@things-factory/figure-ui 10.1.46 → 10.1.48

package/dist-client/modeller/v3-joint-fan.js

@@ -0,0 +1,264 @@
+import { compileV3Asset, compileV3Graph, v3WorldBoxesOf, v3WritersOf } from '@hatiolab/figure-model';
+/*
+ * Where the selected part turns, and how far -- a translucent fan on the editing board (V2's joint gizmo, inventory
+ * 3.38). 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
+ * control's lowest value to its highest; the edge at the value the figure holds now is where the part is.
+ *
+ * It is found by evaluating, not by reading the graph's shape: the frame that carries the part is sampled across the
+ * control's range, and a point at a fixed distance from the pivot traces the fan. So the direction is right whatever
+ * the slope of the control, and a joint inside other joints is drawn where its parents put it.
+ *
+ * Two ways a part turns are read:
+ *   - a motion made in the modeller (`add-motion`): `<part>.motion`, the frame it moves is its seat, the pivot the
+ *     seat's origin;
+ *   - a joint the converter wrote from V2 (`<joint>.motion` · `<joint>.chain`): the part is composed on the joint's
+ *     chain, the pivot is the joint's origin (`<joint>.frameOnParent`).
+ * A slide has no fan. Nothing is drawn when the turn cannot be found -- a fan in some guessed plane would point the
+ * wrong way.
+ */
+/** The fan's name on the board. It is not a part: not in the list, not saved, not picked. */
+export const JOINT_FAN = '__joint-fan';
+/** How thick the fan is: thin enough not to hide the part, thick enough to be seen edge-on. */
+const THICKNESS = 6;
+/** About one segment every six degrees, so a full turn reads as a circle. */
+const STEP_DEG = 6;
+const apply = (p, v) => [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]);
+const sub = (a, b) => a.map((v, i) => v - b[i]);
+const dot = (a, b) => a.reduce((s, v, i) => s + v * b[i], 0);
+const cross = (a, b) => [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];
+const norm = (a) => {
+    const l = Math.hypot(...a);
+    return l > 1e-9 ? a.map(v => v / l) : null;
+};
+/** How far outside a part's box a pivot may lie and still be on the part: the kernel's contact skin. */
+const SEAM = 1;
+/** An origin this deep in a part's box (a share of its half-measure, on every axis) is housed by the part. */
+const HOUSED = 0.5;
+const AXIS_NAMES = ['x', 'y', 'z'];
+function turnOf(asset, part, values, box) {
+    const m = asset.document.model;
+    const node = (id) => m.nodes.find(n => n.id === id);
+    const constant = (ref) => m.constants.find(c => c.id === ref)?.value;
+    const valueOf = (n) => (n ? values[Object.values(n.outputs)[0]] : undefined);
+    const controlOf = (ref, seen = new Set()) => {
+        if (!ref || seen.has(ref))
+            return null;
+        seen.add(ref);
+        const input = m.inputs.find(i => i.id === ref && i.role === 'state');
+        if (input)
+            return { id: input.id, min: input.min ?? 0, max: input.max ?? 0 };
+        const writer = m.nodes.find(n => Object.values(n.outputs).includes(ref));
+        for (const arg of writer?.args ?? []) {
+            const found = controlOf(arg, seen);
+            if (found)
+                return found;
+        }
+        return null;
+    };
+    const axisOf = (motion) => {
+        const axis = motion.args.slice(0, 3).map(constant);
+        return axis.every(v => typeof v === 'number') ? norm(axis) : null;
+    };
+    /* Made in the modeller: the part's own motion turns its seat about the seat's origin. */
+    const own = node(`${part}.motion`);
+    if (own) {
+        if (own.op !== 'axis-turn@1')
+            return null;
+        const axis = axisOf(own);
+        const control = controlOf(own.args[3]);
+        const at = valueOf(node(`${part}.pose`));
+        if (!axis || !control || !at)
+            return null;
+        return { carrier: own.id, pivot: [0, 0, 0], axis, toward: at.t, control, turnedPart: part };
+    }
+    /*
+      Written by the converter: a joint (`<joint>.motion`, its origin `<joint>.frameOnParent`) carries its own part and
+      everything fastened below it, through its chain (the first joint of a chain has only its attachment). A part shows
+      the joint it is to that part of the mechanism (user, 2026-09-24: 「elbow-housing itself is a axis」 · 「please check
+      all that logic and concept」), tested in this order on the joints as they stand now:
+        1. housing -- a joint's origin lies deep inside the part, which is centred on it: the shoulder housing shows the
+           shoulder and the elbow housing the elbow, though another joint carries them;
+        2. turned -- the joint that carries the part, when its axis passes through the part: through its middle for a
+           body that rolls on it (the wrist roll, the tool flange, the gripper body), through its root for a link (the
+           upper arm, the forearm);
+        3. otherwise none: the pedestal (the base's axis runs through it but turns it not), the fingers.
