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feat: add physical junction contact routing

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Replace scripted junction handoff with kinematic CAD diverter colliders and contact-only B/C/D routing, validated by a 45-run engineering-derived matrix.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Даня Архипов
2026-08-02 06:46:10 +00:00
parent 1586e9d2ab
commit dce7faee24
10 changed files with 858 additions and 216 deletions
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90
src/components/ThreeD/SorterDigitalTwinContinuous.tsx
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@@ -31,8 +31,19 @@ import {
preloadConveyorCad,
} from './ConveyorCadModel';
import { SorterPhysicsWorld } from './SorterPhysics';
import { RigidBody, CuboidCollider, type RapierRigidBody } from '@react-three/rapier';
import {
RigidBody,
CuboidCollider,
useBeforePhysicsStep,
type RapierRigidBody,
} from '@react-three/rapier';
import { GATE_VANE } from '../../domain/pusherMotion';
import {
DIVERTER_COLLIDER_HALF_EXTENTS,
DIVERTER_GUIDE_FRICTION,
DIVERTER_RESTITUTION,
diverterColliderPose,
} from '../../domain/junctionContactPhysics';
import { deriveSorterVisualState } from '../../domain/sorterVisualState';
import { DEMO_PLAYLIST, PLAYLIST_LENGTH } from '../../domain/demoPlaylist';
import { cumulativePlaylistDurationMs, getPlaylistCaseDurationMs } from '../../domain/continuousPlayback';
@@ -857,8 +868,8 @@ function ShapeOutline({ position, scale, visible, isRound, category }: {
}
/**
* Kinematic colliders locked to CAD swing diverters (Барьер001/002).
* Downstream hinge fixed; free end along −X at 0°, arcs with the same yaw.
* Kinematic CAD diverter colliders — same pivot/yaw as visual CAD.
* Updated in useBeforePhysicsStep so Rapier sees correct next-pose velocity.
*/
function CadGateColliders({
category,
@@ -869,12 +880,13 @@ function CadGateColliders({
}) {
const leftRef = useRef<RapierRigidBody>(null);
const rightRef = useRef<RapierRigidBody>(null);
const [hx, hy, hz] = GATE_VANE.halfExtents;
const [hx, hy, hz] = DIVERTER_COLLIDER_HALF_EXTENTS;
const debug = typeof window !== 'undefined'
&& new URLSearchParams(window.location.search).get('colliderDebug') === '1';
void category;
void caseElapsedMs;
useFrame(() => {
// Sync existing CAD gate colliders to visual diverter angles (no new physics).
useBeforePhysicsStep(() => {
const motions = typeof window !== 'undefined'
? (window as unknown as {
__DIVERTER_MOTIONS?: { leftRad: number; rightRad: number };
@@ -888,13 +900,13 @@ function CadGateColliders({
yaw: number,
) => {
if (!body) return;
const x = pivot.x - Math.cos(yaw) * hx;
const z = pivot.z + Math.sin(yaw) * hx;
body.setNextKinematicTranslation({ x, y: GATE_VANE.centerY, z });
const half = yaw / 2;
body.setNextKinematicRotation({
x: 0, y: Math.sin(half), z: 0, w: Math.cos(half),
});
const pose = diverterColliderPose(
{ x: pivot.x, y: GATE_VANE.centerY, z: pivot.z },
yaw,
hx,
);
body.setNextKinematicTranslation(pose.center);
body.setNextKinematicRotation(pose.rotation);
};
apply(leftRef.current, CAD_SORTER_WORLD_PIVOTS.left, leftYaw);
apply(rightRef.current, CAD_SORTER_WORLD_PIVOTS.right, rightYaw);
@@ -902,15 +914,55 @@ function CadGateColliders({
const lp = CAD_SORTER_WORLD_PIVOTS.left;
const rp = CAD_SORTER_WORLD_PIVOTS.right;
const left0 = diverterColliderPose(
{ x: lp.x, y: GATE_VANE.centerY, z: lp.z },
0,
hx,
);
const right0 = diverterColliderPose(
{ x: rp.x, y: GATE_VANE.centerY, z: rp.z },
0,
hx,
);
return (
<group name="cad-gate-colliders">
<RigidBody ref={leftRef} type="kinematicPosition" colliders={false} friction={0.55}
position={[lp.x - hx, GATE_VANE.centerY, lp.z]}>
<CuboidCollider args={[hx, hy, hz]} friction={0.55} restitution={0} />
<RigidBody
ref={leftRef}
name="LEFT_DIVERTER_BODY"
type="kinematicPosition"
colliders={false}
position={[left0.center.x, left0.center.y, left0.center.z]}
>
<CuboidCollider
args={[hx, hy, hz]}
friction={DIVERTER_GUIDE_FRICTION}
restitution={DIVERTER_RESTITUTION}
/>
{debug && (
<mesh>
<boxGeometry args={[hx * 2, hy * 2, hz * 2]} />
<meshBasicMaterial color="#22c55e" wireframe transparent opacity={0.85} />
</mesh>
)}
</RigidBody>
<RigidBody ref={rightRef} type="kinematicPosition" colliders={false} friction={0.55}
position={[rp.x - hx, GATE_VANE.centerY, rp.z]}>
<CuboidCollider args={[hx, hy, hz]} friction={0.55} restitution={0} />
<RigidBody
ref={rightRef}
name="RIGHT_DIVERTER_BODY"
type="kinematicPosition"
colliders={false}
position={[right0.center.x, right0.center.y, right0.center.z]}
>
<CuboidCollider
args={[hx, hy, hz]}
friction={DIVERTER_GUIDE_FRICTION}
restitution={DIVERTER_RESTITUTION}
/>
{debug && (
<mesh>
<boxGeometry args={[hx * 2, hy * 2, hz * 2]} />
<meshBasicMaterial color="#38bdf8" wireframe transparent opacity={0.85} />
</mesh>
)}
</RigidBody>
</group>
);