Display selected joint local coordinate system

coverage/glb-machine-manager/mill700/browser.report.json

@@ -8,8 +8,9 @@
     "sha256": "bf37130681cc6462412e52744519516e8ade2a3212dd69153c0b1b3e415bcf66"
   },
   "checks": [
+    "selected MILL700 joint displays its local XYZ coordinate system at local origin",
     "existing 132-node, depth-6 hierarchy displayed as a draggable tree with node origins",
-    "axis inputs drive bound MILL700 hierarchy nodes without recreating WebGL",
+    "each joint rotates about its own origin while children inherit parent motion",
     "metallic MILL700 surfaces rendered with studio PMREM lighting; screenshot captured for visual review",
     "imported model can be deleted and its tree is removed"
   ],

docs/glb-machine-manager/01-项目功能内容.md

@@ -24,6 +24,7 @@
 11. 选择任意树节点时，显示其相对父节点的局部原点 XYZ 坐标。层级和原点读取自解析后的 GLB，导入过程不修改源场景；拖放结果保存为草稿覆盖。
 12. 导入的整机或部件可删除；删除后释放其 GLB 几何、材质和纹理，移除树及预览引用。
 13. 树节点可绑定 X/Y/Z/A或B/C 轴角色。层级运动测试输入 XYZ 毫米值和旋转轴角度后，按节点实际父子关系施加局部位移/旋转，并输出各绑定节点的局部位置、世界位置和四元数，用于验证子节点是否正确跟随父节点。
+14. 选择任意关节树节点时，三维预览在该节点自己的局部 `(0,0,0)` 显示局部 XYZ 坐标系。坐标轴作为该节点子对象，自动继承该节点和所有父节点的变换，不显示成整机世界坐标轴。
 
 ## 数据和单位
 

docs/glb-machine-manager/02-项目程序开发详细步骤.md

@@ -11,5 +11,6 @@
 9. `MGR-09`：浏览器交互、错误边界、类型检查、生产构建、截图和报告收口。
 10. `MGR-12`：按 GLB 原始 `Object3D.children` 显示树，支持根部件和内部节点拖放，选择节点显示父级局部原点；用 MILL700 六层结构验收。
 11. `MGR-14`：新增导入模型删除、树节点轴绑定和 XYZ/ABC 层级运动测试，输出局部/世界变换；MILL700 主轴链与工作台链验收。
+12. `MGR-15`：树选择关节后，将 XYZ 辅助轴挂在该节点局部原点，并验证轴系跟随关节及父链旋转。
 
 每轮只推进任务矩阵中依赖已满足的任务。代码完成后必须同步更新 03、04、05；若改变数据契约或坐标定义，先更新 06。

docs/glb-machine-manager/03-推进台账.md

@@ -43,6 +43,13 @@
 - 删除 MILL700 后 part-count=0、树节点=0。整个运动测试期间 WebGL context generation 始终为 1，没有因输入或树操作重建 renderer。
 - 生产 8 部件 AC/BC 应用、导出和程序运动回归通过，warning/error=0。MGR-14 verified。
 
+## R08 / 2026-09-20 / 选中关节局部坐标系
+
+- 用户明确每个层级节点是独立关节模型，必须显示该关节自己的局部坐标系。
+- 新增复用的 `selected-joint-local-coordinate-system` 三轴箭头组；选择树节点时挂到该节点局部 `(0,0,0)`，位置和四元数归零，因此坐标轴严格表示该节点局部 X/Y/Z。X 红、Y 绿、Z 蓝，箭头长度按整机包围盒自适应。
+- 切换节点时只把辅助轴移到新节点，不重建 renderer；节点随轴输入运动时坐标轴同步继承自身和父链变换。
+- MILL700 选择 `MILL700-A-主轴-JT2` 验证 `selected-joint=<part>:<path>` 和 `selected-joint-axes=local-xyz`，浏览器错误为 0。MGR-15 verified。
+
 ## R02 / 2026-09-20 / 部件装配、标定、应用与验收完成
 
 - 新增 `machine-manager.ts`：通用自包含 GLB 部件加载、SHA-256、深复制、八角色和两条机械链校验、AC/BC URDF 生成、组合场景、底座/整机 userData、组合哈希。

docs/glb-machine-manager/04-任务矩阵.md

@@ -16,3 +16,4 @@
 |MGR-12 GLB 层级树管理|verified|MGR-02,MGR-04|原始层级按 tree 显示；根/内部节点拖放、循环拒绝、节点原点坐标和 MILL700 深层结构验收通过|
 |MGR-13 WebGL 资源稳定性|verified|MGR-10,MGR-12|禁用超限 MSAA；drawing buffer 按 GPU 上限和像素预算缩放；零尺寸/context lost 不连续绘制；短视口 DPR3 无警告|
 |MGR-14 层级运动验证|verified|MGR-12,MGR-13|模型删除；树节点轴绑定；XYZ mm、A/B/C deg 输入驱动局部层级；local/world 变换和 MILL700 父子联动验收|
+|MGR-15 关节局部坐标系|verified|MGR-12,MGR-14|选中树节点时局部 XYZ 辅助轴挂在节点 `(0,0,0)`，随关节和父链变换，不重建 WebGL|

docs/glb-machine-manager/05-验收证据.md

@@ -16,8 +16,8 @@
 - 状态：verified；浏览器错误 0。
 - 覆盖：8 部件导入和预览、原点显隐、数值/TransformControls 变换、组合 GLB 导出、AC/BC 应用、底座 userData、物理零点、非法层级拒绝、BC 五轴程序。
 - 截图：
-  - `coverage/glb-machine-manager/manager-ac-config.png`，SHA-256 `5920cce68e8eba3adffdefaab2d475de7e49b62515a9453e76fb994e168e6ce0`
-  - `coverage/glb-machine-manager/managed-bc-running.png`，SHA-256 `2a28290ff58b3a0d3250ee5ebb1bc636a2cc8b8f62828b41764435501f97d385`
+  - `coverage/glb-machine-manager/manager-ac-config.png`，SHA-256 `b2fc2e00497ddb1e72e3170ee83ed54c21c8da9099036d84eeb4d6d6eef8619b`
+  - `coverage/glb-machine-manager/managed-bc-running.png`，SHA-256 `4b2d76cd505f1e31847d09650b052a0a9c393515cb7c71ad55ac649072634005`
 
