@hatiolab/figure-model 0.1.33 → 0.1.34

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (30) hide show
  1. package/dist/index.d.ts +3 -1
  2. package/dist/index.d.ts.map +1 -1
  3. package/dist/index.js +3 -1
  4. package/dist/index.js.map +1 -1
  5. package/dist/v3-asset-types.d.ts +24 -0
  6. package/dist/v3-asset-types.d.ts.map +1 -1
  7. package/dist/v3-asset.d.ts.map +1 -1
  8. package/dist/v3-asset.js +4 -2
  9. package/dist/v3-asset.js.map +1 -1
  10. package/dist/v3-driver.d.ts +16 -0
  11. package/dist/v3-driver.d.ts.map +1 -0
  12. package/dist/v3-driver.js +145 -0
  13. package/dist/v3-driver.js.map +1 -0
  14. package/dist/v3-from-v2.d.ts +54 -8
  15. package/dist/v3-from-v2.d.ts.map +1 -1
  16. package/dist/v3-from-v2.js +700 -92
  17. package/dist/v3-from-v2.js.map +1 -1
  18. package/dist/v3-gate.d.ts +3 -0
  19. package/dist/v3-gate.d.ts.map +1 -1
  20. package/dist/v3-gate.js +4 -1
  21. package/dist/v3-gate.js.map +1 -1
  22. package/dist/v3-graph-types.d.ts +1 -1
  23. package/dist/v3-graph-types.d.ts.map +1 -1
  24. package/dist/v3-graph.d.ts +7 -1
  25. package/dist/v3-graph.d.ts.map +1 -1
  26. package/dist/v3-graph.js +75 -12
  27. package/dist/v3-graph.js.map +1 -1
  28. package/docs/v3-motion-contract.md +178 -0
  29. package/docs/v3-operator-contracts.md +1 -0
  30. package/package.json +1 -1
package/dist/v3-from-v2.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/v3-gate.d.ts CHANGED
@@ -5,7 +5,10 @@ import type { V3Geometry } from './v3-graph-types.ts';
5
5
  export interface V3WorldBox {
6
6
  part: string;
7
7
  centre: Vec3;
8
+ /** Axis-aligned world extents, what the occupancy gate measures. */
8
9
  extent: Vec3;
10
+ /** Local dimensions along the body's own axes, what the "same" comparison measures under rotation. */
11
+ dims: [number, number, number];
9
12
  rotation: number[][];
10
13
  }
11
14
  /** Axis-aligned world boxes of evaluated geometry. `part` is the placing node: a `place@1` id or the repeated member. */
package/dist/v3-gate.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"v3-gate.d.ts","sourceRoot":"","sources":["../src/v3-gate.ts"],"names":[],"mappings":"AAyBA,OAAO,KAAK,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,YAAY,CAAA;AAC5C,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,qBAAqB,CAAA;AAClD,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,qBAAqB,CAAA;AAErD,+FAA+F;AAC/F,MAAM,WAAW,UAAU;IACzB,IAAI,EAAE,MAAM,CAAA;IACZ,MAAM,EAAE,IAAI,CAAA;IACZ,MAAM,EAAE,IAAI,CAAA;IACZ,QAAQ,EAAE,MAAM,EAAE,EAAE,CAAA;CACrB;AAED,yHAAyH;AACzH,wBAAgB,cAAc,CAAC,QAAQ,EAAE,SAAS,UAAU,EAAE,EAAE,OAAO,EAAE,WAAW,CAAC,MAAM,EAAE,MAAM,CAAC,GAAG,UAAU,EAAE,CAsBlH;AAED,+CAA+C;AAC/C,wBAAgB,WAAW,CAAC,KAAK,EAAE,OAAO,GAAG,GAAG,CAAC,MAAM,EAAE,MAAM,CAAC,CAI/D;AAED,MAAM,WAAW,WAAW;IAC1B,IAAI,EAAE,sBAAsB,GAAG,wBAAwB,GAAG,0BAA0B,CAAA;IACpF,iFAAiF;IACjF,IAAI,CAAC,EAAE,MAAM,CAAA;IACb,IAAI,CAAC,EAAE,IAAI,CAAA;IACX,oDAAoD;IACpD,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,MAAM,EAAE,MAAM,CAAA;CACf;AAED,MAAM,WAAW,YAAY;IAC3B,6FAA6F;IAC7F,MAAM,CAAC,EAAE,IAAI,CAAA;IACb,SAAS,CAAC,EAAE,OAAO,GAAG,SAAS,GAAG,QAAQ,CAAA;IAC1C,UAAU,EAAE,WAAW,EAAE,CAAA;CAC1B;AAED;;;GAGG;AACH,wBAAgB,cAAc,CAAC,KAAK,EAAE,OAAO,EAAE,cAAc,GAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAM,GAAG,YAAY,CAqExG"}
1
+ {"version":3,"file":"v3-gate.d.ts","sourceRoot":"","sources":["../src/v3-gate.ts"],"names":[],"mappings":"AAyBA,OAAO,KAAK,EAAE,IAAI,EAAE,IAAI,EAAE,MAAM,YAAY,CAAA;AAC5C,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,qBAAqB,CAAA;AAClD,OAAO,KAAK,EAAE,UAAU,EAAE,MAAM,qBAAqB,CAAA;AAErD,+FAA+F;AAC/F,MAAM,WAAW,UAAU;IACzB,IAAI,EAAE,MAAM,CAAA;IACZ,MAAM,EAAE,IAAI,CAAA;IACZ,oEAAoE;IACpE,MAAM,EAAE,IAAI,CAAA;IACZ,sGAAsG;IACtG,IAAI,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;IAC9B,QAAQ,EAAE,MAAM,EAAE,EAAE,CAAA;CACrB;AAED,yHAAyH;AACzH,wBAAgB,cAAc,CAAC,QAAQ,EAAE,SAAS,UAAU,EAAE,EAAE,OAAO,EAAE,WAAW,CAAC,MAAM,EAAE,MAAM,CAAC,GAAG,UAAU,EAAE,CAyBlH;AAED,+CAA+C;AAC/C,wBAAgB,WAAW,CAAC,KAAK,EAAE,OAAO,GAAG,GAAG,CAAC,MAAM,EAAE,MAAM,CAAC,CAI/D;AAED,MAAM,WAAW,WAAW;IAC1B,IAAI,EAAE,sBAAsB,GAAG,wBAAwB,GAAG,0BAA0B,CAAA;IACpF,iFAAiF;IACjF,IAAI,CAAC,EAAE,MAAM,CAAA;IACb,IAAI,CAAC,EAAE,IAAI,CAAA;IACX,oDAAoD;IACpD,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,MAAM,EAAE,MAAM,CAAA;CACf;AAED,MAAM,WAAW,YAAY;IAC3B,6FAA6F;IAC7F,MAAM,CAAC,EAAE,IAAI,CAAA;IACb,SAAS,CAAC,EAAE,OAAO,GAAG,SAAS,GAAG,QAAQ,CAAA;IAC1C,UAAU,EAAE,WAAW,EAAE,CAAA;CAC1B;AAED;;;GAGG;AACH,wBAAgB,cAAc,CAAC,KAAK,EAAE,OAAO,EAAE,cAAc,GAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAM,GAAG,YAAY,CAqExG"}
package/dist/v3-gate.js CHANGED
@@ -33,13 +33,16 @@ export function v3WorldBoxesOf(geometry, writers) {
33
33
  ? [d.radius * 2, d.length, d.radius * 2]
34
34
  : g.shape.provider === 'sphere'
35
35
  ? [d.radiusX * 2, d.radiusY * 2, d.radiusZ * 2]
36
- : [d.width, d.height, d.depth];
36
+ : g.shape.provider === 'frustum'
37
+ ? [Math.max(d.radiusTop, d.radiusBottom) * 2, d.height, Math.max(d.radiusTop, d.radiusBottom) * 2]
38
+ : [d.width, d.height, d.depth];
37
39
  const r = g.pose.r;
38
40
  const extent = AXES.map((_, a) => local.reduce((s, v, i) => s + Math.abs(r[a][i]) * v, 0));
39
41
  out.push({
40
42
  part,
41
43
  centre: { x: g.pose.t[0], y: g.pose.t[1], z: g.pose.t[2] },
42
44
  extent: { x: extent[0], y: extent[1], z: extent[2] },
45
+ dims: local,
43
46
  rotation: r
44
47
  });
45
48
  }
package/dist/v3-gate.js.map CHANGED
@@ -1 +1 @@
1
- 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+ 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package/dist/v3-graph-types.d.ts CHANGED
@@ -45,7 +45,7 @@ export interface V3Pose {
45
45
  t: number[];
46
46
  }
47
47
  export interface V3Shape {
