@gridspace/raster-path 1.0.6 → 1.0.8

package/src/core/path-tracing.js

@@ -0,0 +1,492 @@
+/**
+ * ═══════════════════════════════════════════════════════════════════════════
+ * Path Tracing - Toolpath Z-Depth Tracing for Input Polylines
+ * ═══════════════════════════════════════════════════════════════════════════
+ *
+ * Generates toolpath Z-coordinates by following input polylines and calculating
+ * tool contact depth at each sampled point along the path.
+ *
+ * EXPORTS:
+ * ────────
+ * Functions:
+ *   - generateTracingToolpaths(options)
+ *       Main API - processes array of input paths, returns array of XYZ paths
+ *
+ * ALGORITHM:
+ * ──────────
+ * For each input polyline:
+ *   1. Sample path segments at 'step' resolution (densification)
+ *   2. For each sampled point (X, Y):
+ *      - Convert world coordinates to terrain grid coordinates
+ *      - Test tool collision with terrain at that position
+ *      - Calculate maximum collision Z (same algorithm as planar mode)
+ *   3. Build output array with X, Y, Z triplets
+ *
+ * PATH SAMPLING:
+ * ──────────────
+ * Input paths are arrays of XY coordinate pairs. The 'step' parameter controls
+ * how densely segments are sampled:
+ *   - Vertices are always included
+ *   - Segments longer than 'step' are subdivided
+ *   - Output maintains original vertex positions + interpolated points
+ *
+ * OUTPUT FORMAT:
+ * ──────────────
+ * Array of Float32Array buffers, each containing XYZ triplets:
+ *   [x1, y1, z1, x2, y2, z2, x3, y3, z3, ...]
+ *
+ * MEMORY SAFETY:
+ * ──────────────
+ * Validates that sampled path points will fit in GPU buffers before processing.
+ * Throws error if estimated memory exceeds safe limits.
+ *
+ * ═══════════════════════════════════════════════════════════════════════════
+ */
+
+import {
+    device, deviceCapabilities, isInitialized, config,
+    cachedTracingPipeline, debug, initWebGPU
+} from './raster-config.js';
+import { createSparseToolFromPoints } from './raster-tool.js';
+
+/**
+ * Reusable GPU buffers for iterative tracing
+ * Stored globally in worker to be reused across multiple generateTracingToolpaths calls
+ */
+let cachedTracingBuffers = null;
+
+/**
+ * Create reusable GPU buffers for tracing (terrain and tool buffers)
+ * These persist across multiple generateTracingToolpaths calls
+ * @param {Float32Array} terrainPositions - Dense terrain Z-only grid
+ * @param {Float32Array} toolPositions - Tool points (XYZ triplets)
+ * @returns {Object} - Buffer handles and metadata
+ */
+export function createReusableTracingBuffers(terrainPositions, toolPositions) {
+    if (!isInitialized) {
+        throw new Error('WebGPU not initialized');
+    }
+
+    // Destroy existing buffers if any
+    if (cachedTracingBuffers) {
+        destroyReusableTracingBuffers();
+    }
+
+    // Create sparse tool representation
+    const sparseToolData = createSparseToolFromPoints(toolPositions);
+    debug.log(`Created reusable tracing buffers: terrain ${terrainPositions.length} floats, tool ${sparseToolData.count} points`);
+
+    // Create terrain buffer
+    const terrainBuffer = device.createBuffer({
+        size: terrainPositions.byteLength,
+        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+    });
+    device.queue.writeBuffer(terrainBuffer, 0, terrainPositions);
+
+    // Create tool buffer
+    const toolBufferData = new ArrayBuffer(sparseToolData.count * 16);
+    const toolBufferI32 = new Int32Array(toolBufferData);
+    const toolBufferF32 = new Float32Array(toolBufferData);
+
+    for (let i = 0; i < sparseToolData.count; i++) {
+        toolBufferI32[i * 4 + 0] = sparseToolData.xOffsets[i];
+        toolBufferI32[i * 4 + 1] = sparseToolData.yOffsets[i];
+        toolBufferF32[i * 4 + 2] = sparseToolData.zValues[i];
+        toolBufferF32[i * 4 + 3] = 0;
