riggen 0.1.0__tar.gz → 0.2.1.dev0__tar.gz

{riggen-0.1.0 → riggen-0.2.1.dev0}/Cargo.lock

@@ -214,6 +214,15 @@ version = "1.0.104"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "330a5ed07fa54e4702c9d6c4174f74427fc0ef6e214bbd677ae50a5099946470"
 
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "arboard"
 version = "3.6.1"
@@ -572,6 +581,12 @@ dependencies = [
  "syn 3.0.4",
 ]
 
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
 [[package]]
 name = "byteorder-lite"
 version = "0.1.0"
@@ -922,6 +937,12 @@ version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2"
 
+[[package]]
+name = "downcast-rs"
+version = "2.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "117240f60069e65410b3ae1bb213295bd828f707b5bec6596a1afc8793ce0cbc"
+
 [[package]]
 name = "dpi"
 version = "0.1.2"
@@ -1092,6 +1113,15 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "ena"
+version = "0.14.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "eabffdaee24bd1bf95c5ef7cec31260444317e72ea56c4c91750e8b7ee58d5f1"
+dependencies = [
+ "log",
+]
+
 [[package]]
 name = "endi"
 version = "1.1.1"
@@ -1488,6 +1518,28 @@ dependencies = [
  "mint",
 ]
 
+[[package]]
+name = "glam"
+version = "0.33.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "21fef0953c54fd3de2f44b743fbf77e044c81a25faee03636dfccc0d35135e23"
+dependencies = [
+ "approx",
+ "libm",
+]
+
+[[package]]
+name = "glamx"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9847f980afb0628849bcd6a406cdffd29eb9d53fca83e1646005901a9acd4c5c"
+dependencies = [
+ "approx",
+ "glam 0.33.6",
+ "num-traits",
+ "simba",
+]
+
 [[package]]
 name = "glifo"
 version = "0.2.0"
@@ -1629,6 +1681,15 @@ dependencies = [
  "smallvec",
 ]
 
+[[package]]
+name = "hash32"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "hashbrown"
 version = "0.16.1"
@@ -1649,6 +1710,22 @@ dependencies = [
  "foldhash",
 ]
 
+[[package]]
+name = "heapless"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+dependencies = [
+ "hash32",
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "heck"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea"
+
 [[package]]
 name = "hermit-abi"
 version = "0.5.2"
@@ -2166,6 +2243,26 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2bf50223579dc7cdcfb3bfcacf7069ff68243f8c363f62ffa99cf000a6b9c451"
 
+[[package]]
+name = "num-complex"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-derive"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.119",
+]
+
 [[package]]
 name = "num-traits"
 version = "0.2.19"
@@ -2592,6 +2689,33 @@ dependencies = [
  "windows-link",
 ]
 
+[[package]]
+name = "parry3d-f64"
+version = "0.30.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8c5f71cd1d7f0c475116a52c61baa8d0de69fc258bc4debf86cb4c4ca8f35f3f"
+dependencies = [
+ "approx",
+ "arrayvec",
+ "bitflags 2.13.1",
+ "downcast-rs 2.0.2",
+ "either",
+ "ena",
+ "foldhash",
+ "glamx",
+ "hashbrown 0.17.1",
+ "log",
+ "num-derive",
+ "num-traits",
+ "ordered-float",
+ "rstar",
+ "simba",
+ "slab",
+ "smallvec",
+ "spade",
+ "thiserror 2.0.20",
+]
+
 [[package]]
 name = "peniko"
 version = "0.6.1"
@@ -2820,6 +2944,63 @@ version = "0.1.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d55d956fa96f5ec02be2e13af0e20391a5aa83d6a074e3ad368959d0fab299ea"
 
