diff --git a/coverage/glb-machine-manager/browser-production.report.json b/coverage/glb-machine-manager/browser-production.report.json index 6f13e20..09a9fac 100644 --- a/coverage/glb-machine-manager/browser-production.report.json +++ b/coverage/glb-machine-manager/browser-production.report.json @@ -7,6 +7,7 @@ "eight GLB parts rendered with studio PMREM lighting and calibrated exposure", "dragging GLB root tree nodes updates component parent hierarchy", "origin visibility, numeric translation/rotation and TransformControls mode update", + "internal mesh parent-relative position and rotation survive GLB export without moving its parent", "validated assembly exports a self-contained managed GLB", "validated hierarchy applied through LOAD_WORKSPACE with geometry and physical zero in userData", "same component assembly switches to BC hierarchy and applies BC geometry", diff --git a/coverage/glb-machine-manager/browser.report.json b/coverage/glb-machine-manager/browser.report.json index 94d59bf..0bfca30 100644 --- a/coverage/glb-machine-manager/browser.report.json +++ b/coverage/glb-machine-manager/browser.report.json @@ -7,6 +7,7 @@ "eight GLB parts rendered with studio PMREM lighting and calibrated exposure", "dragging GLB root tree nodes updates component parent hierarchy", "origin visibility, numeric translation/rotation and TransformControls mode update", + "internal mesh parent-relative position and rotation survive GLB export without moving its parent", "validated assembly exports a self-contained managed GLB", "validated hierarchy applied through LOAD_WORKSPACE with geometry and physical zero in userData", "same component assembly switches to BC hierarchy and applies BC geometry", diff --git a/coverage/glb-machine-manager/managed-bc-running.png b/coverage/glb-machine-manager/managed-bc-running.png index 335392e..460d7a8 100644 Binary files a/coverage/glb-machine-manager/managed-bc-running.png and b/coverage/glb-machine-manager/managed-bc-running.png differ diff --git a/coverage/glb-machine-manager/manager-ac-config.png b/coverage/glb-machine-manager/manager-ac-config.png index 42085d9..5090862 100644 Binary files a/coverage/glb-machine-manager/manager-ac-config.png and b/coverage/glb-machine-manager/manager-ac-config.png differ diff --git a/coverage/glb-machine-manager/mill700/browser.report.json b/coverage/glb-machine-manager/mill700/browser.report.json index 60fcad1..2268c6c 100644 --- a/coverage/glb-machine-manager/mill700/browser.report.json +++ b/coverage/glb-machine-manager/mill700/browser.report.json @@ -8,7 +8,7 @@ "sha256": "bf37130681cc6462412e52744519516e8ade2a3212dd69153c0b1b3e415bcf66" }, "checks": [ - "part translation and rotation inputs update the selected GLB assembly root", + "root and internal node transforms update their local position and posture relative to their parent", "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", @@ -34,26 +34,26 @@ "baseline": { "base": { "local": [ - 0.12, + 0.1, 0, 0 ], "localQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199334 + 0.17364817766693033, + 0.984807753012208 ], "world": [ - 0.12, + 0.1, 0, 0 ], "worldQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199335 + 0.17364817766693033, + 0.9848077530122079 ] }, "x": { @@ -69,15 +69,15 @@ 1 ], "world": [ - -1.7247304318819034, - -0.4850368286962905, + -1.7799844207142423, + -0.3224122661666029, 1.488389492034912 ], "worldQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199335 + 0.17364817766693033, + 0.9848077530122079 ] }, "y": { @@ -93,39 +93,39 @@ 1 ], "world": [ - -1.6419970838670583, - -0.6718512577331518, + -1.7138478483851618, + -0.515726496296395, 1.8940227031707764 ], "worldQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199335 + 0.17364817766693033, + 0.9848077530122079 ] }, "z": { "local": [ - -0.02080368995666504, + 0.12, -0.9040489196777344, 0.3689253330230713 ], "localQuaternion": [ 0, 0, - 0, - 1 + 0.21643961393810288, + 0.9762960071199334 ], "world": [ - -1.2787840471111187, - -1.4999898527864315, + -1.2918817928092583, + -1.3242121777479543, 2.2629480361938477 ], "worldQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199335 + 0.38268343236508984, + 0.9238795325112867 ] }, "tilt": { @@ -141,15 +141,15 @@ 1 ], "world": [ - -1.4729858525275663, - -0.9649055930417467, + -1.571021124066044, + -0.8223959707837081, 0.8832522630691528 ], "worldQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199335 + 0.17364817766693033, + 0.9848077530122079 ] }, "c": { @@ -165,41 +165,41 @@ 1 ], "world": [ - -1.2050917487774973, - -1.5396173432583025, + -1.3542358677161157, + -1.418269278870524, 0.796804666519165 ], "worldQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199335 + 0.17364817766693033, + 0.9848077530122079 ] } }, "driven": { "base": { "local": [ - 0.12, + 0.1, 0, 0 ], "localQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199334 + 0.17364817766693033, + 0.984807753012208 ], "world": [ - 0.12, + 0.1, 0, 0 ], "worldQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199335 + 0.17364817766693033, + 0.9848077530122079 ] }, "x": { @@ -215,15 +215,15 @@ 1 ], "world": [ - -1.715667354011537, - -0.48081064607888346, + -1.7705874945063833, + -0.3189920647333462, 1.488389492034912 ], "worldQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199335 + 0.17364817766693033, + 0.9848077530122079 ] }, "y": { @@ -239,39 +239,39 @@ 1 ], "world": [ - -1.641386371231506, - -0.6494989193750118, + -1.7112913250438162, + -0.4935124424474202, 1.8940227031707764 ], "worldQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199335 + 0.17364817766693033, + 0.9848077530122079 ] }, "z": { "local": [ - -0.02080368995666504, + 0.12, -0.9040489196777344, 0.3989253330230713 ], "localQuaternion": [ 0, 0, - 0, - 1 + 0.21643961393810288, + 0.9762960071199334 ], "world": [ - -1.2781733344755664, - -1.4776375144282916, + -1.2893252694679127, + -1.3019981238989793, 