@things-factory/figure-ui 10.1.115 → 10.1.117

package/dist-client/modeller/joint-drag.js

@@ -1,13 +1,19 @@
 import * as THREE from 'three';
-import { compileFigureAsset } from '@hatiolab/figure-model';
+import { compileFigureAsset, figureMimicTermsOf } from '@hatiolab/figure-model';
+import { jointAxisUnit, jointAxisWord } from './joint-axis.js';
 const AXES = ['x', 'y', 'z'];
 /** The axis each face faces along, and which way (as figure-model's `FIGURE_FACES`). */
 const FACE_AXIS = { left: 'x', right: 'x', bottom: 'y', top: 'y', back: 'z', front: 'z' };
 const FACE_SIGN = { left: -1, right: 1, bottom: -1, top: 1, back: -1, front: 1 };
 const matrixOf = (r) => new THREE.Matrix4().set(r[0][0], r[0][1], r[0][2], 0, r[1][0], r[1][1], r[1][2], 0, r[2][0], r[2][1], r[2][2], 0, 0, 0, 0, 1);
 const eulerMatrix = (deg) => new THREE.Matrix4().makeRotationFromEuler(new THREE.Euler(...deg.map(THREE.MathUtils.degToRad), 'XYZ'));
-const unit = (axis) => new THREE.Vector3(/x/i.test(axis) ? 1 : 0, /y/i.test(axis) ? 1 : 0, /z/i.test(axis) ? 1 : 0);
+const unit = (axis) => new THREE.Vector3(...(jointAxisUnit(axis) ?? [0, 0, 0]));
 const round = (v, step) => Number((Math.round(v / step) * step).toFixed(Math.max(0, -Math.floor(Math.log10(step)))));
+/** The joint frame's words of ADR-0107, read without the kernel's types (an older kernel has none). */
+const framesOf = (j) => (j.origin ?? {});
+/** `origin.rotate`, URDF's rpy: Rz·Ry·Rx about the fixed axes. */
+const rotateMatrix = (j) => eulerMatrixOrder(AXES.map(a => framesOf(j).rotate?.[a] ?? 0), 'ZYX');
+const eulerMatrixOrder = (deg, order) => new THREE.Matrix4().makeRotationFromEuler(new THREE.Euler(...deg.map(THREE.MathUtils.degToRad), order));
 /** The part's own quarter turn in the joint frame, as the record says it. */
 const turnMatrix = (j) => eulerMatrix(AXES.map(a => j.origin?.turn?.[a] ?? 0));
 /** The joint frame's rotation in the figure: the part's rotation now, less its own turn and less the joint's. */
@@ -31,7 +37,7 @@ export function jointDragOf(asset, id, part, result, values) {
         if (!turns)
             return { kind: 'refused', reason: j.type === 'prismatic' ? 'turned-slide' : 'fixed-turn', joint: j.id };
         if (j.mimic)
-            return { kind: 'refused', reason: 'mimic', joint: j.id, leader: j.mimic.joint };
+            return { kind: 'refused', reason: 'mimic', joint: j.id, leader: figureMimicTermsOf(j.mimic).sum.map(t => t.joint).join(', ') };
         /* The turn about the joint's axis (the twist of the change): the only turn the joint can make. */
         const before = new THREE.Quaternion().setFromRotationMatrix(matrixOf(part.pose.r));
         const after = new THREE.Quaternion().setFromRotationMatrix(eulerMatrix(result.rotation));
@@ -41,7 +47,7 @@ export function jointDragOf(asset, id, part, result, values) {
         /* Turned about another axis: the joint cannot make that turn, and nothing is written for it. */
         const whole = 2 * Math.acos(Math.min(1, Math.abs(change.w)));
         if (Math.abs(twist) < whole * 0.5)
-            return { kind: 'refused', reason: 'off-axis', joint: j.id, axis: j.axis };
+            return { kind: 'refused', reason: 'off-axis', joint: j.id, axis: jointAxisWord(j.axis) };
         let value = now + THREE.MathUtils.radToDeg(twist);
         if (endless)
             value = ((((value + 180) % 360) + 360) % 360) - 180;
@@ -55,7 +61,7 @@ export function jointDragOf(asset, id, part, result, values) {
     const frame = jointFrameRotation(j, part, turns ? now : 0);
     if (j.type === 'prismatic') {
         if (j.mimic)
-            return { kind: 'refused', reason: 'mimic', joint: j.id, leader: j.mimic.joint };
+            return { kind: 'refused', reason: 'mimic', joint: j.id, leader: figureMimicTermsOf(j.mimic).sum.map(t => t.joint).join(', ') };
         /* How far one unit of the value moves the part along its axis, measured on the figure itself (a ratio travels a length). */
         const along = unit(j.axis).applyMatrix4(frame).normalize();
         const at = (v) => {
@@ -69,12 +75,26 @@ export function jointDragOf(asset, id, part, result, values) {
             return { kind: 'value', input: stateId, unit: j.travel ? 'ratio' : 'mm', value: round(value, j.travel ? 0.001 : 1) };
         }
     }
-    /* Moving the joint's origin: the change in the frame the joint sits in. */
-    const local = moved.clone().applyMatrix4(frame.clone().invert());
+    /* Moving the joint's origin: the change in the frame it is placed in, before `origin.rotate` turns the joint frame. */
+    const local = moved.clone().applyMatrix4(frame.clone().multiply(rotateMatrix(j).invert()).invert());
+    const origin = { ...(j.origin ?? {}) };
+    if (!('plane' in j.body0) && !('face' in j.body0)) {
+        /* At the parent's origin there is no face: the frame moves by its offset, along the parent's axes. */
+        const offset = { ...(framesOf(j).offset ?? {}) };
+        for (const axis of AXES) {
+            const d = local[axis];
+            if (Math.abs(d) < 0.5)
+                continue;
+            const was = offset[axis] ?? 0;
+            if (typeof was !== 'number')
+                return { kind: 'refused', reason: 'origin-follows', joint: j.id };
+            offset[axis] = round(was + d, 1);
+        }
+        return { kind: 'joint', joint: { ...j, origin: { ...origin, offset } } };
+    }
     const normal = 'plane' in j.body0 ? 'y' : FACE_AXIS[j.body0.face];
     /* Which way a larger gap moves the part: out of the face it meets (on the plane: up when it stands, down when it hangs). */
-    const outward = 'plane' in j.body0 ? (j.body1.face === 'bottom' ? 1 : -1) : ((j.origin?.facing ?? 'meet') === 'meet' ? 1 : -1) * FACE_SIGN[j.body0.face];
-    const origin = { ...(j.origin ?? {}) };
+    const outward = 'plane' in j.body0 ? ('face' in j.body1 && j.body1.face === 'bottom' ? 1 : -1) : ((j.origin?.facing ?? 'meet') === 'meet' ? 1 : -1) * FACE_SIGN[j.body0.face];
     const along = local[normal];
     if (Math.abs(along) >= 0.5) {
         const gap = origin.gap ?? 0;

package/dist-client/modeller/joint-drag.js.map

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* as THREE from 'three'\nimport { compileFigureAsset } from '@hatiolab/figure-model'\nimport type { FigureAsset, FigureJoint } from '@hatiolab/figure-model'\n\nimport type { GizmoResult } from './gizmo.js'\nimport type { FigureRenderPart } from './renderer.js'\n\n/*\n * A gizmo drag on a part that hangs from a joint edits the joint, not the part (ADR-0093; r3 §3: the modeller changes\n * the inputs of the relation, and never breaks it because a computed place was moved):\n *\n *   - turning a part on a revolute or continuous joint sets the joint's value -- the turn about the joint's axis;\n *   - sliding a part on a prismatic joint along its axis sets its value;\n *   - moving a part any other way moves the joint's origin: the gap along the face it sits on, the offset across it.\n *\n * What would break a relation is refused and said: an origin that follows another part's size, a joint that mimics\n * another, a turn on a joint that does not turn.\n */\n\nexport type JointDrag =\n  | { kind: 'value'; input: string; unit: 'deg' | 'mm' | 'ratio'; value: number }\n  | { kind: 'joint'; joint: FigureJoint }\n  | { kind: 'refused'; reason: 'mimic' | 'fixed-turn' | 'origin-follows' | 'turned-slide' | 'off-axis'; joint: string; leader?: string; axis?: string }\n\ntype Axis = 'x' | 'y' | 'z'\nconst AXES: Axis[] = ['x', 'y', 'z']\n/** The axis each face faces along, and which way (as figure-model's `FIGURE_FACES`). */\nconst FACE_AXIS: Record<string, Axis> = { left: 'x', right: 'x', bottom: 'y', top: 'y', back: 'z', front: 'z' }\nconst FACE_SIGN: Record<string, number> = { left: -1, right: 1, bottom: -1, top: 1, back: -1, front: 1 }\n\nconst matrixOf = (r: number[][]) => new THREE.Matrix4().set(r[0]![0]!, r[0]![1]!, r[0]![2]!, 0, r[1]![0]!, r[1]![1]!, r[1]![2]!, 0, r[2]![0]!, r[2]![1]!, r[2]![2]!, 0, 0, 0, 0, 1)\nconst eulerMatrix = (deg: number[]) => new THREE.Matrix4().makeRotationFromEuler(new THREE.Euler(...(deg.map(THREE.MathUtils.degToRad) as [number, number, number]), 'XYZ'))\nconst unit = (axis: string) => new THREE.Vector3(/x/i.test(axis) ? 1 : 0, /y/i.test(axis) ? 1 : 0, /z/i.test(axis) ? 1 : 0)\nconst round = (v: number, step: number) => Number((Math.round(v / step) * step).toFixed(Math.max(0, -Math.floor(Math.log10(step)))))\n\n/** The part's own quarter turn in the joint frame, as the record says it. */\nconst turnMatrix = (j: FigureJoint) => eulerMatrix(AXES.map(a => j.origin?.turn?.[a] ?? 