@viamrobotics/motion-tools 1.30.0 → 1.32.0

package/dist/loaders/pcd/worker.inline.js

@@ -3608,7 +3608,7 @@ void main() {
 	#include <fog_fragment>
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 \`||S==="\\r"?(g.trim().toLowerCase().startsWith("data")&&(x=!0),g=""):g+=S,_+=S}let T=_.search(/[\\r\\n]DATA\\s(\\S*)\\s/i),A=/[\\r\\n]DATA\\s(\\S*)\\s/i.exec(_.slice(T-1));if(h.data=A[1],h.headerLen=A[0].length+T,h.str=_.slice(0,h.headerLen),h.str=h.str.replace(/#.*/gi,""),h.version=/^VERSION (.*)/im.exec(h.str),h.fields=/^FIELDS (.*)/im.exec(h.str),h.size=/^SIZE (.*)/im.exec(h.str),h.type=/^TYPE (.*)/im.exec(h.str),h.count=/^COUNT (.*)/im.exec(h.str),h.width=/^WIDTH (.*)/im.exec(h.str),h.height=/^HEIGHT (.*)/im.exec(h.str),h.viewpoint=/^VIEWPOINT (.*)/im.exec(h.str),h.points=/^POINTS (.*)/im.exec(h.str),h.version!==null&&(h.version=parseFloat(h.version[1])),h.fields=h.fields!==null?h.fields[1].split(" "):[],h.type!==null&&(h.type=h.type[1].split(" ")),h.width!==null&&(h.width=parseInt(h.width[1])),h.height!==null&&(h.height=parseInt(h.height[1])),h.viewpoint!==null&&(h.viewpoint=h.viewpoint[1]),h.points!==null&&(h.points=parseInt(h.points[1],10)),h.points===null&&(h.points=h.width*h.height),h.size!==null&&(h.size=h.size[1].split(" ").map(function(S){return parseInt(S,10)})),h.count!==null)h.count=h.count[1].split(" ").map(function(S){return parseInt(S,10)});else{h.count=[];for(let S=0,R=h.fields.length;S<R;S++)h.count.push(1)}h.offset={};let E=0;for(let S=0,R=h.fields.length;S<R;S++)h.data==="ascii"?h.offset[h.fields[S]]=S:(h.offset[h.fields[S]]=E,E+=h.size[S]*h.count[S]);return h.rowSize=E,h}let i=n(e),s=[],r=[],a=[],l=[],o=[],c=new O;if(i.data==="ascii"){let d=i.offset,_=new TextDecoder().decode(e).slice(i.headerLen).split(\`
-\`);for(let g=0,y=_.length;g<y;g++){if(_[g]==="")continue;let x=_[g].split(" ");if(d.x!==void 0&&(s.push(parseFloat(x[d.x])),s.push(parseFloat(x[d.y])),s.push(parseFloat(x[d.z]))),d.rgb!==void 0){let b=i.fields.findIndex(I=>I==="rgb"),T=i.type[b],A=parseFloat(x[d.rgb]),E=A;if(T==="F"){let I=new Float32Array(1);I[0]=A,E=new Int32Array(I.buffer)[0]}let S=(E>>16&255)/255,R=(E>>8&255)/255,P=(E>>0&255)/255;c.setRGB(S,R,P,W),a.push(c.r,c.g,c.b)}d.normal_x!==void 0&&(r.push(parseFloat(x[d.normal_x])),r.push(parseFloat(x[d.normal_y])),r.push(parseFloat(x[d.normal_z]))),d.intensity!==void 0&&l.push(parseFloat(x[d.intensity])),d.label!==void 0&&o.push(parseInt(x[d.label]))}}if(i.data==="binary_compressed"){let d=new Uint32Array(e.slice(i.headerLen,i.headerLen+8)),h=d[0],m=d[1],_=t(new Uint8Array(e,i.headerLen+8,h),m),g=new DataView(_.buffer),y=i.offset;for(let x=0;x<i.points;x++){if(y.x!==void 0){let b=i.fields.indexOf("x"),T=i.fields.indexOf("y"),A=i.fields.indexOf("z");s.push(this._getDataView(g,i.points*y.x+i.size[b]*x,i.type[b],i.size[b])),s.push(this._getDataView(g,i.points*y.y+i.size[T]*x,i.type[T],i.size[T])),s.push(this._getDataView(g,i.points*y.z+i.size[A]*x,i.type[A],i.size[A]))}if(y.rgb!==void 0){let b=i.fields.indexOf("rgb"),T=g.getUint8(i.points*y.rgb+i.size[b]*x+2)/255,A=g.getUint8(i.points*y.rgb+i.size[b]*x+1)/255,E=g.getUint8(i.points*y.rgb+i.size[b]*x+0)/255;c.setRGB(T,A,E,W),a.push(c.r,c.g,c.b)}if(y.normal_x!