@things-factory/figure-ui 10.1.265 → 10.1.266

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

@@ -1 +1 @@
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* as THREE from 'three'\nimport { compileFigureAsset, figureMimicTermsOf, figureMotionsOf, motionStateIdOf, type FigureNamedMotion } 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' | 'several-axes'; 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/** `origin.parentRotate` (ADR-0107, named for its end by ADR-0140 3.6), URDF's rpy: Rz·Ry·Rx about the fixed axes. */\nconst rotateMatrix = (j: FigureJoint) => eulerMatrixOrder(AXES.map(a => j.origin?.parentRotate?.[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 pose on its end, any angle, as the record says it (`origin.childRotate`, Rz·Ry·Rx, ADR-0140 3.11). */\nconst turnMatrix = (j: FigureJoint) => eulerMatrixOrder(AXES.map(a => j.origin?.childRotate?.[a] ?? 0), 'ZYX')\n\n/** The joint frame's rotation in the figure: the part's rotation now, less its own turn and less its one axis's. */\nfunction jointFrameRotation(j: FigureJoint, a: FigureNamedMotion | undefined, part: FigureRenderPart, angle: number): THREE.Matrix4 {\n  const now = matrixOf(part.pose.r as number[][])\n  const own = turnMatrix(j)\n  const turn = a?.type === 'revolute' ? new THREE.Matrix4().makeRotationAxis(unit(a.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  /* A drag moves one axis, or the joint's place: a joint of several axes (ADR-0159) is moved by its controls. */\n  const axes = figureMotionsOf(j)\n  if (axes.length > 1) return { kind: 'refused', reason: 'several-axes', joint: j.id }\n  const a = axes[0]\n  const stateId = a ? motionStateIdOf(a) : j.id\n  const now = values[stateId] ?? asset.stateDefaults[stateId] ?? 0\n  const turns = a?.type === 'revolute'\n  /* A revolute axis without limits turns without end (USD). */\n  const endless = turns && a.lowerLimit === undefined && a.upperLimit === undefined\n\n  if (result.rotation) {\n    if (!turns) return { kind: 'refused', reason: a?.type === 'prismatic' ? 'turned-slide' : 'fixed-turn', joint: j.id }\n    if (a.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: figureMimicTermsOf(a.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(a.axis).applyMatrix4(jointFrameRotation(j, a, 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(a.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, a.lowerLimit!), a.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, a, part, turns ? now : 0)\n\n  if (a?.type === 'prismatic') {\n    if (a.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: figureMimicTermsOf(a.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(a.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 = a.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, a.lowerLimit!), a.upperLimit!)\n      return { kind: 'value', input: stateId, unit: a.travel ? 'ratio' : 'mm', value: round(value, a.travel ? 0.001 : 1) }\n    }\n  }\n\n  /* Moving the joint's origin: the change in the frame it is placed in, before `origin.parentRotate` 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 = { ...(j.origin?.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 ? (asset.placement === 'wall' ? 'z' : 'y') : FACE_AXIS[j.body0.face]!\n  /* Which way a larger gap moves the part: out of the face it meets or sits by its middle on, into it when flush with it (ADR-0140 3.11). */\n  const outward = ((j.origin?.facing ?? 'meet') === 'flush' ? -1 : 1) * ('plane' in j.body0 ? 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"]}
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* as THREE from 'three'\nimport { compileFigureAsset, figureMimicTermsOf, figureMotionsOf, motionStateIdOf, type FigureNamedMotion } 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 * **Posing and placing are two things** (review 2026-11-09): on a joint that moves, a drag changes the pose -- its value.\n * Where the joint sits is moved only while 「관절 위치 편집」 is on (`place`); off, such a drag is refused with the way to\n * turn it on, so a pose being made never moves the joint unseen. A fixed joint has no pose: a drag on it places it.\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' | 'several-axes' | 'place-off'; 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/** `origin.parentRotate` (ADR-0107, named for its end by ADR-0140 3.6), URDF's rpy: Rz·Ry·Rx about the fixed axes. */\nconst rotateMatrix = (j: FigureJoint) => eulerMatrixOrder(AXES.map(a => j.origin?.parentRotate?.