EgtMachKernel :

- aggiunto utensile Vmill Additivo.

Drilling.cpp

@@ -51,6 +51,7 @@ using namespace std ;
 // 2115 = "Error in Drilling : Mirror for Double calculation failed"
 // 2116 = "Error in Drilling : multi drilling head without valid tools"
 // 2117 = "Error in Drilling : incorrect multi drilling head"
+// 2118 = "Error in Drilling : Tool loading failed"
 // 2151 = "Warning in Drilling : Skipped entity (xx)"
 // 2152 = "Warning in Drilling : No machinable path"
 // 2153 = "Warning in Drilling : Tool name changed (xx)"
@@ -96,7 +97,6 @@ struct HoleInfo {
       int nIndInSelVector = 0 ;     // indice nel vettore m_vId (id fori selezionati)
    } ;
 
-
 struct ToolInfo
 {
    const ToolData* pTool ;        // puntatore per utensile (nullo se utensile non presente)
@@ -616,6 +616,12 @@ Drilling::Apply( bool bRecalc, bool bPostApply)
       nDblId = GDB_ID_NULL ;
    }
 
+  // rendo corrente l'utensile usato nella lavorazione
+   if ( ! m_pMchMgr->SetCalcTool( m_TParams.m_sName, m_TParams.m_sHead, m_TParams.m_nExit)) {
+      m_pMchMgr->SetLastError( 2118, "Error in Drilling : Tool loading failed") ;
+      return false ;
+   }
+
   // se lavorazione standard
    if ( m_Params.m_nSubType == DRI_SUB_STD) {
       if ( ! StandardProcess( bRecalc, GDB_ID_NULL, nClId))
@@ -712,28 +718,57 @@ Drilling::Update( bool bPostApply)
    return true ;
 }
 
+//----------------------------------------------------------------------------
+bool
+Drilling::VerifyMultiParallelFixedDrills( void)
+{
+  // se aggregato da sotto, sicuramente con una sola punta
+   bool bAggrBottom = IsAggrBottom( m_TParams.m_sHead) ;
+   if ( bAggrBottom)
+      return false ;
+  // se una sola uscita, inutile continuare
+   int nExitCnt = m_pMchMgr->GetCurrMachine()->GetHeadExitCount( m_TParams.m_sHead) ;
+   if ( nExitCnt == 1)
+      return false ;
+  // verifico che le uscite siano fisse
+   int nSelectType = m_pMchMgr->GetCurrMachine()->GetHeadSelectType( m_TParams.m_sHead) ;
+   if ( nSelectType != MCH_SLT_FIXEDEXITS)
+      return false ;
+  // recupero la direzione dell'utensile principale
+   Point3d ptMainExit ; Vector3d vtMainTool, vtMainAux ;
+   m_pMchMgr->GetCurrMachine()->GetHeadExitPosDirAux( m_TParams.m_sHead, m_TParams.m_nExit, ptMainExit, vtMainTool, vtMainAux) ;
+  // verifico ci sia almeno un'altra uscita attrezzata parallela a quella principale
+   for ( int nT = 0 ; nT < nExitCnt ; ++ nT) {
+      if ( nT + 1 == m_TParams.m_nExit)
+         continue ;
+      string sToolName ;
+      if ( m_pMchMgr->GetLoadedTool( m_TParams.m_sHead, nT + 1, sToolName)  &&  ! sToolName.empty()) {
+         Point3d ptExit ; Vector3d vtTool, vtAux ;
+         if ( m_pMchMgr->GetCurrMachine()->GetHeadExitPosDirAux(m_TParams.m_sHead, nT + 1, ptExit, vtTool, vtAux)  &&
+              AreSameVectorApprox( vtTool, vtMainTool))
+            return true ;
+      }
+   }
+  // non è stato trovato niente
+   return false ;
+}
+
 //----------------------------------------------------------------------------
 bool
 Drilling::StandardProcess( bool bRecalc, int nPvId, int nClId)
 {
-  // controllo se ho più uscite
-   string sCurrHead ;
-   if ( ! m_pMchMgr->GetCurrMachine()->GetCurrHead( sCurrHead))
-      return false ;
-   int nExitCnt = m_pMchMgr->GetCurrMachine()->GetHeadExitCount( sCurrHead) ;
-   TABMHDRILL tabDrills ;
-   double dMHOff = 0 ;
-  // se ho più uscite...
-   if ( nExitCnt > 1) {
-      if ( ! MultiHeadDrilling( nExitCnt, m_vId, nClId, tabDrills, dMHOff))
+  // se ho almeno un'altra punta fissa parallela alla principale ...
+   if ( VerifyMultiParallelFixedDrills()) {
+      TABMHDRILL tabDrills ;
+      double dMHOff = 0 ;
+      if ( ! MultiHeadDrilling( m_vId, nClId, tabDrills, dMHOff))
          return false ;
-      if( tabDrills.size() == 0)
+      if ( tabDrills.empty())
          return true ;
-      int j = 0 ;
       for ( int i = 0 ; i < ( int)tabDrills.size() ; ++i) {
         // se richiesto preview
          if ( nPvId != GDB_ID_NULL) {
-            if ( ! GenerateHolePv( j, m_vId[tabDrills[i][0].nInd_id_hole], MCH_PATH, nClId))
+            if ( ! GenerateHolePv( i, m_vId[tabDrills[i][0].nInd_id_hole], MCH_PATH, nClId))
                return false ;
            // creo la regione di ingombro del foro
             int nDriId = m_pGeomDB->GetFirstInGroup( m_pGeomDB->GetLastGroupInGroup( nPvId)) ;
@@ -741,17 +776,15 @@ Drilling::StandardProcess( bool bRecalc, int nPvId, int nClId)
          }
         // se richiesta lavorazione
          if ( nClId != GDB_ID_NULL) {
-            if ( ! GenerateHoleCl( j, m_vId[tabDrills[i][0].nInd_id_hole], MCH_PATH, nClId, dMHOff, tabDrills[i][0].vtAux))
+            if ( ! GenerateHoleCl( i, m_vId[tabDrills[i][0].nInd_id_hole], MCH_PATH, nClId, dMHOff, tabDrills[i][0].vtAux))
                return false ;
          }
-        // incremento indice
-         ++j ;
       }
       return true ;
    }
   // ... altrimenti elaboro i singoli fori
-   int i = 0 ;
-   for ( const auto& vId : m_vId) {
+   for ( int i = 0 ; i < int( m_vId.size()) ; ++ i) {
+      const auto& vId = m_vId[i] ;
      // se richiesto preview
       if ( nPvId != GDB_ID_NULL) {
          if ( ! GenerateHolePv( i, vId, MCH_PATH, nPvId))
@@ -765,8 +798,6 @@ Drilling::StandardProcess( bool bRecalc, int nPvId, int nClId)
          if ( ! GenerateHoleCl( i, vId, MCH_PATH, nClId))
             return false ;
       }
-     // incremento indice
-      ++i ;
    }
 
    return true ;
@@ -774,29 +805,29 @@ Drilling::StandardProcess( bool bRecalc, int nPvId, int nClId)
 
 //----------------------------------------------------------------------------
 bool 
-Drilling::MultiHeadDrilling( int nExitCnt, const SELVECTOR& vId, int nClId, TABMHDRILL& tabDrills, double& dMHOff, bool bOrd)
+Drilling::MultiHeadDrilling( const SELVECTOR& vId, int nClId, TABMHDRILL& tabDrills, double& dMHOff, bool bOrd)
 {
   // controllo parametri
    tabDrills.clear() ;
    if ( vId.empty())
       return true ;
-
-  // recupero il nome della testa
-   string sHead ;
-   m_pMchMgr->GetCurrMachine()->GetCurrHead( sHead) ;
   
   // gestore degli utensili
    ToolsMgr* pTMgr = m_pMchMgr->GetCurrToolsMgr() ;
    if ( pTMgr == nullptr)
       return false ;
 
+  // recupero il nome della testa e il numero di uscite
+   string sHead ;
+   m_pMchMgr->GetCurrMachine()->GetCurrHead( sHead) ;
+   int nExitCnt = m_pMchMgr->GetCurrMachine()->GetHeadExitCount( sHead) ;
+
   // Recupero i dati degli utensili montati sulla testa
    int nMainToolInd = -1 ;
    VECTORTOOL vTools ; vTools.reserve( nExitCnt) ;
   // ricavo gli utensili presenti sulle uscite
    for ( int nT = 0 ; nT < nExitCnt ; ++ nT) {
       string sToolName ;
-      ToolInfo TInf ;
       if ( ! m_pMchMgr->GetLoadedTool( sHead, nT + 1, sToolName)  ||  sToolName.empty()) {
         // non c'è utensile 
          vTools.emplace_back( nullptr) ;
@@ -816,9 +847,23 @@ Drilling::MultiHeadDrilling( int nExitCnt, const SELVECTOR& vId, int nClId, TABM
       return false ;
    }
 
-  // carico i dati della testa con le sue uscite
+  // recupero i dati dell'uscita dell'utensile principale
    Vector3d vtTool, vtAux ;
+   Point3d ptExit ;
+   m_pMchMgr->GetCurrMachine()->GetHeadExitPosDirAux( sHead, nMainToolInd + 1, ptExit, vtTool, vtAux) ;
+   vTools[nMainToolInd].ptToolTip = ptExit - vtTool * vTools[nMainToolInd].pTool->m_dLen ;
+   if ( vtAux.IsSmall()  &&  m_pMchMgr->GetCurrMachine()->GetCurrRotAxes() == 0)
+      vtAux = FromUprightOrtho( vtTool) ;
+   if ( vtTool.IsSmall()  ||  vtAux.IsSmall()) {
+      m_pMchMgr->SetLastError( 2117, "Error in Drilling : incorrect multi drilling head") ;
+      return false ;
+   }
+
+  // carico gli altri dati della testa con le sue uscite
    for ( int nT = 0 ; nT < nExitCnt ; ++ nT) {
+     // se utensile principale, salto al successivo
+      if ( nT == nMainToolInd)
+         continue ;
      // se non attrezzato, salto al successivo
       if ( vTools[nT].pTool == nullptr)
          continue ;
@@ -826,26 +871,14 @@ Drilling::MultiHeadDrilling( int nExitCnt, const SELVECTOR& vId, int nClId, TABM
       Point3d ptExit ;
       Vector3d vtCurrDir, vtCurrAux ;
       m_pMchMgr->GetCurrMachine()->GetHeadExitPosDirAux( sHead, nT + 1, ptExit, vtCurrDir, vtCurrAux) ;
-     // se utensile successivo
-      if ( ! vtTool.IsSmall()) {
-        // controllo abbia la stessa direzione dei precedenti, altrimenti errore
-         if ( ! AreSameVectorApprox( vtCurrDir, vtTool)) {
-            vtTool = V_NULL ;
-            break ;
-         }
-      }
-     // altrimenti primo utensile
-      else {
-         vtTool = vtCurrDir ;
-         vtAux = vtCurrAux ;
+     // controllo abbia la stessa direzione del principale, altrimenti disattrezzo
+      if ( ! AreSameVectorApprox( vtCurrDir, vtTool)) {
+         vTools[nT].pTool = nullptr ;
+         continue ;
       }
      // assegno tip utensile
       vTools[nT].ptToolTip = ptExit - vtCurrDir * vTools[nT].pTool->m_dLen ;
    }
-   if ( vtTool.IsSmall()  ||  vtAux.IsSmall()) {
-      m_pMchMgr->SetLastError( 2117, "Error in Drilling : incorrect multi drilling head") ;
-      return false ;
-   }
 
   // Recupero le geometrie dei fori
    bool bSomeHoleOk = false ;
@@ -886,7 +919,7 @@ Drilling::MultiHeadDrilling( int nExitCnt, const SELVECTOR& vId, int nClId, TABM
   // i fori con dimensione 0 del vettore vToolHole non possono essere lavorati
    int nNoDrillHoles = 0 ;
    for ( int i = 0 ; i < ( int)vHoles.size() ; ++ i) {
-      if ( vHoles[i].vToolHole.size() == 0)
+      if ( vHoles[i].vToolHole.empty())
          ++ nNoDrillHoles ;
    }
 
@@ -897,10 +930,19 @@ Drilling::MultiHeadDrilling( int nExitCnt, const SELVECTOR& vId, int nClId, TABM
   // numero di fori lavorati
    int nOkHole = 0 ;
 
+  // se c'è un solo foro va sicuramente bene
+   if ( vHoles.size() == 1  &&  ! vHoles[0].vVtAux.empty()) {
+      vHoles[0].bForToolM = true ;
+      vHoles[0].nIndTool = nMainToolInd ;
+      vHoles[0].nIndHoleToolM = 0 ;
+      vHoles[0].vtAux = vHoles[0].vVtAux[0] ;
+   }
+
   // decido in quali fori inserire il tool principale
    for ( int nCheck = 1 ; nCheck < ( int)vHoles.size()  &&  nOkHole < ( int)vHoles.size() - nNoDrillHoles ; ++ nCheck) {
       for ( int i = 0 ; i < ( int)vHoles.size() ; ++i) {
-         if ( vHoles[i].vToolHole.size() == nCheck  &&  ! vHoles[i].bDrill) { // prendo tutti i fori con vToolHope di lunghezza nCheck non già svuotati
+        // prendo tutti i fori con vToolHope di lunghezza nCheck non già lavorati
+         if ( vHoles[i].vToolHole.size() == nCheck  &&  ! vHoles[i].bDrill) {
             vHoles[vHoles[i].vToolHole[0]].bForToolM = true ;
             vHoles[vHoles[i].vToolHole[0]].nIndTool = nMainToolInd ;
             vHoles[vHoles[i].vToolHole[0]].nIndHoleToolM = vHoles[i].vToolHole[0] ;
@@ -1055,6 +1097,8 @@ Drilling::CalcMask( VECTORHOLE& vHoles, const VECTORTOOL& vTools, int nIndMT, co
      // nuova configurazione del versore A ottenuta
       if ( ! m_pMchMgr->GetCalcAuxDirFromAngles( vAng1, vtAnew))
          continue ;
+      if ( vtAnew.IsSmall()  &&  m_pMchMgr->GetCurrMachine()->GetCurrRotAxes() == 0)
+         vtAnew = vtAux ;
 
      // creo un nuovo sistema di riferimento centrato nel Tool principale
       Frame3d frMT ; 
@@ -2066,6 +2110,8 @@ Drilling::DoStandardDrilling( const Hole& hole, SelData Id, int nPathId, double
    GetElevation( m_nPhase, hole.ptIni, hole.vtDir, m_TParams.m_dDiam / 2, hole.vtDir, dElev) ;
   // determino alcune caratteristiche dell'utensile
    double dTExtrLen = max( 0.0, m_TParams.m_dTLen - m_TParams.m_dLen) ;
+  // necessità di spezzatura per robot
+   bool bSplitArcs = GetSplitArcs( V_NULL) ;
   // imposto dati comuni
    SetPathId( nPathId) ;
    SetToolDir( hole.vtDir) ;
@@ -2087,7 +2133,7 @@ Drilling::DoStandardDrilling( const Hole& hole, SelData Id, int nPathId, double
             return false ;
          SetAuxDir( m_vtAggrBottom) ;
          SetFlag( 0) ;
-         if ( AddRapidMove( ptP0, MCH_CL_AGB_IN) == GDB_ID_NULL)
+         if ( AddRapidMove( ptP0, bSplitArcs, MCH_CL_AGB_IN) == GDB_ID_NULL)
             return false ;
       }
       // altrimenti rinvio normale
@@ -2097,7 +2143,7 @@ Drilling::DoStandardDrilling( const Hole& hole, SelData Id, int nPathId, double
             return false ;
          SetFlag( 0) ;
       }
-      if ( AddRapidMove( ptP1) == GDB_ID_NULL)
+      if ( AddRapidMove( ptP1, bSplitArcs) == GDB_ID_NULL)
          return false ;
    }
    else {
@@ -2110,7 +2156,7 @@ Drilling::DoStandardDrilling( const Hole& hole, SelData Id, int nPathId, double
   // 2 -> punto fuori (se diverso dal precedente)
    if ( m_Params.m_dStartPos < dAppr) {
       Point3d ptP2 = hole.ptIni + hole.vtDir * ( m_Params.m_dStartPos + dTExtrLen) ;
-      if ( AddRapidMove( ptP2) == GDB_ID_NULL)
+      if ( AddRapidMove( ptP2, bSplitArcs) == GDB_ID_NULL)
          return false ;
    }
   // 3 -> punto termine velocità ridotta iniziale (se previsto)
@@ -2121,7 +2167,7 @@ Drilling::DoStandardDrilling( const Hole& hole, SelData Id, int nPathId, double
       Point3d ptP3 = hole.ptIni - hole.vtDir * dStartSlowLen ;
       if ( ! bStd  &&  ! bEndSlow)
          ptP3 -= hole.vtDir * dAddLen ;
-      if ( AddLinearMove( ptP3) == GDB_ID_NULL)
+      if ( AddLinearMove( ptP3, bSplitArcs) == GDB_ID_NULL)
          return false ;
    }
   // 4 -> punto termine velocità standard (se risulta)
@@ -2132,7 +2178,7 @@ Drilling::DoStandardDrilling( const Hole& hole, SelData Id, int nPathId, double
       Point3d ptP4 = hole.ptIni - hole.vtDir * ( hole.dLen - dEndSlowLen) ;
       if ( ! bEndSlow)
          ptP4 -= hole.vtDir * dAddLen ;
-      if ( AddLinearMove( ptP4) == GDB_ID_NULL)
+      if ( AddLinearMove( ptP4, bSplitArcs) == GDB_ID_NULL)
          return false ;
    }
   // 5 -> punto termine velocità finale ridotta (se previsto)
@@ -2140,27 +2186,27 @@ Drilling::DoStandardDrilling( const Hole& hole, SelData Id, int nPathId, double
       SetFeed( GetTipFeed()) ;
       SetFlag( 101) ;          // fondo del foro
       Point3d ptP5 = hole.ptIni - hole.vtDir * ( hole.dLen + dAddLen) ;
-      if ( AddLinearMove( ptP5) == GDB_ID_NULL)
+      if ( AddLinearMove( ptP5, bSplitArcs) == GDB_ID_NULL)
          return false ;
    }
   // 6 -> ritorno all'approccio del foro
    SetFeed( GetEndFeed()) ;
    SetFlag( 104) ;             // risalita sopra il foro
-   if ( AddLinearMove( ptP1) == GDB_ID_NULL)
+   if ( AddLinearMove( ptP1, bSplitArcs) == GDB_ID_NULL)
       return false ;
   // 7 -> punto fuori (se uso aggregato da sotto)
    if ( m_bAggrBottom) {
       SetFlag( 0) ;
       Point3d ptP0 = ptP1 + m_vtAggrBottom * ( m_dDistBottom + m_AggrBottom.dEncH + dSafeZ) ;
       Point3d ptP00 = ptP0 + Z_AX * ( m_AggrBottom.dEncV + m_TParams.m_dLen + dAppr + dTExtrLen) ;
-      if ( AddRapidMove( ptP0, MCH_CL_AGB_OUT) == GDB_ID_NULL)
+      if ( AddRapidMove( ptP0, bSplitArcs, MCH_CL_AGB_OUT) == GDB_ID_NULL)
          return false ;
       // se rinvio da sotto che richiede speciale rotazione
       if ( m_AggrBottom.nType == 1) {
          Vector3d vtAux = m_vtAggrBottom ;
          vtAux.Rotate( Z_AX, 0, 1) ;
          SetAuxDir( vtAux) ;
-         if ( AddRapidMove( ptP00, MCH_CL_AGB_UP) == GDB_ID_NULL)
+         if ( AddRapidMove( ptP00, bSplitArcs, MCH_CL_AGB_UP) == GDB_ID_NULL)
             return false ;
       }
    }
@@ -2197,6 +2243,8 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId)
    GetElevation( m_nPhase, hole.ptIni, hole.vtDir, m_TParams.m_dDiam / 2, hole.vtDir, dElev) ;
   // determino alcune caratteristiche dell'utensile
    double dTExtrLen = max( 0.0, m_TParams.m_dTLen - m_TParams.m_dLen) ;
+  // necessità di spezzatura per robot
+   bool bSplitArcs = GetSplitArcs( V_NULL) ;
   // imposto dati comuni
    SetPathId( nPathId) ;
    SetToolDir( hole.vtDir) ;
@@ -2218,7 +2266,7 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId)
             return false ;
          SetFlag( 0) ;
          SetAuxDir( m_vtAggrBottom) ;
-         if ( AddRapidMove( ptP0, MCH_CL_AGB_IN) == GDB_ID_NULL)
+         if ( AddRapidMove( ptP0, bSplitArcs, MCH_CL_AGB_IN) == GDB_ID_NULL)
             return false ;
       }
       // altrimenti rinvio normale
@@ -2228,7 +2276,7 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId)
             return false ;
          SetFlag( 0) ;
       }
-      if ( AddRapidMove( ptP1) == GDB_ID_NULL)
+      if ( AddRapidMove( ptP1, bSplitArcs) == GDB_ID_NULL)
          return false ;
    }
    else {
@@ -2239,7 +2287,7 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId)
   // 2 -> punto fuori (se diverso dal precedente)
    if ( m_Params.m_dStartPos < dAppr) {
       Point3d ptP2 = hole.ptIni + hole.vtDir * ( m_Params.m_dStartPos + dTExtrLen) ;
-      if ( AddRapidMove( ptP2) == GDB_ID_NULL)
+      if ( AddRapidMove( ptP2, bSplitArcs) == GDB_ID_NULL)
          return false ;
    }
   // ciclo di affondamento a step
@@ -2259,13 +2307,13 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId)
          SetFeed( GetEndFeed()) ;
          SetFlag( 103) ;             // punto di scarico truciolo
          Point3d ptPr = hole.ptIni + hole.vtDir * dReturnPos ;
-         if ( AddLinearMove( ptPr) == GDB_ID_NULL)
+         if ( AddLinearMove( ptPr, bSplitArcs) == GDB_ID_NULL)
             return false ;
         // riaffondo
          SetFeed( GetEndFeed()) ;
          SetFlag( 0) ;
          Point3d ptPa = hole.ptIni - hole.vtDir * ( dCurrLen - APPR_STEP) ;
-         if ( AddLinearMove( ptPa) == GDB_ID_NULL)
+         if ( AddLinearMove( ptPa, bSplitArcs) == GDB_ID_NULL)
             return false ;
       }
      // lunghezza di fine step
@@ -2288,7 +2336,7 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId)
          Point3d ptP3 = hole.ptIni - hole.vtDir * dLen ;
          if ( bHoleEnd)
             ptP3 -= hole.vtDir * dAddLen ;
-         if ( AddLinearMove( ptP3) == GDB_ID_NULL)
+         if ( AddLinearMove( ptP3, bSplitArcs) == GDB_ID_NULL)
             return false ;
         // aggiorno posizione e verifico se step completato
          dCurrLen = dLen ;
@@ -2313,7 +2361,7 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId)
          Point3d ptP4 = hole.ptIni - hole.vtDir * dLen ;
          if ( bHoleEnd)
             ptP4 -= hole.vtDir * dAddLen ;
-         if ( AddLinearMove( ptP4) == GDB_ID_NULL)
+         if ( AddLinearMove( ptP4, bSplitArcs) == GDB_ID_NULL)
             return false ;
         // aggiorno posizione e verifico se step completato
          dCurrLen = dLen ;
@@ -2337,7 +2385,7 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId)
          Point3d ptP5 = hole.ptIni - hole.vtDir * dLen ;
          if ( bHoleEnd)
             ptP5 -= hole.vtDir * dAddLen ;
-         if ( AddLinearMove( ptP5) == GDB_ID_NULL)
+         if ( AddLinearMove( ptP5, bSplitArcs) == GDB_ID_NULL)
             return false ;
         // aggiorno posizione
          dCurrLen = dLen ;
@@ -2347,7 +2395,7 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId)
   // 6 -> ritorno all'approccio del foro
    SetFeed( GetEndFeed()) ;
    SetFlag( 104) ;            // risalita sopra il foro
-   if ( AddLinearMove( ptP1) == GDB_ID_NULL)
+   if ( AddLinearMove( ptP1, bSplitArcs) == GDB_ID_NULL)
       return false ;
 
   // 7 -> punto fuori (se uso aggregato da sotto)
@@ -2355,14 +2403,14 @@ Drilling::DoPeckDrilling( const Hole& hole, SelData Id, int nPathId)
       SetFlag( 0) ;
       Point3d ptP0 = ptP1 + m_vtAggrBottom * ( m_dDistBottom + m_AggrBottom.dEncH + dSafeZ) ;
       Point3d ptP00 = ptP0 + Z_AX * ( m_AggrBottom.dEncV + m_TParams.m_dLen + dAppr + dTExtrLen) ;
-      if ( AddRapidMove( ptP0, MCH_CL_AGB_OUT) == GDB_ID_NULL)
+      if ( AddRapidMove( ptP0, bSplitArcs, MCH_CL_AGB_OUT) == GDB_ID_NULL)
          return false ;
       // se rinvio da sotto che richiede speciale rotazione
       if ( m_AggrBottom.nType == 1) {
          Vector3d vtAux = m_vtAggrBottom ;
          vtAux.Rotate( Z_AX, 0, 1) ;
          SetAuxDir( vtAux) ;
-         if ( AddRapidMove( ptP00, MCH_CL_AGB_UP) == GDB_ID_NULL)
+         if ( AddRapidMove( ptP00, bSplitArcs, MCH_CL_AGB_UP) == GDB_ID_NULL)
             return false ;
       }
    }

Drilling.h

@@ -86,11 +86,12 @@ class Drilling : public Machining
       bool VerifyHoleFromBottom( const Hole& hole, SelData Id) ;
       bool DoStandardDrilling( const Hole& hole, SelData Id, int nPathId, double nMHOff, Vector3d vtA) ;
       bool DoPeckDrilling( const Hole& hole, SelData Id, int nPathId) ;
-      bool MultiHeadDrilling( int nExitCnt, const SELVECTOR& vId, int nClId, TABMHDRILL& vDrills, double& dMHOff, bool bOrd = true) ;
+      bool MultiHeadDrilling( const SELVECTOR& vId, int nClId, TABMHDRILL& vDrills, double& dMHOff, bool bOrd = true) ;
       bool CalcMask( VECTORHOLE& vHoles, const VECTORTOOL& vTools, int nIndMT, const Vector3d& vtTool, const Vector3d& vtAux) ;
       bool CheckOtherHolesWithTools( VECTORHOLE& vHoles, const VECTORTOOL& vTools, int nIndTM, int nIndHTM, Hole holeICP,
                                      const Frame3d& frHTM, const Frame3d& frHMTOP, double dDiamToler, int& nDrills) ;
       bool MultiHeadVerifyHole( Hole& hole, const ToolData* Tool, double dDiamToler, SelData Id) ;
+      bool VerifyMultiParallelFixedDrills( void) ;
 
    private :
       double GetSpeed() const

EgtMachKernel.vcxproj

@@ -100,7 +100,7 @@
       <Optimization>Disabled</Optimization>
       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
       <MultiProcessorCompilation>true</MultiProcessorCompilation>
-      <PreprocessorDefinitions>WIN32;_WINDOWS;I_AM_EMK;_VRONI;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <PreprocessorDefinitions>WIN32;_WINDOWS;I_AM_EMK;_DEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <MinimalRebuild>false</MinimalRebuild>
       <OpenMPSupport>false</OpenMPSupport>
       <PrecompiledHeader>Use</PrecompiledHeader>

GeoConst.h

@@ -20,8 +20,9 @@
 const double LIN_TOL_STD = 0.1 ;
 const double LIN_TOL_MID = 0.05 ;
 const double LIN_TOL_RAW = 0.5 ;
-const double ANG_TOL_MAX_DEG = 90 ;
 const double ANG_TOL_STD_DEG = 15 ;
+const double ANG_TOL_MID_DEG = 45 ;
+const double ANG_TOL_MAX_DEG = 90 ;
 const double LIN_FEA_STD = 20 ;
 
 //----------- Costante per offset salva spigoli di lama su cornici curve ----

Head.cpp

@@ -52,6 +52,7 @@ Head::Clone( void) const
             pHead->m_bMaxDeltaR2On1 = m_bMaxDeltaR2On1 ;
             pHead->m_Rot2Stroke = m_Rot2Stroke ;
             pHead->m_nSolCh = m_nSolCh ;
+            pHead->m_vsOtherColl = m_vsOtherColl ;
       }
       catch( ...) {
          delete pHead ;
@@ -73,6 +74,7 @@ Head::Dump( string& sOut, bool bMM, const char* szNewLine) const
    sOut += "ExitCount=" + ToString( m_nExitCount) + szNewLine ;
    sOut += "HSet=" + ToString( m_vsHSet) + szNewLine ;
    sOut += "ADir=" + ToString( m_vtADir) + szNewLine ;
+   sOut += "OtherColl=" + ToString( m_vsOtherColl) + szNewLine ;
    return true ;
 }
 
@@ -103,7 +105,7 @@ Head::GetGeomDB( void) const
 //----------------------------------------------------------------------------
 Head::Head( void)
    : m_nOwnerId( GDB_ID_NULL), m_pGeomDB( nullptr), m_nType( MCH_HT_NONE), m_nExitCount( 0), 
-     m_dRot1W( 1), m_bMaxDeltaR2On1( true), m_nSolCh( MCH_SCC_NONE)
+     m_nSelectType( MCH_SLT_FIXEDEXITS), m_dRot1W( 1), m_bMaxDeltaR2On1( true), m_nSolCh( MCH_SCC_NONE)
 {
    m_Rot2Stroke.Min = - INFINITO ;
    m_Rot2Stroke.Max = INFINITO ;
@@ -111,7 +113,7 @@ Head::Head( void)
 
 //----------------------------------------------------------------------------
 bool
-Head::Set( const string& sName, int nType, int nExitCount, const string& sHSet, const Vector3d& vtADir,
+Head::Set( const string& sName, int nType, int nExitCount, const string& sHSet, int nSelectType, const Vector3d& vtADir,
            double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl)
 {
    m_sName = sName ;
@@ -122,6 +124,10 @@ Head::Set( const string& sName, int nType, int nExitCount, const string& sHSet,
       m_nExitCount = 1 ;
    m_vsHSet.clear() ;
    m_vsHSet.push_back( sHSet) ;
+   if ( nSelectType == MCH_SLT_FIXEDEXITS  ||  nSelectType == MCH_SLT_ONEEXIT  ||  nSelectType == MCH_SLT_MULTIEXITS)
+      m_nSelectType = nSelectType ;
+   else
+      m_nSelectType = MCH_SLT_FIXEDEXITS ;
    m_vtADir = vtADir ;
    m_vtADir.Normalize() ;
    m_dRot1W = dRot1W ;

Head.h

@@ -30,7 +30,7 @@ class Head : public IUserObj
 
    public :
       Head( void) ;
-      bool Set( const std::string& sName, int nType, int nExitCount, const std::string& sHSet,
+      bool Set( const std::string& sName, int nType, int nExitCount, const std::string& sHSet, int nSelectType,
                 const Vector3d& vtADir, double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh,
                 const STRVECTOR& vsOthColl) ;
       bool AddHeadToHSet( const std::string& sHead) ;
@@ -43,6 +43,8 @@ class Head : public IUserObj
                { return m_nExitCount ; }
       const STRVECTOR& GetHSet(void) const
                { return m_vsHSet ; }
+      int GetSelectType( void) const
+               { return m_nSelectType ; }
       const Vector3d& GetADir( void) const
                { return m_vtADir ; }
       double GetRot1W( void) const
@@ -63,6 +65,7 @@ class Head : public IUserObj
       int         m_nType ;
       int         m_nExitCount ;
       STRVECTOR   m_vsHSet ;
+      int         m_nSelectType ;
       Vector3d    m_vtADir ;
       double      m_dRot1W ;
       bool        m_bMaxDeltaR2On1 ;

MachConst.h

@@ -47,6 +47,10 @@ const std::string MACH_RAW_SOLID = "RawSolid" ;
 const std::string MACH_RAW_CENTER = "RawCenter" ;
 // Nome del contorno esterno del grezzo
 const std::string MACH_RAW_OUTLINE = "RawOutline" ;
+// Nome della regione superiore del grezzo
+const std::string MACH_RAW_UP_REG = "RawUpReg" ;
+// Nome della regione inferiore del grezzo
+const std::string MACH_RAW_DOWN_REG = "RawDwnReg" ;
 // Nome del kerf del grezzo
 const std::string MACH_RAW_KERF = "Kerf" ;
 
@@ -131,6 +135,7 @@ const double LIO_ELEV_TOL = 2.0 ;
 //----------------------------------------------------------------------------
 // Per FlatParts (vedi Nesting di EgtExecutor)
 const std::string NST_EXT_LAYER = "OutLoop" ;
+const std::string NST_PARTREG_LAYER = "Region" ;
 
 //----------------------------------------------------------------------------
 // Minima componente zeta di versore utensile per lavorazione da sopra (-45deg)

MachMgr.h

@@ -1,7 +1,7 @@
 //----------------------------------------------------------------------------
-//  EgalTech 2015-2023
+//  EgalTech 2015-2024
 //----------------------------------------------------------------------------
-// File : MachMgr.h           Data : 28.10.23          Versione : 2.5j4
+// File : MachMgr.h           Data : 02.04.24          Versione : 2.6d1
 // Contenuto : Dichiarazione della classe MachMgr.
 //
 //
@@ -13,6 +13,8 @@
 //             21.09.22 DS Aggiunta GetAxisOffset.
 //             25.08.23 DS Aggiunta CopyMachGroup.
 //             28.10.23 DS Aggiunte GetClEntAxesVal e GetToolSetupPosInCurrSetup.
+//             30.03.24 DS Aggiunte GetAllAxesNames e GetCalcTable.
+//             02.04.24 DS Aggiunta GetClEntAxesMask.
 //
 //----------------------------------------------------------------------------
 
@@ -99,6 +101,7 @@ class MachMgr : public IMachMgr
       int  AddMachGroup( const std::string& sName, const std::string& sMachineName) override ;
       int  CopyMachGroup( const std::string& sSouName, const std::string& sName) override ;
       bool RemoveMachGroup( int nId) override ;
+      bool ChangeMachGroupName( int nId, const std::string& sNewName) override ;
       std::string GetMachGroupName( int nId) const override ;
       std::string GetMachGroupMachineName( int nId) const override ;
       int  GetMachGroupId( const std::string& sName) const override ;
@@ -307,6 +310,7 @@ class MachMgr : public IMachMgr
       bool GetClEntMove( int nEntId, int& nMove) const override ;
       bool GetClEntFlag( int nEntId, int& nFlag, int& nFlag2) const override ;
       bool GetClEntIndex( int nEntId, int& nIndex) const override ;
+      bool GetClEntAxesMask( int nEntId, int& nMask) const override ;
       bool GetClEntAxesVal( int nEntId, DBLVECTOR& vAxes) const override ;
      // Simulation
       bool SimInit( void) override ;
@@ -326,9 +330,10 @@ class MachMgr : public IMachMgr
      // Machine Calc
       bool SetCalcTable( const std::string& sTable) override ;
       bool SetCalcTool( const std::string& sTool, const std::string& sHead, int nExit) override ;
-      bool GetAllCurrAxesName( STRVECTOR& vAxName) const override ;
+      bool GetAllCurrAxesNames( STRVECTOR& vAxName) const override ;
       bool SetRotAxisBlock( const std::string& sAxis, double dVal) override ;
       bool GetRotAxisBlocked( int nInd, std::string& sAxis, double& dVal) const override ;
+      bool GetCalcTable( std::string& sTable) const override ;
       bool GetCalcTool( std::string& sTool) const override ;
       bool GetCalcHead( std::string& sHead) const override ;
       bool GetCalcExit( int& nExit) const override ;
@@ -369,6 +374,7 @@ class MachMgr : public IMachMgr
       bool ResetAxisPos( const std::string& sAxis) override ;
       bool ResetAllAxesPos( void) override ;
       bool GetAllTablesNames( STRVECTOR& vNames) const override ;
+      bool GetAllAxesNames( STRVECTOR& vNames) const override ;
       bool GetAllHeadsNames( STRVECTOR& vNames) const override ;
       bool GetAllTcPosNames( STRVECTOR& vNames) const override ;
       bool LoadTool( const std::string& sHead, int nExit, const std::string& sTool) override ;
@@ -439,6 +445,8 @@ class MachMgr : public IMachMgr
       bool GetAllCurrAxesHomePos( DBLVECTOR& vAxHomeVal) const ;
       bool GetCurrAxisHomePos( int nInd, double& dHome) const ;
       const Frame3d& GetCurrLinAxesFrame( void) const ;
+      bool GetCurrIsCenter( void) const ;
+      bool GetCurrIsRobot( void) const ;
       bool ApplyRotAxisBlock( void) ;
       void ClearRotAxisBlock( void)
               { m_vAxisBlock.clear() ; }
@@ -491,6 +499,7 @@ class MachMgr : public IMachMgr
      // RawParts
       int  AddRawPart( int nCrvId, double dOverMat, double dZmin, double dHeight, Color cCol) ;
       int  AddRawPart( int nSurfId, Color cCol) ;
+      int  AddRawPart( int nSurfUpId, int nSurfDownId, double dHeight, Color cCol) ;
       bool SetRawPartCenter( int nRawId) ;
       bool ResetRawPartCenter( int nRawId) ;
      // Parts

MachMgrClEntities.cpp

@@ -75,6 +75,24 @@ MachMgr::GetClEntIndex( int nEntId, int& nIndex) const
    return true ;
 }
 