==void 0){let b=i.fields.indexOf("normal_x"),T=i.fields.indexOf("normal_y"),A=i.fields.indexOf("normal_z");r.push(this._getDataView(g,i.points*y.normal_x+i.size[b]*x,i.type[b],i.size[b])),r.push(this._getDataView(g,i.points*y.normal_y+i.size[T]*x,i.type[T],i.size[T])),r.push(this._getDataView(g,i.points*y.normal_z+i.size[A]*x,i.type[A],i.size[A]))}if(y.intensity!==void 0){let b=i.fields.indexOf("intensity");l.push(this._getDataView(g,i.points*y.intensity+i.size[b]*x,i.type[b],i.size[b]))}if(y.label!==void 0){let b=i.fields.indexOf("label");o.push(this._getDataView(g,i.points*y.label+i.size[b]*x,i.type[b],i.size[b]))}}}if(i.data==="binary"){let d=new DataView(e,i.headerLen),h=i.offset;for(let m=0,_=0;m<i.points;m++,_+=i.rowSize){if(h.x!==void 0){let g=i.fields.indexOf("x"),y=i.fields.indexOf("y"),x=i.fields.indexOf("z");s.push(this._getDataView(d,_+h.x,i.type[g],i.size[g])),s.push(this._getDataView(d,_+h.y,i.type[y],i.size[y])),s.push(this._getDataView(d,_+h.z,i.type[x],i.size[x]))}if(h.rgb!==void 0){let g=d.getUint8(_+h.rgb+2)/255,y=d.getUint8(_+h.rgb+1)/255,x=d.getUint8(_+h.rgb+0)/255;c.setRGB(g,y,x,W),a.push(c.r,c.g,c.b)}if(h.normal_x!==void 0){let g=i.fields.indexOf("normal_x"),y=i.fields.indexOf("normal_y"),x=i.fields.indexOf("normal_z");r.push(this._getDataView(d,_+h.normal_x,i.type[g],i.size[g])),r.push(this._getDataView(d,_+h.normal_y,i.type[y],i.size[y])),r.push(this._getDataView(d,_+h.normal_z,i.type[x],i.size[x]))}if(h.intensity!==void 0){let g=i.fields.indexOf("intensity");l.push(this._getDataView(d,_+h.intensity,i.type[g],i.size[g]))}if(h.label!==void 0){let g=i.fields.indexOf("label");o.push(this._getDataView(d,_+h.label,i.type[g],i.size[g]))}}}let u=new Be;s.length>0&&u.setAttribute("position",new he(s,3)),r.length>0&&u.setAttribute("normal",new he(r,3)),a.length>0&&u.setAttribute("color",new he(a,3)),l.length>0&&u.setAttribute("intensity",new he(l,1)),o.length>0&&u.setAttribute("label",new \$e(o,1)),u.computeBoundingSphere();let f=new ze({size:.005});return a.length>0&&(f.vertexColors=!0),new Qe(u,f)}};var Sa=new Bt;globalThis.onmessage=async p=>{let{data:e,id:t}=p.data;if(!(e instanceof Uint8Array)){postMessage({id:t,error:"Invalid data format"});return}try{let n=Sa.parse(e.buffer);if(n.geometry){let i=n.geometry.attributes.position?.array??new Float32Array(0),s=n.geometry.attributes.color?.array??void 0,r=s?new Uint8Array(s.length):void 0;if(r)for(let a=0,l=s.length;a<l;a++)r[a]=Math.round(s[a]*255);postMessage({positions:i,colors:r,id:t},r?[i.buffer,r.buffer]:[i.buffer])}else postMessage({id:t,error:"Failed to extract geometry"})}catch(n){postMessage({id:t,error:n.message})}};})();
+\`);for(let g=0,y=_.length;g<y;g++){if(_[g]==="")continue;let x=_[g].split(" ");if(d.x!==void 0&&(s.push(parseFloat(x[d.x])),s.push(parseFloat(x[d.y])),s.push(parseFloat(x[d.z]))),d.rgb!==void 0){let b=i.fields.findIndex(I=>I==="rgb"),T=i.type[b],A=parseFloat(x[d.rgb]),E=A;if(T==="F"){let I=new Float32Array(1);I[0]=A,E=new Int32Array(I.buffer)[0]}let S=(E>>16&255)/255,R=(E>>8&255)/255,P=(E>>0&255)/255;c.setRGB(S,R,P,W),a.push(c.r,c.g,c.b)}d.normal_x!==void 0&&(r.push(parseFloat(x[d.normal_x])),r.push(parseFloat(x[d.normal_y])),r.push(parseFloat(x[d.normal_z]))),d.intensity!==void 0&&l.push(parseFloat(x[d.intensity])),d.label!==void 0&&o.push(parseInt(x[d.label]))}}if(i.data==="binary_compressed"){let d=new Uint32Array(e.slice(i.headerLen,i.headerLen+8)),h=d[0],m=d[1],_=t(new Uint8Array(e,i.headerLen+8,h),m),g=new DataView(_.buffer),y=i.offset;for(let x=0;x<i.points;x++){if(y.x!