+      An axis passing through a part is not enough by itself: the wrist roll's axis runs the forearm's length and the
+      tool roll's through the wrist pitch, and neither turns them (an earlier rule said so, and was wrong).
+    */
+    if (!box)
+        return null;
+    const carrierOf = (joint) => (node(`${joint}.chain`) ? `${joint}.chain` : `${joint}.attach`);
+    const mine = node(`${part}.moved`)?.args.find(arg => /\.(chain|attach)\.value$/.test(arg))?.replace(/\.value$/, '');
+    const centre = AXIS_NAMES.map(a => box.centre[a]);
+    const half = AXIS_NAMES.map(a => box.extent[a] / 2);
+    const joints = m.nodes
+        .filter(n => n.op === 'axis-turn@1' && n.id.endsWith('.motion') && node(n.id.replace(/\.motion$/, '.frameOnParent')))
+        .map(motion => {
+        const joint = motion.id.replace(/\.motion$/, '');
+        const carrier = carrierOf(joint);
+        const frame = valueOf(node(carrier));
+        const origin = valueOf(node(`${joint}.frameOnParent`));
+        const local = axisOf(motion);
+        if (!frame || !origin || !local)
+            return null;
+        const at = apply(frame, origin.t);
+        const along = norm([0, 1, 2].map(i => dot(frame.r[i], local)));
+        if (!along)
+            return null;
+        const off = sub(centre, at);
+        return {
+            joint,
+            motion,
+            carrier,
+            origin,
+            /* How deep the origin lies: 0 at the centre, 1 on the box's face, on the axis where it is shallowest. */
+            depth: Math.max(...[0, 1, 2].map(i => Math.abs(off[i]) / (half[i] + SEAM))),
+            fromCentre: Math.hypot(...off),
+            through: lineMeetsBox(at, along, centre, half)
+        };
+    })
+        .filter((c) => !!c);
+    const housing = joints.filter(c => c.depth <= HOUSED).sort((a, b) => a.fromCentre - b.fromCentre)[0];
+    const carrying = joints.find(c => c.carrier === mine);
+    const chosen = housing ?? (carrying && carrying.through ? carrying : undefined);
+    if (!chosen)
+        return null;
+    const axis = axisOf(chosen.motion);
+    const control = controlOf(chosen.motion.args[3]);
+    if (!axis || !control)
+        return null;
+    /* The reference edge points at what the joint turns: of the parts it carries, the one farthest off its axis. */
+    const flatOff = (t) => {
+        const rel = sub(t, chosen.origin.t);
+        return Math.hypot(...sub(rel, axis.map(v => v * dot(rel, axis))));
+    };
+    const turned = m.nodes
+        .filter(n => n.id.endsWith('.moved') && n.args.includes(`${chosen.carrier}.value`))
+        .map(n => ({ id: n.id.replace(/\.moved$/, ''), t: valueOf(node(n.id.replace(/\.moved$/, '.pose')))?.t }))
+        .filter((one) => !!one.t)
+        .sort((a, b) => flatOff(b.t) - flatOff(a.t))[0];
+    return { carrier: chosen.carrier, pivot: chosen.origin.t, axis, toward: turned?.t ?? chosen.origin.t, control, turnedPart: turned?.id ?? part };
+}
+/**
+ * The fan for the part, as a body to stand on the board, or null when the part does not turn. `values` are the
+ * inputs the figure is drawn with now (a pose in hand included), so the fan follows the arm as it is posed.
