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||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "winapi"
|
||||||
|
version = "0.3.9"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
|
||||||
|
dependencies = [
|
||||||
|
"winapi-i686-pc-windows-gnu",
|
||||||
|
"winapi-x86_64-pc-windows-gnu",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "winapi-i686-pc-windows-gnu"
|
||||||
|
version = "0.4.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "winapi-util"
|
||||||
|
version = "0.1.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "f29e6f9198ba0d26b4c9f07dbe6f9ed633e1f3d5b8b414090084349e46a52596"
|
||||||
|
dependencies = [
|
||||||
|
"winapi",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "winapi-x86_64-pc-windows-gnu"
|
||||||
|
version = "0.4.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "winnow"
|
||||||
|
version = "0.5.34"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "b7cf47b659b318dccbd69cc4797a39ae128f533dce7902a1096044d1967b9c16"
|
||||||
|
dependencies = [
|
||||||
|
"memchr",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wyz"
|
||||||
|
version = "0.5.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "05f360fc0b24296329c78fda852a1e9ae82de9cf7b27dae4b7f62f118f77b9ed"
|
||||||
|
dependencies = [
|
||||||
|
"tap",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "yansi"
|
||||||
|
version = "0.5.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "09041cd90cf85f7f8b2df60c646f853b7f535ce68f85244eb6731cf89fa498ec"
|
||||||
@ -0,0 +1,12 @@
|
|||||||
|
[package]
|
||||||
|
name = "osubot"
|
||||||
|
version = "0.1.0"
|
||||||
|
edition = "2021"
|
||||||
|
|
||||||
|
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
osu-file-parser = "1.1.0"
|
||||||
|
g-code = "0.3.6"
|
||||||
|
#matrix = "0.22.0"
|
||||||
|
rust_decimal = { version = "1.33.1", features = ["maths"] }
|
||||||
@ -0,0 +1,73 @@
|
|||||||
|
osu file format v14
|
||||||
|
|
||||||
|
[General]
|
||||||
|
AudioLeadIn: 0
|
||||||
|
PreviewTime: -1
|
||||||
|
Countdown: 1
|
||||||
|
SampleSet: Normal
|
||||||
|
StackLeniency: 0.7
|
||||||
|
Mode: 0
|
||||||
|
LetterboxInBreaks: 0
|
||||||
|
WidescreenStoryboard: 1
|
||||||
|
SamplesMatchPlaybackRate: 1
|
||||||
|
|
||||||
|
[Editor]
|
||||||
|
DistanceSpacing: 1
|
||||||
|
BeatDivisor: 4
|
||||||
|
GridSize: 32
|
||||||
|
TimelineZoom: 1
|
||||||
|
|
||||||
|
[Metadata]
|
||||||
|
Title: test
|
||||||
|
TitleUnicode: test
|
||||||
|
Artist: me
|
||||||
|
ArtistUnicode: me
|
||||||
|
Creator: Skybbles
|
||||||
|
Version: goddamnit i've rusted
|
||||||
|
Source: Source? I made it the hell up!
|
||||||
|
Tags: tag
|
||||||
|
|
||||||
|
[Difficulty]
|
||||||
|
HPDrainRate: 5
|
||||||
|
CircleSize: 5
|
||||||
|
OverallDifficulty: 5
|
||||||
|
ApproachRate: 4.4
|
||||||
|
SliderMultiplier: 1
|
||||||
|
SliderTickRate: 1
|
||||||
|
|
||||||
|
[Events]
|
||||||
|
0,0,"wildfire.png",0,0
|
||||||
|
|
||||||
|
[TimingPoints]
|
