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Apply hierarchy node transforms relative to parents

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wangdequan
2026-09-21 09:11:38 +08:00
parent 63f726dc32
commit a472911ad1
19 changed files with 181 additions and 113 deletions
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2
scripts/test_axis_control_inventory.mjs
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@@ -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",

22
scripts/test_machine_manager_browser.mjs
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@@ -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 } });

4
scripts/test_machine_manager_mill700_browser.mjs
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@@ -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);