+    }
+
+    const toolBuffer = device.createBuffer({
+        size: toolBufferData.byteLength,
+        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+    });
+    device.queue.writeBuffer(toolBuffer, 0, toolBufferData);
+
+    cachedTracingBuffers = {
+        terrainBuffer,
+        toolBuffer,
+        sparseToolData
+    };
+
+    return cachedTracingBuffers;
+}
+
+/**
+ * Destroy reusable tracing buffers
+ */
+export function destroyReusableTracingBuffers() {
+    if (cachedTracingBuffers) {
+        cachedTracingBuffers.terrainBuffer.destroy();
+        cachedTracingBuffers.toolBuffer.destroy();
+        cachedTracingBuffers = null;
+        debug.log('Destroyed reusable tracing buffers');
+    }
+}
+
+/**
+ * Sample a path at specified step resolution
+ * @param {Float32Array} pathXY - Input path as XY coordinate pairs
+ * @param {number} step - Maximum distance between sampled points (world units)
+ * @returns {Float32Array} - Sampled XY coordinates
+ */
+function samplePath(pathXY, step) {
+    if (pathXY.length < 2) {
+        // Empty or single-point path
+        return new Float32Array(pathXY);
+    }
+
+    const numVertices = pathXY.length / 2;
+    const sampledPoints = [];
+
+    // Always include first vertex
+    sampledPoints.push(pathXY[0], pathXY[1]);
+
+    // Process each segment
+    for (let i = 0; i < numVertices - 1; i++) {
+        const x1 = pathXY[i * 2];
+        const y1 = pathXY[i * 2 + 1];
+        const x2 = pathXY[(i + 1) * 2];
+        const y2 = pathXY[(i + 1) * 2 + 1];
+
+        const dx = x2 - x1;
+        const dy = y2 - y1;
+        const segmentLength = Math.sqrt(dx * dx + dy * dy);
+
+        // If segment is longer than step, subdivide it
+        if (segmentLength > step) {
+            const numSubdivisions = Math.ceil(segmentLength / step);
+            const subdivisionStep = 1.0 / numSubdivisions;
+
+            // Add interpolated points (skip t=0 since it's already added, skip t=1 since it's the next vertex)
+            for (let j = 1; j < numSubdivisions; j++) {
+                const t = j * subdivisionStep;
+                const x = x1 + t * dx;
+                const y = y1 + t * dy;
+                sampledPoints.push(x, y);
+            }
+        }
+
+        // Add next vertex (except for last iteration where it's already the end)
+        if (i < numVertices - 1) {
+            sampledPoints.push(x2, y2);
+        }
+    }
+
+    return new Float32Array(sampledPoints);
+}
+
+/**
+ * Generate tracing toolpaths for input polylines
+ * @param {Object} options - Configuration
+ * @param {Float32Array[]} options.paths - Array of input paths (XY coordinate pairs)
+ * @param {Float32Array} options.terrainPositions - Dense terrain Z-only grid
+ * @param {Object} options.terrainData - Terrain metadata (width, height, bounds)
+ * @param {Float32Array} options.toolPositions - Tool points (XYZ triplets)
+ * @param {number} options.step - Sampling resolution along paths (world units)
+ * @param {number} options.gridStep - Terrain rasterization resolution
+ * @param {Object} options.terrainBounds - Terrain bounding box
+ * @param {number} options.zFloor - Minimum Z depth for out-of-bounds points
+ * @param {Function} options.onProgress - Progress callback
+ * @returns {Promise<Object>} - Result with array of XYZ paths
+ */
+export async function generateTracingToolpaths({
+    paths,
+    terrainPositions,
+    terrainData,
+    toolPositions,
+    step,
+    gridStep,
+    terrainBounds,
+    zFloor,
+    onProgress
+}) {
+    const startTime = performance.now();
+    debug.log('Generating tracing toolpaths...');
+    debug.log(`Input: ${paths.length} paths, step=${step}, gridStep=${gridStep}, zFloor=${zFloor}`);
