Merge branch 'master' into 5AxTrimming

- spostata funzione per il calcolo IntersLineCyl
- rimosso codice di debug.

CamData.cpp

@@ -473,6 +473,8 @@ CamData::Mirror( const Point3d& ptOn, const Vector3d& vtNorm)
    if ( ! m_ptCen.Mirror( ptOn, vtNorm))
       return false ;
    m_dAngCen = - m_dAngCen ;
+   if ( ! m_vtN.Mirror( vtNorm))
+      return false ;
    if ( ! m_vtTool.Mirror( vtNorm))
       return false ;
    if ( ! m_vtCorr.Mirror( vtNorm))
@@ -585,11 +587,23 @@ CamData::CamData( void)
 bool
 CamData::SetMoveType( int nMove)
 {
+   if ( nMove < 0  ||  nMove > 3)
+      return false ;
    m_nMove = nMove ;
    ResetObjGraphics() ;
    return true ;
 }
 
+//----------------------------------------------------------------------------
+bool
+CamData::SetCorrType( int nCorr)
+{
+   if ( nCorr != 0  &&  nCorr != 41  &&  nCorr != 42  &&  nCorr != 140  &&  nCorr != 141  &&  nCorr != 142)
+      return false ;
+   m_nCorre = nCorr ;
+   return true ;
+}
+
 //----------------------------------------------------------------------------
 bool
 CamData::SetToolDir( const Vector3d& vtDir)

CamData.h

@@ -46,6 +46,7 @@ class CamData : public IUserObj
    public :
       CamData( void) ;
       bool SetMoveType( int nMove) ;
+      bool SetCorrType( int nCorr) ;
       bool SetToolDir( const Vector3d& vtDir) ;
       bool SetCorrDir( const Vector3d& vtDir) ;
       bool SetAuxDir( const Vector3d& vtDir) ;
@@ -78,6 +79,8 @@ class CamData : public IUserObj
                          { return ( m_nMove == 0  ||  m_nMove == 1) ; }
       bool            IsArc( void) const
                          { return ( m_nMove == 2  ||  m_nMove == 3) ; }
+      int             GetCorrType( void) const
+                         { return m_nCorre ; }
       const Vector3d& GetToolDir( void) const
                          { return m_vtTool ; }
       const Vector3d& GetCorrDir( void) const
@@ -144,7 +147,7 @@ class CamData : public IUserObj
       int         m_nOwnerId ;
       IGeomDB*    m_pGeomDB ;
       int         m_nMove ;                // tipo movimento (0=rapido, 1=lineare, 2=arco CW, 3=arco CCW)
-      int         m_nCorre ;               // tipo correzione (0, 41, 42, 141, 142, 40)
+      int         m_nCorre ;               // tipo correzione (0, 41, 42, 140, 141, 142)
       bool        m_bToolShow ;            // flag per forzare la visualizzazione della direzione utensile in ogni caso
       Vector3d    m_vtTool ;               // versore fresa
       Vector3d    m_vtCorr ;               // versore correzione

Drilling.cpp

@@ -3336,6 +3336,49 @@ Drilling::VerifyHoleFromBottom( const Hole& hole, SelData Id)
    return true ;
 }
 
+//----------------------------------------------------------------------------
+bool
+Drilling::VerifyParallelDrilling( int nDouble, const Hole& hole)
+{
+  // verifico se lavorazione in doppio valida
+   if ( nDouble != 1  &&  nDouble != 2  &&  nDouble != 3)
+      return false ;
+
+  // se la macchina non presenta nel file .ini la possibilità di lavorazione in doppio parallela, esco
+   Machine* pMch = m_pMchMgr->GetCurrMachine() ;
+   if ( pMch == nullptr)
+      return false ;
+   string sMachIni = pMch->GetMachineDir() + "\\" + pMch->GetMachineName() + ".ini" ;
+   int nDrillingDouble = GetPrivateProfileInt( MACHININGS_SEC.c_str(), DRILLING_PARALLEL_KEY.c_str(), 0, sMachIni.c_str()) ;
+   if ( nDrillingDouble != 1)
+      return false ;
+
+  // recupero il piano di Mirror
+   Point3d ptOn ; Vector3d vtNorm ;
+   if ( ! CalcMirrorPlaneByDouble( nDouble, m_Params.m_sUserNotes, ptOn, vtNorm))
+      return false ;
+   Plane3d plMirror ;
+   if ( ! plMirror.Set( ptOn, vtNorm))
+      return false ;
+
+  // verifico subito che la normale del piano si trovi entro un grado rispetto alla direzione del foro ( tolleranza da .BTL)
+   if ( abs( hole.vtDir * vtNorm) < cos( ( 1. - EPS_ANG_SMALL) * DEGTORAD))
+      return false ;
+
+  // se il punto finale del foro si trova nel semipiano positivo di Mirroring e sufficientemente distante da esso, non eseguo
+  // lavorazione in parallelo
+   Point3d ptHoleEnd = hole.ptIni - hole.dLen * hole.vtDir ;
+   const double SAFE_DIST_TOL = 5. ;
+   double dDist = ( ptHoleEnd - ptOn) * vtNorm ;
+   if ( dDist < EPS_SMALL)
+      return true ;
+   double dSafeTipDist = m_TParams.m_dTLen - m_TParams.m_dLen ;
+   if ( dDist < dSafeTipDist + SAFE_DIST_TOL)
+      return true ;
+
+   return false ;
+}
+
 //----------------------------------------------------------------------------
 bool
 Drilling::DoStandardDrilling( const Hole& hole, SelData Id, int nPathId, double dMHOff, const Vector3d& vtA, const ToolData& currToolData)
@@ -3579,30 +3622,12 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId, double dMHO
          return false ;
    }
   // parametri per foro in doppio
-   bool bDouble = ( GetDoubleType( m_Params.m_sUserNotes) != 0) ;
+   int nDouble = GetDoubleType( m_Params.m_sUserNotes) ;
+   bool bDouble = ( nDouble != 0) ;
+   bool bDoubleParallel = false ;
+   if ( bDouble)
+      bDoubleParallel = VerifyParallelDrilling( nDouble, hole) ;
    double dDoubleLastStep = GetDoubleLastStep() ;
-   bool dDoubleParallel = false ;
-   if ( bDouble) {
-     // nel caso di lavorazione in doppio con flag nel file .ini abilitato, prima della risalita finale, risalgo dell'ultimo step compiuto
-     // se il piano di mirror presenta una normale circa parallela alla direzione del foro ( da BTL 1 grado di tolleranza)
-      Machine* pMch = m_pMchMgr->GetCurrMachine() ;
-      if ( pMch != nullptr) {
-         string sMachIni = pMch->GetMachineDir() + "\\" + pMch->GetMachineName() + ".ini" ;
-         const char* SEC_MACH = "Customizations" ;
-         const char* KEY_DRILLING_DOUBLE = "DrillingDoubleNT" ;
-         int nDrillingDouble = GetPrivateProfileInt( SEC_MACH, KEY_DRILLING_DOUBLE, 0, sMachIni.c_str()) ;
-         if ( nDrillingDouble == 1) {
-            int nDouble = GetDoubleType( m_Params.m_sUserNotes) ;
-            Vector3d vtNorm = V_INVALID ;
-            switch ( nDouble) {
-            case 1 : vtNorm = X_AX ; break ;
-            case 2 : vtNorm = Y_AX ; break ;
-            case 3 : vtNorm = Z_AX ; break ;
-            }
-            dDoubleParallel = ( vtNorm.IsValid() && abs( hole.vtDir * vtNorm) > cos( 1. * DEGTORAD)) ;
-         }
-      }
-   }
   // ciclo di affondamento a step
    const double MIN_STEP = 1 ;
    const double APPR_STEP = 1 ;
@@ -3653,9 +3678,9 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId, double dMHO
          Point3d ptP3 = hole.ptIni - hole.vtDir * dLen ;
          if ( bHoleEnd)
             ptP3 -= hole.vtDir * dAddLen ;
-         if ( dDoubleParallel  &&  i == nStep) {
+         if ( bDoubleParallel  &&  i == nStep) {
             SetFlag( 105) ;         // movimento in doppio parallelo
-            if ( AddLinearMove( ptP3, bSplitArcs, MCH_CL_DBP) == GDB_ID_NULL)
+            if ( AddLinearMove( ptP3, bSplitArcs, MCH_CL_PARALLEL_DBL) == GDB_ID_NULL)
                return false ;
          }
          else {
@@ -3685,9 +3710,9 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId, double dMHO
          Point3d ptP4 = hole.ptIni - hole.vtDir * dLen ;
          if ( bHoleEnd)
             ptP4 -= hole.vtDir * dAddLen ;
-         if ( dDoubleParallel  &&  i == nStep) {
+         if ( bDoubleParallel  &&  i == nStep) {
             SetFlag( 105) ;         // movimento in doppio parallelo
-            if ( AddLinearMove( ptP4, bSplitArcs, MCH_CL_DBP) == GDB_ID_NULL)
+            if ( AddLinearMove( ptP4, bSplitArcs, MCH_CL_PARALLEL_DBL) == GDB_ID_NULL)
                return false ;
          }
          else {
@@ -3716,9 +3741,9 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId, double dMHO
          Point3d ptP5 = hole.ptIni - hole.vtDir * dLen ;
          if ( bHoleEnd)
             ptP5 -= hole.vtDir * dAddLen ;
-         if ( dDoubleParallel  &&  i == nStep) {
+         if ( bDoubleParallel  &&  i == nStep) {
             SetFlag( 105) ;         // movimento in doppio parallelo
-            if ( AddLinearMove( ptP5, bSplitArcs, MCH_CL_DBP) == GDB_ID_NULL)
+            if ( AddLinearMove( ptP5, bSplitArcs, MCH_CL_PARALLEL_DBL) == GDB_ID_NULL)
                return false ;
          }
          else {
@@ -3732,15 +3757,20 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId, double dMHO
 
   // 6 -> ritorno all'approccio del foro
    SetFeed( GetEndFeed()) ;
-   if ( dDoubleParallel) {
+   if ( bDoubleParallel) {
       SetFlag( 105) ;         // movimento in doppio parallelo
      // aggiungo risalita aggiuntiva per lavorazione in doppio pari a due volte il LastStep
       Point3d ptEnd ; GetCurrPos( ptEnd) ;
-      if ( AddLinearMove( ptEnd + min( 2. * dLastStep, dCurrLen) * hole.vtDir, bSplitArcs, MCH_CL_DBP) == GDB_ID_NULL)
+      if ( AddLinearMove( ptEnd + min( dLastStep, dCurrLen) * hole.vtDir, bSplitArcs, MCH_CL_PARALLEL_DBL) == GDB_ID_NULL)
          return false ;
+      SetFeed( GetFeed()) ;
+      GetCurrPos( ptEnd) ;
+      if ( AddLinearMove( ptEnd + min( dLastStep, dCurrLen) * hole.vtDir, bSplitArcs, MCH_CL_PARALLEL_DBL) == GDB_ID_NULL)
+         return false ;
+      SetFeed( GetEndFeed()) ;
      // aggiungo discensa di LastStep per simmetria con secondo utensile
       GetCurrPos( ptEnd) ;
-      if ( AddLinearMove( ptEnd - dLastStep * hole.vtDir, bSplitArcs, MCH_CL_DBP) == GDB_ID_NULL)
+      if ( AddLinearMove( ptEnd - dLastStep * hole.vtDir, bSplitArcs, MCH_CL_PARALLEL_DBL) == GDB_ID_NULL)
          return false ;
    }
    SetFlag( 104) ;            // risalita sopra il foro

Drilling.h

@@ -105,6 +105,7 @@ class Drilling : public Machining
       bool GenerateHoleRegionPv( int nFirstId, int nCount, int nPvId) ;
       bool VerifyDiameter( double dHdiam, double dTdiam, double ddiamTol) ;
       bool VerifyHoleFromBottom( const Hole& hole, SelData Id) ;
+      bool VerifyParallelDrilling( int nDouble, const Hole& hole) ;
       bool DoStandardDrilling( const Hole& hole, SelData Id, int nPathId, double nMHOff, const Vector3d& vtA, const ToolData& currToolData) ;
       bool DoPeckDrilling( const Hole& hole, SelData Id, int nPathId, double dMHOff, const Vector3d& vtA, const ToolData& currToolData) ;
       bool MultiHeadDrilling( const SELVECTOR& vId, int nClId, bool bFixed, TABMHDRILL& vDrills, double& dMHOff) ;

EgtMachKernel.vcxproj

@@ -331,6 +331,7 @@ copy $(TargetPath) \EgtProg\Dll64</Command>
     <ClInclude Include="..\Include\EGkCurvePointDiffGeom.h" />
     <ClInclude Include="..\Include\EGkDistPointCurve.h" />
     <ClInclude Include="..\Include\EGkDistPointLine.h" />
+    <ClInclude Include="..\Include\EGkDistPointSurfFr.h" />
     <ClInclude Include="..\Include\EGkDistPointSurfTm.h" />
     <ClInclude Include="..\Include\EGkExtText.h" />
     <ClInclude Include="..\Include\EGkFrame3d.h" />
@@ -348,6 +349,7 @@ copy $(TargetPath) \EgtProg\Dll64</Command>
     <ClInclude Include="..\Include\EGkHashGrids2d.h" />
     <ClInclude Include="..\Include\EGkIntersCurves.h" />
     <ClInclude Include="..\Include\EGkIntersCurveSurfTm.h" />
+    <ClInclude Include="..\Include\EGkIntersLineBox.h" />
     <ClInclude Include="..\Include\EGkIntersLineSurfTm.h" />
     <ClInclude Include="..\Include\EGkIntersLineTria.h" />
     <ClInclude Include="..\Include\EGkIntersPlaneSurfTm.h" />
@@ -368,12 +370,15 @@ copy $(TargetPath) \EgtProg\Dll64</Command>
     <ClInclude Include="..\Include\EGkSelection.h" />
     <ClInclude Include="..\Include\EGkSfrCreate.h" />
     <ClInclude Include="..\Include\EGkStmFromCurves.h" />
+    <ClInclude Include="..\Include\EGkStmFromTriangleSoup.h" />
     <ClInclude Include="..\Include\EGkStmStandard.h" />
     <ClInclude Include="..\Include\EGkStringUtils3d.h" />
     <ClInclude Include="..\Include\EGkSurf.h" />
+    <ClInclude Include="..\Include\EGkSurfBezier.h" />
     <ClInclude Include="..\Include\EGkSurfFlatRegion.h" />
     <ClInclude Include="..\Include\EGkSurfLocal.h" />
     <ClInclude Include="..\Include\EGkSurfTriMesh.h" />
+    <ClInclude Include="..\Include\EGkSurfTriMeshAux.h" />
     <ClInclude Include="..\Include\EGkTriangle3d.h" />
     <ClInclude Include="..\Include\EGkUiUnits.h" />
     <ClInclude Include="..\Include\EGkUserObj.h" />
@@ -480,6 +485,7 @@ copy $(TargetPath) \EgtProg\Dll64</Command>
     <ClInclude Include="TcPos.h" />
     <ClInclude Include="ToolData.h" />
     <ClInclude Include="ToolsMgr.h" />
+    <ClInclude Include="ToolUserNotesConst.h" />
     <ClInclude Include="WaterJetting.h" />
     <ClInclude Include="WaterJettingData.h" />
   </ItemGroup>

EgtMachKernel.vcxproj.filters

@@ -785,6 +785,24 @@
     <ClInclude Include="OperUserNotesConst.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="ToolUserNotesConst.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="..\Include\EGkDistPointSurfFr.h">
+      <Filter>Header Files\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\Include\EGkIntersLineBox.h">
+      <Filter>Header Files\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\Include\EGkStmFromTriangleSoup.h">
+      <Filter>Header Files\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\Include\EGkSurfBezier.h">
+      <Filter>Header Files\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\Include\EGkSurfTriMeshAux.h">
+      <Filter>Header Files\Include</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ResourceCompile Include="EgtMachKernel.rc">

FiveAxisMilling.cpp

@@ -730,7 +730,7 @@ FiveAxisMilling::Update( bool bPostApply)
    string sHint = ExtractHint( m_Params.m_sUserNotes) ;
    if ( ! m_Params.m_sInitAngs.empty())
       sHint = m_Params.m_sInitAngs ;
-   double dSingConeAng = 0.1 ;
+   double dSingConeAng = SING_CONE_ANG_DFLT ;
    GetValInNotes( m_Params.m_sUserNotes, UN_SINGCONEANG, dSingConeAng) ;
    if ( ! CalculateAxesValues( sHint, false, dSingConeAng)) {
       string sInfo = m_pMchMgr->GetOutstrokeInfo() ;

GeoCalc.cpp

@@ -1,7 +1,7 @@
 //----------------------------------------------------------------------------
-//  EgalTech 2015-2015
+//  EgalTech 2015-2026
 //----------------------------------------------------------------------------
-// File : GeoCalc.cpp       Data : 12.05.15          Versione : 1.6e3
+// File : GeoCalc.cpp       Data : 08.05.26          Versione : 3.1e2
 // Contenuto : Funzioni varie e speciali di calcolo geometrico.
 //
 //
@@ -14,6 +14,7 @@
 //--------------------------- Include ----------------------------------------
 #include "stdafx.h"
 #include "GeoCalc.h"
+#include "\EgtDev\Include\EGkAngle.h"
 
 //----------------------------------------------------------------------------
 int
@@ -33,7 +34,7 @@ GetRotationComponent( const Vector3d& vtDir1, double dComp, const Vector3d& vtDi
    Vector3d vtU = vtPvZW ;
    if ( ! vtU.Normalize()) {
      // determino se equiversi o controversi
-      bool bEquiv = ( vtDir2 * vtRotAx) > 0 ;
+      bool bEquiv = ( vtDir2 * vtRotAx > 0) ;
      // se le componenti concordano, angolo indeterminato
       if ( abs( dT0w - ( bEquiv ? dComp : - dComp)) < 0.5 * SIN_EPS_ANG_SMALL) {
          bDet = false ;
@@ -86,6 +87,10 @@ GetRotationComponent( const Vector3d& vtDir1, double dComp, const Vector3d& vtDi
       double dDeltaAngRad = acos( dNumer / dDenom) ;
       dAng1Deg = ( dOffsAngRad + dDeltaAngRad) * RADTODEG ;
       dAng2Deg = ( dOffsAngRad - dDeltaAngRad) * RADTODEG ;
+      if ( abs( dAng1Deg) <= abs( dAng2Deg))
+         dAng2Deg = AngleNearAngle( dAng2Deg, dAng1Deg) ;
+      else
+         dAng1Deg = AngleNearAngle( dAng1Deg, dAng2Deg) ;
       bDet = true ;
       return 2 ;
    }  

MachConst.h

@@ -140,6 +140,21 @@ const std::string TOOLHOLDER_SEC = "ToolHolder" ;
 const std::string MACHININGS_SEC = "Machinings" ;
 // Chiave per abilitare discesa e risalita in rapido da fresature con estremi fuori dal grezzo
 const std::string RAPIDONOUT_KEY = "RapidOnOut" ;
+// Chiave per Drilling in Doppio in Parallelo
+const std::string DRILLING_PARALLEL_KEY = "DrillingDoubleNT" ;
+// Chiave per Pocketing in Doppio in Parallelo
+const std::string POCKETING_PARALLEL_KEY = "PocketingDoubleNT" ;
+// Chiave per Ottimizzazione delle Feed in PocketingNT
+const std::string POCKETING_FEED_KEY = "PocketingAdjustFeedNT" ;
+
+//----------------------------------------------------------------------------
+// Tipo di Collegamento tra le lavorazioni (LinkType)
+enum LINKTYPE {
+   LINK_NULL = 0,
+   LINK_HOME_TO_MACH = 1,
+   LINK_MACH_TO_HOME = 2,
+   LINK_MACH_TO_MACH = 3
+} ;
 
 //----------------------------------------------------------------------------
 // Minimo spessore del grezzo
@@ -148,6 +163,7 @@ const double RAW_MIN_H = 1 ;
 //----------------------------------------------------------------------------
 // Minima feed
 const double FEED_MIN = 1 ;
+constexpr double FEED_MAX_REDUCE = 5 ;
 
 //----------------------------------------------------------------------------
 // Massimo angolo al centro per archi di CL
@@ -174,3 +190,12 @@ const double MIN_ZDIR_VERT_CHSAW = 0.7072 ;
 static const double ROT1_WEIGHT_DFLT = 1 ;
 // Valore di default per angolo di apertura del cono di direzioni coincidenti con singolarità
 static const double SING_CONE_ANG_DFLT = 0.01 ;
+
+//----------------------------------------------------------------------------
+// Compensazione Raggio Utensile in Macchina
+enum {
+   TOOL_COMP_PROGRAM = 0,              // Compensazione Utensile da Programma
+   TOOL_COMP_LENGTH = 1,               // Compensazione Lunghezza Utensile in Macchina
+   TOOL_COMP_RADIUS = 2,               // Compensazione Raggio Utensile in Macchina
+   TOOL_COMP_LEN_AND_RAD = 3           // Compensazione Lunghezza e Raggio Utensile in Macchina
+} ;

MachMgr.h

@@ -123,6 +123,7 @@ class MachMgr : public IMachMgr
       bool IsRawPart( int nId) const override
            { return VerifyRawPart( nId) ; }
       int  AddRawPart( const Point3d& ptOrig, double dLen, double dWidth, double dHeight, Color cCol) override ;
+      int  AddRawPart( int nCrvSrfId, double dOverMat, Color cCol) override ;
       int  AddRawPartWithPart( int nPartId, int nCrvSrfId, double dOverMat, Color cCol) override ;
       bool ModifyRawPart( int nRawId, const Point3d& ptOrig, double dLen, double dWidth, double dHeight, Color cCol) override ;
       bool ModifyRawPart( int nRawId, int nCrvId, double dOverMat, double dHeight, Color cCol) override ;
@@ -328,9 +329,9 @@ class MachMgr : public IMachMgr
       bool GetClEntAxesStatus( int nEntId, int& nStatus) const override ;
       bool GetClEntAxesMask( int nEntId, int& nMask) const override ;
       bool GetClEntAxesVal( int nEntId, DBLVECTOR& vAxes) const override ;
-      bool GetClEntTDir( int nEntId, Vector3d& vTDir) const override ;
-      bool GetClEntCDir( int nEntId, Vector3d& vCDir) const override ;
-      bool GetClEntADir( int nEntId, Vector3d& vADir) const override ;
+      bool GetClEntTDir( int nEntId, Vector3d& vtTDir) const override ;
+      bool GetClEntCDir( int nEntId, Vector3d& vtCDir) const override ;
+      bool GetClEntADir( int nEntId, Vector3d& vtADir) const override ;
      // Simulation
       bool SimInit( void) override ;
       bool SimStart( bool bFirst) override ;
@@ -537,6 +538,7 @@ class MachMgr : public IMachMgr
       int  AddRawPart( int nSurfUpId, int nSurfDownId, double dHeight, Color cCol) ;
       bool SetRawPartCenter( int nRawId) ;
       bool ResetRawPartCenter( int nRawId) ;
+      bool UpdateRawOutline( int nRawId) ;
      // Parts
       bool SwapParts( bool bToRawPart) ;
       bool SwapRawPartParts( int nRawId, bool bToRawPart) ;

MachMgrClEntities.cpp

@@ -150,10 +150,10 @@ MachMgr::GetClEntAxesVal( int nEntId, DBLVECTOR& vAxes) const
 
 //----------------------------------------------------------------------------
 bool
-MachMgr::GetClEntTDir( int nEntId, Vector3d& vTDir) const
+MachMgr::GetClEntTDir( int nEntId, Vector3d& vtTDir) const
 {
   // default
-   vTDir = V_NULL ;
+   vtTDir = V_NULL ;
   // verifico validità GeomBD
    if ( m_pGeomDB == nullptr)
       return false ;
@@ -161,17 +161,17 @@ MachMgr::GetClEntTDir( int nEntId, Vector3d& vTDir) const
    const CamData* pCamData = GetCamData( m_pGeomDB->GetUserObj( nEntId)) ;
    if ( pCamData == nullptr)
       return false ;
-  // recupero vTDir
-   vTDir = pCamData->GetToolDir() ;
+  // recupero TDir
+   vtTDir = pCamData->GetToolDir() ;
    return true ;
 }
 
 //----------------------------------------------------------------------------
 bool
-MachMgr::GetClEntCDir( int nEntId, Vector3d& vCDir) const
+MachMgr::GetClEntCDir( int nEntId, Vector3d& vtCDir) const
 {
   // default
-   vCDir = V_NULL ;
+   vtCDir = V_NULL ;
   // verifico validità GeomDB
    if ( m_pGeomDB == nullptr)
       return false ;
@@ -179,17 +179,17 @@ MachMgr::GetClEntCDir( int nEntId, Vector3d& vCDir) const
    const CamData* pCamData = GetCamData( m_pGeomDB->GetUserObj( nEntId)) ;
    if ( pCamData == nullptr)
       return false ;
-  // recupero vCDir
-   vCDir = pCamData->GetCorrDir() ;
+  // recupero CDir
+   vtCDir = pCamData->GetCorrDir() ;
    return true ;
 }
 
 //----------------------------------------------------------------------------
 bool
-MachMgr::GetClEntADir( int nEntId, Vector3d& vADir) const
+MachMgr::GetClEntADir( int nEntId, Vector3d& vtADir) const
 {
   // default
-   vADir = V_NULL ;
+   vtADir = V_NULL ;
   // verifico validità GeomDB
    if ( m_pGeomDB == nullptr)
       return false ;
@@ -198,6 +198,6 @@ MachMgr::GetClEntADir( int nEntId, Vector3d& vADir) const
    if ( pCamData == nullptr)
       return false ;
   // recupero ADir
-   vADir = pCamData->GetAuxDir() ;
+   vtADir = pCamData->GetAuxDir() ;
    return true ;
 }

MachMgrDBTools.cpp

@@ -15,6 +15,7 @@
 #include "stdafx.h"
 #include "DllMain.h"
 #include "MachMgr.h"
+#include "ToolUserNotesConst.h"
 #include "/EgtDev/Include/EXeConst.h"
 #include "/EgtDev/Include/EGnFileUtils.h"
 #include "/EgtDev/Include/EgtIniFile.h"
@@ -881,7 +882,7 @@ MachMgr::GetToolHolderPath( const string& sHeadName, int nExit, int nType, const
   // Verifico se sovrascritto da nota dell'utensile
    string sVal ;
    if ( ! sUserNotes.empty()  &&
-        GetValInNotes( sUserNotes, "TH", sVal)  &&
+        GetValInNotes( sUserNotes, TUN_TH, sVal)  &&
         ExistsFile( sToolHolderDir + "\\" + sVal))
       sToolHolder = sVal ;
   // Se non trovato ancora, esco

MachMgrRawParts.cpp

@@ -29,6 +29,7 @@
 #include "/EgtDev/Include/EGkStmStandard.h"
 #include "/EgtDev/Include/EGkStmFromCurves.h"
 #include "/EgtDev/Include/EGkSurfBezier.h"
+#include "/EgtDev/Include/EGkSurfLocal.h"
 #include "/EgtDev/Include/EGkCAvSilhouetteSurfTm.h"
 #include "/EgtDev/Include/EgtPointerOwner.h"
 #include "/EgtDev/Include/EXeConst.h"
@@ -167,6 +168,88 @@ MachMgr::ModifyRawPart( int nRawId, const Point3d& ptOrig, double dLen, double d
    return bOk ;
 }
 
