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5308552b40
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修改贴合后，路径宽度和通行空间高度不正确的问题
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2026-06-24 20:42:51 +08:00 |
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66e68c6bd1
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fix: 贴合地面后正确回写 correction 和 lift，确认/动画不再偏移
贴地后 overrideQ 是绝对旋转，但 _objectRotationCorrection 语义是
相对于 baseline(pathYaw) 的增量，且 PathAnimationManager 增量链从
CAD 姿态出发：finalQ = qup(pathYaw-currentYaw) * correctionHostQ * cadQ。
之前直接转 overrideQ 导致确认/动画时重复旋转。
核心改动：
- ComposeHostCorrection 接受 cadQ，从中提取 currentYaw，
correctionHostQ = qup(currentYaw - pathYaw) * overrideQ
- HostQuaternionToCanonical 用相似变换 R_canon = M^-1 * R_host * M
（非列向量映射，保证 Identity 不变性）
- CanonicalQuaternionToHostEulerCorrection 加 hostType 参数重载，
去除全局 CoordinateSystemManager 依赖
- ComputeGroundLiftForCorrection：与自动调整同方法实测底边算 lift，
finally 用新 correction+lift 完整重建（skipCadRestore=false），
使物体停留在贴地等价姿态
- 新增 5 个增量链闭环单测（含 CAD 歪斜场景）
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2026-06-24 08:24:38 +08:00 |
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cf6b2ef959
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fix: 修复 7 个 pre-existing 单测失败（optimizer 初始候选 + ZUp 测试语义）
ObjectPassageProjectionOptimizer.OptimizeWithEvaluator:
- 初始化 bestScore 评估 correction=Zero 作为初始候选
- 旧逻辑 bestScore=Invalid 导致 Zero 从未被评估，
当 baseline 已对齐路径时随机采样必然替换它，refine 收敛不回 0
- 影响 3 个 Optimize 测试：baseline 已对齐时找不到 correction=0
ZUp 测试语义修正（4 个）：
- LocalEulerRotationCorrection 语义：Y=up轴/yaw, Z=non-up轴
- ZUp 下 up=Z, non-up=Y，绕 Z(up) 转应使用 YDegrees 不是 ZDegrees
- 旧测试在 ZUp 下把 ZDegrees 当字面 Z 轴，与实现语义矛盾
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2026-06-23 23:18:42 +08:00 |
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f86e8c8bf4
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fix: 贴合地面后绕垂直轴搜索最小截面 yaw，对齐路径方向
贴地旋转已固定俯仰/翻滚，只剩绕宿主 Up 的 yaw 自由度。
对 CAD 姿态天然歪斜的物体，假设 local +X 是长轴会失败，
改为搜索 [0,360) 使物体在路径方向的截面投影面积最小，
与自动调整同目标但单自由度搜索更稳定。
- 新增 AlignToGroundMinCrossSectionYawSearcher（粗搜5°+细搜1°）
- 复用 ObjectPassageProjectionOptimizer.ProjectExtent 的 AABB 投影公式
- 新增 7 个单测覆盖平地/倾斜/CAD歪斜/垂直退化/立方体
- 经多物体实测验证：Chair Lounge Couch / Chair Sitting Square 均正确对齐
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2026-06-23 23:09:59 +08:00 |
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7187bcf622
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自动最优朝向: 黑盒实测模式
- 新增 ObjectPassageProjectionOptimizer（SO(3)粗搜索+Nelder-Mead）
- EditRotationWindow 加入"自动调整"按钮
- AnimationControlViewModel 实现黑盒实测评估（临时摆位→读BoundingBox→恢复）
- 设计文档和实现计划
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2026-05-27 12:24:01 +08:00 |
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454f1e6584
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Fix auto path grid restore and validation
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2026-04-26 19:11:03 +08:00 |
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1a9d0972f0
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Fix auto path obstacle geometry collection
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2026-04-14 09:22:01 +08:00 |
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fdb857af17
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Refactor auto path planning coordinate semantics
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2026-04-13 10:31:14 +08:00 |
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315fa46043
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Unify planar collision pose replay
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2026-04-12 15:01:33 +08:00 |
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5a03c3aa6c
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preserve planar collision pose rotations
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2026-04-10 22:02:43 +08:00 |
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da5f8a1ae1
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add ground object lift adjustment
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2026-04-09 23:53:40 +08:00 |
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4fbab52880
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clean legacy planar pose branches
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2026-04-09 23:08:59 +08:00 |
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3892ddabab
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Stabilize ground incremental rotation and extent tests
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2026-04-09 21:09:43 +08:00 |
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405f721811
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Ground real-object incremental path updates
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2026-04-08 23:06:42 +08:00 |
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8a7563a4fe
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Clarify ground tracked-point semantics
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2026-04-06 08:55:53 +08:00 |
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4ec4cf77ee
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Refine path viewpoint behavior and config editing
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2026-04-02 22:14:26 +08:00 |
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24951d4205
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Stabilize hoisting start-pose logging and caching
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2026-04-02 01:32:31 +08:00 |
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9e8fea3241
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Unify real-object override rotation application
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2026-04-02 00:19:36 +08:00 |
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7ff510daf0
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Use actual hoisting pose without fragment fallback
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2026-04-02 00:15:58 +08:00 |
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953306fdb1
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Stabilize hoisting pose flow and bounds inspection
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2026-04-01 23:53:11 +08:00 |
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e71ea81cdf
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Fix rail assembly normals and tighten rail camera
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2026-04-01 20:12:57 +08:00 |
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2e0b26e032