2.292948036193848 ], "worldQuaternion": [ 0, 0, - 0.21643961393810288, - 0.9762960071199335 + 0.38268343236508984, + 0.9238795325112867 ] }, "tilt": { @@ -287,15 +287,15 @@ 0.9914448613738104 ], "world": [ - -1.4729858525275663, - -0.9649055930417467, + -1.571021124066044, + -0.8223959707837081, 0.8832522630691528 ], "worldQuaternion": [ - 0.12743220028900526, - 0.02825103865291857, - 0.21458794303666343, - 0.9679436594388271 + 0.12854320606946854, + 0.022665635416815412, + 0.1721625934348045, + 0.9763825861650425 ] }, "c": { @@ -311,15 +311,15 @@ 0.9238795325112867 ], "world": [ - -1.2236785538569896, - -1.4997578111351686, + -1.369277957263005, + -1.3769414774990314, 0.6356376244864839 ], "worldQuaternion": [ - 0.12854320606946854, - -0.022665635416815422, - 0.5686694104253471, - 0.812144084994173 + 0.12743220028900526, + -0.02825103865291858, + 0.5327029357136194, + 0.8361761150778141 ] } } diff --git a/coverage/glb-machine-manager/mill700/mill700-studio-lighting.png b/coverage/glb-machine-manager/mill700/mill700-studio-lighting.png index 4abebfd..8777b44 100644 Binary files a/coverage/glb-machine-manager/mill700/mill700-studio-lighting.png and b/coverage/glb-machine-manager/mill700/mill700-studio-lighting.png differ diff --git a/docs/glb-machine-manager/02-项目程序开发详细步骤.md b/docs/glb-machine-manager/02-项目程序开发详细步骤.md index fd14e35..7ddbce4 100644 --- a/docs/glb-machine-manager/02-项目程序开发详细步骤.md +++ b/docs/glb-machine-manager/02-项目程序开发详细步骤.md @@ -12,5 +12,6 @@ 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。 +13. `MGR-16`：将根节点部件变换和内部节点 `nodeTransforms[path]` 分开保存；编辑当前节点相对父级的位置和姿态，验证子节点继承、父兄节点不受影响、拖放换父级后保持世界姿态，并验证组合 GLB 与 AC/BC 应用结果。 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。 diff --git a/docs/glb-machine-manager/03-推进台账.md b/docs/glb-machine-manager/03-推进台账.md index 6591c1e..051bc5d 100644 --- a/docs/glb-machine-manager/03-推进台账.md +++ b/docs/glb-machine-manager/03-推进台账.md @@ -71,10 +71,11 @@ - 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 +## R09 / 2026-09-21 / 部件节点相对父级变换 -- 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`。 +- 用户明确要求“部件平移”和“部件旋转”修改当前选中节点相对其父节点的位置和姿态。 +- 根节点继续使用部件级 `translationMm`、`rotationDeg`；GLB 内部节点使用稳定源路径保存到 `nodeTransforms[path]`。输入值是当前节点的父级局部位置（mm）和 XYZ 欧拉姿态（deg），旋转中心是节点自身原点。 +- 预览克隆、组合导出和应用运行场景统一应用同一组局部节点变换；父节点运动时子节点继承，编辑子节点不会错误移动整个 GLB 根部件。 +- 拖放内部节点后保存当前局部姿态并重新计算新的父级局部姿态，保持拖放前的世界姿态。 +- MILL700 选择 `MILL700-A-主轴-JT3`，输入 X=120 mm、RZ=25° 后，节点局部位置和四元数分别变为 `0.120 m` 和 `25°`；8 部件 AC/BC 生产回归、导出和应用继续通过。 - MGR-16 verified；验收证据 E11。 diff --git a/docs/glb-machine-manager/04-任务矩阵.md b/docs/glb-machine-manager/04-任务矩阵.md index 6762a1a..7224f3a 100644 --- a/docs/glb-machine-manager/04-任务矩阵.md +++ b/docs/glb-machine-manager/04-任务矩阵.md @@ -17,4 +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| +|MGR-16 部件节点相对父级变换|verified|MGR-05,MGR-14|编辑树中当前节点的“部件平移/部件旋转”后，该节点相对父级的位置和姿态改变；父节点与兄弟节点不被误改；子节点继承；预览、导出和 AC/BC 应用保持一致| diff --git a/docs/glb-machine-manager/05-验收证据.md b/docs/glb-machine-manager/05-验收证据.md index 46615e7..0c4cc78 100644 --- a/docs/glb-machine-manager/05-验收证据.md +++ b/docs/glb-machine-manager/05-验收证据.md @@ -12,12 +12,12 @@ - 命令：`PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_machine_manager_browser.mjs` - report_id：`GLB-MGR-E01` - 报告：`coverage/glb-machine-manager/browser.report.json` -- SHA-256：`486108398c757421d59fd5311239675b82d6c688458975b7c613118920ceafbf` +- SHA-256：`a24ae854c1817f13b2c6c4fc03d33b855952e92eaa54f900482eaba9f3acd6de` - 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 `b2fc2e00497ddb1e72e3170ee83ed54c21c8da9099036d84eeb4d6d6eef8619b` - - `coverage/glb-machine-manager/managed-bc-running.png`，SHA-256 `4b2d76cd505f1e31847d09650b052a0a9c393515cb7c71ad55ac649072634005` + - `coverage/glb-machine-manager/manager-ac-config.png`，SHA-256 `ddfc10ebc03d0c72860ce4f21a3c7e290f9c8eeaa9dcaa97ff0a1c8b3e2bc860` + - `coverage/glb-machine-manager/managed-bc-running.png`，SHA-256 `f05cd2f3701c68fe82c5c57d6aa92b54c92d6783d1a395efb5fe96ec5a9bfe4f` ## E03 / R02 / 生产构建浏览器闭环 @@ -25,12 +25,12 @@ - 命令：`MACHINE_MANAGER_SOURCE_MODULES=0 ... node scripts/test_machine_manager_browser.mjs` - report_id：`GLB-MGR-E02` - 报告：`coverage/glb-machine-manager/browser-production.report.json` -- SHA-256：`7ea2ba7c09a2480973e63aedb8da1b8b0d46914eb86519781d99b718c5d3fca6` +- SHA-256：`9549e8e731803c86780b1113afda3adb78e8846626bf4b6006d8c9241ac457a9` - 状态：verified；生产资产执行 AC/BC UI 应用和 BC WASM 程序运动，浏览器错误 0。 ## E04 / R02 / 回归与静态契约 -- `node scripts/test_axis_control_inventory.mjs`：verified，99 个文档化控件。 +- `node scripts/test_axis_control_inventory.mjs`：verified，114 个文档化控件。 - `node web/react/src/test_dual_canvas_contract.mjs`：verified。 - `node web/react/src/test_xyzac_threejs.mjs`：verified。 - `npm --prefix web/react run typecheck`：通过。 @@ -61,7 +61,7 @@ - 节点选择：`MILL700-A-主轴-JT2` 显示相对父节点原点 `-3.969 / -204.276 / 405.633 mm`。 - 拖放：`MILL700-A-门1-JT1` 拖到 `MILL700-A底座` 后，草稿父路径等于目标稳定源路径；原始 GLB SHA-256 保持 `bf37130681cc6462412e52744519516e8ade2a3212dd69153c0b1b3e415bcf66`。 - 八个独立 GLB 的根树节点拖放通过；随后 AC/BC 应用、导出和程序运动回归仍通过。 -- 控件契约：101 个控件，新增 `machine-tree-node` 和 `machine-tree-origin`；TypeScript、生产构建、双画布测试通过，浏览器错误 0。 +- 控件契约：114 个控件，包含节点相对位置/姿态输入 `machine-manager-translation`、`machine-manager-rotation`；TypeScript、生产构建、双画布测试通过，浏览器错误 0。 ## E08 / R06 / WebGL framebuffer 稳定性 @@ -87,12 +87,12 @@ - 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 +## E11 / R09 / 部件节点相对父级变换 - 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。 +- MILL700 report_id：`GLB-MGR-E05`；报告 SHA-256：`d76e64bd946af2a2c5ea0b2e93230a62cd7455d547db041223ba3a77f1c8ae29`。 +- MILL700：先验证根节点 X 平移 `100 mm`、Z 旋转 `20°`；再选择内部节点 `MILL700-A-主轴-JT3`，输入相对父级 X=`120 mm`、RZ=`25°`，预览发布的 selected transform 为 local X=`0.120 m`、local quaternion 对应 `25°`；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`。 +- AC/BC report_id：`GLB-MGR-E02`；报告 SHA-256：`9549e8e731803c86780b1113afda3adb78e8846626bf4b6006d8c9241ac457a9`；浏览器错误 0。 +- 8 部件验证：根部件输入 X 平移 `10 mm`、Z 旋转 `15°` 后，预览中的根节点位置和姿态变化；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 `d422f2f19525d772cfb15c817f943fed6da2b183cfaa3dd9fc626cabed25a365`；AC 配置 `coverage/glb-machine-manager/manager-ac-config.png`，SHA-256 `ddfc10ebc03d0c72860ce4f21a3c7e290f9c8eeaa9dcaa97ff0a1c8b3e2bc860`。 diff --git a/docs/glb-machine-manager/06-决策记录.md b/docs/glb-machine-manager/06-决策记录.md index f3ff8dc..dfe7549 100644 --- a/docs/glb-machine-manager/06-决策记录.md +++ b/docs/glb-machine-manager/06-决策记录.md @@ -52,6 +52,6 @@ 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 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 +## D14 / 部件编辑变换作用于当前树节点的父级局部空间 -“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。 +“部件平移”和“部件旋转”编辑当前选中的树节点。根节点的值保存为部件级 `translationMm`、`rotationDeg`；内部节点的值按稳定源路径保存为 `nodeTransforms[path]`，直接表示该节点相对当前父节点的位置和姿态。节点自身局部原点是旋转中心，子节点自然继承父节点变换，父节点和兄弟节点不因编辑子节点而改变。拖放改变父级后，先保持世界姿态，再重新计算局部值。导出和应用复用同一套局部变换，保证预览、组合 GLB 和运行机床一致。 diff --git a/docs/glb-machine-manager/README.md b/docs/glb-machine-manager/README.md index 71db39a..c9798ce 100644 --- a/docs/glb-machine-manager/README.md +++ b/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-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/`。 +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、节点相对父级平移旋转、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： diff --git a/docs/linuxcnc-axis-web-control-panel-source-logic.md b/docs/linuxcnc-axis-web-control-panel-source-logic.md index b701bfe..9336ee9 100644 --- a/docs/linuxcnc-axis-web-control-panel-source-logic.md +++ b/docs/linuxcnc-axis-web-control-panel-source-logic.md @@ -449,7 +449,7 @@ history rows intentionally share the family ID `mdi-history-select`. | `workspace-case-select` | Web selection of the INI/configuration input | Local selection; selected catalog is restricted to supported XYZAC/XYZBC cases | Does not load or change machine state until `toolbar-load-case` | | `workspace-load-3d-chips` | Web packaged-file equivalent of `open_file_guts` | Fetch published `3D_Chips.ngc`, then `PROGRAM_LOAD`; IDLE only | Same replacement path as Open; retains Live Plot, no automatic Run/Home | | `workspace-rtcp-programs`, `rtcp-program-scope`, `rtcp-program-select`, `rtcp-program-source`, `rtcp-program-load`, `rtcp-program-download` | Web RTCP source-program catalog backed by the locked LinuxCNC tree | The default scope follows the active machine: AC=`XYZAC`, BC=`XYZBC`; catalog/source/download are local file operations, while compatible main programs use the same `PROGRAM_LOAD` transaction and IDLE gate as Open | AC and BC programs are separated by kinematics. The optional all-source scope retains all 32 files for inspection; remap/subroutine/reference and mismatched kinematics cannot be sent as an executable main program | -| `machine-manager-settings`, `machine-manager-import`, `machine-manager-files`, `machine-manager-delete`, `machine-manager-translate`, `machine-manager-rotate`, `machine-manager-role`, `machine-manager-parent`, `machine-manager-show-origin`, `machine-tree-node`, `machine-tree-origin`, `machine-tree-axis-role`, `machine-test-x`, `machine-test-y`, `machine-test-z`, `machine-test-a`, `machine-test-b`, `machine-test-c`, `machine-test-reset`, `machine-test-state`, `machine-manager-apply`, `machine-manager-export` | Web component-level machine assembly extension | GLB `Object3D.children` render as a tree; selecting a node shows its parent-relative origin, dragging records parent overrides, and axis-test inputs drive bound nodes through their actual parent hierarchy without changing the source scene. Imported roots can be deleted. Apply validates AC/BC and then uses `LOAD_WORKSPACE` + `PROGRAM_LOAD` while OFF and IDLE | Axis-test motion is a local hierarchy diagnostic; production task motion, tool offset and RTCP remain Worker/WASM authoritative | +| `machine-manager-settings`, `machine-manager-import`, `machine-manager-files`, `machine-manager-delete`, `machine-manager-translate`, `machine-manager-rotate`, `machine-manager-origin`, `machine-manager-translation`, `machine-manager-rotation`, `machine-manager-role`, `machine-manager-parent`, `machine-manager-show-origin`, `machine-tree-node`, `machine-tree-origin`, `machine-tree-axis-role`, `machine-test-x`, `machine-test-y`, `machine-test-z`, `machine-test-a`, `machine-test-b`, `machine-test-c`, `machine-test-reset`, `machine-test-state`, `machine-manager-apply`, `machine-manager-export` | Web component-level machine assembly extension | GLB `Object3D.children` render as a tree; selecting a node shows its parent-relative origin, numeric translation and rotation edit that node's local position and posture relative to its current parent, dragging records parent overrides, and axis-test inputs drive bound nodes through their actual parent hierarchy without changing the source scene. Imported roots can be deleted. Apply validates AC/BC and then uses `LOAD_WORKSPACE` + `PROGRAM_LOAD` while OFF and IDLE | Axis-test motion is a local hierarchy diagnostic; production task motion, tool offset and RTCP remain Worker/WASM authoritative | | `manual-home-all` | `home_all_joints` | `HOME {all:true}`; ON+IDLE, no concurrent homing/jog | Native homemod selects the configured sequences. No artificial coordinated return-to-zero motion. | | `switchkins-0`, `switchkins-1`, `switchkins-2` | `M429`, `M428`, `M430` remaps and `motion.switchkins-type` | `KINEMATICS_SELECT`; ON, homed, IDLE, empty TP | Identity/XYZAC/User K canonical type, or stable gate reason | | `tab-manual`, `tab-mdi` | `ensure_manual` / `ensure_mdi` | `SET_MODE`; manual_ok and motion exclusion | Task mode acknowledgement and WASM motion mode are monitored separately; no local tab is mode authority. | diff --git a/scripts/test_axis_control_inventory.mjs b/scripts/test_axis_control_inventory.mjs index f4987fa..491a9a6 100644 --- a/scripts/test_axis_control_inventory.mjs +++ b/scripts/test_axis_control_inventory.mjs @@ -13,7 +13,7 @@ const [contract, app, panel, preview] = await Promise.all([ const controlIds = [ "menu-file", "menu-file-edit-tool-data", "menu-file-quit", "menu-help", "menu-help-about", "about-close", "toolbar-estop", "toolbar-power", "toolbar-open", "toolbar-load-case", "toolbar-reload", "toolbar-run", "toolbar-step", "toolbar-pause-resume", "toolbar-stop", "toolbar-block-delete", "toolbar-optional-pause", "toolbar-zoom-in", "toolbar-zoom-out", "toolbar-view-z", "toolbar-view-z2", "toolbar-view-x", "toolbar-view-y", "toolbar-view-y2", "toolbar-view-p", "toolbar-rotate", "toolbar-clear-live-plot", - "workspace-case-select", "workspace-load-3d-chips", "workspace-rtcp-programs", "rtcp-program-scope", "rtcp-program-select", "rtcp-program-source", "rtcp-program-load", "rtcp-program-download", "machine-manager-settings", "machine-manager-import", "machine-manager-files", "machine-manager-delete", "machine-manager-translate", "machine-manager-rotate", "machine-manager-role", "machine-manager-parent", "machine-manager-show-origin", "machine-tree-node", "machine-tree-origin", "machine-tree-axis-role", "machine-test-x", "machine-test-y", "machine-test-z", "machine-test-a", "machine-test-b", "machine-test-c", "machine-test-reset", "machine-test-state", "machine-manager-apply", "machine-manager-export", "manual-home-all", "manual-home-joint-select", + "workspace-case-select", "workspace-load-3d-chips", "workspace-rtcp-programs", "rtcp-program-scope", "rtcp-program-select", "rtcp-program-source", "rtcp-program-load", "rtcp-program-download", "machine-manager-settings", "machine-manager-import", "machine-manager-files", "machine-manager-delete", "machine-manager-translate", "machine-manager-rotate", "machine-manager-origin", "machine-manager-translation", "machine-manager-rotation", "machine-manager-role", "machine-manager-parent", "machine-manager-show-origin", "machine-tree-node", "machine-tree-origin", "machine-tree-axis-role", "machine-test-x", "machine-test-y", "machine-test-z", "machine-test-a", "machine-test-b", "machine-test-c", "machine-test-reset", "machine-test-state", "machine-manager-apply", "machine-manager-export", "manual-home-all", "manual-home-joint-select", "switchkins-0", "switchkins-1", "switchkins-2", "tab-manual", "tab-mdi", "tab-diagnostics", "tab-preview", "tab-dro", "manual-axis-x", "manual-axis-y", "manual-axis-z", "manual-axis-a", "manual-axis-c", diff --git a/scripts/test_machine_manager_browser.mjs b/scripts/test_machine_manager_browser.mjs index 14ffe90..76584cc 100644 --- a/scripts/test_machine_manager_browser.mjs +++ b/scripts/test_machine_manager_browser.mjs @@ -1,6 +1,6 @@ import assert from "node:assert/strict"; import { pathToFileURL } from "node:url"; -import { mkdir, writeFile } from "node:fs/promises"; +import { mkdir, readFile, writeFile } from "node:fs/promises"; import * as THREE from "../web/react/node_modules/three/build/three.module.js"; import { GLTFExporter } from "../web/react/node_modules/three/examples/jsm/exporters/GLTFExporter.js"; @@ -43,16 +43,34 @@ try { await page.locator(".machine-manager-dialog").screenshot({ path: new URL("manager-ac-config.png", output).pathname }); report.checks.push("origin visibility, numeric translation/rotation and TransformControls mode update"); + // Editing an imported mesh must preserve the enclosing GLB placement. + const meshNode = control("machine-tree-node").filter({ hasText: "mesh_0" }).first(); + const meshPath = await meshNode.locator("xpath=ancestor::li[1]").getAttribute("data-machine-tree-path"); + await meshNode.dispatchEvent("click"); + await control("machine-manager-translation").getByLabel("X", { exact: true }).fill("35"); + await control("machine-manager-rotation").getByLabel("Z", { exact: true }).fill("30"); + const baseRoot = page.locator('[data-machine-tree-path="scene"]').first(); + await baseRoot.locator('[data-axis-control="machine-tree-node"]').first().dispatchEvent("click"); + assert.equal(await translation.getByLabel("X", { exact: true }).inputValue(), "10"); + assert.equal(await rotation.getByLabel("Z", { exact: true }).inputValue(), "15"); + const calibrations = page.locator(".machine-manager-calibration fieldset.machine-vector"); const cOrigin = calibrations.filter({ hasText: "C 轴原点" }); await cOrigin.getByLabel("X", { exact: true }).fill("24"); await cOrigin.getByLabel("Y", { exact: true }).fill("-12"); await cOrigin.getByLabel("Z", { exact: true }).fill("8"); const offset = calibrations.filter({ hasText: "A 到 C 轴偏置" }); await offset.getByLabel("X", { exact: true }).fill("0"); await offset.getByLabel("Y", { exact: true }).fill("18"); await offset.getByLabel("Z", { exact: true }).fill("-45"); const zeros = page.locator("fieldset.machine-zero"); await zeros.getByLabel("X", { exact: true }).fill("5"); await zeros.getByLabel("A", { exact: true }).fill("10"); await zeros.getByLabel("C", { exact: true }).fill("20"); assert.equal(await control("machine-manager-export").isDisabled(), false); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-coordinate-system"), "machine-z-up"); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-axis-map"), "X:x,Y:y,Z:z"); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-camera-up"), "0,0,1"); const downloadPromise = page.waitForEvent("download"); await control("machine-manager-export").click(); const download = await downloadPromise; assert.equal(download.suggestedFilename(), "managed-xyzac.glb"); + const exportedBytes = await readFile(await download.path()); + const exported = JSON.parse(exportedBytes.toString("utf8", 20, 20 + exportedBytes.readUInt32LE(12))); + const exportedMesh = exported.nodes.find((node) => node.name === "mesh_0"); + assert.ok(Math.abs(exportedMesh.translation[0] - .035) < 1e-7); + assert.ok(Math.abs(exportedMesh.rotation[2] - Math.sin(Math.PI / 12)) < 