@hatiolab/figure-model 0.1.59 → 0.1.61

package/dist/v3-authoring-actions.d.ts

@@ -49,6 +49,13 @@ export interface V3Joint {
         gap?: V3Measure;
         align?: Partial<Record<Axis, V3FaceAlignment>>;
         turn?: Partial<Record<Axis, number>>;
+        /**
+         * Degrees about the normal of the face the child is fastened by (r3 §6's twist): the faces still meet, so any
+         * angle holds -- a fan's blades at 120°, a spoke at 45°. `turn` stays quarter turns. Twisted, the child's place
+         * across the face is measured from the face's centre in the twisted frame: a blade `align.x.mm` 200 out and
+         * twisted 120° stands 200 out along the blade, about the hub. Edges cannot be lined up with a twisted child.
+         */
+        twist?: number;
     };
     /** The axis a moving joint turns about or slides along, in the joint frame (USD `physics:axis`). */
     axis?: V3JointAxis;
@@ -175,6 +182,8 @@ export type V3AuthoringAction =
     facing?: 'meet' | 'flush';
     gap?: V3Measure;
     align?: Partial<Record<Axis, V3FaceAlignment>>;
+    /** Degrees about the face's normal (the record's `origin.twist`). */
+    twist?: number;
     replace?: boolean;
 }
 /** "This part is not fastened to anything any more." It keeps where it is now, in the asset frame. */

package/dist/v3-authoring-actions.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"v3-authoring-actions.d.ts","sourceRoot":"","sources":["../src/v3-authoring-actions.ts"],"names":[],"mappings":"AA6BA,OAAO,KAAK,EAAE,IAAI,EAAE,MAAM,YAAY,CAAA;AACtC,OAAO,KAAK,EAAE,OAAO,EAAE,MAAM,qBAAqB,CAAA;AAOlD,6EAA6E;AAC7E,eAAO,MAAM,QAAQ;;;;;;;CAAmF,CAAA;AACxG,MAAM,MAAM,MAAM,GAAG,MAAM,OAAO,QAAQ,CAAA;AAE1C;;;;GAIG;AACH,eAAO,MAAM,cAAc,6CAA8C,CAAA;AACzE,MAAM,MAAM,WAAW,GAAG,CAAC,OAAO,cAAc,CAAC,CAAC,MAAM,CAAC,CAAA;AACzD,gCAAgC;AAChC,MAAM,MAAM,WAAW,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;AAEzC;;;;;;;;;;GAUG;AACH,MAAM,WAAW,OAAO;IACtB,EAAE,EAAE,MAAM,CAAA;IACV,IAAI,EAAE,WAAW,CAAA;IACjB,KAAK,EAAE;QAAE,IAAI,EAAE,MAAM,CAAC;QAAC,IAAI,EAAE,MAAM,CAAA;KAAE,GAAG;QAAE,KAAK,EAAE,gBAAgB,CAAA;KAAE,CAAA;IACnE,KAAK,EAAE;QAAE,IAAI,EAAE,MAAM,CAAC;QAAC,IAAI,EAAE,MAAM,CAAA;KAAE,CAAA;IACrC,uGAAuG;IACvG,MAAM,CAAC,EAAE;QACP,MAAM,CAAC,EAAE,MAAM,GAAG,OAAO,CAAA;QACzB,GAAG,CAAC,EAAE,SAAS,CAAA;QACf,KAAK,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,eAAe,CAAC,CAAC,CAAA;QAC9C,IAAI,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAA;QACpC;;;;;WAKG;QACH,KAAK,CAAC,EAAE,