48
- provider: 'box' | 'cylinder' | 'roundedBox' | 'portal' | 'sphere' | 'polygon' | 'hollowBox';
48
+ provider: 'box' | 'cylinder' | 'roundedBox' | 'portal' | 'sphere' | 'polygon' | 'hollowBox' | 'frustum';
49
49
  dimensions: Record<string, number>;
50
50
  profile?: Array<{
51
51
  id: string;
package/dist/v3-graph-types.d.ts.map CHANGED
@@ -1 +1 @@
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package/dist/v3-graph.d.ts CHANGED
@@ -4,10 +4,16 @@ export { ContractError };
4
4
  /** Every operator the kernel knows, by name. `v3-graph.test.ts` holds the list still. */
5
5
  export declare const V3_OPERATORS: readonly string[];
6
6
  /**
7
- * The operators whose output is not affine in the design inputs. `geomean@1` is the only one
7
+ * The operators whose output is not affine in the **design** inputs. `geomean@1` is the only one
8
8
  * (ADR-0087 decision 2 addendum). Adding a second means another ADR conversation, and the test that
9
9
  * pins this list goes red until it has happened.
10
10
  */
11
11
  export declare const V3_NON_AFFINE_OPERATORS: readonly string[];
12
+ /**
13
+ * The operators whose output is not affine in a **state** input: a rotation matrix is sin/cos in the joint
14
+ * angle (motion contract, "two corrections"). Rigid in space, so placement stays rigid; the 8-size check is a
15
+ * rest-pose regression check and says nothing about motion.
16
+ */
17
+ export declare const V3_STATE_NON_AFFINE_OPERATORS: readonly string[];
12
18
  export declare function compileV3Graph(source: unknown): V3CompiledGraph;
13
19
  //# sourceMappingURL=v3-graph.d.ts.map
package/dist/v3-graph.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"v3-graph.d.ts","sourceRoot":"","sources":["../src/v3-graph.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,eAAe,IAAI,aAAa,EAAE,MAAM,kBAAkB,CAAA;AACnE,OAAO,KAAK,EAAE,eAAe,EAAwB,MAAM,qBAAqB,CAAA;AAWhF,OAAO,EAAE,aAAa,EAAE,CAAA;AAqkBxB,yFAAyF;AACzF,eAAO,MAAM,YAAY,EAAE,SAAS,MAAM,EAAoC,CAAA;AAE9E;;;;GAIG;AACH,eAAO,MAAM,uBAAuB,EAAE,SAAS,MAAM,EAAiC,CAAA;AAgBtF,wBAAgB,cAAc,CAAC,MAAM,EAAE,OAAO,GAAG,eAAe,CAE/D"}
1
+ {"version":3,"file":"v3-graph.d.ts","sourceRoot":"","sources":["../src/v3-graph.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,eAAe,IAAI,aAAa,EAAE,MAAM,kBAAkB,CAAA;AACnE,OAAO,KAAK,EAAE,eAAe,EAAwB,MAAM,qBAAqB,CAAA;AAWhF,OAAO,EAAE,aAAa,EAAE,CAAA;AA8nBxB,yFAAyF;AACzF,eAAO,MAAM,YAAY,EAAE,SAAS,MAAM,EAAoC,CAAA;AAE9E;;;;GAIG;AACH,eAAO,MAAM,uBAAuB,EAAE,SAAS,MAAM,EAAiC,CAAA;AAEtF;;;;GAIG;AACH,eAAO,MAAM,6BAA6B,EAAE,SAAS,MAAM,EAAmC,CAAA;AAgB9F,wBAAgB,cAAc,CAAC,MAAM,EAAE,OAAO,GAAG,eAAe,CAE/D"}
package/dist/v3-graph.js CHANGED
@@ -385,6 +385,44 @@ Object.assign(ops, {
385
385
  ];
386
386
  }
387
387
  },
388
+ // Motion (docs/v3-motion-contract.md). The axis is a unit vector in the `to` frame; right-handed rotation.
