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Fix some rotation-related issues (#3890)
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* Fix issue with max_z after rotation

* Don't use `object.bounding_box()`, use `bounding_box_exact()` instead.

* Fix auto-orient

---------

Co-authored-by: SoftFever <[email protected]>
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@Noisyfox @SoftFever
Noisyfox and SoftFever committed Feb 15, 2024
1 parent ffe91cc commit 989fab0
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Showing 12 changed files with 186 additions and 137 deletions.
2 changes: 1 addition & 1 deletion src/OrcaSlicer.cpp
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Expand Up @@ -3066,7 +3066,7 @@ int CLI::run(int argc, char **argv)
} else if (opt_key == "align_xy") {
const Vec2d &p = m_config.option<ConfigOptionPoint>("align_xy")->value;
for (auto &model : m_models) {
BoundingBoxf3 bb = model.bounding_box();
BoundingBoxf3 bb = model.bounding_box_exact();
// this affects volumes:
model.translate(-(bb.min.x() - p.x()), -(bb.min.y() - p.y()), -bb.min.z());
}
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2 changes: 1 addition & 1 deletion src/libslic3r/GCode.cpp
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Expand Up @@ -127,7 +127,7 @@ static std::vector<Vec2d> get_path_of_change_filament(const Print& print)
std::vector<std::pair<double, double>> object_intervals;
for (PrintObject *print_object : print.objects()) {
const PrintInstances &print_instances = print_object->instances();
BoundingBoxf3 bounding_box = print_instances[0].model_instance->get_object()->bounding_box();
BoundingBoxf3 bounding_box = print_instances[0].model_instance->get_object()->bounding_box_exact();

if (bounding_box.min.x() < start_x_position && bounding_box.min.y() < cutter_area_y)
can_travel_form_left = false;
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36 changes: 6 additions & 30 deletions src/libslic3r/Geometry.cpp
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Expand Up @@ -418,36 +418,12 @@ Vec3d extract_euler_angles(const Transform3d& transform)

void rotation_from_two_vectors(Vec3d from, Vec3d to, Vec3d& rotation_axis, double& phi, Matrix3d* rotation_matrix)
{
double epsilon = 1e-5;
// note: a.isMuchSmallerThan(b,prec) compares a.abs().sum()<b*prec, so previously we set b=0 && prec=dummpy_prec() is wrong
if ((from + to).isMuchSmallerThan(1, epsilon))
{
rotation_axis << 1, 0, 0;
phi = M_PI;
if (rotation_matrix)
*rotation_matrix = -Matrix3d::Identity();
}
else if ((from - to).isMuchSmallerThan(1, epsilon)) {
rotation_axis << 1, 0, 0;
phi = 0;
if (rotation_matrix)
*rotation_matrix = Matrix3d::Identity();
}
else {
rotation_axis = from.cross(to);
double s = rotation_axis.norm(); // sin(phi)
double c = from.dot(to); // cos(phi)
auto& v = rotation_axis;
Matrix3d kmat;
kmat << 0, -v[2], v[1],
v[2], 0, -v[0],
-v[1], v[0], 0;

rotation_axis.normalize();
phi = acos(std::min(from.dot(to), 1.0));
if (rotation_matrix)
*rotation_matrix = Matrix3d::Identity() + kmat + kmat * kmat * ((1 - c) / (s * s));
}
const Matrix3d m = Transform3d(Eigen::Quaterniond().setFromTwoVectors(from, to)).matrix().block<3, 3>(0, 0);
const Eigen::AngleAxisd aa(m);
rotation_axis = aa.axis();
phi = aa.angle();
if (rotation_matrix)
*rotation_matrix = m;
}

Transform3d Transformation::get_offset_matrix() const
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152 changes: 95 additions & 57 deletions src/libslic3r/Model.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -565,14 +565,30 @@ bool Model::add_default_instances()
}

// this returns the bounding box of the *transformed* instances
BoundingBoxf3 Model::bounding_box() const
BoundingBoxf3 Model::bounding_box_approx() const
{
BoundingBoxf3 bb;
for (ModelObject *o : this->objects)
bb.merge(o->bounding_box());
bb.merge(o->bounding_box_approx());
return bb;
}

