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https://git.mirrors.martin98.com/https://github.com/slic3r/Slic3r.git
synced 2025-08-05 20:36:07 +08:00
adapt 3mf to matrices
This commit is contained in:
Michael Kirsch
Joseph Lenox
parent
1bd679dcba
commit
2a476e1742
@ -504,14 +504,12 @@ TMFParserContext::startElement(const char *name, const char **atts)
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const char* transformation_matrix = get_attribute(atts, "transform");
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if(transformation_matrix){
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// Decompose the affine matrix.
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std::vector<double> transformations;
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if(!get_transformations(transformation_matrix, transformations))
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TransformationMatrix trafo;
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std::vector<double> single_transformations;
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if(!get_transformations(transformation_matrix, trafo, &single_transformations))
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this->stop();
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if(transformations.size() != 9)
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this->stop();
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apply_transformation(instance, transformations);
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apply_transformation(instance, trafo, single_transformations);
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}
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node_type_new = NODE_TYPE_ITEM;
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@ -554,36 +552,19 @@ TMFParserContext::startElement(const char *name, const char **atts)
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if(!object_id)
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this->stop();
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ModelObject* component_object = m_model.objects[m_objects_indices[object_id]];
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// Append it to the parent (current m_object) as a mesh since Slic3r doesn't support an object inside another.
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// after applying 3d matrix transformation if found.
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TriangleMesh component_mesh;
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const char* transformation_matrix = get_attribute(atts, "transform");
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if(transformation_matrix){
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// Decompose the affine matrix.
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std::vector<double> transformations;
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if(!get_transformations(transformation_matrix, transformations))
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this->stop();
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if( transformations.size() != 9)
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this->stop();
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// Create a copy of the current object.
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ModelObject* object_copy = m_model.add_object(*component_object, true);
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apply_transformation(object_copy, transformations);
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// Get the mesh of this instance object.
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component_mesh = object_copy->raw_mesh();
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// Delete the copy of the object.
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m_model.delete_object(m_model.objects.size() - 1);
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} else {
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component_mesh = component_object->raw_mesh();
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}
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ModelVolume* volume = m_object->add_volume(component_mesh);
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ModelVolume* volume = m_object->add_volume(component_object->raw_mesh());
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if(!volume)
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this->stop();
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const char* transformation_matrix = get_attribute(atts, "transform");
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if(transformation_matrix){
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TransformationMatrix trafo;
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if(!get_transformations(transformation_matrix, trafo))
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this->stop();
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volume->apply_transformation(trafo);
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}
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node_type_new =NODE_TYPE_COMPONENT;
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} else if (strcmp(name, "slic3r:volumes") == 0) {
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node_type_new = NODE_TYPE_SLIC3R_VOLUMES;
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@ -727,7 +708,7 @@ TMFParserContext::stop()
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}
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bool
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TMFParserContext::get_transformations(std::string matrix, std::vector<double> &transformations)
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TMFParserContext::get_transformations(std::string matrix, TransformationMatrix &trafo, std::vector<double>* transformations)
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{
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// Get the values.
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double m[12];
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@ -745,107 +726,102 @@ TMFParserContext::get_transformations(std::string matrix, std::vector<double> &t
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if(k != 12)
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return false;
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// Get the translation (x,y,z) value. Remember the matrix in 3mf is a row major not a column major.
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transformations.push_back(m[9]);
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transformations.push_back(m[10]);
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transformations.push_back(m[11]);
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// matrices in 3mf is row-major for row-vectors multiplied from the left,
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// so we have to transpose the matrix
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trafo.m11 = m[0];
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trafo.m21 = m[1];
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trafo.m31 = m[2];
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trafo.m12 = m[3];
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trafo.m22 = m[4];
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trafo.m32 = m[5];
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trafo.m13 = m[6];
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trafo.m23 = m[7];
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trafo.m33 = m[8];
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trafo.m14 = m[9];
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trafo.m24 = m[10];
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trafo.m34 = m[11];
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// Get the scale values.
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double sx = sqrt( m[0] * m[0] + m[1] * m[1] + m[2] * m[2]),
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sy = sqrt( m[3] * m[3] + m[4] * m[4] + m[5] * m[5]),
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sz = sqrt( m[6] * m[6] + m[7] * m[7] + m[8] * m[8]);
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transformations.push_back(sx);
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transformations.push_back(sy);
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transformations.push_back(sz);
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// Get the rotation values.
