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Add Kinematics (Jerk & Accel) visualization support (#13169)

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* Acceleration preview

Co-Authored-By: Rodrigo Faselli <162915171+RF47@users.noreply.github.com>

* Jerk visualization

* JD

---------

Co-authored-by: Rodrigo Faselli <162915171+RF47@users.noreply.github.com>
This commit is contained in:
Ian Bassi
2026-04-24 03:20:47 -03:00
committed by GitHub
parent 206574887a
commit 3fb3a5b890
9 changed files with 192 additions and 8 deletions
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51
src/libslic3r/GCode/GCodeProcessor.cpp
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@@ -5480,6 +5480,37 @@ void GCodeProcessor::process_filament_change(int id)
void GCodeProcessor::store_move_vertex(EMoveType type, EMovePathType path_type, bool internal_only)
{
int filament_id = get_filament_id();
const auto normal_mode = PrintEstimatedStatistics::ETimeMode::Normal;
const size_t normal_mode_id = static_cast<size_t>(normal_mode);
const float delta_x = std::abs(m_end_position[X] - m_start_position[X]);
const float delta_y = std::abs(m_end_position[Y] - m_start_position[Y]);
const float delta_z = std::abs(m_end_position[Z] - m_start_position[Z]);
const float delta_e = std::abs(m_end_position[E] - m_start_position[E]);
const bool has_x = delta_x > 0.0f;
const bool has_y = delta_y > 0.0f;
const bool has_z = delta_z > 0.0f;
const bool has_e = delta_e > 0.0f;
const float move_acceleration =
(type == EMoveType::Travel) ? get_travel_acceleration(normal_mode) :
((type == EMoveType::Retract || type == EMoveType::Unretract) ? get_retract_acceleration(normal_mode) :
get_acceleration(normal_mode));
const float junction_deviation = get_option_value(m_time_processor.machine_limits.machine_max_junction_deviation, normal_mode_id);
const bool use_jd_jerk = (m_flavor == gcfMarlinFirmware && junction_deviation > 0.0f);
const auto axis_jerk_for_preview = [this, normal_mode, use_jd_jerk, move_acceleration](Axis axis) {
return use_jd_jerk ? get_axis_max_jerk_with_jd(normal_mode, axis, move_acceleration) : get_axis_max_jerk(normal_mode, axis);
};
const float jerk_x = axis_jerk_for_preview(X);
const float jerk_y = axis_jerk_for_preview(Y);
const float jerk_z = axis_jerk_for_preview(Z);
const float jerk_e = axis_jerk_for_preview(E);
const float move_jerk =
(has_e && !has_x && !has_y && !has_z) ? jerk_e :
(has_z && !has_x && !has_y) ? jerk_z :
(has_x && has_y) ? std::min(jerk_x, jerk_y) :
has_x ? jerk_x :
has_y ? jerk_y :
has_z ? jerk_z :
std::min(jerk_x, jerk_y);
m_last_line_id = (type == EMoveType::Color_change || type == EMoveType::Pause_Print || type == EMoveType::Custom_GCode) ?
m_line_id + 1 :
((type == EMoveType::Seam) ? m_last_line_id : m_line_id);
@@ -5503,6 +5534,10 @@ void GCodeProcessor::store_move_vertex(EMoveType type, EMovePathType path_type,
m_extruder_temps[filament_id],
// ORCA: Add Pressure Advance visualization support
m_pressure_advance,
// ORCA: Add Acceleration visualization support
move_acceleration,
// ORCA: Add Jerk visualization support
move_jerk,
{ 0.0f, 0.0f }, // time
static_cast<float>(m_layer_id), //layer_duration: set later
std::max<unsigned int>(1, m_layer_id) - 1,
@@ -5578,7 +5613,7 @@ float GCodeProcessor::get_axis_max_acceleration(PrintEstimatedStatistics::ETimeM
}
}
float GCodeProcessor::get_axis_max_jerk_with_jd(PrintEstimatedStatistics::ETimeMode mode, Axis axis) const
float GCodeProcessor::get_axis_max_jerk_with_jd(PrintEstimatedStatistics::ETimeMode mode, Axis axis, float acceleration) const
{
if (axis != X && axis != Y && axis != Z && axis != E)
return 0.0f;
@@ -5589,12 +5624,22 @@ float GCodeProcessor::get_axis_max_jerk_with_jd(PrintEstimatedStatistics::ETimeM
return 0.0f;
const float axis_max_acc = get_axis_max_acceleration(mode, axis);
const float generic_acc = get_acceleration(mode);
const float effective_acc = axis_max_acc > 0.0f ? axis_max_acc : generic_acc;
float effective_acc = acceleration;
if (effective_acc <= 0.0f)
effective_acc = get_acceleration(mode);
if (axis_max_acc > 0.0f)
effective_acc = effective_acc > 0.0f ? std::min(effective_acc, axis_max_acc) : axis_max_acc;
if (effective_acc <= 0.0f)
return 0.0f;
return std::sqrt(jd * effective_acc * 2.5f);
}
float GCodeProcessor::get_axis_max_jerk_with_jd(PrintEstimatedStatistics::ETimeMode mode, Axis axis) const
{
return get_axis_max_jerk_with_jd(mode, axis, get_acceleration(mode));
}
float GCodeProcessor::get_axis_max_jerk(PrintEstimatedStatistics::ETimeMode mode, Axis axis) const
{
const size_t id = static_cast<size_t>(mode);