dce7faee24
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>
76 lines
3.2 KiB
Markdown
76 lines
3.2 KiB
Markdown
# Engineering notes (canonical)
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Companion to `README.md` and `/documentation`. Not a stage changelog.
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## Coordinate conventions
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- World units: **1 unit = 1 meter**.
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- Belt travel primarily along **+X**; belt top Y ≈ **0.70 m**.
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- Lateral: **+Z** = physical LEFT (category C), **−Z** = physical RIGHT (category D).
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- Sorter CAD module origin X = `0`; camera module `−2.01`; clean module `−4.02`.
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- Longitudinal plane S for diverter timing is world X along the sorter module.
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## Canonical constants (code)
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| Symbol | Value | File |
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|---|---|---|
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| `DIVERTER_LEFT_SIGNED_DEG` | −45 | `src/domain/pusherMotion.ts` |
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| `DIVERTER_RIGHT_SIGNED_DEG` | +45 | same |
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| `rotationDurationSec()` | 0.50 | same (45° / 90°/s) |
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| `OPENING_SAFETY_MARGIN_SEC` | 0.15 | same |
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| Contact / clear planes | ≈1.0538 / 1.6000 | `buildDiverterPlanes` + mount hinge |
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| Classifier min/max | exclusive 10³ / 450×320×320 | `src/domain/classifier.ts` |
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| Roundness | K > 0.8 | same |
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| `CONVEYOR_CAD_URL` | `/models/sorter/conveyor-clean.glb` | `ConveyorCadModel.tsx` |
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## Active source tree (runtime)
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```
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src/main.tsx
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src/App.tsx
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src/pages/{MainPage,DocumentationPage}.tsx
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src/components/{AppNav,SorterScene,CVInspectionOverlay,BuildIdentityBadge}.tsx
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src/components/ThreeD/* (active twin only)
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src/domain/* (classifier, playback, layout, diverter, physics helpers)
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src/data/{items,modelAssets,resolveItem,productionStatusSummary,demoPlaylist,scenarios}.ts
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src/styles.css
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```
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## Asset provenance
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| Role | Path |
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|---|---|
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| Author CAD | `3d_models/conveer.FCStd` |
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| Runtime conveyor | `public/models/sorter/conveyor-clean.glb` |
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| Products | `public/models/*.stl` from official STL ZIP |
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| Classifier PDF | `official_sources/doc-1783095831.pdf` |
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| Workspace / scoring PDFs | `input_info/doc-1783009942.pdf`, `doc-1783011400.pdf` |
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## Physics status (ENGINEERING-DERIVED PHYSICAL VALIDATION)
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Implemented and covered by `src/domain/junctionContactPhysics.ts` (+ tests):
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1. Fixed timestep **1/120 s**, max **4** substeps, gravity **[0, −9.81, 0]**.
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2. Belt target speed **1.0 m/s** via supported-body velocity coupling (stationary belt collider).
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3. Single dynamic product body through junction; temporary scripted handoff removed.
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4. LEFT/RIGHT diverter colliders: `kinematicPositionBased`, cuboid half-extents **[0.375, 0.05, 0.02]**, same pivot/yaw as CAD.
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5. C/D change direction only by physical contact; B uses the open neutral corridor.
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6. Receiver volumes are sensors for completion; they do not translate the body.
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7. Deterministic matrix **45/45** correct receiver entries (3 profiles × 5 runs × B/C/D).
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Still not production-certified:
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- Per-SKU mass / COM / friction calibration against real hardware
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- Visual full belt loop mesh with true surface velocity
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- Owner visual review of contact behavior
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## Compliance evidence rules
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- Prefer present official files under `input_info/` and `official_sources/doc-1783095831.pdf`.
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- Missing: `input_info/extracted/Постановка_Задача_3_сжато_2.pdf` — never claim it is available.
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- Internal engineering criteria are not automatic Ozon pass/fail.
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## Layout drawing
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`docs/engineering/work-area-layout-source.png` — workspace layout provenance image retained for engineering reference.
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