MAAM,CAAA;KACf,CAAA;IACD,oGAAoG;IACpG,IAAI,CAAC,EAAE,WAAW,CAAA;IAClB,wGAAwG;IACxG,UAAU,CAAC,EAAE,MAAM,CAAA;IACnB,UAAU,CAAC,EAAE,MAAM,CAAA;IACnB;;;OAGG;IACH,MAAM,CAAC,EAAE;QAAE,MAAM,CAAC,EAAE,iBAAiB,CAAC;QAAC,KAAK,CAAC,EAAE,MAAM,CAAC;QAAC,IAAI,CAAC,EAAE,MAAM,CAAA;KAAE,CAAA;IACtE,mHAAmH;IACnH,KAAK,CAAC,EAAE;QAAE,EAAE,CAAC,EAAE,MAAM,CAAC;QAAC,KAAK,CAAC,EAAE,MAAM,CAAC;QAAC,KAAK,CAAC,EAAE,MAAM,CAAC;QAAC,KAAK,CAAC,EAAE,MAAM,CAAA;KAAE,CAAA;IACvE,qHAAqH;IACrH,KAAK,CAAC,EAAE;QAAE,KAAK,EAAE,MAAM,CAAC;QAAC,UAAU,EAAE,MAAM,CAAC;QAAC,MAAM,CAAC,EAAE,MAAM,CAAA;KAAE,CAAA;IAC9D;;;;;OAKG;IACH,MAAM,CAAC,EAAE;QAAE,IAAI,EAAE,WAAW,CAAC;QAAC,KAAK,EAAE,MAAM,CAAC;QAAC,KAAK,CAAC,EAAE,MAAM,CAAA;KAAE,CAAA;CAC9D;AAID;;;GAGG;AACH,MAAM,MAAM,iBAAiB;AAC3B,gEAAgE;AAC9D;IAAE,EAAE,EAAE,UAAU,CAAC;IAAC,IAAI,EAAE,IAAI,CAAA;CAAE;AAChC,yGAAyG;GACvG;IAAE,EAAE,EAAE,OAAO,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;CAAE;AAChC,2CAA2C;GACzC;IAAE,EAAE,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAA;CAAE,CAAA;AAE5C;;;;GAIG;AACH,MAAM,MAAM,SAAS,GAAG,MAAM,GAAG;IAAE,IAAI,EAAE,iBAAiB,CAAC;IAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IAAC,IAAI,CAAC,EAAE,MAAM,CAAA;CAAE,CAAA;AAE3F,2FAA2F;AAC3F,MAAM,MAAM,eAAe,GAAG,QAAQ,GAAG,KAAK,GAAG,KAAK,GAAG;IAAE,EAAE,EAAE,SAAS,CAAA;CAAE,CAAA;AAE1E,MAAM,MAAM,iBAAiB;AAC3B;;;;GAIG;AACD;IAAE,IAAI,EAAE,gBAAgB,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAC;IAAC,MAAM,EAAE,iBAAiB,CAAC;IAAC,KAAK,CAAC,EAAE,MAAM,CAAC;IAAC,IAAI,CAAC,EAAE,MAAM,CAAC;IAAC,OAAO,CAAC,EAAE,OAAO,CAAA;CAAE;AACnI,4FAA4F;GAC1F;IAAE,IAAI,EAAE,kBAAkB,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAC;IAAC,EAAE,EAAE,MAAM,CAAA;CAAE;AACpE;;;;;;;;;;;;;;GAcG;GACD;IACE,IAAI,EAAE,QAAQ,CAAA;IACd,IAAI,EAAE,MAAM,CAAA;IACZ,IAAI,EAAE,MAAM,CAAA;IACZ,6GAA6G;IAC7G,EAAE,EAAE;QAAE,IAAI,EAAE,MAAM,CAAC;QAAC,IAAI,EAAE,MAAM,CAAA;KAAE,GAAG;QAAE,KAAK,EAAE,gBAAgB,CAAA;KAAE,CAAA;IAChE,MAAM,CAAC,EAAE,MAAM,GAAG,OAAO,CAAA;IACzB,GAAG,CAAC,EAAE,SAAS,CAAA;IACf,KAAK,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,eAAe,CAAC,CAAC,CAAA;IAC9C,qEAAqE;IACrE,KAAK,CAAC,EAAE,MAAM,CAAA;IACd,OAAO,CAAC,EAAE,OAAO,CAAA;CAClB;AACH,sGAAsG;GACpG;IAAE,IAAI,EAAE,QAAQ,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE;AAClC;;;;GAIG;GACD;IAAE,IAAI,EAAE,WAAW,CAAC;IAAC,KAAK,EAAE,OAAO,CAAA;CAAE;AACvC,kFAAkF;GAChF;IAAE,IAAI,EAAE,cAAc,CAAC;IAAC,EAAE,EAAE,MAAM,CAAA;CAAE;AACtC;;;;;GAKG;GACD;IAAE,IAAI,EAAE,mBAAmB,CAAC;IAAC,QAAQ,EAAE,mBAAmB,CAAC;IAAC,SAAS,EAAE,OAAO,GAAG,SAAS,GAAG,QAAQ,CAAC;IAAC,OAAO,