From 0671c2df485dea2a0b58b88945bc8c6580a5bf86 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 01:15:06 -0400 Subject: [PATCH 001/236] Ground anchors what meets it without joining them to each other A drawing can hold more than one machine, and until now the app had no way to say so: every joint and link went into one Mechanism, one mobility count, one input. Two four-bars side by side were a single 2-DoF thing that refused to simulate. Splitting them turns on what a grounded joint means. Let it connect the bodies that meet there and every grounded chain in the drawing collapses back into one component -- so it does not connect. Two cranks pinned to the same fixed point cannot feel each other and are two machines, which is both what the mechanics says and what makes the split worth having. A component that reaches ground is a mechanism even when its mobility is wrong, because "this mechanism is 2-DoF" is a far more useful thing to tell a student than "you have no mechanism". Only a chain that never reaches ground has no solvable position at all, and that is the one reported as unassigned. Mobility counting and this split ask the same question of the same structure and have to agree, so the notion of "body" they share is now one function rather than two. Extracting it left the DOF count reading identically -- all 934 existing tests unmoved. --- src/app/model/mechanism/bodies.ts | 79 ++++++++ .../model/mechanism/mechanism-partition.ts | 176 ++++++++++++++++++ src/app/model/mechanism/mechanism.ts | 72 +------ .../verification/mechanism-partition.spec.ts | 172 +++++++++++++++++ 4 files changed, 436 insertions(+), 63 deletions(-) create mode 100644 src/app/model/mechanism/bodies.ts create mode 100644 src/app/model/mechanism/mechanism-partition.ts create mode 100644 src/tests/verification/mechanism-partition.spec.ts diff --git a/src/app/model/mechanism/bodies.ts b/src/app/model/mechanism/bodies.ts new file mode 100644 index 00000000..fa0d1004 --- /dev/null +++ b/src/app/model/mechanism/bodies.ts @@ -0,0 +1,79 @@ +import { Joint, PrisJoint, RealJoint } from '../joint'; +import { Link } from '../link'; +import { groupRigidBodies } from '../rigid-bodies'; +import { assemblyBodyIds, slideAssemblies } from '../slide-assembly'; + +/** The world: one body, however many anchored bars are drawn on top of it. */ +export const WORLD = 'ground-body'; + +export interface BodyAssignment { + /** The rigid body a link belongs to — WORLD for anything pinned down everywhere. */ + bodyOf(link: Link): string; + /** Every distinct body meeting at a joint, the world among them. */ + bodiesAt(joint: RealJoint): Set; + /** Every body that can move: the drawing's bodies, less the world. */ + movingBodies: Set; +} + +/** + * Which rigid body each link belongs to, and which bodies meet at each joint. + * + * Mobility counting and the split into separate mechanisms are two questions + * asked of the same structure, and they have to agree: a mechanism whose + * mobility was counted over one notion of "body" and whose extent was decided + * by another would report a degree of freedom for a machine that is not the one + * on the screen. So both read this, and there is one definition to be wrong. + */ +export function assignBodies(joints: Joint[], links: Link[]): BodyAssignment { + // A Slide's rider and block share one joint, so the shared-joint rule cannot + // see the weld that makes them one body. Links pinned to ground at every + // joint are merged for the same reason: they cannot move, so they are one + // body — the world's, as settled below where the world exists. + const anchored = links + .filter((link) => link.joints.length > 0 && link.joints.every((j) => (j as RealJoint).ground)) + .map((link) => link.id); + const rigidBody = groupRigidBodies(links, [ + ...slideAssemblies(joints).map(assemblyBodyIds), + anchored, + ]); + + const groupOf = (link: Link) => rigidBody.get(link.id) ?? link.id; + // A group every one of whose links is pinned down at every joint *is* the + // world. Deciding it per group rather than per link keeps a rail that has + // been merged with something movable out of the world by mistake. + const anchoredGroups = new Set( + [...new Set(links.map(groupOf))].filter((group) => + links + .filter((link) => groupOf(link) === group) + .every( + (link) => link.joints.length > 0 && link.joints.every((j) => (j as RealJoint).ground) + ) + ) + ); + const bodyOf = (link: Link) => (anchoredGroups.has(groupOf(link)) ? WORLD : groupOf(link)); + + /** + * One rule for both joint types, because