+//----------------------------------------------------------------------------
+int
+MachMgr::AddRawPart( int nCrvSrfId, double dOverMat, Color cCol)
+{
+  // verifico il gruppo dei grezzi nella macchinata corrente
+   if ( GetCurrRawGroupId() == GDB_ID_NULL)
+      return GDB_ID_NULL ;
+  // recupero il tipo di oggetto per definire il grezzo
+   int nGtype = m_pGeomDB->GetGeoType( nCrvSrfId) ;
+  // costruzione del grezzo
+   int nRawId = GDB_ID_NULL ;
+  // se grezzo da superficie (per ora senza possibilità di offset)
+   if ( ( nGtype & GEO_SURF) != 0) {
+     // inserisco il grezzo
+      nRawId = AddRawPart( nCrvSrfId, cCol) ;
+   }
+  // se altrimenti grezzo da contorno
+   else if ( ( nGtype & GEO_CURVE) != 0) {
+     // recupero la curva
+      const ICurve* pCrv = GetCurve( m_pGeomDB->GetGeoObj( nCrvSrfId)) ;
+      if ( pCrv == nullptr)
+         return GDB_ID_NULL ;
+     // copio la curva in una composita
+      PtrOwner<ICurveComposite> pMyCrv( ConvertCurveToComposite( pCrv->Clone())) ;
+      if ( IsNull( pMyCrv))
+         return GDB_ID_NULL ;
+     // se non è chiusa, la chiudo
+      pMyCrv->Close() ;
+     // recupero l'estrusione e lo spessore
+      Vector3d vtExtr ;
+      if ( ! pMyCrv->GetExtrusion( vtExtr)  ||  vtExtr.IsSmall())
+         vtExtr = Z_AX ;
+      double dThick = 0 ;
+      pMyCrv->GetThickness( dThick) ;
+      if ( abs( dThick) + 2 * dOverMat < 10 *EPS_SMALL)
+         dThick = 1 ;
+     // la oriento in senso CCW
+      Plane3d plPlane ;
+      double dArea ;
+      if ( ! pMyCrv->GetArea( plPlane, dArea))
+         return GDB_ID_NULL ;
+      if ( plPlane.GetVersN() * vtExtr * dArea < 0)
+         pMyCrv->Invert() ;
+     // ne eseguo l'offset
+      OffsetCurve OffsCrv ;
+      OffsCrv.Make( pMyCrv, dOverMat, ICurve::OFF_EXTEND) ;
+      PtrOwner<ICurve> pOffsCrv( OffsCrv.GetLongerCurve()) ;
+      if ( IsNull( pOffsCrv))
+         return GDB_ID_NULL ;
+     // aggiusto per sovramateriale lungo estrusione
+      pMyCrv->Translate( vtExtr * -copysign( dOverMat, dThick)) ;
+     // creo il solido
+      double dH = dThick + 2 * copysign( dOverMat, dThick) ;
+      PtrOwner<ISurfTriMesh> pStm( GetSurfTriMeshByExtrusion( pOffsCrv, vtExtr * dH, true, 50 * EPS_SMALL)) ;
+      if ( IsNull( pStm))
+         return false ;
+     // lo inserisco nel DB geometrico
+      int nSrfId = m_pGeomDB->AddGeoObj( GDB_ID_NULL, m_pGeomDB->GetParentId( nCrvSrfId), Release( pStm)) ;
+      if ( nSrfId == GDB_ID_NULL)
+         return GDB_ID_NULL ;
+     // inserisco il grezzo
+      nRawId = AddRawPart( nSrfId, cCol) ;
+     // cancello la superficie
+      m_pGeomDB->Erase( nSrfId) ;
+   }
+  // verifico costruzione grezzo
+   if ( nRawId == GDB_ID_NULL)
+      return GDB_ID_NULL ;
+  // se definita tavola, aggiusto posizione del grezzo
+   Point3d ptTabRef ;
+   if ( GetTableRef( 1, ptTabRef)) {
+     // recupero box del solido
+      int nRawSolidId = m_pGeomDB->GetFirstNameInGroup( nRawId, MACH_RAW_SOLID) ;
+      BBox3d b3RawSolid ;
+     // lo porto nell'angolo in basso a sinistra della tavola
+      if ( m_pGeomDB->GetGlobalBBox( nRawSolidId, b3RawSolid))
+         m_pGeomDB->TranslateGlob( nRawId, ptTabRef - b3RawSolid.GetMin()) ;
+   }
+
+   return nRawId ;
+}
+
 //----------------------------------------------------------------------------
 int
 MachMgr::AddRawPartWithPart( int nPartId, int nCrvSrfId, double dOverMat, Color cCol)
@@ -187,6 +270,9 @@ MachMgr::AddRawPartWithPart( int nPartId, int nCrvSrfId, double dOverMat, Color
    if ( ( nGtype & GEO_SURF) != 0) {
      // inserisco il grezzo
       nRawId = AddRawPart( nCrvSrfId, cCol) ;
+     // se inserimento riuscito, nascondo la superficie originale
+      if ( nRawId != GDB_ID_NULL)
+         m_pGeomDB->SetStatus( nCrvSrfId, GDB_ST_OFF) ;
      // annullo il sovra-materiale
       dOverMat = 0 ;
      // calcolo il punto di inserimento nel grezzo
@@ -421,109 +507,12 @@ MachMgr::AddRawPart( int nSurfId, Color cCol)
   // calcolo il punto centro del solido
    bOk = bOk && SetRawPartCenter( nRawId) ;
   // calcolo la curva di contorno
-   if ( bOk) {
-     // creo la curva
-      PtrOwner<ICurveComposite> pCrvCompo( CreateCurveComposite()) ;
-      if ( IsNull( pCrvCompo))
-         return GDB_ID_NULL ;
-     // recupero la superficie trimesh
-      const ISurfTriMesh* pStm = GetSurfTriMesh( m_pGeomDB->GetGeoObj( nId)) ;
-      if ( pStm == nullptr)
-         return GDB_ID_NULL ;
-     // recupero l'ingombro della superficie in locale
-      BBox3d b3Srf ;
-      pStm->GetLocalBBox( b3Srf) ;
-     // ne calcolo la silhouette secondo Z+
-      bool bSilh = false ;
-      const int NUM_TRIA_LIM = 500 ;
-      if ( pStm->GetTriangleCount() < NUM_TRIA_LIM) {
-         POLYLINEVECTOR vPL ;
-         if ( pStm->GetSilhouette( Z_AX, 10.0, vPL)  &&  ! vPL.empty()) {
-           // cerco il contorno esterno
-            int nInd = - 1 ;
-            double dMaxArea = 0 ;
-            for ( int i = 0 ; i < int( vPL.size()) ; ++ i) {
-               double dArea ;
-               if ( vPL[i].GetAreaXY( dArea)  &&  abs( dArea) > dMaxArea) {
-                  if ( dArea < 0)
-                     vPL[i].Invert() ;
-                  dMaxArea = abs( dArea) ;
-                  nInd = i ;
-               }
-            }
-           // ne deduco la curva
-            PtrOwner<ICurveComposite> pCrvSilh( CreateCurveComposite()) ;
-            if ( nInd >= 0  &&  pCrvSilh->FromPolyLine( vPL[nInd])) {
-               pCrvSilh->SetExtrusion( Z_AX) ;
-               Plane3d plProj ;
-               plProj.Set( b3Srf.GetMin(), Z_AX) ;
-               pCrvCompo.Set( GetCurveComposite( ProjectCurveOnPlane( *pCrvSilh, plProj))) ;
-               if ( ! IsNull( pCrvCompo)) {
-                  pCrvCompo->MergeCurves( 10 * EPS_SMALL, 10 * EPS_ANG_SMALL) ;
-                  bSilh = true ;
-               }
-            }
-         }
-      }
-      else {
-         PtrOwner<ICAvParSilhouettesSurfTm> pCavParSilh( CreateCAvParSilhouettesSurfTm()) ;
-         if ( ! IsNull( pCavParSilh)) {
-            Frame3d frSrf( b3Srf.GetMin()) ;
-            const double SILH_TOL = 1.0 ;
-            POLYLINEVECTOR vPL ;
-            if ( pCavParSilh->SetData( { pStm}, frSrf, SILH_TOL)  &&
-                 pCavParSilh->GetSilhouette( 0, vPL)) {
-              // cerco il contorno esterno
-               int nInd = - 1 ;
-               double dMaxArea = 0 ;
-               for ( int i = 0 ; i < int( vPL.size()) ; ++ i) {
-                  double dArea ;
-                  if ( vPL[i].GetAreaXY( dArea)  &&  abs( dArea) > dMaxArea) {
-                     if ( dArea < 0)
-                        vPL[i].Invert() ;
-                     dMaxArea = abs( dArea) ;
-                     nInd = i ;
-                  }
-               }
-              // ne deduco la curva
-               if ( nInd >= 0  &&  pCrvCompo->FromPolyLine( vPL[nInd])) {
-                  pCrvCompo->SetExtrusion( Z_AX) ;
-                  bSilh = true ;
-               }
-            }
-         }
-      }
-     // non riuscita, la calcolo come contorno del box
-      if ( ! bSilh) {
-         Point3d ptMin ;
-         double dDimX, dDimY, dDimZ ;
-         b3Srf.GetMinDim( ptMin, dDimX, dDimY, dDimZ) ;
-         PolyLine PL ;
-         PL.AddUPoint( 0, ptMin) ;
-         PL.AddUPoint( 1, ptMin + Vector3d( dDimX, 0,0)) ;
-         PL.AddUPoint( 2, ptMin + Vector3d( dDimX, dDimY,0)) ;
-         PL.AddUPoint( 3, ptMin + Vector3d( 0, dDimY,0)) ;
-         PL.AddUPoint( 4, ptMin) ;
-         if ( pCrvCompo->FromPolyLine( PL))
-            pCrvCompo->SetExtrusion( Z_AX) ;
-         else
-            bOk = false ;
-      }
-     // inserisco la curva composita nel DB
-      int nCrvId = ( bOk ? m_pGeomDB->AddGeoObj( GDB_ID_NULL, nRawId, Release( pCrvCompo)) : GDB_ID_NULL) ;
-      bOk = bOk && ( nCrvId != GDB_ID_NULL) ;
-     // assegno il nome alla curva
-      bOk = bOk && m_pGeomDB->SetName( nCrvId, MACH_RAW_OUTLINE) ;
-     // assegno il colore alla curva
-      bOk = bOk && m_pGeomDB->SetMaterial( nCrvId, cCol) ;     
-   }
+   bOk = bOk && UpdateRawOutline( nRawId) ;
   // se qualcosa è andato storto, cancello tutto
    if ( ! bOk) {
       m_pGeomDB->Erase( nRawId) ;
       return GDB_ID_NULL ;
    }
-  // nascondo la superficie originale
-   m_pGeomDB->SetStatus( nSurfId, GDB_ST_OFF) ;
   // tutto ok
    return nRawId ;
 }
@@ -918,6 +907,9 @@ MachMgr::RotateRawPart( int nRawId, const Vector3d& vtAx, double dAngRotDeg)
       LOG_ERROR( GetEMkLogger(), "Error on RotateRawPart") ;
       return false ;
    }
+  // se rotazione non è attorno a Z, aggiorno la curva di outline
+   if ( abs( dAngRotDeg) > EPS_ANG_ZERO  &&  ! vtAx.IsZ())
+      UpdateRawOutline( nRawId) ;
    return true ;
 }
 
@@ -1056,6 +1048,122 @@ MachMgr::GetRawPartBBox( int nRawId, BBox3d& b3Raw)
    return m_pGeomDB->GetGlobalBBox( nRawSolidId, b3Raw) ;
 }
 
+//----------------------------------------------------------------------------
+bool
+MachMgr::UpdateRawOutline( int nRawId)
+{
+  // cerco il solido del grezzo
+   int nSolId = m_pGeomDB->GetFirstNameInGroup( nRawId, MACH_RAW_SOLID) ;
+   if ( nSolId == GDB_ID_NULL)
+      return false ;
+  // creo la curva
+   PtrOwner<ICurveComposite> pCrvCompo( CreateCurveComposite()) ;
+   if ( IsNull( pCrvCompo))
+      return false ;
+  // recupero la superficie trimesh in globale
+   SurfLocal pStmG( m_pGeomDB, nSolId, GLOB_FRM) ;
+   const ISurfTriMesh* pStm = GetSurfTriMesh( pStmG) ;
+   if ( pStm == nullptr)
+      return false ;
+  // recupero l'ingombro della superficie
+   BBox3d b3Srf ;
+   pStm->GetLocalBBox( b3Srf) ;
+  // ne calcolo la silhouette secondo Z+ globale
+   bool bSilh = false ;
+   const int NUM_TRIA_LIM = 500 ;
+   if ( pStm->GetTriangleCount() < NUM_TRIA_LIM) {
+      POLYLINEVECTOR vPL ;
+      if ( pStm->GetSilhouette( Z_AX, 10.0, vPL)  &&  ! vPL.empty()) {
+        // cerco il contorno esterno
+         int nInd = - 1 ;
+         double dMaxArea = 0 ;
+         for ( int i = 0 ; i < int( vPL.size()) ; ++ i) {
+            double dArea ;
+            if ( vPL[i].GetAreaXY( dArea)  &&  abs( dArea) > dMaxArea) {
+               if ( dArea < 0)
+                  vPL[i].Invert() ;
+               dMaxArea = abs( dArea) ;
+               nInd = i ;
+            }
+         }
+        // ne deduco la curva
+         PtrOwner<ICurveComposite> pCrvSilh( CreateCurveComposite()) ;
+         if ( nInd >= 0  &&  pCrvSilh->FromPolyLine( vPL[nInd])) {
+            pCrvSilh->SetExtrusion( Z_AX) ;
+            Plane3d plProj ;
+            plProj.Set( b3Srf.GetMin(), Z_AX) ;
+            pCrvCompo.Set( GetCurveComposite( ProjectCurveOnPlane( *pCrvSilh, plProj))) ;
+            if ( ! IsNull( pCrvCompo)) {
+               pCrvCompo->MergeCurves( 10 * EPS_SMALL, 10 * EPS_ANG_SMALL) ;
+               bSilh = true ;
+            }
+         }
+      }
+   }
+   else {
+      PtrOwner<ICAvParSilhouettesSurfTm> pCavParSilh( CreateCAvParSilhouettesSurfTm()) ;
+      if ( ! IsNull( pCavParSilh)) {
+         Frame3d frSrf( b3Srf.GetMin()) ;
+         const double SILH_TOL = 1.0 ;
+         POLYLINEVECTOR vPL ;
+         if ( pCavParSilh->SetData( { pStm}, frSrf, SILH_TOL)  &&
+              pCavParSilh->GetSilhouette( 0, vPL)) {
+           // cerco il contorno esterno
+            int nInd = - 1 ;
+            double dMaxArea = 0 ;
+            for ( int i = 0 ; i < int( vPL.size()) ; ++ i) {
+               double dArea ;
+               if ( vPL[i].GetAreaXY( dArea)  &&  abs( dArea) > dMaxArea) {
+                  if ( dArea < 0)
+                     vPL[i].Invert() ;
+                  dMaxArea = abs( dArea) ;
+                  nInd = i ;
+               }
+            }
+           // ne deduco la curva
+            if ( nInd >= 0  &&  pCrvCompo->FromPolyLine( vPL[nInd])) {
+               pCrvCompo->SetExtrusion( Z_AX) ;
+               bSilh = true ;
+            }
+         }
+      }
+   }
+  // non riuscita, la calcolo come contorno del box
+   if ( ! bSilh) {
+      Point3d ptMin ;
+      double dDimX, dDimY, dDimZ ;
+      b3Srf.GetMinDim( ptMin, dDimX, dDimY, dDimZ) ;
+      PolyLine PL ;
+      PL.AddUPoint( 0, ptMin) ;
+      PL.AddUPoint( 1, ptMin + Vector3d( dDimX, 0,0)) ;
+      PL.AddUPoint( 2, ptMin + Vector3d( dDimX, dDimY,0)) ;
+      PL.AddUPoint( 3, ptMin + Vector3d( 0, dDimY,0)) ;
+      PL.AddUPoint( 4, ptMin) ;
+      if ( pCrvCompo->FromPolyLine( PL))
+         pCrvCompo->SetExtrusion( Z_AX) ;
+      else
+         return false ;
+   }
+  // rimuovo eventuale vecchia curva
+   int nOtlId = m_pGeomDB->GetFirstNameInGroup( nRawId, MACH_RAW_OUTLINE) ;
+   m_pGeomDB->Erase( nOtlId) ;
+  // inserisco la curva composita nel DB
+   Frame3d frRaw ;
+   m_pGeomDB->GetGroupGlobFrame( nRawId, frRaw) ;
+   pCrvCompo->ToLoc( frRaw) ;
+   int nCrvId = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nRawId, Release( pCrvCompo)) ;
+   if ( nCrvId == GDB_ID_NULL)
+      return false ;
+  // assegno il nome alla curva
+   m_pGeomDB->SetName( nCrvId, MACH_RAW_OUTLINE) ;
+  // assegno il colore alla curva
+   Color cCol ;
+   if ( m_pGeomDB->GetMaterial( nSolId, cCol))
+      m_pGeomDB->SetMaterial( nCrvId, cCol) ;     
+
+   return true ;
+}
+
 //---------------------------------------------------------------------------
 static bool
 AssociateSurfs( IGeomDB* pGeomDB, int nSurfUpId, int nSurfDownId, vector<pair<int,int>>& vRawSurfs) 

Machine.cpp

@@ -66,6 +66,7 @@ Machine::Machine( void)
    m_frLinAx.Reset( false) ;
    m_frRobot.Reset( false) ;
    m_nCalcChainType = KIN_CHAIN_NONE ;
+   m_dPrevAngA = NAN ;
    m_nMachineLook = MCH_LOOK_NONE ;
 }
 

Machine.h

@@ -168,7 +168,9 @@ class Machine
       const Frame3d& GetCurrLinAxesFrame( void) const
                         { return m_frLinAx ; }
       int  GetCurrKinematicChainType( void) const
-               { return m_nCalcChainType ; }         
+               { return m_nCalcChainType ; }
+      bool SetPrevAngA( double dAngA) const
+               { m_dPrevAngA = dAngA ; return true ; }     
       bool GetAngles( const Vector3d& vtDirT, const Vector3d& vtDirA,
                       int& nStat, DBLVECTOR& vAng1, DBLVECTOR& vAng2) const ;
       bool GetPositions( const Point3d& ptP, const DBLVECTOR& vAng,
@@ -348,6 +350,7 @@ class Machine
       int           m_nCalcChainType ;       // tipologia testa attiva (nulla, centro di lavoro o robot)
       Point3d       m_ptWristCen ;           // centro del polso sferico nel riferimento testa/uscita di calcolo
       Vector3d      m_vtWristRef ;           // direzione del polso sferico nel riferimento testa/uscita di calcolo
+      mutable double    m_dPrevAngA ;        // angolo precedente di riferimento per soluzione indeterminata
       mutable OutStroke m_OutstrokeInfo ;    // informazioni su ultima extra corsa
       // stato di visualizzazione
       int           m_nMachineLook ;         // stato di visualizzazione della macchina
@@ -382,6 +385,7 @@ class Machine
       static int LuaEmtRemoveClimb( lua_State* L) ;
       static int LuaEmtAddRise( lua_State* L) ;
       static int LuaEmtRemoveRise( lua_State* L) ;
+      static int LuaEmtAdjustConcavePartsInPath( lua_State* L) ;
       static int LuaEmtGetMoveType( lua_State* L) ;
       static int LuaEmtGetAxesPos( lua_State* L) ;
       static int LuaEmtGetBackAuxDir( lua_State* L) ;

MachineCalc.cpp

@@ -1384,6 +1384,15 @@ Machine::GetMyAngles( const Vector3d& vtDirT, const Vector3d& vtDirA,
    dAngA2 = dAngA1 + ( dAngA1 > EPS_ANG_ZERO ? -ANG_STRAIGHT : ANG_STRAIGHT) ;
    dAngB2 = -dAngB1 ;
 
+  // se soluzione indeterminata e suggerito angolo precedente valido 
+   if ( abs( dAngB1) < EPS_ANG_SMALL / 2  &&  isfinite( m_dPrevAngA)  &&  VerifyAngleOutstroke( 1, m_dPrevAngA)) {
+      nStat = 1 ;
+      dAngA1 = m_dPrevAngA ;
+      dAngB1 = 0 ;
+   }
+   else
+      nStat = 2 ;
+
   // calcolo il terzo asse rotante del polso
    Vector3d vtR3 = RotAx3.vtDir ;
    vtR3.Rotate( RotAx2.vtDir, dAngB1) ;
@@ -1404,22 +1413,25 @@ Machine::GetMyAngles( const Vector3d& vtDirT, const Vector3d& vtDirA,
    dAngC2 = dAngC1 + ( dAngC1 > EPS_ANG_ZERO ? -ANG_STRAIGHT : ANG_STRAIGHT) ;
 
   // verifiche dei limiti di corsa
-   nStat = 2 ;
-  // se non riesco ad aggiustare, elimino
-   if ( ! AdjustAngleInStroke( RotAx1.stroke, dAngA2)  ||
-         ! AdjustAngleInStroke( RotAx2.stroke, dAngB2)  ||
-         ! AdjustAngleInStroke( RotAx3.stroke, dAngC2))
-      -- nStat ;
-  // se non riesco ad aggiustare, elimino
-   if ( ! AdjustAngleInStroke( RotAx1.stroke, dAngA1)  ||
-        ! AdjustAngleInStroke( RotAx2.stroke, dAngB1)  ||
-        ! AdjustAngleInStroke( RotAx3.stroke, dAngC1)) {
-      -- nStat ;
-     // riloco eventuale soluzione rimasta
-      if ( nStat >= 1) {
-         dAngA1 = dAngA2 ;
-         dAngB1 = dAngB2 ;
-         dAngC1 = dAngC2 ;
+   if ( nStat >= 2) {
+     // se non riesco ad aggiustare, elimino
+      if ( ! AdjustAngleInStroke( RotAx1.stroke, dAngA2)  ||
+            ! AdjustAngleInStroke( RotAx2.stroke, dAngB2)  ||
+            ! AdjustAngleInStroke( RotAx3.stroke, dAngC2))
+         -- nStat ;
+   }
+   if ( nStat >= 1) {
+     // se non riesco ad aggiustare, elimino
+      if ( ! AdjustAngleInStroke( RotAx1.stroke, dAngA1)  ||
+           ! AdjustAngleInStroke( RotAx2.stroke, dAngB1)  ||
+           ! AdjustAngleInStroke( RotAx3.stroke, dAngC1)) {
+         -- nStat ;
+        // riloco eventuale soluzione rimasta
+         if ( nStat >= 1) {
+            dAngA1 = dAngA2 ;
+            dAngB1 = dAngB2 ;
+            dAngC1 = dAngC2 ;
+         }
       }
    }
 
@@ -1873,7 +1885,7 @@ bool
 Machine::GetNearestAngleInStroke( int nInd, double dAngRef, double& dAng) const
 {
   // se angolo fittizio (non esiste l'asse rotante corrispondente), non c'è alcunchè da fare
-   if ( nInd < 0  ||  nInd >= int( m_vCalcRotAx.size()))
+   if ( nInd < 0  ||  nInd >= ssize( m_vCalcRotAx))
       return true ;
   // cerco l'angolo più vicino stando nella corsa
    while ( dAng - dAngRef > ANG_STRAIGHT + EPS_ANG_ZERO  &&  dAng - ANG_FULL >= m_vCalcRotAx[nInd].stroke.Min)
@@ -1889,7 +1901,7 @@ bool
 Machine::LimitAngleToStroke( int nInd, double& dAng) const
 {
   // se angolo fittizio (non esiste l'asse rotante corrispondente), non c'è alcunchè da fare
-   if ( nInd < 0  ||  nInd >= int( m_vCalcRotAx.size()))
+   if ( nInd < 0  ||  nInd >= ssize( m_vCalcRotAx))
       return true ;
   // se angolo fuori corsa, lo porto all'estremo più vicino
    dAng = Clamp( dAng, m_vCalcRotAx[nInd].stroke.Min, m_vCalcRotAx[nInd].stroke.Max) ;
@@ -1901,7 +1913,7 @@ bool
 Machine::VerifyAngleOutstroke( int nInd, double dAng) const
 {
   // se angolo fittizio (non esiste l'asse rotante corrispondente), va bene
-   if ( nInd < 0  ||  nInd >= int( m_vCalcRotAx.size()))
+   if ( nInd < 0  ||  nInd >= ssize( m_vCalcRotAx))
       return true ;
   // se angolo fuori corsa, errore
    if ( dAng < m_vCalcRotAx[nInd].stroke.Min)
@@ -2380,13 +2392,9 @@ Machine::GetRobotAngles( const Point3d& ptP, const Vector3d& vtDirT, const Vecto
       return false ;
    }
   // deduco la posizione richiesta del centro del polso
-   Point3d ptCen = ptPL + m_ptWristCen.x * frTool.VersX() +
-                          m_ptWristCen.y * frTool.VersY() +
-                          ( m_dCalcTLen + m_ptWristCen.z) * frTool.VersZ() ;
+   Point3d ptCen = ptPL + GetToGlob( m_ptWristCen + m_dCalcTLen * Z_AX, frTool) ;
   // deduco la direzione richiesta del centro del polso
-   Vector3d vtCen = m_vtWristRef.x * frTool.VersX() +
-                    m_vtWristRef.y * frTool.VersY() +
-                    m_vtWristRef.z * frTool.VersZ() ;
+   Vector3d vtCen = GetToGlob( m_vtWristRef, frTool) ;
   // calcolo il primo asse rotante
    Vector3d vtArm = ptCen - m_vCalcRotAx[0].ptPos ;
    double dAng1 ; bool bDet1 ;

MachineLua.cpp

@@ -128,6 +128,7 @@ Machine::LuaInit( const string& sMachineName)
    m_LuaMgr.RegisterFunction( "EmtGetInitialAxesPos", Machine::LuaEmtGetInitialAxesPos) ;
    m_LuaMgr.RegisterFunction( "EmtGetFinalAxesPos", Machine::LuaEmtGetFinalAxesPos) ;
    m_LuaMgr.RegisterFunction( "EmtGetCurrAxesHomePos", Machine::LuaEmtGetCurrAxesHomePos) ;
+   m_LuaMgr.RegisterFunction( "EmtAdjustConcavePartsInPath", Machine::LuaEmtAdjustConcavePartsInPath) ;
   // registro le funzioni di lettura entità CL per lua
    m_LuaMgr.RegisterFunction( "EmtGetMoveType", Machine::LuaEmtGetMoveType) ;
    m_LuaMgr.RegisterFunction( "EmtGetAxesPos", Machine::LuaEmtGetAxesPos) ;

MachineLuaCL.cpp

@@ -19,12 +19,16 @@
 #include "Operation.h"
 #include "/EgtDev/Include/EXeExecutor.h"
 #include "/EgtDev/Include/EGkGeoPoint3d.h"
+#include "/EgtDev/Include/EGkGeoVector3d.h"
 #include "/EgtDev/Include/EGkCurveLine.h"
 #include "/EgtDev/Include/EGkCurveArc.h"
+#include "/EgtDev/Include/EGkIntersLineCylinder.h"
 #include "/EgtDev/Include/EGkGeomDB.h"
 #include "/EgtDev/Include/EGkLuaAux.h"
+#include "/EgtDev/Include/EGkStringUtils3d.h"
 #include "/EgtDev/Include/EGnStringUtils.h"
 #include "/EgtDev/Include/EGnFileUtils.h"
+#include "/EgtDev/Include/ENkPolynomialRoots.h"
 #include "/EgtDev/Include/EgtPointerOwner.h"
 
 using namespace std ;
@@ -153,6 +157,41 @@ Machine::LuaEmtAddRapidMove( lua_State* L)
    return 1 ;
 }
 
