@viamrobotics/motion-tools 1.7.0 → 1.9.1

package/dist/hooks/useObjectEvents.svelte.js

@@ -2,6 +2,7 @@ import { useCursor } from '@threlte/extras';
 import { useFocusedEntity, useSelectedEntity } from './useSelection.svelte';
 import { useVisibility } from './useVisibility.svelte';
 import { Vector2 } from 'three';
+import { traits } from '../ecs';
 export const useObjectEvents = (entity) => {
     const down = new Vector2();
     const selectedEntity = useSelectedEntity();
@@ -13,10 +14,32 @@ export const useObjectEvents = (entity) => {
     const onpointerenter = (event) => {
         event.stopPropagation();
         cursor.onPointerEnter();
+        if (currentEntity && !currentEntity.has(traits.Hover)) {
+            currentEntity.add(traits.Hover({
+                index: -1,
+                x: event.point.x,
+                y: event.point.y,
+                z: event.point.z,
+            }));
+        }
+    };
+    const onpointermove = (event) => {
+        event.stopPropagation();
+        if (currentEntity && currentEntity.has(traits.Hover)) {
+            currentEntity.set(traits.Hover, {
+                index: event.index ?? -1,
+                x: event.point.x,
+                y: event.point.y,
+                z: event.point.z,
+            });
+        }
     };
     const onpointerleave = (event) => {
         event.stopPropagation();
         cursor.onPointerLeave();
+        if (currentEntity?.has(traits.Hover)) {
+            currentEntity.remove(traits.Hover);
+        }
     };
     const ondblclick = (event) => {
         event.stopPropagation();
@@ -41,6 +64,7 @@ export const useObjectEvents = (entity) => {
             return visible;
         },
         onpointerenter,
+        onpointermove,
         onpointerleave,
         ondblclick,
         onpointerdown,

package/dist/hooks/usePointcloudObjects.svelte.js

@@ -7,7 +7,7 @@ import { getContext, setContext } from 'svelte';
 import { traits, useWorld } from '../ecs';
 import { createBufferGeometry, updateBufferGeometry } from '../attribute';
 import { useEnvironment } from './useEnvironment.svelte';
-import { RefetchRates } from '../components/RefreshRate.svelte';
+import { RefetchRates } from '../components/overlay/left-pane/RefreshRate.svelte';
 import { createPose } from '../transform';
 const key = Symbol('pointcloud-object-context');
 export const providePointcloudObjects = (partID) => {

