@hatiolab/figure-model 0.1.22 → 0.1.23

package/dist/sizing.js.map

@@ -1 +1 @@
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package/dist/types.d.ts

@@ -181,6 +181,18 @@ export declare const INTERPOLATIONS: readonly ["linear", "step"];
 export type Interpolation = (typeof INTERPOLATIONS)[number];
 export declare const AXES: readonly ["x", "y", "z"];
 export type Axis = (typeof AXES)[number];
+/**
+ * How a joint moves its child part relative to the parent (ADR-0066).
+ *
+ *   revolute     turns about `axis` within `limits`, in degrees
+ *   prismatic    slides along `axis` within `limits`, in millimetres
+ *   continuous   turns about `axis` without limits, in degrees
+ *
+ * These are URDF's three moving joint types. A fixed attachment is not a joint: a part names its parent
+ * with `FigurePart.parent` and moves with it.
+ */
+export declare const JOINT_TYPES: readonly ["revolute", "prismatic", "continuous"];
+export type JointType = (typeof JOINT_TYPES)[number];
 /** 텍스트를 언제 보이나. 표현 수단(sprite·overlay)은 런타임이 고른다. */
 export declare const LABEL_WHENS: readonly ["always", "zoomed", "selected", "abnormal"];
 export type LabelWhen = (typeof LABEL_WHENS)[number];
@@ -386,13 +398,48 @@ export interface Keyframe {
      */
     value: Vec3;
 }
+/**
+ * A key on a channel that drives a joint: the joint's coordinate at that position.
+ *
+ * The value is one number because the joint already says the axis and the centre. A revolute or
+ * continuous joint reads degrees, a prismatic joint millimetres (ADR-0066 decision 2).
+ */
+export interface JointKeyframe {
+    at: number;
+    value: number;
+}
+/**
+ * A channel that drives a joint. `target` is a joint name.
+ *
+ * It carries no `path` and no `pivot`: the joint's `type`, `axis` and `origin` already say what moves
+ * and about which point. Writing a rotation vector here would state the axis a second time, and the two
+ * could disagree. The node transform, and a quaternion when exporting to glTF, come from the joint.
+ */
+export interface JointChannel {
+    target: string;
+    path?: undefined;
+    pivot?: undefined;
+    /** Defaults to `linear`. */
+    interpolation?: Interpolation;
+    /** At least two. */
+    keys: JointKeyframe[];
+}
+/**
+ * What a clip or a parameter moves: a part property (`PartChannel`) or a joint (`JointChannel`).
+ *
+ * The two are told apart by what `target` names. Part and joint names share one name space, so a name
+ * never means both.
+ */
+export type AnimationChannel = PartChannel | JointChannel;
 /**
  * 한 부품의 한 속성을 시간에 따라 움직인다. **glTF 의 channel + sampler 를 합친 것.**
  *
  * glTF 는 채널과 샘플러를 나누어 여러 채널이 한 샘플러를 나눠 쓸 수 있게 한다. 그건
  * 정점 데이터를 아끼려는 장치고, 손으로 적는 형식에서는 한 겹 더 들어갈 뿐이라 합쳤다.
+ *
+ * When the part is a descendant of a joint's child, the channel applies in that joint's frame.
  */
-export interface AnimationChannel {
+export interface PartChannel {
     /** 어느 부품인가. `FigurePart.name`. **노드 인덱스가 아니다** — 이 형식은 이름으로 가리킨다. */
     target: string;
     path: ChannelPath;
@@ -626,6 +673,47 @@ export interface FigurePart {
      * 점유자는 씬에서 `{ slotId, index }` 로 가리킨다 — 자리 하나에 칸이 여럿이다.
      */
     capability?: PartCapability;
+    /**
+     * The part this one is attached to (ADR-0066 decision 1).
+     *
+     * This is the only place a parent is written. A part without one hangs from the figure frame. A part
+     * that is a joint's `child` moves relative to this parent as the joint says; any other part moves
+     * rigidly with it. The parent chain must end at the figure frame: a cycle is an error.
+     *
+     * `transform` stays the rest pose in figure coordinates. The hierarchy is built by compile, so
+     * sizing rules and existing sources read the same numbers as before.
+     */
+    parent?: string;
+}
+/**
+ * A joint: how a part moves relative to its parent (ADR-0066).
+ *
+ * The joint has no `parent` field. Its parent is the `child` part's `FigurePart.parent`, so the parent is
+ * written in one place only. A part is the child of at most one joint.
+ *
+ * The rest pose, the pose every part's `transform` describes, is joint value 0. That is URDF's
+ * convention, and it is why `limits` must contain 0: the pose the figure was drawn in has to be one the
+ * machine can take.
+ *
+ * Values come through `parameters` (or a loop clip) with a `JointChannel` whose `target` is this joint's
+ * name. There is no second way to set a joint.
+ */
+export interface FigureJoint {
+    /** Stored identifier. Channels target it. Shares the name space with part names. */
+    name: string;
+    /** The part this joint moves. */
+    child: string;
+    type: JointType;
+    /** The point the joint turns about or slides from, in figure coordinates (edition 2: y from the base bottom). */
+    origin: Vec3;
+    /** Direction of turning (right-hand rule) or sliding. Need not be unit length; must not be zero. */
+    axis: Vec3;
