this increases timings a little bit (including in the unrotated case), but
correct is much better than fast in this case
---
src/emc/rs274ngc/gcodemodule.cc | 47 ++++++++++++++++++++++----------------
1 files changed, 27 insertions(+), 20 deletions(-)
diff --git a/src/emc/rs274ngc/gcodemodule.cc b/src/emc/rs274ngc/gcodemodule.cc
index 051bbe1..7a4a7d7 100644
--- a/src/emc/rs274ngc/gcodemodule.cc
+++ b/src/emc/rs274ngc/gcodemodule.cc
@@ -846,6 +846,12 @@ static bool get_attr(PyObject *o, const char *attr_name,
const char *fmt, ...) {
return result;
}
+static void unrotate(double &x, double &y, double c, double s) {
+ double tx = x * c + y * s;
+ y = -x * s + y * c;
+ x = tx;
+}
+
static void rotate(double &x, double &y, double c, double s) {
double tx = x * c - y * s;
y = x * s + y * c;
@@ -880,31 +886,29 @@ static PyObject *rs274_arc_to_segments(PyObject *self,
PyObject *args) {
if(!get_attr(canon, "offset_w", &offset[8])) return NULL;
if(plane == 1) {
- rotate(x1, y1, rotation_cos, rotation_sin);
- rotate(cx, cy, rotation_cos, rotation_sin);
- n[0] = x1 + offset[0];
- n[1] = y1 + offset[1];
- n[2] = z1 + offset[2];
+ n[0] = x1;
+ n[1] = y1;
+ n[2] = z1;
X=0; Y=1; Z=2;
} else if(plane == 3) {
- n[0] = y1 + offset[0];
- n[1] = z1 + offset[1];
- n[2] = x1 + offset[2];
+ n[0] = y1;
+ n[1] = z1;
+ n[2] = x1;
X=2; Y=0; Z=1;
} else {
- n[0] = z1 + offset[0];
- n[1] = x1 + offset[1];
- n[2] = y1 + offset[2];
+ n[0] = z1;
+ n[1] = x1;
+ n[2] = y1;
X=1; Y=2; Z=0;
}
- cx += offset[X];
- cy += offset[Y];
- n[3] = a + offset[3];
- n[4] = b + offset[4];
- n[5] = c + offset[5];
- n[6] = u + offset[6];
- n[7] = v + offset[7];
- n[8] = w + offset[8];
+ n[3] = a;
+ n[4] = b;
+ n[5] = c;
+ n[6] = u;
+ n[7] = v;
+ n[8] = w;
+ for(int ax=0; ax<9; ax++) o[ax] -= offset[ax];
+ unrotate(o[0], o[1], rotation_cos, rotation_sin);
double rad = hypot(o[X]-cx, o[Y]-cy);
double theta1 = atan2(o[Y]-cy, o[X]-cx);
@@ -936,10 +940,13 @@ static PyObject *rs274_arc_to_segments(PyObject *self,
PyObject *args) {
p[6] = o[6] + d[6] * f;
p[7] = o[7] + d[7] * f;
p[8] = o[8] + d[8] * f;
-
+ rotate(p[0], p[1], rotation_cos, rotation_sin);
+ for(int ax=0; ax<9; ax++) p[ax] += offset[ax];
PyList_SET_ITEM(segs, i,
Py_BuildValue("ddddddddd", p[0], p[1], p[2], p[3], p[4], p[5],
p[6], p[7], p[8]));
}
+ for(int ax=0; ax<9; ax++) n[ax] += offset[ax];
+ rotate(n[0], n[1], rotation_cos, rotation_sin);
PyList_SET_ITEM(segs, steps,
Py_BuildValue("ddddddddd", n[0], n[1], n[2], n[3], n[4], n[5], n[6],
n[7], n[8]));
return segs;
--
1.6.3.3
------------------------------------------------------------------------------
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