0))\n\n/** The joint frame's rotation in the figure: the part's rotation now, less its own turn and less the joint's. */\nfunction jointFrameRotation(j: FigureJoint, part: FigureRenderPart, angle: number): THREE.Matrix4 {\n  const now = matrixOf(part.pose.r as number[][])\n  const own = turnMatrix(j)\n  const turn = j.type === 'revolute' ? new THREE.Matrix4().makeRotationAxis(unit(j.axis!), THREE.MathUtils.degToRad(angle)) : new THREE.Matrix4()\n  return now.multiply(own.invert()).multiply(turn.invert())\n}\n\nexport function jointDragOf(asset: FigureAsset, id: string, part: FigureRenderPart, result: GizmoResult, values: Record<string, number>): JointDrag | null {\n  const j = asset.joints?.find(joint => joint.body1.part === id)\n  /* A size is the part's own, not the joint's: a scale drag goes to the part's measures (the editor drops the shift). */\n  if (!j || result.scale || (!result.rotation && !result.position)) return null\n  const stateId = j.state?.id ?? j.id\n  const now = values[stateId] ?? asset.stateDefaults[stateId] ?? 0\n  const turns = j.type === 'revolute'\n  /* A revolute joint without limits turns without end (USD). */\n  const endless = turns && j.lowerLimit === undefined && j.upperLimit === undefined\n\n  if (result.rotation) {\n    if (!turns) return { kind: 'refused', reason: j.type === 'prismatic' ? 'turned-slide' : 'fixed-turn', joint: j.id }\n    if (j.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: j.mimic.joint }\n    /* The turn about the joint's axis (the twist of the change): the only turn the joint can make. */\n    const before = new THREE.Quaternion().setFromRotationMatrix(matrixOf(part.pose.r as number[][]))\n    const after = new THREE.Quaternion().setFromRotationMatrix(eulerMatrix(result.rotation))\n    const change = after.multiply(before.invert())\n    const axis = unit(j.axis!).applyMatrix4(jointFrameRotation(j, part, now)).normalize()\n    const twist = 2 * Math.atan2(change.x * axis.x + change.y * axis.y + change.z * axis.z, change.w)\n    /* Turned about another axis: the joint cannot make that turn, and nothing is written for it. */\n    const whole = 2 * Math.acos(Math.min(1, Math.abs(change.w)))\n    if (Math.abs(twist) < whole * 0.5) return { kind: 'refused', reason: 'off-axis', joint: j.id, axis: j.axis! }\n    let value = now + THREE.MathUtils.radToDeg(twist)\n    if (endless) value = ((((value + 180) % 360) + 360) % 360) - 180\n    else value = Math.min(Math.max(value, j.lowerLimit!), j.upperLimit!)\n    return { kind: 'value', input: stateId, unit: 'deg', value: round(value, 0.1) }\n  }\n\n  const moved = new THREE.Vector3(...result.position!).sub(new THREE.Vector3(...(part.pose.t as [number, number, number])))\n  if (moved.length() < 0.5) return null\n  const frame = jointFrameRotation(j, part, turns ? now : 0)\n\n  if (j.type === 'prismatic') {\n    if (j.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: j.mimic.joint }\n    /* How far one unit of the value moves the part along its axis, measured on the figure itself (a ratio travels a length). */\n    const along = unit(j.axis!).applyMatrix4(frame).normalize()\n    const at = (v: number) => {\n      const g = compileFigureAsset(asset).evaluate({ ...values, [stateId]: v }).geometry.find(g => g.id === id && 'pose' in g) as { pose: { t: number[] } } | undefined\n      return g ? new THREE.Vector3(...(g.pose.t as [number, number, number])).dot(along) : 0\n    }\n    const step = j.travel ? 0.01 : 1\n    const rate = (at(now + step) - at(now)) / step\n    if (Math.abs(rate) > 1e-9 && Math.abs(moved.dot(along)) >= moved.length() * 0.7) {\n      const value = Math.min(Math.max(now + moved.dot(along) / rate, j.lowerLimit!), j.upperLimit!)\n      return { kind: 'value', input: stateId, unit: j.travel ? 'ratio' : 'mm', value: round(value, j.travel ? 0.001 : 1) }\n    }\n  }\n\n  /* Moving the joint's origin: the change in the frame the joint sits in. */\n  const local = moved.clone().applyMatrix4(frame.clone().invert())\n  const normal: Axis = 'plane' in j.body0 ? 'y' : FACE_AXIS[j.body0.face]!\n  /* Which way a larger gap moves the part: out of the face it meets (on the plane: up when it stands, down when it hangs). */\n  const outward = 'plane' in j.body0 ? (j.body1.face === 'bottom' ? 1 : -1) : ((j.origin?.facing ?? 'meet') === 'meet' ? 1 : -1) * FACE_SIGN[j.body0.face]!\n  const origin: NonNullable<FigureJoint['origin']> = { ...(j.origin ?? {}) }\n  const along = local[normal]\n  if (Math.abs(along) >= 0.5) {\n    const gap = origin.gap ?? 0\n    if (typeof gap !== 'number') return { kind: 'refused', reason: 'origin-follows', joint: j.id }\n    origin.gap = round(gap + outward * along, 1)\n  }\n  for (const axis of AXES.filter(a => a !== normal)) {\n    const d = local[axis]\n    if (Math.abs(d) < 0.5) continue\n    const how = origin.align?.[axis] ?? 'centre'\n    const was = how === 'centre' ? 0 : typeof how === 'object' && typeof how.mm === 'number' ? how.mm : null\n    if (was === null) return { kind: 'refused', reason: 'origin-follows', joint: j.id }\n    origin.align = { ...(origin.align ?? {}), [axis]: { mm: round(was + d, 1) } }\n  }\n  return { kind: 'joint', joint: { ...j, origin } }\n}\n"]}
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* as THREE from 'three'\nimport { compileFigureAsset, figureMimicTermsOf } from '@hatiolab/figure-model'\nimport type { FigureAsset, FigureJoint } from '@hatiolab/figure-model'\n\nimport type { GizmoResult } from './gizmo.js'\nimport { jointAxisUnit, jointAxisWord } from './joint-axis.js'\nimport type { FigureRenderPart } from './renderer.js'\n\n/*\n * A gizmo drag on a part that hangs from a joint edits the joint, not the part (ADR-0093; r3 §3: the modeller changes\n * the inputs of the relation, and never breaks it because a computed place was moved):\n *\n *   - turning a part on a revolute or continuous joint sets the joint's value -- the turn about the joint's axis;\n *   - sliding a part on a prismatic joint along its axis sets its value;\n *   - moving a part any other way moves the joint's origin: the gap along the face it sits on, the offset across it;\n *     at a parent's origin (ADR-0107 decision 4), its `origin.offset` in the parent's frame.\n *\n * What would break a relation is refused and said: an origin that follows another part's size, a joint that mimics\n * another, a turn on a joint that does not turn.\n */\n\nexport type JointDrag =\n  | { kind: 'value'; input: string; unit: 'deg' | 'mm' | 'ratio'; value: number }\n  | { kind: 'joint'; joint: FigureJoint }\n  | { kind: 'refused'; reason: 'mimic' | 'fixed-turn' | 'origin-follows' | 'turned-slide' | 'off-axis'; joint: string; leader?: string; axis?: string }\n\ntype Axis = 'x' | 'y' | 'z'\nconst AXES: Axis[] = ['x', 'y', 'z']\n/** The axis each face faces along, and which way (as figure-model's `FIGURE_FACES`). */\nconst FACE_AXIS: Record<string, Axis> = { left: 'x', right: 'x', bottom: 'y', top: 'y', back: 'z', front: 'z' }\nconst FACE_SIGN: Record<string, number> = { left: -1, right: 1, bottom: -1, top: 1, back: -1, front: 1 }\n\nconst matrixOf = (r: number[][]) => new THREE.Matrix4().set(r[0]![0]!, r[0]![1]!, r[0]![2]!, 0, r[1]![0]!, r[1]![1]!, r[1]![2]!, 0, r[2]![0]!, r[2]![1]!, r[2]![2]!, 0, 0, 0, 0, 1)\nconst eulerMatrix = (deg: number[]) => new THREE.Matrix4().makeRotationFromEuler(new THREE.Euler(...(deg.map(THREE.MathUtils.degToRad) as [number, number, number]), 'XYZ'))\nconst unit = (axis: unknown) => new THREE.Vector3(...(jointAxisUnit(axis) ?? [0, 0, 0]))\nconst round = (v: number, step: number) => Number((Math.round(v / step) * step).toFixed(Math.max(0, -Math.floor(Math.log10(step)))))\n\n/** The joint frame's words of ADR-0107, read without the kernel's types (an older kernel has none). */\nconst framesOf = (j: FigureJoint) => (j.origin ?? {}) as { offset?: Partial<Record<Axis, unknown>>; rotate?: Partial<Record<Axis, number>> }\n/** `origin.rotate`, URDF's rpy: Rz·Ry·Rx about the fixed axes. */\nconst rotateMatrix = (j: FigureJoint) => eulerMatrixOrder(AXES.map(a => framesOf(j).rotate?.[a] ?? 0), 'ZYX')\nconst eulerMatrixOrder = (deg: number[], order: THREE.EulerOrder) => new THREE.Matrix4().makeRotationFromEuler(new THREE.Euler(...(deg.map(THREE.MathUtils.degToRad) as [number, number, number]), order))\n\n/** The part's own quarter turn in the joint frame, as the record says it. */\nconst turnMatrix = (j: FigureJoint) => eulerMatrix(AXES.map(a => j.origin?.turn?.[a] ?? 