@viamrobotics/motion-tools 1.27.0 → 1.27.1

package/dist/components/App.svelte

@@ -8,6 +8,7 @@
 	import { PortalTarget } from '@threlte/extras'
 	import { useXR } from '@threlte/xr'
 	import { provideToast, ToastContainer } from '@viamrobotics/prime-core'
+	import { ThemeUtils } from 'svelte-tweakpane-ui'
 
 	import type { CameraPose } from '../hooks/useControls.svelte'
 
@@ -90,10 +91,6 @@
 	const currentRobotCameraWidgets = $derived(settings.current.openCameraWidgets[partID] || [])
 	const { isPresenting } = useXR()
 
-	$effect(() => {
-		environment.current.inputBindingsEnabled = inputBindingsEnabled
-	})
-
 	createPartIDContext(() => partID)
 	provideDrawConnectionConfig(() => drawConnectionConfig)
 	provideWeblabs()
@@ -106,9 +103,18 @@
 		() => localConfigProps
 	)
 
-	$effect.pre(() => {
+	$effect(() => {
+		environment.current.inputBindingsEnabled = inputBindingsEnabled
 		environment.current.isStandalone = !localConfigProps
 	})
+
+	$effect(() => {
+		ThemeUtils.setGlobalDefaultTheme({
+			...ThemeUtils.presets.light,
+			baseBackgroundColor: '#fbfbfc',
+			baseShadowColor: 'transparent',
+		})
+	})
 </script>
 
 {#if settings.current.enableQueryDevtools}

package/dist/components/overlay/Details.svelte

@@ -2,7 +2,6 @@
 	module
 	lang="ts"
 >
-	import { ThemeUtils } from 'svelte-tweakpane-ui'
 	import { BufferAttribute, Euler, MathUtils, Quaternion } from 'three'
 
 	import { OrientationVector } from '../../three/OrientationVector'
@@ -280,12 +279,6 @@
 			2
 		)
 	}
-
-	ThemeUtils.setGlobalDefaultTheme({
-		...ThemeUtils.presets.light,
-		baseBackgroundColor: '#fbfbfc',
-		baseShadowColor: 'transparent',
-	})
 </script>
 
 {#snippet ImmutableField({

package/dist/ecs/traits.js

@@ -230,7 +230,9 @@ export const updateGeometryTrait = (entity, geometry) => {
     }
     else if (geometry.geometryType.case === 'mesh') {
         if (entity.has(BufferGeometry)) {
+            const old = entity.get(BufferGeometry);
             entity.set(BufferGeometry, parsePlyInput(geometry.geometryType.value.mesh));
+            old?.dispose();
         }
         else {
             entity.remove(Box, Sphere, Capsule);

package/dist/hooks/useGeometries.svelte.js

@@ -2,18 +2,19 @@ import { ArmClient, BaseClient, CameraClient, GantryClient, GenericComponentClie
 import { createResourceClient, createResourceQuery, useResourceNames, } from '@viamrobotics/svelte-sdk';
 import {} from 'koota';
 import { getContext, setContext, untrack } from 'svelte';
-import { Color } from 'three';
+import { Color, Matrix4 } from 'three';
 import { resourceColors } from '../color';
 import { RefetchRates } from '../components/overlay/RefreshRate.svelte';
 import { hierarchy, traits, useWorld } from '../ecs';
 import { updateGeometryTrait } from '../ecs/traits';
-import { createPose, isPoseEqual } from '../transform';
+import { createPose, poseToMatrix } from '../transform';
 import { useEnvironment } from './useEnvironment.svelte';
 import { useLogs } from './useLogs.svelte';
 import { useResourceByName } from './useResourceByName.svelte';
 import { RefreshRates, useSettings } from './useSettings.svelte';
 const key = Symbol('geometries-context');
 const colorUtil = new Color();
+const tempMatrix = new Matrix4();
 export const provideGeometries = (partID) => {
     const environment = useEnvironment();
     const resources = useResourceByName();
@@ -97,8 +98,11 @@ export const provideGeometries = (partID) => {
                         const existing = entities.get(entityKey);
                         if (existing) {
                             hierarchy.setParent(existing, name);
-                            if (!isPoseEqual(existing.get(traits.Center), center)) {
-                                existing.set(traits.Center, center);
+                            poseToMatrix(center, tempMatrix);
+                            const matrix = existing.get(traits.Matrix);
+                            if (matrix && !matrix.equals(tempMatrix)) {
+                                matrix.copy(tempMatrix);
+                                existing.changed(traits.Matrix);
                             }
                             updateGeometryTrait(existing, geometry);
                             continue;
@@ -106,7 +110,7 @@ export const provideGeometries = (partID) => {
                         const entityTraits = [
                             ...hierarchy.parentTraits(name),
                             traits.Name(label),
-                            traits.Center(center),
+                            traits.Matrix(poseToMatrix(center, new Matrix4())),
                             traits.GeometriesAPI,
                             traits.Geometry(geometry),
                         ];

package/dist/three/OBBHelper.js

@@ -39,9 +39,12 @@ const expandBoxByTransformedBox = (box, childBox, matrix) => {
 };
 export class OBBHelper extends LineSegments2 {
     constructor(color = 0x000000, linewidth = 2) {
-        const edges = new EdgesGeometry(new BoxGeometry());
+        const boxGeometry = new BoxGeometry();
+        const edges = new EdgesGeometry(boxGeometry);
         const geometry = new LineSegmentsGeometry();
         geometry.setPositions(edges.getAttribute('position').array);
+        edges.dispose();
+        boxGeometry.dispose();
         const material = new LineMaterial({
             color,
             linewidth,

package/dist/three/arrow.js

@@ -20,6 +20,8 @@ export const createArrowGeometry = () => {
     // Place its center at y = shaftLength + headLength/2 so tip lands at y = shaftLength + headLength
     headGeo.translate(0, tailLength + headLength * 0.5, 0);
     const merged = mergeGeometries([tailGeometry, headGeo], true);
+    tailGeometry.dispose();
+    headGeo.dispose();
     merged.computeVertexNormals();
     merged.computeBoundingBox();
     merged.computeBoundingSphere();

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.27.0",
+  "version": "1.27.1",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -64,7 +64,7 @@
     "prettier-plugin-tailwindcss": "0.6.14",
     "publint": "0.3.12",
     "runed": "0.31.1",
-    "svelte": "5.55.0",
+    "svelte": "5.55.7",
     "svelte-check": "4.4.5",
     "svelte-tweakpane-ui": "^1.5.16",
     "svelte-virtuallists": "1.4.2",