Apply hierarchy node transforms relative to parents
This commit is contained in:
@@ -6,7 +6,7 @@ import { GLTFExporter } from "three/examples/jsm/exporters/GLTFExporter.js";
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import { RoomEnvironment } from "three/examples/jsm/environments/RoomEnvironment.js";
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import { DraggableDialog } from "./DraggableDialog";
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import { disposeMachineScene, type ImportedMachine } from "./imported-machine";
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import { applyMachineNodeParents, buildManagedMachine, expectedParentRole, loadMachinePart, machinePartTree, MACHINE_PART_ROLES, roleLabel, type MachinePartDraft, type MachinePartRole, type MachineTreeNode, type PhysicalZero } from "./machine-manager";
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import { configureMachinePartScene, reparentMachineNode, buildManagedMachine, expectedParentRole, loadMachinePart, machinePartTree, MACHINE_PART_ROLES, roleLabel, type MachinePartDraft, type MachinePartRole, type MachineTreeNode, type PhysicalZero } from "./machine-manager";
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import type { Vec3 } from "./machine-urdf";
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type Props = { coordinates: "XYZAC" | "XYZBC"; disabled: boolean; onApply: (machine: ImportedMachine) => Promise<void> };
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@@ -68,7 +68,9 @@ function ManagerPreview({ coordinates, parts, selectedId, selectedNodePath, mode
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const node = new THREE.Group(); node.name = `draft_${part.id}`; node.visible = part.visible; node.position.fromArray(part.translationMm).multiplyScalar(.001); node.rotation.set(...part.rotationDeg.map(THREE.MathUtils.degToRad) as Vec3);
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// Clone transforms/hierarchy only. Geometry, materials, textures and
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// source-node transforms remain untouched on the imported GLB.
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const visual = part.scene.clone(true), pathNodes = new Map<string, THREE.Object3D>(); const indexNodes = (object: THREE.Object3D, path: string) => { pathNodes.set(path, object); object.children.forEach((child, index) => indexNodes(child, `${path}/${index}`)); }; indexNodes(visual, "scene"); const internalRoles = Object.entries(part.nodeRoles ?? {}).map(([path, role]) => ({ object: pathNodes.get(path) ?? null, role })); applyMachineNodeParents(visual, part.nodeParents); visual.position.fromArray(part.originMm).multiplyScalar(-.001); node.add(visual); visualNodes.set(part.id, pathNodes);
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const { scene: visual, nodes: pathNodes } = configureMachinePartScene(part.scene.clone(true), part);
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const internalRoles = Object.entries(part.nodeRoles ?? {}).map(([path, role]) => ({ object: pathNodes.get(path) ?? null, role }));
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visual.position.add(new THREE.Vector3(...part.originMm).multiplyScalar(-.001)); node.add(visual); visualNodes.set(part.id, pathNodes);
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const axes = new THREE.AxesHelper(.12); helpers.push(axes); axes.name = `origin_${part.id}`; axes.visible = part.showOrigin; node.add(axes); root.add(node); nodes.set(part.id, node);
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if (part.role) roleNodes.set(part.role, { object: node, position: node.position.clone(), quaternion: node.quaternion.clone() });
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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() });
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@@ -83,23 +85,15 @@ function ManagerPreview({ coordinates, parts, selectedId, selectedNodePath, mode
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}
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lastParts = nextParts;
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}
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// Apply the editor's part transform on every sync. The selected tree node
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// may be an internal joint, but translation and rotation belong to the
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// imported GLB part root and must move the complete part assembly.