0))\n\n/** The joint frame's rotation in the figure: the part's rotation now, less its own turn and less the joint's. */\nfunction jointFrameRotation(j: FigureJoint, part: FigureRenderPart, angle: number): THREE.Matrix4 {\n  const now = matrixOf(part.pose.r as number[][])\n  const own = turnMatrix(j)\n  const turn = j.type === 'revolute' ? new THREE.Matrix4().makeRotationAxis(unit(j.axis!), THREE.MathUtils.degToRad(angle)) : new THREE.Matrix4()\n  return now.multiply(own.invert()).multiply(turn.invert())\n}\n\nexport function jointDragOf(asset: FigureAsset, id: string, part: FigureRenderPart, result: GizmoResult, values: Record<string, number>): JointDrag | null {\n  const j = asset.joints?.find(joint => joint.body1.part === id)\n  /* A size is the part's own, not the joint's: a scale drag goes to the part's measures (the editor drops the shift). */\n  if (!j || result.scale || (!result.rotation && !result.position)) return null\n  const stateId = j.state?.id ?? j.id\n  const now = values[stateId] ?? asset.stateDefaults[stateId] ?? 0\n  const turns = j.type === 'revolute'\n  /* A revolute joint without limits turns without end (USD). */\n  const endless = turns && j.lowerLimit === undefined && j.upperLimit === undefined\n\n  if (result.rotation) {\n    if (!turns) return { kind: 'refused', reason: j.type === 'prismatic' ? 'turned-slide' : 'fixed-turn', joint: j.id }\n    if (j.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: figureMimicTermsOf(j.mimic)!.sum.map(t => t.joint).join(', ') }\n    /* The turn about the joint's axis (the twist of the change): the only turn the joint can make. */\n    const before = new THREE.Quaternion().setFromRotationMatrix(matrixOf(part.pose.r as number[][]))\n    const after = new THREE.Quaternion().setFromRotationMatrix(eulerMatrix(result.rotation))\n    const change = after.multiply(before.invert())\n    const axis = unit(j.axis!).applyMatrix4(jointFrameRotation(j, part, now)).normalize()\n    const twist = 2 * Math.atan2(change.x * axis.x + change.y * axis.y + change.z * axis.z, change.w)\n    /* Turned about another axis: the joint cannot make that turn, and nothing is written for it. */\n    const whole = 2 * Math.acos(Math.min(1, Math.abs(change.w)))\n    if (Math.abs(twist) < whole * 0.5) return { kind: 'refused', reason: 'off-axis', joint: j.id, axis: jointAxisWord(j.axis) }\n    let value = now + THREE.MathUtils.radToDeg(twist)\n    if (endless) value = ((((value + 180) % 360) + 360) % 360) - 180\n    else value = Math.min(Math.max(value, j.lowerLimit!), j.upperLimit!)\n    return { kind: 'value', input: stateId, unit: 'deg', value: round(value, 0.1) }\n  }\n\n  const moved = new THREE.Vector3(...result.position!).sub(new THREE.Vector3(...(part.pose.t as [number, number, number])))\n  if (moved.length() < 0.5) return null\n  const frame = jointFrameRotation(j, part, turns ? now : 0)\n\n  if (j.type === 'prismatic') {\n    if (j.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: figureMimicTermsOf(j.mimic)!.sum.map(t => t.joint).join(', ') }\n    /* How far one unit of the value moves the part along its axis, measured on the figure itself (a ratio travels a length). */\n    const along = unit(j.axis!).applyMatrix4(frame).normalize()\n    const at = (v: number) => {\n      const g = compileFigureAsset(asset).evaluate({ ...values, [stateId]: v }).geometry.find(g => g.id === id && 'pose' in g) as { pose: { t: number[] } } | undefined\n      return g ? new THREE.Vector3(...(g.pose.t as [number, number, number])).dot(along) : 0\n    }\n    const step = j.travel ? 0.01 : 1\n    const rate = (at(now + step) - at(now)) / step\n    if (Math.abs(rate) > 1e-9 && Math.abs(moved.dot(along)) >= moved.length() * 0.7) {\n      const value = Math.min(Math.max(now + moved.dot(along) / rate, j.lowerLimit!), j.upperLimit!)\n      return { kind: 'value', input: stateId, unit: j.travel ? 'ratio' : 'mm', value: round(value, j.travel ? 0.001 : 1) }\n    }\n  }\n\n  /* Moving the joint's origin: the change in the frame it is placed in, before `origin.rotate` turns the joint frame. */\n  const local = moved.clone().applyMatrix4(frame.clone().multiply(rotateMatrix(j).invert()).invert())\n  const origin: NonNullable<FigureJoint['origin']> = { ...(j.origin ?? {}) }\n  if (!('plane' in j.body0) && !('face' in j.body0)) {\n    /* At the parent's origin there is no face: the frame moves by its offset, along the parent's axes. */\n    const offset = { ...(framesOf(j).offset ?? {}) }\n    for (const axis of AXES) {\n      const d = local[axis]\n      if (Math.abs(d) < 0.5) continue\n      const was = offset[axis] ?? 0\n      if (typeof was !== 'number') return { kind: 'refused', reason: 'origin-follows', joint: j.id }\n      offset[axis] = round(was + d, 1)\n    }\n    return { kind: 'joint', joint: { ...j, origin: { ...origin, offset } } as FigureJoint }\n  }\n  const normal: Axis = 'plane' in j.body0 ? 'y' : FACE_AXIS[j.body0.face]!\n  /* Which way a larger gap moves the part: out of the face it meets (on the plane: up when it stands, down when it hangs). */\n  const outward = 'plane' in j.body0 ? ('face' in j.body1 && j.body1.face === 'bottom' ? 1 : -1) : ((j.origin?.facing ?? 'meet') === 'meet' ? 1 : -1) * FACE_SIGN[j.body0.face]!\n  const along = local[normal]\n  if (Math.abs(along) >= 0.5) {\n    const gap = origin.gap ?? 0\n    if (typeof gap !== 'number') return { kind: 'refused', reason: 'origin-follows', joint: j.id }\n    origin.gap = round(gap + outward * along, 1)\n  }\n  for (const axis of AXES.filter(a => a !== normal)) {\n    const d = local[axis]\n    if (Math.abs(d) < 0.5) continue\n    const how = origin.align?.[axis] ?? 'centre'\n    const was = how === 'centre' ? 0 : typeof how === 'object' && typeof how.mm === 'number' ? how.mm : null\n    if (was === null) return { kind: 'refused', reason: 'origin-follows', joint: j.id }\n    origin.align = { ...(origin.align ?? {}), [axis]: { mm: round(was + d, 1) } }\n  }\n  return { kind: 'joint', joint: { ...j, origin } }\n}\n"]}

package/dist-client/modeller/joint-fan.js

@@ -1,5 +1,6 @@
 import { compileFigureAsset, compileFigureGraph, figureWorldBoxesOf, figureWritersOf } from '@hatiolab/figure-model';
 import { sectionShape } from './drawn-shapes.js';
+import { jointAxisUnit } from './joint-axis.js';
 /*
  * Where the selected part turns, and how far -- a translucent fan on the editing board. An axis name says nothing about which way a part swings; on a six-axis arm the author went to the preview and
  * pushed each slider to its end to find out. The fan lies in the plane the part turns in, at the pivot, open from the
@@ -80,7 +81,7 @@ function turnOf(asset, part, values, box) {
         /* In the child's own frame: the joint is where its pose puts the seat's origin, the axis turned back by its pose. */
         const back = (v) => [0, 1, 2].map(i => pose.r[0][i] * v[0] + pose.r[1][i] * v[1] + pose.r[2][i] * v[2]);
         const pivot = back(pose.t.map(v => -v));
-        const axis = norm(back(AXIS_NAMES.map(a => (a.toUpperCase() === record.axis ? 1 : 0))));
+        const axis = norm(back(jointAxisUnit(record.axis) ?? [0, 0, 0]));
         if (!axis)
             return null;
         return { carrier, pivot, axis, toward: [0, 0, 0], control, turnedPart: child };

package/dist-client/modeller/joint-fan.js.map

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{ compileFigureAsset, compileFigureGraph, figureWorldBoxesOf, figureWritersOf } from '@hatiolab/figure-model'\nimport type { FigureAsset } from '@hatiolab/figure-model'\n\nimport type { FigureRenderPart } from './renderer.js'\nimport { sectionShape } from './drawn-shapes.js'\n\n/*\n * Where the selected part turns, and how far -- a translucent fan on the editing board. An axis name says nothing about which way a part swings; on a six-axis arm the author went to the preview and\n * pushed each slider to its end to find out. The fan lies in the plane the part turns in, at the pivot, open from the\n * control's lowest value to its highest; the edge at the value the figure holds now is where the part is.\n *\n * It is found by evaluating, not by reading the graph's shape: the frame that carries the part is sampled across the\n * control's range, and a point at a fixed distance from the pivot traces the fan. So the direction is right whatever\n * the slope of the control, and a joint inside other joints is drawn where its parents put it.\n *\n * Two ways a part turns are read:\n *   - a joint record (ADR-0093): at the joint's origin, about its axis;\n *   - a joint written as values (`<joint>.motion` · `<joint>.chain`): the part is composed on the joint's\n *     chain, the pivot is the joint's origin (`<joint>.frameOnParent`).\n * A slide has no fan. Nothing is drawn when the turn cannot be found -- a fan in some guessed plane would point the\n * wrong way.