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// Normalize scale from the rotation matrix.
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m[0] /= sx; m[1] /= sy; m[2] /= sz;
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m[3] /= sx; m[4] /= sy; m[5] /= sz;
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m[6] /= sx; m[7] /= sy; m[8] /= sz;
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// Get quaternion values
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double q_w = sqrt(std::max(0.0, 1.0 + m[0] + m[4] + m[8])) / 2,
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q_x = sqrt(std::max(0.0, 1.0 + m[0] - m[4] - m[8])) / 2,
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q_y = sqrt(std::max(0.0, 1.0 - m[0] + m[4] - m[8])) / 2,
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q_z = sqrt(std::max(0.0, 1.0 - m[0] - m[4] + m[8])) / 2;
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q_x *= ((q_x * (m[5] - m[7])) <= 0 ? -1 : 1);
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q_y *= ((q_y * (m[6] - m[2])) <= 0 ? -1 : 1);
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q_z *= ((q_z * (m[1] - m[3])) <= 0 ? -1 : 1);
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// Normalize quaternion values.
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double q_magnitude = sqrt(q_w * q_w + q_x * q_x + q_y * q_y + q_z * q_z);
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q_w /= q_magnitude;
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q_x /= q_magnitude;
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q_y /= q_magnitude;
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q_z /= q_magnitude;
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double test = q_x * q_y + q_z * q_w;
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double result_x, result_y, result_z;
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// singularity at north pole
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if (test > 0.499)
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if (transformations)
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{
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result_x = 0;
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result_y = 2 * atan2(q_x, q_w);
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result_z = PI / 2;
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}
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// singularity at south pole
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else if (test < -0.499)
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{
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result_x = 0;
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result_y = -2 * atan2(q_x, q_w);
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result_z = -PI / 2;
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}
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else
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{
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result_x = atan2(2 * q_x * q_w - 2 * q_y * q_z, 1 - 2 * q_x * q_x - 2 * q_z * q_z);
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result_y = atan2(2 * q_y * q_w - 2 * q_x * q_z, 1 - 2 * q_y * q_y - 2 * q_z * q_z);
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result_z = asin(2 * q_x * q_y + 2 * q_z * q_w);
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if (result_x < 0) result_x += 2 * PI;
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if (result_y < 0) result_y += 2 * PI;
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if (result_z < 0) result_z += 2 * PI;
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}
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transformations.push_back(result_x);
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transformations.push_back(result_y);
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transformations.push_back(result_z);
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transformations->push_back(m[9]);
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transformations->push_back(m[10]);
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// Get the scale values.
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double sx = sqrt( m[0] * m[0] + m[1] * m[1] + m[2] * m[2]),
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sy = sqrt( m[3] * m[3] + m[4] * m[4] + m[5] * m[5]),
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sz = sqrt( m[6] * m[6] + m[7] * m[7] + m[8] * m[8]);
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double uniform_scaling = (sx + sy + sz) / 3;
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transformations->push_back(uniform_scaling);
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// Get the rotation values.
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// Normalize scale from the rotation matrix.
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m[0] /= sx; m[1] /= sy; m[2] /= sz;
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m[3] /= sx; m[4] /= sy; m[5] /= sz;
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m[6] /= sx; m[7] /= sy; m[8] /= sz;
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// Get quaternion values
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double q_w = sqrt(std::max(0.0, 1.0 + m[0] + m[4] + m[8])) / 2,
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q_x = sqrt(std::max(0.0, 1.0 + m[0] - m[4] - m[8])) / 2,
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q_y = sqrt(std::max(0.0, 1.0 - m[0] + m[4] - m[8])) / 2,
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q_z = sqrt(std::max(0.0, 1.0 - m[0] - m[4] + m[8])) / 2;
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q_x *= ((q_x * (m[5] - m[7])) <= 0 ? -1 : 1);
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q_y *= ((q_y * (m[6] - m[2])) <= 0 ? -1 : 1);
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q_z *= ((q_z * (m[1] - m[3])) <= 0 ? -1 : 1);
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// Normalize quaternion values.