 ## E03 / R02 / 生产构建浏览器闭环
 
@@ -43,10 +43,10 @@
 - 状态：verified。
 - 命令：`PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_machine_manager_mill700_browser.mjs`
 - 模型：`MILL700-U_1.glb`，9,418,852 bytes，SHA-256 `bf37130681cc6462412e52744519516e8ade2a3212dd69153c0b1b3e415bcf66`。
-- report_id：`GLB-MGR-E05`；报告 SHA-256 `11327a756a019ff933759fdf95da5a0e461dcf6987d0fa030d777fe82c96c807`。
+- report_id：`GLB-MGR-E05`；报告 SHA-256 `09fd47f80dd2f741aa1d585ce5b1b40c2ff32e211b7b6e08b1b0da18327d798e`。
 - 结构：132 节点、126 网格、深度 6、126 材质，其中 110 个 `metalness >= 0.9`。
 - 检查：已有内部层级完整保留；管理器使用 `studio-pmrem`、sRGB 输出、ACES、曝光 `1.45` 和多向补光；浏览器错误为 0。
-- 截图：`coverage/glb-machine-manager/mill700/mill700-studio-lighting.png`，SHA-256 `ad1e2a36a5db765a13ba3ce633c9cc0e146867c87397cd284988d2496d950344`。
+- 截图：`coverage/glb-machine-manager/mill700/mill700-studio-lighting.png`，SHA-256 `8943b16fe774427306ccafb5dcbc9817bc87538edbf67bbd5807dd59bd700d8b`。
 
 ## E06 / R04 / Z-up 坐标
 
@@ -79,3 +79,10 @@
 - 结果：XYZ 局部增量依次为 0.01/0.02/0.03 m；A/C 局部旋转增量为 15°/45°；C 世界位置和世界四元数受 A 父节点影响，证明层级联动有效。
 - 生命周期：输入和树操作期间 `context-generation=1`；warning/error=0。删除后部件数和树节点数均为 0。
 - 完整变换样本保存在 `coverage/glb-machine-manager/mill700/browser.report.json` 的 `motion.baseline/driven`。
+
+## E10 / R08 / 选中关节局部坐标系
+
+- 状态：verified。
+- MILL700 选择 `MILL700-A-主轴-JT2` 后，预览发布稳定源路径，`selected-joint-axes=local-xyz`。
+- 三轴箭头组的局部 position=(0,0,0)、quaternion=identity，父对象为所选 GLB 节点；X 红/Y 绿/Z 蓝且按整机尺寸缩放，表示关节自己的局部轴并继承完整父链。
+- 节点选择和轴值驱动期间 `context-generation=1`，浏览器 warning/error=0。

docs/glb-machine-manager/06-决策记录.md

@@ -47,3 +47,7 @@ GLB 树节点 ID 使用导入时的子节点索引路径，不使用可能重复
 ## D12 / 轴值驱动是层级诊断
 
 管理器的 XYZ/ABC 输入只驱动树中显式绑定的草稿节点，用于验证父子层级和轴向；它不发送 LinuxCNC 运动命令，也不替代 Worker/WASM。正式加工仍由控制面板程序、TP 和运动学驱动。诊断输出同时保留 local/world 变换以区分节点自身运动和父级继承运动。
+
+## D13 / 关节坐标轴属于节点局部空间
+
+选中关节的坐标辅助必须作为该节点子对象放在局部 `(0,0,0)`，不可复制世界位置或使用整机坐标轴冒充。这样关节本身旋转时辅助轴同步旋转，父关节运动时又能自然继承父链，符合 GLB 层级矩阵语义。

docs/glb-machine-manager/README.md

@@ -11,7 +11,7 @@
 
 现有整机 GLB + 内嵌 URDF 导入能力继续保留。新管理器生成与现有 `linuxcnc.machine/1` 相同的严格结构，再通过已有配置、Worker、WASM 和 Three.js 投影链运行。
 
-当前状态：MGR-01 至 MGR-14 全部 verified，MILL700 实测覆盖照明、Z-up、132 节点树、拖放、节点原点、模型删除、轴绑定、XYZ/AC 层级运动和 WebGL 资源降级。最新台账 R07，证据 `GLB-MGR-E01/E02/E05/E07/E08/E09` 位于 `coverage/glb-machine-manager/`。
+当前状态：MGR-01 至 MGR-15 全部 verified，MILL700 实测覆盖照明、Z-up、132 节点树、拖放、节点原点、关节局部坐标系、模型删除、轴绑定、XYZ/AC 层级运动和 WebGL 资源降级。最新台账 R08，证据 `GLB-MGR-E01/E02/E05/E07/E08/E09/E10` 位于 `coverage/glb-machine-manager/`。
 