+//----------------------------------------------------------------------------
+bool
+MachMgr::GetClEntAxesMask( int nEntId, int& nMask) const
+{
+  // default
+   nMask = 0 ;
+  // verifico validita GeomDB
+   if ( m_pGeomDB == nullptr)
+      return false ;
+  // recupero l'oggetto CamData
+   const CamData* pCamData = GetCamData( m_pGeomDB->GetUserObj( nEntId)) ;
+   if ( pCamData == nullptr)
+      return false ;
+  // recupero il tipo di movimento
+   nMask = pCamData->GetAxesMask() ;
+   return true ;
+}
+
 //----------------------------------------------------------------------------
 bool
 MachMgr::GetClEntAxesVal( int nEntId, DBLVECTOR& vAxes) const

MachMgrDBMachinings.cpp

@@ -1,7 +1,7 @@
 //----------------------------------------------------------------------------
-//  EgalTech 2015-2015
+//  EgalTech 2015-2024
 //----------------------------------------------------------------------------
-// File : MachMgrDBMachinings.cpp      Data : 11.11.15       Versione : 1.6k5
+// File : MachMgrDBMachinings.cpp      Data : 29.03.24      Versione : 2.6d1
 // Contenuto : Implementazione gestione DB lavorazioni della classe MachMgr.
 //
 //
@@ -304,6 +304,8 @@ MachMgr::MdbSetGeneralParam( int nType, double dVal)
       return pMsMgr->SetSafeAggrBottZ( dVal) ;
    case MGP_MAXDEPTHSAFE :
       return pMsMgr->SetMaxDepthSafe( dVal) ;
+   case MGP_APPROXLINTOL :
+      return pMsMgr->SetApproxLinTol( dVal) ;
    }
    return false ;
 }
@@ -379,6 +381,9 @@ MachMgr::MdbGetGeneralParam( int nType, double& dVal) const
    case MGP_MAXDEPTHSAFE :
       dVal = pMsMgr->GetMaxDepthSafe() ;
       return true ;
+   case MGP_APPROXLINTOL :
+      dVal = pMsMgr->GetApproxLinTol() ;
+      return true ;
    }
    return false ;
 }

MachMgrDBTools.cpp

@@ -760,6 +760,8 @@ MachMgr::UpdateCustomToolDraw( const ToolData* pTdata, int nGenCtx, int nToolCtx
    pTdata->GetParam( TPA_DIAM, dDiam) ;
    double dDist = 0 ;
    pTdata->GetParam( TPA_DIST, dDist) ;
+   double dSpeed = 0 ;
+   pTdata->GetParam( TPA_SPEED, dSpeed) ;
   // Imposto contesto per il disegno utensile
    if ( ! ExeSetCurrentContext( nToolCtx))
       return TD_INT_ERR ;
@@ -769,6 +771,7 @@ MachMgr::UpdateCustomToolDraw( const ToolData* pTdata, int nGenCtx, int nToolCtx
    bOk = bOk && ExeLuaSetGlobNumVar( "TOOL.LEN", dLen) ;
    bOk = bOk && ExeLuaSetGlobNumVar( "TOOL.DIAM", dDiam) ;
    bOk = bOk && ExeLuaSetGlobNumVar( "TOOL.DIST", dDist) ;
+   bOk = bOk && ExeLuaSetGlobNumVar( "TOOL.SPEED", dSpeed) ;
   // Eseguo aggiornamento utensile
    bOk = bOk && ExeLuaCallFunction( "AdjustCustomTool") ;
   // Recupero errore

MachMgrMachGroups.cpp

@@ -268,44 +268,60 @@ MachMgr::VerifyMachGroup( int nId, MachGrp& mgData) const
   // verifica della macchina
    bool bMName = m_pGeomDB->GetInfo( nId, MACH_MACHINE_KEY, mgData.MGeoName) ;
   // scansiono i sottogruppi
-   PtrOwner<IGdbIterator> pIter( CreateGdbIterator( m_pGeomDB)) ;
-   if ( IsNull( pIter))
-      return false ;
    bool bSetup = false ;
    bool bFixt = false ;
    bool bRaw = false ;
    bool bOper = false ;
-   bool bIter = pIter->GoToFirstGroupInGroup( nId) ;
-   while ( bIter) {
+   int nGrpId = m_pGeomDB->GetFirstGroupInGroup( nId) ;
+   while ( nGrpId != GDB_ID_NULL) {
       string sName ;
-      if ( pIter->GetName( sName)) {
+      if ( m_pGeomDB->GetName( nGrpId, sName)) {
          if ( sName == MACH_SETUP_GROUP) {
             if ( ! bSetup)
-               mgData.SetupGroupId = pIter->GetId() ;
+               mgData.SetupGroupId = nGrpId ;
             bSetup = true ;
          }
          else if ( sName == MACH_FIXT_GROUP) {
             if ( ! bFixt)
-               mgData.FixtGroupId = pIter->GetId() ;
+               mgData.FixtGroupId = nGrpId ;
             bFixt = true ;
          }
          else if ( sName == MACH_RAW_GROUP) {
             if ( ! bRaw)
-               mgData.RawGroupId = pIter->GetId() ;
+               mgData.RawGroupId = nGrpId ;
             bRaw = true ;
          }
          else if ( sName == MACH_OPER_GROUP) {
             if ( ! bOper)
-               mgData.OperGroupId = pIter->GetId() ;
+               mgData.OperGroupId = nGrpId ;
             bOper = true ;
          }
       }
      // passo al successivo
-      bIter = pIter->GoToNextGroup() ;
+      nGrpId = m_pGeomDB->GetNextGroup( nGrpId) ;
    }
    return ( bMName && bSetup && bRaw && bOper) ;
 }
 
+//----------------------------------------------------------------------------
+bool
+MachMgr::ChangeMachGroupName( int nId, const string& sNewName)
+{
+  // verifica del gruppo base per le lavorazioni
+   if ( ! VerifyMachBase())
+      return false ;
+  // verifico che il gruppo ricevuto sia corretto
+   if ( m_pGeomDB->GetParentId( nId) != m_nMachBaseId)
+      return false ;
+  // verifico nome non vuoto e non esista già un gruppo con lo stesso nome
+   if ( &sNewName == nullptr  ||  sNewName.empty()  ||  GetMachGroupId( sNewName) != GDB_ID_NULL)
+      return false ;
+  // cambio il nome del gruppo di lavoro
+   if ( ! m_pGeomDB->SetName( nId, sNewName))
+      return false ;
+   return true ;
+}
+
 //----------------------------------------------------------------------------
 string
 MachMgr::GetMachGroupName( int nId) const
@@ -349,17 +365,14 @@ MachMgr::GetMachGroupId( const string& sName) const
    if ( ! VerifyMachBase())
       return GDB_ID_NULL ;
   // recupero l'identificativo del gruppo con il nome indicato
-   PtrOwner<IGdbIterator> pIter( CreateGdbIterator( m_pGeomDB)) ;
-   if ( IsNull( pIter))
-      return GDB_ID_NULL ;
-   bool bIter = pIter->GoToFirstGroupInGroup( m_nMachBaseId) ;
-   while( bIter) {
+   int nGrpId = m_pGeomDB->GetFirstGroupInGroup( m_nMachBaseId) ;
+   while ( nGrpId != GDB_ID_NULL) {
      // verifico il nome
       string sMGroupName ;
-      if ( pIter->GetName( sMGroupName)  &&  EqualNoCase( sMGroupName, sName))
-         return pIter->GetId() ;
+      if ( m_pGeomDB->GetName( nGrpId, sMGroupName)  &&  EqualNoCase( sMGroupName, sName))
+         return nGrpId ;
      // passo al successivo
-      bIter = pIter->GoToNextGroup() ;
+      nGrpId = m_pGeomDB->GetNextGroup( nGrpId) ;
    }
    return GDB_ID_NULL ;
 }

MachMgrMachines.cpp

@@ -534,6 +534,14 @@ MachMgr::SetCalcSolCh( int nScc, bool bExact)
    return pMch->SetSolCh( nScc, bExact) ;
 }
 
+//----------------------------------------------------------------------------
+bool
+MachMgr::GetCalcTable( string& sTable) const
+{
+   Machine* pMch = GetCurrMachine() ;
+   return ( ( pMch != nullptr) ? pMch->GetCurrTable( sTable) : false) ;
+}
+
 //----------------------------------------------------------------------------
 bool
 MachMgr::GetCalcTool( string& sTool) const
@@ -609,6 +617,17 @@ MachMgr::GetAllTablesNames( STRVECTOR& vNames) const
    return ( ( pMch != nullptr) ? pMch->GetAllTablesNames( vNames) : false) ;
 }
 
+//----------------------------------------------------------------------------
+bool
+MachMgr::GetAllAxesNames( STRVECTOR& vNames) const
+{
+  // pulisco il vettore
+   vNames.clear() ;
+  // richiedo elenco assi alla macchina corrente
+   Machine* pMch = GetCurrMachine() ;
+   return ( ( pMch != nullptr) ? pMch->GetAllAxesNames( vNames) : false) ;
+}
+
 //----------------------------------------------------------------------------
 bool
 MachMgr::GetAllHeadsNames( STRVECTOR& vNames) const
@@ -649,10 +668,10 @@ MachMgr::GetCurrRotAxes( void) const
 
 //----------------------------------------------------------------------------
 bool
-MachMgr::GetAllCurrAxesName( STRVECTOR& vAxName) const
+MachMgr::GetAllCurrAxesNames( STRVECTOR& vAxName) const
 {
    Machine* pMch = GetCurrMachine() ;
-   return ( ( pMch != nullptr) ? pMch->GetAllCurrAxesName( vAxName) : false) ;
+   return ( ( pMch != nullptr) ? pMch->GetAllCurrAxesNames( vAxName) : false) ;
 }
 
 //----------------------------------------------------------------------------
@@ -683,6 +702,26 @@ MachMgr::GetCurrLinAxesFrame( void) const
    return pMch->GetCurrLinAxesFrame() ;
 }
 
+//----------------------------------------------------------------------------
+bool
+MachMgr::GetCurrIsCenter( void) const
+{
+   Machine* pMch = GetCurrMachine() ;
+   if ( pMch == nullptr)
+      return false ;
+   return ( pMch->GetCurrKinematicChainType() == KIN_CHAIN_CENTER) ;
+}
+
+//----------------------------------------------------------------------------
+bool
+MachMgr::GetCurrIsRobot( void) const
+{
+   Machine* pMch = GetCurrMachine() ;
+   if ( pMch == nullptr)
+      return false ;
+   return ( pMch->GetCurrKinematicChainType() == KIN_CHAIN_ROBOT) ;
+}
+
 //----------------------------------------------------------------------------
 bool
 MachMgr::GetCalcAngles( const Vector3d& vtDirT, const Vector3d& vtDirA,

MachMgrRawParts.cpp

@@ -29,6 +29,7 @@
 #include "/EgtDev/Include/EGkStmStandard.h"
 #include "/EgtDev/Include/EGkStmFromCurves.h"
 #include "/EgtDev/Include/EgtPointerOwner.h"
+#include "/EgtDev/Include/EXeConst.h"
 
 using namespace std ;
 
@@ -96,7 +97,7 @@ MachMgr::AddRawPart( const Point3d& ptOrig, double dLen, double dWidth, double d
    m_pGeomDB->SetInfo( nRawId, MACH_RAW_PHASE, m_nCurrPhase) ;
   // creo solido e outline
    bOk = bOk && ModifyRawPart( nRawId, ptOrig, dLen, dWidth, dHeight, cCol) ;
-  // se qualcosa è andato storto, cancello tutto
+  // se qualcosa è andato storto, cancello tutto
    if ( ! bOk) {
       m_pGeomDB->Erase( nRawId) ;
       return GDB_ID_NULL ;
@@ -112,7 +113,7 @@ MachMgr::ModifyRawPart( int nRawId, const Point3d& ptOrig, double dLen, double d
   // le dimensioni non possono essere nulle
    if ( dLen < EPS_SMALL  ||  dWidth < EPS_SMALL  ||  dHeight < EPS_SMALL)
       return false ;
-  // verifica validità grezzo
+  // verifica validità grezzo
    if ( ! VerifyRawPart( nRawId))
       return false ;
   // creo il solido
@@ -171,7 +172,7 @@ MachMgr::AddRawPartWithPart( int nPartId, int nCrvSrfId, double dOverMat, Color
   // verifico il gruppo dei grezzi nella macchinata corrente
    if ( GetCurrRawGroupId() == GDB_ID_NULL)
       return GDB_ID_NULL ;
-  // verifico che il pezzo non sia già usato nella macchinata corrente
+  // verifico che il pezzo non sia già usato nella macchinata corrente
    if ( m_pGeomDB->GetParentId( nPartId) != GDB_ID_ROOT)
       return GDB_ID_NULL ;
   // recupero il tipo di oggetto per definire il grezzo
@@ -180,7 +181,7 @@ MachMgr::AddRawPartWithPart( int nPartId, int nCrvSrfId, double dOverMat, Color
    Point3d ptRef ;
   // costruzione del grezzo
    int nRawId = GDB_ID_NULL ;
-  // se grezzo da superficie (per ora senza possibilità di offset)
+  // se grezzo da superficie (per ora senza possibilità di offset)
    if ( ( nGtype & GEO_SURF) != 0) {
      // inserisco il grezzo
       nRawId = AddRawPart( nCrvSrfId, cCol) ;
@@ -284,7 +285,7 @@ MachMgr::AddRawPart( int nCrvId, double dOverMat, double dZmin, double dHeight,
    m_pGeomDB->SetInfo( nRawId, MACH_RAW_PHASE, m_nCurrPhase) ;
   // creo solido e outline
    bOk = bOk && ModifyRawPart( nRawId, nCrvId, dOverMat, dZmin, dHeight, cCol) ;
-  // se qualcosa è andato storto, cancello tutto
+  // se qualcosa è andato storto, cancello tutto
    if ( ! bOk) {
       m_pGeomDB->Erase( nRawId) ;
       return GDB_ID_NULL ;
@@ -297,7 +298,7 @@ MachMgr::AddRawPart( int nCrvId, double dOverMat, double dZmin, double dHeight,
 bool
 MachMgr::ModifyRawPart( int nRawId, int nCrvId, double dOverMat, double dZmin, double dHeight, Color cCol)
 {
-  // verifica validità grezzo
+  // verifica validità grezzo
    if ( ! VerifyRawPart( nRawId))
       return false ;
   // recupero il riferimento della curva
@@ -321,7 +322,7 @@ MachMgr::ModifyRawPart( int nRawId, int nCrvId, double dOverMat, double dZmin, d
   // la schiaccio a Z = 0
    if ( ! pMyCrv->Scale( Frame3d(), 1, 1, 0))
       return false ;
-  // se non è chiusa, la chiudo
+  // se non è chiusa, la chiudo
    pMyCrv->Close() ;
   // la oriento in senso CCW
    double dAreaXY ;
@@ -375,11 +376,11 @@ MachMgr::AddRawPart( int nSurfId, Color cCol)
    if ( nRawGroupId == GDB_ID_NULL)
       return GDB_ID_NULL ;
   // recupero l'ingombro della superficie in globale
-   BBox3d b3Crv ;
-   if ( ! m_pGeomDB->GetGlobalBBox( nSurfId, b3Crv))
+   BBox3d b3Surf ;
+   if ( ! m_pGeomDB->GetGlobalBBox( nSurfId, b3Surf))
       return GDB_ID_NULL ;
   // inserisco il gruppo del grezzo nella macchinata
-   Frame3d frRaw( b3Crv.GetMin()) ;
+   Frame3d frRaw( b3Surf.GetMin()) ;
    int nRawId = m_pGeomDB->AddGroup( GDB_ID_NULL, nRawGroupId, frRaw) ;
    if ( nRawId == GDB_ID_NULL)
       return GDB_ID_NULL ;
@@ -456,11 +457,11 @@ MachMgr::AddRawPart( int nSurfId, Color cCol)
       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_SOLID) ;
+      bOk = bOk && m_pGeomDB->SetName( nCrvId, MACH_RAW_OUTLINE) ;
      // assegno il colore alla curva
-      bOk = bOk && m_pGeomDB->SetMaterial( nCrvId, cCol) ;
+      bOk = bOk && m_pGeomDB->SetMaterial( nCrvId, cCol) ;     
    }
-  // se qualcosa è andato storto, cancello tutto
+  // se qualcosa è andato storto, cancello tutto
    if ( ! bOk) {
       m_pGeomDB->Erase( nRawId) ;
       return GDB_ID_NULL ;
@@ -471,6 +472,156 @@ MachMgr::AddRawPart( int nSurfId, Color cCol)
    return nRawId ;
 }
 
+//----------------------------------------------------------------------------
+int
+MachMgr::AddRawPart( int nSfrUpId, int nSfrDownId, double dHeight, Color cCol)
+{
+  // recupero il gruppo dei grezzi nella macchinata corrente
+   int nRawGroupId = GetCurrRawGroupId() ;
+   if ( nRawGroupId == GDB_ID_NULL)
+      return GDB_ID_NULL ;
+
+  // recupero l'ingombro della superficie up in globale
+   BBox3d b3Surf ;
+   if ( ! m_pGeomDB->GetGlobalBBox( nSfrUpId, b3Surf))
+      return GDB_ID_NULL ;
+  // inserisco il gruppo del grezzo nella macchinata
+   Frame3d frRaw( b3Surf.GetMin()) ;
+   int nRawId = m_pGeomDB->AddGroup( GDB_ID_NULL, nRawGroupId, frRaw) ;
+   if ( nRawId == GDB_ID_NULL)
+      return GDB_ID_NULL ;
+  // assegno il nome al gruppo
+   bool bOk = m_pGeomDB->SetName( nRawId, MACH_RAW_PART) ;
+  // assegno la fase al gruppo
+   bOk = bOk && m_pGeomDB->SetInfo( nRawId, MACH_RAW_PHASE, m_nCurrPhase) ;
+
+  // recupero il frame originale della superficie up ( deve essere lo stesso della down)
+   Frame3d frSurf ; 
+   bOk = bOk && m_pGeomDB->GetGlobFrame( nSfrUpId, frSurf) ;
+
+  // creo il volume in modo approssimativo a partire dalle due superfici considerando soltanto un'approssimazione dei bordi esterni
+  // regione up  
+   PtrOwner<ISurfFlatRegion> pSurfUp( CloneSurfFlatRegion( m_pGeomDB->GetGeoObj( nSfrUpId))) ;
+   bOk = bOk && ( ! IsNull( pSurfUp)) ;
+   // calcolo offset e contro-offset per unificare i chunk ed eliminare eventuali rientranze nella superficie
+   double dOffs = 8 ;
+   bOk = bOk && pSurfUp->Offset( dOffs, ICurve::OFF_FILLET) ;
+   bOk = bOk && pSurfUp->Offset( -dOffs, ICurve::OFF_FILLET) ;
+   // recupero il chunk di area maggiore
+   int nKMax = 0 ;
+   if ( bOk  &&  pSurfUp->GetChunkCount() > 1) {
+      double dAreaMax = -1 ;
+      for ( int k = 0 ; k < pSurfUp->GetChunkCount() ; k ++) {
+         PtrOwner<ISurfFlatRegion> pSfrChunk( pSurfUp->CloneChunk( k)) ;
+         double dArea = -1 ; pSfrChunk->GetGrossArea( dArea) ;
+         if ( dArea > dAreaMax) {
+            nKMax = k ;
+            dAreaMax = dArea ;
+         }
+      }  
+   }
+   PtrOwner<ICurve> pCrvUp ;
+   bOk = bOk && pCrvUp.Set( pSurfUp->GetLoop( nKMax, 0)) ;
+   bOk = bOk && ( ! IsNull( pCrvUp)) ;
+
+  // regione down
+   PtrOwner<ISurfFlatRegion> pSurfDown( CloneSurfFlatRegion( m_pGeomDB->GetGeoObj( nSfrDownId))) ;
+   bOk = bOk && ( ! IsNull( pSurfDown)) ;
+   bOk = bOk && pSurfDown->Offset( dOffs, ICurve::OFF_FILLET) ;
+   bOk = bOk && pSurfDown->Offset( -dOffs, ICurve::OFF_FILLET) ;
+   nKMax = 0 ;
+   if ( bOk  &&  pSurfDown->GetChunkCount() > 1) {
+      double dAreaMax = -1 ;
+      for ( int k = 0 ; k < pSurfDown->GetChunkCount() ; k ++) {
+         PtrOwner<ISurfFlatRegion> pSfrChunk( pSurfDown->CloneChunk( k)) ;
+         double dArea = -1 ; pSfrChunk->GetGrossArea( dArea) ;
+         if ( dArea > dAreaMax) {
+            nKMax = k ;
+            dAreaMax = dArea ;
+         }
+      }  
+   }
+   PtrOwner<ICurveComposite> pCrvDown ;
+   bOk = bOk && pCrvDown.Set( ConvertCurveToComposite( pSurfDown->GetLoop( nKMax, 0))) ;
+   bOk = bOk && ( ! IsNull( pCrvDown)) ;
+   // sposto il punto di inizio il più vicino possibile a quello della curva up per migliorare il calcolo della rigata  
+   if ( bOk) {
+      Point3d ptS ; pCrvUp->GetStartPoint( ptS) ; 
+      DistPointCurve distPC( ptS, *pCrvDown) ;
+      double dPar ; int nFlag ;
+      bOk = bOk && distPC.GetParamAtMinDistPoint( 0, dPar, nFlag) ;
+      bOk = bOk && pCrvDown->ChangeStartPoint( dPar) ;   
+   }  
+
+  // volume
+   PtrOwner<ISurfTriMesh> pStmRaw ;
+   bOk = bOk && pStmRaw.Set( GetSurfTriMeshByFlatContour( pCrvUp)) ;
+   bOk = bOk && ( ! IsNull( pStmRaw)) ;   
+   PtrOwner<ISurfTriMesh> pStmLat ;
+   bOk = bOk && pStmLat.Set( GetSurfTriMeshRuled( pCrvDown, pCrvUp, ISurfTriMesh::RLT_MINDIST)) ;
+   bOk = bOk && ( ! IsNull( pStmLat)) ;
+   bOk = bOk && pStmRaw->DoSewing( *pStmLat) ;
+   PtrOwner<ISurfTriMesh> pStmDown ;
+   bOk = bOk && pStmDown.Set( GetSurfTriMeshByFlatContour( pCrvDown)) ;
+
+   bOk = bOk && pStmDown->Invert() ;
+   bOk = bOk && pStmRaw->DoSewing( *pStmDown) ;
+   bOk = bOk && pStmRaw->DoCompacting() ;
+   bOk = bOk && pStmRaw->Repair() ;
+   bOk = bOk && pStmRaw->LocToLoc( frSurf, frRaw) ;
+   int nId = bOk ? m_pGeomDB->AddGeoObj( GDB_ID_NULL, nRawId, Release( pStmRaw)) : GDB_ID_NULL ;
+   bOk = bOk && ( nId != GDB_ID_NULL) ;
+  // assegno il nome al solido
+   bOk = bOk && m_pGeomDB->SetName( nId, MACH_RAW_SOLID) ;
+  // assegno il colore al solido
+   bOk = bOk && m_pGeomDB->SetMaterial( nId, cCol) ;
+  // rendo visibile il solido
+   bOk = bOk && m_pGeomDB->SetStatus( nId, GDB_ST_ON) ;
+  // calcolo il punto centro del solido
+   bOk = bOk && SetRawPartCenter( nRawId) ;
+
+   if ( bOk) {
+     // costruisco la curva di contorno
+      PtrOwner<ISurfFlatRegion> pSfrUp( CloneSurfFlatRegion( m_pGeomDB->GetGeoObj( nSfrUpId))) ;
+      PtrOwner<ISurfFlatRegion> pSfrDown( CloneSurfFlatRegion( m_pGeomDB->GetGeoObj( nSfrDownId))) ;
+      bOk = bOk && ( ! IsNull( pSfrUp)) && ( ! IsNull( pSfrDown)) ;
+      if ( bOk) 
+         pSfrUp->Add( *pSfrDown) ;
+      PtrOwner<ICurve> pCrv ;
+      bOk = bOk && pCrv.Set( pSfrUp->GetLoop( 0, 0)) ;
+      bOk = bOk && ( ! IsNull( pCrv)) ;
+      bOk = bOk && pCrv->LocToLoc( frSurf, frRaw) ;
+      int nLoop = bOk ? m_pGeomDB->AddGeoObj( GDB_ID_NULL, nRawId, Release( pCrv)) : GDB_ID_NULL ;
+      bOk = bOk && ( nLoop != GDB_ID_NULL) ;
+      bOk = bOk && ExeMove( {nLoop}, -dHeight * Z_AX, RTY_LOC) ;
+     // assegno il nome alla curva
+      bOk = bOk && m_pGeomDB->SetName( nLoop, MACH_RAW_OUTLINE) ;
+     // assegno il colore alla curva
+      bOk = bOk && m_pGeomDB->SetMaterial( nLoop, cCol) ;
+
+     // recupero le superfici up e down
+      int nSurfUpId = ( bOk ? m_pGeomDB->CopyGlob( nSfrUpId, GDB_ID_NULL, nRawId) : GDB_ID_NULL) ;
+      bOk = bOk && ( nSurfUpId != GDB_ID_NULL) ;
+      bOk = bOk && m_pGeomDB->SetName( nSurfUpId, MACH_RAW_UP_REG) ;
+      bOk = bOk && m_pGeomDB->SetMaterial( nSurfUpId, cCol) ;
+      bOk = bOk && m_pGeomDB->SetStatus( nSurfUpId, GDB_ST_OFF) ;
+      int nSurfDownId = ( bOk ? m_pGeomDB->CopyGlob( nSfrDownId, GDB_ID_NULL, nRawId) : GDB_ID_NULL) ;
+      bOk = bOk && ( nSurfDownId != GDB_ID_NULL) ;
+      bOk = bOk && m_pGeomDB->SetName( nSurfDownId, MACH_RAW_DOWN_REG) ;
+      bOk = bOk && m_pGeomDB->SetMaterial( nSurfDownId, cCol) ;
+      bOk = bOk && m_pGeomDB->SetStatus( nSurfDownId, GDB_ST_OFF) ;
+   }
+
+  // se qualcosa è andato storto, cancello tutto
+   if ( ! bOk) {
+      m_pGeomDB->Erase( nRawId) ;
+      return GDB_ID_NULL ;
+   }
+
+  // tutto ok
+   return nRawId ;
+}
+
 //----------------------------------------------------------------------------
 bool
 MachMgr::ModifyRawPartSize( int nRawId, double dLength, double dWidth, double dHeight)
@@ -478,7 +629,7 @@ MachMgr::ModifyRawPartSize( int nRawId, double dLength, double dWidth, double dH
   // le nuove dimensioni non possono essere nulle
    if ( dLength < EPS_SMALL  ||  dWidth < EPS_SMALL  ||  dHeight < EPS_SMALL)
       return false ;
-  // verifica validità grezzo
+  // verifica validità grezzo
    if ( ! VerifyRawPart( nRawId))
       return false ;
   // recupero il solido del grezzo
@@ -520,10 +671,10 @@ MachMgr::ModifyRawPartSize( int nRawId, double dLength, double dWidth, double dH
 bool
 MachMgr::ModifyRawPartHeight( int nRawId, double dHeight)
 {
-  // la nuova altezza non può essere nulla
+  // la nuova altezza non può essere nulla
    if ( dHeight < EPS_SMALL)
       return false ;
-  // verifica validità grezzo
+  // verifica validità grezzo
    if ( ! VerifyRawPart( nRawId))
       return false ;
   // recupero il solido del grezzo
@@ -552,10 +703,10 @@ MachMgr::GetRawPartPhases( int nRawId, INTVECTOR& vPhase) const
 {
   // pulisco parametro di ritorno
    vPhase.clear() ;
-  // verifica validità grezzo
+  // verifica validità grezzo
    if ( ! VerifyRawPart( nRawId))
       return false ;
-  // recupero le fasi in cui è presente il grezzo (se manca è fase 1)
+  // recupero le fasi in cui è presente il grezzo (se manca è fase 1)
    if ( ! m_pGeomDB->GetInfo( nRawId, MACH_RAW_PHASE, vPhase)  ||  vPhase.empty())
       vPhase.emplace_back( 1) ;
    return true ;
@@ -565,11 +716,11 @@ MachMgr::GetRawPartPhases( int nRawId, INTVECTOR& vPhase) const
 bool
 MachMgr::KeepRawPart( int nRawId, int nSouPhase)
 {
-  // verifico validità e recupero fasi in cui è presente
+  // verifico validità e recupero fasi in cui è presente
    INTVECTOR vPhase ;
    if ( ! GetRawPartPhases( nRawId, vPhase))
       return false ;
-  // se fase corrente già presente, non devo fare alcunché
+  // se fase corrente già presente, non devo fare alcunché
    if ( find( vPhase.begin(), vPhase.end(), m_nCurrPhase) != vPhase.end())
       return true ;
   // aggiungo la fase corrente
@@ -621,7 +772,7 @@ MachMgr::KeepRawPart( int nRawId, int nSouPhase)
 bool
 MachMgr::VerifyRawPartPhase( int nRawId, int nPhase) const
 {
-  // verifico validità e recupero fasi in cui è presente
+  // verifico validità e recupero fasi in cui è presente
    INTVECTOR vPhase ;
    if ( ! GetRawPartPhases( nRawId, vPhase))
       return false ;
@@ -633,11 +784,11 @@ MachMgr::VerifyRawPartPhase( int nRawId, int nPhase) const
 bool
 MachMgr::RemoveRawPartFromCurrPhase( int nRawId)
 {
-  // verifico validità e recupero fasi in cui è presente
+  // verifico validità e recupero fasi in cui è presente
    INTVECTOR vPhase ;
    if ( ! GetRawPartPhases( nRawId, vPhase))
       return false ;
-  // se non appartiene alla fase corrente, non devo fare alcunché
+  // se non appartiene alla fase corrente, non devo fare alcunché
    auto iIter = find( vPhase.begin(), vPhase.end(), m_nCurrPhase) ;
    if ( iIter == vPhase.end())
       return true ;
@@ -664,7 +815,7 @@ MachMgr::RemoveRawPartFromCurrPhase( int nRawId)
 bool
 MachMgr::RemoveRawPart( int nRawId)
 {
-  // verifica validità grezzo
+  // verifica validità grezzo
    if ( ! VerifyRawPart( nRawId))
       return false ;
   // tolgo dalle disposizioni in cui compare gli eventuali movimenti registrati di questo grezzo
@@ -688,7 +839,7 @@ MachMgr::VerifyRawPart( int nRawId, bool bLinkedAllowed) const
    int nRawGroupId = GetCurrRawGroupId() ;
    if ( nRawGroupId != GDB_ID_NULL  &&  m_pGeomDB->GetParentId( nRawId) == nRawGroupId)
       return true ;
-  // se consentito linkaggio ed il grezzo è linkato ad un gruppo della macchina corrente, va bene
+  // se consentito linkaggio ed il grezzo è linkato ad un gruppo della macchina corrente, va bene
    if ( bLinkedAllowed) {
       Machine* pMch = GetCurrMachine() ;
       if ( pMch != nullptr  &&  pMch->IsLinkedRawPart( nRawId))
@@ -808,12 +959,12 @@ MachMgr::ResetRawPartCenter( int nRawId)
 bool
 MachMgr::GetRawPartCenter( int nRawId, Point3d& ptCen)
 {
-  // verifica validità grezzo
+  // verifica validità grezzo
    if ( ! VerifyRawPart( nRawId))
       return false ;
   // cerco di recuperare l'oggetto
    int nGPntId = m_pGeomDB->GetFirstNameInGroup( nRawId, MACH_RAW_CENTER) ;
-  // ne verifico la validità
+  // ne verifico la validità
    int nMode ;
    if ( nGPntId == GDB_ID_NULL  ||
         ! m_pGeomDB->GetMode( nGPntId, nMode)  ||  nMode != GDB_MD_STD) {
@@ -841,7 +992,7 @@ MachMgr::GetRawPartCenter( int nRawId, Point3d& ptCen)
 bool
 MachMgr::GetRawPartBBox( int nRawId, BBox3d& b3Raw)
 {
-  // verifica validità grezzo
+  // verifica validità grezzo
    if ( ! VerifyRawPart( nRawId))
       return false ;
   // recupero solido del grezzo
@@ -849,6 +1000,103 @@ MachMgr::GetRawPartBBox( int nRawId, BBox3d& b3Raw)
    return m_pGeomDB->GetGlobalBBox( nRawSolidId, b3Raw) ;
 }
 
+//---------------------------------------------------------------------------
+static bool
+AssociateSurfs( IGeomDB* pGeomDB, int nSurfUpId, int nSurfDownId, vector<pair<int,int>>& vRawSurfs) 
+{
+  // vRawSurfs contiene tutte le coppie ( id regioneUp, id regioneDown) che definiscono i nuovi grezzi 
+   vRawSurfs.clear() ;
+ 
+   int nUpCnt = ExeSurfFrChunkCount( nSurfUpId) ;
+   int nDownCnt = ExeSurfFrChunkCount( nSurfDownId) ;
+  // se non sono stati creati più grezzi
+   if ( nUpCnt == 1  ||  nDownCnt == 1) {
+      vRawSurfs.emplace_back( nSurfUpId, nSurfDownId) ;
+      return true ;
+   }
+
+   int nUpFirstId = ExeExplodeSurface( nSurfUpId, &nUpCnt) ;
+   int nDownFirstId = ExeExplodeSurface( nSurfDownId, &nDownCnt) ;
+
+  // ad ogni chunk della regione up associo i chunk corrispondenti della regione down
+   INTVECTOR vChunks( nUpCnt, GDB_ID_NULL) ; 
+   for ( int nIdD = nDownFirstId ; nIdD < nDownFirstId + nDownCnt ; nIdD ++) {
+      ISurfFlatRegion* pSfrD = GetSurfFlatRegion( pGeomDB->GetGeoObj( nIdD)) ;
+      if ( pSfrD == nullptr)
+         return false ;
+      BBox3d bBoxD ; ExeGetBBox( nIdD, BBF_STANDARD, bBoxD) ;
+     // inidividuo il chunk della superficie up che interagisce maggiormente con il chunk corrente della superficie down
+      int k = -1 ;
+      double dMaxArea = -1 ; 
+      for ( int j = 0 ; j < nUpCnt ; j ++) {
+         BBox3d bBoxU ; ExeGetBBox( nUpFirstId + j, BBF_STANDARD, bBoxU) ;        
+         if ( bBoxU.OverlapsXY( bBoxD)) {
+            PtrOwner<ISurfFlatRegion> pSfrU( CloneSurfFlatRegion( pGeomDB->GetGeoObj( nUpFirstId + j))) ;
+            if ( IsNull( pSfrU))
+               return false ;
+           // le due superfici sono nello stesso frame
+            pSfrU->Intersect( *pSfrD) ;
+            double dArea = -1 ; pSfrU->GetArea( dArea) ;
+            if ( dArea > dMaxArea) {
+               k = j ;
+               dMaxArea = dArea ;
+            }
+         }          
+      }
+     
+     // aggiorno le superfici con l'associazione trovata
+      if ( k == -1)
+         return false ;
+      if ( vChunks[k] == GDB_ID_NULL)
+         vChunks[k] = nIdD ;
+      else {        
+         ExeSurfFrAdd( vChunks[k], nIdD) ;
+         ExeErase( {nIdD}) ;
+      }        
+   }
+ 
+  // controllo per ogni chunk della superficie up il corrispondente della nuova superficie down
+   for ( int i = 0 ; i < nUpCnt ; i ++) {     
+      ISurfFlatRegion* pSfrU = GetSurfFlatRegion( pGeomDB->GetGeoObj( nUpFirstId + i)) ;
+      if ( pSfrU == nullptr)
+         return false ;
+      BBox3d bBoxU ; ExeGetBBox( nUpFirstId + i, BBF_STANDARD, bBoxU) ;        
+     // individuo il chunk della superficie down che interagisce maggiormente con il chunk corrente della superficie up 
+      int k = -1 ;
+      double dMaxArea = -1 ;
+      for ( int j = 0 ; j < int( vChunks.size()) ; j ++) {        
+         BBox3d bBoxD ; ExeGetBBox( vChunks[j], BBF_STANDARD, bBoxD) ;
+        // se i box interferiscono allora verifico di quanto si sovrappongono le due regioni
+         if ( bBoxD.OverlapsXY( bBoxU)) {
+            PtrOwner<ISurfFlatRegion> pSfrD( CloneSurfFlatRegion( pGeomDB->GetGeoObj( vChunks[j]))) ;
+            if ( IsNull( pSfrD))
+               return false ;
+            pSfrD->Intersect( *pSfrU) ;
+            double dArea = -1 ; pSfrD->GetArea( dArea) ;
+            if ( dArea > dMaxArea) {
+               k = j ;
+               dMaxArea = dArea ;
+            }         
+         }   
+      }
+
+      if ( k == -1)
+         return false ;
+     // se è la stessa associazione individuata da vChunks allora aggiorno il vettore finale dei grezzi
+      if ( k == i)
+         vRawSurfs.emplace_back( nUpFirstId + i, vChunks[i]) ;
+      else {
+        // altrimenti unisco le regioni associate appena individuate sia per la superficie up sia per la down
+         ExeSurfFrAdd( nUpFirstId + k, nUpFirstId + i) ;
+         ExeErase( {nUpFirstId + i}) ;
+         ExeSurfFrAdd( vChunks[k], vChunks[i]) ;
+         ExeErase( {vChunks[i]}) ;      
+      }       
+   }
+
+   return true ;
+}
+
 //----------------------------------------------------------------------------
 int
 MachMgr::SplitFlatRawPartWithMachinings( int nRawId, const INTVECTOR& vMchId)
@@ -872,7 +1120,6 @@ MachMgr::SplitFlatRawPartWithMachinings( int nRawId, const INTVECTOR& vMchId)
    BBox3d b3Raw ;
    if ( ! m_pGeomDB->GetGlobalBBox( nRawSolId, b3Raw))
       return GDB_ID_NULL ;
-   double dZmin = b3Raw.GetMin().z ;
    double dHeight = b3Raw.GetMax().z - b3Raw.GetMin().z ;
    // il colore del grezzo
    Color cCol = AQUA ;
@@ -881,19 +1128,31 @@ MachMgr::SplitFlatRawPartWithMachinings( int nRawId, const INTVECTOR& vMchId)
    Frame3d frRaw ;
    if ( ! m_pGeomDB->GetGroupGlobFrame( nRawId, frRaw))
       return GDB_ID_NULL ;
-
-  // creo la regione del grezzo a partire dal suo contorno
    // recupero il contorno
    int nOutCrvId = m_pGeomDB->GetFirstNameInGroup( nRawId, MACH_RAW_OUTLINE) ;
    if ( nOutCrvId == GDB_ID_NULL)
       return GDB_ID_NULL ;
-   // creo la regione
-   INTVECTOR vCrvIds ;
-   vCrvIds.emplace_back( nOutCrvId) ;
-   int nSfrId = ExeCreateSurfFlatRegion( nRawId, vCrvIds, nullptr) ;
-   if ( nSfrId == GDB_ID_NULL)
-      return GDB_ID_NULL ;
-   m_pGeomDB->SetLevel( nSfrId, GDB_LV_TEMP) ;
+   
+  // creo le regioni inferiore e superiore del grezzo da aggiornare con le lavorazioni
+   int nSfrDownId = GDB_ID_NULL, nSfrUpId = GDB_ID_NULL ;
+   int nSfrDownOrigId = m_pGeomDB->GetFirstNameInGroup( nRawId, MACH_RAW_DOWN_REG) ;
+   int nSfrUpOrigId = m_pGeomDB->GetFirstNameInGroup( nRawId, MACH_RAW_UP_REG) ;
+   if ( nSfrDownOrigId == GDB_ID_NULL  ||  nSfrUpOrigId == GDB_ID_NULL) {
+     // se le regioni del grezzo di partenza non sono definite, le creo a partire dall'outline
+      nSfrDownId = ExeCreateSurfFlatRegion( nRawId, {nOutCrvId}, nullptr) ;
+      if ( nSfrDownId == GDB_ID_NULL)
+         return GDB_ID_NULL ;
+      nSfrUpId = ExeCopyGlob( nSfrDownId, nRawId, GDB_LAST_SON) ;
+      if ( nSfrUpId == GDB_ID_NULL)
+         return GDB_ID_NULL ;
+      ExeMove( { nSfrUpId}, dHeight * Z_AX, RTY_LOC) ;
+   }
+   else {
+      nSfrDownId = ExeCopyGlob( nSfrDownOrigId, nRawId, GDB_LAST_SON) ;
+      nSfrUpId = ExeCopyGlob( nSfrUpOrigId, nRawId, GDB_LAST_SON) ;
+      if ( nSfrDownId == GDB_ID_NULL  ||  nSfrUpId == GDB_ID_NULL)
+         return GDB_ID_NULL ;
+   }
 
