@viamrobotics/motion-tools 1.9.1 → 1.11.0

package/dist/HoverUpdater.svelte.d.ts

@@ -0,0 +1,16 @@
+import type { Entity } from 'koota';
+import type { IntersectionEvent } from '@threlte/extras';
+export interface HoverInfo {
+    index: number;
+    x: number;
+    y: number;
+    z: number;
+    oX: number;
+    oY: number;
+    oZ: number;
+    theta: number;
+}
+export declare const getPointAtIndex: (positions: Float32Array, index: number) => HoverInfo | null;
+export declare const getArrowAtIndex: (positions: Float32Array, index: number) => HoverInfo | null;
+export declare const updateHoverInfo: (entity: Entity, hoverEvent: IntersectionEvent<MouseEvent>) => HoverInfo | null;
+export declare const getLinkedHoverInfo: (index: number, linkedEntity: Entity) => HoverInfo | null;

package/dist/HoverUpdater.svelte.js

@@ -0,0 +1,78 @@
+import { Vector3 } from 'three';
+import { traits } from './ecs';
+const hoverPosition = new Vector3();
+export const getPointAtIndex = (positions, index) => {
+    if (index < 0 || index >= positions.length / 3) {
+        return null;
+    }
+    return {
+        index,
+        x: positions[index * 3],
+        y: positions[index * 3 + 1],
+        z: positions[index * 3 + 2],
+        oX: 0,
+        oY: 0,
+        oZ: 0,
+        theta: 0,
+    };
+};
+export const getArrowAtIndex = (positions, index) => {
+    if (index < 0 || index >= positions.length / 6) {
+        return null;
+    }
+    return {
+        index,
+        x: positions[index * 6] / 1000,
+        y: positions[index * 6 + 1] / 1000,
+        z: positions[index * 6 + 2] / 1000,
+        oX: positions[index * 6 + 3],
+        oY: positions[index * 6 + 4],
+        oZ: positions[index * 6 + 5],
+        theta: 0,
+    };
+};
+export const updateHoverInfo = (entity, hoverEvent) => {
+    const { index, point } = hoverEvent;
+    if (index === -1) {
+        return null;
+    }
+    hoverPosition.set(point.x, point.y, point.z);
+    let hoverInfo = null;
+    if (entity.has(traits.Arrows)) {
+        let closestArrow = null;
+        if (index && index > 0) {
+            closestArrow = getArrowAtIndex(entity.get(traits.Positions), index);
+        }
+        if (closestArrow) {
+            hoverInfo = closestArrow;
+        }
+    }
+    else if (entity.has(traits.Points)) {
+        const positions = entity.get(traits.BufferGeometry)?.attributes.position.array;
+        let closestPoint = null;
+        if (index && index > 0) {
+            closestPoint = getPointAtIndex(positions, index);
+        }
+        if (closestPoint) {
+            hoverInfo = closestPoint;
+        }
+    }
+    return hoverInfo;
+};
+export const getLinkedHoverInfo = (index, linkedEntity) => {
+    if (linkedEntity.has(traits.Arrows)) {
+        const closestArrow = getArrowAtIndex(linkedEntity.get(traits.Positions), index);
+        if (closestArrow) {
+            return closestArrow;
+        }
+    }
+    else if (linkedEntity.has(traits.Points)) {
+        const positions = linkedEntity.get(traits.BufferGeometry)?.attributes.position
+            .array;
+        const closestPoint = getPointAtIndex(positions, index);
+        if (closestPoint) {
+            return closestPoint;
+        }
+    }
+    return null;
+};

package/dist/WorldObject.svelte.d.ts

@@ -0,0 +1,27 @@
+import type { PlainMessage, Struct } from '@viamrobotics/sdk';
+import { BatchedMesh, Color, Vector3 } from 'three';
+import type { GLTF } from 'three/examples/jsm/Addons.js';
+import type { OBB } from 'three/addons/math/OBB.js';
+declare enum SupportedShapes {
+    points = "points",
+    line = "line",
+    arrow = "arrow"
+}
+type Metadata = {
+    colors?: Float32Array<ArrayBufferLike>;
+    color?: Color;
+    opacity?: number;
+    gltf?: GLTF;
+    points?: Vector3[];
+    pointSize?: number;
+    lineWidth?: number;
+    lineDotColor?: Color;
+    batched?: {
+        id: number;
+        object: BatchedMesh;
+    };
+    shape?: SupportedShapes;
+    getBoundingBoxAt?: (box: OBB) => void;
+};
+export declare const parseMetadata: (fields?: PlainMessage<Struct>["fields"]) => Metadata;
+export {};