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAA;CAAE;AAClJ;;;;;;;GAOG;GACD;IAAE,IAAI,EAAE,uBAAuB,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC,IAAI,EAAE;QAAE,GAAG,EAAE,MAAM,CAAC;QAAC,GAAG,EAAE,MAAM,CAAA;KAAE,CAAC,CAAC;IAAC,EAAE,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC;IAAC,OAAO,CAAC,EAAE,OAAO,CAAA;CAAE;AAC7I,yFAAyF;GACvF;IAAE,IAAI,EAAE,mBAAmB,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE;AAC3D,qDAAqD;GACnD;IAAE,IAAI,EAAE,qBAAqB,CAAA;CAAE;AACjC;;;;;GAKG;GACD;IAAE,IAAI,EAAE,cAAc,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAA;CAAE;AACpD;;;;;;;;GAQG;GACD;IAAE,IAAI,EAAE,gBAAgB,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAA;CAAE;AACtD;;;;;;GAMG;GACD;IAAE,IAAI,EAAE,iBAAiB,CAAA;CAAE;AAC7B,uHAAuH;GACrH;IAAE,IAAI,EAAE,kBAAkB,CAAC;IAAC,KAAK,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,GAAG,IAAI,CAAA;CAAE;AAC7D;;;;;;GAMG;GACD;IAAE,IAAI,EAAE,YAAY,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAA;CAAE;AACrD;;;;GAIG;GACD;IAAE,IAAI,EAAE,aAAa,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,KAAK,CAAC,EAAE,MAAM,GAAG,OAAO,CAAA;CAAE;AAC5F,kEAAkE;GAChE;IAAE,IAAI,EAAE,eAAe,CAAC;IAAC,IAAI,EAAE,MAAM,CAAA;CAAE;AACzC;;;;;;;;GAQG;GACD;IAAE,IAAI,EAAE,YAAY,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,EAAE,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC;IAAC,IAAI,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAC;IAAC,IAAI,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAA;CAAE;AACtJ;;;;;;;GAOG;GACD;IACE,IAAI,EAAE,aAAa,CAAA;IACnB,EAAE,EAAE,MAAM,CAAA;IAC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package/dist/v3-authoring-actions.js

@@ -402,7 +402,7 @@ function parentOf(m, id) {
     const match = /^(.*)\.local$/.exec(String(above?.params?.to));
     return match && match[1] !== id ? match[1] : null;
 }
-function attach(asset, a) {
+function attach(asset, a, twist) {
     const m = asset.document.model;
     const to = a.to;
     const path = `${a.part} to ${to?.plane ?? to?.part}`;
@@ -497,6 +497,34 @@ function attach(asset, a) {
         else
             fail('SCHEMA', path, `${String(how)} is not an alignment`);
     }
+    /*
+      Twisted about the face's normal: the seat is the face's centre, and the part's own offset across the face -- its
+      distance and its own centre -- turns with it, so a blade set out along X and twisted 120° stands out along the
+      blade, about the hub. With no twist this is the same place written as before.