   // se esiste il kerf, ne creo la regione
    PtrOwner<ISurfFlatRegion> pSfrKerf ;
@@ -908,7 +1167,8 @@ MachMgr::SplitFlatRawPartWithMachinings( int nRawId, const INTVECTOR& vMchId)
    }
 
   // recupero le regioni delle lavorazioni
-   INTVECTOR vMchRReg ;
+   INTVECTOR vMchRRegUp ;
+   INTVECTOR vMchRRegDown ;
    for ( auto nMchId : vMchId) {
      // recupero gruppo preview lavorazioni nella lavorazione
       int nPVGrp = m_pGeomDB->GetFirstNameInGroup( nMchId, MCH_PV) ;
@@ -916,94 +1176,110 @@ MachMgr::SplitFlatRawPartWithMachinings( int nRawId, const INTVECTOR& vMchId)
          return GDB_ID_NULL ;
      // se vuoto, cerco il rimando al preview nel pezzo
       if ( m_pGeomDB->GetGroupObjs( nPVGrp) == 0  &&
-           ! m_pGeomDB->GetInfo( nPVGrp, MCH_PV_KEY_RELOCATE, nPVGrp))
+         ! m_pGeomDB->GetInfo( nPVGrp, MCH_PV_KEY_RELOCATE, nPVGrp))
          return GDB_ID_NULL ;
      // ciclo sui percorsi utensile (CL)
       int nClId = m_pGeomDB->GetFirstGroupInGroup( nPVGrp) ;
       while ( nClId != GDB_ID_NULL) {
-        // tagli ridotti
-         int nCrId = m_pGeomDB->GetFirstNameInGroup( nClId, MCH_PV_RRCUT) ;
-         while ( nCrId != GDB_ID_NULL) {
-            vMchRReg.emplace_back( nCrId) ;
-            nCrId = m_pGeomDB->GetNextName( nCrId, MCH_PV_RRCUT) ;
-         }
+        // lavorazioni per regione inferiore 
+         int nCrDownId = m_pGeomDB->GetFirstNameInGroup( nClId, MCH_PV_DOWN_RAWCUT) ;
+        // se non esiste la regione inferiore la lavorazione non è passante quindi può essere ignorata
+         if ( nCrDownId != GDB_ID_NULL) {        
+            while ( nCrDownId != GDB_ID_NULL) {
+               vMchRRegDown.emplace_back( nCrDownId) ;
+               nCrDownId = m_pGeomDB->GetNextName( nCrDownId, MCH_PV_DOWN_RAWCUT) ;
+            }
+           // lavorazioni per regione superiore
+            int nCrUpId = m_pGeomDB->GetFirstNameInGroup( nClId, MCH_PV_UP_RAWCUT) ;
+            while ( nCrUpId != GDB_ID_NULL) {
+               vMchRRegUp.emplace_back( nCrUpId) ;
+               nCrUpId = m_pGeomDB->GetNextName( nCrUpId, MCH_PV_UP_RAWCUT) ;
+            }
+         }        
         // passo al successivo percorso utensile
          nClId = m_pGeomDB->GetNextGroup( nClId) ;
       }
    }
 
-  // sottraggo queste regioni a quella del grezzo
-   for ( auto nMchRReg : vMchRReg) {
-      ExeSurfFrSubtract( nSfrId, nMchRReg) ;
-   }
+  // sottraggo le lavorazioni alle superfici del grezzo
+   for ( auto nMchRReg : vMchRRegUp) 
+      ExeSurfFrSubtract( nSfrUpId, nMchRReg) ;   
+   for ( auto nMchRReg : vMchRRegDown)
+      ExeSurfFrSubtract( nSfrDownId, nMchRReg) ;
+
+  // classifico i chunks della regione up e down per individuare le regioni che definiscono i nuovi grezzi 
+   vector<pair<int,int>> vSurfRaws ;
+   AssociateSurfs( m_pGeomDB, nSfrUpId, nSfrDownId, vSurfRaws) ;
 
   // creo i grezzi risultanti
-   // creo i nuovi grezzi
-   INTVECTOR vNewIds ;
-   int nCount ;
-   int nChunk = 0 ;
-   int nFirstLoopId = ExeExtractSurfFrChunkLoops( nSfrId, nChunk, nRawId, &nCount) ;
-   while ( nFirstLoopId != GDB_ID_NULL) {
-     // !!! in attesa di gestire i grezzi con i buchi !!!
-     // cancello le eventuali curve successive (sono i loop interni ovvero i buchi)
-      for ( int i = 1 ; i < nCount ; ++ i) {
-         m_pGeomDB->Erase( nFirstLoopId + i) ;
-      }
-     // dichiaro temporanea la curva
-      m_pGeomDB->SetLevel( nFirstLoopId, GDB_LV_TEMP) ;
-     // creo il grezzo
-      int nId = AddRawPart( nFirstLoopId, 0, dZmin, dHeight, cCol) ;
-      if ( nId == GDB_ID_NULL)
-         return GDB_ID_NULL ;
-      vNewIds.emplace_back( nId) ;
-     // imposto lo stato del contorno di questo grezzo come quello del grezzo di partenza
-      int nStat = GDB_ST_ON ;
-      if ( m_pGeomDB->GetStatus( nOutCrvId, nStat)  &&  nStat == GDB_ST_OFF)
-         m_pGeomDB->SetStatus( m_pGeomDB->GetFirstNameInGroup( nId, MACH_RAW_OUTLINE), nStat) ;
-     // assegno la fase al gruppo
-      m_pGeomDB->SetInfo( nId, MACH_RAW_PHASE, m_nCurrPhase) ;
-     // se esiste il kerf uso questa curva per creare il kerf del nuovo grezzo
-      if ( ! IsNull( pSfrKerf)) {
-        // creo la regione con la curva
-         SurfFlatRegionByContours SfrCntr ;
-         SfrCntr.AddCurve( GetCurve( m_pGeomDB->RemoveGeoObjAndErase( nFirstLoopId))) ;
-         PtrOwner<ISurfFlatRegion> pSfrNewKerf( SfrCntr.GetSurf()) ;
-         if ( IsNull( pSfrNewKerf))
-            return GDB_ID_NULL ;
-        // la limito con la regione di kerf precedente (va bene anche se fallisce)
-         pSfrNewKerf->Intersect( *pSfrKerf) ;
-        // se risultato non vuoto
-         if ( pSfrNewKerf->IsValid()) {
-            // riferimento del nuovo grezzo
-            Frame3d frNewRaw ;
-            if ( ! m_pGeomDB->GetGroupGlobFrame( nId, frNewRaw))
-               return GDB_ID_NULL ;
-           // la porto dal riferimento del grezzo originale al riferimento di questo grezzo
-            pSfrNewKerf->LocToLoc( frRaw, frNewRaw) ;
-           // la porto sulla faccia sopra del grezzo
-            pSfrNewKerf->Translate( Vector3d( 0, 0, dHeight)) ;
-           // recupero il contorno e lo inserisco come kerf del nuovo grezzo
-            PtrOwner<ICurve> pCrv( pSfrNewKerf->GetLoop( 0, 0)) ;
-            int nNewKerfId = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nId, Release( pCrv)) ;
-            if ( nNewKerfId == GDB_ID_NULL)
-               return GDB_ID_NULL ;
-            m_pGeomDB->CopyMaterial( nKerfId, nNewKerfId) ;
-            m_pGeomDB->SetName( nNewKerfId, MACH_RAW_KERF) ;
-         }
-      }
-     // altrimenti la cancello
-      else
-         m_pGeomDB->Erase( nFirstLoopId) ;
-     // passo alla prossima curva
-      ++ nChunk ;
-      nFirstLoopId = ExeExtractSurfFrChunkLoops( nSfrId, nChunk, nRawId, &nCount) ;
-   }
-  // cancello la regione
-   m_pGeomDB->Erase( nSfrId) ;
-  // verifico esista almeno un nuovo grezzo
-   if ( vNewIds.empty())
-      return GDB_ID_NULL ;
+    INTVECTOR vNewIds ;
+    for ( int i = 0 ; i < int( vSurfRaws.size()) ; i++) {
 
+      // aggiungo il grezzo
+       int nId = AddRawPart( vSurfRaws[i].first, vSurfRaws[i].second, dHeight, cCol) ;
+       m_pGeomDB->Erase( vSurfRaws[i].first) ;
+       m_pGeomDB->Erase( vSurfRaws[i].second) ;      
+       if ( nId == GDB_ID_NULL)
+          return GDB_ID_NULL ;
+       vNewIds.emplace_back( nId) ;
+   
+      // imposto lo stato del contorno di questo grezzo come quello del grezzo di partenza
+       int nStat = GDB_ST_ON ;
+       if ( m_pGeomDB->GetStatus( nOutCrvId, nStat)  &&  nStat == GDB_ST_OFF)
+          m_pGeomDB->SetStatus( m_pGeomDB->GetFirstNameInGroup( nId, MACH_RAW_OUTLINE), nStat) ;
+      // assegno la fase al gruppo
+       m_pGeomDB->SetInfo( nId, MACH_RAW_PHASE, m_nCurrPhase) ;
+      // se esiste il kerf uso questa curva per creare il kerf del nuovo grezzo
+       if ( ! IsNull( pSfrKerf)) {
+         // riferimento del nuovo grezzo
+          Frame3d frNewRaw ;
+          if ( ! m_pGeomDB->GetGroupGlobFrame( nId, frNewRaw))
+             return GDB_ID_NULL ;
+         // considero il nuovo kerf come la regione superiore del nuovo grezzo
+          int nSfrUpId = m_pGeomDB->GetFirstNameInGroup( nId, MACH_RAW_UP_REG) ;
+          if ( nSfrUpId == GDB_ID_NULL) 
+             return GDB_ID_NULL ;
+          PtrOwner<ISurfFlatRegion> pSfrNewKerf( CloneSurfFlatRegion( m_pGeomDB->GetGeoObj( nSfrUpId))) ;
+          if ( IsNull( pSfrNewKerf))
+             return GDB_ID_NULL ;
+         // porto nello stesso riferimento del grezzo originale
+          pSfrNewKerf->LocToLoc( frNewRaw, frRaw) ;
+         // la limito con la regione di kerf precedente ( va bene anche se fallisce)
+          pSfrNewKerf->Intersect( *pSfrKerf) ;
+         // se risultato non vuoto
+          if ( pSfrNewKerf->IsValid()) {             
+            // la porto dal riferimento del grezzo originale al riferimento di questo grezzo
+             pSfrNewKerf->LocToLoc( frRaw, frNewRaw) ;
+            // recupero il contorno esterno del chunk più grande e lo inserisco come kerf del nuovo grezzo
+             double dAreaMax = -1 ;
+             int nKMax = 0 ;
+             for ( int k = 0 ; k < pSfrNewKerf->GetChunkCount() ; k ++) {
+                PtrOwner<ISurfFlatRegion> pSfrChunk( pSfrNewKerf->CloneChunk( k)) ;
+                double dArea = -1 ; pSfrChunk->GetGrossArea( dArea) ;
+                if ( dArea > dAreaMax) {
+                   nKMax = k ;
+                   dAreaMax = dArea ;
+                }
+             }
+             PtrOwner<ICurve> pCrv( pSfrNewKerf->GetLoop( nKMax, 0)) ;
+             if ( IsNull( pCrv))
+                return GDB_ID_NULL ;
+             int nNewKerfId = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nId, Release( pCrv)) ;
+             if ( nNewKerfId == GDB_ID_NULL)
+                return GDB_ID_NULL ;
+             m_pGeomDB->CopyMaterial( nKerfId, nNewKerfId) ;
+             m_pGeomDB->SetName( nNewKerfId, MACH_RAW_KERF) ;
+          }
+       }
+    }
+       
+  // cancello le regioni usate per i conti
+   m_pGeomDB->Erase( nSfrUpId) ;
+   m_pGeomDB->Erase( nSfrDownId) ;
+  // verifico esista almeno un nuovo grezzo
+    if ( vNewIds.empty())
+       return GDB_ID_NULL ;
+   
   // inserisco i pezzi del grezzo originale nei nuovi grezzi
    int nGroupId = m_pGeomDB->GetFirstGroupInGroup( nRawId) ;
    while ( nGroupId != GDB_ID_NULL) {
@@ -1013,32 +1289,31 @@ MachMgr::SplitFlatRawPartWithMachinings( int nRawId, const INTVECTOR& vMchId)
         // scambio con pezzo
          int nPartId = SwapRawPartPart( nNewGroupId, true) ;
         // verifico se il pezzo sta nel grezzo
-         int nLayerId = m_pGeomDB->GetFirstNameInGroup( nPartId, NST_EXT_LAYER) ;
+         int nLayerId = m_pGeomDB->GetFirstNameInGroup( nPartId, NST_PARTREG_LAYER) ;
          if ( nLayerId == GDB_ID_NULL  ||  m_pGeomDB->GetGdbType( nLayerId) != GDB_TY_GROUP)
             nLayerId = m_pGeomDB->GetFirstGroupInGroup( nPartId) ;
-         int nEntId = m_pGeomDB->GetFirstInGroup( nLayerId) ;
-         int nEntGeoType = m_pGeomDB->GetGeoType( nEntId) ;
-         Point3d ptTest ;
-         if ( ( ( nEntGeoType & GEO_CURVE) != 0  &&  ExeMidPoint( nEntId, nNewId, ptTest))  ||
-              ( ( nEntGeoType & GEO_CURVE) == 0  &&  ExeCenterPoint( nEntId, nNewId, ptTest))) {
+        // cerco la regione del pezzo
+         int nEntId = m_pGeomDB->GetFirstInGroup( nLayerId) ;          
+         while ( nEntId != GDB_ID_NULL) {
+            int nEntGeoType = m_pGeomDB->GetGeoType( nEntId) ;
+            if ( nEntGeoType == SRF_FLATRGN)
+               break ;
+            nEntId = m_pGeomDB->GetNext( nEntId) ;
+         }
+         if ( nEntId != GDB_ID_NULL) {
+           // verifico se è interna al grezzo
             int nOutCrvId = m_pGeomDB->GetFirstNameInGroup( nNewId, MACH_RAW_OUTLINE) ;
             BBox3d b3Raw ; m_pGeomDB->GetGlobalBBox( nOutCrvId, b3Raw) ;
             double dRawDiam = 0 ; b3Raw.GetDiameter( dRawDiam) ;
             BBox3d b3Part ; m_pGeomDB->GetGlobalBBox( nEntId, b3Part) ;
             double dPartDiam = 0 ; b3Part.GetDiameter( dPartDiam) ;
             if ( dRawDiam > 0.9 * dPartDiam) {
-               ICurve* pCurve = GetCurve( m_pGeomDB->GetGeoObj( nOutCrvId)) ;
-               if ( pCurve != nullptr) {
-                  int nSide ;
-                  double dDist ;
-                  DistPointCurve distPC( ptTest, *pCurve) ;
-                  if ( distPC.GetDist( dDist) &&
-                       ( dDist < 100 * EPS_SMALL  ||  
-                         ( distPC.GetSideAtMinDistPoint( 0, Z_AX, nSide)  &&  nSide != MDS_RIGHT)))
-                     break ;
-               }
-            }
-         }
+               int nSfrUp = m_pGeomDB->GetFirstNameInGroup( nNewId, MACH_RAW_UP_REG) ;
+               if ( ! ExeSurfFrTestExternal( nSfrUp, nEntId, EPS_SMALL))
+                  break ;
+            }          
+         }         
+
         // altrimenti scambio pezzo ed elimino gruppo
          nNewGroupId = SwapRawPartPart( nPartId, false) ;
          m_pGeomDB->Erase( nNewGroupId) ;
@@ -1046,5 +1321,5 @@ MachMgr::SplitFlatRawPartWithMachinings( int nRawId, const INTVECTOR& vMchId)
       nGroupId = m_pGeomDB->GetNextGroup( nGroupId) ;
    }
 
-   return vNewIds[0] ;
+   return vNewIds[0] ; 
 }

MachMgrSimulation.cpp

@@ -198,7 +198,7 @@ MachMgr::SimMoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
 {
   // verifico simulatore
    if ( m_pSimul == nullptr)
-      return false ;
+      return SIM_AXMV_RES_ERR ;
   // lancio movimento assi
    return m_pSimul->MoveAxes( nMoveType, vAxNaEpSt) ;
 }

Machine.cpp

@@ -58,6 +58,8 @@ Machine::Machine( void)
    m_nHeadRotAxes = 0 ;
    m_nHeadSpecRotAxis = -1 ;
    m_frLinAx.Reset( false) ;
+   m_frRobot.Reset( false) ;
+   m_nCalcChainType = KIN_CHAIN_NONE ;
    m_nMachineLook = MCH_LOOK_NONE ;
 }
 
@@ -141,6 +143,8 @@ Machine::Init( const string& sMachineName, const string& sMachineDir, MachMgr* p
    m_nMachineLook = ( bOk ? MCH_LOOK_ALL : MCH_LOOK_NONE) ;
   // metto tutti gli assi in posizione home
    bOk = bOk && ResetAllAxesPos() ;
+  // reset catena cinematica corrente
+   m_nCalcChainType = KIN_CHAIN_NONE ;
    return bOk ;
 }
 
@@ -209,7 +213,7 @@ Machine::AdjustAuxGeometry( const STRVECTOR& vsAux, int nLay)
 bool
 Machine::LoadMachineTable( const string& sName, const string& sParent, int nType,
                            const Point3d& ptRef1, double dCoeffX, double dCoeffY, double dCoeffZ,
-                           const string& sGeo, const STRVECTOR& vsAux)
+                           const STRVECTOR& vsColl, const string& sGeo, const STRVECTOR& vsAux)
 {
   // recupero pezzo e layer della geometria originale della tavola
    string sPart, sLay ;
@@ -248,7 +252,7 @@ Machine::LoadMachineTable( const string& sName, const string& sParent, int nType
    Table* pTab = new(nothrow) Table ;
    if ( pTab == nullptr)
       return false ;
-   pTab->Set( sName, nType, ptRef1, b3Area1) ;
+   pTab->Set( sName, nType, ptRef1, b3Area1, vsColl) ;
    m_pGeomDB->SetUserObj( nLay, pTab) ;
   // lo inserisco nel dizionario dei gruppi della macchina
    return m_mapGroups.emplace( sName, nLay).second ;
@@ -544,7 +548,7 @@ Machine::LoadMachineStdHead( const string& sName, const string& sParent, const s
    Head* pHead = new(nothrow) Head ;
    if ( pHead == nullptr)
       return false ;
-   pHead->Set( sName, MCH_HT_STD, 1, sHSet, vtADir, dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl) ;
+   pHead->Set( sName, MCH_HT_STD, 1, sHSet, 0, vtADir, dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl) ;
    m_pGeomDB->SetUserObj( nLay, pHead) ;
   // aggiorno la testa capostipite
    if ( ! AddHeadToSet( sHSet, sName))
@@ -564,7 +568,7 @@ Machine::LoadMachineStdHead( const string& sName, const string& sParent, const s
 //----------------------------------------------------------------------------
 bool
 Machine::LoadMachineMultiHead( const string& sName, const string& sParent, const string& sHSet,
-                               const MUEXITVECTOR& vMuExit, const Vector3d& vtADir,
+                               int nSelectType, const MUEXITVECTOR& vMuExit, const Vector3d& vtADir,
                                double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
                                const string& sGeo, const STRVECTOR& vsAux)
 {
@@ -593,7 +597,8 @@ Machine::LoadMachineMultiHead( const string& sName, const string& sParent, const
    Head* pHead = new(nothrow) Head ;
    if ( pHead == nullptr)
       return false ;
-   pHead->Set( sName, MCH_HT_MULTI, int( vMuExit.size()), sHSet, vtADir, dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl) ;
+   pHead->Set( sName, MCH_HT_MULTI, int( vMuExit.size()), sHSet, nSelectType,
+               vtADir, dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl) ;
    m_pGeomDB->SetUserObj( nLay, pHead) ;
   // aggiorno la testa capostipite
    if ( ! AddHeadToSet( sHSet, sName))
@@ -640,7 +645,7 @@ Machine::LoadMachineSpecialHead( const string& sName, const string& sParent, con
    Head* pHead = new(nothrow) Head ;
    if ( pHead == nullptr)
       return false ;
-   pHead->Set( sName, MCH_HT_SPECIAL, 1, sHSet, vtADir, dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl) ;
+   pHead->Set( sName, MCH_HT_SPECIAL, 1, sHSet, 0, vtADir, dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl) ;
    m_pGeomDB->SetUserObj( nLay, pHead) ;
   // aggiorno la testa capostipite
    if ( ! AddHeadToSet( sHSet, sName))
@@ -1062,6 +1067,8 @@ Machine::SetLook( int nFlag)
       nTabId = GetFirstTable() ;
    if ( nTabId == GDB_ID_NULL)
       return false ;
+  // il gruppo tavola corrente deve essere sempre visibile
+   m_pGeomDB->SetStatus( nTabId, GDB_ST_ON) ;
   // nascondo o visualizzo i fratelli e tutti i fratelli degli ascendenti della tavola
    bool bTabOnly = ( nFlag != MCH_LOOK_ALL) ;
    int nTabCurrId = nTabId ;

Machine.h

@@ -53,7 +53,7 @@ class Machine
       int  GetHeadId( const std::string& sHead) const
              { int nId = GetGroup( sHead) ;
                return ( IsHeadGroup( nId) ? nId : GDB_ID_NULL) ; }
-      int GetExitId( const std::string& sHead, int nExit) const
+      int  GetExitId( const std::string& sHead, int nExit) const
              { int nHeadId = GetHeadId( sHead) ;
                int nId = ( m_pGeomDB != nullptr ? m_pGeomDB->GetFirstNameInGroup( nHeadId, MCH_EXIT + ToString( nExit)) : GDB_ID_NULL) ;
                return ( IsExitGroup( nId) ? nId : GDB_ID_NULL) ; }
@@ -61,12 +61,14 @@ class Machine
              { int nId = GetGroup( sTcPos) ;
                return ( IsTcPosGroup( nId) ? nId : GDB_ID_NULL) ; }
       bool GetAllTablesNames( STRVECTOR& vNames) const ;
+      bool GetAllAxesNames( STRVECTOR& vNames) const ;
       bool GetAllHeadsNames( STRVECTOR& vNames) const ;
       bool GetAllTcPosNames( STRVECTOR& vNames) const ;
       int  GetFirstTable( void) const ;
       int  GetHeadExitCount( const std::string& sHead) const ;
       int  GetHeadExitPosDirAux( const std::string& sHead, int nExit, Point3d& ptPos, Vector3d& vtDir, Vector3d& vtAux) const ;
       int  GetHeadSolCh( const std::string& sHead) const ;
+      int  GetHeadSelectType(const std::string& sHead) const ;
       double GetAngDeltaMinForHome( void) const
                { return m_dAngDeltaMinForHome ; }
       bool LoadTool( const std::string& sHead, int nExit, const std::string& sTool) ;
@@ -96,6 +98,7 @@ class Machine
       bool GetCurrTableArea1( BBox3d& b3Area1) const ;
       bool GetCurrTableDeltaRef1( Vector3d& vtDelta1) const ;
       bool GetCurrTableIsTilting( bool& bTilting, Vector3d& vtTiltingAx) const ;
+      bool GetCurrTableCollGroups( INTVECTOR& vIds) const ;
       bool SetCurrTool( const std::string& sTool, const std::string& sHead, int nExit) ;
       bool ResetCurrTool( void) ;
       int  GetCurrTool( void) const ;
@@ -120,9 +123,9 @@ class Machine
       int  GetCurrLinAxes( void) const ;
       int  GetCurrRotAxes( void) const ;
       bool GetCurrAxisName( int nInd, std::string& sAxName) const ;
-      bool GetAllCurrAxesName( STRVECTOR& vAxName) const ;
+      bool GetAllCurrAxesNames( STRVECTOR& vAxName) const ;
       bool GetCurrAxisToken( int nInd, std::string& sAxToken) const ;
-      bool GetAllCurrAxesToken( STRVECTOR& vAxToken) const ;
+      bool GetAllCurrAxesTokens( STRVECTOR& vAxToken) const ;
       bool GetCurrAxisMin( int nInd, double& dMin) const ;
       bool GetCurrAxisMax( int nInd, double& dMax) const ;
       bool GetCurrAxisOffset( int nInd, double& dOffset) const ;
@@ -131,12 +134,16 @@ class Machine
       bool GetAllCurrAxesHomePos( DBLVECTOR& vAxHomeVal) const ;
       const Frame3d& GetCurrLinAxesFrame( void) const
                         { return m_frLinAx ; }
+      int  GetCurrKinematicChainType( void) const
+               { return m_nCalcChainType ; }         
       bool GetAngles( const Vector3d& vtDirT, const Vector3d& vtDirA,
                       int& nStat, double& dAngA1, double& dAngB1, double& dAngA2, double& dAngB2) const ;
       bool GetAngles( const Vector3d& vtDirT, const Vector3d& vtDirA,
                       int& nStat, DBLVECTOR& vAng1, DBLVECTOR& vAng2) const ;
       bool GetPositions( const Point3d& ptP, const DBLVECTOR& vAng,
                          int& nStat, double& dX, double& dY, double& dZ) const ;
+      bool GetRobotAngles( const Point3d& ptP, const Vector3d& vtDirT, const Vector3d& vtDirA,
+                           DBLVECTOR& vAng1, DBLVECTOR& vAng2) const ;
       bool GetNoseFromPositions( double dX, double dY, double dZ, const DBLVECTOR& vAng,
                                  Point3d& ptNose) const ;
       bool GetTipFromPositions( double dX, double dY, double dZ, const DBLVECTOR& vAng,
@@ -192,7 +199,7 @@ class Machine
       bool AdjustAuxGeometry( const STRVECTOR& vsAux, int nLay) ;
       bool LoadMachineTable( const std::string& sName, const std::string& sParent, int nType,
                              const Point3d& ptRef1, double dCoeffX, double dCoeffY, double dCoeffZ,
-                             const std::string& sGeo, const STRVECTOR& vsAux) ;
+                             const STRVECTOR& vsColl, const std::string& sGeo, const STRVECTOR& vsAux) ;
       bool AdjustTable( int nLay, const Point3d& ptRef1) ;
       bool LoadMachineAxis( const std::string& sName, const std::string& sParent, const std::string& sToken, bool bInvert,
                             double dOffset, int nType, const Point3d& ptPos, const Vector3d& vtDir, const STROKE& Stroke,
@@ -208,7 +215,7 @@ class Machine
                                double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
                                const std::string& sGeo, const STRVECTOR& vsAux) ;
       bool LoadMachineMultiHead( const std::string& sName, const std::string& sParent, const std::string& sHSet,
-                                 const MUEXITVECTOR& vMuExit, const Vector3d& vtADir,
+                                 int nSelectType, const MUEXITVECTOR& vMuExit, const Vector3d& vtADir,
                                  double dRot1W, bool bMaxDeltaR2On1, const STROKE& Rot2Stroke, int nSolCh, const STRVECTOR& vsOthColl,
                                  const std::string& sGeo, const STRVECTOR& vsAux) ;
       bool LoadMachineSpecialHead( const std::string& sName, const std::string& sParent, const std::string& sHSet,
@@ -310,6 +317,10 @@ class Machine
       KINAXISVECTOR m_vCalcLinAx ;           // vettore assi lineari attivi per calcoli
       KINAXISVECTOR m_vCalcRotAx ;           // vettore assi rotanti attivi per calcoli
       Frame3d       m_frLinAx ;              // sistema di riferimento definito dagli assi lineari
+      Frame3d       m_frRobot ;              // sistema di riferimento canonico del robot
+      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 OutStroke m_OutstrokeInfo ;    // informazioni su ultima extra corsa
       // stato di visualizzazione
       int           m_nMachineLook ;         // stato di visualizzazione della macchina

MachineAxes.cpp

@@ -23,6 +23,22 @@
 
 using namespace std ;
 
+//----------------------------------------------------------------------------
+bool
+Machine::GetAllAxesNames( STRVECTOR& vNames) const
+{
+  // reset lista nomi
+   vNames.clear() ;
+  // ricerca degli assi
+   for ( const auto& snGro : m_mapGroups) {
+      if ( IsAxisGroup( snGro.second))
+         vNames.push_back( snGro.first) ;
+   }
+  // ordino alfabeticamente
+   sort( vNames.begin(), vNames.end()) ;
+   return true ;
+}
+
 //----------------------------------------------------------------------------
 bool
 Machine::GetAxisToken( const string& sAxis, string& sToken) const

MachineCalc.cpp

@@ -71,6 +71,8 @@ Machine::SetCurrTable( const string& sTable)
       m_nCalcTabId = GDB_ID_NULL ;
       return false ;
    }
+  // il gruppo tavola corrente deve essere sempre visibile
+   m_pGeomDB->SetStatus( m_nCalcTabId, GDB_ST_ON) ;
   // lancio eventuale funzione lua di personalizzazione
    if ( LuaExistsFunction( ON_SET_TABLE)) {
      // salvo eventuale variabile EMC_VAR già presente
@@ -212,6 +214,31 @@ Machine::GetCurrTableIsTilting( bool& bTilting, Vector3d& vtTiltingAx) const
    return true ;
 }
 
+//----------------------------------------------------------------------------
+bool
+Machine::GetCurrTableCollGroups( INTVECTOR& vIds) const
+{
+  // controllo GeomDB
+   if ( m_pGeomDB == nullptr)
+      return false ;
+  // recupero la tavola corrente
+   Table* pTab = GetTable( m_nCalcTabId) ;
+   if ( pTab == nullptr)
+      return false ;
+  // recupero stringhe con gruppi ausiliari di collisione
+   const STRVECTOR& vsColl = pTab->GetCollGroups() ;
+   for ( const auto& sColl : vsColl) {
+      string sGrp, sSub ;
+      Split( sColl, "/", true, sGrp, sSub) ;
+      int nId = GetGroup( sGrp) ;
+      if ( ! sSub.empty()  &&  nId != GDB_ID_NULL)
+        nId = m_pGeomDB->GetFirstNameInGroup( nId, sSub) ;
+      if ( nId != GDB_ID_NULL)
+         vIds.push_back( nId) ;
+   }
+   return true ;
+}
+
 //----------------------------------------------------------------------------
 bool
 Machine::SetCurrTool( const string& sTool, const string& sHead, int nExit)
@@ -466,14 +493,15 @@ Machine::CalculateKinematicChain( void)
    m_nHeadSpecRotAxis = -1 ;
    m_vCalcLinAx.clear() ;
    m_vCalcRotAx.clear() ;
+   m_frLinAx.Reset( false) ;
+   m_frRobot.Reset( false) ;
+   m_nCalcChainType = KIN_CHAIN_NONE ;
   // recupero gli assi di tavola
    if ( m_nCalcTabId == GDB_ID_NULL)
       return false ;
    int nTParId = m_pGeomDB->GetParentId( m_nCalcTabId) ;
    if ( nTParId == GDB_ID_NULL)
       return false ;
-   m_nTabLinAxes = 0 ;
-   m_nTabRotAxes = 0 ;
    while ( IsAxisGroup( nTParId)) {
       if ( ! AddKinematicAxis( false, nTParId))
          return false ;
@@ -485,14 +513,75 @@ Machine::CalculateKinematicChain( void)
    int nHParId = m_pGeomDB->GetParentId( m_nCalcHeadId) ;
    if ( nHParId == GDB_ID_NULL)
       return false ;
-   m_nHeadLinAxes = 0 ;
-   m_nHeadRotAxes = 0 ;
    while ( IsAxisGroup( nHParId)) {
       if ( ! AddKinematicAxis( true, nHParId))
          return false ;
       nHParId = m_pGeomDB->GetParentId( nHParId) ;
    }
 
+  // se non ci sono assi, né lineari né rotanti, sicuramente errore
+   if ( m_nTabLinAxes == 0  &&  m_nHeadLinAxes == 0  &&
+        m_nTabRotAxes == 0  &&  m_nHeadRotAxes == 0) {
+      LOG_ERROR( GetEMkLogger(), "Errors in Axes : none have been found")
+      return false ;
+   }
+
+  // se nessun asse lineare deve essere un robot (in futuro va permesso un lineare di tavola)
+   if ( m_nTabLinAxes == 0  &&  m_nHeadLinAxes == 0) {
+     // verifico ci siano 6 assi rotanti tutti di testa (in futuro va permesso un rotante di tavola) 
+      if ( m_nTabRotAxes != 0  ||  m_nHeadRotAxes != 6) {
+         LOG_ERROR( GetEMkLogger(), "Robot with errors in Rotary Axes : number or type")
+         return false ;
+      }
+     // riordino gli assi rotanti
+      swap( m_vCalcRotAx[0], m_vCalcRotAx[5]) ;
+      swap( m_vCalcRotAx[1], m_vCalcRotAx[4]) ;
+      swap( m_vCalcRotAx[2], m_vCalcRotAx[3]) ;
+     // determino il riferimento canonico del robot
+      if ( ! m_frRobot.Set( m_vCalcRotAx[0].ptPos, m_vCalcRotAx[0].vtDir, m_vCalcRotAx[3].vtDir)) {
+         LOG_ERROR( GetEMkLogger(), "Robot with errors in Rotary Axes : impossible canonic frame")
+         return false ;
+      }
+     // porto tutti gli assi cinematici e i dati testa nel riferimento canonico
+      for ( int i = 0 ; i < m_nHeadRotAxes ; ++ i) {
+         m_vCalcRotAx[i].ptPos.ToLoc( m_frRobot) ;
+         m_vCalcRotAx[i].vtDir.ToLoc( m_frRobot) ;
+      }
+      m_ptCalcPos.ToLoc( m_frRobot) ;
+      m_vtCalcDir.ToLoc( m_frRobot) ;
+      m_vtCalcADir.ToLoc( m_frRobot) ;
+     // direzione assi rotanti deve essere Z Y Y X Y X
+      if ( ! m_vCalcRotAx[0].vtDir.IsZ()  ||
+           ! m_vCalcRotAx[1].vtDir.IsY()  ||
+           ! m_vCalcRotAx[2].vtDir.IsY()  ||
+           ! m_vCalcRotAx[3].vtDir.IsX()  ||
+           ! m_vCalcRotAx[4].vtDir.IsY()  ||
+           ! m_vCalcRotAx[5].vtDir.IsX()) {
+         LOG_ERROR( GetEMkLogger(), "Robot with errors in Rotary Axes : not ZYY-XYX")
+         return false ;
+      }
+     // verifico che gli ultimi 3 assi formino un polso sferico (ovvero passino per uno stesso punto)
+      if ( abs( m_vCalcRotAx[3].ptPos.y - m_vCalcRotAx[5].ptPos.y) > EPS_SMALL  ||
+           abs( m_vCalcRotAx[3].ptPos.z - m_vCalcRotAx[5].ptPos.z) > EPS_SMALL  ||
+           abs( m_vCalcRotAx[4].ptPos.z - m_vCalcRotAx[3].ptPos.z) > EPS_SMALL) {
+         LOG_ERROR( GetEMkLogger(), "Robot with errors in Rotary Axes : not spherical Wrist")
+         return false ;
+      }
+     // calcolo il centro del polso in coordinate globali (R5.x, R6.y, R5.z)
+      Point3d ptCenG( m_vCalcRotAx[4].ptPos.x, m_vCalcRotAx[5].ptPos.y, m_vCalcRotAx[4].ptPos.z) ;
+     // recupero il riferimento dell'uscita (da posizione, direzione utensile e direzione ausiliaria)
+      Frame3d frExit ;
+      if ( ! frExit.Set( m_ptCalcPos, m_vtCalcDir, m_vtCalcADir))
+         return false ;
+     // calcolo il centro del polso in locale a questo riferimento
+      m_ptWristCen = GetToLoc( ptCenG, frExit) ;
+     // calcolo la direzione di riferimento del polso in locale a questo riferimento
+      m_vtWristRef = GetToLoc( m_vCalcRotAx[5].vtDir, frExit) ;
+     // dichiaro tipo robot
+      m_nCalcChainType = KIN_CHAIN_ROBOT ;
+      return true ;
+   }
+
   // verifiche sugli assi lineari :
    // aggiusto gli indici di ordine sulla sua catena cinematica (1-based)
    for ( int i = 0 ; i < int( m_vCalcLinAx.size()) ; ++ i) {
@@ -531,7 +620,6 @@ Machine::CalculateKinematicChain( void)
    }
 
