@hatiolab/figure-model 0.1.22 → 0.1.24

package/dist/release-contract.js

@@ -0,0 +1,204 @@
+import { compile } from "./blueprint.js";
+import { repeatPlan } from "./sizing.js";
+/**
+ * 이 자리가 `size` 만 한 인스턴스에서 몇 칸인가. 씬이 `maxCount` 를 세는 식과 같다.
+ *
+ * 배율은 그 크기를 제 기준 상자로 나눈 값이다 — 씬이 놓인 컴포넌트의 크기로 배율을 구하는 것과
+ * 같은 셈이라, 판이 달라도 같은 크기의 인스턴스를 견주게 된다.
+ */
+function countAt(anchor, base, size) {
+    const scale = { x: size.x / base.x, y: size.y / base.y, z: size.z / base.z };
+    const plan = repeatPlan(anchor, scale, base);
+    if (plan)
+        return plan.count;
+    return anchor.capacity ?? 1;
+}
+function rolesOf(anchor) {
+    return [...anchor.roles].sort().join(' · ');
+}
+/**
+ * 견줄 수 있는 모습으로 편다. 청사진에서 읽는 이유는 **소비자가 읽는 것이 청사진**이기 때문이다 —
+ * 정본에 어떻게 적혀 있든 소비처에 가는 것은 컴파일된 결과다.
+ */
+function interfaceOf(source, at) {
+    const blueprint = compile(source);
+    const base = blueprint.base;
+    const size = at ?? base;
+    return {
+        base,
+        placement: source.placement ?? 'floor',
+        anchors: new Map((blueprint.anchors ?? []).map(anchor => [anchor.name, anchor])),
+        counts: new Map((blueprint.anchors ?? []).map(anchor => [anchor.name, countAt(anchor, base, size)])),
+        parameters: new Map((source.parameters ?? []).map(one => [one.name, one])),
+        capabilities: new Set(source.capabilities ?? [])
+    };
+}
+/** 두 수가 같은가. 비율은 나눈 값이라 자리끝이 흔들린다. */
+function same(a, b) {
+    return Math.abs(a - b) < 1e-9;
+}
+/**
+ * 직전 발행판과 견준다. **둘 다 컴파일되는 정본이어야 한다** — 부르는 쪽이 새 정본을 먼저
+ * 검사하고, 앞의 것은 발행될 때 이미 통과한 것이다.
+ *
+ * 낸 목록이 비어 있으면 이 발행은 놓인 것을 건드리지 않는다.
+ */
+export function contractChanges(before, after) {
+    const was = interfaceOf(before);
+    // 칸 수는 **앞 발행판의 크기에서** 센다. 그 크기가 놓여 있는 것들이 실제로 든 크기다.
+    const now = interfaceOf(after, was.base);
+    const changes = [];
+    /*
+      비율을 먼저 본다. 두 축을 같은 배로 키운 것은 비율이 같아 여기 안 걸리고 절대 크기 알림만 낸다 —
+      ADR-0044 ④ 가 요구하는 「넘침을 base 하나로 고치는」 길이 막히지 않게 하는 것이 그 줄이다.
+    */
+    const wasRatio = was.base.x / was.base.z;
+    const nowRatio = now.base.x / now.base.z;
+    if (!same(wasRatio, nowRatio)) {
+        changes.push({
+            code: 'base-ratio-changed',
+            blocking: true,
+            message: `기준 상자의 x:z 비율이 ${wasRatio.toFixed(3)} 에서 ${nowRatio.toFixed(3)} 로 달라졌다 (${was.base.x}×${was.base.z} → ${now.base.x}×${now.base.z})`,
+            why: '도면은 너비와 높이만 저장하고 배율을 width/base.x · height/base.z 로 구한다. 비율이 달라지면 이미 놓인 인스턴스가 전부 찌그러진다.'
+        });
+    }
+    else if (!same(was.base.x, now.base.x) || !same(was.base.y, now.base.y) || !same(was.base.z, now.base.z)) {
+        changes.push({
+            code: 'base-size-changed',
+            blocking: false,
+            message: `기준 상자가 ${was.base.x}×${was.base.y}×${was.base.z} 에서 ${now.base.x}×${now.base.y}×${now.base.z} 로 달라졌다`,
+            why: '비율이 같아 모양은 견디지만, 실척으로 놓인 인스턴스는 크기가 맞지 않게 된다.'
+        });
+    }
+    if (was.placement !== now.placement) {
+        changes.push({
+            code: 'placement-changed',
+            blocking: true,
+            message: `배치 기준이 ${was.placement} 에서 ${now.placement} 로 달라졌다`,
+            why: '놓인 인스턴스의 높이를 배치 기준이 정한다. floor 가 ceiling 이 되면 놓인 것이 전부 천장으로 간다.'
+        });
+    }
+    for (const [name, anchor] of was.anchors) {
+        const next = now.anchors.get(name);
+        if (!next) {
+            changes.push({
+                code: 'interface-gone',
+                blocking: true,
+                subject: name,
+                message: `${rolesOf(anchor)} 「${name}」 이 없어졌다`,
+                why: '그 이름으로 물건을 앉히거나 연결선을 매던 쪽에서 조용히 없는 것이 된다. 이름을 바꾸는 것도 여기에 걸린다 — 부르는 쪽은 옛 이름을 든다.'
+            });
+            continue;
+        }
+        if (rolesOf(anchor) !== rolesOf(next)) {
+            changes.push({
+                code: 'interface-gone',
+                blocking: true,
+                subject: name,
+                message: `「${name}」 의 역할이 ${rolesOf(anchor)} 에서 ${rolesOf(next)} 로 달라졌다`,
