diff options
Diffstat (limited to 'src/libslic3r/Geometry.hpp')
| -rw-r--r-- | src/libslic3r/Geometry.hpp | 138 |
1 files changed, 126 insertions, 12 deletions
diff --git a/src/libslic3r/Geometry.hpp b/src/libslic3r/Geometry.hpp index 2ca4ef884..aa09a0d3e 100644 --- a/src/libslic3r/Geometry.hpp +++ b/src/libslic3r/Geometry.hpp @@ -323,7 +323,8 @@ bool arrange( // 4) rotate Y // 5) rotate Z // 6) translate -void assemble_transform(Transform3d& transform, const Vec3d& translation = Vec3d::Zero(), const Vec3d& rotation = Vec3d::Zero(), const Vec3d& scale = Vec3d::Ones(), const Vec3d& mirror = Vec3d::Ones()); +void assemble_transform(Transform3d& transform, const Vec3d& translation = Vec3d::Zero(), const Vec3d& rotation = Vec3d::Zero(), + const Vec3d& scale = Vec3d::Ones(), const Vec3d& mirror = Vec3d::Ones()); // Returns the transform obtained by assembling the given transformations in the following order: // 1) mirror @@ -332,7 +333,43 @@ void assemble_transform(Transform3d& transform, const Vec3d& translation = Vec3d // 4) rotate Y // 5) rotate Z // 6) translate -Transform3d assemble_transform(const Vec3d& translation = Vec3d::Zero(), const Vec3d& rotation = Vec3d::Zero(), const Vec3d& scale = Vec3d::Ones(), const Vec3d& mirror = Vec3d::Ones()); +Transform3d assemble_transform(const Vec3d& translation = Vec3d::Zero(), const Vec3d& rotation = Vec3d::Zero(), + const Vec3d& scale = Vec3d::Ones(), const Vec3d& mirror = Vec3d::Ones()); + +// Sets the given transform by multiplying the given transformations in the following order: +// T = translation * rotation * scale * mirror +void assemble_transform(Transform3d& transform, const Transform3d& translation = Transform3d::Identity(), + const Transform3d& rotation = Transform3d::Identity(), const Transform3d& scale = Transform3d::Identity(), + const Transform3d& mirror = Transform3d::Identity()); + +// Returns the transform obtained by multiplying the given transformations in the following order: +// T = translation * rotation * scale * mirror +Transform3d assemble_transform(const Transform3d& translation = Transform3d::Identity(), const Transform3d& rotation = Transform3d::Identity(), + const Transform3d& scale = Transform3d::Identity(), const Transform3d& mirror = Transform3d::Identity()); + +// Sets the given transform by assembling the given translation +void translation_transform(Transform3d& transform, const Vec3d& translation); + +// Returns the transform obtained by assembling the given translation +Transform3d translation_transform(const Vec3d& translation); + +// Sets the given transform by assembling the given rotations in the following order: +// 1) rotate X +// 2) rotate Y +// 3) rotate Z +void rotation_transform(Transform3d& transform, const Vec3d& rotation); + +// Returns the transform obtained by assembling the given rotations in the following order: +// 1) rotate X +// 2) rotate Y +// 3) rotate Z +Transform3d rotation_transform(const Vec3d& rotation); + +// Sets the given transform by assembling the given scale factors +void scale_transform(Transform3d& transform, const Vec3d& scale); + +// Returns the transform obtained by assembling the given scale factors +Transform3d scale_transform(const Vec3d& scale); // Returns the euler angles extracted from the given rotation matrix // Warning -> The matrix should not contain any scale or shear !!! @@ -344,6 +381,9 @@ Vec3d extract_euler_angles(const Transform3d& transform); class Transformation { +#if ENABLE_WORLD_COORDINATE + Transform3d m_matrix{ Transform3d::Identity() }; +#else struct Flags { bool dont_translate{ true }; @@ -363,8 +403,26 @@ class Transformation mutable Transform3d m_matrix{ Transform3d::Identity() }; mutable Flags m_flags; mutable bool m_dirty{ false }; +#endif // ENABLE_WORLD_COORDINATE public: +#if ENABLE_WORLD_COORDINATE + Transformation() = default; + explicit Transformation(const Transform3d& transform) : m_matrix(transform) {} + + Vec3d get_offset() const { return m_matrix.translation(); } + double get_offset(Axis axis) const { return get_offset()[axis]; } + + Transform3d get_offset_matrix() const; + + void set_offset(const Vec3d& offset) { m_matrix.translation() = offset; } + void set_offset(Axis axis, double offset) { m_matrix.translation()[axis] = offset; } + + Vec3d get_rotation() const; + double get_rotation(Axis axis) const { return get_rotation()[axis]; } + + Transform3d get_rotation_matrix() const; +#else Transformation(); explicit Transformation(const Transform3d& transform); @@ -376,47 +434,103 @@ public: const Vec3d& get_rotation() const { return m_rotation; } double get_rotation(Axis axis) const { return m_rotation(axis); } +#endif // ENABLE_WORLD_COORDINATE void set_rotation(const Vec3d& rotation); void set_rotation(Axis axis, double rotation); +#if ENABLE_WORLD_COORDINATE + Vec3d get_scaling_factor() const; + double get_scaling_factor(Axis axis) const { return get_scaling_factor()[axis]; } + + Transform3d get_scaling_factor_matrix() const; + + bool is_scaling_uniform() const { + const Vec3d scale = get_scaling_factor(); + return std::abs(scale.x() - scale.y()) < 1e-8 && std::abs(scale.x() - scale.z()) < 1e-8; + } +#else const Vec3d& get_scaling_factor() const { return m_scaling_factor; } double get_scaling_factor(Axis axis) const { return m_scaling_factor(axis); } +#endif // ENABLE_WORLD_COORDINATE void set_scaling_factor(const Vec3d& scaling_factor); void set_scaling_factor(Axis axis, double scaling_factor); + +#if ENABLE_WORLD_COORDINATE + Vec3d get_mirror() const; + double get_mirror(Axis axis) const { return get_mirror()[axis]; } + + Transform3d get_mirror_matrix() const; + + bool is_left_handed() const { + const Vec3d mirror = get_mirror(); + return mirror.x() * mirror.y() * mirror.z() < 0.0; + } +#else bool is_scaling_uniform() const { return std::abs(m_scaling_factor.x() - m_scaling_factor.y()) < 1e-8 && std::abs(m_scaling_factor.x() - m_scaling_factor.z()) < 1e-8; } const Vec3d& get_mirror() const { return m_mirror; } double get_mirror(Axis axis) const { return m_mirror(axis); } bool is_left_handed() const { return m_mirror.x() * m_mirror.y() * m_mirror.z() < 0.; } +#endif // ENABLE_WORLD_COORDINATE void set_mirror(const Vec3d& mirror); void set_mirror(Axis axis, double mirror); +#if ENABLE_WORLD_COORDINATE + bool has_skew() const; +#else void set_from_transform(const Transform3d& transform); +#endif // ENABLE_WORLD_COORDINATE void reset(); - +#if ENABLE_WORLD_COORDINATE + void reset_offset() { set_offset(Vec3d::Zero()); } + void reset_rotation() { set_rotation(Vec3d::Zero()); } + void reset_scaling_factor() { set_scaling_factor(Vec3d::Ones()); } + void reset_mirror() { set_mirror(Vec3d::Ones()); } + void reset_skew(); + + const Transform3d& get_matrix() const { return m_matrix; } + Transform3d get_matrix_no_offset() const; + Transform3d get_matrix_no_scaling_factor() const; + + void set_matrix(const Transform3d& transform) { m_matrix = transform; } +#else const Transform3d& get_matrix(bool dont_translate = false, bool dont_rotate = false, bool dont_scale = false, bool dont_mirror = false) const; +#endif // ENABLE_WORLD_COORDINATE Transformation operator * (const Transformation& other) const; +#if !ENABLE_WORLD_COORDINATE // Find volume transformation, so that the chained (instance_trafo * volume_trafo) will be as close to identity // as possible in least squares norm in regard to the 8 corners of bbox. // Bounding box is expected to be centered around zero in all axes. static Transformation volume_to_bed_transformation(const Transformation& instance_transformation, const BoundingBoxf3& bbox); +#endif // !ENABLE_WORLD_COORDINATE private: - friend class cereal::access; - template<class Archive> void serialize(Archive & ar) { ar(m_offset, m_rotation, m_scaling_factor, m_mirror); } - explicit Transformation(int) : m_dirty(true) {} - template <class Archive> static void load_and_construct(Archive &ar, cereal::construct<Transformation> &construct) - { - // Calling a private constructor with special "int" parameter to indicate that no construction is necessary. - construct(1); - ar(construct.ptr()->m_offset, construct.ptr()->m_rotation, construct.ptr()->m_scaling_factor, construct.ptr()->m_mirror); - } + friend class cereal::access; +#if ENABLE_WORLD_COORDINATE + template<class Archive> void serialize(Archive& ar) { ar(m_matrix); } + explicit Transformation(int) {} + template <class Archive> static void load_and_construct(Archive& ar, cereal::construct<Transformation>& construct) + { + // Calling a private constructor with special "int" parameter to indicate that no construction is necessary. + construct(1); + ar(construct.ptr()->m_matrix); + } +#else + template<class Archive> void serialize(Archive& ar) { ar(m_offset, m_rotation, m_scaling_factor, m_mirror); } + explicit Transformation(int) : m_dirty(true) {} + template <class Archive> static void load_and_construct(Archive& ar, cereal::construct<Transformation>& construct) + { + // Calling a private constructor with special "int" parameter to indicate that no construction is necessary. + construct(1); + ar(construct.ptr()->m_offset, construct.ptr()->m_rotation, construct.ptr()->m_scaling_factor, construct.ptr()->m_mirror); + } +#endif // ENABLE_WORLD_COORDINATE }; // For parsing a transformation matrix from 3MF / AMF. |