   // verifiche sugli assi rotanti :
-   bool bOk = false ;
    // aggiusto gli indici di ordine sulla sua catena cinematica (1-based)
    for ( int i = 0 ; i < int( m_vCalcRotAx.size()) ; ++ i) {
       if ( m_vCalcRotAx[i].bHead)
@@ -541,7 +629,7 @@ Machine::CalculateKinematicChain( void)
    }
    // se 0 o 1 va bene
    if ( m_vCalcRotAx.size() <= 1)
-      bOk = true ;
+      ;
    // se 2 va bene
    else if ( m_vCalcRotAx.size() == 2) {
      // se entrambi di testa devo invertirne l'ordine
@@ -555,7 +643,6 @@ Machine::CalculateKinematicChain( void)
             m_vCalcRotAx[1].stroke.Max = min( m_vCalcRotAx[1].stroke.Max, pHead->GetRot2Stroke().Max) ;
          }
       }
-      bOk = true ;
    }
    // se 3 va bene ( uno dovrà poi avere valore assegnato)
    else if ( m_vCalcRotAx.size() == 3) {
@@ -578,10 +665,13 @@ Machine::CalculateKinematicChain( void)
             m_vCalcRotAx[n2ndHeadRotAx].stroke.Max = min( m_vCalcRotAx[n2ndHeadRotAx].stroke.Max, pHead->GetRot2Stroke().Max) ;
          }
       }
-      bOk = true ;
    }
-   if ( ! bOk)
+   // se più di 3
+   else {
+     // altrimenti non ancora gestito, quindi errore
+      LOG_ERROR( GetEMkLogger(), "Rotary Axes not manageable")
       return false ;
+   }
    // verifico esistenza eventuale asse rotante speciale di testa
    if ( m_nHeadRotAxes > 0  &&  m_nHeadLinAxes > 0) {
      // indice di posizione primo asse di testa
@@ -617,11 +707,9 @@ Machine::CalculateKinematicChain( void)
          }
       }
    }
+  // dichiaro tipo centro di lavoro
+   m_nCalcChainType = KIN_CHAIN_CENTER ;
    return true ;
-
-  // altrimenti non ancora gestito, quindi errore
-   LOG_ERROR( GetEMkLogger(), "Rotary Axes not manageable")
-   return false ;
 }
 
 //----------------------------------------------------------------------------
@@ -1193,6 +1281,10 @@ Machine::GetDirection( const Vector3d& vtDir, const DBLVECTOR& vAng, Vector3d& v
          vtNew.Rotate( m_vCalcRotAx[i-1].vtDir, vAng[i-1]) ;
    }
 
+  // nel caso di robot devo passare dal riferimento canonico robot a quello di macchina
+   if ( m_nCalcChainType == KIN_CHAIN_ROBOT)
+      vtNew.ToGlob( m_frRobot) ;
+
    return true ;
 }
 
@@ -1230,26 +1322,46 @@ Machine::GetNoseFromPositions( double dX, double dY, double dZ, const DBLVECTOR&
   // la posizione deve essere espressa rispetto allo ZERO MACCHINA
   // è espressa nel riferimento di macchina (tiene conto delle sole traslazioni e rotazioni di testa)
 
-  // aggiorno posizione testa a riposo mediante ciclo inverso sugli assi rotanti di testa
-   ptNose = m_ptCalcPos ;
-   for ( int i = int( m_vCalcRotAx.size()) - 1 ; i >= 0 ; -- i) {
-     // se asse di testa non speciale
-      if ( m_vCalcRotAx[i].bHead  &&  i != m_nHeadSpecRotAxis)
-         ptNose.Rotate( m_vCalcRotAx[i].ptPos, m_vCalcRotAx[i].vtDir, vAng[i]) ;
+  // verifico dimensione vettore angoli rispetto al numero di assi rotanti
+   if ( vAng.size() < m_vCalcRotAx.size())
+      return false ;
+
+  // se centro di lavoro
+   if ( m_nCalcChainType == KIN_CHAIN_CENTER) {
+     // aggiorno posizione testa a riposo mediante ciclo inverso sugli assi rotanti di testa
+      ptNose = m_ptCalcPos ;
+      for ( int i = int( m_vCalcRotAx.size()) - 1 ; i >= 0 ; -- i) {
+        // se asse di testa non speciale
+         if ( m_vCalcRotAx[i].bHead  &&  i != m_nHeadSpecRotAxis)
+            ptNose.Rotate( m_vCalcRotAx[i].ptPos, m_vCalcRotAx[i].vtDir, vAng[i]) ;
+      }
+     // aggiorno posizione testa con assi lineari di testa
+      DBLVECTOR vMov( {dX, dY, dZ}) ;
+      for ( int i = 0 ; i < int( m_vCalcLinAx.size()) ; ++ i) {
+         if ( m_vCalcLinAx[i].bHead)
+            ptNose += m_vCalcLinAx[i].vtDir * vMov[i] ;
+      }
+     // eseguo rotazione eventuale asse rotante speciale di testa
+      if ( m_nHeadSpecRotAxis != -1) {
+         if ( m_nHeadSpecRotAxis < 0  ||  m_nHeadSpecRotAxis >= int( m_vCalcRotAx.size()))
+            return false ;
+         int i = m_nHeadSpecRotAxis ;
+         ptNose.Rotate( m_vCalcRotAx[i].ptPos, m_vCalcRotAx[i].vtDir, vAng[i]) ; 
+      }
    }
-  // aggiorno posizione testa con assi lineari di testa
-   DBLVECTOR vMov( {dX, dY, dZ}) ;
-   for ( int i = 0 ; i < int( m_vCalcLinAx.size()) ; ++ i) {
-      if ( m_vCalcLinAx[i].bHead)
-         ptNose += m_vCalcLinAx[i].vtDir * vMov[i] ;
-   }
-  // eseguo rotazione eventuale asse rotante speciale di testa
-   if ( m_nHeadSpecRotAxis != -1) {
-      if ( m_nHeadSpecRotAxis < 0  ||  m_nHeadSpecRotAxis >= int( m_vCalcRotAx.size()))
-         return false ;
-      int i = m_nHeadSpecRotAxis ;
-      ptNose.Rotate( m_vCalcRotAx[i].ptPos, m_vCalcRotAx[i].vtDir, vAng[i]) ; 
+  // se robot
+   else if ( m_nCalcChainType == KIN_CHAIN_ROBOT) {
+     // aggiorno posizione testa a riposo mediante ciclo inverso sugli assi rotanti di testa
+      ptNose = m_ptCalcPos ;
+      for ( int i = int( m_vCalcRotAx.size()) - 1 ; i >= 0 ; -- i) {
+        // se asse di testa
+         if ( m_vCalcRotAx[i].bHead)
+            ptNose.Rotate( m_vCalcRotAx[i].ptPos, m_vCalcRotAx[i].vtDir, vAng[i]) ;
+      }
    }
+  // altrimenti errore
+   else
+      return false ;
 
    return true ;
 }
@@ -1262,26 +1374,50 @@ Machine::GetTipFromPositions( double dX, double dY, double dZ, const DBLVECTOR&
   // la posizione deve essere espressa rispetto allo ZERO MACCHINA
   // è espressa nel riferimento di macchina (tiene conto delle sole rotazioni di testa)
 
-  // aggiorno posizione tip utensile a riposo mediante ciclo inverso sugli assi rotanti di testa
-   ptTip = m_ptCalcPos - m_vtCalcDir * m_dCalcTLen ;
-   for ( int i = int( m_vCalcRotAx.size()) - 1 ; i >= 0 ; -- i) {
-     // se asse di testa non speciale
-      if ( m_vCalcRotAx[i].bHead  &&  i != m_nHeadSpecRotAxis)
-         ptTip.Rotate( m_vCalcRotAx[i].ptPos, m_vCalcRotAx[i].vtDir, vAng[i]) ;
+  // verifico dimensione vettore angoli rispetto al numero di assi rotanti
+   if ( vAng.size() < m_vCalcRotAx.size())
+      return false ;
+
+  // se centro di lavoro
+   if ( m_nCalcChainType == KIN_CHAIN_CENTER) {
+     // aggiorno posizione tip utensile a riposo mediante ciclo inverso sugli assi rotanti di testa
+      ptTip = m_ptCalcPos - m_vtCalcDir * m_dCalcTLen ;
+      for ( int i = int( m_vCalcRotAx.size()) - 1 ; i >= 0 ; -- i) {
+        // se asse di testa non speciale
+         if ( m_vCalcRotAx[i].bHead  &&  i != m_nHeadSpecRotAxis)
+            ptTip.Rotate( m_vCalcRotAx[i].ptPos, m_vCalcRotAx[i].vtDir, vAng[i]) ;
+      }
+     // aggiorno posizione tip utensile  con assi lineari di testa
+      DBLVECTOR vMov( {dX, dY, dZ}) ;
+      for ( int i = 0 ; i < int( m_vCalcLinAx.size()) ; ++ i) {
+         if ( m_vCalcLinAx[i].bHead)
+            ptTip += m_vCalcLinAx[i].vtDir * vMov[i] ;
+      }
+     // eseguo rotazione eventuale asse rotante speciale di testa
+      if ( m_nHeadSpecRotAxis != -1) {
+         if ( m_nHeadSpecRotAxis < 0  ||  m_nHeadSpecRotAxis >= int( m_vCalcRotAx.size()))
+            return false ;
+         int i = m_nHeadSpecRotAxis ;
+         ptTip.Rotate( m_vCalcRotAx[i].ptPos, m_vCalcRotAx[i].vtDir, vAng[i]) ; 
+      }
    }
-  // aggiorno posizione tip utensile  con assi lineari di testa
-   DBLVECTOR vMov( {dX, dY, dZ}) ;
-   for ( int i = 0 ; i < int( m_vCalcLinAx.size()) ; ++ i) {
-      if ( m_vCalcLinAx[i].bHead)
-         ptTip += m_vCalcLinAx[i].vtDir * vMov[i] ;
-   }
-  // eseguo rotazione eventuale asse rotante speciale di testa
-   if ( m_nHeadSpecRotAxis != -1) {
-      if ( m_nHeadSpecRotAxis < 0  ||  m_nHeadSpecRotAxis >= int( m_vCalcRotAx.size()))
-         return false ;
-      int i = m_nHeadSpecRotAxis ;
-      ptTip.Rotate( m_vCalcRotAx[i].ptPos, m_vCalcRotAx[i].vtDir, vAng[i]) ; 
+  // se robot
+   else if ( m_nCalcChainType == KIN_CHAIN_ROBOT) {
+     // aggiorno posizione tip utensile a riposo mediante ciclo inverso sugli assi rotanti di testa
+      ptTip = m_ptCalcPos - m_vtCalcDir * m_dCalcTLen ;
+      for ( int i = int( m_vCalcRotAx.size()) - 1 ; i >= 0 ; -- i) {
+        // se asse di testa
+         if ( m_vCalcRotAx[i].bHead)
+            ptTip.Rotate( m_vCalcRotAx[i].ptPos, m_vCalcRotAx[i].vtDir, vAng[i]) ;
+      }
    }
+  // altrimenti errore
+   else
+      return false ;
+
+  // nel caso di robot devo passare dal riferimento canonico robot a quello di macchina
+   if ( m_nCalcChainType == KIN_CHAIN_ROBOT)
+      ptTip.ToGlob( m_frRobot) ;
 
   // Se richiesto ingombro totale o punto sotto del tip utensile
    if ( bOverall  ||  bBottom) {
@@ -1717,7 +1853,7 @@ Machine::GetCurrAxisName( int nInd, string& sAxName) const
 
 //----------------------------------------------------------------------------
 bool
-Machine::GetAllCurrAxesName( STRVECTOR& vAxName) const
+Machine::GetAllCurrAxesNames( STRVECTOR& vAxName) const
 {
    vAxName.clear() ;
    bool bOk = true ;
@@ -1766,7 +1902,7 @@ Machine::GetCurrAxisToken( int nInd, string& sAxToken) const
 
 //----------------------------------------------------------------------------
 bool
-Machine::GetAllCurrAxesToken( STRVECTOR& vAxToken) const
+Machine::GetAllCurrAxesTokens( STRVECTOR& vAxToken) const
 {
    vAxToken.clear() ;
    bool bOk = true ;
@@ -1928,3 +2064,111 @@ Machine::GetAllCurrAxesHomePos( DBLVECTOR& vAxHomeVal) const
    }
    return bOk ;
 }
+
+//----------------------------------------------------------------------------
+bool
+Machine::GetRobotAngles( const Point3d& ptP, const Vector3d& vtDirT, const Vector3d& vtDirA,
+                         DBLVECTOR& vAng1, DBLVECTOR& vAng2) const
+{
+  // pulisco il risultato
+   vAng1.clear() ;
+   vAng2.clear() ;
+  // porto i dati nel riferimento robot
+   Point3d ptPL = GetToLoc( ptP, m_frRobot) ;
+   Vector3d vtDirTL = GetToLoc( vtDirT, m_frRobot) ;
+   Vector3d vtDirAL = GetToLoc( vtDirA, m_frRobot) ;
+  // riferimento utensile
+   Frame3d frTool ;
+   frTool.Set( ORIG, vtDirTL, vtDirAL) ;
+  // 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() ;
+  // 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() ;
+  // calcolo il primo asse rotante
+   Vector3d vtArm = ptCen - m_vCalcRotAx[0].ptPos ;
+   double dAng1 ; bool bDet1 ;
+   if ( ! X_AX.GetRotation( vtArm, m_vCalcRotAx[0].vtDir, EPS_SMALL, dAng1, bDet1)  ||  ! bDet1) {
+      LOG_ERROR( GetEMkLogger(), "Error : direction unreachable (robot)")
+      return false ;
+   }
+   vAng1.push_back( dAng1) ;
+   vAng2.push_back( dAng1) ;
+  // calcolo secondo e terzo asse rotante
+   Point3d ptR2 = m_vCalcRotAx[1].ptPos ;
+   ptR2.Rotate( m_vCalcRotAx[0].ptPos, m_vCalcRotAx[0].vtDir, dAng1) ;
+   Vector3d vtR2 = m_vCalcRotAx[1].vtDir ;
+   vtR2.Rotate( m_vCalcRotAx[0].vtDir, dAng1) ;
+   Vector3d vtR2Cen = ptCen - ( ptR2 + ( ptCen - ptR2) * vtR2 * vtR2) ; 
+   double dDistR2Cen = vtR2Cen.Len() ;
+   double dDistR2R3 = m_vCalcRotAx[2].ptPos.z - m_vCalcRotAx[1].ptPos.z ;
+   Vector3d vtR3R5 = m_vCalcRotAx[4].ptPos - m_vCalcRotAx[2].ptPos ; vtR3R5.y = 0 ;
+   double dDistR3R5 = vtR3R5.Len() ;
+   double dAngR3R5 = atan2( vtR3R5.z, vtR3R5.x) * RADTODEG ;
+   double dCosB = ( dDistR2R3 * dDistR2R3 + dDistR2Cen * dDistR2Cen - dDistR3R5 * dDistR3R5) / ( 2 * dDistR2R3 * dDistR2Cen) ;
+   double dCosC = ( dDistR3R5 * dDistR3R5 + dDistR2Cen * dDistR2Cen - dDistR2R3 * dDistR2R3) / ( 2 * dDistR3R5 * dDistR2Cen) ;
+   if ( abs( dCosB) > 1  ||  abs( dCosC) > 1) {
+      LOG_ERROR( GetEMkLogger(), "Error : position unreachable (robot)")
+      return false ;
+   }
+   double dAngB = acos( dCosB) * RADTODEG ;
+   double dAng2 ; bool bDet2 ;
+   if ( ! Z_AX.GetRotation( vtR2Cen, vtR2, EPS_SMALL, dAng2, bDet2)  ||  ! bDet2) {
+      LOG_ERROR( GetEMkLogger(), "Error : R2 not calculable (robot)")
+      return false ;
+   }
+   dAng2 -= dAngB ;
+   vAng1.push_back( dAng2) ;
+   vAng2.push_back( dAng2) ;
+   double dAngC = acos( dCosC) * RADTODEG ;
+   double dAng3 = dAngB + dAngC + dAngR3R5 - ANG_RIGHT ;
+   vAng1.push_back( dAng3) ;
+   vAng2.push_back( dAng3) ;
+  // calcolo i primi due assi rotanti del polso
+   Frame3d frWrist ;
+   frWrist.Set( m_vCalcRotAx[3].ptPos, m_vCalcRotAx[3].vtDir, m_vCalcRotAx[4].vtDir ^ m_vCalcRotAx[3].vtDir) ;
+   frWrist.Rotate( m_vCalcRotAx[2].ptPos, m_vCalcRotAx[2].vtDir, dAng3) ;
+   frWrist.Rotate( m_vCalcRotAx[1].ptPos, m_vCalcRotAx[1].vtDir, dAng2) ;
+   frWrist.Rotate( m_vCalcRotAx[0].ptPos, m_vCalcRotAx[0].vtDir, dAng1) ;
+   Vector3d vtCenL = GetToLoc( vtCen, frWrist) ;
+   double dAng4, dAng5 ;
+   vtCenL.ToSpherical( nullptr, &dAng5, &dAng4) ;
+   if ( dAng4 > ANG_STRAIGHT)
+      dAng4 -= ANG_FULL ;
+   if ( dAng4 > ANG_RIGHT) {
+      dAng4 -= ANG_STRAIGHT ;
+      dAng5 = -dAng5 ;
+   }
+   else if ( dAng4 < -ANG_RIGHT) {
+      dAng4 += ANG_STRAIGHT ;
+      dAng5 = -dAng5 ;
+   }
+   vAng1.push_back( dAng4) ;
+   vAng1.push_back( dAng5) ;
+   vAng2.push_back( dAng4 + ( dAng4 > EPS_ANG_ZERO ? -ANG_STRAIGHT : ANG_STRAIGHT)) ;
+   vAng2.push_back( -dAng5) ;
+  // calcolo il terzo asse rotante del polso
+   Vector3d vtR6 = m_vCalcRotAx[5].vtDir ;
+   for ( int i = 4; i >= 0 ; --i)
+      vtR6.Rotate( m_vCalcRotAx[i].vtDir, vAng1[i]) ;
+   Vector3d vtTool = m_vtCalcDir ;
+   for ( int i = 4; i >= 0 ; --i)
+      vtTool.Rotate( m_vCalcRotAx[i].vtDir, vAng1[i]) ;
+   double dAng6 ; bool bDet6 ;
+   if ( ! vtTool.GetRotation( vtDirTL, vtR6, EPS_SMALL, dAng6, bDet6)  ||  ! bDet6) {
+      Vector3d vtAux = m_vtCalcADir ;
+      for ( int i = 4; i >= 0 ; --i)
+         vtAux.Rotate( m_vCalcRotAx[i].vtDir, vAng1[i]) ;
+      if ( ! vtAux.GetRotation( vtDirAL, vtR6, EPS_SMALL, dAng6, bDet6)  ||  ! bDet6) {
+         LOG_ERROR( GetEMkLogger(), "Error : R6 not calculable (robot)")
+         return false ;      
+      }
+   }
+   vAng1.push_back( dAng6) ;
+   vAng2.push_back( dAng6 + ( dAng6 > EPS_ANG_ZERO ? -ANG_STRAIGHT : ANG_STRAIGHT)) ;
+
+   return true ;
+}

MachineHeads.cpp

@@ -98,6 +98,18 @@ Machine::GetHeadSolCh( const string& sHead) const
    return pHead->GetSolCh() ;
 }
 
+//----------------------------------------------------------------------------
+int
+Machine::GetHeadSelectType( const string& sHead) const
+{
+  // recupero testa
+   Head* pHead = GetHead( GetGroup( sHead)) ;
+   if ( pHead == nullptr)
+      return MCH_SCC_NONE ;
+  // recupero tipo di selezione delle uscite della testa
+   return pHead->GetSelectType() ;
+}
+
 //----------------------------------------------------------------------------
 bool
 Machine::LoadTool( const string& sHead, int nExit, const string& sTool)

MachineLua.cpp

@@ -51,6 +51,7 @@ static const string FLD_STROKE = "Stroke" ;
 static const string FLD_HOME = "Home" ;
 static const string FLD_ADJUSTAUX = "AdjustAux" ;
 static const string FLD_HSET = "HSet" ;
+static const string FLD_SEL_TYPE = "SelType" ;
 static const string FLD_TDIR = "TDir" ;
 static const string FLD_ADIR = "ADir" ;
 static const string FLD_ROT1W = "Rot1W" ;
@@ -58,6 +59,7 @@ static const string FLD_MAXDELTAR2ON1 = "MaxDeltaR2OnFirst" ;
 static const string FLD_ROT2STROKE = "Rot2Stroke" ;
 static const string FLD_SOLCH = "SolCh" ;
 static const string FLD_OTHCOLL = "OthColl" ;
+static const string FLD_COLL = "Coll" ;
 
 //----------------------------------------------------------------------------
 Machine* Machine::m_pMchLua = nullptr ;
@@ -451,6 +453,9 @@ Machine::LuaEmtTable( lua_State* L)
   // lettura eventuale campo 'Scale' dalla tabella
    double vScale[3] = {1.0, 1.0, 1.0} ;
    LuaGetTabFieldParam( L, 1, FLD_SCALE, vScale) ;
+  // lettura eventuale campo 'Coll' dalla tabella
+   STRVECTOR vsColl ;
+   LuaGetTabFieldParam( L, 1, FLD_COLL, vsColl) ;
   // lettura campo 'Geo' dalla tabella
    string sGeo ;
    LuaCheckTabFieldParam( L, 1, FLD_GEO, sGeo)
@@ -468,7 +473,7 @@ Machine::LuaEmtTable( lua_State* L)
       return luaL_error( L, " Unknown Machine") ;
 
   // carico i dati della tavola
-   if ( ! m_pMchLua->LoadMachineTable( sName, sParent, nType, Ref1, vScale[0], vScale[1], vScale[2], sGeo, vsAux))
+   if ( ! m_pMchLua->LoadMachineTable( sName, sParent, nType, Ref1, vScale[0], vScale[1], vScale[2], vsColl, sGeo, vsAux))
       return luaL_error( L, " Load Machine Table failed") ;
 
   // restituisco l'indice della tavola
@@ -660,6 +665,9 @@ Machine::LuaEmtMultiHead( lua_State* L)
   // lettura campo 'HSet' dalla tabella
    string sHSet ;
    LuaCheckTabFieldParam( L, 1, FLD_HSET, sHSet)
+  // lettura eventuale campo tipo di selezione ammessa per le uscite
+   int nSelectType = MCH_SLT_FIXEDEXITS ;
+   LuaGetTabFieldParam( L, 1, FLD_SEL_TYPE, nSelectType) ;
   // lettura campo 'ExitNbr' dalla tabella
    int nExitNbr ;
    LuaCheckTabFieldParam( L, 1, FLD_EXIT_NBR, nExitNbr)
@@ -712,7 +720,7 @@ Machine::LuaEmtMultiHead( lua_State* L)
       return luaL_error( L, " Unknown Machine") ;
 
   // carico i dati della testa multipla
-   if ( ! m_pMchLua->LoadMachineMultiHead( sName, sParent, sHSet, vMuExit, vtADir,
+   if ( ! m_pMchLua->LoadMachineMultiHead( sName, sParent, sHSet, nSelectType, vMuExit, vtADir,
                                            dRot1W, bMaxDeltaR2On1, Rot2Stroke, nSolCh, vsOthColl, sGeo, vsAux))
       return luaL_error( L, " Load Machine Multi Head failed") ;
 
@@ -1479,18 +1487,11 @@ int
 Machine::LuaEmtMoveAxes( lua_State* L)
 {
   // 4, ..., 31 parametri : nMoveType, sAx1, dPos1, dStep1 [, sAx2, dPos2, dStep2] ... [, sAx10, dPos10, dStep10]
-   int nMoveType ;
-   LuaCheckParam( L, 1, nMoveType)
-   string sAx1 ;
-   LuaCheckParam( L, 2, sAx1) ;
-   double dEnd1 ;
-   LuaCheckParam( L, 3, dEnd1) ;
-   double dStep1 ;
-   LuaCheckParam( L, 4, dStep1) ;
+   int nMoveType = 0 ;
+   LuaGetParam( L, 1, nMoveType) ;
    SAMVECTOR vAxNaEpSt ;
-   vAxNaEpSt.emplace_back( sAx1, dEnd1, dStep1) ;
-   for ( int i = 0 ; i < 9 ; ++ i) {
-      int nInd = 5 + 3 * i ;
+   for ( int i = 0 ; i < 10 ; ++ i) {
+      int nInd = 2 + 3 * i ;
       string sAxN ;
       double dEndN ;
       double dStepN ;

MachineStruConst.h

@@ -1,7 +1,7 @@
 //----------------------------------------------------------------------------
-//  EgalTech 2015-2015
+//  EgalTech 2015-2024
 //----------------------------------------------------------------------------
-// File : MachineStruConst.h      Data : 25.05.15        Versione : 1.6e7
+// File : MachineStruConst.h      Data : 15.01.24        Versione : 2.5l6
 // Contenuto : Strutture e costanti di macchina.      
 //
 //
@@ -88,6 +88,18 @@ enum MchHeadType { MCH_HT_NONE = 0,
                    MCH_HT_MULTI = 2,
                    MCH_HT_SPECIAL = 3} ;
 
+//----------------------------------------------------------------------------
+// Tipo di selezione ammessa per le uscite
+enum MchSelType { MCH_SLT_FIXEDEXITS = 0,
+                  MCH_SLT_ONEEXIT = 1,
+                  MCH_SLT_MULTIEXITS = 2} ;
+
+//----------------------------------------------------------------------------
+// Tipo della catena cinematica
+enum KinChainType { KIN_CHAIN_NONE = 0,
+                    KIN_CHAIN_CENTER = 1,
+                    KIN_CHAIN_ROBOT = 2} ;
+
 //----------------------------------------------------------------------------
 // Identificativo iniziale riferimenti di tavola
 const std::string MCH_TREF = "R" ;

Machining.cpp

@@ -148,6 +148,15 @@ Machining::PrepareToolPreview( void) const
    int nId = m_pGeomDB->CopyGlob( nHeadId, GDB_ID_NULL, nStId) ;
    m_pGeomDB->SetMode( nId, GDB_MD_STD) ;
    m_pGeomDB->SetStatus( nId, GDB_ST_OFF) ;
+  // elimino eventuali gruppi opportunamente indicati
+   int nSubId = m_pGeomDB->GetFirstGroupInGroup( nId) ;
+   while ( nSubId != GDB_ID_NULL) {
+      int nNextSubId = m_pGeomDB->GetNextGroup( nSubId) ;
+      bool bShow = true ;
+      if ( m_pGeomDB->GetInfo( nSubId, KEY_PREVIEWSHOW, bShow)  &&  ! bShow)
+         m_pGeomDB->Erase( nSubId) ;
+      nSubId = nNextSubId ;
+   }
    return ( nId != GDB_ID_NULL) ;
 }
 

MachiningsMgr.cpp

@@ -1,7 +1,7 @@
 //----------------------------------------------------------------------------
-//  EgalTech 2015-2022
+//  EgalTech 2015-2024
 //----------------------------------------------------------------------------
-// File : MachiningsMgr.cpp       Data : 04.02.22          Versione : 2.4b1
+// File : MachiningsMgr.cpp       Data : 29.03.24          Versione : 2.6d1
 // Contenuto : Implementazione gestore database lavorazioni.
 //
 //
@@ -16,6 +16,7 @@
 //             22.06.20 DS Agg. per nuovi parametri attacco tagli di lama (MF_CURR_VER = 1010).
 //             09.11.20 DS Agg. per nuovi parametri tagli di lama (MF_CURR_VER = 1011).
 //             04.02.22 DS Agg. per nuovi parametri svuotature con epicicli (MF_CURR_VER = 1012).
+//             29.03.24 DS Agg. parametro APPROX_LINTOL (MF_CURR_VER = 1013).
 //
 //----------------------------------------------------------------------------
 
@@ -42,7 +43,7 @@ const string MF_HEADER = "[HEADER]" ;
 const string MF_VERSION = "VERSION" ;
 const string MF_TOTAL = "TOTAL" ;
 const string MF_SIZE = "SIZE" ;
-const int    MF_CURR_VER = 1012 ;
+const int    MF_CURR_VER = 1013 ;
 const string MF_GENERAL = "[GENERAL]" ;
 const string MF_3AXCOMP = "3AXCOMP" ;
 const bool   MF_CURR_3AXCOMP = false ;
@@ -64,6 +65,8 @@ const string MF_INTSAWARCMAXSIDEANG = "INTSAWARCMAXSIDEANG" ;
 const double MF_CURR_INTSAWARCMAXSIDEANG = 45 ;
 const string MF_SPLITARCS = "SPLITARCS" ;
 const int    MF_CURR_SPLITARCS = SPLAR_NEVER ;
+const string MF_APPROX_LINTOL = "APPROX_LINTOL" ;
+const double MF_CURR_APPROX_LINTOL = 0.05 ;
 const string MF_MAXDEPTHSAFE = "MAXDEPTHSAFE" ;
 const double MF_CURR_MAXDEPTHSAFE = 2.0 ;
 
@@ -85,6 +88,7 @@ MachiningsMgr::MachiningsMgr( void)
    m_dExtSawArcMinRad = MF_CURR_EXTSAWARCMINRAD ;
    m_dIntSawArcMaxSideAng = MF_CURR_INTSAWARCMAXSIDEANG ;
    m_nSplitArcs = MF_CURR_SPLITARCS ;
+   m_dApproxLinTol = MF_CURR_APPROX_LINTOL ;
    m_dMaxDepthSafe = MF_CURR_MAXDEPTHSAFE ;
 }
 
@@ -312,6 +316,8 @@ MachiningsMgr::LoadGeneral( Scanner& TheScanner, bool& bEnd)
          bOk = FromString( sVal, m_dIntSawArcMaxSideAng) ;
       else if ( ToUpper( sKey) == MF_SPLITARCS)
          bOk = FromString( sVal, m_nSplitArcs) ;
+      else if ( ToUpper( sKey) == MF_APPROX_LINTOL)
+         bOk = FromString( sVal, m_dApproxLinTol) ;
       else if ( ToUpper( sKey) == MF_MAXDEPTHSAFE)
          bOk = FromString( sVal, m_dMaxDepthSafe) ;
       else
@@ -499,6 +505,10 @@ MachiningsMgr::SaveGeneral( Writer& TheWriter) const
       sOut = MF_MAXDEPTHSAFE + "=" + ToString( m_dMaxDepthSafe) ;
       bOk = bOk && TheWriter.OutText( sOut) ;
    }
+   if ( m_nDbVer >= 1013) {
+      sOut = MF_APPROX_LINTOL + "=" + ToString( m_dApproxLinTol) ;
+      bOk = bOk && TheWriter.OutText( sOut) ;
+   }
 
    return bOk ;
 }
@@ -1175,6 +1185,20 @@ MachiningsMgr::SetSplitArcs( int nFlag)
    return true ;
 }
 
+//----------------------------------------------------------------------------
+bool
+MachiningsMgr::SetApproxLinTol( double dLinTol)
+{
+  // verifico non sia inferiore al minimo
+   dLinTol = max( dLinTol, EPS_SMALL) ;
+  // se cambiato, salvo e setto modifica
+   if ( abs( dLinTol - m_dApproxLinTol) > EPS_SMALL) {
+      m_dApproxLinTol = dLinTol ;
+      m_bModified = true ;
+   }
+   return true ;
+}
+
 //----------------------------------------------------------------------------
 bool
 MachiningsMgr::SetMaxDepthSafe( double dSafe)

MachiningsMgr.h

@@ -1,7 +1,7 @@
 //----------------------------------------------------------------------------
-//  EgalTech 2015-2015
+//  EgalTech 2015-2024
 //----------------------------------------------------------------------------
-// File : MachiningsMgr.h         Data : 02.06.15          Versione : 1.6f1
+// File : MachiningsMgr.h         Data : 29.03.24          Versione : 2.6d1
 // Contenuto : Dichiarazione della classe MachiningsMgr.
 //
 //
@@ -79,6 +79,9 @@ class MachiningsMgr
       bool SetSplitArcs( int nFlag) ;
       int GetSplitArcs( void) const
                 { return m_nSplitArcs ; }
+      bool SetApproxLinTol( double dLinTol) ;
+      double GetApproxLinTol( void) const
+                { return m_dApproxLinTol ; }
       bool SetMaxDepthSafe( double dSafe) ;
       double GetMaxDepthSafe( void) const
                 { return m_dMaxDepthSafe ; }
@@ -131,5 +134,6 @@ class MachiningsMgr
       double           m_dExtSawArcMinRad ;
       double           m_dIntSawArcMaxSideAng ;
       int              m_nSplitArcs ;
+      double           m_dApproxLinTol ;
       double           m_dMaxDepthSafe ;
 } ;

Milling.h

@@ -85,7 +85,7 @@ class Milling : public Machining
       bool AdjustPathDrawForSaw( int nClPathId) ;
       bool CalcPathElevation( const ICurveComposite* pCompo, const Vector3d& vtTool, double dDepth, double dRad, double& dElev) const ;
       bool VerifyPathFromBottom( const ICurveComposite* pCompo, const Vector3d& vtTool) ;
-      bool GenerateMillingPv( int nPathId, const ICurveComposite* pCompo) ;
+      bool GenerateMillingPv( int nPathId, const ICurveComposite* pCompo, double dRbDist, double dDepth) ;
       bool AddStandardMilling( const ICurveComposite* pCompo, const Vector3d& vtTool,
                                double dDepth, double dElev, bool bSplitArcs, bool bPathTabsEnable, bool bPathOscEnable) ;
       bool AddZigZagMilling( const ICurveComposite* pCompo, const Vector3d& vtTool, double dDepth, double dElev,
@@ -96,15 +96,18 @@ class Milling : public Machining
                              double dDepth, double dElev, double dOkStep, bool bSplitArcs, bool bPathTabsEnable, bool bPathOscEnable) ;
       bool AddSawZigZagMilling( const ICurveComposite* pCompo, const Vector3d& vtTool,
                                 double dDepth, double dElev, double dOkStep, bool bSplitArcs) ;
+      bool AddSawOneWayMilling( const ICurveComposite* pCompo, const Vector3d& vtTool,
+                                double dDepth, double dElev, double dOkStep, bool bSplitArcs) ;
       bool AddApproach( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ, double dSafeAggrBottZ,
-                        double dElev, double dAppr, bool bOutStart, bool bAboveStart) ;
+                        double dElev, double dAppr, bool bOutStart, bool bAboveStart, bool bFirst, bool bSplitArcs) ;
       bool AddSawBladeSideApproach( const Point3d& ptP, const Vector3d& vtAppr, const Vector3d& vtTool,
-                                    double dSafeZ, double dSawStElev, double dStElev, double dAppr) ;
-      bool AddDirectApproach( const Point3d& ptP) ;
+                                    double dSafeZ, double dSawStElev, double dStElev, double dAppr,
+                                    bool bFirst, bool bSplitArcs, bool bAddInsert = false) ;
+      bool AddDirectApproach( const Point3d& ptP, bool bSplitArcs) ;
       bool AddRetract( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ, double dSafeAggrBottZ,
-                       double dElev, double dAppr, bool bAboveEnd) ;
+                       double dElev, double dAppr, bool bAboveEnd, bool bSplitArcs) ;
       bool AddSawBladeSideRetract( const Point3d& ptP, const Vector3d& vtRetr, const Vector3d& vtTool,
-                                   double dSafeZ, double dSawEndElev, double dEndElev, double dAppr) ;
+                                   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 ;
       bool AddLeadIn( const Point3d& ptP1, const Point3d& ptStart, const Vector3d& vtStart,
@@ -121,11 +124,14 @@ class Milling : public Machining
       bool AddTabsLine( const ICurveLine* pLine, const Vector3d& vtTool, const DBLVECTOR& vdTabs, const TabData& tdTabs) ;
       bool AddTabsArc( const ICurveArc* pArc, const Vector3d& vtTool, const DBLVECTOR& vdTabs, const TabData& tdTabs) ;
       double GetRadiusForStartEndElevation( bool bExtra = true) const ;
+      bool GetSimplePointOutOfRaw( const Point3d& ptP, const Vector3d& vtTool, const Vector3d& vtCorr) const ;
       bool GetPointOutOfRaw( const Point3d& ptP, const Vector3d& vtTool, const Vector3d& vtCorr, double dElev, double dSafeZ) const ;
       bool GetPointAboveRaw( const Point3d& ptP, const Vector3d& vtTool) const ;
-      bool CalcAndSetCorrAuxDir( const ICurveComposite* pCompo, double dU) ;
-      Vector3d CalcCorrDir( const ICurveComposite* pCompo, double dU) ;
+      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) ;
       bool CalcOffset( ICurveComposite* pCompo, double dSignOffs) ;
+      bool TrimExtendCurveToClosedStm( ICurveComposite* pCompo, int nCstmId, bool bInvert) ;
 
    private :
       double GetSpeed() const
@@ -181,4 +187,6 @@ class Milling : public Machining
       double        m_dCurrTabsLen ;    // lunghezza corrente lungo il percorso per tabs
       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
+      Vector3d      m_vtEndDir ;        // direzione finale del percorso in elaborazione
 } ;

