HiNC-2025-win-desktop-Deploy/App/wwwroot/HiAPI-docsite/api/Hi.NcParsers.LogicSyntaxs.PivotTransformUtil.html

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      <title>Class PivotTransformUtil | HiAPI-C# 2025 </title>
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      <meta name="description" content="Shared engine for the brand pivot-gate syntaxes ( — ISO/Fanuc family,  — Siemens). Each brand syntax owns only its gate (which modal terms mean &amp;ldquo;commanded XYZ needs the Pn→MC kinematic rigid transform&amp;rdquo;); the endpoint-ABC resolution and the PivotTransform chain entry composition live here so every brand writes the identical JSON vocabulary.">
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        <article data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformUtil">



  <h1 id="Hi_NcParsers_LogicSyntaxs_PivotTransformUtil" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformUtil" class="text-break">
Class PivotTransformUtil  
  </h1>

  <div class="facts text-secondary">
    <dl><dt>Namespace</dt><dd><a class="xref" href="Hi.html">Hi</a>.<a class="xref" href="Hi.NcParsers.html">NcParsers</a>.<a class="xref" href="Hi.NcParsers.LogicSyntaxs.html">LogicSyntaxs</a></dd></dl>
  <dl><dt>Assembly</dt><dd>HiMech.dll</dd></dl>
  </div>

  <div class="markdown summary"><p>Shared engine for the brand pivot-gate syntaxes
(<a class="xref" href="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.html">PivotTransformationSyntax</a> — ISO/Fanuc family,
<a class="xref" href="Hi.NcParsers.LogicSyntaxs.Siemens.SiemensPivotTransformationSyntax.html">SiemensPivotTransformationSyntax</a> — Siemens).
Each brand syntax owns only its gate (which modal terms mean
&ldquo;commanded XYZ needs the Pn→MC kinematic rigid transform&rdquo;); the
endpoint-ABC resolution and the <code>PivotTransform</code> chain entry
composition live here so every brand writes the identical JSON
vocabulary.</p>
</div>
  <div class="markdown conceptual"></div>

  <div class="codewrapper">
    <pre><code class="lang-csharp hljs">public static class PivotTransformUtil</code></pre>
  </div>




  <dl class="typelist inheritance">
    <dt>Inheritance</dt>
    <dd>
      <div><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object">object</a></div>
      <div><span class="xref">PivotTransformUtil</span></div>
    </dd>
  </dl>



  <dl class="typelist inheritedMembers">
    <dt>Inherited Members</dt>
    <dd>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object)">object.Equals(object)</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object-system-object)">object.Equals(object, object)</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gethashcode">object.GetHashCode()</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gettype">object.GetType()</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.memberwiseclone">object.MemberwiseClone()</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.referenceequals">object.ReferenceEquals(object, object)</a>
    </div>
    <div>
      <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.tostring">object.ToString()</a>
    </div>
  </dd></dl>






  <h2 class="section" id="methods">Methods
</h2>


  <a id="Hi_NcParsers_LogicSyntaxs_PivotTransformUtil_ComposePivotEntry_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformUtil.ComposePivotEntry*"></a>

  <h3 id="Hi_NcParsers_LogicSyntaxs_PivotTransformUtil_ComposePivotEntry_Hi_Common_Collections_LazyLinkedListNode_Hi_NcParsers_Syntaxs_SyntaxPiece__System_Text_Json_Nodes_JsonObject_System_Collections_Generic_List_Hi_NcParsers_Dependencys_INcDependency__" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformUtil.ComposePivotEntry(Hi.Common.Collections.LazyLinkedListNode{Hi.NcParsers.Syntaxs.SyntaxPiece},System.Text.Json.Nodes.JsonObject,System.Collections.Generic.List{Hi.NcParsers.Dependencys.INcDependency})">
  ComposePivotEntry(LazyLinkedListNode&lt;SyntaxPiece&gt;, JsonObject, List&lt;INcDependency&gt;)
  
  </h3>

  <div class="markdown level1 summary"><p>Composes the <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_PivotTransformSource">PivotTransformSource</a>
entry for the block's endpoint ABC — the shared body every brand
gate runs after it decides the block needs the kinematic pivot.
Silently no-ops when <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a> is absent
(3-axis configurations without rotary kinematics). The entry's
kind mirrors <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_HasDynamicEntry_System_Text_Json_Nodes_JsonObject_">HasDynamicEntry(JsonObject)</a>:
when no Dynamic entry exists (RTCP with stable rotary, or a tilted
plane without RTCP), the kinematic pivot is contour-valid and
stays Static.</p>
</div>
  <div class="markdown level1 conceptual"></div>

