@viamrobotics/motion-tools 1.13.0 → 1.14.0

package/dist/WorldObject.svelte.js

@@ -1,114 +0,0 @@
-import { BatchedMesh, Color, Vector3 } from 'three';
-import { isColorRepresentation, isRGB, parseColor, parseOpacity, parseRGB } from './color';
-var SupportedShapes;
-(function (SupportedShapes) {
-    SupportedShapes["points"] = "points";
-    SupportedShapes["line"] = "line";
-    SupportedShapes["arrow"] = "arrow";
-})(SupportedShapes || (SupportedShapes = {}));
-const METADATA_KEYS = [
-    'colors',
-    'color',
-    'opacity',
-    'gltf',
-    'points',
-    'pointSize',
-    'lineWidth',
-    'lineDotColor',
-    'batched',
-    'shape',
-];
-const isMetadataKey = (key) => {
-    return METADATA_KEYS.includes(key);
-};
-// eslint-disable-next-line @typescript-eslint/no-explicit-any
-const unwrapValue = (value) => {
-    if (!value?.kind)
-        return value;
-    switch (value.kind.case) {
-        case 'numberValue':
-        case 'stringValue':
-        case 'boolValue':
-            return value.kind.value;
-        case 'structValue': {
-            const result = {};
-            for (const [key, val] of Object.entries(value.kind.value.fields || {})) {
-                // eslint-disable-next-line @typescript-eslint/no-explicit-any
-                result[key] = unwrapValue(val);
-            }
-            return result;
-        }
-        case 'listValue':
-            return value.kind.value.values?.map(unwrapValue) || [];
-        case 'nullValue':
-            return null;
-        default:
-            return value.kind.value;
-    }
-};
-export const parseMetadata = (fields = {}) => {
-    const json = {};
-    for (const [k, v] of Object.entries(fields)) {
-        if (!isMetadataKey(k))
-            continue;
-        const unwrappedValue = unwrapValue(v);
-        switch (k) {
-            case 'color':
-            case 'lineDotColor':
-                json[k] = readColor(unwrappedValue);
-                break;
-            case 'colors': {
-                let colorBytes;
-                // Handle base64-encoded string (from protobuf Struct)
-                if (typeof unwrappedValue === 'string') {
-                    const binary = atob(unwrappedValue);
-                    colorBytes = new Uint8Array(binary.length);
-                    for (let i = 0; i < binary.length; i++) {
-                        colorBytes[i] = binary.charCodeAt(i);
-                    }
-                }
-                else if (Array.isArray(unwrappedValue)) {
-                    colorBytes = unwrappedValue;
-                }
-                if (colorBytes && colorBytes.length >= 3) {
-                    const r = (colorBytes[0] ?? 0) / 255;
-                    const g = (colorBytes[1] ?? 0) / 255;
-                    const b = (colorBytes[2] ?? 0) / 255;
-                    const a = colorBytes.length >= 4 ? (colorBytes[3] ?? 255) / 255 : 1;
-                    json.color = new Color(r, g, b);
-                    json.opacity = a;
-                }
-                break;
-            }
-            case 'opacity':
-                json[k] = parseOpacity(unwrappedValue);
-                break;
-            case 'gltf':
-                json[k] = unwrappedValue;
-                break;
-            case 'points':
-                json[k] = unwrappedValue;
-                break;
-            case 'pointSize':
-                json[k] = unwrappedValue;
-                break;
-            case 'lineWidth':
-                json[k] = unwrappedValue;
-                break;
-            case 'batched':
-                json[k] = unwrappedValue;
-                break;
-            case 'shape':
-                json[k] = unwrappedValue;
-                break;
-        }
-    }
-    return json;
-};
-const readColor = (color) => {
-    if (isColorRepresentation(color))
-        return parseColor(color);
-    if (isRGB(color))
-        return parseRGB(color);
-    return new Color('black');
-};