\n */\n\n/** The fan's name on the board. It is not a part: not in the list, not saved, not picked. */\nexport const JOINT_FAN = '__joint-fan'\n\n/** How thick the fan is: thin enough not to hide the part, thick enough to be seen edge-on. */\nconst THICKNESS = 6\n/** About one segment every six degrees, so a full turn reads as a circle. */\nconst STEP_DEG = 6\n\ntype Pose = { r: number[][]; t: number[] }\ninterface Node {\n  id: string\n  op: string\n  args: string[]\n  outputs: Record<string, string>\n  params?: Record<string, string>\n}\n\nconst apply = (p: Pose, v: number[]) => [0, 1, 2].map(i => p.r[i]![0]! * v[0]! + p.r[i]![1]! * v[1]! + p.r[i]![2]! * v[2]! + p.t[i]!)\nconst sub = (a: number[], b: number[]) => a.map((v, i) => v - b[i]!)\nconst dot = (a: number[], b: number[]) => a.reduce((s, v, i) => s + v * b[i]!, 0)\nconst cross = (a: number[], b: number[]) => [a[1]! * b[2]! - a[2]! * b[1]!, a[2]! * b[0]! - a[0]! * b[2]!, a[0]! * b[1]! - a[1]! * b[0]!]\nconst norm = (a: number[]) => {\n  const l = Math.hypot(...a)\n  return l > 1e-9 ? a.map(v => v / l) : null\n}\n\n/** How far outside a part's box a pivot may lie and still be on the part: the kernel's contact skin. */\nconst SEAM = 1\n/** An origin this deep in a part's box (a share of its half-measure, on every axis) is housed by the part. */\nconst HOUSED = 0.5\nconst AXIS_NAMES = ['x', 'y', 'z'] as const\ntype WorldBox = { centre: Record<'x' | 'y' | 'z', number>; extent: Record<'x' | 'y' | 'z', number> }\n\ninterface Turn {\n  /** The node whose value carries the moving frame into the figure's frame. */\n  carrier: string\n  /** The pivot, in the moving frame. */\n  pivot: number[]\n  /** The axis, in the moving frame. */\n  axis: number[]\n  /** Where the part sits, in the moving frame -- which way the fan's reference edge points. */\n  toward: number[]\n  /** The part the joint turns -- the fan is sized from it, so a joint shows one fan whichever part is selected. */\n  turnedPart: string\n  /** The state input that turns it. */\n  control: { id: string; min: number; max: number }\n}\n\nfunction turnOf(asset: FigureAsset, part: string, values: Record<string, unknown>, box: WorldBox | undefined): Turn | null {\n  const m = asset.document.model as unknown as { nodes: Node[]; constants: { id: string; value: number }[]; inputs: { id: string; role?: string; min?: number; max?: number }[] }\n  const node = (id: string) => m.nodes.find(n => n.id === id)\n  const constant = (ref: string) => m.constants.find(c => c.id === ref)?.value\n  const valueOf = (n: Node | undefined) => (n ? values[Object.values(n.outputs)[0]!] : undefined) as Pose | undefined\n  const controlOf = (ref: string | undefined, seen = new Set<string>()): Turn['control'] | null => {\n    if (!ref || seen.has(ref)) return null\n    seen.add(ref)\n    const input = m.inputs.find(i => i.id === ref && i.role === 'state')\n    if (input) return { id: input.id, min: input.min ?? 0, max: input.max ?? 0 }\n    const writer = m.nodes.find(n => Object.values(n.outputs).includes(ref))\n    for (const arg of writer?.args ?? []) {\n      const found = controlOf(arg, seen)\n      if (found) return found\n    }\n    return null\n  }\n  const axisOf = (motion: Node) => {\n    const axis = motion.args.slice(0, 3).map(constant)\n    return axis.every(v => typeof v === 'number') ? norm(axis as number[]) : null\n  }\n\n  /*\n    A joint record (ADR-0093): the fan stands at the joint -- the point on the parent's face the child is fastened at --\n    about the joint's axis. A part that does not turn itself shows the joint that sits on it, when there is one: the\n    elbow block shows the elbow (user, 2026-09-24: 「elbow-housing itself is a axis」).\n  */\n  const turning = (asset.joints ?? []).filter(j => j.type === 'revolute')\n  const record = turning.find(j => j.body1.part === part) ?? (() => {\n    const on = turning.filter(j => 'part' in j.body0 && j.body0.part === part)\n    return on.length === 1 && !(asset.joints ?? []).some(j => j.body1.part === part && j.type !== 'fixed') ? on[0] : undefined\n  })()\n  if (record) {\n    const child = record.body1.part\n    const carrier = node(`${child}.world`) ? `${child}.world` : `${child}.chain`\n    const pose = valueOf(node(`${child}.pose`))\n    const motion = node(`${child}.motion`)\n    const control = controlOf(motion?.args[3])\n    if (!node(carrier) || !pose || !control) return null\n    /* In the child's own frame: the joint is where its pose puts the seat's origin, the axis turned back by its pose. */\n    const back = (v: number[]) => [0, 1, 2].map(i => pose.r[0]![i]! * v[0]! + pose.r[1]![i]! * v[1]! + pose.r[2]![i]! * v[2]!)\n    const pivot = back(pose.t.map(v => -v))\n    const axis = norm(back(AXIS_NAMES.map(a => (a.toUpperCase() === record.axis ? 1 : 0))))\n    if (!axis) return null\n    return { carrier, pivot, axis, toward: [0, 0, 0], control, turnedPart: child }\n  }\n\n  /*\n    A joint written as values (`<joint>.motion`, its origin `<joint>.frameOnParent`) carries its own part and\n    everything fastened below it, through its chain (the first joint of a chain has only its attachment). A part shows\n    the joint it is to that part of the mechanism (user, 2026-09-24: 「elbow-housing itself is a axis」 · 「please check\n    all that logic and concept」), tested in this order on the joints as they stand now:\n      1. housing -- a joint's origin lies deep inside the part, which is centred on it: the shoulder housing shows the\n         shoulder and the elbow housing the elbow, though another joint carries them;\n      2. turned -- the joint that carries the part, when its axis passes through the part: through its middle for a\n         body that rolls on it (the wrist roll, the tool flange, the gripper body), through its root for a link (the\n         upper arm, the forearm);\n      3. otherwise none: the pedestal (the base's axis runs through it but turns it not), the fingers.\n    An axis passing through a part is not enough by itself: the wrist roll's axis runs the forearm's length and the\n    tool roll's through the wrist pitch, and neither turns them (an earlier rule said so, and was wrong).\n  */\n  if (!box) return null\n  const carrierOf = (joint: string) => (node(`${joint}.chain`) ? `${joint}.chain` : `${joint}.attach`)\n  const mine = node(`${part}.moved`)?.args.find(arg => /\\.(chain|attach)\\.value$/.test(arg))?.replace(/\\.value$/, '')\n  const centre = AXIS_NAMES.map(a => box.centre[a])\n  const half = AXIS_NAMES.map(a => box.extent[a] / 2)\n  const joints = m.nodes\n    .filter(n => n.op === 'axis-turn@1' && n.id.endsWith('.motion') && node(n.id.replace(/\\.motion$/, '.frameOnParent')))\n    .map(motion => {\n      const joint = motion.id.replace(/\\.motion$/, '')\n      const carrier = carrierOf(joint)\n      const frame = valueOf(node(carrier))\n      const origin = valueOf(node(`${joint}.frameOnParent`))\n      const local = axisOf(motion)\n      if (!frame || !origin || !local) return null\n      const at = apply(frame, origin.t)\n      const along = norm([0, 1, 2].map(i => dot(frame.r[i]!, local)))\n      if (!along) return null\n      const off = sub(centre, at)\n      return {\n        joint,\n        motion,\n        carrier,\n        origin,\n        /* How deep the origin lies: 0 at the centre, 1 on the box's face, on the axis where it is shallowest. */\n        depth: Math.max(...[0, 1, 2].map(i => Math.abs(off[i]!) / (half[i]! + SEAM))),\n        fromCentre: Math.hypot(...off),\n        through: lineMeetsBox(at, along, centre, half)\n      }\n    })\n    .filter((c): c is NonNullable<typeof c> => !!c)\n  const housing = joints.filter(c => c.depth <= HOUSED).sort((a, b) => a.fromCentre - b.fromCentre)[0]\n  const carrying = joints.find(c => c.carrier === mine)\n  const chosen = housing ?? (carrying && carrying.through ? carrying : undefined)\n  if (!chosen) return null\n  const axis = axisOf(chosen.motion)\n  const control = controlOf(chosen.motion.args[3])\n  if (!axis || !control) return null\n  /* The reference edge points at what the joint turns: of the parts it carries, the one farthest off its axis. */\n  const flatOff = (t: number[]) => {\n    const rel = sub(t, chosen.origin.t)\n    return Math.hypot(...sub(rel, axis.map(v => v * dot(rel, axis))))\n  }\n  const turned = m.nodes\n    .filter(n => n.id.endsWith('.moved') && n.args.includes(`${chosen.carrier}.value`))\n    .map(n => ({ id: n.id.replace(/\\.moved$/, ''), t: valueOf(node(n.id.replace(/\\.moved$/, '.pose')))?.t }))\n    .filter((one): one is { id: string; t: number[] } => !!one.t)\n    .sort((a, b) => flatOff(b.t) - flatOff(a.t))[0]\n  return { carrier: chosen.carrier, pivot: chosen.origin.t, axis, toward: turned?.t ?? chosen.origin.t, control, turnedPart: turned?.id ?? part }\n}\n\n/**\n * The fan for the part, as a body to stand on the board, or null when the part does not turn. `values` are the\n * inputs the figure is drawn with now (a pose in hand included), so the fan follows the arm as it is posed.