@konitif/viewer-3d 0.284.1

package/dist/renderer/RobotComparisonVisibilityTransition.js.map

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package/dist/renderer/RobotPoseTransition.d.ts

@@ -0,0 +1,34 @@
+export interface RobotPoseTransitionTrack {
+    target: string;
+    startValue: number;
+    targetValue: number;
+}
+export interface RobotPoseTransition {
+    startedAtMs: number;
+    durationMs: number;
+    tracks: readonly RobotPoseTransitionTrack[];
+}
+export interface RobotPoseTransitionSample {
+    progress: number;
+    completed: boolean;
+    jointValues: Readonly<Record<string, number>>;
+}
+export declare function resolveRobotPoseEntryTransitionEndTime(input: {
+    startTimeSeconds: number;
+    firstKeyTimeSeconds: number;
+    minimumDurationSeconds: number;
+}): number;
+export declare function resolveRobotPoseExitTransitionStartTime(input: {
+    endTimeSeconds: number;
+    lastKeyTimeSeconds: number;
+    minimumDurationSeconds: number;
+}): number;
+export declare function createRobotPoseTransition(input: {
+    startedAtMs: number;
+    durationMs: number;
+    targets: Iterable<string>;
+    sourcePose: Readonly<Record<string, number>>;
+    targetPose: Readonly<Record<string, number>>;
+}): RobotPoseTransition | null;
+export declare function sampleRobotPoseTransition(transition: RobotPoseTransition, observedAtMs: number): RobotPoseTransitionSample;
+//# sourceMappingURL=RobotPoseTransition.d.ts.map

package/dist/renderer/RobotPoseTransition.d.ts.map

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package/dist/renderer/RobotPoseTransition.js

@@ -0,0 +1,66 @@
+export function resolveRobotPoseEntryTransitionEndTime(input) {
+    const startTimeSeconds = Number.isFinite(input.startTimeSeconds) ? input.startTimeSeconds : 0;
+    const firstKeyTimeSeconds = Number.isFinite(input.firstKeyTimeSeconds)
+        ? input.firstKeyTimeSeconds
+        : startTimeSeconds;
+    const minimumDurationSeconds = Number.isFinite(input.minimumDurationSeconds)
+        ? Math.max(0, input.minimumDurationSeconds)
+        : 0;
+    return Math.max(firstKeyTimeSeconds, startTimeSeconds + minimumDurationSeconds);
+}
+export function resolveRobotPoseExitTransitionStartTime(input) {
+    const endTimeSeconds = Number.isFinite(input.endTimeSeconds) ? Math.max(0, input.endTimeSeconds) : 0;
+    const lastKeyTimeSeconds = Number.isFinite(input.lastKeyTimeSeconds)
+        ? Math.max(0, Math.min(endTimeSeconds, input.lastKeyTimeSeconds))
+        : endTimeSeconds;
+    const minimumDurationSeconds = Number.isFinite(input.minimumDurationSeconds)
+        ? Math.max(0, input.minimumDurationSeconds)
+        : 0;
+    return Math.min(lastKeyTimeSeconds, Math.max(0, endTimeSeconds - minimumDurationSeconds));
+}
+export function createRobotPoseTransition(input) {
+    const tracks = [...new Set(input.targets)]
+        .sort()
+        .flatMap((target) => {
+        const startValue = input.sourcePose[target];
+        const targetValue = input.targetPose[target];
+        if (typeof startValue !== 'number' ||
+            !Number.isFinite(startValue) ||
+            typeof targetValue !== 'number' ||
+            !Number.isFinite(targetValue) ||
+            Math.abs(startValue - targetValue) <= 0.000001) {
+            return [];
+        }
+        return [{ target, startValue, targetValue }];
+    });
+    if (tracks.length === 0) {
+        return null;
+    }
+    return {
+        startedAtMs: Number.isFinite(input.startedAtMs) ? input.startedAtMs : 0,
+        durationMs: Math.max(1, Number.isFinite(input.durationMs) ? input.durationMs : 1),
+        tracks
+    };
+}
+export function sampleRobotPoseTransition(transition, observedAtMs) {
+    const elapsedMs = Math.max(0, observedAtMs - transition.startedAtMs);
+    const progress = clampUnit(elapsedMs / transition.durationMs);
+    const easedProgress = progress * progress * (3 - 2 * progress);
+    const jointValues = {};
+    for (const track of transition.tracks) {
+        jointValues[track.target] =
+            track.startValue + (track.targetValue - track.startValue) * easedProgress;
+    }
+    return {
+        progress,
+        completed: progress >= 1,
+        jointValues
+    };
+}
+function clampUnit(value) {
+    if (!Number.isFinite(value)) {
+        return 0;
+    }
+    return Math.max(0, Math.min(1, value));
+}
+//# sourceMappingURL=RobotPoseTransition.js.map

package/dist/renderer/RobotPoseTransition.js.map

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package/dist/renderer/RobotPostureCompensation.d.ts