+//----------------------------------------------------------------------------
+int
+AddLinearMove( const Point3d& ptIni, const Point3d& ptFin, IGeomDB* pGeomDB , int nPathId, const Vector3d& vtTool,
+               const Vector3d& vtCorr, const Vector3d& vtAux, double dFeed, int nFlag, int nFlag2, bool bToolShow, int nRefId = GDB_ID_NULL)
+{
+   // creo oggetto linea per DB geometrico
+   PtrOwner<ICurveLine> pLine( CreateCurveLine()) ;
+   bool bOk = ! IsNull( pLine) ;
+   // assegno gli estremi della linea
+   bOk = bOk && pLine->Set( ptIni, ptFin) ;
+   // inserisco l'oggetto nel DB geometrico
+   int nId = ( bOk ? pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pLine)) : GDB_ID_NULL) ;
+   bOk = bOk && ( nId != GDB_ID_NULL) ;
+   if ( bOk  &&  nRefId != GDB_ID_NULL)
+      pGeomDB->RelocateGlob( nId, nRefId, GDB_AFTER) ;
+   // creo oggetto dati Cam
+   PtrOwner<CamData> pCam( new( nothrow) CamData) ;
+   bOk = bOk && ! IsNull( pCam) ;
+   if ( bOk) {
+      // assegno valori
+      pCam->SetMoveType( 1) ;
+      pCam->SetToolDir( vtTool) ;
+      pCam->SetCorrDir( vtCorr) ;
+      pCam->SetAuxDir( vtAux) ;
+      pCam->SetEndPoint( ptFin) ;
+      pCam->SetFeed( dFeed) ;
+      pCam->SetFlag( nFlag) ;
+      pCam->SetFlag2( nFlag2) ;
+      pCam->SetToolShow( bToolShow) ;
+      // associo questo oggetto a quello geometrico
+      pGeomDB->SetUserObj( nId, Release( pCam)) ;
+   }
+   return nId ;
+}
+
 //----------------------------------------------------------------------------
 int
 Machine::LuaEmtAddLinearMove( lua_State* L)
@@ -185,31 +224,8 @@ Machine::LuaEmtAddLinearMove( lua_State* L)
    if ( m_pMchLua == nullptr  ||
         m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
       return luaL_error( L, " Unknown Machine") ;
-  // creo oggetto linea per DB geometrico
-   PtrOwner<ICurveLine> pLine( CreateCurveLine()) ;
-   bool bOk = ! IsNull( pLine) ;
-  // assegno gli estremi della linea
-   bOk = bOk && pLine->Set( ptIni, ptFin) ;
-  // inserisco l'oggetto nel DB geometrico
-   int nId = ( bOk ? m_pMchLua->m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pLine)) : GDB_ID_NULL) ;
-   bOk = bOk && ( nId != GDB_ID_NULL) ;
-  // creo oggetto dati Cam
-   PtrOwner<CamData> pCam( new( nothrow) CamData) ;
-   bOk = bOk && ! IsNull( pCam) ;
-   if ( bOk) {
-     // assegno valori
-      pCam->SetMoveType( 1) ;
-      pCam->SetToolDir( vtTool) ;
-      pCam->SetCorrDir( vtCorr) ;
-      pCam->SetAuxDir( vtAux) ;
-      pCam->SetEndPoint( ptFin) ;
-      pCam->SetFeed( dFeed) ;
-      pCam->SetFlag( nFlag) ;
-      pCam->SetFlag2( nFlag2) ;
-      pCam->SetToolShow( bToolShow) ;
-     // associo questo oggetto a quello geometrico
-      m_pMchLua->m_pGeomDB->SetUserObj( nId, Release( pCam)) ;
-   }
+   int nId = AddLinearMove( ptIni, ptFin, m_pMchLua->m_pGeomDB, nPathId, vtTool, vtCorr, vtAux, dFeed, nFlag, nFlag2, bToolShow) ;
+   bool bOk = nId != GDB_ID_NULL ;
   // assegno risultato
    if ( bOk)
       LuaSetParam( L, nId) ;
@@ -317,6 +333,9 @@ Machine::LuaEmtAddClimb( lua_State* L)
    if ( m_pMchLua == nullptr  ||
         m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
       return luaL_error( L, " Unknown Machine") ;
+  // verifica "Main" e "Double"
+   if ( ! EqualNoCase( sMain, MCH_CL)  &&  ! EqualNoCase( sMain, MCH_DBL))
+      return luaL_error( L, ( " Error in EmtAddClimb : " + sMain).c_str()) ;
   // recupero l'operazione
    Operation* pOper = GetOperation( m_pMchLua->m_pGeomDB->GetUserObj( nMachId)) ;
   // imposto la discesa (primo movimento del primo percorso della lavorazione)
@@ -343,6 +362,9 @@ Machine::LuaEmtRemoveClimb( lua_State* L)
    if ( m_pMchLua == nullptr  ||
         m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
       return luaL_error( L, " Unknown Machine") ;
+  // verifica "Main" e "Double"
+   if ( ! EqualNoCase( sMain, MCH_CL)  &&  ! EqualNoCase( sMain, MCH_DBL))
+      return luaL_error( L, ( " Error in EmtAddClimb : " + sMain).c_str()) ;
   // recupero l'operazione
    Operation* pOper = GetOperation( m_pMchLua->m_pGeomDB->GetUserObj( nMachId)) ;
   // elimino le discese (primi movimenti "CLIMB" del primo percorso della lavorazione)
@@ -377,6 +399,9 @@ Machine::LuaEmtAddRise( lua_State* L)
    if ( m_pMchLua == nullptr  ||
         m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
       return luaL_error( L, " Unknown Machine") ;
+  // verifica "Main" e "Double"
+   if ( ! EqualNoCase( sMain, MCH_CL)  &&  ! EqualNoCase( sMain, MCH_DBL))
+      return luaL_error( L, ( " Error in EmtAddClimb : " + sMain).c_str()) ;
   // recupero l'operazione
    Operation* pOper = GetOperation( m_pMchLua->m_pGeomDB->GetUserObj( nMachId)) ;
   // aggiungo la risalita (ultimo movimento dell'ultimo percorso della lavorazione)
@@ -403,6 +428,9 @@ Machine::LuaEmtRemoveRise( lua_State* L)
    if ( m_pMchLua == nullptr  ||
         m_pMchLua->m_pMchMgr == nullptr  ||  m_pMchLua->m_pGeomDB == nullptr)
       return luaL_error( L, " Unknown Machine") ;
+  // verifica "Main" e "Double"
+   if ( ! EqualNoCase( sMain, MCH_CL)  &&  ! EqualNoCase( sMain, MCH_DBL))
+      return luaL_error( L, ( " Error in EmtAddClimb : " + sMain).c_str()) ;
   // recupero l'operazione
    Operation* pOper = GetOperation( m_pMchLua->m_pGeomDB->GetUserObj( nMachId)) ;
   // elimino le risalite (ultimi movimenti "RISE" dell'ultimo percorso della lavorazione)
@@ -569,3 +597,221 @@ Machine::LuaEmtGetBackAuxDir( lua_State* L)
 
    return 1 ;
 }
+
+struct Cyl {
+   Cyl( void): frCyl( GLOB_FRM), dH( 0.), dRad( 0.) {;} ;
+   Cyl( const Frame3d& _frCyl, double _dH, double _dRad, double _dLinTol) :
+      frCyl( _frCyl), dH( _dH), dRad( _dRad) { ;}
+   Cyl( const Point3d& _ptBase, const Vector3d& vtZ, double _dH, double _dRad, double _dLinTol) :
+        dH( _dH), dRad( _dRad){
+         frCyl.Set( _ptBase, vtZ); }
+public :
+   Frame3d frCyl ;
+public:
+   double dH ;
+   double dRad ;
+};
+
+typedef vector<Cyl> OFFSETCYLVECT ;
+
+//----------------------------------------------------------------------------
+bool
+IsPointInsideCylinder( const Point3d& ptTest, const Cyl& offCyl)
+{
+   Point3d ptTestLoc = ptTest ; ptTestLoc.ToLoc( offCyl.frCyl) ;
+   if ( ptTestLoc.z > offCyl.dH  ||  ptTestLoc.z < 0)
+      return false ;
+   double dDist = ptTestLoc.x * ptTestLoc.x + ptTestLoc.y * ptTestLoc.y ;
+   double dRadSq = offCyl.dRad * offCyl.dRad ;
+   if ( dDist > dRadSq)
+      return false ;
+   return true ;
+}
+
+//----------------------------------------------------------------------------
+int
+Machine::LuaEmtAdjustConcavePartsInPath( lua_State* L)
+{
+   bool bOk = true ;
+   // 3 parametri : nPathId, nAuxPathId, dRad
+   int nPathId ;
+   LuaCheckParam( L, 1, nPathId)
+   int nAuxPathId ;
+   LuaCheckParam( L, 2, nAuxPathId)
+   double dRad ;
+   LuaCheckParam( L, 3, dRad)
+   LuaClearStack( L) ;
+   IGeomDB* pGeomDB = m_pMchLua->m_pGeomDB ;
+   int nId = pGeomDB->GetFirstInGroup( nPathId) ;
+   int nIdCrvAux = pGeomDB->GetFirstInGroup( nAuxPathId) ;
+   const ICurve* pCrvAux = GetCurve( pGeomDB->GetGeoObj(nIdCrvAux)) ;
+   const double dLinTol = 5 * EPS_SMALL ;
+
+   while ( nId != GDB_ID_NULL) {
+      if ( pGeomDB->GetGeoType( nId) == CRV_LINE) {
+         int nFlag = 0 ; pGeomDB->GetInfo( nId, "Flg2", nFlag) ;
+         if ( nFlag == 1) {
+            // scorro i prossimi finchè trovo la fine della zona concava
+            INTINTVECTOR vLines ;
+            while ( nFlag == 1  &&  nId != GDB_ID_NULL) {
+               nId = pGeomDB->GetNext( nId) ;
+               if ( nId != GDB_ID_NULL  &&  pGeomDB->GetGeoType( nId)  == CRV_LINE) {
+                  int nDerivedFromId = GDB_ID_NULL ;
+                  if ( pGeomDB->GetInfo( nId, "DerivFrom", nDerivedFromId)) {
+                     pGeomDB->GetInfo( nId, "Flg2", nFlag) ;
+                     vLines.emplace_back( nId, nDerivedFromId) ;
+                  }
+               }
+            }
+            OFFSETCYLVECT vCyl ;
+            // creo un cilindro della dimensione del raggio
+            for ( int i = 0 ; i < ssize( vLines) ; ++i) {
+
+               const IGeoVector3d* pGV = GetGeoVector3d( pGeomDB->GetGeoObj( vLines[i].second)) ;
+               if ( pGV == nullptr)
+                  return false ;
+               Point3d ptBase = pGV->GetBase() ;
+               double dPar = 0 ;
+               if ( ! pCrvAux->GetParamAtPoint( ptBase, dPar))
+                  return false ;
+
+               dPar = round( dPar) ;
+               if ( dPar > 0) {
+                  Point3d ptStart, ptEnd ;
+                  Vector3d vtHeight ;
+                  pCrvAux->GetPointD1D2( dPar, ICurve::FROM_MINUS, ptEnd, &vtHeight) ;
+                  pCrvAux->GetPointD1D2( dPar - 1, ICurve::FROM_MINUS, ptStart) ;
+                  vtHeight = ptEnd - ptStart ;
+                  double dHeight = vtHeight.Len() ;
+                  // questa altezza dovrebbe coincidere con quella precedentemente calcolata come direzione della linea
+                  vtHeight.Normalize() ;
+                  vCyl.emplace_back( ptStart, vtHeight, dHeight, dRad, dLinTol) ;
+               }
+            }
+
+            // controllo l'end di ogni linea per verificare se sta nel cilindro definito da uno degli altri tratti
+            // controllo tutto i punti
+            bool bErasedSomePart = false ;
+            bool bErasedPrev = false ;
+            INTINTVECTOR vInters ;
+            for ( int i = 0 ; i < ssize( vLines) ; ++i) {
+               Point3d ptStart, ptEnd ;
+               const ICurveLine* pCL = GetCurveLine( pGeomDB->GetGeoObj( vLines[i].first)) ;
+               if ( pCL == nullptr)
+                  return false ;
+               pCL->GetEndPoint( ptEnd) ;
+               pCL->GetStartPoint( ptStart) ;
+               // se stanno in uno dei cilindri degli altri tratti della zona concava
+               for ( int j = 0 ; j < ssize( vLines) ; ++j) {
+                  if ( i == j)
+                     continue ;
+                  bool bToErase = IsPointInsideCylinder( ptEnd, vCyl[j]) ;
+                  if ( bErasedPrev  &&  ! bToErase)
+                     bToErase = bToErase || IsPointInsideCylinder( ptStart, vCyl[j]) ;
+                  if ( bToErase) {                 
+                     bErasedSomePart = true ;
+                     bErasedPrev = true ;
+                     vInters.emplace_back(vLines[i].first,i) ;
+                     vInters.emplace_back(vLines[i+1].first,i+1) ;
+                     ++i ;
+                     break ;
+                  }
+                  else
+                     bErasedPrev = false ;
+               }
+            }
+            if ( bErasedSomePart) {
+               // calcolo le intersezioni effettive del primo e ultimo tratto cancellati con i cilindri che li hanno cancellati
+               // controllo che effettivamente tutti i tratti cancellati siano consecutivi
+               for ( int i = 1 ; i < ssize( vInters) ; ++i) {
+                  if ( vInters[i].first != vInters[i-1].first + 1)
+                     return false ;
+               }
+               for ( int i = 0 ; i < ssize( vInters) ; ++i) {
+                  // cancello i tratti intermedi
+                  if ( i > 0 && i < ssize( vInters) - 1) {
+                     pGeomDB->Erase( vInters[i].first) ;
+                     continue ;
+                  }
+                  // per il primo e ultimo controllo le intersezioni con tutti i cilindri
+                  ICurveLine* pCL = GetCurveLine( pGeomDB->GetGeoObj( vInters[i].first)) ;
+                  Point3d ptStart = pCL->GetStart() ;
+                  Vector3d vtStart ; pCL->GetStartDir( vtStart) ;
+                  double dLen ; pCL->GetLength( dLen) ;
+                  double dUTrim = ( i == 0 ? INFINITO : 0) ;
+                  Point3d ptTrim = P_INVALID ;
+                  for ( int j = 0 ; j < ssize( vCyl) ; ++j) {
+                     if ( vInters[i].second == j)
+                        continue ;
+                     Point3d ptInt1 = P_INVALID, ptInt2 = P_INVALID ;
+                     double dU1, dU2 ;
+                     Vector3d vtN1, vtN2 ;
+                     if ( IntersLineCyl( ptStart, vtStart * dLen, vCyl[j].frCyl, vCyl[j].dH, vCyl[j].dRad, dU1, ptInt1, vtN1, dU2, ptInt2, vtN2)) {
+                        bool bUpdate = ( i == 0 ? dU1 < dUTrim : dU1 > dUTrim) ;
+                        bUpdate = bUpdate &&  ptInt1.IsValid() &&  dU1 > 0  &&  dU1 < 1 ;
+                        bUpdate = bUpdate &&  vtN1 * vtStart < 0 ;
+                        if ( bUpdate) {
+                           dUTrim = dU1 ;
+                           ptTrim = ptInt1 ;
+                        }
+                        bUpdate = ( i == 0 ? dU2 < dUTrim : dU2 > dUTrim) ;
+                        bUpdate = bUpdate &&  ptInt2.IsValid() &&  dU2 > 0  &&  dU2 < 1 ;
+                        bUpdate = bUpdate &&  vtN2 * vtStart > 0 ;
+                        if ( bUpdate) {
+                           dUTrim = dU2 ;
+                           ptTrim = ptInt2 ;
+                        }
+                     }
+                  }
+                  if ( ptTrim.IsValid()) {
+                     if ( i == 0) {
+                        pCL->ModifyEnd( ptTrim) ;
+                        double dNewLen ; pCL->GetLength( dNewLen) ;
+                        if ( dNewLen < 0.1) {
+                           int nPrev = pGeomDB->GetPrev( vInters[0].first) ;
+                           pGeomDB->Erase( vInters[0].first) ;
+                           vInters[0].first = nPrev ;
+                           ICurveLine* pCLPrev = GetCurveLine( pGeomDB->GetGeoObj( nPrev)) ;
+                           pCLPrev->ModifyEnd( ptTrim) ;
+                        }
+                        CamData* camData = GetCamData( pGeomDB->GetUserObj( vInters[0].first)) ;
+                        camData->SetEndPoint( ptTrim) ;
+                     }
+                     else {
+                        pCL->ModifyStart( ptTrim) ;
+                        double dNewLen ; pCL->GetLength( dNewLen) ;
+                        if ( dNewLen < 0.1) {
+                           int nNext = pGeomDB->GetNext( vInters[i].first) ;
+                           pGeomDB->Erase( vInters[i].first) ;
+                           vInters[i].first = nNext ;
+                           ICurveLine* pCLNext = GetCurveLine( pGeomDB->GetGeoObj( nNext)) ;
+                           pCLNext->ModifyStart( ptTrim) ;
+                        }
+                     }
+                  }
+               }
+               // giunto questi due punti
+               ICurveLine* pCLprev = GetCurveLine( pGeomDB->GetGeoObj( vInters[0].first)) ;
+               Point3d ptIni = pCLprev->GetEnd() ;
+               ICurveLine* pCLnext = GetCurveLine( pGeomDB->GetGeoObj( vInters.back().first)) ;
+               Point3d ptFin = pCLnext->GetStart() ;
+               const CamData* camDataPrev = GetCamData( pGeomDB->GetUserObj( vInters[0].first)) ;
+               const CamData* camDataNext = GetCamData( pGeomDB->GetUserObj( vInters.back().first)) ;
+               Vector3d vtTool = Media( camDataPrev->GetToolDir(), camDataNext->GetToolDir()) ;
+               Vector3d vtCorr = Media( camDataPrev->GetCorrDir(), camDataNext->GetCorrDir()) ;
+               Vector3d vtAux = Media( camDataPrev->GetAuxDir(), camDataNext->GetAuxDir()) ;
+               double dFeed = camDataPrev->GetFeed() ;
+               int nFlag = camDataPrev->GetFlag() ;
+               int nFlag2 = camDataPrev->GetFlag2() ;
+               bool bToolShow = camDataPrev->GetToolShow() ;
+               AddLinearMove( ptIni, ptFin, pGeomDB, nPathId, vtTool, vtCorr, vtAux, dFeed, nFlag, nFlag2, bToolShow, vInters[0].first) ;
+            }
+            nId = vLines.back().first ;
+         }
+      }
+      nId = m_pMchLua->m_pGeomDB->GetNext( nId) ;
+   }
+
+   LuaSetParam( L, bOk) ;
+   return 1 ;
+}

Machining.cpp

@@ -17,6 +17,7 @@
 #include "MachMgr.h"
 #include "Machining.h"
 #include "OperUserNotesConst.h"
+#include "ToolUserNotesConst.h"
 #include "/EgtDev/Include/EGkGeoPoint3d.h"
 #include "/EgtDev/Include/EGkCurve.h"
 #include "/EgtDev/Include/EGkGeoVector3d.h"
@@ -25,10 +26,9 @@
 
 using namespace std ;
 
-#define DEBUG 0
+#define DEBUG_PRV 0
 
-const string KEY_AXIS_GROUP = "PreviewAxisGroup" ;
-const string KEY_ROT_AXIS_VAL = "PreviewRotAxisVal" ;    // salvata per ogni gruppo di Preview
+const string KEY_PRV_ROTAXIS_VAL = "PreviewRotAxisVal" ;    // salvata per ogni gruppo di Preview
 
 // struttura per informazioni sugli assi
 struct PreviewAxisInfo {
@@ -325,13 +325,15 @@ Machining::MyPrepareToolPreview( bool bDouble)
 
   // se necessario, imposto l'utensile corrente
    string sTool, sTcPos, sHead ;
+   double dTLen ;
    int nExitDBLId ;
    if ( ! bDouble) {
       sTool = GetToolName() ;
       sHead = GetHeadName() ;
+      dTLen = GetToolData().m_dLen ;
    }
    else {
-      if ( ! GetDoubleToolData( sTool, sTcPos, sHead, nExitDBLId))
+      if ( ! GetDoubleToolData( sTool, sTcPos, sHead, nExitDBLId, dTLen))
          return false ;
    }
 
@@ -392,7 +394,7 @@ Machining::MyPrepareToolPreview( bool bDouble)
                          m_pGeomDB->SetName( nNewTabRotAxisId, sName) ;
             double dAxisPos = 0. ;
             bOk = bOk && pMch->GetAxisPos( sName, dAxisPos) &&
-                         m_pGeomDB->SetInfo( nNewTabRotAxisId, KEY_ROT_AXIS_VAL, dAxisPos) ;
+                         m_pGeomDB->SetInfo( nNewTabRotAxisId, KEY_PRV_ROTAXIS_VAL, dAxisPos) ;
             if ( ! bOk)
                return false ;
             nCurrHierarchyId = nNewTabRotAxisId ;
@@ -502,7 +504,7 @@ Machining::MyPrepareToolPreview( bool bDouble)
               // memorizzo la sua posizione iniziale
                double dAxisPos = 0. ;
                bOk = bOk && pMch->GetAxisPos( sParentName, dAxisPos) &&
-                            m_pGeomDB->SetInfo( nNewParentId, KEY_ROT_AXIS_VAL, dAxisPos) ;
+                            m_pGeomDB->SetInfo( nNewParentId, KEY_PRV_ROTAXIS_VAL, dAxisPos) ;
             }
            // scorro i suoi figli
             int nChildId = m_pGeomDB->GetFirstInGroup( nParentId) ;
@@ -566,41 +568,33 @@ Machining::MyPrepareToolPreview( bool bDouble)
 
   // recupero il punto Tip dell'utensile e lo inserisco dentro al gruppo testa corrente
    int nExitGrpId = ( ! bDouble ? pMch->GetCurrExit() : pMch->GetExitId( sHead, nExitDBLId)) ;
-   bool bOk = ( nExitGrpId != GDB_ID_NULL) ;
+   if ( nExitGrpId == GDB_ID_NULL)
+      return false ;
    string sExitGrpName ; 
-   bOk = bOk && m_pGeomDB->GetName( nExitGrpId, sExitGrpName) ;
-   int nFrId = GDB_ID_NULL ;
-   if ( bOk) {
-      if ( ! bDouble) {
-         nFrId = m_pGeomDB->GetFirstNameInGroup( m_nPreviewHeadId, "_" + sExitGrpName) ;
-         m_nPreviewExitId = m_pGeomDB->GetFirstNameInGroup( m_nPreviewHeadId, sExitGrpName) ;
-      }
-      else {
-         nFrId = m_pGeomDB->GetFirstNameInGroup( m_nPreviewHeadIdDBL, "_" + sExitGrpName) ;
-         m_nPreviewExitIdDBL = m_pGeomDB->GetFirstNameInGroup( m_nPreviewHeadIdDBL, sExitGrpName) ;
-      }
+   if ( ! m_pGeomDB->GetName( nExitGrpId, sExitGrpName))
+      return false ;
+   if ( ! bDouble)
+      m_nPreviewExitId = m_pGeomDB->GetFirstNameInGroup( m_nPreviewHeadId, sExitGrpName) ;
+   else
+      m_nPreviewExitIdDBL = m_pGeomDB->GetFirstNameInGroup( m_nPreviewHeadIdDBL, sExitGrpName) ;
+  // determino le coordinate del Tip in locale
+   const Frame3d* pfrExit = m_pGeomDB->GetGroupFrame( nExitGrpId) ;
+   if ( pfrExit == nullptr)
+      return false ;
+   Point3d ptToolTip = pfrExit->Orig() - dTLen * pfrExit->VersZ() ;
+  // creo l'oggetto punto nel DBG
+   PtrOwner<IGeoPoint3d> ptGToolTip( CreateGeoPoint3d()) ;
+   if ( IsNull( ptGToolTip)  ||  ! ptGToolTip->Set( ptToolTip))
+      return false ;
+   if ( ! bDouble) {
+      m_nPreviewToolTip = m_pGeomDB->AddGeoObj( GDB_ID_NULL, m_nPreviewHeadId, Release( ptGToolTip)) ;
+      return ( m_nPreviewToolTip != GDB_ID_NULL) ;
    }
-   bOk = bOk && ( nFrId != GDB_ID_NULL) ;
-   const IGeoFrame3d* frExit = ( bOk ? GetGeoFrame3d( m_pGeomDB->GetGeoObj( nFrId)) : nullptr) ;
-   bOk = bOk && ( frExit != nullptr) ;
-   Point3d ptToolTip = ( bOk ? ( frExit->GetFrame()).Orig() - GetToolData().m_dLen * ( frExit->GetFrame()).VersZ() : P_INVALID) ;
-   bOk = bOk && ptToolTip.IsValid() ;
-   if ( bOk) {
-      PtrOwner<IGeoPoint3d> ptGToolTip( CreateGeoPoint3d()) ;
-      bOk = ( ! IsNull( ptGToolTip) && ptGToolTip->Set( ptToolTip)) ;
-      if ( bOk) {
-         if ( ! bDouble) {
-            m_nPreviewToolTip = m_pGeomDB->AddGeoObj( GDB_ID_NULL, m_nPreviewHeadId, Release( ptGToolTip)) ;
-            bOk = bOk && ( m_nPreviewToolTip != GDB_ID_NULL) ;
-         }
-         else {
-            m_nPreviewToolTipDBL = m_pGeomDB->AddGeoObj( GDB_ID_NULL, m_nPreviewHeadIdDBL, Release( ptGToolTip)) ;
-            bOk = bOk && ( m_nPreviewToolTipDBL != GDB_ID_NULL) ;
-         }
-      }
+   else {
+      m_nPreviewToolTipDBL = m_pGeomDB->AddGeoObj( GDB_ID_NULL, m_nPreviewHeadIdDBL, Release( ptGToolTip)) ;
+      return ( m_nPreviewToolTipDBL != GDB_ID_NULL) ;
    }
-
-   return bOk ;
+   
 }
 
 //----------------------------------------------------------------------------
@@ -692,15 +686,17 @@ Machining::RemoveToolPreview( void)
   // verifico validità gestore DB geometrico
    if ( m_pGeomDB == nullptr)
       return false ;
-   #if DEBUG
+   #if DEBUG_PRV
       return true ;
    #endif
   // recupero i gruppi per l'anteprima utensile
    int nStId = m_pGeomDB->GetFirstNameInGroup( GetOwner(), MCH_ST) ;
    int nStIdDBL = m_pGeomDB->GetFirstNameInGroup( GetOwner(), MCH_ST_DBL) ;
-  // li svuoto
+  // svuoto il gruppo dell'utensile principale
    m_pGeomDB->EmptyGroup( nStId) ;
-   m_pGeomDB->EmptyGroup( nStIdDBL) ;
+  // rimuovo il gruppo dell'utensile secondario ( non lo svuoto, in quanto potrei ricalcolare la stessa lavorazione
+  // come singola, ritrovandomi un gruppo per il DBL in ToolPreview())
+   m_pGeomDB->Erase( nStIdDBL) ;
   // reset delle variabili membro
    m_nPreviewHeadId = GDB_ID_NULL ;
    m_nPreviewHeadIdDBL = GDB_ID_NULL ;
@@ -896,7 +892,7 @@ Machining::MyToolPreview( int nEntId, bool bDouble) const
          return false ;
      // recupero il valore corrente dell'asse
       double dCurrAxisVal = 0. ;
-      m_pGeomDB->GetInfo( nAxisId, KEY_ROT_AXIS_VAL, dCurrAxisVal) ;
+      m_pGeomDB->GetInfo( nAxisId, KEY_PRV_ROTAXIS_VAL, dCurrAxisVal) ;
      // recupero il valore dell'asse
       bool bFound = false ;
       double dAxisVal = 0 ;
@@ -917,7 +913,7 @@ Machining::MyToolPreview( int nEntId, bool bDouble) const
       Vector3d vtDir = pGV->GetVector() ;
       vtDir.Normalize() ;
       m_pGeomDB->RotateGroup( nAxisId, ptPos, vtDir, ( dAxisVal - dCurrAxisVal)) ;
-      m_pGeomDB->SetInfo( nAxisId, KEY_ROT_AXIS_VAL, dAxisVal) ;
+      m_pGeomDB->SetInfo( nAxisId, KEY_PRV_ROTAXIS_VAL, dAxisVal) ;
    }
 
