@konitif/viewer-3d 0.285.4 → 0.285.5

package/dist/renderer/Viewer3DRenderer.d.ts

@@ -373,6 +373,7 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private projectilePointerInside;
     private trajectoryAnimation;
     private trajectorySignature;
+    private trajectoryProjectionRevision;
     private trajectoryAnchors;
     private themeObserver;
     private animationLoop;
@@ -1104,17 +1105,24 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private createBalanceDebugLine;
     private createBalanceDebugMarker;
     private createBalanceDebugCenterProjectionMarker;
+    private invalidateTrajectoryPreviewProjection;
     private ensureTrajectoryGroup;
     private updateTrajectoryGroupVisibility;
     private clearTrajectoryPreview;
     private rebuildTrajectoryPreview;
+    private applyTrajectorySamplePose;
+    private applyTrajectoryTemporalSamplePose;
+    private restoreTrajectorySamplePose;
     private getTrajectorySignature;
+    private getTrajectoryPlaybackProjectionSignature;
+    private getTrajectoryTemporalProjectionSignature;
     private getTrajectoryPreviewTargets;
     private shouldRenderTrajectoryForTarget;
     private resolveJointColor;
     private createTrajectoryObject;
     private getTrajectoryTerminalDirection;
     private updateTrajectoryCurrentMarkers;
+    private getTrajectoryPointInProjectionFrame;
     private getTrajectoryPoint;
     private getHandTipTrajectoryPoint;
     private getPoseControlHandTipPoint;
@@ -1164,4 +1172,10 @@ export declare class Viewer3D<Artifact = unknown, Snapshot = unknown> implements
     private handleControlsEnd;
     private interpolateTrack;
 }
+/** Projects a world-space trajectory sample into the robot presentation frame. */
+export declare function projectViewerTrajectoryPointToFrame(point: Readonly<{
+    x: number;
+    y: number;
+    z: number;
+}>, frame: Object3D): Vector3;
 //# sourceMappingURL=Viewer3DRenderer.d.ts.map

package/dist/renderer/Viewer3DRenderer.d.ts.map

@@ -1 +1 @@
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package/dist/renderer/Viewer3DRenderer.js

@@ -17,7 +17,7 @@ import { ShaderPass } from 'three/examples/jsm/postprocessing/ShaderPass.js';
 import { SMAAPass } from 'three/examples/jsm/postprocessing/SMAAPass.js';
 import { HorizontalTiltShiftShader } from 'three/examples/jsm/shaders/HorizontalTiltShiftShader.js';
 import { VerticalTiltShiftShader } from 'three/examples/jsm/shaders/VerticalTiltShiftShader.js';
-import { getRobotMotionAnimationDuration, interpolateRobotMotionTrackValueAtTime, toRobotMotionJointValue, resolveRobotMotionPlaybackDuration } from './robotViewerMotion.js';
+import { getRobotMotionAnimationDuration, interpolateRobotMotionTrackValueAtTime, sampleRobotMotionJointValuesAtTime, toRobotMotionJointValue, resolveRobotMotionPlaybackDuration } from './robotViewerMotion.js';
 import { createViewerProjectileLaunchSolution, VIEWER3D_PROJECTILE_PARTICLE_LIMIT, createViewerProjectileTrajectoryPoints, resolveViewerProjectileChargedLaunchProfile, resolveViewerProjectileImpulse, resolveViewerProjectileLauncherWorldScale, resolveViewerSlingshotReleasePull, stepViewerProjectileAgainstGround } from './ProjectileInteraction.js';
 import { createInteractionKeyboardSignal, DEFAULT_VIEWER_INPUT_BINDINGS, VIEWER_PROJECTILE_CHARGE_ACTION_ID, VIEWER_PROJECTILE_LAUNCH_ACTION_ID } from './ViewerInputBindings.js';
 import { ViewerProjectileParticleRenderer } from './ViewerProjectileParticleRenderer.js';
@@ -296,6 +296,7 @@ export class Viewer3D {
     projectilePointerInside = false;
     trajectoryAnimation = null;
     trajectorySignature = '';
+    trajectoryProjectionRevision = 0;
     trajectoryAnchors = new Map();
     themeObserver = null;
     animationLoop;
@@ -1178,6 +1179,7 @@ export class Viewer3D {