package/dist/WorldObject.svelte.js

@@ -1,11 +1,11 @@
-import { BatchedMesh, Color, MathUtils, Vector3 } from 'three';
-import { createPose } from './transform';
+import { BatchedMesh, Color, Vector3 } from 'three';
 import { isColorRepresentation, isRGB, parseColor, parseOpacity, parseRGB } from './color';
-export const SupportedShapes = {
-    points: 'points',
-    line: 'line',
-    arrow: 'arrow',
-};
+var SupportedShapes;
+(function (SupportedShapes) {
+    SupportedShapes["points"] = "points";
+    SupportedShapes["line"] = "line";
+    SupportedShapes["arrow"] = "arrow";
+})(SupportedShapes || (SupportedShapes = {}));
 const METADATA_KEYS = [
     'colors',
     'color',
@@ -18,50 +18,9 @@ const METADATA_KEYS = [
     'batched',
     'shape',
 ];
-export const isMetadataKey = (key) => {
+const isMetadataKey = (key) => {
     return METADATA_KEYS.includes(key);
 };
-export class WorldObject {
-    uuid = MathUtils.generateUUID();
-    name = '';
-    referenceFrame = $state.raw();
-    pose = $state.raw(createPose());
-    geometry = $state();
-    metadata = $state({});
-    localEditedPose = $state.raw(createPose());
-    constructor(name = '', pose, parent = 'world', geometry, metadata) {
-        this.name = name;
-        this.referenceFrame = parent;
-        this.geometry = geometry;
-        if (metadata) {
-            this.metadata = metadata;
-        }
-        if (pose) {
-            this.pose = pose;
-            this.localEditedPose = { ...pose };
-        }
-    }
-    toJSON() {
-        return {
-            uuid: this.uuid,
-            name: this.name,
-            referenceFrame: $state.snapshot(this.referenceFrame),
-            pose: $state.snapshot(this.pose),
-            geometry: $state.snapshot(this.geometry),
-            localEditedPose: $state.snapshot(this.localEditedPose),
-        };
-    }
-    fromJSON(json) {
-        this.uuid = json.uuid;
-        this.name = json.name;
-        this.referenceFrame = json.referenceFrame;
-        this.pose = json.pose;
-        this.geometry = json.geometry;
-        this.localEditedPose = json.localEditedPose;
-        this.metadata = {};
-        return this;
-    }
-}
 // eslint-disable-next-line @typescript-eslint/no-explicit-any
 const unwrapValue = (value) => {
     if (!value?.kind)
@@ -153,9 +112,3 @@ const readColor = (color) => {
         return parseRGB(color);
     return new Color('black');
 };
-export const fromTransform = (transform) => {
-    const metadata = transform.metadata ? parseMetadata(transform.metadata.fields) : {};
-    const worldObject = new WorldObject(transform.referenceFrame, transform.poseInObserverFrame?.pose, transform.poseInObserverFrame?.referenceFrame, transform.physicalObject, metadata);
-    worldObject.uuid = transform.uuidString;
-    return worldObject;
-};

package/dist/{draw → buf/draw}/v1/drawing_pb.d.ts

@@ -221,6 +221,12 @@ export declare class Nurbs extends Message<Nurbs> {
      * @generated from field: optional bytes weights = 4;
      */
     weights?: Uint8Array;
+    /**
+     * optional width of the line in millimeters, defaults to 5
+     *
+     * @generated from field: optional float line_width = 5;
+     */
+    lineWidth?: number;
     constructor(data?: PartialMessage<Nurbs>);
     static readonly runtime: typeof proto3;
     static readonly typeName = "draw.v1.Nurbs";

package/dist/{draw → buf/draw}/v1/drawing_pb.js

@@ -278,6 +278,12 @@ export class Nurbs extends Message {
      * @generated from field: optional bytes weights = 4;
      */
     weights;
+    /**
+     * optional width of the line in millimeters, defaults to 5
+     *
+     * @generated from field: optional float line_width = 5;
+     */
+    lineWidth;
     constructor(data) {
         super();
         proto3.util.initPartial(data, this);
@@ -289,6 +295,7 @@ export class Nurbs extends Message {
         { no: 2, name: "knots", kind: "scalar", T: 12 /* ScalarType.BYTES */ },
         { no: 3, name: "degree", kind: "scalar", T: 5 /* ScalarType.INT32 */, opt: true },
         { no: 4, name: "weights", kind: "scalar", T: 12 /* ScalarType.BYTES */, opt: true },
+        { no: 5, name: "line_width", kind: "scalar", T: 2 /* ScalarType.FLOAT */, opt: true },
     ]);
     static fromBinary(bytes, options) {
         return new Nurbs().fromBinary(bytes, options);