1e-7); + report.checks.push("internal mesh parent-relative position and rotation survive GLB export without moving its parent"); report.checks.push("validated assembly exports a self-contained managed GLB"); 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.equal(geometry.parts[0].rotationDeg[2], 15); + assert.deepEqual(geometry.parts[0].nodeTransforms[meshPath], { translationMm: [35, 0, 0], rotationDeg: [0, 0, 30] }); assert.match(await page.locator(".xyzac-machine-view").getAttribute("data-xyzac-model-source-path"), /^managed-xyzac\.glb$/); report.checks.push("validated hierarchy applied through LOAD_WORKSPACE with geometry and physical zero in userData"); @@ -77,7 +95,7 @@ try { const projection = await page.evaluate(async () => { const manager = await import("/src/machine-manager.ts"); const importedMachine = await import("/src/imported-machine.ts"); const sources = await Promise.all(Array.from({ length: 8 }, async (_, index) => manager.loadMachinePart(await (await fetch("/machines/demo-ac-xyz-head.glb")).arrayBuffer(), `source-${index}.glb`))); - const roles = manager.MACHINE_PART_ROLES; const drafts = sources.map((source, index) => { const role = roles[index]; const parentRole = manager.expectedParentRole(role); return { ...source, role, parentId: parentRole ? sources[roles.indexOf(parentRole)].id : null, visible: true, showOrigin: true, originMm: [0, 0, 0], translationMm: [0, 0, 0], rotationDeg: [0, 0, 0] }; }); + const roles = manager.MACHINE_PART_ROLES; const drafts = sources.map((source, index) => { const role = roles[index]; const parentRole = manager.expectedParentRole(role); return { ...source, role, parentId: parentRole ? sources[roles.indexOf(parentRole)].id : null, visible: true, showOrigin: true, originMm: [0, 0, 0], translationMm: [0, 0, 0], rotationDeg: [0, 0, 0], nodeParents: {}, nodeRoles: {}, nodeTransforms: {} }; }); const run = async (coordinates, cOriginMm, tiltOffsetMm, physicalZero, joints) => { const asset = await manager.buildManagedMachine({ coordinates, parts: drafts, cOriginMm, tiltOffsetMm, physicalZero }); const built = importedMachine.buildImportedMachine(asset); built.update({ joints, offsets: { x_rot_point: cOriginMm[0], y_rot_point: cOriginMm[1], z_rot_point: cOriginMm[2], x_offset: tiltOffsetMm[0], y_offset: tiltOffsetMm[1], z_offset: tiltOffsetMm[2], tool_offset: 0 } }); diff --git a/scripts/test_machine_manager_mill700_browser.mjs b/scripts/test_machine_manager_mill700_browser.mjs index 315b138..206dc88 100644 --- a/scripts/test_machine_manager_mill700_browser.mjs +++ b/scripts/test_machine_manager_mill700_browser.mjs @@ -26,8 +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); - 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 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("root and internal node transforms update their local position and posture relative to their parent"); + 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-JT3" }).first(); await selectedNode.dispatchEvent("click"); assert.match(await control("machine-tree-origin").textContent(), /节点自身局部原点.*装配位置.*装配姿态/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 }); await control("machine-manager-translation").locator("input").nth(0).fill("120"); await page.waitForFunction(() => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-transform") ?? "{}"); return Math.abs(current.local?.[0] - .12) < 1e-7; }); await control("machine-manager-rotation").locator("input").nth(2).fill("25"); await page.waitForFunction(() => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-transform") ?? "{}"); return Math.abs(current.localQuaternion?.[2] - Math.sin(25 * Math.PI / 360)) < 1e-7 && Math.abs(current.localQuaternion?.[3] - Math.cos(25 * Math.PI / 360)) < 1e-7; }); 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); diff --git a/web/react/src/MachineManagerPanel.tsx b/web/react/src/MachineManagerPanel.tsx index f756958..bbd83e9 100644 --- a/web/react/src/MachineManagerPanel.tsx +++ b/web/react/src/MachineManagerPanel.tsx @@ -6,7 +6,7 @@ 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, MACHINE_PART_ROLES, roleLabel, type MachinePartDraft, type MachinePartRole, type MachineTreeNode, type PhysicalZero } from "./machine-manager"; +import { configureMachinePartScene, reparentMachineNode, 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 }; @@ -68,7 +68,9 @@ function ManagerPreview({ coordinates, parts, selectedId, selectedNodePath, mode 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), pathNodes = new Map(); 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 { scene: visual, nodes: pathNodes } = configureMachinePartScene(part.scene.clone(true), part); + const internalRoles = Object.entries(part.nodeRoles ?? {}).map(([path, role]) => ({ object: pathNodes.get(path) ?? null, role })); + visual.position.add(new THREE.Vector3(...part.originMm).multiplyScalar(-.001)); node.add(visual); visualNodes.set(part.id, pathNodes); const axes = new THREE.AxesHelper(.12); helpers.push(axes); axes.name = `origin_${part.id}`; axes.visible = part.showOrigin; node.add(axes); root.add(node); nodes.set(part.id, node); if (part.role) roleNodes.set(part.role, { object: node, position: node.position.clone(), quaternion: node.quaternion.clone() }); for (const binding of internalRoles) if (binding.object && binding.role) roleNodes.set(binding.role, { object: binding.object, position: binding.object.position.clone(), quaternion: binding.object.quaternion.clone() }); @@ -83,23 +85,15 @@ function ManagerPreview({ coordinates, parts, selectedId, selectedNodePath, mode } lastParts = nextParts; } - // Apply the editor's part transform on every sync. The selected tree node - // may be an internal joint, but translation and rotation belong to the - // imported GLB part root and must move the complete part assembly. - for (const part of nextParts) { - const node = nodes.get(part.id); - if (!node) continue; - node.visible = part.visible; - node.position.fromArray(part.translationMm).multiplyScalar(.001); - node.rotation.set(...part.rotationDeg.map(THREE.MathUtils.degToRad) as Vec3); - } selectedPartId = nextSelectedId; selectedObject = nextSelectedId && nextNodePath === "scene" ? nodes.get(nextSelectedId) ?? null : null; transform.detach(); if (selectedObject) transform.attach(selectedObject); selectedJointAxes.removeFromParent(); selectedJointObject = nextSelectedId ? nextNodePath === "scene" ? nodes.get(nextSelectedId) ?? null : visualNodes.get(nextSelectedId)?.get(nextNodePath) ?? null : null; if (selectedJointObject) { selectedJointObject.add(selectedJointAxes); selectedJointAxes.position.set(0, 0, 0); selectedJointAxes.quaternion.identity(); selectedJointAxes.scale.setScalar(selectedAxesScale); selectedJointAxes.visible = true; element.dataset.machineManagerSelectedJoint = `${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); } 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); 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(); + 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); } const selectedState = selectedJointObject ? { local: selectedJointObject.position.toArray(), localQuaternion: selectedJointObject.quaternion.toArray(), world: selectedJointObject.getWorldPosition(new THREE.Vector3()).toArray(), worldQuaternion: selectedJointObject.getWorldQuaternion(new THREE.Quaternion()).toArray() } : null; + element.dataset.machineManagerSelectedTransform = JSON.stringify(selectedState); + onMotionStateRef.current(selectedState ? { ...transforms, selected: selectedState } : transforms); element.dataset.machineManagerTestPose = JSON.stringify(nextPose); element.dataset.machineManagerContextGeneration = "1"; dirty = true; draw(); }; element.machineManagerSync(stateRef.current.parts, stateRef.current.selectedId, stateRef.current.selectedNodePath, stateRef.current.mode, stateRef.current.testPose, stateRef.current.coordinates); const resize = () => { @@ -149,6 +143,15 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) { const selectedTreeNode = selected ? findTreeNode(trees.get(selected.id), selectedNodePath) : null; const update = (id: string, values: Partial) => setParts((current) => current.map((part) => part.id === id ? { ...part, ...values } : part)); const vectorInput = (label: string, value: Vec3, set: (value: Vec3) => void, unit: string, control?: string) =>
{label} ({unit}){["X", "Y", "Z"].map((axis, index) => )}
; + const updateSelectedTransform = (field: "translationMm" | "rotationDeg", value: Vec3) => { + if (!selected || !selectedTreeNode) return; + if (selectedNodePath === "scene") { update(selected.id, { [field]: value }); return; } + setParts((current) => current.map((part) => { + if (part.id !== selected.id) return part; + const currentTransform = part.nodeTransforms?.[selectedNodePath] ?? { translationMm: selectedTreeNode!.originMm, rotationDeg: selectedTreeNode!.rotationDeg }; + return { ...part, nodeTransforms: { ...(part.nodeTransforms ?? {}), [selectedNodePath]: { ...currentTransform, [field]: value } } }; + })); + }; const importFiles = async (list: FileList | File[] | null) => { if (!list?.length) return; setPending(true); setMessage("正在读取 GLB 部件…"); try { @@ -159,7 +162,7 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) { const role = MACHINE_PART_ROLES.find((candidate) => !next.some((part) => part.role === candidate)) ?? ""; const parentRole = role ? expectedParentRole(role) : null; const parentId = parentRole ? next.find((part) => part.role === parentRole)?.id ?? null : null; - next.push({ ...source, role, parentId, visible: true, showOrigin: true, originMm: zero3(), translationMm: zero3(), rotationDeg: zero3(), nodeParents: {}, nodeRoles: {} }); + next.push({ ...source, role, parentId, visible: true, showOrigin: true, originMm: zero3(), translationMm: zero3(), rotationDeg: zero3(), nodeParents: {}, nodeRoles: {}, nodeTransforms: {} }); } return next; }); @@ -179,8 +182,11 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) { } if (source.partId !== target.partId) { setMessage("GLB 内部节点只能在同一 GLB 层级树内拖动"); return; } const part = parts.find((item) => item.id === source.partId)!; - const candidate = { ...part, nodeParents: { ...part.nodeParents, [source.path]: target.path === "scene" ? null : target.path } }; - try { machinePartTree(candidate); update(part.id, { nodeParents: candidate.nodeParents }); setSelectedId(part.id); setSelectedNodePath(source.path); setMessage("GLB 内部层级已更新；原始导入模型未修改"); } + try { + const changes = reparentMachineNode(part, source.path, target.path); + machinePartTree({ ...part, ...changes }); update(part.id, changes); + setSelectedId(part.id); setSelectedNodePath(source.path); setMessage("GLB 内部层级已更新，保留当前装配姿态"); + } catch (error) { setMessage(error instanceof Error ? error.message : String(error)); } }; const apply = async () => { @@ -219,7 +225,8 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) { }; const poseInput = (axis: keyof TestPose, unit: string) => ; const receiveMotionState = (state: Record) => { const hash = JSON.stringify(state); if (hash !== motionStateHash.current) { motionStateHash.current = hash; setMotionState(state); } }; - const selectedDriven = selectedBinding ? motionState[selectedBinding] : null; + const selectedDriven = motionState.selected ?? null; + const selectedTransform = selectedNodePath === "scene" ? selected : selected?.nodeTransforms?.[selectedNodePath] ?? (selectedTreeNode ? { translationMm: selectedTreeNode.originMm, rotationDeg: selectedTreeNode.rotationDeg } : null); const renderPartTree = (part: MachinePartDraft): React.ReactNode => child.parentId === part.id).map(renderPartTree)} />; return
@@ -229,7 +236,8 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) { {open && update(id, { translationMm, rotationDeg })} onMotionState={receiveMotionState} />}

部件与层级

{parts.length ?
