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EgtMachKernel 2.2g5 :

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- in simulazione la verifica collisione può lavorare anche con trimesh chiuse invece delle sole Zmap
- in simulazione si è affinata la verifica di collisione per oggetti piccoli
- in simulazione si salta la verifica di collisione tra utensile in lavoro e grezzo lavorato anche se entrambi da verificare.
This commit is contained in:
Dario Sassi
2020-07-23 15:06:11 +00:00
parent 019b4e1cad
commit 5d71cb243a
3 changed files with 104 additions and 35 deletions
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Simulator.cpp
+100 -35
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@@ -21,6 +21,9 @@
#include "MachiningConst.h"
#include "OutputConst.h"
#include "DllMain.h"
#include "/EgtDev/Include/EGkCDeBoxClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeCylClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeSpheClosedSurfTm.h"
#include "/EgtDev/Include/EGkVolZmap.h"
#include "/EgtDev/Include/EGkStringUtils3d.h"
#include "/EgtDev/Include/EXeConst.h"
@@ -61,6 +64,7 @@ Simulator::Simulator( void)
m_nAuxSInd = 0 ;
m_nAuxETot = 0 ;
m_nAuxEInd = 0 ;
m_nExit = 0 ;
m_dVmTdOffs = 0 ;
m_dVmAdOffs = 0 ;
m_dSafeDist = SAFEDIST_STD ;
@@ -438,6 +442,8 @@ Simulator::UpdateTool( bool bFirst)
if ( ! m_pMchMgr->SetCalcTool( sTool, sHead, nExit))
return false ;
m_sTool = sTool ;
m_sHead = sHead ;
m_nExit = nExit ;
// aggiorno gli assi macchina
if ( ! UpdateAxes())
return false ;
@@ -480,6 +486,8 @@ Simulator::UpdateTool( bool bFirst)
if ( ! m_pMchMgr->SetCalcTool( sTool, sHead, nExit))
return false ;
m_sTool = sTool ;
m_sHead = sHead ;
m_nExit = nExit ;
// aggiorno gli assi macchina
if ( ! UpdateAxes())
return false ;
@@ -905,6 +913,10 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
}
}
// Dati per eventuale verifica di collisione
int nCdInd, nObjInd ;
bool bCollCheck = true ;
if ( m_bEnabAxes) {
// Calcolo distanza di movimento
double dSqDist = 0 ;
@@ -934,18 +946,34 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
// Eseguo movimento rapido o lineare
if ( nMoveType != 2 && nMoveType != 3) {
// assegno posizioni finali
for ( int i = 0 ; i < int( m_AxesName.size()) ; ++ i) {
double dVal = m_AxesVal[i] * ( 1 - m_dCoeff) + AxesEnd[i] * m_dCoeff ;
m_pMachine->SetAxisPos( m_AxesName[i], dVal) ;
// se attivo CollisionCheck approssimo movimento con più step
int nStep = 1 ;
if ( ! m_VmId.empty() || NeedCollisionCheck()) {
const double LEN_STEP = 10. ;
nStep = max( int( dDist / LEN_STEP), 1) ;
}
// eseguo eventuale Vmill
Point3d ptNoseF ; Vector3d vtDirF ; Vector3d vtAuxF ;
bool bOkF = GetHeadCurrPosDirAux( ptNoseF, vtDirF, vtAuxF) ;
for ( int j = 0 ; j < int( m_VmId.size()) ; ++ j) {
Frame3d frVzmF ;
bOkF = m_pGeomDB->GetGlobFrame( m_VmId[j], frVzmF) && bOkF ;
ExecLineVmill( m_VmId[j], ptNoseI, vtDirI, vtAuxI, vFrVzmI[j], ptNoseF, vtDirF, vtAuxF, frVzmF) ;
for ( int i = 1 ; i <= nStep ; ++ i) {
double dCurrCoeff = dPrevCoeff + ( m_dCoeff - dPrevCoeff) / nStep * i ;
// assegno posizioni finali
for ( int j = 0 ; j < int( m_AxesName.size()) ; ++ j) {
double dVal = m_AxesVal[j] * ( 1 - dCurrCoeff) + AxesEnd[j] * dCurrCoeff ;
m_pMachine->SetAxisPos( m_AxesName[j], dVal) ;
}
// muovo eventuali assi ausiliari
for ( int j = 0 ; j < int( m_AuxAxesName.size()) ; ++ j) {
double dVal = m_AuxAxesVal[j] * ( 1 - dCurrCoeff) + m_AuxAxesEnd[j] * dCurrCoeff ;
