@viamrobotics/motion-tools 0.16.1 → 0.16.3

package/dist/hooks/useDrawAPI.svelte.js

@@ -1,5 +1,5 @@
 import { getContext, setContext } from 'svelte';
-import { Color, Vector3, Vector4 } from 'three';
+import { Color, MathUtils, Quaternion, Vector3, Vector4 } from 'three';
 import { NURBSCurve } from 'three/addons/curves/NURBSCurve.js';
 import { parsePcdInWorker } from '../loaders/pcd';
 import { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader.js';
@@ -9,6 +9,10 @@ import { createGeometry } from '../geometry';
 import { createPose, createPoseFromFrame } from '../transform';
 import { useCameraControls } from './useControls.svelte';
 import { useThrelte } from '@threlte/core';
+import { OrientationVector } from '../three/OrientationVector';
+const axis = new Vector3();
+const quaternion = new Quaternion();
+const ov = new OrientationVector();
 const key = Symbol('draw-api-context-key');
 const tryParse = (json) => {
     try {
@@ -173,9 +177,22 @@ export const provideDrawAPI = () => {
             pose.x = origin.x;
             pose.y = origin.y;
             pose.z = origin.z;
-            pose.oX = direction.x;
-            pose.oY = direction.y;
-            pose.oZ = direction.z;
+            if (direction.y > 0.99999) {
+                quaternion.set(0, 0, 0, 1);
+            }
+            else if (direction.y < -0.99999) {
+                quaternion.set(1, 0, 0, 0);
+            }
+            else {
+                axis.set(direction.z, 0, -direction.x).normalize();
+                const radians = Math.acos(direction.y);
+                quaternion.setFromAxisAngle(axis, radians);
+            }
+            ov.setFromQuaternion(quaternion);
+            pose.oX = ov.x;
+            pose.oY = ov.y;
+            pose.oZ = ov.z;
+            pose.theta = MathUtils.radToDeg(ov.th);
             poses.push(new WorldObject(`pose ${++poseIndex}`, pose, 'world', undefined, {
                 getBoundingBoxAt(box3) {
                     return batchedArrow.getBoundingBoxAt(arrowId, box3);

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "0.16.1",
+  "version": "0.16.3",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -67,7 +67,7 @@
     "type-fest": "^5.0.1",
     "typescript": "5.9.2",
     "typescript-eslint": "8.42.0",
-    "vite": "7.1.4",
+    "vite": "7.1.11",
     "vite-plugin-devtools-json": "1.0.0",
     "vite-plugin-mkcert": "1.17.8",
     "vitest": "3.2.4"