simview 6.2.0__tar.gz → 6.2.2__tar.gz

{simview-6.2.0/simview.egg-info → simview-6.2.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: simview
-Version: 6.2.0
+Version: 6.2.2
 Summary: THREE.js-based simulation visualization tool
 Author-email: Jan Vlk <vlkjan6@fel.cvut.cz>, Ales Kucera <kuceral4@fel.cvut.cz>, David Korcak <david.korcak@gmail.com>
 License-Expression: BSD-3-Clause

{simview-6.2.0 → simview-6.2.2}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "simview"
-version = "6.2.0"
+version = "6.2.2"
 readme = "README.md"
 requires-python = ">=3.12"
 license = "BSD-3-Clause"

{simview-6.2.0 → simview-6.2.2}/simview/columnar.py

@@ -12,7 +12,7 @@ same document; only how a blob is referenced differs:
   URL the browser fetches in parallel as a `Float32Array`.
 
 That symmetry is the whole point: a columnar file needs no repacking at all
-to be served, and `server.py`'s existing `extract_blobs` walker does the
+to be served, and `columnar.rewrite_blobs` (shared by `server.py`) does the
 rewriting for free.
 
 Shape (see README.md "JSON Format Specification" for the authoritative spec)::
@@ -122,6 +122,29 @@ def encode_floats(flat) -> str:
     return inline_blob(struct.pack(f"<{len(flat)}f", *flat))
 
 
+def batch_rows(flat: list[float], per_row: int, batch_size: int) -> list | None:
+    """Split a decoded blob into `batch_size` rows of `per_row` floats: either
+    one row shared by every batch (replicated) or one row per batch. None if
+    `flat` is neither length -- callers raise their own error."""
+    if len(flat) == per_row:
+        return [flat] * batch_size
+    if len(flat) == batch_size * per_row:
+        return [flat[i : i + per_row] for i in range(0, len(flat), per_row)]
+    return None
+
+
+def rewrite_blobs(obj: Any, register_blob) -> None:
+    """Replace, in place, every inline ``__b64__`` blob string nested anywhere
+    in `obj` with `register_blob(raw_bytes)`."""
+    if not isinstance(obj, (dict, list)):
+        return
+    for k, v in obj.items() if isinstance(obj, dict) else enumerate(obj):
+        if is_blob(v):
+            obj[k] = register_blob(blob_bytes(v))
+        else:
+            rewrite_blobs(v, register_blob)
+
+
 def decode_transform_row(value: Any, batch_size: int, batch_idx: int) -> list[float]:
     """Decode one state's `bodyTransform` field value for a single batch into
     a flat 7-element `[x, y, z, w, qx, qy, qz]` row, without numpy.
@@ -134,8 +157,6 @@ def decode_transform_row(value: Any, batch_size: int, batch_idx: int) -> list[fl
     if len(flat) == batch_size * width:
         start = batch_idx * width
         return flat[start : start + width]
-    if len(flat) == width and batch_size == 1:
-        return flat
     raise ValueError(
         f"bodyTransform has {len(flat)} floats; expected {width} "
         f"(batch_size=1, flat) or {batch_size * width} "
@@ -451,23 +472,17 @@ def write_static_bundle(data: dict, directory) -> None:
     (out / "blob").mkdir(parents=True, exist_ok=True)
     count = 0
 
-    def externalize(obj):
+    def write_blob(raw: bytes) -> str:
         nonlocal count
-        if not isinstance(obj, (dict, list)):
-            return
-        for k, v in obj.items() if isinstance(obj, dict) else enumerate(obj):
-            if is_blob(v):
-                (out / "blob" / str(count)).write_bytes(blob_bytes(v))
-                obj[k] = f"/blob/{count}"
-                count += 1
-            else:
-                externalize(v)
-
-    externalize(data["model"])
+        (out / "blob" / str(count)).write_bytes(raw)
+        count += 1
+        return f"/blob/{count - 1}"
+
+    rewrite_blobs(data["model"], write_blob)
     # The viewer only resolves /blob/ URLs in the model and a columnar states
     # object; a legacy per-frame array's inline __b64__ fields are decoded
     # in place, so they must stay inline.
     if is_columnar(data["states"]):
-        externalize(data["states"])
+        rewrite_blobs(data["states"], write_blob)
     for name in ("model", "states"):
         (out / f"{name}.json").write_text(json.dumps(data[name]))

