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FIX: The problem caused by Euler angle calculation 

JIRA: STUDIO-5441
Fix the issue of floating after flattening caused by Euler angle
calculation

thanks Lukas Matena and Prusa
Author: Lukas Matena
Data: Sep 23,2022

Fixed issue with Euler angles:
the function to extract Euler angles did not work reliably in some of the corner cases.
The bug was not present in 2.5.0 release.

Change-Id: Ie8e2c000ae38522b4f32d8557671519f86d19820
This commit is contained in:
Kunlong Ma 2023-12-13 12:23:24 +08:00 committed by Lane.Wei
parent 3d16dc2fee
commit 27d3fd73ee
1 changed files with 7 additions and 41 deletions
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48
src/libslic3r/Geometry.cpp
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@ -322,46 +322,12 @@ Transform3d assemble_transform(const Vec3d& translation, const Vec3d& rotation,
Vec3d extract_euler_angles(const Eigen::Matrix<double, 3, 3, Eigen::DontAlign>& rotation_matrix)
{
// reference: http://www.gregslabaugh.net/publications/euler.pdf
Vec3d angles1 = Vec3d::Zero();
Vec3d angles2 = Vec3d::Zero();
// BBS: rotation_matrix(2, 0) may be slighterly larger than 1 due to numerical accuracy
if (std::abs(std::abs(rotation_matrix(2, 0)) - 1.0) < 1e-5 || std::abs(rotation_matrix(2, 0))>1)
{
angles1(2) = 0.0;
if (rotation_matrix(2, 0) < 0.0) // == -1.0
{
angles1(1) = 0.5 * (double)PI;
angles1(0) = angles1(2) + ::atan2(rotation_matrix(0, 1), rotation_matrix(0, 2));
}
else // == 1.0
{
angles1(1) = - 0.5 * (double)PI;
angles1(0) = - angles1(2) + ::atan2(- rotation_matrix(0, 1), - rotation_matrix(0, 2));
}
angles2 = angles1;
}
else
{
angles1(1) = -::asin(rotation_matrix(2, 0));
double inv_cos1 = 1.0 / ::cos(angles1(1));
angles1(0) = ::atan2(rotation_matrix(2, 1) * inv_cos1, rotation_matrix(2, 2) * inv_cos1);
angles1(2) = ::atan2(rotation_matrix(1, 0) * inv_cos1, rotation_matrix(0, 0) * inv_cos1);
angles2(1) = (double)PI - angles1(1);
double inv_cos2 = 1.0 / ::cos(angles2(1));
angles2(0) = ::atan2(rotation_matrix(2, 1) * inv_cos2, rotation_matrix(2, 2) * inv_cos2);
angles2(2) = ::atan2(rotation_matrix(1, 0) * inv_cos2, rotation_matrix(0, 0) * inv_cos2);
}
// The following euristic is the best found up to now (in the sense that it works fine with the greatest number of edge use-cases)
// but there are other use-cases were it does not
// We need to improve it
double min_1 = angles1.cwiseAbs().minCoeff();
double min_2 = angles2.cwiseAbs().minCoeff();
bool use_1 = (min_1 < min_2) || (is_approx(min_1, min_2) && (angles1.norm() <= angles2.norm()));
return use_1 ? angles1 : angles2;
// The extracted "rotation" is a triplet of numbers such that Geometry::rotation_transform
// returns the original transform. Because of the chosen order of rotations, the triplet
// is not equivalent to Euler angles in the usual sense.
Vec3d angles = rotation_matrix.eulerAngles(2, 1, 0);
std::swap(angles(0), angles(2));
return angles;
}
Vec3d extract_euler_angles(const Transform3d& transform)
@ -601,7 +567,7 @@ void Transformation::set_from_transform(const Transform3d& transform)
m3x3.col(2).normalize();
// rotation
set_rotation(extract_euler_angles(m3x3));
set_rotation(Geometry::extract_euler_angles(m3x3));
// forces matrix recalculation matrix
m_matrix = get_matrix();