package/dist/hooks/usePointclouds.svelte.js

@@ -1,10 +1,10 @@
 import { CameraClient } from '@viamrobotics/sdk';
-import { setContext, getContext } from 'svelte';
+import { setContext, getContext, untrack } from 'svelte';
 import { createResourceClient, createResourceQuery, useResourceNames, } from '@viamrobotics/svelte-sdk';
 import { parsePcdInWorker } from '../loaders/pcd';
 import { RefreshRates, useMachineSettings } from './useMachineSettings.svelte';
 import { useLogs } from './useLogs.svelte';
-import { RefetchRates } from '../components/RefreshRate.svelte';
+import { RefetchRates } from '../components/overlay/left-pane/RefreshRate.svelte';
 import { traits, useWorld } from '../ecs';
 import { useEnvironment } from './useEnvironment.svelte';
 import { createBufferGeometry, updateBufferGeometry } from '../attribute';
@@ -59,7 +59,7 @@ export const providePointclouds = (partID) => {
         }
     });
     const options = $derived({
-        refetchInterval: interval,
+        refetchInterval: interval === RefetchRates.MANUAL ? false : interval,
     });
     const queries = $derived(enabledClients.map((client) => [client.current.name, createResourceQuery(client, 'getPointCloud', () => options)]));
     const queryMap = $derived(typeSafeObjectFromEntries(queries));
@@ -73,46 +73,33 @@ export const providePointclouds = (partID) => {
             }
         }
     });
-    let pcObjects = $state.raw([]);
-    $effect(() => {
-        const binaries = [];
-        for (const [name, query] of queries) {
-            const { data } = query;
-            if (name && data) {
-                binaries.push([name, data]);
-            }
-        }
-        Promise.allSettled(binaries.map(async ([name, uint8array]) => {
-            const { positions, colors } = await parsePcdInWorker(new Uint8Array(uint8array));
-            return { name, positions, colors };
-        })).then((results) => {
-            const fulfilledResults = [];
-            for (const result of results) {
-                if (result.status === 'fulfilled') {
-                    fulfilledResults.push(result.value);
-                }
-                else if (result.status === 'rejected') {
-                    logs.add(result.reason, 'error');
-                }
-            }
-            pcObjects = fulfilledResults;
-        });
-    });
     const entities = new Map();
     $effect(() => {
-        // Create or update entities
-        for (const { name, positions, colors } of pcObjects) {
-            const existing = entities.get(name);
-            if (existing) {
-                const geometry = existing.get(traits.BufferGeometry);
-                if (geometry) {
-                    updateBufferGeometry(geometry, positions, colors);
-                    continue;
-                }
-            }
-            const geometry = createBufferGeometry(positions, colors);
-            const entity = world.spawn(traits.Parent(name), traits.Name(`${name} pointcloud`), traits.BufferGeometry(geometry), traits.Points);
-            entities.set(name, entity);
+        for (const [name, query] of queries) {
+            untrack(() => {
+                $effect(() => {
+                    const { data } = query;
+                    if (!data || data.length === 0)
+                        return;
+                    parsePcdInWorker(data)
+                        .then(({ positions, colors }) => {
+                        const existing = entities.get(name);
+                        if (existing) {
+                            const geometry = existing.get(traits.BufferGeometry);
+                            if (geometry) {
+                                updateBufferGeometry(geometry, positions, colors);
+                                return;
+                            }
+                        }
+                        const geometry = createBufferGeometry(positions, colors);
+                        const entity = world.spawn(traits.Parent(name), traits.Name(`${name} pointcloud`), traits.BufferGeometry(geometry), traits.Points);
+                        entities.set(name, entity);
+                    })
+                        .catch((error) => {
+                        logs.add(error.reason, 'error');
+                    });
+                });
+            });
         }
         // Clean up old entities
         for (const [name, entity] of entities) {

package/dist/hooks/usePose.svelte.js

@@ -6,7 +6,7 @@ import { useEnvironment } from './useEnvironment.svelte';
 import { observe } from '@threlte/core';
 import { untrack } from 'svelte';
 import { useFrames } from './useFrames.svelte';
-import { RefetchRates } from '../components/RefreshRate.svelte';
+import { RefetchRates } from '../components/overlay/left-pane/RefreshRate.svelte';
 import { useLogs } from './useLogs.svelte';
 import { useResourceByName } from './useResourceByName.svelte';
 import { useRefetchPoses } from './useRefetchPoses';

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

@@ -13,6 +13,9 @@ export interface Settings {
     lineWidth: number;
     lineDotSize: number;
     enableMeasure: boolean;
+    enableMeasureAxisX: boolean;
+    enableMeasureAxisY: boolean;
+    enableMeasureAxisZ: boolean;
     enableLabels: boolean;
     enableKeybindings: boolean;
     enableQueryDevtools: boolean;
@@ -21,6 +24,7 @@ export interface Settings {
     openCameraWidgets: Record<string, string[]>;
     renderStats: boolean;
     renderArmModels: 'colliders' | 'colliders+model' | 'model';
+    renderSubEntityHoverDetail: boolean;
 }
 interface Context {
     current: Settings;

package/dist/hooks/useSettings.svelte.js

@@ -16,6 +16,9 @@ const defaults = () => ({
     lineWidth: 0.005,
     lineDotSize: 0.01,
     enableMeasure: false,
+    enableMeasureAxisX: true,
+    enableMeasureAxisY: true,
+    enableMeasureAxisZ: true,
     enableLabels: false,
     enableKeybindings: true,
     enableQueryDevtools: false,
@@ -24,6 +27,7 @@ const defaults = () => ({
     openCameraWidgets: {},
     renderStats: false,
     renderArmModels: 'colliders+model',
+    renderSubEntityHoverDetail: false,
 });
 export const provideSettings = () => {
     let settings = $state(defaults());