package/dist/buf/draw/v1/service_connect.d.ts

@@ -0,0 +1,122 @@
+import { AddEntityRequest, AddEntityResponse, RemoveAllDrawingsRequest, RemoveAllDrawingsResponse, RemoveAllRequest, RemoveAllResponse, RemoveAllTransformsRequest, RemoveAllTransformsResponse, RemoveEntityRequest, RemoveEntityResponse, SetSceneMetadataRequest, SetSceneMetadataResponse, StreamDrawingChangesRequest, StreamDrawingChangesResponse, StreamSceneChangesRequest, StreamSceneChangesResponse, StreamTransformChangesRequest, StreamTransformChangesResponse, UpdateEntityRequest, UpdateEntityResponse } from "./service_pb";
+import { MethodKind } from "@bufbuild/protobuf";
+/**
+ * DrawService provides visualization APIs for managing transforms and custom drawing primitives
+ *
+ * @generated from service draw.v1.DrawService
+ */
+export declare const DrawService: {
+    readonly typeName: "draw.v1.DrawService";
+    readonly methods: {
+        /**
+         * Add an entity to the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.AddEntity
+         */
+        readonly addEntity: {
+            readonly name: "AddEntity";
+            readonly I: typeof AddEntityRequest;
+            readonly O: typeof AddEntityResponse;
+            readonly kind: MethodKind.Unary;
+        };
+        /**
+         * Update an entity in the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.UpdateEntity
+         */
+        readonly updateEntity: {
+            readonly name: "UpdateEntity";
+            readonly I: typeof UpdateEntityRequest;
+            readonly O: typeof UpdateEntityResponse;
+            readonly kind: MethodKind.Unary;
+        };
+        /**
+         * Remove an entity from the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.RemoveEntity
+         */
+        readonly removeEntity: {
+            readonly name: "RemoveEntity";
+            readonly I: typeof RemoveEntityRequest;
+            readonly O: typeof RemoveEntityResponse;
+            readonly kind: MethodKind.Unary;
+        };
+        /**
+         * Set the camera and/or metadata for the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.SetSceneMetadata
+         */
+        readonly setSceneMetadata: {
+            readonly name: "SetSceneMetadata";
+            readonly I: typeof SetSceneMetadataRequest;
+            readonly O: typeof SetSceneMetadataResponse;
+            readonly kind: MethodKind.Unary;
+        };
+        /**
+         * Stream changes to the transforms in the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.StreamTransformChanges
+         */
+        readonly streamTransformChanges: {
+            readonly name: "StreamTransformChanges";
+            readonly I: typeof StreamTransformChangesRequest;
+            readonly O: typeof StreamTransformChangesResponse;
+            readonly kind: MethodKind.ServerStreaming;
+        };
+        /**
+         * Stream changes to the drawings in the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.StreamDrawingChanges
+         */
+        readonly streamDrawingChanges: {
+            readonly name: "StreamDrawingChanges";
+            readonly I: typeof StreamDrawingChangesRequest;
+            readonly O: typeof StreamDrawingChangesResponse;
+            readonly kind: MethodKind.ServerStreaming;
+        };
+        /**
+         * Stream changes to the camera and/or metadata for the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.StreamSceneChanges
+         */
+        readonly streamSceneChanges: {
+            readonly name: "StreamSceneChanges";
+            readonly I: typeof StreamSceneChangesRequest;
+            readonly O: typeof StreamSceneChangesResponse;
+            readonly kind: MethodKind.ServerStreaming;
+        };
+        /**
+         * Remove all transforms from the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.RemoveAllTransforms
+         */
+        readonly removeAllTransforms: {
+            readonly name: "RemoveAllTransforms";
+            readonly I: typeof RemoveAllTransformsRequest;
+            readonly O: typeof RemoveAllTransformsResponse;
+            readonly kind: MethodKind.Unary;
+        };
+        /**
+         * Remove all drawings from the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.RemoveAllDrawings
+         */
+        readonly removeAllDrawings: {
+            readonly name: "RemoveAllDrawings";
+            readonly I: typeof RemoveAllDrawingsRequest;
+            readonly O: typeof RemoveAllDrawingsResponse;
+            readonly kind: MethodKind.Unary;
+        };
+        /**
+         * Remove all entities from the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.RemoveAll
+         */
+        readonly removeAll: {
+            readonly name: "RemoveAll";
+            readonly I: typeof RemoveAllRequest;
+            readonly O: typeof RemoveAllResponse;
+            readonly kind: MethodKind.Unary;
+        };
+    };
+};