BoundingBoxf3 Model::bounding_box_exact() const
{
BoundingBoxf3 bb;
for (ModelObject *o : this->objects)
bb.merge(o->bounding_box_exact());
return bb;
}

double Model::max_z() const
{
double z = 0;
for (ModelObject *o : this->objects)
z = std::max(z, o->max_z());
return z;
}

unsigned int Model::update_print_volume_state(const BuildVolume &build_volume)
{
unsigned int num_printable = 0;
Expand Down Expand Up @@ -623,7 +639,7 @@ void Model::duplicate_objects_grid(size_t x, size_t y, coordf_t dist)
ModelObject* object = this->objects.front();
object->clear_instances();

Vec3d ext_size = object->bounding_box().size() + dist * Vec3d::Ones();
Vec3d ext_size = object->bounding_box_exact().size() + dist * Vec3d::Ones();

for (size_t x_copy = 1; x_copy <= x; ++x_copy) {
for (size_t y_copy = 1; y_copy <= y; ++y_copy) {
Expand All @@ -642,7 +658,7 @@ bool Model::looks_like_multipart_object() const
if (obj->volumes.size() > 1 || obj->config.keys().size() > 1)
return false;

double zmin_this = obj->get_min_z();
double zmin_this = obj->min_z();
if (zmin == std::numeric_limits<double>::max())
zmin = zmin_this;
else if (std::abs(zmin - zmin_this) > EPSILON)
Expand Down Expand Up @@ -799,13 +815,13 @@ void Model::adjust_min_z()
if (objects.empty())
return;

if (bounding_box().min(2) < 0.0)
if (this->bounding_box_exact().min.z() < 0.0)
{
for (ModelObject* obj : objects)
{
if (obj != nullptr)
{
coordf_t obj_min_z = obj->bounding_box().min(2);
coordf_t obj_min_z = obj->min_z();
if (obj_min_z < 0.0)
obj->translate_instances(Vec3d(0.0, 0.0, -obj_min_z));
}
Expand Down Expand Up @@ -1014,12 +1030,7 @@ ModelObject& ModelObject::assign_copy(const ModelObject &rhs)
this->printable = rhs.printable;
this->origin_translation = rhs.origin_translation;
this->cut_id.copy(rhs.cut_id);
m_bounding_box = rhs.m_bounding_box;
m_bounding_box_valid = rhs.m_bounding_box_valid;
m_raw_bounding_box = rhs.m_raw_bounding_box;
m_raw_bounding_box_valid = rhs.m_raw_bounding_box_valid;
m_raw_mesh_bounding_box = rhs.m_raw_mesh_bounding_box;
m_raw_mesh_bounding_box_valid = rhs.m_raw_mesh_bounding_box_valid;
this->copy_transformation_caches(rhs);

this->clear_volumes();
this->volumes.reserve(rhs.volumes.size());
Expand Down Expand Up @@ -1057,12 +1068,7 @@ ModelObject& ModelObject::assign_copy(ModelObject &&rhs)
this->layer_height_profile = std::move(rhs.layer_height_profile);
this->printable = std::move(rhs.printable);
this->origin_translation = std::move(rhs.origin_translation);
m_bounding_box = std::move(rhs.m_bounding_box);
m_bounding_box_valid = std::move(rhs.m_bounding_box_valid);
m_raw_bounding_box = rhs.m_raw_bounding_box;
m_raw_bounding_box_valid = rhs.m_raw_bounding_box_valid;
m_raw_mesh_bounding_box = rhs.m_raw_mesh_bounding_box;
m_raw_mesh_bounding_box_valid = rhs.m_raw_mesh_bounding_box_valid;
this->copy_transformation_caches(rhs);

this->clear_volumes();
this->volumes = std::move(rhs.volumes);
Expand Down Expand Up @@ -1305,16 +1311,72 @@ void ModelObject::clear_instances()

// Returns the bounding box of the transformed instances.
// This bounding box is approximate and not snug.
const BoundingBoxf3& ModelObject::bounding_box() const
const BoundingBoxf3& ModelObject::bounding_box_approx() const
{
if (! m_bounding_box_valid) {
m_bounding_box_valid = true;
if (! m_bounding_box_approx_valid) {
m_bounding_box_approx_valid = true;
BoundingBoxf3 raw_bbox = this->raw_mesh_bounding_box();
m_bounding_box.reset();
m_bounding_box_approx.reset();
for (const ModelInstance *i : this->instances)
m_bounding_box.merge(i->transform_bounding_box(raw_bbox));
m_bounding_box_approx.merge(i->transform_bounding_box(raw_bbox));
}
return m_bounding_box_approx;
}

