@hatiolab/figure-model 0.10.0 → 0.11.1

package/dist/authoring-fastening.js

@@ -11,6 +11,7 @@ import { FIGURE_FACINGS } from "./authoring-types.js";
 import { figureDiscOf, figureReachRefs, figureReachValue, figureRoundAbout, figureShapeExtremeAlong, figureSurfaceFormOf, figureSurfacePointOf, lin, plus, times, writeFigureReach } from "./shape-extreme.js";
 import { compileFigureGraph } from "./graph.js";
 import { fail, nodeById, writerOf, partOf, namer, constantOf, scaled, measureRef, termRefs, sumOf, sourceRef, ownInput, dropIfUnused, parentOf, round6, sizeInputOf } from "./authoring-nodes.js";
+import { motionNodeIdOf } from "./joint-motions.js";
 import { half, facesOfPart, planeOf, ownSpansOf, transpose3, isIdentity, eulerOfAny, rpyMatrix, aroundNormalOf, mv3, mul3, IDENTITY } from "./authoring-geometry.js";
 const unitAlong = (axis, sign) => AXES.map(x => (x === axis ? sign : 0));
 /**
@@ -363,7 +364,8 @@ export function reseat(asset, id, to, place) {
     if (place)
         pose.args = [...place.pose, ...pose.args.slice(3)];
     pose.params = { ...pose.params, to: `${id}.seat` };
-    const motion = nodeById(m, `${id}.motion`);
+    const stages = motionStagesOf(m, id);
+    const motion = stages.length > 0;
     const zero = constantOf(m, 'mm', 0, 'd');
     const noTurn = constantOf(m, 'deg', 0, 'a');
     let seat = nodeById(m, `${id}.seat.rigid`);
@@ -381,30 +383,17 @@ export function reseat(asset, id, to, place) {
     if (place)
         seat.args = [...place.seat, ...seat.args.slice(3)];
     seat.params = { from: motion ? `${id}.joint` : `${id}.seat`, to };
-    // The motion turns the seat frame about its origin -- the point fastened at -- into the joint frame.
-    let turned = nodeById(m, `${id}.turned`);
-    if (motion) {
-        motion.params = { ...motion.params, from: `${id}.seat`, to: `${id}.joint` };
-        if (!turned) {
-            turned = {
-                id: `${id}.turned`,
-                op: 'compose@1',
-                args: [motion.outputs.pose, pose.outputs.pose],
-                outputs: { pose: `${id}.turned.value` }
-            };
-            m.nodes.push(turned);
-        }
-        else
-            turned.args = [motion.outputs.pose, pose.outputs.pose];
-    }
-    else if (turned)
-        m.nodes = m.nodes.filter((n) => n !== turned);
+    /*
+      The motion turns the seat frame into the joint frame, its axes in order (ADR-0159): the first, nearest the parent,
+      carries the ones after it. One axis through the point fastened at is its motion node alone, as it always was.
+    */
+    const turned = composeStages(m, id, stages, pose.outputs.pose);
     let chain = nodeById(m, `${id}.chain`);
     if (!chain) {
         chain = { id: `${id}.chain`, op: 'compose@1', args: ['', ''], outputs: { pose: `${id}.chain.value` } };
         m.nodes.push(chain);
     }
-    chain.args = [seat.outputs.pose, motion ? turned.outputs.pose : pose.outputs.pose];
+    chain.args = [seat.outputs.pose, turned ?? pose.outputs.pose];
     const parent = /^(.*)\.local$/.exec(to);
     let world = nodeById(m, `${id}.world`);
     if (parent && parent[1] !== id) {
@@ -438,12 +427,62 @@ export function reseat(asset, id, to, place) {
     for (const ref of [...old, ...oldSeat])
         dropIfUnused(asset, ref, ownInput(m, id, ref) ? ref : undefined);
 }
+/** A part's axes as written, in order: each its motion node, and the point it passes when it is not the frame's origin. */
+export function motionStagesOf(m, id) {
+    const out = [];
+    for (let k = 0, node = nodeById(m, motionNodeIdOf(id, k)); node; node = nodeById(m, motionNodeIdOf(id, ++k)))
+        out.push({ motion: node, through: nodeById(m, `${node.id}.through`), back: nodeById(m, `${node.id}.back`) });
+    return out;
+}
+/**
+ * The axes composed onto the part's pose, the frames named as they chain (ADR-0159 2.3):
+ *     C_k = T(p_k) · M_k · T(−p_k),     turned = C_1 · (C_2 · (… · pose))
+ * frames `<id>.seat` → `<id>.joint.<k>` → … → `<id>.joint`. The nodes of axes no longer there go. Nothing without a
+ * motion.
+ */
+function composeStages(m, id, stages, pose) {
+    const n = stages.length;
+    const made = new Set();
+    const put = (node) => {
+        made.add(node.id);
+        const was = nodeById(m, node.id);
