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move easeDown to prepare function

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This commit is contained in:
bakedpotatolord 2025-05-22 12:32:21 -06:00
commit f703f0cef3
2 changed files with 230 additions and 91 deletions
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67
src/geo/polygon.js
View file

@ -1188,74 +1188,7 @@ class Polygon {
return false; return false;
} }
/**
* Ease down along the polygonal path.
*
* 1. Travel from fromPoint to closest point on polygon, to rampZ above that that point,
* 2. ease-down starts, following the polygonal path, decreasing Z at a fixed slope until target Z is hit,
* 3. then the rest of the path is completed and repeated at target Z until touchdown point is reached.
* 4. this function should probably move to CAM prepare since it's only called from there
*/
forEachPointEaseDown(fn, fromPoint, degrees = 45) {
let index = this.findClosestPointTo(fromPoint).index,
fromZ = fromPoint.z,
offset = 0,
points = this.points,
length = points.length,
touch = -1, // first point to touch target z
targetZ = points[0].z,
dist2next,
last,
next,
done;
// Slope for computations.
const slope = Math.tan((degrees * Math.PI) / 180);
// Z height above polygon Z from which to start the ease-down.
// Machine will travel from "fromPoint" to "nearest point x, y, z' => with z' = point z + rampZ",
// then start the ease down along path.
const rampZ = 2.0;
while (true) {
next = points[index % length];
if (last && next.z < fromZ) {
// When "in Ease-Down" (ie. while target Z not yet reached) - follow path while slowly decreasing Z.
let deltaZ = fromZ - next.z;
dist2next = last.distTo2D(next);
let deltaZFullMove = dist2next * slope;
if (deltaZFullMove > deltaZ) {
// Too long: easing along full path would overshoot depth, synth intermediate point at target Z.
//
// XXX: please check my super basic trig - this should follow from `last` to `next` up until the
// intersect at the target Z distance.
fn(last.followTo(next, dist2next * deltaZ / deltaZFullMove).setZ(next.z), offset++);
} else {
// Ok: execute full move at desired slope.
next = next.clone().setZ(fromZ - deltaZFullMove);
}
fromZ = next.z;
} else if (offset === 0 && next.z < fromZ) {
// First point, move to rampZ height above next.
let deltaZ = fromZ - next.z;
fromZ = next.z + Math.min(deltaZ, rampZ)
next = next.clone().setZ(fromZ);
}
last = next;
fn(next, offset++);
if ((index % length) === touch) {
break;
}
if (touch < 0 && next.z <= targetZ) {
// Save touch-down index so as to be able to "complete" the full cut at target Z,
// i.e. keep following the path loop until the touch down point is reached again.
touch = ((index + length) % length);
}
index++;
}
return last;
}
forEachPoint(fn, close, start) { forEachPoint(fn, close, start) {
let index = start || 0, let index = start || 0,

248
src/kiri-mode/cam/prepare.js
View file

@ -252,7 +252,7 @@ function prepEach(widget, settings, print, firstPoint, update) {
if (lift) camOut(point.clone().setZ(point.z + lift), 0); if (lift) camOut(point.clone().setZ(point.z + lift), 0);
} }
}) })
camOut(point.clone().setZ(zmax)); camOut(point.clone().setZ(zmax),0);
newLayer(); newLayer();
} }
@ -311,12 +311,22 @@ function prepEach(widget, settings, print, firstPoint, update) {
/** /**
* emit a cut or move operation from the current location to a new location * emit a cut or move operation from the current location to a new location
* @param {*} point destination for move * @param {Point} point destination for move
* @param {*} cut 1/true = cut, 0/false = move * @param {1|2} cut 1/true = cut, 0/false = move
* @param {*} moveLen typically = tool diameter used to trigger terrain detection * @param {number} opts.radius arc radius; truthy values for arc move
* @param {*} factor speed scale factor * @param {boolean} opts.clockwise arc direction