package/dist/buf/draw/v1/service_connect.js

@@ -0,0 +1,126 @@
+// @generated by protoc-gen-connect-es v1.6.1 with parameter "target=ts,import_extension=none"
+// @generated from file draw/v1/service.proto (package draw.v1, syntax proto3)
+/* eslint-disable */
+// @ts-nocheck
+import { AddEntityRequest, AddEntityResponse, RemoveAllDrawingsRequest, RemoveAllDrawingsResponse, RemoveAllRequest, RemoveAllResponse, RemoveAllTransformsRequest, RemoveAllTransformsResponse, RemoveEntityRequest, RemoveEntityResponse, SetSceneMetadataRequest, SetSceneMetadataResponse, StreamDrawingChangesRequest, StreamDrawingChangesResponse, StreamSceneChangesRequest, StreamSceneChangesResponse, StreamTransformChangesRequest, StreamTransformChangesResponse, UpdateEntityRequest, UpdateEntityResponse } from "./service_pb";
+import { MethodKind } from "@bufbuild/protobuf";
+/**
+ * DrawService provides visualization APIs for managing transforms and custom drawing primitives
+ *
+ * @generated from service draw.v1.DrawService
+ */
+export const DrawService = {
+    typeName: "draw.v1.DrawService",
+    methods: {
+        /**
+         * Add an entity to the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.AddEntity
+         */
+        addEntity: {
+            name: "AddEntity",
+            I: AddEntityRequest,
+            O: AddEntityResponse,
+            kind: MethodKind.Unary,
+        },
+        /**
+         * Update an entity in the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.UpdateEntity
+         */
+        updateEntity: {
+            name: "UpdateEntity",
+            I: UpdateEntityRequest,
+            O: UpdateEntityResponse,
+            kind: MethodKind.Unary,
+        },
+        /**
+         * Remove an entity from the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.RemoveEntity
+         */
+        removeEntity: {
+            name: "RemoveEntity",
+            I: RemoveEntityRequest,
+            O: RemoveEntityResponse,
+            kind: MethodKind.Unary,
+        },
+        /**
+         * Set the camera and/or metadata for the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.SetSceneMetadata
+         */
+        setSceneMetadata: {
+            name: "SetSceneMetadata",
+            I: SetSceneMetadataRequest,
+            O: SetSceneMetadataResponse,
+            kind: MethodKind.Unary,
+        },
+        /**
+         * Stream changes to the transforms in the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.StreamTransformChanges
+         */
+        streamTransformChanges: {
+            name: "StreamTransformChanges",
+            I: StreamTransformChangesRequest,
+            O: StreamTransformChangesResponse,
+            kind: MethodKind.ServerStreaming,
+        },
+        /**
+         * Stream changes to the drawings in the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.StreamDrawingChanges
+         */
+        streamDrawingChanges: {
+            name: "StreamDrawingChanges",
+            I: StreamDrawingChangesRequest,
+            O: StreamDrawingChangesResponse,
+            kind: MethodKind.ServerStreaming,
+        },
+        /**
+         * Stream changes to the camera and/or metadata for the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.StreamSceneChanges
+         */
+        streamSceneChanges: {
+            name: "StreamSceneChanges",
+            I: StreamSceneChangesRequest,
+            O: StreamSceneChangesResponse,
+            kind: MethodKind.ServerStreaming,
+        },
+        /**
+         * Remove all transforms from the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.RemoveAllTransforms
+         */
+        removeAllTransforms: {
+            name: "RemoveAllTransforms",
+            I: RemoveAllTransformsRequest,
+            O: RemoveAllTransformsResponse,
+            kind: MethodKind.Unary,
+        },
+        /**
+         * Remove all drawings from the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.RemoveAllDrawings
+         */
+        removeAllDrawings: {
+            name: "RemoveAllDrawings",
+            I: RemoveAllDrawingsRequest,
+            O: RemoveAllDrawingsResponse,
+            kind: MethodKind.Unary,
+        },
+        /**
+         * Remove all entities from the scene.
+         *
+         * @generated from rpc draw.v1.DrawService.RemoveAll
+         */
+        removeAll: {
+            name: "RemoveAll",
+            I: RemoveAllRequest,
+            O: RemoveAllResponse,
+            kind: MethodKind.Unary,
+        },
+    }
+};