||||||
|
-13,545.4545454545455,4,1,0,100,1,0
|
||||||
|
|
||||||
|
[HitObjects]
|
||||||
|
156,120,259,5,0,1:0:0:0:
|
||||||
|
328,152,532,1,0,1:0:0:0:
|
||||||
|
204,204,805,1,0,1:0:0:0:
|
||||||
|
204,204,1350,1,0,1:0:0:0:
|
||||||
|
204,204,1487,1,0,1:0:0:0:
|
||||||
|
204,204,1623,1,0,1:0:0:0:
|
||||||
|
204,204,1759,1,0,1:0:0:0:
|
||||||
|
204,204,1896,1,0,1:0:0:0:
|
||||||
|
416,288,2168,1,0,1:0:0:0:
|
||||||
|
320,288,2441,1,0,1:0:0:0:
|
||||||
|
223,288,2714,1,0,1:0:0:0:
|
||||||
|
127,288,2987,1,0,1:0:0:0:
|
||||||
|
31,31,4350,5,0,1:0:0:0:
|
||||||
|
448,63,4487,1,0,1:0:0:0:
|
||||||
|
127,192,4623,1,0,1:0:0:0:
|
||||||
|
288,63,4759,1,0,1:0:0:0:
|
||||||
|
255,256,4896,1,0,1:0:0:0:
|
||||||
|
255,160,5032,1,0,1:0:0:0:
|
||||||
|
127,127,5168,1,0,1:0:0:0:
|
||||||
|
416,288,5305,1,0,1:0:0:0:
|
||||||
|
63,288,5441,1,0,1:0:0:0:
|
||||||
|
191,192,5577,1,0,1:0:0:0:
|
||||||
|
384,160,5714,1,0,1:0:0:0:
|
||||||
|
255,224,5850,1,0,1:0:0:0:
|
||||||
|
95,95,5987,1,0,1:0:0:0:
|
||||||
|
288,352,6123,1,0,1:0:0:0:
|
||||||
|
159,192,6259,1,0,1:0:0:0:
|
||||||
|
384,127,6396,1,0,1:0:0:0:
|
||||||
|
255,95,6532,1,0,1:0:0:0:
|
||||||
@ -0,0 +1,332 @@
|
|||||||
|
use osu_file_parser::{
|
||||||
|
osu_file::{
|
||||||
|
hitobjects::{
|
||||||
|
CurveType::*,
|
||||||
|
HitObjectParams::*
|
||||||
|
}
|
||||||
|
},
|
||||||
|
OsuFile
|
||||||
|
};
|
||||||
|
use rust_decimal::{Decimal, prelude::ToPrimitive};
|
||||||
|
|
||||||
|
mod types;
|
||||||
|
use types::*;
|
||||||
|
|
||||||
|
/*
|
||||||
|
The input file.
|
||||||
|
*/
|
||||||
|
const OSU: &str = include_str!("../osu/test2/test2.osu");
|
||||||
|
|
||||||
|
/*
|
||||||
|
Machine's maximum acceleration in mm/s².
|
||||||
|
*/
|
||||||
|
const MAX_ACCEL: f64 = 110_000.0;
|
||||||
|
/*
|
||||||
|
The default acceleration to use for max_v calculation.
|
||||||
|
*/
|
||||||
|
const DEFAULT_ACCEL: f64 = MAX_ACCEL / 2.0;
|
||||||
|
/*
|
||||||
|
The acceleration to use for groups of hitobjects. This should be higher as
|
||||||
|
groups of hitobjects usually have to be traveled with "linear" velocity
|
||||||
|
across all the hitobjects.
|
||||||
|
*/
|
||||||
|
const GROUP_ACCEL: f64 = MAX_ACCEL;
|
||||||
|
/*
|
||||||
|
How much to increase the acceleration if the current acceleration doesn't
|
||||||
|
produce a result.
|
||||||
|
*/
|
||||||
|
const ACCEL_RETRY_STEP: f64 = 5_000.0;
|
||||||
|
/*
|
||||||
|
Since hitobjects' times are rounded to the nearest millisecond, linear
|
||||||
|
velocity calculations aren't very precise, leading to hitobjects with linear
|
||||||
|
velocities perceived to be identical not counted for grouping. To compensate
|
||||||
|
for this, a threshold is set, and any difference between linear velocities
|
||||||
|
under this threshold are counted.
|
||||||
|
*/
|
||||||
|
const GROUP_VEL_LENIENCY: f64 = 0.2;
|
||||||
|
|
||||||
|
/*
|
||||||
|
Size of the bounding box for the beatmap in storage. Do not change.
