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harrierpigeonandClaude Fable 5.1
9dbd0307f8
The clang-tidy job on #14394 fails on 129 misc-include-cleaner findings:
the belt sources and tests use std::, Eigen, Point/PrintConfig and
BeltBrim symbols without including the header that provides them, which
only compiled because the precompiled header supplied it. Every include
the job names is added, in each file's existing include style ("../" in
the GCode/ and Support/ subdirectories, quoted libslic3r/ paths in the
GUI and tests). No code changes.
Verified with scripts/clang_tidy_diff.py -p build-tidy --base eb5b9a77b9
(SLIC3R_PCH=OFF compile database, clang-tidy 22.1.8): no findings left.
Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01L6Kg5igmmMU2YLoK6HrsWV
90 lines
3.2 KiB
C++
90 lines
3.2 KiB
C++
#include "MachineFrameTransform.hpp"
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#include "../Geometry.hpp"
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#include "../Point.hpp"
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#include "../PrintConfig.hpp"
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#include "../libslic3r.h"
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#include <cmath>
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namespace Slic3r {
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bool MachineFrameTransform::init_from_config(const PrintConfig &config)
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{
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m_active = false;
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m_transform = Transform3d::Identity();
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m_transform_inverse = Transform3d::Identity();
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if (!config.belt_printer.value)
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return false;
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// The machine-frame transform is derived from the single belt tilt (axis +
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// angle) that also drives the pre-slice mesh rotation. Expert decouple lets
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// the machine-frame angle differ from the slicing rotation; otherwise both
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// use belt_slice_rotation_angle.
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const BeltRotationAxis axis = config.belt_slice_rotation.value;
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if (axis == BeltRotationAxis::None || axis == BeltRotationAxis::Z)
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return false; // Z is an in-plane spin: no machine-frame tilt.
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const double angle_deg = config.belt_frame_tilt_decouple.value
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? config.belt_frame_tilt_angle.value
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: config.belt_slice_rotation_angle.value;
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if (std::abs(angle_deg) <= EPSILON)
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return false;
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const double angle_rad = Geometry::deg2rad(angle_deg);
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const double sin_a = std::sin(angle_rad);
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if (std::abs(sin_a) <= EPSILON)
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return false;
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const double cot_a = std::cos(angle_rad) / sin_a;
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const double inv_sin = 1.0 / std::abs(sin_a);
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// This stage runs after the conventional belt axis swap. For an X-axis
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// slicing rotation, remapped Y is model height and remapped Z is travel
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// along the belt. Convert those Cartesian coordinates to machine axes with
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// the established belt-printer convention:
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// machine gantry = model height / sin(a)
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// machine belt = model belt + model height * cot(a)
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// The Y-rotation case is the same mapping on X/Z, with the rotation sign.
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// At 45 degrees tan/cot and sin/cos are equal, which previously hid the
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// incorrect complementary-angle formulas used by this unified transform.
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Matrix3d shear = Matrix3d::Identity();
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Matrix3d scale = Matrix3d::Identity();
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if (axis == BeltRotationAxis::X) {
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shear(2, 1) = cot_a; // Z from Y
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scale(1, 1) = inv_sin; // Y
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} else { // BeltRotationAxis::Y
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shear(2, 0) = -cot_a; // Z from X
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scale(0, 0) = inv_sin; // X
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}
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// Apply shear first, then scale (the historical default ShearThenScale order:
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// result = scale * shear * p). For the canonical 45°/X belt this maps
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// (x,y,z) -> (x, y/sin, y + z), matching the previous per-axis config.
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Transform3d combined = Transform3d::Identity();
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combined.linear() = scale * shear;
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if (combined.isApprox(Transform3d::Identity()))
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return false;
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m_transform = combined;
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m_transform_inverse = combined.inverse();
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m_active = true;
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return true;
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}
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Vec3d MachineFrameTransform::apply(const Vec3d &pos) const
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{
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if (!m_active)
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return pos;
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return m_transform * pos;
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}
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Vec3d MachineFrameTransform::apply_inverse(const Vec3d &pos) const
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{
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if (!m_active)
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return pos;
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return m_transform_inverse * pos;
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}
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} // namespace Slic3r
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