71 lines
6.5 KiB
XML
71 lines
6.5 KiB
XML
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<text x="490" y="34" text-anchor="middle" font-size="21" font-weight="bold" fill="#16324f">实时碰撞模型：CAD 网格 → 胶囊体 + 两级宽相位</text>
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<!-- 左：胶囊化手臂示意 -->
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<text x="235" y="64" text-anchor="middle" font-size="14.5" font-weight="bold" fill="#1f4f8f">手臂按运动组胶囊化（fit_capsules.py 拟合）</text>
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<rect x="150" y="110" width="34" height="478" rx="6" fill="#e2e8ee" stroke="#9db0c0" stroke-width="1"/>
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<text x="167" y="102" text-anchor="middle" font-size="11" fill="#5c7185">台架 g0（root 固定）</text>
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<text x="256" y="150" font-size="11.5" fill="#153a6e">g1 · J1 组（肩吊臂）</text>
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<text x="256" y="248" font-size="11.5" fill="#14573a">g2 · J2 组（肩叉）</text>
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<rect x="196" y="306" width="52" height="96" rx="26" fill="#a8d5d8" stroke="#1f7a8f" stroke-width="1.4"/>
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<text x="256" y="336" font-size="11.5" fill="#14525e">g3 · J3 组（大臂骨架）</text>
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<text x="256" y="436" font-size="11.5" fill="#4a5f1c">g4 · J4 组（小臂骨架）</text>
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<text x="256" y="512" font-size="11.5" fill="#7a5308">g5 · J5 组（腕偏转座）</text>
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<rect x="198" y="548" width="48" height="20" rx="10" fill="#f0bcb0" stroke="#c0533a" stroke-width="1.4"/>
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<text x="256" y="564" font-size="11.5" fill="#7c2a18">g6 · J6 组（工具法兰）</text>
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<text x="235" y="608" text-anchor="middle" font-size="11.5" fill="#5c7185">胶囊 = 线段端点 a,b + 半径 r，端点是零位 CAD 世界坐标；</text>
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<text x="235" y="626" text-anchor="middle" font-size="11.5" fill="#5c7185">组 g 的胶囊随 A1..Ag 嵌套旋转（与 FK 链同一累积变换）。</text>
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<!-- 右上：宽相位级联 -->
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<text x="700" y="64" text-anchor="middle" font-size="14.5" font-weight="bold" fill="#1f4f8f">两级宽相位 → 胶囊精确距</text>
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<text x="486" y="102" font-size="12.5" font-weight="bold" fill="#153a6e">第 1 级 · 零件包围球（19 球）</text>
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<text x="486" y="122" font-size="11.5" fill="#2a4a6e">球心距 > rad_A+rad_B+rmax_A+rmax_B+margin 才筛除（阈值推导防漏判）</text>
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<rect x="470" y="154" width="470" height="58" rx="8" fill="#e6eef7" stroke="#5a86b5" stroke-width="1.3"/>
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<text x="486" y="176" font-size="12.5" font-weight="bold" fill="#153a6e">第 2 级 · 簇球（每零件胶囊按主轴分桶，每簇 ≤4 枚）</text>
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<text x="486" y="196" font-size="11.5" fill="#2a4a6e">主轴 = 胶囊中点的幂迭代方向（5 轮）；再细分实测得不偿失</text>
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<rect x="470" y="228" width="470" height="58" rx="8" fill="#dbe9fb" stroke="#3572c9" stroke-width="1.4"/>
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<text x="486" y="250" font-size="12.5" font-weight="bold" fill="#153a6e">第 3 级 · 胶囊对：线段-线段距离（Ericson 标准式）</text>
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<text x="486" y="270" font-size="11.5" fill="#2a4a6e">d(轴_a, 轴_b) < r_i + r_j + margin(0.3mm) ⇒ 干涉；无 visit 回调时首对即短路</text>
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<!-- 胶囊距小图 -->
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<line x1="17" y1="35" x2="103" y2="35" stroke="#3572c9" stroke-width="1.2" stroke-dasharray="4 3"/>
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<rect x="210" y="0" width="110" height="30" rx="15" fill="#f2d5a8" stroke="#c98a18" stroke-width="1.4"/>
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<text x="128" y="12" font-size="12" font-weight="bold" fill="#c0533a">d（轴间距）</text>
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<text x="120" y="86" font-size="12" fill="#16324f" font-family="Consolas,monospace">自由 ⇔ d ≥ r_i + r_j + margin</text>
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<text x="120" y="106" font-size="11" fill="#5c7185">胶囊并集 ⊇ 零件本体 ⇒ 「自由」可信、「干涉」需离线布尔确认</text>
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</g>
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<!-- 右下：规则 -->
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<rect x="470" y="428" width="470" height="128" rx="8" fill="#fdf6ec" stroke="#c99418" stroke-width="1.3"/>
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<text x="486" y="452" font-size="12.5" font-weight="bold" fill="#7a5a08">三条关键规则</text>
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<text x="486" y="474" font-size="12" fill="#6b5312">· 只检 |Δg|≥2 的零件对（同组相对静止、零位已保证不干涉）；</text>
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<text x="486" y="492" font-size="12" fill="#6b5312"> 相邻对 P04×P05/P06×P07/P07×P08 同心跨轴，塞进模型零位必误报</text>
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<text x="486" y="510" font-size="12" fill="#6b5312"> ⇒ 改用 adj 一维自由区间表（CAD 实测、与姿态无关）</text>
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<text x="486" y="528" font-size="12" fill="#6b5312">· adj：J2 [−107°,+128°] · J4 [−112°,+112°] · J5 [−96°,+96°]</text>
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<text x="486" y="546" font-size="12" fill="#6b5312">· 硬边（lo 侧相邻件自碰撞）静态值即真值；可放宽侧（撞立柱）按姿态实时二分</text>
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<text x="486" y="588" font-size="12.5" font-weight="bold" fill="#14472c">性能：1995 胶囊 · collideFree ≈ 5ms/次（零位最坏）</text>
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<text x="486" y="608" font-size="11.5" fill="#2c5c44">预分配缓冲 + 代际戳缓存（免 GC）· 轴对齐特化旋转 · 热循环标量直传免建数组</text>
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