+[[package]]
+name = "pyo3"
+version = "0.29.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4688ddedf473e32662b9b067670129a8afb8c18e351482c70d62ba4a88171e8b"
+dependencies = [
+ "libc",
+ "once_cell",
+ "portable-atomic",
+ "pyo3-build-config",
+ "pyo3-ffi",
+ "pyo3-macros",
+]
+
+[[package]]
+name = "pyo3-build-config"
+version = "0.29.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f41027e41b4bd03f6e60f9f417fe24a6341a6bb744edd62b6f709f2a52ea30e9"
+dependencies = [
+ "target-lexicon",
+]
+
+[[package]]
+name = "pyo3-ffi"
+version = "0.29.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e591a95526fead067432c3b3a33fc74770b87b1e04e73671090d9c2055a2b327"
+dependencies = [
+ "libc",
+ "pyo3-build-config",
+]
+
+[[package]]
+name = "pyo3-macros"
+version = "0.29.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73225868fc1cd84eef2c3c230ddb91273bf1de46aeb8a4248da76d32a0924a1c"
+dependencies = [
+ "proc-macro2",
+ "pyo3-macros-backend",
+ "quote",
+ "syn 2.0.119",
+]
+
+[[package]]
+name = "pyo3-macros-backend"
+version = "0.29.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "571575aa3749fa6216757dd47d2a3e7ef360f329a40f0666a9fbd14889024952"
+dependencies = [
+ "heck",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.119",
+]
+
 [[package]]
 name = "quick-error"
 version = "2.0.1"
@@ -3042,7 +3223,7 @@ version = "0.0.1"
 
 [[package]]
 name = "riggen-app"
-version = "0.1.0"
+version = "0.2.1-dev"
 dependencies = [
  "console_error_panic_hook",
  "eframe",
@@ -3050,6 +3231,7 @@ dependencies = [
  "egui-wgpu",
  "egui_kittest",
  "getrandom 0.3.4",
+ "js-sys",
  "pollster 1.0.1",
  "rfd",
  "riggen-core",
@@ -3063,11 +3245,12 @@ dependencies = [
  "wasm-bindgen-futures",
  "web-sys",
  "web-time",
+ "zip",
 ]
 
 [[package]]
 name = "riggen-core"
-version = "0.1.0"
+version = "0.2.1-dev"
 dependencies = [
  "riggen-mesh",
  "serde",
@@ -3076,8 +3259,9 @@ dependencies = [
 
 [[package]]
 name = "riggen-export"
-version = "0.1.0"
+version = "0.2.1-dev"
 dependencies = [
+ "quick-xml 0.36.2",
  "riggen-core",
  "riggen-mesh",
  "serde",
@@ -3087,16 +3271,29 @@ dependencies = [
 
 [[package]]
 name = "riggen-mesh"
-version = "0.1.0"
+version = "0.2.1-dev"
 dependencies = [
  "glam 0.30.10",
+ "parry3d-f64",
  "stl_io",
  "tobj",
 ]
 
+[[package]]
+name = "riggen-py"
+version = "0.2.1-dev"
+dependencies = [
+ "pyo3",
+ "riggen-core",
+ "riggen-export",
+ "riggen-mesh",
+ "serde",
+ "serde_json",
+]
+
 [[package]]
 name = "riggen-viewport"
-version = "0.1.0"
+version = "0.2.1-dev"
 dependencies = [
  "bytemuck",
  "egui",
@@ -3105,6 +3302,12 @@ dependencies = [
  "web-time",
 ]
 
+[[package]]
+name = "robust"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4e27ee8bb91ca0adcf0ecb116293afa12d393f9c2b9b9cd54d33e8078fe19839"
+
 [[package]]
 name = "ron"
 version = "0.12.2"
@@ -3119,6 +3322,17 @@ dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "rstar"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5912b862fa5ffb462607bfd1e35036c458c537921f508c8235a83d5f3987edfe"
+dependencies = [
+ "heapless",
+ "num-traits",
+ "smallvec",
+]
+
 [[package]]
 name = "rustc-hash"
 version = "1.1.0"
@@ -3172,6 +3386,15 @@ version = "1.0.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cf54715a573b99ac80df0bc206da022bcd442c974952c7b9720069370852e21f"
 
