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EgtMachKernel 2.3e3 :

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- modificata funzione gestione solidi semplici di collisione in simulazione (aggiunto parametro spiazzamento da riferimento)
- aggiunta funzione Lua EmtAddCollisionObjEx che estende la quasi omonima con lo spiazzamento indicato sopra
- a queste funzioni aggiunta la gestione dei tronchi di cono.
This commit is contained in:
DarioS
2021-05-24 20:05:40 +02:00
parent bd4903f7e3
commit bc7d1936dc
7 changed files with 62 additions and 13 deletions
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EgtMachKernel.rc
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MachMgr.h
+2 -2
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@@ -1,7 +1,7 @@
//----------------------------------------------------------------------------
// EgalTech 2015-2021
//----------------------------------------------------------------------------
// File : MachMgr.h Data : 17.03.21 Versione : 2.3c1
// File : MachMgr.h Data : 24.05.21 Versione : 2.3e3
// Contenuto : Dichiarazione della classe MachMgr.
//
//
@@ -441,7 +441,7 @@ class MachMgr : public IMachMgr
bool GetOperationNewName( std::string& sName) const ;
const ToolData* GetMachiningToolData( void) const ;
// Simulation
bool SimAddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, double dPar2, double dPar3) ;
bool SimAddCollisionObj( int nInd, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) ;
bool SimExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) ;
bool SimOnCollision( int nCdInd, int nObjInd, int& nErr) ;
// Machine
MachMgrSimulation.cpp
+2 -2
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@@ -150,13 +150,13 @@ MachMgr::SimExit( void)
//----------------------------------------------------------------------------
bool
MachMgr::SimAddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, double dPar2, double dPar3)
MachMgr::SimAddCollisionObj( int nInd, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3)
{
// verifico simulatore
if ( m_pSimul == nullptr)
return false ;
// aggiungo un oggetto da verificare per la collisione con il grezzo
return m_pSimul->AddCollisionObj( nInd, nFrameId, nType, dPar1, dPar2, dPar3) ;
return m_pSimul->AddCollisionObj( nInd, nFrameId, nType, vtMove, dPar1, dPar2, dPar3) ;
}
//----------------------------------------------------------------------------
Machine.h
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@@ -332,6 +332,7 @@ class Machine
static int LuaEmtSetLastError( lua_State* L) ;
static int LuaEmtSetWarning( lua_State* L) ;
static int LuaEmtAddCollisionObj( lua_State* L) ;
static int LuaEmtAddCollisionObjEx( lua_State* L) ;
static int LuaEmtExecCollisionCheck( lua_State* L) ;
static int LuaEmtOnCollision( lua_State* L) ;
} ;
MachineLua.cpp
+33 -1
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@@ -122,6 +122,8 @@ Machine::LuaInit( const string& sMachineName)
m_LuaMgr.RegisterFunction( "EmtSetWarning", Machine::LuaEmtSetWarning) ;
// registro la funzione per aggiungere un oggetto da verificare per la collisione in simulazione
m_LuaMgr.RegisterFunction( "EmtAddCollisionObj", Machine::LuaEmtAddCollisionObj) ;
// registro la funzione estesa per aggiungere un oggetto da verificare per la collisione in simulazione
m_LuaMgr.RegisterFunction( "EmtAddCollisionObjEx", Machine::LuaEmtAddCollisionObjEx) ;
// registro la funzione di esecuzione della verifica di collisione in simulazione
m_LuaMgr.RegisterFunction( "EmtExecCollisionCheck", Machine::LuaEmtExecCollisionCheck) ;
// registro la funzione di gestione della collisione in simulazione
@@ -1202,7 +1204,37 @@ Machine::LuaEmtAddCollisionObj( lua_State* L)
if ( m_pMchLua == nullptr)
return luaL_error( L, " Unknown Machine") ;
// assegno i dati
bool bOk = ( m_pMchLua->m_pMchMgr != nullptr && m_pMchLua->m_pMchMgr->SimAddCollisionObj( nInd, nFrameId, nType, dPar1, dPar2, dPar3)) ;
bool bOk = ( m_pMchLua->m_pMchMgr != nullptr && m_pMchLua->m_pMchMgr->SimAddCollisionObj( nInd, nFrameId, nType, Vector3d(), dPar1, dPar2, dPar3)) ;
// assegno risultato
LuaSetParam( L, bOk) ;
return 1 ;
}
//----------------------------------------------------------------------------
int
Machine::LuaEmtAddCollisionObjEx( lua_State* L)
{
// 7 parametri : nInd, nFrameId, nType, vtMove, dPar1, dPar2, dPar3
int nInd ;
LuaCheckParam( L, 1, nInd)
int nFrameId ;
LuaCheckParam( L, 2, nFrameId)
