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Fix caucluation of rotation between two vectors during auto-orient #4144

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merged 2 commits into from
Feb 20, 2024
Merged

Fix caucluation of rotation between two vectors during auto-orient #4144

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fad15c0
Properly extract rotation matrix
Noisyfox Feb 19, 2024
088e4a5
Another attempt to fix auto-orient
Noisyfox Feb 19, 2024
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2 changes: 1 addition & 1 deletion src/libslic3r/Geometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -418,7 +418,7 @@ Vec3d extract_euler_angles(const Transform3d& transform)

void rotation_from_two_vectors(Vec3d from, Vec3d to, Vec3d& rotation_axis, double& phi, Matrix3d* rotation_matrix)
{
const Matrix3d m = Transform3d(Eigen::Quaterniond().setFromTwoVectors(from, to)).matrix().block<3, 3>(0, 0);
const Matrix3d m = Eigen::Quaterniond().setFromTwoVectors(from, to).toRotationMatrix();
const Eigen::AngleAxisd aa(m);
rotation_axis = aa.axis();
phi = aa.angle();
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7 changes: 3 additions & 4 deletions src/libslic3r/Model.hpp
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Expand Up @@ -1298,10 +1298,9 @@ class ModelInstance final : public ObjectBase

// BBS
void rotate(Matrix3d rotation_matrix) {
auto R = m_transformation.get_rotation_matrix().matrix().block<3, 3>(0, 0);
auto R_new = rotation_matrix * R;
auto euler_angles = Geometry::extract_euler_angles(R_new);
set_rotation(euler_angles);
auto rotation = m_transformation.get_rotation_matrix();
rotation = rotation_matrix * rotation;
set_rotation(Geometry::Transformation(rotation).get_rotation());
}

Vec3d get_scaling_factor() const { return m_transformation.get_scaling_factor(); }
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