\n */\nexport function jointFanOf(asset: FigureAsset, part: string, values: Record<string, number> = {}): FigureRenderPart | null {\n  if (!part) return null\n  let graph: ReturnType<typeof compileFigureGraph>\n  try {\n    graph = compileFigureGraph(asset.document.model as never)\n  } catch {\n    return null\n  }\n  const inputs = { ...asset.designInputs, ...asset.stateDefaults, ...values }\n  const at = (over: Record<string, number>) => graph.evaluate({ ...inputs, ...over }).values as Record<string, unknown>\n  let now: Record<string, unknown>\n  try {\n    now = at({})\n  } catch {\n    return null\n  }\n  let box: WorldBox | undefined\n  try {\n    box = figureWorldBoxesOf(\n      compileFigureAsset({ ...asset, designInputs: { ...asset.designInputs, ...pick(values, asset.designInputs) }, stateDefaults: { ...asset.stateDefaults, ...pick(values, asset.stateDefaults) } })\n        .evaluate()\n        .geometry.filter(g => g.id === part),\n      figureWritersOf(asset)\n    )[0]\n  } catch {\n    box = undefined\n  }\n  const turn = turnOf(asset, part, now, box)\n  if (!turn) return null\n  const carrierRef = Object.values(asset.document.model.nodes.find(n => n.id === turn.carrier)!.outputs)[0]!\n  const carrierNow = now[carrierRef] as Pose | undefined\n  if (!carrierNow) return null\n\n  /* The reference edge points from the pivot toward the part, in the plane it turns in; any perpendicular if it sits on the axis. */\n  const rel = sub(turn.toward, turn.pivot)\n  const inPlane = sub(rel, turn.axis.map(v => v * dot(rel, turn.axis)))\n  const d = norm(inPlane) ?? norm(cross(turn.axis, Math.abs(turn.axis[0]!) < 0.9 ? [1, 0, 0] : [0, 1, 0]))!\n  /*\n    Sized from what the joint turns, not from the selected part: selecting the elbow housing or the forearm\n    shows the elbow's one fan, not a smaller one for the smaller part (user, 2026-09-24).\n  */\n  const radius = Math.max(60, Math.round(Math.max(largestMeasureOf(asset, turn.turnedPart, inputs), Math.hypot(...inPlane)) * 0.6))\n  const edge = turn.pivot.map((v, i) => v + d[i]! * radius)\n\n  const { min, max } = turn.control\n  if (!(max > min)) return null\n  const steps = Math.max(2, Math.ceil((max - min) / STEP_DEG))\n  const pivot = apply(carrierNow, turn.pivot)\n  const traced: number[][] = []\n  try {\n    for (let i = 0; i <= steps; i++) {\n      const s = min + ((max - min) * i) / steps\n      traced.push(apply(at({ [turn.control.id]: s })[carrierRef] as Pose, edge))\n    }\n  } catch {\n    return null\n  }\n\n  /* The fan's own frame: x toward the first traced point, y along the axis as it stands now, z completing them. */\n  const axisNow = norm([0, 1, 2].map(i => dot(carrierNow.r[i]!, turn.axis)))\n  const first = norm(sub(traced[0]!, pivot))\n  if (!axisNow || !first) return null\n  const zAxis = cross(first, axisNow)\n  const r = [0, 1, 2].map(i => [first[i]!, axisNow[i]!, zAxis[i]!])\n  const local = (p: number[]) => {\n    const v = sub(p, pivot)\n    return { x: dot(v, first), z: dot(v, zAxis) }\n  }\n  const full = max - min >= 359.999\n  const profile = [...(full ? [] : [{ x: 0, z: 0 }]), ...traced.map(local)].map(p => ({ x: Math.round(p.x * 1000) / 1000, z: Math.round(p.z * 1000) / 1000 }))\n\n  return {\n    id: JOINT_FAN,\n    shape: sectionShape(profile, THICKNESS),\n    pose: { t: pivot, r },\n    material: { token: '__joint-fan', transparent: true },\n    /** Which control turns it: the joint the fan shows. */\n    turns: turn.control.id\n  } as unknown as FigureRenderPart\n}\n\n/** The values in hand that belong to a record's keys (design inputs, or state defaults). */\nfunction pick(values: Record<string, number>, of: Record<string, number>): Record<string, number> {\n  return Object.fromEntries(Object.entries(values).filter(([id]) => id in of))\n}\n\n/** A part's largest own measure (a box side, a diameter, a length) at the inputs given; 0 when it cannot be read. */\nfunction largestMeasureOf(asset: FigureAsset, part: string, inputs: Record<string, number>): number {\n  try {\n    const body = compileFigureAsset({ ...asset, designInputs: pick(inputs, asset.designInputs), stateDefaults: pick(inputs, asset.stateDefaults) })\n      .evaluate()\n      .geometry.find(g => g.id === part) as { shape?: { dimensions?: Record<string, number> } } | undefined\n    const dims = Object.entries(body?.shape?.dimensions ?? {}).map(([k, v]) => (k.startsWith('radius') ? v * 2 : v))\n    return dims.length ? Math.max(...dims) : 0\n  } catch {\n    return 0\n  }\n}\n\n/** Whether the line through `at` along `along` passes through the box (centre, half-measures), within the skin. */\nfunction lineMeetsBox(at: number[], along: number[], centre: number[], half: number[]): boolean {\n  let lo = -Infinity,\n    hi = Infinity\n  for (let i = 0; i < 3; i++) {\n    const min = centre[i]! - half[i]! - SEAM,\n      max = centre[i]! + half[i]! + SEAM\n    if (Math.abs(along[i]!) < 1e-12) {\n      if (at[i]! < min || at[i]! > max) return false\n      continue\n    }\n    const t1 = (min - at[i]!) / along[i]!,\n      t2 = (max - at[i]!) / along[i]!\n    lo = Math.max(lo, Math.min(t1, t2))\n    hi = Math.min(hi, Math.max(t1, t2))\n    if (lo > hi) return false\n  }\n  return true\n}\n\n"]}
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{ compileFigureAsset, compileFigureGraph, figureWorldBoxesOf, figureWritersOf } from '@hatiolab/figure-model'\nimport type { FigureAsset } from '@hatiolab/figure-model'\n\nimport type { FigureRenderPart } from './renderer.js'\nimport { sectionShape } from './drawn-shapes.js'\nimport { jointAxisUnit } from './joint-axis.js'\n\n/*\n * Where the selected part turns, and how far -- a translucent fan on the editing board. An axis name says nothing about which way a part swings; on a six-axis arm the author went to the preview and\n * pushed each slider to its end to find out. The fan lies in the plane the part turns in, at the pivot, open from the\n * control's lowest value to its highest; the edge at the value the figure holds now is where the part is.\n *\n * It is found by evaluating, not by reading the graph's shape: the frame that carries the part is sampled across the\n * control's range, and a point at a fixed distance from the pivot traces the fan. So the direction is right whatever\n * the slope of the control, and a joint inside other joints is drawn where its parents put it.\n *\n * Two ways a part turns are read:\n *   - a joint record (ADR-0093): at the joint's origin, about its axis;\n *   - a joint written as values (`<joint>.motion` · `<joint>.chain`): the part is composed on the joint's\n *     chain, the pivot is the joint's origin (`<joint>.frameOnParent`).\n * A slide has no fan. Nothing is drawn when the turn cannot be found -- a fan in some guessed plane would point the\n * wrong way.\n */\n\n/** The fan's name on the board. It is not a part: not in the list, not saved, not picked. */\nexport const JOINT_FAN = '__joint-fan'\n\n/** How thick the fan is: thin enough not to hide the part, thick enough to be seen edge-on. */\nconst THICKNESS = 6\n/** About one segment every six degrees, so a full turn reads as a circle. */\nconst STEP_DEG = 6\n\ntype Pose = { r: number[][]; t: number[] }\ninterface Node {\n  id: string\n  op: string\n  args: string[]\n  outputs: Record<string, string>\n  params?: Record<string, string>\n}\n\nconst apply = (p: Pose, v: number[]) => [0, 1, 2].map(i => p.r[i]![0]! * v[0]! + p.r[i]![1]! * v[1]! + p.r[i]![2]! * v[2]! + p.t[i]!)\nconst sub = (a: number[], b: number[]) => a.map((v, i) => v - b[i]!)\nconst dot = (a: number[], b: number[]) => a.reduce((s, v, i) => s + v * b[i]!, 0)\nconst cross = (a: number[], b: number[]) => [a[1]! * b[2]! - a[2]! * b[1]!, a[2]! * b[0]! - a[0]! * b[2]!, a[0]! * b[1]! - a[1]! * b[0]!]