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<meta name="description" content="Circular (arc/helix) contour on the polar hypothetical plane while Polar Coordinate Interpolation (Fanuc G12.1) is active. The arc geometry lives entirely in central polar Rxcz coordinates (X = radius-direction linear axis mm, Y = hypothetical rotary-substitute axis mm, Z = real Z mm, origin on the rotary center) — the same spiral math as . Each sampled point is then converted to machine coordinates the way does: radius drives machine X, the atan2 angle drives the machine C axis with the branch chained from the previous step (), machine Y/A/B stay frozen at the previous position, and Z carries the coordinate/tool-height offset. The chaining state is local to each enumeration, so the act can be re-enumerated safely and arcs crossing the &#177;180&#176; branch (or spanning multiple turns via ) stay continuous — unlike the HardNc per-point unresolved atan2, whose machine C jumps by one cycle at the branch cut (same physical pose). Known divergence: per-step machine X is the raw polar radius and machine Y stays frozen — coordinate-offset X/Y components are NOT applied (only Z carries an offset), consistent with and the turn-mill assumption that machine X ≡ radius. HardNc is internally inconsistent here: its polar arc steps run the full transform chain (G5x X/Y included) while its polar linear steps use the raw radius like this act.">
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<article data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour">
<h1 id="Hi_Numerical_Acts_ActMcPolarSpiralContour" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour" class="text-break">
Class ActMcPolarSpiralContour
</h1>
<div class="facts text-secondary">
<dl><dt>Namespace</dt><dd><a class="xref" href="Hi.html">Hi</a>.<a class="xref" href="Hi.Numerical.html">Numerical</a>.<a class="xref" href="Hi.Numerical.Acts.html">Acts</a></dd></dl>
<dl><dt>Assembly</dt><dd>HiMech.dll</dd></dl>
</div>
<div class="markdown summary"><p>Circular (arc/helix) contour on the polar hypothetical plane while
Polar Coordinate Interpolation (Fanuc G12.1) is active.</p>
<p>
The arc geometry lives entirely in central polar Rxcz coordinates
(X = radius-direction linear axis mm, Y = hypothetical rotary-substitute
axis mm, Z = real Z mm, origin on the rotary center) — the same spiral
math as <a class="xref" href="Hi.Numerical.Acts.ActMcXyzSpiralContour.html">ActMcXyzSpiralContour</a>. Each sampled point is then
converted to machine coordinates the way
<a class="xref" href="Hi.Numerical.Acts.ActMcPolarLinearContour.html">ActMcPolarLinearContour</a> does: radius drives machine X, the
<code>atan2</code> angle drives the machine C axis with the branch chained from
the previous step (<a class="xref" href="Hi.Numerical.MechNcUtil.html#Hi_Numerical_MechNcUtil_GetNoInterpolationOrdinaryProgramXcz_rad_Hi_Geom_Vec3d_System_Double_Hi_Geom_Vec3d_">GetNoInterpolationOrdinaryProgramXcz_rad(Vec3d, double, Vec3d)</a>),
machine Y/A/B stay frozen at the previous position, and Z carries the
coordinate/tool-height offset.
</p>
The chaining state is local to each enumeration, so the act can be
re-enumerated safely and arcs crossing the ±180° branch (or spanning
multiple turns via <a class="xref" href="Hi.Numerical.Acts.ActMcPolarSpiralContour.html#Hi_Numerical_Acts_ActMcPolarSpiralContour_AdditionalCircleNum">AdditionalCircleNum</a>) stay continuous —
unlike the HardNc per-point unresolved <code>atan2</code>, whose machine C
jumps by one cycle at the branch cut (same physical pose).
<remarks>
Known divergence: per-step machine X is the raw polar radius and machine
Y stays frozen — coordinate-offset X/Y components are NOT applied
(only Z carries an offset), consistent with
<a class="xref" href="Hi.Numerical.Acts.ActMcPolarLinearContour.html">ActMcPolarLinearContour</a> and the turn-mill assumption that
machine X ≡ radius. HardNc is internally inconsistent here: its polar
<em>arc</em> steps run the full transform chain (G5x X/Y included) while
its polar <em>linear</em> steps use the raw radius like this act.