{simview-6.2.0 → simview-6.2.2}/simview/merge.py

@@ -27,6 +27,7 @@ import orjson
 
 from .columnar import (
     STATE_FIELD_WIDTHS,
+    batch_rows,
     blob_floats,
     encode_floats,
     expand_columnar_states,
@@ -212,12 +213,8 @@ def _decode_per_batch(
         return value
     flat = blob_floats(value)
     per_row = resolution * (vector_width or 1)
-    if len(flat) == per_row:
-        # One shared row (deduplicated singleton terrain).
-        chunks = [list(flat)] * batch_size
-    elif len(flat) == batch_size * per_row:
-        chunks = [list(flat[i : i + per_row]) for i in range(0, len(flat), per_row)]
-    else:
+    chunks = batch_rows(flat, per_row, batch_size)
+    if chunks is None:
         raise ValueError(
             f"terrain blob has {len(flat)} floats; expected {per_row} (one "
             f"shared row) or {batch_size * per_row} ({batch_size} batches "
@@ -679,15 +676,6 @@ def _nearest_index(sorted_times: list[float], t: float) -> int:
     return i - 1 if (t - before) <= (after - t) else i
 
 
-def _state_body_lookup(
-    states: list[dict], file_idx: int, state_idx: int, cache: dict
-) -> dict[str, dict]:
-    key = (file_idx, state_idx)
-    if key not in cache:
-        cache[key] = bodies_by_name(states[state_idx].get("bodies"))
-    return cache[key]
-
-
 def _merge_states(
     states_list: list[list[dict]],
     batch_sizes: list[int],
@@ -731,7 +719,11 @@ def _merge_states(
                 zip(states_list, batch_sizes, selections)
             ):
                 state_idx = state_idx_by_file[file_idx]
-                lookup = _state_body_lookup(states, file_idx, state_idx, lookup_cache)
+                lookup = lookup_cache.get((file_idx, state_idx))
+                if lookup is None:
+                    lookup = lookup_cache[(file_idx, state_idx)] = bodies_by_name(
+                        states[state_idx].get("bodies")
+                    )
                 body_state = lookup.get(name)
                 if body_state is None:
                     raise ValueError(

{simview-6.2.0 → simview-6.2.2}/simview/server.py

@@ -18,12 +18,12 @@ import orjson
 import uvicorn
 from fastapi import FastAPI, Request, Response, WebSocket, WebSocketDisconnect
 from fastapi.middleware.cors import CORSMiddleware
-from fastapi.responses import FileResponse
+from fastapi.responses import FileResponse, JSONResponse
 from fastapi.staticfiles import StaticFiles
 from pydantic import BaseModel
 from starlette.types import Scope
 
-from simview.columnar import blob_bytes, columnarize_states, is_blob, is_columnar
+from simview.columnar import columnarize_states, is_columnar, rewrite_blobs
 from simview.utils import dialable_host, find_free_port, read_maybe_gzipped_bytes
 
 logger = logging.getLogger("simview.server")
@@ -95,6 +95,10 @@ def _parse_byte_range(header: str | None, size: int) -> tuple[int, int] | None:
     return start, min(end, size - 1)
 
 
+def _not_found(what: str) -> JSONResponse:
+    return JSONResponse({"message": f"{what} data not available"}, status_code=404)
+
+
 class BatchNamesRequest(BaseModel):
     names: list[str]
 
@@ -192,9 +196,7 @@ class SimViewServer:
         self.app = FastAPI(lifespan=lifespan)
         # Instance-scoped state (self.model_data, self.model_bytes, ...) lives on this
         # object rather than in module-level globals, so multiple SimViewServer
-        # instances (e.g. in tests) never share or clobber each other's data. It is
-        # also mirrored onto app.state for the FastAPI-idiomatic access pattern.
-        self.app.state.server = self
+        # instances (e.g. in tests) never share or clobber each other's data.
 
