@gridspace/raster-path 1.0.6 → 1.0.8

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@gridspace/raster-path",
-  "version": "1.0.6",
+  "version": "1.0.8",
   "private": false,
   "description": "Terrain and Tool Raster Path Finder using WebGPU",
   "type": "module",
@@ -32,7 +32,7 @@
     "build:web": "mkdir -p build && cp src/web/*.html src/web/*.css src/web/*.js build/ && cp src/core/raster-path.js build/raster-path.js && cp src/etc/serve.json build/",
     "clean": "rm -rf build/",
     "dev": "npm run build && npm run serve",
-    "serve": "npx serve build --config serve.json --listen 9090",
+    "serve": "npm run build && npx serve build --config serve.json --listen 9090",
     "publish:public": "npm publish --access public",
     "test": "npm run test:planar && npm run test:radial",
     "test:planar": "npm run build && npx electron src/test/planar-test.cjs",
@@ -44,7 +44,9 @@
     "test:workload-calibration": "npm run build && npx electron src/test/workload-calibration.cjs",
     "test:lathe-cylinder-2-debug": "npm run build && npx electron src/test/lathe-cylinder-2-debug.cjs",
     "test:extreme-work": "npm run build && npx electron src/test/extreme-work-test.cjs",
-    "test:radial-thread-limit": "npm run build && npx electron src/test/radial-thread-limit-test.cjs"
+    "test:radial-thread-limit": "npm run build && npx electron src/test/radial-thread-limit-test.cjs",
+    "test:radial-v3": "npm run build && npx electron src/test/radial-v3-benchmark.cjs",
+    "test:tracing": "npm run build && npx electron src/test/tracing-test.cjs"
   },
   "keywords": [
     "cnc",
@@ -60,6 +62,7 @@
   "license": "MIT",
   "devDependencies": {
     "electron": "^28.0.0",
+    "esbuild": "^0.27.0",
     "serve": "^14.2.1"
   }
 }

package/src/core/path-radial-v3.js

@@ -0,0 +1,405 @@
+/**
+ * ═══════════════════════════════════════════════════════════════════════════
+ * Path Radial V3 - Bucket-Angle Pipeline with Y-Filtering
+ * ═══════════════════════════════════════════════════════════════════════════
+ *
+ * ALGORITHM CHANGES FROM V2:
+ * ──────────────────────────
+ * V2 (current): Process all angles simultaneously
+ *   - Rotate rays on the fly
+ *   - Test all triangles in bucket (no Y-filtering)
+ *   - Large memory footprint: numAngles × gridWidth × gridHeight
+ *
+ * V3 (this file): Process bucket-by-angle pipeline
+ *   For each bucket:
+ *     For each angle:
+ *       1. Rotate triangles (parallel) → rotated tris + Y-bounds
+ *       2. Rasterize with Y-filter (parallel) → dense terrain strip
+ *       3. Toolpath generation (parallel) → sparse toolpath
+ *
+ * BENEFITS:
+ * ─────────
+ * - Lower memory: Only one angle's data in GPU at a time
+ * - Y-axis filtering: Skip triangles outside tool radius
+ * - Immediate toolpath generation: No need to store all strips
+ * - Better cache locality: Process bucket completely before moving on
+ *
+ * TODO: Memory Safety
+ * ───────────────────
+ * V3 currently does NOT have memory safety checks like V2 does. V2 batches angles
+ * if total memory (numAngles × gridWidth × gridHeight × 4) exceeds 1800MB.
+ *
+ * V3 processes one angle at a time (inherently lower memory), but doesn't check if:
+ *   - Triangle input buffer (triangles.byteLength) exceeds GPU limits
+ *   - Rotated triangles buffer (numTriangles × 11 × 4) exceeds GPU limits
+ *   - Output raster buffer (fullGridWidth × gridHeight × 4) exceeds GPU limits
+ *
+ * This could cause crashes on extremely large models with millions of triangles.
+ * Consider adding checks and batching for triangle buffers if needed.
