@viamrobotics/motion-tools 1.19.0 → 1.21.0

package/dist/components/Entities/Points.svelte

@@ -33,6 +33,8 @@
 	const opacity = useTrait(() => entity, traits.Opacity)
 	const invisible = useTrait(() => entity, traits.Invisible)
 	const showAxesHelper = useTrait(() => entity, traits.ShowAxesHelper)
+	const renderOrder = useTrait(() => entity, traits.RenderOrder)
+	const materialProps = useTrait(() => entity, traits.Material)
 
 	const pointSize = $derived(
 		entityPointSize.current ? entityPointSize.current * 0.001 : settings.current.pointSize
@@ -61,41 +63,38 @@
 	})
 
 	/**
-	 * Points transparancy is very costly for the GPU, so we turn it on conservatively
+	 * Points transparency is very costly for the GPU, so we turn it on conservatively.
+	 * Uniform opacity (entity trait) and per-vertex RGBA alpha are both considered here
+	 * to avoid the two sources conflicting with each other.
 	 */
 	$effect.pre(() => {
-		if (opacity.current !== undefined && opacity.current < 1) {
-			material.transparent = true
-			material.opacity = opacity.current
-
-			return () => {
-				material.transparent = false
-				material.opacity = 1
-			}
-		}
-	})
-
-	$effect.pre(() => {
-		const colors = geometry.current?.getAttribute('color')
+		const vertexColors = geometry.current?.getAttribute('color')
 		const positions = geometry.current?.getAttribute('position')
 
-		material.vertexColors = colors !== undefined
+		material.vertexColors = vertexColors !== undefined
 
-		if (colors && positions) {
-			const hasAlphaChannel = positions.array.length / colors.array.length === 0.75
+		const hasUniformOpacity = opacity.current !== undefined && opacity.current < 1
+		material.opacity = hasUniformOpacity ? opacity.current! : 1
 
-			let transparent = false
+		let hasVertexAlpha = false
+		if (vertexColors && positions) {
+			const hasAlphaChannel = positions.array.length / vertexColors.array.length === 0.75
 			if (hasAlphaChannel) {
-				for (let i = 3, l = colors.array.length; i < l; i += 4) {
-					if (colors.array[i] < 1) {
-						transparent = true
+				for (let i = 3, l = vertexColors.array.length; i < l; i += 4) {
+					if (vertexColors.array[i] < 1) {
+						hasVertexAlpha = true
 						break
 					}
 				}
 			}
-
-			material.transparent = transparent
 		}
+
+		material.transparent = hasUniformOpacity || hasVertexAlpha
+	})
+
+	$effect.pre(() => {
+		material.depthTest = materialProps.current?.depthTest ?? true
+		material.depthWrite = materialProps.current?.depthWrite ?? true
 	})
 
 	$effect.pre(() => {
@@ -132,6 +131,7 @@
 			name={entity}
 			bvh={{ maxDepth: 40, maxLeafSize: 20 }}
 			visible={invisible.current !== true}
+			renderOrder={renderOrder.current}
 			{...events}
 		>
 			<T is={geometry.current} />

package/dist/components/Entities/hooks/useEntityEvents.svelte.js

@@ -9,7 +9,10 @@ export const useEntityEvents = (entity) => {
     const selectedEntity = useSelectedEntity();
     const focusedEntity = useFocusedEntity();
     const cursor = useCursor();
+    const invisible = useTrait(entity, traits.Invisible);
     const onpointerenter = (event) => {
+        if (invisible.current)
+            return;
         event.stopPropagation();
         cursor.onPointerEnter();
         const currentEntity = entity();
@@ -31,6 +34,8 @@ export const useEntityEvents = (entity) => {
         }
     };
     const onpointermove = (event) => {
+        if (invisible.current)
+            return;
         event.stopPropagation();
         const currentEntity = entity();
         if (currentEntity?.has(traits.Hovered)) {
@@ -77,24 +82,36 @@ export const useEntityEvents = (entity) => {
         }
     };
     const ondblclick = (event) => {
+        if (invisible.current)
+            return;
         event.stopPropagation();
         const currentEntity = entity();
         focusedEntity.set(currentEntity, event.instanceId ?? event.batchId);
     };
     const onpointerdown = (event) => {
+        if (invisible.current)
+            return;
         down.copy(event.pointer);
     };
     const onclick = (event) => {
+        if (invisible.current)
+            return;
         event.stopPropagation();
         if (down.distanceToSquared(event.pointer) < 0.1) {
             const currentEntity = entity();
             selectedEntity.set(currentEntity, event.instanceId ?? event.batchId);
         }
     };
-    const invisible = useTrait(entity, traits.Invisible);
     $effect(() => {
         if (invisible.current) {
             cursor.onPointerLeave();
+            const currentEntity = entity();
+            if (currentEntity?.has(traits.Hovered)) {
+                currentEntity.remove(traits.Hovered);
+            }
+            if (currentEntity?.has(traits.InstancedPose)) {
+                currentEntity.remove(traits.InstancedPose);
+            }
         }
     });
     return {