|
||||||
|
*/
|
||||||
|
const BOUNDING_BOX_SIZE: (f64, f64) = (512.0, 384.0); // lazer default ig
|
||||||
|
/*
|
||||||
|
Physical limits of the machine
|
||||||
|
*/
|
||||||
|
const PHYSICAL_MAX: (f64, f64) = (105.0, 110.0);
|
||||||
|
/*
|
||||||
|
Active area
|
||||||
|
*/
|
||||||
|
const AREA_ORIGIN: (f64, f64) = (10.0, 10.0);
|
||||||
|
const AREA_MAX: (f64, f64) = (95.0, 95.0);
|
||||||
|
/*
|
||||||
|
Rotation in degrees anteclockwise
|
||||||
|
*/
|
||||||
|
const ROTATION: f64 = 90.0;
|
||||||
|
|
||||||
|
const AREA_SIZE: (f64, f64) = (
|
||||||
|
AREA_MAX.0 - AREA_ORIGIN.0,
|
||||||
|
AREA_MAX.1 - AREA_ORIGIN.1
|
||||||
|
);
|
||||||
|
const BOX_TO_AREA_OFFSET: (f64, f64) = (
|
||||||
|
AREA_SIZE.0 / 2.0 - BOUNDING_BOX_SIZE.0 / 2.0,
|
||||||
|
AREA_SIZE.1 / 2.0 - BOUNDING_BOX_SIZE.1 / 2.0
|
||||||
|
);
|
||||||
|
|
||||||
|
/*
|
||||||
|
Calculates the maximum velocity (mm/ms) given the the start and end
|
||||||
|
position, acceleration, and required total move time.
|
||||||
|
|
||||||
|
This uses an equation from 19aksh https://math.stackexchange.com/a/3304761
|
||||||
|
rearranged to solve for v.
|
||||||
|
|
||||||
|
In loose mathematical format:
|
||||||
|
|
||||||
|
2t - sqrt(4t² - 8d (1 / a - 1 / -a))
|
||||||
|
v = -----------------------------------
|
||||||
|
2 (1 / a - 1 / -a)
|
||||||
|
|
||||||
|
Where:
|
||||||
|
t = time (ms)
|
||||||
|
d = distance (mm)
|
||||||
|
a = kinematic acceleration (mm/1000² since 1s == 1000ms)
|
||||||
|
v = velocity (mm/ms)
|
||||||
|
|
||||||
|
(multiply v by 60_000 to get the feedrate (mm/min))
|
||||||
|
|
||||||
|
There are some combinations of t, d, and a that can result in no solution,
|
||||||
|
usually because the acceleration and deceleration periods overlap. In this
|
||||||
|
case, the acceleration should be increased until a solution is found. To
|
||||||
|
compensate for the possibility of this exceeding the MAX_ACCEL, this will
|
||||||
|
normally calculate with half of MAX_ACCEL. If no solution is found even
|
||||||
|
at MAX_ACCEL, an error will be thrown.
|
||||||
|
*/
|
||||||
|
fn max_velocity(
|
||||||
|
p1: PositionF64,
|
||||||
|
p2: PositionF64,
|
||||||
|
accel: f64,
|
||||||
|
ms: f64,
|
||||||
|
) -> f64 {
|
||||||
|
let dist = p1 >> p2;
|
||||||
|
let accel_divided = accel / 1_000_000.0; // accel / 1000² since 1s == 1000ms
|
||||||
|
let accel_factor = 1.0 / accel_divided - 1.0 / -accel_divided;
|
||||||
|
let sqrt_fac = (4.0 * ms.powf(2.0) - 8.0 * dist * accel_factor).sqrt();
|
||||||
|
(2.0 * ms - sqrt_fac) / (2.0 * accel_factor)
|
||||||
|
}
|
||||||
|
|
||||||
|
fn find_bbox_scale_factor(
|
||||||
|
box_size: (f64, f64),
|
||||||
|
target_size: (f64, f64),
|
||||||
|
rotation: f64
|
||||||
|
) -> f64 {
|
||||||
|
let target_size = if rotation == 90.0 || rotation == 270.0 {
|
||||||
|
(target_size.1, target_size.0)
|
||||||
|
} else {
|
||||||
|
target_size
|
||||||
|
};
|
||||||
|
if target_size.0 > target_size.1 {
|
||||||
|
target_size.1 / box_size.1
|
||||||
|
} else {
|
||||||
|
target_size.0 / box_size.0
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fn solve_feedrate_and_accel(
|
||||||
|
p1: PositionF64,
|
||||||
|
p2: PositionF64,
|
||||||
|
starting_accel: f64,
|
||||||
|
ms: f64
|
||||||
|
) -> (f64, f64) {
|
||||||
|
let mut accel = starting_accel;
|
||||||
|
