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Fix XYZBC tool execution TCP path

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This commit is contained in:
mes123456
2026-07-03 07:50:26 -04:00
parent ffdaa21d8b
commit 6631833c93
6 changed files with 1879 additions and 100 deletions
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44
web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/visualization/five-axis-scene.js
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@@ -16,6 +16,7 @@ const CAMERA_PRESETS = {
};
const MAX_TOOLPATH_POINTS = Number.POSITIVE_INFINITY;
const EMPTY_GEOMETRY = new THREE.BufferGeometry().setFromPoints([]);
const LOCAL_TOOL_AXIS = new THREE.Vector3(0, 0, 1);
export function renderFiveAxisScene(canvas, state) {
let preview = scenes.get(canvas);
@@ -134,6 +135,7 @@ function createScene(canvas) {
toolMarker,
toolAxis,
currentToolhead: new THREE.Vector3(),
currentToolGlyphAxis: new THREE.Vector3(0, 0, 1),
currentVismachModelState: null,
lastSelectedView: null,
lastCameraRevision: null,
@@ -254,6 +256,7 @@ function exposePreviewDataset(canvas, state, preview) {
canvas.dataset.threeLinearUnits = linearUnitsLabel(resolveSceneLinearUnits(state));
canvas.dataset.threeLinearUnitScaleToMeters = String(linearUnitsToMetersFactor(resolveSceneLinearUnits(state)));
canvas.dataset.threeToolAxis = JSON.stringify(toRoundedVector(state.toolAxisVector));
canvas.dataset.threeToolGlyphAxis = JSON.stringify(toRoundedVector(preview.toolGlyphAxis || preview.currentToolGlyphAxis || state.toolAxisVector));
canvas.dataset.threeTcpPose = JSON.stringify(toRoundedPose(state.tcpPose));
canvas.dataset.threeRtcpState = state.rtcpState;
canvas.dataset.threeSelectedView = state.preview.selectedView;
@@ -360,13 +363,13 @@ function createMachineReferenceModel() {
new THREE.MeshBasicMaterial({ color: 0xf1f5f9 }),
);
holderBody.rotation.x = Math.PI / 2;
holderBody.position.z = 0.032;
holderBody.position.z = 0.046;
const cutter = new THREE.Mesh(
new THREE.ConeGeometry(0.006, 0.025, 18),
new THREE.MeshBasicMaterial({ color: 0xfff176 }),
);
cutter.rotation.x = Math.PI;
cutter.position.z = 0.008;
cutter.rotation.x = -Math.PI / 2;
cutter.position.z = 0.0125;
toolHolder.add(holderBody, cutter);
toolOffsetAxis.add(toolHolder);
@@ -426,14 +429,14 @@ function createAxisReferencePreviewModel() {
new THREE.ConeGeometry(0.0017, 0.0048, 4),
new THREE.MeshBasicMaterial({ color: 0xe7eef7 }),
);
cone.rotation.x = Math.PI;
cone.position.z = 0.0047;
cone.rotation.x = -Math.PI / 2;
cone.position.z = 0.0024;
const holder = new THREE.Mesh(
new THREE.CylinderGeometry(0.0011, 0.0011, 0.0065, 8),
new THREE.MeshBasicMaterial({ color: 0xbfc8d0 }),
);
holder.rotation.x = Math.PI / 2;
holder.position.z = 0.008;
holder.position.z = 0.00805;
tool.add(cone, holder);
root.add(xAxis, yAxis, zAxis, dimensions, tool, ...labels);
@@ -576,7 +579,10 @@ function updateMachineReferenceModel(preview, state, toolPosition, axisReference
preview.axisReference.root.visible = axisReferenceMode;
if (axisReferenceMode) {
const referenceToolPosition = new THREE.Vector3(0, 0, 0.006);
const toolVector = toToolVector(state.toolAxisVector);
preview.axisReference.tool.position.copy(referenceToolPosition);
alignToolGlyphToAxis(preview.axisReference.tool, toolVector);
preview.currentToolGlyphAxis.copy(toolVector);
}
}
if (axisReferenceMode) {
@@ -601,7 +607,17 @@ function updateMachineReferenceModel(preview, state, toolPosition, axisReference
const tcpPosition = toolPosition || toPreviewVector(state.tcpPose || state.axisPose, state);
const toolVector = toToolVector(state.toolAxisVector);
model.toolHolder.lookAt(tcpPosition.clone().add(toolVector));
model.toolHolder.position.copy(tcpPosition);
alignToolGlyphToAxis(model.toolHolder, toolVector);
preview.currentToolGlyphAxis.copy(toolVector);
}
function alignToolGlyphToAxis(object, toolVector) {
const axis = toolVector.clone().normalize();
if (!Number.isFinite(axis.x) || !Number.isFinite(axis.y) || !Number.isFinite(axis.z) || axis.lengthSq() === 0) {
axis.copy(LOCAL_TOOL_AXIS);
}
object.quaternion.setFromUnitVectors(LOCAL_TOOL_AXIS, axis);
}
function updateLineGeometry(line, points) {
@@ -745,6 +761,14 @@ function buildFixturePreviewPoints(pointCount, tcpPosition) {
}
function executionToolPosition(state, previewPoints) {
const uiTcp = state.programUiExecution?.tcp;
if (uiTcp && hasLinearAxes(uiTcp)) {
return vectorFromAxes(uiTcp, state, state.programRuntimeFeedback?.linearUnits || "mm");
}
const feedbackTcp = state.programRuntimeFeedback?.tcp;
if (feedbackTcp && hasLinearAxes(feedbackTcp)) {
return vectorFromAxes(feedbackTcp, state, state.programRuntimeFeedback?.linearUnits || "mm");
}
const feedbackAxes = state.programRuntimeFeedback?.axisPose || state.programRuntimeFeedback;
if (feedbackAxes && hasLinearAxes(feedbackAxes)) {
return vectorFromAxes(feedbackAxes, state, state.programRuntimeFeedback?.linearUnits);
@@ -811,7 +835,7 @@ function previewSourceMode(state) {
}
function toolpathPreviewSource(state) {
if (state.programAxisPreviewPath?.source === "web-axis-preview-expanded-ngcgui-subroutines") {
if (isAxisReferencePreview(state)) {
return "axis_preview_expanded_ngcgui_subroutines";
}
if (state.programExecution?.sourceMode === "linuxcnc-interpreter-wasm") {
@@ -824,7 +848,9 @@ function toolpathPreviewSource(state) {
}
function isAxisReferencePreview(state) {
return state.programAxisPreviewPath?.source === "web-axis-preview-expanded-ngcgui-subroutines";
return state.programAxisPreviewPath?.source === "web-axis-preview-expanded-ngcgui-subroutines"
|| state.programAxisPreviewPath?.source === "web-axis-source-execution-expanded-ngcgui-subroutines"
|| Boolean(state.programAxisPreviewPath?.gcodeExecutionProcess);
}
function toolExecutionTraceSource(state) {