diff --git a/lib/Slic3r/ExPolygon.pm b/lib/Slic3r/ExPolygon.pm
index 70e3f4f97b..5d87f720f9 100644
--- a/lib/Slic3r/ExPolygon.pm
+++ b/lib/Slic3r/ExPolygon.pm
@@ -6,7 +6,7 @@ use warnings;
 
 use Boost::Geometry::Utils;
 use Math::Geometry::Voronoi;
-use Slic3r::Geometry qw(X Y A B point_in_polygon same_line scale epsilon);
+use Slic3r::Geometry qw(X Y A B point_in_polygon same_line line_length scale epsilon);
 use Slic3r::Geometry::Clipper qw(union_ex JT_MITER);
 
 # the constructor accepts an array of polygons 
@@ -110,10 +110,14 @@ sub encloses_point_quick {
 
 sub encloses_line {
     my $self = shift;
-    my ($line) = @_;
-    
+    my ($line, $tolerance) = @_;
     my $clip = $self->clip_line($line);
-    return @$clip == 1 && abs($line->length - Slic3r::Geometry::line_length($clip->[0])) < scale epsilon;
+    if (!defined $tolerance) {
+        # optimization
+        return @$clip == 1 && same_line($clip->[0], $line);
+    } else {
+        return @$clip == 1 && abs(line_length($clip->[0]) - $line->length) < $tolerance;
+    }
 }
 
 sub point_on_segment {
diff --git a/lib/Slic3r/GCode.pm b/lib/Slic3r/GCode.pm
index 273753d412..842cf2b0fc 100644
--- a/lib/Slic3r/GCode.pm
+++ b/lib/Slic3r/GCode.pm
@@ -11,8 +11,10 @@ has 'shift_y'            => (is => 'rw', default => sub {0} );
 has 'z'                  => (is => 'rw', default => sub {0} );
 has 'speed'              => (is => 'rw');
 
-has 'motionplanner'      => (is => 'rw');
-has 'straight_once'      => (is => 'rw');
+has 'external_mp'        => (is => 'rw');
+has 'layer_mp'           => (is => 'rw');
+has 'new_object'         => (is => 'rw', default => sub {0});
+has 'straight_once'      => (is => 'rw', default => sub {1});
 has 'extruder_idx'       => (is => 'rw');
 has 'extrusion_distance' => (is => 'rw', default => sub {0} );
 has 'elapsed_time'       => (is => 'rw', default => sub {0} );  # seconds
@@ -76,7 +78,7 @@ sub change_layer {
     
     $self->layer($layer);
     if ($Slic3r::Config->avoid_crossing_perimeters) {
-        $self->motionplanner(Slic3r::GCode::MotionPlanner->new(
+        $self->layer_mp(Slic3r::GCode::MotionPlanner->new(
             islands => union_ex([ map @{$_->expolygon}, @{$layer->slices} ], undef, 1),
         ));
     }
@@ -216,13 +218,32 @@ sub travel_to {
     my ($point, $comment) = @_;
     
     return "" if points_coincide($self->last_pos, $point);
+    
+    my $gcode = "";
     if ($Slic3r::Config->avoid_crossing_perimeters && $self->last_pos->distance_to($point) > scale 5 && !$self->straight_once) {
-        return join '', map $self->G0($_->b, undef, 0, $comment || ""),
-            $self->motionplanner->shortest_path($self->last_pos, $point)->lines;
+        my $plan = sub {
+            my $mp = shift;
+            return join '', 
+                map $self->G0($_->b, undef, 0, $comment || ""),
+                $mp->shortest_path($self->last_pos, $point)->lines;
+        };
+        
+        if ($self->new_object) {
+            my @shift = ($self->shift_x, $self->shift_y);
+            $self->set_shift(0,0);
+            $point->translate(map scale $_, @shift);
+            $gcode .= $plan->($self->external_mp);
+            $self->new_object(0);
+            $self->set_shift(@shift);
+        } else {
+            $gcode .= $plan->($self->layer_mp);
+        }
     } else {
         $self->straight_once(0);
-        return $self->G0($point, undef, 0, $comment || "");
+        $gcode .= $self->G0($point, undef, 0, $comment || "");
     }
+    
+    return $gcode;
 }
 