+    debug.log(`Terrain: ${terrainData.width}×${terrainData.height}, bounds: min(${terrainBounds.min.x.toFixed(2)}, ${terrainBounds.min.y.toFixed(2)}) max(${terrainBounds.max.x.toFixed(2)}, ${terrainBounds.max.y.toFixed(2)})`);
+
+    // Initialize WebGPU if needed
+    if (!isInitialized) {
+        const success = await initWebGPU();
+        if (!success) {
+            throw new Error('WebGPU not available');
+        }
+    }
+
+    // Use cached buffers if available, otherwise create them for this call
+    let terrainBuffer, toolBuffer, sparseToolData;
+    let shouldCleanupBuffers = false;
+
+    if (cachedTracingBuffers) {
+        // Reuse existing buffers (optimized for iterative tracing)
+        debug.log('Using cached tracing buffers');
+        terrainBuffer = cachedTracingBuffers.terrainBuffer;
+        toolBuffer = cachedTracingBuffers.toolBuffer;
+        sparseToolData = cachedTracingBuffers.sparseToolData;
+    } else {
+        // Create temporary buffers (will be cleaned up at end)
+        debug.log('Creating temporary tracing buffers');
+        sparseToolData = createSparseToolFromPoints(toolPositions);
+        debug.log(`Created sparse tool: ${sparseToolData.count} points`);
+
+        // Create terrain buffer
+        terrainBuffer = device.createBuffer({
+            size: terrainPositions.byteLength,
+            usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+        });
+        device.queue.writeBuffer(terrainBuffer, 0, terrainPositions);
+
+        // Create tool buffer
+        const toolBufferData = new ArrayBuffer(sparseToolData.count * 16);
+        const toolBufferI32 = new Int32Array(toolBufferData);
+        const toolBufferF32 = new Float32Array(toolBufferData);
+
+        for (let i = 0; i < sparseToolData.count; i++) {
+            toolBufferI32[i * 4 + 0] = sparseToolData.xOffsets[i];
+            toolBufferI32[i * 4 + 1] = sparseToolData.yOffsets[i];
+            toolBufferF32[i * 4 + 2] = sparseToolData.zValues[i];
+            toolBufferF32[i * 4 + 3] = 0;
+        }
+
+        toolBuffer = device.createBuffer({
+            size: toolBufferData.byteLength,
+            usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+        });
+        device.queue.writeBuffer(toolBuffer, 0, toolBufferData);
+
+        // Wait for buffer uploads to complete
+        await device.queue.onSubmittedWorkDone();
+
+        shouldCleanupBuffers = true;
+    }
+
+    // Create maxZ buffer (one i32 per path for atomic operations)
+    // Initialize to sentinel value (bitcast of -1e30)
+    const SENTINEL_Z = -1e30;
+    const sentinelBits = new Float32Array([SENTINEL_Z]);
+    const sentinelI32 = new Int32Array(sentinelBits.buffer)[0];
+    const maxZInitData = new Int32Array(paths.length).fill(sentinelI32);
+
+    const maxZBuffer = device.createBuffer({
+        size: maxZInitData.byteLength,
+        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST | GPUBufferUsage.COPY_SRC,
+    });
+    device.queue.writeBuffer(maxZBuffer, 0, maxZInitData);
+
+    // Process each path
+    const outputPaths = [];
+    let totalSampledPoints = 0;
+
+    for (let pathIdx = 0; pathIdx < paths.length; pathIdx++) {
+        const pathStartTime = performance.now();
+        const inputPath = paths[pathIdx];
+
+        debug.log(`Processing path ${pathIdx + 1}/${paths.length}: ${inputPath.length / 2} input vertices`);
+
+        // Sample path at specified resolution
+        const sampledPath = samplePath(inputPath, step);
+        const numSampledPoints = sampledPath.length / 2;
+        totalSampledPoints += numSampledPoints;
+
+        debug.log(`  Sampled to ${numSampledPoints} points`);
+
+        // Debug: Log first sampled point and its grid coordinates
+        const firstX = sampledPath[0];
+        const firstY = sampledPath[1];
+        const gridX = (firstX - terrainBounds.min.x) / gridStep;