==void 0){let b=i.fields.indexOf("x"),T=i.fields.indexOf("y"),A=i.fields.indexOf("z");s.push(this._getDataView(g,i.points*y.x+i.size[b]*x,i.type[b],i.size[b])),s.push(this._getDataView(g,i.points*y.y+i.size[T]*x,i.type[T],i.size[T])),s.push(this._getDataView(g,i.points*y.z+i.size[A]*x,i.type[A],i.size[A]))}if(y.rgb!==void 0){let b=i.fields.indexOf("rgb"),T=g.getUint8(i.points*y.rgb+i.size[b]*x+2)/255,A=g.getUint8(i.points*y.rgb+i.size[b]*x+1)/255,E=g.getUint8(i.points*y.rgb+i.size[b]*x+0)/255;c.setRGB(T,A,E,W),a.push(c.r,c.g,c.b)}if(y.normal_x!==void 0){let b=i.fields.indexOf("normal_x"),T=i.fields.indexOf("normal_y"),A=i.fields.indexOf("normal_z");r.push(this._getDataView(g,i.points*y.normal_x+i.size[b]*x,i.type[b],i.size[b])),r.push(this._getDataView(g,i.points*y.normal_y+i.size[T]*x,i.type[T],i.size[T])),r.push(this._getDataView(g,i.points*y.normal_z+i.size[A]*x,i.type[A],i.size[A]))}if(y.intensity!==void 0){let b=i.fields.indexOf("intensity");l.push(this._getDataView(g,i.points*y.intensity+i.size[b]*x,i.type[b],i.size[b]))}if(y.label!==void 0){let b=i.fields.indexOf("label");o.push(this._getDataView(g,i.points*y.label+i.size[b]*x,i.type[b],i.size[b]))}}}if(i.data==="binary"){let d=new DataView(e,i.headerLen),h=i.offset;for(let m=0,_=0;m<i.points;m++,_+=i.rowSize){if(h.x!==void 0){let g=i.fields.indexOf("x"),y=i.fields.indexOf("y"),x=i.fields.indexOf("z");s.push(this._getDataView(d,_+h.x,i.type[g],i.size[g])),s.push(this._getDataView(d,_+h.y,i.type[y],i.size[y])),s.push(this._getDataView(d,_+h.z,i.type[x],i.size[x]))}if(h.rgb!==void 0){let g=d.getUint8(_+h.rgb+2)/255,y=d.getUint8(_+h.rgb+1)/255,x=d.getUint8(_+h.rgb+0)/255;c.setRGB(g,y,x,W),a.push(c.r,c.g,c.b)}if(h.normal_x!==void 0){let g=i.fields.indexOf("normal_x"),y=i.fields.indexOf("normal_y"),x=i.fields.indexOf("normal_z");r.push(this._getDataView(d,_+h.normal_x,i.type[g],i.size[g])),r.push(this._getDataView(d,_+h.normal_y,i.type[y],i.size[y])),r.push(this._getDataView(d,_+h.normal_z,i.type[x],i.size[x]))}if(h.intensity!==void 0){let g=i.fields.indexOf("intensity");l.push(this._getDataView(d,_+h.intensity,i.type[g],i.size[g]))}if(h.label!==void 0){let g=i.fields.indexOf("label");o.push(this._getDataView(d,_+h.label,i.type[g],i.size[g]))}}}let u=new Be;s.length>0&&u.setAttribute("position",new he(s,3)),r.length>0&&u.setAttribute("normal",new he(r,3)),a.length>0&&u.setAttribute("color",new he(a,3)),l.length>0&&u.setAttribute("intensity",new he(l,1)),o.length>0&&u.setAttribute("label",new \$e(o,1)),u.computeBoundingSphere();let f=new ze({size:.005});return a.length>0&&(f.vertexColors=!0),new Qe(u,f)}};var Sa=new Bt;globalThis.onmessage=async p=>{let{data:e,id:t}=p.data;if(!(e instanceof Uint8Array)){postMessage({id:t,error:"Invalid data format"});return}try{let n=Sa.parse(e.buffer);if(n.geometry){let i=n.geometry.attributes.position?.array??new Float32Array(0),s=n.geometry.attributes.color?.array??void 0,r=s?new Uint8Array(s.length):void 0;if(r)for(let a=0,l=s.length;a<l;a++)r[a]=Math.round(s[a]*255);postMessage({positions:i,colors:r,id:t},{transfer:r?[i.buffer,r.buffer]:[i.buffer]})}else postMessage({id:t,error:"Failed to extract geometry"})}catch(n){postMessage({id:t,error:n.message})}};})();
 /*! Bundled license information:
 
