Clean up arcs to segments conversion.
From: Alexey Starikovskiy <[email protected]>
---
src/emc/rs274ngc/gcodemodule.cc | 50 ++++++++++++---------------------------
1 files changed, 15 insertions(+), 35 deletions(-)
diff --git a/src/emc/rs274ngc/gcodemodule.cc b/src/emc/rs274ngc/gcodemodule.cc
index 53662a5..bbcff10 100644
--- a/src/emc/rs274ngc/gcodemodule.cc
+++ b/src/emc/rs274ngc/gcodemodule.cc
@@ -853,12 +853,6 @@ 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;
@@ -869,7 +863,7 @@ static PyObject *rs274_arc_to_segments(PyObject *self, PyObject *args) {
PyObject *canon;
double x1, y1, cx, cy, z1, a, b, c, u, v, w;
double o[9], n[9], offset[9];
- int rot, plane;
+ int rot, plane = 1;
int X, Y, Z;
double rotation_cos, rotation_sin;
int max_segments = 128;
@@ -893,31 +887,24 @@ static PyObject *rs274_arc_to_segments(PyObject *self, PyObject *args) {
if(!get_attr(canon, "offset_w", &offset[8])) return NULL;
if(plane == 1) {
- n[0] = x1;
- n[1] = y1;
- n[2] = z1;
X=0; Y=1; Z=2;
} else if(plane == 3) {
- n[0] = y1;
- n[1] = z1;
- n[2] = x1;
X=2; Y=0; Z=1;
} else {
- n[0] = z1;
- n[1] = x1;
- n[2] = y1;
X=1; Y=2; Z=0;
}
+ n[X] = x1;
+ n[Y] = y1;
+ n[Z] = z1;
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);
+ for (int ax=0; ax<9; ax++) o[ax] -= offset[ax];
+ rotate(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);
double theta2 = atan2(n[Y]-cy, n[X]-cx);
@@ -931,26 +918,19 @@ static PyObject *rs274_arc_to_segments(PyObject *self, PyObject *args) {
double rsteps = 1. / steps;
PyObject *segs = PyList_New(steps);
- double dtheta = theta2 - theta1;
- double d[9] = {0, 0, 0, n[4]-o[4], n[5]-o[5], n[6]-o[6], n[7]-o[7], n[8]-o[8]};
- d[Z] = o[Z] - n[Z];
-
- double tx = cos(theta1) * rad, ty = sin(theta1)*rad, dc = cos(dtheta*rsteps), ds = sin(dtheta*rsteps);
- for(int i=0; i<steps-1; i++) {
- double f = i * rsteps;
- double p[9];
+ double d[9], p[9];
+ d[Z] = (o[Z] - n[Z]) * rsteps;
+ for (int ax = 3; ax < 9; ++ax) d[ax] = (o[ax] - n[ax]) * rsteps;
+ double tx = o[X] - cx, ty = o[Y] - cy,
+ dc = cos((theta2 - theta1)*rsteps), ds = sin((theta2 - theta1)*rsteps);
+ for(int i = 0; i < steps - 1; ++i) {
rotate(tx, ty, dc, ds);
p[X] = tx + cx;
p[Y] = ty + cy;
- p[Z] = o[Z] + d[Z] * f;
- p[3] = o[3] + d[3] * f;
- p[4] = o[4] + d[4] * f;
- p[5] = o[5] + d[5] * f;
- p[6] = o[6] + d[6] * f;
- p[7] = o[7] + d[7] * f;
- p[8] = o[8] + d[8] * f;
+ p[Z] = o[Z] + d[Z] * i;
+ for (int ax = 3; ax < 9; ++ax) p[ax] = o[ax] + d[ax] * i;
rotate(p[0], p[1], rotation_cos, rotation_sin);
- for(int ax=0; ax<9; ax++) p[ax] += offset[ax];
+ 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]));
}
------------------------------------------------------------------------------
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