ChK/appRobotHoming
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Arbeiten an Normalen

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chk
2026-06-15 23:00:38 +02:00
parent f88e73c02f
commit 487d35473a
1 changed files with 26 additions and 1 deletions
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27
public/boardViewer.html
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@@ -366,6 +366,11 @@ function buildSkeletonFK(robot, angles) {
const corner0W = posWorld.clone().add(ptrDir.multiplyScalar(markerSizeM * Math.SQRT1_2));
gArmMarkers.add(makeLine(posWorld, corner0W, col, 0.9));
gArmMarkers.add(makeSphere(corner0W, 0.0008, col));
// Modell-Normale (Pfeil, gleiche Link-Farbe, halbtransparent)
const modelNormalEnd = posWorld.clone().add(normalW.clone().multiplyScalar(markerSizeM * 1.5));
gArmMarkers.add(makeLine(posWorld, modelNormalEnd, col, 0.5));
gArmMarkers.add(makeSphere(modelNormalEnd, 0.0005, col));
}
}
}
@@ -391,8 +396,28 @@ function buildSkeletonFK(robot, angles) {
const [lx, ly, lz] = modelM.position;
const modelPosW = new THREE.Vector3(lx * S, lz * S, -ly * S).applyMatrix4(frames[obsLink]);
const obsPosW = r2vArr(obs.position_mm);
const obsCol = LINK_COLORS[obsLink] ?? 0x3b82f6;
gArmMarkers.add(makeLine(modelPosW, obsPosW, 0xff8800, 0.85));
gArmMarkers.add(makeSphere(obsPosW, 0.007, LINK_COLORS[obsLink] ?? 0x3b82f6));
gArmMarkers.add(makeSphere(obsPosW, 0.007, obsCol));
// Beobachtungs-Ecke 0: Orientierungszeiger für Spin-Vergleich
// corners_m sind Weltkoordinaten in Metern → direkt in Three.js (Y↑=Z, Z↑=-Y)
const c0 = obs.corners_m?.[0];
if (c0) {
const obsCorner0W = new THREE.Vector3(c0[0], c0[2], -c0[1]);
gArmMarkers.add(makeLine(obsPosW, obsCorner0W, obsCol, 0.85));
gArmMarkers.add(makeSphere(obsCorner0W, 0.006, obsCol));
}
// Beobachtungs-Normale (weißer Pfeil)
if (obs.normal) {
const [on0, on1, on2] = obs.normal;
const obsNormalW = new THREE.Vector3(on0, on2, -on1).normalize();
const arrowLen = (modelM.size ?? 25) * S * 1.5;
const obsNormalEnd = obsPosW.clone().add(obsNormalW.multiplyScalar(arrowLen));
gArmMarkers.add(makeLine(obsPosW, obsNormalEnd, 0xffffff, 0.55));
gArmMarkers.add(makeSphere(obsNormalEnd, 0.005, 0xffffff));
}
}
}
}