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unify frame tilt work

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This commit is contained in:
Joseph Robertson
2026-06-08 06:16:48 -05:00
parent 9405ac5976
commit fee6be98b2
10 changed files with 112 additions and 401 deletions
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102
src/libslic3r/GCode/MachineFrameTransform.cpp
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@@ -1,57 +1,10 @@
#include "MachineFrameTransform.hpp"
#include "../BeltTransform.hpp"
#include "../BoundingBox.hpp"
#include "../Geometry.hpp"
#include <cmath>
namespace Slic3r {
namespace {
// 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;
}
} // namespace
bool MachineFrameTransform::init_from_config(const PrintConfig &config)
{
m_active = false;
@@ -60,21 +13,48 @@ bool MachineFrameTransform::init_from_config(const PrintConfig &config)
if (!config.belt_printer.value)
return false;
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);
// The machine-frame transform is derived from the single belt tilt (axis +
// angle) that also drives the pre-slice mesh rotation. Expert decouple lets
// the machine-frame angle differ from the slicing rotation; otherwise both
// use belt_slice_rotation_angle.
const BeltRotationAxis axis = config.belt_slice_rotation.value;
if (axis == BeltRotationAxis::None || axis == BeltRotationAxis::Z)
return false; // Z is an in-plane spin: no machine-frame tilt.
if (!shear_active && !scale_active)
const double angle_deg = config.belt_frame_tilt_decouple.value
? config.belt_frame_tilt_angle.value
: config.belt_slice_rotation_angle.value;
if (std::abs(angle_deg) <= EPSILON)
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).
const double angle_rad = Geometry::deg2rad(angle_deg);
const double cos_a = std::cos(angle_rad);
if (std::abs(cos_a) <= EPSILON)
return false;
const double tan_a = std::sin(angle_rad) / cos_a;
const double inv_cos = 1.0 / cos_a;
// Couple the height axis (Z) to the belt-feed axis and stretch the belt-feed
// axis by 1/cos so a unit slicing move maps to the correct belt travel. The
// shear sign matches the belt-floor slope derived from the same rotation in
// BeltTransformPipeline::compute_belt_height_and_floor:
// tilt about X: feed axis Y, Z += +tan·Y, scale Y *= 1/cos
// tilt about Y: feed axis X, Z += -tan·X, scale X *= 1/cos
Matrix3d shear = Matrix3d::Identity();
Matrix3d scale = Matrix3d::Identity();
if (axis == BeltRotationAxis::X) {
shear(2, 1) = tan_a; // Z from Y
scale(1, 1) = inv_cos; // Y
} else { // BeltRotationAxis::Y
shear(2, 0) = -tan_a; // Z from X
scale(0, 0) = inv_cos; // X
}
// Apply shear first, then scale (the historical default ShearThenScale order:
// result = scale * shear * p). For the canonical 45°/X belt this maps
// (x,y,z) -> (x, y/cos, y + z), matching the previous per-axis config.
Transform3d combined = Transform3d::Identity();
combined.linear() = (config.belt_gcode_transform_order.value == BeltTransformOrder::ScaleThenShear)
? Matrix3d(shear * scale)
: Matrix3d(scale * shear);
combined.linear() = scale * shear;
if (combined.isApprox(Transform3d::Identity()))
return false;