 three/build/three.core.js:

package/dist/loaders/pcd/worker.js

@@ -22,7 +22,9 @@ globalThis.onmessage = async (event) => {
                     colors[i] = Math.round(colorsFloat[i] * 255);
                 }
             }
-            postMessage({ positions, colors, id }, colors ? [positions.buffer, colors.buffer] : [positions.buffer]);
+            postMessage({ positions, colors, id }, {
+                transfer: colors ? [positions.buffer, colors.buffer] : [positions.buffer],
+            });
         }
         else {
             postMessage({ id, error: 'Failed to extract geometry' });

package/dist/plugins/Focus/Focus.svelte

@@ -0,0 +1,45 @@
+<script lang="ts">
+	import { Portal } from '@threlte/extras'
+	import { PressedKeys } from 'runed'
+
+	import Button from '../../components/overlay/dashboard/Button.svelte'
+	import { traits, useQuery } from '../../ecs'
+
+	import FocusBox from './FocusBox.svelte'
+	import { provideFocus } from './provideFocus.svelte'
+
+	let focusing = $state(false)
+
+	provideFocus(() => focusing)
+
+	const selected = useQuery(traits.Selected)
+
+	const canFocus = $derived(selected.current.length > 0 || focusing)
+
+	const keys = new PressedKeys()
+
+	keys.onKeys('/', () => {
+		if (selected.current.length > 0 && !focusing) {
+			focusing = true
+		} else if (focusing) {
+			focusing = false
+		}
+	})
+</script>
+
+<Portal id="dashboard">
+	<fieldset class="flex">
+		<Button
+			icon="focus"
+			active={focusing}
+			disabled={!canFocus}
+			description="Focus selection"
+			hotkey="/"
+			onclick={() => (focusing = !focusing)}
+		/>
+	</fieldset>
+</Portal>
+
+{#if focusing}
+	<FocusBox />
+{/if}

package/dist/plugins/Focus/Focus.svelte.d.ts

@@ -0,0 +1,3 @@
+declare const Focus: import("svelte").Component<Record<string, never>, {}, "">;
+type Focus = ReturnType<typeof Focus>;
+export default Focus;

package/dist/plugins/Focus/FocusBox.svelte

@@ -0,0 +1,75 @@
+<script lang="ts">
+	import { T, useThrelte } from '@threlte/core'
+	import { Gizmo, TrackballControls } from '@threlte/extras'
+	import { untrack } from 'svelte'
+	import { Box3, Vector3 } from 'three'
+
+	import Camera from '../../components/Camera.svelte'
+	import { traits, useQuery } from '../../ecs'
+	import { useCameraControls } from '../../hooks/useControls.svelte'
+
+	const { scene } = useThrelte()
+	const cameraControls = useCameraControls()
+	const selected = useQuery(traits.Selected)
+
+	/**
+	 * Save the main camera controls and their state the instant focus begins —
+	 * this runs before the TrackballControls below swaps the shared context, so
+	 * `current` is still the main controls. On teardown we hand `current` back to
+	 * them (the trackball never restores it) and reset them to the saved view, so
+	 * exiting focus returns the camera to where it was. camera-controls exposes
+	 * saveState()/reset(); TrackballControls does not, which also narrows the type.
+	 */
+	$effect.pre(() => {
+		const previousControls = untrack(() => cameraControls.current)
+		const restorableControls =
+			previousControls && 'saveState' in previousControls ? previousControls : undefined
+		restorableControls?.saveState()
+
+		return () => {
+			if (!restorableControls) return
+			cameraControls.set(restorableControls)
+			restorableControls.reset(false)
+		}
+	})
+
+	const box = new Box3()
+	const vec = new Vector3()
+
+	let center = $state.raw<[number, number, number]>([0, 0, 0])
+	let size = $state.raw<[number, number, number]>([0, 0, 0])
+
+	/**
+	 * Frame the camera on the selection captured when focus was entered. Reading
+	 * the selection untracked leaves this effect with no reactive dependencies,
+	 * so it runs once on mount and the framing stays put — changing the selection
+	 * while focused must not re-frame or reset the camera.
+	 */
+	$effect(() => {
+		box.makeEmpty()
+		for (const entity of untrack(() => selected.current)) {
+			const object3d = scene.getObjectByName(entity as unknown as string)
+			if (object3d) {
+				box.expandByObject(object3d)
+			}
+		}
+
+		size = box.getSize(vec).toArray()
+		center = box.getCenter(vec).toArray()
+	})
+</script>
+
+<Camera position={[size[0] + 1, size[0] + 1, size[0] + 1]}>
+	<TrackballControls
+		target={center}
+		oncreate={(ref) => cameraControls.set(ref)}
+	>
+		<Gizmo placement="bottom-right" />
+	</TrackballControls>
+</Camera>
+
+<T.Box3Helper
+	args={[box, 'red']}
+	bvh={{ enabled: false }}
+	raycast={() => null}
+/>