let mut max_v: f64;
|
||||||
|
|
||||||
|
loop {
|
||||||
|
max_v = max_velocity(p1, p2, accel, ms);
|
||||||
|
if !max_v.is_nan() { break }
|
||||||
|
accel += ACCEL_RETRY_STEP;
|
||||||
|
if accel >= MAX_ACCEL {
|
||||||
|
panic!("couldn't calculate max_v for dist {} within {}ms", p1 >> p2, ms);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
let speed = max_v * 1_000.0; // mm/s
|
||||||
|
let feedrate = speed * 60.0; // mm/min
|
||||||
|
|
||||||
|
eprintln!(
|
||||||
|
"; feedrate: {:.2} ({:.2}mm/s) ({})->({}) dist {}, accel={}, Δms={}",
|
||||||
|
feedrate, speed,
|
||||||
|
p1, p2,
|
||||||
|
p1 >> p2,
|
||||||
|
accel,
|
||||||
|
ms
|
||||||
|
);
|
||||||
|
|
||||||
|
(feedrate, accel)
|
||||||
|
}
|
||||||
|
|
||||||
|
fn main() -> Result<(), Box<dyn std::error::Error>> {
|
||||||
|
/* Steps
|
||||||
|
1. Read beatmap and hitcircles
|
||||||
|
a. convert curves to lines
|
||||||
|
b. apply scaling for every point
|
||||||
|
c. apply rotation for every point
|
||||||
|
2. Convert to gcode paths
|
||||||
|
a. add preliminary gcode
|
||||||
|
b. calculate F for a given movement
|
||||||
|
c. write movements to file
|
||||||
|
*/
|
||||||
|
|
||||||
|
let src = OSU.parse::<OsuFile>()?;
|
||||||
|
let binding = src.hitobjects.expect("Beatmap has no hit objects!");
|
||||||
|
let mut hitobjects = binding.0.iter();
|
||||||
|
let scale_fac = find_bbox_scale_factor(
|
||||||
|
BOUNDING_BOX_SIZE,
|
||||||
|
AREA_SIZE,
|
||||||
|
ROTATION
|
||||||
|
);
|
||||||
|
|
||||||
|
println!("G90\nG0 Z0");
|
||||||
|
let corners = [
|
||||||
|
AREA_ORIGIN,
|
||||||
|
(AREA_ORIGIN.0, AREA_MAX.1),
|
||||||
|
(AREA_MAX.0, AREA_MAX.1),
|
||||||
|
(AREA_MAX.0, AREA_ORIGIN.1)
|
||||||
|
];
|
||||||
|
for corner in corners {
|
||||||
|
println!("G0 X{} Y{} F7500", corner.0, corner.1);
|
||||||
|
}
|
||||||
|
|
||||||
|
let mut total_time: f64 = 0.0;
|
||||||
|
|
||||||
|
let mut p1 = PositionF64::new(0.0, 0.0);
|
||||||
|
let mut p1_ms: Decimal = 0.into();
|
||||||
|
let mut last_accel: f64 = 0.0;
|
||||||
|
|
||||||
|
/*
|
||||||
|
These are used for merging notes that share the same angle and linear
|
||||||
|
velocity into one move. Linear velocity is plainly (dist / ms_delta).
|
||||||
|
|
||||||
|
move_p1 is the starting point of a g-code move.
|
||||||
|
*/
|
||||||
|
let mut move_p1: PositionF64 = p1;
|
||||||
|
let mut move_p1_ms: Decimal = 0.into();
|
||||||
|
let mut group_linear_vel = 0.0;
|
||||||
|
let mut group_slope = 0.0;
|
||||||
|
let mut group_size = 0;
|
||||||
|
let mut dwell_state = false;
|
||||||
|
|
||||||
|
for (count, obj) in hitobjects.enumerate() {
|
||||||
|
let p2_ms = obj.time.get().clone().unwrap_left();
|
||||||
|
let p1_to_p2_ms = p2_ms
|
||||||
|
.checked_sub(p1_ms)
|
||||||
|
.unwrap()
|
||||||
|
.to_f64()
|
||||||
|
.unwrap();
|
||||||
|
|
||||||
|
let p2 = PositionF64
|
||||||
|
::from_position(obj.position.clone())
|
||||||
|
.unwrap()
|
||||||
|
.convert_to_machine_space(
|
||||||
|
scale_fac,
|
||||||
|
BOUNDING_BOX_SIZE,
|
||||||
|
AREA_ORIGIN,
|
||||||
|
AREA_SIZE,
|
||||||
|
ROTATION
|
||||||
|
);
|
||||||
|
|
||||||
|
eprintln!("point {}", count);
|
||||||
|
|
||||||
|
if count == 0 {
|
||||||
|
println!("PAUSE");
|
||||||
|
} else if p1 == p2 && !dwell_state {
|
||||||
|
dwell_state = true;
|
||||||
|
} else if p1 != p2 {
|
||||||
|