         # Local viewer only: restrict cross-origin requests to localhost/127.0.0.1.
         # No allow_credentials: the API doesn't use cookies or auth headers, and
@@ -225,6 +227,9 @@ class SimViewServer:
 
         self.setup_routes()
 
+    def _pack_model(self) -> None:
+        self.model_bytes = gzip.compress(orjson.dumps(self.model_data), compresslevel=1)
+
     def _names_sidecar_path(self) -> Path | None:
         """Where custom batch names get persisted, so they survive a server restart.
 
@@ -273,7 +278,7 @@ class SimViewServer:
         # In-memory callers (SimulationScene.show, LiveViewer, SimViewLauncher)
         # hand over dicts that still share structure with the live scene --
         # SimViewBody.to_json() returns `shape` by reference, for example.
-        # extract_blobs below rewrites `__b64__` strings in place, which would
+        # rewrite_blobs below rewrites `__b64__` strings in place, which would
         # otherwise corrupt the caller's scene (a later scene.save() would
         # write dead "/blob/..." URLs, and a second show() would serve stale
         # blob references). Deep-copying just the model is cheap: the big
@@ -323,16 +328,6 @@ class SimViewServer:
             self.blobs.append(raw)
             return f"/blob/{self._blob_token}/{blob_id}"
 
-        def extract_blobs(obj):
-            """Rewrite every inline `__b64__` blob in `obj` into a /blob/ URL."""
-            if not isinstance(obj, (dict, list)):
-                return
-            for k, v in obj.items() if isinstance(obj, dict) else enumerate(obj):
-                if is_blob(v):
-                    obj[k] = register_blob(blob_bytes(v))
-                else:
-                    extract_blobs(v)
-
         self.model_data = model_data
 
         if model_data is not None:
@@ -343,15 +338,15 @@ class SimViewServer:
                 for k in ("metadata", "batchNames")
                 if k in model_data
             }
-            extract_blobs(model_data)
+            rewrite_blobs(model_data, register_blob)
             model_data.update(keep)
 
         if is_columnar(states_data):
             # The file is already columnar (SimulationScene.save's default) --
             # no repack at all, just rewrite its inline __b64__ blobs into
-            # /blob/ URLs, which is exactly what extract_blobs does. This is
+            # /blob/ URLs, which is exactly what rewrite_blobs does. This is
             # the cheap path the on-disk format exists for.
-            extract_blobs(states_data)
+            rewrite_blobs(states_data, register_blob)
         elif isinstance(states_data, list) and states_data:
             # Legacy per-frame file: repack into whole-trajectory columnar
             # blobs so the viewer parses one lightweight JSON index plus raw
@@ -371,7 +366,7 @@ class SimViewServer:
         # itself is kept around (it's small, unlike states_data) so /batch-names can
         # patch and re-serialize it without re-reading the source file.
         if model_data is not None:
-            self.model_bytes = gzip.compress(orjson.dumps(model_data), compresslevel=1)
+            self._pack_model()
         if self.live:
             # Live mode: frames arrive over /ws/states instead, so /states just
             # tells the client to open the socket (see loadData in SimView.js).
@@ -401,11 +396,7 @@ class SimViewServer:
                     media_type="application/json",
                     headers=_gzip_headers,
                 )
-            return Response(
-                content=b'{"message":"Model data not available"}',
-                media_type="application/json",
-                status_code=404,
-            )
+            return _not_found("Model")
 
         @self.app.get("/states")
         async def get_states():
@@ -416,11 +407,7 @@ class SimViewServer:
                     media_type="application/json",
                     headers=_gzip_headers,
                 )
-            return Response(
-                content=b'{"message":"States data not available"}',
-                media_type="application/json",
-                status_code=404,
-            )
+            return _not_found("States")
 
         @self.app.get("/blob/{token}/{blob_id}")
         async def get_blob(token: str, blob_id: int, request: Request):
@@ -462,11 +449,7 @@ class SimViewServer:
         @self.app.post("/batch-names")
         async def set_batch_names(body: BatchNamesRequest):
             if self.model_data is None:
-                return Response(
-                    content=b'{"message":"Model data not available"}',
-                    media_type="application/json",
-                    status_code=404,
-                )
+                return _not_found("Model")
             names = body.names
             sim_batches = int(self.model_data.get("simBatches", 1))
             if len(names) != sim_batches:
@@ -477,9 +460,7 @@ class SimViewServer:
                 )
 
             self.model_data["batchNames"] = names
-            self.model_bytes = gzip.compress(
-                orjson.dumps(self.model_data), compresslevel=1
-            )
+            self._pack_model()
 
             names_path = self._names_sidecar_path()
             persisted = False
@@ -563,7 +544,7 @@ class SimViewServer:
         if self.model_data is None:
             return
         self.model_data["episodes"] = episodes
-        self.model_bytes = gzip.compress(orjson.dumps(self.model_data), compresslevel=1)
+        self._pack_model()
 
     async def broadcast_episodes(self, episodes: list[dict]) -> None:
         """Push updated episode boundaries to every connected /ws/states client.