         this.resetTemporalProjection();
         if (this.options.physicsEnabled) {
             this.physicsVisualRootToRobotMatrix = null;
+            this.invalidateTrajectoryPreviewProjection();
             if (!this.syncPhysicsKinematicPoseFromRobotPose({ holdFrames: PHYSICS_RESET_KINEMATIC_HOLD_FRAMES })) {
                 this.syncPhysicsJointTargetsFromRobotPose();
             }
@@ -1203,6 +1205,7 @@ export class Viewer3D {
         }
         this.options.physicsMotorsCoupled = physicsMotorsCoupled;
         this.physicsVisualRootToRobotMatrix = null;
+        this.invalidateTrajectoryPreviewProjection();
         this.resetPhysicsPostureCompensation();
         if (!physicsMotorsCoupled) {
             this.robot?.updateMatrixWorld(true);
@@ -1235,6 +1238,7 @@ export class Viewer3D {
                 resolvePhysicsSourceString(source.metadata?.visualRootBodyName);
         this.physicsVisualBodyObjectNames = visualBodyObjectNames;
         this.physicsVisualRootToRobotMatrix = null;
+        this.invalidateTrajectoryPreviewProjection();
         this.physicsResetPose = null;
         this.physicsResetRobotTransform = null;
         this.physicsResetBaselineCaptureFrames = 0;
@@ -1272,6 +1276,7 @@ export class Viewer3D {
         this.scrubPreviewState = null;
         this.playbackSyncSignature = '';
         this.physicsVisualRootToRobotMatrix = null;
+        this.invalidateTrajectoryPreviewProjection();
         this.physicsAuthoredJointTargets.clear();
         this.resetPhysicsPostureCompensation();
         this.comparisonViewerSample = null;
@@ -1283,6 +1288,7 @@ export class Viewer3D {
         this.lastPhysicsStepAt = 0;
         this.resetTemporalProjection();
         this.physicsVisualRootToRobotMatrix = null;
+        this.invalidateTrajectoryPreviewProjection();
         if (this.options.physicsMotorsCoupled) {
             if (!this.syncPhysicsKinematicPoseFromRobotPose({ holdFrames: PHYSICS_RESET_KINEMATIC_HOLD_FRAMES })) {
                 this.syncPhysicsJointTargetsFromRobotPose();
@@ -2032,7 +2038,12 @@ export class Viewer3D {
     }
     setTrajectoryPreview(animation) {
         if (this.trajectoryAnimation === animation) {
-            this.updateTrajectoryGroupVisibility();
+            if (this.options.showTrajectories) {
+                this.rebuildTrajectoryPreview();
+            }
+            else {
+                this.updateTrajectoryGroupVisibility();
+            }
             return;
         }
         this.trajectoryAnimation = animation;
@@ -2056,6 +2067,7 @@ export class Viewer3D {
         this.captureMaterialBaselines(robot, this.robotMaterialBaselines);
         this.resetTemporalProjection();
         this.physicsVisualRootToRobotMatrix = null;
+        this.invalidateTrajectoryPreviewProjection();
         this.physicsProjectionMinimumStateRevision = null;
         this.physicsResetPose = null;
         this.physicsResetRobotTransform = null;
@@ -2385,6 +2397,9 @@ export class Viewer3D {
             this.playbackState?.isPlaying &&
             this.playbackState.animation === animation &&
             this.playbackSyncSignature === syncSignature) {
+            if (this.options.showTrajectories && animation) {
+                this.rebuildTrajectoryPreview();
+            }
             return;
         }
         const nextPlaybackState = {
@@ -2438,6 +2453,7 @@ export class Viewer3D {
                     this.alignUnbufferedPlaybackPoseToSupportFloor();
                 }
             }
+            this.rebuildTrajectoryPreview();
             this.updateTrajectoryCurrentMarkers();
             if (nextPlaybackState.clockMode === 'realtime') {
                 this.scheduleLoop();
@@ -2467,6 +2483,7 @@ export class Viewer3D {