let move_p1_to_p1_ms = p1_ms
|
||||||
|
.checked_sub(move_p1_ms)
|
||||||
|
.unwrap()
|
||||||
|
.to_f64()
|
||||||
|
.unwrap();
|
||||||
|
|
||||||
|
let linear_vel = (p1 >> p2) / p1_to_p2_ms;
|
||||||
|
let slope = p1 / p2;
|
||||||
|
|
||||||
|
println!("; linear_vel {:.4}, slope {:.4}", linear_vel, slope);
|
||||||
|
|
||||||
|
if
|
||||||
|
linear_vel - group_linear_vel < GROUP_VEL_LENIENCY
|
||||||
|
&& slope == group_slope
|
||||||
|
{
|
||||||
|
println!("; !! merging point");
|
||||||
|
group_size += 1;
|
||||||
|
} else {
|
||||||
|
let (feedrate, accel) = solve_feedrate_and_accel(
|
||||||
|
move_p1,
|
||||||
|
p1,
|
||||||
|
if group_size > 0 {
|
||||||
|
GROUP_ACCEL
|
||||||
|
} else {
|
||||||
|
DEFAULT_ACCEL
|
||||||
|
},
|
||||||
|
move_p1_to_p1_ms
|
||||||
|
);
|
||||||
|
|
||||||
|
if accel != last_accel {
|
||||||
|
println!("M204 S{}", accel);
|
||||||
|
}
|
||||||
|
|
||||||
|
println!("G0 F{:.4}\nG0 X{} Y{}", feedrate, p1.x, p1.y);
|
||||||
|
|
||||||
|
last_accel = accel;
|
||||||
|
group_linear_vel = linear_vel;
|
||||||
|
group_slope = slope;
|
||||||
|
group_size = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
if dwell_state {
|
||||||
|
println!("G4 P{}", move_p1_to_p1_ms);
|
||||||
|
dwell_state = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
move_p1_ms = p1_ms;
|
||||||
|
move_p1 = p1;
|
||||||
|
}
|
||||||
|
|
||||||
|
p1 = p2;
|
||||||
|
p1_ms = p2_ms;
|
||||||
|
total_time += p1_to_p2_ms;
|
||||||
|
}
|
||||||
|
|
||||||
|
eprintln!("total time should be {}ms", total_time);
|
||||||
|
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
println!(
|
||||||
|
"x={} y={} Δms={} type={}",
|
||||||
|
obj.position.x,
|
||||||
|
obj.position.y let move_p1_to_p1_ms = p1_ms
|
||||||
|
.checked_sub(move_p1_ms)
|
||||||
|
.unwrap()
|
||||||
|
.to_f64()
|
||||||
|
.unwrap();,
|
||||||
|
delta_ms,
|
||||||
|
match obj.obj_params {
|
||||||
|
HitCircle => String::from("HitCircle"),
|
||||||
|
Slider(s) => format!(
|
||||||
|
"Slider type={} points={} slides={} length={}",
|
||||||
|
match s.curve_type {
|
||||||
|
Bezier => "Bezier",
|
||||||
|
Centripetal => "Centripetal",
|
||||||
|
Linear => "Linear",
|
||||||
|
PerfectCircle => "PerfectCircle",
|
||||||
|
_ => "Other"
|
||||||
|
},
|
||||||
|
s.curve_points.len(),
|
||||||
|
s.slides,
|
||||||
|
s.length.get().clone()
|
||||||
|
),
|
||||||
|
Spinner => String::from("Spinner"),
|
||||||
|
_ => String::from("Other")
|
||||||
|
}
|
||||||
|
);
|
||||||
|
*/
|
||||||
@ -0,0 +1,129 @@
|
|||||||
|
use osu_file_parser::Position;
|
||||||
|
use rust_decimal::{Decimal, prelude::ToPrimitive};
|
||||||
|
|
||||||
|
pub type DecimalTuple = (Decimal, Decimal);
|
||||||
|
|
||||||
|
#[derive(Copy, Clone, PartialEq)]
|
||||||
|
pub struct PositionF64 {
|
||||||
|
pub x: f64,
|
||||||
|
pub y: f64
|
||||||
|
}
|
||||||
|
|
||||||
|
pub enum Axis {
|
||||||
|
X,
|
||||||
|
Y
|
||||||
|
}
|
||||||
|
|
||||||
|
impl PositionF64 {
|
||||||
|
pub fn new(x: f64, y: f64) -> Self { Self { x, y } }
|
||||||
|
|
||||||
|
pub fn from_tuple(a: (f64, f64)) -> Self {
|
||||||
|
Self { x: a.0, y: a.1 }
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn from_position(a: Position) -> Option<Self> {
|
||||||
|
Some(Self {
|
||||||
|
x: a.x.get().clone().left()?.to_f64()?,
|
||||||
|
y: a.y.get().clone().left()?.to_f64()?