    {parts.filter((part) => !part.parentId).map(renderPartTree)}
:

导入机床或部件后显示 GLB 内部层级。

}
- {selected &&

{selected.filename}

{selectedTreeNode &&
{selectedTreeNode.name}节点自身局部原点X 0.000　Y 0.000　Z 0.000关节零姿态原点（相对父节点，mm）X {selectedTreeNode.originMm[0].toFixed(3)}　Y {selectedTreeNode.originMm[1].toFixed(3)}　Z {selectedTreeNode.originMm[2].toFixed(3)}零姿态世界原点（mm）X {selectedTreeNode.worldOriginMm[0].toFixed(3)}　Y {selectedTreeNode.worldOriginMm[1].toFixed(3)}　Z {selectedTreeNode.worldOriginMm[2].toFixed(3)}零姿态局部转角（deg）RX {selectedTreeNode.rotationDeg[0].toFixed(3)}　RY {selectedTreeNode.rotationDeg[1].toFixed(3)}　RZ {selectedTreeNode.rotationDeg[2].toFixed(3)}{selectedDriven && <>当前驱动后的世界原点（mm）X {(selectedDriven.world[0] * 1000).toFixed(3)}　Y {(selectedDriven.world[1] * 1000).toFixed(3)}　Z {(selectedDriven.world[2] * 1000).toFixed(3)}}
}
{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")}
} + {selected &&

{selected.filename}

{selectedTreeNode &&
{selectedTreeNode.name}节点自身局部原点X 0.000　Y 0.000　Z 0.000装配位置（相对父节点，mm）X {selectedTransform!.translationMm[0].toFixed(3)}　Y {selectedTransform!.translationMm[1].toFixed(3)}　Z {selectedTransform!.translationMm[2].toFixed(3)}装配姿态（相对父节点，deg）RX {selectedTransform!.rotationDeg[0].toFixed(3)}　RY {selectedTransform!.rotationDeg[1].toFixed(3)}　RZ {selectedTransform!.rotationDeg[2].toFixed(3)}{selectedDriven && <>当前世界原点（mm）X {(selectedDriven.world[0] * 1000).toFixed(3)}　Y {(selectedDriven.world[1] * 1000).toFixed(3)}　Z {(selectedDriven.world[2] * 1000).toFixed(3)}}
}
{selectedNodePath === "scene" && vectorInput("导入文件装配原点", selected.originMm, (originMm) => update(selected.id, { originMm }), "mm", "machine-manager-origin")} + {selectedTransform && <>

编辑对象：{selectedTreeNode?.name}。数值为相对父级的位置和 XYZ 欧拉角；旋转中心为本节点原点。

{vectorInput("部件平移（相对父级位置）", selectedTransform.translationMm, (value) => updateSelectedTransform("translationMm", value), "mm", "machine-manager-translation")}{vectorInput("部件旋转（相对父级姿态）", selectedTransform.rotationDeg, (value) => updateSelectedTransform("rotationDeg", value), "deg", "machine-manager-rotation")}}
}

层级运动测试

{(["x", "y", "z"] as const).map((axis) => poseInput(axis, "mm"))}{poseInput(coordinates === "XYZBC" ? "b" : "a", "deg")}{poseInput("c", "deg")}
{JSON.stringify(testPose)}
diff --git a/web/react/src/machine-manager.ts b/web/react/src/machine-manager.ts index b2fc559..034fa41 100644 --- a/web/react/src/machine-manager.ts +++ b/web/react/src/machine-manager.ts @@ -5,6 +5,7 @@ import type { ImportedMachine } from "./imported-machine"; export type MachinePartRole = "base" | "x" | "y" | "z" | "tool" | "tilt" | "c" | "work"; export type MachinePartSource = { id: string; filename: string; hash: string; scene: THREE.Group }; +export type MachineNodeTransform = { translationMm: Vec3; rotationDeg: Vec3 }; export type MachinePartDraft = MachinePartSource & { role: MachinePartRole | ""; parentId: string | null; @@ -15,6 +16,7 @@ export type MachinePartDraft = MachinePartSource & { rotationDeg: Vec3; nodeParents: Record; nodeRoles: Record; + nodeTransforms: Record; }; 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 }; @@ -24,7 +26,7 @@ export type ManagedMachineGeometry = { cOriginMm: Vec3; tiltOffsetMm: Vec3; physicalZero: PhysicalZero; - parts: Array<{ id: string; filename: string; hash: string; role: MachinePartRole; parentId: string | null; originMm: Vec3; translationMm: Vec3; rotationDeg: Vec3; visible: boolean; nodeParents: Record; nodeRoles: Record }>; + parts: Array<{ id: string; filename: string; hash: string; role: MachinePartRole; parentId: string | null; originMm: Vec3; translationMm: Vec3; rotationDeg: Vec3; visible: boolean; nodeParents: Record; nodeRoles: Record; nodeTransforms: Record }>; }; export const MACHINE_PART_ROLES: MachinePartRole[] = ["base", "x", "y", "z", "tool", "tilt", "c", "work"]; @@ -68,12 +70,46 @@ export function applyMachineNodeParents(scene: THREE.Object3D, overrides: Record return scene; } +// Index source paths before reparenting so edits and axis bindings keep their identity. +export function configureMachinePartScene(scene: THREE.Object3D, part: Pick) { + const { nodes, paths } = scenePathMap(scene); + applyMachineNodeParents(scene, part.nodeParents ?? {}); + for (const [path, transform] of Object.entries(part.nodeTransforms ?? {})) { + const node = nodes.get(path); + if (!node || node === scene) throw new Error("部件变换节点无效"); + finite3(transform.translationMm, "节点相对父级位置"); + finite3(transform.rotationDeg, "节点相对父级姿态"); + node.position.fromArray(transform.translationMm).multiplyScalar(.001); + node.rotation.set(...transform.rotationDeg.map(THREE.MathUtils.degToRad) as Vec3, "XYZ"); + node.updateMatrix(); + } + scene.updateMatrixWorld(true); + return { scene, nodes, paths }; +} + +export function reparentMachineNode(part: MachinePartDraft, sourcePath: string, targetPath: string) { + const { scene, nodes } = configureMachinePartScene(part.scene.clone(true), part); + const source = nodes.get(sourcePath), target = nodes.get(targetPath); + if (!source || source === scene || !target || source === target) throw new Error("GLB 层级拖放目标无效"); + for (let cursor: THREE.Object3D | null = target; cursor; cursor = cursor.parent) { + if (cursor === source) throw new Error("GLB 层级不能形成循环"); + } + target.attach(source); + // Capture edited local poses after attach: changing parent preserves the current + // assembly pose, and subsequent numeric edits use the new parent's frame. + const nodeTransforms = Object.fromEntries([...nodes].filter(([path]) => path !