package/dist/plugins/Focus/FocusBox.svelte.d.ts

@@ -0,0 +1,3 @@
+declare const FocusBox: import("svelte").Component<Record<string, never>, {}, "">;
+type FocusBox = ReturnType<typeof FocusBox>;
+export default FocusBox;

package/dist/plugins/Focus/provideFocus.svelte.d.ts

@@ -0,0 +1 @@
+export declare const provideFocus: (focusing: () => boolean) => void;

package/dist/plugins/Focus/provideFocus.svelte.js

@@ -0,0 +1,61 @@
+import { trait } from 'koota';
+import { untrack } from 'svelte';
+import { relations, traits, useQuery, useWorld } from '../../ecs';
+const HiddenByFocus = trait();
+export const provideFocus = (focusing) => {
+    const world = useWorld();
+    const selected = useQuery(traits.Selected);
+    $effect(() => {
+        if (!focusing()) {
+            for (const entity of world.query(HiddenByFocus)) {
+                entity.remove(HiddenByFocus, traits.Invisible);
+            }
+            return;
+        }
+        /**
+         * Snapshot the selection at the moment focus is entered. Reading it
+         * untracked makes `focusing()` this effect's only dependency, so the
+         * focused view stays frozen: selecting or deselecting entities while
+         * focused must not change what's hidden. Everything is restored when
+         * focus exits.
+         */
+        const selectedEntities = untrack(() => selected.current);
+        /**
+         * Entities only render when their `InheritedInvisible` is unset, and that
+         * trait is computed by walking `ChildOf` ancestors (see
+         * `useInheritedInvisible`). So hiding a selected entity's parent — or its
+         * renderable sub-entities, which are `ChildOf` children that never carry
+         * `Selected` — makes the selection itself disappear. Keep the whole
+         * connected subtree of each selection visible: its ancestors (so the
+         * cascade can't reach it) and its descendants (so its geometry shows).
+         */
+        const keep = new Set();
+        const keepSubtree = (entity) => {
+            if (keep.has(entity))
+                return;
+            keep.add(entity);
+            for (const child of world.query(relations.ChildOf(entity))) {
+                keepSubtree(child);
+            }
+        };
+        for (const entity of selectedEntities) {
+            let ancestor = entity.targetFor(relations.ChildOf);
+            while (ancestor?.isAlive()) {
+                keep.add(ancestor);
+                ancestor = ancestor.targetFor(relations.ChildOf);
+            }
+            keepSubtree(entity);
+        }
+        /**
+         * Hide the rest. Skip already-invisible entities so we don't take
+         * ownership of — and later wrongly reveal — user-hidden entities.
+         */
+        for (const entity of world.query(traits.Name)) {
+            if (keep.has(entity))
+                continue;
+            if (!entity.has(traits.Invisible)) {
+                entity.add(HiddenByFocus, traits.Invisible);
+            }
+        }
+    });
+};

package/dist/{components → plugins}/MeasureTool/MeasureTool.svelte

@@ -4,16 +4,14 @@
 	import { untrack } from 'svelte'
 	import { type Intersection, Vector3 } from 'three'
 
-	import Button from '../overlay/dashboard/Button.svelte'
+	import Button from '../../components/overlay/dashboard/Button.svelte'
+	import Popover from '../../components/overlay/Popover.svelte'
+	import ToggleGroup from '../../components/overlay/ToggleGroup.svelte'
 	import { useMouseRaycaster } from '../../hooks/useMouseRaycaster.svelte'
-	import { useFocusedEntity } from '../../hooks/useSelection.svelte'
 	import { useSettings } from '../../hooks/useSettings.svelte'
 
-	import Popover from '../overlay/Popover.svelte'
-	import ToggleGroup from '../overlay/ToggleGroup.svelte'
 	import MeasurePoint from './MeasurePoint.svelte'
 