// Returns the bounding box of the transformed instances.
// This bounding box is approximate and not snug.
const BoundingBoxf3& ModelObject::bounding_box_exact() const
{
if (! m_bounding_box_exact_valid) {
m_bounding_box_exact_valid = true;
m_min_max_z_valid = true;
m_bounding_box_exact.reset();
for (size_t i = 0; i < this->instances.size(); ++ i)
m_bounding_box_exact.merge(this->instance_bounding_box(i));
}
return m_bounding_box_exact;
}

double ModelObject::min_z() const
{
const_cast<ModelObject*>(this)->update_min_max_z();
return m_bounding_box_exact.min.z();
}

double ModelObject::max_z() const
{
const_cast<ModelObject*>(this)->update_min_max_z();
return m_bounding_box_exact.max.z();
}

void ModelObject::update_min_max_z()
{
assert(! this->instances.empty());
if (! m_min_max_z_valid && ! this->instances.empty()) {
m_min_max_z_valid = true;
const Transform3d mat_instance = this->instances.front()->get_transformation().get_matrix();
double global_min_z = std::numeric_limits<double>::max();
double global_max_z = - std::numeric_limits<double>::max();
for (const ModelVolume *v : this->volumes)
if (v->is_model_part()) {
const Transform3d m = mat_instance * v->get_matrix();
const Vec3d row_z = m.linear().row(2).cast<double>();
const double shift_z = m.translation().z();
double this_min_z = std::numeric_limits<double>::max();
double this_max_z = - std::numeric_limits<double>::max();
for (const Vec3f &p : v->mesh().its.vertices) {
double z = row_z.dot(p.cast<double>());
this_min_z = std::min(this_min_z, z);
this_max_z = std::max(this_max_z, z);
}
this_min_z += shift_z;
this_max_z += shift_z;
global_min_z = std::min(global_min_z, this_min_z);
global_max_z = std::max(global_max_z, this_max_z);
}
m_bounding_box_exact.min.z() = global_min_z;
m_bounding_box_exact.max.z() = global_max_z;
}
return m_bounding_box;
}

// A mesh containing all transformed instances of this object.
Expand Down Expand Up @@ -1525,19 +1587,19 @@ void ModelObject::ensure_on_bed(bool allow_negative_z)

if (allow_negative_z) {
if (parts_count() == 1) {
const double min_z = get_min_z();
const double max_z = get_max_z();
const double min_z = this->min_z();
const double max_z = this->max_z();
if (min_z >= SINKING_Z_THRESHOLD || max_z < 0.0)
z_offset = -min_z;
}
else {
const double max_z = get_max_z();
const double max_z = this->max_z();
if (max_z < SINKING_MIN_Z_THRESHOLD)
z_offset = SINKING_MIN_Z_THRESHOLD - max_z;
}
}
else
z_offset = -get_min_z();
z_offset = -this->min_z();

if (z_offset != 0.0)
translate_instances(z_offset * Vec3d::UnitZ());
Expand All @@ -1564,8 +1626,10 @@ void ModelObject::translate(double x, double y, double z)
v->translate(x, y, z);
}

if (m_bounding_box_valid)
m_bounding_box.translate(x, y, z);
if (m_bounding_box_approx_valid)
m_bounding_box_approx.translate(x, y, z);
if (m_bounding_box_exact_valid)
m_bounding_box_exact.translate(x, y, z);
}

void ModelObject::scale(const Vec3d &versor)
Expand Down Expand Up @@ -2042,32 +2106,6 @@ void ModelObject::bake_xy_rotation_into_meshes(size_t instance_idx)
this->invalidate_bounding_box();
}

double ModelObject::get_min_z() const
{
if (instances.empty())
return 0.0;
else {
double min_z = DBL_MAX;
for (size_t i = 0; i < instances.size(); ++i) {
min_z = std::min(min_z, get_instance_min_z(i));
}
return min_z;
}
}

double ModelObject::get_max_z() const
{
if (instances.empty())
return 0.0;
else {
double max_z = -DBL_MAX;
for (size_t i = 0; i < instances.size(); ++i) {
max_z = std::max(max_z, get_instance_max_z(i));
}
return max_z;
}
}

double ModelObject::get_instance_min_z(size_t instance_idx) const
{
double min_z = DBL_MAX;
Expand Down Expand Up @@ -2604,7 +2642,7 @@ void ModelVolume::scale(const Vec3d& scaling_factors)

void ModelObject::scale_to_fit(const Vec3d &size)
{
Vec3d orig_size = this->bounding_box().size();
Vec3d orig_size = this->bounding_box_exact().size();
double factor = std::min(
size.x() / orig_size.x(),
std::min(
Expand Down
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