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double q_magnitude = sqrt(q_w * q_w + q_x * q_x + q_y * q_y + q_z * q_z);
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q_w /= q_magnitude;
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q_x /= q_magnitude;
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q_y /= q_magnitude;
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q_z /= q_magnitude;
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double test = q_x * q_y + q_z * q_w;
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double result_z;
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// singularity at north pole
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if (test > 0.499)
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{
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result_z = PI / 2;
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}
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// singularity at south pole
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else if (test < -0.499)
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{
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result_z = -PI / 2;
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}
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else
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{
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result_z = asin(2 * q_x * q_y + 2 * q_z * q_w);
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if (result_z < 0) result_z += 2 * PI;
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}
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transformations->push_back(result_z);
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}
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return true;
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}
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void
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TMFParserContext::apply_transformation(ModelObject *object, std::vector<double> &transformations)
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TMFParserContext::apply_transformation(ModelInstance *instance, const TransformationMatrix& complete_trafo, const std::vector<double>& single_transformations)
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{
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// Apply scale.
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Pointf3 vec(transformations[3], transformations[4], transformations[5]);
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object->scale(vec);
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// Reset internal trafo
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instance->additional_trafo = TransformationMatrix::mat_eye();
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// Apply x, y & z rotation.
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object->rotate(transformations[6], X);
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object->rotate(transformations[7], Y);
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object->rotate(transformations[8], Z);
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// Apply scale.
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instance->scaling_factor = single_transformations[2];
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// Apply z rotation.
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instance->rotation = single_transformations[3];
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// Apply translation.
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object->translate(transformations[0], transformations[1], transformations[2]);
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return;
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}
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instance->offset.x = single_transformations[0];
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instance->offset.y = single_transformations[1];
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void
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TMFParserContext::apply_transformation(ModelInstance *instance, std::vector<double> &transformations)
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{
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// Apply scale.
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// instance->scaling_vector = Pointf3(transformations[3], transformations[4], transformations[5]);;
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instance->additional_trafo = TransformationMatrix::multiply(
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instance->get_trafo_matrix().inverse(),
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complete_trafo);
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// Apply x, y & z rotation.
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instance->rotation = transformations[8];
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// instance->x_rotation = transformations[6];
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// instance->y_rotation = transformations[7];
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// Apply translation.
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instance->offset.x = transformations[0];
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instance->offset.y = transformations[1];
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// instance->z_translation = transformations[2];
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return;
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}
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@ -3,6 +3,7 @@
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#include "../IO.hpp"
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#include "../Zip/ZipArchive.hpp"
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#include "../TransformationMatrix.hpp"
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#include <cstdio>
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#include <string>
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#include <cstring>
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@ -145,8 +146,9 @@ struct TMFParserContext{
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/// Get scale, rotation and scale transformation from affine matrix.
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/// \param matrix string the 3D matrix where elements are separated by space.
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/// \return vector<double> a vector contains [translation, scale factor, xRotation, yRotation, zRotation].
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bool get_transformations(std::string matrix, std::vector<double>& transformations);
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/// \return TransformationMatrix a matrix that contains the complete defined transformation.
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/// \return optional vector<double> a vector contains [translation x, y, uniform scale factor, zRotation].
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bool get_transformations(std::string matrix, TransformationMatrix& trafo, std::vector<double>* transformations = nullptr);
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/// Add a new volume to the current object.
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/// \param start_offset size_t the start index in the m_volume_facets vector.
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@ -155,15 +157,10 @@ struct TMFParserContext{
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/// \return ModelVolume* a pointer to the newly added volume.
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ModelVolume* add_volume(int start_offset, int end_offset, bool modifier);
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/// Apply scale, rotate & translate to the given object.
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/// \param object ModelObject*
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/// \param transfornmations vector<int>
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void apply_transformation(ModelObject* object, std::vector<double>& transformations);
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/// Apply scale, rotate & translate to the given instance.
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/// \param instance ModelInstance*
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/// \param transfornmations vector<int>
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void apply_transformation(ModelInstance* instance, std::vector<double>& transformations);
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void apply_transformation(ModelInstance* instance, const TransformationMatrix& complete_trafo, const std::vector<double>& single_transformations);
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};
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} }
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