+        const gridY = (firstY - terrainBounds.min.y) / gridStep;
+        debug.log(`  First point: world(${firstX.toFixed(2)}, ${firstY.toFixed(2)}) -> grid(${gridX.toFixed(2)}, ${gridY.toFixed(2)})`);
+        debug.log(`  Terrain: ${terrainData.width}x${terrainData.height}, bounds: (${terrainBounds.min.x.toFixed(2)}, ${terrainBounds.min.y.toFixed(2)}) to (${terrainBounds.max.x.toFixed(2)}, ${terrainBounds.max.y.toFixed(2)})`);
+
+        // Check GPU memory limits
+        const inputBufferSize = sampledPath.byteLength;
+        const outputBufferSize = numSampledPoints * 4; // 4 bytes per float (Z only)
+        const estimatedMemory = inputBufferSize + outputBufferSize;
+        const configuredLimit = config.maxGPUMemoryMB * 1024 * 1024;
+        const deviceLimit = deviceCapabilities.maxStorageBufferBindingSize;
+        const maxSafeSize = Math.min(configuredLimit, deviceLimit) * config.gpuMemorySafetyMargin;
+
+        if (estimatedMemory > maxSafeSize) {
+            terrainBuffer.destroy();
+            toolBuffer.destroy();
+            throw new Error(
+                `Path ${pathIdx + 1} exceeds GPU memory limits: ` +
+                `${(estimatedMemory / 1024 / 1024).toFixed(1)}MB > ` +
+                `${(maxSafeSize / 1024 / 1024).toFixed(1)}MB safe limit. ` +
+                `Consider reducing step parameter or splitting path.`
+            );
+        }
+
+        // Create GPU buffers for this path
+        const inputBuffer = device.createBuffer({
+            size: sampledPath.byteLength,
+            usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+        });
+        device.queue.writeBuffer(inputBuffer, 0, sampledPath);
+
+        const outputBuffer = device.createBuffer({
+            size: outputBufferSize,
+            usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_SRC,
+        });
+
+        // Create uniforms (aligned to match shader struct)
+        // Struct: 5 u32s + 4 f32s = 36 bytes, padded to 48 bytes for alignment
+        const uniformData = new Uint32Array(12); // 48 bytes
+        uniformData[0] = terrainData.width;
+        uniformData[1] = terrainData.height;
+        uniformData[2] = sparseToolData.count;
+        uniformData[3] = numSampledPoints;
+        uniformData[4] = pathIdx;  // path_index for maxZ buffer indexing
+
+        const uniformDataFloat = new Float32Array(uniformData.buffer);
+        uniformDataFloat[5] = terrainBounds.min.x;
+        uniformDataFloat[6] = terrainBounds.min.y;
+        uniformDataFloat[7] = gridStep;
+        uniformDataFloat[8] = zFloor;
+
+        const uniformBuffer = device.createBuffer({
+            size: uniformData.byteLength,
+            usage: GPUBufferUsage.UNIFORM | GPUBufferUsage.COPY_DST,
+        });
+        device.queue.writeBuffer(uniformBuffer, 0, uniformData);
+
+        // Wait for buffer uploads
+        await device.queue.onSubmittedWorkDone();
+
+        // Create bind group
+        const bindGroup = device.createBindGroup({
+            layout: cachedTracingPipeline.getBindGroupLayout(0),
+            entries: [
+                { binding: 0, resource: { buffer: terrainBuffer } },
+                { binding: 1, resource: { buffer: toolBuffer } },
+                { binding: 2, resource: { buffer: inputBuffer } },
+                { binding: 3, resource: { buffer: outputBuffer } },
+                { binding: 4, resource: { buffer: maxZBuffer } },
+                { binding: 5, resource: { buffer: uniformBuffer } },
+            ],
+        });
+
+        // Dispatch compute shader
+        const commandEncoder = device.createCommandEncoder();
+        const passEncoder = commandEncoder.beginComputePass();
+        passEncoder.setPipeline(cachedTracingPipeline);
+        passEncoder.setBindGroup(0, bindGroup);
+
+        const workgroupsX = Math.ceil(numSampledPoints / 64);