[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 pose on its end, any angle, as the record says it (`origin.childRotate`, Rz·Ry·Rx, ADR-0140 3.11). */\nconst turnMatrix = (j: FigureJoint) => eulerMatrixOrder(AXES.map(a => j.origin?.childRotate?.[a] ?? 0), 'ZYX')\n\n/** The joint frame's rotation in the figure: the part's rotation now, less its own turn and less its one axis's. */\nfunction jointFrameRotation(j: FigureJoint, a: FigureNamedMotion | undefined, part: FigureRenderPart, angle: number): THREE.Matrix4 {\n  const now = matrixOf(part.pose.r as number[][])\n  const own = turnMatrix(j)\n  const turn = a?.type === 'revolute' ? new THREE.Matrix4().makeRotationAxis(unit(a.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>, options: { place?: boolean } = {}): 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  /* A drag moves one axis, or the joint's place: a joint of several axes (ADR-0159) is moved by its controls. */\n  const axes = figureMotionsOf(j)\n  if (axes.length > 1) return { kind: 'refused', reason: 'several-axes', joint: j.id }\n  const a = axes[0]\n  const stateId = a ? motionStateIdOf(a) : j.id\n  const now = values[stateId] ?? asset.stateDefaults[stateId] ?? 0\n  const turns = a?.type === 'revolute'\n  /* A revolute axis without limits turns without end (USD). */\n  const endless = turns && a.lowerLimit === undefined && a.upperLimit === undefined\n\n  if (result.rotation) {\n    if (!turns) return { kind: 'refused', reason: a?.type === 'prismatic' ? 'turned-slide' : 'fixed-turn', joint: j.id }\n    if (a.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: figureMimicTermsOf(a.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(a.axis).applyMatrix4(jointFrameRotation(j, a, 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(a.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, a.lowerLimit!), a.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, a, part, turns ? now : 0)\n\n  if (a?.type === 'prismatic') {\n    if (a.mimic) return { kind: 'refused', reason: 'mimic', joint: j.id, leader: figureMimicTermsOf(a.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(a.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 = a.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, a.lowerLimit!), a.upperLimit!)\n      return { kind: 'value', input: stateId, unit: a.travel ? 'ratio' : 'mm', value: round(value, a.travel ? 0.001 : 1) }\n    }\n  }\n\n  /* A joint that moves is posed by a drag; its place is moved only while placing is on. */\n  if (a && !options.place) return { kind: 'refused', reason: 'place-off', joint: j.id }\n\n  /* Moving the joint's origin: the change in the frame it is placed in, before `origin.parentRotate` 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 = { ...(j.origin?.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 ? (asset.placement === 'wall' ? 'z' : 'y') : FACE_AXIS[j.body0.face]!\n  /* Which way a larger gap moves the part: out of the face it meets or sits by its middle on, into it when flush with it (ADR-0140 3.11). */\n  const outward = ((j.origin?.facing ?? 'meet') === 'flush' ? -1 : 1) * ('plane' in j.body0 ? 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\n/**\n * What a drag on the part does, said before it is dragged (review 2026-11-09: 「왜 안 움직이지?」): which handle changes\n * its pose, or why none does and where it is moved from instead. Null for a part on no joint, or on a fixed one.\n */\nexport type JointHandle =\n  | { kind: 'turn' | 'slide'; joint: string }\n  | { kind: 'mimic'; joint: string; leader: string; leaderPart?: string }\n  | { kind: 'several-axes'; joint: string }\n\nexport function jointHandleOf(asset: FigureAsset, part: string): JointHandle | null {\n  const j = asset.joints?.find(joint => joint.body1.part === part)\n  if (!j) return null\n  const axes = figureMotionsOf(j)\n  if (!axes.length) return null\n  if (axes.length > 1) return { kind: 'several-axes', joint: j.id }\n  const a = axes[0]!\n  if (a.mimic) {\n    const leader = figureMimicTermsOf(a.mimic)!.sum[0]!.joint\n    return { kind: 'mimic', joint: j.id, leader, leaderPart: asset.joints?.find(o => o.id === leader)?.body1.part }\n  }\n  return { kind: a.type === 'revolute' ? 'turn' : 'slide', joint: j.id }\n}\n"]}