+ *
+ * ═══════════════════════════════════════════════════════════════════════════
+ */
+
+import {
+    device, config, debug, diagnostic,
+    cachedRadialV3RotatePipeline,
+    cachedRadialV3BatchedRasterizePipeline
+} from './raster-config.js';
+import {
+    createReusableToolpathBuffers,
+    destroyReusableToolpathBuffers,
+    runToolpathComputeWithBuffers
+} from './path-planar.js';
+import { createSparseToolFromPoints } from './raster-tool.js';
+
+/**
+ * Rotate all triangles in a bucket by a single angle
+ */
+async function rotateTriangles({
+    triangleBuffer,      // GPU buffer with original triangles
+    numTriangles,
+    angle                // Radians
+}) {
+    const rotatePipeline = cachedRadialV3RotatePipeline;
+    if (!rotatePipeline) {
+        throw new Error('Radial V3 pipelines not initialized');
+    }
+
+    // Create output buffer for rotated triangles + bounds
+    // Layout: 11 floats per triangle (v0, v1, v2, y_min, y_max)
+    const outputSize = numTriangles * 11 * 4;
+    const rotatedBuffer = device.createBuffer({
+        size: outputSize,
+        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_SRC
+    });
+
+    // Create uniforms
+    const uniformBuffer = device.createBuffer({
+        size: 8,  // f32 angle + u32 num_triangles
+        usage: GPUBufferUsage.UNIFORM | GPUBufferUsage.COPY_DST,
+        mappedAtCreation: true
+    });
+
+    const uniformView = new ArrayBuffer(8);
+    const floatView = new Float32Array(uniformView);
+    const uintView = new Uint32Array(uniformView);
+    floatView[0] = angle;
+    uintView[1] = numTriangles;
+
+    new Uint8Array(uniformBuffer.getMappedRange()).set(new Uint8Array(uniformView));
+    uniformBuffer.unmap();
+
+    // Create bind group
+    const bindGroup = device.createBindGroup({
+        layout: rotatePipeline.getBindGroupLayout(0),
+        entries: [
+            { binding: 0, resource: { buffer: triangleBuffer } },
+            { binding: 1, resource: { buffer: rotatedBuffer } },
+            { binding: 2, resource: { buffer: uniformBuffer } }
+        ]
+    });
+
+    // Dispatch
+    const commandEncoder = device.createCommandEncoder();
+    const passEncoder = commandEncoder.beginComputePass();
+    passEncoder.setPipeline(rotatePipeline);
+    passEncoder.setBindGroup(0, bindGroup);
+    passEncoder.dispatchWorkgroups(Math.ceil(numTriangles / 64));
+    passEncoder.end();
+
+    device.queue.submit([commandEncoder.finish()]);
+
+    // Cleanup
+    uniformBuffer.destroy();
+
+    return rotatedBuffer;
+}
+
+/**
+ * Rasterize ALL buckets in one dispatch (batched GPU processing)
+ */
+async function rasterizeAllBuckets({
+    rotatedTrianglesBuffer,
+    buckets,
+    triangleIndices,
+    resolution,
+    toolRadius,
+    fullGridWidth,
+    gridHeight,
+    globalMinX,
+    bucketMinY,
+    zFloor
+}) {
+    const rasterizePipeline = cachedRadialV3BatchedRasterizePipeline;
+    if (!rasterizePipeline) {
+        throw new Error('Radial V3 batched pipeline not initialized');
+    }
+
+    // Create bucket info buffer (all buckets)
+    const bucketInfoSize = buckets.length * 16;  // 4 fields × 4 bytes per bucket
+    const bucketInfoBuffer = device.createBuffer({
+        size: bucketInfoSize,
+        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+        mappedAtCreation: true
+    });
+
+    const bucketView = new ArrayBuffer(bucketInfoSize);
+    const bucketFloatView = new Float32Array(bucketView);
+    const bucketUintView = new Uint32Array(bucketView);
+
+    for (let i = 0; i < buckets.length; i++) {
+        const bucket = buckets[i];
+        const offset = i * 4;
+        bucketFloatView[offset] = bucket.minX;
+        bucketFloatView[offset + 1] = bucket.maxX;
+        bucketUintView[offset + 2] = bucket.startIndex;
+        bucketUintView[offset + 3] = bucket.count;
+    }
+
+    new Uint8Array(bucketInfoBuffer.getMappedRange()).set(new Uint8Array(bucketView));
+    bucketInfoBuffer.unmap();
+
+    // Create triangle indices buffer
+    const indicesBuffer = device.createBuffer({
+        size: triangleIndices.byteLength,
+        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+        mappedAtCreation: true
+    });
+    new Uint32Array(indicesBuffer.getMappedRange()).set(triangleIndices);
+    indicesBuffer.unmap();
+
+    // Create output buffer for full terrain strip