+ */
+export function jointFanOf(asset, part, values = {}) {
+    if (!part)
+        return null;
+    let graph;
+    try {
+        graph = compileV3Graph(asset.document.model);
+    }
+    catch {
+        return null;
+    }
+    const inputs = { ...asset.designInputs, ...asset.stateDefaults, ...values };
+    const at = (over) => graph.evaluate({ ...inputs, ...over }).values;
+    let now;
+    try {
+        now = at({});
+    }
+    catch {
+        return null;
+    }
+    let box;
+    try {
+        box = v3WorldBoxesOf(compileV3Asset({ ...asset, designInputs: { ...asset.designInputs, ...pick(values, asset.designInputs) }, stateDefaults: { ...asset.stateDefaults, ...pick(values, asset.stateDefaults) } })
+            .evaluate()
+            .geometry.filter(g => g.id === part), v3WritersOf(asset))[0];
+    }
+    catch {
+        box = undefined;
+    }
+    const turn = turnOf(asset, part, now, box);
+    if (!turn)
+        return null;
+    const carrierRef = Object.values(asset.document.model.nodes.find(n => n.id === turn.carrier).outputs)[0];
+    const carrierNow = now[carrierRef];
+    if (!carrierNow)
+        return null;
+    /* The reference edge points from the pivot toward the part, in the plane it turns in; any perpendicular if it sits on the axis. */
+    const rel = sub(turn.toward, turn.pivot);
+    const inPlane = sub(rel, turn.axis.map(v => v * dot(rel, turn.axis)));
+    const d = norm(inPlane) ?? norm(cross(turn.axis, Math.abs(turn.axis[0]) < 0.9 ? [1, 0, 0] : [0, 1, 0]));
+    /*
+      Sized from what the joint turns, as V2 sized it from the joint's child: selecting the elbow housing or the forearm
+      shows the elbow's one fan, not a smaller one for the smaller part (user, 2026-09-24).
+    */
+    const radius = Math.max(60, Math.round(Math.max(largestMeasureOf(asset, turn.turnedPart, inputs), Math.hypot(...inPlane)) * 0.6));
+    const edge = turn.pivot.map((v, i) => v + d[i] * radius);
+    const { min, max } = turn.control;
+    if (!(max > min))
+        return null;
+    const steps = Math.max(2, Math.ceil((max - min) / STEP_DEG));
+    const pivot = apply(carrierNow, turn.pivot);
+    const traced = [];
+    try {
+        for (let i = 0; i <= steps; i++) {
+            const s = min + ((max - min) * i) / steps;
+            traced.push(apply(at({ [turn.control.id]: s })[carrierRef], edge));
+        }
+    }
+    catch {
+        return null;
+    }
+    /* The fan's own frame: x toward the first traced point, y along the axis as it stands now, z completing them. */
+    const axisNow = norm([0, 1, 2].map(i => dot(carrierNow.r[i], turn.axis)));
+    const first = norm(sub(traced[0], pivot));
+    if (!axisNow || !first)
+        return null;
+    const zAxis = cross(first, axisNow);
+    const r = [0, 1, 2].map(i => [first[i], axisNow[i], zAxis[i]]);
+    const local = (p) => {
+        const v = sub(p, pivot);
+        return { x: dot(v, first), y: dot(v, zAxis) };
+    };
+    const full = max - min >= 359.999;
+    const profile = [...(full ? [] : [{ x: 0, y: 0 }]), ...traced.map(local)].map(p => ({ x: Math.round(p.x * 1000) / 1000, y: Math.round(p.y * 1000) / 1000 }));
+    return {
+        id: JOINT_FAN,
+        shape: { provider: 'polygon', dimensions: { height: THICKNESS }, profile },
+        pose: { t: pivot, r },
+        material: { token: '__joint-fan', transparent: true },
+        /** Which control turns it: the joint the fan shows. */
+        turns: turn.control.id
+    };
+}
+/** The values in hand that belong to a record's keys (design inputs, or state defaults). */
+function pick(values, of) {
+    return Object.fromEntries(Object.entries(values).filter(([id]) => id in of));
+}
+/** A part's largest own measure (a box side, a diameter, a length) at the inputs given; 0 when it cannot be read. */