m_pMachine->SetAxisPos( m_AuxAxesName[j], dVal) ;
}
// eseguo eventuale Vmill
Point3d ptNoseF ; Vector3d vtDirF ; Vector3d vtAuxF ;
bool bOkF = GetHeadCurrPosDirAux( ptNoseF, vtDirF, vtAuxF) ;
for ( int j = 0 ; j < int( m_VmId.size()) ; ++ j) {
Frame3d frVzmF ;
bOkF = m_pGeomDB->GetGlobFrame( m_VmId[j], frVzmF) && bOkF ;
ExecLineVmill( m_VmId[j], ptNoseI, vtDirI, vtAuxI, vFrVzmI[j], ptNoseF, vtDirF, vtAuxF, frVzmF) ;
}
// eseguo eventuale collision check
bCollCheck = bCollCheck && ExecCollisionCheck( nCdInd, nObjInd) ;
}
}
// Eseguo movimento su arco
@@ -959,9 +987,9 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
double dDiffAng = ( m_dCoeff - dPrevCoeff) * dAngCen ;
Vector3d vtRot = Point3d( m_AxesVal[0], m_AxesVal[1], m_AxesVal[2]) - ptCen ;
vtRot.Rotate( vtN, dPrevCoeff * dAngCen) ;
// approssimo movimento con 1 o più step a seconda ci sia Vmill
// se attivi Vmill o CollisionCheck approssimo movimento con più step
int nStep = 1 ;
if ( ! m_VmId.empty()) {
if ( ! m_VmId.empty() || NeedCollisionCheck()) {
const double LEN_STEP = 2. ;
nStep = max( int( abs( dDiffAng * DEGTORAD * dRad) / LEN_STEP), 1) ;
const double ANG_STEP = 5. ;
@@ -980,6 +1008,11 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
double dVal = m_AxesVal[j] * ( 1 - dCurrCoeff) + AxesEnd[j] * dCurrCoeff ;
m_pMachine->SetAxisPos( m_AxesName[j], dVal) ;
}
// eventuali assi ausiliari
for ( int j = 0 ; j < int( m_AuxAxesName.size()) ; ++ j) {
double dVal = m_AuxAxesVal[j] * ( 1 - dCurrCoeff) + m_AuxAxesEnd[j] * dCurrCoeff ;
m_pMachine->SetAxisPos( m_AuxAxesName[j], dVal) ;
}
// eseguo eventuale Vmill
Point3d ptNoseF ; Vector3d vtDirF ; Vector3d vtAuxF ;
bool bOkF = GetHeadCurrPosDirAux( ptNoseF, vtDirF, vtAuxF) ;
@@ -990,6 +1023,8 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
// salvo riferimento per prossimo inizio
vFrVzmI[k] = frVzmF ;
}
// eseguo eventuale collision check
bCollCheck = bCollCheck && ExecCollisionCheck( nCdInd, nObjInd) ;
// aggiorno prossimo inizio
ptNoseI = ptNoseF ;
vtDirI = vtDirF ;
@@ -999,8 +1034,8 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
else {
// Calcolo distanza di movimento
double dSqDist = 0 ;
for ( size_t i = 0 ; i < m_AuxAxesName.size() ; ++ i) {
// coefficiente moltiplicativo per differenziare assi lineari e rotanti
for ( int i = 0 ; i < int( m_AuxAxesName.size()) ; ++ i) {
// coefficiente moltiplicativo per differenziare assi lineari e rotanti
double dSqCoeff = ( m_AuxAxesLinear[i] ? 1 : 100) ;
dSqDist += dSqCoeff * ( m_AuxAxesEnd[i] - m_AuxAxesVal[i]) * ( m_AuxAxesEnd[i] - m_AuxAxesVal[i]) ;
}
@@ -1015,17 +1050,17 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
else
m_dCoeff = 1 ;
dMove = ( m_dCoeff - dPrevCoeff) * dDist ;
// Muovo eventuali assi ausiliari
for ( int i = 0 ; i < int( m_AuxAxesName.size()) ; ++ i) {
double dVal = m_AuxAxesVal[i] * ( 1 - m_dCoeff) + m_AuxAxesEnd[i] * m_dCoeff ;
m_pMachine->SetAxisPos( m_AuxAxesName[i], dVal) ;
}
// eseguo eventuale collision check
bCollCheck = bCollCheck && ExecCollisionCheck( nCdInd, nObjInd) ;
}
// Muovo eventuali assi ausiliari
for ( size_t i = 0 ; i < m_AuxAxesName.size() ; ++ i) {
double dVal = m_AuxAxesVal[i] * ( 1 - m_dCoeff) + m_AuxAxesEnd[i] * m_dCoeff ;
m_pMachine->SetAxisPos( m_AuxAxesName[i], dVal) ;
}
// Eseguo eventuale verifica di collisione
int nCdInd, nObjInd ;
if ( ! ExecCollisionCheck( nCdInd, nObjInd)) {
// Se riscontrata collisione
if ( ! bCollCheck) {
