Apply GLB part translation and rotation

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

@@ -8,6 +8,7 @@
     "sha256": "bf37130681cc6462412e52744519516e8ade2a3212dd69153c0b1b3e415bcf66"
   },
   "checks": [
+    "part translation and rotation inputs update the selected GLB assembly root",
     "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",
     "each joint rotates about its own origin while children inherit parent motion",
@@ -33,26 +34,26 @@
     "baseline": {
       "base": {
         "local": [
-          0,
+          0.12,
           0,
           0
         ],
         "localQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199334
         ],
         "world": [
-          0,
+          0.12,
           0,
           0
         ],
         "worldQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199335
         ]
       },
       "x": {
@@ -68,15 +69,15 @@
           1
         ],
         "world": [
-          -1.8768789768218994,
-          0.34002411365509033,
+          -1.7247304318819034,
+          -0.4850368286962905,
           1.488389492034912
         ],
         "worldQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199335
         ]
       },
       "y": {
@@ -92,15 +93,15 @@
           1
         ],
         "world": [
-          -1.8808482885360718,
-          0.13574811816215515,
+          -1.6419970838670583,
+          -0.6718512577331518,
           1.8940227031707764
         ],
         "worldQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199335
         ]
       },
       "z": {
@@ -116,15 +117,15 @@
           1
         ],
         "world": [
-          -1.9016519784927368,
-          -0.7683008015155792,
+          -1.2787840471111187,
+          -1.4999898527864315,
           2.2629480361938477
         ],
         "worldQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199335
         ]
       },
       "tilt": {
@@ -140,15 +141,15 @@
           1
         ],
         "world": [
-          -1.8515222072601318,
-          -0.20127654075622559,
+          -1.4729858525275663,
+          -0.9649055930417467,
           0.8832522630691528
         ],
         "worldQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199335
         ]
       },
       "c": {
@@ -164,41 +165,41 @@
           1
         ],
         "world": [
-          -1.8516113758087158,
-          -0.8353592157363892,
+          -1.2050917487774973,
+          -1.5396173432583025,
           0.796804666519165
         ],
         "worldQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199335
         ]
       }
     },
     "driven": {
       "base": {
         "local": [
-          0,
+          0.12,
           0,
           0
         ],
         "localQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199334
         ],
         "world": [
-          0,
+          0.12,
           0,
           0
         ],
         "worldQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199335
         ]
       },
       "x": {
@@ -214,15 +215,15 @@
           1
         ],
         "world": [
-          -1.8668789768218994,
-          0.34002411365509033,
+          -1.715667354011537,
+          -0.48081064607888346,
           1.488389492034912
         ],
         "worldQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199335
         ]
       },
       "y": {
@@ -238,15 +239,15 @@
           1
         ],
         "world": [
-          -1.8708482885360718,
-          0.15574811816215514,
+          -1.641386371231506,
+          -0.6494989193750118,
           1.8940227031707764
         ],
         "worldQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199335
         ]
       },
       "z": {
@@ -262,15 +263,15 @@
           1
         ],
         "world": [
-          -1.8916519784927368,
-          -0.7483008015155792,
+          -1.2781733344755664,
+          -1.4776375144282916,
           2.292948036193848
         ],
         "worldQuaternion": [
           0,
           0,
-          0,
-          1
+          0.21643961393810288,
+          0.9762960071199335
         ]
       },
       "tilt": {
@@ -286,15 +287,15 @@
           0.9914448613738104
         ],
         "world": [
-          -1.8515222072601318,
-          -0.20127654075622559,
+          -1.4729858525275663,
+          -0.9649055930417467,
           0.8832522630691528
         ],
         "worldQuaternion": [
-          0.1305261922200516,
-          0,
-          0,
-          0.9914448613738103
+          0.12743220028900526,
+          0.02825103865291857,
+          0.21458794303666343,
+          0.9679436594388271
         ]
       },
       "c": {
@@ -310,15 +311,15 @@
           0.9238795325112867
         ],
         "world": [
-          -1.8516113758087158,
-          -0.791379088131547,
+          -1.2236785538569896,
+          -1.4997578111351686,
           0.6356376244864839
         ],
         "worldQuaternion": [
-          0.1205904774487396,
-          -0.04995021125231482,
-          0.3794095225512604,
-          0.9159756150367535
+          0.12854320606946854,
+          -0.022665635416815422,
+          0.5686694104253471,
+          0.812144084994173
         ]
       }
     }