+function largestMeasureOf(asset, part, inputs) {
+    try {
+        const body = compileV3Asset({ ...asset, designInputs: pick(inputs, asset.designInputs), stateDefaults: pick(inputs, asset.stateDefaults) })
+            .evaluate()
+            .geometry.find(g => g.id === part);
+        const dims = Object.entries(body?.shape?.dimensions ?? {}).map(([k, v]) => (k.startsWith('radius') ? v * 2 : v));
+        return dims.length ? Math.max(...dims) : 0;
+    }
+    catch {
+        return 0;
+    }
+}
+/** Whether the line through `at` along `along` passes through the box (centre, half-measures), within the skin. */
+function lineMeetsBox(at, along, centre, half) {
+    let lo = -Infinity, hi = Infinity;
+    for (let i = 0; i < 3; i++) {
+        const min = centre[i] - half[i] - SEAM, max = centre[i] + half[i] + SEAM;
+        if (Math.abs(along[i]) < 1e-12) {
+            if (at[i] < min || at[i] > max)
+                return false;
+            continue;
+        }
+        const t1 = (min - at[i]) / along[i], t2 = (max - at[i]) / along[i];
+        lo = Math.max(lo, Math.min(t1, t2));
+        hi = Math.min(hi, Math.max(t1, t2));
+        if (lo > hi)
+            return false;
+    }
+    return true;
+}
+//# sourceMappingURL=v3-joint-fan.js.map

package/dist-client/modeller/v3-joint-fan.js.map

@@ -0,0 +1 @@
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{ compileV3Asset, compileV3Graph, v3WorldBoxesOf, v3WritersOf } from '@hatiolab/figure-model'\nimport type { V3Asset } from '@hatiolab/figure-model'\n\nimport type { V3RenderPart } from './v3-renderer.js'\n\n/*\n * Where the selected part turns, and how far -- a translucent fan on the editing board (V2's joint gizmo, inventory\n * 3.38). 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 motion made in the modeller (`add-motion`): `<part>.motion`, the frame it moves is its seat, the pivot the\n *     seat's origin;\n *   - a joint the converter wrote from V2 (`<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: V3Asset, 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  /* Made in the modeller: the part's own motion turns its seat about the seat's origin. */\n  const own = node(`${part}.motion`)\n  if (own) {\n    if (own.op !== 'axis-turn@1') return null\n    const axis = axisOf(own)\n    const control = controlOf(own.args[3])\n    const at = valueOf(node(`${part}.pose`))\n    if (!axis || !control || !at) return null\n    return { carrier: own.id, pivot: [0, 0, 0], axis, toward: at.t, control, turnedPart: part }\n  }\n\n  /*\n    Written by the converter: a joint (`<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: V3Asset, part: string, values: Record<string, number> = {}): V3RenderPart | null {\n  if (!part) return null\n  let graph: ReturnType<typeof compileV3Graph>\n  try {\n    graph = compileV3Graph(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 = v3WorldBoxesOf(\n      compileV3Asset({ ...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      v3WritersOf(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, as V2 sized it from the joint's child: 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), y: dot(v, zAxis) }\n  }\n  const full = max - min >= 359.999\n  const profile = [...(full ? [] : [{ x: 0, y: 0 }]), ...traced.map(local)].map(p => ({ x: Math.round(p.x * 1000) / 1000, y: Math.round(p.y * 1000) / 1000 }))\n\n  return {\n    id: JOINT_FAN,\n    shape: { provider: 'polygon', dimensions: { height: THICKNESS }, profile },\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 V3RenderPart\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: V3Asset, part: string, inputs: Record<string, number>): number {\n  try {\n    const body = compileV3Asset({ ...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/v3-keys.d.ts

@@ -0,0 +1,14 @@
+export type KeyAction = 'undo' | 'redo' | 'duplicate' | 'remove' | 'deselect';
