@hatiolab/figure-model 0.9.6 → 0.11.0

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

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

@@ -16,22 +16,22 @@ export const FIGURE_FACES = { left: 'x', right: 'x', bottom: 'y', top: 'y', back
  */
 export const FIGURE_FACINGS = ['meet', 'flush', 'centre'];
 /**
- * UsdPhysics's joint types (ADR-0093, amended 2026-09-25: the joint follows USD). A `fixed` joint is a fastening; a
- * `revolute` joint turns -- with no limits it turns without end, its value a phase (-180..180), as USD's revolute
- * joint without limits does; a `prismatic` joint slides.
+ * UsdPhysics's moving joint types (ADR-0093, amended 2026-09-25: the joint follows USD), one per axis of a joint's
+ * motion (ADR-0159): a `revolute` axis turns -- with no limits it turns without end, its value a phase (-180..180), as
+ * USD's revolute joint without limits does; a `prismatic` axis slides. A joint with no motion is a fastening.
  */
-export const FIGURE_JOINT_TYPES = ['fixed', 'revolute', 'prismatic'];
+export const FIGURE_MOTION_TYPES = ['revolute', 'prismatic'];
 /** Where a moving joint turns: where it is fastened, or the child's fastened face or middle (ADR-0107 decision 1). */
 export const FIGURE_JOINT_PIVOTS = ['seat', 'child-face', 'child-centre'];
 export const SIGN = { left: -1, right: 1, bottom: -1, top: 1, back: -1, front: 1 };
-/** The joints a follower follows, each with its multiplier: one for a one-leader mimic, none for a joint that leads itself. */
-export function figureMimicLeadersOf(j) {
-    const mimic = j.mimic;
+/** The axes a follower follows, each with its multiplier: one for a one-leader mimic, none for an axis that leads itself. */
+export function figureMimicLeadersOf(m) {
+    const mimic = m.mimic;
     if (!mimic || typeof mimic !== 'object')
         return [];
     if (Object.hasOwn(mimic, 'sum'))
         return Array.isArray(mimic.sum) ? mimic.sum : [];
-    return [{ joint: mimic.joint, multiplier: mimic.multiplier }];
+    return [{ motion: mimic.motion, multiplier: mimic.multiplier }];
 }
 /** Whether a length is written as something to follow: one source, or a sum of one term or more, each with a source. */
 export const followsSomething = (measure) => {

package/dist/authoring-types.js.map

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package/dist/body.d.ts

@@ -0,0 +1,19 @@
+import type { FigureAsset } from './asset-types.ts';
+import { type Axis } from './words.ts';
+/** Where something reaches on each axis, in mm about the figure's origin. */
+export type FigureBounds = Record<Axis, {
+    min: number;
+    max: number;
+}>;
+/**
+ * The body's bounds about the origin: the union of the parts' boxes as they rest, at the authored size or at `sizes`
+ * (design inputs, by id). Hidden parts count: the body does not shrink with visibility. Zero on every side for a figure
+ * with no parts.
+ */
+export declare function figureBodyBoundsOf(asset: FigureAsset, sizes?: Record<string, number>): FigureBounds;
+/**
+ * How wide, tall and deep the body is: the size of `figureBodyBoundsOf`. Not the room its joints carry its parts
+ * through (a door's swing) -- measuring that instead made a 1100 mm door 8208 mm every way (2026-09-25).
+ */
+export declare function figurePartsExtentOf(asset: FigureAsset, sizes?: Record<string, number>): Record<Axis, number>;
+//# sourceMappingURL=body.d.ts.map

package/dist/body.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"body.d.ts","sourceRoot":"","sources":["../src/body.ts"],"names":[],"mappings":"AAOA,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAEnD,OAAO,EAAQ,KAAK,IAAI,EAAE,MAAM,YAAY,CAAA;AAE5C,6EAA6E;AAC7E,MAAM,MAAM,YAAY,GAAG,MAAM,CAAC,IAAI,EAAE;IAAE,GAAG,EAAE,MAAM,CAAC;IAAC,GAAG,EAAE,MAAM,CAAA;CAAE,CAAC,CAAA;AAIrE;;;;GAIG;AACH,wBAAgB,kBAAkB,CAAC,KAAK,EAAE,WAAW,EAAE,KAAK,GAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAM,GAAG,YAAY,CAcvG;AAED;;;GAGG;AACH,wBAAgB,mBAAmB,CAAC,KAAK,EAAE,WAAW,EAAE,KAAK,GAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAM,GAAG,MAAM,CAAC,IAAI,EAAE,MAAM,CAAC,CAGhH"}