+    */
+    if (twist && twist.deg) {
+        const [p, q] = ACROSS[axis];
+        for (const other of [p, q]) {
+            const how = a.align?.[other] ?? 'centre';
+            if (how === 'min' || how === 'max')
+                fail('ATTACH_FACE', path, `${a.part} is twisted ${round6(twist.deg)}° about ${axis}; its sides are not level with ${to.part}'s edges -- place it by the centre or a distance`);
+        }
+        const across = (other) => {
+            const how = a.align?.[other] ?? 'centre';
+            const o = mine[other];
+            const own = o && !o.centred ? neg([...half(o.lo), ...half(o.hi)]) : [];
+            return typeof how === 'object' && how && Object.hasOwn(how, 'mm') ? [{ ref: measureRef(m, asset, name, how.mm, `twist.${other}`, path), k: 1 }, ...own] : own;
+        };
+        const [vp, vq] = [across(p), across(q)];
+        const c = Math.cos((twist.deg * Math.PI) / 180), sn = Math.sin((twist.deg * Math.PI) / 180);
+        const scale = (terms, k) => terms.map(t => ({ ref: t.ref, k: t.k * k }));
+        for (const other of [p, q]) {
+            const t = theirs[other];
+            translation[other] = t && !t.centred ? sumOf(m, name, [...half(t.lo), ...half(t.hi)], `twist-centre.${other}`) : constantOf(m, 'mm', 0, 'd');
+        }
+        offset[p] = sumOf(m, name, [...scale(vp, c), ...scale(vq, -sn)], `twisted.${p}`);
+        offset[q] = sumOf(m, name, [...scale(vp, sn), ...scale(vq, c)], `twisted.${q}`);
+    }
     reseat(asset, a.part, `${to.part}.local`, { seat: [translation.x, translation.y, translation.z], pose: [offset.x, offset.y, offset.z] });
     return asset;
 }
@@ -944,6 +972,10 @@ function checkJoint(asset, j) {
         if (!Number.isFinite(j.mimic.multiplier))
             fail('JOINT_SCHEMA', path, 'a mimic has a multiplier');
     }
+    if (j.origin?.twist !== undefined && !Number.isFinite(j.origin.twist))
+        fail('JOINT_SCHEMA', `${path}.origin.twist`, 'a twist is a number of degrees');
+    if (j.origin?.turn && Object.values(j.origin.turn).some(t => !Number.isFinite(t) || Math.abs(t / 90 - Math.round(t / 90)) > 1e-9))
+        fail('JOINT_SCHEMA', `${path}.origin.turn`, 'a turn is in quarter turns; an angle about the face\'s normal is its twist');
     /* A part in a row is its copies: nothing can hang from one place of it. */
     const repeatedParent = 'part' in j.body0 ? others.find(o => o.repeat && o.body1.part === j.body0.part) : undefined;
     if (repeatedParent)
@@ -985,15 +1017,29 @@ function writeJoint(asset, j) {
       is given the turn back so it keeps its own (빈틈 A, 2026-09-25: a body on a pipe laid on its side).
     */
     const parent = 'part' in j.body0 ? j.body0.part : undefined;
-    const back = parent ? transpose3(standingTurnOf(asset, parent, `joints.${j.id}`)) : IDENTITY;
+    const path = `joints.${j.id}`;
+    const back = parent ? transpose3(standingTurnOf(asset, parent, path)) : IDENTITY;
     const turned = !isIdentity(back);
     const own = AXES.map(a => j.origin?.turn?.[a] ?? 0);
-    const turn = turned ? eulerOf(mul3(back, turnMatrix(own))) : own;
+    /* The child as it stands: its quarter turn, then its twist about the normal of the face it is fastened by. */
+    const normal = V3_FACES[j.body1.face];
+    const standing = j.origin?.twist ? mul3(axisTurn(normal, j.origin.twist), turnMatrix(own)) : turnMatrix(own);
+    /* In the parent's frame: its twist about the face's normal there, and the quarter turn that is left. */
+    const inParent = mul3(back, standing);
+    const localNormal = axisOf(mv3(back, FACE_VECTOR[j.body1.face]), `${j.body1.part}'s ${j.body1.face}`, parent ?? '', back, path);
+    /* The record's twist, about the normal as it lies in the parent's frame; what is left is a quarter turn. */
+    /*
+      In the parent's frame the child stands twisted about the face's normal -- by its own twist, and back by its
+      parent's -- after a quarter turn. The twist is the one nearest what the record asks for.