+                why: '자리였던 것이 문이 되면 거기 있던 물건의 자리가 없어진다.'
+            });
+        }
+        const wasCount = was.counts.get(name) ?? 1;
+        const nowCount = now.counts.get(name) ?? 1;
+        if (wasCount !== nowCount) {
+            changes.push({
+                code: 'slot-count-changed',
+                blocking: true,
+                subject: name,
+                message: `「${name}」 의 칸 수가 ${was.base.x}×${was.base.y}×${was.base.z} 인스턴스에서 ${wasCount} 에서 ${nowCount} 로 달라졌다`,
+                why: '앞 발행판과 같은 크기에서 센 수다. 반복하는 자리는 간격이 칸 수를 정하므로 기준 상자를 안 건드려도 달라지고, 줄면 거기 든 것이 갈 곳을 잃는다.'
+            });
+        }
+        const wasAccepts = anchor.accepts;
+        const nowAccepts = next.accepts;
+        if (wasAccepts?.length) {
+            const narrowed = nowAccepts?.length ? wasAccepts.filter(one => !nowAccepts.includes(one)) : [];
+            // 목록이 아예 없어진 것은 「아무거나」라 넓어진 것이다.
+            if (narrowed.length > 0) {
+                changes.push({
+                    code: 'accepts-narrowed',
+                    blocking: false,
+                    subject: name,
+                    message: `「${name}」 이 ${narrowed.join(' · ')} 를 더 받지 않는다`,
+                    why: '이미 든 것은 그대로 있고, 다음에 놓는 것부터 거절된다.'
+                });
+            }
+        }
+    }
+    for (const name of now.anchors.keys()) {
+        if (was.anchors.has(name))
+            continue;
+        const anchor = now.anchors.get(name);
+        changes.push({
+            code: 'interface-added',
+            blocking: false,
+            subject: name,
+            message: `${rolesOf(anchor)} 「${name}」 이 새로 생겼다`,
+            why: '놓인 것은 이 자리를 모르므로 지금 그대로 서 있는다.'
+        });
+    }
+    for (const [name, parameter] of was.parameters) {
+        const next = now.parameters.get(name);
+        if (!next) {
+            changes.push({
+                code: 'interface-gone',
+                blocking: true,
+                subject: name,
+                message: `파라미터 「${name}」 이 없어졌다`,
+                why: '인스턴스가 그 이름으로 값을 준다. 없어지면 그 값이 아무 일도 하지 않고, 왜 안 움직이는지 화면에는 아무 말도 안 나온다.'
+            });
+            continue;
+        }
+        const wasUnit = parameter.range?.unit;
+        const nowUnit = next.range?.unit;
+        if (wasUnit !== nowUnit) {
+            changes.push({
+                code: 'interface-gone',
+                blocking: true,
+                subject: name,
+                message: `파라미터 「${name}」 의 단위가 ${wasUnit ?? '없음'} 에서 ${nowUnit ?? '없음'} 로 달라졌다`,
+                why: '인스턴스가 저장해 둔 수는 그대로다. 단위가 바뀌면 같은 수가 다른 뜻이 되어, 1200mm 내려와 있던 호이스트가 1200도 돈다.'
+            });
+        }
+    }
+    for (const name of now.parameters.keys()) {
+        if (was.parameters.has(name))
+            continue;
+        changes.push({
+            code: 'interface-added',
+            blocking: false,
+            subject: name,
+            message: `파라미터 「${name}」 이 새로 생겼다`,
+            why: '값을 안 주면 기본값에 선다.'
+        });
+    }
+    for (const capability of was.capabilities) {
+        if (now.capabilities.has(capability))
+            continue;
+        changes.push({
+            code: 'interface-gone',
+            blocking: true,
+            subject: capability,
+            message: `능력 「${capability}」 이 없어졌다`,
+            why: '그 능력으로 물건을 받고 보내던 씬이 있다. 능력이 빠지면 그 컴포넌트는 물건을 받을 수 없게 된다.'
+        });
+    }
+    for (const capability of now.capabilities) {
+        if (was.capabilities.has(capability))
+            continue;
+        changes.push({
+            code: 'interface-added',
+            blocking: false,
+            subject: capability,
+            message: `능력 「${capability}」 이 새로 생겼다`,
+            why: '없던 일을 더 하는 것이라 놓인 것은 그대로 서 있는다.'
+        });
+    }
+    return changes;
+}
+/** 이 발행이 놓인 것을 깨나. `contractChanges` 를 부르는 쪽의 편의. */
+export function breaksContract(changes) {
+    return changes.some(one => one.blocking);
+}
+//# sourceMappingURL=release-contract.js.map