Mortising.cpp

@@ -1570,7 +1570,7 @@ Mortising::GenerateOnePlungeCl( const Point3d& ptStart, const Point3d& ptEnd, co
    int nFirstFlag = ( bFirst ? 1 : 0) ; 
    SetFlag( nFirstFlag) ;
    Point3d ptP1 = ( nPlunge != MORTISE_PLUNGE_END ? ptStart : ptEnd) + vtTool * ( dDelta + dStartElev + dSafeZ) ;
-   int nStart = ( bFirst ? AddRapidStart( ptP1) : AddRapidMove( ptP1)) ;
+   int nStart = AddRapidStartOrMove( ptP1, bFirst) ;
    if ( nStart == GDB_ID_NULL)
       return false ;
    SetFlag( 0) ;

Operation.h

@@ -14,15 +14,14 @@
 
 #pragma once
 
+#include "MachMgr.h"
 #include "MachConst.h"
 #include "MachineStruConst.h"
 #include "/EgtDev/Include/EGkPoint3d.h"
 #include "/EgtDev/Include/EGkUserObj.h"
 #include "/EgtDev/Include/EGkSelection.h"
 #include "/EgtDev/Include/EgtNumCollection.h"
-#include "/EgtDev/Include/EGkStmStandard.h"
 
-class MachMgr ;
 class CamData ;
 class ICurve ;
 class ICurveComposite ;
@@ -44,7 +43,7 @@ class Operation : public IUserObj
       virtual int  GetPhase( void) const
                       { return m_nPhase ; }
       virtual bool RemoveHome( void) ;
-      std::string GetName( void) const ;
+      std::string  GetName( void) const ;
 
    public :
       virtual int  GetType( void) const = 0 ;
@@ -62,6 +61,21 @@ class Operation : public IUserObj
                                     { return true ; }
       virtual bool               AdjustArcCenterForAxesCalc( const CamData* pCamData, Point3d& ptCen) const
                                     { return true ; }
+      virtual bool               NeedSplit( bool bSplit = true, bool bFeed = true) const
+                                    { return ( bSplit && ( m_pMchMgr == nullptr || m_pMchMgr->GetCurrIsRobot())) ; }
+      virtual double             GetMaxSplitLen( bool bSplit = true, bool bFeed = true) const
+                                    { return ( bSplit && ( m_pMchMgr == nullptr || m_pMchMgr->GetCurrIsRobot()) ? ( bFeed ? 5 : 50) : 0) ; }
+      virtual bool               GetSplitArcs( const Vector3d& vtTool) const
+                                    { if ( m_pMchMgr == nullptr  ||  m_pMchMgr->GetCurrIsRobot())
+                                         return true ;
+                                      int nSplitArcs = m_pMchMgr->GetCurrMachiningsMgr()->GetSplitArcs() ;
+                                      return ( nSplitArcs == SPLAR_ALWAYS  ||
+                                               ( nSplitArcs == SPLAR_NO_XY_PLANE  &&  ! vtTool.IsZplus())  ||
+                                               ( nSplitArcs == SPLAR_GEN_PLANE  &&  vtTool.IsGeneric())) ; }
+      virtual double             GetApproxLinTol( void) const
+                                    { if ( m_pMchMgr == nullptr)
+                                         return 50 * EPS_SMALL ; 
+                                      return m_pMchMgr->GetCurrMachiningsMgr()->GetApproxLinTol() ; }
 
    protected :
       Operation( void) ;
@@ -90,8 +104,6 @@ class Operation : public IUserObj
                                  double dToolLen, bool bIsSaw, double dSafeZ, const Vector3d& vtDir, double& dElev) const ;
       bool   GetUhPointAboveRaw( const Point3d& ptP, const Vector3d& vtTool, double dToolRad, double dToolRadForElev,
                                  double dToolLen, bool bIsSaw, double dSafeZ, const Vector3d& vtDir, double& dElev) const ;
-      bool   GetSignedDistFromStmRaw( int nPhase, const Point3d ptP, const Vector3d vtDir,
-                                      double& dDist, Vector3d& vtNorm) const ;
       bool   GetDistanceFromRawSide( int nPhase, const Point3d& ptP, const Vector3d& vtDir, double& dDist) const ;
       bool   GetMinDistanceFromRawSide( int nPhase, const Point3d& ptP, double dExpand,
                                         double& dDist, Vector3d& vtDir) const ;
@@ -102,14 +114,13 @@ class Operation : public IUserObj
                   { double dDummy ;
                     return GetDistanceFromRawBottom( nPhase, nPathId, dToler, dRbDist, dDummy) ; }
       bool   GetDistanceFromRawBottom( int nPhase, int nPathId, double dToler, double& dRbDist, double& dAllRbDist) const ;
-      bool   GetDistanceFromRawBottom( int nPhase, BBox3d& b3Test, double dToler, double& dRbDist, double& dAllRbDist) const ;
       bool   GetRawGlobBox( int nPhase, int nPathId, double dToler, BBox3d& b3Raw) const ;
       bool   GetRawGlobBox( int nPhase, const BBox3d& b3Test, double dToler, BBox3d& b3Raw) const ;
       bool   GetCurrRawsGlobBox( BBox3d& b3Raw) const ;
 
       bool   AdjustCurveFromSurf( ICurveComposite* pCrvCompo, int nToolDir, int nFaceUse, double dToolThick, int nGrade = 3) ;
       bool   ApproxWithArcsIfUseful( ICurveComposite* pCompo, bool bCareTempProp = false) const ;
-      bool   ApproxWithLines( ICurveComposite* pCompo) const ;
+      bool   ApproxWithLines( ICurveComposite* pCompo, bool bFeed = true) const ;
       bool   VerifyArcs( ICurveComposite* pCompo, double dMaxAngCen = MAX_ANG_CEN) const ;
      
       bool   CalcAndSetBBox( int nClId) ;
@@ -133,9 +144,15 @@ class Operation : public IUserObj
       std::string ExtractHint( const std::string& sNotes) const ;
       bool   SetBlockedRotAxis( const std::string& sBlockedAxis) const ;
       bool   CalculateAxesValues( const std::string& sHint, bool bRotContOnNext = true, bool bSolChExact = false) ;
+      bool   CalculateClPathCenterAxesValues( int nClPathId, int nLinAxes, int nRotAxes, double dRot1W,
+                                              bool bMaxDeltaR2OnFirst, bool bRotContOnNext, double dAngDeltaMinForHome,
+                                              const DBLVECTOR& vAxRotHome, DBLVECTOR& vAxRotPrec) ;
       bool   CalculateClPathAxesValues( int nClPathId, int nLinAxes, int nRotAxes, double dRot1W,
                                         bool bMaxDeltaR2OnFirst, bool bRotContOnNext, double dAngDeltaMinForHome,
                                         const DBLVECTOR& vAxRotHome, DBLVECTOR& vAxRotPrec, int& nOutStrC) ;
+      bool   CalculateClPathRobotAxesValues( int nClPathId, int nLinAxes, int nRotAxes, double dRot1W,
+                                             bool bMaxDeltaR2OnFirst, bool bRotContOnNext, double dAngDeltaMinForHome,
+                                             const DBLVECTOR& vAxRotHome, DBLVECTOR& vAxRotPrec) ;
       bool   AdjustStartEndMovements( bool bVerifyPreviousLink = true) ;
       bool   AdjustOneStartMovement( int nClPathId, int nPrevClPathId, Operation* pPrevOp, const DBLVECTOR& vAxPrev, bool bMaxZ) ;
       bool   ToolChangeNeeded( const Operation& Op1, const Operation& Op2) const ;
@@ -145,6 +162,9 @@ class Operation : public IUserObj
       bool   RemoveRise( int nClPathId = GDB_ID_NULL) ;
       bool   AddHome( void) ;
       bool   RemoveClimbRiseHome( void) ;
+      bool   AddRobotClimb( int nEntId, double dDeltaZ) ;
+      bool   CalcRobotAxesAbovePos( const Point3d& ptP, const Vector3d& vtT, const Vector3d& vtA, double dDeltaZ,
+                                    DBLVECTOR& vAx, double* pdNewDeltaZ = nullptr) const ;
       bool   CalcDeltaZForHeadRotation( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, double& dDeltaZ) const ;
       bool   GetExtraZ( const DBLVECTOR& vAx1, const Vector3d& vtTool1,
                         const DBLVECTOR& vAx2, const Vector3d& vtTool2,
@@ -157,10 +177,12 @@ class Operation : public IUserObj
       int    GetUserNotesZmax( void) const ;
       bool   GetZHomeDown( void) const ;
       bool   TestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const ;
-      bool   SpecialMoveZup( DBLVECTOR& vAx, Vector3d& vtTool, int& nFlag, int& nFlag2,  bool& bModif) ;
+      int    SpecialTestCollisionAvoid( const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd) const ;
+      bool   SpecialMoveZup( DBLVECTOR& vAx, Vector3d& vtTool, int& nFlag, int& nFlag2, bool& bModif) ;
       bool   SpecialMoveRapid(  const DBLVECTOR& vAxStart, const DBLVECTOR& vAxEnd, DBLVECTOR& vAxNew, bool& bModif) ;
 
       bool   GetAggrBottomData( const std::string& sHead, AggrBottom& agbData) const ;
+      bool   IsAggrBottom( const std::string& sHead) const ;
 
    protected :
       int      m_nOwnerId ;       // identificativo dell'oggetto geometrico possessore
@@ -176,6 +198,7 @@ class Operation : public IUserObj
       bool SetCorrAuxDir( const Vector3d& vtDir) ;
       bool SetFeed( double dFeed) ;
       bool SetFlag( int nFlag) ;
+      bool SetFlagOnLastMove( int nFlag) ;
       bool SetFlag2( int nFlag2) ;
       bool SetIndex( int nIndex) ;
       bool GetCurrPos( Point3d& ptCurr) const
@@ -190,12 +213,26 @@ class Operation : public IUserObj
       int  AddRapidStart( const Point3d& ptP, const std::string& sName) ;
       int  AddRapidMove( const Point3d& ptP) ;
       int  AddRapidMove( const Point3d& ptP, const std::string& sName) ;
+      int  AddRapidMove( const Point3d& ptP, bool bSplit) ;
+      int  AddRapidMove( const Point3d& ptP, bool bSplit, const std::string& sName) ;
+      int  AddRapidStartOrMove( const Point3d& ptP, bool bFirst)
+               { return ( bFirst ? AddRapidStart( ptP) : AddRapidMove( ptP)) ; }
+      int  AddRapidStartOrMove( const Point3d& ptP, bool bFirst, const std::string& sName)
+               { return ( bFirst ? AddRapidStart( ptP, sName) : AddRapidMove( ptP, sName)) ; }
+      int  AddRapidStartOrMove( const Point3d& ptP, bool bFirst, bool bSplit)
+               { return ( bFirst ? AddRapidStart( ptP) : AddRapidMove( ptP, bSplit)) ; }
+      int  AddRapidStartOrMove( const Point3d& ptP, bool bFirst, bool bSplit, const std::string& sName)
+               { return ( bFirst ? AddRapidStart( ptP, sName) : AddRapidMove( ptP, bSplit, sName)) ; }
       int  AddLinearMove( const Point3d& ptP) ;
       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  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  AddCurveMove( const ICurve* pCrv, bool bOnlySimple = false) ;
-      int  AddCurveMove( const ICurve* pCrv, const std::string& sName, bool bOnlySimple = false) ;
+      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) ;
       bool ResetMoveData( void) ;
 
    protected :
@@ -222,3 +259,5 @@ inline Operation* GetOperation( IUserObj* pUserObj)
 enum { TOOL_PARAL = 1, TOOL_ORTHO = 2, TOOL_ORTUP = 3, TOOL_PAR_SLANT= 4} ;
 // tipo di utilizzo contorno faccia
 enum { FACE_DOWN = 1, FACE_TOP = 2, FACE_FRONT = 3, FACE_BACK = 4, FACE_LEFT = 5, FACE_RIGHT = 6, FACE_CONT = 7} ;
+// risultato di SpecialTestCollisionAvoid 
+enum { SCAV_ERROR = -1, SCAV_COLLIDE = 0, SCAV_AVOID = 1, SCAV_TOTEST = 2};

OperationCL.cpp

@@ -82,6 +82,18 @@ Operation::SetFlag( int nFlag)
    return true ;
 }
 
+//----------------------------------------------------------------------------
+bool
+Operation::SetFlagOnLastMove( int nFlag)
+{
+   int nLastEntId = m_pGeomDB->GetLastInGroup( m_nPathId) ;
+   CamData* pCamData = GetCamData( m_pGeomDB->GetUserObj( nLastEntId)) ;
+   if ( pCamData == nullptr)
+      return false ;
+   pCamData->SetFlag( nFlag) ;
+   return true ;
+}
+
 //----------------------------------------------------------------------------
 bool
 Operation::SetFlag2( int nFlag2)
@@ -200,6 +212,46 @@ Operation::AddRapidMove( const Point3d& ptP, const string& sName)
    return nId ;
 }
 
+//----------------------------------------------------------------------------
+int
+Operation::AddRapidMove( const Point3d& ptP, bool bSplit)
+{
+  // se non richiesta spezzatura con massima lunghezza, emissione normale
+   if ( ! NeedSplit( bSplit))
+      return AddRapidMove( ptP) ;
+  // altrimenti opportuna spezzatura
+   Point3d ptS ;
+   if ( ! GetCurrPos( ptS))
+      return GDB_ID_NULL ;
+   double dLen = Dist( ptS, ptP) ;
+   double dStep = GetMaxSplitLen( true, false) ;
+   int nStep = int( dLen / dStep + 0.999) ;
+   int nFirstId = GDB_ID_NULL ;
+   for ( int i = 1 ; i <= nStep ; ++ i) {
+      int nId = AddRapidMove( Media( ptS, ptP, i * 1.0 / nStep)) ;
+      if ( nId == GDB_ID_NULL)
+         return GDB_ID_NULL ;
+      if ( nFirstId == GDB_ID_NULL)
+         nFirstId = nId ;
+      SetFlag( 0) ;
+      SetFlag2( 0) ;
+   }
+   return nFirstId ;
+}
+
+//----------------------------------------------------------------------------
+int
+Operation::AddRapidMove( const Point3d& ptP, bool bSplit, const string& sName)
+{
+   int nFirstId = AddRapidMove( ptP, bSplit) ;
+   int nId = nFirstId ;
+   while ( nId != GDB_ID_NULL) {
+      m_pGeomDB->SetName( nId, sName) ;
+      nId = m_pGeomDB->GetNext( nId) ;
+   }
+   return nFirstId ;
+}
+
 //----------------------------------------------------------------------------
 int
 Operation::AddLinearMove( const Point3d& ptP)
@@ -258,6 +310,44 @@ Operation::AddLinearMove( const Point3d& ptP, const string& sName)
    return nId ;
 }
 
+//----------------------------------------------------------------------------
+int
+Operation::AddLinearMove( const Point3d& ptP, bool bSplit)
+{
+  // se non richiesta spezzatura con massima lunghezza, emissione normale
+   if ( ! NeedSplit( bSplit))
+      return AddLinearMove( ptP) ;
+  // altrimenti opportuna spezzatura
+   Point3d ptS ;
+   if ( ! GetCurrPos( ptS))
+      return GDB_ID_NULL ;
+   double dLen = Dist( ptS, ptP) ;
+   double dStep = GetMaxSplitLen( true, true) ;
+   int nStep = int( dLen / dStep + 0.999) ;
+   int nFirstId = GDB_ID_NULL ;
+   for ( int i = 1 ; i <= nStep ; ++ i) {
+      int nId = AddLinearMove( Media( ptS, ptP, i * 1.0 / nStep)) ;
+      if ( nId == GDB_ID_NULL)
+         return GDB_ID_NULL ;
+      if ( nFirstId == GDB_ID_NULL)
+         nFirstId = nId ;
+   }
+   return nFirstId ;
+}
+
+//----------------------------------------------------------------------------
+int
+Operation::AddLinearMove( const Point3d& ptP, bool bSplit, const string& sName)
+{
+   int nFirstId = AddLinearMove( ptP, bSplit) ;
+   int nId = nFirstId ;
+   while ( nId != GDB_ID_NULL) {
+      m_pGeomDB->SetName( nId, sName) ;
+      nId = m_pGeomDB->GetNext( nId) ;
+   }
+   return nFirstId ;
+}
+
 //----------------------------------------------------------------------------
 int
 Operation::AddArcMove( const Point3d& ptP, const Point3d& ptCen, double dAngCen, const Vector3d& vtN)
@@ -334,7 +424,7 @@ Operation::AddArcMove( const Point3d& ptP, const Point3d& ptCen, double dAngCen,
 
 //----------------------------------------------------------------------------
 int
-Operation::AddCurveMove( const ICurve* pCrv, bool bOnlySimple)
+Operation::AddCurveMove( const ICurve* pCrv)
 {
   // verifico che la curva esista
    if ( pCrv == nullptr)
@@ -355,8 +445,8 @@ Operation::AddCurveMove( const ICurve* pCrv, bool bOnlySimple)
       pArc->GetEndPoint( ptP3) ;
       return AddArcMove( ptP3, ptCen, dAngCen, vtN) ;
    }
-  // se ammesse curve composite
-   else if ( ! bOnlySimple) {
+  // se arco o curva composita
+   else if ( pCrv->GetType() == CRV_ARC  ||  pCrv->GetType() == CRV_COMPO) {
      // in ogni caso, converto in archi e rette
       PtrOwner<ICurveComposite> pCompo( CreateCurveComposite()) ;
       if ( ! pCompo->AddCurve( *pCrv))
@@ -395,16 +485,43 @@ Operation::AddCurveMove( const ICurve* pCrv, bool bOnlySimple)
       }
       return nFirstId ;
    }
-  // altrimenti
+  // altre curve non ammesse
    else
       return GDB_ID_NULL ;
 }
 
 //----------------------------------------------------------------------------
 int
-Operation::AddCurveMove( const ICurve* pCrv, const string& sName, bool bOnlySimple)
+Operation::AddCurveMove( const ICurve* pCrv, const string& sName)
 {
-   int nFirstId = AddCurveMove( pCrv, bOnlySimple) ;
+   int nFirstId = AddCurveMove( pCrv) ;
+   int nId = nFirstId ;
+   while ( nId != GDB_ID_NULL) {
+      m_pGeomDB->SetName( nId, sName) ;
+      nId = m_pGeomDB->GetNext( nId) ;
+   }
+   return nFirstId ;
+}
+
+//----------------------------------------------------------------------------
+int
+Operation::AddCurveMove( const ICurve* pCrv, bool bSplit)
+{
+  // se non richiesta spezzatura, emissione normale
+   if ( ! bSplit)
+      return AddCurveMove( pCrv) ;
+  // altrimenti opportuna spezzatura
+   PtrOwner<ICurveComposite> pCompo ;
+   if ( ! pCompo.Set( ConvertCurveToComposite( pCrv->Clone()))  ||  ! ApproxWithLines( pCompo))
+      return false ;
+   return AddCurveMove( pCompo) ;          
+}
+
+//----------------------------------------------------------------------------
+int
+Operation::AddCurveMove( const ICurve* pCrv, bool bSplit, const string& sName)
+{
+   int nFirstId = AddCurveMove( pCrv, bSplit) ;
    int nId = nFirstId ;
    while ( nId != GDB_ID_NULL) {
       m_pGeomDB->SetName( nId, sName) ;

OutputConst.h

@@ -103,6 +103,9 @@ static const std::string GVAR_R1 = ".R1" ;               // (num)      valore de
 static const std::string GVAR_R2 = ".R2" ;               // (num)      valore del secondo asse rotante
 static const std::string GVAR_R3 = ".R3" ;               // (num)      valore del terzo asse rotante
 static const std::string GVAR_R4 = ".R4" ;               // (num)      valore del quarto asse rotante
+static const std::string GVAR_R5 = ".R5" ;               // (num)      valore del quinto asse rotante
+static const std::string GVAR_R6 = ".R6" ;               // (num)      valore del sesto asse rotante
+static const std::string GVAR_R7 = ".R7" ;               // (num)      valore del settimo asse rotante
 static const std::string GVAR_C1 = ".C1" ;               // (num)      valore del primo asse lineare per centro arco
 static const std::string GVAR_C2 = ".C2" ;               // (num)      valore del secondo asse lineare per centro arco
 static const std::string GVAR_C3 = ".C3" ;               // (num)      valore del terzo asse lineare per centro arco
@@ -118,6 +121,9 @@ static const std::string GVAR_R1P = ".R1p" ;             // (num)      valore pr
 static const std::string GVAR_R2P = ".R2p" ;             // (num)      valore precedente del secondo asse rotante
 static const std::string GVAR_R3P = ".R3p" ;             // (num)      valore precedente del terzo asse rotante
 static const std::string GVAR_R4P = ".R4p" ;             // (num)      valore precedente del quarto asse rotante
+static const std::string GVAR_R5P = ".R5p" ;             // (num)      valore precedente del quinto asse rotante
+static const std::string GVAR_R6P = ".R6p" ;             // (num)      valore precedente del sesto asse rotante
+static const std::string GVAR_R7P = ".R7p" ;             // (num)      valore precedente del settimo asse rotante
 static const std::string GVAR_L1T = ".L1t" ;             // (string)   token del primo asse lineare
 static const std::string GVAR_L2T = ".L2t" ;             // (string)   token del secondo asse lineare
 static const std::string GVAR_L3T = ".L3t" ;             // (string)   token del terzo asse lineare
@@ -125,6 +131,9 @@ static const std::string GVAR_R1T = ".R1t" ;             // (string)   token del
 static const std::string GVAR_R2T = ".R2t" ;             // (string)   token del secondo asse rotante
 static const std::string GVAR_R3T = ".R3t" ;             // (string)   token del terzo asse rotante
 static const std::string GVAR_R4T = ".R4t" ;             // (string)   token del quarto asse rotante
+static const std::string GVAR_R5T = ".R5t" ;             // (string)   token del quinto asse rotante
+static const std::string GVAR_R6T = ".R6t" ;             // (string)   token del sesto asse rotante
+static const std::string GVAR_R7T = ".R7t" ;             // (string)   token del settimo asse rotante
 static const std::string GVAR_C1T = ".C1t" ;             // (string)   token del primo asse lineare per centro arco
 static const std::string GVAR_C2T = ".C2t" ;             // (string)   token del secondo asse lineare per centro arco
 static const std::string GVAR_C3T = ".C3t" ;             // (string)   token del terzo asse lineare per centro arco
@@ -139,6 +148,9 @@ static const std::string GVAR_R1N = ".R1n" ;             // (string)   nome del
 static const std::string GVAR_R2N = ".R2n" ;             // (string)   nome del secondo asse rotante
 static const std::string GVAR_R3N = ".R3n" ;             // (string)   nome del terzo asse rotante
 static const std::string GVAR_R4N = ".R4n" ;             // (string)   nome del quarto asse rotante
+static const std::string GVAR_R5N = ".R5n" ;             // (string)   nome del quinto asse rotante
+static const std::string GVAR_R6N = ".R6n" ;             // (string)   nome del sesto asse rotante
+static const std::string GVAR_R7N = ".R7n" ;             // (string)   nome del settimo asse rotante
 static const std::string GVAR_MASK = ".MASK" ;           // (int)      mask associato ai movimenti in rapido
 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
@@ -206,6 +218,8 @@ static const std::string ON_ESTIM_RAPID = "OnEstimRapid" ;
 static const std::string ON_ESTIM_LINEAR = "OnEstimLinear" ;
 static const std::string ON_ESTIM_ARC = "OnEstimArc" ;
 // Funzioni simulazione
+static const std::string ON_SIMUL_INIT = "OnSimulInit" ;
+static const std::string ON_SIMUL_EXIT = "OnSimulExit" ;
 static const std::string ON_SIMUL_START = "OnSimulStart" ;
 static const std::string ON_SIMUL_END = "OnSimulEnd" ;
 static const std::string ON_SIMUL_DISPOSITION_STARTING = "OnSimulDispositionStarting" ;
@@ -227,64 +241,120 @@ static const std::string ON_RESET_MACHINE = "OnResetMachine" ;
 
 //----------------------------------------------------------------------------
 inline std::string
-GetGlobVarAxisValue( int nAx, const std::string& sVar = GLOB_VAR)
+GetGlobVarAxisValue( int nAx, const std::string& sVar = GLOB_VAR, bool bIsRobot = false)
 {
-   switch ( nAx) {
-   case 1 : return ( sVar + GVAR_L1) ;
-   case 2 : return ( sVar + GVAR_L2) ;
-   case 3 : return ( sVar + GVAR_L3) ;
-   case 4 : return ( sVar + GVAR_R1) ;
-   case 5 : return ( sVar + GVAR_R2) ;
-   case 6 : return ( sVar + GVAR_R3) ;
-   case 7 : return ( sVar + GVAR_R4) ;
-   default : return "" ;
-   }  
+   if ( ! bIsRobot) {
+      switch ( nAx) {
+      case 1 : return ( sVar + GVAR_L1) ;
+      case 2 : return ( sVar + GVAR_L2) ;
+      case 3 : return ( sVar + GVAR_L3) ;
+      case 4 : return ( sVar + GVAR_R1) ;
+      case 5 : return ( sVar + GVAR_R2) ;
+      case 6 : return ( sVar + GVAR_R3) ;
+      case 7 : return ( sVar + GVAR_R4) ;
+      default : return "" ;
+      }  
+   }
+   else {
+      switch ( nAx) {
+      case 1 : return ( sVar + GVAR_R1) ;
+      case 2 : return ( sVar + GVAR_R2) ;
+      case 3 : return ( sVar + GVAR_R3) ;
+      case 4 : return ( sVar + GVAR_R4) ;
+      case 5 : return ( sVar + GVAR_R5) ;
+      case 6 : return ( sVar + GVAR_R6) ;
+      case 7 : return ( sVar + GVAR_R7) ;
+      default : return "" ;
+      }  
+   }
 }
 
 //----------------------------------------------------------------------------
 inline std::string
-GetGlobVarAxisPrev( int nAx, const std::string& sVar = GLOB_VAR)
+GetGlobVarAxisPrev( int nAx, const std::string& sVar = GLOB_VAR, bool bIsRobot = false)
 {
-   switch ( nAx) {
-   case 1 : return ( sVar + GVAR_L1P) ;
-   case 2 : return ( sVar + GVAR_L2P) ;
-   case 3 : return ( sVar + GVAR_L3P) ;
-   case 4 : return ( sVar + GVAR_R1P) ;
-   case 5 : return ( sVar + GVAR_R2P) ;
-   case 6 : return ( sVar + GVAR_R3P) ;
-   case 7 : return ( sVar + GVAR_R4P) ;
-   default : return "" ;
-   }  
+   if ( ! bIsRobot) {
+      switch ( nAx) {
+      case 1 : return ( sVar + GVAR_L1P) ;
+      case 2 : return ( sVar + GVAR_L2P) ;
+      case 3 : return ( sVar + GVAR_L3P) ;
+      case 4 : return ( sVar + GVAR_R1P) ;
+      case 5 : return ( sVar + GVAR_R2P) ;
+      case 6 : return ( sVar + GVAR_R3P) ;
+      case 7 : return ( sVar + GVAR_R4P) ;
+      default : return "" ;
+      }  
+   }
+   else {
+      switch ( nAx) {
+      case 1 : return ( sVar + GVAR_R1P) ;
+      case 2 : return ( sVar + GVAR_R2P) ;
+      case 3 : return ( sVar + GVAR_R3P) ;
+      case 4 : return ( sVar + GVAR_R4P) ;
+      case 5 : return ( sVar + GVAR_R5P) ;
+      case 6 : return ( sVar + GVAR_R6P) ;
+      case 7 : return ( sVar + GVAR_R7P) ;
+      default : return "" ;
+      }  
+   }
 }
 
 //----------------------------------------------------------------------------
 inline std::string
-GetGlobVarAxisToken( int nAx)
+GetGlobVarAxisToken( int nAx, bool bIsRobot = false)
 {
-   switch ( nAx) {
-   case 1 : return ( GLOB_VAR + GVAR_L1T) ;
-   case 2 : return ( GLOB_VAR + GVAR_L2T) ;
-   case 3 : return ( GLOB_VAR + GVAR_L3T) ;
-   case 4 : return ( GLOB_VAR + GVAR_R1T) ;
-   case 5 : return ( GLOB_VAR + GVAR_R2T) ;
-   case 6 : return ( GLOB_VAR + GVAR_R3T) ;
-   case 7 : return ( GLOB_VAR + GVAR_R4T) ;
-   default : return "" ;
-   }  
+   if ( ! bIsRobot) {
+      switch ( nAx) {
+      case 1 : return ( GLOB_VAR + GVAR_L1T) ;
+      case 2 : return ( GLOB_VAR + GVAR_L2T) ;
+      case 3 : return ( GLOB_VAR + GVAR_L3T) ;
+      case 4 : return ( GLOB_VAR + GVAR_R1T) ;
+      case 5 : return ( GLOB_VAR + GVAR_R2T) ;
+      case 6 : return ( GLOB_VAR + GVAR_R3T) ;
+      case 7 : return ( GLOB_VAR + GVAR_R4T) ;
+      default : return "" ;
+      }
+   }
+   else {
+      switch ( nAx) {
+      case 1 : return ( GLOB_VAR + GVAR_R1T) ;
+      case 2 : return ( GLOB_VAR + GVAR_R2T) ;
+      case 3 : return ( GLOB_VAR + GVAR_R3T) ;
+      case 4 : return ( GLOB_VAR + GVAR_R4T) ;
+      case 5 : return ( GLOB_VAR + GVAR_R5T) ;
+      case 6 : return ( GLOB_VAR + GVAR_R6T) ;
+      case 7 : return ( GLOB_VAR + GVAR_R7T) ;
+      default : return "" ;
+      }
+   }
 }
 
 //----------------------------------------------------------------------------
 inline std::string
-GetGlobVarAxisName( int nAx)
+GetGlobVarAxisName( int nAx, bool bIsRobot = false)
 {
-   switch ( nAx) {
-   case 1 : return ( GLOB_VAR + GVAR_L1N) ;
-   case 2 : return ( GLOB_VAR + GVAR_L2N) ;
-   case 3 : return ( GLOB_VAR + GVAR_L3N) ;
-   case 4 : return ( GLOB_VAR + GVAR_R1N) ;
-   case 5 : return ( GLOB_VAR + GVAR_R2N) ;
-   case 6 : return ( GLOB_VAR + GVAR_R3N) ;
-   case 7 : return ( GLOB_VAR + GVAR_R4N) ;
-   default : return "" ;
-   }  
+   if ( ! bIsRobot) {
+      switch ( nAx) {
+      case 1 : return ( GLOB_VAR + GVAR_L1N) ;
+      case 2 : return ( GLOB_VAR + GVAR_L2N) ;
+      case 3 : return ( GLOB_VAR + GVAR_L3N) ;
+      case 4 : return ( GLOB_VAR + GVAR_R1N) ;
+      case 5 : return ( GLOB_VAR + GVAR_R2N) ;
+      case 6 : return ( GLOB_VAR + GVAR_R3N) ;
+      case 7 : return ( GLOB_VAR + GVAR_R4N) ;
+      default : return "" ;
+      } 
+   }
+   else {
+      switch ( nAx) {
+      case 1 : return ( GLOB_VAR + GVAR_R1N) ;
+      case 2 : return ( GLOB_VAR + GVAR_R2N) ;
+      case 3 : return ( GLOB_VAR + GVAR_R3N) ;
+      case 4 : return ( GLOB_VAR + GVAR_R4N) ;
+      case 5 : return ( GLOB_VAR + GVAR_R5N) ;
+      case 6 : return ( GLOB_VAR + GVAR_R6N) ;
+      case 7 : return ( GLOB_VAR + GVAR_R7N) ;
+      default : return "" ;
+      } 
+   }
 }

Pocketing.h

@@ -19,9 +19,6 @@
 #include "/EgtDev/Include/EGkCurveComposite.h"
 #include "/EgtDev/Include/EGkCurveLine.h"
 #include "/EgtDev/Include/EgtNumUtils.h"
-#include "/EgtDev/Include/EGkSurfFlatRegion.h"
-#include "/EgtDev/Include/EGkSurfTriMesh.h"
-#include "/EgtDev/Include/EGkCurveArc.h"
 
