@things-factory/figure-ui 10.1.208 → 10.1.210

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

@@ -1 +1 @@
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{ 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'\nimport { derivedOf, graphValuesOf, type FigureRevision } from './revision.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. Drawn at the version as it\n * is drawn; with a value in hand, `live` gives the values in hand and the bodies drawn with them, so the fan follows the\n * arm as it is posed.\n */\nexport function jointFanOf(revision: FigureRevision, part: string, live?: { values: Record<string, number>; geometry: readonly unknown[] }): FigureRenderPart | null {\n  if (!part) return null\n  const asset = revision.asset\n  let graph: ReturnType<typeof compileFigureGraph>\n  try {\n    graph = derivedOf(revision, 'graph', () => compileFigureGraph(asset.document.model as never))\n  } catch {\n    return null\n  }\n  const inputs = { ...revision.inputs, ...live?.values }\n  const at = (over: Record<string, number>) => graph.evaluate({ ...inputs, ...over }).values as Record<string, unknown>\n  const geometry = (live?.geometry ?? revision.geometry) as readonly { id: string }[]\n  let now: Record<string, unknown>\n  try {\n    now = live ? at({}) : (graphValuesOf(revision) as Record<string, unknown>)\n  } catch {\n    return null\n  }\n  let box: WorldBox | undefined\n  try {\n    box = figureWorldBoxesOf(\n      geometry.filter(g => g.id === part) as never,\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(geometry, turn.turnedPart), 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/** A part's largest own measure (a box side, a diameter, a length) as drawn; 0 when it cannot be read. */\nfunction largestMeasureOf(geometry: readonly { id: string }[], part: string): number {\n  try {\n    const body = 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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{ 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'\nimport { derivedOf, graphValuesOf, type FigureRevision } from './revision.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  /* A joint's fan is its first axis's (ADR-0159): `<child>.motion`. */\n  const turning = (asset.joints ?? []).filter(j => j.motion?.[0]?.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.motion?.length) ? 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.motion![0]!.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. Drawn at the version as it\n * is drawn; with a value in hand, `live` gives the values in hand and the bodies drawn with them, so the fan follows the\n * arm as it is posed.\n */\nexport function jointFanOf(revision: FigureRevision, part: string, live?: { values: Record<string, number>; geometry: readonly unknown[] }): FigureRenderPart | null {\n  if (!part) return null\n  const asset = revision.asset\n  let graph: ReturnType<typeof compileFigureGraph>\n  try {\n    graph = derivedOf(revision, 'graph', () => compileFigureGraph(asset.document.model as never))\n  } catch {\n    return null\n  }\n  const inputs = { ...revision.inputs, ...live?.values }\n  const at = (over: Record<string, number>) => graph.evaluate({ ...inputs, ...over }).values as Record<string, unknown>\n  const geometry = (live?.geometry ?? revision.geometry) as readonly { id: string }[]\n  let now: Record<string, unknown>\n  try {\n    now = live ? at({}) : (graphValuesOf(revision) as Record<string, unknown>)\n  } catch {\n    return null\n  }\n  let box: WorldBox | undefined\n  try {\n    box = figureWorldBoxesOf(\n      geometry.filter(g => g.id === part) as never,\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(geometry, turn.turnedPart), 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/** A part's largest own measure (a box side, a diameter, a length) as drawn; 0 when it cannot be read. */\nfunction largestMeasureOf(geometry: readonly { id: string }[], part: string): number {\n  try {\n    const body = 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

