From 68d52c82a7146ced2abd1b188e3fcb0872e75909 Mon Sep 17 00:00:00 2001
From: DarioS <dario.sassi@egaltech.com>
Date: Mon, 5 Jul 2021 08:35:12 +0200
Subject: [PATCH] =?UTF-8?q?EgtMachKernel=202.3f1=20:=20-=20migliorata=20ve?=
 =?UTF-8?q?locit=C3=A0=20di=20simulazione=20con=20verifica=20di=20collisio?=
 =?UTF-8?q?ne=20in=20rapidi=20lunghi.?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 EgtMachKernel.rc      | Bin 11774 -> 11774 bytes
 EgtMachKernel.vcxproj |   2 ++
 Simulator.cpp         |   9 ++++++---
 3 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/EgtMachKernel.rc b/EgtMachKernel.rc
index 33d20b1a734862831ffd2d19e6239b09bc7a5cb4..860990580556409696d8d0cd8719f54124fcc432 100644
GIT binary patch
delta 121
zcmewt{V#gMH#Syt1|0^&&A-{KnVHiW3@1O7)ZLuM)x!c8zsNNCgkT;*P6$a3MUMyL
R=2g-z%(yjz6ex#q0RVBoCa3@a

delta 121
zcmewt{V#gMH#Sx?1|0_D&A-{KnVHiVj3+;o)ZLuM)x!c8zsNNCgkT;*P6$a3MUMyL
R=2g-z%(yjz6ex#q0RVHUCa?ei

diff --git a/EgtMachKernel.vcxproj b/EgtMachKernel.vcxproj
index 9463bdc..91caa32 100644
--- a/EgtMachKernel.vcxproj
+++ b/EgtMachKernel.vcxproj
@@ -131,6 +131,7 @@ copy $(TargetPath) \EgtProg\DllD32</Command>
       <OpenMPSupport>true</OpenMPSupport>
       <PrecompiledHeader>Use</PrecompiledHeader>
       <CompileAs>CompileAsCpp</CompileAs>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
@@ -198,6 +199,7 @@ copy $(TargetPath) \EgtProg\Dll32</Command>
       <EnableFiberSafeOptimizations>true</EnableFiberSafeOptimizations>
       <EnableParallelCodeGeneration>true</EnableParallelCodeGeneration>
       <WholeProgramOptimization>false</WholeProgramOptimization>
+      <LanguageStandard>stdcpp17</LanguageStandard>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>false</GenerateDebugInformation>
diff --git a/Simulator.cpp b/Simulator.cpp
index 09a9528..6c6ab40 100644
--- a/Simulator.cpp
+++ b/Simulator.cpp
@@ -948,6 +948,7 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
    int nCdInd, nObjInd ;
    bool bCollCheck = true ;
 
+  // Eseguo movimento assi principali ed eventuali ausiliari
    if ( m_bEnabAxes) {
      // Calcolo distanza di movimento
       double dSqDist = 0 ;
@@ -981,8 +982,8 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
         // se attivo CollisionCheck approssimo movimento con pił step
          int nStep = 1 ;
          if ( NeedCollisionCheck()) {
-            const double LEN_STEP = 20. ;
-            nStep = max( int( dDist / LEN_STEP), 1) ;
+            const double LEN_COLL_STEP = 10. ;
+            nStep = max( int( dMove / LEN_COLL_STEP), 1) ;
          }
          for ( int i = 1 ; i <= nStep ; ++ i) {
             double dCurrCoeff = dPrevCoeff + ( m_dCoeff - dPrevCoeff) / nStep * i ;
@@ -1067,6 +1068,8 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
          }
       }
    }
+
+  // altrimenti eseguo movimento soli eventuali assi ausiliari
    else {
      // Calcolo distanza di movimento
       double dSqDist = 0 ;     
@@ -1078,7 +1081,7 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
       double dPrevCoeff = m_dCoeff ;
       double dDist = sqrt( dSqDist) ;
       if ( dDist > EPS_SMALL) {
-         int nStep = int( max( dDist / ( ( nMoveType == 0 ? 4 : 1) * m_dStep), 1.)) ;
+         int nStep = int( max( dDist / ( ( nMoveType == 0 ? 2 : 1) * m_dStep), 1.)) ;
          m_dCoeff += 1. / nStep ;
          if ( m_dCoeff > 1)
             m_dCoeff = 1 ;