 文档：
 

scripts/test_machine_manager_mill700_browser.mjs

@@ -26,15 +26,15 @@ try {
   await control("machine-manager-settings").click(); await control("machine-manager-files").setInputFiles({ name: "MILL700-U_1.glb", mimeType: "model/gltf-binary", buffer: model });
   await page.waitForFunction(() => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerPartCount === "1" && document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerRendered === "true" && document.querySelectorAll('[data-axis-control="machine-tree-node"]').length >= 132, null, { timeout: 60000 });
   assert.equal(hierarchy.root, "MILL700-U_1"); assert.equal(hierarchy.nodes, 132); assert.equal(hierarchy.meshes, 126); assert.ok(hierarchy.maxDepth >= 6); assert.ok(hierarchy.metallic > 20);
-  assert.ok(await page.locator('[data-axis-control="machine-tree-node"]').count() >= 132); const selectedNode = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A-主轴-JT2" }).first(); await selectedNode.dispatchEvent("click"); assert.match(await control("machine-tree-origin").textContent(), /相对父节点原点.*X .*Y .*Z /s); await page.screenshot({ path: new URL("mill700-studio-lighting.png", output).pathname, timeout: 60000 });
+  assert.ok(await page.locator('[data-axis-control="machine-tree-node"]').count() >= 132); const selectedNode = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A-主轴-JT2" }).first(); await selectedNode.dispatchEvent("click"); assert.match(await control("machine-tree-origin").textContent(), /节点自身局部原点.*X 0\.000.*关节零姿态原点.*零姿态世界原点.*零姿态局部转角/s); const selectedPath = await selectedNode.locator("xpath=ancestor::li[1]").getAttribute("data-machine-tree-path"), selectedPart = await selectedNode.locator("xpath=ancestor::li[1]").getAttribute("data-machine-tree-part"); await page.waitForFunction(({ selectedPart, selectedPath }) => { const preview = document.querySelector("[data-machine-manager-preview]"); return preview?.dataset.machineManagerSelectedJoint === `${selectedPart}:${selectedPath}` && preview?.dataset.machineManagerSelectedJointAxes === "local-xyz" && preview?.dataset.machineManagerTransformTarget === "none-internal-joint"; }, { selectedPart, selectedPath }); const jointWorldOrigin = JSON.parse(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-selected-joint-world-origin")); assert.ok(jointWorldOrigin.length === 3 && jointWorldOrigin.every(Number.isFinite)); assert.ok(Number(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-selected-joint-axes-scale")) >= 1); await page.screenshot({ path: new URL("mill700-studio-lighting.png", output).pathname, timeout: 60000 });
   const source = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A-门1-JT1" }).first(), target = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A底座" }).first(); const sourceItem = source.locator("xpath=ancestor::li[1]"), targetItem = target.locator("xpath=ancestor::li[1]"), sourcePath = await sourceItem.getAttribute("data-machine-tree-path"), targetPath = await targetItem.getAttribute("data-machine-tree-path"), partId = await sourceItem.getAttribute("data-machine-tree-part"); await target.evaluate((element, payload) => { const transfer = new DataTransfer(); transfer.setData("application/x-linuxcnc-machine-tree", JSON.stringify({ partId: payload.partId, path: payload.sourcePath })); element.dispatchEvent(new DragEvent("drop", { bubbles: true, cancelable: true, dataTransfer: transfer })); }, { partId, sourcePath }); await page.waitForFunction(({ sourcePath, targetPath }) => document.querySelector(`[data-machine-tree-path="${sourcePath}"]`)?.getAttribute("data-machine-tree-parent") === targetPath, { sourcePath, targetPath }, { timeout: 60000 }); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-context-generation"), "1");
-  report.hierarchy = hierarchy; report.checks.push("existing 132-node, depth-6 hierarchy displayed as a draggable tree with node origins");
-  const preview = page.locator("[data-machine-manager-preview]"); assert.equal(await preview.getAttribute("data-machine-manager-lighting"), "studio-pmrem"); assert.equal(await preview.getAttribute("data-machine-manager-coordinate-system"), "machine-z-up"); assert.equal(await preview.getAttribute("data-machine-manager-axis-map"), "X:x,Y:y,Z:z"); assert.equal(await preview.getAttribute("data-machine-manager-camera-up"), "0,0,1"); assert.equal(await preview.getAttribute("data-machine-manager-model-transform"), "none-on-import"); assert.equal(await preview.getAttribute("data-machine-manager-webgl-antialias"), "false"); assert.equal(await preview.getAttribute("data-machine-manager-render-state"), "ready"); assert.equal(await preview.getAttribute("data-machine-manager-context-generation"), "1"); const [bufferWidth, bufferHeight] = (await preview.getAttribute("data-machine-manager-buffer-size")).split("x").map(Number), maxBuffer = Number(await preview.getAttribute("data-machine-manager-max-buffer")); assert.ok(bufferWidth > 0 && bufferHeight > 0 && bufferWidth <= maxBuffer && bufferHeight <= maxBuffer);
+  report.hierarchy = hierarchy; report.checks.push("selected MILL700 joint displays its local XYZ coordinate system at local origin"); report.checks.push("existing 132-node, depth-6 hierarchy displayed as a draggable tree with node origins");
+  const preview = page.locator("[data-machine-manager-preview]"); assert.equal(await preview.getAttribute("data-machine-manager-lighting"), "studio-pmrem"); assert.equal(await preview.getAttribute("data-machine-manager-coordinate-system"), "machine-z-up"); assert.equal(await preview.getAttribute("data-machine-manager-axis-map"), "X:x,Y:y,Z:z"); assert.equal(await preview.getAttribute("data-machine-manager-camera-up"), "0,0,1"); assert.equal(await preview.getAttribute("data-machine-manager-model-transform"), "none-on-import"); assert.equal(await preview.getAttribute("data-machine-manager-webgl-antialias"), "false"); assert.equal(await preview.getAttribute("data-machine-manager-render-state"), "rendered"); assert.equal(await preview.getAttribute("data-machine-manager-context-generation"), "1"); assert.equal(Number(await preview.getAttribute("data-machine-manager-scene-meshes")), 126); assert.ok(Number(await preview.getAttribute("data-machine-manager-scene-objects")) >= 132); const bounds = JSON.parse(await preview.getAttribute("data-machine-manager-bounds")); assert.ok(bounds.min.every(Number.isFinite) && bounds.max.every(Number.isFinite) && bounds.size > 0); const [bufferWidth, bufferHeight] = (await preview.getAttribute("data-machine-manager-buffer-size")).split("x").map(Number), maxBuffer = Number(await preview.getAttribute("data-machine-manager-max-buffer")); assert.ok(bufferWidth > 0 && bufferHeight > 0 && bufferWidth <= maxBuffer && bufferHeight <= maxBuffer);
   const bind = async (name, role) => { const node = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: name }).first(); await node.dispatchEvent("click"); await control("machine-tree-axis-role").selectOption(role); };
   await bind("MILL700-A-主轴-JT1", "x"); await bind("MILL700-A-主轴-JT2", "y"); await bind("MILL700-A-主轴-JT3", "z"); await bind("MILL700-A-工作台-JT1", "tilt"); await bind("MILL700-A-工作台-JT2", "c"); await page.waitForFunction(() => { try { const roles = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerRoleTransforms ?? "{}"); return ["x", "y", "z", "tilt", "c"].every((role) => roles[role]); } catch { return false; } });
   const baseline = JSON.parse(await preview.getAttribute("data-machine-manager-role-transforms")); await control("machine-test-x").fill("10"); await control("machine-test-y").fill("20"); await control("machine-test-z").fill("30"); await control("machine-test-a").fill("15"); await control("machine-test-c").fill("45"); await page.waitForFunction(() => JSON.parse(document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerTestPose ?? "{}").c === 45);
   const driven = JSON.parse(await preview.getAttribute("data-machine-manager-role-transforms")), quaternionAngle = (left, right) => 2 * Math.acos(Math.min(1, Math.abs(left.reduce((sum, value, index) => sum + value * right[index], 0))));
-  assert.ok(Math.abs(driven.x.local[0] - baseline.x.local[0] - .01) < 1e-9); assert.ok(Math.abs(driven.y.local[1] - baseline.y.local[1] - .02) < 1e-9); assert.ok(Math.abs(driven.z.local[2] - baseline.z.local[2] - .03) < 1e-9); assert.ok(Math.abs(quaternionAngle(driven.tilt.localQuaternion, baseline.tilt.localQuaternion) - 15 * Math.PI / 180) < 1e-7); assert.ok(Math.abs(quaternionAngle(driven.c.localQuaternion, baseline.c.localQuaternion) - 45 * Math.PI / 180) < 1e-7); assert.ok(driven.c.world.some((value, index) => Math.abs(value - baseline.c.world[index]) > 1e-6)); assert.equal(await preview.getAttribute("data-machine-manager-context-generation"), "1"); report.motion = { input: { x: 10, y: 20, z: 30, a: 15, c: 45 }, baseline, driven }; report.checks.push("axis inputs drive bound MILL700 hierarchy nodes without recreating WebGL");
+  assert.ok(Math.abs(driven.x.local[0] - baseline.x.local[0] - .01) < 1e-9); assert.ok(Math.abs(driven.y.local[1] - baseline.y.local[1] - .02) < 1e-9); assert.ok(Math.abs(driven.z.local[2] - baseline.z.local[2] - .03) < 1e-9); assert.ok(Math.abs(quaternionAngle(driven.tilt.localQuaternion, baseline.tilt.localQuaternion) - 15 * Math.PI / 180) < 1e-7); assert.ok(Math.abs(quaternionAngle(driven.c.localQuaternion, baseline.c.localQuaternion) - 45 * Math.PI / 180) < 1e-7); assert.deepEqual(driven.tilt.world, baseline.tilt.world); assert.deepEqual(driven.c.local, baseline.c.local); assert.ok(driven.c.world.some((value, index) => Math.abs(value - baseline.c.world[index]) > 1e-6)); assert.equal(await preview.getAttribute("data-machine-manager-context-generation"), "1"); report.motion = { input: { x: 10, y: 20, z: 30, a: 15, c: 45 }, baseline, driven }; report.checks.push("each joint rotates about its own origin while children inherit parent motion");
   report.checks.push("metallic MILL700 surfaces rendered with studio PMREM lighting; screenshot captured for visual review"); assert.deepEqual(errors, []); report.status = "verified";
   await control("machine-manager-delete").click(); await page.waitForFunction(() => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerPartCount === "0" && document.querySelectorAll('[data-axis-control="machine-tree-node"]').length === 0); report.checks.push("imported model can be deleted and its tree is removed");
 } catch (error) { report.status = "failed"; report.error = error instanceof Error ? error.stack : String(error); await page.screenshot({ path: new URL("failure.png", output).pathname, timeout: 5000 }).catch(() => undefined); throw error; }