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Refine rail assembly workflow and viewpoint strategies
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2026-04-01 10:47:34 +08:00 |
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d4c49fc227
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Stabilize hoisting pose adjustment flow
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2026-03-31 00:14:18 +08:00 |
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cb56737041
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Preserve terminal pose when translating rail objects to path start
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2026-03-30 23:35:01 +08:00 |
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9093374399
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Use actual hoisting pose baseline for real objects
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2026-03-29 23:36:43 +08:00 |
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382923fa32
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Relax fragment pose parsing and add fallback
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2026-03-29 01:17:06 +08:00 |
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f4735b164e
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Refine rail real-object pose handling
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2026-03-28 22:22:18 +08:00 |
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7851e6affa
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Map real-object angle adjustments from host axes
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2026-03-28 22:21:11 +08:00 |
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2b6f54898a
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Fix rail assembly anchor alignment
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2026-03-26 13:37:33 +08:00 |
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3a5693a453
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Add rail mount placement controls and persistence
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2026-03-26 01:01:01 +08:00 |
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921dc07856
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Fix ground real-object forward axis and compensation
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2026-03-25 17:19:21 +08:00 |
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aabf263f0d
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Fix host rotation adapter split for real and virtual objects
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2026-03-25 11:18:03 +08:00 |
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029c7e37ad
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Checkpoint current pose and path state
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2026-03-25 01:41:15 +08:00 |
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138eb43a67
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Unify real-object rail pose interpretation
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2026-03-25 00:11:07 +08:00 |
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6c74ea1319
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Fix host-axis rotation correction for real objects
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2026-03-24 21:59:53 +08:00 |
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290df34dec
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Interpret fragment up for real object pose
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2026-03-24 21:04:24 +08:00 |
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8d10f959b2
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Add fragment up detection and real object pose probes
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2026-03-24 19:06:50 +08:00 |
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eaf24420b7
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修正真实物体的旋转和通行空间不适配的问题
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2026-03-23 22:46:38 +08:00 |
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d52b1aef08
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Checkpoint animation rotation refactor state
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2026-03-23 21:00:02 +08:00 |
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1cf4fe5967
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Align terminal rail normals and object space rendering
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2026-03-23 12:25:00 +08:00 |
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e9128282b5
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Fix rail rotation correction semantics
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2026-03-23 00:11:49 +08:00 |
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93ad55c725
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Refine assembly installation workflow UI
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2026-03-22 23:58:11 +08:00 |
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70aaff10bf
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Add assembly end-face guided optical axis
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2026-03-22 19:45:09 +08:00 |
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1802eda971
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Separate asset axis conventions from host coordinates
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2026-03-22 13:30:35 +08:00 |
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8f55b5e9a1
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Fix YUp hoisting path rendering and finish sync
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2026-03-22 12:21:25 +08:00 |
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042b9a2804
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Refine canonical pose flow and handoff notes
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2026-03-22 00:00:16 +08:00 |
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7ccce8cf5a
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Stabilize rail collision pose recovery and canonical tracking
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2026-03-21 21:58:11 +08:00 |
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3fd184934b
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Establish canonical coordinate framework with tests
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2026-03-21 06:10:34 +08:00 |
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