 sub retract {
diff --git a/lib/Slic3r/GCode/MotionPlanner.pm b/lib/Slic3r/GCode/MotionPlanner.pm
index b95a38ec61..ef55f16cc9 100644
--- a/lib/Slic3r/GCode/MotionPlanner.pm
+++ b/lib/Slic3r/GCode/MotionPlanner.pm
@@ -45,7 +45,7 @@ sub BUILD {
         for my $i (0 .. $#points) {
             for my $j (($i+1) .. $#points) {
                 my $line = Slic3r::Line->new($points[$i], $points[$j]);
-                if ($expolygon->encloses_line($line, scale Slic3r::Geometry::epsilon)) {
+                if ($expolygon->encloses_line($line, $tolerance)) {
                     my $dist = $line->length * ($crosses_perimeter ? CROSSING_FACTOR : 1);
                     $edges->{$points[$i]}{$points[$j]} = $dist;
                     $edges->{$points[$j]}{$points[$i]} = $dist;
diff --git a/lib/Slic3r/Print.pm b/lib/Slic3r/Print.pm
index df1fc4c0a1..3f2b1769f8 100644
--- a/lib/Slic3r/Print.pm
+++ b/lib/Slic3r/Print.pm
@@ -614,7 +614,6 @@ sub write_gcode {
     );
     
     # initialize a motion planner for object-to-object travel moves
-    my $external_motionplanner;
     if ($Slic3r::Config->avoid_crossing_perimeters) {
         my $distance_from_objects = 1;
         # compute the offsetted convex hull for each object and repeat it for each copy.
@@ -622,15 +621,15 @@ sub write_gcode {
         foreach my $obj_idx (0 .. $#{$self->objects}) {
             my @island = Slic3r::ExPolygon->new(convex_hull([
                 map @{$_->expolygon->contour}, map @{$_->slices}, @{$self->objects->[$obj_idx]->layers},
-            ]))->translate(map -$_, @shift)->offset_ex(scale $distance_from_objects);
+            ]))->translate(scale $shift[X], scale $shift[Y])->offset_ex(scale $distance_from_objects, 1, JT_SQUARE);
             foreach my $copy (@{$self->copies->[$obj_idx]}) {
                 push @islands, map $_->clone->translate(@$copy), @island;
             }
         }
-        $external_motionplanner = Slic3r::GCode::MotionPlanner->new(
+        $gcodegen->external_mp(Slic3r::GCode::MotionPlanner->new(
             islands     => union_ex([ map @$_, @islands ]),
             no_internal => 1,
-        );
+        ));
     }
     
     # prepare the logic to print one layer
@@ -663,6 +662,7 @@ sub write_gcode {
                 $gcode .= $gcodegen->extrude_loop($_, 'skirt') for @{$self->skirt};
             }
             $skirt_done++;
+            $gcodegen->straight_once(1);
         }
         
         # extrude brim
@@ -670,27 +670,18 @@ sub write_gcode {
             $gcodegen->set_shift(@shift);
             $gcode .= $gcodegen->extrude_loop($_, 'brim') for @{$self->brim};
             $brim_done = 1;
+            $gcodegen->straight_once(1);
         }
         
         for my $obj_copy (@$object_copies) {
             my ($obj_idx, $copy) = @$obj_copy;
+            $gcodegen->new_object(1) if $last_obj_copy && $last_obj_copy ne "${obj_idx}_${copy}";
             my $layer = $self->objects->[$obj_idx]->layers->[$layer_id];
             
             # retract explicitely because changing the shift_[xy] properties below
             # won't always trigger the automatic retraction
             $gcode .= $gcodegen->retract;
             
-            # travel to the first perimeter point using the external motion planner
-            if ($external_motionplanner && @{ $layer->perimeters } && !$gcodegen->straight_once && $last_obj_copy ne "${obj_idx}_${copy}") {
-                $gcodegen->set_shift(@shift);
-                my $layer_mp = $gcodegen->motionplanner;
-                $gcodegen->motionplanner($external_motionplanner);
-                my $first_perimeter = $layer->perimeters->[0]->unpack;
-                my $target = $first_perimeter->polygon->[0]->clone->translate(@$copy);
-                $gcode .= $gcodegen->travel_to($target, "move to first perimeter point");
-                $gcodegen->motionplanner($layer_mp);
-            }
-            
             $gcodegen->set_shift(
                 $shift[X] + unscale $copy->[X],
                 $shift[Y] + unscale $copy->[Y],
@@ -773,8 +764,10 @@ sub write_gcode {
                 # this happens before Z goes down to layer 0 again, so that 
                 # no collision happens hopefully.
                 if ($finished_objects > 0) {
-                    $gcodegen->shift_x($shift[X] + unscale $copy->[X]);
-                    $gcodegen->shift_y($shift[Y] + unscale $copy->[Y]);
+                    $gcodegen->set_shift(
+                        $shift[X] + unscale $copy->[X],
+                        $shift[Y] + unscale $copy->[Y],
+                    );
                     print $fh $gcodegen->retract;
                     print $fh $gcodegen->G0(Slic3r::Point->new(0,0), undef, 0, 'move to origin position for next object');
                 }