Egalware/EgtGeomKernel
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

EgtGeomKernel :

Browse Source 
- miglioramento in Collision Avoid grazie alla gestione delle tolleranze sulle parti piatte perpendicolari all'asse in funzione della direzione di allontanamento.
This commit is contained in:
Dario Sassi
2023-12-07 11:03:23 +01:00
parent fc9312f0f2
commit 2ca801e2ec
1 changed files with 12 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CAvToolTriangle.cpp
+12 -10
View File
@@ -150,14 +150,16 @@ CAvToolTriangle( const Tool& tlTool, const Point3d& ptToolOrig, const Vector3d&
return -1. ;
// Se avvicinamento non devo fare nulla
if ( vtMove * trTria.GetN() < - EPS_ZERO)
return 0. ;
return 0. ;
// Tolleranza su dischi (parti piatte perpendicolari all'asse utensile)
double dEpsilon = ( vtMove * vtToolAx > 0.5 ? 0 : EPS_SMALL) ;
// se utensile cilindrico
if ( tlTool.GetType() == Tool::CYLMILL) {
// parametri geometrici
double dHeigth = tlTool.GetHeigth() ;
double dRadius = tlTool.GetRadius() ;
// prima determino l'allontanamento del disco inferiore
double dDist = CAvDiskTriangle( ptToolOrig - ( dHeigth - EPS_SMALL) * vtToolAx, vtToolAx, dRadius, trTria, vtMove) ;
double dDist = CAvDiskTriangle( ptToolOrig - ( dHeigth - dEpsilon) * vtToolAx, vtToolAx, dRadius, trTria, vtMove) ;
if ( dDist < - EPS_SMALL)
return dDist ;
// poi verifico quello del cilindro (tenendo conto di quanto è stata allontanato il disco)
@@ -165,7 +167,7 @@ CAvToolTriangle( const Tool& tlTool, const Point3d& ptToolOrig, const Vector3d&
if ( dDist2 < - EPS_SMALL)
return dDist2 ;
// verifico quello del disco sopra
double dDist3 = CAvDiskTriangle( ptToolOrig - EPS_SMALL * vtToolAx + ( dDist + dDist2) * vtMove, vtToolAx, dRadius, trTria, vtMove) ;
double dDist3 = CAvDiskTriangle( ptToolOrig - dEpsilon * vtToolAx + ( dDist + dDist2) * vtMove, vtToolAx, dRadius, trTria, vtMove) ;
if ( dDist3 < - EPS_SMALL)
return dDist3 ;
return ( dDist + dDist2 + dDist3) ;
@@ -189,7 +191,7 @@ CAvToolTriangle( const Tool& tlTool, const Point3d& ptToolOrig, const Vector3d&
return dDist2 ;
// verifico quello del disco sopra
Point3d ptDiskUpOrig = ptCylOrig + dDist2 * vtMove ;
double dDist3 = CAvDiskTriangle( ptDiskUpOrig - EPS_SMALL * vtToolAx, vtToolAx, dRadius, trTria, vtMove) ;
double dDist3 = CAvDiskTriangle( ptDiskUpOrig - dEpsilon * vtToolAx, vtToolAx, dRadius, trTria, vtMove) ;
if ( dDist3 < - EPS_SMALL)
return dDist3 ;
return ( dDist + dDist2 + dDist3) ;
@@ -199,7 +201,7 @@ CAvToolTriangle( const Tool& tlTool, const Point3d& ptToolOrig, const Vector3d&
// parametri geometrici
double dCylHeigth = tlTool.GetHeigth() - tlTool.GetTipHeigth() ;
// prima determino l'allontanamento del disco inferiore
double dDist = CAvDiskTriangle( ptToolOrig - ( tlTool.GetHeigth() - EPS_SMALL) * vtToolAx, vtToolAx, tlTool.GetTipRadius(),
double dDist = CAvDiskTriangle( ptToolOrig - ( tlTool.GetHeigth() - dEpsilon) * vtToolAx, vtToolAx, tlTool.GetTipRadius(),
trTria, vtMove) ;
if ( dDist < - EPS_SMALL)
return dDist ;
@@ -220,7 +222,7 @@ CAvToolTriangle( const Tool& tlTool, const Point3d& ptToolOrig, const Vector3d&
return dDist3 ;
// verifico quello del disco sopra
Point3d ptDiskUpOrig = ptCylOrig + vtMove * dDist3 ;
double dDist4 = CAvDiskTriangle( ptDiskUpOrig - EPS_SMALL * vtToolAx, vtToolAx, tlTool.GetRadius(), trTria, vtMove) ;
double dDist4 = CAvDiskTriangle( ptDiskUpOrig - dEpsilon * vtToolAx, vtToolAx, tlTool.GetRadius(), trTria, vtMove) ;
if ( dDist4 < - EPS_SMALL)
return dDist4 ;
return ( dDist + dDist2 + dDist3 + dDist4) ;
@@ -247,7 +249,7 @@ CAvToolTriangle( const Tool& tlTool, const Point3d& ptToolOrig, const Vector3d&
double dMaxR = max( tlTool.GetRadius(), tlTool.GetTipRadius()) ;
double dCylHeigth = tlTool.GetHeigth() - tlTool.GetTipHeigth() ;
// prima determino l'allontanamento del disco inferiore
double dDist = CAvDiskTriangle( ptToolOrig - ( tlTool.GetHeigth() - EPS_SMALL) * vtToolAx, vtToolAx, tlTool.GetTipRadius(),
double dDist = CAvDiskTriangle( ptToolOrig - ( tlTool.GetHeigth() - dEpsilon) * vtToolAx, vtToolAx, tlTool.GetTipRadius(),
trTria, vtMove) ;
if ( dDist < - EPS_SMALL)
return dDist ;
@@ -266,7 +268,7 @@ CAvToolTriangle( const Tool& tlTool, const Point3d& ptToolOrig, const Vector3d&
return dDist3 ;
// verifico quello del disco sopra
Point3d ptDiskUpOrig = ptCylOrig + vtMove * dDist3 ;
double dDist4 = CAvDiskTriangle( ptDiskUpOrig - EPS_SMALL * vtToolAx, vtToolAx, tlTool.GetRadius(), trTria, vtMove) ;
double dDist4 = CAvDiskTriangle( ptDiskUpOrig - dEpsilon * vtToolAx, vtToolAx, tlTool.GetRadius(), trTria, vtMove) ;
if ( dDist4 < - EPS_SMALL)
return dDist4 ;
return ( dDist + dDist2 + dDist3 + dDist4) ;
@@ -299,10 +301,10 @@ CAvToolTriangle( const Tool& tlTool, const Point3d& ptToolOrig, const Vector3d&
double dRadius = max( ptStart.x, ptEnd.x) ;
// Se disco verso il basso dell'utensile
if ( ptStart.x > ptEnd.x)
dDist2 = CAvDiskTriangle( ptCompOrig + EPS_SMALL * vtToolAx, vtToolAx, dRadius, trTria, vtMove) ;
dDist2 = CAvDiskTriangle( ptCompOrig + dEpsilon * vtToolAx, vtToolAx, dRadius, trTria, vtMove) ;
// Se disco verso l'alto
else
dDist2 = CAvDiskTriangle( ptCompOrig - EPS_SMALL * vtToolAx, vtToolAx, dRadius, trTria, vtMove) ;
dDist2 = CAvDiskTriangle( ptCompOrig - dEpsilon * vtToolAx, vtToolAx, dRadius, trTria, vtMove) ;
}
else {
// Verifiche curva precedente per eventuale tappo sopra