</remarks>
</div>
<div class="markdown conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public class ActMcPolarSpiralContour : IActDuration, IActMcXyzabcContour, IAct</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">ActMcPolarSpiralContour</span></div>
</dd>
</dl>
<dl class="typelist implements">
<dt>Implements</dt>
<dd>
<div><a class="xref" href="Hi.Numerical.Acts.IActDuration.html">IActDuration</a></div>
<div><a class="xref" href="Hi.Numerical.Acts.IActMcXyzabcContour.html">IActMcXyzabcContour</a></div>
<div><a class="xref" href="Hi.Numerical.Acts.IAct.html">IAct</a></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>
</dd></dl>
<dl class="typelist extensionMethods">
<dt>Extension Methods</dt>
<dd>
<div>
<a class="xref" href="Hi.Common.DuplicateUtil.html#Hi_Common_DuplicateUtil_TryDuplicate__1___0_System_Object___">DuplicateUtil.TryDuplicate&lt;TSelf&gt;(TSelf, params object[])</a>
</div>
<div>
<a class="xref" href="Hi.Common.InvokeUtil.html#Hi_Common_InvokeUtil_SelfInvoke__1___0_System_Action___0__">InvokeUtil.SelfInvoke&lt;TSrc&gt;(TSrc, Action&lt;TSrc&gt;)</a>
</div>
<div>
<a class="xref" href="Hi.Common.InvokeUtil.html#Hi_Common_InvokeUtil_SelfInvoke__2___0_System_Func___0___1__">InvokeUtil.SelfInvoke&lt;TSrc, TDst&gt;(TSrc, Func&lt;TSrc, TDst&gt;)</a>
</div>
<div>
<a class="xref" href="Hi.Coloring.ColorUtil.html#Hi_Coloring_ColorUtil_GetGloomyColor_System_Object_System_Double_System_Double_">ColorUtil.GetGloomyColor(object, double, double)</a>
</div>
<div>
<a class="xref" href="Hi.Common.NameUtil.html#Hi_Common_NameUtil_GetSelectionName_System_Object_">NameUtil.GetSelectionName(object)</a>
</div>
<div>
<a class="xref" href="Hi.Common.StringUtil.html#Hi_Common_StringUtil_GetPropertyStringIfToStringNotOverloaded_System_Object_System_Boolean_System_Boolean_">StringUtil.GetPropertyStringIfToStringNotOverloaded(object, bool, bool)</a>
</div>
<div>
<a class="xref" href="Hi.Parallels.LockUtil.html#Hi_Parallels_LockUtil_Lock_System_Object_">LockUtil.Lock(object)</a>
</div>
</dd></dl>
<h2 class="section" id="constructors">Constructors
</h2>
<a id="Hi_Numerical_Acts_ActMcPolarSpiralContour__ctor_" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.#ctor*"></a>
<h3 id="Hi_Numerical_Acts_ActMcPolarSpiralContour__ctor_Hi_Geom_DVec3d_Hi_Geom_Vec3d_Hi_Geom_Vec3d_Hi_Geom_Vec3d_Hi_Geom_Vec3d_System_Int32_System_TimeSpan_System_Double_Hi_Numerical_Args_PolarModeDirEnum_" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.#ctor(Hi.Geom.DVec3d,Hi.Geom.Vec3d,Hi.Geom.Vec3d,Hi.Geom.Vec3d,Hi.Geom.Vec3d,System.Int32,System.TimeSpan,System.Double,Hi.Numerical.Args.PolarModeDirEnum)">
ActMcPolarSpiralContour(DVec3d, Vec3d, Vec3d, Vec3d, Vec3d, int, TimeSpan, double, PolarModeDirEnum)
</h3>
<div class="markdown level1 summary"><p>Initializes a new instance of the <a class="xref" href="Hi.Numerical.Acts.ActMcPolarSpiralContour.html">ActMcPolarSpiralContour</a> class.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public ActMcPolarSpiralContour(DVec3d preMcXyzabc_rad, Vec3d programPolarBegin, Vec3d programPolarEnd, Vec3d programPolarCenterOnBeginPlane, Vec3d centerNormal, int additionalCircleNum, TimeSpan duration, double zCoordinateOffset, PolarModeDirEnum polarDir = PolarModeDirEnum.XC)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>preMcXyzabc_rad</code> <a class="xref" href="Hi.Geom.DVec3d.html">DVec3d</a></dt>
<dd><p>Previous machine XYZ-ABC coordinates in radians</p>
</dd>
<dt><code>programPolarBegin</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd><p>Arc begin in central polar Rxcz (mm)</p>
</dd>
<dt><code>programPolarEnd</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd><p>Arc end in central polar Rxcz (mm)</p>
</dd>
<dt><code>programPolarCenterOnBeginPlane</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd><p>Arc center on the begin plane, central polar Rxcz (mm)</p>
</dd>
<dt><code>centerNormal</code> <a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd><p>Plane normal with rotation sign</p>
</dd>