package/dist/body.js

@@ -0,0 +1,37 @@
+/*
+ * A figure's size is its body as it rests (ADR-0145 2.1): the parts placed at their state defaults, at the authored
+ * size or the sizes asked. Computed, never declared. The board's box, a first placement, the turn from a box to size
+ * inputs, the 3D height and every preview read it here. The size range (ADR-0087 decision 6) is the other use of the
+ * same size inputs: where they are allowed, measured at the same rest pose; this is what they draw.
+ */
+import { compileFigureAsset } from "./asset.js";
+import { figureOccupiedBoxesOf, figureWritersOf } from "./gate.js";
+import { AXES } from "./words.js";
+const round = (v) => Math.round(v * 1e6) / 1e6;
+/**
+ * The body's bounds about the origin: the union of the parts' boxes as they rest, at the authored size or at `sizes`
+ * (design inputs, by id). Hidden parts count: the body does not shrink with visibility. Zero on every side for a figure
+ * with no parts.
+ */
+export function figureBodyBoundsOf(asset, sizes = {}) {
+    const at = Object.keys(sizes).length ? { ...asset, designInputs: { ...asset.designInputs, ...sizes } } : asset;
+    const boxes = figureOccupiedBoxesOf(compileFigureAsset(at).evaluate().geometry, figureWritersOf(at));
+    return Object.fromEntries(AXES.map(axis => [
+        axis,
+        boxes.length
+            ? {
+                min: round(Math.min(...boxes.map(b => b.centre[axis] - b.extent[axis] / 2))),
+                max: round(Math.max(...boxes.map(b => b.centre[axis] + b.extent[axis] / 2)))
+            }
+            : { min: 0, max: 0 }
+    ]));
+}
+/**
+ * How wide, tall and deep the body is: the size of `figureBodyBoundsOf`. Not the room its joints carry its parts
+ * through (a door's swing) -- measuring that instead made a 1100 mm door 8208 mm every way (2026-09-25).
+ */
+export function figurePartsExtentOf(asset, sizes = {}) {
+    const b = figureBodyBoundsOf(asset, sizes);
+    return Object.fromEntries(AXES.map(axis => [axis, round(b[axis].max - b[axis].min)]));
+}
+//# sourceMappingURL=body.js.map

package/dist/body.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"body.js","sourceRoot":"","sources":["../src/body.ts"],"names":[],"mappings":"AAAA;;;;;GAKG;AACH,OAAO,EAAE,kBAAkB,EAAE,MAAM,YAAY,CAAA;AAE/C,OAAO,EAAE,qBAAqB,EAAE,eAAe,EAAE,MAAM,WAAW,CAAA;AAClE,OAAO,EAAE,IAAI,EAAa,MAAM,YAAY,CAAA;AAK5C,MAAM,KAAK,GAAG,CAAC,CAAS,EAAE,EAAE,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,GAAG,CAAC,GAAG,GAAG,CAAA;AAEtD;;;;GAIG;AACH,MAAM,UAAU,kBAAkB,CAAC,KAAkB,EAAE,QAAgC,EAAE;IACvF,MAAM,EAAE,GAAG,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,GAAG,KAAK,EAAE,YAAY,EAAE,EAAE,GAAG,KAAK,CAAC,YAAY,EAAE,GAAG,KAAK,EAAE,EAAE,CAAC,CAAC,CAAC,KAAK,CAAA;IAC9G,MAAM,KAAK,GAAG,qBAAqB,CAAC,kBAAkB,CAAC,EAAE,CAAC,CAAC,QAAQ,EAAE,CAAC,QAAQ,EAAE,eAAe,CAAC,EAAE,CAAC,CAAC,CAAA;IACpG,OAAO,MAAM,CAAC,WAAW,CACvB,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC;QACf,IAAI;QACJ,KAAK,CAAC,MAAM;YACV,CAAC,CAAC;gBACE,GAAG,EAAE,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;gBAC5E,GAAG,EAAE,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC;aAC7E;YACH,CAAC,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE,GAAG,EAAE,CAAC,EAAE;KACvB,CAAC,CACa,CAAA;AACnB,CAAC;AAED;;;GAGG;AACH,MAAM,UAAU,mBAAmB,CAAC,KAAkB,EAAE,QAAgC,EAAE;IACxF,MAAM,CAAC,GAAG,kBAAkB,CAAC,KAAK,EAAE,KAAK,CAAC,CAAA;IAC1C,OAAO,MAAM,CAAC,WAAW,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,CAAC,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,GAAG,GAAG,CAAC,CAAC,IAAI,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,CAAyB,CAAA;AAC/G,CAAC"}