   // recupero la posizione del tip dell'utensile per movimento assi lineari
@@ -1040,7 +1036,7 @@ Machining::ToolPreview( int nEntId, int nStep) const
 
 //----------------------------------------------------------------------------
 int
-Machining::GetDoubleType( const string& sUserNotes)
+Machining::GetDoubleType( const string& sUserNotes) const
 {
    int nDouble ;
    if ( ! GetValInNotes( sUserNotes, UN_DOUBLE, nDouble)  ||
@@ -1053,6 +1049,14 @@ Machining::GetDoubleType( const string& sUserNotes)
 //----------------------------------------------------------------------------
 bool
 Machining::GetDoubleToolData( string& sDblTool, string& sDblTcPos, string& sDblHead, int& nDblExit) const
+{
+   double dDummy ;
+   return GetDoubleToolData( sDblTool, sDblTcPos, sDblHead, nDblExit, dDummy) ;
+}
+
+//----------------------------------------------------------------------------
+bool
+Machining::GetDoubleToolData( string& sDblTool, string& sDblTcPos, string& sDblHead, int& nDblExit, double& dDblLen) const
 {
    if ( m_pGeomDB == nullptr  ||  m_pMchMgr == nullptr)
       return false ;
@@ -1061,12 +1065,13 @@ Machining::GetDoubleToolData( string& sDblTool, string& sDblTcPos, string& sDblH
    if ( pTMgr == nullptr)
       return false ;
   // recupero dati utensile in doppio
-   if ( ! GetValInNotes( GetToolData().m_sUserNotes, "DOUBLE", sDblTool))
+   if ( ! GetValInNotes( GetToolData().m_sUserNotes, TUN_DOUBLE, sDblTool))
       return false ;
+   const ToolData* pTdata = pTMgr->GetTool( sDblTool) ;
+   if ( pTdata == nullptr)
+      return false ;
+   dDblLen = pTdata->m_dLen ;
    if ( ! m_pMchMgr->GetCurrSetupMgr().GetToolData( sDblTool, sDblTcPos, sDblHead, nDblExit)) {
-      const ToolData* pTdata = pTMgr->GetTool( sDblTool) ;
-      if ( pTdata == nullptr)
-         return false ;
       sDblHead = pTdata->m_sHead ;
       nDblExit = pTdata->m_nExit ;
    }
@@ -1075,7 +1080,32 @@ Machining::GetDoubleToolData( string& sDblTool, string& sDblTcPos, string& sDblH
 
 //----------------------------------------------------------------------------
 bool
-Machining::CalcMirrorByDouble( int nClId, const string& sUserNotes)
+Machining::CalcMirrorPlaneByDouble( int nDouble, const string& sUserNotes, Point3d& ptOn, Vector3d& vtNorm) const
+{
+  // verifico parametro per lavorazione in doppio
+   if ( nDouble != 1  &&  nDouble != 2  &&  nDouble != 3)
+      return false ;
+
+  // determino posizione del piano di mirroring mediante centro del Box del grezzo
+   BBox3d b3Raw ;
+   if ( ! GetCurrRawsGlobBox( b3Raw)  ||  ! b3Raw.GetCenter( ptOn))
+      return false ;
+   switch ( nDouble) {
+   case 1 : vtNorm = X_AX ; break ;
+   case 2 : vtNorm = Y_AX ; break ;
+   case 3 : vtNorm = Z_AX ; break ;
+   }
+  // se presente nota utente con posizione del piano, allora dal punto più basso salgo di tale valore per individuare la quota
+   double dPlanePos ;
+   if ( GetValInNotes( sUserNotes, UN_MIRRORAX, dPlanePos))
+      ptOn = b3Raw.GetMin() + dPlanePos * vtNorm ;
+
+   return true ;
+}
+
+//----------------------------------------------------------------------------
+bool
+Machining::CalcMirrorByDouble( int nClId, const string& sUserNotes) const
 {
    if ( m_pGeomDB == nullptr  ||  m_pMchMgr == nullptr)
       return false ;
@@ -1125,20 +1155,10 @@ Machining::CalcMirrorByDouble( int nClId, const string& sUserNotes)
       nPathId = m_pGeomDB->GetNextName( nPathId, MCH_PATH + "*") ;
    }
 
-  // determino posizione del piano di mirroring
-   BBox3d b3Raw ;
-   Point3d ptOn ;
-   if ( ! GetCurrRawsGlobBox( b3Raw)  ||  ! b3Raw.GetCenter( ptOn))
+  // calcolo il piano di Mirroring
+   Point3d ptOn ; Vector3d vtNorm ;
+   if ( ! CalcMirrorPlaneByDouble( nDouble, sUserNotes, ptOn, vtNorm))
       return false ;
-   Vector3d vtNorm ;
-   switch ( nDouble) {
-   case 1 : vtNorm = X_AX ; break ;
-   case 2 : vtNorm = Y_AX ; break ;
-   case 3 : vtNorm = Z_AX ; break ;
-   }
-   double dPlanePos ;
-   if ( GetValInNotes( sUserNotes, UN_MIRRORAX, dPlanePos))
-      ptOn = b3Raw.GetMin() + dPlanePos * vtNorm ;
 
   // eseguo mirroring rispetto a piano opportuno
    nPathId = m_pGeomDB->GetFirstNameInGroup( nDblId, MCH_PATH + "*") ;
@@ -1146,15 +1166,15 @@ Machining::CalcMirrorByDouble( int nClId, const string& sUserNotes)
       int nEntId = m_pGeomDB->GetFirstInGroup( nPathId) ;
       while ( nEntId != GDB_ID_NULL) {
          string sName ; m_pGeomDB->GetName( nEntId, sName) ;
-        // nel caso di fuorature in doppio, il movimento deve essere sincronizzato
-         if ( sName == MCH_CL_DBP) {
+        // nel caso di forature in doppio, il movimento deve essere sincronizzato
+         if ( sName == MCH_CL_PARALLEL_DBL) {
             INTVECTOR vSyncEntId ;
             do {
                vSyncEntId.push_back( nEntId) ;
                nEntId = m_pGeomDB->GetNext( nEntId) ;
                sName.clear() ;
                m_pGeomDB->GetName( nEntId, sName) ;
-            } while ( sName == MCH_CL_DBP) ;
+            } while ( sName == MCH_CL_PARALLEL_DBL) ;
             Vector3d vtRef ;
             bool bOk = true ;
             for ( int i = 0 ; bOk && i < ssize( vSyncEntId) ; ++ i) {

Machining.h

@@ -26,6 +26,7 @@ class Machining : public Operation
       int                GetExitNbr( void) const override ;
       const std::string& GetToolTcPos( void) const override ;
       bool               NeedPrevHome( void) const override ;
+      bool GetDoubleToolData( std::string& sDblTool, std::string& sDblTcPos, std::string& sDblHead, int& nDblExit) const override ;
 
    public :
       virtual bool Prepare( const std::string& sMchName) = 0 ;
@@ -61,9 +62,10 @@ class Machining : public Operation
       ~Machining( void) ;
       bool SpecialApply( std::string& sErr) ;
       bool PostApply( std::string& sErr) ;
-      int  GetDoubleType( const std::string& sUserNotes) ;
-      bool GetDoubleToolData( std::string& sDblTool, std::string& sDblTcPos, std::string& sDblHead, int& nDblExit) const override ;
-      bool CalcMirrorByDouble( int nClId, const std::string& sUserNotes) ;
+      int  GetDoubleType( const std::string& sUserNotes) const ;
+      bool GetDoubleToolData( std::string& sDblTool, std::string& sDblTcPos, std::string& sDblHead, int& nDblExit, double& dDblLen) const ;
+      bool CalcMirrorPlaneByDouble( int nDouble, const std::string& sUserNotes, Point3d& ptOn, Vector3d& vtNorm) const ;
+      bool CalcMirrorByDouble( int nClId, const std::string& sUserNotes) const ;
       bool ActivateDrillingUnit( int nHeadId, const INTVECTOR& vActExit) const ;
 
    private :

Milling.h

@@ -81,6 +81,7 @@ class Milling : public Machining
          double m_dRampLen ;
          double m_dTopLen ;
       } ;
+      enum ToolCorrEntity { TOOL_CORR_PATH = 0, TOOL_CORR_IN = 1, TOOL_CORR_OUT = 2 } ;
 
    private :
       bool VerifyGeometry( SelData Id, int& nSubs, int& nType) ;
@@ -115,7 +116,7 @@ class Milling : public Machining
       bool AddSawBladeSideRetract( const Point3d& ptP, const Vector3d& vtRetr, const Vector3d& vtTool,
                                    double dSafeZ, double dSawEndElev, double dEndElev, double dAppr, bool bAddExtract = false) ;
       bool CalcLeadInStart( const Point3d& ptStart, const Vector3d& vtStart, const Vector3d& vtTool,
-                            double dStElev, bool bInvert, const ICurveComposite* pCompo, Point3d& ptP1, Vector3d& vtDir1) const ;
+                            double dStElev, bool bInvert, const ICurveComposite* pCompo, Point3d& ptP1, Vector3d& vtDir1) ;
       bool AddLeadIn( const Point3d& ptP1, const Point3d& ptStart, const Vector3d& vtStart,
                       const Vector3d& vtTool, double dStElev, bool bInvert, const ICurveComposite* pCompo, bool bSplitArcs) ;
       bool CalcLeadOutEnd( const Point3d& ptEnd, const Vector3d& vtEnd, const Vector3d& vtTool,
@@ -136,8 +137,11 @@ class Milling : public Machining
       bool GetPointBelowRaw( const Point3d& ptP, const Vector3d& vtTool) const ;
       bool CalcAndSetCorrAuxDir( const ICurveComposite* pCompo, double dU, bool bInvertSide = false, bool bSawSpecial = false) ;
       Vector3d CalcCorrDir( const ICurveComposite* pCompo, double dU, bool bInvertSide = false, bool bSawSpecial = false) const ;
-      bool CalcOffset( ICurveComposite* pCompo, double dSignOffs) const ;
+      bool CalcAndSetCorrAuxDir( const Vector3d& vtCorr) ;
+      bool AdjustAllCorrAuxDirToSide( int nId, bool bCcwRot) ;
+      bool CalcOffset( ICurveComposite* pCompo, double dSignOffs, double dExtraOffs = 0) const ;
       bool TrimExtendCurveToClosedStm( ICurveComposite* pCompo, int nCstmId, bool bInvert) ;
+      int GetCorrType( int nToolCompEntity, bool bInvert) const ;
 
    private :
       double GetSpeed() const
@@ -171,6 +175,10 @@ class Milling : public Machining
                     m_Params.m_dLiTang >= 0.9 * m_TParams.m_dDiam  &&  m_Params.m_dLiElev <= 2) ; }
       double GetLeadInOutToler( void) const
          { return ( m_bTHoldFloating ? LIO_ELEV_FLOAT : LIO_ELEV_TOL) ; }
+      inline double GetToolCompMinRadOffset() const
+         { return 100. * EPS_SMALL ; }
+      inline double GetToolCompPerpLen() const
+         { return 2.0 ; }
       friend class LeadIOStatus ;
 
    private :
@@ -194,6 +202,9 @@ class Milling : public Machining
       AggrBottom    m_AggrBottom ;      // dati eventuale aggregato da sotto
       double        m_dCurrOscillLen ;  // lunghezza corrente lungo il percorso per l'oscillazione
       double        m_dCurrTabsLen ;    // lunghezza corrente lungo il percorso per tabs
+      bool          m_bToolComp ;       // correzione raggio utensile abilitata dai dati
+      Vector3d      m_vtLieCorr ;       // versore correzione da applicare a fine attacco
+      Vector3d      m_vtLieAux ;        // versore ausiliario da applicare a fine attacco
       bool          m_bStartOutRaw ;    // flag forzatura inizio fuori dal grezzo
       bool          m_bEndOutRaw ;      // flag forzatura fine fuori dal grezzo
       Vector3d      m_vtStartDir ;      // direzione iniziale del percorso in elaborazione

Mortising.cpp

@@ -1250,7 +1250,7 @@ Mortising::ProcessPath( int nPathId, int nPvId, int nClId)
             return false ;
          dLen += dStartAddLen ;
       }
-      if (dEndAddLen > EPS_SMALL) {
+      if ( dEndAddLen > EPS_SMALL) {
          if ( ! pCompo->ExtendEndByLen( dEndAddLen))
             return false ;
          dLen += dEndAddLen ;
@@ -1330,7 +1330,7 @@ Mortising::ProcessPath( int nPathId, int nPvId, int nClId)
 
   // calcolo l'elevazione massima
    double dElev ;
-   if ( CalcPathElevation( pCompo, vtTool, dDepth, GetRadiusForStartEndElevation(), m_TParams.m_dThick, dElev)) {
+   if ( CalcPathElevation( pCompo, vtTool, vtAux, dDepth, GetRadiusForStartEndElevation(), m_TParams.m_dThick, dElev)) {
       if ( dElev < EPS_SMALL  &&  AreSameVectorApprox( vtExtr, Z_AX)) {
          BBox3d b3Crv ;
          pCompo->GetLocalBBox( b3Crv) ;
@@ -1350,7 +1350,7 @@ Mortising::ProcessPath( int nPathId, int nPvId, int nClId)
    double dCosAng = min( abs( vtTg * vtExtr), cos( 30 * DEGTORAD)) ;
    double dAddEnc = m_TParams.m_dDiam / 2 * dCosAng / dSinAng ;
 
-  // affondamento speciale da note utente (!!! da trasformare in parametro come gli altri !!!)
+  // affondamento speciale da note utente
    int nPlunge = 0 ;
    GetValInNotes( m_Params.m_sUserNotes, UN_PLUNGE, nPlunge) ;
 
@@ -1437,12 +1437,12 @@ Mortising::ProcessPath( int nPathId, int nPvId, int nClId)
 
 //----------------------------------------------------------------------------
 bool
-Mortising::CalcPathElevation( const ICurveComposite* pCompo, const Vector3d& vtTool, double dDepth, double dRad, double dThick,
-                              double& dElev) const
+Mortising::CalcPathElevation( const ICurveComposite* pCompo, const Vector3d& vtTool, const Vector3d& vtAux,
+                              double dDepth, double dRad, double dThick, double& dElev) const
 {
    dElev = 0 ;
-   int nMaxInd = pCompo->GetCurveCount() - 1 ;
-   for ( int i = 0 ; i <= nMaxInd ; ++ i) {
+   const double DELTA_ELEV_RAD = 20.0 ; 
+   for ( int i = 0 ; i < pCompo->GetCurveCount() ; ++ i) {
      // curva corrente
       const ICurve* pCrvC = pCompo->GetCurve( i) ;
      // calcolo elevazione
@@ -1451,17 +1451,16 @@ Mortising::CalcPathElevation( const ICurveComposite* pCompo, const Vector3d& vtT
       pCrvC->GetStartPoint( ptStart) ;
       pCrvC->GetMidPoint( ptMid) ;
       pCrvC->GetEndPoint( ptEnd) ;
-      Vector3d vtStartPerp, vtEndPerp ;
-      pCrvC->GetStartDir( vtStartPerp) ;
-      vtStartPerp *= -dRad ;
-      pCrvC->GetEndDir( vtEndPerp) ;
-      vtEndPerp *= dRad ;
-      Vector3d vtTg ; pCrvC->GetMidDir( vtTg) ;
-      Vector3d vtOrtho = vtTool ^ vtTg ;
-      vtOrtho.Normalize() ;
-      vtOrtho *= dThick ;
+      Vector3d vtStart, vtEnd ;
+      pCrvC->GetStartDir( vtStart) ;
+      pCrvC->GetEndDir( vtEnd) ;
+      ptStart += -dRad * vtStart + 0.5 * dThick * vtAux ;
+      ptMid += 0.5 * dThick * vtAux ;
+      ptEnd += dRad * vtEnd + 0.5 * dThick * vtAux ;
+      Vector3d vtOrtho = vtAux ;
+      vtOrtho *= 0.5 * dThick + DELTA_ELEV_RAD ;
       Vector3d vtDepth = -vtTool * dDepth ;
-      // linea centro utensile
+      // in centro utensile
       if ( GetElevation( m_nPhase, ptStart + vtDepth, ptMid + vtDepth, ptEnd + vtDepth, vtTool, dCurrElev)) {
          if ( dCurrElev > dElev)
             dElev = dCurrElev ;
@@ -1479,19 +1478,8 @@ Mortising::CalcPathElevation( const ICurveComposite* pCompo, const Vector3d& vtT
          m_pMchMgr->SetLastError( 2505, "Error in Mortising : Entity GetElevation") ;
          return false ;
       }
-      // da una parte
-      if ( GetElevation( m_nPhase, ptStart + vtStartPerp + vtDepth, ptMid + vtDepth,
-                                   ptEnd + vtEndPerp + vtDepth, vtTool, dCurrElev)) {
-         if ( dCurrElev > dElev)
-            dElev = dCurrElev ;
-      }
-      else {
-         m_pMchMgr->SetLastError( 2505, "Error in Mortising : Entity GetElevation") ;
-         return false ;
-      }
-      // dall'altra parte
-      if ( GetElevation( m_nPhase, ptStart + vtStartPerp + vtDepth, ptMid + vtDepth,
-                                   ptEnd + vtEndPerp + vtDepth, vtTool, dCurrElev)) {
+      // sotto centro utensile
+      if ( GetElevation( m_nPhase, ptStart + vtDepth - vtOrtho, ptMid + vtDepth - vtOrtho, ptEnd + vtDepth - vtOrtho, vtTool, dCurrElev)) {
          if ( dCurrElev > dElev)
             dElev = dCurrElev ;
       }
@@ -1535,7 +1523,7 @@ Mortising::GenerateMortisingCl( const ICurveComposite* pCompo, const Vector3d& v
          return false ;      
    }
 
-  // se alrimenti affondamenti ripetuti da inizio a fine con ritorno basso
+  // se altrimenti affondamenti ripetuti da inizio a fine con ritorno basso
    else if ( nPlunge == MORTISE_PLUNGE_START_TO_END) {
      // distanza e vettore spostamento laterale
       Vector3d vtDir = ptEnd - ptStart ;

Mortising.h

@@ -78,7 +78,7 @@ class Mortising : public Machining
       bool Chain( int nGrpDestId) ;
       bool CalcSurfAuxView( int nAuxId, int nAuxViewId) ;
       bool ProcessPath( int nPathId, int nPvId, int nClId) ;
-      bool CalcPathElevation( const ICurveComposite* pCompo, const Vector3d& vtTool, double dDepth, double dRad, double dThick, double& dElev) const ;
+      bool CalcPathElevation( const ICurveComposite* pCompo, const Vector3d& vtTool, const Vector3d& vtAux, double dDepth, double dRad, double dThick, double& dElev) const ;
       bool GenerateMortisingPv( int nPathId, const ICurveComposite* pCompo) ;
       bool GenerateMortisingCl( const ICurveComposite* pCompo, const Vector3d& vtTool, double dDepth, double dElev, double dOkStep, int nPlunge) ;
       bool GenerateOnePlungeCl( const Point3d& ptStart, const Point3d& ptEnd, const Vector3d& vtTool, double dDepth, double dElev, double dOkStep, 

OperUserNotesConst.h

@@ -26,6 +26,7 @@ static const std::string UN_DOUBLE = "DOUBLE" ;
 static const std::string UN_MIRRORAX = "MirrorAx" ;
 static const std::string UN_DELTAZ = "DeltaZ" ;
 static const std::string UN_VTAUXDIR = "VtAuxDir" ;
+static const std::string UN_STARTZMAX = "StartZmax" ;
 
 // Solo per Drilling
 static const std::string UN_LASTSTEP = "LastStep" ;
@@ -51,6 +52,9 @@ static const std::string UN_OPENMINSAFE = "OpenMinSafe" ;
 static const std::string UN_MAXOPTSIZE = "MaxOptSize" ;
 static const std::string UN_PROJEXT = "ExtProj" ;
 static const std::string UN_ADJUSTFEED = "AdjustFeed" ;
+static const std::string UN_MINFEED = "MinFeed" ;
+static const std::string UN_TOOL_COMPENSATION = "ToolCompensation" ;
+static const std::string UN_START_PNT = "StartPoint" ;
 
 // Solo per Sawing
 static const std::string UN_DOWNSE = "DownSE" ;
@@ -67,11 +71,14 @@ static const std::string UN_STEPNUMBER = "StepNumber" ;
 static const std::string UN_BITANGANG = "BiTangAng" ;
 static const std::string UN_OPTIMALTYPE = "OptimalType" ;
 static const std::string UN_ANGLETOL = "AngleTol" ;
+static const std::string UN_THETA = "Theta" ;
+static const std::string UN_PHI = "Phi" ;
 
 // Solo per SurfRoughing
 static const std::string UN_PLANEZ = "PlaneZ" ;
 static const std::string UN_ORDER = "Order" ;
 static const std::string UN_SUPP_RAD_OFFS = "SuppRadOffs" ;
+   // come per PocketingNT, viene usato il parametro UN_MINFEED
 
 // Solo per Waterjetting
 static const std::string UN_START = "START" ;

Operation.cpp

@@ -1917,6 +1917,7 @@ Operation::CalculateAxesValues( const string& sHint, bool bSolChExact, double dS
   // calcolo il valore degli assi macchina di tutti i movimenti
    bool bOk = true ;
    if ( pMch->GetCurrKinematicChainType() == KIN_CHAIN_MCENT) {
+      m_pGeomDB->SetInfo( nClId, KEY_KINTYPE, KIN_CHAIN_MCENT) ;
       int nClPathId = m_pGeomDB->GetFirstGroupInGroup( nClId) ;
       while ( nClPathId != GDB_ID_NULL) {
          if ( ! CalculateClPathMcentAxesValues( nClPathId, dAngDeltaMinForHome, vAxRotHome, vAxRotPrec))
@@ -1925,6 +1926,7 @@ Operation::CalculateAxesValues( const string& sHint, bool bSolChExact, double dS
       }
    }
    else if ( pMch->GetCurrKinematicChainType() == KIN_CHAIN_ROBOT) {
+      m_pGeomDB->SetInfo( nClId, KEY_KINTYPE, KIN_CHAIN_ROBOT) ;
       int nClPathId = m_pGeomDB->GetFirstGroupInGroup( nClId) ;
       while ( nClPathId != GDB_ID_NULL) {
          if ( ! CalculateClPathRobotAxesValues( nClPathId, dAngDeltaMinForHome, vAxRotHome, vAxRotPrec))
@@ -1932,8 +1934,10 @@ Operation::CalculateAxesValues( const string& sHint, bool bSolChExact, double dS
          nClPathId = m_pGeomDB->GetNextGroup( nClPathId) ;
       }
    }
-   else
+   else {
+      m_pGeomDB->SetInfo( nClId, KEY_KINTYPE, KIN_CHAIN_NONE) ;
       bOk = false ;
+   }
 