                     this.alignUnbufferedPlaybackPoseToSupportFloor();
                 }
             }
+            this.rebuildTrajectoryPreview();
             this.updateTrajectoryCurrentMarkers();
             if (shouldStartViewerPlaybackCompletionTransition({
                 isPlaying,
@@ -3971,12 +3988,12 @@ export class Viewer3D {
                 if (this.lastFrameAt > 0) {
                     const frameMs = now - this.lastFrameAt;
                     this.averageFrameMs = this.averageFrameMs * 0.9 + frameMs * 0.1;
-                    this.tunePixelRatio(this.averageFrameMs);
                 }
                 this.lastFrameAt = now;
                 const renderStartedAt = performance.now();
                 this.render();
                 this.averageRenderMs = this.updateProfilerAverage(this.averageRenderMs, performance.now() - renderStartedAt);
+                this.tunePixelRatio(this.averageRenderMs);
                 this.lastRenderCalls = this.renderer.info.render.calls;
                 this.lastRenderTriangles = this.renderer.info.render.triangles;
                 this.renderFramesSinceReport += 1;
@@ -4031,6 +4048,16 @@ export class Viewer3D {
         if (this.observedRobotGhostMirrorsSimulatedRobot) {
             this.syncObservedRobotGhostFromSimulatedRobot();
         }
+        if (this.options.showTrajectories &&
+            this.trajectoryAnimation?.motion.hasMotion &&
+            this.trajectorySignature === '') {
+            this.rebuildTrajectoryPreview();
+        }
+        // Every pose authority (authored playback, runtime-history replay and
+        // physics projection) converges here. Refreshing the markers immediately
+        // before drawing prevents a solver step or a root presentation offset
+        // from leaving them one frame behind the rendered robot.
+        this.updateTrajectoryCurrentMarkers();
         this.updatePoseHandleScreenScale();
         this.updateProjectileCameraProjection();
         const ground = this.visualGroundLayer;
@@ -6029,6 +6056,7 @@ export class Viewer3D {
         const previousPresentedY = this.robot.position.y + this.simulatedRobotPresentationRoot.position.y;
         if (!this.physicsVisualRootToRobotMatrix) {
             this.physicsVisualRootToRobotMatrix = this.resolvePhysicsVisualRootToRobotMatrix(physicsRootWorldMatrix, bodyTransforms);
+            this.invalidateTrajectoryPreviewProjection();
         }
         const nextRobotWorldMatrix = physicsRootWorldMatrix.clone().multiply(this.physicsVisualRootToRobotMatrix);
         const parent = this.robot.parent;
@@ -8420,6 +8448,7 @@ export class Viewer3D {
         if (!rootTransform)
             return;
         this.physicsVisualRootToRobotMatrix = this.resolvePhysicsVisualRootToRobotMatrix(this.createPhysicsBodyViewerWorldMatrix(rootTransform), bodyTransforms);
+        this.invalidateTrajectoryPreviewProjection();
     }
     projectProjectilePhysicsObservation() {
         const bodyTransforms = this.physicsService.getBodyTransforms();
@@ -10315,6 +10344,10 @@ export class Viewer3D {
         marker.name = 'balance-center-of-mass-ground-projection';
         return marker;
     }
+    invalidateTrajectoryPreviewProjection() {
+        this.trajectoryProjectionRevision += 1;
+        this.trajectorySignature = '';
+    }
     ensureTrajectoryGroup() {
         if (this.trajectoryGroup) {
             return this.trajectoryGroup;
@@ -10322,7 +10355,7 @@ export class Viewer3D {
         this.trajectoryGroup = new Group();
         this.trajectoryGroup.name = 'AnimationTrajectoryPreview';
         this.trajectoryGroup.visible = false;
-        this.scene.add(this.trajectoryGroup);
+        this.simulatedRobotPresentationRoot.add(this.trajectoryGroup);