 //----------------------------------------------------------------------------
 class Pocketing : public Machining
@@ -70,195 +67,81 @@ class Pocketing : public Machining
 
    private :
       bool VerifyGeometry( SelData Id, int& nSubs, int& nType) ;
-      bool GetCurvesAndPartialVolume( SelData Id, ICURVEPLIST& lstPC, ISurfTriMesh* pStmTmp, Vector3d& vtN) ;
-      bool GetForcedClosed( void) ;
+      bool GetCurves( SelData Id, ICURVEPLIST& lstPC) ;
       bool SetCurveAllTempProp( int nCrvId, bool bForcedClose, ICurve* pCurve, bool* pbSomeOpen = nullptr) ;
       bool ResetCurveAllTempProp( ICurve* pCurve) ;
       bool Chain( int nGrpDestId) ;
       bool ProcessPath( int nPathId, int nPvId, int nClId) ;
       bool CalcRegionElevation( const ICurveComposite* pCompo, const Vector3d& vtTool, double dDepth, double dRad, double dLen, double& dElev) const ;
       bool VerifyPathFromBottom( const ICurveComposite* pCompo, const Vector3d& vtTool) ;
-      bool GeneratePocketingPv( int nPathId, const ISurfTriMesh* pStm_PartVolume) ;
-      bool CheckSimpleOverlap( const ICurve* pCrv, const ICurveComposite* pCrvOri, int& nStat, double dToll) ;
-      bool CalcDepth( const int nId, const Vector3d& vtExtr, double dThick, double& dDepth) ;
-      bool ChainCurveArray( const SELVECTOR vInds, ICURVEPOVECTOR& vpCrvs, ICRVCOMPOPOVECTOR& vCrvCompo) ;
-      bool CreateStmForIntersection( ISurfTriMesh* pStm, ICRVCOMPOPOVECTOR& vCrvCompo, const Vector3d& vtN) ;
-      bool CalcOffsExtensionsForCurves( const ICurveComposite* pCrvCompo, const Vector3d& vtN, double& dExt) ;
-      bool GetExtendedLoopToFitStmVolume( ICurveComposite* pCrvLoop, const double& dExt, const Vector3d& vtN) ;
-      bool GetCurrentPart( const Point3d& ptInside, ISurfTriMesh* pStmPart) ;
-      bool SetPocketingVolume( const Point3d& ptInside, ISurfTriMesh* pStm) ;
-      bool AdjustPocketingSideForVolumePart( ISurfTriMesh* pStmVolPart, const Vector3d& vtTool) ;
-      bool SewingMissingFacesOnPlanes( ISurfTriMesh* pStm, const Plane3d& plPlane) ;
-      bool SliceVolume( const ISurfTriMesh* pStmVol, const ISurfTriMesh* pStm_Part, ISURFFRPOVECTOR& vSrfSliced,
-                        std::vector<ICRVCOMPOPOVECTOR>& vCrvOEWithFlags, BOOLVECTOR& vbChangedPrec,
-                        VCT3DVECTOR& vVtTrasl, int& nStep, const Vector3d vtTool,
-                        const double dElev, const double dDepth, const double dStep) ;
-      bool CalcExtraSteps( const ISurfTriMesh* pStmVol, VCT3DVECTOR& vVtTrasl, int& nStep, const double dElev,
-                           const double dDepth, const double dStep, INTVECTOR& vIndExtraSteps,
-                           ISURFTMPOVECTOR& vStmES_Edges_OC) ;
-      bool CutVolumeByPlane( const ISurfTriMesh* pStmVol, const ISurfTriMesh* pStm_Part, const Vector3d& vtTrasl,
-                             const bool bIsExtraStep, ISurfFlatRegion* pSfrResult) ;
-      bool ProjectVolume( const ISurfTriMesh* pStmVol, const ISurfTriMesh* pStm_Part, const Vector3d& vtTrasl,
-                          const Vector3d& vtTraslPrec, ISurfFlatRegion* pSfrOpenProjPrec, ISurfFlatRegion* pSfr) ;
-      bool ChooseCloseOrOpenEdge( ISurfFlatRegion* pSfr, const ISurfTriMesh* pStm, const bool bOnIsClosed = false) ;
-      bool GetCurvesForOptimizedPocketing( ISurfFlatRegion* pSfr, ICRVCOMPOPOVECTOR& vCrvOEWithFlags) ;
-      bool ModifySurfByOpenEdges( ISurfFlatRegion* pSfr, const ISurfFlatRegion* pSfrLimit) ;
-      bool AdjustContourWithOpenEdges( ICurveComposite* pCrvCompo, ICRVCOMPOPOVECTOR& vCrvIsl, const double dDiam,
-                                       const double dOffR, const double dStep, const ISurfFlatRegion* pSfrLimit) ;
-      bool AdjustOpenEdge( const ICurveComposite* pCrvCompo, const ICRVCOMPOPOVECTOR& vCrvIsland,
-                           const double dParS, const double dParE, const double dRad, const double dDiamJ,
-                           const ISurfFlatRegion* pSfrLimit, ICurveComposite* pCrvBorder) ;
-      bool GetProjectionOfStmToNotPocket( const ISurfTriMesh* pStmPart, const ISurfTriMesh* pStmVol,
-                                          const Vector3d& vtTrasl, ISurfFlatRegion* pSfrProj) ;
-      bool CreateSurfFrIncidence( const ICurveComposite* pCrv, const double dRad, ISurfFlatRegion* pSfrInc) ;
-      bool GetNewSfrByAnotherPocketing( ISurfFlatRegion* pSfrPock, const ISurfFlatRegion* pSfrNoExtendedByOpenEdges,
-                                        const ISurfTriMesh* pStmVol, const ISurfTriMesh* pStm_Part,
-                                        const ISurfFlatRegion* pSfrLimit) ;
-      bool CalcAdaptedElevation( const Point3d& pt1, const Point3d& pt2) ;
-      bool GetHomogeneousParts( ICurveComposite* pCrvCompo, ICRVCOMPOPOVECTOR& vpCrvs) ;
-      bool ModifyCurveToSmoothed( ICurveComposite* pCrv, double dRightLen, double dLeftLen, bool bAsParam) ;
-      bool OrderCurvesByLastPntOfPath( ICRVCOMPOPOVECTOR& vCrv, Point3d ptEnd, PNTVECTOR& vPtStart,
-                                       VCT3DVECTOR& vVtOut, BOOLVECTOR& vbMidOut) ;
-      bool SetBetterPtStartForSubChunks( ICurveComposite* pCrv0, const ISurfFlatRegion* pSrfToWork, Point3d& ptStart,
-                                         Vector3d& vtMidOut, bool& bMidOut) ;
-      bool GetOptCrvIndex( const std::vector<ICRVCOMPOPOVECTOR>& vCrvOEWithFlags, int nStep, ISurfFlatRegion* pSrfChunkFinal,
-                           int& nIndex) ;
-      bool GetTrapezoidFromShape( const ICurveComposite* pCrvCompo, ICurveComposite* pCrvTrap, Frame3d& frTrap,
-                                  double& dPocketSize, int& nBase, int& nSecondBase) ;
-      bool CheckTrapezoidClosedEdgePosition( const ICurveComposite* pCrvCompo, const int nCrvInd, const double dDimBoxY,
-                                             INTVECTOR& vIndClosedSides, bool& bOk,
-                                             ICurveComposite* pCrvTrap) ;
-      bool CheckSecondBaseTrapezoid( const ICurveComposite* pCrvCompo, const int nCrvInd, int& nSecondBase) ;
-      bool PreparareTrapezoidTwoBases( const ICurveComposite* pCrvCompo, BBox3d BBox, const int nBase, int& nSecondBase,
-                                       bool& bOk, ICurveComposite* pCrvTrap) ;
-      bool GetSfrByStm( const ISurfTriMesh* pStm, ISurfFlatRegion* pSfr, const Plane3d plPock, const Vector3d& vtExtr,
-                        const double dThick, double dToll = 5 * EPS_SMALL) ;
-      bool ProjectStmOnPlane( const ISurfTriMesh* pStmAbove, const Plane3d plPock, ISurfFlatRegion* pSfrProj) ;
-      bool GetCoeffLinArc( const ICurveArc* pArc, double dDiam, double& dSubArc) ;
-      bool GetParamOnOpenSide( const ICurveComposite* pCompo,const ICRVCOMPOPOVECTOR& vCrvIsl, Point3d& ptMid, Vector3d& vtMidOut) ;
-      bool AdjustContourStart( ICurveComposite* pCompo, const ICRVCOMPOPOVECTOR& vCrvIsl, bool bOrder = false) ;
-      bool GetParamForPtStartOnEdge( const ICurve* pCrv, const ICurveComposite* pCompo, const ICRVCOMPOPOVECTOR& vCrvIsl,
-                               double& dPar) ;
-      bool CheckForRemovingIsland( const ICurveComposite* pCrvIslandBorder, double dOffs, bool bRemove) ;
-      bool AddZigZag( ISURFFRPOVECTOR& vSfr, const std::vector<ICRVCOMPOPOVECTOR>& vCrvOrig, BOOLVECTOR& vbChangedPrec,
-                      VCT3DVECTOR& vVtTrasl, const Vector3d& vtTool, const Vector3d& vtExtr,
-                      double dDepth, double dElev, double dMaxElev, double dOkStep, bool bSplitArcs) ;
-      bool CalcZigZag( const ISurfFlatRegion* pSrfZigZag, ICRVCOMPOPOVECTOR& vpCrvs) ;
-      bool CalcZigZagLink( ICurveComposite* pCrv1, ICurveComposite* pCrv2, ICurveComposite* pCrvLink) ;
-      bool OptimizedZigZag( ISurfFlatRegion* pSrf, const Vector3d & vtTool, double dDepth, double dSafeZ,
-                            Frame3d& frPocket, ICurveComposite* pCrvOrig, bool& bOptimizedZigZag, 
-                            ICRVCOMPOPOVECTOR& vpCrvs, ICRVCOMPOPOVECTOR& vCrvIslMergeBorders, double& dOffs,
-                            int& nClosedSides, bool& bTwoOpposite) ;
+      bool GeneratePocketingPv( int nPathId, const ICurveComposite* pCompo) ;
+      bool AddZigZag( const ICurveComposite* pCompo, const Vector3d& vtTool, const Vector3d& vtExtr,
+                      double dDepth, double dElev, double dOkStep, bool bSplitArcs, int nPathId) ;
+      bool CalcZigZag( const ICurveComposite* pOffs, ICRVCOMPOPOVECTOR& vpCrvs) ;
+      bool OptimizedZigZag( int nPathId, const Vector3d& vtTool, double dDepth, double dSafeZ,
+                            Frame3d& frPocket, bool& bOptimizedZigZag, ICRVCOMPOPOVECTOR& vpCrvs, double& dOffs) ;
       bool ZigZagOptimizedNoClosedEdges( ICurveComposite* pCrvPocket, bool& bOptimizedZigZag, Vector3d& vtDir, double& dOffs) ;
-      bool ZigZagOptimizedOneClosedEdge( ICurveComposite* pCrvPocket, int nClosedId, bool& bOptimizedZigZag,
-                                         Vector3d& vtDir,  double& dOffs) ;
-      bool ZigZagOptimizedTwoClosedEdges( ICurveComposite* pCrvPocket, const INTVECTOR& vnClosedIds,
-                                          bool& bOptimizedZigZag, bool& bOpposite, Vector3d& vtDir,  double& dOffs) ;
+      bool ZigZagOptimizedOneClosedEdge( ICurveComposite* pCrvPocket, int nClosedId, bool& bOptimizedZigZag, Vector3d& vtDir, double& dOffs) ;
+      bool ZigZagOptimizedTwoClosedEdges( ICurveComposite* pCrvPocket, const INTVECTOR& vnClosedIds, bool& bOptimizedZigZag, 
+                                          bool& bOpposite, Vector3d& vtDir, double& dOffs) ;
       bool ZigZagOptimizedThreeClosedEdges( ICurveComposite* pCrvPocket, const INTVECTOR& vnClosedIds, bool& bOptimizedZigZag, 
-                                            bool& bOpposite, Vector3d& vtDir,  double& dOffs) ;
-      bool ZigZagOptimizedComputeOffset( ICurveComposite* pCrvPocket, const Vector3d& vtMainDir, int nOffsettedEdgesOnY,
-                                         const INTVECTOR& vnClosedIds,  double& dOffs) ;
+                                            bool& bOpposite, Vector3d& vtDir, double& dOffs) ;
+      bool ZigZagOptimizedComputeOffset( ICurveComposite* pCrvPocket, const Vector3d& vtMainDir, int nOffsettedEdgesOnY, 
+                                         const INTVECTOR& vnClosedIds, double& dOffs) ;
       bool CutCurveWithLine( ICurveComposite* pCrvA, const ICurveLine* pCrvB) ;
-      bool AddOneWay( ISURFFRPOVECTOR& vSfr, const std::vector<ICRVCOMPOPOVECTOR>& vCrvOrig, BOOLVECTOR& vbChangedPrec,
-                      VCT3DVECTOR& vVtTrasl, const Vector3d& vtTool, const Vector3d& vtExtr,
-                      double dDepth, double dElev, double dMaxElev, double dOkStep, bool bSplitArcs) ;
-      bool AddSpiralIn( ISURFFRPOVECTOR& vSfr, const std::vector<ICRVCOMPOPOVECTOR>& vCrvOrig, BOOLVECTOR& vbChangedPrec,
-                        VCT3DVECTOR& vVtTrasl, const Vector3d& vtTool, const Vector3d& vtExtr,
-                        double dDepth, double dElev, double dMaxElev, double dOkStep, bool bSplitArcs) ;
-      bool AddSpiralOut( ISURFFRPOVECTOR& vSfr, const std::vector<ICRVCOMPOPOVECTOR>& vCrvOrig, BOOLVECTOR& vbChangedPrec,
-                         VCT3DVECTOR& vVtTrasl, const Vector3d& vtTool, const Vector3d& vtExtr,
-                         double dDepth, double dElev, double dMaxElev, double dOkStep, bool bSplitArcs) ;
-      bool CalcSpiral( const ISurfFlatRegion* pSrfPock, int& nReg, Point3d& ptStart, Vector3d& vtMidOut , bool& bMidOut,
-                       bool bSplitArcs,ICurveComposite* pMCrv, ICurveComposite* pRCrv, ICurveComposite* pCrvOEWithFlags,
-                       bool vbChangedPrec, bool& bOptimizedTrap) ;
-      bool CheckIfOffsetIsNecessary( const ICurveComposite* pCrvOffs, const double dOffs, const int nIter,
-                                     const int nOffsCount, const Vector3d& vtN, bool& bInsert) ;
-      bool GetUnclearedRegion( ICRVCOMPOPOVECTOR& vFirstOffs, ICRVCOMPOPOVECTOR& vCrvs, ICURVEPOVECTOR& vLinks,
-                               const ICurveComposite* pCrv_orig, ISurfFlatRegion* pSrfToCut) ;
-      bool GetDynamicClearedRegion( ISurfFlatRegion* pSrfPrec, const ICurveComposite* pCrv) ;
-      bool RemoveFirstLoopFromSfr( ISurfFlatRegion* pSrfOrig ) ;
-      bool RemoveExtraParts( ISurfFlatRegion* pSrfToCut, ICRVCOMPOPOVECTOR& vOffs, ICRVCOMPOPOVECTOR& vOffsClosedCurves,
-                             ICRVCOMPOPOVECTOR& vOffsFirstCurve, ICURVEPOVECTOR& vLinks) ;
-      bool RemoveExtraPartByMedialAxis( const ISurfFlatRegion* pChunkToCut, ICRVCOMPOPOVECTOR& vOffsFirstCurve,
-                                        int& nOptFlag, Point3d& ptCentroid, ICurveComposite* pCrvPath) ;
-      bool CutOffsetToClosestPoint( ICRVCOMPOPOVECTOR& vCurves, const Point3d& ptFocus, ICurveComposite* pCrv1,
-                                    ICurveComposite* pCrv2, int& nIndex) ;
-      bool CutLinkToClosestPoint( ICURVEPOVECTOR& vCurves, ICRVCOMPOPOVECTOR& vOffs, const Point3d& ptFocus,
-                                  ICurveComposite* pCrv1, ICurveComposite* pCrv2, bool& bFound, int& nIndex) ;
-      bool GetNewCurvetWithCentroid( const ICurveComposite* pCrvH1, const ICurveComposite* pCrvH2, Point3d& ptC, bool bCir,
-                                     ICRVCOMPOPOVECTOR& VFirstOff, ICurveComposite* pCrvNewCurve) ;
-      bool GetNewCurvetWithPath( const ICurveComposite* pCrvH1, const ICurveComposite* pCrvH2, ICurveComposite* pCrvPath,
-                                 ICRVCOMPOPOVECTOR& VFirstOff, ICRVCOMPOPOVECTOR& VoffsCl, ICurveComposite* pCrvNewCurve) ;
-      bool ManageSmoothAndAutoInters( ICurveComposite* pCrv, ICurveComposite* pCrvPath, ICurveComposite* pPath1,
-                                      ICurveComposite* pPath2, ICRVCOMPOPOVECTOR& vOffsCL) ;
-      bool GetCurveWeightInfo( const ICurveComposite* pCrvCompo, double dMaxLen, double& dToTRot, int& nSmallArcs, int& nSmallLines) ;
-      bool ChoosePath( const ICurveComposite* pCrv1, const ICurveComposite* pCrv2, int nP, double dPerP, double dMaxLen, int& nC) ;
-      bool CalcBoundedLink( const Point3d& ptStart, const Point3d& ptEnd, ICRVCOMPOPOVECTOR& vOffIslands,
+      bool AddOneWay( const ICurveComposite* pCompo, const Vector3d& vtTool, const Vector3d& vtExtr,
+                      double dDepth, double dElev, double dOkStep, bool bSplitArcs) ;
+      bool AddSpiralIn( const ICurveComposite* pCompo, const Vector3d& vtTool, const Vector3d& vtExtr,
+                        double dDepth, double dElev, double dOkStep, bool bSplitArcs, bool bMidOpen,
+                        const Point3d& ptMidOpen, const Vector3d& vtMidOut, int nPathId) ;
+      bool AddSpiralOut( const ICurveComposite* pCompo, const Vector3d& vtTool, const Vector3d& vtExtr,
+                         double dDepth, double dElev, double dOkStep, bool bSplitArcs, int nPathId) ;
+      bool CalcSpiral( const ICurveComposite* pCompo, int nReg, bool bSplitArcs, 
+                       ICurveComposite* pMCrv, ICurveComposite* pRCrv, int nPathId, bool& bOptimizedTrap) ;
+      bool CalcBoundedLink( const Point3d& ptStart, const Point3d& ptEnd, const ICurve* pCrvBound,
                             ICurveComposite* pCrvLink) ;
-      bool CalcBoundedSmootedLink( const Point3d& ptStart, const Vector3d& vtStart, const Point3d& ptEnd, const Vector3d& vtEnd, double dParMeet, 
-                                   ICRVCOMPOPOVECTOR& vOffIslands, ICurveComposite* pCrvLink) ;
-      bool ModifyBiArc( ICurve* pCrvBiArc, double dCutToll, ICurveComposite* pNewCrv) ;
-      bool CutCurveByOffsets( ICurveComposite* pCurve, ICRVCOMPOPOVECTOR& vOffs) ;
-      bool CutCurveToConnect( ICurveComposite* pCrvS, ICurveComposite* pCrvE, ICRVCOMPOPOVECTOR& vOffs, ICRVCOMPOPOVECTOR& vOffIslands,
-                              ICurveComposite* pCrvLink, double dLenPercS = 0.01, double dLenPercE = 0.01, int nMaxIter = 2) ;
       bool CalcBoundedLinkWithBiArcs( const Point3d& ptStart, const Vector3d& vtStart, const Point3d& ptEnd, const Vector3d& vtEnd,
                                       const ICurve* pCrvBound, ICurveComposite* pCrvLink) ;
       bool CalcCircleSpiral( const Point3d& ptCen, const Vector3d& vtN, double dOutRad, double dIntRad,
                              bool bSplitArcs, ICurveComposite* pMCrv, ICurveComposite* pRCrv) ;
-      bool CalcTrapezoidSpiral( ICurveComposite* pCrvPocket, const Frame3d& frTrap, double dPocketSize, int nBase,
-                                int nSecondBase, ICurveComposite* pMCrv, ICurveComposite* pRCrv, bool& bOptimizedTrap) ;
+      bool CalcTrapezoidSpiral( ICurveComposite* pCrvPocket, const Vector3d& vtDir, double dPocketSize,  
+                                ICurveComposite* pMCrv, ICurveComposite* pRCrv, bool& bOptimizedTrap) ;
       bool CalcTrapezoidSpiralLocalFrame( ICurveComposite * pCrvPocket, const Vector3d& vtDir, Frame3d& frLoc) ;
-      bool CalcTrapezoidSpiralXCoord( const ICurveComposite * pCrvPocket, int nBase,int nSecondBase,
-                                      bool bStart, double dYCoord, double& dXCoord, double dPocketSize) ;
-      bool AdjustTrapezoidSpiralForAngles( ICurveComposite * pMCrv, const ICurveComposite * pCrvPocket, 
-                                           bool bStart) ;
-      bool SpecialAdjustTrapezoidSpiralForAngles( ICurveComposite* pMCrv, const bool bEven, const ICurveComposite* pCrvPocket) ;
+      bool CalcTrapezoidSpiralXCoord( const ICurveComposite * pCrvPocket, bool bStart, double dYCoord, double& dXCoord, double dPocketSize) ;      
+      bool AdjustTrapezoidSpiralForAngles( ICurveComposite * pMCrv, const ICurveComposite * pCrvPocket, bool bStart) ;
+      bool SpecialAdjustTrapezoidSpiralForAngles( ICurveComposite* pMCrv, const ICurveComposite* pCrvPocket) ;
       bool AdjustTrapezoidSpiralForLeadInLeadOut( ICurveComposite * pCompo, ICurveComposite * pRCrv, const Vector3d& vtTool, 
                                                   double dDepth, int& nOutsideRaw) ;
-      bool ComputeTrapezoidSpiralLeadInLeadOut( ICurveComposite * pCompo, const Vector3d& vtMainDir, bool bLeadIn, const Vector3d& vtTool, double dDepth, 
-                                                bool& bIsOutsideRaw) ;
-      bool GetSignedDistFromRealDirection( const Point3d ptP, const Vector3d vtDir, double& dDist, Vector3d& vtNorm) ;
-      double GetMinFeed( void ) const { return GetFeed() * GetSideStep() / m_TParams.m_dDiam ; }
-      double GetMaxFeed( void ) const { return GetFeed() ; }
-      bool GetFeedForParam( double& dPar, double& dFeed) ;
-      bool AssignDefaultFeed( ICurveComposite* pCrv) ;
-      bool DrawColoredCrvForFeedTest( ICurve* pCurve, double dFeed) ;
-      bool AssignFeedForOpenEdge( ICurveComposite* pCrv, const ICurveComposite* pCrvOF_ori) ;
-      bool AssignFeedForLineInOut( ICurveComposite* pCrv, const bool bIsIn) ;
-      bool AssignFeedOnCorners( ICurveComposite* pCrv, const ICurveComposite* pCrv_orig, const double dLenToll) ;
-      bool AssignFeedForEdgeCleaning( ICurveComposite *pCrv, const ICRVCOMPOPOVECTOR& vCrvOF_orig, int nInd = -1) ;
-      bool AssignFeedZigZagOneWay( ICurveComposite* pCompoLine, const bool bIsLink, const ICURVEPOVECTOR& vLAbove,
-                                   const ICURVEPOVECTOR& vLUnder, const ICRVCOMPOPOVECTOR& vAddedLinks) ;
-      bool AssignFeedSpiral( ICurveComposite* pCrv, const ISurfFlatRegion* pSrfRemoved_offs, const bool bIsLink,
-                             const ICRVCOMPOPOVECTOR& vLinks_done, const ICurveComposite* pCrv_orig, double dToll) ;
-      bool AssignFeedSpiralOpt( const int nOptType, ICurveComposite* pCrv) ;
-      bool AssignFeedCrvOnUnclearedRegions( ICurveComposite* pCrv) ;
-      bool AssignFeedForReturnPath( ICurveComposite* pCrv) ;
-      bool VerifyLeadInHelix( ISurfFlatRegion* pSrfChunk, const Point3d& ptCen, double dRad) const ;
-      bool VerifyLeadInZigZag( ISurfFlatRegion* pSrfChunk, const Point3d& ptPa, const Point3d& ptPb) const ;
+      bool ComputeTrapezoidSpiralLeadInLeadOut( ICurveComposite * pCompo, const Vector3d& vtMainDir, bool bLeadIn, const Vector3d& vtTool, double dDepth, bool& bIsOutsideRaw) ;
       bool ComputePolishingPath( ICurveComposite* pMCrv, ICurveComposite* pRCrv, bool bSplitArcs) ; 
       bool AddEpicycles( ICurveComposite * pCompo, ICurveComposite * pCrv, ICurveComposite * pCrvBound = nullptr) ;
       bool AddApproach( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ, double dSafeAggrBottZ,
-                        double dElev, double dAppr, bool bOutStart) ;
+                        double dElev, double dAppr, bool bSplitArcs, bool bOutStart) ;
       bool AddLinkApproach( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ, double dSafeAggrBottZ,
-                            double dElev, double dAppr, bool bOutStart = false) ;
+                            double dElev, double dAppr, bool bSplitArcs, bool bOutStart = false) ;
       bool AddLinkRetract( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ, double dSafeAggrBottZ,
-                           double dElev, double dAppr) ;
+                           double dElev, double dAppr, bool bSplitArcs) ;
       bool AddRetract( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ, double dSafeAggrBottZ,
-                       double dElev, double dAppr) ;
+                       double dElev, double dAppr, bool bSplitArcs) ;
       bool CalcLeadInStart( const Point3d& ptStart, const Vector3d& vtStart, const Vector3d& vtN,
                             const ICurveComposite* pRCrv, Point3d& ptP1) const ;
-      bool AddLeadIn( const Point3d& ptP1, const Point3d& ptStart, const Vector3d& vtStart, const Vector3d& vtN, 
-                      ISurfFlatRegion* pSrfChunk, const ICurveComposite* pRCrv, bool bAtLeft, bool bSplitArcs,
+      bool AddLeadIn( const Point3d& ptP1, const Point3d& ptStart, const Vector3d& vtStart, const Vector3d& vtN,
+                      const ICurveComposite* pCompo, const ICurveComposite* pRCrv, bool bAtLeft, bool bSplitArcs,
                       bool bNoneForced = false, bool bSkipControl = false) ;
       bool AddLeadOut( const Point3d& ptEnd, const Vector3d& vtEnd, const Vector3d& vtN,
-                       const ICurveComposite* pRCrv, bool bSplitArcs, bool bNoneForced, Point3d& ptP1,
-                       double& dElev, bool bRecalcElev = true) ;
+                       const ICurveComposite* pRCrv, bool bSplitArcs, bool bNoneForced,
+                       Point3d& ptP1, double& dElev) ;
       bool AddLeadOut( const Point3d& ptEnd, const Vector3d& vtEnd, const Vector3d& vtN,
                        const ICurveComposite* pRCrv, bool bSplitArcs, bool bNoneForced,
-                       Point3d& ptP1, double& dElev, bool& bOppositeHome, bool bRecalcElev = true) ;
+                       Point3d& ptP1, double& dElev, bool& bOppositeHome) ;
       double GetRadiusForStartEndElevation( void) const ;
-     // ===================================================================
+      bool GetForcedClosed( void) ;
+      bool GetMidOfLongestOpenSide( const ICurveComposite* pCompo, Point3d& ptMid, Vector3d& vtMidOut) ;
+      bool AdjustContourWithOpenEdges( ICurveComposite* pCompo) ;
+      bool AdjustContourStart( ICurveComposite* pCompo) ;
+      bool VerifyLeadInHelix( const ICurveComposite* pCompo, const Point3d& ptCen, double dRad) const ;
+      bool VerifyLeadInZigZag( const ICurveComposite* pCompo, const Point3d& ptPa, const Point3d& ptPb) const ;
+      bool CalcDistanceFromRawSurface( int nPhase, const Point3d& ptP, const Vector3d& vtDir, double& dDist, Vector3d& vtNorm) ; 
 
    private :
       double GetSpeed( void) const
@@ -294,31 +177,21 @@ class Pocketing : public Machining
            return m_Params.m_nLeadOutType ; }
 
    private :
-      SELVECTOR     m_vId ;                   // identificativi entit� geometriche da lavorare
-      PocketingData m_Params ;                // parametri lavorazione
-      ToolData      m_TParams ;               // parametri utensile
-      double        m_dTHoldBase ;            // posizione base del porta-utensile
-      double        m_dTHoldLen ;             // lunghezza del porta-utensile
-      double        m_dTHoldDiam ;            // diametro del porta-utensile
-      double        m_dMaxHelixRad ;          // raggio massimo attacco ad elica nel caso di cerchi
-      int           m_nStatus ;               // stato di aggiornamento della lavorazione
-      int           m_nPockets ;              // numero di percorsi di svuotatura generati
-      bool          m_bTiltingTab ;           // flag utilizzo tavola basculante
-      Vector3d      m_vtTiltingAx ;           // versore direzione eventuale asse basculante
-      bool          m_bAboveHead ;            // flag utilizzo testa da sopra
-      bool          m_bAggrBottom ;           // flag di utilizzo dell'aggregato da sotto
-      Vector3d      m_vtAggrBottom ;          // vettore direzione ausiliaria aggregato da sotto
-      AggrBottom    m_AggrBottom ;            // dati eventuale aggregato da sotto
-      bool          m_bOpenOutRaw ;           // flag forzatura lati aperti sempre fuori dal grezzo
-      double        m_dOpenMinSafe ;          // minima distanza di sicurezza di attacco su lato aperto
-      bool          m_bOptOffset = true ;     // flag per ottimizzazione numero di Offset necessari
-      bool          m_bOptOffsetCM = false ;  // flag per ottimizzazione numero di Offset necessari con centroidi e medial Axis
-      bool          m_bAssignFeed = false ;   // flag per controllo della Feed
-      double        m_dDiam_Prec = 0.0 ;      // diametro utensile per precedente svuotatura
-      double        m_dOffsetR_Prec = 0.0 ;   // offset radiale della svuotatura precedente
-      double        m_dSideStep_Prec = 0.0 ;  // side Step della svuotatura precedente
-      double        m_dLen_Prec = 0.0 ;       // Lunghezza del tool precedente
-      bool          m_bOrderStepZ = true ;    // parametro per ordinare gli step Extra per Z decrescente o meno
-      bool          m_bPocketPlane = false ;  // flag per svuotare solo la rimanenza sullo Step Extra
-
+      SELVECTOR     m_vId ;             // identificativi entità geometriche da lavorare
+      PocketingData m_Params ;          // parametri lavorazione
+      ToolData      m_TParams ;         // parametri utensile
+      double        m_dTHoldBase ;      // posizione base del porta-utensile
+      double        m_dTHoldLen ;       // lunghezza del porta-utensile
+      double        m_dTHoldDiam ;      // diametro del porta-utensile
+      double        m_dMaxHelixRad ;    // raggio massimo attacco ad elica nel caso di cerchi
+      int           m_nStatus ;         // stato di aggiornamento della lavorazione
+      int           m_nPockets ;        // numero di percorsi di svuotatura generati
+      bool          m_bTiltingTab ;     // flag utilizzo tavola basculante
+      Vector3d      m_vtTiltingAx ;     // versore direzione eventuale asse basculante
+      bool          m_bAboveHead ;      // flag utilizzo testa da sopra
+      bool          m_bAggrBottom ;     // flag di utilizzo dell'aggregato da sotto
+      Vector3d      m_vtAggrBottom ;    // vettore direzione ausiliaria aggregato da sotto
+      AggrBottom    m_AggrBottom ;      // dati eventuale aggregato da sotto
+      bool          m_bOpenOutRaw ;     // flag forzatura lati aperti sempre fuori dal grezzo
+      double        m_dOpenMinSafe ;    // minima distanza di sicurezza di attacco su lato aperto
 } ;

Processor.cpp

@@ -521,8 +521,8 @@ bool
 Processor::UpdateAxes( void)
 {
   // Carico i nomi degli assi macchina attivi
-   return m_pMachine->GetAllCurrAxesName( m_AxesName) &&
-          m_pMachine->GetAllCurrAxesToken( m_AxesToken) ;
+   return m_pMachine->GetAllCurrAxesNames( m_AxesName) &&
+          m_pMachine->GetAllCurrAxesTokens( m_AxesToken) ;
 }
 
 //----------------------------------------------------------------------------
@@ -843,15 +843,16 @@ Processor::OnToolSelect( const string& sTool, const string& sHead, int nExit, co
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_EXIT, nExit) ;
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_TCPOS, sTcPos) ;
   // assegno il token e il nome degli assi
+   bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
    int nNumAxes = int( m_AxesName.size()) ;
    for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
       if ( i <= nNumAxes) {
-         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisToken(i), m_AxesToken[i-1]) ;
-         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisName(i), m_AxesName[i-1]) ;
+         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisToken( i, bIsRobot), m_AxesToken[i-1]) ;
+         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisName( i, bIsRobot), m_AxesName[i-1]) ;
       }
       else {
-         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisToken(i)) ;
-         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisName(i)) ;
+         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisToken( i, bIsRobot)) ;
+         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisName( i, bIsRobot)) ;
       }
    }
   // chiamo la funzione di selezione utensile
@@ -983,12 +984,13 @@ Processor::OnRapid( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd
   // assegno il tipo di movimento
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVE, nMove) ;
   // assegno il valore degli assi
+   bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
    int nNumAxes = int( AxesEnd.size()) ;
    for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
       if ( i <= nNumAxes)
-         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue(i), AxesEnd[i-1]) ;
+         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot), AxesEnd[i-1]) ;
       else
-         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue(i)) ;
+         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot)) ;
    }
   // assegno la mascheratura degli assi
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MASK, nAxesMask) ;
@@ -1023,12 +1025,13 @@ Processor::OnLinear( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEn
   // assegno il tipo di movimento
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVE, nMove) ;
   // assegno il valore degli assi
+   bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
    int nNumAxes = int( AxesEnd.size()) ;
    for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
       if ( i <= nNumAxes)
-         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue(i), AxesEnd[i-1]) ;
+         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot), AxesEnd[i-1]) ;
       else
-         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue(i)) ;
+         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot)) ;
    }
   // assegno il valore del versore utensile
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_TDIR, vtTool) ;
@@ -1062,12 +1065,13 @@ Processor::OnArc( int nEntId, int nEntInd, int nMove, const DBLVECTOR& AxesEnd,
   // assegno il tipo di movimento
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MOVE, nMove) ;
   // assegno il valore degli assi
+   bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
    int nNumAxes = int( AxesEnd.size()) ;
    for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
       if ( i <= nNumAxes)
-         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue(i), AxesEnd[i-1]) ;
+         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot), AxesEnd[i-1]) ;
       else
-         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue(i)) ;
+         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot)) ;
    }
   // assegno le coordinate del centro
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_C1, ptCen.x) ;

Sawing.cpp

@@ -4,7 +4,7 @@
 // File : Sawing.cpp         Data : 24.10.15          Versione : 1.6j3
 // Contenuto : Implementazione gestione tagli con lama.
 //
-// Note : Questa lavorazione è sempre espressa nel riferimento globale.
+// Note : Questa lavorazione è sempre espressa nel riferimento globale.
 //
 // Modifiche : 07.06.15 DS Creazione modulo.
 //
@@ -532,15 +532,15 @@ Sawing::SetParam( int nType, const string& sVal)
 bool
 Sawing::SetGeometry( const SELVECTOR& vIds)
 {
-  // verifico validità gestore DB geometrico
+  // verifico validità gestore DB geometrico
    if ( m_pGeomDB == nullptr)
       return false ;
   // reset della geometria corrente
    m_vId.clear() ;
-  // verifico che gli identificativi rappresentino delle entità ammissibili
+  // verifico che gli identificativi rappresentino delle entità ammissibili
    int nType = GEO_NONE ;
    for ( const auto& Id : vIds) {
-     // test sull'entità
+     // test sull'entità
       int nSubs ;
       if ( ! VerifyGeometry( Id, nSubs, nType)) {
          string sInfo = "Warning in Sawing : Skipped entity " + ToString( Id) ;
@@ -563,14 +563,14 @@ Sawing::Preview( bool bRecalc)
   // reset numero tagli nella lavorazione
    m_nCuts = 0 ;
 
-  // verifico validità gestore DB geometrico e Id del gruppo
+  // verifico validità gestore DB geometrico e Id del gruppo
    if ( m_pGeomDB == nullptr  ||  ! m_pGeomDB->ExistsObj( m_nOwnerId))
       return false ;
 
   // recupero gruppo per geometria ausiliaria
    int nAuxId = m_pGeomDB->GetFirstNameInGroup( m_nOwnerId, MCH_AUX) ;
    bool bChain = false ;
-  // se non c'è, lo aggiungo
+  // se non c'è, lo aggiungo
    if ( nAuxId == GDB_ID_NULL) {
       nAuxId = m_pGeomDB->AddGroup( GDB_ID_NULL, m_nOwnerId, Frame3d()) ;
       if ( nAuxId == GDB_ID_NULL)
@@ -603,7 +603,7 @@ Sawing::Preview( bool bRecalc)
 
   // recupero gruppo per anteprima di lavorazione (PreView)
    int nPvId = m_pGeomDB->GetFirstNameInGroup( m_nOwnerId, MCH_PV) ;
-  // se non c'è, lo aggiungo
+  // se non c'è, lo aggiungo
    if ( nPvId == GDB_ID_NULL) {
       nPvId = m_pGeomDB->AddGroup( GDB_ID_NULL, m_nOwnerId, Frame3d()) ;
       if ( nPvId == GDB_ID_NULL)
@@ -633,7 +633,7 @@ Sawing::Apply( bool bRecalc, bool bPostApply)
    int nCurrCuts = m_nCuts ;
    m_nCuts = 0 ;
 
-  // verifico validità gestore DB geometrico e Id del gruppo
+  // verifico validità gestore DB geometrico e Id del gruppo
    if ( m_pGeomDB == nullptr  ||  ! m_pGeomDB->ExistsObj( m_nOwnerId))
       return false ;
 
@@ -662,7 +662,7 @@ Sawing::Apply( bool bRecalc, bool bPostApply)
   // recupero gruppo per geometria ausiliaria
    int nAuxId = m_pGeomDB->GetFirstNameInGroup( m_nOwnerId, MCH_AUX) ;
    bool bChain = false ;
-  // se non c'è, lo aggiungo
+  // se non c'è, lo aggiungo
    if ( nAuxId == GDB_ID_NULL) {
       nAuxId = m_pGeomDB->AddGroup( GDB_ID_NULL, m_nOwnerId, Frame3d()) ;
       if ( nAuxId == GDB_ID_NULL)
@@ -689,7 +689,7 @@ Sawing::Apply( bool bRecalc, bool bPostApply)
 
   // recupero gruppo per geometria di lavorazione (Cutter Location)
    int nClId = m_pGeomDB->GetFirstNameInGroup( m_nOwnerId, MCH_CL) ;
-  // se non c'è, lo aggiungo
+  // se non c'è, lo aggiungo
    if ( nClId == GDB_ID_NULL) {
       nClId = m_pGeomDB->AddGroup( GDB_ID_NULL, m_nOwnerId, Frame3d()) ;
       if ( nClId == GDB_ID_NULL)
@@ -732,7 +732,7 @@ Sawing::Apply( bool bRecalc, bool bPostApply)
 bool
 Sawing::Update( bool bPostApply)
 {
-  // verifico validità gestore DB geometrico e Id del gruppo
+  // verifico validità gestore DB geometrico e Id del gruppo
    if ( m_pGeomDB == nullptr  ||  ! m_pGeomDB->ExistsObj( m_nOwnerId))
       return false ;
 
@@ -742,7 +742,7 @@ Sawing::Update( bool bPostApply)
       return true ;
    }
 
-  // elimino le entità CLIMB, RISE e HOME della lavorazione, potrebbero falsare i calcoli degli assi (in ogni casi vengono riaggiunte dopo) 
+  // elimino le entità CLIMB, RISE e HOME della lavorazione, potrebbero falsare i calcoli degli assi (in ogni casi vengono riaggiunte dopo) 
    RemoveClimbRiseHome() ;
 
   // imposto eventuale asse bloccato da lavorazione
@@ -794,7 +794,7 @@ Sawing::Update( bool bPostApply)
 bool
 Sawing::AdjustFeeds( void)
 {
-  // controlli su GeomDB e simili non ripetuti perchè già fatti
+  // controlli su GeomDB e simili non ripetuti perchè già fatti
 