package/dist/components/FileDrop/FileDrop.svelte

@@ -8,6 +8,7 @@
 	import { traits } from '../../ecs'
 	import { useWorld } from '../../ecs/useWorld'
 	import { useCameraControls } from '../../hooks/useControls.svelte'
+	import { useRelationships } from '../../hooks/useRelationships.svelte'
 	import { spawnSnapshotEntities } from '../../snapshot'
 
 	import type { FileDropperSuccess } from './file-dropper'
@@ -19,12 +20,18 @@
 	const world = useWorld()
 	const toast = useToast()
 	const cameraControls = useCameraControls()
+	const relationships = useRelationships()
 
 	const fileDrop = useFileDrop(
 		(result: FileDropperSuccess) => {
 			switch (result.type) {
 				case 'snapshot': {
-					spawnSnapshotEntities(world, result.snapshot)
+					const spawned = spawnSnapshotEntities(world, result.snapshot)
+					for (const entity of spawned) {
+						relationships.apply(entity.entity, entity.relationships)
+						const uuid = entity.entity.get(traits.UUID)
+						if (uuid) relationships.flush(uuid)
+					}
 
 					const { sceneCamera } = result.snapshot.sceneMetadata ?? {}
 

package/dist/components/PCD.svelte

@@ -12,11 +12,14 @@
 		data: Uint8Array
 		name?: string
 		renderOrder?: number
+		depthTest?: boolean
+		depthWrite?: boolean
 		interactionLayers?: InteractionLayerValue[]
 		oncreate?: (positions: Float32Array, colors: Uint8Array | undefined) => void
 	}
 
-	let { data, name, renderOrder, interactionLayers, oncreate }: Props = $props()
+	let { data, name, renderOrder, depthTest, depthWrite, interactionLayers, oncreate }: Props =
+		$props()
 
 	const world = useWorld()
 
@@ -38,6 +41,11 @@
 			if (renderOrder) {
 				entityTraits.push(traits.RenderOrder(renderOrder))
 			}
+			if (depthTest !== undefined || depthWrite !== undefined) {
+				entityTraits.push(
+					traits.Material({ depthTest: depthTest ?? true, depthWrite: depthWrite ?? true })
+				)
+			}
 			if (interactionLayers?.includes('selectTool')) {
 				entityTraits.push(traits.SelectToolInteractionLayer)
 			}

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

@@ -3,6 +3,8 @@ interface Props {
     data: Uint8Array;
     name?: string;
     renderOrder?: number;
+    depthTest?: boolean;
+    depthWrite?: boolean;
     interactionLayers?: InteractionLayerValue[];
     oncreate?: (positions: Float32Array, colors: Uint8Array | undefined) => void;
 }

package/dist/components/SceneProviders.svelte

@@ -20,6 +20,7 @@
 	import { usePartID } from '../hooks/usePartID.svelte'
 	import { providePointcloudObjects } from '../hooks/usePointcloudObjects.svelte'
 	import { providePointclouds } from '../hooks/usePointclouds.svelte'
+	import { provideRelationships } from '../hooks/useRelationships.svelte'
 	import { provideResourceByName } from '../hooks/useResourceByName.svelte'
 	import { provideSelection } from '../hooks/useSelection.svelte'
 	import { provideWorldStates } from '../hooks/useWorldState.svelte'
@@ -41,6 +42,7 @@
 
 	provideOrigin()
 	provideDrawAPI()
+	provideRelationships()
 	provideDrawService()
 
 	provideResourceByName(() => partID.current)