\nconst norm = (a: number[]) => {\n  const l = Math.hypot(...a)\n  return l > 1e-9 ? a.map(v => v / l) : null\n}\n\n/** How far outside a part's box a pivot may lie and still be on the part: the kernel's contact skin. */\nconst SEAM = 1\n/** An origin this deep in a part's box (a share of its half-measure, on every axis) is housed by the part. */\nconst HOUSED = 0.5\nconst AXIS_NAMES = ['x', 'y', 'z'] as const\ntype WorldBox = { centre: Record<'x' | 'y' | 'z', number>; extent: Record<'x' | 'y' | 'z', number> }\n\ninterface Turn {\n  /** The node whose value carries the moving frame into the figure's frame. */\n  carrier: string\n  /** The pivot, in the moving frame. */\n  pivot: number[]\n  /** The axis, in the moving frame. */\n  axis: number[]\n  /** Where the part sits, in the moving frame -- which way the fan's reference edge points. */\n  toward: number[]\n  /** The part the joint turns -- the fan is sized from it, so a joint shows one fan whichever part is selected. */\n  turnedPart: string\n  /** The state input that turns it. */\n  control: { id: string; min: number; max: number }\n}\n\nfunction turnOf(asset: FigureAsset, part: string, values: Record<string, unknown>, box: WorldBox | undefined): Turn | null {\n  const m = asset.document.model as unknown as { nodes: Node[]; constants: { id: string; value: number }[]; inputs: { id: string; role?: string; min?: number; max?: number }[] }\n  const node = (id: string) => m.nodes.find(n => n.id === id)\n  const constant = (ref: string) => m.constants.find(c => c.id === ref)?.value\n  const valueOf = (n: Node | undefined) => (n ? values[Object.values(n.outputs)[0]!] : undefined) as Pose | undefined\n  const controlOf = (ref: string | undefined, seen = new Set<string>()): Turn['control'] | null => {\n    if (!ref || seen.has(ref)) return null\n    seen.add(ref)\n    const input = m.inputs.find(i => i.id === ref && i.role === 'state')\n    if (input) return { id: input.id, min: input.min ?? 0, max: input.max ?? 0 }\n    const writer = m.nodes.find(n => Object.values(n.outputs).includes(ref))\n    for (const arg of writer?.args ?? []) {\n      const found = controlOf(arg, seen)\n      if (found) return found\n    }\n    return null\n  }\n  const axisOf = (motion: Node) => {\n    const axis = motion.args.slice(0, 3).map(constant)\n    return axis.every(v => typeof v === 'number') ? norm(axis as number[]) : null\n  }\n\n  /*\n    A joint record (ADR-0093): the fan stands at the joint -- the point on the parent's face the child is fastened at --\n    about the joint's axis. A part that does not turn itself shows the joint that sits on it, when there is one: the\n    elbow block shows the elbow (user, 2026-09-24: 「elbow-housing itself is a axis」).\n  */\n  const turning = (asset.joints ?? []).filter(j => j.type === 'revolute')\n  const record = turning.find(j => j.body1.part === part) ?? (() => {\n    const on = turning.filter(j => 'part' in j.body0 && j.body0.part === part)\n    return on.length === 1 && !(asset.joints ?? []).some(j => j.body1.part === part && j.type !== 'fixed') ? on[0] : undefined\n  })()\n  if (record) {\n    const child = record.body1.part\n    const carrier = node(`${child}.world`) ? `${child}.world` : `${child}.chain`\n    const pose = valueOf(node(`${child}.pose`))\n    const motion = node(`${child}.motion`)\n    const control = controlOf(motion?.args[3])\n    if (!node(carrier) || !pose || !control) return null\n    /* In the child's own frame: the joint is where its pose puts the seat's origin, the axis turned back by its pose. */\n    const back = (v: number[]) => [0, 1, 2].map(i => pose.r[0]![i]! * v[0]! + pose.r[1]![i]! * v[1]! + pose.r[2]![i]! * v[2]!)\n    const pivot = back(pose.t.map(v => -v))\n    const axis = norm(back(jointAxisUnit(record.axis) ?? [0, 0, 0]))\n    if (!axis) return null\n    return { carrier, pivot, axis, toward: [0, 0, 0], control, turnedPart: child }\n  }\n\n  /*\n    A joint written as values (`<joint>.motion`, its origin `<joint>.frameOnParent`) carries its own part and\n    everything fastened below it, through its chain (the first joint of a chain has only its attachment). A part shows\n    the joint it is to that part of the mechanism (user, 2026-09-24: 「elbow-housing itself is a axis」 · 「please check\n    all that logic and concept」), tested in this order on the joints as they stand now:\n      1. housing -- a joint's origin lies deep inside the part, which is centred on it: the shoulder housing shows the\n         shoulder and the elbow housing the elbow, though another joint carries them;\n      2. turned -- the joint that carries the part, when its axis passes through the part: through its middle for a\n         body that rolls on it (the wrist roll, the tool flange, the gripper body), through its root for a link (the\n         upper arm, the forearm);\n      3. otherwise none: the pedestal (the base's axis runs through it but turns it not), the fingers.\n    An axis passing through a part is not enough by itself: the wrist roll's axis runs the forearm's length and the\n    tool roll's through the wrist pitch, and neither turns them (an earlier rule said so, and was wrong).\n  */\n  if (!box) return null\n  const carrierOf = (joint: string) => (node(`${joint}.chain`) ? `${joint}.chain` : `${joint}.attach`)\n  const mine = node(`${part}.moved`)?.args.find(arg => /\\.(chain|attach)\\.value$/.test(arg))?.replace(/\\.value$/, '')\n  const centre = AXIS_NAMES.map(a => box.centre[a])\n  const half = AXIS_NAMES.map(a => box.extent[a] / 2)\n  const joints = m.nodes\n    .filter(n => n.op === 'axis-turn@1' && n.id.endsWith('.motion') && node(n.id.replace(/\\.motion$/, '.frameOnParent')))\n    .map(motion => {\n      const joint = motion.id.replace(/\\.motion$/, '')\n      const carrier = carrierOf(joint)\n      const frame = valueOf(node(carrier))\n      const origin = valueOf(node(`${joint}.frameOnParent`))\n      const local = axisOf(motion)\n      if (!frame || !origin || !local) return null\n      const at = apply(frame, origin.t)\n      const along = norm([0, 1, 2].map(i => dot(frame.r[i]!, local)))\n      if (!along) return null\n      const off = sub(centre, at)\n      return {\n        joint,\n        motion,\n        carrier,\n        origin,\n        /* How deep the origin lies: 0 at the centre, 1 on the box's face, on the axis where it is shallowest. */\n        depth: Math.max(...[0, 1, 2].map(i => Math.abs(off[i]!) / (half[i]! + SEAM))),\n        fromCentre: Math.hypot(...off),\n        through: lineMeetsBox(at, along, centre, half)\n      }\n    })\n    .filter((c): c is NonNullable<typeof c> => !!c)\n  const housing = joints.filter(c => c.depth <= HOUSED).sort((a, b) => a.fromCentre - b.fromCentre)[0]\n  const carrying = joints.find(c => c.carrier === mine)\n  const chosen = housing ?? (carrying && carrying.through ? carrying : undefined)\n  if (!chosen) return null\n  const axis = axisOf(chosen.motion)\n  const control = controlOf(chosen.motion.args[3])\n  if (!axis || !control) return null\n  /* The reference edge points at what the joint turns: of the parts it carries, the one farthest off its axis. */\n  const flatOff = (t: number[]) => {\n    const rel = sub(t, chosen.origin.t)\n    return Math.hypot(...sub(rel, axis.map(v => v * dot(rel, axis))))\n  }\n  const turned = m.nodes\n    .filter(n => n.id.endsWith('.moved') && n.args.includes(`${chosen.carrier}.value`))\n    .map(n => ({ id: n.id.replace(/\\.moved$/, ''), t: valueOf(node(n.id.replace(/\\.moved$/, '.pose')))?.t }))\n    .filter((one): one is { id: string; t: number[] } => !!one.t)\n    .sort((a, b) => flatOff(b.t) - flatOff(a.t))[0]\n  return { carrier: chosen.carrier, pivot: chosen.origin.t, axis, toward: turned?.t ?? chosen.origin.t, control, turnedPart: turned?.id ?? part }\n}\n\n/**\n * The fan for the part, as a body to stand on the board, or null when the part does not turn. `values` are the\n * inputs the figure is drawn with now (a pose in hand included), so the fan follows the arm as it is posed.\n */\nexport function jointFanOf(asset: FigureAsset, part: string, values: Record<string, number> = {}): FigureRenderPart | null {\n  if (!part) return null\n  let graph: ReturnType<typeof compileFigureGraph>\n  try {\n    graph = compileFigureGraph(asset.document.model as never)\n  } catch {\n    return null\n  }\n  const inputs = { ...asset.designInputs, ...asset.stateDefaults, ...values }\n  const at = (over: Record<string, number>) => graph.evaluate({ ...inputs, ...over }).values as Record<string, unknown>\n  let now: Record<string, unknown>\n  try {\n    now = at({})\n  } catch {\n    return null\n  }\n  let box: WorldBox | undefined\n  try {\n    box = figureWorldBoxesOf(\n      compileFigureAsset({ ...asset, designInputs: { ...asset.designInputs, ...pick(values, asset.designInputs) }, stateDefaults: { ...asset.stateDefaults, ...pick(values, asset.stateDefaults) } })\n        .evaluate()\n        .geometry.filter(g => g.id === part),\n      figureWritersOf(asset)\n    )[0]\n  } catch {\n    box = undefined\n  }\n  const turn = turnOf(asset, part, now, box)\n  if (!turn) return null\n  const carrierRef = Object.values(asset.document.model.nodes.find(n => n.id === turn.carrier)!.outputs)[0]!\n  const carrierNow = now[carrierRef] as Pose | undefined\n  if (!carrierNow) return null\n\n  /* The reference edge points from the pivot toward the part, in the plane it turns in; any perpendicular if it sits on the axis. */\n  const rel = sub(turn.toward, turn.pivot)\n  const inPlane = sub(rel, turn.axis.map(v => v * dot(rel, turn.axis)))\n  const d = norm(inPlane) ?? norm(cross(turn.axis, Math.abs(turn.axis[0]!) < 0.9 ? [1, 0, 0] : [0, 1, 0]))!