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

Merge commit '67b34008c514359dc8ef3c440de02127f970b0ed' into NewLink

Browse Source
This commit is contained in:
Riccardo Elitropi
2026-04-09 08:16:55 +02:00
parent 1bb839e9f4 67b34008c5
commit e1c69e207d
7 changed files with 26 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Operation.cpp
+6 -2
View File
@@ -2727,11 +2727,15 @@ Operation::CalculateClPathRobotAxesValues( int nClPathId, double dAngDeltaMinFor
Vector3d vtDir = pCamData->GetToolDir() ;
Vector3d vtAux ;
if ( ! bUseRefAux) {
if ( nSolCh == MCH_SCC_ADIR_NEAR || nSolCh == MCH_SCC_ADIR_FAR) {
if (( nSolCh == MCH_SCC_ADIR_NEAR || nSolCh == MCH_SCC_STD) && ! pCamData->GetAuxDir().IsSmall()) {
vtAux = OrthoCompo( pCamData->GetAuxDir(), vtDir) ;
vtAux.Normalize() ;
}
else {
else if (( nSolCh == MCH_SCC_ADIR_FAR || nSolCh == MCH_SCC_OPPOSITE) && ! pCamData->GetAuxDir().IsSmall()) {
vtAux = - OrthoCompo( pCamData->GetAuxDir(), vtDir) ;
vtAux.Normalize() ;
}
else { // MCH_SCC_NONE (o riconducibili a questo)
Frame3d frTool ;
frTool.Set( ORIG, vtDir) ;
frTool.Rotate( frTool.Orig(), frTool.VersZ(), 0, 1) ;