-	const focusedEntity = useFocusedEntity()
 	const settings = useSettings()
 
 	const htmlPosition = new Vector3()
@@ -73,9 +71,9 @@
 	}
 
 	$effect(() => {
-		// eslint-disable-next-line @typescript-eslint/no-unused-expressions
-		;(focusedEntity.current, enabled)
-		untrack(() => clear())
+		if (!enabled) {
+			untrack(() => clear())
+		}
 	})
 </script>
 

package/dist/plugins/Selection/Ellipse.svelte

@@ -3,7 +3,7 @@
 
 	import { useThrelte } from '@threlte/core'
 	import earcut from 'earcut'
-	import { Not } from 'koota'
+	import { type Entity, Not } from 'koota'
 	import { Box3, Triangle, Vector3 } from 'three'
 
 	import { createBufferGeometry } from '../../attribute'
@@ -11,6 +11,7 @@
 	import { useCameraControls } from '../../hooks/useControls.svelte'
 
 	import Debug from './Debug.svelte'
+	import * as selectionRelations from './relations'
 	import * as selectionTraits from './traits'
 	import { getTriangleBoxesFromIndices, getTriangleFromIndex, raycast } from './utils'
 
@@ -168,7 +169,7 @@
 		max.set(ellipseBox.maxX, ellipseBox.maxY, Number.POSITIVE_INFINITY)
 		box3.set(min, max)
 
-		const enclosedPoints: number[] = []
+		const enclosedPoints = new Map<Entity, number[]>()
 
 		for (const pointsEntity of world.query(
 			traits.Points,
@@ -202,7 +203,8 @@
 							getTriangleFromIndex(i, indices, positions, triangle)
 
 							if (triangle.containsPoint(point)) {
-								enclosedPoints.push(point.x, point.y, point.z)
+								if (!enclosedPoints.has(pointsEntity)) enclosedPoints.set(pointsEntity, [])
+								enclosedPoints.get(pointsEntity)!.push(point.x, point.y, point.z)
 							}
 						}
 					}
@@ -211,19 +213,22 @@
 			} as ShapecastCallbacks)
 		}
 
-		const ellipseResultGeometry = createBufferGeometry(new Float32Array(enclosedPoints))
-
-		world.spawn(
-			traits.Name('Ellipse result'),
-			traits.BufferGeometry(ellipseResultGeometry),
-			traits.Color({ r: 1, g: 0, b: 0 }),
-			traits.RenderOrder(999),
-			traits.Material({ depthTest: false }),
-			traits.Points,
-			traits.Removable,
-			selectionTraits.SelectionEnclosedPoints,
-			selectionTraits.PointsCapturedBy(ellipse)
-		)
+		for (const [sourceEntity, points] of enclosedPoints) {
+			const ellipseResultGeometry = createBufferGeometry(new Float32Array(points))
+
+			world.spawn(
+				traits.Name('Ellipse result'),
+				traits.BufferGeometry(ellipseResultGeometry),
+				traits.Color({ r: 1, g: 0, b: 0 }),
+				traits.RenderOrder(999),
+				traits.Material({ depthTest: false }),
+				traits.Points,
+				traits.Removable,
+				selectionTraits.SelectionEnclosedPoints,
+				selectionRelations.SelectedFrom(sourceEntity),
+				selectionRelations.PointsCapturedBy(ellipse)
+			)
+		}
 	}
 
 	const onkeydown = (event: KeyboardEvent) => {

package/dist/plugins/Selection/Lasso.svelte

@@ -3,7 +3,7 @@
 
 	import { useThrelte } from '@threlte/core'
 	import earcut from 'earcut'
-	import { Not } from 'koota'
+	import { type Entity, Not } from 'koota'
 	import { Box3, Triangle, Vector3 } from 'three'
 
 	import { createBufferGeometry } from '../../attribute'
@@ -11,6 +11,7 @@
 	import { useCameraControls } from '../../hooks/useControls.svelte'
 
 	import Debug from './Debug.svelte'
+	import * as selectionRelations from './relations'
 	import * as selectionTraits from './traits'
 	import { getTriangleBoxesFromIndices, getTriangleFromIndex, raycast } from './utils'
 
@@ -149,7 +150,7 @@
 		max.set(lassoBox.maxX, lassoBox.maxY, Number.POSITIVE_INFINITY)
 		box3.set(min, max)
 
-		const enclosedPoints: number[] = []
+		const enclosedPoints = new Map<Entity, number[]>()
 
 		for (const pointsEntity of world.query(
 			traits.Points,
@@ -183,7 +184,8 @@
 							getTriangleFromIndex(i, indices, positions, triangle)
 
 							if (triangle.containsPoint(point)) {
-								enclosedPoints.push(point.x, point.y, point.z)
+								if (!enclosedPoints.has(pointsEntity)) enclosedPoints.set(pointsEntity, [])
+								enclosedPoints.get(pointsEntity)!.push(point.x, point.y, point.z)
 							}
 						}
 					}
@@ -192,19 +194,22 @@
 			} as ShapecastCallbacks)
 		}
 