web/react/src/MachineManagerPanel.tsx

@@ -6,21 +6,23 @@ import { GLTFExporter } from "three/examples/jsm/exporters/GLTFExporter.js";
 import { RoomEnvironment } from "three/examples/jsm/environments/RoomEnvironment.js";
 import { DraggableDialog } from "./DraggableDialog";
 import { disposeMachineScene, type ImportedMachine } from "./imported-machine";
-import { applyMachineNodeParents, buildManagedMachine, expectedParentRole, loadMachinePart, machinePartTree, machineSceneNode, MACHINE_PART_ROLES, roleLabel, type MachinePartDraft, type MachinePartRole, type MachineTreeNode, type PhysicalZero } from "./machine-manager";
+import { applyMachineNodeParents, buildManagedMachine, expectedParentRole, loadMachinePart, machinePartTree, MACHINE_PART_ROLES, roleLabel, type MachinePartDraft, type MachinePartRole, type MachineTreeNode, type PhysicalZero } from "./machine-manager";
 import type { Vec3 } from "./machine-urdf";
 
 type Props = { coordinates: "XYZAC" | "XYZBC"; disabled: boolean; onApply: (machine: ImportedMachine) => Promise<void> };
 type TestPose = { x: number; y: number; z: number; a: number; b: number; c: number };
+type MotionTransform = { local: number[]; localQuaternion: number[]; world: number[]; worldQuaternion: number[] };
 const zero3 = (): Vec3 => [0, 0, 0];
 const number = (value: string) => Number.isFinite(Number(value)) ? Number(value) : 0;
 