389
+ // axis-turn@1 is rigid in space but sin/cos in q: not affine in a state input.
390
+ 'axis-turn@1': {
391
+ ports: ['pose'],
392
+ params: ['from', 'to'],
393
+ types(t, p, n) {
394
+ requireTypes(t, [ratio, ratio, ratio, angle], p);
395
+ return [transformType(n.params.from, n.params.to)];
396
+ },
397
+ run: ([ax, ay, az, q], p) => {
398
+ if (Math.abs(Math.hypot(ax, ay, az) - 1) > 1e-9)
399
+ fail('AXIS', p, 'unit axis required');
400
+ const c = Math.cos(q), s = Math.sin(q), k = 1 - c;
401
+ return [
402
+ {
403
+ r: [
404
+ [c + ax * ax * k, ax * ay * k - az * s, ax * az * k + ay * s],
405
+ [ay * ax * k + az * s, c + ay * ay * k, ay * az * k - ax * s],
406
+ [az * ax * k - ay * s, az * ay * k + ax * s, c + az * az * k]
407
+ ],
408
+ t: [0, 0, 0]
409
+ }
410
+ ];
411
+ }
412
+ },
413
+ 'axis-slide@1': {
414
+ ports: ['pose'],
415
+ params: ['from', 'to'],
416
+ types(t, p, n) {
417
+ requireTypes(t, [ratio, ratio, ratio, length], p);
418
+ return [transformType(n.params.from, n.params.to)];
419
+ },
420
+ run: ([ax, ay, az, q], p) => {
421
+ if (Math.abs(Math.hypot(ax, ay, az) - 1) > 1e-9)
422
+ fail('AXIS', p, 'unit axis required');
423
+ return [{ r: identity(), t: [ax * q, ay * q, az * q] }];
424
+ }
425
+ },
388
426
  'compose@1': {
389
427
  ports: ['pose'],
390
428
  types(t, p) {
@@ -473,6 +511,21 @@ Object.assign(ops, {
473
511
  return [{ provider: 'sphere', dimensions: { radiusX, radiusY, radiusZ } }];
474
512
  }
475
513
  },
514
+ // A cylinder whose two ends have different radii (ADR-0087 decision 2 ruling 1). Equal radii make a cylinder,
515
+ // a zero radius a cone. The axis is local Y; `radiusTop` is at +Y as three's CylinderGeometry orders them.
516
+ 'frustum-shape@1': {
517
+ ports: ['shape'],
518
+ params: ['frame'],
519
+ types(t, p, n) {
520
+ requireTypes(t, [length, length, length], p);
521
+ return [{ kind: 'shape', provider: 'frustum', frame: n.params.frame }];
522
+ },
523
+ run: ([radiusTop, radiusBottom, height], p) => {
524
+ if (!(height > 0 && radiusTop >= 0 && radiusBottom >= 0 && radiusTop + radiusBottom > 0))
525
+ fail('GEOMETRY_DOMAIN', p, 'positive height and non-negative radii, not both zero, required');
526
+ return [{ provider: 'frustum', dimensions: { radiusTop, radiusBottom, height } }];
527
+ }
528
+ },
476
529
  // A closed section in the local X–Z plane (profile x → X, profile y → Z, as V2 draws it), pushed along Y.