-		const lassoResultGeometry = createBufferGeometry(new Float32Array(enclosedPoints))
-
-		world.spawn(
-			traits.Name('Lasso result'),
-			traits.BufferGeometry(lassoResultGeometry),
-			traits.Color({ r: 1, g: 0, b: 0 }),
-			traits.RenderOrder(999),
-			traits.Material({ depthTest: false }),
-			traits.Points,
-			traits.Removable,
-			selectionTraits.SelectionEnclosedPoints,
-			selectionTraits.PointsCapturedBy(lasso)
-		)
+		for (const [sourceEntity, points] of enclosedPoints) {
+			const lassoResultGeometry = createBufferGeometry(new Float32Array(points))
+
+			world.spawn(
+				traits.Name('Lasso result'),
+				traits.BufferGeometry(lassoResultGeometry),
+				traits.Color({ r: 1, g: 0, b: 0 }),
+				traits.RenderOrder(999),
+				traits.Material({ depthTest: false }),
+				traits.Points,
+				traits.Removable,
+				selectionTraits.SelectionEnclosedPoints,
+				selectionRelations.PointsCapturedBy(lasso),
+				selectionRelations.SelectedFrom(sourceEntity)
+			)
+		}
 	}
 
 	const onkeydown = (event: KeyboardEvent) => {

package/dist/plugins/Selection/SelectionTool.svelte

@@ -9,7 +9,7 @@
 	import DashboardButton from '../../components/overlay/dashboard/Button.svelte'
 	import Popover from '../../components/overlay/Popover.svelte'
 	import ToggleGroup from '../../components/overlay/ToggleGroup.svelte'
-	import { useSelectedEntity } from '../../hooks/useSelection.svelte'
+	import { traits, useWorld } from '../../ecs'
 	import { useSettings } from '../../hooks/useSettings.svelte'
 
 	import Ellipse from './Ellipse.svelte'
@@ -29,11 +29,12 @@
 	let { enabled = false, autoSelectNewEntities = false, children }: Props = $props()
 
 	const { dom } = useThrelte()
+	const world = useWorld()
 	const settings = useSettings()
 	const isSelectionMode = $derived(settings.current.interactionMode === 'select')
 
 	const selectionPlugin = provideSelectionPlugin()
-	const selectedEntity = useSelectedEntity()
+
 	let selectionType = $state<SelectionType>('lasso')
 
 	$effect(() => {
@@ -58,7 +59,13 @@
 
 		const newest = newEntities.at(-1)
 		if (newest === undefined) return
-		selectedEntity.set(newest)
+
+		const selected = world.query(traits.Selected)
+		for (const entity of selected) {
+			entity.remove(traits.Selected)
+		}
+
+		newest.add(traits.Selected)
 	})
 
 	const rect = new ElementRect(() => dom)

package/dist/plugins/Selection/relations.d.ts

@@ -0,0 +1,6 @@
+export declare const SelectedFrom: import("koota").Relation<import("koota").Trait<Record<string, never>>>;
+/**
+ * Captured points are removable, so we want to also destroy
+ * the source selection every time a user deletes one.
+ */
+export declare const PointsCapturedBy: import("koota").Relation<import("koota").Trait<Record<string, never>>>;

package/dist/plugins/Selection/relations.js

@@ -0,0 +1,7 @@
+import { relation } from 'koota';
+export const SelectedFrom = relation();
+/**
+ * Captured points are removable, so we want to also destroy
+ * the source selection every time a user deletes one.
+ */
+export const PointsCapturedBy = relation({ autoDestroy: 'target' });

package/dist/plugins/Selection/traits.d.ts

@@ -1,11 +1,6 @@
 export declare const Lasso: import("koota").Trait<() => boolean>;
 export declare const Ellipse: import("koota").Trait<() => boolean>;
 export declare const SelectionEnclosedPoints: import("koota").Trait<() => boolean>;
-/**
- * Captured points are removable, so we want to also destroy
- * the source selection every time a user deletes one.
- */
-export declare const PointsCapturedBy: import("koota").Relation<import("koota").Trait<Record<string, never>>>;
 export interface AABB {
     minX: number;
     minY: number;

package/dist/plugins/Selection/traits.js

@@ -1,12 +1,7 @@
-import { relation, trait } from 'koota';
+import { trait } from 'koota';
 export const Lasso = trait(() => true);
 export const Ellipse = trait(() => true);
 export const SelectionEnclosedPoints = trait(() => true);
-/**
- * Captured points are removable, so we want to also destroy
- * the source selection every time a user deletes one.
- */
-export const PointsCapturedBy = relation({ autoDestroy: 'target' });
 export const Box = trait({
     minX: 0,
     minY: 0,

package/dist/plugins/index.d.ts

@@ -1,6 +1,9 @@
 export { default as SelectionTool } from './Selection/SelectionTool.svelte';
 export * as selectionTraits from './Selection/traits';
+export * as selectionRelations from './Selection/relations';
 export { useSelectionPlugin } from './Selection/useSelectionPlugin.svelte';
+export { default as MeasureTool } from './MeasureTool/MeasureTool.svelte';
 export { default as DrawService } from './DrawService/DrawService.svelte';
 export { default as Skybox } from './Skybox/Skybox.svelte';
 export { default as Debug } from './Debug/Debug.svelte';
+export { default as Focus } from './Focus/Focus.svelte';