-function ManagerPreview({ coordinates, parts, selectedId, mode, testPose, onTransform }: { coordinates: "XYZAC" | "XYZBC"; parts: MachinePartDraft[]; selectedId: string | null; mode: "translate" | "rotate"; testPose: TestPose; onTransform: (id: string, translationMm: Vec3, rotationDeg: Vec3) => void }) {
-  type PreviewHost = HTMLDivElement & { machineManagerSync?: (parts: MachinePartDraft[], selectedId: string | null, mode: "translate" | "rotate", testPose: TestPose, coordinates: "XYZAC" | "XYZBC") => void };
+function ManagerPreview({ coordinates, parts, selectedId, selectedNodePath, mode, testPose, onTransform, onMotionState }: { coordinates: "XYZAC" | "XYZBC"; parts: MachinePartDraft[]; selectedId: string | null; selectedNodePath: string; mode: "translate" | "rotate"; testPose: TestPose; onTransform: (id: string, translationMm: Vec3, rotationDeg: Vec3) => void; onMotionState: (state: Record<string, MotionTransform>) => void }) {
+  type PreviewHost = HTMLDivElement & { machineManagerSync?: (parts: MachinePartDraft[], selectedId: string | null, selectedNodePath: string, mode: "translate" | "rotate", testPose: TestPose, coordinates: "XYZAC" | "XYZBC") => void };
   const host = useRef<PreviewHost>(null);
-  const stateRef = useRef({ parts, selectedId, mode, testPose, coordinates }); stateRef.current = { parts, selectedId, mode, testPose, coordinates };
+  const stateRef = useRef({ parts, selectedId, selectedNodePath, mode, testPose, coordinates }); stateRef.current = { parts, selectedId, selectedNodePath, mode, testPose, coordinates };
   const onTransformRef = useRef(onTransform); onTransformRef.current = onTransform;
+  const onMotionStateRef = useRef(onMotionState); onMotionStateRef.current = onMotionState;
   const [fault, setFault] = useState("");
-  useEffect(() => { host.current?.machineManagerSync?.(parts, selectedId, mode, testPose, coordinates); }, [parts, selectedId, mode, testPose, coordinates]);
+  useEffect(() => { host.current?.machineManagerSync?.(parts, selectedId, selectedNodePath, mode, testPose, coordinates); }, [parts, selectedId, selectedNodePath, mode, testPose, coordinates]);
   useEffect(() => {
     const element = host.current; if (!element) return;
     // Large industrial GLBs can exceed small-GPU multisample renderbuffer
@@ -42,22 +44,31 @@ function ManagerPreview({ coordinates, parts, selectedId, mode, testPose, onTran
     const orbit = new OrbitControls(camera, renderer.domElement); orbit.enableDamping = true;
     const root = new THREE.Group(); root.name = "machine-manager-preview"; scene.add(root);
     type RoleNode = { object: THREE.Object3D; position: THREE.Vector3; quaternion: THREE.Quaternion };
-    let nodes = new Map<string, THREE.Group>(), roleNodes = new Map<MachinePartRole, RoleNode>(), helpers: THREE.AxesHelper[] = [], selectedObject: THREE.Group | null = null, selectedPartId: string | null = null, lastParts: MachinePartDraft[] | null = null, fitSignature = "", dirty = true;
+    let nodes = new Map<string, THREE.Group>(), visualNodes = new Map<string, Map<string, THREE.Object3D>>(), roleNodes = new Map<MachinePartRole, RoleNode>(), helpers: THREE.AxesHelper[] = [], selectedObject: THREE.Group | null = null, selectedJointObject: THREE.Object3D | null = null, selectedPartId: string | null = null, lastParts: MachinePartDraft[] | null = null, fitSignature = "", selectedAxesScale = 1, dirty = true, renderable = false, contextLost = false, frame = 0;
+    const selectedJointAxes = new THREE.Group(); selectedJointAxes.name = "selected-joint-local-coordinate-system"; selectedJointAxes.visible = false;
+    const jointAxis = (direction: THREE.Vector3, color: number) => selectedJointAxes.add(new THREE.ArrowHelper(direction, new THREE.Vector3(), .28, color, .07, .045));
+    jointAxis(new THREE.Vector3(1, 0, 0), 0xff3030); jointAxis(new THREE.Vector3(0, 1, 0), 0x35d05b); jointAxis(new THREE.Vector3(0, 0, 1), 0x327cff); scene.add(selectedJointAxes);
     const transform = new TransformControls(camera, renderer.domElement); transform.setMode(mode); transform.setSpace("local"); scene.add(transform.getHelper());
     transform.addEventListener("dragging-changed", ((event: { value?: boolean }) => { orbit.enabled = !event.value; }) as never);
     transform.addEventListener("objectChange", (() => {
       if (!selectedPartId || !selectedObject) return;
       onTransformRef.current(selectedPartId, selectedObject.position.toArray().map((value) => value * 1000) as Vec3, [THREE.MathUtils.radToDeg(selectedObject.rotation.x), THREE.MathUtils.radToDeg(selectedObject.rotation.y), THREE.MathUtils.radToDeg(selectedObject.rotation.z)]);
     }) as never);
-    element.machineManagerSync = (nextParts, nextSelectedId, nextMode, nextPose, nextCoordinates) => {
+    const draw = () => {
+      if (contextLost || !renderable) return;
+      renderer.setRenderTarget(null); scene.updateMatrixWorld(true); camera.updateMatrixWorld(true); renderer.clear(); renderer.render(scene, camera);
+      element.dataset.machineManagerRendered = "true"; element.dataset.machineManagerRenderState = "rendered"; dirty = false;
+    };
+    element.machineManagerSync = (nextParts, nextSelectedId, nextNodePath, nextMode, nextPose, nextCoordinates) => {
       transform.setMode(nextMode);
       if (nextParts !== lastParts) {
-        transform.detach(); root.clear(); helpers.forEach((helper) => helper.dispose()); helpers = []; nodes = new Map(); roleNodes = new Map();
+        delete element.dataset.machineManagerRendered; element.dataset.machineManagerRenderState = "syncing-scene";
+        transform.detach(); selectedJointAxes.removeFromParent(); root.clear(); helpers.forEach((helper) => helper.dispose()); helpers = []; nodes = new Map(); visualNodes = new Map(); roleNodes = new Map();
         for (const part of nextParts) {
           const node = new THREE.Group(); node.name = `draft_${part.id}`; node.visible = part.visible; node.position.fromArray(part.translationMm).multiplyScalar(.001); node.rotation.set(...part.rotationDeg.map(THREE.MathUtils.degToRad) as Vec3);
           // Clone transforms/hierarchy only. Geometry, materials, textures and
           // source-node transforms remain untouched on the imported GLB.
-          const visual = part.scene.clone(true), internalRoles = Object.entries(part.nodeRoles ?? {}).map(([path, role]) => ({ object: machineSceneNode(visual, path), role })); applyMachineNodeParents(visual, part.nodeParents); visual.position.fromArray(part.originMm).multiplyScalar(-.001); node.add(visual);
+          const visual = part.scene.clone(true), pathNodes = new Map<string, THREE.Object3D>(); const indexNodes = (object: THREE.Object3D, path: string) => { pathNodes.set(path, object); object.children.forEach((child, index) => indexNodes(child, `${path}/${index}`)); }; indexNodes(visual, "scene"); const internalRoles = Object.entries(part.nodeRoles ?? {}).map(([path, role]) => ({ object: pathNodes.get(path) ?? null, role })); applyMachineNodeParents(visual, part.nodeParents); visual.position.fromArray(part.originMm).multiplyScalar(-.001); node.add(visual); visualNodes.set(part.id, pathNodes);
           const axes = new THREE.AxesHelper(.12); helpers.push(axes); axes.name = `origin_${part.id}`; axes.visible = part.showOrigin; node.add(axes); root.add(node); nodes.set(part.id, node);
           if (part.role) roleNodes.set(part.role, { object: node, position: node.position.clone(), quaternion: node.quaternion.clone() });
           for (const binding of internalRoles) if (binding.object && binding.role) roleNodes.set(binding.role, { object: binding.object, position: binding.object.position.clone(), quaternion: binding.object.quaternion.clone() });
@@ -67,19 +78,20 @@ function ManagerPreview({ coordinates, parts, selectedId, mode, testPose, onTran
         const signature = nextParts.map((part) => `${part.id}:${part.hash}`).join("|");
         if (signature !== fitSignature) {
           const bounds = new THREE.Box3().setFromObject(root), center = bounds.isEmpty() ? new THREE.Vector3() : bounds.getCenter(new THREE.Vector3()), size = bounds.isEmpty() ? 1 : Math.max(bounds.getSize(new THREE.Vector3()).length(), .2);
-          orbit.target.copy(center); camera.position.copy(center).add(new THREE.Vector3(size, size * .7, size * 1.15)); orbit.update(); fitSignature = signature;
+          orbit.target.copy(center); camera.position.copy(center).add(new THREE.Vector3(size, size * .7, size * 1.15)); camera.lookAt(center); orbit.update(); fitSignature = signature; selectedAxesScale = THREE.MathUtils.clamp(size * .14 / .28, 1, 12);
+          element.dataset.machineManagerBounds = JSON.stringify({ min: bounds.min.toArray(), max: bounds.max.toArray(), center: center.toArray(), size }); element.dataset.machineManagerCamera = JSON.stringify({ position: camera.position.toArray(), target: orbit.target.toArray(), up: camera.up.toArray() });
         }
         lastParts = nextParts;
       }
-      selectedPartId = nextSelectedId; selectedObject = nextSelectedId ? nodes.get(nextSelectedId) ?? null : null; transform.detach(); if (selectedObject) transform.attach(selectedObject);
+      selectedPartId = nextSelectedId; selectedObject = nextSelectedId && nextNodePath === "scene" ? nodes.get(nextSelectedId) ?? null : null; transform.detach(); if (selectedObject) transform.attach(selectedObject);
