77 lines
7.1 KiB
XML
77 lines
7.1 KiB
XML
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 980 750" font-family="'Segoe UI','PingFang SC','Microsoft YaHei',sans-serif">
|
||
<rect x="0" y="0" width="980" height="750" fill="#ffffff"/>
|
||
<defs>
|
||
<marker id="fa" viewBox="0 0 10 10" refX="9" refY="5" markerWidth="6.5" markerHeight="6.5" orient="auto-start-reverse">
|
||
<path d="M0,0 L10,5 L0,10 z" fill="#5a7d9a"/>
|
||
</marker>
|
||
</defs>
|
||
<text x="490" y="34" text-anchor="middle" font-size="21" font-weight="bold" fill="#16324f">离线碰撞检测（sweep_v2.py）：逐层过滤漏斗</text>
|
||
<text x="490" y="58" text-anchor="middle" font-size="13" fill="#5c7185">目标：把「每姿态都做 NURBS 布尔」压到只剩真正贴 face 的零件对 —— 精确性一分不减，调用量掉几个数量级</text>
|
||
|
||
<g font-size="12.5">
|
||
<rect x="120" y="76" width="600" height="46" rx="8" fill="#dbe9fb" stroke="#3572c9" stroke-width="1.4"/>
|
||
<circle cx="145" cy="99" r="12" fill="#3572c9"/><text x="145" y="104" text-anchor="middle" fill="#ffffff" font-weight="bold">1</text>
|
||
<text x="168" y="95" font-weight="bold" fill="#153a6e">全对全候选对</text>
|
||
<text x="168" y="113" fill="#2a4a6e">19 件 ≈ 171 对（9 打印件 + 6 电机 + 台架 P01/P02），按姿态刚体变换</text>
|
||
<line x1="420" y1="122" x2="420" y2="136" stroke="#5a7d9a" stroke-width="1.6" marker-end="url(#fa)"/>
|
||
|
||
<rect x="140" y="138" width="560" height="46" rx="8" fill="#e6eef7" stroke="#5a86b5" stroke-width="1.3"/>
|
||
<circle cx="165" cy="161" r="12" fill="#5a86b5"/><text x="165" y="166" text-anchor="middle" fill="#ffffff" font-weight="bold">2</text>
|
||
<text x="188" y="157" font-weight="bold" fill="#153a6e">跳过刚性安装对</text>
|
||
<text x="188" y="175" fill="#2a4a6e">MOUNT_PAIRS 12 对：电机 ↔ 被驱动件由螺钉锁死，无相对运动</text>
|
||
<line x1="420" y1="184" x2="420" y2="198" stroke="#5a7d9a" stroke-width="1.6" marker-end="url(#fa)"/>
|
||
|
||
<rect x="160" y="200" width="520" height="46" rx="8" fill="#e6eef7" stroke="#5a86b5" stroke-width="1.3"/>
|
||
<circle cx="185" cy="223" r="12" fill="#5a86b5"/><text x="185" y="228" text-anchor="middle" fill="#ffffff" font-weight="bold">3</text>
|
||
<text x="208" y="219" font-weight="bold" fill="#153a6e">组跨度规则</text>
|
||
<text x="208" y="237" fill="#2a4a6e">该姿态中没有活动关节跨越的对跳过（零位时全部必查——静止不代表不干涉）</text>
|
||
<line x1="420" y1="246" x2="420" y2="260" stroke="#5a7d9a" stroke-width="1.6" marker-end="url(#fa)"/>
|
||
|
||
<rect x="180" y="262" width="480" height="46" rx="8" fill="#e6eef7" stroke="#5a86b5" stroke-width="1.3"/>
|
||
<circle cx="205" cy="285" r="12" fill="#5a86b5"/><text x="205" y="290" text-anchor="middle" fill="#ffffff" font-weight="bold">4</text>
|
||
<text x="228" y="281" font-weight="bold" fill="#153a6e">轴区间预剪枝（单关节扫描专用，精确安全）</text>
|
||
<text x="228" y="299" fill="#2a4a6e">沿关节轴的轴向/径向区间永不相交的对，任何角度都不可能碰撞</text>
|
||
<line x1="420" y1="308" x2="420" y2="322" stroke="#5a7d9a" stroke-width="1.6" marker-end="url(#fa)"/>
|
||
|
||
<rect x="200" y="324" width="440" height="46" rx="8" fill="#e6eef7" stroke="#5a86b5" stroke-width="1.3"/>
|
||
<circle cx="225" cy="347" r="12" fill="#5a86b5"/><text x="225" y="352" text-anchor="middle" fill="#ffffff" font-weight="bold">5</text>
|
||
<text x="248" y="343" font-weight="bold" fill="#153a6e">AABB 分离</text>
|
||
<text x="248" y="361" fill="#2a4a6e">8 角点变换后取包围盒，0.1mm 余量；分离即跳过</text>