package/dist/components/Frame.svelte

@@ -1,89 +0,0 @@
-<script lang="ts">
-	import type { Snippet } from 'svelte'
-	import { useObjectEvents } from '../hooks/useObjectEvents.svelte'
-	import { Color, Group, type Object3D } from 'three'
-	import Geometry from './Geometry.svelte'
-	import { useSelectedEntity } from '../hooks/useSelection.svelte'
-	import { useSettings } from '../hooks/useSettings.svelte'
-	import { use3DModels } from '../hooks/use3DModels.svelte'
-	import { colors, darkenColor, resourceColors } from '../color'
-	import type { Entity } from 'koota'
-	import { traits, useTrait } from '../ecs'
-	import type { Pose } from '@viamrobotics/sdk'
-	import { useResourceByName } from '../hooks/useResourceByName.svelte'
-	import { Portal, PortalTarget } from '@threlte/extras'
-
-	interface Props {
-		entity: Entity
-		pose?: Pose
-		children?: Snippet<[{ ref: Object3D }]>
-	}
-
-	let { entity, pose, children }: Props = $props()
-
-	let ref = $state<Group>()
-
-	const colorUtil = new Color()
-
-	const settings = useSettings()
-	const componentModels = use3DModels()
-	const selectedEntity = useSelectedEntity()
-	const resourceByName = useResourceByName()
-
-	const name = useTrait(() => entity, traits.Name)
-	const parent = useTrait(() => entity, traits.Parent)
-	const entityColor = useTrait(() => entity, traits.Color)
-
-	const events = useObjectEvents(() => entity)
-	const resourceColor = $derived.by(() => {
-		if (!name.current) {
-			return undefined
-		}
-		const subtype = resourceByName.current[name.current]?.subtype
-		return resourceColors[subtype as keyof typeof resourceColors]
-	})
-
-	const color = $derived.by(() => {
-		if (entityColor.current) {
-			return colorUtil.set(entityColor.current.r, entityColor.current.g, entityColor.current.b)
-		}
-		if (resourceColor) {
-			return resourceColor
-		}
-		return colors.default
-	})
-
-	const model = $derived.by(() => {
-		if (!name.current) {
-			return
-		}
-
-		const [componentName, id] = name.current.split(':')
-		if (!componentName || !id) {
-			return
-		}
-		return componentModels.current?.[componentName]?.[id].clone()
-	})
-</script>
-
-<Portal id={parent.current}>
-	<Geometry
-		bind:ref
-		{entity}
-		{model}
-		{pose}
-		renderMode={settings.current.renderArmModels}
-		color={selectedEntity.current === entity
-			? `#${darkenColor(color, 75).getHexString()}`
-			: `#${colorUtil.set(color).getHexString()}`}
-		{...events}
-	>
-		{#if name.current}
-			<PortalTarget id={name.current} />
-		{/if}
-
-		{#if ref}
-			{@render children?.({ ref })}
-		{/if}
-	</Geometry>
-</Portal>

