Egalware/EgtMachKernel
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EgtMachKernel :

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- in simulatore separata gestione VirtualMilling da gestione CollisionDetection.
This commit is contained in:
Dario Sassi
2019-11-17 09:49:01 +00:00
parent 9a7ee3a971
commit 7a36ae0bcb
3 changed files with 19 additions and 14 deletions
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Simulator.cpp
+14 -11
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@@ -192,6 +192,7 @@ Simulator::ResetInterpolation( void)
m_nAuxETot = 0 ;
m_nAuxEInd = 0 ;
m_VmId.clear() ;
m_CdId.clear() ;
m_dVmTdOffs = 0 ;
m_dVmAdOffs = 0 ;
m_dSafeDist = SAFEDIST_STD ;
@@ -1023,11 +1024,11 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
}
// Eseguo eventuale verifica di collisione
int nVmInd, nObjInd ;
if ( ! ExecCollisionCheck( nVmInd, nObjInd)) {
int nCdInd, nObjInd ;
if ( ! ExecCollisionCheck( nCdInd, nObjInd)) {
// Richiamo funzione di convalida collisione
int nErr ;
if ( ! OnCollision( nVmInd, nObjInd, nErr)) {
if ( ! OnCollision( nCdInd, nObjInd, nErr)) {
nStatus = ( Stopped() ? MCH_SIM_STOP : ( nErr == 1 ? MCH_SIM_COLLISION : MCH_SIM_ERR)) ;
// Se arrivato a fine interpolazione movimento, salvo posizioni
if ( m_dCoeff > COEFF_LIM && m_bEnabAxes) {
@@ -1111,17 +1112,17 @@ Simulator::ExecLineVmill( int nVmId, const Point3d& ptHi, const Vector3d& vtHi,
//----------------------------------------------------------------------------
bool
Simulator::ExecCollisionCheck( int& nVmInd, int& nObjInd)
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_VmId.empty())
if ( m_CollObj.empty() || m_CdId.empty())
return true ;
// ciclo sui grezzi
for ( int i = 0 ; i < int( m_VmId.size()) ; ++ i) {
const IVolZmap* pVZM = GetVolZmap( m_pGeomDB->GetGeoObj( m_VmId[i])) ;
for ( int i = 0 ; i < int( m_CdId.size()) ; ++ i) {
const IVolZmap* pVZM = GetVolZmap( m_pGeomDB->GetGeoObj( m_CdId[i])) ;
if ( pVZM == nullptr)
continue ;
Frame3d frZM ; m_pGeomDB->GetGlobFrame( m_VmId[i], frZM) ;
Frame3d frZM ; m_pGeomDB->GetGlobFrame( m_CdId[i], frZM) ;
// ciclo sugli oggetti da verificare
for ( int j = 0 ; j < int( m_CollObj.size()) ; ++ j) {
bool bOk = true ;
@@ -1142,7 +1143,7 @@ Simulator::ExecCollisionCheck( int& nVmInd, int& nObjInd)
bOk = pVZM->AvoidSphere( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist) ;
}
if ( ! bOk) {
nVmInd = i ;
nCdInd = i ;
nObjInd = j ;
return false ;
}
@@ -1226,6 +1227,7 @@ Simulator::OnDispositionStart( int nOpId, int nOpInd, int nPhase,
bOk = bOk && m_pMachine->LuaCallFunction( ON_SIMUL_DISPOSITION_START) ;
// recupero i dati di ritorno
m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_VMILL, m_VmId) ;
m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_CODET, m_CdId) ;
// forzo aggiornamento posizione assi (possono essere stati mossi nello script)
UpdateAxesPos() ;
return bOk ;
@@ -1242,6 +1244,7 @@ Simulator::OnDispositionEnd( void)
bool bOk = m_pMachine->LuaCallFunction( ON_SIMUL_DISPOSITION_END) ;
// recupero i dati di ritorno
m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_VMILL, m_VmId) ;
m_pMachine->LuaGetGlobVar( GLOB_VAR + GVAR_CODET, m_CdId) ;
// forzo aggiornamento posizione assi (possono essere stati mossi nello script)
UpdateAxesPos() ;
return bOk ;
@@ -1584,7 +1587,7 @@ Simulator::OnMoveEnd( void)
//----------------------------------------------------------------------------
bool
Simulator::OnCollision( int nVmInd, int nObjInd, int& nErr)
Simulator::OnCollision( int nCdInd, int nObjInd, int& nErr)
{
// reset stato di errore da script
nErr = 0 ;
@@ -1595,7 +1598,7 @@ Simulator::OnCollision( int nVmInd, int nObjInd, int& nErr)
if ( ! m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_ERR, nErr))
return false ;
// assegno identificativi grezzo e oggetto in collisione
if ( ! m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_SIMVMID, m_VmId[nVmInd]))
if ( ! m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_SIMVMID, m_CdId[nCdInd]))
return false ;
if ( ! m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_SIMCOBIND, m_CollObj[nObjInd].nInd))
return false ;