    return bOk ;
 }
@@ -2210,8 +2214,8 @@ Operation::MyCalculateClPathMcentAxesValues( int nClPathId, double dAngDeltaMinF
                double dCoeff = double( i) / nNumStep ;
                Point3d ptCurr = Media( ptPrec, ptP, dCoeff) ;
                DBLVECTOR vAng( vAxRot.size()) ;
-               for ( int i = 0 ; i < int( vAxRot.size()) ; ++ i)
-                  vAng[i] = vAxRotPrec[i] * ( 1 - dCoeff) + vAxRot[i] * dCoeff ;
+               for ( int j = 0 ; j < ssize( vAxRot) ; ++ j)
+                  vAng[j] = vAxRotPrec[j] * ( 1 - dCoeff) + vAxRot[j] * dCoeff ;
                int nStat = 0 ;
                bool bPaOk = pMachine->VerifyProtectedAreas( ptCurr.x, ptCurr.y, ptCurr.z, vAng, nStat) ;
                if ( ! bPaOk  ||  nStat != 0) {
@@ -2236,8 +2240,8 @@ Operation::MyCalculateClPathMcentAxesValues( int nClPathId, double dAngDeltaMinF
          ptMid.Rotate( ptCen, vtN, - dAngCen / 2) ;
         // determino i valori degli assi al punto medio
          DBLVECTOR vAngMid( vAxRot.size()) ;
-         for ( size_t i = 0 ; i < vAxRot.size() ; ++ i)
-            vAngMid[i] = ( vAxRotPrec[i] + vAxRot[i]) / 2 ;
+         for ( int j = 0 ; j < ssize( vAxRot) ; ++ j)
+            vAngMid[j] = ( vAxRotPrec[j] + vAxRot[j]) / 2 ;
          double dXmid, dYmid, dZmid ;
          bool bLmidOk = m_pMchMgr->GetCalcPositions( ptMid, vAngMid, dXmid, dYmid, dZmid) ;
          if ( ! bLmidOk) {
@@ -2249,8 +2253,8 @@ Operation::MyCalculateClPathMcentAxesValues( int nClPathId, double dAngDeltaMinF
          Point3d ptEnd = ptP - dDeltaN * vtN ;
         // determino i valori degli assi al punto finale
          DBLVECTOR vAngEnd( vAxRot.size()) ;
-         for ( size_t i = 0 ; i < vAxRot.size() ; ++ i)
-            vAngEnd[i] = vAxRot[i] ;
+         for ( int j = 0 ; j < ssize( vAxRot) ; ++ j)
+            vAngEnd[j] = vAxRot[j] ;
          double dXend, dYend, dZend ;
          bool bLendOk = m_pMchMgr->GetCalcPositions( ptEnd, vAngEnd, dXend, dYend, dZend) ;
          if ( ! bLendOk) {
@@ -2308,8 +2312,8 @@ Operation::MyCalculateClPathMcentAxesValues( int nClPathId, double dAngDeltaMinF
                   double dCoeff = double( i) / NUM_VERIF_STEP ;
                   Point3d ptCurr = ptCen + vtCurr + vtN * dDeltaN * dCoeff ;
                   DBLVECTOR vAng( vAxRot.size()) ;
-                  for ( size_t i = 0 ; i < vAxRot.size() ; ++ i)
-                     vAng[i] = vAxRotPrec[i] * ( 1 - dCoeff) + vAxRot[i] * dCoeff ;
+                  for ( int j = 0 ; j < ssize( vAxRot) ; ++ j)
+                     vAng[j] = vAxRotPrec[j] * ( 1 - dCoeff) + vAxRot[j] * dCoeff ;
                   int nStat ;
                   bool bOsOk = m_pMchMgr->VerifyOutstroke( ptCurr.x, ptCurr.y, ptCurr.z, vAng, false, nStat) ;
                   if ( ! bOsOk  ||  nStat != 0) {
@@ -2354,34 +2358,43 @@ Operation::CalculateMcentRotAxesValues( bool bFirst, const Vector3d& vtTool, con
                                         double dAngDeltaMinForHome,
                                         const DBLVECTOR& vAxRotHome, const DBLVECTOR& vAxRotPrec, DBLVECTOR& vAxRot)
 {
+  // macchina
+   Machine* pMachine = m_pMchMgr->GetCurrMachine() ;
+   if ( pMachine == nullptr)
+      return false ;
   // continuità su assi rotanti nei movimenti successivi al primo per tutte le lavorazioni, tranne disposizioni
    bool bRotContOnNext = ( GetType() != OPER_DISP) ; 
   // massima variazione secondo asse rotante per continuità
    const double dMaxDeltaR2 = 30 ;
+  // imposto primo asse precedente (per caso con 3 rotanti liberi)
+   pMachine->SetPrevAngA( ( ! vAxRotPrec.empty() ? vAxRotPrec[0] : NAN)) ;
   // calcolo degli assi rotanti della macchina
    int nRStat ;
    DBLVECTOR vAng1, vAng2 ;
-   bool bROk = m_pMchMgr->GetCalcAngles( vtTool, vtAux, nRStat, vAng1, vAng2) ;
+   bool bROk = pMachine->GetAngles( vtTool, vtAux, nRStat, vAng1, vAng2) ;
+   pMachine->SetPrevAngA( NAN) ;
    if ( ! bROk  ||  nRStat == 0)
       return false ;
    if ( abs( nRStat) == 1) {
      // se primo movimento
       if ( bFirst) {
         // porto gli angoli ai valori più vicini ai precedenti con offset di uno o più giri
-         for ( int i = 0 ; i < int( vAng1.size()) ; ++ i) {
-            m_pMchMgr->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng1[i]) ;
+         for ( int i = 0 ; i < ssize( vAng1) ; ++ i) {
+            if ( pMachine->IsKinematicRotAxisBlocked( i))
+               continue ;
+            pMachine->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng1[i]) ;
             if ( abs( vAng1[i] - vAxRotPrec[i]) > dAngDeltaMinForHome)
-               m_pMchMgr->GetNearestAngleInStroke( i, vAxRotHome[i], vAng1[i]) ;
+               pMachine->GetNearestAngleInStroke( i, vAxRotHome[i], vAng1[i]) ;
          }
         // se sol.ne indeterminata (sempre il primo asse libero), assegno il precedente, limitandolo alla corsa
          if ( nRStat < 0  &&  vAng1.size() >= 1) {
-            for ( int i = 0 ; i < int( vAng1.size()) ; ++ i) {
+            for ( int i = 0 ; i < ssize( vAng1) ; ++ i) {
               // ignoro gli assi bloccati
-               if ( m_pMchMgr->IsKinematicRotAxisBlocked( i))
+               if ( pMachine->IsKinematicRotAxisBlocked( i))
                   continue ;
               // assegno il precedente ed esco
                vAng1[i] = vAxRotPrec[i] ;
-               m_pMchMgr->LimitAngleToStroke( i, vAng1[i]) ;
+               pMachine->LimitAngleToStroke( i, vAng1[i]) ;
                break ;
             }
          }
@@ -2389,19 +2402,19 @@ Operation::CalculateMcentRotAxesValues( bool bFirst, const Vector3d& vtTool, con
      // per movimenti successivi
       else {
         // scelgo gli angoli più vicini, per continuità non applico offset per stare nelle corse
-         for ( int i = 0 ; i < int( vAng1.size()) ; ++ i) {
+         for ( int i = 0 ; i < ssize( vAng1) ; ++ i) {
             if ( bRotContOnNext)
                vAng1[i] = AngleNearAngle( vAng1[i], vAxRotPrec[i]) ;
             else
-               m_pMchMgr->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng1[i]) ;
+               pMachine->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng1[i]) ;
             if ( abs( vAng1[i] - vAxRotPrec[i]) > dAngDeltaMinForHome)
-               m_pMchMgr->GetNearestAngleInStroke( i, vAxRotHome[i], vAng1[i]) ;
+               pMachine->GetNearestAngleInStroke( i, vAxRotHome[i], vAng1[i]) ;
          }
         // se sol.ne indeterminata (sempre il primo asse libero), assegno il precedente
          if ( nRStat < 0  &&  vAng1.size() >= 1) {
-            for ( int i = 0 ; i < int( vAng1.size()) ; ++ i) {
+            for ( int i = 0 ; i < ssize( vAng1) ; ++ i) {
               // ignoro gli assi bloccati
-               if ( m_pMchMgr->IsKinematicRotAxisBlocked( i))
+               if ( pMachine->IsKinematicRotAxisBlocked( i))
                   continue ;
               // assegno il precedente ed esco
                vAng1[i] = vAxRotPrec[i] ;
@@ -2416,23 +2429,23 @@ Operation::CalculateMcentRotAxesValues( bool bFirst, const Vector3d& vtTool, con
      // se primo movimento
       if ( bFirst) {
         // porto gli angoli ai valori più vicini ai precedenti con offset di uno o più giri
-         for ( int i = 0 ; i < int( vAng1.size()) ; ++ i) {
-            m_pMchMgr->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng1[i]) ;
+         for ( int i = 0 ; i < ssize( vAng1) ; ++ i) {
+            pMachine->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng1[i]) ;
             if ( abs( vAng1[i] - vAxRotPrec[i]) > dAngDeltaMinForHome)
-               m_pMchMgr->GetNearestAngleInStroke( i, vAxRotHome[i], vAng1[i]) ;
-            m_pMchMgr->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng2[i]) ;
+               pMachine->GetNearestAngleInStroke( i, vAxRotHome[i], vAng1[i]) ;
+            pMachine->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng2[i]) ;
             if ( abs( vAng2[i] - vAxRotPrec[i]) > dAngDeltaMinForHome)
-               m_pMchMgr->GetNearestAngleInStroke( i, vAxRotHome[i], vAng2[i]) ;
+               pMachine->GetNearestAngleInStroke( i, vAxRotHome[i], vAng2[i]) ;
          }
         // se sol.ne indeterminata (sempre il primo asse libero), assegno il precedente, limitandolo alla corsa
          if ( nRStat < 0  &&  vAng1.size() >= 1) {
-            for ( int i = 0 ; i < int( vAng1.size()) ; ++ i) {
+            for ( int i = 0 ; i < ssize( vAng1) ; ++ i) {
               // ignoro gli assi bloccati
-               if ( m_pMchMgr->IsKinematicRotAxisBlocked( i))
+               if ( pMachine->IsKinematicRotAxisBlocked( i))
                   continue ;
               // assegno il precedente ed esco
                vAng1[i] = vAxRotPrec[i] ;
-               m_pMchMgr->LimitAngleToStroke( i, vAng1[i]) ;
+               pMachine->LimitAngleToStroke( i, vAng1[i]) ;
                vAng2[i] = vAng1[i] ;
                break ;
             }
@@ -2440,25 +2453,25 @@ Operation::CalculateMcentRotAxesValues( bool bFirst, const Vector3d& vtTool, con
       }
       else {
         // scelgo gli angoli più vicini, per continuità non applico offset per stare nelle corse
-         for ( int i = 0 ; i < int( vAng1.size()) ; ++ i) {
+         for ( int i = 0 ; i < ssize( vAng1) ; ++ i) {
             if ( bRotContOnNext)
                vAng1[i] = AngleNearAngle( vAng1[i], vAxRotPrec[i]) ;
             else
-               m_pMchMgr->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng1[i]) ;
+               pMachine->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng1[i]) ;
             if ( abs( vAng1[i] - vAxRotPrec[i]) > dAngDeltaMinForHome)
-               m_pMchMgr->GetNearestAngleInStroke( i, vAxRotHome[i], vAng1[i]) ;
+               pMachine->GetNearestAngleInStroke( i, vAxRotHome[i], vAng1[i]) ;
             if ( bRotContOnNext)
                vAng2[i] = AngleNearAngle( vAng2[i], vAxRotPrec[i]) ;
             else
-               m_pMchMgr->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng2[i]) ;
+               pMachine->GetNearestAngleInStroke( i, vAxRotPrec[i], vAng2[i]) ;
             if ( abs( vAng2[i] - vAxRotPrec[i]) > dAngDeltaMinForHome)
-               m_pMchMgr->GetNearestAngleInStroke( i, vAxRotHome[i], vAng2[i]) ;
+               pMachine->GetNearestAngleInStroke( i, vAxRotHome[i], vAng2[i]) ;
          }
         // se sol.ne indeterminata (sempre il primo asse libero), assegno il precedente
          if ( nRStat < 0  &&  vAng1.size() >= 1) {
-            for ( int i = 0 ; i < int( vAng1.size()) ; ++ i) {
+            for ( int i = 0 ; i < ssize( vAng1) ; ++ i) {
               // ignoro gli assi bloccati
-               if ( m_pMchMgr->IsKinematicRotAxisBlocked( i))
+               if ( pMachine->IsKinematicRotAxisBlocked( i))
                   continue ;
               // assegno il precedente ed esco
                vAng1[i] = vAxRotPrec[i] ;
@@ -2467,32 +2480,33 @@ Operation::CalculateMcentRotAxesValues( bool bFirst, const Vector3d& vtTool, con
             }
          }
         // verifico che le soluzioni siano nelle corse
-         for ( int i = 0 ; i < int( vAng1.size()) ; ++ i) {
-            if ( ! m_pMchMgr->VerifyAngleOutstroke( i, vAng1[i]))
+         for ( int i = 0 ; i < ssize( vAng1) ; ++ i) {
+            if ( ! pMachine->VerifyAngleOutstroke( i, vAng1[i]))
                bAng1 = false ;
-            if ( ! m_pMchMgr->VerifyAngleOutstroke( i, vAng2[i]))
+            if ( ! pMachine->VerifyAngleOutstroke( i, vAng2[i]))
                bAng2 = false ;
          }
       }
      // scelgo la soluzione più vicina alla precedente
       double dDelta1 = 0 ;
       double dDelta2 = 0 ;
-      for ( int i = 0 ; i < int( vAng1.size()) ; ++ i) {
+      for ( int i = 0 ; i < ssize( vAng1) ; ++ i) {
         // ignoro gli assi bloccati
-         if ( m_pMchMgr->IsKinematicRotAxisBlocked( i))
+         if ( pMachine->IsKinematicRotAxisBlocked( i))
             continue ;
         // calcolo i delta asse con eventuale peso
          bool bFirst = ( i == 0) ;
-         dDelta1 += abs( vAng1[i] - vAxRotPrec[i]) * ( bFirst ? m_pMchMgr->GetCalcRot1W() : 1) ;
-         dDelta2 += abs( vAng2[i] - vAxRotPrec[i]) * ( bFirst ? m_pMchMgr->GetCalcRot1W() : 1) ;
+         dDelta1 += abs( vAng1[i] - vAxRotPrec[i]) * ( bFirst ? pMachine->GetCurrRot1W() : 1) ;
+         dDelta2 += abs( vAng2[i] - vAxRotPrec[i]) * ( bFirst ? pMachine->GetCurrRot1W() : 1) ;
       }
-      if ( bAng2  &&  ( dDelta2 < dDelta1 - EPS_ANG_SMALL  ||  ! bAng1))
+      if ( bAng2  &&  ( dDelta2 < dDelta1 - 10 * EPS_ANG_SMALL  ||  ! bAng1))
          swap( vAng1, vAng2) ;
      // se imposto limite su variazione di secondo asse rotante
-      if ( ( m_pMchMgr->GetCalcMaxDeltaR2OnFirst()  ||  ! bFirst)  &&  dMaxDeltaR2 > EPS_ANG_SMALL  &&  vAng1.size() >= 2) {
-         double dR2Diff1 = vAng1[1] - vAxRotPrec[1] ;
-         double dR2Diff2 = vAng2[1] - vAxRotPrec[1] ;
-         if ( abs( dR2Diff1) > abs( dR2Diff2)  &&  abs( dR2Diff1) > dMaxDeltaR2)
+      if ( ( pMachine->GetCurrCalcMaxDeltaR2OnFirst()  ||  ! bFirst)  &&  dMaxDeltaR2 > EPS_ANG_SMALL  &&  vAng1.size() >= 2) {
+         double dR2Diff1 = abs( vAng1[1] - vAxRotPrec[1]) ;
+         double dR2Diff2 = abs( vAng2[1] - vAxRotPrec[1]) ;
+         if ( dR2Diff1 > dR2Diff2 + 10 * EPS_ANG_SMALL  &&
+              dR2Diff1 > dMaxDeltaR2  &&  ( dR2Diff2 < dMaxDeltaR2  ||  dR2Diff2 < dR2Diff1 - dMaxDeltaR2))
             swap( vAng1, vAng2) ;
       }
    }
@@ -2862,7 +2876,6 @@ Operation::CalculateRobotAxesValues( bool bFirst, const Point3d& ptP, const Vect
          if ( abs( vAng2[i] - vAxRotPrec[i]) > dAngDeltaMinForHome)
             pMachine->GetNearestAngleInStroke( i, vAxRotHome[i], vAng2[i]) ;
       }
-      bFirst = false ;
    }
   // altrimenti movimenti successivi
    else {
@@ -2911,10 +2924,10 @@ Operation::CalculateRobotAxesValues( bool bFirst, const Point3d& ptP, const Vect
    // se esiste solo la prima
    if ( vAng2.empty())
       vAxVal = vAng1 ;
-   // evito passaggio per lo zero di R5 (per evitare passaggio attraverso direzione singolare)
-   else if ( vAng1[4] * vAxRotPrec[4] >= 0  &&  vAng2[4] * vAxRotPrec[4] < 0)
+   // se non è inizio, evito passaggio per lo zero di R5 (per evitare passaggio attraverso direzione singolare)
+   else if ( ! bFirst  &&  vAng1[4] * vAxRotPrec[4] >= 0  &&  vAng2[4] * vAxRotPrec[4] < 0)
       vAxVal = vAng1 ;
-   else if ( vAng1[4] * vAxRotPrec[4] < 0  &&  vAng2[4] * vAxRotPrec[4] >= 0)
+   else if ( ! bFirst  &&  vAng1[4] * vAxRotPrec[4] < 0  &&  vAng2[4] * vAxRotPrec[4] >= 0)
       vAxVal = vAng2 ;
    // minimizzo rotazione polso
    else if ( abs( vAng1[3] - vAxRotPrec[3]) < abs( vAng2[3] - vAxRotPrec[3]) + 10 * EPS_ANG_SMALL)
@@ -3407,7 +3420,8 @@ Operation::AdjustStartEndMovementsStd( bool bVerifyPreviousLink)
 
 //----------------------------------------------------------------------------
 bool
-Operation::MoveHeadFromHomeToMach( bool bCurrMain, const string& sToolName, const string& sHeadName, int nExitNbr, int nStartZMax)
+Operation::MoveHeadFromHomeToMach( bool bCurrMain, const string& sToolName, const string& sHeadName, int nExitNbr, int nStartZMax,
+                                   int nOtherLinkType)
 {
   // verifico gestore delle lavorazioni e operazione
    if ( m_pMchMgr == nullptr)
@@ -3422,7 +3436,7 @@ Operation::MoveHeadFromHomeToMach( bool bCurrMain, const string& sToolName, cons
    if ( ! AdjustOneStartEndMovement( GetFirstFullToolpath( bCurrMain), GDB_ID_NULL, nullptr, vAxVal, 0, true))
       return false ;
   // eseguo collegamento speciale
-   if ( ! ManageSpecialLink( nullptr, GDB_ID_NULL, false, this, GDB_ID_NULL, bCurrMain, nStartZMax))
+   if ( ! ManageSpecialLink( nullptr, GDB_ID_NULL, false, this, GDB_ID_NULL, bCurrMain, nStartZMax, nOtherLinkType))
       return false ;
 
   // riporto l'utensile corrente come originale
@@ -3437,7 +3451,7 @@ bool
 Operation::MoveHeadFromMachToMach( Operation* pPrevOpe,
                                    bool bPrevMain, const string& sPrevToolName, const string& sPrevHeadName, int nPrevExitNbr,
                                    bool bCurrMain, const string& sCurrToolName, const string& sCurrHeadName, int nCurrExitNbr,
-                                   bool bToolChangeNeeded, int nStartZMax)
+                                   bool bToolChangeNeeded, int nStartZMax, int nOtherLinkType, int nOtherLinkType1)
 {
   // verifico gestore delle lavorazioni e operazione precedente
    if ( m_pMchMgr == nullptr  ||  pPrevOpe == nullptr)
@@ -3463,7 +3477,7 @@ Operation::MoveHeadFromMachToMach( Operation* pPrevOpe,
       if ( ! AdjustOneStartEndMovement( GetFirstFullToolpath( bCurrMain), GDB_ID_NULL, pPrevOpe, vAxVal, dPrevOffsX, false))
          return false ;
      // gestione collegamento speciale
-      if ( ! ManageSpecialLink( pPrevOpe, GDB_ID_NULL, bPrevMain, this, GDB_ID_NULL, bCurrMain, nStartZMax))
+      if ( ! ManageSpecialLink( pPrevOpe, GDB_ID_NULL, bPrevMain, this, GDB_ID_NULL, bCurrMain, nStartZMax, nOtherLinkType))
          return false ;
    }
 
@@ -3471,12 +3485,12 @@ Operation::MoveHeadFromMachToMach( Operation* pPrevOpe,
    else {
      // imposto la lavorazione precedente come corrente ed effettuo collegamento
       m_pMchMgr->SetCurrMachining( pPrevOpe->GetOwner()) ;
-      if ( ! MoveHeadFromMachToHome( pPrevOpe, bPrevMain, sPrevToolName, sPrevHeadName, nPrevExitNbr, nStartZMax))
+      if ( ! MoveHeadFromMachToHome( pPrevOpe, bPrevMain, sPrevToolName, sPrevHeadName, nPrevExitNbr, nStartZMax, nOtherLinkType))
          return false ;
 
      // ripristino la lavorazione corrente ed effettuo collegamento
       m_pMchMgr->SetCurrMachining( GetOwner()) ;
-      if ( ! MoveHeadFromHomeToMach( bCurrMain, sCurrToolName, sCurrHeadName, nCurrExitNbr, nStartZMax))
+      if ( ! MoveHeadFromHomeToMach( bCurrMain, sCurrToolName, sCurrHeadName, nCurrExitNbr, nStartZMax, nOtherLinkType1))
          return false ;
    }
 
@@ -3490,7 +3504,7 @@ Operation::MoveHeadFromMachToMach( Operation* pPrevOpe,
 //----------------------------------------------------------------------------
 bool
 Operation::MoveHeadFromMachToHome( Operation* pPrevOpe, bool bPrevMain, const string& sPrevToolName, const string& sPrevHeadName, int nPrevExitNbr,
-                                   int nStartZMax)
+                                   int nStartZMax, int nOtherLinkType)
 {
   // verifico gestore delle lavorazioni e operazione precedente
    if ( m_pMchMgr == nullptr  ||  pPrevOpe == nullptr)
@@ -3506,7 +3520,7 @@ Operation::MoveHeadFromMachToHome( Operation* pPrevOpe, bool bPrevMain, const st
          return false ;
    }
   // eventuale rilascio utensile speciale di lavorazione precedente
-    if ( ! pPrevOpe->ManageSpecialLink( pPrevOpe, GDB_ID_NULL, bPrevMain, nullptr, GDB_ID_NULL, false, nStartZMax))
+    if ( ! pPrevOpe->ManageSpecialLink( pPrevOpe, GDB_ID_NULL, bPrevMain, nullptr, GDB_ID_NULL, false, nStartZMax, nOtherLinkType))
        return false ;
 
   // riporto l'utensile corrente come originale
@@ -3554,10 +3568,10 @@ Operation::ManageDoubleOperNew( Operation* pPrevOpe)
    if ( sPrevTool.empty()  ||  NeedPrevHome()) {
      // -->! la lavorazione corrente è per forza in doppio !<--
      // Dalla sua posizione di Home porto la Testa Main sul percorso Main corrente
-      if ( ! MoveHeadFromHomeToMach( true, GetToolName(), GetHeadName(), GetExitNbr(), nStartZMax))
+      if ( ! MoveHeadFromHomeToMach( true, GetToolName(), GetHeadName(), GetExitNbr(), nStartZMax, LINK_HOME_TO_MACH))
          return false ;
      // Dalla sua posizione di Home porto da Testa Double sul percorso Double corrente
-      if ( ! MoveHeadFromHomeToMach( false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, nStartZMax))
+      if ( ! MoveHeadFromHomeToMach( false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, nStartZMax, LINK_HOME_TO_MACH))
          return false ;
    }
    else {
@@ -3568,10 +3582,11 @@ Operation::ManageDoubleOperNew( Operation* pPrevOpe)
          if ( ! ToolChangeNeeded( *pPrevOpe, true, *this, true)  &&  nStartZMax == 0) {
            // Come prima cosa sposto la testa Main della prima lavorazione sul percorso Main della lavorazione corrente
             if ( ! MoveHeadFromMachToMach( pPrevOpe, true, sPrevTool, sPrevHead, nPrevExitNbr,
-                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), false, nStartZMax))
+                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), false, nStartZMax,
+                                                     LINK_HOME_TO_MACH, LINK_NULL))
                return false ;
            // Successivamente porto la testa Double dalla sua Home alla lavorazione corrente ( in doppio) sul percorso
-            if ( ! MoveHeadFromHomeToMach( false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, nStartZMax))
+            if ( ! MoveHeadFromHomeToMach( false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, nStartZMax, LINK_MACH_TO_MACH))
                return false ;
          }
         // -->! 2) Verifico se l'unico utensile della lavorazione precedente ( in quanto singola) è compatibile
@@ -3579,10 +3594,11 @@ Operation::ManageDoubleOperNew( Operation* pPrevOpe)
          else if ( ! ToolChangeNeeded( *pPrevOpe, true, *this, false)  &&  nStartZMax == 0) {
            // Come prima cosa sposto la testa Main della lavorazione precedente sul percorso Double della lavorazione corrente
             if ( ! MoveHeadFromMachToMach( pPrevOpe, true, sPrevTool, sPrevHead, nPrevExitNbr,
-                                                     false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, false, nStartZMax))
+                                                     false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, false, nStartZMax,
+                                                     LINK_HOME_TO_MACH, LINK_NULL))
                return false ;
            // Successivamente porto la testa Main dalla sua Home alla lavorazione corrente ( in doppio) sul percorso
-            if ( ! MoveHeadFromHomeToMach( true, GetToolName(), GetHeadName(), GetExitNbr(), nStartZMax))
+            if ( ! MoveHeadFromHomeToMach( true, GetToolName(), GetHeadName(), GetExitNbr(), nStartZMax, LINK_MACH_TO_MACH))
                return false ;
          }
         // -->! 3) In questo caso l'unico utensile della lavorazione precedente ( in quanto singola) non è compatibile
@@ -3590,10 +3606,11 @@ Operation::ManageDoubleOperNew( Operation* pPrevOpe)
          else {
            // Porto la Testa Main sul percorso Main corrente
             if ( ! MoveHeadFromMachToMach( pPrevOpe, true, sPrevTool, sPrevHead, nPrevExitNbr,
-                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), true, nStartZMax))
+                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), true, nStartZMax,
+                                                     LINK_NULL, LINK_HOME_TO_MACH))
                return false ;
            // Dalla sua posizione di Home porto da Testa Double sul percorso Double corrente
-            if ( ! MoveHeadFromHomeToMach( false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, nStartZMax))
+            if ( ! MoveHeadFromHomeToMach( false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, nStartZMax, LINK_HOME_TO_MACH))
                return false ;
          }
       }
@@ -3603,33 +3620,36 @@ Operation::ManageDoubleOperNew( Operation* pPrevOpe)
         //         con l'Utensile presente sul percorso Main della lavorazione corrente ( in quanto singola) !<--
          if ( ! ToolChangeNeeded( *pPrevOpe, true, *this, true)  &&  nStartZMax == 0) {
            // Come prima cosa sposto la testa Double della lavorazione precedente ( in doppio) in Home
-            if ( ! MoveHeadFromMachToHome( pPrevOpe, false, sPrevDblTool, sPrevDblHead, nPrevDblExitNbr, nStartZMax))
+            if ( ! MoveHeadFromMachToHome( pPrevOpe, false, sPrevDblTool, sPrevDblHead, nPrevDblExitNbr, nStartZMax, LINK_MACH_TO_MACH))
                return false ;
            // Sposto al testa Main della lavorazione precedente sul percorso Main corrente
             if ( ! MoveHeadFromMachToMach( pPrevOpe, true, sPrevTool, sPrevHead, nPrevExitNbr,
-                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), false, nStartZMax))
+                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), false, nStartZMax,
+                                                     LINK_MACH_TO_HOME, LINK_NULL))
                return false ;
          }
         // -->! 2) Verifico se l'utensile secondario della lavorazione precedente ( in doppio) è compatibile
         //         con l'Utensile presente sul percorso Double della lavorazione corrente ( in quanto singola) !<--
          else if ( ! ToolChangeNeeded( *pPrevOpe, false, *this, true)  &&  nStartZMax == 0) {
            // Come prima cosa sposto la testa Main della lavorazione precedente ( in doppio) in Home
-            if ( ! MoveHeadFromMachToHome( pPrevOpe, true, sPrevTool, sPrevHead, nPrevExitNbr, nStartZMax))
+            if ( ! MoveHeadFromMachToHome( pPrevOpe, true, sPrevTool, sPrevHead, nPrevExitNbr, nStartZMax, LINK_MACH_TO_MACH))
                return false ;
            // Sposto al testa Double della lavorazione precedente sul percorso corrente
             if ( ! MoveHeadFromMachToMach( pPrevOpe, false, sPrevDblTool, sPrevDblHead, nPrevDblExitNbr,
-                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), false, nStartZMax))
+                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), false, nStartZMax,
+                                                     LINK_MACH_TO_HOME, LINK_NULL))
                return false ;
          }
         // -->! 3) In questo caso l'unico utensile della lavorazione corrente ( in quanto singola) non è compatibile
         //         con nessun utensile della lavorazione precedente ( in doppio) !<--
          else {
            // Come prima cosa sposto la testa Double della lavorazione precedente ( in doppio) in Home
-            if ( ! MoveHeadFromMachToHome( pPrevOpe, false, sPrevDblTool, sPrevDblHead, nPrevDblExitNbr, nStartZMax))
+            if ( ! MoveHeadFromMachToHome( pPrevOpe, false, sPrevDblTool, sPrevDblHead, nPrevDblExitNbr, nStartZMax, LINK_MACH_TO_HOME))
                return false ;
            // Sposto la testa Main della lavorazione precedente sul percorso corrente
             if ( ! MoveHeadFromMachToMach( pPrevOpe, true, sPrevTool, sPrevHead, nPrevExitNbr,
-                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), true, nStartZMax))
+                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), true, nStartZMax,
+                                                     LINK_MACH_TO_HOME, LINK_NULL))
                return false ;
          }
       }
@@ -3639,22 +3659,26 @@ Operation::ManageDoubleOperNew( Operation* pPrevOpe)
          if ( ! ToolChangeNeeded( *pPrevOpe, true, *this, true)  &&  ! ToolChangeNeeded( *pPrevOpe, false, *this, false)  &&  nStartZMax == 0) {
            // Porto la testa Main dalla lavorazione precedente alla lavorazione corrente
             if ( ! MoveHeadFromMachToMach( pPrevOpe, true, sPrevTool, sPrevHead, nPrevExitNbr,
-                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), false, nStartZMax))
+                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), false, nStartZMax,
+                                                     LINK_MACH_TO_MACH, LINK_NULL))
                return false ;
            // Porto la testa double delle lavorazione precedente alla lavorazine corrente
             if ( ! MoveHeadFromMachToMach( pPrevOpe, false, sPrevDblTool, sPrevDblHead, nPrevDblExitNbr,
-                                                     false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, false, nStartZMax))
+                                                     false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, false, nStartZMax,
+                                                     LINK_MACH_TO_MACH, LINK_NULL))
                return false ;
          }
         // -->! 2) Per tutto il resto porto sempre in Home per sicurezza passando da una lavorazione all'altra !<--
          else {
            // Porto la testa Main dalla lavorazione precedente alla lavorazione corrente
             if ( ! MoveHeadFromMachToMach( pPrevOpe, true, sPrevTool, sPrevHead, nPrevExitNbr,
-                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), true, nStartZMax))
+                                                     true, GetToolName(), GetHeadName(), GetExitNbr(), true, nStartZMax,
+                                                     LINK_MACH_TO_HOME, LINK_HOME_TO_MACH))
                return false ;
            // Porto la testa Double delle lavorazione precedente alla lavorazine corrente
             if ( ! MoveHeadFromMachToMach( pPrevOpe, false, sPrevDblTool, sPrevDblHead, nPrevDblExitNbr,
-                                                     false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, true, nStartZMax))
+                                                     false, sCurrDblTool, sCurrDblHead, nCurrDblExitNbr, true, nStartZMax,
+                                                     LINK_MACH_TO_HOME, LINK_HOME_TO_MACH))
                return false ;
          }
       }
@@ -3673,7 +3697,7 @@ Operation::ManageDoubleOperNew( Operation* pPrevOpe)
          DBLVECTOR vAxVal ;
          bOk = bOk && GetClPathFinalAxesValues( nPrevCLPathId, false, vAxVal) ;
          bOk = bOk && AdjustOneStartEndMovement( nCLPathId, nPrevCLPathId, nullptr, vAxVal, 0, false) ;
-         bOk = bOk && ManageSpecialLink( this, nPrevCLPathId, true, this, nCLPathId, true, nStartZMax) ;
+         bOk = bOk && ManageSpecialLink( this, nPrevCLPathId, true, this, nCLPathId, true, nStartZMax, LINK_NULL) ;
         // passo al successivo
          nPrevCLPathId = nCLPathId ;
          nCLPathId = GetNextFullToolpath( nCLPathId) ;
@@ -3705,13 +3729,13 @@ Operation::ManageDoubleOperNew( Operation* pPrevOpe)
         // Utensile Main
          bOk = bOk && GetClPathFinalAxesValues( nPrevCLPathId, false, vAxVal) ;
          bOk = bOk && AdjustOneStartEndMovement( nCLPathId, nPrevCLPathId, nullptr, vAxVal, 0, false) ;
-         bOk = bOk && ManageSpecialLink( this, nPrevCLPathId, true, this, nCLPathId, true, nStartZMax) ;
+         bOk = bOk && ManageSpecialLink( this, nPrevCLPathId, true, this, nCLPathId, true, nStartZMax, LINK_MACH_TO_HOME) ;
         // Utensile Double
          DBLVECTOR vAxDblVal ;
          bOk = bOk && m_pMchMgr->SetCalcTool( sCurrDblTool, sCurrDblHead, nCurrDblExitNbr) ;
          bOk = bOk && GetClPathFinalAxesValues( nPrevDBLPathId, false, vAxDblVal) ;
          bOk = bOk && AdjustOneStartEndMovement( nDBLPathId, nPrevDBLPathId, nullptr, vAxDblVal, 0, false) ;
-         bOk = bOk && ManageSpecialLink( this, nPrevDBLPathId, false, this, nDBLPathId, false, nStartZMax) ;
+         bOk = bOk && ManageSpecialLink( this, nPrevDBLPathId, false, this, nDBLPathId, false, nStartZMax, LINK_MACH_TO_HOME) ;
          bOk = bOk && m_pMchMgr->SetCalcTool( GetToolName(), GetHeadName(), GetExitNbr()) ;
         // passo al successivo
          nPrevCLPathId = nCLPathId ;
@@ -3724,12 +3748,12 @@ Operation::ManageDoubleOperNew( Operation* pPrevOpe)
      // per utensile Main
       DBLVECTOR vAxVal ;
       bOk = bOk && AddRise( vAxVal) ;
-      bOk = bOk && ManageSpecialLink( this, GDB_ID_NULL, true, nullptr, GDB_ID_NULL, true, 0) ;
+      bOk = bOk && ManageSpecialLink( this, GDB_ID_NULL, true, nullptr, GDB_ID_NULL, true, 0, LINK_NULL) ;
      // per utensile Double
       DBLVECTOR vAxDblVal ;
       bOk = bOk && m_pMchMgr->SetCalcTool( sCurrDblTool, sCurrDblHead, nCurrDblExitNbr) ;
       bOk = bOk && AddRise( vAxDblVal, NAN, GDB_ID_NULL, false) ;
-      bOk = bOk && ManageSpecialLink( this, GDB_ID_NULL, false, nullptr, GDB_ID_NULL, false, 0) ;
+      bOk = bOk && ManageSpecialLink( this, GDB_ID_NULL, false, nullptr, GDB_ID_NULL, false, 0, LINK_NULL) ;
       bOk = bOk && m_pMchMgr->SetCalcTool( GetToolName(), GetHeadName(), GetExitNbr()) ;
      // -->! se ultima operazione o la successiva lo richiede, vado in Home !<--
       int nNextOpId = m_pMchMgr->GetNextActiveOperation( m_nOwnerId) ;
@@ -3896,7 +3920,7 @@ Operation::AdjustStartEndMovementsNew( void)
 //----------------------------------------------------------------------------
 bool
 Operation::ManageSpecialLink( Operation* pPrevOpe, int nPrevClPathId, bool bPrevMain, Operation* pNextOpe, int nNextClPathId, bool bNextMain,
-                              int nStartZmax)
+                              int nStartZmax, int nOtherLinkType)
 {
   // controlli
    if ( pPrevOpe == nullptr  &&  pNextOpe == nullptr)
@@ -3939,7 +3963,7 @@ Operation::ManageSpecialLink( Operation* pPrevOpe, int nPrevClPathId, bool bPrev
       return false ;
 