|
||||||
|
})
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn scale(mut self, fac: f64) -> Self {
|
||||||
|
self.x *= fac;
|
||||||
|
self.y *= fac;
|
||||||
|
self
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn offset(mut self, x: f64, y: f64) -> Self {
|
||||||
|
self.x += x;
|
||||||
|
self.y += y;
|
||||||
|
self
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn rotate(mut self, angle_deg: f64) -> Self {
|
||||||
|
let theta = angle_deg * std::f64::consts::PI / 180.0;
|
||||||
|
let sin_theta = theta.sin();
|
||||||
|
let cos_theta = theta.cos();
|
||||||
|
let x = self.x * cos_theta - self.y * sin_theta;
|
||||||
|
let y = self.x * sin_theta + self.y * cos_theta;
|
||||||
|
self.x = x;
|
||||||
|
self.y = y;
|
||||||
|
self
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn flip(mut self, axis: Axis, bisect: f64) -> Self {
|
||||||
|
match axis {
|
||||||
|
Axis::Y => self.x = self.x - (self.x - bisect) * 2.0,
|
||||||
|
Axis::X => self.y = self.y - (self.y - bisect) * 2.0,
|
||||||
|
}
|
||||||
|
self
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn convert_to_machine_space(
|
||||||
|
mut self,
|
||||||
|
scale_fac: f64,
|
||||||
|
bbox_size: (f64, f64),
|
||||||
|
area_origin: (f64, f64),
|
||||||
|
area_size: (f64, f64),
|
||||||
|
rotation: f64
|
||||||
|
) -> Self {
|
||||||
|
self.flip(Axis::X, bbox_size.1 / 2.0)
|
||||||
|
.scale(scale_fac)
|
||||||
|
.rotate(rotation)
|
||||||
|
.offset(
|
||||||
|
area_origin.0 + area_size.0,
|
||||||
|
area_origin.1 + area_size.1 / 2.0 - bbox_size.0 * scale_fac / 2.0
|
||||||
|
)
|
||||||
|
}
|
||||||
|
|
||||||
|
pub fn to_string(&self) -> String {
|
||||||
|
format!("{:.4}, {:.4}", self.x, self.y)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl std::fmt::Display for PositionF64 {
|
||||||
|
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
|
||||||
|
f.write_str(&self.to_string());
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Add/offset
|
||||||
|
impl std::ops::Add for PositionF64 {
|
||||||
|
type Output = Self;
|
||||||
|
fn add(self, other: Self) -> Self::Output {
|
||||||
|
Self {
|
||||||
|
x: self.x + other.x,
|
||||||
|
y: self.y + other.y
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Subtract/difference
|
||||||
|
impl std::ops::Sub for PositionF64 {
|
||||||
|
type Output = Self;
|
||||||
|
fn sub(self, other: Self) -> Self::Output {
|
||||||
|
Self {
|
||||||
|
x: self.x - other.x,
|
||||||
|
y: self.y - other.y
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Distance
|
||||||
|
impl std::ops::Shr for PositionF64 {
|
||||||
|
type Output = f64;
|
||||||
|
fn shr(self, other: Self) -> Self::Output {
|
||||||
|
let dist = other - self;
|
||||||
|
(dist.x.powi(2) + dist.y.powi(2)).sqrt().abs()
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Slope
|
||||||
|
impl std::ops::Div for PositionF64 {
|
||||||
|
type Output = f64;
|