== "scene").map(([path, node]) => [path, { + translationMm: node.position.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, + }])); + return { nodeParents: { ...part.nodeParents, [sourcePath]: targetPath === "scene" ? null : targetPath }, nodeTransforms }; +} + export function machineSceneNode(scene: THREE.Object3D, path: string) { return scenePathMap(scene).nodes.get(path) ?? null; } -export function machinePartTree(part: Pick): MachineTreeNode { - const scene = part.scene.clone(true), { paths } = scenePathMap(scene); applyMachineNodeParents(scene, part.nodeParents ?? {}); +export function machinePartTree(part: Pick): MachineTreeNode { + const { scene, paths } = configureMachinePartScene(part.scene.clone(true), part); scene.updateMatrixWorld(true); const build = (node: THREE.Object3D): MachineTreeNode => ({ path: paths.get(node)!, @@ -106,6 +142,7 @@ export function validateMachineAssembly(coordinates: "XYZAC" | "XYZBC", parts: M if (!part.role) throw new Error(`${part.filename} 尚未指定机床角色`); if (byRole.has(part.role)) throw new Error(`${roleLabel(part.role, coordinates)}角色重复`); finite3(part.originMm, `${part.filename}局部原点`); finite3(part.translationMm, `${part.filename}平移`); finite3(part.rotationDeg, `${part.filename}旋转`); + for (const [path, transform] of Object.entries(part.nodeTransforms ?? {})) { if (path === "scene") throw new Error(`${part.filename} 的 scene 节点不能重复定义部件变换`); finite3(transform.translationMm, `${part.filename}/${path} 相对父级位置`); finite3(transform.rotationDeg, `${part.filename}/${path} 相对父级姿态`); } byRole.set(part.role, part); } for (const role of MACHINE_PART_ROLES) if (!byRole.has(role)) throw new Error(`缺少${roleLabel(role, coordinates)}`); @@ -149,7 +186,7 @@ export async function buildManagedMachine(input: { coordinates: "XYZAC" | "XYZBC const structure: MachineStructure = parseMachineUrdf(urdf); const metadata: ManagedMachineGeometry = { schema: "linuxcnc.machine-manager/1", coordinates: input.coordinates, cOriginMm: [...input.cOriginMm], tiltOffsetMm: [...input.tiltOffsetMm], physicalZero: { ...input.physicalZero }, - parts: MACHINE_PART_ROLES.map((role) => { const part = byRole.get(role)!; return { id: part.id, filename: part.filename, hash: part.hash, role, parentId: part.parentId, originMm: [...part.originMm], translationMm: [...part.translationMm], rotationDeg: [...part.rotationDeg], visible: part.visible, nodeParents: { ...(part.nodeParents ?? {}) }, nodeRoles: { ...(part.nodeRoles ?? {}) } }; }), + parts: MACHINE_PART_ROLES.map((role) => { const part = byRole.get(role)!; return { id: part.id, filename: part.filename, hash: part.hash, role, parentId: part.parentId, originMm: [...part.originMm], translationMm: [...part.translationMm], rotationDeg: [...part.rotationDeg], visible: part.visible, nodeParents: { ...(part.nodeParents ?? {}) }, nodeRoles: { ...(part.nodeRoles ?? {}) }, nodeTransforms: Object.fromEntries(Object.entries(part.nodeTransforms ?? {}).map(([path, transform]) => [path, { translationMm: [...transform.translationMm] as Vec3, rotationDeg: [...transform.rotationDeg] as Vec3 }])) }; }), }; const scene = new THREE.Group(); scene.name = `Managed_${input.coordinates}`; scene.userData.linuxcncMachine = { schema: "linuxcnc.machine/1", urdf }; @@ -164,7 +201,7 @@ export async function buildManagedMachine(input: { coordinates: "XYZAC" | "XYZBC placement.position.fromArray(part.translationMm).multiplyScalar(.001); placement.rotation.set(...part.rotationDeg.map(THREE.MathUtils.degToRad) as Vec3); placement.userData.machinePart = { role, filename: part.filename, hash: part.hash, originMm: [...part.originMm] }; - const visual = applyMachineNodeParents(cloneMachinePartScene(part.scene), part.nodeParents ?? {}); visual.position.fromArray(part.originMm).multiplyScalar(-.001); placement.add(visual); links[role].add(placement); + const { scene: visual } = configureMachinePartScene(cloneMachinePartScene(part.scene), part); visual.position.add(new THREE.Vector3(...part.originMm).multiplyScalar(-.001)); placement.add(visual); links[role].add(placement); } links.base.userData.linuxcncMachineGeometry = metadata; const signature = JSON.stringify({ metadata, hashes: MACHINE_PART_ROLES.map((role) => byRole.get(role)!.hash) }); diff --git a/web/react/src/styles.css b/web/react/src/styles.css index 7b47b6a..fc84f8b 100644 --- a/web/react/src/styles.css +++ b/web/react/src/styles.css @@ -391,6 +391,7 @@ output { font: 12px ui-monospace, monospace; text-align: right; } .machine-part-editor > header, .machine-motion-test > header { display: flex; align-items: center; justify-content: space-between; gap: 8px; } .machine-part-editor > header button { color: #8b2d24; } .machine-part-editor select { height: 30px; min-width: 0; } +.machine-transform-reference { margin: 8px 0; color: #536467; font-size: 11px; line-height: 1.45; } .machine-part-flags { display: flex; gap: 16px; margin: 8px 0; } .machine-vector { display: flex; flex-wrap: wrap; gap: 6px; margin: 8px 0; padding: 6px; } .machine-vector legend { font-weight: 700; }