+    */
+    const alongNormal = mv3(back, AXES.map(a => (a === normal ? 1 : 0)));
+    const asked = (j.origin?.twist ?? 0) * Math.sign(alongNormal[AXES.indexOf(localNormal.axis)]);
+    const { quarter, deg } = splitTwist(inParent, localNormal.axis, asked, path);
     const old = pose.args.slice(3, 6);
-    pose.args = [...pose.args.slice(0, 3), ...turn.map(t => constantOf(m, 'deg', t, 'a'))];
+    pose.args = [...pose.args.slice(0, 3), ...(turned || j.origin?.twist ? eulerOf(quarter) : own).map(t => constantOf(m, 'deg', t, 'a'))];
     for (const ref of old)
         dropIfUnused(asset, ref, ownInput(m, child, ref) ? ref : undefined);
-    const face = (name) => (turned && Object.hasOwn(FACE_VECTOR, name) ? faceAlong(mv3(back, FACE_VECTOR[name])) : name);
+    const face = (name) => turned && Object.hasOwn(FACE_VECTOR, name) ? faceAlong(axisOf(mv3(back, FACE_VECTOR[name]), name, parent ?? '', back, path).vector) : name;
     attach(asset, {
         kind: 'attach',
         part: child,
@@ -1001,9 +1047,16 @@ function writeJoint(asset, j) {
         to: 'plane' in j.body0 ? { plane: 'mounting-plane' } : { part: j.body0.part, face: face(j.body0.face) },
         ...(j.origin?.facing ? { facing: j.origin.facing } : {}),
         ...(j.origin?.gap !== undefined ? { gap: j.origin.gap } : {}),
-        ...(j.origin?.align ? { align: turned ? alignInto(back, j.origin.align, `joints.${j.id}`) : j.origin.align } : {}),
+        ...(j.origin?.align ? { align: turned ? alignInto(back, j.origin.align, path) : j.origin.align } : {}),
         replace: true
-    });
+    }, deg ? { axis: localNormal.axis, deg } : undefined);
+    /* The measuring was done on the quarter turn; the part stands with its twist. */
+    if (deg) {
+        const now = pose.args.slice(3, 6);
+        pose.args = [...pose.args.slice(0, 3), ...eulerOfAny(inParent).map(t => constantOf(m, 'deg', t, 'a'))];
+        for (const ref of now)
+            dropIfUnused(asset, ref);
+    }
     if (j.repeat) {
         if (turned)
             fail('JOINT_SCHEMA', `joints.${j.id}.repeat`, `${parent} stands turned; a row across a turned part is not covered yet`);
@@ -1017,7 +1070,9 @@ function writeJoint(asset, j) {
     const leader = j.mimic && (asset.joints ?? []).find(o => o.id === j.mimic.joint);
     /* The axis turned into the parent's frame too: one of its axes, either way along it. */
     const along = mv3(back, AXES.map(a => (a === j.axis.toLowerCase() ? 1 : 0)));
-    const axisIndex = along.findIndex(v => v !== 0);
+    const axisIndex = along.findIndex(v => Math.abs(Math.abs(v) - 1) < 1e-9);
+    if (axisIndex < 0)
+        fail('JOINT_SCHEMA', path, `${parent} stands twisted; the axis ${j.axis} is not level with an axis in it`);
     addMotion(asset, {
         kind: 'add-motion',
         part: child,
@@ -1028,7 +1083,7 @@ function writeJoint(asset, j) {
     }, leader ? { of: stateIdOf(leader), k: j.mimic.multiplier, c: j.mimic.offset ?? 0 } : undefined, along[axisIndex] > 0 ? 1 : -1);
 }
 const IDENTITY = [[1, 0, 0], [0, 1, 0], [0, 0, 1]];
-const isIdentity = (r) => r.every((row, i) => row.every((v, k) => v === (i === k ? 1 : 0)));
+const isIdentity = (r) => r.every((row, i) => row.every((v, k) => Math.abs(v - (i === k ? 1 : 0)) < 1e-12));
 const transpose3 = (r) => r[0].map((_, i) => r.map(row => row[i]));
 const mv3 = (r, v) => r.map(row => row.reduce((sum, x, k) => sum + x * v[k], 0));
 const FACE_VECTOR = { left: [-1, 0, 0], right: [1, 0, 0], bottom: [0, -1, 0], top: [0, 1, 0], back: [0, 0, -1], front: [0, 0, 1] };
@@ -1041,11 +1096,11 @@ const faceAlong = (v) => Object.keys(FACE_VECTOR).find(f => FACE_VECTOR[f].every
 function standingTurnOf(asset, part, path) {