{simview-6.2.0 → simview-6.2.2}/simview/static/css/controls.css

@@ -12,7 +12,6 @@
     --ctp-surface0: #313244;
     --ctp-surface1: #45475a;
     --ctp-surface2: #585b70;
-    --ctp-overlay0: #6c7086;
     --ctp-subtext0: #a6adc8;
     --ctp-text: #cdd6f4;
     --ctp-blue: #89b4fa;

{simview-6.2.0 → simview-6.2.2}/simview/static/js/SimView.js

@@ -19,8 +19,9 @@ import { InteractionController } from "./components/InteractionController.js";
 import { buildBodyMeta, resolveStateBodies, topoSortBodies } from "./utils/bodyTransforms.js";
 import { hasBodyTrajectory } from "./utils/terrainSample.js";
 import { decodeStatesChunk, STATE_FIELD_WIDTHS } from "./utils/blobCodec.js";
-import { StateStore } from "./components/StateStore.js";
+import { ColumnarStateStore, LegacyStateStore } from "./components/StateStore.js";
 import { WindowedField } from "./components/WindowedField.js";
+import { escapeHtml } from "./utils/html.js";
 import { bytesPerFrame, shouldWindowField } from "./utils/blobWindow.js";
 import { shouldFollowLive } from "./utils/liveFollow.js";
 import { shiftEpisodes } from "./utils/episodes.js";
@@ -144,7 +145,7 @@ export class SimView {
                 // Live streaming mode (see simview.live.LiveViewer): no states
                 // yet, they arrive incrementally over /ws/states instead.
                 console.debug("Live mode: opening /ws/states");
-                this.store = StateStore.fromLegacy([]);
+                this.store = new LegacyStateStore([]);
                 this.startLiveStream(splash);
             } else if (statesPayload && statesPayload.version === 4) {
                 // Columnar wire shape (see server.py::_columnarize_states):
@@ -158,7 +159,7 @@ export class SimView {
                 console.time("fetch_state_blobs");
                 await this.fetchBlobs(statesPayload);
                 console.timeEnd("fetch_state_blobs");
-                this.store = StateStore.fromColumnar(statesPayload, this.batchManager.simBatches);
+                this.store = new ColumnarStateStore(statesPayload, this.batchManager.simBatches);
                 this.onStoreReady();
             } else {
                 throw new Error("Unrecognized /states payload shape");
@@ -172,7 +173,7 @@ export class SimView {
         } catch (error) {
             console.error("Critical error during initial data fetch:", error);
             if (splash) {
-                splash.innerHTML = `<h1 class="sv-splash-error">Couldn't load the simulation</h1><p>${error.message}</p><p>See the browser console for details.</p>`;
+                splash.innerHTML = `<h1 class="sv-splash-error">Couldn't load the simulation</h1><p>${escapeHtml(error.message)}</p><p>See the browser console for details.</p>`;
             }
             throw error;
         }
@@ -354,7 +355,7 @@ export class SimView {
         decodeStatesChunk(chunk);
         const firstLoad = !this.animationController || !this.animationController.store;
         if (!this.store) {
-            this.store = StateStore.fromLegacy(chunk);
+            this.store = new LegacyStateStore(chunk);
         } else if (firstLoad) {
             this.store.append(chunk);
         } else {
@@ -417,7 +418,7 @@ export class SimView {
             this.analysisPanel = new AnalysisPanel(this);
         }
         this.terrainProfile = new TerrainProfile(this);
-        this.analysisPanel.attachTerrainProfile(this.terrainProfile);
+        this.analysisPanel.attach("terrain", this.terrainProfile, this.terrainProfile.content);
     }
 
