bherbruckandClaude Opus 5.5
296683229d
* WIP deep rename (not for push) * WIP2 * WIP3 * WIP4 wxs fix * rustfmt * Rename the remaining identifiers in merged crash-report code Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01RjGw4gA5ZvKrU8MQP6sBgT --------- Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>
77 lines
2.5 KiB
Rust
77 lines
2.5 KiB
Rust
//! Assembly extras: contact sets (occurrences that stop each other when joints are driven),
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//! motion studies (joint values keyed along a timeline) and exploded views (occurrence moves
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//! shown without changing the design).
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use serde::{Deserialize, Serialize};
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use solidcraft_geom::Vec3;
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/// Occurrences whose bodies may touch but not pass through each other while joints move.
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#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
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pub struct ContactSet {
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pub id: u64,
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pub name: String,
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pub occurrences: Vec<u64>,
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#[serde(default, skip_serializing_if = "std::ops::Not::not")]
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pub suppressed: bool,
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}
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/// One joint value along a motion study: (step, value) points, values in internal units
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/// (radians, mm), linear in between and held before the first and after the last.
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#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
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pub struct StudyKey {
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pub joint: u64,
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#[serde(default)]
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pub index: usize,
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pub points: Vec<(f64, f64)>,
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}
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impl StudyKey {
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pub fn value_at(&self, step: f64) -> Option<f64> {
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let first = self.points.first()?;
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let last = self.points.last()?;
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if step <= first.0 {
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return Some(first.1);
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}
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if step >= last.0 {
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return Some(last.1);
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}
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self.points.windows(2).find_map(|w| {
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let (a, b) = (w.first()?, w.get(1)?);
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(step >= a.0 && step <= b.0).then(|| if b.0 - a.0 < 1e-12 { b.1 } else { a.1 + (b.1 - a.1) * (step - a.0) / (b.0 - a.0) })
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})
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}
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}
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/// A motion study: a timeline of `steps` steps along which joints follow their keys.
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#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
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pub struct MotionStudy {
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pub id: u64,
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pub name: String,
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pub steps: u32,
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pub keys: Vec<StudyKey>,
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}
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/// An exploded view: occurrences moved apart (shown only; the design keeps its placements).
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#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
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pub struct ExplodedView {
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pub id: u64,
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pub name: String,
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/// (occurrence, world translation)
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pub moves: Vec<(u64, Vec3)>,
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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#[test]
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fn keys_interpolate_and_hold() {
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let k = StudyKey { joint: 1, index: 0, points: vec![(0.0, 0.0), (10.0, 1.0), (20.0, -1.0)] };
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assert_eq!(k.value_at(-5.0), Some(0.0));
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assert_eq!(k.value_at(5.0), Some(0.5));
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assert_eq!(k.value_at(15.0), Some(0.0));
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assert_eq!(k.value_at(99.0), Some(-1.0));
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assert_eq!(StudyKey { joint: 1, index: 0, points: vec![] }.value_at(1.0), None);
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}
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}
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