+        if (was)
+            Object.assign(was, node);
+        else
+            m.nodes.push(node);
+        return node.outputs.pose;
+    };
+    let inner = pose;
+    for (let k = n - 1; k >= 0; k--) {
+        const { motion, through, back } = stages[k];
+        const from = k === n - 1 ? `${id}.seat` : `${id}.joint.${k + 1}`;
+        const to = k === 0 ? `${id}.joint` : `${id}.joint.${k}`;
+        let stage = motion.outputs.pose;
+        if (through && back) {
+            back.params = { from, to: `${motion.id}.axis` };
+            motion.params = { ...motion.params, from: `${motion.id}.axis`, to: `${motion.id}.moved` };
+            through.params = { from: `${motion.id}.moved`, to };
+            const turnedAbout = put({ id: `${motion.id}.about.turned`, op: 'compose@1', args: [motion.outputs.pose, back.outputs.pose], outputs: { pose: `${motion.id}.about.turned.value` } });
+            stage = put({ id: `${motion.id}.about`, op: 'compose@1', args: [through.outputs.pose, turnedAbout], outputs: { pose: `${motion.id}.about.value` } });
+        }
+        else
+            motion.params = { ...motion.params, from, to };
+        inner = put({ id: k === 0 ? `${id}.turned` : `${id}.turned.${k + 1}`, op: 'compose@1', args: [stage, inner], outputs: { pose: `${k === 0 ? `${id}.turned` : `${id}.turned.${k + 1}`}.value` } });
+    }
+    const ours = (nid) => nid === `${id}.turned` || nid.startsWith(`${id}.turned.`) || /\.about(\.turned)?$/.test(nid) && nid.startsWith(`${id}.motion`);
+    m.nodes = m.nodes.filter((node) => !ours(node.id) || made.has(node.id));
+    return n ? inner : undefined;
+}
 /** The frame a part is fastened into: its parent's, or the asset's. */
 const attachmentFrameOf = (asset, id) => {
     const parent = parentOf(asset.document.model, id);
     return parent ? `${parent}.local` : asset.document.capabilities.assetFrame;
 };
-export function addMotion(asset, a, follow, sign = 1) {
+/**
+ * A part's motion, one axis of it (ADR-0159): the first axis, `k` 0, writes the part's motion afresh; each after it is
+ * added onto the ones before. An axis passes the seat frame's origin, or the point `through` says.
+ */
+export function addMotion(asset, a, follow, sign = 1, axis = { k: 0 }) {
     const m = asset.document.model;
     const path = a.part;
     partOf(m, a.part, path);
@@ -451,10 +490,11 @@ export function addMotion(asset, a, follow, sign = 1) {
         fail('SCHEMA', path, 'a slide or a turn is required');
     if (!AXES.includes(a.motion.axis))
         fail('SCHEMA', path, `${String(a.motion.axis)} is not an axis`);
-    if (nodeById(m, `${a.part}.motion`) && !a.replace)
+    if (axis.k === 0 && nodeById(m, `${a.part}.motion`) && !a.replace)
         fail('MOTION_REPLACED', path, `${a.part} already moves; pass replace to change how, or remove the motion first`);
-    if (nodeById(m, `${a.part}.motion`))
+    if (axis.k === 0 && nodeById(m, `${a.part}.motion`))
         removeMotion(asset, { kind: 'remove-motion', part: a.part });
+    const id = motionNodeIdOf(a.part, axis.k);
     const frame = a.motion.frame ?? 'attachment';
     const seatedIn = attachmentFrameOf(asset, a.part);
     if (frame === 'asset' && seatedIn !== asset.document.capabilities.assetFrame)
@@ -462,7 +502,7 @@ export function addMotion(asset, a, follow, sign = 1) {
     else if (frame !== 'attachment' && frame !== 'asset')
         fail('SCHEMA', path, `${String(frame)} is not a frame for the axis`);
     const st = a.state;
-    const name = namer(m, `${a.part}.motion`);
+    const name = namer(m, id);
     let quantity = st?.id;
     if (follow) {
         /*
@@ -587,12 +627,21 @@ export function addMotion(asset, a, follow, sign = 1) {
         ? sign.map(v => constantOf(m, 'ratio', v, 'axis'))
         : AXES.map(x => constantOf(m, 'ratio', x === a.motion.axis ? sign : 0, 'axis'));
     m.nodes.push({
-        id: `${a.part}.motion`,
+        id,
         op: a.motion.kind === 'slide' ? 'axis-slide@1' : 'axis-turn@1',
         args: [...unit, quantity],
-        outputs: { pose: `${a.part}.motion.value` },
+        outputs: { pose: `${id}.value` },
         params: { from: `${a.part}.seat`, to: seatedIn }
     });
