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完善 xyzbc-trt 刀具偏置闭环

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This commit is contained in:
mes123456
2026-07-02 09:41:10 -04:00
parent bb939644b9
commit 8fd9952dac
16 changed files with 15926 additions and 10971 deletions
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76
web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/visualization/five-axis-scene.js
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@@ -5,6 +5,7 @@ import {
linearValueToMeters,
resolveStateLinearUnits,
} from "../runtime/linear-units.js";
import { buildVismachModelState } from "../runtime/vismach-model-state.js";
const scenes = new WeakMap();
const CAMERA_PRESETS = {
@@ -62,6 +63,7 @@ export function renderFiveAxisScene(canvas, state) {
preview.executedPath.geometry,
preview.currentSegmentPath.geometry,
]),
vismachModel: preview.currentVismachModelState,
});
}
@@ -123,6 +125,7 @@ function createScene(canvas) {
toolMarker,
toolAxis,
currentToolhead: new THREE.Vector3(),
currentVismachModelState: null,
lastSelectedView: null,
lastCameraRevision: null,
lastFitKey: null,
@@ -177,6 +180,7 @@ function renderFallbackPreview(preview, state) {
currentSegmentPointCount: currentSegmentPoints.length,
pathFitBounds: computePointBounds(previewPoints.concat(executedPoints, currentSegmentPoints)) !== null,
pathBounds: summarizeBounds(computePointBounds(previewPoints.concat(executedPoints, currentSegmentPoints))),
vismachModel: buildVismachModelState(state),
});
canvas.dataset.threeFallbackReason = preview.errorMessage;
@@ -268,6 +272,9 @@ function exposePreviewDataset(canvas, state, preview) {
canvas.dataset.threeArcPathPoints = String(preview.arcPointCount || 0);
canvas.dataset.threeCurrentSegmentPoints = String(preview.currentSegmentPointCount || 0);
canvas.dataset.threeCurrentSegmentType = currentSegmentType(state);
canvas.dataset.threeVismachPins = JSON.stringify(preview.vismachModel?.pins || {});
canvas.dataset.threeVismachTransforms = JSON.stringify(preview.vismachModel?.transforms || {});
canvas.dataset.threeVismachPinDrivenModel = preview.vismachModel?.semanticBoundary || "none";
}
function createLine(color, opacity) {
@@ -291,6 +298,19 @@ function createMachineReferenceModel() {
);
base.position.z = -0.016;
const tableAxis = new THREE.Group();
tableAxis.name = "vismach-table-x";
const saddleAxis = new THREE.Group();
saddleAxis.name = "vismach-saddle-y";
const spindleAxis = new THREE.Group();
spindleAxis.name = "vismach-spindle-z";
const tiltAxis = new THREE.Group();
tiltAxis.name = "vismach-tilt-b";
const rotaryAxis = new THREE.Group();
rotaryAxis.name = "vismach-rotate-c";
const toolOffsetAxis = new THREE.Group();
toolOffsetAxis.name = "vismach-tool-offset";
const table = new THREE.Mesh(
new THREE.BoxGeometry(0.37, 0.235, 0.005),
new THREE.MeshBasicMaterial({ color: 0x3a444d, transparent: true, opacity: 0.78 }),
@@ -329,9 +349,21 @@ function createMachineReferenceModel() {
cutter.position.z = 0.008;
toolHolder.add(holderBody, cutter);
root.add(base, table, xAxis, yAxis, zAxis, rotaryA, rotaryC, toolHolder);
toolOffsetAxis.add(toolHolder);
spindleAxis.add(toolOffsetAxis);
rotaryAxis.add(table, rotaryC);
tiltAxis.add(rotaryA, rotaryAxis);
saddleAxis.add(tiltAxis);
tableAxis.add(saddleAxis);
root.add(base, xAxis, yAxis, zAxis, tableAxis, spindleAxis);
return {
root,
tableAxis,
saddleAxis,
spindleAxis,
tiltAxis,
rotaryAxis,
toolOffsetAxis,
rotaryA,
rotaryC,
toolHolder,
@@ -410,15 +442,23 @@ function updateToolExecutionMarker(preview, state, toolPosition) {
function updateMachineReferenceModel(preview, state, toolPosition) {
const model = preview.machineModel;
if (!model) return;
const a = degreesToRadians(state.axisPose?.a);
const b = degreesToRadians(state.axisPose?.b);
const c = degreesToRadians(state.axisPose?.c);
model.rotaryA.rotation.x = a;
model.rotaryA.rotation.y = Math.PI / 2 + b;
model.rotaryC.rotation.z = c;
const vismach = buildVismachModelState(state);
preview.currentVismachModelState = summarizeVismachModelStateForDataset(vismach);
const toMeters = (value) => linearValueToMeters(value, vismach.linearUnits);
model.tableAxis.position.x = toMeters(vismach.transforms.table.translate.x);
model.saddleAxis.position.y = toMeters(vismach.transforms.saddle.translate.y);
model.spindleAxis.position.z = toMeters(vismach.transforms.spindle.translate.z);
model.tiltAxis.rotation.y = degreesToRadians(vismach.transforms.tilt.rotateDeg.y);
model.rotaryAxis.rotation.z = degreesToRadians(vismach.transforms.rotary.rotateDeg.z);
model.toolOffsetAxis.position.set(
toMeters(vismach.transforms.tool.translate.x),
0,
toMeters(vismach.transforms.tool.translate.z),
);
model.rotaryA.rotation.y = Math.PI / 2;
model.rotaryC.rotation.x = Math.PI / 2;
const tcpPosition = toolPosition || toPreviewVector(state.tcpPose || state.axisPose, state);
model.toolHolder.position.copy(tcpPosition);
const toolVector = toToolVector(state.toolAxisVector);
model.toolHolder.lookAt(tcpPosition.clone().add(toolVector));
}
@@ -652,6 +692,26 @@ function summarizeBounds(bounds) {
};
}
function summarizeVismachModelStateForDataset(vismach) {
const summarizeVector = (vector = {}) => ({
x: round(vector.x),
y: round(vector.y),
z: round(vector.z),
});
return {
...vismach,
pins: Object.fromEntries(Object.entries(vismach.pins).map(([key, value]) => [key, round(value)])),
transforms: {
table: { ...vismach.transforms.table, translate: summarizeVector(vismach.transforms.table.translate) },
saddle: { ...vismach.transforms.saddle, translate: summarizeVector(vismach.transforms.saddle.translate) },
spindle: { ...vismach.transforms.spindle, translate: summarizeVector(vismach.transforms.spindle.translate) },
tilt: { ...vismach.transforms.tilt },
rotary: { ...vismach.transforms.rotary },
tool: { ...vismach.transforms.tool, translate: summarizeVector(vismach.transforms.tool.translate) },
},
};
}
function drawFallbackPolyline(ctx, points, cx, cy, scale) {
for (let index = 0; index < points.length; index += 1) {
const point = points[index];