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feat: finish Stage 2B continuous sorter realism and local deploy

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Unify CAD conveyor on / and /details, add RealSense D435i + contact paddle
physics, keep items moving through scan, lock 7×10 drop validation, and
ship Stage 2 artifacts with production on :3100 (permanent HTTPS still blocked).

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Даня Архипов
2026-07-30 12:00:09 +00:00
parent 40e9b18e8d
commit acc59ec912
81 changed files with 2530 additions and 878 deletions
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31
src/domain/physicsWorldLayout.ts
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@@ -29,16 +29,19 @@ export interface StaticColliderDef {
}
/**
* C/D chute pitch: line from (z=±0.35, y=0.66) to (z=±1.6, y=0.14).
* tan = 0.52/1.25 ≈ 0.416 > μ_combined for every SKU profile -> items slide.
* C/D chute: top surface line from (z=±0.24, y≈0.665 — flush UNDER the belt
* edge so even a 12mm pen cannot fall into a lip gap) to (z=±1.6, y≈0.135,
* cage open front). tan ≈ 0.39 > μ_combined for every SKU -> items slide.
*/
export const CHUTE_PITCH = Math.atan2(0.52, 1.25); // ≈ 0.394 rad
export const CHUTE_LENGTH = Math.hypot(1.25, 0.52); // ≈ 1.354 m
export const CHUTE_PITCH = Math.atan2(0.53, 1.36); // ≈ 0.372 rad
export const CHUTE_LENGTH = Math.hypot(1.36, 0.53); // ≈ 1.460 m
export const CHUTE_MID_Y = 0.40;
export const CHUTE_MID_Z = 0.975;
/** Chute plate center X (gate exit) and plate half width. */
export const CHUTE_X = ZONES.GATE.x + 0.3;
export const CHUTE_HALF_W = 0.25;
export const CHUTE_MID_Z = 0.92;
/** Junction transfer plate: SPEC_DERIVED 1000mm wide (x 1.2..2.2) — covers
* the full junction diagonal plus the 435mm cylinder / 900mm carton with
* margin; converging side rails. */
export const CHUTE_X = 1.7;
export const CHUTE_HALF_W = 0.5;
/** B drop chute: line from (2.15, 0.70) to (2.85, 0.13), pitch ≈ 0.684 rad. */
export const B_CHUTE_PITCH = Math.atan2(BELT_TOP_Y - (CAGE_FLOOR_Y + 0.05), 0.7);
@@ -50,22 +53,22 @@ function chuteColliders(targetZ: number, label: 'C' | 'D'): StaticColliderDef[]
{
id: `chute-${label}-floor`,
halfExtents: [CHUTE_HALF_W, 0.01, CHUTE_LENGTH / 2],
// top surface: y≈0.655 at belt edge (z 0.35) -> 0.135 at cage edge (z 1.6)
position: [CHUTE_X, CHUTE_MID_Y - 0.015, midZ],
// top surface: y≈0.665 flush at belt edge (z 0.24) -> 0.135 at cage edge
position: [CHUTE_X, CHUTE_MID_Y - 0.01, midZ],
rotation: rot,
friction: 0.2, // smooth coated steel — gravity chute (VISUAL_PHYSICS_ESTIMATE)
},
{
id: `chute-${label}-rail-left`,
halfExtents: [0.01, 0.035, CHUTE_LENGTH / 2],
position: [CHUTE_X - CHUTE_HALF_W - 0.01, CHUTE_MID_Y + 0.03, midZ],
position: [CHUTE_X - CHUTE_HALF_W - 0.01, CHUTE_MID_Y + 0.035, midZ],
rotation: rot,
friction: 0.3,
},
{
id: `chute-${label}-rail-right`,
halfExtents: [0.01, 0.035, CHUTE_LENGTH / 2],
position: [CHUTE_X + CHUTE_HALF_W + 0.01, CHUTE_MID_Y + 0.03, midZ],
position: [CHUTE_X + CHUTE_HALF_W + 0.01, CHUTE_MID_Y + 0.035, midZ],
rotation: rot,
friction: 0.3,
},
@@ -119,8 +122,8 @@ export function getStaticColliders(): StaticColliderDef[] {
// Belt safety slab — items never pass through the belt surface.
// Ends at the B spur end (2.15): beyond it the B drop chute takes over.
{ id: 'belt-slab', halfExtents: [(2.15 + 4.2) / 2, 0.012, CONVEYOR_WIDTH_M / 2], position: [(2.15 - 4.2) / 2, BELT_TOP_Y - 0.014, 0], rotation: [0, 0, 0], friction: 0.7 },
// B transfer spur
{ id: 'b-spur', halfExtents: [0.325, 0.02, (CONVEYOR_WIDTH_M - 0.06) / 2], position: [1.825, BELT_TOP_Y - 0.02, 0], rotation: [0, 0, 0], friction: 0.4 },
// B transfer spur — top FLUSH with the belt slab (no 2mm trip step)
{ id: 'b-spur', halfExtents: [0.325, 0.02, (CONVEYOR_WIDTH_M - 0.06) / 2], position: [1.825, BELT_TOP_Y - 0.022, 0], rotation: [0, 0, 0], friction: 0.4 },
...chuteColliders(ZONES.C.z, 'C'),
...chuteColliders(ZONES.D.z, 'D'),
...receiverColliders(),