\n  /*\n    Sized from what the joint turns, not from the selected part: selecting the elbow housing or the forearm\n    shows the elbow's one fan, not a smaller one for the smaller part (user, 2026-09-24).\n  */\n  const radius = Math.max(60, Math.round(Math.max(largestMeasureOf(asset, turn.turnedPart, inputs), Math.hypot(...inPlane)) * 0.6))\n  const edge = turn.pivot.map((v, i) => v + d[i]! * radius)\n\n  const { min, max } = turn.control\n  if (!(max > min)) return null\n  const steps = Math.max(2, Math.ceil((max - min) / STEP_DEG))\n  const pivot = apply(carrierNow, turn.pivot)\n  const traced: number[][] = []\n  try {\n    for (let i = 0; i <= steps; i++) {\n      const s = min + ((max - min) * i) / steps\n      traced.push(apply(at({ [turn.control.id]: s })[carrierRef] as Pose, edge))\n    }\n  } catch {\n    return null\n  }\n\n  /* The fan's own frame: x toward the first traced point, y along the axis as it stands now, z completing them. */\n  const axisNow = norm([0, 1, 2].map(i => dot(carrierNow.r[i]!, turn.axis)))\n  const first = norm(sub(traced[0]!, pivot))\n  if (!axisNow || !first) return null\n  const zAxis = cross(first, axisNow)\n  const r = [0, 1, 2].map(i => [first[i]!, axisNow[i]!, zAxis[i]!])\n  const local = (p: number[]) => {\n    const v = sub(p, pivot)\n    return { x: dot(v, first), z: dot(v, zAxis) }\n  }\n  const full = max - min >= 359.999\n  const profile = [...(full ? [] : [{ x: 0, z: 0 }]), ...traced.map(local)].map(p => ({ x: Math.round(p.x * 1000) / 1000, z: Math.round(p.z * 1000) / 1000 }))\n\n  return {\n    id: JOINT_FAN,\n    shape: sectionShape(profile, THICKNESS),\n    pose: { t: pivot, r },\n    material: { token: '__joint-fan', transparent: true },\n    /** Which control turns it: the joint the fan shows. */\n    turns: turn.control.id\n  } as unknown as FigureRenderPart\n}\n\n/** The values in hand that belong to a record's keys (design inputs, or state defaults). */\nfunction pick(values: Record<string, number>, of: Record<string, number>): Record<string, number> {\n  return Object.fromEntries(Object.entries(values).filter(([id]) => id in of))\n}\n\n/** A part's largest own measure (a box side, a diameter, a length) at the inputs given; 0 when it cannot be read. */\nfunction largestMeasureOf(asset: FigureAsset, part: string, inputs: Record<string, number>): number {\n  try {\n    const body = compileFigureAsset({ ...asset, designInputs: pick(inputs, asset.designInputs), stateDefaults: pick(inputs, asset.stateDefaults) })\n      .evaluate()\n      .geometry.find(g => g.id === part) as { shape?: { dimensions?: Record<string, number> } } | undefined\n    const dims = Object.entries(body?.shape?.dimensions ?? {}).map(([k, v]) => (k.startsWith('radius') ? v * 2 : v))\n    return dims.length ? Math.max(...dims) : 0\n  } catch {\n    return 0\n  }\n}\n\n/** Whether the line through `at` along `along` passes through the box (centre, half-measures), within the skin. */\nfunction lineMeetsBox(at: number[], along: number[], centre: number[], half: number[]): boolean {\n  let lo = -Infinity,\n    hi = Infinity\n  for (let i = 0; i < 3; i++) {\n    const min = centre[i]! - half[i]! - SEAM,\n      max = centre[i]! + half[i]! + SEAM\n    if (Math.abs(along[i]!) < 1e-12) {\n      if (at[i]! < min || at[i]! > max) return false\n      continue\n    }\n    const t1 = (min - at[i]!) / along[i]!,\n      t2 = (max - at[i]!) / along[i]!\n    lo = Math.max(lo, Math.min(t1, t2))\n    hi = Math.min(hi, Math.max(t1, t2))\n    if (lo > hi) return false\n  }\n  return true\n}\n\n"]}

package/dist-client/modeller/links.d.ts

@@ -1,5 +1,6 @@
 import type { FigureFollow, FigureSizeRange } from '@hatiolab/figure-model';
 import type { FigureAsset, FigureBindingPlace, FigureFace, FigureJoint } from '@hatiolab/figure-model';
+import { type JointAxisVector } from './joint-axis.js';
 export type Axis = 'x' | 'y' | 'z';
 export declare const AXES: readonly Axis[];
 /** What one dimension of a part is worked out from (figure-model's `FigureFollow`). */
@@ -25,6 +26,8 @@ export declare function heldBy(asset: FigureAsset, part: string): {
 } | {
     plane: true;
 } | null;
+/** The word for where a joint end sits: its face's, or the part's origin for an end placed by it (ADR-0107 decision 4). */
+export declare const endPlaceKeyOf: (end: object) => string;
 /** Whether a dimension of this part can follow something — box-shaped, whose three sizes are X, Y and Z. */
 export declare function canFollow(asset: FigureAsset, part: string): boolean;
 /**
@@ -94,7 +97,7 @@ export declare function rowAxesOf(asset: FigureAsset, part: string): Axis[];
  * Why a part cannot be made into a row here, in the terms `rowAxesOf` refuses it: said, not hidden (ADR-0097 §5.5).
  * Nothing when it can, or when it already is a row (that row is shown where it stands).
  */
-export declare function rowBlockOf(asset: FigureAsset, part: string): 'unfastened' | 'on-plane' | 'holds-parts' | undefined;
+export declare function rowBlockOf(asset: FigureAsset, part: string): 'unfastened' | 'on-plane' | 'holds-parts' | 'at-origin' | undefined;
 /** The row a part is made into, as its fastening's record keeps it. */
 export declare const rowOf: (asset: FigureAsset, part: string) => {
     axis: import("@hatiolab/figure-model").FigureJointAxis;
@@ -160,6 +163,8 @@ export declare function fasteningOf(asset: FigureAsset, part: string): {
     twist: number;
     align: Partial<Record<Axis, Alignment>>;
     alignMm: Partial<Record<Axis, number>>;
+    /** Placed by a part's origin (ADR-0107 decision 4): no face to fasten by, and the form does not write it. */
+    atOrigin?: true;
 } | null;
 /**
  * The alignment that keeps the part where it stands when it is fastened: on each axis across the face, its distance
@@ -205,6 +210,8 @@ export declare function positionIsShare(asset: FigureAsset, part: string, axis:
 export interface Motion {
     kind: 'slide' | 'turn' | 'continuous';
     axis: Axis | '?';
+    /** The record's axis when it is a vector, as written (the graph holds it turned into the parent's frame). */
+    vector?: JointAxisVector;
     control?: {
         id: string;
         unit?: string;
@@ -212,10 +219,13 @@ export interface Motion {
         max?: number;
     };
     /** A joint that moves with another (URDF's mimic): the leader's value times `multiplier`, plus `offset`. */
+    /** What it follows, as a sum of leaders each with its multiplier, plus an offset (one leader is a sum of one). */
     follows?: {
-        joint: string;
-        multiplier: number;
-        offset?: number;
+        sum: Array<{
+            joint: string;
+            multiplier: number;
+        }>;
+        offset: number;
     };
     /** A slide whose distance is a part's length (plus a difference): the control is its share. */
     travel?: {
@@ -229,6 +239,8 @@ export declare function motionOf(asset: FigureAsset, part: string): Motion | und
 export interface MotionForm {
     kind: 'slide' | 'turn' | 'continuous';
     axis: Axis;
+    /** An axis that is a vector (ADR-0107): said, not chosen here, and written back unchanged. */
+    axisVector?: JointAxisVector;
     id: string;
     min: number;
     max: number;
@@ -242,6 +254,18 @@ export interface MotionForm {
      */
     travel?: string;
     travelPlus?: number;
+    /**
+     * Kept as they are and not edited here: a follower of several leaders (`{ sum, offset }`, the offset still in
+     * `offset`) and a stroke that is a sum of lengths. The form says them and writes them back unchanged, so saving
+     * a range or an axis does not turn a follower into a joint of its own or drop its stroke.
+     */
+    followSum?: Array<{
+        joint: string;
+        multiplier: number;
+    }>;
+    travelSum?: Extract<NonNullable<FigureJoint['travel']>, {
+        sum: unknown;
+    }>;
 }
 /**
  * The motion form filled from a joint as it is, so a motion can be changed where it is -- its range, the length it
@@ -260,6 +284,12 @@ export declare function leadersFor(asset: FigureAsset, part: string, kind: Motio
  * control or limits of its own — its range is the leader's times the multiplier.
  */
 export declare function motionJoint(joint: FigureJoint, m: MotionForm, part: string): FigureJoint;
+/**
+ * Why the motion form cannot be saved as it stands, as the kernel would refuse it: a follower's multiplier that is not
+ * a number or is 0, or a range whose most is not above its least. A range need not hold 0 -- the control starts at the
+ * nearest end (a lift that rests at 200 mm).