<dt><code>additionalCircleNum</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.int32">int</a></dt>
<dd><p>Number of additional full circles</p>
</dd>
<dt><code>duration</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.timespan">TimeSpan</a></dt>
<dd><p>Duration of the contour movement</p>
</dd>
<dt><code>zCoordinateOffset</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.double">double</a></dt>
<dd><p>Depth-axis (plane normal) offset</p>
</dd>
<dt><code>polarDir</code> <a class="xref" href="Hi.Numerical.Args.PolarModeDirEnum.html">PolarModeDirEnum</a></dt>
<dd><p>Polar axis pair (default XC)</p>
</dd>
</dl>
<h2 class="section" id="properties">Properties
</h2>
<a id="Hi_Numerical_Acts_ActMcPolarSpiralContour_ActDuration_" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.ActDuration*"></a>
<h3 id="Hi_Numerical_Acts_ActMcPolarSpiralContour_ActDuration" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.ActDuration">
ActDuration
</h3>
<div class="markdown level1 summary"><p>Gets or sets the duration of the action.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public TimeSpan ActDuration { get; set; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.timespan">TimeSpan</a></dt>
<dd></dd>
</dl>
<h4 class="section" id="Hi_Numerical_Acts_ActMcPolarSpiralContour_ActDuration_remarks">Remarks</h4>
<div class="markdown level1 remarks"><p>The duration represents:</p>
<ul>
<li>The time required to complete the action</li>
<li>Should be positive and finite</li>
<li>Zero duration indicates an instantaneous action</li>
<li>Used for scheduling and timing calculations</li>
</ul>
</div>
<a id="Hi_Numerical_Acts_ActMcPolarSpiralContour_AdditionalCircleNum_" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.AdditionalCircleNum*"></a>
<h3 id="Hi_Numerical_Acts_ActMcPolarSpiralContour_AdditionalCircleNum" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.AdditionalCircleNum">
AdditionalCircleNum
</h3>
<div class="markdown level1 summary"><p>Number of additional full circles (helix).</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public int AdditionalCircleNum { get; set; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.int32">int</a></dt>
<dd></dd>
</dl>
<a id="Hi_Numerical_Acts_ActMcPolarSpiralContour_CenterNormal_" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.CenterNormal*"></a>
<h3 id="Hi_Numerical_Acts_ActMcPolarSpiralContour_CenterNormal" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.CenterNormal">
CenterNormal
</h3>
<div class="markdown level1 summary"><p>Plane normal with rotation sign (XC pair → (0,0,±1)).</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public Vec3d CenterNormal { get; set; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd></dd>
</dl>
<a id="Hi_Numerical_Acts_ActMcPolarSpiralContour_PolarDir_" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.PolarDir*"></a>
<h3 id="Hi_Numerical_Acts_ActMcPolarSpiralContour_PolarDir" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.PolarDir">
PolarDir
</h3>
<div class="markdown level1 summary"><p>The polar axis pair mapping the triple-space steps onto machine
axes (XC unless the machine runs G12.1 on YA/ZB).</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public PolarModeDirEnum PolarDir { get; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Numerical.Args.PolarModeDirEnum.html">PolarModeDirEnum</a></dt>
<dd></dd>
</dl>
<a id="Hi_Numerical_Acts_ActMcPolarSpiralContour_ProgramPolarBegin_" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.ProgramPolarBegin*"></a>
<h3 id="Hi_Numerical_Acts_ActMcPolarSpiralContour_ProgramPolarBegin" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.ProgramPolarBegin">
ProgramPolarBegin
</h3>
<div class="markdown level1 summary"><p>Arc begin in central polar Rxcz coordinates (mm).</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public Vec3d ProgramPolarBegin { get; set; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd></dd>
</dl>
<a id="Hi_Numerical_Acts_ActMcPolarSpiralContour_ProgramPolarCenterOnBeginPlane_" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.ProgramPolarCenterOnBeginPlane*"></a>