package/dist/components/Snapshot.svelte

@@ -14,17 +14,16 @@ Renders a Snapshot protobuf by spawning its transforms and drawings as entities
 ```
 -->
 <script lang="ts">
-	import type { Entity } from 'koota'
-
 	import { untrack } from 'svelte'
 	import { onDestroy } from 'svelte'
 
 	import type { Snapshot as SnapshotProto } from '../buf/draw/v1/snapshot_pb'
 
-	import { useWorld } from '../ecs'
+	import { traits, useWorld } from '../ecs'
 	import { useCameraControls } from '../hooks/useControls.svelte'
+	import { useRelationships } from '../hooks/useRelationships.svelte'
 	import { useSettings } from '../hooks/useSettings.svelte'
-	import { applySceneMetadata, spawnSnapshotEntities } from '../snapshot'
+	import { applySceneMetadata, type SnapshotEntity, spawnSnapshotEntities } from '../snapshot'
 
 	interface Props {
 		snapshot: SnapshotProto
@@ -35,8 +34,9 @@ Renders a Snapshot protobuf by spawning its transforms and drawings as entities
 	const world = useWorld()
 	const settings = useSettings()
 	const cameraControls = useCameraControls()
+	const relationships = useRelationships()
 
-	let entities: Entity[] = []
+	let entities: SnapshotEntity[] = []
 
 	$effect(() => {
 		world.id.toString()
@@ -44,6 +44,11 @@ Renders a Snapshot protobuf by spawning its transforms and drawings as entities
 
 		untrack(() => {
 			entities = spawnSnapshotEntities(world, snapshot)
+			for (const spawned of entities) {
+				relationships.apply(spawned.entity, spawned.relationships)
+				const uuid = spawned.entity.get(traits.UUID)
+				if (uuid) relationships.flush(uuid)
+			}
 		})
 	})
 
@@ -78,8 +83,8 @@ Renders a Snapshot protobuf by spawning its transforms and drawings as entities
 	})
 
 	onDestroy(() => {
-		for (const entity of entities) {
-			if (world.has(entity)) entity.destroy()
+		for (const spawned of entities) {
+			if (world.has(spawned.entity)) spawned.entity.destroy()
 		}
 	})
 </script>

package/dist/components/overlay/AddRelationship.svelte

@@ -4,20 +4,30 @@
 
 	import { relations, traits, useQuery, useTrait } from '../../ecs'
 	import { SubEntityLinkType } from '../../ecs/relations'
+	import { useDrawService } from '../../hooks/useDrawService.svelte'
 
 	interface Props {
 		entity: Entity | undefined
 	}
 
 	const { entity }: Props = $props()
+	const drawService = useDrawService()
 
 	const allEntities = useQuery(traits.Name)
 	const name = useTrait(() => entity, traits.Name)
+	const drawServiceAPI = useTrait(() => entity, traits.DrawServiceAPI)
+	const isServiceManaged = $derived(!!drawServiceAPI.current)
+
 	const entityNames = $derived.by(() => {
 		const currentEntityName = name.current
 		return allEntities.current
-			.map((e: Entity) => e.get(traits.Name))
-			.filter((n: string | undefined): n is string => n !== undefined && n !== currentEntityName)
+			.filter((e: Entity) => {
+				const entityName = e.get(traits.Name)
+				if (!entityName || entityName === currentEntityName) return false
+				if (isServiceManaged) return !!e.get(traits.DrawServiceAPI)
+				return true
+			})
+			.map((e: Entity) => e.get(traits.Name)!)
 			.toSorted()
 	})
 
@@ -43,7 +53,19 @@
 		const selectedEntity = allEntities.current.find(
 			(e: Entity) => e.get(traits.Name) === selectedRelationshipEntity
 		)
-		if (selectedEntity) {
+		if (!selectedEntity) return
+
+		if (isServiceManaged) {
+			const sourceUuid = entity.get(traits.UUID)
+			const targetUuid = selectedEntity.get(traits.UUID)
+			if (!sourceUuid || !targetUuid) return
+			void drawService.createRelationship(
+				sourceUuid,
+				targetUuid,
+				linkType ?? '',
+				relationshipFormula
+			)
+		} else {
 			entity.add(
 				relations.SubEntityLink(selectedEntity, {
 					indexMapping: relationshipFormula,