   // recupero gruppo della geometria di lavorazione (Cutter Location)
    int nClId = m_pGeomDB->GetFirstNameInGroup( GetOwner(), MCH_CL) ;
@@ -804,11 +804,11 @@ Sawing::AdjustFeeds( void)
   // ciclo sui gruppi CL
    int nClPathId = m_pGeomDB->GetFirstGroupInGroup( nClId) ;
    while ( nClPathId != GDB_ID_NULL) {
-     // ciclo su tutte le entità del percorso CL
+     // ciclo su tutte le entità del percorso CL
       for ( int nEntId = m_pGeomDB->GetFirstInGroup( nClPathId) ;
             nEntId != GDB_ID_NULL ;
             nEntId = m_pGeomDB->GetNext( nEntId)) {
-        // recupero i dati Cam dell'entità
+        // recupero i dati Cam dell'entità
          CamData* pCamData = GetCamData( m_pGeomDB->GetUserObj( nEntId)) ;
          if ( pCamData == nullptr)
             continue ;
@@ -1075,7 +1075,7 @@ Sawing::UpdateToolData( bool* pbChanged)
 bool
 Sawing::GetGeometry( SELVECTOR& vIds) const
 {
-  // restituisco l'elenco delle entità
+  // restituisco l'elenco delle entità
    vIds = m_vId ;
    return true ;
 }
@@ -1098,7 +1098,7 @@ Sawing::VerifyGeometry( SelData Id, int& nSubs, int& nType)
    const IGeoObj* pGObj = m_pGeomDB->GetGeoObj( Id.nId) ;
    if ( pGObj == nullptr)
       return false ;
-  // se ammesse curve ed è tale
+  // se ammesse curve ed è tale
    if ( ( nType == GEO_NONE  ||  nType == GEO_CURVE)  &&  ( pGObj->GetType() & GEO_CURVE) != 0) {
       nType = GEO_CURVE ;
       const ICurve* pCurve = nullptr ;
@@ -1122,7 +1122,7 @@ Sawing::VerifyGeometry( SelData Id, int& nSubs, int& nType)
       }
       return ( pCurve != nullptr) ;
    }
-  // se altrimenti ammesse superfici trimesh ed è tale
+  // se altrimenti ammesse superfici trimesh ed è tale
    else if ( ( nType == GEO_NONE  ||  nType == GEO_SURF)  &&  pGObj->GetType() == SRF_TRIMESH) {
       nType = GEO_SURF ;
       const ISurfTriMesh* pSurf = ::GetSurfTriMesh( pGObj) ;
@@ -1142,7 +1142,7 @@ Sawing::VerifyGeometry( SelData Id, int& nSubs, int& nType)
       }
       return true ;
    }
-  // se altrimenti ammesse regioni ed è tale
+  // se altrimenti ammesse regioni ed è tale
    else if ( ( nType == GEO_NONE  ||  nType == GEO_SURF)  &&  pGObj->GetType() == SRF_FLATRGN) {
       nType = GEO_SURF ;
       const ISurfFlatRegion* pReg = ::GetSurfFlatRegion( pGObj) ;
@@ -1335,7 +1335,7 @@ Sawing::Chain( int nGrpDestId)
    for ( const auto& Id : m_vId) {
      // prendo curva
       vpCrvs.emplace_back( GetCurve( Id)) ;
-     // ne verifico la validità
+     // ne verifico la validità
       if ( IsNull( vpCrvs.back())) {
          string sInfo = "Warning in Sawing : Skipped entity " + ToString( Id) ;
          m_pMchMgr->SetWarning( 2251, sInfo) ;
@@ -1477,7 +1477,7 @@ Sawing::ProcessPath( int nPathId, int nPvId, int nClId)
   // recupero gruppo per geometria temporanea
    const string GRP_TEMP = "Temp" ;
    int nTempId = m_pGeomDB->GetFirstNameInGroup( m_nOwnerId, GRP_TEMP) ;
-  // se non c'è, lo aggiungo
+  // se non c'è, lo aggiungo
    if ( nTempId == GDB_ID_NULL) {
       nTempId = m_pGeomDB->AddGroup( GDB_ID_NULL, m_nOwnerId, Frame3d()) ;
       if ( nTempId == GDB_ID_NULL)
@@ -1542,7 +1542,7 @@ Sawing::ProcessPath( int nPathId, int nPvId, int nClId)
   // elaboro la curva composita e la esplodo nelle curve componenti
    if ( m_Params.m_nCurveUse == SAW_CRV_APPROX  ||
         m_Params.m_nCurveUse == SAW_CRV_CONVEX) {
-     // calcolo l'approssimazione lineare con eventuale convessità
+     // calcolo l'approssimazione lineare con eventuale convessità
       PolyLine PL ;
       int nType = ICurve::APL_STD ;
       if ( m_Params.m_nWorkSide == SAW_WS_LEFT)
@@ -1631,7 +1631,7 @@ Sawing::ProcessPath( int nPathId, int nPvId, int nClId)
   // flag di curva chiusa
    bool bClosed = pCompo->IsClosed() ;
 
-  // calcolo gli eventuali punti di perdita di tangenza e di cambio di concavità
+  // calcolo gli eventuali punti di perdita di tangenza e di cambio di concavità
    DBLVECTOR vU ; 
    const double ANG_PERD_TG = 1.0 ;
    const ICurveArc* pArc = ( bClosed ? GetCurveArc( pCompo->GetLastCurve()) : nullptr) ;
@@ -1647,7 +1647,7 @@ Sawing::ProcessPath( int nPathId, int nPvId, int nClId)
          nCurrConv = 0 ;
          continue ;  
       }
-     // verifico cambio di concavità e/o lavorazione interna
+     // verifico cambio di concavità e/o lavorazione interna
       const ICurve* pCrv = pCompo->GetCurve( i) ;
       if ( pCrv->GetType() == CRV_ARC) {
          if ( GetCurveArc( pCrv)->GetAngCenter() > 0) {
@@ -1729,7 +1729,7 @@ Sawing::ProcessEntity( const ICurve* pCrvP, const ICurve* pCrvC, const ICurve* p
   // altrimenti
    else {
       if ( m_Params.m_nCurveUse == SAW_CRV_KEEP) {
-        // determino la convessità
+        // determino la convessità
          int nConv = 0 ;
          for ( int i = 0 ; i < pCompo->GetCurveCount() ; ++ i) {
             const ICurveArc* pArc = GetCurveArc( pCompo->GetCurve( i)) ;
@@ -1830,7 +1830,7 @@ Sawing::ProcessLine( const ICurve* pCrvP, const ICurveLine* pLineC, const ICurve
            ( m_Params.m_nWorkSide == SAW_WS_RIGHT  &&  dAngCN < - EPS_ANG_SMALL))
          bExtAngCN = false ;
    }
-  // verifico eventuale attacco speciale a step (se parametri validi e su entità linea singola)
+  // verifico eventuale attacco speciale a step (se parametri validi e su entità linea singola)
    double dLiStep = 0 ;
    double dLiElev = 0 ;
    if ( m_Params.m_dLiTang > 10 * EPS_SMALL  &&  m_Params.m_dLiElev > 10 * EPS_SMALL  &&
@@ -1851,7 +1851,7 @@ Sawing::ProcessLine( const ICurve* pCrvP, const ICurveLine* pLineC, const ICurve
       return true ;
    }
 
-  // Eventuale variazioni di velocità all'inizio e alla fine del percorso
+  // Eventuale variazioni di velocità all'inizio e alla fine del percorso
    FseVar FvVar ;
    if ( pCrvP == nullptr) {
       string sFsta = ExtractInfo( m_Params.m_sUserNotes, "Fsta=") ;
@@ -1999,7 +1999,7 @@ Sawing::GenerateLinePv( const ICurveLine* pLine, const Vector3d& vtTool, const V
                                            ptREnd + vtDir * ( dDtEnd + dExtraL) , RTY_LOC) ;
    m_pGeomDB->SetName( nReId, MCH_PV_RLOCUT) ;
    m_pGeomDB->SetMaterial( nReId, INVISIBLE) ;
-
+  
   // eventuali ripetizioni in basso per tagli inclinati
    if ( abs( m_Params.m_dSideAngle) > EPS_ANG_SMALL) {
      // lunghezza movimento
@@ -2057,6 +2057,23 @@ Sawing::GenerateLinePv( const ICurveLine* pLine, const Vector3d& vtTool, const V
       }
    }
 
+  // creo regioni di lavorazione che interessano le superfici superiore e inferiore del grezzo considerando anche gli
+  // allungamenti dei baffi
+   int nSurfUpId = ExeCreateSurfFrRectangle3P( nPxId, ptIni - vtDir * ( dStartWhiskExt + 5 * EPS_SMALL), 
+                                               ptCross + vtDir * ( dEndWhiskExt + 5 * EPS_SMALL), 
+                                               ptEnd + vtDir * ( dEndWhiskExt + 5 * EPS_SMALL), RTY_LOC) ;
+   m_pGeomDB->SetName( nSurfUpId, MCH_PV_UP_RAWCUT) ;
+   m_pGeomDB->SetMaterial( nSurfUpId, INVISIBLE) ;
+  // solo se la lavorazione interessa il fondo del grezzo creo la superficie down
+   if ( dRbHeight < EPS_SMALL) {
+      int nSurfDownId = m_pGeomDB->CopyGlob( nSurfUpId, GDB_ID_NULL, nPxId) ;
+      double dMove = dElev + dRbHeight / cos( m_Params.m_dSideAngle * DEGTORAD) ;
+      Vector3d vtMove = - dMove * vtCorr ; vtMove.z = 0 ; 
+      ExeMove( {nSurfDownId}, vtMove, RTY_LOC) ;
+      m_pGeomDB->SetName( nSurfDownId, MCH_PV_DOWN_RAWCUT) ;
+      m_pGeomDB->SetMaterial( nSurfDownId, INVISIBLE) ;
+   }
+
   // salvo in info gruppo : larghezza XY del taglio, distanza XY tra centro e bordo taglio, extra taglio e quota minima della lama
    m_pGeomDB->SetInfo( nPxId, MCH_PV_KEY_WT, vtToolH.LenXY()) ;
    if ( dLiElev > EPS_SMALL)
@@ -2279,7 +2296,7 @@ Sawing::GenerateLineCl( const ICurveLine* pLine, const Vector3d& vtTool, const V
          Point3d ptP3 = pLine->GetEnd() + vtCorr * dDelta ;
          if ( AddLinearMove( ptP3) == GDB_ID_NULL)
             return false ;
-        // se non è ultimo passo
+        // se non è ultimo passo
          if ( i != 0) {
            // movimento di risalita sopra il punto finale
             SetFeed( GetEndFeed()) ;
@@ -2475,7 +2492,7 @@ Sawing::GenerateExtCurvePv( const ICurveComposite* pCrv, double dOffs,
    if ( abs( m_Params.m_dSideAngle) > EPS_ANG_SMALL)
       colCut = FUCHSIA ;
 
-  // dimensione da aggiungere alle regioni nelle parti in cui la lama è inclinata
+  // dimensione da aggiungere alle regioni nelle parti in cui la lama è inclinata
    double dExtraL = m_pMchMgr->GetCurrMachiningsMgr()->GetExtraLOnCutRegion() ;
 
   // lunghezza taglio parziale
@@ -2623,6 +2640,17 @@ Sawing::GenerateExtCurvePv( const ICurveComposite* pCrv, double dOffs,
             return false ;
          if ( ! ExeSurfFrAdd( nRId, nRsId)  ||  ! ExeSurfFrAdd( nRId, nReId))
             return false ;
+
+        // creo regioni di lavorazione che interessano le superfici superiore e inferiore del grezzo 
+         int nSurfUpId = m_pGeomDB->CopyGlob( nRrId, GDB_ID_NULL, nPxId) ;
+         m_pGeomDB->SetName( nSurfUpId, MCH_PV_UP_RAWCUT) ;
+         m_pGeomDB->SetMaterial( nSurfUpId, INVISIBLE) ;
+        // solo se lavorazione interessa il fondo del grezzo creo la superficie down
+         if ( dRbHeight < EPS_SMALL) {
+            int nSurfDownId = m_pGeomDB->CopyGlob( nSurfUpId, GDB_ID_NULL, nPxId) ;            
+            m_pGeomDB->SetName( nSurfDownId, MCH_PV_DOWN_RAWCUT) ;
+            m_pGeomDB->SetMaterial( nSurfDownId, INVISIBLE) ;
+         }
       }
 
      // altrimenti errore
@@ -2868,7 +2896,7 @@ Sawing::GenerateExtCurveCl( const ICurveComposite* pCrv,
          CalculateToolAndCorrVersors( vtCurrDir, m_Params.m_nHeadSide, m_Params.m_nWorkSide, m_Params.m_dSideAngle, vtCurrTool, vtCurrCorr) ;
          SetToolDir( vtCurrTool) ;
          SetCorrAuxDir( vtCurrCorr) ;
-         if ( AddCurveMove( pSmpCrv, true) == GDB_ID_NULL)
+         if ( AddCurveMove( pSmpCrv) == GDB_ID_NULL)
             return false ;
       }
      // 4 -> retrazione
@@ -2946,7 +2974,7 @@ Sawing::GenerateExtCurveCl( const ICurveComposite* pCrv,
                   pCopy->SimpleOffset( dOffs) ;
                }
               // emissione
-               if ( AddCurveMove( pCopy, true) == GDB_ID_NULL)
+               if ( AddCurveMove( pCopy) == GDB_ID_NULL)
                   return false ;
             }
          }
@@ -2979,7 +3007,7 @@ Sawing::GenerateExtCurveCl( const ICurveComposite* pCrv,
               // inversione
                pCopy->Invert() ;
               // emissione
-               if ( AddCurveMove( pCopy, true) == GDB_ID_NULL)
+               if ( AddCurveMove( pCopy) == GDB_ID_NULL)
                   return false ;
             }
          }
@@ -3046,10 +3074,10 @@ Sawing::GenerateExtCurveCl( const ICurveComposite* pCrv,
                pCopy->SimpleOffset( dOffs) ;
             }
            // emissione
-            if ( AddCurveMove( pCopy, true) == GDB_ID_NULL)
+            if ( AddCurveMove( pCopy) == GDB_ID_NULL)
                return false ;
          }
-        // se non è ultimo passo
+        // se non è ultimo passo
          if ( i != 0) {
            // ricavo punto di risalita e punto iniziale
             Point3d ptP4 ;
@@ -3193,7 +3221,7 @@ Sawing::ProcessIntArc( const ICurve* pCrvP, const ICurveArc* pArcC, const ICurve
       m_pMchMgr->SetWarning( 2257, "Warning in Sawing : skipped Entity too small") ;
       return true ;
    }
-  // ricalcolo i versori fresa alle estremità (potrebbero essere cambiate)
+  // ricalcolo i versori fresa alle estremità (potrebbero essere cambiate)
    pArc->GetStartDir( vtStaDirC) ;
    pArc->GetMidDir( vtMidDirC) ;
    pArc->GetEndDir( vtEndDirC) ;
@@ -3285,7 +3313,7 @@ Sawing::GenerateIntArcPv( const ICurveArc* pArc,
    m_pGeomDB->SetName( nId3, MCH_PV_POST_CUT) ;
    m_pGeomDB->SetMaterial( nId3, BLUE) ;
 
-  // dimensione da aggiungere alle regioni nelle parti in cui la lama è inclinata
+  // dimensione da aggiungere alle regioni nelle parti in cui la lama è inclinata
    double dExtraL = m_pMchMgr->GetCurrMachiningsMgr()->GetExtraLOnCutRegion() ;
 
   // regione ridotta di taglio per nesting (escluse parti iniziali e finali)
@@ -3339,6 +3367,17 @@ Sawing::GenerateIntArcPv( const ICurveArc* pArc,
    if ( ! ExeSurfFrAdd( nRId, nRsId)  ||  ! ExeSurfFrAdd( nRId, nReId))
       return false ;
 
+  // creo regioni di lavorazione che interessano le superfici superiore e inferiore del grezzo 
+   int nSurfUpId = m_pGeomDB->CopyGlob( nRrId, GDB_ID_NULL, nPxId) ;
+   m_pGeomDB->SetName( nSurfUpId, MCH_PV_UP_RAWCUT) ;
+   m_pGeomDB->SetMaterial( nSurfUpId, INVISIBLE) ;
+   // solo se lavorazione interessa il fondo del grezzo creo la superficie down
+   if ( dRbHeight < EPS_SMALL) {
+      int nSurfDownId = m_pGeomDB->CopyGlob( nSurfUpId, GDB_ID_NULL, nPxId) ;            
+      m_pGeomDB->SetName( nSurfDownId, MCH_PV_DOWN_RAWCUT) ;
+      m_pGeomDB->SetMaterial( nSurfDownId, INVISIBLE) ;
+   }
+
   // salvo in info gruppo : larghezza XY del taglio, distanza XY tra centro e bordo taglio, extra taglio e quota minima della lama
    m_pGeomDB->SetInfo( nPxId, MCH_PV_KEY_WT, dDeltaInt + dDeltaExt) ;
    m_pGeomDB->SetInfo( nPxId, MCH_PV_KEY_DT, dDeltaT * dLenCoeff) ;
@@ -3571,12 +3610,12 @@ Sawing::GenerateIntArcCl( const ICurveArc* pArc,
       else {
          Point3d ptMid ;
          pArc->GetMidPoint( ptMid) ;
-        // prima metà arco
+        // prima metà arco
          SetToolDir( vtMidTool) ;
          SetCorrAuxDir( vtMidCorr) ;
          if ( AddArcMove( ptMid, ptCen, dAngCen / 2, vtN) == GDB_ID_NULL)
             return false ;
-        // seconda metà arco
+        // seconda metà arco
          SetToolDir( vtEndTool) ;
          SetCorrAuxDir( vtEndCorr) ;
          if ( AddArcMove( ptP3, ptCen, dAngCen / 2, vtN) == GDB_ID_NULL)
@@ -3657,12 +3696,12 @@ Sawing::GenerateIntArcCl( const ICurveArc* pArc,
             pArc->GetMidPoint( ptMid) ;
             ptMid += Z_AX * dDelta ;
             double dCurrAngCen = dAngCen / 2 * ((( i % 2) == 0) ? -1 : 1) ;
-           // prima metà arco
+           // prima metà arco
             SetToolDir( vtMidTool) ;
             SetCorrAuxDir( vtMidCorr) ;
             if ( AddArcMove( ptMid, ptCen, dCurrAngCen, vtN) == GDB_ID_NULL)
                return false ;
-           // seconda metà arco
+           // seconda metà arco
             SetToolDir( ( ( i % 2) == 0) ? vtStaTool : vtEndTool) ;
             SetCorrAuxDir( ( ( i % 2) == 0) ? vtStaCorr : vtEndCorr) ;
             if ( AddArcMove( ptP3, ptCen, dCurrAngCen, vtN) == GDB_ID_NULL)
@@ -3746,18 +3785,18 @@ Sawing::GenerateIntArcCl( const ICurveArc* pArc,
             Point3d ptMid ;
             pArc->GetMidPoint( ptMid) ;
             ptMid += Z_AX * dDelta ;
-           // prima metà arco
+           // prima metà arco
             SetToolDir( vtMidTool) ;
             SetCorrAuxDir( vtMidCorr) ;
             if ( AddArcMove( ptMid, ptCen, dAngCen / 2, vtN) == GDB_ID_NULL)
                return false ;
-           // seconda metà arco
+           // seconda metà arco
             SetToolDir( vtEndTool) ;
             SetCorrAuxDir( vtEndCorr) ;
             if ( AddArcMove( ptP3, ptCen, dAngCen / 2, vtN) == GDB_ID_NULL)
                return false ;
          }
-        // se non è ultimo passo
+        // se non è ultimo passo
          if ( i != 0) {
            // movimento di risalita sopra il punto finale
             SetFeed( GetEndFeed()) ;
@@ -3879,7 +3918,7 @@ Sawing::CalculateToolAndCorrVersors( const Vector3d& vtTang, int nHeadSide, int
 bool
 Sawing::AdjustForSide( ICurve* pCurve)
 {
-  // se lato lavoro e lato mandrino coincidono, non devo fare alcunché
+  // se lato lavoro e lato mandrino coincidono, non devo fare alcunché
    if ( ( m_Params.m_nWorkSide == SAW_WS_LEFT  &&  m_Params.m_nHeadSide == SAW_HS_LEFT)  ||
         ( m_Params.m_nWorkSide == SAW_WS_RIGHT  &&  m_Params.m_nHeadSide == SAW_HS_RIGHT))
       return true ;
@@ -4048,7 +4087,7 @@ Sawing::AdjustLineForEdges( ICurveLine* pLine, double dElev, const Vector3d& vtC
          dDeltaLoExt = dDeltaF ;
       }
    }
-  // controllo se lunghezza entità accettabile
+  // controllo se lunghezza entità accettabile
    const double MIN_LEN = 1 ;
    double dLenXY = DistXY( pLine->GetStart(), pLine->GetEnd()) ;
    if ( dDeltaI + dLenXY + dDeltaF < MIN_LEN) {
@@ -4119,7 +4158,7 @@ Sawing::AdjustCurveForEdges( ICurve* pCrv, double dElev, double dLenCoeff,
          dDeltaF = dDeltaT ;
    }
    dDeltaF *= dLenCoeff ;
-  // controllo se lunghezza entità accettabile
+  // controllo se lunghezza entità accettabile
    const double MIN_LEN = 1 ;
    double dLenXY ;
    pCrv->GetLength( dLenXY) ;

Simulator.cpp

@@ -61,6 +61,7 @@ Simulator::Simulator( void)
    m_pGeomDB = nullptr ;
    m_pMachine = nullptr ;
    m_pPerfCnt = nullptr ;
+   m_nStatus = SIS_CREATED ;
    m_dStep = MID_STEP  ;
    m_nUiStatus = MCH_UISIM_NULL ;
    m_nOpId = GDB_ID_NULL ;
@@ -92,6 +93,8 @@ Simulator::~Simulator( void)
 {
   // porto la macchina in posizione home
    GoHome() ;
+  // gestione evento uscita dal simulatore
+   OnExit() ;
   // rimuovo tavola variabili globali
    m_pMachine->LuaResetGlobVar( GLOB_VAR) ;
   // rimuovo performance counter
@@ -113,6 +116,7 @@ Simulator::Init( MachMgr* pMchMgr)
    m_pGeomDB = m_pMchMgr->GetGeomDB() ;
    m_pMachine = m_pMchMgr->GetCurrMachine() ;
    m_pPerfCnt = new PerformanceCounter ;
+   m_nStatus = SIS_INITIALIZED ;
    return true ;
 }
 
@@ -129,8 +133,8 @@ Simulator::Start( bool bFirst)
 
    bool bOk = true ;
 
-  // Se avvio vero
-   if ( bFirst) {
+  // Se appena entrati in simulazione
+   if ( m_nStatus == SIS_INITIALIZED) {
      // Forzo aggiornamento attrezzaggio della macchinata
       if ( ! m_pMchMgr->UpdateCurrSetup())
          bOk = false ;
@@ -167,19 +171,42 @@ Simulator::Start( bool bFirst)
    m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_VER, GetEMkVer()) ;
    m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_MACHNAME, m_pMachine->GetMachineName()) ;
 
-  // Richiamo funzione su avvio simulazione
-   if ( ! OnStart( bFirst))
+  // Se appena entrati in simulazione
+   if ( m_nStatus == SIS_INITIALIZED) {
+      if ( ! OnInit())
+         bOk = false ;
+      m_nStatus = SIS_READYTOSTART ;
+   }
+
+  // Richiamo funzione per evento avvio simulazione
+   if ( ! OnProgramStart( bFirst))
       bOk = false ;
 
   // Arrivo alla preparazione per la prima lavorazione
    int nStatus ;
    if ( ! FindAndManageOperationStart( true, bFirst, nStatus)  &&  nStatus != MCH_SIM_STOP)
       bOk = false ;
+  // se sono ancora su disposizione
+   if ( m_pMchMgr->GetOperationType( m_nOpId) == OPER_DISP) {
+     // ricerca e gestione inizio percorso di lavoro
+      if ( ! FindAndManagePathStart( nStatus))
+         return false ;
+     // eventuali comandi ausiliari di inizio percorso
+      while ( m_nAuxSInd < m_nAuxSTot) {
+         if ( ! ManagePathStartAux( nStatus))
+            return false ;
+      }
+     // aggiornamento assi per eventuali teste caricate
+      UpdateAxes() ;
+   }
 
   // Reset timer
    if ( m_pPerfCnt != nullptr)
       m_pPerfCnt->Start() ;
 
+  // Imposto lo stato interno
+   m_nStatus = ( bOk ? SIS_READYTORUN : SIS_READYTOSTART) ;
+
    return bOk ;
 }
 
@@ -235,7 +262,7 @@ bool
 Simulator::Move( int& nStatus)
 {
   // Verifiche
-   if ( m_pGeomDB == nullptr  ||  m_pMchMgr == nullptr  ||  m_pMachine == nullptr) {
+   if ( m_pGeomDB == nullptr  ||  m_pMchMgr == nullptr  ||  m_pMachine == nullptr  ||  m_nStatus != SIS_READYTORUN) {
       nStatus = MCH_SIM_ERR ;
       return false ;
    }
@@ -255,15 +282,15 @@ Simulator::Move( int& nStatus)
       m_dCoeff = 0 ;
    }
 
-  // Se appena arrivato alla fine di un percorso di lavoro
-   if ( m_nEntId == GDB_ID_NULL  &&  m_nAuxEInd == 0  &&  m_nCLPathInd > 0) {
+  // Se appena arrivato alla fine di un percorso di lavoro (verifico anche completamento dei comandi aux di start per path vuote)
+   if ( m_nEntId == GDB_ID_NULL  &&  m_nAuxEInd == 0  &&  m_nCLPathInd > 0  &&  m_nAuxSInd >= m_nAuxSTot) {
      // gestione fine percorso di lavoro
       if ( ! ManagePathEnd( nStatus))
          return false ;
    }
 
-  // Se alla fine del percorso dopo esecuzione azioni ausiliarie
-   if ( m_nEntId == GDB_ID_NULL  &&  m_nAuxEInd >= m_nAuxETot) {
+  // Se alla fine del percorso dopo esecuzione azioni ausiliarie (verifico anche completamento dei comandi aux di start per path vuote)
+   if ( m_nEntId == GDB_ID_NULL  &&  m_nAuxEInd >= m_nAuxETot  &&  m_nAuxSInd >= m_nAuxSTot) {
      // ricerca e gestione inizio percorso di lavoro
       if ( ! FindAndManagePathStart( nStatus))
          return false ;
@@ -279,7 +306,7 @@ Simulator::Move( int& nStatus)
          return false ;
      // se non ce ne sono altre, sono alla fine
       if ( m_nOpId == GDB_ID_NULL) {
-         OnEnd() ;
+         OnProgramEnd() ;
          nStatus = MCH_SIM_END ;
          return false ;
       }
@@ -552,10 +579,10 @@ Simulator::UpdateAxes( void)
    if ( pMachine == nullptr)
       return false ;
   // Carico i nomi e i token degli assi macchina attivi
-   if ( ! pMachine->GetAllCurrAxesName( m_AxesName)  ||
-        ! pMachine->GetAllCurrAxesToken( m_AxesToken))
+   if ( ! pMachine->GetAllCurrAxesNames( m_AxesName)  ||
+        ! pMachine->GetAllCurrAxesTokens( m_AxesToken))
       return false ;
-  // Aggiorno flag invertito, il tipo e la posizione corrente degli assi macchina attivi
+  // Aggiorno flag di invertito, offset, tipo e posizione corrente degli assi macchina attivi
    for ( size_t i = 0 ; i < m_AxesName.size() ; ++ i) {
       bool bInvert ;
       m_pMachine->GetAxisInvert( m_AxesName[i], bInvert) ;
@@ -833,8 +860,9 @@ Simulator::FindAndManagePathStart( int& nStatus)
    }
   // se altrimenti trovato nuovo CL path vuoto
    else if ( m_nCLPathId != GDB_ID_NULL) {
-     // non ci possono essere eventi ausiliari di inizio
-      m_nAuxSTot = 0 ;
+     // recupero il numero di eventi ausiliari di inizio
+      if ( ! m_pGeomDB->GetInfo( m_nCLPathId, KEY_AS_TOT, m_nAuxSTot))
+         m_nAuxSTot = 0 ;
       m_nAuxSInd = 0 ;
      // recupero il numero di eventi ausiliari di fine
       if ( ! m_pGeomDB->GetInfo( m_nCLPathId, KEY_AE_TOT, m_nAuxETot))
@@ -998,8 +1026,8 @@ Simulator::ManageSingleMove( int& nStatus, double& dMove)
      // Calcolo distanza di movimento
       double dSqDist = 0 ;
       for ( size_t i = 0 ; i < m_AxesName.size() ; ++ i) {
-         // coefficiente moltiplicativo per differenziare assi lineari (primi 3) e rotanti (altri)
-         double dSqCoeff = (( i < 3) ? 1 : SQ_COEFF_ROT_MOVE) ;
+         // coefficiente moltiplicativo per differenziare assi lineari e rotanti
+         double dSqCoeff = ( m_AxesLinear[i] ? 1 : SQ_COEFF_ROT_MOVE) ;
          dSqDist += dSqCoeff * ( AxesEnd[i] - m_AxesVal[i]) * ( AxesEnd[i] - m_AxesVal[i]) ;
       }
      // Calcolo distanza di movimento eventuali assi ausiliari
@@ -1411,27 +1439,27 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
             if ( m_CollObj[j].nType == MCH_SIM_COB_BOX) {
                Vector3d vtDiag( m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3) ;
                if ( pVZM != nullptr)
-                  bOk = pVZM->AvoidBox( frObj, vtDiag, m_dSafeDist) ;
+                  bOk = ! pVZM->CDeBox( frObj, vtDiag, m_dSafeDist) ;
                else
-                  bOk = ! CDeBoxClosedSurfTm( frObj, vtDiag, m_dSafeDist, *pSTM) ;
+                  bOk = ! CDeBoxClosedSurfTm( frObj, vtDiag, *pSTM, m_dSafeDist) ;
             }
             else if ( m_CollObj[j].nType == MCH_SIM_COB_CYL) {
                if ( pVZM != nullptr)
-                  bOk = pVZM->AvoidCylinder( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist) ;
+                  bOk = ! pVZM->CDeCylinder( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist) ;
                else
-                  bOk = ! CDeCylClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_dSafeDist, *pSTM) ;
+                  bOk = ! CDeCylClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, *pSTM, m_dSafeDist) ;
             }
             else if ( m_CollObj[j].nType == MCH_SIM_COB_SPHE) {
                if ( pVZM != nullptr)
-                  bOk = pVZM->AvoidSphere( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist) ;
+                  bOk = ! pVZM->CDeSphere( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist) ;
                else
-                  bOk = ! CDeSpheClosedSurfTm( frObj.Orig(), m_CollObj[j].dPar1, m_dSafeDist, *pSTM) ;
+                  bOk = ! CDeSpheClosedSurfTm( frObj.Orig(), m_CollObj[j].dPar1, *pSTM, m_dSafeDist) ;
             }
             else if ( m_CollObj[j].nType == MCH_SIM_COB_CONE) {
                if ( pVZM != nullptr)
-                  bOk = pVZM->AvoidConeFrustum( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist) ;
+                  bOk = ! pVZM->CDeConeFrustum( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist) ;
                else
-                  bOk = ! CDeConeFrustumClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, m_dSafeDist, *pSTM) ;
+                  bOk = ! CDeConeFrustumClosedSurfTm( frObj, m_CollObj[j].dPar1, m_CollObj[j].dPar2, m_CollObj[j].dPar3, *pSTM, m_dSafeDist) ;
             }
          }
         // altrimenti poliedro
@@ -1440,7 +1468,7 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
             const ISurfTriMesh* pStmLoc = GetSurfTriMesh( SurfLoc) ;
             if ( pStmLoc != nullptr) {
                if ( pVZM != nullptr)
-                  bOk = pVZM->AvoidSurfTm( *pStmLoc, m_dSafeDist) ;
+                  bOk = ! pVZM->CDeSurfTm( *pStmLoc, m_dSafeDist) ;
                else
                   bOk = ! CDeClosedSurfTmClosedSurfTm( *pStmLoc, *pSTM, m_dSafeDist) ;
             }
@@ -1460,7 +1488,29 @@ Simulator::ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
 
 //----------------------------------------------------------------------------
 bool
-Simulator::OnStart( bool bFirst)
+Simulator::OnInit( void)
+{
+  // verifico esistenza funzione
+   if ( ! m_pMachine->LuaExistsFunction( ON_SIMUL_INIT))
+      return true ;
+  // chiamo la funzione di ingresso nella simulazione
+   return m_pMachine->LuaCallFunction( ON_SIMUL_INIT) ;
+}
+
+//----------------------------------------------------------------------------
+bool
+Simulator::OnExit( void)
+{
+  // verifico esistenza funzione
+   if ( ! m_pMachine->LuaExistsFunction( ON_SIMUL_EXIT))
+      return true ;
+  // chiamo la funzione di uscita dalla simulazione
+   return m_pMachine->LuaCallFunction( ON_SIMUL_EXIT) ;
+}
+
+//----------------------------------------------------------------------------
+bool
+Simulator::OnProgramStart( bool bFirst)
 {
   // assegno flag inizio simulazione
    bool bOk = m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_SIM1ST, bFirst) ;
@@ -1474,7 +1524,7 @@ Simulator::OnStart( bool bFirst)
 
 //----------------------------------------------------------------------------
 bool
-Simulator::OnEnd( void)
+Simulator::OnProgramEnd( void)
 {
   // verifico esistenza funzione
    if ( ! m_pMachine->LuaExistsFunction( ON_SIMUL_END))
@@ -1572,16 +1622,17 @@ Simulator::OnToolSelect( const string& sTool, const string& sHead, int nExit, co
         ! m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_TCPOS, sTcPos))
       return false ;
   // assegno il token e il nome degli assi
+   bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
    int nNumAxes = int( m_AxesName.size()) ;
    for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
       if ( i <= nNumAxes) {
-         if ( ! m_pMachine->LuaSetGlobVar( GetGlobVarAxisToken(i), m_AxesToken[i-1])  ||
-              ! m_pMachine->LuaSetGlobVar( GetGlobVarAxisName(i), m_AxesName[i-1]))
+         if ( ! m_pMachine->LuaSetGlobVar( GetGlobVarAxisToken( i, bIsRobot), m_AxesToken[i-1])  ||
+              ! m_pMachine->LuaSetGlobVar( GetGlobVarAxisName( i, bIsRobot), m_AxesName[i-1]))
             return false ;
       }
       else {
-         if ( ! m_pMachine->LuaResetGlobVar( GetGlobVarAxisToken(i))  ||
-              ! m_pMachine->LuaResetGlobVar( GetGlobVarAxisName(i)))
+         if ( ! m_pMachine->LuaResetGlobVar( GetGlobVarAxisToken( i, bIsRobot))  ||
+              ! m_pMachine->LuaResetGlobVar( GetGlobVarAxisName( i, bIsRobot)))
             return false ;
       }
    }
@@ -1824,16 +1875,17 @@ Simulator::OnMoveStart( const CamData* pCamData, int& nErr)
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_INDEX, pCamData->GetIndex()) ;      
    bOk = bOk && m_pMachine->LuaSetGlobVar( GLOB_VAR + GVAR_ERR, nErr) ;
   // valore degli assi all'inizio e alla fine del movimento
+   bool bIsRobot = m_pMchMgr->GetCurrIsRobot() ;
    int nNumAxes = int( m_AxesName.size()) ;
    const DBLVECTOR& AxesEnd = pCamData->GetAxesVal() ;
    for ( int i = 1 ; i <= MAX_AXES ; ++ i) {
       if ( i <= nNumAxes) {
-         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisPrev( i), m_AxesVal[i-1]) ;
-         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue( i), AxesEnd[i-1]) ;
+         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisPrev( i, GLOB_VAR, bIsRobot), m_AxesVal[i-1]) ;
+         bOk = bOk && m_pMachine->LuaSetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot), AxesEnd[i-1]) ;
       }
       else {
-         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisPrev( i)) ;
-         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue( i)) ;
+         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisPrev( i, GLOB_VAR, bIsRobot)) ;
+         bOk = bOk && m_pMachine->LuaResetGlobVar( GetGlobVarAxisValue( i, GLOB_VAR, bIsRobot)) ;
       }
    }
   // versori utensile, correzione e ausiliario alla fine del movimento
@@ -2087,6 +2139,8 @@ Simulator::SetToolForVmill( const string& sTool, const string& sHead, int nExit,
       ExeVolZmapSetSawTool( vVmill, sTool, dLen, dDiam, dThick, 0, dCornR, nFlag, bFirst) ;
    else if ( nType == TT_WATERJET)
       ExeVolZmapSetStdTool( vVmill, sTool, dLen + 50, dDiam, dCornR, dMaxMat, nFlag, bFirst) ;
+   else if ( nType == TT_ADDITIVE)
+      ExeVolZmapSetAdditiveTool( vVmill, sTool, dLen, dDiam, dCornR, nFlag, bFirst) ;
    else if ( abs( dSideAng) < EPS_ANG_SMALL  ||  abs( dThick) < EPS_SMALL) {
       ExeVolZmapSetStdTool( vVmill, sTool, dLen, dDiam, dCornR, dMaxMat, nFlag, bFirst) ;
    }
@@ -2223,7 +2277,7 @@ Simulator::MoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt)
          }
       }
      // Aggiorno visualizzazione
-      if ( bViewAllFrames  ||  ( i % 2) == 0  ||  i == nStep)
+      if ( bViewAllFrames  ||  ( i % 4) == 0  ||  i == nStep)
          ExeDraw() ;
      // Verifico collisioni
       int nCdInd, nObjInd ;

Simulator.h

@@ -86,8 +86,10 @@ class Simulator
            { return ( ! m_CollObj.empty()  &&  ! m_CdId.empty()) ; }
       bool Stopped( void)
            { return ( m_nUiStatus == MCH_UISIM_STOP) ; }
-      bool OnStart( bool bFirst) ;
-      bool OnEnd( void) ;
+      bool OnInit( void) ;
+      bool OnExit( void) ;
+      bool OnProgramStart( bool bFirst) ;
+      bool OnProgramEnd( void) ;
       bool OnDispositionStarting( int nOpId, int nOpInd, int nPhase,
                                   const std::string& sTable, const Point3d& ptOri1, bool bEmpty, bool bSomeByHand) ;
       bool OnDispositionStart( int nOpId, int nOpInd, int nPhase,
@@ -135,12 +137,17 @@ class Simulator
             : sName( sN), sHead( sH), nExit( nE), dTdOffs( dT), dAdOffs( dA) {}
       } ;
       typedef std::vector<VmTool> VMTVECTOR ;
+      enum { SIS_CREATED = 0,
+             SIS_INITIALIZED = 1,
+             SIS_READYTOSTART = 2,
+             SIS_READYTORUN = 3} ;
 
    private :
       MachMgr*      m_pMchMgr ;              // puntatore al gestore di tutte le lavorazioni
       IGeomDB*      m_pGeomDB ;              // puntatore al DB geometrico
       Machine*      m_pMachine ;             // puntatore 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
       int           m_nUiStatus ;            // stato simulazione a livello utente
       int           m_nOpId ;                // identificativo della operazione (lavoraz.) corrente