+    const outputSize = fullGridWidth * gridHeight * 4;
+    const outputBuffer = device.createBuffer({
+        size: outputSize,
+        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_SRC | GPUBufferUsage.COPY_DST
+    });
+
+    // Initialize with zFloor
+    const initData = new Float32Array(fullGridWidth * gridHeight);
+    initData.fill(zFloor);
+    device.queue.writeBuffer(outputBuffer, 0, initData);
+
+    // Create uniforms
+    const uniformBuffer = device.createBuffer({
+        size: 32,  // 8 fields × 4 bytes
+        usage: GPUBufferUsage.UNIFORM | GPUBufferUsage.COPY_DST,
+        mappedAtCreation: true
+    });
+
+    const uniformView = new ArrayBuffer(32);
+    const floatView = new Float32Array(uniformView);
+    const uintView = new Uint32Array(uniformView);
+
+    floatView[0] = resolution;
+    floatView[1] = toolRadius;
+    uintView[2] = fullGridWidth;
+    uintView[3] = gridHeight;
+    floatView[4] = globalMinX;
+    floatView[5] = bucketMinY;
+    floatView[6] = zFloor;
+    uintView[7] = buckets.length;
+
+    new Uint8Array(uniformBuffer.getMappedRange()).set(new Uint8Array(uniformView));
+    uniformBuffer.unmap();
+
+    // Create bind group
+    const bindGroup = device.createBindGroup({
+        layout: rasterizePipeline.getBindGroupLayout(0),
+        entries: [
+            { binding: 0, resource: { buffer: rotatedTrianglesBuffer } },
+            { binding: 1, resource: { buffer: outputBuffer } },
+            { binding: 2, resource: { buffer: uniformBuffer } },
+            { binding: 3, resource: { buffer: bucketInfoBuffer } },
+            { binding: 4, resource: { buffer: indicesBuffer } }
+        ]
+    });
+
+    // Dispatch - covers full grid width (all buckets)
+    const commandEncoder = device.createCommandEncoder();
+    const passEncoder = commandEncoder.beginComputePass();
+    passEncoder.setPipeline(rasterizePipeline);
+    passEncoder.setBindGroup(0, bindGroup);
+
+    const dispatchX = Math.ceil(fullGridWidth / 8);
+    const dispatchY = Math.ceil(gridHeight / 8);
+    passEncoder.dispatchWorkgroups(dispatchX, dispatchY);
+    passEncoder.end();
+
+    // Read back results
+    const stagingBuffer = device.createBuffer({
+        size: outputSize,
+        usage: GPUBufferUsage.MAP_READ | GPUBufferUsage.COPY_DST
+    });
+
+    commandEncoder.copyBufferToBuffer(outputBuffer, 0, stagingBuffer, 0, outputSize);
+    device.queue.submit([commandEncoder.finish()]);
+
+    await device.queue.onSubmittedWorkDone();
+    await stagingBuffer.mapAsync(GPUMapMode.READ);
+    const terrainData = new Float32Array(stagingBuffer.getMappedRange().slice());
+    stagingBuffer.unmap();
+
+    // Cleanup
+    outputBuffer.destroy();
+    stagingBuffer.destroy();
+    uniformBuffer.destroy();
+    bucketInfoBuffer.destroy();
+    indicesBuffer.destroy();
+
+    return terrainData;
+}
+/**
+ * Generate radial toolpaths using bucket-angle pipeline
+ */
+export async function generateRadialToolpathsV3({
+    triangles,
+    bucketData,
+    toolData,
+    resolution,
+    angleStep,
+    numAngles,
+    maxRadius,
+    toolWidth,
+    zFloor,
+    bounds,
+    xStep,
+    yStep
+}) {
+    debug.log('radial-v3-generate-toolpaths', { triangles: triangles.length / 9, numAngles, resolution });
+
+    const pipelineStartTime = performance.now();
+    const allStripToolpaths = [];
+    let totalToolpathPoints = 0;
+
+    // Prepare sparse tool once
+    const sparseToolData = createSparseToolFromPoints(toolData.positions);
+    debug.log(`Created sparse tool: ${sparseToolData.count} points (reusing for all strips)`);
+
+    const toolRadius = toolWidth / 2;
+
+    // Calculate full grid dimensions (all buckets)
+    const bucketMinX = bucketData.buckets[0].minX;
+    const bucketMaxX = bucketData.buckets[bucketData.numBuckets - 1].maxX;
+    const fullWidth = bucketMaxX - bucketMinX;
+    const fullGridWidth = Math.ceil(fullWidth / resolution);
+    const gridHeight = Math.ceil(toolWidth / resolution);
+
+    // OPTIMIZATION: Upload all triangles to GPU ONCE (reused across all angles)
+    debug.log(`Uploading ${triangles.length / 9} triangles to GPU (reused across all angles)...`);
+    const allTrianglesBuffer = device.createBuffer({
+        size: triangles.byteLength,
+        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+        mappedAtCreation: true