+export interface KeyLike {
+    key: string;
+    ctrlKey?: boolean;
+    metaKey?: boolean;
+    shiftKey?: boolean;
+    altKey?: boolean;
+    /** The element the key was pressed in -- the first of the event's composed path. */
+    target?: {
+        tagName?: string;
+        isContentEditable?: boolean;
+    } | null;
+}
+export declare function keyActionOf(e: KeyLike, selected: string): KeyAction | null;

package/dist-client/modeller/v3-keys.js

@@ -0,0 +1,23 @@
+const TYPING = new Set(['INPUT', 'SELECT', 'TEXTAREA']);
+export function keyActionOf(e, selected) {
+    if (e.target && (TYPING.has(String(e.target.tagName).toUpperCase()) || e.target.isContentEditable))
+        return null;
+    if (e.altKey)
+        return null;
+    const mod = !!(e.ctrlKey || e.metaKey);
+    const key = e.key.toLowerCase();
+    if (mod && key === 'z')
+        return e.shiftKey ? 'redo' : 'undo';
+    if (mod && key === 'y')
+        return 'redo';
+    if (!selected)
+        return null;
+    if (mod && key === 'd')
+        return 'duplicate';
+    if (!mod && (key === 'delete' || key === 'backspace'))
+        return 'remove';
+    if (!mod && key === 'escape')
+        return 'deselect';
+    return null;
+}
+//# sourceMappingURL=v3-keys.js.map

package/dist-client/modeller/v3-keys.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"v3-keys.js","sourceRoot":"","sources":["../../client/modeller/v3-keys.ts"],"names":[],"mappings":"AAmBA,MAAM,MAAM,GAAG,IAAI,GAAG,CAAC,CAAC,OAAO,EAAE,QAAQ,EAAE,UAAU,CAAC,CAAC,CAAA;AAEvD,MAAM,UAAU,WAAW,CAAC,CAAU,EAAE,QAAgB;IACtD,IAAI,CAAC,CAAC,MAAM,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC,CAAC,MAAM,CAAC,OAAO,CAAC,CAAC,WAAW,EAAE,CAAC,IAAI,CAAC,CAAC,MAAM,CAAC,iBAAiB,CAAC;QAAE,OAAO,IAAI,CAAA;IAC/G,IAAI,CAAC,CAAC,MAAM;QAAE,OAAO,IAAI,CAAA;IACzB,MAAM,GAAG,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,OAAO,IAAI,CAAC,CAAC,OAAO,CAAC,CAAA;IACtC,MAAM,GAAG,GAAG,CAAC,CAAC,GAAG,CAAC,WAAW,EAAE,CAAA;IAC/B,IAAI,GAAG,IAAI,GAAG,KAAK,GAAG;QAAE,OAAO,CAAC,CAAC,QAAQ,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,MAAM,CAAA;IAC3D,IAAI,GAAG,IAAI,GAAG,KAAK,GAAG;QAAE,OAAO,MAAM,CAAA;IACrC,IAAI,CAAC,QAAQ;QAAE,OAAO,IAAI,CAAA;IAC1B,IAAI,GAAG,IAAI,GAAG,KAAK,GAAG;QAAE,OAAO,WAAW,CAAA;IAC1C,IAAI,CAAC,GAAG,IAAI,CAAC,GAAG,KAAK,QAAQ,IAAI,GAAG,KAAK,WAAW,CAAC;QAAE,OAAO,QAAQ,CAAA;IACtE,IAAI,CAAC,GAAG,IAAI,GAAG,KAAK,QAAQ;QAAE,OAAO,UAAU,CAAA;IAC/C,OAAO,IAAI,CAAA;AACb,CAAC","sourcesContent":["/*\n * The modeller's keys (V2 had undo and redo on Ctrl+Z / Ctrl+Y; these add what a person reaches for next). Read apart\n * from the element so the rule is tested without a browser.\n *\n * Typing is never taken: a key pressed in a field belongs to the field -- Backspace in a name box deletes a letter,\n * not the part.\n */\nexport type KeyAction = 'undo' | 'redo' | 'duplicate' | 'remove' | 'deselect'\n\nexport interface KeyLike {\n  key: string\n  ctrlKey?: boolean\n  metaKey?: boolean\n  shiftKey?: boolean\n  altKey?: boolean\n  /** The element the key was pressed in -- the first of the event's composed path. */\n  target?: { tagName?: string; isContentEditable?: boolean } | null\n}\n\nconst TYPING = new Set(['INPUT', 'SELECT', 'TEXTAREA'])\n\nexport function keyActionOf(e: KeyLike, selected: string): KeyAction | null {\n  if (e.target && (TYPING.has(String(e.target.tagName).toUpperCase()) || e.target.isContentEditable)) return null\n  if (e.altKey) return null\n  const mod = !!(e.ctrlKey || e.metaKey)\n  const key = e.key.toLowerCase()\n  if (mod && key === 'z') return e.shiftKey ? 'redo' : 'undo'\n  if (mod && key === 'y') return 'redo'\n  if (!selected) return null\n  if (mod && key === 'd') return 'duplicate'\n  if (!mod && (key === 'delete' || key === 'backspace')) return 'remove'\n  if (!mod && key === 'escape') return 'deselect'\n  return null\n}\n"]}