* @param {number} opts.moveLen typically = tool diameter used to trigger terrain detection
* @param {number} opts.factor speed scale factor
*/ */
function camOut(point, cut, moveLen = toolDiamMove, factor = 1) { function camOut(point, cut,opts) {
let {
radius = null,
clockwise = true,
moveLen = toolDiamMove,
factor = 1,
} = opts ?? {}
point = point.clone(); point = point.clone();
point.x += wmx; point.x += wmx;
point.y += wmy; point.y += wmy;
@ -463,6 +473,7 @@ function prepEach(widget, settings, print, firstPoint, update) {
/** /**
* output an array of slices that form a pocket * output an array of slices that form a pocket
* used by rough and pocket ops, does not support arcs
* *
* @param {Slice[]} top-down Z stack of slices * @param {Slice[]} top-down Z stack of slices
* @param {*} opts * @param {*} opts
@ -494,7 +505,7 @@ function prepEach(widget, settings, print, firstPoint, update) {
printPoint = poly2polyEmit(polys, printPoint, function(poly, index, count) { printPoint = poly2polyEmit(polys, printPoint, function(poly, index, count) {
poly.forEachPoint(function(point, pidx, points, offset) { poly.forEachPoint(function(point, pidx, points, offset) {
// scale speed of first cutting poly since it engages the full bit // scale speed of first cutting poly since it engages the full bit
camOut(point.clone(), offset !== 0, undefined, count === 1 ? engageFactor : 1); camOut(point.clone(), offset !== 0,{ factor: count === 1 ? engageFactor : 1});
}, poly.isClosed(), index); }, poly.isClosed(), index);
}, { swapdir: false }); }, { swapdir: false });
newLayer(); newLayer();
@ -520,6 +531,71 @@ function prepEach(widget, settings, print, firstPoint, update) {
printPoint = depthRoughPath(printPoint, 0, outs, otops, polyEmit, false, easeDown); printPoint = depthRoughPath(printPoint, 0, outs, otops, polyEmit, false, easeDown);
} }
} }
/**
* Ease down along the polygonal path.
*
* 1. Travel from fromPoint to closest point on polygon, to rampZ above that that point,
* 2. ease-down starts, following the polygonal path, decreasing Z at a fixed slope until target Z is hit,
*/
function generateEaseDown(fn,poly, fromPoint, degrees = 45){
let index = poly.findClosestPointTo(fromPoint).index,
fromZ = fromPoint.z,
offset = 0,
points = poly.points,
length = points.length,
touch = -1, // first point to touch target z
targetZ = points[0].z,
dist2next,
last,
next,
done;
// Slope for computations.
const slope = Math.tan((degrees * Math.PI) / 180);
// Z height above polygon Z from which to start the ease-down.
// Machine will travel from "fromPoint" to "nearest point x, y, z' => with z' = point z + rampZ",
// then start the ease down along path.
const rampZ = 2.0;
while (true) {
next = points[index % length];
if (last && next.z < fromZ) {
// When "in Ease-Down" (ie. while target Z not yet reached) - follow path while slowly decreasing Z.
let deltaZ = fromZ - next.z;
dist2next = last.distTo2D(next);
let deltaZFullMove = dist2next * slope;
if (deltaZFullMove > deltaZ) {
// Too long: easing along full path would overshoot depth, synth intermediate point at target Z.
//
// XXX: please check my super basic trig - this should follow from `last` to `next` up until the
// intersect at the target Z distance.
fn(last.followTo(next, dist2next * deltaZ / deltaZFullMove).setZ(next.z), offset++);
} else {
// Ok: execute full move at desired slope.
next = next.clone().setZ(fromZ - deltaZFullMove);
}
fromZ = next.z;
} else if (offset === 0 && next.z < fromZ) {
// First point, move to rampZ height above next.
let deltaZ = fromZ - next.z;
fromZ = next.z + Math.min(deltaZ, rampZ)
next = next.clone().setZ(fromZ);
}
last = next;
fn(next, offset++);
if (touch < 0 && next.z <= targetZ) {
// Save touch-down index so as to be able to "complete" the full cut at target Z,
// i.e. keep following the path loop until the touch down point is reached again.