+        passEncoder.dispatchWorkgroups(workgroupsX);
+        passEncoder.end();
+
+        // Copy output to staging buffer
+        const stagingBuffer = device.createBuffer({
+            size: outputBufferSize,
+            usage: GPUBufferUsage.MAP_READ | GPUBufferUsage.COPY_DST,
+        });
+
+        commandEncoder.copyBufferToBuffer(outputBuffer, 0, stagingBuffer, 0, outputBufferSize);
+        device.queue.submit([commandEncoder.finish()]);
+
+        // Wait for GPU to finish
+        await device.queue.onSubmittedWorkDone();
+
+        // Read back results
+        await stagingBuffer.mapAsync(GPUMapMode.READ);
+        const outputDepths = new Float32Array(stagingBuffer.getMappedRange());
+        const depthsCopy = new Float32Array(outputDepths);
+        stagingBuffer.unmap();
+
+        // Build XYZ output array
+        const outputXYZ = new Float32Array(numSampledPoints * 3);
+        for (let i = 0; i < numSampledPoints; i++) {
+            outputXYZ[i * 3 + 0] = sampledPath[i * 2 + 0]; // X
+            outputXYZ[i * 3 + 1] = sampledPath[i * 2 + 1]; // Y
+            outputXYZ[i * 3 + 2] = depthsCopy[i];           // Z
+        }
+
+        outputPaths.push(outputXYZ);
+
+        // Cleanup path-specific buffers
+        inputBuffer.destroy();
+        outputBuffer.destroy();
+        uniformBuffer.destroy();
+        stagingBuffer.destroy();
+
+        const pathTime = performance.now() - pathStartTime;
+        debug.log(`  Path ${pathIdx + 1} complete: ${numSampledPoints} points in ${pathTime.toFixed(1)}ms`);
+
+        // Report progress
+        if (onProgress) {
+            onProgress({
+                type: 'tracing-progress',
+                data: {
+                    percent: Math.round(((pathIdx + 1) / paths.length) * 100),
+                    current: pathIdx + 1,
+                    total: paths.length,
+                    pathIndex: pathIdx
+                }
+            });
+        }
+    }
+
+    // Read back maxZ buffer
+    const maxZStagingBuffer = device.createBuffer({
+        size: maxZInitData.byteLength,
+        usage: GPUBufferUsage.MAP_READ | GPUBufferUsage.COPY_DST,
+    });
+
+    const maxZCommandEncoder = device.createCommandEncoder();
+    maxZCommandEncoder.copyBufferToBuffer(maxZBuffer, 0, maxZStagingBuffer, 0, maxZInitData.byteLength);
+    device.queue.submit([maxZCommandEncoder.finish()]);
+    await device.queue.onSubmittedWorkDone();
+
+    await maxZStagingBuffer.mapAsync(GPUMapMode.READ);
+    const maxZBitsI32 = new Int32Array(maxZStagingBuffer.getMappedRange());
+    const maxZBitsCopy = new Int32Array(maxZBitsI32);
+    maxZStagingBuffer.unmap();
+
+    // Convert i32 bits back to f32 values
+    const maxZValues = new Float32Array(maxZBitsCopy.buffer);
+
+    // Cleanup buffers
+    maxZBuffer.destroy();
+    maxZStagingBuffer.destroy();
+
+    // Cleanup temporary buffers only (don't destroy cached buffers)
+    if (shouldCleanupBuffers) {
+        terrainBuffer.destroy();
+        toolBuffer.destroy();
+        debug.log('Cleaned up temporary tracing buffers');
+    }
+
+    const endTime = performance.now();
+    debug.log(`Tracing complete: ${paths.length} paths, ${totalSampledPoints} total points in ${(endTime - startTime).toFixed(1)}ms`);
+    debug.log(`Max Z values: [${Array.from(maxZValues).map(z => z.toFixed(2)).join(', ')}]`);
+
+    return {
+        paths: outputPaths,
+        maxZ: Array.from(maxZValues),
+        generationTime: endTime - startTime
+    };
+}
+
+/**
+ * TODO: Batched path processing
+ *
+ * OPTIMIZATION OPPORTUNITY:
+ * Currently processes one path at a time. For better GPU utilization:
+ *
+ * 1. Concatenate all sampled paths into single input buffer
+ * 2. Create offset table: [path1Start, path1End, path2Start, path2End, ...]