package/dist/clip-keeping.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"clip-keeping.d.ts","sourceRoot":"","sources":["../src/clip-keeping.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,mBAAmB,EAAE,MAAM,eAAe,CAAA;AAGnD,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAcnD,oHAAoH;AACpH,MAAM,WAAW,iBAAiB;IAChC,SAAS,CAAC,EAAE,SAAS,MAAM,EAAE,CAAA;CAC9B;AAED,oHAAoH;AACpH,MAAM,WAAW,cAAc;IAC7B,EAAE,EAAE,MAAM,CAAA;IACV,IAAI,EAAE,MAAM,CAAA;IACZ,KAAK,EAAE,MAAM,CAAA;IACb,GAAG,EAAE,MAAM,GAAG,SAAS,CAAA;CACxB;AAED;;;GAGG;AACH,qBAAa,uBAAwB,SAAQ,mBAAmB;IAC9D,SAAiB,OAAO,EAAE;QAAE,MAAM,EAAE,eAAe,CAAC;QAAC,KAAK,EAAE,cAAc,EAAE,CAAA;KAAE,CAAA;gBAClE,KAAK,EAAE,cAAc,EAAE;CAGpC;AAgBD,6FAA6F;AAC7F,MAAM,WAAW,iBAAiB;IAChC,IAAI,EAAE,MAAM,CAAA;IACZ,EAAE,EAAE,MAAM,CAAA;CACX;AAED;;;;GAIG;AACH,wBAAgB,iBAAiB,CAAC,MAAM,EAAE,WAAW,EAAE,KAAK,EAAE,WAAW,EAAE,OAAO,GAAE,iBAAsB,EAAE,OAAO,CAAC,EAAE,iBAAiB,GAAG,WAAW,CAuCpJ;AAED;;;;;;;GAOG;AACH,wBAAgB,oBAAoB,CAAC,MAAM,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,IAAI,EAAE,WAAW,KAAK,WAAW,EAAE,OAAO,CAAC,EAAE,iBAAiB,GAAG,WAAW,CAiB5I"}
+{"version":3,"file":"clip-keeping.d.ts","sourceRoot":"","sources":["../src/clip-keeping.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,mBAAmB,EAAE,MAAM,eAAe,CAAA;AAGnD,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAenD,oHAAoH;AACpH,MAAM,WAAW,iBAAiB;IAChC,SAAS,CAAC,EAAE,SAAS,MAAM,EAAE,CAAA;CAC9B;AAED,oHAAoH;AACpH,MAAM,WAAW,cAAc;IAC7B,EAAE,EAAE,MAAM,CAAA;IACV,IAAI,EAAE,MAAM,CAAA;IACZ,KAAK,EAAE,MAAM,CAAA;IACb,GAAG,EAAE,MAAM,GAAG,SAAS,CAAA;CACxB;AAED;;;GAGG;AACH,qBAAa,uBAAwB,SAAQ,mBAAmB;IAC9D,SAAiB,OAAO,EAAE;QAAE,MAAM,EAAE,eAAe,CAAC;QAAC,KAAK,EAAE,cAAc,EAAE,CAAA;KAAE,CAAA;gBAClE,KAAK,EAAE,cAAc,EAAE;CAGpC;AAeD,6FAA6F;AAC7F,MAAM,WAAW,iBAAiB;IAChC,IAAI,EAAE,MAAM,CAAA;IACZ,EAAE,EAAE,MAAM,CAAA;CACX;AAED;;;;GAIG;AACH,wBAAgB,iBAAiB,CAAC,MAAM,EAAE,WAAW,EAAE,KAAK,EAAE,WAAW,EAAE,OAAO,GAAE,iBAAsB,EAAE,OAAO,CAAC,EAAE,iBAAiB,GAAG,WAAW,CAuCpJ;AAED;;;;;;;GAOG;AACH,wBAAgB,oBAAoB,CAAC,MAAM,EAAE,WAAW,EAAE,IAAI,EAAE,CAAC,IAAI,EAAE,WAAW,KAAK,WAAW,EAAE,OAAO,CAAC,EAAE,iBAAiB,GAAG,WAAW,CAiB5I"}