package/dist/release-contract.js.map

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package/dist/sizing.d.ts

@@ -157,6 +157,21 @@ export declare function sizingScale(member: SizingSubject, scale: InstanceScale,
  *   stretch  양쪽을 다 지키므로 자리는 두 끝의 가운데다
  */
 export declare function sizingPosition(member: SizingSubject, scale: InstanceScale, base: Vec3): Vec3;
+/**
+ * Where a joint's origin sits at an instance scale, in the frame `sizingPosition` answers in: before the
+ * parent applies the instance scale (ADR-0066 decision 3).
+ *
+ * The origin is a point fixed to the part it is attached to (the joint child's parent part), so it
+ * follows that part under sizing: it moves with the part's seat and keeps its offset from the part's
+ * centre at the part's own scale. With no parent part the origin hangs from the figure frame and only
+ * the instance scale moves it, which is the rest position unchanged in this frame.
+ *
+ * Sizing is solved in the rest pose. The joint's own movement is applied afterwards, as a rigid
+ * transform, so turning a child never shears it under a lopsided instance.
+ */
+export declare function jointOriginPosition(joint: {
+    origin: Vec3;
+}, attach: SizingSubject | undefined, scale: InstanceScale, base: Vec3): Vec3;
 /**
  * `repeat` 를 몇 개로 펼치나.
  *

package/dist/sizing.d.ts.map

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package/dist/sizing.js

@@ -448,6 +448,31 @@ export function sizingPosition(member, scale, base) {
     }
     return out;
 }
+/**
+ * Where a joint's origin sits at an instance scale, in the frame `sizingPosition` answers in: before the
+ * parent applies the instance scale (ADR-0066 decision 3).
+ *
+ * The origin is a point fixed to the part it is attached to (the joint child's parent part), so it
+ * follows that part under sizing: it moves with the part's seat and keeps its offset from the part's
+ * centre at the part's own scale. With no parent part the origin hangs from the figure frame and only
+ * the instance scale moves it, which is the rest position unchanged in this frame.
+ *
+ * Sizing is solved in the rest pose. The joint's own movement is applied afterwards, as a rigid
+ * transform, so turning a child never shears it under a lopsided instance.
+ */
+export function jointOriginPosition(joint, attach, scale, base) {
+    const { origin } = joint;
+    if (!attach)
+        return { ...origin };
+    const seat = sizingPosition(attach, scale, base);
+    const own = sizingScale(attach, scale, base);
+    const centre = attach.transform.position;
+    return {
+        x: seat.x + (origin.x - centre.x) * own.x,
+        y: seat.y + (origin.y - centre.y) * own.y,
+        z: seat.z + (origin.z - centre.z) * own.z
+    };
+}
 const AXES = ['x', 'y', 'z'];
 /** 0 이나 음수로 나누지 않는다 — 인스턴스 크기가 0 인 순간이 실제로 있다(막 놓았을 때). */
 function safeUndo(value) {

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.