+    });
+    new Float32Array(allTrianglesBuffer.getMappedRange()).set(triangles);
+    allTrianglesBuffer.unmap();
+
+    // Process angle-by-angle (outer loop)
+    for (let angleIdx = 0; angleIdx < numAngles; angleIdx++) {
+        const angle = -(angleIdx * angleStep * (Math.PI / 180));  // Convert to radians (negative: rotating terrain vs tool)
+        const angleDegrees = angleIdx * angleStep;
+
+        if (diagnostic) {
+            debug.log(`Angle ${angleIdx + 1}/${numAngles}: ${angleDegrees.toFixed(1)}°`);
+        }
+
+        // Report progress
+        if (angleIdx % 10 === 0 || angleIdx === numAngles - 1) {
+            const stripProgress = ((angleIdx + 1) / numAngles) * 98;
+            self.postMessage({
+                type: 'toolpath-progress',
+                data: {
+                    percent: Math.round(stripProgress),
+                    current: angleIdx + 1,
+                    total: numAngles,
+                    layer: angleIdx + 1
+                }
+            });
+        }
+
+        // OPTIMIZATION: Rotate ALL triangles once per angle (batch rotation)
+        const numTotalTriangles = triangles.length / 9;
+        const allRotatedTrianglesBuffer = await rotateTriangles({
+            triangleBuffer: allTrianglesBuffer,
+            numTriangles: numTotalTriangles,
+            angle
+        });
+
+        // OPTIMIZATION: Rasterize ALL buckets in ONE dispatch (no CPU loop!)
+        const fullTerrainStrip = await rasterizeAllBuckets({
+            rotatedTrianglesBuffer: allRotatedTrianglesBuffer,
+            buckets: bucketData.buckets,
+            triangleIndices: bucketData.triangleIndices,
+            resolution,
+            toolRadius,
+            fullGridWidth,
+            gridHeight,
+            globalMinX: bucketMinX,
+            bucketMinY: -toolWidth / 2,
+            zFloor
+        });
+
+        // Cleanup rotated buffer (created per angle)
+        allRotatedTrianglesBuffer.destroy();
+
+        // Step 3: Generate toolpath for this complete angle strip
+        const reusableToolpathBuffers = createReusableToolpathBuffers(
+            fullGridWidth,
+            gridHeight,
+            sparseToolData,
+            xStep,
+            gridHeight
+        );
+
+        const stripToolpathResult = await runToolpathComputeWithBuffers(
+            fullTerrainStrip,
+            fullGridWidth,
+            gridHeight,
+            xStep,
+            gridHeight,
+            zFloor,
+            reusableToolpathBuffers,
+            pipelineStartTime
+        );
+
+        destroyReusableToolpathBuffers(reusableToolpathBuffers);
+
+        allStripToolpaths.push({
+            angle: angleDegrees,
+            pathData: stripToolpathResult.pathData,
+            numScanlines: stripToolpathResult.numScanlines,
+            pointsPerLine: stripToolpathResult.pointsPerLine,
+            terrainBounds: {
+                min: { x: bucketMinX, y: -toolWidth / 2, z: zFloor },
+                max: { x: bucketMaxX, y: toolWidth / 2, z: bounds.max.z }
+            }
+        });
+
+        totalToolpathPoints += stripToolpathResult.pathData.length;
+    }
+
+    // Cleanup triangles buffer (reused across all angles)
+    allTrianglesBuffer.destroy();
+    debug.log(`Destroyed reusable triangle buffer`);
+
+    const pipelineTotalTime = performance.now() - pipelineStartTime;
+    debug.log(`Complete radial V3 toolpath: ${allStripToolpaths.length} strips, ${totalToolpathPoints} total points in ${pipelineTotalTime.toFixed(0)}ms`);
+
+    // Send final 100% progress
+    self.postMessage({
+        type: 'toolpath-progress',
+        data: {
+            percent: 100,
+            current: bucketData.numBuckets * numAngles,
+            total: bucketData.numBuckets * numAngles,
+            layer: numAngles
+        }
+    });
+
+    return {
+        strips: allStripToolpaths,
+        totalPoints: totalToolpathPoints,
+        numStrips: allStripToolpaths.length
+    };
+}

package/src/core/path-radial.js

@@ -610,7 +610,6 @@ export async function generateRadialToolpaths({
 
         Object.assign(batchInfo, {
             'prep': batchInfo.prep || 0,
-            'gpu': batchInfo.gpu || 0,
             'stitch': batchInfo.stitch || 0,
             'raster': batchInfo.raster || 0,
             'paths': (toolpathTime | 0),