+      selectedJointAxes.removeFromParent(); selectedJointObject = nextSelectedId ? nextNodePath === "scene" ? nodes.get(nextSelectedId) ?? null : visualNodes.get(nextSelectedId)?.get(nextNodePath) ?? null : null; if (selectedJointObject) { selectedJointObject.add(selectedJointAxes); selectedJointAxes.position.set(0, 0, 0); selectedJointAxes.quaternion.identity(); selectedJointAxes.scale.setScalar(selectedAxesScale); selectedJointAxes.visible = true; element.dataset.machineManagerSelectedJoint = `${nextSelectedId}:${nextNodePath}`; element.dataset.machineManagerSelectedJointAxes = "local-xyz"; element.dataset.machineManagerTransformTarget = nextNodePath === "scene" ? "part-root" : "none-internal-joint"; } else { selectedJointAxes.visible = false; delete element.dataset.machineManagerSelectedJoint; delete element.dataset.machineManagerSelectedJointAxes; delete element.dataset.machineManagerTransformTarget; }
       for (const binding of roleNodes.values()) { binding.object.position.copy(binding.position); binding.object.quaternion.copy(binding.quaternion); }
-      const translate = (role: MachinePartRole, axis: "x" | "y" | "z", value: number) => { const binding = roleNodes.get(role); if (binding) binding.object.position[axis] += value / 1000; };
+      const translate = (role: MachinePartRole, axis: "x" | "y" | "z", value: number) => { const binding = roleNodes.get(role); if (binding) { const direction = new THREE.Vector3(axis === "x" ? 1 : 0, axis === "y" ? 1 : 0, axis === "z" ? 1 : 0).applyQuaternion(binding.quaternion); binding.object.position.addScaledVector(direction, value / 1000); } };
       const rotate = (role: MachinePartRole, axis: THREE.Vector3, degrees: number) => { const binding = roleNodes.get(role); if (binding) binding.object.quaternion.copy(binding.quaternion).multiply(new THREE.Quaternion().setFromAxisAngle(axis, THREE.MathUtils.degToRad(degrees))); };
       translate("x", "x", nextPose.x); translate("y", "y", nextPose.y); translate("z", "z", nextPose.z); rotate("tilt", nextCoordinates === "XYZBC" ? new THREE.Vector3(0, 1, 0) : new THREE.Vector3(1, 0, 0), nextCoordinates === "XYZBC" ? nextPose.b : nextPose.a); rotate("c", new THREE.Vector3(0, 0, 1), nextPose.c);
-      root.updateMatrixWorld(true); element.dataset.machineManagerRoleTransforms = JSON.stringify(Object.fromEntries([...roleNodes].map(([role, binding]) => [role, { local: binding.object.position.toArray(), localQuaternion: binding.object.quaternion.toArray(), world: binding.object.getWorldPosition(new THREE.Vector3()).toArray(), worldQuaternion: binding.object.getWorldQuaternion(new THREE.Quaternion()).toArray() }]))); element.dataset.machineManagerTestPose = JSON.stringify(nextPose); element.dataset.machineManagerContextGeneration = "1"; dirty = true;
+      root.updateMatrixWorld(true); let objectCount = 0, meshCount = 0; root.traverse((object) => { let cursor: THREE.Object3D | null = object, isJointHelper = false; while (cursor) { if (cursor === selectedJointAxes) { isJointHelper = true; break; } cursor = cursor.parent; } if (!isJointHelper) { objectCount += 1; if ((object as THREE.Mesh).isMesh) meshCount += 1; } }); const transforms = Object.fromEntries([...roleNodes].map(([role, binding]) => [role, { local: binding.object.position.toArray(), localQuaternion: binding.object.quaternion.toArray(), world: binding.object.getWorldPosition(new THREE.Vector3()).toArray(), worldQuaternion: binding.object.getWorldQuaternion(new THREE.Quaternion()).toArray() }])); element.dataset.machineManagerSceneObjects = String(objectCount); element.dataset.machineManagerSceneMeshes = String(meshCount); element.dataset.machineManagerRoleTransforms = JSON.stringify(transforms); if (selectedJointObject) { element.dataset.machineManagerSelectedJointWorldOrigin = JSON.stringify(selectedJointObject.getWorldPosition(new THREE.Vector3()).toArray()); element.dataset.machineManagerSelectedJointWorldQuaternion = JSON.stringify(selectedJointObject.getWorldQuaternion(new THREE.Quaternion()).toArray()); element.dataset.machineManagerSelectedJointAxesScale = selectedAxesScale.toFixed(6); } onMotionStateRef.current(transforms); element.dataset.machineManagerTestPose = JSON.stringify(nextPose); element.dataset.machineManagerContextGeneration = "1"; dirty = true; draw();
     };
-    element.machineManagerSync(stateRef.current.parts, stateRef.current.selectedId, stateRef.current.mode, stateRef.current.testPose, stateRef.current.coordinates);
-    let renderable = false, contextLost = false;
+    element.machineManagerSync(stateRef.current.parts, stateRef.current.selectedId, stateRef.current.selectedNodePath, stateRef.current.mode, stateRef.current.testPose, stateRef.current.coordinates);
     const resize = () => {
       const width = element.clientWidth, height = element.clientHeight;
       if (!Number.isFinite(width) || !Number.isFinite(height) || width < 2 || height < 2) { renderable = false; element.dataset.machineManagerRenderState = "suspended-zero-size"; return; }
@@ -88,14 +100,14 @@ function ManagerPreview({ coordinates, parts, selectedId, mode, testPose, onTran
       const pixelRatio = Math.max(.5, requested * scale);
       renderer.setPixelRatio(pixelRatio); camera.aspect = width / height; camera.updateProjectionMatrix(); renderer.setSize(width, height, false);
       renderable = renderer.domElement.width > 0 && renderer.domElement.height > 0 && renderer.domElement.width <= maxDimension && renderer.domElement.height <= maxDimension;
-      element.dataset.machineManagerPixelRatio = pixelRatio.toFixed(3); element.dataset.machineManagerBufferSize = `${renderer.domElement.width}x${renderer.domElement.height}`; element.dataset.machineManagerRenderState = renderable ? "ready" : "suspended-limit";
+      element.dataset.machineManagerPixelRatio = pixelRatio.toFixed(3); element.dataset.machineManagerBufferSize = `${renderer.domElement.width}x${renderer.domElement.height}`; element.dataset.machineManagerRenderState = renderable ? "ready" : "suspended-limit"; dirty = true; draw();
     };
     const contextLostHandler = (event: Event) => { event.preventDefault(); contextLost = true; renderable = false; element.dataset.machineManagerRenderState = "context-lost"; setFault("WebGL 上下文已丢失，请关闭并重新打开三维机床管理器"); };
     renderer.domElement.addEventListener("webglcontextlost", contextLostHandler);
-    const observer = new ResizeObserver(resize); observer.observe(element); resize(); let frame = 0;
+    const observer = new ResizeObserver(resize); observer.observe(element); resize();
     orbit.addEventListener("change", () => { dirty = true; }); transform.addEventListener("change", () => { dirty = true; });
-    const render = () => { if (!contextLost && renderable && (dirty || orbit.update())) { renderer.render(scene, camera); element.dataset.machineManagerRendered = "true"; dirty = false; } frame = contextLost ? 0 : requestAnimationFrame(render); }; render();
-    return () => { if (frame) cancelAnimationFrame(frame); observer.disconnect(); delete element.machineManagerSync; renderer.domElement.removeEventListener("webglcontextlost", contextLostHandler); transform.dispose(); orbit.dispose(); helpers.forEach((helper) => helper.dispose()); environment.dispose(); renderer.dispose(); renderer.domElement.remove(); };
+    const render = () => { if (!contextLost && renderable && (dirty || orbit.update())) draw(); frame = contextLost ? 0 : requestAnimationFrame(render); }; render();
+    return () => { if (frame) cancelAnimationFrame(frame); observer.disconnect(); delete element.machineManagerSync; renderer.domElement.removeEventListener("webglcontextlost", contextLostHandler); transform.dispose(); orbit.dispose(); helpers.forEach((helper) => helper.dispose()); selectedJointAxes.traverse((object) => { const mesh = object as THREE.Mesh; mesh.geometry?.dispose(); if (mesh.material) for (const material of Array.isArray(mesh.material) ? mesh.material : [mesh.material]) material.dispose(); }); environment.dispose(); renderer.dispose(); renderer.domElement.remove(); };
   }, []);
   return <div className="machine-manager-preview-shell"><div ref={host} className="machine-manager-preview" data-machine-manager-preview data-machine-manager-coordinate-system="machine-z-up" data-machine-manager-axis-map="X:x,Y:y,Z:z" data-machine-manager-camera-up="0,0,1" data-machine-manager-model-transform="none-on-import" data-machine-manager-lighting="studio-pmrem" data-machine-manager-exposure="1.45" data-machine-manager-part-count={parts.length} data-machine-manager-origin-count={parts.filter((part) => part.showOrigin).length} data-transform-mode={mode} aria-label="三维机床装配预览，机床 Z 轴朝上" />{fault && <output className="machine-manager-webgl-fault" role="alert">{fault}</output>}</div>;
 }
@@ -118,6 +130,7 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) {
   const [cOriginMm, setCOriginMm] = useState<Vec3>([0, 0, 0]); const [tiltOffsetMm, setTiltOffsetMm] = useState<Vec3>([0, 0, 0]);
   const [physicalZero, setPhysicalZero] = useState<PhysicalZero>({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); const file = useRef<HTMLInputElement>(null);
   const [testPose, setTestPose] = useState<TestPose>({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 });
+  const [motionState, setMotionState] = useState<Record<string, MotionTransform>>({}); const motionStateHash = useRef("");
   useEffect(() => () => { for (const part of partsRef.current) disposeMachineScene(part.scene); }, []);
   useEffect(() => { setMessage(""); setCOriginMm([0, 0, 0]); setTiltOffsetMm([0, 0, 0]); setPhysicalZero({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); }, [coordinates]);
   const selected = parts.find((part) => part.id === selectedId) ?? null;
@@ -144,7 +157,7 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) {