     const record = (asset.joints ?? []).find(o => o.body1.part === part);
     const turn = record ? AXES.map(a => record.origin?.turn?.[a] ?? 0) : turnOf(asset.document.model, asset, part, path);
-    if (turn.every(t => t === 0))
-        return IDENTITY;
     if (turn.some(t => t === null || !Number.isFinite(t) || Math.abs(t / 90 - Math.round(t / 90)) > 1e-9))
         fail('EDIT_TARGET', path, `${part} is turned (${saidTurn(turn)}); fastening to a turned part by its faces is covered only for quarter turns`);
-    return turnMatrix(turn);
+    const quarter = turn.every(t => t === 0) ? IDENTITY : turnMatrix(turn);
+    /* A twisted part stands twisted about the normal of the face it is fastened by. */
+    return record?.origin?.twist ? mul3(axisTurn(V3_FACES[record.body1.face], record.origin.twist), quarter) : quarter;
 }
 /** A quarter-turn matrix back as degrees about X, Y and Z in the order `rigid@1` turns. */
 function eulerOf(r) {
@@ -1060,13 +1115,78 @@ function eulerOf(r) {
         throw new Error(`no turn gives ${JSON.stringify(r)}`);
     return out;
 }
+/** The two axes across a face along `axis`, in the order a right-handed turn about it takes one into the other. */
+const ACROSS = { x: ['y', 'z'], y: ['z', 'x'], z: ['x', 'y'] };
+/** A turn of `deg` degrees about one axis. */
+function axisTurn(axis, deg) {
+    const c = Math.cos((deg * Math.PI) / 180), s = Math.sin((deg * Math.PI) / 180);
+    const [p, q] = ACROSS[axis].map(a => AXES.indexOf(a));
+    const r = [[1, 0, 0], [0, 1, 0], [0, 0, 1]];
+    r[p][p] = c;
+    r[p][q] = -s;
+    r[q][p] = s;
+    r[q][q] = c;
+    return r;
+}
+/** A direction that must lie along an axis to name a face or an edge there; otherwise refused with the parent's twist. */
+function axisOf(v, what, parent, back, path) {
+    const k = v.findIndex(x => Math.abs(Math.abs(x) - 1) < 1e-9);
+    if (k < 0)
+        fail('ATTACH_FACE', path, `${parent} stands twisted (${saidTurn(eulerOfAny(transpose3(back)))}); ${what} is not level with an axis in it`);
+    return { axis: AXES[k], vector: v.map(x => (Math.abs(x) < 1e-9 ? 0 : Math.sign(x))) };
+}
+/**
+ * A turn as a twist about one axis after a quarter turn: r = twist(axis, deg) · quarter, with the twist nearest
+ * `asked`. A turn that is no such thing (a face not level with the axis) is refused.
+ */
+function splitTwist(r, axis, asked, path) {
+    const k = AXES.indexOf(axis);
+    const [p, q] = ACROSS[axis].map(a => AXES.indexOf(a));
+    let best;
+    for (const quarter of QUARTER_TURNS) {
+        const t = mul3(r, transpose3(quarter));
+        if (Math.abs(t[k][k] - 1) > 1e-9)
+            continue;
+        const d = (Math.atan2(t[q][p], t[p][p]) * 180) / Math.PI;
+        const off = Math.abs((((d - asked) % 360) + 540) % 360 - 180);
+        if (!best || off < best.off - 1e-9)
+            best = { quarter, deg: Math.abs(d) < 1e-9 ? 0 : d, off };
+    }
+    if (!best)
+        fail('ATTACH_FACE', path, `the part would stand turned about more than the face's normal (${saidTurn(eulerOfAny(r))})`);
+    return { quarter: best.quarter, deg: best.deg };
+}
+const QUARTER_TURNS = (() => {
+    const out = [];
+    for (const x of [0, 90, 180, 270])
+        for (const y of [0, 90, 180, 270])
+            for (const z of [0, 90, 180, 270]) {
+                const r = turnMatrix([x, y, z]);
+                if (!out.some(o => o.every((row, i) => row.every((v, j) => v === r[i][j]))))
+                    out.push(r);
+            }
+    return out;
+})();
+/** Any turn back as degrees about X, Y and Z in the order `rigid@1` turns (X, then Y, then Z). */
+function eulerOfAny(r) {
+    const deg = (a) => {
+        const d = round6((a * 180) / Math.PI);