         return this.trajectoryGroup;
     }
     updateTrajectoryGroupVisibility() {
@@ -10371,18 +10404,31 @@ export class Viewer3D {
         this.clearTrajectoryPreview();
         this.trajectorySignature = nextSignature;
         const originalPose = this.captureJointPose();
+        const originalRobotTransform = this.captureRobotTransform(this.robot);
+        const temporalSampleResolver = this.playbackState?.animation === animation
+            ? this.playbackState.resolveTemporalProjectionSample
+            : null;
+        let temporalRootAlignment = this.physicsVisualRootToRobotMatrix?.clone() ?? null;
         const previousAnimatedTargets = new Set(this.lastAnimatedJointTargets);
         const sampleCount = Math.max(ROBOT_VIEWER_TRAJECTORY_MIN_SAMPLES, Math.min(ROBOT_VIEWER_TRAJECTORY_MAX_SAMPLES, Math.ceil(duration * ROBOT_VIEWER_TRAJECTORY_SAMPLE_RATE)));
         const pointsByTarget = new Map(targets.map((target) => [target.id, []]));
         for (let sampleIndex = 0; sampleIndex <= sampleCount; sampleIndex += 1) {
             const sampleTime = (sampleIndex / sampleCount) * duration;
-            this.applyRobotPose(animation, sampleTime, [], duration);
+            const temporalSample = temporalSampleResolver?.(sampleTime) ?? null;
+            this.restoreRobotTransform(this.robot, originalRobotTransform);
+            if (temporalSample?.viewer) {
+                temporalRootAlignment = this.applyTrajectoryTemporalSamplePose(temporalSample, temporalRootAlignment);
+            }
+            else {
+                this.applyTrajectorySamplePose(animation, sampleTime, duration);
+            }
             this.robot.updateMatrixWorld(true);
             for (const target of targets) {
-                pointsByTarget.get(target.id)?.push(this.getTrajectoryPoint(target.id));
+                pointsByTarget.get(target.id)?.push(this.getTrajectoryPointInProjectionFrame(target.id));
             }
         }
-        this.restoreJointPose(originalPose);
+        this.restoreRobotTransform(this.robot, originalRobotTransform);
+        this.restoreTrajectorySamplePose(originalPose);
         this.lastAnimatedJointTargets = previousAnimatedTargets;
         this.nextAnimatedJointTargets.clear();
         for (const target of targets) {
@@ -10392,26 +10438,100 @@ export class Viewer3D {
             }
             trajectoryGroup.add(this.createTrajectoryObject(target, points));
         }
-        this.updateTrajectoryCurrentMarkers();
         this.updateTrajectoryGroupVisibility();
+        this.updateTrajectoryCurrentMarkers();
         this.requestRender();
     }
+    applyTrajectorySamplePose(animation, time, duration) {
+        const joints = this.getRobotJoints();
+        for (const { target, value } of sampleRobotMotionJointValuesAtTime(animation, time, duration)) {
+            const joint = joints[target];
+            if (joint)
+                this.applyDesiredProjectionJointValue(joint, value);
+        }
+    }
+    applyTrajectoryTemporalSamplePose(sample, rootAlignment) {
+        const viewer = sample.viewer;
+        const robot = this.robot;
+        if (!viewer || !robot) {
+            return rootAlignment;
+        }
+        const joints = this.getRobotJoints();
+        for (const [target, value] of Object.entries(viewer.joints ?? {})) {
+            const joint = joints[target];
+            if (joint && Number.isFinite(value)) {
+                this.applyDesiredProjectionJointValue(joint, value);
+            }
+        }
+        const bodyTransforms = (viewer.physics?.bodyTransforms ?? []).map((transform) => this.deserializeRuntimeHistoryTransform(transform, false));
+        const rootTransform = bodyTransforms.find((transform) => transform.metadata?.visualRoot === true) ??