|
||
<line x1="420" y1="370" x2="420" y2="384" stroke="#5a7d9a" stroke-width="1.6" marker-end="url(#fa)"/>
|
||
|
||
<rect x="220" y="386" width="400" height="46" rx="8" fill="#e6eef7" stroke="#5a86b5" stroke-width="1.3"/>
|
||
<circle cx="245" cy="409" r="12" fill="#5a86b5"/><text x="245" y="414" text-anchor="middle" fill="#ffffff" font-weight="bold">6</text>
|
||
<text x="268" y="405" font-weight="bold" fill="#153a6e">包围球分离</text>
|
||
<text x="268" y="423" fill="#2a4a6e">球心随组变换、半径旋转不变；球分离 ⇒ 零件必分离</text>
|
||
<line x1="420" y1="432" x2="420" y2="446" stroke="#5a7d9a" stroke-width="1.6" marker-end="url(#fa)"/>
|
||
|
||
<rect x="230" y="444" width="400" height="66" rx="8" fill="#fdf2e2" stroke="#c99418" stroke-width="1.4"/>
|
||
<circle cx="255" cy="477" r="12" fill="#c99418"/><text x="255" y="482" text-anchor="middle" fill="#ffffff" font-weight="bold">7</text>
|
||
<text x="278" y="468" font-weight="bold" fill="#7a5a08">GJK 凸包预筛（保守证书）</text>
|
||
<text x="278" y="487" fill="#6b5312">0.5mm 凸包 ⊕ 0.8mm 球：确证分离才允许跳过</text>
|
||
<text x="278" y="500" fill="#6b5312" font-size="11">可能干涉/数值退化一律回落精确布尔——结果与纯布尔一致</text>
|
||
<line x1="420" y1="510" x2="420" y2="516" stroke="#5a7d9a" stroke-width="1.6" marker-end="url(#fa)"/>
|
||
|
||
<rect x="255" y="518" width="350" height="66" rx="8" fill="#fdf2e2" stroke="#c99418" stroke-width="1.4"/>
|
||
<circle cx="280" cy="551" r="12" fill="#c99418"/><text x="280" y="556" text-anchor="middle" fill="#ffffff" font-weight="bold">8</text>
|
||
<text x="303" y="542" font-weight="bold" fill="#7a5a08">顶点侵入实锤（反方向 shortcut）</text>
|
||
<text x="303" y="561" fill="#6b5312">一方网格顶点（≤240 采样）落入对方实体 >1mm</text>
|
||
<text x="303" y="574" fill="#6b5312" font-size="11">⇒ 直接判干涉，免 4~12s 布尔；只证「撞」不证「自由」</text>
|
||
<line x1="420" y1="584" x2="420" y2="590" stroke="#5a7d9a" stroke-width="1.6" marker-end="url(#fa)"/>
|
||
|
||
<rect x="275" y="592" width="300" height="52" rx="8" fill="#fbe9e7" stroke="#c0533a" stroke-width="1.5"/>
|
||
<circle cx="300" cy="618" r="12" fill="#c0533a"/><text x="300" y="623" text-anchor="middle" fill="#ffffff" font-weight="bold">9</text>
|
||
<text x="323" y="612" font-weight="bold" fill="#7c2a18">OCCT 精确布尔 Common</text>
|
||
<text x="323" y="630" fill="#8a3a26">实体交体积 > 2mm³ 记干涉（附干涉质心）</text>
|
||
<text x="323" y="640" fill="#8a3a26" font-size="11">SetRunParallel(True) · 多进程分发姿态</text>
|
||
</g>
|
||
|
||
<path d="M 745 480 C 800 480, 820 540, 820 590 C 820 620, 790 630, 566 618" fill="none" stroke="#c0533a" stroke-width="1.5" stroke-dasharray="6 4" marker-end="url(#fa)"/>
|
||
<text x="806" y="470" text-anchor="middle" font-size="12" fill="#7c2a18">布尔每对 0.5~12s</text>
|
||
<text x="806" y="488" text-anchor="middle" font-size="12" fill="#7c2a18">前面每层都在为它省调用</text>
|
||
|
||
<rect x="60" y="660" width="860" height="66" rx="8" fill="#f4f6f8" stroke="#9db0c0" stroke-width="1.2"/>
|
||
<text x="490" y="684" text-anchor="middle" font-size="12.5" fill="#3d5164">扫描策略：单关节双向粗扫 2°（小批量、首个卡死角即停）+ 二分逼近 0.2° → travel.json（滑块硬限位）</text>
|
||
<text x="490" y="704" text-anchor="middle" font-size="12.5" fill="#3d5164">组合姿态收敛 6°（一个关节保持极限、扫其余，两轮迭代）→ 只写 travel_detail.json，不压缩滑块 ｜ workers = min(12, CPU−2, 内存/2.5GB)</text>
|
||
</svg>
|