touch = ((index + length) % length);
break; //break after touch
}
index++;
}
return touch;
}
// coming from a previous widget, use previous last point // coming from a previous widget, use previous last point
lastPoint = firstPoint; lastPoint = firstPoint;
@ -603,26 +679,156 @@ function prepEach(widget, settings, print, firstPoint, update) {
newLayer(); newLayer();
} }
// prepare
// sliceOutput
// depthRoughPath
// poly2polyEmit /**
// roughTopEmit * Output a single polygon as gcode. The polygon is walked in either the
// poly2polyEmit * clockwise or counter-clockwise direction depending on the winding of the
* polygon. The first point of the polygon is assumed to be the starting
* point, and the last point is assumed to be the ending point. If the
* polygon is closed, the starting and ending points are the same. The
* function will automatically output a rapid move to the first point of
* the polygon if that point is not the current position.
*
* @param {Polygon} poly - the polygon to output
* @param {number} index - the index of the polygon in its containing array
* @param {number} count - the total number of polygons in the array
* @param {Point} fromPoint - the point to rapid move from
* @returns {Point} - the last point of the polygon
*/
function polyEmit(poly, index, count, fromPoint) { function polyEmit(poly, index, count, fromPoint) {
console.log('polyEmit', poly, index, count);
// if (fromPoint && out.emit) {
// if (arcDist) {
// let rec = {e:out.emit, x, y, z, dist, emitPerMM, speedMMM};
// arcQ.push(rec);
// let deem = false; // do arcQ[0] and rec have differing emit values?
// let depm = false; // do arcQ[0] and rec have differing emit speeds?
// let desp = false; // do arcQ[0] and rec have differing move speeds?
// if (arcQ.length > 1) {
// let el = arcQ.length;
// deem = arcQ[0].e !== rec.e;
// depm = arcQ[0].emitPerMM !== rec.emitPerMM;
// desp = arcQ[0].speedMMM !== rec.speedMMM;
// }
// // ondebug({arcQ});
// if (arcQ.length > 2) {
// let el = arcQ.length;
// let e1 = arcQ[0]; // first in arcQ
// let e2 = arcQ[Math.floor(el/2)]; // mid in arcQ
// let e3 = arcQ[el-1]; // last in arcQ
// let e4 = arcQ[el-2]; // second last in arcQ
// let e5 = arcQ[el-3]; // third last in arcQ
// let cc = util.center2d(e1, e2, e3, 1); // find center
// let lr = util.center2d(e3, e4, e5, 1); // find local radius
// let dc = 0;
// let radFault = false;
// if (lr) {
// let angle = 2 * Math.asin(dist/(2*lr.r));
// radFault = Math.abs(angle) > Math.PI * 2 / arcRes; // enforce arcRes(olution)
// // if (arcQ.center) {
// // arcQ.rSum = arcQ.center.reduce( function (t, v) { return t + v.r }, 0 );
// // let avg = arcQ.rSum / arcQ.center.length;
// // radFault = radFault || Math.abs(avg - lr.r) / avg > arcDev; // eliminate sharps and flats when local rad is out of arcDev(iation)
// // }
// } else {
// radFault = true;
// }
// if (cc) {
// if ([cc.x,cc.y,cc.z,cc.r].hasNaN()) {
// console.log({cc, e1, e2, e3});
// }
// if (arcQ.length === 3) {
// arcQ.center = [ cc ];
// arcQ.xSum = cc.x;
// arcQ.ySum = cc.y;
// arcQ.rSum = cc.r;
// } else {
// // check center point delta
// arcQ.xSum = arcQ.center.reduce( function (t, v) { return t + v.x }, 0 );
// arcQ.ySum = arcQ.center.reduce( function (t, v) { return t + v.y }, 0 );
// arcQ.rSum = arcQ.center.reduce( function (t, v) { return t + v.r }, 0 );
// let dx = cc.x - arcQ.xSum / arcQ.center.length;
