = to_machine_coords(Vec3d(m_pos.x() - m_x_offset, m_pos.y() - m_y_offset, z));
w.emit_xyz(machine);
} else {
w.emit_z(z);
}
w.emit_f(speed * 60.0);
//BBS
w.emit_comment(GCodeWriter::full_gcode_comment, comment);
@@ -897,7 +951,12 @@ std::string GCodeWriter::extrude_to_xy(const Vec2d &point, double dE, const std:
Vec2d point_on_plate = { point(0) - m_x_offset, point(1) - m_y_offset };
GCodeG1Formatter w;
w.emit_xy(point_on_plate);
if (is_belt_printer()) {
Vec3d machine = to_machine_coords(Vec3d(point_on_plate.x(), point_on_plate.y(), m_pos.z()));
w.emit_xyz(machine);
} else {
w.emit_xy(point_on_plate);
}
if (!force_no_extrusion)
w.emit_e(filament()->E());
//BBS
@@ -938,6 +997,8 @@ std::string GCodeWriter::extrude_to_xyz(const Vec3d &point, double dE, const std
Vec3d point_on_plate = { point(0) - m_x_offset, point(1) - m_y_offset, point(2) };
GCodeG1Formatter w;
if (is_belt_printer())
point_on_plate = to_machine_coords(point_on_plate);
w.emit_xyz(point_on_plate);
if (!force_no_extrusion)
w.emit_e(filament()->E());