477
530
  'polygon-shape@1': {
478
531
  ports: ['shape'],
@@ -523,7 +576,9 @@ Object.assign(ops, {
523
576
  ? ['left', 'right', 'bottom', 'top', 'back', 'front']
524
577
  : t[0].provider === 'polygon'
525
578
  ? ['bottom', 'top']
526
- : ['start', 'end', 'radialBottom'];
579
+ : t[0].provider === 'frustum'
580
+ ? ['start', 'end']
581
+ : ['start', 'end', 'radialBottom'];
527
582
  if (!names.includes(n.params.name))
528
583
  fail('UNKNOWN_FEATURE', p, n.params.name);
529
584
  // Provider-aligned feature axes, not outward-normal mating axes.
@@ -549,16 +604,18 @@ Object.assign(ops, {
549
604
  }
550
605
  : s.provider === 'polygon'
551
606
  ? { bottom: [0, -d.height / 2, 0], top: [0, d.height / 2, 0] }
552
- : ['box', 'roundedBox', 'hollowBox'].includes(s.provider)
553
- ? {
554
- left: [-d.width / 2, 0, 0],
555
- right: [d.width / 2, 0, 0],
556
- bottom: [0, -d.height / 2, 0],
557
- top: [0, d.height / 2, 0],
558
- back: [0, 0, -d.depth / 2],
559
- front: [0, 0, d.depth / 2]
560
- }
561
- : { start: [0, -d.length / 2, 0], end: [0, d.length / 2, 0], radialBottom: [0, 0, -d.radius] };
607
+ : s.provider === 'frustum'
608
+ ? { start: [0, -d.height / 2, 0], end: [0, d.height / 2, 0] }
609
+ : ['box', 'roundedBox', 'hollowBox'].includes(s.provider)
610
+ ? {
611
+ left: [-d.width / 2, 0, 0],
612
+ right: [d.width / 2, 0, 0],
613
+ bottom: [0, -d.height / 2, 0],
614
+ top: [0, d.height / 2, 0],
615
+ back: [0, 0, -d.depth / 2],
616
+ front: [0, 0, d.depth / 2]
617
+ }
618
+ : { start: [0, -d.length / 2, 0], end: [0, d.length / 2, 0], radialBottom: [0, 0, -d.radius] };
562
619
  return [{ r: identity(), t: points[n.params.name] }];
563
620
  }
564
621
  },
@@ -578,11 +635,17 @@ ops['member@1'] = { ...ops['place@1'], geometry: undefined };
578
635
  /** Every operator the kernel knows, by name. `v3-graph.test.ts` holds the list still. */
579
636
  export const V3_OPERATORS = Object.freeze(Object.keys(ops));
580
637
  /**
581
- * The operators whose output is not affine in the design inputs. `geomean@1` is the only one
638
+ * The operators whose output is not affine in the **design** inputs. `geomean@1` is the only one
582
639
  * (ADR-0087 decision 2 addendum). Adding a second means another ADR conversation, and the test that
583
640
  * pins this list goes red until it has happened.
584
641
  */
585
642
  export const V3_NON_AFFINE_OPERATORS = Object.freeze(['geomean@1']);
643
+ /**
644
+ * The operators whose output is not affine in a **state** input: a rotation matrix is sin/cos in the joint
645
+ * angle (motion contract, "two corrections"). Rigid in space, so placement stays rigid; the 8-size check is a
646
+ * rest-pose regression check and says nothing about motion.
647
+ */
648
+ export const V3_STATE_NON_AFFINE_OPERATORS = Object.freeze(['axis-turn@1']);
586
649
  function checkedValue(value, type, path) {
587
650
  if (Array.isArray(type))
588
651
  return num(value, path);