@viamrobotics/motion-tools 1.14.0 → 1.15.1

package/dist/three/OBBHelper.js

@@ -1,14 +1,42 @@
-import { EdgesGeometry, BoxGeometry, Vector3, Quaternion, Matrix4, Object3D, Mesh, BufferGeometry, Matrix3, } from 'three';
+import { Box3, BoxGeometry, BufferGeometry, EdgesGeometry, Matrix4, Mesh, Object3D, Quaternion, Vector3, } from 'three';
 import { LineMaterial } from 'three/addons/lines/LineMaterial.js';
 import { LineSegments2 } from 'three/examples/jsm/lines/LineSegments2.js';
 import { LineSegmentsGeometry } from 'three/examples/jsm/lines/LineSegmentsGeometry.js';
+const box = new Box3();
+const childBox = new Box3();
+const inverseRootMatrixWorld = new Matrix4();
+const rootMatrixWorld = new Matrix4();
+const relativeMatrix = new Matrix4();
+const scaleMatrix = new Matrix4();
 const center = new Vector3();
-const half = new Vector3();
 const size = new Vector3();
+const basis = new Matrix4();
 const quaternion = new Quaternion();
-const scale = new Vector3();
-const absScale = new Vector3();
-const worldCenter = new Vector3();
+const corners = [
+    new Vector3(),
+    new Vector3(),
+    new Vector3(),
+    new Vector3(),
+    new Vector3(),
+    new Vector3(),
+    new Vector3(),
+    new Vector3(),
+];
+const expandBoxByTransformedBox = (box, childBox, matrix) => {
+    const min = childBox.min;
+    const max = childBox.max;
+    corners[0].set(min.x, min.y, min.z).applyMatrix4(matrix);
+    corners[1].set(min.x, min.y, max.z).applyMatrix4(matrix);
+    corners[2].set(min.x, max.y, min.z).applyMatrix4(matrix);
+    corners[3].set(min.x, max.y, max.z).applyMatrix4(matrix);
+    corners[4].set(max.x, min.y, min.z).applyMatrix4(matrix);
+    corners[5].set(max.x, min.y, max.z).applyMatrix4(matrix);
+    corners[6].set(max.x, max.y, min.z).applyMatrix4(matrix);
+    corners[7].set(max.x, max.y, max.z).applyMatrix4(matrix);
+    for (const corner of corners) {
+        box.expandByPoint(corner);
+    }
+};
 export class OBBHelper extends LineSegments2 {
     constructor(color = 0x000000, linewidth = 2) {
         const edges = new EdgesGeometry(new BoxGeometry());
@@ -27,52 +55,45 @@ export class OBBHelper extends LineSegments2 {
         this.renderOrder = 999;
     }
     setFromOBB(obb) {
-        // position/rotation
-        const basis = new Matrix4().setFromMatrix3(obb.rotation);
+        basis.setFromMatrix3(obb.rotation);
         quaternion.setFromRotationMatrix(basis);
-        // scale = full size
         size.copy(obb.halfSize).multiplyScalar(2);
-        // compose
         this.matrix.compose(obb.center, quaternion, size);
-        this.matrixWorld.copy(this.matrix); // no parent updates if used standalone
+        this.matrixWorld.copy(this.matrix);
         return this;
     }
-    /** Set from a Mesh/Object3D assuming no shears. Uses geometry's local bbox + world rotation/scale. */
-    setFromObject(object) {
-        // Find a geometry to read bbox from
-        let geometry;
-        if (object.geometry) {
-            geometry = object.geometry;
-        }
-        else {
-            // try the first mesh child
-            object.traverse((child) => {
-                if (!geometry && child.geometry) {
-                    geometry = child.geometry;
-                }
-            });
-        }
-        if (!geometry) {
+    setFromObject(root) {
+        root.updateWorldMatrix(true, true);
+        rootMatrixWorld.copy(root.matrixWorld);
+        inverseRootMatrixWorld.copy(rootMatrixWorld).invert();
+        box.makeEmpty();
+        root.traverse((child) => {
+            const mesh = child;
+            const geometry = mesh.geometry;
+            if (!geometry)
+                return;
+            if (!geometry.boundingBox) {
+                geometry.computeBoundingBox();
+            }
+            if (!geometry.boundingBox)
+                return;
+            // Transform this mesh's local bounding box into root-local space
+            relativeMatrix.multiplyMatrices(inverseRootMatrixWorld, mesh.matrixWorld);
+            childBox.copy(geometry.boundingBox);
+            expandBoxByTransformedBox(box, childBox, relativeMatrix);
+        });
+        if (box.isEmpty()) {
             console.warn('[OBBHelper] No geometry found on object to compute OBB.');
             return this;
         }
-        if (!geometry.boundingBox) {
-            geometry.computeBoundingBox();
-        }
-        if (geometry.boundingBox) {
-            geometry.boundingBox.getCenter(center);
-            // half size in local space
-            geometry.boundingBox.getSize(size).multiplyScalar(0.5);
-        }
-        object.getWorldQuaternion(quaternion);
-        object.getWorldScale(scale);
-        // non-uniform scale supported (no shear): enlarge halfSize by |scale|
-        half.copy(size).multiply(absScale.set(Math.abs(scale.x), Math.abs(scale.y), Math.abs(scale.z)));
-        worldCenter.copy(center);
-        object.localToWorld(worldCenter);
-        // compose transform (unit box -> oriented box)
-        const fullSize = half.multiplyScalar(2);
-        this.matrix.compose(worldCenter, quaternion, fullSize);
+        box.getCenter(center);
+        box.getSize(size);
+        // Place the helper at the center of the bounding box, in root-local space
+        this.matrix.makeTranslation(center.x, center.y, center.z);
+        // Then inherit the root's full world transform
+        this.matrix.premultiply(rootMatrixWorld);
+        // Scale the unit box to the OBB extents in root-local axes
+        this.matrix.multiply(scaleMatrix.makeScale(size.x, size.y, size.z));
         this.matrixWorld.copy(this.matrix);
         return this;
     }