   // chiamo funzione script OnSpecialRapidMove per avere posizioni di movimento
-   bool bOk = SpecialLink( vNeatAxSta, vNeatAxEnd, nLinkType, pPrevOpe, bPrevMain, pNextOpe, bNextMain, nStartZmax) ;
+   bool bOk = SpecialLink( vNeatAxSta, vNeatAxEnd, nLinkType, pPrevOpe, bPrevMain, pNextOpe, bNextMain, nStartZmax, nOtherLinkType) ;
 
   // in caso di errore eseguo inserimento con segnalazione di errore
    if ( ! bOk) {
@@ -4943,6 +4967,10 @@ Operation::AddRobotClimb( int nEntId, double dDeltaZ)
    int nNewEntId = m_pGeomDB->Copy( nEntId, GDB_ID_NULL, nEntId, GDB_BEFORE) ;
    if ( nNewEntId == GDB_ID_NULL)
       return false ;
+  // aggiorno il CamData
+   pCdEnt = GetCamData( m_pGeomDB->GetUserObj( nNewEntId)) ;
+   if ( pCdEnt == nullptr)
+      return false ;
   // modifico quella originale (è la prima del percorso)
    m_pGeomDB->SetName( nNewEntId, MCH_CL_CLIMB) ;
    m_pGeomDB->RemoveInfo( nNewEntId, KEY_CL_DOUBLE) ;
@@ -4954,7 +4982,7 @@ Operation::AddRobotClimb( int nEntId, double dDeltaZ)
    double dStep = dNewDeltaZ / nStep ;
    for ( int i = 1 ; i < nStep ; ++ i) {
      // copio l'entità
-      int nNewId = m_pGeomDB->Copy( nEntId, GDB_ID_NULL, nEntId, GDB_AFTER) ;
+      int nNewId = m_pGeomDB->Copy( nNewEntId, GDB_ID_NULL, nNewEntId, GDB_AFTER) ;
       if ( nNewId == GDB_ID_NULL)
          return false ;
      // calcolo la posizione sopra il punto a Zmax
@@ -5297,7 +5325,7 @@ Operation::GetUserNotesZmax( void) const
    string sUserNotes ;
    if ( m_pMchMgr != nullptr  &&  m_pMchMgr->GetMachiningParam( MPA_USERNOTES, sUserNotes)) {
       int nVal ;
-      if ( FromString( ExtractInfo( sUserNotes, "StartZmax="), nVal))
+      if ( GetValInNotes( sUserNotes, UN_STARTZMAX, nVal))
          return nVal ;
    }
    return 0 ;
@@ -5926,23 +5954,24 @@ Operation::SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd,
 bool
 Operation::SpecialLink( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, int nLinkType,
                         const Operation* pPrevOpe, bool bPrevMain, const Operation* pNextOpe, bool bNextMain,
-                        int nStartZMax)
+                        int nStartZMax, int nOtherLinkType)
 {
   // recupero la macchina corrente
    Machine* pMch = ( m_pMchMgr != nullptr ?  m_pMchMgr->GetCurrMachine() : nullptr) ;
    if ( pMch == nullptr)
       return false ;
   // costanti
-   static const string EMC_VAR = "EMC" ;                    // tabella variabili locali per calcolo
-   static const string EVAR_PREVMCHID = ".PREVMCHID" ;      // IN (int)  identificativo lavorazione precedente
-   static const string EVAR_PREVPHASE = ".PREVPHASE" ;      // IN (int)  indice fase della lavorazione precedente
-   static const string EVAR_PREVMAIN = ".PREVMAIN" ;        // IN (bool) flag lavorazione principale o double precedente
-   static const string EVAR_NEXTMCHID = ".NEXTMCHID" ;      // IN (int)  identificativo lavorazione successiva
-   static const string EVAR_NEXTPHASE = ".NEXTPHASE" ;      // IN (int)  indice fase della lavorazione successiva
-   static const string EVAR_NEXTMAIN = ".NEXTMAIN" ;        // IN (bool) flag lavorazione principale o double successiva
-   static const string EVAR_STARTZMAX = ".STARTZMAX" ;      // IN (int)  identificativo StartZMax
-   static const string EVAR_LINKTYPE = ".LINKTYPE" ;        // IN (int)  codice tipo collegamento (1=Inizio, 2=Fine, 3=FinePrec+InizioSucc)
-   static const string EVAR_ERROR = ".ERR" ;                // OUT (int) codice di errore ( 0 = ok)
+   static const string EMC_VAR = "EMC" ;                          // tabella variabili locali per calcolo
+   static const string EVAR_PREVMCHID = ".PREVMCHID" ;            // IN (int)  identificativo lavorazione precedente
+   static const string EVAR_PREVPHASE = ".PREVPHASE" ;            // IN (int)  indice fase della lavorazione precedente
+   static const string EVAR_PREVMAIN = ".PREVMAIN" ;              // IN (bool) flag lavorazione principale o double precedente
+   static const string EVAR_NEXTMCHID = ".NEXTMCHID" ;            // IN (int)  identificativo lavorazione successiva
+   static const string EVAR_NEXTPHASE = ".NEXTPHASE" ;            // IN (int)  indice fase della lavorazione successiva
+   static const string EVAR_NEXTMAIN = ".NEXTMAIN" ;              // IN (bool) flag lavorazione principale o double successiva
+   static const string EVAR_STARTZMAX = ".STARTZMAX" ;            // IN (int)  identificativo StartZMax
+   static const string EVAR_LINKTYPE = ".LINKTYPE" ;              // IN (int)  codice tipo collegamento (1=Inizio, 2=Fine, 3=FinePrec+InizioSucc)
+   static const string EVAR_OTHERLINKTYPE = ".OTHERLINKTYPE" ;    // IN (int)  codice tipo collegamento per altra lavorazione (0=Non Presente, 1=Inizio, 2=Fine, 3=FinePrec+InizioSucc)
+   static const string EVAR_ERROR = ".ERR" ;                      // OUT (int) codice di errore ( 0 = ok)
    static const string ON_SPECIAL_LINK = "OnSpecialLink" ;
 
   // se la funzione non è definita, esco
@@ -5967,14 +5996,18 @@ Operation::SpecialLink( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, int
    bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_EXIT, nExitNbr) ;
    bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_TCPOS, sTcPos) ;
    bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_PREVMCHID, ( pPrevOpe != nullptr ? pPrevOpe->GetOwner() : GDB_ID_NULL)) ;
-   bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_PREVMAIN,  ( bPrevMain ? MCH_CL : MCH_DBL)) ;
+   bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_PREVMAIN,  ( pPrevOpe != nullptr ? ( bPrevMain ? MCH_CL : MCH_DBL) : MCH_HOME)) ;
    bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_PREVPHASE, ( pPrevOpe != nullptr ? pPrevOpe->m_nPhase : 0)) ;
    bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_NEXTMCHID, ( pNextOpe != nullptr ? pNextOpe->GetOwner() : GDB_ID_NULL)) ;
    bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_NEXTPHASE, ( pNextOpe != nullptr ? pNextOpe->m_nPhase : 0)) ;
-   bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_NEXTMAIN,  ( bNextMain ? MCH_CL : MCH_DBL)) ;
+   bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_NEXTMAIN,  ( pNextOpe != nullptr ? ( bNextMain ? MCH_CL : MCH_DBL) : MCH_HOME)) ;
    bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_STARTZMAX, nStartZMax) ;
    bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + GVAR_PHASE, m_nPhase) ;
    bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_LINKTYPE, nLinkType) ;
+   if ( nOtherLinkType == LINK_NULL)
+      bOk = bOk && pMch->LuaResetGlobVar( EMC_VAR + EVAR_OTHERLINKTYPE) ;
+   else
+      bOk = bOk && pMch->LuaSetGlobVar( EMC_VAR + EVAR_OTHERLINKTYPE, nOtherLinkType) ;
   // valore degli assi
    bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
    int nNumAxes = ssize( vAxStart) ;

Operation.h

@@ -181,8 +181,8 @@ class Operation : public IUserObj
       std::string ExtractInfo( const std::string& sNotes, const std::string& sKey) const ;
       std::string ExtractHint( const std::string& sNotes) const ;
       bool   SetBlockedRotAxis( const std::string& sBlockedAxis, bool bToolSetOk = false) const ;
-      bool   CalculateAxesValues( const std::string& sHint, bool bSolChExact = false, double dSingConeAng = 0) ;
-      bool   CalculateDoubleAxesValues( const std::string& sHint, bool bSolChExact = false, double dSingConeAng = 0) ;
+      bool   CalculateAxesValues( const std::string& sHint, bool bSolChExact = false, double dSingConeAng = SING_CONE_ANG_DFLT) ;
+      bool   CalculateDoubleAxesValues( const std::string& sHint, bool bSolChExact = false, double dSingConeAng = SING_CONE_ANG_DFLT) ;
       bool   AdjustStartEndMovements( bool bVerifyPreviousLink = true) ;
       bool   RemoveClimbRiseHome( bool bMain = true) ;
       double GetDeltaSafeZ( const Vector3d& vtTool) const ;
@@ -240,16 +240,17 @@ class Operation : public IUserObj
       bool   AdjustStartEndMovementsStd( bool bVerifyPreviousLink) ;
       bool   AdjustOneStartEndMovement( int nClPathId, int nPrevClPathId, Operation* pPrevOpe, const DBLVECTOR& vAxPrev, double dPrevOffsX, bool bMaxZ) ;
       bool   AdjustStartEndMovementsNew( void) ;
-      bool   MoveHeadFromHomeToMach( bool bMain, const std::string& sToolName, const std::string& sHeadName, int nExitNbr, int nStartZMax) ;
+      bool   MoveHeadFromHomeToMach( bool bMain, const std::string& sToolName, const std::string& sHeadName, int nExitNbr, int nStartZMax,
+                                     int nOtherLinkType) ;
       bool   MoveHeadFromMachToMach( Operation* pPrevOpe,
                                      bool bPrevMain, const std::string& sPrevToolName, const std::string& sPrevHeadName, int nPrevExitNbr,
                                      bool bCurrMain, const std::string& sCurrToolName, const std::string& sCurrHeadName, int nCurrExitNbr,
-                                     bool bToolChange, int nStartZMax) ;
+                                     bool bToolChange, int nStartZMax, int nOtherLinkType, int nOtherLinkType1) ;
       bool   MoveHeadFromMachToHome( Operation* pPrevOpe, bool bCurrMain, const std::string& sCurrToolName, const std::string& sCurrHeadName, int nCurrExitNbr,
-                                     int nStartZMax) ;
+                                     int nStartZMax, int nOtherLinkType) ;
       bool   ManageDoubleOperNew( Operation* pPrevOpe) ;
       bool   ManageSpecialLink( Operation* pPrevOpe, int nPrevClPathId, bool bPrevMain, Operation* pNextOpe, int nNextClPathId, bool bNextMain,
-                                int nStartZMax) ;
+                                int nStartZMax, int nOtherLinkType = LINK_NULL) ;
       bool   ToolChangeNeeded( const Operation& Ope1, bool bMain1, const Operation& Ope2, bool bMain2) const ;
       bool   AddSpecialClimb( const DBLVECTOR& vAxVal, bool bOk = true, int nClPathId = GDB_ID_NULL, bool bMain = true,
                               int nFlag = 0, int nFlag2 = 0, int nMask = -1, const std::string& sInfo = "", bool bFirst = true) ;
@@ -278,7 +279,7 @@ class Operation : public IUserObj
       bool   SpecialMoveRapid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, DBLVECTOR& vAxNew, bool& bModif) ;
       bool   SpecialLink( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, int nLinkType,
                           const Operation* pPrevOpe, bool bPrevMain, const Operation* pNextOpe, bool bNextMain,
-                          int nStartZMax) ;
+                          int nStartZMax, int nOtherLinkType = LINK_NULL) ;
       bool   SpecialPrevMachiningOffset( const Operation* pPrevOpe, double& dOffsetX) ;
 
    protected :
@@ -324,12 +325,16 @@ class Operation : public IUserObj
       int  AddLinearMove( const Point3d& ptP, const std::string& sName) ;
       int  AddLinearMove( const Point3d& ptP, bool bSplit) ;
       int  AddLinearMove( const Point3d& ptP, bool bSplit, const std::string& sName) ;
+      int  AddLinearMove( const Point3d& ptP, bool bSplit, int nCorrType, const std::string* sName = nullptr, const Color* pColor = nullptr) ;
       int  AddArcMove( const Point3d& ptP, const Point3d& ptCen, double dAngCen, const Vector3d& vtN) ;
       int  AddArcMove( const Point3d& ptP, const Point3d& ptCen, double dAngCen, const Vector3d& vtN, const std::string& sName) ;
+      int  AddArcMove ( const Point3d& ptP, const Point3d& ptCen, double dAngCen, const Vector3d& vtN, int nCorrType, 
+                        const std::string* psName = nullptr, const Color* pColor = nullptr) ;
       int  AddCurveMove( const ICurve* pCrv) ;
       int  AddCurveMove( const ICurve* pCrv, const std::string& sName) ;
       int  AddCurveMove( const ICurve* pCrv, bool bSplit) ;
       int  AddCurveMove( const ICurve* pCrv, bool bSplit, const std::string& sName) ;
+      int  AddCurveMove( const ICurve* pCrv, bool bSplit, int nCorrType, const std::string* psName = nullptr, const Color* pColor = nullptr) ;
       bool ResetMoveData( void) ;
 
    protected :

OperationCL.cpp

@@ -348,6 +348,25 @@ Operation::AddLinearMove( const Point3d& ptP, bool bSplit, const string& sName)
    return nFirstId ;
 }
 
+//----------------------------------------------------------------------------
+int
+Operation::AddLinearMove( const Point3d& ptP, bool bSplit, int nCorrType, const string* psName, const Color* pColor)
+{
+   int nFirstId = AddLinearMove( ptP, bSplit) ;
+   int nId = nFirstId ;
+   while ( nId != GDB_ID_NULL) {
+      if ( psName != nullptr)
+         m_pGeomDB->SetName( nId, *psName) ;
+      CamData* pCamData = GetCamData( m_pGeomDB->GetUserObj( nId)) ;
+      if ( pCamData == nullptr  ||  ! pCamData->SetCorrType( nCorrType))
+         return GDB_ID_NULL ;
+      if ( pColor != nullptr)
+         m_pGeomDB->SetMaterial( nId, *pColor) ;
+      nId = m_pGeomDB->GetNext( nId) ;
+   }
+   return nFirstId ;
+}
+
 //----------------------------------------------------------------------------
 int
 Operation::AddArcMove( const Point3d& ptP, const Point3d& ptCen, double dAngCen, const Vector3d& vtN)
@@ -422,6 +441,24 @@ Operation::AddArcMove( const Point3d& ptP, const Point3d& ptCen, double dAngCen,
    return nId ;
 }
 
+//----------------------------------------------------------------------------
+int
+Operation::AddArcMove( const Point3d& ptP, const Point3d& ptCen, double dAngCen, const Vector3d& vtN, int nCorrType,
+                       const string* psName, const Color* pColor)
+{
+   int nId = AddArcMove( ptP, ptCen, dAngCen, vtN) ;
+   if ( nId != GDB_ID_NULL) {
+      if ( psName != nullptr)
+         m_pGeomDB->SetName( nId, *psName) ;
+      CamData* pCamData = GetCamData( m_pGeomDB->GetUserObj( nId)) ;
+      if ( pCamData == nullptr  ||  ! pCamData->SetCorrType( nCorrType))
+         return GDB_ID_NULL ;
+      if ( pColor != nullptr)
+         m_pGeomDB->SetMaterial( nId, *pColor) ;
+   }
+   return nId ;
+}
+
 //----------------------------------------------------------------------------
 int
 Operation::AddCurveMove( const ICurve* pCrv)
@@ -530,6 +567,25 @@ Operation::AddCurveMove( const ICurve* pCrv, bool bSplit, const string& sName)
    return nFirstId ;
 }
 
+//----------------------------------------------------------------------------
+int
+Operation::AddCurveMove( const ICurve* pCrv, bool bSplit, int nCorrType, const string* psName, const Color* pColor)
+{
+   int nFirstId = AddCurveMove( pCrv, bSplit) ;
+   int nId = nFirstId ;
+   while ( nId != GDB_ID_NULL) {
+      if ( psName != nullptr)
+         m_pGeomDB->SetName( nId, *psName) ;
+      CamData* pCamData = GetCamData( m_pGeomDB->GetUserObj( nId)) ;
+      if ( pCamData == nullptr  ||  ! pCamData->SetCorrType( nCorrType))
+         return GDB_ID_NULL ;
+      if ( pColor != nullptr)
+         m_pGeomDB->SetMaterial( nId, *pColor) ;
+      nId = m_pGeomDB->GetNext( nId) ;
+   }
+   return nFirstId ;
+}
+
 //----------------------------------------------------------------------------
 bool
 Operation::ResetMoveData( void)

OutputConst.h

@@ -174,6 +174,7 @@ static const std::string GVAR_MASK = ".MASK" ;           // (int)      mask asso
 static const std::string GVAR_FLAG = ".FLAG" ;           // (int)      flag associato ad ogni movimento
 static const std::string GVAR_FLAG2 = ".FLAG2" ;         // (int)      secondo flag associato ad ogni movimento
 static const std::string GVAR_INDEX = ".IDX" ;           // (int)      indice associato ad ogni movimento
+static const std::string GVAR_CORR = ".CORR" ;           // (int)      tipo di correzione (0=no,41=sn,42=dx,140=out,141=in_sn,142=in_dx)
 static const std::string GVAR_TDIR = ".TDIR" ;           // (Vector3d) versore utensile nel riferimento pezzo
 static const std::string GVAR_CDIR = ".CDIR" ;           // (Vector3d) versore correzione nel riferimento pezzo
 static const std::string GVAR_ADIR = ".ADIR" ;           // (Vector3d) versore ausiliario nel riferimento pezzo

PocketingData.cpp

@@ -115,7 +115,7 @@ PocketingData::Clone( void) const
 bool
 PocketingData::CopyFrom( const MachiningData* pMdata)
 {
-  // è inutile copiare se sorgente coincide con destinazione
+  // è inutile copiare se sorgente coincide con destinazione
    if ( pMdata == this)
       return true ;
   // la sorgente deve essere dello stesso tipo
@@ -150,6 +150,8 @@ PocketingData::CopyFrom( const MachiningData* pMdata)
    m_dLiElev = pSdata->m_dLiElev ;
    m_nLeadOutType = pSdata->m_nLeadOutType ;
    m_dLoTang = pSdata->m_dLoTang ;
+   m_dEpicyclesDist = pSdata->m_dEpicyclesDist ;
+   m_dEpicyclesRad = pSdata->m_dEpicyclesRad ;
    m_sSysNotes = pSdata->m_sSysNotes ;
    m_sUserNotes = pSdata->m_sUserNotes ;
    return true ;
@@ -194,6 +196,8 @@ PocketingData::SameAs(const MachiningData* pMdata) const
             abs( m_dLiElev - pSdata->m_dLiElev) < EPS_MACH_LEN_PAR  &&
             m_nLeadOutType == pSdata->m_nLeadOutType  &&
             abs( m_dLoTang - pSdata->m_dLoTang) < EPS_MACH_LEN_PAR  &&
+            abs( m_dEpicyclesDist - pSdata->m_dEpicyclesDist) < EPS_MACH_LEN_PAR  &&
+            abs( m_dEpicyclesRad - pSdata->m_dEpicyclesRad) < EPS_MACH_LEN_PAR  &&
             m_sSysNotes == pSdata->m_sSysNotes  &&
             m_sUserNotes == pSdata->m_sUserNotes) ;
 }
@@ -202,7 +206,7 @@ PocketingData::SameAs(const MachiningData* pMdata) const
 int
 PocketingData::GetSize( void) const
 {
-  // in debug verifico validità ultimo campo
+  // in debug verifico validità ultimo campo
    assert( sPocketingKey[KEY_UUID] == "UUID") ;
    return KEY_ZZZ ;
 }
@@ -534,6 +538,12 @@ PocketingData::SetParam( int nType, double dVal)
    case MPA_LOTANG :
       m_dLoTang = dVal ;
       return true ;
+   case MPA_EPICYCLESDIST :
+      m_dEpicyclesDist = dVal ;
+      return true ;
+   case MPA_EPICYCLESRAD :
+      m_dEpicyclesRad = dVal ;
+      return true ;
    }
    return false ;
 }
@@ -669,6 +679,12 @@ PocketingData::GetParam( int nType, double& dVal) const
    case MPA_LOTANG :
       dVal = m_dLoTang ;
       return true ;
+   case MPA_EPICYCLESDIST :
+      dVal = m_dEpicyclesDist ;
+      return true ;
+   case MPA_EPICYCLESRAD :
+      dVal = m_dEpicyclesRad ;
+      return true ;
    }
    dVal = 0 ;
    return false ;

PocketingNT.h

@@ -21,6 +21,7 @@
 #include "/EgtDev/Include/EGkCurveLine.h"
 #include "/EgtDev/Include/EgtNumUtils.h"
 #include "/EgtDev/Include/EGkIntersPlaneSurfTm.h"
+#include "/EgtDev/Include/EGkCAvSilhouetteSurfTm.h"
 