+[[package]]
+name = "safe_arch"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "42c6efa15875e6ecb39ca61fb0b0c1a40b84fac5a5ffe71eef7d1000c8eb3f5f"
+dependencies = [
+ "bytemuck",
+]
+
 [[package]]
 name = "same-file"
 version = "1.0.6"
@@ -3309,6 +3532,18 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "simba"
+version = "0.10.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f1a7200d82ff1c7b4235efd12f11e2537a402c91cf83a5cb97ce80eef787fde7"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "wide",
+]
+
 [[package]]
 name = "simd-adler32"
 version = "0.3.10"
@@ -3443,6 +3678,18 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "spade"
+version = "2.15.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9699399fd9349b00b184f5635b074f9ec93afffef30c853f8c875b32c0f8c7fa"
+dependencies = [
+ "hashbrown 0.16.1",
+ "num-traits",
+ "robust",
+ "smallvec",
+]
+
 [[package]]
 name = "spirv"
 version = "0.4.0+sdk-1.4.341.0"
@@ -3509,6 +3756,12 @@ dependencies = [
  "syn 2.0.119",
 ]
 
+[[package]]
+name = "target-lexicon"
+version = "0.13.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "adb6935a6f5c20170eeceb1a3835a49e12e19d792f6dd344ccc76a985ca5a6ca"
+
 [[package]]
 name = "tempfile"
 version = "3.27.0"
@@ -3742,6 +3995,12 @@ dependencies = [
  "rustc-hash 2.1.3",
 ]
 
+[[package]]
+name = "typed-path"
+version = "0.12.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8e28f89b80c87b8fb0cf04ab448d5dd0dd0ade2f8891bae878de66a75a28600e"
+
 [[package]]
 name = "typeid"
 version = "1.0.3"
@@ -3947,7 +4206,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "38a91b4eaddff87b1cd1074985e3713da4af2c49742d1b356b2c01670a67a078"
 dependencies = [
  "cc",
- "downcast-rs",
+ "downcast-rs 1.2.1",
  "rustix 1.1.4",
  "scoped-tls",
  "smallvec",
@@ -4300,6 +4559,16 @@ dependencies = [
  "web-sys",
 ]
 
+[[package]]
+name = "wide"
+version = "1.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8cf05ca94c9fba0c51316899caa1d1e74a064fc310a5efa7375e614343d415be"
+dependencies = [
+ "bytemuck",
+ "safe_arch",
+]
+
 [[package]]
 name = "winapi-util"
 version = "0.1.11"
@@ -4923,6 +5192,18 @@ dependencies = [
  "syn 3.0.4",
 ]
 
+[[package]]
+name = "zip"
+version = "8.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2d04a6b5381502aa6087c94c669499eb1602eb9c5e8198e534de571f7154809b"
+dependencies = [
+ "crc32fast",
+ "indexmap",
+ "memchr",
+ "typed-path",
+]
+
 [[package]]
 name = "zlib-rs"
 version = "0.6.7"

{riggen-0.1.0 → riggen-0.2.1.dev0}/Cargo.toml

@@ -1,21 +1,27 @@
 [workspace]
 resolver = "3"
-members = ["crates/riggen-mesh", "crates/riggen-core", "crates/riggen-export", "crates/riggen-viewport", "crates/riggen-app"]
+members = ["crates/riggen-mesh", "crates/riggen-core", "crates/riggen-export", "crates/riggen-py"]
 
 [workspace.package]
-version = "0.1.0"
+version = "0.2.1-dev"
 edition = "2024"
 license = "MIT OR Apache-2.0"
 
 # `cargo run` is the interactive loop, and an unoptimized wgpu/egui is slow
 # enough to be felt. Deps are built once at full optimization; our own crates
-# stay at `1` so backtraces and stepping still work (docs/01-architecture.md
+# stay at `1` so backtraces and stepping still work (docs/ARCHITECTURE.md
 # §Cargo workspace, carried from RoboCAD).
 [profile.dev]
 opt-level = 1
 