package/dist/three/OrientationVector.js

@@ -1,4 +1,4 @@
-import { Euler, Quaternion, Vector3, MathUtils } from 'three';
+import { Euler, MathUtils, Quaternion, Vector3 } from 'three';
 export const EPSILON = 0.0001;
 const xAxis = new Quaternion(-1, 0, 0, 0);
 const zAxis = new Quaternion(0, 0, +1, 0);

package/dist/transform.js

@@ -1,5 +1,5 @@
-import { OrientationVector } from './three/OrientationVector';
 import { Euler, MathUtils, Matrix4, Quaternion, Vector3 } from 'three';
+import { OrientationVector } from './three/OrientationVector';
 const quaternion = new Quaternion();
 const euler = new Euler();
 const ov = new OrientationVector();

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.14.0",
+  "version": "1.15.1",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -17,8 +17,8 @@
     "@skeletonlabs/skeleton": "3.2.0",
     "@skeletonlabs/skeleton-svelte": "1.5.1",
     "@sveltejs/adapter-static": "3.0.9",
-    "@sveltejs/kit": "2.49.5",
-    "@sveltejs/package": "2.5.0",
+    "@sveltejs/kit": "2.55.0",
+    "@sveltejs/package": "2.5.7",
     "@sveltejs/vite-plugin-svelte": "6.1.4",
     "@tailwindcss/forms": "0.5.10",
     "@tailwindcss/vite": "4.1.13",
@@ -51,6 +51,7 @@
     "esbuild": "^0.27.3",
     "eslint": "10.0.2",
     "eslint-config-prettier": "10.1.8",
+    "eslint-plugin-perfectionist": "^5.6.0",
     "eslint-plugin-svelte": "3.15.0",
     "eslint-plugin-unicorn": "^63.0.0",
     "globals": "16.3.0",
@@ -62,8 +63,8 @@
     "prettier-plugin-tailwindcss": "0.6.14",
     "publint": "0.3.12",
     "runed": "0.31.1",
-    "svelte": "5.45.9",
-    "svelte-check": "4.3.1",
+    "svelte": "5.53.13",
+    "svelte-check": "4.4.5",
     "svelte-virtuallists": "1.4.2",
     "tailwindcss": "4.1.13",
     "three": "0.182.0",
@@ -149,7 +150,7 @@
     "preview": "vite preview",
     "check": "svelte-kit sync && pnpm build:workers && svelte-check --tsconfig ./tsconfig.json && pnpm vet",
     "check:watch": "svelte-kit sync && pnpm build:workers && svelte-check --tsconfig ./tsconfig.json --watch",
-    "format": "prettier --write .",
+    "format": "prettier --write . && eslint . --fix",
     "lint:draw": "golangci-lint run ./draw/...",
     "lint:client": "golangci-lint run ./client/...",
     "lint:prettier": "prettier --check .",

package/dist/components/overlay/left-pane/AddFrames.svelte

@@ -1,30 +0,0 @@
-<script lang="ts">
-	import { IconButton } from '@viamrobotics/prime-core'
-	import Drawer from './Drawer.svelte'
-	import { usePartConfig } from '../../../hooks/usePartConfig.svelte'
-	import { useFramelessComponents } from '../../../hooks/useFramelessComponents.svelte'
-
-	const framelessComponents = useFramelessComponents()
-	const partConfig = usePartConfig()
-</script>
-
-<Drawer name="Add frames">
-	<div class="flex max-h-64 flex-col gap-2 overflow-auto p-3">
-		{#if framelessComponents.current.length > 0}
-			<ul class="space-y-1">
-				{#each framelessComponents.current as component (component)}
-					<li class="flex items-center gap-2 text-xs text-gray-700">
-						{component}
-						<IconButton
-							label="Add frame"
-							icon="plus"
-							onclick={() => partConfig.createFrame(component)}
-						/>
-					</li>
-				{/each}
-			</ul>
-		{:else}
-			No components without frames
-		{/if}
-	</div>
-</Drawer>