+        return d === 0 ? 0 : d;
+    };
+    const sy = Math.max(-1, Math.min(1, r[0][2]));
+    if (Math.abs(sy) < 1 - 1e-12)
+        return [deg(Math.atan2(-r[1][2], r[2][2])), deg(Math.asin(sy)), deg(Math.atan2(-r[0][1], r[0][0]))];
+    return [deg(Math.atan2(r[1][0], r[1][1])), deg(Math.asin(sy)), 0];
+}
 /** Where a part sits across a face, said on the standing axes, turned onto the parent's own: an edge flips where an axis does. */
 function alignInto(back, align, path) {
     const out = {};
     for (const [a, how] of Object.entries(align)) {
         const v = mv3(back, AXES.map(x => (x === a ? 1 : 0)));
-        const k = v.findIndex(x => x !== 0);
-        const s = v[k];
+        const k = v.findIndex(x => Math.abs(Math.abs(x) - 1) < 1e-9);
+        if (k < 0)
+            fail('ATTACH_FACE', path, `the parent stands twisted; placing along ${a} is not level with an axis in it -- place it by the centre`);
+        const s = Math.sign(v[k]);
         const to = AXES[k];
         if (how === 'centre' || s > 0)
             out[to] = how;
@@ -1205,6 +1325,25 @@ export function renameV3PartInJoints(asset, from, to) {
     if (!joints?.length)
         return;
     const name = (id) => (id === from ? to : id);
+    /*
+      A joint's nodes carry its parent's name (`leg-2.on.top.*`); what reads them -- the space declared from the parts,
+      a size that follows a fastened place -- follows them to the new name (빈틈 H, 2026-09-25).
+    */
+    const infix = `.on.${from}.`;
+    const carried = (value) => typeof value === 'string'
+        ? value.includes(infix)
+            ? value.split(infix).join(`.on.${to}.`)
+            : value
+        : Array.isArray(value)
+            ? value.map(carried)
+            : value && typeof value === 'object'
+                ? Object.fromEntries(Object.entries(value).map(([k, v]) => [k, carried(v)]))
+                : value;
+    const out = asset;
+    out.document = carried(out.document);
+    if (out.occupancy)
+        out.occupancy = carried(out.occupancy);
+    out.designInputs = Object.fromEntries(Object.entries(out.designInputs ?? {}).map(([k, v]) => [carried(k), v]));
     asset.joints = joints.map(j => ({
         ...j,
         id: name(j.id),
@@ -1215,6 +1354,35 @@ export function renameV3PartInJoints(asset, from, to) {
     }));
     rewriteJoints(asset);
 }
+/**
+ * What reads a part that is to be taken away, said in the author's words: the space declared from the parts, another
+ * part's size or place that follows it. Taking it would leave them reading nothing (빈틈 H, 2026-09-25).
+ */
+function refuseIfRead(asset, part) {
+    const m = asset.document.model;
+    const own = (id) => id === part || id.startsWith(`${part}.`);
+    const mine = new Set([
+        ...m.nodes.filter((n) => own(n.id)).flatMap((n) => Object.values(n.outputs)),
+        ...m.inputs.filter((i) => own(i.id)).map((i) => i.id),
+        ...m.constants.filter((c) => own(c.id)).map((c) => c.id)
+    ]);
+    const readsOf = (refs) => (n) => [...n.args, ...Object.values(n.params ?? {})].some((r) => typeof r === 'string' && refs.has(r));
+    const readers = m.nodes.filter((n) => !own(n.id) && readsOf(mine)(n));
+    if (readers.some((n) => n.id.startsWith('occupancy.')) || stringsIn(asset.occupancy).some(r => mine.has(r)))
+        fail('PART_REFERENCED', part, `${part} is in the space the figure declares; declare the space again, or fit it to the parts, without it first`);
+    /*
+      Values another part shares stay when this one goes (the pruning keeps what is still read). The joint's own nodes
+      do not: they go with the joint, so a part reading them -- following where this one is fastened -- is named.