+            bodyTransforms.find((transform) => transform.bodyName === this.physicsVisualRootBodyName);
+        let nextRootAlignment = rootAlignment;
+        if (rootTransform) {
+            const physicsRootWorldMatrix = this.createPhysicsBodyViewerWorldMatrix(rootTransform);
+            nextRootAlignment ??= this.resolvePhysicsVisualRootToRobotMatrix(physicsRootWorldMatrix, bodyTransforms);
+            const nextRobotLocalMatrix = physicsRootWorldMatrix.clone().multiply(nextRootAlignment);
+            const parent = robot.parent;
+            if (parent && parent !== this.simulatedRobotPresentationRoot) {
+                parent.updateMatrixWorld(true);
+                nextRobotLocalMatrix.premultiply(parent.matrixWorld.clone().invert());
+            }
+            robot.matrix.copy(nextRobotLocalMatrix);
+            robot.matrix.decompose(robot.position, robot.quaternion, robot.scale);
+        }
+        robot.updateMatrixWorld(true);
+        return nextRootAlignment;
+    }
+    restoreTrajectorySamplePose(pose) {
+        const joints = this.getRobotJoints();
+        for (const [target, value] of Object.entries(pose)) {
+            const joint = joints[target];
+            if (joint)
+                this.applyDesiredProjectionJointValue(joint, value);
+        }
+        this.robot?.updateMatrixWorld(true);
+    }
     getTrajectorySignature(animation, targets, duration) {
         return JSON.stringify({
             duration: Number(duration.toFixed(3)),
+            projectionRevision: this.trajectoryProjectionRevision,
+            playbackProjection: this.getTrajectoryPlaybackProjectionSignature(animation),
             handsOnly: this.options.showHandTrajectoriesOnly,
             targets: targets.map((target) => target.id),
+            temporalProjection: this.getTrajectoryTemporalProjectionSignature(animation, duration),
             tracks: animation.motion.tracks.map((track) => ({
                 target: track.target,
                 property: track.property,
-                keys: track.keys.length,
-                firstTime: track.keys[0]?.time ?? null,
-                lastTime: track.keys[track.keys.length - 1]?.time ?? null,
-                firstValue: track.keys[0]?.value ?? null,
-                lastValue: track.keys[track.keys.length - 1]?.value ?? null
+                interpolation: track.interpolation ?? null,
+                unitKind: track.unitKind ?? null,
+                keys: track.keys.map((key) => [key.time, key.value])
             }))
         });
     }
+    getTrajectoryPlaybackProjectionSignature(animation) {
+        const playback = this.playbackState;
+        if (playback?.animation !== animation) {
+            return null;
+        }
+        return {
+            mutedTargets: [...playback.mutedTrackTargetSet].sort(),
+            startTransitionMinimumDurationSeconds: playback.startTransitionMinimumDurationSeconds,
+            entryPose: this.createPoseSignature(playback.entryPose),
+            endTransitionMinimumDurationSeconds: playback.endTransitionMinimumDurationSeconds,
+            exitPose: this.createPoseSignature(playback.exitPose)
+        };
+    }
+    getTrajectoryTemporalProjectionSignature(animation, duration) {
+        const playback = this.playbackState;
+        const resolver = playback?.animation === animation ? playback.resolveTemporalProjectionSample : null;
+        if (!resolver) {
+            return null;
+        }
+        return [0, duration * 0.5, duration].map((time) => {
+            const sample = resolver(time);
+            return sample ? [sample.id, Number(sample.timeSeconds.toFixed(4))] : null;
+        });
+    }
     getTrajectoryPreviewTargets(animation) {
         if (this.options.showHandTrajectoriesOnly) {
             return (this.options.handTipDefinitions ?? [])
@@ -10502,9 +10622,12 @@ export class Viewer3D {
             if (!target || !currentMarker) {
                 continue;
             }
-            currentMarker.position.copy(this.getTrajectoryPoint(target));
+            currentMarker.position.copy(this.getTrajectoryPointInProjectionFrame(target));
         }
     }
+    getTrajectoryPointInProjectionFrame(target) {
+        return projectViewerTrajectoryPointToFrame(this.getTrajectoryPoint(target), this.simulatedRobotPresentationRoot);
+    }
     getTrajectoryPoint(target) {
         const handTip = (this.options.handTipDefinitions ?? []).find((definition) => definition.id === target);
         if (handTip) {
@@ -10583,10 +10706,10 @@ export class Viewer3D {
             this.trajectoryAnchors.set(target, anchor);
             return anchor;
         }
+        joint.updateMatrixWorld?.(true);
         const jointInverse = joint.matrixWorld.clone().invert();
         const localBounds = new Box3();
         let hasBounds = false;
-        joint.updateMatrixWorld?.(true);
         joint.traverse((node) => {
             if (node !== joint && node.isURDFJoint) {
                 return;
@@ -10880,6 +11003,11 @@ export class Viewer3D {
 function formatNavigationDistance(value) {
     return `${value >= 0 ? '+' : ''}${value.toFixed(2)}m`;
 }
+/** Projects a world-space trajectory sample into the robot presentation frame. */
+export function projectViewerTrajectoryPointToFrame(point, frame) {
+    frame.updateWorldMatrix(true, false);
+    return frame.worldToLocal(new Vector3(point.x, point.y, point.z));
+}
 function formatNavigationAngle(value) {
     const degrees = MathUtils.radToDeg(normalizeNavigationRadians(value));
     return `${degrees >= 0 ? '+' : ''}${degrees.toFixed(0)}°`;