@hatiolab/figure-model 0.7.3 → 0.8.0

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

@@ -1 +1 @@
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package/dist/authoring-geometry.js

@@ -154,6 +154,8 @@ export function facesOfPart(m, id, path) {
  * measured and turned as that face, and only where its middle sits differs (\`attach\`).
  */
 export function childFaceOf(m, j) {
+    if (!('face' in j.body1))
+        return fail('JOINT_SCHEMA', `joints.${j.id}.body1`, `${j.body1.part} is placed by its origin; it is fastened by no face`);
     if (j.body1.face !== 'centre')
         return j.body1.face;
     const path = `joints.${j.id}.body1.face`;
@@ -239,7 +241,7 @@ export const faceAlong = (v) => Object.keys(FACE_VECTOR).find(f => FACE_VECTOR[f
  */
 export function standingTurnOf(asset, part, path) {
     const record = (asset.joints ?? []).find(o => o.body1.part === part);
-    const turn = record ? AXES.map(a => record.origin?.turn?.[a] ?? 0) : turnOf(asset.document.model, asset, part, path);
+    const turn = record ? AXES.map(a => record.origin?.childRotate?.[a] ?? 0) : turnOf(asset.document.model, asset, part, path);
     if (turn.some(t => t === null || !Number.isFinite(t) || Math.abs(t / 90 - Math.round(t / 90)) > 1e-9))
         fail('EDIT_TARGET', path, `${part} is turned (${saidTurn(turn)}); fastening to a turned part by its faces is covered only for quarter turns`);
     const quarter = turn.every(t => t === 0) ? IDENTITY : turnMatrix(turn);
@@ -253,7 +255,7 @@ export function standingQuarterOf(asset, part, path) {
     const record = (asset.joints ?? []).find(o => o.body1.part === part);
     if (!record?.origin?.twist)
         return standingTurnOf(asset, part, path);
-    const turn = AXES.map(a => record.origin?.turn?.[a] ?? 0);
+    const turn = AXES.map(a => record.origin?.childRotate?.[a] ?? 0);
     return turn.every(t => t === 0) ? IDENTITY : turnMatrix(turn);
 }
 /** A quarter-turn matrix back as degrees about X, Y and Z in the order `rigid@1` turns. */
@@ -276,6 +278,11 @@ export function eulerOf(r) {
 }
 /** The two axes across a face along `axis`, in the order a right-handed turn about it takes one into the other. */
 export const ACROSS = { x: ['y', 'z'], y: ['z', 'x'], z: ['x', 'y'] };
+/** Rz(z)·Ry(y)·Rx(x), degrees about the fixed axes (URDF's rpy), for column vectors. */
+export function rpyMatrix(rotate) {
+    return mul3(mul3(axisTurn('z', rotate.z ?? 0), axisTurn('y', rotate.y ?? 0)), axisTurn('x', rotate.x ?? 0));
+}
+export const isQuarterMatrix = (r) => r.every(row => row.every(v => Math.abs(v) < 1e-9 || Math.abs(Math.abs(v) - 1) < 1e-9));
 /** A turn of `deg` degrees about one axis. */
 export function axisTurn(axis, deg) {
     const c = Math.cos((deg * Math.PI) / 180), s = Math.sin((deg * Math.PI) / 180);
@@ -336,9 +343,9 @@ const QUARTER_TURNS = (() => {
     return out;
 })();
 /** Any turn back as degrees about X, Y and Z in the order `rigid@1` turns (X, then Y, then Z). */
-export function eulerOfAny(r) {
+export function eulerOfAny(r, exact = false) {
     const deg = (a) => {
-        const d = round6((a * 180) / Math.PI);
+        const d = exact ? Math.round(((a * 180) / Math.PI) * 1e12) / 1e12 : round6((a * 180) / Math.PI);
         return d === 0 ? 0 : d;
     };
     const sy = Math.max(-1, Math.min(1, r[0][2]));