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for (const part of nextParts) {
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const node = nodes.get(part.id);
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if (!node) continue;
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node.visible = part.visible;
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node.position.fromArray(part.translationMm).multiplyScalar(.001);
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node.rotation.set(...part.rotationDeg.map(THREE.MathUtils.degToRad) as Vec3);
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}
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selectedPartId = nextSelectedId; selectedObject = nextSelectedId && nextNodePath === "scene" ? nodes.get(nextSelectedId) ?? null : null; transform.detach(); if (selectedObject) transform.attach(selectedObject);
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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; }
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for (const binding of roleNodes.values()) { binding.object.position.copy(binding.position); binding.object.quaternion.copy(binding.quaternion); }
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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); } };
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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))); };
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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);
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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();
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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;
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element.dataset.machineManagerSelectedTransform = JSON.stringify(selectedState);
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onMotionStateRef.current(selectedState ? { ...transforms, selected: selectedState } : transforms); element.dataset.machineManagerTestPose = JSON.stringify(nextPose); element.dataset.machineManagerContextGeneration = "1"; dirty = true; draw();
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};
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element.machineManagerSync(stateRef.current.parts, stateRef.current.selectedId, stateRef.current.selectedNodePath, stateRef.current.mode, stateRef.current.testPose, stateRef.current.coordinates);
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const resize = () => {
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@@ -149,6 +143,15 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) {
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const selectedTreeNode = selected ? findTreeNode(trees.get(selected.id), selectedNodePath) : null;
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const update = (id: string, values: Partial<MachinePartDraft>) => setParts((current) => current.map((part) => part.id === id ? { ...part, ...values } : part));
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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>;
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const updateSelectedTransform = (field: "translationMm" | "rotationDeg", value: Vec3) => {
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if (!selected || !selectedTreeNode) return;
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if (selectedNodePath === "scene") { update(selected.id, { [field]: value }); return; }
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setParts((current) => current.map((part) => {
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if (part.id !== selected.id) return part;
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const currentTransform = part.nodeTransforms?.[selectedNodePath] ?? { translationMm: selectedTreeNode!.originMm, rotationDeg: selectedTreeNode!.rotationDeg };
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return { ...part, nodeTransforms: { ...(part.nodeTransforms ?? {}), [selectedNodePath]: { ...currentTransform, [field]: value } } };
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}));
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};
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const importFiles = async (list: FileList | File[] | null) => {
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if (!list?.length) return; setPending(true); setMessage("正在读取 GLB 部件…");
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try {
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@@ -159,7 +162,7 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) {
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const role = MACHINE_PART_ROLES.find((candidate) => !next.some((part) => part.role === candidate)) ?? "";
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const parentRole = role ? expectedParentRole(role) : null;
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const parentId = parentRole ? next.find((part) => part.role === parentRole)?.id ?? null : null;
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next.push({ ...source, role, parentId, visible: true, showOrigin: true, originMm: zero3(), translationMm: zero3(), rotationDeg: zero3(), nodeParents: {}, nodeRoles: {} });
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next.push({ ...source, role, parentId, visible: true, showOrigin: true, originMm: zero3(), translationMm: zero3(), rotationDeg: zero3(), nodeParents: {}, nodeRoles: {}, nodeTransforms: {} });
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}
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return next;
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});
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@@ -179,8 +182,11 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) {
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}
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if (source.partId !== target.partId) { setMessage("GLB 内部节点只能在同一 GLB 层级树内拖动"); return; }
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const part = parts.find((item) => item.id === source.partId)!;
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const candidate = { ...part, nodeParents: { ...part.nodeParents, [source.path]: target.path === "scene" ? null : target.path } };
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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"); }
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try {
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const changes = reparentMachineNode(part, source.path, target.path);
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machinePartTree({ ...part, ...changes }); update(part.id, changes);
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setSelectedId(part.id); setSelectedNodePath(source.path); setMessage("GLB 内部层级已更新，保留当前装配姿态");
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}
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catch (error) { setMessage(error instanceof Error ? error.message : String(error)); }
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};
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const apply = async () => {
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@@ -219,7 +225,8 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) {