package/dist/plugins/index.js

@@ -1,10 +1,13 @@
 // Selection
 export { default as SelectionTool } from './Selection/SelectionTool.svelte';
 export * as selectionTraits from './Selection/traits';
+export * as selectionRelations from './Selection/relations';
 export { useSelectionPlugin } from './Selection/useSelectionPlugin.svelte';
+export { default as MeasureTool } from './MeasureTool/MeasureTool.svelte';
 // DrawService
 export { default as DrawService } from './DrawService/DrawService.svelte';
 // Skybox
 export { default as Skybox } from './Skybox/Skybox.svelte';
 // Debug
 export { default as Debug } from './Debug/Debug.svelte';
+export { default as Focus } from './Focus/Focus.svelte';

package/dist/snapshot.d.ts

@@ -31,3 +31,17 @@ export interface ReconcileResult {
     updated: SnapshotEntity[];
 }
 export declare const reconcileSnapshotEntities: (world: World, snapshot: Snapshot, prev: Map<string, SnapshotEntity>) => ReconcileResult;
+export interface SnapshotPointCloud {
+    name: string;
+    positions: Float32Array;
+    colors?: Uint8Array;
+}
+/**
+ * Decodes every point-cloud drawing in a snapshot into `{ name, positions, colors }`,
+ * keyed and merged by `referenceFrame`. Chunked clouds share a referenceFrame, so their
+ * positions/colors are concatenated back into one cloud. Inverse of `DrawPoints`.
+ *
+ * Colors are gated through `isVertexColors`: only genuine per-vertex color arrays are kept;
+ * single-uniform-color arrays (3 bytes) are discarded as `undefined`.
+ */
+export declare const decodeDrawnSnapshotPointClouds: (snapshot: Snapshot) => SnapshotPointCloud[];

package/dist/snapshot.js

@@ -1,5 +1,6 @@
 import { RenderArmModels } from './buf/draw/v1/scene_pb';
 import { traits } from './ecs';
+import { asFloat32Array, inMeters, isVertexColors } from './buffer';
 import { rgbToHex } from './color';
 import { drawDrawing, drawTransform, updateDrawing, updateModel, updateTransform, uuidBytesToString, } from './draw';
 /**
@@ -160,3 +161,25 @@ const getRenderArmModels = (renderArmModels) => {
         }
     }
 };
+/**
+ * Decodes every point-cloud drawing in a snapshot into `{ name, positions, colors }`,
+ * keyed and merged by `referenceFrame`. Chunked clouds share a referenceFrame, so their
+ * positions/colors are concatenated back into one cloud. Inverse of `DrawPoints`.
+ *
+ * Colors are gated through `isVertexColors`: only genuine per-vertex color arrays are kept;
+ * single-uniform-color arrays (3 bytes) are discarded as `undefined`.
+ */
+export const decodeDrawnSnapshotPointClouds = (snapshot) => {
+    const snapshotPointClouds = [];
+    for (const drawing of snapshot.drawings) {
+        const name = drawing.referenceFrame;
+        const geometryType = drawing.physicalObject?.geometryType;
+        if (geometryType?.case === 'points') {
+            const positions = asFloat32Array(geometryType.value.positions, inMeters);
+            const rawColors = drawing.metadata?.colors;
+            const colors = isVertexColors(rawColors) ? rawColors : undefined;
+            snapshotPointClouds.push({ name, positions, colors });
+        }
+    }
+    return snapshotPointClouds;
+};

package/dist/three/arrow.d.ts

@@ -1,4 +1,6 @@
 import { type BufferGeometry } from 'three';
+/** Total length of the geometry produced by `createArrowGeometry`, in meters. */
+export declare const ARROW_LENGTH = 0.1;
 /**
  * Returns one merged geometry for an arrow (box tail + cone head)
  *

package/dist/three/arrow.js

@@ -1,12 +1,14 @@
 import { BoxGeometry, ConeGeometry } from 'three';
 import { mergeGeometries } from 'three/examples/jsm/utils/BufferGeometryUtils.js';
+/** Total length of the geometry produced by `createArrowGeometry`, in meters. */
+export const ARROW_LENGTH = 0.1;
 /**
  * Returns one merged geometry for an arrow (box tail + cone head)
  *
  * Arrow points along +Y with its base at y = 0
  */
 export const createArrowGeometry = () => {
-    const length = 0.1;
+    const length = ARROW_LENGTH;
     const headLength = length * 0.3;
     const headWidth = headLength * 0.3;
     const tailLength = length - headLength;