+ */
+export declare function motionFormRefusalOf(m: MotionForm, follow: string): 'multiplier' | 'range' | undefined;
 /** The select's value for what a dimension follows now. */
 export declare function choiceOf(follow: Follow): string;
 /**

package/dist-client/modeller/links.js

@@ -1,5 +1,6 @@
-import { FIGURE_FACES, figureShapeFaces, figurePartsExtentOf, compileFigureAsset, compileFigureGraph, figureFollowOf, proposeFigureProportion, defaultInstanceSizeRange, foldInstanceSizeRange, figureAttachmentsOf, figureBindingsOf, figureInstanceSizeLimitsOf, figureFollowableAxesOf, figureShapeProviderOf } from '@hatiolab/figure-model';
+import { FIGURE_FACES, figureShapeFaces, figurePartsExtentOf, compileFigureAsset, compileFigureGraph, figureFollowOf, proposeFigureProportion, defaultInstanceSizeRange, foldInstanceSizeRange, figureAttachmentsOf, figureBindingsOf, figureInstanceSizeLimitsOf, figureFollowableAxesOf, figureShapeProviderOf, figureMimicTermsOf } from '@hatiolab/figure-model';
 import { startingShapeKindOf } from './starting-shape.js';
+import { jointAxisToken, jointAxisVectorOf } from './joint-axis.js';
 export const AXES = ['x', 'y', 'z'];
 const modelOf = (asset) => asset.document.model;
 /**
@@ -29,6 +30,8 @@ export function heldBy(asset, part) {
     const to = fastenedTo(asset, part);
     return to ? { part: to } : null;
 }
+/** The word for where a joint end sits: its face's, or the part's origin for an end placed by it (ADR-0107 decision 4). */
+export const endPlaceKeyOf = (end) => ('face' in end ? `figure.label.face-${end.face}` : 'figure.label.joint-origin');
 /** Whether a dimension of this part can follow something — box-shaped, whose three sizes are X, Y and Z. */
 export function canFollow(asset, part) {
     return followableAxes(asset, part).length > 0;
@@ -206,7 +209,11 @@ export function rowAxesOf(asset, part) {
         return [];
     if (joints.some(o => 'part' in o.body0 && o.body0.part === part))
         return [];
-    return AXES.filter(axis => axis !== FIGURE_FACES[j.body1.face]);
+    /* Placed by an origin: no face to lay the row across, and the kernel refuses it. */
+    const by = j.body1;
+    if (!('face' in j.body0) || !('face' in by))
+        return [];
+    return AXES.filter(axis => axis !== FIGURE_FACES[by.face]);
 }
 /**
  * Why a part cannot be made into a row here, in the terms `rowAxesOf` refuses it: said, not hidden (ADR-0097 §5.5).
@@ -223,6 +230,8 @@ export function rowBlockOf(asset, part) {
         return 'on-plane';
     if (joints.some(o => 'part' in o.body0 && o.body0.part === part))
         return 'holds-parts';
+    if (!('face' in j.body0) || !('face' in j.body1))
+        return 'at-origin';
     return undefined;
 }
 /** The row a part is made into, as its fastening's record keeps it. */
@@ -293,7 +302,8 @@ export function fasteningOf(asset, part) {
         return null;
     const toPlane = 'plane' in record.body0;
     const target = 'part' in record.body0 ? record.body0.part : '';
-    const targetFace = 'part' in record.body0 ? record.body0.face : 'top';
+    const targetFace = 'face' in record.body0 ? record.body0.face : 'top';
+    const atOrigin = !('plane' in record.body0) && (!('face' in record.body0) || !('face' in record.body1));
     const twist = record.origin?.twist ?? 0;
     /* Where across the face: as the record says it, and where it says nothing, where the part stands now. */
     const kept = placeKeptOf(asset, part, toPlane ? 'plane' : { part: target, face: targetFace }, !!twist);
@@ -315,14 +325,15 @@ export function fasteningOf(asset, part) {
     }
     const gap = record.origin?.gap;
     return {
-        face: record.body1.face,
+        face: 'face' in record.body1 ? record.body1.face : 'centre',
         toPlane,
         target,
         targetFace,
         facing: record.origin?.facing ?? 'meet',
         gap: typeof gap === 'number' ? gap : 0,
         twist,
-        ...kept
+        ...kept,
+        ...(atOrigin ? { atOrigin: true } : {})
     };
 }
 /**
@@ -406,7 +417,9 @@ export function motionOf(asset, part) {
     if (!node)
         return undefined;
     const record = asset.joints?.find(j => j.body1.part === part);
-    const endless = record?.type === 'revolute' && record.lowerLimit === undefined && record.upperLimit === undefined;
+    /* A follower has no limits of its own: its range is its leaders', not a turn without end. */
+    const endless = record?.type === 'revolute' && record.lowerLimit === undefined && record.upperLimit === undefined && !record.mimic;
+    const vector = jointAxisVectorOf(record?.axis);
     const kind = endless ? 'continuous' : node.op === 'axis-turn@1' ? 'turn' : 'slide';
     const unit = node.args.slice(0, 3).map(ref => m.constants.find(c => c.id === ref)?.value);
     const axis = AXES[unit.findIndex(v => v !== undefined && v !== 0)] ?? '?';
@@ -428,8 +441,9 @@ export function motionOf(asset, part) {
         }
         return undefined;
     };
-    const travel = record?.travel?.source && 'part' in record.travel.source ? { part: record.travel.source.part, axis: record.travel.source.axis, ...(record.travel.plus ? { plus: record.travel.plus } : {}) } : undefined;
-    return { kind, axis, control: control(quantity), ...(record?.mimic ? { follows: record.mimic } : {}), ...(travel ? { travel } : {}) };
+    const one = record?.travel && 'source' in record.travel ? record.travel : undefined;
+    const travel = one?.source && 'part' in one.source ? { part: one.source.part, axis: one.source.axis, ...(one.plus ? { plus: one.plus } : {}) } : undefined;
+    return { kind, axis, ...(vector ? { vector } : {}), control: control(quantity), ...(record?.mimic ? { follows: figureMimicTermsOf(record.mimic) } : {}), ...(travel ? { travel } : {}) };
 }
 /**
  * The motion form filled from a joint as it is, so a motion can be changed where it is -- its range, the length it
@@ -438,18 +452,27 @@ export function motionOf(asset, part) {
  */
 export function motionFormOf(joint) {
     const kind = joint.type === 'prismatic' ? 'slide' : joint.lowerLimit === undefined && joint.upperLimit === undefined && !joint.mimic ? 'continuous' : 'turn';
-    const travel = joint.travel?.source && 'part' in joint.travel.source ? `${joint.travel.source.part}:${joint.travel.source.axis}` : '';
+    const one = joint.travel && 'source' in joint.travel ? joint.travel : undefined;
+    const travel = one?.source && 'part' in one.source ? `${one.source.part}:${one.source.axis}` : '';
+    const travelSum = joint.travel && 'sum' in joint.travel ? joint.travel : undefined;
+    const terms = figureMimicTermsOf(joint.mimic);
+    const single = terms?.sum.length === 1 ? terms.sum[0] : undefined;
+    const axisVector = jointAxisVectorOf(joint.axis);
     return {
         kind,
-        axis: (joint.axis ?? 'X').toLowerCase(),
-        id: joint.state?.id ?? '',
-        min: travel ? 0 : (joint.lowerLimit ?? (kind === 'slide' ? 0 : -90)),
-        max: travel ? 500 : (joint.upperLimit ?? (kind === 'slide' ? 500 : 90)),
-        follow: joint.mimic?.joint ?? '',
-        multiplier: joint.mimic?.multiplier ?? 1,
-        offset: joint.mimic?.offset ?? 0,
+        axis: jointAxisToken(joint.axis) ?? 'x',
+        ...(axisVector ? { axisVector } : {}),
+        /* A moving joint with no state record is driven by the input named after it (figure-model `stateIdOf`): keep that name, so an edit does not rename the control a board or a controller writes to. */
+        id: joint.state?.id ?? (joint.type !== 'fixed' && !joint.mimic ? joint.id : ''),
+        min: travel || travelSum ? 0 : (joint.lowerLimit ?? (kind === 'slide' ? 0 : -90)),
+        max: travel || travelSum ? 500 : (joint.upperLimit ?? (kind === 'slide' ? 500 : 90)),
+        follow: single?.joint ?? '',
+        multiplier: single?.multiplier ?? 1,
+        offset: terms?.offset ?? 0,
         travel,
-        travelPlus: joint.travel?.plus ?? 0
+        travelPlus: one?.plus ?? 0,
+        ...(terms && !single ? { followSum: terms.sum } : {}),
+        ...(travelSum ? { travelSum } : {})
     };
 }
 /**
@@ -473,16 +496,34 @@ export function motionJoint(joint, m, part) {
         /* A row keeps being a row when it is given a motion: dropped here, the row went with it (designer 2026-09-27). */
         ...(joint.repeat ? { repeat: joint.repeat } : {}),
         type: m.kind === 'slide' ? 'prismatic' : 'revolute',
-        axis: m.axis.toUpperCase()
+        axis: (m.axisVector ?? m.axis.toUpperCase())
     };
     if (m.follow)
         return { ...moving, mimic: { joint: m.follow, multiplier: m.multiplier, ...(m.offset ? { offset: m.offset } : {}) } };
+    if (m.followSum)
+        return { ...moving, mimic: { sum: m.followSum, ...(m.offset ? { offset: m.offset } : {}) } };
+    if (m.kind === 'slide' && m.travelSum && !m.travel)
+        return { ...moving, travel: m.travelSum, state: { id: m.id || `${part}-${m.kind}` } };
     if (m.kind === 'slide' && m.travel) {
         const [of, axis] = m.travel.split(':');
         return { ...moving, travel: { source: { of: 'part', part: of, axis: axis }, ...(m.travelPlus ? { plus: m.travelPlus } : {}) }, state: { id: m.id || `${part}-${m.kind}` } };
     }
     return { ...moving, ...(m.kind === 'continuous' ? {} : { lowerLimit: m.min, upperLimit: m.max }), state: { id: m.id || `${part}-${m.kind}` } };
 }
+/**
+ * Why the motion form cannot be saved as it stands, as the kernel would refuse it: a follower's multiplier that is not
+ * a number or is 0, or a range whose most is not above its least. A range need not hold 0 -- the control starts at the
+ * nearest end (a lift that rests at 200 mm).
+ */
+export function motionFormRefusalOf(m, follow) {
+    if (m.followSum)
+        return undefined;
+    if (follow)
+        return Number.isFinite(m.multiplier) && m.multiplier !== 0 ? undefined : 'multiplier';
+    if (m.kind === 'continuous' || (m.kind === 'slide' && (m.travel || m.travelSum)))
+        return undefined;
+    return Number.isFinite(m.min) && Number.isFinite(m.max) && m.max > m.min ? undefined : 'range';
+}
 /** The select's value for what a dimension follows now. */
 export function choiceOf(follow) {
     switch (follow.of) {