// Richiamo funzione di convalida collisione
int nErr ;
if ( ! OnCollision( nCdInd, nObjInd, nErr)) {
@@ -1114,33 +1149,63 @@ Simulator::ExecLineVmill( int nVmId, const Point3d& ptHi, const Vector3d& vtHi,
bool
Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd)
{
// se non ci sono oggetti da controllare o non c'è il grezzo lavorato, tutto bene
if ( m_CollObj.empty() || m_CdId.empty())
// se non ci sono oggetti da controllare o non ci sono i grezzi o equivalenti, tutto bene
if ( ! NeedCollisionCheck())
return true ;
// ciclo sui grezzi
// ciclo sui grezzi o equivalenti
for ( int i = 0 ; i < int( m_CdId.size()) ; ++ i) {
const IVolZmap* pVZM = GetVolZmap( m_pGeomDB->GetGeoObj( m_CdId[i])) ;
if ( pVZM == nullptr)
// se modo hidden è da saltare
int nMode ;
if ( m_pGeomDB->GetCalcMode( m_CdId[i], nMode) && nMode == GDB_MD_HIDDEN)
continue ;
Frame3d frZM ; m_pGeomDB->GetGlobFrame( m_CdId[i], frZM) ;
// ciclo sugli oggetti da verificare
// verifico se è il grezzo in lavorazione
bool bIsRaw = ( find( m_VmId.begin(), m_VmId.end(), m_CdId[i]) != m_VmId.end()) ;
// recupero solido o trimesh, se altro lo salto
const IVolZmap* pVZM = GetVolZmap( m_pGeomDB->GetGeoObj( m_CdId[i])) ;
const ISurfTriMesh* pSTM = GetSurfTriMesh( m_pGeomDB->GetGeoObj( m_CdId[i])) ;
if ( pVZM == nullptr && pSTM == nullptr)
continue ;
// recupero il riferimento
Frame3d frCd ; m_pGeomDB->GetGlobFrame( m_CdId[i], frCd) ;
// ciclo sugli oggetti con cui verificare
for ( int j = 0 ; j < int( m_CollObj.size()) ; ++ j) {
bool bOk = true ;
// se modo hidden è da saltare
int nMode ;
if ( m_pGeomDB->GetCalcMode( m_CollObj[j].nFrameId, nMode) && nMode == GDB_MD_HIDDEN)
continue ;
// verifico se è l'utensile attivo
string sHead ; m_pGeomDB->GetName( m_pGeomDB->GetParentId( m_CollObj[j].nFrameId), sHead) ;
string sExit ; m_pGeomDB->GetName( m_CollObj[j].nFrameId, sExit) ;
bool bIsTool = ( sHead == m_sHead && sExit == string( "_T") + ToString( m_nExit)) ;
// se utensile attivo su grezzo in lavoro, salto
if ( bIsTool && bIsRaw)
continue ;
// se riferimento non trovato, si salta
const IGeoFrame3d* pGeoFrame = GetGeoFrame3d( m_pGeomDB->GetGeoObj( m_CollObj[j].nFrameId)) ;
if ( pGeoFrame == nullptr)
continue ;
Frame3d frObj = pGeoFrame->GetFrame() ;
Frame3d frParent ; m_pGeomDB->GetGlobFrame( m_CollObj[j].nFrameId, frParent) ;
frObj.LocToLoc( frParent, frZM) ;
frObj.LocToLoc( frParent, frCd) ;
if ( m_CollObj[j].nType == MCH_SIM_COB_BOX) {
Vector3d vtDiag( m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3) ;
bOk = pVZM->AvoidBox( frObj, vtDiag, m_dSafeDist) ;
if ( pVZM != nullptr)
bOk = pVZM->AvoidBox( frObj, vtDiag, m_dSafeDist) ;
else
bOk = ! CDeBoxClosedSurfTm( frObj, vtDiag, m_dSafeDist, *pSTM) ;
}
else if ( m_CollObj[j].nType == MCH_SIM_COB_CYL) {
bOk = pVZM->AvoidCylinder( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist) ;
if ( pVZM != nullptr)
bOk = pVZM->AvoidCylinder( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist) ;
else
bOk = ! CDeCylClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist, *pSTM) ;
}
else if ( m_CollObj[j].nType == MCH_SIM_COB_SPHE) {
bOk = pVZM->AvoidSphere( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist) ;
if ( pVZM != nullptr)
bOk = pVZM->AvoidSphere( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist) ;
else
bOk = ! CDeSpheClosedSurfTm( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist, *pSTM) ;
}
if ( ! bOk) {
nCdInd = i ;