@@ -0,0 +1,31 @@
+import type { PhysicsQuaternion } from '@konitif/physics';
+export interface RobotSagittalPostureCompensationChannel {
+    jointName: string;
+    proportionalGain: number;
+    velocityGain: number;
+    maxOffsetRadians: number;
+    minimumTargetRadians?: number;
+    maximumTargetRadians?: number;
+}
+export interface RobotSagittalPostureCompensationOptions {
+    referenceBodyName: string;
+    referenceTiltRadians?: number;
+    deadbandRadians?: number;
+    maxTiltRadians?: number;
+    maxTiltVelocityRadiansPerSecond?: number;
+    channels: readonly RobotSagittalPostureCompensationChannel[];
+}
+export interface RobotSagittalPostureCompensationResult {
+    tiltRadians: number;
+    tiltVelocityRadiansPerSecond: number;
+    targets: Readonly<Record<string, number>>;
+}
+export declare function resolveRobotSagittalTiltRadians(rotation: PhysicsQuaternion): number;
+export declare function resolveRobotSagittalPostureCompensation(input: {
+    options: RobotSagittalPostureCompensationOptions;
+    rotation: PhysicsQuaternion;
+    authoredTargets: Readonly<Record<string, number>>;
+    previousTiltRadians?: number | null;
+    elapsedSeconds: number;
+}): RobotSagittalPostureCompensationResult;
+//# sourceMappingURL=RobotPostureCompensation.d.ts.map

package/dist/renderer/RobotPostureCompensation.d.ts.map

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package/dist/renderer/RobotPostureCompensation.js

@@ -0,0 +1,60 @@
+export function resolveRobotSagittalTiltRadians(rotation) {
+    const magnitude = Math.hypot(rotation.x, rotation.y, rotation.z, rotation.w);
+    if (!Number.isFinite(magnitude) || magnitude <= Number.EPSILON) {
+        return 0;
+    }
+    const x = rotation.x / magnitude;
+    const y = rotation.y / magnitude;
+    const z = rotation.z / magnitude;
+    const w = rotation.w / magnitude;
+    const upX = 2 * (x * z + w * y);
+    const upZ = 1 - 2 * (x * x + y * y);
+    return Math.atan2(upX, upZ);
+}
+export function resolveRobotSagittalPostureCompensation(input) {
+    const measuredTilt = resolveRobotSagittalTiltRadians(input.rotation);
+    const referenceTilt = finiteOr(input.options.referenceTiltRadians, 0);
+    const maxTilt = Math.max(0, finiteOr(input.options.maxTiltRadians, Math.PI / 6));
+    const deadband = Math.max(0, finiteOr(input.options.deadbandRadians, 0));
+    const tiltRadians = clamp(measuredTilt - referenceTilt, -maxTilt, maxTilt);
+    const compensatedTilt = applyDeadband(tiltRadians, deadband);
+    const elapsedSeconds = Math.max(0, finiteOr(input.elapsedSeconds, 0));
+    const rawVelocity = input.previousTiltRadians === null ||
+        input.previousTiltRadians === undefined ||
+        elapsedSeconds <= Number.EPSILON
+        ? 0
+        : (tiltRadians - input.previousTiltRadians) / elapsedSeconds;
+    const maxVelocity = Math.max(0, finiteOr(input.options.maxTiltVelocityRadiansPerSecond, Math.PI * 2));
+    const tiltVelocityRadiansPerSecond = clamp(rawVelocity, -maxVelocity, maxVelocity);
+    const targets = {};
+    for (const channel of input.options.channels) {
+        const authoredTarget = input.authoredTargets[channel.jointName];
+        if (typeof authoredTarget !== 'number' || !Number.isFinite(authoredTarget)) {
+            continue;
+        }
+        const maxOffset = Math.max(0, finiteOr(channel.maxOffsetRadians, 0));
+        const velocityCorrection = compensatedTilt === 0
+            ? 0
+            : finiteOr(channel.velocityGain, 0) * tiltVelocityRadiansPerSecond;
+        const offset = clamp(finiteOr(channel.proportionalGain, 0) * compensatedTilt + velocityCorrection, -maxOffset, maxOffset);
+        targets[channel.jointName] = clamp(authoredTarget + offset, finiteOr(channel.minimumTargetRadians, Number.NEGATIVE_INFINITY), finiteOr(channel.maximumTargetRadians, Number.POSITIVE_INFINITY));
+    }
+    return {
+        tiltRadians,
+        tiltVelocityRadiansPerSecond,
+        targets
+    };
+}
+function applyDeadband(value, deadband) {
+    if (Math.abs(value) <= deadband) {
+        return 0;
+    }
+    return value - Math.sign(value) * deadband;
+}
+function finiteOr(value, fallback) {
+    return typeof value === 'number' && Number.isFinite(value) ? value : fallback;
+}
+function clamp(value, minimum, maximum) {
+    return Math.min(maximum, Math.max(minimum, value));
+}
+//# sourceMappingURL=RobotPostureCompensation.js.map