int nType ;
LuaCheckParam( L, 3, nType)
Vector3d vtMove ;
LuaCheckParam( L, 4, vtMove)
double dPar1 ;
LuaCheckParam( L, 5, dPar1)
double dPar2 ;
LuaCheckParam( L, 6, dPar2)
double dPar3 ;
LuaCheckParam( L, 7, dPar3)
LuaClearStack( L) ;
// verifico ci sia una macchina attiva
if ( m_pMchLua == nullptr)
return luaL_error( L, " Unknown Machine") ;
// assegno i dati
bool bOk = ( m_pMchLua->m_pMchMgr != nullptr && m_pMchLua->m_pMchMgr->SimAddCollisionObj( nInd, nFrameId, nType, vtMove, dPar1, dPar2, dPar3)) ;
// assegno risultato
LuaSetParam( L, bOk) ;
return 1 ;
Simulator.cpp
+19 -4
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@@ -24,6 +24,7 @@
#include "/EgtDev/Include/EGkCDeBoxClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeCylClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeSpheClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeConeFrustumClosedSurfTm.h"
#include "/EgtDev/Include/EGkVolZmap.h"
#include "/EgtDev/Include/EGkStringUtils3d.h"
#include "/EgtDev/Include/EXeConst.h"
@@ -1231,6 +1232,10 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
// esecuzione controlli di collisione
bool bOk = true ;
Frame3d frObj = pGeoFrame->GetFrame() ;
if ( ! m_CollObj[j].vtMove.IsSmall())
frObj.Translate( m_CollObj[j].vtMove.x * frObj.VersX() +
m_CollObj[j].vtMove.y * frObj.VersY() +
m_CollObj[j].vtMove.z * frObj.VersZ()) ;
Frame3d frParent ; m_pGeomDB->GetGlobFrame( m_CollObj[j].nFrameId, frParent) ;
frObj.LocToLoc( frParent, frCd) ;
if ( m_CollObj[j].nType == MCH_SIM_COB_BOX) {
@@ -1252,6 +1257,12 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
else
bOk = ! CDeSpheClosedSurfTm( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist, *pSTM) ;
}
else if ( m_CollObj[j].nType == MCH_SIM_COB_CONE) {
if ( pVZM != nullptr)
bOk = pVZM->AvoidConeFrustum( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist) ;
else
bOk = ! CDeConeFrustumClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist, *pSTM) ;
}
if ( ! bOk) {
nCdInd = i ;
nObjInd = j ;
@@ -1752,7 +1763,7 @@ Simulator::OnResetMachine( void)
//----------------------------------------------------------------------------
bool
Simulator::AddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, double dPar2, double dPar3)
Simulator::AddCollisionObj( int nInd, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3)
{
// verifiche sui parametri
if ( nInd <= 0 || nFrameId <= GDB_ID_NULL)
@@ -1763,17 +1774,21 @@ Simulator::AddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, dou
return false ;
break ;
case MCH_SIM_COB_CYL :
if ( abs( dPar1) < EPS_SMALL || abs( dPar2) < EPS_SMALL)
if ( dPar1 < EPS_SMALL || abs( dPar2) < EPS_SMALL)
return false ;
break ;
case MCH_SIM_COB_SPHE :
if ( abs( dPar1) < EPS_SMALL)
if ( dPar1 < EPS_SMALL)
return false ;
break ;
case MCH_SIM_COB_CONE :
if ( ( dPar1 < EPS_SMALL && dPar2 < EPS_SMALL) || dPar3 < EPS_SMALL)
return false ;
break ;
default :
return false ;
}
// aggiungo al vettore
m_CollObj.emplace_back( nInd, nFrameId, nType, dPar1, dPar2, dPar3) ;
m_CollObj.emplace_back( nInd, nFrameId, nType, vtMove, dPar1, dPar2, dPar3) ;
return true ;
}
Simulator.h
+5 -4
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@@ -37,7 +37,7 @@ class Simulator
bool GetToolInfo( std::string& sName, double& dSpeed) const ;
bool GetOperationInfo( std::string& sName, int& nType) const ;
bool GetMoveInfo( int& nGmove, double& dFeed) const ;
bool AddCollisionObj( int nInd, int nFrameId, int nType, double dPar1, double dPar2, double dPar3) ;
bool AddCollisionObj( int nInd, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) ;
bool ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) ;
bool OnCollision( int nCdInd, int nObjInd, int& nErr) ;
@@ -94,12 +94,13 @@ class Simulator
int nInd ;
int nFrameId ;
int nType ;
Vector3d vtMove ;
double dPar1 ;
double dPar2 ;
double dPar3 ;
CollObj( void) : nInd( 0), nFrameId( -1), nType( 0), dPar1( 0), dPar2( 0), dPar3( 0) {}
CollObj( int nI, int nF, int nT, double dP1, double dP2, double dP3)
: nInd( nI), nFrameId( nF), nType( nT), dPar1( dP1), dPar2( dP2), dPar3( dP3) {}
CollObj( void) : nInd( 0), nFrameId( -1), nType( 0), vtMove(), dPar1( 0), dPar2( 0), dPar3( 0) {}
CollObj( int nI, int nF, int nT, const Vector3d& vtM, double dP1, double dP2, double dP3)
: nInd( nI), nFrameId( nF), nType( nT), vtMove( vtM), dPar1( dP1), dPar2( dP2), dPar3( dP3) {}
} ;
typedef std::vector< CollObj> COBVECTOR ;