package/dist/components/Geometry.svelte

@@ -1,211 +0,0 @@
-<script lang="ts">
-	import { T, useThrelte, type Props as ThrelteProps } from '@threlte/core'
-	import { type Snippet } from 'svelte'
-	import { meshBounds } from '@threlte/extras'
-	import { BufferGeometry, Color, DoubleSide, FrontSide, Group, Mesh } from 'three'
-	import { Line2, LineMaterial } from 'three/examples/jsm/Addons.js'
-	import { CapsuleGeometry } from '../three/CapsuleGeometry'
-	import { colors, darkenColor } from '../color'
-	import AxesHelper from './AxesHelper.svelte'
-	import type { Entity } from 'koota'
-	import { traits, useTrait } from '../ecs'
-	import { poseToObject3d } from '../transform'
-	import type { Pose } from '@viamrobotics/sdk'
-	import LineGeometry from './LineGeometry.svelte'
-
-	interface Props extends ThrelteProps<Group> {
-		entity: Entity
-		color?: string
-		model?: Group
-		pose?: Pose
-		renderMode?: 'model' | 'colliders' | 'colliders+model'
-		ref?: Group
-		children?: Snippet<[{ ref: Group }]>
-	}
-
-	let {
-		entity,
-		color: overrideColor,
-		model,
-		renderMode = 'colliders',
-		pose,
-		ref = $bindable(),
-		children,
-		...rest
-	}: Props = $props()
-
-	const colorUtil = new Color()
-
-	const { invalidate } = useThrelte()
-	const name = useTrait(() => entity, traits.Name)
-	const entityColor = useTrait(() => entity, traits.Color)
-	const opacity = useTrait(() => entity, traits.Opacity)
-	const box = useTrait(() => entity, traits.Box)
-	const capsule = useTrait(() => entity, traits.Capsule)
-	const sphere = useTrait(() => entity, traits.Sphere)
-	const bufferGeometry = useTrait(() => entity, traits.BufferGeometry)
-	const linePositions = useTrait(() => entity, traits.LinePositions)
-	const lineWidth = useTrait(() => entity, traits.LineWidth)
-	const center = useTrait(() => entity, traits.Center)
-	const showAxesHelper = useTrait(() => entity, traits.ShowAxesHelper)
-	const materialProps = useTrait(() => entity, traits.Material)
-	const renderOrder = useTrait(() => entity, traits.RenderOrder)
-
-	const geometryType = $derived.by(() => {
-		if (box.current) return 'box'
-		if (capsule.current) return 'capsule'
-		if (sphere.current) return 'sphere'
-		if (bufferGeometry.current) return 'buffer'
-		if (linePositions.current) return 'line'
-	})
-
-	const color = $derived.by(() => {
-		if (overrideColor) {
-			return overrideColor
-		}
-		if (entityColor.current) {
-			return colorUtil
-				.setRGB(entityColor.current.r, entityColor.current.g, entityColor.current.b)
-				.getHexString()
-		}
-		return colors.default
-	})
-
-	const group = new Group()
-	ref = group
-
-	const mesh = $derived.by(() => {
-		if (geometryType === undefined) {
-			return
-		}
-
-		const result = geometryType === 'line' ? new Line2() : new Mesh()
-
-		if (geometryType === 'line') {
-			result.raycast = meshBounds
-		}
-
-		return result
-	})
-
-	$effect.pre(() => {
-		if (mesh && center.current) {
-			poseToObject3d(center.current, mesh)
-			invalidate()
-		}
-	})
-
-	const entityPose = useTrait(() => entity, traits.Pose)
-	const resolvedPose = $derived(pose ?? entityPose.current)
-	$effect.pre(() => {
-		if (resolvedPose) {
-			poseToObject3d(resolvedPose, group)
-			invalidate()
-		}
-	})
-
-	let geo = $state.raw<BufferGeometry>()
-
-	const oncreate = (bufferGeometry: BufferGeometry) => {
-		geo = bufferGeometry
-	}
-
-	$effect.pre(() => {
-		if (mesh && bufferGeometry.current) {
-			mesh.geometry = bufferGeometry.current
-			oncreate(bufferGeometry.current)
-
-			return () => {
-				geo = undefined
-				mesh?.geometry?.dispose()
-			}
-		}
-	})
-</script>
-
-<T
-	is={group}
-	{...rest}
->
-	{#if geometryType}
-		{#if showAxesHelper.current}
-			<AxesHelper
-				width={3}
-				length={0.1}
-			/>
-		{/if}
-
-		{#if model && renderMode.includes('model')}
-			<T is={model} />
-		{/if}
-
-		{#if !model || renderMode.includes('colliders')}
-			<T
-				is={mesh}
-				name={entity}
-				userData.name={name}
-				renderOrder={renderOrder.current}
-			>
-				{#if linePositions.current}
-					<LineGeometry positions={linePositions.current} />
-				{:else if box.current}
-					{@const { x, y, z } = box.current ?? { x: 0, y: 0, z: 0 }}
-					<T.BoxGeometry
-						args={[x * 0.001, y * 0.001, z * 0.001]}
-						{oncreate}
-					/>
-				{:else if sphere.current}
-					{@const { r } = sphere.current ?? { r: 0 }}
-					<T.SphereGeometry
-						args={[r * 0.001]}
-						{oncreate}
-					/>
-				{:else if capsule.current}
-					{@const { r, l } = capsule.current ?? { r: 0, l: 0 }}
-					<T
-						is={CapsuleGeometry}
-						args={[r * 0.001, l * 0.001]}
-						{oncreate}
-					/>
-				{/if}
-
-				{#if linePositions.current}
-					<T
-						is={LineMaterial}
-						{color}
-						width={lineWidth.current ? lineWidth.current * 0.001 : 0.5}
-						depthTest={materialProps.current?.depthTest ?? true}
-					/>
-				{:else}
-					{@const currentOpacity = opacity.current ?? 0.7}
-					<T.MeshToonMaterial
-						{color}
-						side={geometryType === 'buffer' ? DoubleSide : FrontSide}
-						transparent={currentOpacity < 1}
-						depthWrite={currentOpacity === 1}
-						opacity={currentOpacity}
-						depthTest={materialProps.current?.depthTest ?? true}
-					/>
-
-					{#if geo && (renderMode.includes('colliders') || !model)}
-						<T.LineSegments
-							raycast={() => null}
-							bvh={{ enabled: false }}
-						>
-							<T.EdgesGeometry args={[geo, 0]} />
-							<T.LineBasicMaterial color={darkenColor(color, 10)} />
-						</T.LineSegments>
-					{/if}
-				{/if}
-			</T>
-		{/if}
-	{:else if showAxesHelper.current}
-		<AxesHelper
-			name={entity}
-			width={3}
-			length={0.1}
-		/>
-	{/if}
-
-	{@render children?.({ ref: group })}
-</T>