 // struttura informazioni sui singoli percorsi
 struct PathInfoPO {
@@ -30,9 +31,11 @@ struct PathInfoPO {
    bool bOptTrap ;                                 // flag per casi ottimizzati a trapezio ( per Spiral)
    bool bOptCirle ;                                // flag per casi ottimizzati a Spirale ( per Spiral)
    bool bIsZigZagOneWayBorder ;                    // curve di bordo dei lati chiusi ( per ZigZag e OneWay)
+   bool bToolCompensation ;                        // curva di bordo per compensazione utensile
    PtrOwner<ICurveComposite> pCrvPath ;            // percorso del centro utensile
    PtrOwner<ICurveComposite> pCrvGlideIn ;         // curva per LeadIn a guida
    PtrOwner<ICurveComposite> pCrvGlideOut ;        // curva per LeadOut a guida
+   PtrOwner<ICurveComposite> pCrvZigZagIn ;        // curva per LeadIn a ZigZag ( caso speciale)
    PtrOwner<ICurveComposite> pCrvRet ;             // curva di ritorno ( per ora solo caso fori)
 } ;
 // tipo percorso
@@ -107,15 +110,17 @@ class PocketingNT : public Machining
       bool GetCurves( const SelData& Id, const ISurfTriMesh* pStmRaw, const ISurfTriMesh* pStmTrim, ICURVEPLIST& lstPC) ;
       bool SetCurveAllTempProp( int nCrvId, bool bForcedClose, ICurve* pCurve, bool* pbSomeOpen = nullptr) ;
       bool SetSfrLoopsAllTempProp( int nSfrId, ISurfFlatRegion* pSfr) ;
-      bool ResetCurveAllTempProp( ICurve* pCurve) ;
+      bool ResetCurveAllTempProp( ICurve* pCurve, bool bClose = true) ;
       bool Chain( int nGrpDestId) ;
       ISurfTriMesh* GetRaw( void) ;
       ISurfTriMesh* GetStmTrim( void) ;
       ISurfTriMesh* GetExtrusionStm( const ISurfFlatRegion* pSfr, const Vector3d& vtExtr) ;
       ISurfFlatRegion* GetSfrByStmIntersection( const IntersParPlanesSurfTm& IPPStm, double dDist, double dSmallOffs = 0) ;
-      ISurfFlatRegion* GetSfrRawProjection( const ISurfTriMesh* pStmRaw, const ISurfFlatRegion* pSfr, const Vector3d& vtTool) ;
+      ISurfFlatRegion* GetSfrRawProjection( const ISurfTriMesh* pStmRaw, const ISurfFlatRegion* pSfr, const Vector3d& vtTool,
+                                            const Frame3d& frAtTop, ICAvParSilhouettesSurfTm** ppCavParSil = nullptr) ;
+      Point3d GetStartPointByUser( const ISurfFlatRegion* pSfr) const ;
       Point3d GetStartPointsByHead( const STEPINFOPOVECTOR& vStepInfo) const ;
-      Point3d GetStartPointsFromSteps( const STEPINFOPOVECTOR& vStepInfo, int nCrvType) const ;
+      Point3d GetStartPointsBySteps( const STEPINFOPOVECTOR& vStepInfo, int nCrvType) const ;
       bool ChooseRawPart( const ISurfFlatRegion* pSfrChunk, ISurfTriMesh* pStm) const ;
       bool ManageOpenEdges( ISurfFlatRegion* pSfr, const ISurfTriMesh* pStmPart) ;
       bool GetHomogeneousParts( const ICurveComposite* pCrvCompo, ICRVCOMPOPOVECTOR& vpCrvs) const ;
@@ -129,12 +134,15 @@ class PocketingNT : public Machining
                                 double dRad, double dLen, double& dElev) ;
       bool VerifyPathFromBottom( const ICurveComposite* pCompo, const Vector3d& vtTool) ;
       bool GeneratePocketingPv( int nPathId, const ICurveComposite* pCompo) ;
+      bool CalcGeoExtSurfFr( const ISurfFlatRegion* pSfrPock, const Vector3d& vtTool, double dDepth, const ISurfTriMesh* pStmRaw,
+                             const SELVECTOR& vGeoSel, ISURFFRPOVECTOR& vSfrGeoExt) ;
       bool CalcLimitRegion( const ISurfFlatRegion* pSfrPock, const ISurfFlatRegion* pSfrRaw, ISurfFlatRegion* pSfrLimit) ;
       bool CalcPaths( STEPINFOPOVECTOR& vStepInfo) ;
       bool CalcRetCurve( PathInfoPO& PathInfo, const StepInfoPO& StepInfo, const ICurveComposite* pCrvPath,
-                               const Vector3d& vtTool, bool bHolePocketing, bool bInVsOut, ICurveComposite* pCrvGlide) ;
+                         const Vector3d& vtTool, bool bHolePocketing, const Point3d& ptHoleDest, bool bToolComp, bool bInVsOut, ICurveComposite* pCrvGlide) ;
       bool AddPocket( STEPINFOPOVECTOR& vStepInfo, const Vector3d& vtTool, double dStep, bool bSplitArcs, Point3d& ptPockStart, Point3d& ptPockEnd) ;
-      double GetRightFeed( const Vector3d& vtMove, const Vector3d& vtTool) ;
+      double GetRightFeed( const Vector3d& vtMove, const Vector3d& vtTool) const ;
+      double GetRightStartFeed( const Vector3d& vtMove, const Vector3d& vtTool) const ;
       bool CutCurveWithLine( ICurveComposite* pCrvA, const ICurveLine* pCrvB) ;
       bool ComputePolishingPath( ICurveComposite* pMCrv, ICurveComposite* pRCrv, bool bSplitArcs) ;
       bool AddEpicycles( ICurveComposite * pCompo, ICurveComposite * pCrv, ICurveComposite * pCrvBound = nullptr) ;
@@ -148,16 +156,16 @@ class PocketingNT : public Machining
                            double dElev, double dAppr, bool bSplitArcs) ;
       bool AddRetract( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ, double dSafeAggrBottZ,
                        double dElev, double dAppr, bool bSplitArcs) ;
-      bool CalcFirstElevation( const Point3d& ptStart, const Point3d& ptP1, const Vector3d& vtTool,
+      bool CalcFirstElevation( const Point3d& ptP1, const Vector3d& vtTool,
                                const StepInfoPO& currStep, double dSafeZ, double dStep, double& dCurrElev,
                                double& dEscapeElev, Vector3d& vtEscape) const ;
-      bool CalcLastElevation( const Point3d& ptStart, const Point3d& ptP1, const Vector3d& vtTool,
+      bool CalcLastElevation( const Point3d& ptP1, const Vector3d& vtTool,
                               const StepInfoPO& currStep, double dSafeZ, double dStep, double& dCurrElev,
                               double& dEscapeElev, Vector3d& vtEscape) const ;
       bool CalcLeadInStart( Point3d& ptStart, const Vector3d& vtTool, const ICurveComposite* pCrvPath, Point3d& ptP1) ;
       bool AddLeadIn( const Point3d& ptP1, const Point3d& ptStart, const Vector3d& vtStart, const Vector3d& vtN,
-                      const ISurfFlatRegion* pSfr, const ICurveComposite* pRCrv, bool bAtLeft, bool bSplitArcs,
-                      bool bNoneForced, bool bSkipControl) ;
+                      const ISurfFlatRegion* pSfr, const ICurveComposite* pRCrv, const ICurveComposite* pRZigZag,
+                      bool bAtLeft, bool bSplitArcs, bool bNoneForced, bool bSkipControl) ;
       bool AddLeadOut( const Point3d& ptEnd, const Vector3d& vtEnd, const Vector3d& vtN, const ISurfFlatRegion* pSfr,
                        const ICurveComposite* pRCrv, bool bSplitArcs, bool bNoneForced, Point3d& ptP1) ;
       double GetRadiusForStartEndElevation( void) const ;
@@ -171,7 +179,19 @@ class PocketingNT : public Machining
       bool VerifyLeadInHelix( const ISurfFlatRegion* pSfr, const Point3d& ptStart, const Point3d& ptCen, double dHelixRad) ;
       bool VerifyLeadInZigZag( const ISurfFlatRegion* pSfr, const Point3d& ptStart, const Point3d& ptPa, const Point3d& ptPb) ;
       bool VerifyLeadInOutGlide( const ISurfFlatRegion* pSfr, ICurveComposite* pCrvGlide) ;
+      bool AddSpecialLeadInZigZag( const ICurveComposite* pCompoPath, const Point3d& ptStart, const Vector3d& vtTool, int nStep, double dStep) ;
       bool CalcDistanceFromRawSurface( int nPhase, const Point3d& ptP, const Vector3d& vtDir, double& dDist, Vector3d& vtNorm) ;
+      bool VerifyParallelPocketing( int nDouble, const STEPINFOPOVECTOR& vStepInfo) const ;
+      bool CalcDoubleParallelPenultimateStep( int nDouble, int nIdDblS, double dStep, double dLastStep, const Point3d& ptNeatEnd, const Vector3d& vtEnd,
+                                              const INTVECTOR& vLeadOutId, const ISurfFlatRegion* pSfrLimit, const Vector3d& vtTool,
+                                              bool bSplitArcs, double dMinFeed) ;
+      double GetDoubleLastStep( void) ;
+      bool AddTangentLinesForToolCompensation( ICurveComposite* pCompoPath, const Vector3d& vtTool, const ISurfFlatRegion* pSfrLimit,
+                                               bool bWithEndGuide) const ;
+      bool AssignPropsToCamDataForToolCompensation( int nId, bool bLineIn, bool bLineOut, bool bToolAtLeft) ;
+      bool CalcLinkByStartUserPoint( const ISurfFlatRegion* pSfrPock, const ISurfFlatRegion* pSfrLimit, const Point3d& ptStart,
+                                     const Point3d& ptEnd, ICurveComposite* pCompoLink) const ;
+
      // debug
       void DebugDrawSfr( const ISurfFlatRegion* pSfr, bool bUniform, int nlayer = GDB_ID_ROOT) ;
       void DebugDrawLoop( const ICurveComposite* pCrvCompo, int nLayer, bool bUniform) ;

Processor.cpp

@@ -398,6 +398,13 @@ Processor::ProcessMachining( int nOpId, int nOpInd)
 bool
 Processor::ProcessClPath( int nClPathId, int nClPathInd, int nOpId, int nOpInd)
 {
+  // verifico se Path in doppio
+   int nDblPathId = GDB_ID_NULL ;
+   int nDblId = m_pGeomDB->GetFirstNameInGroup( nOpId, MCH_DBL) ;
+   if ( nDblId != GDB_ID_NULL) {
+      string sCLPathName ; m_pGeomDB->GetName( nClPathId, sCLPathName) ;
+      nDblPathId = m_pGeomDB->GetFirstNameInGroup( nDblId, sCLPathName) ;
+   }
   // Recupero punti di inizio e fine del percorso
    Point3d ptStart ;
    m_pGeomDB->GetInfo( nClPathId, KEY_START, ptStart) ;
@@ -424,7 +431,7 @@ Processor::ProcessClPath( int nClPathId, int nClPathInd, int nOpId, int nOpInd)
    int nAS = 0 ;
    m_pGeomDB->GetInfo( nClPathId, KEY_AS_TOT, nAS) ;
   // Emetto inizio percorso di lavoro
-   if ( ! OnPathStart( nClPathId, nClPathInd, nAS, ptStart, ptEnd, vtExtr,
+   if ( ! OnPathStart( nClPathId, nClPathInd, nDblPathId, nAS, ptStart, ptEnd, vtExtr,
                        ptMin, ptMax, vAxMin, vAxMax, dElev, vActiveExit))
       return false ;
 
@@ -501,7 +508,8 @@ Processor::ProcessClEnt( int nEntId, int nEntInd, int nClPathId, int nClPathInd,
    case 1 :      // linea
       if ( ! OnLinear( nEntId, nEntInd, nMove, AxesEnd,
                        pCamData->GetToolDir(), pCamData->GetCorrDir(), pCamData->GetBackAuxDir(),
-                       pCamData->GetFeed(), pCamData->GetFlag(), pCamData->GetFlag2(), pCamData->GetIndex(), nMoveNext, AxesNext))
+                       pCamData->GetFeed(), pCamData->GetFlag(), pCamData->GetFlag2(), pCamData->GetIndex(),
+                       pCamData->GetCorrType(), nMoveNext, AxesNext))
          return false ;
       break ;
    case 2 :      // arco CW
@@ -511,7 +519,8 @@ Processor::ProcessClEnt( int nEntId, int nEntInd, int nClPathId, int nClPathInd,
       if ( ! OnArc( nEntId, nEntInd, nMove, AxesEnd,
                     pCamData->GetAxesCen(), ptMid, pCamData->GetAxesRad(), pCamData->GetAxesAngCen(),
                     pCamData->GetToolDir(), pCamData->GetCorrDir(), pCamData->GetBackAuxDir(),
-                    pCamData->GetFeed(), pCamData->GetFlag(), pCamData->GetFlag2(), pCamData->GetIndex(), nMoveNext, AxesNext))
+                    pCamData->GetFeed(), pCamData->GetFlag(), pCamData->GetFlag2(), pCamData->GetIndex(),
+                    pCamData->GetCorrType(), nMoveNext, AxesNext))
          return false ;
       break ;
    }
@@ -963,18 +972,25 @@ Processor::OnMachiningEnd( void)
 {
   // chiamo la funzione di fine lavorazione
    bool bOk = CallOnMachiningEnd() ;
+  // reset eventuale Path in double
+   bOk = bOk && m_pMachine->LuaResetGlobVar( GLOB_VAR + GVAR_DBLPATHID) ;
    return bOk ;
 }
 
 //----------------------------------------------------------------------------
 bool
-Processor::OnPathStart( int nClPathId, int nClPathInd, int nAS, const Point3d& ptStart, const Point3d& ptEnd,
+Processor::OnPathStart( int nClPathId, int nClPathInd, int nDblPathId, int nAS, const Point3d& ptStart, const Point3d& ptEnd,
                         const Vector3d& vtExtr, const Point3d& ptMin, const Point3d& ptMax,
                         const DBLVECTOR& vAxMin, const DBLVECTOR& vAxMax, double dElev, const INTVECTOR& vActiveExit)
 {
   // assegno identificativo e indice percorso di lavorazione
    bool bOk = m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_PATHID, nClPathId) ;
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_PATHIND, nClPathInd) ;
+  // assegno identificativo eventuale percorso in doppio
+   if ( nDblPathId == GDB_ID_NULL)
+      bOk = bOk && m_pMachine->LuaResetGlobVar( GLOB_VAR + GVAR_DBLPATHID) ;
+   else
+      bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_DBLPATHID, nDblPathId) ;
   // assegno numero di dati ausiliari iniziali
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_AUXTOT, nAS) ;
   // assegno punti iniziale e finale e versore estrusione del percorso originale
@@ -1091,7 +1107,7 @@ Processor::OnRapid( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd
 bool
 Processor::OnLinear( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd,
                      const Vector3d& vtTool, const Vector3d& vtCorr, const Vector3d& vtAux,
-                     double dFeed, int nFlag, int nFlag2, int nIndex, int nMoveNext, const DBLVECTOR& AxesNext)
+                     double dFeed, int nFlag, int nFlag2, int nIndex, int nCorr, int nMoveNext, const DBLVECTOR& AxesNext)
 {
   // cancello variabili estranee
    ResetArcData() ;
@@ -1123,6 +1139,8 @@ Processor::OnLinear( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEn
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_FLAG2, nFlag2) ;
   // assegno il valore dell'indice
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_INDEX, nIndex) ;
+  // assegno il tipo di correzione
+   bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_CORR, nCorr) ;
   // anticipazione di alcuni dati dell'eventuale movimento successivo dello stesso percorso
    if ( nMoveNext != -1) {
       bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVESUCC, nMoveNext) ;
@@ -1148,7 +1166,7 @@ bool
 Processor::OnArc( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd,
                   const Point3d& ptCen, const Point3d& ptMid, double dRad, double dAngCen,
                   const Vector3d& vtTool, const Vector3d& vtCorr, const Vector3d& vtAux,
-                  double dFeed, int nFlag, int nFlag2, int nIndex, int nMoveNext, const DBLVECTOR& AxesNext)
+                  double dFeed, int nFlag, int nFlag2, int nIndex, int nCorr, int nMoveNext, const DBLVECTOR& AxesNext)
 {
   // assegno Id e indice entità di movimento
    bool bOk = m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVEID, nEntId) ;
@@ -1190,6 +1208,8 @@ Processor::OnArc( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd,
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_FLAG2, nFlag2) ;
   // assegno il valore dell'indice
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_INDEX, nIndex) ;
+  // assegno il tipo di correzione
+   bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_CORR, nCorr) ;
   // anticipazione di alcuni dati dell'eventuale movimento successivo dello stesso percorso
    if ( nMoveNext != -1) {
       bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVESUCC, nMoveNext) ;

Processor.h

@@ -54,7 +54,7 @@ class Processor
       bool OnMachiningStart( int nOpId, int nOpInd, double dSpeed, const Point3d& ptMin, const Point3d& ptMax,
                              const DBLVECTOR& vAxMin, const DBLVECTOR& vAxMax) ;
       bool OnMachiningEnd( void) ;
-      bool OnPathStart( int nClPathId, int nClPathInd, int nAS, const Point3d& ptStart, const Point3d& ptEnd,
+      bool OnPathStart( int nClPathId, int nClPathInd, int nDblPathId, int nAS, const Point3d& ptStart, const Point3d& ptEnd,
                         const Vector3d& vtExtr, const Point3d& ptMin, const Point3d& ptMax,
                         const DBLVECTOR& vAxMin, const DBLVECTOR& vAxMax, double dElev, const INTVECTOR& vActiveExit) ;
       bool OnPathEnd( int nAE) ;
@@ -65,11 +65,11 @@ class Processor
                     int nFlag, int nFlag2, int nIndex, int nMoveNext, const DBLVECTOR& AxesNext) ;
       bool OnLinear( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd,
                      const Vector3d& vtTool, const Vector3d& vtCorr, const Vector3d& vtAux,
-                     double dFeed, int nFlag, int nFlag2, int nIndex, int nMoveNext, const DBLVECTOR& AxesNext) ;
+                     double dFeed, int nFlag, int nFlag2, int nIndex, int nCorr, int nMoveNext, const DBLVECTOR& AxesNext) ;
       bool OnArc( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd,
                   const Point3d& ptCen, const Point3d& ptMid, double dRad, double dAngCen,
                   const Vector3d& vtTool, const Vector3d& vtCorr, const Vector3d& vtAux,
-                  double dFeed, int nFlag, int nFlag2, int nIndex, int nMoveNext, const DBLVECTOR& AxesNext) ;
+                  double dFeed, int nFlag, int nFlag2, int nIndex, int nCorr, int nMoveNext, const DBLVECTOR& AxesNext) ;
       bool ResetArcData( void) ;
 
    protected :

SimulatorSP.cpp

@@ -208,9 +208,6 @@ SimulatorSP::Start( bool bFirst)
      // Verifico attrezzaggio
       if ( ! VerifySetup())
          bOk = false ;
-     // Recupero il materiale associato alla macchina
-      string sMachIni = m_pMachine->GetMachineDir() + "\\" + m_pMachine->GetMachineName() + ".ini" ;
-      m_sMachineMaterial = GetPrivateProfileStringUtf8( GENERAL_SEC.c_str(), MATERIAL_KEY.c_str(), "", sMachIni.c_str()) ;
    }
 
   // Reset utensile, interpolazione e assi correnti
@@ -1722,12 +1719,16 @@ SimulatorSP::TraceToolTipMove( int nMoveType)
    Frame3d frExit ;
    if ( ! m_pGeomDB->GetGroupGlobFrame( nExitId, frExit))
       return false ;
-   Point3d ptTip = frExit.Orig() - ( m_sMachineMaterial != "Additive" ? m_dTLen : 0) * frExit.VersZ() ;
+  // determino se tracciare uscita mandrino o punta utensile e aggiusto di conseguenza
+   static const string TRACE_ONEXIT = "OnExit" ;
+   bool bOnExit = false ;
+   m_pGeomDB->GetInfo( m_nTraceGroup, TRACE_ONEXIT, bOnExit) ;
+   Point3d ptTip = frExit.Orig() - ( ! bOnExit ? m_dTLen : 0) * frExit.VersZ() ;
   // disabilito gestione segnalazione modifiche progetto
    SetModifiedOff modOff ;
   // eseguo tracciatura
-   static string TRACE_MOVE = "Move" ;
-   static int TRACE_MAX_LINE = 1000 ;
+   static const string TRACE_MOVE = "Move" ;
+   static const int TRACE_MAX_LINE = 1000 ;
    if ( m_nCurrTrace == GDB_ID_NULL) {
       m_nCurrTrace = ExeCreateGeoPoint( nTraceGrpId, ptTip, GDB_ID_ROOT) ;
       m_pGeomDB->SetInfo( m_nCurrTrace, TRACE_MOVE, nMoveType) ;

SimulatorSP.h

@@ -147,7 +147,6 @@ class SimulatorSP : public ISimulator
       MachMgr*      m_pMchMgr ;              // puntatore al gestore di tutte le lavorazioni
       IGeomDB*      m_pGeomDB ;              // puntatore al DB geometrico
       Machine*      m_pMachine ;             // puntatore alla macchina
-      std::string   m_sMachineMaterial ;     // nome del materiale associato alla macchina
       PerformanceCounter* m_pPerfCnt ;       // timer per calcolo FPS
       int           m_nStatus ;              // stato interno del simulatore (creato, inizializzato, pronto al movimento)
       double        m_dStep ;                // lunghezza di riferimento per la velocità di simulazione

SurfFinishing.h

@@ -21,6 +21,7 @@
 #include "GeoConst.h"
 #include "/EgtDev/Include/EGkCurveComposite.h"
 #include "/EgtDev/Include/EGkSurfTriMesh.h"
+#include "/EgtDev/Include/EGkSurfFlatRegion.h"
 #include "/EgtDev/Include/EgtNumUtils.h"
 #include "/EgtDev/Include/EGkSurfLocal.h"
 
@@ -177,8 +178,11 @@ class SurfFinishing : public Machining
                                                     double dFrontTriaTolerAng,  double& dMaxFrontTriaRad) const ;
       bool CalcOptimalZConstCurves( const ISurfFlatRegion* pSfrLoc, const SURFLOCALVECTOR& vSrfLoc,
                                     const Frame3d& frSurf, const Vector3d& vtTool, double dAngDegSplit,
-                                    double dAngDegTol, double dDepth, ICAvToolSurfTm* pCAvTlStm, VECTORPATHS& vPaths, ISurfFlatRegion* pSfrProj) const ;
-      bool CalcOptimalZigZagCurves( const ISurfFlatRegion* pSfrLoc, const Frame3d& frSurf,
+                                    double dAngDegTol, double dDepth, ICAvToolSurfTm* pCAvTlStm, VECTORPATHS& vPaths,
+                                    ISurfFlatRegion* pSfrToolColl) const ;
+      bool CalcOptimalZigZagSfrByZConstCrv( const ISurfFlatRegion* pSfrLoc, const CISURFTMPVECTOR& vpStm, const Vector3d& vtToolLoc,
+                                            double dExtraCollOffs, ICurveComposite* pCompoSil, ISurfFlatRegion* pSfrZigZag) const ;
+      bool CalcOptimalZigZagCurves( ISURFFRPOVECTOR& vSfrZigZagProj, const Frame3d& frSurf,
                                     const Vector3d& vtTool, double dDepth, ICAvToolSurfTm* pCAvTlStm, VECTORPATHS& vPaths) const ;
       bool GetOptimalSfr( ICAvToolSurfTm* pCAvTlStm, const SURFLOCALVECTOR& vSrfLoc, const Frame3d& frSurf, const ISurfFlatRegion* pSfrLoc, const Vector3d& vtTool,
                           double dDepth, double dElev, ISurfFlatRegion* pSfrSpiral, ISurfFlatRegion* pSfrZConst) const ;
@@ -213,6 +217,9 @@ class SurfFinishing : public Machining
       bool MarchingSquares( const VECTORCOLLISIONSFR& vPntM, int nType, double dOffsTol, int nStepX, int nStepY, double dClippingAngle,
                             double dLimInfClippingAng, double dLimSupClippingAng, const Vector3d& vtAxL, const Vector3d& vtMoveL, ICAvToolSurfTm* pCAvTlStm,
                             ICRVCOMPOPOVECTOR& vCrvCompo) const ;
+      bool AreSameSfrChunkEpsilon( const ISurfFlatRegion* pSfrChunkA, const ISurfFlatRegion* pSfrChunkB, double dMaxDist) const ;
+      bool CalcOptimalZigZagRegion( const ISurfFlatRegion* pSfrCntLoc, const ISurfFlatRegion* pSfrZLevelColl, const SURFLOCALVECTOR& vSrfLoc,
+                                    const Frame3d& frSurf, const Vector3d& vtTool, double dDepth, double dSplitAngDeg, ISURFFRPOVECTOR& vpSfrZigZagProj) const ;
       double GetRightFeed( const Vector3d& vtMove, const Vector3d& vtTool) const ;
       double GetRadiusForStartEndElevation( void) const ;
 
@@ -235,7 +242,7 @@ class SurfFinishing : public Machining
       int GetLeadOutType( void) const ;
 
    private :
-      SELVECTOR         m_vId ;             // identificativi entità geometriche da lavorare
+      SELVECTOR         m_vId ;             // identificativi entità geometriche da lavorare
       SurfFinishingData m_Params ;          // parametri lavorazione
       ToolData          m_TParams ;         // parametri utensile
       double            m_dTHoldBase ;      // posizione base del porta-utensile