package/dist/clip-keeping.js

@@ -1,6 +1,7 @@
 import { FigureContractError } from "./contract.js";
 import { compileFigureAsset } from "./asset.js";
 import { renameDataInterface } from "./data-interface.js";
+import { figureAxesOf, motionStateIdOf } from "./joint-motions.js";
 /**
  * The refusal that asks first: these clips would go (`details.clips`, as every refusal carries its values -- ADR-0127);
  * pass their ids as `dropClips` to go ahead.
@@ -10,14 +11,15 @@ export class FigureClipsDroppedError extends FigureContractError {
         super('CLIPS_DROPPED', 'drivers', `${clips.map(c => `${c.clip} (${c.state})`).join(', ')} would stop playing; agree to it by naming them in dropClips`, { reason: 'clips-dropped', clips });
     }
 }
-const stateIdOf = (j) => j.state?.id ?? j.id;
+/* The axes that lead themselves (ADR-0159): a clip plays one of their controls. */
+const leadingAxesOf = (asset) => figureAxesOf(asset.joints).map(a => a.motion).filter(a => !a.mimic);
 function meaningOf(asset, state) {
     const input = asset.document.model.inputs.find(i => i.id === state && i.role === 'state');
     if (!input)
         return { kind: 'gone' };
     if (typeof input.unit !== 'string' || !input.unit)
         return { kind: 'unknown', why: `${state} has no unit` };
-    const owners = (asset.joints ?? []).filter(j => j.type !== 'fixed' && !j.mimic && stateIdOf(j) === state);
+    const owners = leadingAxesOf(asset).filter(a => motionStateIdOf(a) === state);
     if (owners.length)
         return { kind: 'joint', joints: owners.map(j => ({ id: j.id, type: j.type })), unit: input.unit };
     return { kind: 'free', unit: input.unit };
@@ -44,9 +46,9 @@ export function settleFigureClips(before, after, consent = {}, renamed) {
             throw new FigureContractError('CLIP_MEANING', `drivers.${clip.id}`, `${clip.clip} plays ${clip.state}, which is not a control of this figure`);
         let state;
         if (was.kind === 'joint') {
-            /* Where the joints that moved it are now: their control, if they still move and still name one control. */
-            const joints = (after.joints ?? []).filter(j => was.joints.some(w => map(w.id) === j.id) && j.type !== 'fixed' && !j.mimic);
-            const named = new Set(joints.map(stateIdOf));
+            /* Where the axes that moved it are now: their control, if they still move and still name one control. */
+            const joints = leadingAxesOf(after).filter(a => was.joints.some(w => map(w.id) === a.id));
+            const named = new Set(joints.map(motionStateIdOf));
             state = joints.length && named.size === 1 ? [...named][0] : undefined;
         }
         else

package/dist/clip-keeping.js.map

@@ -1 +1 @@
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package/dist/command-preview.js

@@ -1,6 +1,6 @@
 import { applyFigureAuthoring } from "./authoring-actions.js";
 import {} from "./authoring-types.js";
-import { compileFigureAsset, upgradeFigurePlacement } from "./asset.js";
+import { compileFigureAsset } from "./asset.js";
 import { compileFigureGraph } from "./graph.js";
 import { figureShapeProviderOf } from "./shape-provider.js";
 import { figureShapeBoundsOf, figureShapeDescriptionOf } from "./shape-ops.js";
@@ -101,7 +101,7 @@ function turnBetween(from, to) {
  * except for clips: those it names and still shows, since only the apply asks about them.
  */
 export function previewFigureCommand(source, action, values = {}) {
-    source = upgradeFigurePlacement(source);
+    source = source;
     let asset;
     let clipsWouldGo = [];
     try {
@@ -135,7 +135,7 @@ export function previewFigureCommand(source, action, values = {}) {
  * disc -- a highlight in a guessed place would point at the wrong face.
  */
 export function figurePartFaceOf(source, part, face, values = {}) {
-    const asset = upgradeFigurePlacement(source);
+    const asset = source;
     const m = asset.document.model;
     const place = m.nodes.find((n) => n.id === part && n.op === 'place@1');
     if (!place)
@@ -212,7 +212,7 @@ const FACES_HIGH = { x: 'right', y: 'top', z: 'front' };
  * worked out again by a formula of the screen's own. Read on a preview's figure, it is the row a command would make.
  */
 export function figureRowOf(source, part, values = {}) {
-    const asset = upgradeFigurePlacement(source);
+    const asset = source;
     const joint = (asset.joints ?? []).find((j) => j.body1.part === part);
     if (!joint?.repeat || !('part' in joint.body0))
         return undefined;

package/dist/command-preview.js.map

@@ -1 +1 @@
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package/dist/contract.d.ts