package/dist/components/overlay/left-pane/AddFrames.svelte.d.ts

@@ -1,18 +0,0 @@
-interface $$__sveltets_2_IsomorphicComponent<Props extends Record<string, any> = any, Events extends Record<string, any> = any, Slots extends Record<string, any> = any, Exports = {}, Bindings = string> {
-    new (options: import('svelte').ComponentConstructorOptions<Props>): import('svelte').SvelteComponent<Props, Events, Slots> & {
-        $$bindings?: Bindings;
-    } & Exports;
-    (internal: unknown, props: {
-        $$events?: Events;
-        $$slots?: Slots;
-    }): Exports & {
-        $set?: any;
-        $on?: any;
-    };
-    z_$$bindings?: Bindings;
-}
-declare const AddFrames: $$__sveltets_2_IsomorphicComponent<Record<string, never>, {
-    [evt: string]: CustomEvent<any>;
-}, {}, {}, string>;
-type AddFrames = InstanceType<typeof AddFrames>;
-export default AddFrames;

package/dist/hooks/__tests__/fixtures/ResizableTestWrapper.svelte

@@ -1,41 +0,0 @@
-<script lang="ts">
-	import { useResizable } from '../../useResizable.svelte'
-
-	interface Props {
-		name: string
-	}
-
-	let { name }: Props = $props()
-
-	const resizable = useResizable(() => name)
-
-	let container = $state<HTMLDivElement>()
-
-	$effect(() => {
-		if (container) {
-			resizable.observe(container)
-		}
-	})
-</script>
-
-<div data-testid="status">
-	{#if resizable.isLoaded}
-		loaded
-	{:else}
-		loading
-	{/if}
-</div>
-
-<div data-testid="dimensions">
-	{resizable.current.width}x{resizable.current.height}
-</div>
-
-<div
-	bind:this={container}
-	data-testid="container"
-	class="resize"
-	style:width={`${resizable.current.width}px`}
-	style:height={`${resizable.current.height}px`}
->
-	Resizable container
-</div>

package/dist/hooks/__tests__/fixtures/ResizableTestWrapper.svelte.d.ts

@@ -1,6 +0,0 @@
-interface Props {
-    name: string;
-}
-declare const ResizableTestWrapper: import("svelte").Component<Props, {}, "">;
-type ResizableTestWrapper = ReturnType<typeof ResizableTestWrapper>;
-export default ResizableTestWrapper;

package/dist/hooks/useResizable.svelte.d.ts

@@ -1,12 +0,0 @@
-interface Dimensions {
-    width: number;
-    height: number;
-}
-interface Context {
-    readonly current: Dimensions;
-    readonly isLoaded: boolean;
-    observe: (target: HTMLElement) => void;
-}
-export declare const MIN_DIMENSIONS: Dimensions;
-export declare const useResizable: (name: () => string, defaultDimensions?: () => Dimensions) => Context;
-export {};

package/dist/hooks/useResizable.svelte.js

@@ -1,46 +0,0 @@
-import { get, set } from 'idb-keyval';
-export const MIN_DIMENSIONS = { width: 240, height: 320 };
-export const useResizable = (name, defaultDimensions) => {
-    const key = $derived(`${name()}-resizable`);
-    let dimensions = $derived(defaultDimensions?.() ?? MIN_DIMENSIONS);
-    let loaded = $state(false);
-    let observer;
-    $effect(() => {
-        get(key).then((saved) => {
-            if (saved) {
-                dimensions = saved;
-            }
-            loaded = true;
-        });
-    });
-    const observe = (target) => {
-        // Disconnect previous observer if any
-        observer?.disconnect();
-        observer = new ResizeObserver((entries) => {
-            const entry = entries[0];
-            if (!entry)
-                return;
-            const next = {
-                width: Math.max(entry.contentRect.width, MIN_DIMENSIONS.width),
-                height: Math.max(entry.contentRect.height, MIN_DIMENSIONS.height),
-            };
-            set(key, next);
-        });
-        observer.observe(target);
-    };
-    const disconnect = () => {
-        observer?.disconnect();
-    };
-    $effect(() => {
-        return disconnect;
-    });
-    return {
-        get current() {
-            return dimensions;
-        },
-        get isLoaded() {
-            return loaded;
-        },
-        observe,
-    };
-};