     } catch (error) { setMessage(error instanceof Error ? error.message : String(error)); }
     finally { setPending(false); }
   };
-  const remove = (part: MachinePartDraft) => { disposeMachineScene(part.scene); setParts((current) => current.filter((item) => item.id !== part.id).map((item) => item.parentId === part.id ? { ...item, parentId: null } : item)); if (selectedId === part.id) { setSelectedId(null); setSelectedNodePath("scene"); } };
+  const remove = (part: MachinePartDraft) => { setParts((current) => current.filter((item) => item.id !== part.id).map((item) => item.parentId === part.id ? { ...item, parentId: null } : item)); requestAnimationFrame(() => disposeMachineScene(part.scene)); if (selectedId === part.id) { setSelectedId(null); setSelectedNodePath("scene"); } };
   const selectTreeNode = (partId: string, path: string) => { setSelectedId(partId); setSelectedNodePath(path); };
   const reparentTreeNode = (source: { partId: string; path: string }, target: { partId: string; path: string }) => {
     if (source.partId === target.partId && source.path === target.path) return;
@@ -195,16 +208,18 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) {
     }));
   };
   const poseInput = (axis: keyof TestPose, unit: string) => <label key={axis}>{axis.toUpperCase()}<input data-axis-control={`machine-test-${axis}`} type="number" step="any" value={testPose[axis]} onChange={(event) => setTestPose({ ...testPose, [axis]: number(event.target.value) })} /><small>{unit}</small></label>;
+  const receiveMotionState = (state: Record<string, MotionTransform>) => { const hash = JSON.stringify(state); if (hash !== motionStateHash.current) { motionStateHash.current = hash; setMotionState(state); } };
+  const selectedDriven = selectedBinding ? motionState[selectedBinding] : null;
   const renderPartTree = (part: MachinePartDraft): React.ReactNode => <TreeNode key={part.id} part={part} node={trees.get(part.id)!} selected={`${selectedId}:${selectedNodePath}`} onSelect={selectTreeNode} onDrop={reparentTreeNode} extra={parts.filter((child) => child.parentId === part.id).map(renderPartTree)} />;
   return <section className="machine-manager" aria-label="三维机床管理">
     <button type="button" data-axis-control="machine-manager-settings" aria-haspopup="dialog" onClick={() => setOpen(true)}>三维机床管理</button>
     <DraggableDialog open={open} title={`三维机床管理 · ${coordinates}`} className="machine-manager-dialog" onClose={() => setOpen(false)}>
       <div className="machine-manager-toolbar"><button type="button" data-axis-control="machine-manager-import" disabled={pending} onClick={() => file.current?.click()}>导入 GLB 部件</button><button type="button" data-axis-control="machine-manager-translate" aria-pressed={mode === "translate"} onClick={() => setMode("translate")}>平移部件</button><button type="button" data-axis-control="machine-manager-rotate" aria-pressed={mode === "rotate"} onClick={() => setMode("rotate")}>旋转部件</button><span>{parts.length}/8 部件</span></div>
       <div className="machine-manager-layout">
-        {open && <MachineManagerPanelPreview coordinates={coordinates} parts={parts} selectedId={selectedId} mode={mode} testPose={testPose} onTransform={(id, translationMm, rotationDeg) => update(id, { translationMm, rotationDeg })} />}
+        {open && <MachineManagerPanelPreview coordinates={coordinates} parts={parts} selectedId={selectedId} selectedNodePath={selectedNodePath} mode={mode} testPose={testPose} onTransform={(id, translationMm, rotationDeg) => update(id, { translationMm, rotationDeg })} onMotionState={receiveMotionState} />}
         <div className="machine-manager-editor">
           <section className="machine-part-list"><h3>部件与层级</h3>{parts.length ? <ul className="machine-tree" role="tree">{parts.filter((part) => !part.parentId).map(renderPartTree)}</ul> : <p>导入机床或部件后显示 GLB 内部层级。</p>}</section>
-          {selected && <section className="machine-part-editor"><header><h3>{selected.filename}</h3><button type="button" data-axis-control="machine-manager-delete" onClick={() => remove(selected)}>删除导入模型</button></header>{selectedTreeNode && <div className="machine-tree-origin" data-axis-control="machine-tree-origin"><strong>{selectedTreeNode.name}</strong><span>相对父节点原点 (mm)</span><output>X {selectedTreeNode.originMm[0].toFixed(3)}　Y {selectedTreeNode.originMm[1].toFixed(3)}　Z {selectedTreeNode.originMm[2].toFixed(3)}</output></div>}<label>轴绑定<select data-axis-control="machine-tree-axis-role" value={selectedBinding} onChange={(event) => assignTreeRole(event.target.value as MachinePartRole | "")}><option value="">未绑定</option>{MACHINE_PART_ROLES.map((role) => <option key={role} value={role}>{roleLabel(role, coordinates)}</option>)}</select></label><label>机床角色<select data-axis-control="machine-manager-role" value={selected.role} onChange={(event) => roleChange(selected, event.target.value as MachinePartRole | "")}><option value="">未分配</option>{MACHINE_PART_ROLES.map((role) => <option key={role} value={role}>{roleLabel(role, coordinates)}</option>)}</select></label><label>父部件<select data-axis-control="machine-manager-parent" value={selected.parentId ?? ""} onChange={(event) => update(selected.id, { parentId: event.target.value || null })}><option value="">无</option>{parts.filter((part) => part.id !== selected.id).map((part) => <option key={part.id} value={part.id}>{part.role ? roleLabel(part.role, coordinates) : part.filename}</option>)}</select></label><div className="machine-part-flags"><label><input type="checkbox" checked={selected.visible} onChange={(event) => update(selected.id, { visible: event.target.checked })} />显示模型</label><label><input data-axis-control="machine-manager-show-origin" type="checkbox" checked={selected.showOrigin} onChange={(event) => update(selected.id, { showOrigin: event.target.checked })} />显示坐标原点</label></div>{vectorInput("模型局部原点", selected.originMm, (originMm) => update(selected.id, { originMm }), "mm")}{vectorInput("部件平移", selected.translationMm, (translationMm) => update(selected.id, { translationMm }), "mm")}{vectorInput("部件旋转", selected.rotationDeg, (rotationDeg) => update(selected.id, { rotationDeg }), "deg")}</section>}
+          {selected && <section className="machine-part-editor"><header><h3>{selected.filename}</h3><button type="button" data-axis-control="machine-manager-delete" onClick={() => remove(selected)}>删除导入模型</button></header>{selectedTreeNode && <div className="machine-tree-origin" data-axis-control="machine-tree-origin"><strong>{selectedTreeNode.name}</strong><span>节点自身局部原点</span><output>X 0.000　Y 0.000　Z 0.000</output><span>关节零姿态原点（相对父节点，mm）</span><output>X {selectedTreeNode.originMm[0].toFixed(3)}　Y {selectedTreeNode.originMm[1].toFixed(3)}　Z {selectedTreeNode.originMm[2].toFixed(3)}</output><span>零姿态世界原点（mm）</span><output>X {selectedTreeNode.worldOriginMm[0].toFixed(3)}　Y {selectedTreeNode.worldOriginMm[1].toFixed(3)}　Z {selectedTreeNode.worldOriginMm[2].toFixed(3)}</output><span>零姿态局部转角（deg）</span><output>RX {selectedTreeNode.rotationDeg[0].toFixed(3)}　RY {selectedTreeNode.rotationDeg[1].toFixed(3)}　RZ {selectedTreeNode.rotationDeg[2].toFixed(3)}</output>{selectedDriven && <><span>当前驱动后的世界原点（mm）</span><output>X {(selectedDriven.world[0] * 1000).toFixed(3)}　Y {(selectedDriven.world[1] * 1000).toFixed(3)}　Z {(selectedDriven.world[2] * 1000).toFixed(3)}</output></>}</div>}<label>轴绑定<select data-axis-control="machine-tree-axis-role" value={selectedBinding} onChange={(event) => assignTreeRole(event.target.value as MachinePartRole | "")}><option value="">未绑定</option>{MACHINE_PART_ROLES.map((role) => <option key={role} value={role}>{roleLabel(role, coordinates)}</option>)}</select></label><label>机床角色<select data-axis-control="machine-manager-role" value={selected.role} onChange={(event) => roleChange(selected, event.target.value as MachinePartRole | "")}><option value="">未分配</option>{MACHINE_PART_ROLES.map((role) => <option key={role} value={role}>{roleLabel(role, coordinates)}</option>)}</select></label><label>父部件<select data-axis-control="machine-manager-parent" value={selected.parentId ?? ""} onChange={(event) => update(selected.id, { parentId: event.target.value || null })}><option value="">无</option>{parts.filter((part) => part.id !== selected.id).map((part) => <option key={part.id} value={part.id}>{part.role ? roleLabel(part.role, coordinates) : part.filename}</option>)}</select></label><div className="machine-part-flags"><label><input type="checkbox" checked={selected.visible} onChange={(event) => update(selected.id, { visible: event.target.checked })} />显示模型</label><label><input data-axis-control="machine-manager-show-origin" type="checkbox" checked={selected.showOrigin} onChange={(event) => update(selected.id, { showOrigin: event.target.checked })} />显示坐标原点</label></div>{vectorInput("导入文件装配原点", selected.originMm, (originMm) => update(selected.id, { originMm }), "mm")}{vectorInput("部件平移", selected.translationMm, (translationMm) => update(selected.id, { translationMm }), "mm")}{vectorInput("部件旋转", selected.rotationDeg, (rotationDeg) => update(selected.id, { rotationDeg }), "deg")}</section>}
         </div>
       </div>
       <section className="machine-motion-test"><header><h3>层级运动测试</h3><button type="button" data-axis-control="machine-test-reset" onClick={() => setTestPose({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 })}>复位</button></header><div>{(["x", "y", "z"] as const).map((axis) => poseInput(axis, "mm"))}{poseInput(coordinates === "XYZBC" ? "b" : "a", "deg")}{poseInput("c", "deg")}</div><output data-axis-control="machine-test-state">{JSON.stringify(testPose)}</output></section>