package/dist-client/modeller/v3-links.d.ts

@@ -1,12 +1,16 @@
+import type { V3SizeRange } from '@hatiolab/figure-model';
 import type { V3Asset, V3BindingPlace, V3Face } from '@hatiolab/figure-model';
 export type Axis = 'x' | 'y' | 'z';
 export declare const AXES: readonly Axis[];
 /** What one dimension of a part is worked out from. */
 export type Follow = {
     of: 'own';
-} | {
+}
+/** `times` 1 is the instance size itself; any other is a share of it -- V2's proportional rule. */
+ | {
     of: 'instance';
     axis: Axis;
+    times: number;
 } | {
     of: 'part';
     part: string;
@@ -31,6 +35,14 @@ export declare const hasInstanceSize: (asset: V3Asset, axis: Axis) => boolean;
 export declare function fastenedTo(asset: V3Asset, part: string): string | null;
 /** Whether a dimension of this part can follow something — box-shaped, whose three sizes are X, Y and Z. */
 export declare function canFollow(asset: V3Asset, part: string): boolean;
+/**
+ * The axes whose size can follow something, by the shape's own measures: a box's X · Y · Z; a cylinder's radius (read
+ * as X) and length (Y) -- its shape takes those two, so it has no Z of its own (V2's sizing cards had the cylinder's
+ * two as well).
+ */
+export declare function followableAxes(asset: V3Asset, part: string): Axis[];
+/** What a part's own measure on an axis is now (a box's side, a cylinder's radius or length), at the design as it stands. */
+export declare function dimensionNow(asset: V3Asset, part: string, axis: Axis): number | undefined;
 /** Whether `attach` can take this part: a box, or a cylinder (figure-model measures its faces since 0.1.47). */
 export declare function canFasten(asset: V3Asset, part: string): boolean;
 /**
@@ -38,6 +50,11 @@ export declare function canFasten(asset: V3Asset, part: string): boolean;
  * converter writes V2's anchor rules that way. `fix-position` makes one its own number where it is now.
  */
 export declare function positionsWorkedOut(asset: V3Asset, part: string): Axis[];
+/**
+ * Whether the part's position on an axis is a share of the instance size (`scale-position`): `size.<axis> × share`.
+ * Such a position is worked out too, but it already grows with the figure, so it is not offered again.
+ */
+export declare function positionIsShare(asset: V3Asset, part: string, axis: Axis): boolean;
 /** How a part moves, if it does: slide or turn, along which axis, driven by which control. */
 export interface Motion {
     kind: 'slide' | 'turn';
@@ -65,3 +82,20 @@ export declare function placeIdFor(asset: V3Asset, part: string, role: 'seat' |
 export declare const holdsThings: (asset: V3Asset) => boolean;
 /** What `accepts` a person typed: names split on commas, trimmed, blanks and repeats dropped. */
 export declare const acceptsOf: (typed: string) => string[];
+/**
+ * The sizes a board may give this figure: the range it declares now, and the range measured afresh -- the default
+ * (1 mm to ten times the authored size) narrowed only where the figure cannot follow, by the converter's own functions.
+ * A range measured when a part filled what the others left (ROBOT_ARM: Y from 1,854 mm) stays narrow after the part is
+ * made to grow with the figure; measuring again gives the figure its whole range back. Nothing when no size is declared.
+ */
+export declare function instanceRangeOf(asset: V3Asset): {
+    declared: V3SizeRange;
+    measured: V3SizeRange;
+} | undefined;
+/** Whether measuring again would change the declared range (to a micrometre). */
+export declare function rangeDiffers(a: V3SizeRange, b: V3SizeRange): boolean;
+/**
+ * Whether the figure is a mechanism -- a part turns about a joint. Such a figure should grow by one ratio (chief
+ * architect's ruling 2026-09-24); the modeller proposes it, the author declares it.