package/dist/hooks/useWorldState.svelte.js

@@ -80,7 +80,7 @@ const createWorldState = (client) => {
         if (metadata.shape === 'arrow') {
             entityTraits.push(traits.Arrow);
         }
-        entityTraits.push(traits.Name(transform.referenceFrame), traits.Pose(pose), traits.WorldStateStoreAPI);
+        entityTraits.push(traits.Name(transform.referenceFrame), traits.Pose(pose), traits.ShowAxesHelper, traits.WorldStateStoreAPI);
         const entity = world.spawn(...entityTraits);
         entities.set(transform.uuidString, entity);
     };

package/dist/three/InstancedArrows/raycast.js

@@ -2,7 +2,6 @@ import { Object3D, BufferGeometry, Ray, Matrix4, Raycaster, Vector3, Box3, RawSh
 const vec3 = new Vector3();
 const inverseMatrix = new Matrix4();
 const localRay = new Ray();
-const ray = new Ray();
 const box = new Box3();
 const segmentStart = new Vector3();
 const segmentEnd = new Vector3();
@@ -46,17 +45,14 @@ export function meshBoundsRaycast(raycaster, intersects) {
         this.geometry.computeBoundingBox();
     }
     box.copy(this.geometry.boundingBox ?? box);
-    box.applyMatrix4(this.matrixWorld);
     if (!raycaster.ray.intersectsBox(box)) {
         return;
     }
-    inverseMatrix.copy(this.matrixWorld).invert();
-    ray.copy(raycaster.ray).applyMatrix4(inverseMatrix);
+    raycaster.ray.intersectBox(box, vec3);
     const distance = vec3.distanceTo(raycaster.ray.origin);
-    const point = vec3.clone();
     intersects.push({
         distance,
-        point,
+        point: vec3.clone(),
         object: this,
     });
 }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.7.0",
+  "version": "1.9.1",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",
@@ -41,7 +41,9 @@
     "@vitest/coverage-v8": "^3.2.4",
     "@zag-js/collapsible": "1.22.1",
     "@zag-js/floating-panel": "1.22.1",
+    "@zag-js/popover": "1.22.1",
     "@zag-js/svelte": "1.22.1",
+    "@zag-js/toggle-group": "1.22.1",
     "@zag-js/tree-view": "1.22.1",
     "camera-controls": "3.1.0",
     "eslint": "9.34.0",
@@ -87,7 +89,9 @@
     "@zag-js/collapsible": ">=1",
     "@zag-js/dialog": ">=1.31",
     "@zag-js/floating-panel": ">=1",
+    "@zag-js/popover": ">=1",
     "@zag-js/svelte": ">=1",
+    "@zag-js/toggle-group": ">=1",
     "@zag-js/tree-view": ">=1",
     "camera-controls": ">=3",
     "idb-keyval": ">=6",
@@ -128,7 +132,7 @@
     "@bufbuild/protobuf": "1.10.1",
     "@neodrag/svelte": "^2.3.3",
     "@tanstack/svelte-query-devtools": "^6.0.2",
-    "koota": "^0.5.3",
+    "koota": "0.6.5",
     "lodash-es": "4.17.23",
     "uuid-tool": "^2.0.3"
   },

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

@@ -1,10 +0,0 @@
-import { type Props as ThrelteProps } from '@threlte/core';
-import type { ColorRepresentation, Vector3Tuple, Group } from 'three';
-interface Props extends ThrelteProps<typeof Group> {
-    position: Vector3Tuple;
-    color?: ColorRepresentation;
-    opacity?: number;
-}
-declare const DotSprite: import("svelte").Component<Props, {}, "ref">;
-type DotSprite = ReturnType<typeof DotSprite>;
-export default DotSprite;