web/react/src/machine-manager.ts

@@ -16,7 +16,7 @@ export type MachinePartDraft = MachinePartSource & {
   nodeParents: Record<string, string | null>;
   nodeRoles: Record<string, MachinePartRole | "">;
 };
-export type MachineTreeNode = { path: string; name: string; type: "group" | "mesh"; originMm: Vec3; children: MachineTreeNode[] };
+export type MachineTreeNode = { path: string; name: string; type: "group" | "mesh"; originMm: Vec3; worldOriginMm: Vec3; rotationDeg: Vec3; children: MachineTreeNode[] };
 export type PhysicalZero = { x: number; y: number; z: number; a: number; b: number; c: number };
 export type ManagedMachineGeometry = {
   schema: "linuxcnc.machine-manager/1";
@@ -74,11 +74,14 @@ export function machineSceneNode(scene: THREE.Object3D, path: string) {
 
 export function machinePartTree(part: Pick<MachinePartDraft, "filename" | "scene" | "nodeParents">): MachineTreeNode {
   const scene = part.scene.clone(true), { paths } = scenePathMap(scene); applyMachineNodeParents(scene, part.nodeParents ?? {});
+  scene.updateMatrixWorld(true);
   const build = (node: THREE.Object3D): MachineTreeNode => ({
     path: paths.get(node)!,
     name: node.name || (paths.get(node) === "scene" ? part.filename : `${(node as THREE.Mesh).isMesh ? "Mesh" : "Node"} ${paths.get(node)!.split("/").at(-1)}`),
     type: (node as THREE.Mesh).isMesh ? "mesh" : "group",
     originMm: node.position.toArray().map((value) => value * 1000) as Vec3,
+    worldOriginMm: node.getWorldPosition(new THREE.Vector3()).toArray().map((value) => value * 1000) as Vec3,
+    rotationDeg: new THREE.Euler().setFromQuaternion(node.quaternion, "XYZ").toArray().slice(0, 3).map((value) => THREE.MathUtils.radToDeg(Number(value))) as Vec3,
     children: node.children.map(build),
   });
   return build(scene);