package/dist/renderer/RobotPostureCompensation.js.map

@@ -0,0 +1 @@
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package/dist/renderer/SelectionController.d.ts

@@ -0,0 +1,24 @@
+export interface PoseHandleSelectionState {
+    hoveredPoseHandleId: string | null;
+    hoveredPoseHandleAxisId: string | null;
+    hoveredPoseHandleAxisIds: string[];
+    selectedPoseHandleId: string | null;
+    selectedPoseHandleAxisId: string | null;
+    selectedPoseHandleAxisIds: string[];
+}
+export declare class SelectionController {
+    hoveredPoseHandleId: string | null;
+    hoveredPoseHandleAxisId: string | null;
+    hoveredPoseHandleAxisIds: string[];
+    externalHoveredJointTargets: string[];
+    selectedPoseHandleId: string | null;
+    selectedPoseHandleAxisId: string | null;
+    selectedPoseHandleAxisIds: string[];
+    hasFocus(): boolean;
+    setHover(handleId: string | null, axisIds: string[]): boolean;
+    select(handleId: string, axisIds: string[]): void;
+    clearHover(): boolean;
+    clearFocus(): boolean;
+    setExternalHoveredJointTargets(jointTargets: readonly string[]): boolean;
+}
+//# sourceMappingURL=SelectionController.d.ts.map

package/dist/renderer/SelectionController.d.ts.map

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package/dist/renderer/SelectionController.js

@@ -0,0 +1,68 @@
+export class SelectionController {
+    hoveredPoseHandleId = null;
+    hoveredPoseHandleAxisId = null;
+    hoveredPoseHandleAxisIds = [];
+    externalHoveredJointTargets = [];
+    selectedPoseHandleId = null;
+    selectedPoseHandleAxisId = null;
+    selectedPoseHandleAxisIds = [];
+    hasFocus() {
+        return Boolean(this.hoveredPoseHandleId ||
+            this.hoveredPoseHandleAxisId ||
+            this.hoveredPoseHandleAxisIds.length > 0 ||
+            this.selectedPoseHandleId ||
+            this.selectedPoseHandleAxisId ||
+            this.selectedPoseHandleAxisIds.length > 0);
+    }
+    setHover(handleId, axisIds) {
+        const nextAxisId = axisIds.length === 1 ? axisIds[0] ?? null : null;
+        const nextAxisSignature = axisIds.join('|');
+        const currentAxisSignature = this.hoveredPoseHandleAxisIds.join('|');
+        if (this.hoveredPoseHandleId === handleId && currentAxisSignature === nextAxisSignature) {
+            return false;
+        }
+        this.hoveredPoseHandleId = handleId;
+        this.hoveredPoseHandleAxisId = nextAxisId;
+        this.hoveredPoseHandleAxisIds = axisIds;
+        return true;
+    }
+    select(handleId, axisIds) {
+        const selectedAxisId = axisIds.length === 1 ? axisIds[0] ?? null : null;
+        this.selectedPoseHandleId = handleId;
+        this.selectedPoseHandleAxisId = selectedAxisId;
+        this.selectedPoseHandleAxisIds = axisIds;
+        this.hoveredPoseHandleId = handleId;
+        this.hoveredPoseHandleAxisId = selectedAxisId;
+        this.hoveredPoseHandleAxisIds = axisIds;
+    }
+    clearHover() {
+        if (!this.hoveredPoseHandleId && !this.hoveredPoseHandleAxisId && this.hoveredPoseHandleAxisIds.length === 0) {
+            return false;
+        }
+        this.hoveredPoseHandleId = null;
+        this.hoveredPoseHandleAxisId = null;
+        this.hoveredPoseHandleAxisIds = [];
+        return true;
+    }
+    clearFocus() {
+        const hadFocus = this.hasFocus();
+        this.hoveredPoseHandleId = null;
+        this.hoveredPoseHandleAxisId = null;
+        this.hoveredPoseHandleAxisIds = [];
+        this.selectedPoseHandleId = null;
+        this.selectedPoseHandleAxisId = null;
+        this.selectedPoseHandleAxisIds = [];
+        return hadFocus;
+    }
+    setExternalHoveredJointTargets(jointTargets) {
+        const nextJointTargets = Array.from(new Set(jointTargets.filter((target) => typeof target === 'string' && target.length > 0)));
+        const currentSignature = this.externalHoveredJointTargets.join('|');
+        const nextSignature = nextJointTargets.join('|');
+        if (currentSignature === nextSignature) {
+            return false;
+        }
+        this.externalHoveredJointTargets = nextJointTargets;
+        return true;
+    }
+}
+//# sourceMappingURL=SelectionController.js.map