     // Resolves and records position/orientation (and contacts, vectors, ...)
@@ -540,11 +541,12 @@ export class SimView {
                     model.scalarNames
                 );
                 this.scalarPlotter = new ScalarPlotter(this, model.scalarNames);
-                this.analysisPanel.attachScalarPlotter(this.scalarPlotter);
+                const { tabBar, plotArea } = this.scalarPlotter;
+                this.analysisPanel.attach("scalars", this.scalarPlotter, tabBar, plotArea);
             }
             if (hasErrorMetrics) {
                 this.errorMetrics = new ErrorMetrics(this);
-                this.analysisPanel.attachErrorMetrics(this.errorMetrics);
+                this.analysisPanel.attach("errorMetrics", this.errorMetrics, this.errorMetrics.content);
             }
             this.interactionController = new InteractionController(this);
             this.uiControls = new UIControls(this);
@@ -559,7 +561,7 @@ export class SimView {
             console.error("Error during initFromModel:", error);
             const splash = document.getElementById("loading-splash");
             if (splash) {
-                splash.innerHTML = `<h1 class="sv-splash-error">Error during initialization</h1><p>${error.message}</p>`;
+                splash.innerHTML = `<h1 class="sv-splash-error">Error during initialization</h1><p>${escapeHtml(error.message)}</p>`;
             }
             throw error;
         }
@@ -584,7 +586,7 @@ export class SimView {
             console.error("Initialization failed:", error);
             const splash = document.getElementById("loading-splash");
             if (splash) {
-                splash.innerHTML = `<h1 class="sv-splash-error">Failed to connect or initialize</h1><p>${error.message}</p>`;
+                splash.innerHTML = `<h1 class="sv-splash-error">Failed to connect or initialize</h1><p>${escapeHtml(error.message)}</p>`;
             }
         }
     }
@@ -662,7 +664,7 @@ export class SimView {
     getViewState() {
         const { camera, controls } = this.scene;
         return {
-            time: this.animationController ? this.animationController.getCurrentTime() : undefined,
+            time: this.animationController ? this.animationController.currentTime : undefined,
             camera: {
                 position: camera.position.clone(),
                 target: controls.target.clone(),
@@ -770,11 +772,11 @@ export class SimView {
         // 1. Update states and time
         if (this.animationController) {
             this.animationController.animate(now);
-            const index = this.animationController.getCurrentStateIndex();
+            const index = this.animationController.currentStateIndex;
             if (index !== this._lastDispatchedFrame && this.animationController.store) {
                 this._lastDispatchedFrame = index;
                 window.dispatchEvent(
-                    new CustomEvent("simview:frame", { detail: { index, time: this.animationController.getCurrentTime() } })
+                    new CustomEvent("simview:frame", { detail: { index, time: this.animationController.currentTime } })
                 );
             }
         }

{simview-6.2.0 → simview-6.2.2}/simview/static/js/components/AnimationController.js

@@ -309,22 +309,6 @@ export class AnimationController {
         return true;
     }
 
-    getTotalTime() {
-        return this.totalTime;
-    }
-
-    getCurrentTime() {
-        return this.currentTime;
-    }
-
-    getCurrentStateIndex() {
-        return this.currentStateIndex;
-    }
-
-    getFirstTime() {
-        return this.firstTime;
-    }
-
     // A windowed field (see WindowedField.js) just landed. While playing the
     // next tick picks it up anyway; paused, nothing would re-render the frame
     // the user scrubbed to, so redo it now (dropping the interpolation memo,

{simview-6.2.0 → simview-6.2.2}/simview/static/js/components/StateStore.js

@@ -76,11 +76,11 @@ function validateColumnar(times, bodies, scalars, simBatches) {
     }
 }
 
-class ColumnarStateStore {
+export class ColumnarStateStore {
     // `bodies`: [{name, fields: {fieldName: Float32Array}, contacts?}], each
     // fields Float32Array already reshaped to flat (T * B * k) row-major.
     // `scalars`: {scalarName: Float32Array}, each flat (T * B) row-major.
-    constructor(times, bodies, scalars, simBatches) {
+    constructor({ times, bodies, scalars }, simBatches) {
         validateColumnar(times, bodies, scalars, simBatches);
         this.times = times;
         this._bodies = bodies;
@@ -168,7 +168,8 @@ class ColumnarStateStore {
         return state;
     }
 