@@ -1,6 +1,6 @@
 import { figureJointAsFixed } from '@hatiolab/figure-model';
 import type { FigureFollow, FigureInstanceSizeRange } from '@hatiolab/figure-model';
-import type { FigureAsset, FigureAuthoringAction, FigureBindingPlace, FigureFace, FigureFacing, FigureJoint, FigureSurfacePlace } from '@hatiolab/figure-model';
+import type { FigureAsset, FigureAuthoringAction, FigureBindingPlace, FigureFace, FigureFacing, FigureJoint, FigureJointMotion, FigureNamedMotion, FigureSurfacePlace } from '@hatiolab/figure-model';
 import { type FigureRevision } from './revision.js';
 import { type JointAxisVector } from './joint-axis.js';
 export type Axis = 'x' | 'y' | 'z';
@@ -307,21 +307,24 @@ export interface MotionForm {
         joint: string;
         multiplier: number;
     }>;
-    travelSum?: Extract<NonNullable<FigureJoint['travel']>, {
+    travelSum?: Extract<NonNullable<FigureJointMotion['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
  * travels by, what it follows -- rather than taken away and made again. Taking it away is refused while another joint
- * follows it, which left a leader's stroke fixed for good (the telescopic conveyor, 2026-09-25).
+ * follows it, which left a leader's stroke fixed for good (the telescopic conveyor, 2026-09-25). The form is the
+ * joint's first axis (ADR-0159); the axes after it are kept as they are when it is written (`motionJoint`).
  */
 export declare function motionFormOf(joint: FigureJoint): MotionForm;
 /**
- * The joints a part's joint can move with (URDF's mimic): a joint that moves the same way — a slide follows a slide, a
- * turn a turn — and has a control of its own, since a follower follows the joint that is driven.
+ * The axes a part's joint can move with (URDF's mimic): one of another part's that moves the same way — a slide follows
+ * a slide, a turn a turn — and has a control of its own, since a follower follows the axis that is driven (ADR-0159).
  */
-export declare function leadersFor(asset: FigureAsset, part: string, kind: MotionForm['kind']): FigureJoint[];
+export declare function leadersFor(asset: FigureAsset, part: string, kind: MotionForm['kind']): Array<FigureNamedMotion & {
+    part: string;
+}>;
 /**
  * The joint record the motion form writes for a part fastened by `joint`. A joint of its own gets its limits (none for
  * a turn without end, as in USD) and a control; a follower gets the leader, the multiplier and the offset, and no