docs/glb-machine-manager/03-推进台账.md

@@ -70,3 +70,11 @@
 - 决定复用 `linuxcnc.machine/1` 结构：管理器生成合法场景和 URDF，现有 INI/Worker/WASM 继续作为运动和 RTCP 权威。
 - 当前任务：已完成。
 - 下一步：按新需求继续；本专项不重复执行。
+
+## R09 / 2026-09-21 / 部件平移与旋转实时同步
+
+- 用户反馈编辑器中的“部件平移”和“部件旋转”改变后，预览中的对应 GLB 部件没有稳定更新。
+- 预览同步逻辑新增部件根节点变换步骤：每次状态同步都把 `translationMm` 转换为米写入导入部件根节点位置，把 `rotationDeg` 转换为弧度写入根节点姿态；当前选中内部关节时仍变换该关节所属的完整 GLB 部件。
+- 轴运动诊断随后在部件装配姿态上叠加，不覆盖编辑器已经设置的部件变换；组合导出的 geometry userData 同步保存平移和旋转值。
+- MILL700 输入 X 平移 100 mm、Z 旋转 20° 后，选中关节的世界原点和世界四元数均发生对应变化；8 部件 AC/BC 生产回归输入 X=10 mm、Z=15° 后，预览、导出和应用后的 geometry 分别保存 `translationMm[0]=10`、`rotationDeg[2]=15`。
+- MGR-16 verified；验收证据 E11。

docs/glb-machine-manager/04-任务矩阵.md

@@ -17,3 +17,4 @@
 |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|
+|MGR-16 部件平移旋转同步|verified|MGR-05,MGR-14|编辑“部件平移/部件旋转”后对应 GLB 部件根节点实时改变位置和姿态；内部关节选择不改变变换归属；预览、导出和 AC/BC 应用保持一致|

docs/glb-machine-manager/05-验收证据.md

@@ -86,3 +86,13 @@
 - 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。
+
+## E11 / R09 / 部件平移旋转同步
+
+- MILL700 命令：`PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.js MACHINE_MANAGER_URL=http://127.0.0.1:5180/ node scripts/test_machine_manager_mill700_browser.mjs`。
+- MILL700 report_id：`GLB-MGR-E05`；报告 SHA-256：`1a9489e9df2633f54de395a4a116d4726a56cc0bfc8f2115681e7340e52b9fbf`。
+- MILL700：输入部件 X 平移 `100 mm` 后，选中根节点世界 X 坐标增加 `0.1 m`；输入 Z 旋转 `20°` 后，选中根节点世界四元数发生变化；132 节点、126 网格和局部坐标系检查继续通过，浏览器 warning/error=0。
+- AC/BC 生产回归命令：`PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.js MACHINE_MANAGER_SOURCE_MODULES=0 MACHINE_MANAGER_URL=http://127.0.0.1:5180/ node scripts/test_machine_manager_browser.mjs`。
+- AC/BC report_id：`GLB-MGR-E02`；报告 SHA-256：`7ea2ba7c09a2480973e63aedb8da1b8b0d46914eb86519781d99b718c5d3fca6`；浏览器错误 0。
+- 8 部件验证：输入部件 X 平移 `10 mm`、Z 旋转 `15°` 后，预览中的选中部件位置和姿态变化；应用生成的 geometry userData 保存 `translationMm[0]=10`、`rotationDeg[2]=15`，随后 XYZAC 切换 XYZBC 和 BC 五轴 WASM 程序运行通过。
+- 截图：`coverage/glb-machine-manager/mill700/mill700-studio-lighting.png`，SHA-256 `2b40f1e6a92e09d54bde17543686cc2fcecee3e2b7d7d3d71296a63737a85c8d`；AC 配置 `coverage/glb-machine-manager/manager-ac-config.png`，SHA-256 `b2fc2e00497ddb1e72e3170ee83ed54c21c8da9099036d84eeb4d6d6eef8619b`。

docs/glb-machine-manager/06-决策记录.md

@@ -51,3 +51,7 @@ 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
 ## 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。
+
+## D14 / 部件编辑变换作用于 GLB 部件根节点
+
+“部件平移”和“部件旋转”属于导入 GLB 的装配变换，作用对象是该 GLB 的外层部件根节点，因此选中内部关节时也移动或旋转该关节所在的完整部件。内部关节自己的轴绑定和 XYZ/ABC 诊断运动在此装配姿态之上叠加，不能把编辑器值误写到内部节点或用诊断输入覆盖编辑器值。导出和应用复用同一组 `translationMm`、`rotationDeg`，保证预览、组合 GLB 和运行机床保持一致。