package/dist/renderer/SelectionController.js.map

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package/dist/renderer/TemporalProjectionModel.d.ts

@@ -0,0 +1,71 @@
+import type { BodyTransform } from '@konitif/physics';
+export type ViewerTemporalProjectionMode = 'raw' | 'interpolated';
+export type ViewerTemporalProjectionFallbackReason = 'none' | 'insufficient_samples' | 'invalid_timestamp' | 'sample_gap' | 'discontinuity' | 'topology_change';
+export interface ViewerTemporalProjectionSample {
+    sampleId: string;
+    physicsTimestampMs: number;
+    observedAtMs: number;
+    discontinuityToken: string;
+    bodyTransforms: readonly BodyTransform[];
+    jointAngles: Readonly<Record<string, number>>;
+    centerOfMass?: BodyTransform['position'] | null;
+}
+export interface ViewerTemporalProjectionConfig {
+    bufferDelayMs: number;
+    maxSampleGapMs: number;
+    maxSamples: number;
+}
+export interface ViewerTemporalProjectionMetrics {
+    sampleAgeMs: number;
+    projectionLatencyMs: number;
+    interpolationAlpha: number;
+    positionError: number;
+    rotationErrorRadians: number;
+    jointAngleErrorRadians: number;
+    correctionMagnitude: number;
+}
+export interface ViewerTemporalProjectionFrame {
+    mode: ViewerTemporalProjectionMode;
+    state: 'raw' | 'reconstructed' | 'fallback';
+    fallbackReason: ViewerTemporalProjectionFallbackReason;
+    renderTimestampMs: number;
+    projectedPhysicsTimestampMs: number;
+    projectedObservedTimestampMs: number;
+    sourceSampleIds: readonly string[];
+    discreteStateSourceSampleId: string;
+    discontinuityToken: string;
+    bodyTransforms: readonly BodyTransform[];
+    jointAngles: Readonly<Record<string, number>>;
+    centerOfMass: BodyTransform['position'] | null;
+    metrics: ViewerTemporalProjectionMetrics;
+    bufferSize: number;
+}
+export interface ViewerTemporalProjectionStatus {
+    mode: ViewerTemporalProjectionMode;
+    state: ViewerTemporalProjectionFrame['state'] | 'empty';
+    fallbackReason: ViewerTemporalProjectionFallbackReason;
+    sourceSampleIds: readonly string[];
+    sampleAgeMs: number;
+    projectionLatencyMs: number;
+    interpolationAlpha: number;
+    bufferSize: number;
+}
+export declare class ViewerTemporalProjectionBuffer {
+    private readonly config;
+    private samples;
+    private mode;
+    private pendingFallbackReason;
+    private status;
+    constructor(config?: Partial<ViewerTemporalProjectionConfig>);
+    setMode(mode: ViewerTemporalProjectionMode): void;
+    getMode(): ViewerTemporalProjectionMode;
+    getStatus(): ViewerTemporalProjectionStatus;
+    getConfig(): ViewerTemporalProjectionConfig;
+    reset(reason?: ViewerTemporalProjectionFallbackReason): void;
+    ingest(sample: ViewerTemporalProjectionSample): boolean;
+    project(renderTimestampMs: number): ViewerTemporalProjectionFrame | null;
+    private createRawFrame;
+}
+export declare function interpolateJointAngle(previous: number, next: number, alpha: number): number;
+export declare function interpolateQuaternion(previous: BodyTransform['rotation'], next: BodyTransform['rotation'], alpha: number): BodyTransform['rotation'];
+//# sourceMappingURL=TemporalProjectionModel.d.ts.map

package/dist/renderer/TemporalProjectionModel.d.ts.map

@@ -0,0 +1 @@
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