package/dist/authoring-geometry.js.map

@@ -1 +1 @@
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package/dist/authoring-occupancy.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"authoring-occupancy.d.ts","sourceRoot":"","sources":["../src/authoring-occupancy.ts"],"names":[],"mappings":"AAWA,OAAO,EAAE,KAAK,WAAW,EAAE,KAAK,eAAe,EAAqB,MAAM,kBAAkB,CAAA;AAC5F,OAAO,EAEL,KAAK,UAAU,EAGf,KAAK,qBAAqB,EAC1B,KAAK,uBAAuB,EAC7B,MAAM,sBAAsB,CAAA;AA6B7B,KAAK,OAAO,GAAG,GAAG,CAAA;AA6mBlB,6GAA6G;AAC7G,wBAAgB,sBAAsB,CACpC,KAAK,EAAE,WAAW,EAClB,OAAO,GAAE;IAAE,IAAI,CAAC,EAAE,MAAM,GAAG,OAAO,CAAA;CAAO,GACxC,uBAAuB,CA6BzB;AAED;;;;GAIG;AACH,wBAAgB,YAAY,CAAC,KAAK,EAAE,OAAO,EAAE,CAAC,EAAE;IAAE,IAAI,EAAE,eAAe,CAAC;IAAC,SAAS,EAAE,eAAe,CAAA;CAAE,GAAG,OAAO,CAqB9G;AAED,wBAAgB,gBAAgB,CAC9B,KAAK,EAAE,OAAO,EACd,CAAC,EAAE,OAAO,CAAC,qBAAqB,EAAE;IAAE,IAAI,EAAE,mBAAmB,CAAA;CAAE,CAAC,GAC/D,OAAO,CAoFT;AAED,uGAAuG;AACvG,wBAAgB,eAAe,CAC7B,KAAK,EAAE,OAAO,EACd,CAAC,EAAE;IAAE,IAAI,EAAE,mBAAmB,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,UAAU,CAAA;CAAE,GAC/D,OAAO,CAwBT;AAED,wBAAgB,iBAAiB,CAAC,KAAK,EAAE,OAAO,GAAG,OAAO,CAIzD"}

package/dist/authoring-occupancy.js

@@ -148,12 +148,17 @@ function poseTurnOf(m, asset, part) {
         return null;
     return turn.every(isQuarter) ? turnMatrix(turn) : 'other';
 }
-/** Whether a part, or anything carrying it, turns on a joint or stands turned by other than quarter turns. */
+/** Whether a part's seat is turned: its joint frame turned by `origin.parentRotate` (ADR-0107). */
+const seatTurned = (m, asset, part) => (nodeById(m, `${part}.seat.rigid`)?.args.slice(3, 6) ?? []).some((ref) => angleOf(m, asset, ref) !== 0);
+/**
+ * Whether a part, or anything carrying it, turns on a joint, stands turned by other than quarter turns, or is seated
+ * turned: a box cannot follow it, a ball about the point it turns at can (`reachOf`).
+ */
 function carriedByATurn(m, asset, id) {
     for (let part = id; part; part = parentOf(m, part)) {
         if (nodeById(m, `${part}.motion`)?.op === 'axis-turn@1')
             return true;
-        if (poseTurnOf(m, asset, part) === 'other')
+        if (poseTurnOf(m, asset, part) === 'other' || seatTurned(m, asset, part))
             return true;
     }
     return false;
@@ -318,7 +323,11 @@ function reachOf(m, asset, id, ends, freezeless = true) {
     for (let part = id; part; part = parentOf(m, part))
         chain.push(part);
     /* The topmost part that turns on a joint, or stands turned by an angle a box cannot follow (a fan's blade at 120°). */
-    const top = chain.reduce((found, part, i) => nodeById(m, `${part}.motion`)?.op === 'axis-turn@1' || poseTurnOf(m, asset, part) === 'other' ? i : found, -1);
+    const top = chain.reduce((found, part, i) => nodeById(m, `${part}.motion`)?.op === 'axis-turn@1' ||
+        poseTurnOf(m, asset, part) === 'other' ||
+        seatTurned(m, asset, part)
+        ? i
+        : found, -1);
     if (top < 0)
         return `${id} is carried by no turn`;
     let radius = { terms: [], c: 0 };