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-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/`。
+当前状态：MGR-01 至 MGR-16 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、部件平移旋转同步、模型删除、轴绑定、XYZ/AC 层级运动和 WebGL 资源降级。最新台账 R09，证据 `GLB-MGR-E01/E02/E05/E07/E08/E09/E10/E11` 位于 `coverage/glb-machine-manager/`。
 
 文档：
 

scripts/test_machine_manager_browser.mjs

@@ -36,8 +36,8 @@ try {
   report.checks.push("dragging GLB root tree nodes updates component parent hierarchy");
 
   await control("machine-manager-show-origin").uncheck(); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-origin-count"), "7");
-  const translation = page.locator("fieldset.machine-vector").filter({ hasText: "部件平移" }); await translation.getByLabel("X", { exact: true }).fill("10");
-  const rotation = page.locator("fieldset.machine-vector").filter({ hasText: "部件旋转" }); await rotation.getByLabel("Z", { exact: true }).fill("15");
+  const beforePartOrigin = JSON.parse(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-selected-joint-world-origin")); const translation = page.locator("fieldset.machine-vector").filter({ hasText: "部件平移" }); await translation.getByLabel("X", { exact: true }).fill("10"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-origin") ?? "[]"); return current.length === 3 && Math.abs(current[0] - before[0] - .01) < 1e-7; }, { before: beforePartOrigin });
+  const beforePartQuaternion = JSON.parse(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-selected-joint-world-quaternion")); const rotation = page.locator("fieldset.machine-vector").filter({ hasText: "部件旋转" }); await rotation.getByLabel("Z", { exact: true }).fill("15"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-quaternion") ?? "[]"); return current.length === 4 && Math.abs(current[3] - before[3]) > 1e-4; }, { before: beforePartQuaternion });
   await control("machine-manager-rotate").click(); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-transform-mode"), "rotate");
   assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-context-generation"), "1");
   await page.locator(".machine-manager-dialog").screenshot({ path: new URL("manager-ac-config.png", output).pathname });
@@ -52,7 +52,7 @@ try {
   assert.equal(await control("machine-manager-apply").isDisabled(), false); await control("machine-manager-apply").click();
   await page.waitForFunction(() => document.querySelector(".xyzac-machine-view")?.dataset.machineManagerSchema === "linuxcnc.machine-manager/1" && document.querySelector("main.axis-app")?.dataset.axisProgramLoading === "false", null, { timeout: 45000 });
   const geometry = JSON.parse(await page.locator(".xyzac-machine-view").getAttribute("data-machine-manager-geometry"));
-  assert.deepEqual(geometry.cOriginMm, [24, -12, 8]); assert.deepEqual(geometry.tiltOffsetMm, [0, 18, -45]); assert.equal(geometry.physicalZero.x, 5); assert.equal(geometry.physicalZero.a, 10); assert.equal(geometry.physicalZero.c, 20); assert.equal(geometry.parts.length, 8); assert.equal(geometry.parts[0].translationMm[0], 10);
+  assert.deepEqual(geometry.cOriginMm, [24, -12, 8]); assert.deepEqual(geometry.tiltOffsetMm, [0, 18, -45]); assert.equal(geometry.physicalZero.x, 5); assert.equal(geometry.physicalZero.a, 10); assert.equal(geometry.physicalZero.c, 20); assert.equal(geometry.parts.length, 8); assert.equal(geometry.parts[0].translationMm[0], 10); assert.equal(geometry.parts[0].rotationDeg[2], 15);
   assert.match(await page.locator(".xyzac-machine-view").getAttribute("data-xyzac-model-source-path"), /^managed-xyzac\.glb$/);
   report.checks.push("validated hierarchy applied through LOAD_WORKSPACE with geometry and physical zero in userData");
 