package/dist/components/Geometry.svelte.d.ts

@@ -1,19 +0,0 @@
-import { type Props as ThrelteProps } from '@threlte/core';
-import { type Snippet } from 'svelte';
-import { Group } from 'three';
-import type { Entity } from 'koota';
-import type { Pose } from '@viamrobotics/sdk';
-interface Props extends ThrelteProps<Group> {
-    entity: Entity;
-    color?: string;
-    model?: Group;
-    pose?: Pose;
-    renderMode?: 'model' | 'colliders' | 'colliders+model';
-    ref?: Group;
-    children?: Snippet<[{
-        ref: Group;
-    }]>;
-}
-declare const Geometry: import("svelte").Component<Props, {}, "ref">;
-type Geometry = ReturnType<typeof Geometry>;
-export default Geometry;

package/dist/components/Line.svelte

@@ -1,43 +0,0 @@
-<script module>
-	import { Color } from 'three'
-
-	const colorUtil = new Color()
-</script>
-
-<script lang="ts">
-	import Frame from './Frame.svelte'
-	import type { Snippet } from 'svelte'
-	import type { Entity } from 'koota'
-	import { traits, useTrait } from '../ecs'
-	import LineDots from './LineDots.svelte'
-	import { darkenColor } from '../color'
-
-	interface Props {
-		entity: Entity
-		children?: Snippet
-	}
-
-	let { entity, children }: Props = $props()
-
-	const linePositions = useTrait(() => entity, traits.LinePositions)
-	const color = useTrait(() => entity, traits.Color)
-	const pointSize = useTrait(() => entity, traits.PointSize)
-
-	const resolvedColor = $derived(
-		colorUtil
-			.setRGB(color.current?.r ?? 1, color.current?.g ?? 0, color.current?.b ?? 0)
-			.getHexString()
-	)
-</script>
-
-<Frame {entity}>
-	{@render children?.()}
-</Frame>
-
-{#if linePositions.current && pointSize.current}
-	<LineDots
-		color={darkenColor(resolvedColor, 10)}
-		positions={linePositions.current}
-		scale={pointSize.current * 0.001}
-	/>
-{/if}