package/dist/components/MeasureTool.svelte

@@ -1,123 +0,0 @@
-<script lang="ts">
-	import { untrack } from 'svelte'
-	import { Vector3, type Intersection } from 'three'
-	import { T } from '@threlte/core'
-	import { HTML, MeshLineGeometry, MeshLineMaterial, Portal } from '@threlte/extras'
-	import { useSettings } from '../hooks/useSettings.svelte'
-	import Button from './dashboard/Button.svelte'
-	import DotSprite from './DotSprite.svelte'
-	import { useMouseRaycaster } from '../hooks/useMouseRaycaster.svelte'
-	import { useFocusedEntity } from '../hooks/useSelection.svelte'
-
-	const focusedEntity = useFocusedEntity()
-	const settings = useSettings()
-
-	const htmlPosition = new Vector3()
-
-	let step: 'idle' | 'p1' | 'p2' = 'idle'
-
-	let intersection = $state.raw<Intersection>()
-	let p1 = $state.raw<Vector3>()
-	let p2 = $state.raw<Vector3>()
-
-	const enabled = $derived(settings.current.enableMeasure)
-
-	const { onclick, onmove, raycaster } = useMouseRaycaster(() => ({
-		enabled,
-	}))
-	raycaster.firstHitOnly = true
-	raycaster.params.Points.threshold = 0.005
-
-	onmove((event) => {
-		intersection = event.intersections[0]
-	})
-
-	onclick(() => {
-		if (step === 'idle' && intersection) {
-			p1 = intersection.point.clone()
-			step = 'p1'
-		} else if (step === 'p1' && intersection) {
-			p2 = intersection.point.clone()
-			step = 'p2'
-		} else if (step === 'p2') {
-			p1 = undefined
-			p2 = undefined
-			step = 'idle'
-		}
-	})
-
-	const clear = () => {
-		p1 = undefined
-		p2 = undefined
-		step = 'idle'
-	}
-
-	$effect(() => {
-		// eslint-disable-next-line @typescript-eslint/no-unused-expressions
-		;(focusedEntity.current, enabled)
-		untrack(() => clear())
-	})
-</script>
-
-<Portal id="dashboard">
-	<fieldset>
-		<Button
-			active
-			icon="ruler"
-			class={enabled ? '' : 'text-gray-4!'}
-			description="{enabled ? 'Disable' : 'Enable'} measurement"
-			onclick={() => {
-				settings.current.enableMeasure = !settings.current.enableMeasure
-			}}
-		/>
-	</fieldset>
-</Portal>
-
-{#if enabled}
-	{#if intersection}
-		<DotSprite
-			position={intersection?.point.toArray()}
-			opacity={0.5}
-		/>
-	{/if}
-
-	{#if p1}
-		<DotSprite
-			position={p1.toArray()}
-			opacity={0.5}
-		/>
-	{/if}
-
-	{#if p2}
-		<DotSprite
-			position={p2.toArray()}
-			opacity={0.5}
-		/>
-	{/if}
-
-	{#if p1 && p2}
-		<T.Mesh
-			raycast={() => null}
-			bvh={{ enabled: false }}
-			renderOrder={1}
-		>
-			<MeshLineGeometry points={[p1, p2]} />
-			<MeshLineMaterial
-				width={2.5}
-				depthTest={false}
-				color="black"
-				opacity={0.5}
-				attenuate={false}
-				transparent
-			/>
-		</T.Mesh>
-		<HTML
-			center
-			position={htmlPosition.lerpVectors(p1, p2, 0.5).toArray()}
-		>
-			<div class="border border-black bg-white px-1 py-0.5 text-xs">
-				{p1.distanceTo(p2).toFixed(2)}<span class="text-subtle-2">m</span>
-			</div>
-		</HTML>
-	{/if}
-{/if}

package/dist/components/null-states/Connection.svelte.d.ts

@@ -1,26 +0,0 @@
-export default Connection;
-type Connection = SvelteComponent<{
-    [x: string]: never;
-}, {
-    [evt: string]: CustomEvent<any>;
-}, {}> & {
-    $$bindings?: string | undefined;
-};
-declare const Connection: $$__sveltets_2_IsomorphicComponent<{
-    [x: string]: never;
-}, {
-    [evt: string]: CustomEvent<any>;
-}, {}, {}, string>;
-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;
-}