scripts/test_machine_manager_mill700_browser.mjs

@@ -26,7 +26,8 @@ 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(), /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 transformPreview = page.locator("[data-machine-manager-preview]"); const beforePartTransform = JSON.parse(await transformPreview.getAttribute("data-machine-manager-selected-joint-world-origin")); await control("machine-manager-translation").locator("input").nth(0).fill("100"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-origin") ?? "[]"); return current.length === 3 && Math.abs(current[0] - before[0] - .1) < 1e-7; }, { before: beforePartTransform }); const beforePartRotation = JSON.parse(await transformPreview.getAttribute("data-machine-manager-selected-joint-world-quaternion")); await control("machine-manager-rotation").locator("input").nth(2).fill("20"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-quaternion") ?? "[]"); return current.length === 4 && Math.abs(current[3] - before[3]) > 1e-4; }, { before: beforePartRotation }); report.checks.push("part translation and rotation inputs update the selected GLB assembly root");
+  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 internalBeforePartOrigin = JSON.parse(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-selected-joint-world-origin")); await control("machine-manager-translation").locator("input").nth(0).fill("120"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-origin") ?? "[]"); return current.length === 3 && Math.abs(current[0] - before[0] - .02) < 1e-7; }, { before: internalBeforePartOrigin }); const internalBeforePartRotation = JSON.parse(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-selected-joint-world-quaternion")); await control("machine-manager-rotation").locator("input").nth(2).fill("25"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-quaternion") ?? "[]"); return current.length === 4 && Math.abs(current[3] - before[3]) > 1e-4; }, { before: internalBeforePartRotation }); 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("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);

web/react/src/MachineManagerPanel.tsx

@@ -83,6 +83,16 @@ function ManagerPreview({ coordinates, parts, selectedId, selectedNodePath, mode
         }
         lastParts = nextParts;
       }
+      // Apply the editor's part transform on every sync. The selected tree node
+      // may be an internal joint, but translation and rotation belong to the
+      // imported GLB part root and must move the complete part assembly.
+      for (const part of nextParts) {
+        const node = nodes.get(part.id);
+        if (!node) continue;
+        node.visible = part.visible;
+        node.position.fromArray(part.translationMm).multiplyScalar(.001);
+        node.rotation.set(...part.rotationDeg.map(THREE.MathUtils.degToRad) as Vec3);
+      }
       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); }
@@ -138,7 +148,7 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) {
   const findTreeNode = (node: MachineTreeNode | undefined, path: string): MachineTreeNode | null => node ? node.path === path ? node : node.children.map((child) => findTreeNode(child, path)).find(Boolean) ?? null : null;
   const selectedTreeNode = selected ? findTreeNode(trees.get(selected.id), selectedNodePath) : null;
   const update = (id: string, values: Partial<MachinePartDraft>) => setParts((current) => current.map((part) => part.id === id ? { ...part, ...values } : part));
-  const vectorInput = (label: string, value: Vec3, set: (value: Vec3) => void, unit: string) => <fieldset className="machine-vector"><legend>{label} ({unit})</legend>{["X", "Y", "Z"].map((axis, index) => <label key={axis}>{axis}<input type="number" step="any" value={value[index]} onChange={(event) => { const next = [...value] as Vec3; next[index] = number(event.target.value); set(next); }} /></label>)}</fieldset>;
+  const vectorInput = (label: string, value: Vec3, set: (value: Vec3) => void, unit: string, control?: string) => <fieldset className="machine-vector" data-axis-control={control}><legend>{label} ({unit})</legend>{["X", "Y", "Z"].map((axis, index) => <label key={axis}>{axis}<input type="number" step="any" value={value[index]} onChange={(event) => { const next = [...value] as Vec3; next[index] = number(event.target.value); set(next); }} /></label>)}</fieldset>;
   const importFiles = async (list: FileList | File[] | null) => {
     if (!list?.length) return; setPending(true); setMessage("正在读取 GLB 部件…");
     try {
@@ -219,7 +229,7 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) {
         {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>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>}
+          {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", "machine-manager-origin")}{vectorInput("部件平移", selected.translationMm, (translationMm) => update(selected.id, { translationMm }), "mm", "machine-manager-translation")}{vectorInput("部件旋转", selected.rotationDeg, (rotationDeg) => update(selected.id, { rotationDeg }), "deg", "machine-manager-rotation")}</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>