+    /* The point it passes, when it is not the frame's origin: the axis moved there and back, the part left where it stands. */
+    const at = AXES.map(x => axis.through?.[x]);
+    if (at.some(d => d !== undefined && d !== 0)) {
+        const refs = at.map((d, i) => measureRef(m, asset, name, d, `through.${AXES[i]}`, `${axis.path ?? path}.through.${AXES[i]}`));
+        const noTurn = constantOf(m, 'deg', 0, 'a');
+        const rigid = (suffix, args) => m.nodes.push({ id: `${id}.${suffix}`, op: 'rigid@1', args: [...args, noTurn, noTurn, noTurn], outputs: { pose: `${id}.${suffix}.value` }, params: {} });
+        rigid('through', refs);
+        rigid('back', refs.map((ref, i) => sumOf(m, name, [{ ref, k: -1 }], `back.${AXES[i]}`)));
+    }
     reseat(asset, a.part, seatedIn);
     if (a.clip) {
         const c = a.clip;
@@ -616,31 +665,41 @@ export function addMotion(asset, a, follow, sign = 1) {
     }
     return asset;
 }
-/** "This part does not move any more." The control it created goes with it, and so does its clip. */
+/** "This part does not move any more." Every axis goes, and the controls they created with them, and their clips. */
 export function removeMotion(asset, a) {
     const m = asset.document.model;
-    const motion = nodeById(m, `${a.part}.motion`);
-    if (!motion)
+    const stages = motionStagesOf(m, a.part);
+    if (!stages.length)
         fail('EDIT_TARGET', a.part, `${a.part} does not move`);
-    const quantity = motion.args[3];
-    const to = nodeById(m, `${a.part}.seat.rigid`)?.params?.to ?? motion.params.to;
-    // Which control this motion introduced, read before the nodes that name it are taken away.
-    const state = m.inputs.find((i) => i.id === quantity && i.role === 'state') ??
-        m.inputs.find((i) => i.role === 'state' && (writerOf(m, quantity)?.args ?? []).includes(i.id));
-    m.nodes = m.nodes.filter((n) => n !== motion);
+    const to = nodeById(m, `${a.part}.seat.rigid`)?.params?.to ?? stages[0].motion.params.to;
+    // Which control each axis introduced, read before the nodes that name it are taken away.
+    const read = stages.map(({ motion }) => {
+        const quantity = motion.args[3];
+        const state = m.inputs.find((i) => i.id === quantity && i.role === 'state') ??
+            m.inputs.find((i) => i.role === 'state' && (writerOf(m, quantity)?.args ?? []).includes(i.id));
+        return { quantity, state };
+    });
+    const points = stages.flatMap(({ through, back }) => [through, back].filter(Boolean));
+    const gone = new Set([...stages.map(st => st.motion), ...points]);
+    m.nodes = m.nodes.filter((n) => !gone.has(n));
     reseat(asset, a.part, to);
-    dropIfUnused(asset, quantity, quantity);
-    if (state && !m.nodes.some((n) => n.args.includes(state.id))) {
-        m.inputs = m.inputs.filter((i) => i !== state);
-        delete asset.stateDefaults[state.id];
-        if (asset.stateInputs)
-            delete asset.stateInputs[state.id];
-        if (asset.drivers)
-            asset.drivers = asset.drivers.filter((d) => d.state !== state.id);
-        if (asset.drivers && !asset.drivers.length)
-            delete asset.drivers;
-        if (asset.stateInputs && !Object.keys(asset.stateInputs).length)
-            delete asset.stateInputs;
+    for (const n of points)
+        for (const ref of n.args)
+            dropIfUnused(asset, ref);
+    for (const { quantity, state } of read) {
+        dropIfUnused(asset, quantity, quantity);
+        if (state && !m.nodes.some((n) => n.args.includes(state.id))) {
+            m.inputs = m.inputs.filter((i) => i !== state);
+            delete asset.stateDefaults[state.id];
+            if (asset.stateInputs)
+                delete asset.stateInputs[state.id];
+            if (asset.drivers)
+                asset.drivers = asset.drivers.filter((d) => d.state !== state.id);
+            if (asset.drivers && !asset.drivers.length)
+                delete asset.drivers;
+            if (asset.stateInputs && !Object.keys(asset.stateInputs).length)
+                delete asset.stateInputs;
+        }
     }
     return asset;
 }

package/dist/authoring-fastening.js.map

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package/dist/authoring-placement.d.ts.map

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