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};
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const poseInput = (axis: keyof TestPose, unit: string) => <label key={axis}>{axis.toUpperCase()}<input data-axis-control={`machine-test-${axis}`} type="number" step="any" value={testPose[axis]} onChange={(event) => setTestPose({ ...testPose, [axis]: number(event.target.value) })} /><small>{unit}</small></label>;
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const receiveMotionState = (state: Record<string, MotionTransform>) => { const hash = JSON.stringify(state); if (hash !== motionStateHash.current) { motionStateHash.current = hash; setMotionState(state); } };
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const selectedDriven = selectedBinding ? motionState[selectedBinding] : null;
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const selectedDriven = motionState.selected ?? null;
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const selectedTransform = selectedNodePath === "scene" ? selected : selected?.nodeTransforms?.[selectedNodePath] ?? (selectedTreeNode ? { translationMm: selectedTreeNode.originMm, rotationDeg: selectedTreeNode.rotationDeg } : null);
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const renderPartTree = (part: MachinePartDraft): React.ReactNode => <TreeNode key={part.id} part={part} node={trees.get(part.id)!} selected={`${selectedId}:${selectedNodePath}`} onSelect={selectTreeNode} onDrop={reparentTreeNode} extra={parts.filter((child) => child.parentId === part.id).map(renderPartTree)} />;
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return <section className="machine-manager" aria-label="三维机床管理">
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<button type="button" data-axis-control="machine-manager-settings" aria-haspopup="dialog" onClick={() => setOpen(true)}>三维机床管理</button>
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@@ -229,7 +236,8 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) {
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{open && <MachineManagerPanelPreview coordinates={coordinates} parts={parts} selectedId={selectedId} selectedNodePath={selectedNodePath} mode={mode} testPose={testPose} onTransform={(id, translationMm, rotationDeg) => update(id, { translationMm, rotationDeg })} onMotionState={receiveMotionState} />}
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<div className="machine-manager-editor">
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<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>
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{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>}
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{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>装配位置（相对父节点，mm）</span><output>X {selectedTransform!.translationMm[0].toFixed(3)} Y {selectedTransform!.translationMm[1].toFixed(3)} Z {selectedTransform!.translationMm[2].toFixed(3)}</output><span>装配姿态（相对父节点，deg）</span><output>RX {selectedTransform!.rotationDeg[0].toFixed(3)} RY {selectedTransform!.rotationDeg[1].toFixed(3)} RZ {selectedTransform!.rotationDeg[2].toFixed(3)}</output>{selectedDriven && <><span>当前世界原点（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>{selectedNodePath === "scene" && vectorInput("导入文件装配原点", selected.originMm, (originMm) => update(selected.id, { originMm }), "mm", "machine-manager-origin")}
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{selectedTransform && <><p className="machine-transform-reference">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。</p>{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")}</>}</section>}
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</div>
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</div>
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<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>
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@@ -5,6 +5,7 @@ import type { ImportedMachine } from "./imported-machine";
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export type MachinePartRole = "base" | "x" | "y" | "z" | "tool" | "tilt" | "c" | "work";
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export type MachinePartSource = { id: string; filename: string; hash: string; scene: THREE.Group };
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export type MachineNodeTransform = { translationMm: Vec3; rotationDeg: Vec3 };
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export type MachinePartDraft = MachinePartSource & {
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role: MachinePartRole | "";
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parentId: string | null;
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@@ -15,6 +16,7 @@ export type MachinePartDraft = MachinePartSource & {
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rotationDeg: Vec3;
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nodeParents: Record<string, string | null>;
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nodeRoles: Record<string, MachinePartRole | "">;
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nodeTransforms: Record<string, MachineNodeTransform>;
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};
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export type MachineTreeNode = { path: string; name: string; type: "group" | "mesh"; originMm: Vec3; worldOriginMm: Vec3; rotationDeg: Vec3; children: MachineTreeNode[] };
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export type PhysicalZero = { x: number; y: number; z: number; a: number; b: number; c: number };
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@@ -24,7 +26,7 @@ export type ManagedMachineGeometry = {
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cOriginMm: Vec3;
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tiltOffsetMm: Vec3;
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physicalZero: PhysicalZero;
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parts: Array<{ id: string; filename: string; hash: string; role: MachinePartRole; parentId: string | null; originMm: Vec3; translationMm: Vec3; rotationDeg: Vec3; visible: boolean; nodeParents: Record<string, string | null>; nodeRoles: Record<string, MachinePartRole | ""> }>;
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parts: Array<{ id: string; filename: string; hash: string; role: MachinePartRole; parentId: string | null; originMm: Vec3; translationMm: Vec3; rotationDeg: Vec3; visible: boolean; nodeParents: Record<string, string | null>; nodeRoles: Record<string, MachinePartRole | "">; nodeTransforms: Record<string, MachineNodeTransform> }>;
|
||||
};
|
||||
|
||||
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<MachinePartDraft, "nodeParents" | "nodeTransforms">) {
|
||||
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<MachinePartDraft, "filename" | "scene" | "nodeParents">): MachineTreeNode {
|
||||
const scene = part.scene.clone(true), { paths } = scenePathMap(scene); applyMachineNodeParents(scene, part.nodeParents ?? {});
|
||||
export function machinePartTree(part: Pick<MachinePartDraft, "filename" | "scene" | "nodeParents" | "nodeTransforms">): 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) });
|
||||
|
||||
@@ -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; }
|
||||
|
||||
Reference in New Issue
Block a user