@viamrobotics/motion-tools 1.33.0 → 1.33.1

package/dist/ecs/traits.d.ts

@@ -71,7 +71,7 @@ export declare const Invisible: import("koota").Trait<() => boolean>;
  * `details-extensions` portal target (e.g. gizmo plugin entities) opt in by
  * adding this trait.
  */
-export declare const CustomDetails: import("koota").Trait<() => boolean>;
+export declare const CustomDetails: import("koota").TagTrait;
 /**
  * True when the entity itself, or any of its parents up the `ChildOf`
  * chain, has `Invisible`. Maintained by `provideInheritedInvisible`;

package/dist/ecs/traits.js

@@ -68,7 +68,7 @@ export const Invisible = trait(() => true);
  * `details-extensions` portal target (e.g. gizmo plugin entities) opt in by
  * adding this trait.
  */
-export const CustomDetails = trait(() => true);
+export const CustomDetails = trait();
 /**
  * True when the entity itself, or any of its parents up the `ChildOf`
  * chain, has `Invisible`. Maintained by `provideInheritedInvisible`;

package/dist/hooks/useWorldState.svelte.js

@@ -1,6 +1,6 @@
 import { useThrelte } from '@threlte/core';
 import { Struct, TransformChangeType, WorldStateStoreClient, } from '@viamrobotics/sdk';
-import { createResourceClient, createResourceQuery, createResourceStream, useResourceNames, } from '@viamrobotics/svelte-sdk';
+import { createResourceClient, createResourceQuery, useResourceNames, } from '@viamrobotics/svelte-sdk';
 import { Matrix4 } from 'three';
 import { asFloat32Array, inMeters } from '../buffer';
 import { createChunkLoader } from '../chunking';
@@ -161,14 +161,12 @@ const createWorldState = (client) => {
     };
     let initialized = false;
     let flushScheduled = false;
+    let rafId = 0;
     let pendingEvents = [];
     const listUUIDs = createResourceQuery(client, 'listUUIDs');
     const getTransformQueries = $derived(listUUIDs.data?.map((uuid) => {
         return createResourceQuery(client, 'getTransform', () => [uuid], () => ({ refetchInterval: false }));
     }));
-    const changeStream = createResourceStream(client, 'streamTransformChanges', {
-        refetchMode: 'replace',
-    });
     const applyEvents = (events) => {
         for (const event of events) {
             if (event.changeType === TransformChangeType.ADDED) {
@@ -190,11 +188,12 @@ const createWorldState = (client) => {
         if (flushScheduled)
             return;
         flushScheduled = true;
-        requestAnimationFrame(() => {
-            const toApply = pendingEvents;
-            applyEvents(toApply);
+        rafId = requestAnimationFrame(() => {
+            rafId = 0;
             flushScheduled = false;
+            const toApply = pendingEvents;
             pendingEvents = [];
+            applyEvents(toApply);
         });
     };
     $effect(() => {
@@ -213,55 +212,45 @@ const createWorldState = (client) => {
         invalidate();
         initialized = true;
     });
-    $effect(() => {
-        if (changeStream?.data === undefined)
+    /**
+     * Consumes the `streamTransformChanges` server stream directly.
+     * Transform changes are write-once into the ECS world, so we drain
+     * each event into `pendingEvents` (cleared every flush) and never
+     * retain history. Mirrors `useDrawService`'s stream consumption.
+     */
+    const consumeChanges = async (signal) => {
+        const activeClient = client.current;
+        if (!activeClient)
             return;
-        const eventsByUUID = new Map();
-        for (const event of changeStream.data) {
-            if (!event.transform) {
-                continue;
-            }
-            const uuid = event.transform.uuidString;
-            const existing = eventsByUUID.get(uuid);
-            if (!existing) {
-                eventsByUUID.set(uuid, event);
-                continue;
-            }
-            switch (event.changeType) {
-                case TransformChangeType.REMOVED: {
-                    eventsByUUID.set(uuid, event);
-                    break;
-                }
-                case TransformChangeType.ADDED: {
-                    if (existing.changeType !== TransformChangeType.REMOVED) {
-                        eventsByUUID.set(uuid, event);
-                    }
-                    break;
-                }
-                case TransformChangeType.UPDATED: {
-                    // merge with existing updated event
-                    if (existing.changeType === TransformChangeType.UPDATED) {
-                        existing.updatedFields ??= { paths: [] };
-                        const paths = event.updatedFields?.paths ?? [];
-                        for (const path of paths) {
-                            if (existing.updatedFields.paths.includes(path)) {
-                                continue;
-                            }
-                            existing.updatedFields.paths.push(path);
-                        }
-                        existing.transform = event.transform;
-                    }
-                    else {
-                        eventsByUUID.set(uuid, event);
-                    }
+        try {
+            for await (const event of activeClient.streamTransformChanges(undefined, { signal })) {
+                if (signal.aborted)
                     break;
-                }
+                if (!event.transform)
+                    continue;
+                pendingEvents.push(event);
+                scheduleFlush();
+            }
+        }
+        catch (error) {
+            if (!signal.aborted) {
+                console.error('World state transform stream error:', error);
             }
         }
-        pendingEvents.push(...eventsByUUID.values());
-        scheduleFlush();
+    };
+    $effect(() => {
+        if (!client.current)
+            return;
+        const controller = new AbortController();
+        void consumeChanges(controller.signal);
+        return () => {
+            controller.abort();
+        };
     });
     return () => {
+        if (rafId)
+            cancelAnimationFrame(rafId);
+        pendingEvents = [];
         chunkLoader.dispose();
         for (const [, entity] of entities) {
             if (world.has(entity)) {

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.33.0",
+  "version": "1.33.1",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -33,6 +33,7 @@
     "@threlte/rapier": "3.4.1",
     "@threlte/xr": "1.6.0",
     "@types/bun": "1.2.21",
+    "@types/d3-force": "^3.0.10",
     "@types/earcut": "^3.0.0",
     "@types/lodash-es": "4.17.12",
     "@types/node": "^25.6.0",
@@ -163,6 +164,7 @@
   "dependencies": {
     "@bufbuild/protobuf": "1.10.1",
     "@neodrag/svelte": "^2.3.3",
+    "d3-force": "^3.0.0",
     "filtrex": "^3.1.0",
     "koota": "0.6.5",
     "lodash-es": "4.18.1",