+ */
+export declare function turnsAboutAJoint(asset: V3Asset): boolean;

package/dist-client/modeller/v3-links.js

@@ -1,4 +1,4 @@
-import { v3AttachmentsOf, v3BindingsOf } from '@hatiolab/figure-model';
+import { compileV3Graph, defaultInstanceSizeRange, foldInstanceSizeRange, v3AttachmentsOf, v3BindingsOf, v3InstanceSizeLimitsOf } from '@hatiolab/figure-model';
 export const AXES = ['x', 'y', 'z'];
 const modelOf = (asset) => asset.document.model;
 /**
@@ -8,18 +8,26 @@ const modelOf = (asset) => asset.document.model;
  */
 export function followOf(asset, part, axis) {
     const m = modelOf(asset);
+    /*
+      A link routes the dimension through `<part>.dimension.<axis>`; before any link the shape reads its measure directly,
+      and that may already be worked out -- the converter writes V2's rules there (ROBOT_ARM's flange filled what was left).
+    */
     const node = m.nodes.find(n => n.id === `${part}.dimension.${axis}`);
-    if (!node)
+    const start = node ? node.args[0] : m.nodes.find(n => n.id === `${part}.shape`)?.args[AXES.indexOf(axis)];
+    if (!start || m.constants.some(c => c.id === start))
         return { of: 'own' };
     const writerOf = (ref) => m.nodes.find(n => Object.values(n.outputs).includes(ref));
     const seen = new Set();
+    const constant = (ref) => m.constants.find(c => c.id === ref);
+    /* The constant factors met on the way back: a share of the instance size is `size × share`. */
+    let times = 1;
     const walk = (ref) => {
         if (seen.has(ref))
             return { of: 'expression' };
         seen.add(ref);
         const instance = /^size\.([xyz])$/.exec(ref);
         if (instance)
-            return { of: 'instance', axis: instance[1] };
+            return { of: 'instance', axis: instance[1], times: Math.round(times * 1e6) / 1e6 };
         const other = /^(.+)\.dimension\.([xyz])\.value$/.exec(ref);
         if (other)
             return { of: 'part', part: other[1], axis: other[2] };
@@ -30,10 +38,23 @@ export function followOf(asset, part, axis) {
         if (!writer)
             return { of: 'expression' };
         /* Follow the one argument that is not a constant factor. */
-        const onward = writer.args.filter(arg => !m.constants.some(c => c.id === arg));
-        return onward.length === 1 ? walk(onward[0]) : { of: 'expression' };
+        const onward = writer.args.filter(arg => !constant(arg));
+        if (onward.length !== 1)
+            return { of: 'expression' };
+        /*
+          Only a product is a share of its source. A sum with a number is not (V2's 「fill what is left」 is the size plus a
+          negative gap -- ROBOT_ARM's tool flange), nor anything else; those read as worked out some other way.
+        */
+        const factors = writer.args.filter(arg => constant(arg)).map(arg => constant(arg).value);
+        if (writer.op === 'mul@1')
+            times *= factors.reduce((a, b) => a * b, 1);
+        else if (writer.op === 'div@1' && writer.args[0] === onward[0] && factors.length === 1 && factors[0] !== 0)
+            times /= factors[0];
+        else if (factors.some(v => v !== 0) || !['mul@1', 'div@1', 'add@1', 'sub@1'].includes(writer.op))
+            return { of: 'expression' };
+        return walk(onward[0]);
     };
-    return walk(node.args[0]);
+    return walk(start);
 }
 /** Whether the asset declares an instance size on an axis — only then can a dimension follow it. */
 export const hasInstanceSize = (asset, axis) => modelOf(asset).inputs.some(i => i.id === `size.${axis}` && i.role === 'design');
@@ -43,8 +64,37 @@ export function fastenedTo(asset, part) {
 }
 /** 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;
+}
+/**
+ * The axes whose size can follow something, by the shape's own measures: a box's X · Y · Z; a cylinder's radius (read
+ * as X) and length (Y) -- its shape takes those two, so it has no Z of its own (V2's sizing cards had the cylinder's
+ * two as well).