||||||
|
fn div(self, rhs: Self) -> Self::Output {
|
||||||
|
let diff = rhs - self;
|
||||||
|
diff.y / diff.x
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,78 @@
|
|||||||
|
G90
|
||||||
|
G0 Z0
|
||||||
|
G0 X10 Y10 F7500
|
||||||
|
G0 X10 Y95 F7500
|
||||||
|
G0 X95 Y95 F7500
|
||||||
|
G0 X95 Y10 F7500
|
||||||
|
PAUSE
|
||||||
|
; linear_vel 0.1064, slope 5.3750
|
||||||
|
M204 S55000
|
||||||
|
G0 F14734.6525
|
||||||
|
G0 X51.171875 Y35.8984375
|
||||||
|
; linear_vel 0.0818, slope -2.3846
|
||||||
|
G0 F6429.3272
|
||||||
|
G0 X56.484375 Y64.453125
|
||||||
|
; linear_vel 0.1392, slope 2.5238
|
||||||
|
G0 F982.1545
|
||||||
|
G0 X65.1171875 Y43.8671875
|
||||||
|
G4 P1364
|
||||||
|
; linear_vel 0.0584, slope -inf
|
||||||
|
G0 F8430.0676
|
||||||
|
G0 X79.0625 Y79.0625
|
||||||
|
; linear_vel 0.0590, slope -inf
|
||||||
|
; !! merging point
|
||||||
|
; linear_vel 0.0584, slope -inf
|
||||||
|
; !! merging point
|
||||||
|
; linear_vel 0.0334, slope 0.3735
|
||||||
|
M204 S110000
|
||||||
|
G0 F3509.5833
|
||||||
|
G0 X79.0625 Y31.083984375
|
||||||
|
; linear_vel 0.5068, slope 13.0312
|
||||||
|
M204 S55000
|
||||||
|
G0 F2005.8322
|
||||||
|
G0 X36.396484375 Y15.146484375000004
|
||||||
|
; linear_vel 0.4223, slope -2.4884
|
||||||
|
G0 F32785.7872
|
||||||
|
G0 X41.70898437500001 Y84.375
|
||||||
|
; linear_vel 0.2518, slope -1.2481
|
||||||
|
G0 F26957.4090
|
||||||
|
G0 X63.125 Y31.083984375000004
|
||||||
|
; linear_vel 0.2373, slope -0.1710
|
||||||
|
G0 F15656.4508
|
||||||
|
G0 X41.708984375 Y57.8125
|
||||||
|
; linear_vel 0.1172, slope -0.0000
|
||||||
|
G0 F14715.1658
|
||||||
|
G0 X73.75 Y52.333984375
|
||||||
|
; linear_vel 0.1614, slope 3.8788
|
||||||
|
G0 F7145.0001
|
||||||
|
G0 X57.8125 Y52.333984375
|
||||||
|
; linear_vel 0.4009, slope 1.7950
|
||||||
|
G0 F9899.9328
|
||||||
|
G0 X52.333984375 Y31.083984375000004
|
||||||
|
; linear_vel 0.4309, slope -inf
|
||||||
|
G0 F25490.3308
|
||||||
|
G0 X79.0625 Y79.0625
|
||||||
|
; linear_vel 0.1953, slope -1.3333
|
||||||
|
G0 F27545.0689
|
||||||
|
G0 X79.0625 Y20.458984375
|
||||||
|
; linear_vel 0.2371, slope -6.0313
|
||||||
|
G0 F12041.8473
|
||||||
|
G0 X63.125 Y41.708984375
|
||||||
|
; linear_vel 0.1758, slope -2.0156
|
||||||
|
G0 F14702.2521
|
||||||
|
G0 X57.81250000000001 Y73.75
|
||||||
|
; linear_vel 0.2491, slope 1.2403
|
||||||
|
G0 F10807.3775
|
||||||
|
G0 X68.4375 Y52.333984375
|
||||||
|
; linear_vel 0.3923, slope 0.7510
|
||||||
|
G0 F15472.8573
|
||||||
|
G0 X47.021484375 Y25.771484375000004
|
||||||
|
; linear_vel 0.2509, slope 0.8063
|
||||||
|
G0 F24924.2159
|
||||||
|
G0 X89.6875 Y57.8125
|
||||||
|
; linear_vel 0.2838, slope -3.4615
|
||||||
|
G0 F15595.0898
|
||||||
|
G0 X63.125 Y36.396484375
|
||||||
|
; linear_vel 0.1622, slope 4.0312
|
||||||
|
G0 F17722.9324
|
||||||
|
G0 X52.33398437500001 Y73.75
|
||||||
Loading…
Reference in New Issue