package/dist/authoring-occupancy.js.map

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

@@ -1 +1 @@
-{"version":3,"file":"authoring-proportion.d.ts","sourceRoot":"","sources":["../src/authoring-proportion.ts"],"names":[],"mappings":"AAWA,OAAO,EAAE,KAAK,IAAI,EAAQ,MAAM,YAAY,CAAA;AAC5C,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AACnD,OAAO,EAKL,KAAK,oBAAoB,EAC1B,MAAM,sBAAsB,CAAA;AAqB7B,KAAK,OAAO,GAAG,GAAG,CAAA;AAElB,wBAAgB,SAAS,CACvB,KAAK,EAAE,OAAO,EACd,CAAC,EAAE;IACD,IAAI,EAAE,YAAY,CAAA;IAClB,IAAI,EAAE,MAAM,CAAA;IACZ,EAAE,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAA;IAClC,IAAI,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAA;IACpC,IAAI,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAA;CACrC,GACA,OAAO,CA0FT;AAOD,wBAAgB,cAAc,CAAC,KAAK,EAAE,OAAO,GAAG,OAAO,CA2EtD;AAED,8FAA8F;AAC9F,wBAAgB,uBAAuB,CAAC,KAAK,EAAE,WAAW,GAAG,oBAAoB,CAGhF;AA2FD,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,OAAO,GAAG,OAAO,CAmB9D;AAED,wBAAgB,aAAa,CAAC,KAAK,EAAE,OAAO,EAAE,CAAC,EAAE;IAAE,IAAI,EAAE,gBAAgB,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAA;CAAE,GAAG,OAAO,CAiC9G;AAED,wBAAgB,WAAW,CAAC,KAAK,EAAE,OAAO,EAAE,CAAC,EAAE;IAAE,IAAI,EAAE,cAAc,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAA;CAAE,GAAG,OAAO,CAuC1G"}
+{"version":3,"file":"authoring-proportion.d.ts","sourceRoot":"","sources":["../src/authoring-proportion.ts"],"names":[],"mappings":"AAWA,OAAO,EAAE,KAAK,IAAI,EAAQ,MAAM,YAAY,CAAA;AAC5C,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AACnD,OAAO,EAKL,KAAK,oBAAoB,EAC1B,MAAM,sBAAsB,CAAA;AAqB7B,KAAK,OAAO,GAAG,GAAG,CAAA;AAElB,wBAAgB,SAAS,CACvB,KAAK,EAAE,OAAO,EACd,CAAC,EAAE;IACD,IAAI,EAAE,YAAY,CAAA;IAClB,IAAI,EAAE,MAAM,CAAA;IACZ,EAAE,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAA;IAClC,IAAI,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAA;IACpC,IAAI,CAAC,EAAE,OAAO,CAAC,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAAC,CAAA;CACrC,GACA,OAAO,CA0FT;AAOD,wBAAgB,cAAc,CAAC,KAAK,EAAE,OAAO,GAAG,OAAO,CA2EtD;AAED,8FAA8F;AAC9F,wBAAgB,uBAAuB,CAAC,KAAK,EAAE,WAAW,GAAG,oBAAoB,CAGhF;AAkGD,wBAAgB,sBAAsB,CAAC,KAAK,EAAE,OAAO,GAAG,OAAO,CAqB9D;AAED,wBAAgB,aAAa,CAAC,KAAK,EAAE,OAAO,EAAE,CAAC,EAAE;IAAE,IAAI,EAAE,gBAAgB,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAA;CAAE,GAAG,OAAO,CAiC9G;AAED,wBAAgB,WAAW,CAAC,KAAK,EAAE,OAAO,EAAE,CAAC,EAAE;IAAE,IAAI,EAAE,cAAc,CAAC;IAAC,IAAI,EAAE,MAAM,CAAC;IAAC,IAAI,EAAE,IAAI,CAAA;CAAE,GAAG,OAAO,CAuC1G"}

package/dist/authoring-proportion.js

@@ -242,12 +242,22 @@ function proportionPlan(asset) {
             plan.skipped.push({ what: `${part}.place`, reason: 'stands by no fastening; fasten it for its place to follow' });
     }
     for (const j of (asset.joints ?? [])) {
-        const faceAxis = FIGURE_FACES[childFaceOf(m, j)];
         const gap = j.origin?.gap;
-        if (typeof gap === 'number' && gap !== 0)
+        if (typeof gap === 'number' && gap !== 0) {
+            const faceAxis = FIGURE_FACES[childFaceOf(m, j)];
             plan.lengths.push({ joint: j.id, at: 'gap', axis: faceAxis, times: share(gap, faceAxis) });
+        }
         else if (gap && typeof gap === 'object')
             plan.skipped.push({ what: `${j.id}.gap`, reason: 'follows a length already', follows: true });
+        /* The joint frame's offset is a length too; one ratio grows every axis alike, so its axis reads the size (ADR-0107). */
+        for (const [axis, d] of Object.entries(j.origin?.offset ?? {})) {
+            if (typeof d === 'number') {
+                if (d !== 0)
+                    plan.lengths.push({ joint: j.id, at: `offset.${axis}`, axis, times: share(d, axis) });
+            }
+            else if (d !== undefined)
+                plan.skipped.push({ what: `${j.id}.offset.${axis}`, reason: 'follows a length already', follows: true });
+        }
         for (const [axis, how] of Object.entries(j.origin?.align ?? {})) {
             if (!how || typeof how !== 'object')
                 continue;
@@ -292,6 +302,8 @@ export function followSizeInProportion(asset) {
             j.origin = { ...j.origin, gap: follows(l.axis, l.times) };
         else if (l.at === 'pitch')
             j.repeat = { ...j.repeat, pitch: follows(l.axis, l.times) };
+        else if (l.at.startsWith('offset.'))
+            j.origin = { ...j.origin, offset: { ...j.origin.offset, [l.axis]: follows(l.axis, l.times) } };
         else
             j.origin = { ...j.origin, align: { ...j.origin.align, [l.at]: { mm: follows(l.axis, l.times) } } };
     }

package/dist/authoring-proportion.js.map

@@ -1 +1 @@
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