-    // Per-batch series for the scalar plotter: [{x: time, y: value}, ...] per batch.
+    // Per-batch series for the scalar plotter: one per-frame value array per
+    // batch, indexed like `times`.
     // `simBatches` is accepted (and ignored) for API parity with
     // LegacyStateStore.getScalarSeries -- the columnar store already knows
     // its own batch count.
@@ -179,14 +180,14 @@ class ColumnarStateStore {
         for (let i = 0; i < this.length; i++) {
             const base = i * B;
             for (let b = 0; b < B; b++) {
-                series[b][i] = { x: this.times[i], y: flat[base + b] };
+                series[b][i] = flat[base + b];
             }
         }
         return series;
     }
 }
 
-class LegacyStateStore {
+export class LegacyStateStore {
     // `statesArray`: the classic array of per-frame state objects (already
     // decoded -- __b64__ fields expanded via decodeStatesChunk).
     constructor(statesArray) {
@@ -234,7 +235,7 @@ class LegacyStateStore {
                 if (values[b] === undefined) {
                     throw new Error(`Scalar "${name}" not found in state at index ${b}.`);
                 }
-                series[b].push({ x: state.time, y: values[b] });
+                series[b].push(values[b]);
             }
         }
         return series;
@@ -250,13 +251,3 @@ class LegacyStateStore {
         return startIndex;
     }
 }
-
-export class StateStore {
-    static fromColumnar({ times, bodies, scalars }, simBatches) {
-        return new ColumnarStateStore(times, bodies, scalars, simBatches);
-    }
-
-    static fromLegacy(statesArray) {
-        return new LegacyStateStore(statesArray);
-    }
-}

{simview-6.2.0 → simview-6.2.2}/simview/static/js/config.js

@@ -155,22 +155,18 @@ export const BODY_VECTOR_CONFIG = {
     // Linear velocity
     velocity: {
         color: THEME.green,
-        scale: 1.0,
     },
     // Angular velocity
     angularVelocity: {
         color: THEME.yellow,
-        scale: 1.0,
     },
     // Force
     force: {
         color: THEME.peach,
-        scale: 1.0,
     },
     // Torque
     torque: {
         color: THEME.red,
-        scale: 1.0,
     },
 };
 

{simview-6.2.0 → simview-6.2.2}/simview/static/js/objects/Body.js

@@ -193,7 +193,7 @@ export class Body {
         }
         this._trailStateIndex = -1;
         const currentIndex = this.app.animationController
-            ? this.app.animationController.getCurrentStateIndex()
+            ? this.app.animationController.currentStateIndex
             : 0;
         this.updateTrails(currentIndex);
     }
@@ -679,7 +679,7 @@ export class Body {
         this.updateAllInstances();
 
         if (this.trails.length > 0 && this.app.animationController) {
-            this.updateTrails(this.app.animationController.getCurrentStateIndex());
+            this.updateTrails(this.app.animationController.currentStateIndex);
         }
     }
 
@@ -696,7 +696,6 @@ export class Body {
                     config
                 );
                 vector.visible = this.app.uiState.attributeVisible[attr] || false;
-                vector.userData = { scale: config.scale };
                 batchGroup.add(vector);
                 this.bodyVectors[batchIndex].set(attr, vector);
             }
@@ -706,8 +705,7 @@ export class Body {
     updateBodyVector(type, vector, batchIndex) {
         const arrow = this.bodyVectors[batchIndex]?.get(type);
         if (!arrow) return;
-        const scale = arrow.userData.scale || 1.0;
-        const length = vector.length() * scale;
+        const length = vector.length();
         // Written as !(>=) so a NaN vector is treated like a zero one instead
         // of feeding NaN into setDirection/setLength.
         if (!(length >= 1e-6)) {
@@ -850,10 +848,6 @@ export class Body {
         return this.group;
     }
 
-    getAvailableAttributes() {
-        return this.availableAttributes;
-    }
-
     // Which of the mesh/wireframe/points representations this body actually has,
     // so the UI can only offer visualization modes that will show something.
     // A point-cloud body reports none: its cloud is the object itself, not a