  <div class="codewrapper">
    <pre><code class="lang-csharp hljs">public static void ComposePivotEntry(LazyLinkedListNode&lt;SyntaxPiece&gt; syntaxPieceNode, JsonObject json, List&lt;INcDependency&gt; ncDependencyList)</code></pre>
  </div>

  <h4 class="section">Parameters</h4>
  <dl class="parameters">
    <dt><code>syntaxPieceNode</code> <a class="xref" href="Hi.Common.Collections.LazyLinkedListNode-1.html">LazyLinkedListNode</a>&lt;<a class="xref" href="Hi.NcParsers.Syntaxs.SyntaxPiece.html">SyntaxPiece</a>&gt;</dt>
    <dd></dd>
    <dt><code>json</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.text.json.nodes.jsonobject">JsonObject</a></dt>
    <dd></dd>
    <dt><code>ncDependencyList</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.collections.generic.list-1">List</a>&lt;<a class="xref" href="Hi.NcParsers.Dependencys.INcDependency.html">INcDependency</a>&gt;</dt>
    <dd></dd>
  </dl>












  <a id="Hi_NcParsers_LogicSyntaxs_PivotTransformUtil_PinTiltInMachineSpaceAcrossRotaryWords_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformUtil.PinTiltInMachineSpaceAcrossRotaryWords*"></a>

  <h3 id="Hi_NcParsers_LogicSyntaxs_PivotTransformUtil_PinTiltInMachineSpaceAcrossRotaryWords_Hi_Common_Collections_LazyLinkedListNode_Hi_NcParsers_Syntaxs_SyntaxPiece__System_Text_Json_Nodes_JsonObject_System_Collections_Generic_List_Hi_NcParsers_Dependencys_INcDependency__" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformUtil.PinTiltInMachineSpaceAcrossRotaryWords(Hi.Common.Collections.LazyLinkedListNode{Hi.NcParsers.Syntaxs.SyntaxPiece},System.Text.Json.Nodes.JsonObject,System.Collections.Generic.List{Hi.NcParsers.Dependencys.INcDependency})">
  PinTiltInMachineSpaceAcrossRotaryWords(LazyLinkedListNode&lt;SyntaxPiece&gt;, JsonObject, List&lt;INcDependency&gt;)
  
  </h3>

  <div class="markdown level1 summary"><p>Pins the tilted-plane feature frame in <b>machine</b> space across a
rotary word: on a block that spoke A/B/C (one-shot
<a class="xref" href="Hi.NcParsers.Keywords.RotaryWords.html">RotaryWords</a> record) under an active tilt, rewrites the
block's <a class="xref" href="Hi.NcParsers.LogicSyntaxs.TiltTransformUtil.html#Hi_NcParsers_LogicSyntaxs_TiltTransformUtil_TransformSource">TransformSource</a> entry so that
<code>Tilt(cur)·Pivot(cur) == Tilt(prev)·Pivot(prev)</code> — the feature
point the program addresses stays where it was in machine space and
the table turns underneath it. This is the Fanuc TWP behaviour HardNc
reproduces through <code>NcArgG68p2.PostMcAbc_rad</code> (the delta between
the line's rotary word and the IJK solution re-anchors the feature
frame; the comment there cites CHEM20180926 N10, whose
<code>G81 … C20.</code>/<code>C40.</code>/… drill a bolt circle on the periphery
while the tip never leaves its machine position). Without it the
carried tilt stays attached to the table and every C-indexed hole
lands on the same spot of the part.</p>
<p>
Silently no-ops when the block spoke no rotary word, when
<a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a> is absent, or when the previous
block carries no <a class="xref" href="Hi.NcParsers.Syntaxs.TransformationUtil.html#Hi_NcParsers_Syntaxs_TransformationUtil_PivotTransformSource">PivotTransformSource</a>
entry (the tilt was not yet active there — nothing to pin). Must run
before <a class="xref" href="Hi.NcParsers.LogicSyntaxs.PivotTransformUtil.html#Hi_NcParsers_LogicSyntaxs_PivotTransformUtil_ComposePivotEntry_Hi_Common_Collections_LazyLinkedListNode_Hi_NcParsers_Syntaxs_SyntaxPiece__System_Text_Json_Nodes_JsonObject_System_Collections_Generic_List_Hi_NcParsers_Dependencys_INcDependency__">ComposePivotEntry(LazyLinkedListNode&lt;SyntaxPiece&gt;, JsonObject, List&lt;INcDependency&gt;)</a> on the same block so the
pivot it composes is the one the rewritten tilt was solved against.
Brand gates decide whether their tilt vocabulary wants this
(<a class="xref" href="Hi.NcParsers.LogicSyntaxs.PivotTransformationSyntax.html">PivotTransformationSyntax</a> applies it to G68.2 without
RTCP: under G43.4 the tool centre point is tracked in the
workpiece-fixed feature frame while the rotaries move — the tilted
CL→NC writeback replays on that contract — so a rotary word there is
contouring, not indexing, and the carried tilt stays on the table).
</p>
</div>
  <div class="markdown level1 conceptual"></div>