// let dy = cc.y - arcQ.ySum / arcQ.center.length;
// dc = Math.sqrt(dx * dx + dy * dy);
// }
// // if new point is off the arc
// // if (deem || depm || desp || dc > arcDist || cc.r < arcMin || cc.r > arcMax || dist > cc.r) {
// if (deem || depm || desp || dc * arcQ.center.length / arcQ.rSum > arcDist || dist > cc.r || cc.r > arcMax || radFault || !arcValid()) {
// // let debug = [deem, depm, desp, dc * arcQ.center.length / arcQ.rSum > arcDist, dist > cc.r, cc.r > arcMax, radFault];
// if (arcQ.length === 4) {
// // not enough points for an arc, drop first point and recalc center
// emitQrec(arcQ.shift());
// let tc = util.center2d(arcQ[0], arcQ[1], arcQ[2], 1);
// // the new center is invalid as well. drop the first point
// if (!tc) {
// emitQrec(arcQ.shift());
// } else {
// arcQ.center = [ tc ];
// let angle = 2 * Math.asin(arcQ[1].dist/(2*tc.r));
// if (Math.abs(angle) > Math.PI * 2 / arcRes) { // enforce arcRes on initial angle
// emitQrec(arcQ.shift());
// }
// }
// } else {
// // enough to consider an arc, emit and start new arc
// let defer = arcQ.pop();
// drainQ();
// // re-add point that was off the last arc
// arcQ.push(defer);
// }
// } else {
// // new point is on the arc
// arcQ.center.push(cc);
// }
// } else {
// // drainQ on invalid center
// drainQ();
// }
// }
// } else {
// // emitMM = emitPerMM * out.emit * dist;
// emitMM = extrudeMM(dist, emitPerMM, out.emit);
// moveTo({x:x, y:y, e:emitMM}, speedMMM);
// emitted += emitMM;
// }
// } else {
// drainQ();
// moveTo({x:x, y:y}, seekMMM);
// // TODO disabling out of plane z moves until a better mechanism
// // can be built that doesn't rely on computed zpos from layer heights...
// // when making z moves (like polishing) allow slowdown vs fast seek
// // let moveSpeed = (lastp && lastp.z !== z) ? speedMMM : seekMMM;
// // moveTo({x:x, y:y, z:z}, moveSpeed);
// }
let last = null; let last = null;
// scale speed of first cutting poly since it engages the full bit // scale speed of first cutting poly since it engages the full bit
let scale = ((isRough || isPocket) && count === 1) ? engageFactor : 1; let scale = ((isRough || isPocket) && count === 1) ? engageFactor : 1;
if (easeDown && poly.isClosed()) { if (easeDown && poly.isClosed()) {
last = poly.forEachPointEaseDown(function(point, offset) { last = generateEaseDown((point, pidx, points, offset)=>{
camOut(point.clone(), offset > 0, undefined, scale);
}, fromPoint, easeAngle); camOut(point.clone(), 1, {factor:scale});
} else { }, poly, fromPoint, easeAngle);
}
console.log(last,last)
poly.forEachPoint(function(point, pidx, points, offset) { poly.forEachPoint(function(point, pidx, points, offset) {
last = point; last = point;
camOut(point.clone(), offset !== 0, undefined, scale); camOut(point.clone(), offset !== 0, {factor:scale});
}, poly.isClosed(), index); }, poly.isClosed(), last);
}
newLayer(); newLayer();
return last; return last;
} }
@ -715,7 +921,7 @@ function prepEach(widget, settings, print, firstPoint, update) {
print.addOutput(lastLayer, printPoint = lastPoint.clone().setZ(zmax_outer), 0, 0, tool); print.addOutput(lastLayer, printPoint = lastPoint.clone().setZ(zmax_outer), 0, 0, tool);
} }
} }
console.log("prepare output", newOutput);
// replace output single flattened layer with all points // replace output single flattened layer with all points
print.output = newOutput; print.output = newOutput;
return printPoint; return printPoint;