<h3 id="Hi_Numerical_Acts_ActMcPolarSpiralContour_ProgramPolarCenterOnBeginPlane" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.ProgramPolarCenterOnBeginPlane">
ProgramPolarCenterOnBeginPlane
</h3>
<div class="markdown level1 summary"><p>Arc center on the begin plane, central polar Rxcz (mm).</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public Vec3d ProgramPolarCenterOnBeginPlane { get; set; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd></dd>
</dl>
<a id="Hi_Numerical_Acts_ActMcPolarSpiralContour_ProgramPolarEnd_" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.ProgramPolarEnd*"></a>
<h3 id="Hi_Numerical_Acts_ActMcPolarSpiralContour_ProgramPolarEnd" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.ProgramPolarEnd">
ProgramPolarEnd
</h3>
<div class="markdown level1 summary"><p>Arc end in central polar Rxcz coordinates (mm).</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public Vec3d ProgramPolarEnd { get; set; }</code></pre>
</div>
<h4 class="section">Property Value</h4>
<dl class="parameters">
<dt><a class="xref" href="Hi.Geom.Vec3d.html">Vec3d</a></dt>
<dd></dd>
</dl>
<h2 class="section" id="methods">Methods
</h2>
<a id="Hi_Numerical_Acts_ActMcPolarSpiralContour_GetActMcXyzabcSteps_" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.GetActMcXyzabcSteps*"></a>
<h3 id="Hi_Numerical_Acts_ActMcPolarSpiralContour_GetActMcXyzabcSteps_Hi_Numerical_MachiningMotionResolutionUtils_IMachiningMotionResolution_System_Double_System_Action_System_Object__" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.GetActMcXyzabcSteps(Hi.Numerical.MachiningMotionResolutionUtils.IMachiningMotionResolution,System.Double,System.Action{System.Object})">
GetActMcXyzabcSteps(IMachiningMotionResolution, double, Action&lt;object&gt;)
</h3>
<div class="markdown level1 summary"><p>Gets the machine XYZABC steps for this contour.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public IEnumerable&lt;ActMcXyzabcStep&gt; GetActMcXyzabcSteps(IMachiningMotionResolution ncResolution, double spindleBuckleToToolTipLength, Action&lt;object&gt; coordinateConversionFailedAction)</code></pre>
</div>
<h4 class="section">Parameters</h4>
<dl class="parameters">
<dt><code>ncResolution</code> <a class="xref" href="Hi.Numerical.MachiningMotionResolutionUtils.IMachiningMotionResolution.html">IMachiningMotionResolution</a></dt>
<dd><p>The machining motion resolution to use for step generation.</p>
</dd>
<dt><code>spindleBuckleToToolTipLength</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.double">double</a></dt>
<dd><p>The length from spindle buckle to tool tip, used for computing step numbers.</p>
</dd>
<dt><code>coordinateConversionFailedAction</code> <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.action-1">Action</a>&lt;<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object">object</a>&gt;</dt>
<dd><p>Called when attacher NP to MC conversion fails; the argument is the failed DVec3d (attacher NP).</p>
</dd>
</dl>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.collections.generic.ienumerable-1">IEnumerable</a>&lt;<a class="xref" href="Hi.Numerical.Acts.ActMcXyzabcStep.html">ActMcXyzabcStep</a>&gt;</dt>
<dd><p>A collection of machine XYZABC steps.</p>
</dd>
</dl>
<a id="Hi_Numerical_Acts_ActMcPolarSpiralContour_ToString_" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.ToString*"></a>
<h3 id="Hi_Numerical_Acts_ActMcPolarSpiralContour_ToString" data-uid="Hi.Numerical.Acts.ActMcPolarSpiralContour.ToString">
ToString()
</h3>
<div class="markdown level1 summary"><p>Returns a string that represents the current object.</p>
</div>
<div class="markdown level1 conceptual"></div>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">public override string ToString()</code></pre>
</div>
<h4 class="section">Returns</h4>
<dl class="parameters">
<dt><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.string">string</a></dt>
<dd><p>A string that represents the current object.</p>
</dd>
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