+ */
+export function followableAxes(asset, part) {
     const shape = modelOf(asset).nodes.find(n => n.id === `${part}.shape`);
-    return !!shape && (shape.op === 'box-shape@1' || shape.op === 'rounded-box@1');
+    if (!shape)
+        return [];
+    if (shape.op === 'box-shape@1' || shape.op === 'rounded-box@1')
+        return [...AXES];
+    if (shape.op === 'cylinder-shape@1')
+        return ['x', 'y'];
+    return [];
+}
+/** What a part's own measure on an axis is now (a box's side, a cylinder's radius or length), at the design as it stands. */
+export function dimensionNow(asset, part, axis) {
+    const m = modelOf(asset);
+    const ref = m.nodes.find(n => n.id === `${part}.shape`)?.args[AXES.indexOf(axis)];
+    if (!ref)
+        return undefined;
+    try {
+        const values = compileV3Graph(asset.document.model).evaluate({ ...asset.designInputs, ...asset.stateDefaults }).values;
+        const value = values[ref];
+        return typeof value === 'number' && Number.isFinite(value) ? value : undefined;
+    }
+    catch {
+        return undefined;
+    }
 }
 /** Whether `attach` can take this part: a box, or a cylinder (figure-model measures its faces since 0.1.47). */
 export function canFasten(asset, part) {
@@ -64,6 +114,16 @@ export function positionsWorkedOut(asset, part) {
     const constant = (ref) => m.constants.some(c => c.id === ref);
     return AXES.filter((_axis, i) => !own(pose.args[i]) && !constant(pose.args[i]));
 }
+/**
+ * Whether the part's position on an axis is a share of the instance size (`scale-position`): `size.<axis> × share`.
+ * Such a position is worked out too, but it already grows with the figure, so it is not offered again.
+ */
+export function positionIsShare(asset, part, axis) {
+    const m = modelOf(asset);
+    const ref = m.nodes.find(n => n.id === `${part}.pose`)?.args[AXES.indexOf(axis)];
+    const writer = ref ? m.nodes.find(n => Object.values(n.outputs).includes(ref)) : undefined;
+    return !!writer && writer.op === 'mul@1' && writer.args[0] === `size.${axis}` && m.constants.some(c => c.id === writer.args[1]);
+}
 export function motionOf(asset, part) {
     const m = modelOf(asset);
     const node = m.nodes.find(n => n.id === `${part}.motion`);
@@ -98,7 +158,7 @@ export function choiceOf(follow) {
         case 'own':
             return 'own';
         case 'instance':
-            return `instance:${follow.axis}`;
+            return follow.times === 1 ? `instance:${follow.axis}` : `share:${follow.axis}`;
         case 'part':
             return `part:${follow.part}:${follow.axis}`;
         case 'input':
@@ -138,4 +198,37 @@ export function placeIdFor(asset, part, role) {
 export const holdsThings = (asset) => (asset.document.capabilities.names ?? []).some(n => n === 'Capacity' || n === 'FlowNode');
 /** What `accepts` a person typed: names split on commas, trimmed, blanks and repeats dropped. */
 export const acceptsOf = (typed) => [...new Set(typed.split(',').map(one => one.trim()).filter(Boolean))];
+/**
+ * The sizes a board may give this figure: the range it declares now, and the range measured afresh -- the default
+ * (1 mm to ten times the authored size) narrowed only where the figure cannot follow, by the converter's own functions.
+ * A range measured when a part filled what the others left (ROBOT_ARM: Y from 1,854 mm) stays narrow after the part is
+ * made to grow with the figure; measuring again gives the figure its whole range back. Nothing when no size is declared.
+ */
+export function instanceRangeOf(asset) {
+    const inputs = modelOf(asset).inputs;
+    const declared = {};
+    const authored = {};
+    for (const axis of AXES) {
+        const input = inputs.find(i => i.id === `size.${axis}` && i.role === 'design');
+        const at = asset.designInputs[`size.${axis}`];
+        if (!input || typeof at !== 'number')
+            return undefined;
+        declared[axis] = { min: input.min ?? 0, max: input.max ?? Infinity };
+        authored[axis] = at;
+    }
+    const start = defaultInstanceSizeRange(authored);
+    const measured = foldInstanceSizeRange(start, v3InstanceSizeLimitsOf(asset, start)).range;
+    return { declared, measured };
+}
+/** Whether measuring again would change the declared range (to a micrometre). */
+export function rangeDiffers(a, b) {
+    return AXES.some(axis => Math.abs(a[axis].min - b[axis].min) > 1e-3 || Math.abs(a[axis].max - b[axis].max) > 1e-3);
+}
+/**
+ * Whether the figure is a mechanism -- a part turns about a joint. Such a figure should grow by one ratio (chief
+ * architect's ruling 2026-09-24); the modeller proposes it, the author declares it.
+ */
+export function turnsAboutAJoint(asset) {
+    return modelOf(asset).nodes.some(n => n.op === 'axis-turn@1');
+}
 //# sourceMappingURL=v3-links.js.map