@@ -30,9 +30,6 @@ export type FigureRefusalDetails = {
         facing: string;
     }>;
     takes: string[];
-} | {
-    reason: 'in-declared-space';
-    part: string;
 } | {
     reason: 'row-along';
     part: string;

package/dist/contract.d.ts.map

@@ -1 +1 @@
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package/dist/contract.js.map

@@ -1 +1 @@
-{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAiHA,0DAA0D;AAC1D,MAAM,OAAO,mBAAoB,SAAQ,KAAK;IACnC,IAAI,CAAQ;IACZ,IAAI,CAAQ;IACrB,uFAAuF;IAC9E,OAAO,CAAuB;IAEvC,YAAY,IAAY,EAAE,IAAY,EAAE,MAAc,EAAE,OAA8B;QACpF,KAAK,CAAC,GAAG,IAAI,KAAK,IAAI,KAAK,MAAM,EAAE,CAAC,CAAA;QACpC,IAAI,CAAC,IAAI,GAAG,qBAAqB,CAAA;QACjC,IAAI,CAAC,IAAI,GAAG,IAAI,CAAA;QAChB,IAAI,CAAC,IAAI,GAAG,IAAI,CAAA;QAChB,IAAI,OAAO,KAAK,SAAS;YAAE,IAAI,CAAC,OAAO,GAAG,OAAO,CAAA;IACnD,CAAC;CACF"}
+{"version":3,"file":"contract.js","sourceRoot":"","sources":["../src/contract.ts"],"names":[],"mappings":"AAgHA,0DAA0D;AAC1D,MAAM,OAAO,mBAAoB,SAAQ,KAAK;IACnC,IAAI,CAAQ;IACZ,IAAI,CAAQ;IACrB,uFAAuF;IAC9E,OAAO,CAAuB;IAEvC,YAAY,IAAY,EAAE,IAAY,EAAE,MAAc,EAAE,OAA8B;QACpF,KAAK,CAAC,GAAG,IAAI,KAAK,IAAI,KAAK,MAAM,EAAE,CAAC,CAAA;QACpC,IAAI,CAAC,IAAI,GAAG,qBAAqB,CAAA;QACjC,IAAI,CAAC,IAAI,GAAG,IAAI,CAAA;QAChB,IAAI,CAAC,IAAI,GAAG,IAAI,CAAA;QAChB,IAAI,OAAO,KAAK,SAAS;YAAE,IAAI,CAAC,OAAO,GAAG,OAAO,CAAA;IACnD,CAAC;CACF"}

package/dist/editor-workspace.js

@@ -250,7 +250,7 @@ export function createFigureEditorWorkspace() {
             control(a, q);
             const seen = derive(a.asset, a.inputs).seen;
             const joint = seen.joints?.find(j => j.body1.part === part);
-            if (!joint || joint.type !== 'fixed' || seen.document.model.nodes.some(n => n.id === `${part}.motion`))
+            if (!joint || joint.motion?.length || seen.document.model.nodes.some(n => n.id === `${part}.motion`))
                 fail('EDIT_TARGET', 'only a fixed attachment can be relocated by this drag');
             if (position.length !== 3 || !position.every(Number.isFinite))
                 fail('EDIT_VALUE', 'finite position required');

package/dist/editor-workspace.js.map

@@ -1 +1 @@
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package/dist/examples.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"examples.d.ts","sourceRoot":"","sources":["../src/examples.ts"],"names":[],"mappings":"AAMA,OAAO,EAAyC,KAAK,uBAAuB,EAAE,MAAM,aAAa,CAAA;AACjG,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAEnD,KAAK,IAAI,GAAG,uBAAuB,CAAA;AAMnC,qFAAqF;AACrF,eAAO,MAAM,eAAe,EAAE;IAAE,IAAI,EAAE,IAAI,CAAC;IAAC,KAAK,CAAC,EAAE;QAAE,EAAE,EAAE,MAAM,CAAC;QAAC,IAAI,EAAE,GAAG,GAAG,GAAG,CAAC;QAAC,GAAG,EAAE,MAAM,CAAC;QAAC,GAAG,EAAE,MAAM,CAAC;QAAC,UAAU,CAAC,EAAE,IAAI,CAAA;KAAE,CAAA;CAAE,EAWjI,CAAA;AAED;;;GAGG;AACH,wBAAgB,cAAc,IAAI,WAAW,CAqB5C"}