+ * 3. Single GPU dispatch processes all paths
+ * 4. Split output buffer back into individual path arrays
+ *
+ * BENEFITS:
+ * - Reduce GPU dispatch overhead (N dispatches → 1 dispatch)
+ * - Better GPU occupancy (more threads active)
+ * - Fewer buffer create/destroy cycles
+ *
+ * COMPLEXITY:
+ * - Need offset management in shader or CPU-side splitting
+ * - Memory limit checking becomes more complex
+ * - Progress reporting granularity reduced (can still report workgroup completion)
+ *
+ * ESTIMATE: 2-5x speedup for many small paths, minimal benefit for few large paths
+ */

package/src/core/raster-config.js

@@ -63,6 +63,12 @@ export let cachedToolpathPipeline = null;
 export let cachedToolpathShaderModule = null;
 export let cachedRadialBatchPipeline = null;
 export let cachedRadialBatchShaderModule = null;
+export let cachedTracingPipeline = null;
+export let cachedTracingShaderModule = null;
+export let cachedRadialV3RotatePipeline = null;
+export let cachedRadialV3RotateShaderModule = null;
+export let cachedRadialV3BatchedRasterizePipeline = null;
+export let cachedRadialV3BatchedRasterizeShaderModule = null;
 
 // Constants
 export const EMPTY_CELL = -1e10;
@@ -94,6 +100,9 @@ export function round(v, d = 1) {
 const rasterizeShaderCode = 'SHADER:planar-rasterize';
 const toolpathShaderCode = 'SHADER:planar-toolpath';
 const radialRasterizeShaderCode = 'SHADER:radial-raster';
+const tracingShaderCode = 'SHADER:tracing-toolpath';
+const radialV3RotateShaderCode = 'SHADER:radial-rotate-triangles';
+const radialV3BatchedRasterizeShaderCode = 'SHADER:radial-rasterize-batched';
 
 // Initialize WebGPU device in worker context
 export async function initWebGPU() {
@@ -113,10 +122,7 @@ export async function initWebGPU() {
 
         // Request device with higher limits for large meshes
         const adapterLimits = adapter.limits;
-        debug.log('Adapter limits:', {
-            maxStorageBufferBindingSize: adapterLimits.maxStorageBufferBindingSize,
-            maxBufferSize: adapterLimits.maxBufferSize
-        });
+        debug.log('Adapter limits:', adapterLimits);
 
         device = await adapter.requestDevice({
             requiredLimits: {
@@ -158,6 +164,33 @@ export async function initWebGPU() {
             compute: { module: cachedRadialBatchShaderModule, entryPoint: 'main' },
         });
 
+        // Pre-compile tracing shader module
+        cachedTracingShaderModule = device.createShaderModule({ code: tracingShaderCode });
+
+        // Pre-create tracing pipeline
+        cachedTracingPipeline = device.createComputePipeline({
+            layout: 'auto',
+            compute: { module: cachedTracingShaderModule, entryPoint: 'main' },
+        });
+
+        // Pre-compile radial V3 rotate shader module
+        cachedRadialV3RotateShaderModule = device.createShaderModule({ code: radialV3RotateShaderCode });
+
+        // Pre-create radial V3 rotate pipeline
+        cachedRadialV3RotatePipeline = device.createComputePipeline({
+            layout: 'auto',
+            compute: { module: cachedRadialV3RotateShaderModule, entryPoint: 'main' },
+        });
+
+        // Pre-compile radial V3 batched rasterize shader module
+        cachedRadialV3BatchedRasterizeShaderModule = device.createShaderModule({ code: radialV3BatchedRasterizeShaderCode });
+
+        // Pre-create radial V3 batched rasterize pipeline
+        cachedRadialV3BatchedRasterizePipeline = device.createComputePipeline({
+            layout: 'auto',
+            compute: { module: cachedRadialV3BatchedRasterizeShaderModule, entryPoint: 'main' },
+        });
+
         // Store device capabilities
         deviceCapabilities = {
             maxStorageBufferBindingSize: device.limits.maxStorageBufferBindingSize,