motion vectors in simulation code

js/cam/assemblers/Assembler.js

@@ -339,11 +339,12 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
             if (totalThreads > 0) return;
             callback();
         }
-        var startingPos = {x:this.components.xAxis.getPosition().x, y:this.components.yAxis.getPosition().y, z:this.components.zAxis.getPosition().z};
-        speed = this._normalizeSpeed(startingPos, position, new THREE.Vector3(speed, speed, speed));
-        this.components.xAxis.moveTo(this._makeAxisVector(position, "x"), speed.x, sketchyCallback);
-        this.components.yAxis.moveTo(this._makeAxisVector(position, "y"), speed.y, sketchyCallback);
-        this.components.zAxis.moveTo(this._makeAxisVector(position, "z"), speed.z, sketchyCallback);
+
+        var startingPos = this.components.zAxis.getAbsolutePosition();//get position of end effector
+        speed = this._normalizeSpeed(startingPos, position, new THREE.Vector3(speed, speed, speed));//todo fix this
+        this.components.xAxis.moveTo(position, speed.x, sketchyCallback);
+        this.components.frame.moveTo(position, speed.y, sketchyCallback);
+        this.components.zAxis.moveTo(position, speed.z, sketchyCallback);
     };
     
     Assembler.prototype._normalizeSpeed = function(startingPos, position, speed){//todo make this more general

js/cam/assemblers/Component.js

@@ -84,6 +84,30 @@ define(['underscore', 'cam', 'three'], function(_, cam, THREE){
         return this.object3D.position.clone();
     };
 
+    Component.prototype.getAbsolutePosition = function(){
+        if (!this.parent) return this.getPosition();
+        return this.parentObject.getAbsolutePosition().add(this.parentObject.applyRotation(this.getPosition()));
+    };
+
+    Component.prototype.getOrientation = function(){
+        return this.object3D.quaternion.clone();
+    };
+
+    Component.prototype.getAbsoluteOrientation = function(){
+        if (!this.parent) return this.getOrientation();
+        return this.getOrientation().multiply(this.parentObject.getAbsoluteOrientation());//order matters!
+    };
+
+    Component.prototype.applyRotation = function(vector){//todo local rotation?
+        vector.applyQuaternion(this.getAbsoluteOrientation());
+        return vector;
+    };
+
+    Component.prototype.applyAbsoluteRotation = function(vector){
+        vector.applyQuaternion(this.getAbsoluteOrientation());
+        return vector;
+    };
+
     Component.prototype.setTranslucent = function(translucent){
         if (this.stl === undefined) return;
         this.stl.material.transparent = translucent;
@@ -145,10 +169,12 @@ define(['underscore', 'cam', 'three'], function(_, cam, THREE){
     };
 
     Component.prototype.moveTo = function(target, speed, callback){
+        var target = this._multiplyVectors(target, this.motionVector);
         if (target === null){
             if (callback) callback();
             return;
         }
+
         var currentPosition = this.getPosition();
         var increment = speed/1500.0*cam.get("simSpeed");
         var incrVector = target.clone().sub(currentPosition);
@@ -163,6 +189,14 @@ define(['underscore', 'cam', 'three'], function(_, cam, THREE){
         this._incrementalMove(incrVector, target, callback);
     };
 
+    Component.prototype._multiplyVectors = function(target, motion){
+        if (target.x === null && motion.x > 0) return null;
+        if (target.y === null && motion.y > 0) return null;
+        if (target.z === null && motion.z > 0) return null;
+        var target = new THREE.Vector3(target.x, target.y, target.z);
+        return target.multiply(motion);
+    };
+
     Component.prototype._incrementalMove = function(increment, target, callback){
         var self = this;
         setTimeout(function(){

js/plists/CamPList.js

@@ -41,7 +41,6 @@ define(['three'], function(THREE){
                     xAxis: {
                         name: "X Axis",
                         rotary: false,
-                        axisOfMotion: null,
                         //minBound
                         //maxBound
                         parent: "yAxis",
@@ -56,7 +55,6 @@ define(['three'], function(THREE){
                     frame: {
                         name: "Y Axis",
                         rotary: false,
-                        axisOfMotion: null,
                         //minBound
                         //maxBound
                         parent: "substrate",
@@ -68,7 +66,6 @@ define(['three'], function(THREE){
                     zAxis: {
                         name: "Z Axis",
                         rotary: false,
-                        axisOfMotion: null,
                         //minBound
                         //maxBound
                         parent: "xAxis",
@@ -80,7 +77,6 @@ define(['three'], function(THREE){
                     yAxis: {
                         name: "Frame",
                         rotary: false,
-                        axisOfMotion: null,
                         //minBound
                         //maxBound
                         parent: "frame",
@@ -92,8 +88,7 @@ define(['three'], function(THREE){
                     substrate: {
                         name: "Substrate",
                         rotary: true,
-                        axisOfMotion: null,
-                        centerOfRotation: {x:10,y:10,z:0},//(5.08mm, 5.715mm)
+                        centerOfRotation: {x:4,y:4.5,z:0},//(5.08mm, 5.715mm)
                         //minBound
                         //maxBound
                         parent: null,