+    /** Degrees for revolute, millimetres for prismatic. Must contain 0. Not allowed on continuous. */
+    limits?: JointLimits;
+}
+export interface JointLimits {
+    min: number;
+    max: number;
 }
 /**
  * 부품이 맡는 역할.
@@ -737,6 +825,8 @@ export interface FigureSource {
      * 있고, mixin 마다 선언이 있다.
      */
     capabilities?: readonly FigureCapability[];
+    /** How parts move relative to their parents (ADR-0066). See `FigureJoint`. */
+    joints?: FigureJoint[];
 }
 /** 청사진 스키마 버전. 형식이 바뀌면 올린다. */
 export declare const BLUEPRINT_VERSION = 1;
@@ -763,8 +853,9 @@ export type Centred<T> = T & {
     readonly [CENTRED]: true;
 };
 /** A source whose parts have been moved into box-centred coordinates by `centredSource`. */
-export type CentredSource = Centred<Omit<FigureSource, 'parts'> & {
+export type CentredSource = Centred<Omit<FigureSource, 'parts' | 'joints'> & {
     parts: Centred<FigurePart>[];
+    joints?: Centred<FigureJoint>[];
 }>;
 interface SizingSubjectShape {
     name: string;
@@ -818,6 +909,8 @@ export interface BlueprintAnchor extends SizingSubject {
     capacity?: number;
     /** 포트(port-in, port-out)의 법선/진출입 진행 방향 벡터. 기본값 `{ x: 0, y: 0, z: 1 }`. */
     direction?: Vec3;
+    /** The joint whose frame the anchor moves in. Missing means the figure frame. */
+    joint?: string;
 }
 /**
  * 재질별로 병합된 묶음. 2D · 3D 공통.
@@ -833,6 +926,34 @@ export interface BlueprintGroup {
     /** 움직이는 부품이 든 그룹인지. 그런 그룹은 부품을 하나만 갖는다. */
     animated: boolean;
     members: BlueprintMember[];
+    /**
+     * The joint whose frame this group moves in: the nearest joint on the members' parent chain. Missing
+     * means the figure frame. Groups merge only within one joint's frame, so the key is (joint, material).
+     */
+    joint?: string;
+}
+/**
+ * A joint as the runtime builds it: a node in the figure's hierarchy.
+ *
+ * Positions are box-centred, like every other blueprint position.
+ */
+export interface BlueprintJoint {
+    name: string;
+    type: JointType;
+    /** The part the joint moves. */
+    child: string;
+    /** Box-centred rest position of the point the joint turns about or slides from. */
+    origin: Vec3;
+    /** Unit length. */
+    axis: Vec3;
+    limits?: JointLimits;
+    /** The joint whose frame this joint sits in. Missing means the figure frame. */
+    parent?: string;
+    /**
+     * The child's parent part. The origin follows that part under sizing (ADR-0066 decision 3). Missing when
+     * the child hangs from the figure frame.
+     */
+    attach?: string;
 }
 /** 청사진의 clip. 원본에 적은 것 그대로다. */
 export type BlueprintClip = AnimationClip;
@@ -857,7 +978,7 @@ export interface Violation {
  * 처리를 정해야 하는데, 코드가 늘어난 것이 알려지지 않으면 그 대응이 빠진다. 뜻은
  * `docs/validation.md` 에 있고, 문서와 이 목록이 어긋나면 테스트가 실패한다.
  */
-export declare const ERROR_CODES: readonly ["not-object", "not-finite", "not-positive", "out-of-range", "not-integer", "not-boolean", "not-allowed", "missing-type", "source-version-unsupported", "missing-base", "missing-parts", "bad-style-kit", "missing-name", "duplicate-name", "missing-transform", "missing-position", "missing-size", "too-few-segments", "missing-shape-path", "bad-shape-point", "hollow-too-thick", "hollow-not-convex", "bad-aspect-axis", "missing-material", "material-unresolvable", "missing-repeat", "missing-channels", "unknown-channel-target", "too-few-keys", "keys-out-of-order", "missing-surface-ref", "missing-label-name", "missing-label-source", "bad-capability", "duplicate-capability", "bad-part-capability", "missing-range", "bad-range"];
+export declare const ERROR_CODES: readonly ["not-object", "not-finite", "not-positive", "out-of-range", "not-integer", "not-boolean", "not-allowed", "missing-type", "source-version-unsupported", "missing-base", "missing-parts", "bad-style-kit", "missing-name", "duplicate-name", "missing-transform", "missing-position", "missing-size", "too-few-segments", "missing-shape-path", "bad-shape-point", "hollow-too-thick", "hollow-not-convex", "bad-aspect-axis", "missing-material", "material-unresolvable", "missing-repeat", "missing-channels", "unknown-channel-target", "too-few-keys", "keys-out-of-order", "missing-surface-ref", "missing-label-name", "missing-label-source", "bad-capability", "duplicate-capability", "bad-part-capability", "missing-range", "bad-range", "unknown-parent", "parent-cycle", "unknown-joint-child", "joint-child-taken", "bad-joint-axis"];
 export type ErrorCode = (typeof ERROR_CODES)[number];
 /**
  * 위반 코드 전부. 위반은 컴파일을 막지 않는다 — 저작 화면이 알려 주는 데 쓴다.
@@ -963,6 +1084,11 @@ export interface FigureBlueprint {
      * 형식은 이름의 뜻을 모르고 판정하지도 않는다(`FigureSource.capabilities` 주석 참고).
      */
     capabilities: readonly string[];
+    /**
+     * Joints, parents before children. Missing or empty means every part is fixed to the figure frame, which
+     * is every blueprint compiled before joints existed.
+     */
+    joints?: BlueprintJoint[];
     violations: Violation[];
 }
 /**