Table.cpp

@@ -1,7 +1,7 @@
 //----------------------------------------------------------------------------
-//  EgalTech 2015-2015
+//  EgalTech 2015-2024
 //----------------------------------------------------------------------------
-// File : Table.cpp       Data : 25.05.15          Versione : 1.6e7
+// File : Table.cpp       Data : 19.03.24          Versione : 2.6c2
 // Contenuto : Oggetto tavola per gruppo tavola di macchina.
 //
 //
@@ -45,6 +45,7 @@ Table::Clone( void) const
             pTab->m_sName = m_sName ;
             pTab->m_nType = m_nType ;
             pTab->m_ptRef1 = m_ptRef1 ;
+            pTab->m_vsColl = m_vsColl ;
       }
       catch( ...) {
          delete pTab ;
@@ -63,7 +64,10 @@ Table::Dump( string& sOut, bool bMM, const char* szNewLine) const
    sOut += "Id=" + ToString( m_nOwnerId) + szNewLine ;
    sOut += "Name=" + m_sName + szNewLine ;
    sOut += "Type=" + ToString( m_nType) + szNewLine ;
-   sOut += "Ref1=(" + ToString( GetInUiUnits(m_ptRef1, bMM), 4) + ")" + szNewLine ;
+   sOut += "Ref1=(" + ToString( GetInUiUnits( m_ptRef1, bMM), 4) + ")" + szNewLine ;
+   sOut += "Area1=(" + ToString( GetInUiUnits( m_b3Area1.GetMin(), bMM), 4) + ";" +
+                       ToString( GetInUiUnits( m_b3Area1.GetMax(), bMM), 4) + szNewLine ;
+   sOut += "Coll=" + ToString( m_vsColl) + szNewLine ;
    return true ;
 }
 
@@ -99,11 +103,12 @@ Table::Table( void)
 
 //----------------------------------------------------------------------------
 bool
-Table::Set( const string& sName, int nType, const Point3d& ptRef1, const BBox3d& b3Area1)
+Table::Set( const string& sName, int nType, const Point3d& ptRef1, const BBox3d& b3Area1, const STRVECTOR& vsColl)
 {
    m_sName = sName ;
    m_nType = nType ;
    m_ptRef1 = ptRef1 ;
    m_b3Area1 = b3Area1 ;
+   m_vsColl = vsColl ;
    return true ;
 }

Table.h

@@ -30,7 +30,7 @@ class Table : public IUserObj
 
    public :
       Table( void) ;
-      bool Set( const std::string& sName, int nType, const Point3d& ptRef1, const BBox3d& b3Area1) ;
+      bool Set( const std::string& sName, int nType, const Point3d& ptRef1, const BBox3d& b3Area1, const STRVECTOR& vsColl) ;
       const std::string& GetName( void)
                { return m_sName ; }
       int GetType( void)
@@ -39,6 +39,8 @@ class Table : public IUserObj
                { return m_ptRef1 ; }
       const BBox3d& GetArea1( void) 
                { return m_b3Area1 ; }
+      const STRVECTOR& GetCollGroups( void) const
+               { return m_vsColl ; }
 
    private :
       int         m_nOwnerId ;
@@ -47,4 +49,5 @@ class Table : public IUserObj
       int         m_nType ;
       Point3d     m_ptRef1 ;
       BBox3d      m_b3Area1 ;
+      STRVECTOR   m_vsColl ;
 } ;

ToolsMgr.cpp

@@ -738,10 +738,11 @@ ToolsMgr::GetCurrToolThDiam( double& dThDiam) const
    if ( ! m_bCurrTool)
       return false ;
 
-  // se punta a forare, lama, fresa o scalpello
+  // se punta a forare, lama, fresa,  mortasatrice/sega a catena o scalpello
    if ( ( m_tdCurrTool.m_nType & TF_DRILLBIT) != 0  ||
         ( m_tdCurrTool.m_nType & TF_SAWBLADE) != 0  ||
         ( m_tdCurrTool.m_nType & TF_MILL) != 0  ||
+        ( m_tdCurrTool.m_nType & TF_MORTISE) != 0  ||
         ( m_tdCurrTool.m_nType & TF_CHISEL) != 0) {
      // recupero le dimensioni del porta utensili
       double dTHoldBase = 0 ;
@@ -761,9 +762,8 @@ ToolsMgr::GetCurrToolThDiam( double& dThDiam) const
       dThDiam = dTHoldDiam ;
       return true ;
    }
-  // se mortasatrice/sega a catena o waterjet
-   else if ( ( m_tdCurrTool.m_nType & TF_MORTISE) != 0  ||
-             ( m_tdCurrTool.m_nType & TF_WATERJET) != 0) {
+  // se waterjet
+   else if ( ( m_tdCurrTool.m_nType & TF_WATERJET) != 0) {
       dThDiam = 0 ;
       return true ;
    }
@@ -779,10 +779,11 @@ ToolsMgr::GetCurrToolThLength( double& dThLen) const
    if ( ! m_bCurrTool)
       return false ;
 
-  // se punta a forare, lama, fresa o scalpello
+  // se punta a forare, lama, fresa, mortasatrice/sega a catena o scalpello
    if ( ( m_tdCurrTool.m_nType & TF_DRILLBIT) != 0  ||
         ( m_tdCurrTool.m_nType & TF_SAWBLADE) != 0  ||
         ( m_tdCurrTool.m_nType & TF_MILL) != 0  ||
+        ( m_tdCurrTool.m_nType & TF_MORTISE) != 0  ||
         ( m_tdCurrTool.m_nType & TF_CHISEL) != 0) {
      // recupero le dimensioni del porta utensili
       double dTHoldBase = 0 ;
@@ -802,9 +803,8 @@ ToolsMgr::GetCurrToolThLength( double& dThLen) const
       dThLen = dTHoldLen ;
       return true ;
    }
-  // se mortasatrice/sega a catena o waterjet
-   else if ( ( m_tdCurrTool.m_nType & TF_MORTISE) != 0  ||
-             ( m_tdCurrTool.m_nType & TF_WATERJET) != 0) {
+  // se waterjet
+   else if ( ( m_tdCurrTool.m_nType & TF_WATERJET) != 0) {
       dThLen = 0 ;
       return true ;
    }

WaterJetting.cpp

@@ -1676,18 +1676,12 @@ WaterJetting::ProcessPath( int nPathId, int nPvId, int nClId)
    m_pGeomDB->GetName( nPathId, sPathName) ;
 
   // eventuale approssimazione con segmenti di retta
-   int nSplitArcs = m_pMchMgr->GetCurrMachiningsMgr()->GetSplitArcs() ;
-   bool bSplitArcs = ( nSplitArcs == SPLAR_ALWAYS  ||
-                       ( nSplitArcs == SPLAR_NO_XY_PLANE  &&  ! vtTool.IsZplus())  ||
-                       ( nSplitArcs == SPLAR_GEN_PLANE  &&  vtTool.IsGeneric())) ;
-   if ( bSplitArcs  &&  ! ApproxWithLines( pCompo)) {
-      m_pMchMgr->SetLastError( 3211, "Error in WaterJetting : Linear Approx not computable") ;
-      return false ;
+   bool bSplitArcs = GetSplitArcs( vtTool) ;
+   if ( ! bSplitArcs) {      
+     // verifiche sull'ampiezza dell'angolo al centro degli eventuali archi
+      VerifyArcs( pCompo) ;
    }
 
-  // verifiche sull'ampiezza dell'angolo al centro degli eventuali archi
-   VerifyArcs( pCompo) ;
-
   // se abilitato probing, verifico lunghezza entità ed eventualmente le divido
    if ( m_Params.m_bProbing)
       VerifyMaxLenCurves( pCompo, m_Params.m_dProbingMaxDist) ;
@@ -1780,8 +1774,8 @@ WaterJetting::GeneratePreView( int nPathId, const ICurveComposite* pCompo, doubl
   // calcolo la regione
    PtrOwner<ISurfFlatRegion> pSfr ;
    double dSideCoeff = ( abs( m_Params.m_dSideAngle) > EPS_ANG_SMALL ? 1. / cos( m_Params.m_dSideAngle * DEGTORAD) : 1) ;
-   double Rad = 0.5 * m_TParams.m_dDiam * dSideCoeff ;
-   pSfr.Set( GetSurfFlatRegionFromFatCurve( Release( pCrv), Rad, false, false)) ;
+   double dRad = 0.5 * m_TParams.m_dDiam * dSideCoeff ;
+   pSfr.Set( GetSurfFlatRegionFromFatCurve( Release( pCrv), dRad, false, false)) ;
    if ( IsNull( pSfr))
       return false ;
   // aggiungo eventuale attacco
@@ -1793,32 +1787,18 @@ WaterJetting::GeneratePreView( int nPathId, const ICurveComposite* pCompo, doubl
   // aggiungo eventuali anelli su angoli esterni
    if ( ! AddLoopsPreview( pCompo, pSfr))
       return false ;
-  // ne recupero il contorno
-   PtrOwner< ICurve> pCrv2 ;
-   pCrv2.Set( pSfr->GetLoop( 0, 0)) ;
-   if ( IsNull( pCrv2))
-      return false ;
-   // inserisco la curva nel DB
-   int nC2Id = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pCrv2)) ;
-   if ( nC2Id == GDB_ID_NULL)
-      return false ;
-   // assegno nome e colore
-   m_pGeomDB->SetName( nC2Id, MCH_PV_CUT) ;
-   m_pGeomDB->SetMaterial( nC2Id, colCut) ;
-  // eventuali altri contorni ( interni di contornatura chiusa)
-   const int MAX_INT_LOOP = 1000 ;
-   for ( int i = 1 ; i <= MAX_INT_LOOP ; ++i) {
-      PtrOwner< ICurve> pCrv3 ;
-      pCrv3.Set( pSfr->GetLoop( 0, i)) ;
-      if ( IsNull( pCrv3))
-         break ;
+  // ne recupero i contorni
+   for ( int i = 0 ; i < pSfr->GetLoopCount( 0) ; ++i) {
+      PtrOwner<ICurve> pCrv2( pSfr->GetLoop( 0, i)) ;
+      if ( IsNull( pCrv2))
+         return false ;
      // inserisco la curva nel DB
-      int nC3Id = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pCrv3)) ;
-      if ( nC3Id == GDB_ID_NULL)
+      int nC2Id = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pCrv2)) ;
+      if ( nC2Id == GDB_ID_NULL)
          return false ;
      // assegno nome e colore
-      m_pGeomDB->SetName( nC3Id, MCH_PV_CUT) ;
-      m_pGeomDB->SetMaterial( nC3Id, colCut) ;
+      m_pGeomDB->SetName( nC2Id, MCH_PV_CUT) ;
+      m_pGeomDB->SetMaterial( nC2Id, colCut) ;
    }
   // inserisco la regione nel DB
    int nRId = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pSfr)) ;
@@ -1832,10 +1812,11 @@ WaterJetting::GeneratePreView( int nPathId, const ICurveComposite* pCompo, doubl
       return false ;
    m_pGeomDB->SetName( nRrId, MCH_PV_RRCUT) ;
    m_pGeomDB->SetMaterial( nRrId, INVISIBLE) ;
+
   // eventuali ripetizioni in basso per tagli inclinati
    if ( abs( m_Params.m_dSideAngle) > EPS_ANG_SMALL) {
      // creo copia della curva composita
-      PtrOwner< ICurve> pCrv( pCompo->Clone()) ;
+      PtrOwner<ICurveComposite> pCrv( pCompo->Clone()) ;
       if ( IsNull( pCrv))
          return false ;
      // rimuovo eventuale overlap
@@ -1844,98 +1825,114 @@ WaterJetting::GeneratePreView( int nPathId, const ICurveComposite* pCompo, doubl
          pCrv->TrimStartAtLen( dAddedOverlap) ;
          pCrv->Invert() ;
       }
+
+      ICURVEPOVECTOR vpCrvs ;    
+      if ( m_Params.m_dSideAngle < 0) {
+        // se inclinazione negativa devo considerare separatamente ogni sottocurva della composita
+         vpCrvs.reserve( pCrv->GetCurveCount()) ;
+         for ( int i = 0 ; i < pCrv->GetCurveCount() ; i++)
+            vpCrvs.emplace_back( pCrv->GetCurve( i)->Clone()) ;     
+      }
+      else {
+        // se inclinazione positiva posso considerare la curva completa
+         vpCrvs.emplace_back( pCrv->Clone()) ;
+      }
+      
      // offset per raggio utensile
-      double dRad = 0.5 * m_TParams.m_dDiam / cos( m_Params.m_dSideAngle * DEGTORAD) ;
-      double dSignOffs1 =  dRad ;
+      double dSignOffs1 = dRad ;
       if ( ( m_Params.m_nWorkSide == WJET_WS_RIGHT  &&  m_Params.m_dSideAngle > 0)  ||
            ( m_Params.m_nWorkSide == WJET_WS_LEFT  &&  m_Params.m_dSideAngle < 0))
          dSignOffs1 = - dSignOffs1 ;
-      OffsetCurve OffsCrv1 ;
-      OffsCrv1.Make( pCrv, dSignOffs1, ICurve::OFF_FILLET) ;
-      PtrOwner< ICurve> pOffs1( OffsCrv1.GetLongerCurve()) ;
-      if ( IsNull( pOffs1))
-         return false ;
      // offset per inclinazione
       double dSignOffs2 = dRad + m_dElev * abs( sin( m_Params.m_dSideAngle * DEGTORAD)) ;
       if ( ( m_Params.m_nWorkSide == WJET_WS_RIGHT  &&  m_Params.m_dSideAngle < 0)  ||
            ( m_Params.m_nWorkSide == WJET_WS_LEFT  &&  m_Params.m_dSideAngle > 0))
          dSignOffs2 = - dSignOffs2 ;
-      OffsetCurve OffsCrv2 ;
-      OffsCrv2.Make( pCrv, dSignOffs2, ICurve::OFF_EXTEND) ;
-      PtrOwner< ICurve> pOffs2( OffsCrv2.GetLongerCurve()) ;
-      if ( IsNull( pOffs2))
-         return false ;
+
      // calcolo la regione
-      PtrOwner<ISurfFlatRegion> pSfr ;
-     // se i due offset sono aperti
-      if ( ! pOffs1->IsClosed()  &&  ! pOffs2->IsClosed()) {
-        // li unisco
-         PtrOwner<ICurveComposite> pBound( CreateCurveComposite()) ;
-         if ( IsNull( pBound))
-            return false ;
-         pBound->AddCurve( Release( pOffs1)) ;
-         pOffs2->Invert() ;
-         Point3d ptStart ; pOffs2->GetStartPoint( ptStart) ;
-         pBound->AddLine( ptStart) ;
-         pBound->AddCurve( Release( pOffs2)) ;
-         pBound->Close() ;
-        // creo la regione
-         SurfFlatRegionByContours SfrCntr( false, false) ;
-         SfrCntr.AddCurve( Release( pBound)) ;
-         pSfr.Set( SfrCntr.GetSurf()) ;
-      }
-     // altrimenti sono chiusi
-      else {
-        // creo la regione
-         SurfFlatRegionByContours SfrCntr( false, false) ;
-         SfrCntr.AddCurve( Release( pOffs1)) ;
-         SfrCntr.AddCurve( Release( pOffs2)) ;
-         pSfr.Set( SfrCntr.GetSurf()) ;
-      }
+      PtrOwner<ISurfFlatRegion> pSfr( CreateSurfFlatRegion()) ;
       if ( IsNull( pSfr))
          return false ;
+      for ( int i = 0 ; i < int( vpCrvs.size()) ; i++) {
+         OffsetCurve OffsCrv1 ;
+         OffsCrv1.Make( vpCrvs[i], dSignOffs1, ICurve::OFF_FILLET) ;
+         PtrOwner< ICurve> pOffs1( OffsCrv1.GetLongerCurve()) ;
+         if ( IsNull( pOffs1))
+            return false ;
+         OffsetCurve OffsCrv2 ;
+         OffsCrv2.Make( vpCrvs[i], dSignOffs2, ICurve::OFF_EXTEND) ;
+         PtrOwner< ICurve> pOffs2( OffsCrv2.GetLongerCurve()) ;
+         if ( IsNull( pOffs2))
+            return false ;
+        // calcolo la regione corrente
+         PtrOwner<ISurfFlatRegion> pSfrCurr ;
+        // se i due offset sono aperti         
+         if ( ! pOffs1->IsClosed()  &&  ! pOffs2->IsClosed()) {
+           // li unisco
+            PtrOwner<ICurveComposite> pBound( CreateCurveComposite()) ;
+            if ( IsNull( pBound))
+               return false ;
+            pBound->AddCurve( Release( pOffs1)) ;
+            pOffs2->Invert() ;
+            Point3d ptStart ; pOffs2->GetStartPoint( ptStart) ;
+            pBound->AddLine( ptStart) ;
+            pBound->AddCurve( Release( pOffs2)) ;
+            pBound->Close() ;
+           // creo la regione
+            SurfFlatRegionByContours SfrCntr( false, false) ;
+            SfrCntr.AddCurve( Release( pBound)) ;
+            pSfrCurr.Set( SfrCntr.GetSurf()) ;
+         }
+        // altrimenti sono chiusi
+         else {
+           // creo la regione
+            SurfFlatRegionByContours SfrCntr( false, false) ;
+            SfrCntr.AddCurve( Release( pOffs1)) ;
+            SfrCntr.AddCurve( Release( pOffs2)) ;
+            pSfrCurr.Set( SfrCntr.GetSurf()) ;
+         }
+         if ( IsNull( pSfrCurr))
+            return false ;
+
+        // aggiungo alla superficie complessiva
+         if ( pSfr->IsValid())
+            pSfr->Add( *pSfrCurr) ;
+         else
+            pSfr.Set( Release( pSfrCurr)) ;      
+      }
      // la regione deve essere rivolta verso Z+
       if ( pSfr->GetNormVersor().z < 0)
          pSfr->Invert() ;
-      // ne recupero il contorno
-      PtrOwner< ICurve> pCrv2 ;
-      pCrv2.Set( pSfr->GetLoop( 0, 0)) ;
-      if ( IsNull( pCrv2))
-         return false ;
-      // inserisco la curva nel DB
-      int nC2Id = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pCrv2)) ;
-      if ( nC2Id == GDB_ID_NULL)
-         return false ;
-      // assegno nome e colore
-      m_pGeomDB->SetName( nC2Id, MCH_PV_DOWN_CUT) ;
-      m_pGeomDB->SetMaterial( nC2Id, colCut) ;
-      // eventuali altri contorni ( interni di contornatura chiusa)
-      const int MAX_INT_LOOP = 1000 ;
-      for ( int i = 1 ; i <= MAX_INT_LOOP ; ++i) {
-         PtrOwner< ICurve> pCrv3 ;
-         pCrv3.Set( pSfr->GetLoop( 0, i)) ;
-         if ( IsNull( pCrv3))
-            break ;
-         // inserisco la curva nel DB
-         int nC3Id = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pCrv3)) ;
-         if ( nC3Id == GDB_ID_NULL)
+
+     // aggiungo eventuali loops
+      AddLoopsPreview( pCrv, pSfr) ;
+
+     // ne recupero i contorni
+      for ( int i = 0 ; i < pSfr->GetLoopCount( 0) ; ++i) {
+         PtrOwner<ICurve> pCrv2( pSfr->GetLoop( 0, i)) ;
+         if ( IsNull( pCrv2))
             return false ;
-         // assegno nome e colore
-         m_pGeomDB->SetName( nC3Id, MCH_PV_DOWN_CUT) ;
-         m_pGeomDB->SetMaterial( nC3Id, colCut) ;
+        // inserisco la curva nel DB
+         int nC2Id = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pCrv2)) ;
+         if ( nC2Id == GDB_ID_NULL)
+            return false ;
+        // assegno nome e colore
+         m_pGeomDB->SetName( nC2Id, MCH_PV_DOWN_CUT) ;
+         m_pGeomDB->SetMaterial( nC2Id, colCut) ;
       }
-      // inserisco la regione nel DB
+
+     // inserisco la regione nel DB
       int nRId = m_pGeomDB->AddGeoObj( GDB_ID_NULL, nPathId, Release( pSfr)) ;
       if ( nRId == GDB_ID_NULL)
          return false ;
       m_pGeomDB->SetName( nRId, MCH_PV_DOWN_RCUT) ;
       m_pGeomDB->SetMaterial( nRId, INVISIBLE) ;
-      // la copio anche come regione ridotta
+     // la copio anche come regione ridotta
       int nRrId = m_pGeomDB->Copy( nRId, GDB_ID_NULL, nPathId) ;
       if ( nRrId == GDB_ID_NULL)
          return false ;
       m_pGeomDB->SetName( nRrId, MCH_PV_DOWN_RRCUT) ;
-      m_pGeomDB->SetMaterial( nRrId, INVISIBLE) ;
+      m_pGeomDB->SetMaterial( nRrId, INVISIBLE) ;   
    }
    return true ;
 }
@@ -2083,6 +2080,11 @@ WaterJetting::AddLoopsPreview( const ICurveComposite* pCompo, ISurfFlatRegion* p
             return false ;
         // lunghezza tratti lineari e loro punti estremi
          double dTgLen = 0.5 * m_TParams.m_dDiam * tan( 0.5 * dAng * DEGTORAD) ;
+         if ( m_Params.m_dSideAngle > EPS_ANG_SMALL) {
+            double dW = m_dElev * sin( m_Params.m_dSideAngle * DEGTORAD) ;
+            double dExtraLen = dW / tan( ( 180 - abs( dAng)) / 2 * DEGTORAD) ; 
+            dTgLen += dExtraLen ;
+         }
          Point3d ptP ; pCrvC->GetStartPoint( ptP) ;
          Point3d ptPe = ptP + vtEnd * dTgLen ;
          Point3d ptPs = ptP - vtStart * dTgLen ;
@@ -2115,7 +2117,6 @@ WaterJetting::AddLoopsPreview( const ICurveComposite* pCompo, ISurfFlatRegion* p
          if ( IsNull( pSfr)  ||  ! pSPV->Add( *pSfr))
             return false ;
       }
-
    }
    return true ;
 }
@@ -2247,7 +2248,7 @@ WaterJetting::AddStandardWj( const ICurveComposite* pCompo, const Vector3d& vtTo
         // imposto versore correzione e ausiliario sul punto di partenza
          CalcAndSetToolCorrAuxDir( pCompo, i) ;
         // aggiungo approccio al punto iniziale
-         if ( ! AddApproach( ptP1, vtTool, dSafeZ)) {
+         if ( ! AddApproach( ptP1, vtTool, dSafeZ, bSplitArcs)) {
             m_pMchMgr->SetLastError( 3207, "Error in WaterJetting : Approach not computable") ;
             return false ;
          }
@@ -2273,27 +2274,57 @@ WaterJetting::AddStandardWj( const ICurveComposite* pCompo, const Vector3d& vtTo
          vtEnd.GetAngleXY( vtStart, dAng) ;
         // Se angolo esterno e richiesto anello esterno
          if ( IsExternalAngle( dAng)  &&  m_Params.m_nExtCornerType == WJET_EC_LOOP) {
-           // lunghezza tratti lineari e loro punti estremi
+           // lunghezza tratti lineari
             double dTgLen = 0.5 * m_TParams.m_dDiam * tan( 0.5 * dAng * DEGTORAD) ;
+            if ( m_Params.m_dSideAngle > EPS_ANG_SMALL) {
+              // se inclinazione positiva calcolo di quanto deve uscire per non rovinare lo spigolo
+               double dW = m_dElev * sin( m_Params.m_dSideAngle * DEGTORAD) ;
+               double dExtraLen = dW / tan( ( 180 - abs( dAng)) / 2 * DEGTORAD) ; 
+               dTgLen += dExtraLen ;
+            }         
+           // calcolo punti estremi
             Point3d ptP ; pCrvC->GetStartPoint( ptP) ;
             Point3d ptPe = ptP + vtEnd * dTgLen ;
             Point3d ptPs = ptP - vtStart * dTgLen ;
+
            // tratto prima dell'anello
             SetFeed( GetActualFeed()) ;
-            if ( AddLinearMove( ptPe) == GDB_ID_NULL)
+            if ( AddLinearMove( ptPe, bSplitArcs) == GDB_ID_NULL)
                return false ;
+
            // anello
             PtrOwner<ICurve> pCrvA( GetArc2PVN( ptPe, ptPs, vtEnd, vtN)) ;
             if ( ! IsNull( pCrvA)  &&  pCrvA->GetType() == CRV_ARC) {
-               if ( AddCurveMove( pCrvA) == GDB_ID_NULL)
+              // suddivido l'anello in due parti per forzare il passaggio dalla posizione vtTool = Z_AX
+               PtrOwner<ICurveComposite> pCompoArc( ConvertCurveToComposite( Release( ( pCrvA)))) ;
+               if ( IsNull( pCompoArc))
                   return false ;
+               if ( pCompoArc->AddJoint( 0.5)) {
+                 // aggiungo il primo tratto
+                  Vector3d vtCorr = CalcCorrDir( pCompoArc, 1) ;                   
+                  SetToolCorrAuxDir( Z_AX, vtCorr) ;
+                  if ( AddCurveMove( pCompoArc->GetCurve(0), bSplitArcs) == GDB_ID_NULL)
+                     return false ;
+                 // aggiungo secondo tratto
+                  CalcAndSetToolCorrAuxDir( pCompo, i + 0.5) ;
+                  if ( AddCurveMove( pCompoArc->GetCurve(1), bSplitArcs) == GDB_ID_NULL)
+                     return false ;               
+               }
+               else {
+                 // se non è possibile suddividere anello 
+                  CalcAndSetToolCorrAuxDir( pCompo, i + 0.5) ;
+                  if ( AddCurveMove( pCompoArc, bSplitArcs) == GDB_ID_NULL)
+                     return false ;   
+               }               
             }
             else {
-               if ( AddLinearMove( ptPs) == GDB_ID_NULL)
+               CalcAndSetToolCorrAuxDir( pCompo, i + 0.5) ;
+               if ( AddLinearMove( ptPs, bSplitArcs) == GDB_ID_NULL)
                   return false ;
             }
+
            // tratto dopo l'anello
-            if ( AddLinearMove( ptP) == GDB_ID_NULL)
+            if ( AddLinearMove( ptP, bSplitArcs) == GDB_ID_NULL)
                return false ;
          }
         // se angolo esterno e richiesto rallentamento esterno, eseguo accelerazione
@@ -2313,7 +2344,7 @@ WaterJetting::AddStandardWj( const ICurveComposite* pCompo, const Vector3d& vtTo
                   return false ;
                CalcAndSetToolCorrAuxDir( pCompo, i + dU) ;
                SetFeed( ( 1 - dCoeff) * dMinFeed + dCoeff * GetActualFeed()) ;
-               if ( AddCurveMove( pCrvT) == GDB_ID_NULL)
+               if ( AddCurveMove( pCrvT, bSplitArcs) == GDB_ID_NULL)
                   return false ;
                dUprev = dU ;
             }
@@ -2355,7 +2386,7 @@ WaterJetting::AddStandardWj( const ICurveComposite* pCompo, const Vector3d& vtTo
                Vector3d vtCorr = CalcCorrDir( pCompo, i + dU) ;
                SetToolCorrAuxDir( vtTool, vtCorr) ;
                SetFeed( ( 1 - dCoeff) * dMinFeed + dCoeff * GetActualFeed()) ;
-               if ( AddCurveMove( pCrvT) == GDB_ID_NULL)
+               if ( AddCurveMove( pCrvT, bSplitArcs) == GDB_ID_NULL)
                   return false ;
                dUprev = dU ;
             }
@@ -2392,7 +2423,7 @@ WaterJetting::AddStandardWj( const ICurveComposite* pCompo, const Vector3d& vtTo
                   return false ;
                CalcAndSetToolCorrAuxDir( pCompo, i + dU) ;
                SetFeed( ( 1 - dCoeff) * GetActualFeed() + dCoeff * dMinFeed) ;
-               if ( AddCurveMove( pCrvT) == GDB_ID_NULL)
+               if ( AddCurveMove( pCrvT, bSplitArcs) == GDB_ID_NULL)
                   return false ;
                dUprev = dU ;
             }
@@ -2435,15 +2466,22 @@ WaterJetting::AddStandardWj( const ICurveComposite* pCompo, const Vector3d& vtTo
                Vector3d vtCorr = CalcCorrDir( pCompo, i + dU) ;
                SetToolCorrAuxDir( vtTool, vtCorr) ;
                SetFeed( ( 1 - dCoeff) * GetActualFeed() + dCoeff * dMinFeed) ;
-               if ( AddCurveMove( pCrvT) == GDB_ID_NULL)
+               if ( AddCurveMove( pCrvT, bSplitArcs) == GDB_ID_NULL)
                   return false ;
                dUprev = dU ;
             }
             dNextFeed = dMinFeed ;
          }
+
+        // se successivo non è angolo esterno ad anello imposto versore correzione e ausiliario del punto di arrivo
+         if ( ! IsExternalAngle( dAng)  ||  m_Params.m_nExtCornerType != WJET_EC_LOOP)
+            CalcAndSetToolCorrAuxDir( pCompo, i + 1) ;
       }
-     // imposto versore correzione e ausiliario del punto di arrivo
-      CalcAndSetToolCorrAuxDir( pCompo, i + 1) ;
+      else {
+        // se ultima entità imposto versore correzione e ausiliario del punto finale
+         CalcAndSetToolCorrAuxDir( pCompo, i + 1) ;  
+      }     
+     
      // elaborazioni sulla curva corrente
       if ( pCurve->GetType() == CRV_LINE) {
          ICurveLine* pLine = GetCurveLine( pCurve) ;
@@ -2456,25 +2494,20 @@ WaterJetting::AddStandardWj( const ICurveComposite* pCompo, const Vector3d& vtTo
          }
          else
             ++ nIdxSkip ;
-         if ( AddLinearMove( ptP3) == GDB_ID_NULL)
+         if ( AddLinearMove( ptP3, bSplitArcs) == GDB_ID_NULL)
             return false ;
       }
       else if ( pCurve->GetType() == CRV_ARC) {
-         ICurveArc* pArc = GetCurveArc( pCurve) ;
-         Point3d ptCen = pArc->GetCenter() ;
-         double dAngCen = pArc->GetAngCenter() ;
-         Point3d ptP3 ; pArc->GetEndPoint( ptP3) ;
-         Point3d ptCurr ; GetCurrPos( ptCurr) ;
-         double dDeltaAng ; pArc->CalcPointAngle( ptCurr, dDeltaAng) ;
          SetFeed( dNextFeed) ;
         // controlli per indice del punto di arrivo
+         Point3d ptP3 ; pCurve->GetEndPoint( ptP3) ;
          if ( SqDistXY( ptP3, m_ptLastProbe) >= m_Params.m_dProbingMinDist * m_Params.m_dProbingMinDist) {
             SetIndex( i + 1 - nIdxSkip) ;
             m_ptLastProbe = ptP3 ;
          }
          else
             ++ nIdxSkip ;
-         if ( AddArcMove( ptP3, ptCen, dAngCen - dDeltaAng, vtN) == GDB_ID_NULL)
+         if ( AddCurveMove( pCurve, bSplitArcs) == GDB_ID_NULL)
             return false ;
       }
      // se ultima entità, uscita e retrazione
@@ -2491,7 +2524,7 @@ WaterJetting::AddStandardWj( const ICurveComposite* pCompo, const Vector3d& vtTo
          }
         // aggiungo retrazione
          SetFlag( 203) ;
-         if ( ! AddRetract( ptP1, vtTool, dSafeZ)) {
+         if ( ! AddRetract( ptP1, vtTool, dSafeZ, bSplitArcs)) {
             m_pMchMgr->SetLastError( 3210, "Error in WaterJetting : Retract not computable") ;
             return false ;
          }
@@ -2525,7 +2558,7 @@ class LeadIOStatus
 
 //----------------------------------------------------------------------------
 bool
-WaterJetting::AddApproach( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ)
+WaterJetting::AddApproach( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ, bool bSplit)
 {
    SetFlag( 1) ;
   // 1 -> punto sopra inizio
@@ -2534,18 +2567,18 @@ WaterJetting::AddApproach( const Point3d& ptP, const Vector3d& vtTool, double dS
       return false ;
   // affondo al punto iniziale
    SetFlag( ( m_Params.m_bLiHole ? 201 : 202)) ;
-   if ( AddRapidMove( ptP) == GDB_ID_NULL)
+   if ( AddRapidMove( ptP, bSplit) == GDB_ID_NULL)
       return false ;
    return true ;
 }
 
 //----------------------------------------------------------------------------
 bool
-WaterJetting::AddRetract( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ)
+WaterJetting::AddRetract( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ, bool bSplit)
 {
   // Risalgo in rapido alla quota di sicurezza
    Point3d ptP4 = ptP + vtTool * dSafeZ ;
-   if ( AddRapidMove( ptP4) == GDB_ID_NULL)
+   if ( AddRapidMove( ptP4, bSplit) == GDB_ID_NULL)
       return false ;
    return true ;
 }
@@ -2595,29 +2628,19 @@ WaterJetting::AddLeadIn( const Point3d& ptP1, const Point3d& ptStart, const Vect
 {
   // Assegno il tipo
    int nType = GetLeadInType() ;
-   double dTang = m_Params.m_dLiTang ;
   // Eseguo a seconda del tipo
    switch ( nType) {
    case WJET_LI_NONE :
       return true ;
    case WJET_LI_LINEAR :
-      return ( AddLinearMove( ptStart, MCH_CL_LEADIN) != GDB_ID_NULL) ;
+      return ( AddLinearMove( ptStart, bSplitArcs, MCH_CL_LEADIN) != GDB_ID_NULL) ;
    case WJET_LI_TANGENT :
       {
          PtrOwner<ICurve> pCrv( GetArc2PVN( ptStart, ptP1, - vtStart, vtN)) ;
          if ( IsNull( pCrv))
             return false ;
          pCrv->Invert() ;
-        // eventuale spezzatura
-         if ( bSplitArcs) {
-            PtrOwner<ICurveComposite> pCompo ;
-            if ( ! pCompo.Set( ConvertCurveToComposite( Release( pCrv)))  ||  ! ApproxWithLines( pCompo))
-               return false ;
-            return ( AddCurveMove( pCompo, MCH_CL_LEADIN) != GDB_ID_NULL) ;          
-         }
-         else {
-            return ( AddCurveMove( pCrv, MCH_CL_LEADIN) != GDB_ID_NULL) ;
-         }
+         return ( AddCurveMove( pCrv, bSplitArcs, MCH_CL_LEADIN) != GDB_ID_NULL) ;     
       }
    default :
       return false ;
@@ -2667,7 +2690,7 @@ WaterJetting::AddLeadOut( const Point3d& ptEnd, const Vector3d& vtEnd, const Vec
          Vector3d vtPerp = vtEnd ;
          vtPerp.Rotate( vtN, 0, ( bCcwRot ? 1 : - 1)) ;
          ptP1 = ptEnd + vtEnd * dTang + vtPerp * dPerp ;
-         return ( AddLinearMove( ptP1, MCH_CL_LEADOUT) != GDB_ID_NULL) ;
+         return ( AddLinearMove( ptP1, bSplitArcs, MCH_CL_LEADOUT) != GDB_ID_NULL) ;
       }
    case WJET_LO_TANGENT :
       {
@@ -2679,16 +2702,7 @@ WaterJetting::AddLeadOut( const Point3d& ptEnd, const Vector3d& vtEnd, const Vec
          PtrOwner<ICurve> pCrv( GetArc2PVN( ptEnd, ptP1, vtEnd, vtN)) ;
          if ( IsNull( pCrv))
             return false ;
-        // eventuale spezzatura
-         if ( bSplitArcs) {
-            PtrOwner<ICurveComposite> pCompo ;
-            if ( ! pCompo.Set( ConvertCurveToComposite( Release( pCrv)))  ||  ! ApproxWithLines( pCompo))
-               return false ;
-            return ( AddCurveMove( pCompo, MCH_CL_LEADOUT) != GDB_ID_NULL) ;          
-         }
-         else {
-            return ( AddCurveMove( pCrv, MCH_CL_LEADOUT) != GDB_ID_NULL) ;
-         }
+         return ( AddCurveMove( pCrv, bSplitArcs, MCH_CL_LEADOUT) != GDB_ID_NULL) ;        
       }
    default :
       return false ;
@@ -2952,7 +2966,7 @@ WaterJetting::CalcOffset( ICurveComposite* pCompo, double dSignOffs)
 
 //----------------------------------------------------------------------------
 // Valore limite angolo per corner
-const double ANG_CORNER = 10 ;
+const double ANG_CORNER = 10 ;    
 
 //----------------------------------------------------------------------------
 bool

WaterJetting.h

@@ -81,8 +81,8 @@ class WaterJetting : public Machining
       bool AddLeadOutPreview( const ICurveComposite* pCompo, ISurfFlatRegion* pSPV) ;
       bool AddLoopsPreview( const ICurveComposite* pCompo, ISurfFlatRegion* pSPV) ;
       bool AddStandardWj( const ICurveComposite* pCompo, const Vector3d& vtTool, bool bSplitArcs) ;
-      bool AddApproach( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ) ;
-      bool AddRetract( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ) ;
+      bool AddApproach( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ, bool bSplit) ;
+      bool AddRetract( const Point3d& ptP, const Vector3d& vtTool, double dSafeZ, bool bSplit) ;
       bool CalcLeadInStart( const Point3d& ptStart, const Vector3d& vtStart, const Vector3d& vtN,
                             const ICurveComposite* pCompo, Point3d& ptP1) const ;
       bool AddLeadIn( const Point3d& ptP1, const Point3d& ptStart, const Vector3d& vtStart,