+    */
+    const jointOwned = new Set(m.nodes
+        .filter((n) => n.id.startsWith(`${part}.on.`) || [`${part}.seat.rigid`, `${part}.chain`, `${part}.world`, `${part}.turned`, `${part}.motion`].includes(n.id))
+        .flatMap((n) => Object.values(n.outputs)));
+    const followers = [...new Set(m.nodes.filter((n) => !own(n.id) && readsOf(jointOwned)(n)).map((n) => String(n.id).split('.')[0]))].filter(p => p !== part && !String(p).startsWith('occupancy'));
+    const children = new Set(((asset.joints ?? []).filter(j => 'part' in j.body0 && j.body0.part === part)).map(j => j.body1.part));
+    const others = followers.filter(p => !children.has(p));
+    if (others.length)
+        fail('PART_REFERENCED', part, `${others.join(', ')} ${others.length > 1 ? 'follow' : 'follows'} ${part}'s size or place; make ${others.length > 1 ? 'them' : 'it'} ${others.length > 1 ? 'their' : 'its'} own number first`);
+}
 /**
  * A copied part is fastened as the original is: its own record, the same faces and place, so it is not held by nodes
  * no record makes. A moving joint gets its own control -- a copy is a second thing, not the original's shadow.
@@ -1245,6 +1413,7 @@ export function copyV3PartJoint(asset, from, to) {
  * silent cascade would take parts the author did not pick. A part nothing hangs from goes with its own joint.
  */
 export function releaseV3PartJoints(asset, part) {
+    refuseIfRead(asset, part);
     const joints = (asset.joints ?? []);
     const hanging = joints.filter(j => 'part' in j.body0 && j.body0.part === part).map(j => j.body1.part);
     if (hanging.length)
@@ -1267,7 +1436,13 @@ function setJoint(asset, joint) {
     /* The child's own quarter turn becomes the record's, the first time it is fastened. */
     if (!jointAbove(asset, j.body1.part) && !j.origin?.turn) {
         const turn = turnOf(asset.document.model, asset, j.body1.part, j.body1.part);
-        if (turn.some(t => t !== 0))
+        /* A part turned by any angle about the normal of the face it is fastened by keeps that angle as its twist. */
+        const n = AXES.indexOf(V3_FACES[j.body1.face]);
+        const quarter = (t) => t !== null && Number.isFinite(t) && Math.abs(t / 90 - Math.round(t / 90)) < 1e-9;
+        const twist = !quarter(turn[n]) && turn.every((t, i) => i === n || t === 0) ? turn[n] : undefined;
+        if (twist !== undefined && !j.origin?.twist)
+            j.origin = { ...(j.origin ?? {}), twist };
+        else if (turn.some(t => t !== 0))
             j.origin = { ...(j.origin ?? {}), turn: Object.fromEntries(AXES.map((a, i) => [a, turn[i]])) };
     }
     const joints = (asset.joints ?? []).filter(o => o.id !== j.id);
@@ -1324,6 +1499,7 @@ function fastenAsJoint(asset, a) {
         body1: { part: a.part, face: a.face },
         origin: {
             ...(was?.origin?.turn ? { turn: was.origin.turn } : {}),
+            ...(a.twist !== undefined ? (a.twist ? { twist: a.twist } : {}) : was?.origin?.twist ? { twist: was.origin.twist } : {}),
             ...(a.facing ? { facing: a.facing } : {}),
             ...(a.gap !== undefined ? { gap: a.gap } : {}),
             ...(a.align ? { align: a.align } : {})

package/dist/v3-authoring-actions.js.map

@@ -1 +1 @@
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package/dist/v3-kernel-version.d.ts

@@ -4,5 +4,5 @@
  * different result. Kept equal to package.json's version by `npm version` (the `version` script rewrites this file)
  * and by `v3-kernel-version.test.ts`.
  */
-export declare const V3_KERNEL_VERSION = "0.1.59";
+export declare const V3_KERNEL_VERSION = "0.1.61";
 //# sourceMappingURL=v3-kernel-version.d.ts.map

package/dist/v3-kernel-version.js

@@ -7,5 +7,5 @@
  * different result. Kept equal to package.json's version by `npm version` (the `version` script rewrites this file)
  * and by `v3-kernel-version.test.ts`.
  */
-export const V3_KERNEL_VERSION = '0.1.59';
+export const V3_KERNEL_VERSION = '0.1.61';
 //# sourceMappingURL=v3-kernel-version.js.map

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@hatiolab/figure-model",
-  "version": "0.1.59",
+  "version": "0.1.61",
   "description": "Figure 저작 결과의 정본 형식과 검증 — 재질별로 병합되고 이름이 붙은 부품 그래프. 3D 로 저작한 형상 하나가 씬 컴포넌트로 서는 데 필요한 것을 담는다.",
   "keywords": [
     "figure",