package/dist/types.d.ts.map

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package/dist/types.js

@@ -198,6 +198,17 @@ export const CHANNEL_PATHS = ['translation', 'rotation', 'scale'];
 /** 키프레임 사이를 어떻게 잇나. glTF 의 `CUBICSPLINE` 은 없다 — 접선을 손으로 적을 형식이 아니다. */
 export const INTERPOLATIONS = ['linear', 'step'];
 export const AXES = ['x', 'y', 'z'];
+/**
+ * How a joint moves its child part relative to the parent (ADR-0066).
+ *
+ *   revolute     turns about `axis` within `limits`, in degrees
+ *   prismatic    slides along `axis` within `limits`, in millimetres
+ *   continuous   turns about `axis` without limits, in degrees
+ *
+ * These are URDF's three moving joint types. A fixed attachment is not a joint: a part names its parent
+ * with `FigurePart.parent` and moves with it.
+ */
+export const JOINT_TYPES = ['revolute', 'prismatic', 'continuous'];
 /** 텍스트를 언제 보이나. 표현 수단(sprite·overlay)은 런타임이 고른다. */
 export const LABEL_WHENS = ['always', 'zoomed', 'selected', 'abnormal'];
 /**
@@ -301,7 +312,13 @@ export const ERROR_CODES = [
       값을 줄 수가 없다.** 단위도 마찬가지다 — 화면이 「1200」만 보이고 무슨 수인지 못 말한다.
     */
     'missing-range',
-    'bad-range'
+    'bad-range',
+    /* Hierarchy and joints (ADR-0066) */
+    'unknown-parent',
+    'parent-cycle',
+    'unknown-joint-child',
+    'joint-child-taken',
+    'bad-joint-axis'
 ];
 /**
  * 위반 코드 전부. 위반은 컴파일을 막지 않는다 — 저작 화면이 알려 주는 데 쓴다.

package/dist/types.js.map

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package/dist/validate.d.ts.map

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