SurfRoughing.cpp

@@ -124,6 +124,7 @@ static string KEY_SUBSTEP = "SUBSTEP" ;
    #include "/EgtDev/Include/EgtPerfCounter.h"
    #include "/EgtDev/Include/EGkExtText.h"
    string sPathSrfBool = "C:\\Temp\\" ;
+   int nGrpDebugFeed = GDB_ID_NULL, nLayDebugFeed = GDB_ID_NULL ;
 #endif
 
 const double STEP_TOL = 10. * EPS_SMALL ;
@@ -2458,71 +2459,83 @@ SurfRoughing::GetToolCollisionRegion( const ISurfFlatRegion* pSfrSgro, double& d
      // recupero il Box della ventosa
       BBox3d bFxtBox ;
       if ( m_pGeomDB->GetGlobalBBox( nFxtId, bFxtBox)  &&  ! bFxtBox.IsEmpty()) {
-        // espando il Box per evitare la collisione con l'utensile
-         bFxtBox.Expand( SAFE_TOL) ;
-         #if ENABLE_DEBUG_SFR_COLLISION
-            ICurveComposite* _pCompoFxt = CreateCurveComposite() ;
-            _pCompoFxt->AddPoint( bFxtBox.GetMin()) ;
-            _pCompoFxt->AddLine( bFxtBox.GetMin() + X_AX * bFxtBox.GetDimX()) ;
-            _pCompoFxt->AddLine( bFxtBox.GetMax() - Z_AX * bFxtBox.GetDimZ()) ;
-            _pCompoFxt->AddLine( bFxtBox.GetMin() + Y_AX * bFxtBox.GetDimY()) ;
-            _pCompoFxt->Close() ;
-            _pCompoFxt->SetExtrusion( Z_AX) ;
-            _pCompoFxt->SetThickness( bFxtBox.GetDimZ()) ;
-            int nFxtId = m_pGeomDB->AddGeoObj( GDB_ID_NULL, GDB_ID_ROOT, _pCompoFxt) ;
-            m_pGeomDB->SetMaterial( nFxtId, YELLOW) ;
-         #endif
-        // recupero la TriMesh del Box
-         PtrOwner<ICurveComposite> pCompoFxt( CreateCurveComposite()) ;
-         if ( IsNull( pCompoFxt))
-            return false ;
-         pCompoFxt->AddPoint( bFxtBox.GetMin()) ;
-         pCompoFxt->AddLine( bFxtBox.GetMin() + X_AX * bFxtBox.GetDimX()) ;
-         pCompoFxt->AddLine( bFxtBox.GetMax() - Z_AX * bFxtBox.GetDimZ()) ;
-         pCompoFxt->AddLine( bFxtBox.GetMin() + Y_AX * bFxtBox.GetDimY()) ;
-         pCompoFxt->Close() ;
-         CICURVEPVECTOR vpCrvs ;
-         vpCrvs.emplace_back( pCompoFxt) ;
-         PtrOwner<ISurfTriMesh> pStmCollFxt( GetSurfTriMeshByRegionExtrusion( vpCrvs, Z_AX * bFxtBox.GetDimZ())) ;
-         if ( IsNull( pStmCollFxt)  ||  ! pStmCollFxt->IsValid()  ||  pStmCollFxt->GetTriangleCount() == 0)
-            return false ;
-        // recupero la sua proiezione nel piano di sgrossatura come regione piana
-         Plane3d plProj ;
-         if ( ! plProj.Set( frLoc.Orig() - dDepth * frLoc.VersZ(), frLoc.VersZ()))
-            return false ;
-         POLYLINEVECTOR vPL ;
-         if ( ! pStmCollFxt->GetSilhouette( plProj, EPS_SMALL, vPL)) // proiezione di 6 triangoli, veloce
-            return false ;
-        // se completamente dietro al piano, non influenza la sgrossatura attuale
-         if ( vPL.empty())
-            continue ;
-         SurfFlatRegionByContours SfrByC ;
-         for ( const PolyLine& PL : vPL) {
-            PtrOwner<ICurveComposite> pCompoLoop( CreateCurveComposite()) ;
-            if ( IsNull( pCompoLoop)  ||  ! pCompoLoop->FromPolyLine( PL)  ||
-                 ! SfrByC.AddCurve( Release( pCompoLoop)))
-               return false ;
-         }
-         PtrOwner<ISurfFlatRegion> pSfrFxtColl( SfrByC.GetSurf()) ;
-         if ( IsNull( pSfrFxtColl)  ||  ! pSfrFxtColl->IsValid())
-            return false ;
-         if ( AreOppositeVectorApprox( pSfrFxtColl->GetNormVersor(), frLoc.VersZ()))
-            pSfrFxtColl->Invert() ;
-        // aggiorno la regione di collissione per l'utensile
-         if ( ! pSfrColl->IsValid()) {
-            if ( ! pSfrColl->CopyFrom( pSfrFxtColl))
-               return false ;
+        // se sgrossatura orientata come come Z_AX
+         if ( AreSameVectorApprox( pSfrSgro->GetNormVersor(), Z_AX)) {
+           // controllo se limitare la Depth della tavola
+            double dTabDist = abs( ( ptCen - bFxtBox.GetMax()) * pSfrSgro->GetNormVersor()) ;
+            if ( dDepth > dTabDist - DIST_TABLE) {
+               dDepth = dTabDist - DIST_TABLE ;
+               string sWarn = "Warning in SurfRoughing : Depth reduced at " + ToString( dDepth, 3) ;
+               m_pMchMgr->SetWarning( 3057, sWarn) ;
+            }
          }
          else {
-            if ( ! pSfrColl->Add( *pSfrFxtColl))
+           // espando il Box per evitare la collisione con l'utensile
+            bFxtBox.Expand( SAFE_TOL) ;
+            #if ENABLE_DEBUG_SFR_COLLISION
+               ICurveComposite* _pCompoFxt = CreateCurveComposite() ;
+               _pCompoFxt->AddPoint( bFxtBox.GetMin()) ;
+               _pCompoFxt->AddLine( bFxtBox.GetMin() + X_AX * bFxtBox.GetDimX()) ;
+               _pCompoFxt->AddLine( bFxtBox.GetMax() - Z_AX * bFxtBox.GetDimZ()) ;
+               _pCompoFxt->AddLine( bFxtBox.GetMin() + Y_AX * bFxtBox.GetDimY()) ;
+               _pCompoFxt->Close() ;
+               _pCompoFxt->SetExtrusion( Z_AX) ;
+               _pCompoFxt->SetThickness( bFxtBox.GetDimZ()) ;
+               int nFxtId = m_pGeomDB->AddGeoObj( GDB_ID_NULL, GDB_ID_ROOT, _pCompoFxt) ;
+               m_pGeomDB->SetMaterial( nFxtId, YELLOW) ;
+            #endif
+           // recupero la TriMesh del Box
+            PtrOwner<ICurveComposite> pCompoFxt( CreateCurveComposite()) ;
+            if ( IsNull( pCompoFxt))
                return false ;
+            pCompoFxt->AddPoint( bFxtBox.GetMin()) ;
+            pCompoFxt->AddLine( bFxtBox.GetMin() + X_AX * bFxtBox.GetDimX()) ;
+            pCompoFxt->AddLine( bFxtBox.GetMax() - Z_AX * bFxtBox.GetDimZ()) ;
+            pCompoFxt->AddLine( bFxtBox.GetMin() + Y_AX * bFxtBox.GetDimY()) ;
+            pCompoFxt->Close() ;
+            CICURVEPVECTOR vpCrvs ;
+            vpCrvs.emplace_back( pCompoFxt) ;
+            PtrOwner<ISurfTriMesh> pStmCollFxt( GetSurfTriMeshByRegionExtrusion( vpCrvs, Z_AX * bFxtBox.GetDimZ())) ;
+            if ( IsNull( pStmCollFxt)  ||  ! pStmCollFxt->IsValid()  ||  pStmCollFxt->GetTriangleCount() == 0)
+               return false ;
+           // recupero la sua proiezione nel piano di sgrossatura come regione piana
+            Plane3d plProj ;
+            if ( ! plProj.Set( frLoc.Orig() - dDepth * frLoc.VersZ(), frLoc.VersZ()))
+               return false ;
+            POLYLINEVECTOR vPL ;
+            if ( ! pStmCollFxt->GetSilhouette( plProj, EPS_SMALL, vPL)) // proiezione di 6 triangoli, veloce
+               return false ;
+           // se completamente dietro al piano, non influenza la sgrossatura attuale
+            if ( vPL.empty())
+               continue ;
+            SurfFlatRegionByContours SfrByC ;
+            for ( const PolyLine& PL : vPL) {
+               PtrOwner<ICurveComposite> pCompoLoop( CreateCurveComposite()) ;
+               if ( IsNull( pCompoLoop)  ||  ! pCompoLoop->FromPolyLine( PL)  ||
+                    ! SfrByC.AddCurve( Release( pCompoLoop)))
+                  return false ;
+            }
+            PtrOwner<ISurfFlatRegion> pSfrFxtColl( SfrByC.GetSurf()) ;
+            if ( IsNull( pSfrFxtColl)  ||  ! pSfrFxtColl->IsValid())
+               return false ;
+            if ( AreOppositeVectorApprox( pSfrFxtColl->GetNormVersor(), frLoc.VersZ()))
+               pSfrFxtColl->Invert() ;
+           // aggiorno la regione di collissione per l'utensile
+            if ( ! pSfrColl->IsValid()) {
+               if ( ! pSfrColl->CopyFrom( pSfrFxtColl))
+                  return false ;
+            }
+            else {
+               if ( ! pSfrColl->Add( *pSfrFxtColl))
+                  return false ;
+            }
+            #if ENABLE_DEBUG_SFR_COLLISION
+               ISurfFlatRegion* _pSfrFxt = CreateSurfFlatRegion() ;
+               _pSfrFxt->CopyFrom( pSfrFxtColl) ;
+               int _nSfrFxtId = m_pGeomDB->AddGeoObj( GDB_ID_NULL, GDB_ID_ROOT, _pSfrFxt) ;
+               m_pGeomDB->SetMaterial( _nSfrFxtId, Color( 255, 255, 0, 50)) ;
+            #endif
          }
-         #if ENABLE_DEBUG_SFR_COLLISION
-            ISurfFlatRegion* _pSfrFxt = CreateSurfFlatRegion() ;
-            _pSfrFxt->CopyFrom( pSfrFxtColl) ;
-            int _nSfrFxtId = m_pGeomDB->AddGeoObj( GDB_ID_NULL, GDB_ID_ROOT, _pSfrFxt) ;
-            m_pGeomDB->SetMaterial( _nSfrFxtId, Color( 255, 255, 0, 50)) ;
-         #endif
       }
    }
 
@@ -2594,6 +2607,9 @@ SurfRoughing::GetToolCollisionRegion( const ISurfFlatRegion* pSfrSgro, double& d
             }
          }
       }
+     // se non ho una superficie di Blocco, allora non devo fare nulla
+      if ( IsNull( pSfrBlock)  ||  ! pSfrBlock->IsValid())
+         return true ;
 
      // determino la superficie di collisione
       pSfrColl->Clear() ;
@@ -2957,6 +2973,9 @@ SurfRoughing::CalcPaths( const INTINTVECTOR& vPocket, STEPINFOSRVECTOR& vStepInf
   // del percorso successivo)
    Point3d ptEndLastPath = P_INVALID ;
 
+  // determino se Conventional Milling o Climb Milling per curve singole
+   bool bConventionalMilling = ( m_Params.m_nSubType == POCKET_ONEWAY || m_Params.m_nSubType == POCKET_CONFORMAL_ONEWAY) ;
+
   // scorro gli indici delle superfici
    int nInd = 0 ;
    for ( auto& vId : vPocket) {
@@ -3024,9 +3043,9 @@ SurfRoughing::CalcPaths( const INTINTVECTOR& vPocket, STEPINFOSRVECTOR& vStepInf
       ICRVCOMPOPOVECTOR vCrvPaths ;
       if ( ! CalcPocketing( vStepInfo[nInd].pSfrPock, m_TParams.m_dDiam / 2, 0., m_Params.m_dSideStep,
                             m_Params.m_dSideAngle, 5., vStepInfo[nInd].nSubType, true, true, vStepInfo[nInd].bInverted,
-                            false, true, true, ptEndLastPath, vStepInfo[nInd].pSfrLimit, false, m_Params.m_dSideStep,
+                            false, bConventionalMilling, true, true, ptEndLastPath, vStepInfo[nInd].pSfrLimit, false, m_Params.m_dSideStep,
                             GetLeadInType(), m_Params.m_dLiTang, m_Params.m_dLiElev, GetLeadOutType(), m_Params.m_dLoTang,
-                            false, 0., 0., vCrvPaths)) {
+                            false, 0., 0., false, vCrvPaths)) {
          if ( vStepInfo[nInd].bIsExtraStep) {
             string sWarn = "Warning in SurfRoughing : CalcPocketing failed with substep (" + ToString( vStepInfo[nInd].dDepth, 1) + ")" ;
             m_pMchMgr->SetWarning( 3055, sWarn) ;
@@ -3137,13 +3156,13 @@ SurfRoughing::GetLinkFromPaths( STEPINFOSRVECTOR& vStepInfo, int i, int j, const
   // recupero anche il suo punto iniziale, ovvero il punto finale del Link
    int nLinkType = -1 ;
    Point3d ptEnd ;
-   if ( j < int( vStepInfo[i].vPaths.size()) - 1) {
+   if ( j < ssize( vStepInfo[i].vPaths) - 1) {
       nLinkType = PLANAR ;
       vStepInfo[i].vPaths[j+1].pCrvPath->GetStartPoint( ptEnd) ;
    }
    else {
      // --- se non esiste lo Step i+1 errore
-      if ( i + 1 >= int( vStepInfo.size()))
+      if ( i + 1 >= ssize( vStepInfo))
          return false ;
       vStepInfo[i+1].vPaths.front().pCrvPath->GetStartPoint( ptEnd) ;
       nLinkType = ( ( ptEnd - ptStart) * vtTool < - 50 * EPS_SMALL ? DOWN : ABOVE) ;
@@ -3191,7 +3210,7 @@ SurfRoughing::GetLinkFromPaths( STEPINFOSRVECTOR& vStepInfo, int i, int j, const
          return false ;
      // nel caso stessi ordinando per ZChunk, devo controllare di essere fuori dalla limite
      // anche per lo Step i+1
-     // NB. Nel caso stessi ordinando per piani, vuol dire che ho già svuotato tutti il piano i-esimo
+     // NB. Nel caso stessi ordinando per piani, vuol dire che ho già svuotato tutto il piano i-esimo
      // Se Safe, allora definisco il collegamento
       if ( bSafe) {
          pCrvLink->AddPoint( ptStart) ;
@@ -3778,6 +3797,11 @@ SurfRoughing::AddRoughing( const INTINTVECTOR& vPocket, const Vector3d& vtTool,
    STEPINFOSRVECTOR vStepInfo ;
    if ( ! CalcPaths( vPocket, vStepInfo))
       return false ;
+   #if ENABLE_DEBUG_FEEDS
+      nGrpDebugFeed = m_pGeomDB->AddGroup( GDB_ID_NULL, GDB_ID_ROOT, GLOB_FRM) ;
+      nLayDebugFeed = m_pGeomDB->AddGroup( GDB_ID_NULL, nGrpDebugFeed, GLOB_FRM) ;
+      m_pGeomDB->SetName( nGrpDebugFeed, "Feed") ;
+   #endif
 
   // recupero distanze di sicurezza
    double dSafeZ = GetSafeZ() ;
@@ -3788,13 +3812,18 @@ SurfRoughing::AddRoughing( const INTINTVECTOR& vPocket, const Vector3d& vtTool,
   // punto finale del percorso precedente al corrente
    Point3d ptEnd = P_INVALID ;
 
+  // recupero parametro di Feed minima
+   double dMinFeed = GetFeed() / FEED_MAX_REDUCE ;
+   if ( GetValInNotes( m_Params.m_sUserNotes, UN_MINFEED, dMinFeed))
+      dMinFeed = Clamp( dMinFeed, GetFeed() / FEED_MAX_REDUCE, GetFeed()) ;
+
   // scorro il vettore dei piani di pocketing
-   for ( int i = 0 ; i < int( vStepInfo.size()) ; ++ i) {
+   for ( int i = 0 ; i < ssize( vStepInfo) ; ++ i) {
 
      // riferimento alle informazioni relative allo step i-esimo
       StepInfoSR& currStep = vStepInfo[i] ;
      // scorro i percorsi calcolati per il piano di pocketing i-esimo
-      for ( int j = 0 ; j < int( currStep.vPaths.size()) ; ++ j) {
+      for ( int j = 0 ; j < ssize( currStep.vPaths) ; ++ j) {
 
         // riferimento alle informazioni relative al percorso j-esimo del piano di pocketing i-esimo
          PathInfoSR& currPath = currStep.vPaths[j] ;
@@ -3871,17 +3900,18 @@ SurfRoughing::AddRoughing( const INTINTVECTOR& vPocket, const Vector3d& vtTool,
                ICurveLine* pLine = GetCurveLine( pCurve) ;
                Point3d ptP3 = pLine->GetEnd() ;
                Vector3d vtMove ; pLine->GetStartDir( vtMove) ;
+               SetFeed( Clamp( dCoeffFeed * GetFeed(), dMinFeed, GetFeed())) ;
                #if ENABLE_DEBUG_FEEDS
-                  DrawFeed( pLine, dCoeffFeed * GetRightFeed( vtMove, vtTool)) ;
+                  DrawFeed( pCurve->Clone(), dCoeffFeed * GetFeed(), nLayDebugFeed) ;
                #endif
-               SetFeed( dCoeffFeed * GetRightFeed( vtMove, vtTool)) ;
                if ( AddLinearMove( ptP3, bSplitArcs) == GDB_ID_NULL)
                   return false ;
             }
             else if ( pCurve->GetType() == CRV_ARC) {
                ICurveArc* pArc = GetCurveArc( pCurve) ;
+               SetFeed( Clamp( dCoeffFeed * GetFeed(), dMinFeed, GetFeed())) ;
                #if ENABLE_DEBUG_FEEDS
-                  DrawFeed( pArc, dCoeffFeed * GetFeed()) ;
+                  DrawFeed( pCurve->Clone(), dCoeffFeed * GetFeed(), nLayDebugFeed) ;
                #endif
                SetFeed( dCoeffFeed * GetFeed()) ;
                if ( AddCurveMove( pArc, bSplitArcs) == GDB_ID_NULL)
@@ -3894,7 +3924,7 @@ SurfRoughing::AddRoughing( const INTINTVECTOR& vPocket, const Vector3d& vtTool,
                pCurve->GetEndPoint( ptEnd) ;
                Vector3d vtEnd ; pCurve->GetEndDir( vtEnd) ;
               // se sono l'ultima entità globale del percorso
-               if ( i == int( vStepInfo.size()) - 1  &&  j == int( currStep.vPaths.size()) - 1) {
+               if ( i == ssize( vStepInfo) - 1  &&  j == ssize( currStep.vPaths) - 1) {
                  // aggiungo LeadOut
                   Point3d ptP1 ;
                   SetFeed( GetEndFeed()) ;
@@ -3921,6 +3951,9 @@ SurfRoughing::AddRoughing( const INTINTVECTOR& vPocket, const Vector3d& vtTool,
                   }
                  // imposto EndFeed e aggiungo il Link
                   SetFeed( GetEndFeed()) ;
+                  #if ENABLE_DEBUG_FEEDS
+                     DrawFeed( pCrvLink->Clone(), GetEndFeed(), nLayDebugFeed) ;
+                  #endif
                   AddCurveMove( pCrvLink, bSplitArcs) ;
                }
             }
@@ -4113,6 +4146,12 @@ SurfRoughing::AddLeadIn( const Point3d& ptP1, const Point3d& ptStart, const Vect
          PtrOwner<ICurveArc> pArc( CreateCurveArc()) ;
          if ( IsNull( pArc)  ||  ! pArc->Set( ptCen, vtN, dRad, - vtCen, dAngCen, dDeltaN))
             return false ;
+        // dovendo creare l'elica, sono nel materiale, quindi regolo la Feed
+         Vector3d vtTanHelix ; pArc->GetStartDir( vtTanHelix) ;
+         SetFeed( GetRightStartFeed( vtTanHelix, vtN)) ;
+         #if ENABLE_DEBUG_FEEDS
+            DrawFeed( pArc->Clone(), GetRightStartFeed( vtTanHelix, vtN), nLayDebugFeed) ;
+         #endif
         // emetto l'elica (con eventuale spezzatura)
          return ( AddCurveMove( pArc, bSplitArcs, MCH_CL_LEADIN) != GDB_ID_NULL) ;
       }
@@ -4128,14 +4167,30 @@ SurfRoughing::AddLeadIn( const Point3d& ptP1, const Point3d& ptStart, const Vect
       double dStep = - dDeltaN / nStep ;
       Point3d ptPa = ptP1 + vtStart * 0.5 * min( m_Params.m_dLiTang, m_TParams.m_dDiam) ;
       Point3d ptPb = ptP1 - vtStart * 0.5 * min( m_Params.m_dLiTang, m_TParams.m_dDiam) ;
+      Vector3d vtTanZigZag = ( ptPa - vtN * 0.25 * dStep) - ptP1 ;
+      SetFeed( GetRightStartFeed( vtTanZigZag, vtN)) ;
      // verifico se fattibile
       if ( bSkipControl  ||  VerifyLeadInZigZag( pSfr, ptStart, ptPa, ptPb)) {
          for ( int i = 1 ; i <= nStep ; ++ i) {
+            #if ENABLE_DEBUG_FEEDS
+               PtrOwner<ICurveLine> pLine( CreateCurveLine()) ;
+               Point3d ptCurr ; GetCurrPos( ptCurr) ; pLine->Set( ptCurr, ptPa - vtN * ( i - 0.75) * dStep) ;
+               DrawFeed( pLine->Clone(), GetRightStartFeed( vtTanZigZag, vtN), nLayDebugFeed) ;
+            #endif
             if ( AddLinearMove( ptPa - vtN * ( i - 0.75) * dStep, bSplitArcs, MCH_CL_LEADIN) == GDB_ID_NULL)
                return false ;
+            #if ENABLE_DEBUG_FEEDS
+               GetCurrPos( ptCurr) ; pLine->Set( ptCurr, ptPb - vtN * ( i - 0.25) * dStep) ;
+               DrawFeed( pLine->Clone(), GetRightStartFeed( vtTanZigZag, vtN), nLayDebugFeed) ;
+            #endif
             if ( AddLinearMove( ptPb - vtN * ( i - 0.25) * dStep, bSplitArcs, MCH_CL_LEADIN) == GDB_ID_NULL)
                return false ;
          }
+         #if ENABLE_DEBUG_FEEDS
+            PtrOwner<ICurveLine> pLine( CreateCurveLine()) ;
+            Point3d ptCurr ; GetCurrPos( ptCurr) ; pLine->Set( ptCurr, ptStart) ;
+            DrawFeed( pLine->Clone(), GetRightStartFeed( vtTanZigZag, vtN), nLayDebugFeed) ;
+         #endif
          return ( AddLinearMove( ptStart, bSplitArcs, MCH_CL_LEADIN) != GDB_ID_NULL) ;
       }
      // altrimenti diretto
@@ -4170,6 +4225,14 @@ SurfRoughing::AddLeadIn( const Point3d& ptP1, const Point3d& ptStart, const Vect
          double dNini = ( ptP1 - ORIG) * vtN ;
          double dNfin = ( ptStart - ORIG) * vtN ;
          AdjustCurveSlope( pCrv, dNini, dNfin) ;
+        // assegno le Feed
+         Point3d ptS ; pCrv->GetStartPoint( ptS) ;
+         Point3d ptE ; pCrv->GetEndPoint( ptE) ;
+         Vector3d vtFeedMove = ptE - ptS ;
+         SetFeed( GetRightStartFeed( vtFeedMove, vtN)) ;
+         #if ENABLE_DEBUG_FEEDS
+            DrawFeed( pCrv->Clone(), GetRightStartFeed( vtFeedMove, vtN), nLayDebugFeed) ;
+         #endif
         // emetto (con eventuale spezzatura)
          return ( AddCurveMove( pCrv, bSplitArcs, MCH_CL_LEADIN) != GDB_ID_NULL) ;
       }
@@ -4182,6 +4245,17 @@ SurfRoughing::AddLeadIn( const Point3d& ptP1, const Point3d& ptStart, const Vect
       Point3d ptCurr = ptP1 ;
       GetCurrPos( ptCurr) ;
       if ( ! AreSamePointApprox( ptCurr, ptStart)) {
+         Vector3d vtMove = ptStart - ptCurr ; vtMove.Normalize() ;
+         double dElev = 0. ;
+         bool bInMaterial = true ;
+         if ( GetElevation( m_nPhase, ptCurr, ptStart, vtN, GetRadiusForStartEndElevation(), m_TParams.m_dLen, vtN, dElev)  &&  dElev < 10. * EPS_SMALL)
+            bInMaterial = false ;
+        // Feed di Testa
+         SetFeed( bInMaterial ? GetTipFeed() : GetStartFeed()) ;
+         #if ENABLE_DEBUG_FEEDS
+            PtrOwner<ICurveLine> pLine( CreateCurveLine()) ; pLine->Set( ptCurr, ptStart) ;
+            DrawFeed( pLine->Clone(), bInMaterial ? GetTipFeed() : GetStartFeed(), nLayDebugFeed) ;
+         #endif
          if ( AddLinearMove( ptStart, bSplitArcs, MCH_CL_LEADIN) == GDB_ID_NULL)
             return false ;
       }
@@ -4260,6 +4334,24 @@ SurfRoughing::GetRightFeed( const Vector3d& vtMove, const Vector3d& vtTool) cons
    return min( GetFeed(), GetTipFeed() / abs( dCosMove)) ;
 }
 
+//------------------------------------------------------------------
+double
+SurfRoughing::GetRightStartFeed( const Vector3d& vtMove, const Vector3d& vtTool) const
+{
+  // Determino i versori
+   Vector3d vtM = vtMove ;
+   vtM.Normalize() ;
+   Vector3d vtT = vtTool ;
+   vtT.Normalize() ;
+  // Angolo tra movimento e versore utensile
+   double dCosMove = vtM * vtT ;
+  // Se l'utensile non ha movimento significativo di punta, si restituisce la feed standard
+   if ( dCosMove > - COS_ORTO_ANG_SMALL)
+      return GetStartFeed() ;
+  // Altrimenti non si deve superare la massima velocità di punta prevista
+   return min( GetStartFeed(), GetTipFeed() / abs( dCosMove)) ;
+}
+
 //----------------------------------------------------------------------------
 bool
 SurfRoughing::ResetCurveAllTempProp( ICurve* pCurve) const
@@ -4899,15 +4991,19 @@ SurfRoughing::DrawLoopsSurf( const ISurfFlatRegion* pSfr, bool bUniform, Color C
 
 //----------------------------------------------------------------------------
 void
-SurfRoughing::DrawFeed( const ICurve* pCrv, double dFeed) const
+SurfRoughing::DrawFeed( const ICurve* pCrv, double dFeed, int nLay) const
 {
    if ( pCrv == nullptr)
       return ;
 
-   double dMinFeed = GetFeed() * GetSideStep() / m_TParams.m_dDiam ;
+   // recupero parametro di Feed minima
+   double dMinFeed = GetFeed() / FEED_MAX_REDUCE ;
+   if ( GetValInNotes( m_Params.m_sUserNotes, UN_MINFEED, dMinFeed))
+      dMinFeed = Clamp( dMinFeed, GetFeed() / FEED_MAX_REDUCE, GetFeed()) ;
    double myAngle = 120 * ( ( ( dFeed - dMinFeed) / ( GetFeed() - dMinFeed))) ;
-   int nInd = m_pGeomDB->AddGeoObj( GDB_ID_NULL, GDB_ID_ROOT, pCrv->Clone()) ;
+   int nInd = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nLay, pCrv->Clone()) ;
    m_pGeomDB->SetMaterial( nInd, GetColorFromHSV( HSV( myAngle, 1., 1.))) ;
+   return ;
 
    return ;
 }

SurfRoughing.h

@@ -215,6 +215,7 @@ class SurfRoughing : public Machining
                                    ISurfFlatRegion* pSfrSearchCorners) const ;
       bool GetActiveSurfaces( INTVECTOR& vSurfId, INTVECTOR& vSurfSuppId) const ;
       double GetRightFeed( const Vector3d& vtMove, const Vector3d& vtTool) const ;
+      double GetRightStartFeed( const Vector3d& vtMove, const Vector3d& vtTool) const ;
       double GetRadiusForStartEndElevation( void) const ;
       bool ResetCurveAllTempProp( ICurve* pCurve) const ;
       bool RemoveChunksUnderTolerance( ISurfFlatRegion* pSfr, double dTol, ISurfFlatRegion* pSfrLimit, 
@@ -270,7 +271,7 @@ class SurfRoughing : public Machining
 
       /* debug functions */
        void DrawLoopsSurf( const ISurfFlatRegion* pSfr, bool bWithSurf, Color Col, bool bAlphaCoverage, std::string sName) const ;
-       void DrawFeed( const ICurve* pCrv, double dFeed) const ;
+       void DrawFeed( const ICurve* pCrv, double dFeed, int nLay) const ;
        void DrawNormalShaderSurfTm( const ISurfTriMesh* pStm, std::string sName) const ;
       /* end debug functions */
 

ToolUserNotesConst.h

@@ -0,0 +1,22 @@
+//----------------------------------------------------------------------------
+//  EgalTech 2026-2026
+//----------------------------------------------------------------------------
+// File : ToolUserNotesConst.h           Data : 09.04.26        Versione : 3.1d3
+// Contenuto : Costanti per le note utente degli utensili.      
+//
+//
+//
+// Modifiche : 10.11.25 DS Creazione modulo.
+//
+//
+//
+//----------------------------------------------------------------------------
+
+#pragma once
+
+#include <string>
+
+//----------------------------------------------------------------------------
+// Generali
+static const std::string TUN_TH = "TH" ;
+static const std::string TUN_DOUBLE = "DOUBLE" ;