package/dist/examples.js

@@ -3,7 +3,6 @@
  * authoring language, and the seeds a new domain starts with.
  */
 import { applyFigureAuthoring } from "./authoring-actions.js";
-import { proposeFigureOccupancy } from "./authoring-occupancy.js";
 import {} from "./authoring-types.js";
 import { addFigurePrimitive, createFigureAsset } from "./create.js";
 const box = (id, width, height, depth, token = 'palette.primary') => ({ id, kind: 'box', dimensions: { width, height, depth }, position: { x: 0, y: 0, z: 0 }, material: { token, preset: 'metal' } });
@@ -30,25 +29,25 @@ export function robotArmFigure() {
     asset.palette = { 'palette.primary': '#477b9e', 'palette.dark': '#2b2b2b', 'palette.accent': '#f79c40', 'palette.neutral': '#9a9a9a' };
     const run = (action) => (asset = applyFigureAuthoring(asset, action));
     ROBOT_ARM_CHAIN.forEach(({ part }) => (asset = addFigurePrimitive(asset, part)));
-    run({ kind: 'set-joint', joint: { id: 'base', type: 'fixed', body0: { plane: 'mounting-plane' }, body1: { part: 'base' } } });
+    run({ kind: 'set-joint', joint: { id: 'base', body0: { plane: 'mounting-plane' }, body1: { part: 'base' } } });
     ROBOT_ARM_CHAIN.forEach(({ part, joint }, i) => {
         if (i === 0)
             return;
         const hang = { body0: { part: ROBOT_ARM_CHAIN[i - 1].part.id, face: 'top' }, body1: { part: part.id } };
         if (!joint)
-            run({ kind: 'set-joint', joint: { id: part.id, type: 'fixed', ...hang } });
+            run({ kind: 'set-joint', joint: { id: part.id, ...hang } });
         else if (joint.continuous)
-            run({ kind: 'set-joint', joint: { id: joint.id, type: 'revolute', ...hang, axis: joint.axis } });
+            run({ kind: 'set-joint', joint: { id: joint.id, ...hang, motion: [{ type: 'revolute', axis: joint.axis }] } });
         else
-            run({ kind: 'set-joint', joint: { id: joint.id, type: 'revolute', ...hang, axis: joint.axis, lowerLimit: joint.min, upperLimit: joint.max } });
+            run({ kind: 'set-joint', joint: { id: joint.id, ...hang, motion: [{ type: 'revolute', axis: joint.axis, lowerLimit: joint.min, upperLimit: joint.max }] } });
     });
     /* Two fingers on the gripper's top, at its two ends, closing towards each other from one value (0..45 mm): the right one mimics. */
     asset = addFigurePrimitive(asset, box('finger-left', 20, 90, 40, 'palette.neutral'));
     asset = addFigurePrimitive(asset, box('finger-right', 20, 90, 40, 'palette.neutral'));
-    run({ kind: 'set-joint', joint: { id: 'gripper', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-left' }, origin: { align: { x: 'min' } }, axis: 'X', lowerLimit: 0, upperLimit: 45 } });
-    run({ kind: 'set-joint', joint: { id: 'gripper-mirror', type: 'prismatic', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-right' }, origin: { align: { x: 'max' } }, axis: 'X', mimic: { joint: 'gripper', multiplier: -1 } } });
+    run({ kind: 'set-joint', joint: { id: 'gripper', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-left' }, origin: { align: { x: 'min' } }, motion: [{ type: 'prismatic', axis: 'X', lowerLimit: 0, upperLimit: 45 }] } });
+    run({ kind: 'set-joint', joint: { id: 'gripper-mirror', body0: { part: 'gripper', face: 'top' }, body1: { part: 'finger-right' }, origin: { align: { x: 'max' } }, motion: [{ type: 'prismatic', axis: 'X', mimic: { motion: 'gripper', multiplier: -1 } }] } });
     run({ kind: 'set-detail-level', level: 'L' });
-    run({ kind: 'declare-occupancy', proposal: proposeFigureOccupancy(asset, { over: 'range' }), placement: 'floor' });
+    run({ kind: 'set-placement', placement: 'floor' });
     return asset;
 }
 //# sourceMappingURL=examples.js.map

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