  <div class="codewrapper">
    <pre><code class="lang-csharp hljs">public static void PinTiltInMachineSpaceAcrossRotaryWords(LazyLinkedListNode&lt;SyntaxPiece&gt; syntaxPieceNode, JsonObject json, List&lt;INcDependency&gt; ncDependencyList)</code></pre>
  </div>

  <h4 class="section">Parameters</h4>
  <dl class="parameters">
    <dt><code>syntaxPieceNode</code> <a class="xref" href="Hi.Common.Collections.LazyLinkedListNode-1.html">LazyLinkedListNode</a>&lt;<a class="xref" href="Hi.NcParsers.Syntaxs.SyntaxPiece.html">SyntaxPiece</a>&gt;</dt>
    <dd></dd>
    <dt><code>json</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.text.json.nodes.jsonobject">JsonObject</a></dt>
    <dd></dd>
    <dt><code>ncDependencyList</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.collections.generic.list-1">List</a>&lt;<a class="xref" href="Hi.NcParsers.Dependencys.INcDependency.html">INcDependency</a>&gt;</dt>
    <dd></dd>
  </dl>












  <a id="Hi_NcParsers_LogicSyntaxs_PivotTransformUtil_ResolveEndpointAbc_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformUtil.ResolveEndpointAbc*"></a>

  <h3 id="Hi_NcParsers_LogicSyntaxs_PivotTransformUtil_ResolveEndpointAbc_Hi_Common_Collections_LazyLinkedListNode_Hi_NcParsers_Syntaxs_SyntaxPiece__Hi_NcParsers_Dependencys_IMachineAxisConfig_" data-uid="Hi.NcParsers.LogicSyntaxs.PivotTransformUtil.ResolveEndpointAbc(Hi.Common.Collections.LazyLinkedListNode{Hi.NcParsers.Syntaxs.SyntaxPiece},Hi.NcParsers.Dependencys.IMachineAxisConfig)">
  ResolveEndpointAbc(LazyLinkedListNode&lt;SyntaxPiece&gt;, IMachineAxisConfig)
  
  </h3>

  <div class="markdown level1 summary"><p>Reads the current block's MC ABC, falling back per-axis to modal
lookback (via <a class="xref" href="Hi.NcParsers.LogicSyntaxs.ProgramXyzUtil.html#Hi_NcParsers_LogicSyntaxs_ProgramXyzUtil_FindPreviousMcXyzabc_Hi_Common_Collections_LazyLinkedListNode_Hi_NcParsers_Syntaxs_SyntaxPiece__Hi_NcParsers_Dependencys_IMachineAxisConfig_">FindPreviousMcXyzabc(LazyLinkedListNode&lt;SyntaxPiece&gt;, IMachineAxisConfig)</a>)
for rotary axes the machine declares but the current section
does not carry — blocks like <code>G49</code>, comments, or pure
non-motion state changes do not rewrite ABC, yet the kinematic
rotary state is still active and must appear in the chain.
Non-rotary axes default to <code>0</code>. Also used by
<a class="xref" href="Hi.NcParsers.LogicSyntaxs.Siemens.SiemensTraoriSyntax.html">SiemensTraoriSyntax</a>, whose tool-height
entry needs the same endpoint semantics.</p>
</div>
  <div class="markdown level1 conceptual"></div>

  <div class="codewrapper">
    <pre><code class="lang-csharp hljs">public static Vec3d ResolveEndpointAbc(LazyLinkedListNode&lt;SyntaxPiece&gt; node, IMachineAxisConfig axisConfig)</code></pre>
  </div>

  <h4 class="section">Parameters</h4>
  <dl class="parameters">
    <dt><code>node</code> <a class="xref" href="Hi.Common.Collections.LazyLinkedListNode-1.html">LazyLinkedListNode</a>&lt;<a class="xref" href="Hi.NcParsers.Syntaxs.SyntaxPiece.html">SyntaxPiece</a>&gt;</dt>
    <dd></dd>
    <dt><code>axisConfig</code> <a class="xref" href="Hi.NcParsers.Dependencys.IMachineAxisConfig.html">IMachineAxisConfig</a></dt>
    <dd></dd>
  </dl>

  <h4 class="section">Returns</h4>
  <dl class="parameters">
    <dt><a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
    <dd></dd>
  </dl>












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