+# `debug = false` for dependencies only: 93% of a debug binary was DWARF for
+# crates nobody steps through (596 MB → 39 MB stripped, measured 2026-09-06),
+# and cargo never collects the old copies, so `target/` reached 76 GB. Their
+# symbol names survive in backtraces — that is the symbol table, not debug
+# info — and our own crates above keep theirs in full.
 [profile.dev.package."*"]
 opt-level = 3
+debug = false
 
 # The wheel is the product (ADR-0002): its size is what `pip install` pulls
 # and its startup is what the user sees. Stripped, thin-LTO, one codegen
@@ -25,6 +31,21 @@ strip = true
 lto = "thin"
 codegen-units = 1
 
+# The web demo (ADR-0017, Architecture §The web build). What the browser
+# pays for
+# is the *download*, not the last few percent of throughput: `opt-level = "s"`
+# and fat LTO over the whole graph trade a little speed for a much smaller
+# `.wasm`, and the viewport still holds 60 fps (the demo's own status bar
+# says so). `panic = "abort"` is deliberately **not** here: eframe's panic
+# handler is what turns a crash into a page that says what happened
+# (`web/main.js`), and unwinding is how it gets the message.
+[profile.web]
+inherits = "release"
+opt-level = "s"
+lto = "fat"
+codegen-units = 1
+strip = true
+
 [workspace.dependencies]
 riggen-mesh = { path = "crates/riggen-mesh" }
 riggen-core = { path = "crates/riggen-core" }
@@ -45,6 +66,16 @@ stl_io = "0.11"
 # build, where it does not compile without a JS shim we have no use for.
 tobj = { version = "4", default-features = false, features = ["use_f64"] }
 
+# Approximate convex decomposition (ADR-0011): Dimforge's pure-Rust V-HACD,
+# `transformation::vhacd`, at f64 — the algorithm `riggen-mesh::decompose`
+# wraps beside our own quickhull. Default features: `default-features =
+# false` drops the crate's own `dim3`/`f64` selection and does not compile,
+# and the default set pulls neither `rayon` nor `serde`. Its `glamx` bridge
+# pins a third glam (0.33) beside our 0.30 and transform-gizmo's 0.32; no
+# parry or glam-0.33 type appears in a riggen signature (ADR-0007's
+# containment, applied again).
+parry3d-f64 = "0.30"
+
 # UI stack pinned together: egui/eframe/egui-wgpu 0.36.x from crates.io, wgpu
 # version dictated by egui-wgpu — never depend on a different wgpu (ADR-0001).
 egui = "0.36"
@@ -72,6 +103,26 @@ web-time = "1"
 # URDF parser: the round-trip FK test reads our own URDF back through it
 # (dev, step 6), and File › Import URDF… is built on it (step 13).
 urdf-rs = "0.9"
+# The XML pull parser behind `xml::parse`, the reading half of the MJCF
+# import (ADR-0015 §2). 0.36 is the version `urdf-rs` already compiles, so
+# this line adds a dependency and no crate. Escaping, CDATA and encodings
+# are exactly what the writer's `escape` must not have to invert by hand.
+quick-xml = "0.36"
+
+# The Python SDK's binding layer (ADR-0009). `abi3-py310`: one extension
+# module for every CPython ≥ 3.10 (`requires-python`), so the wheel matrix
+# stays one wheel per platform. `extension-module` is *not* here — it is a
+# feature of `riggen-py` that only maturin enables, so the workspace build
+# still links libpython and `cargo clippy --workspace` sees the crate.
+pyo3 = { version = "0.29", features = ["abi3-py310"] }
+
+# Writing the export directory as one file, which is what a browser
+# download is (ADR-0017 §6). `default-features = false`: no compression, no
+# encryption, no time crate — a stored zip is a header, the bytes and a
+# central directory, and the crate is here for the CRC-32 and the offsets,
+# not for an algorithm. Not gated to wasm: the acceptance test that reads
+# the archive back is native.
+zip = { version = "8", default-features = false }
 
 # Only to block on `Instance::enumerate_adapters` in the "is there a GPU at
 # all?" probe of the snapshot harness — `egui_kittest` panics rather than