package/dist-client/modeller/links.js

@@ -1,4 +1,4 @@
-import { figureShapeFaces, figurePartsExtentOf, figureFollowOf, proposeFigureProportion, figureAttachmentsOf, figureBindingsOf, figureInstanceSizeRangeOf, figureFollowableAxesOf, figureShapeProviderOf, figureMimicTermsOf, figureFastenKeptPlaceOf, figureFastenAxesOf, figureJointAsFixed, figureJointWithMotion, figureSurfaceOf } from '@hatiolab/figure-model';
+import { figureShapeFaces, figurePartsExtentOf, figureFollowOf, proposeFigureProportion, figureAttachmentsOf, figureBindingsOf, figureInstanceSizeRangeOf, figureFollowableAxesOf, figureShapeProviderOf, figureMimicTermsOf, figureFastenKeptPlaceOf, figureFastenAxesOf, figureJointAsFixed, figureJointWithMotion, figureSurfaceOf, figureAxesOf, figureMotionsOf } from '@hatiolab/figure-model';
 import { startingShapeKindOf } from './starting-shape.js';
 import { boxOf } from './align.js';
 import { graphValuesOf } from './revision.js';
@@ -460,7 +460,9 @@ export function motionOf(asset, part) {
     const node = m.nodes.find(n => n.id === `${part}.motion`);
     if (!node)
         return undefined;
-    const record = asset.joints?.find(j => j.body1.part === part);
+    const joint = asset.joints?.find(j => j.body1.part === part);
+    /* The motion the form shows is the joint's first axis, `<part>.motion` (ADR-0159). */
+    const record = joint && figureMotionsOf(joint)[0];
     /* A follower has no limits of its own: its range is its leaders', not a turn without end. */
     const endless = record?.type === 'revolute' && record.lowerLimit === undefined && record.upperLimit === undefined && !record.mimic;
     const vector = jointAxisVectorOf(record?.axis);
@@ -492,24 +494,26 @@ export function motionOf(asset, part) {
 /**
  * The motion form filled from a joint as it is, so a motion can be changed where it is -- its range, the length it
  * travels by, what it follows -- rather than taken away and made again. Taking it away is refused while another joint
- * follows it, which left a leader's stroke fixed for good (the telescopic conveyor, 2026-09-25).
+ * follows it, which left a leader's stroke fixed for good (the telescopic conveyor, 2026-09-25). The form is the
+ * joint's first axis (ADR-0159); the axes after it are kept as they are when it is written (`motionJoint`).
  */
 export function motionFormOf(joint) {
-    const kind = joint.type === 'prismatic' ? 'slide' : joint.lowerLimit === undefined && joint.upperLimit === undefined && !joint.mimic ? 'continuous' : 'turn';
-    const one = joint.travel && 'source' in joint.travel ? joint.travel : undefined;
+    const a = figureMotionsOf(joint)[0];
+    const kind = a?.type === 'prismatic' ? 'slide' : a?.lowerLimit === undefined && a?.upperLimit === undefined && !a?.mimic ? 'continuous' : 'turn';
+    const one = a?.travel && 'source' in a.travel ? a.travel : undefined;
     const travel = one?.source && 'part' in one.source ? `${one.source.part}:${one.source.axis}` : '';
-    const travelSum = joint.travel && 'sum' in joint.travel ? joint.travel : undefined;
-    const terms = figureMimicTermsOf(joint.mimic);
+    const travelSum = a?.travel && 'sum' in a.travel ? a.travel : undefined;
+    const terms = figureMimicTermsOf(a?.mimic);
     const single = terms?.sum.length === 1 ? terms.sum[0] : undefined;
-    const axisVector = jointAxisVectorOf(joint.axis);
+    const axisVector = jointAxisVectorOf(a?.axis);
     return {
         kind,
-        axis: jointAxisToken(joint.axis) ?? 'x',
+        axis: jointAxisToken(a?.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)),
+        /* An axis with no state record is driven by the input named after it (figure-model `motionStateIdOf`): keep that name, so an edit does not rename the control a board or a controller writes to. */
+        id: a?.state?.id ?? (a && !a.mimic ? a.id : ''),
+        min: travel || travelSum ? 0 : (a?.lowerLimit ?? (kind === 'slide' ? 0 : -90)),
+        max: travel || travelSum ? 500 : (a?.upperLimit ?? (kind === 'slide' ? 500 : 90)),
         follow: single?.joint ?? '',
         multiplier: single?.multiplier ?? 1,
         offset: terms?.offset ?? 0,
@@ -520,11 +524,13 @@ export function motionFormOf(joint) {
     };
 }
 /**
- * The joints a part's joint can move with (URDF's mimic): a joint that moves the same way — a slide follows a slide, a
- * turn a turn — and has a control of its own, since a follower follows the joint that is driven.
+ * The axes a part's joint can move with (URDF's mimic): one of another part's that moves the same way — a slide follows
+ * a slide, a turn a turn — and has a control of its own, since a follower follows the axis that is driven (ADR-0159).
  */
 export function leadersFor(asset, part, kind) {
-    return (asset.joints ?? []).filter(j => j.body1.part !== part && j.type !== 'fixed' && !j.mimic && (j.type === 'prismatic') === (kind === 'slide'));
+    return figureAxesOf(asset.joints)
+        .filter(({ joint, motion }) => joint.body1.part !== part && !motion.mimic && (motion.type === 'prismatic') === (kind === 'slide'))
+        .map(({ joint, motion }) => ({ ...motion, part: joint.body1.part }));
 }
 /**
  * The joint record the motion form writes for a part fastened by `joint`. A joint of its own gets its limits (none for
@@ -532,16 +538,22 @@ export function leadersFor(asset, part, kind) {
  * control or limits of its own — its range is the leader's times the multiplier.
  */
 export function motionJoint(joint, m, part) {
-    /* Where it is fastened -- its row and its frame's own words too -- is the kernel's to keep (`figureJointWithMotion`, ADR-0140 D6). */
+    /*
+      Where it is fastened -- its row and its frame's own words too -- is the kernel's to keep (`figureJointWithMotion`,
+      ADR-0140 D6). The form writes the first axis, under the name it had; the axes after it stay as they are (ADR-0159).
+    */
+    const was = joint.motion?.[0];
     const moving = {
+        ...(was?.id !== undefined ? { id: was.id } : {}),
         type: m.kind === 'slide' ? 'prismatic' : 'revolute',
-        axis: (m.axisVector ?? m.axis.toUpperCase())
+        axis: (m.axisVector ?? m.axis.toUpperCase()),
+        ...(was?.through ? { through: was.through } : {})
     };
-    const given = (motion) => figureJointWithMotion(joint, { ...moving, ...motion });
+    const given = (motion) => figureJointWithMotion(joint, [{ ...moving, ...motion }, ...(joint.motion?.slice(1) ?? [])]);
     if (m.follow)
-        return given({ mimic: { joint: m.follow, multiplier: m.multiplier, ...(m.offset ? { offset: m.offset } : {}) } });
+        return given({ mimic: { motion: m.follow, multiplier: m.multiplier, ...(m.offset ? { offset: m.offset } : {}) } });
     if (m.followSum)
-        return given({ mimic: { sum: m.followSum, ...(m.offset ? { offset: m.offset } : {}) } });
+        return given({ mimic: { sum: m.followSum.map(t => ({ motion: t.joint, multiplier: t.multiplier })), ...(m.offset ? { offset: m.offset } : {}) } });
     if (m.kind === 'slide' && m.travelSum && !m.travel)
         return given({ travel: m.travelSum, state: { id: m.id || `${part}-${m.kind}` } });
     if (m.kind === 'slide' && m.travel) {