it is one question. A pin joins the + * bodies of its links, plus the world if it is grounded; a sliding joint + * joins its block to whatever the slot is cut into — the world for a fixed + * guide, the carrier for a floating one. + */ + const bodiesAt = (joint: RealJoint): Set => { + const bodies = new Set(joint.links.map(bodyOf)); + if (joint.ground) { + bodies.add(WORLD); + } + if (joint instanceof PrisJoint && !joint.ground) { + // A slider with no carrier and no ground slides against nothing. It is an + // invalid mechanism either way; naming the absent body keeps the reported + // number the one this case has always reported. + bodies.add(joint.carrier ? bodyOf(joint.carrier) : 'dangling-slot' + joint.id); + } + return bodies; + }; + + const movingBodies = new Set(links.map(bodyOf)); + movingBodies.delete(WORLD); + + return { bodyOf, bodiesAt, movingBodies }; +} diff --git a/src/app/model/mechanism/mechanism-partition.ts b/src/app/model/mechanism/mechanism-partition.ts new file mode 100644 index 00000000..c6d8365b --- /dev/null +++ b/src/app/model/mechanism/mechanism-partition.ts @@ -0,0 +1,176 @@ +import { Joint, RealJoint } from '../joint'; +import { Link } from '../link'; +import { Force } from '../force'; +import { assignBodies, WORLD } from './bodies'; + +/** One independently solvable machine within the drawing. */ +export interface MechanismPartition { + /** Derived, never stored: M1, M2… in a stable order. See `partitionMechanisms`. */ + id: string; + joints: Joint[]; + links: Link[]; + forces: Force[]; +} + +/** + * Geometry that belongs to no mechanism, and why. + * + * Split by cause rather than lumped together, because the two have different + * ways out: a floating chain needs grounding, a loose joint needs connecting. + */ +export interface UnassignedGeometry { + /** Chains of real bodies that never reach ground, so they have no solvable position. */ + floatingChains: { joints: Joint[]; links: Link[] }[]; + /** Joints with no link at all. */ + looseJoints: Joint[]; +} + +export interface Partitioning { + mechanisms: MechanismPartition[]; + unassigned: UnassignedGeometry; +} + +/** Sort ids the way the alphabet does, with longer ids after the letters they extend. */ +function byJointId(a: string, b: string): number { + return a.length === b.length ? a.localeCompare(b) : a.length - b.length; +} + +/** + * Split a drawing into the machines it actually contains. + * + * Two bodies belong to the same mechanism when a joint holds them to each + * other. Ground is not such a joint: it anchors what meets it without joining + * those things to one another, so two cranks pinned to the same fixed point + * turn independently and are two mechanisms, not one. Were ground allowed to + * connect, every grounded chain in the drawing would collapse into a single + * component and the whole distinction would be lost. + * + * A component that reaches ground is a mechanism — even one whose mobility is + * wrong, because "your mechanism is 2-DoF" is a far more useful thing to say + * than "you have no mechanism". A component that never reaches ground has no + * solvable position at all, so it is not a mechanism yet and is reported as + * unassigned instead. + */ +export function partitionMechanisms( + joints: Joint[], + links: Link[], + forces: Force[] = [] +): Partitioning { + const { bodyOf, bodiesAt, movingBodies } = assignBodies(joints, links); + + const parent = new Map(); + movingBodies.forEach((body) => parent.set(body, body)); + const find = (id: string): string => { + let root = id; + while (parent.get(root) !== root) { + root = parent.get(root)!; + } + return root; + }; + const union = (left: string, right: string) => parent.set(find(left), find(right)); + + const realJoints = joints.filter((joint): joint is RealJoint => joint instanceof RealJoint); + + // A grounded joint anchors; it does not connect. Everything else joins the + // moving bodies that meet at it into one machine. + realJoints + .filter((joint) => !joint.ground) + .forEach((joint) => { + const moving = [...bodiesAt(joint)].filter((body) => parent.has(body)); + moving.slice(1).forEach((body) => union(moving[0], body)); + }); + + const groundedComponents = new Set(); + realJoints.forEach((joint) => { + const bodies = bodiesAt(joint); + if (!bodies.has(WORLD)) { + return; + } + bodies.forEach((body) => { + if (parent.has(body)) { + groundedComponents.add(find(body)); + } + }); + }); + + const members = new Map; links: Set }>(); + const memberOf = (component: string) => { + let entry = members.get(component); + if (!entry) { + entry = { joints: new Set(), links: new Set() }; + members.set(component, entry); + } + return entry; + }; + + const worldLinks: Link[] = []; + links.forEach((link) => { + const body = bodyOf(link); + if (body === WORLD) { + worldLinks.push(link); + return; + } + const entry = memberOf(find(body)); + entry.links.add(link); + link.joints.forEach((joint) => entry.joints.add(joint)); + }); + + // An anchored bar is part of the world, which every machine shares. It is + // handed to each component it touches rather than to one of them, so a + // mechanism is never solved against a frame that is missing a piece. + worldLinks.forEach((link) => { + members.forEach((entry) => { + if (link.joints.some((joint) => entry.joints.has(joint))) { + entry.links.add(link); + link.joints.forEach((joint) => entry.joints.add(joint)); + } + }); + }); + + // A grounded joint sits on the frame, so it belongs to every machine bolted + // to it — added by body above, and by name here for a joint whose links all + // turned out to be world. + realJoints + .filter((joint) => joint.ground) + .forEach((joint) => { + joint.links.forEach((link) => { + const body = bodyOf(link); + if (body !== WORLD && members.has(find(body))) { + memberOf(find(body)).joints.add(joint); + } + }); + }); + + const componentIds = [...members.keys()]; + const lowestJointId = (component: string) => + [...memberOf(component).joints].map((joint) => joint.id).sort(byJointId)[0] ?? ''; + + const grounded = componentIds + .filter((component) => groundedComponents.has(component)) + .sort((a, b) => byJointId(lowestJointId(a), lowestJointId(b))); + + const mechanisms: MechanismPartition[] = grounded.map((component, index) => { + const entry = memberOf(component); + const partitionLinks = [...entry.links]; + return { + id: `M${index + 1}`, + joints: [...entry.joints], + links: partitionLinks, + forces: forces.filter((force) => partitionLinks.some((link) => link.id === force.link?.id)), + }; + }); + + const floatingChains = componentIds + .filter((component) => !groundedComponents.has(component)) + .sort((a, b) => byJointId(lowestJointId(a), lowestJointId(b))) + .map((component) => { + const entry = memberOf(component); + return { joints: [...entry.joints], links: [...entry.links] }; + }); + + const placed = new Set(); + members.forEach((entry) => entry.joints.forEach((joint) => placed.add(joint))); + const looseJoints = joints.filter((joint) => !placed.has(joint)); + + return { mechanisms, unassigned: { floatingChains, looseJoints } }; +} diff --git a/src/app/model/mechanism/mechanism.ts b/src/app/model/mechanism/mechanism.ts index 9e91ad44..e8154c7c 100644 --- a/src/app/model/mechanism/mechanism.ts +++ b/src/app/model/mechanism/mechanism.ts @@ -1,7 +1,6 @@ import { Joint, PrisJoint, RealJoint, RevJoint } from '../joint'; import { Link, SliderBlock, RealLink, Shape } from '../link'; -import { groupRigidBodies } from '../rigid-bodies'; -import { assemblyBodyIds, slideAssemblies } from '../slide-assembly'; +import { assignBodies, WORLD } from './bodies'; import { Force } from '../force'; // import {LoopSolver} from "./loop-solver"; import { PositionSolver, PRISMATIC_INPUT_STEP } from './position-solver'; @@ -282,73 +281,20 @@ export class Mechanism { * refuses to simulate. Collapsing such links into one body before counting * removes the paradox. */ - private determineRigidBodies(): Map { - // A Slide's rider and block share one joint, so the shared-joint rule above - // cannot see the weld that makes them one body. Left uncounted, the extra - // freedom is real to Gruebler and a Scotch yoke reports DOF 2. - // - // Links pinned to ground at every joint are merged with each other for the - // same reason: they cannot move, so they are one body — the world's. Which - // body that is gets settled in the count below, where the world exists. - const anchored = this.links[0] - .filter((link) => link.joints.length > 0 && link.joints.every((j) => (j as RealJoint).ground)) - .map((link) => link.id); - return groupRigidBodies(this.links[0], [ - ...slideAssemblies(this.joints[0]).map(assemblyBodyIds), - anchored, - ]); - } - /** * steps to determine DOF (Gruebler's Criteron with Exceptions): 1.determine number of links + ground - 1a. Links sharing two or more joints are one rigid body (see determineRigidBodies) + 1a. Links sharing two or more joints are one rigid body (see assignBodies) 2.determine number of ground joints 3.determine number of slider joints + * + * What a joint *costs* is one less than the number of bodies it holds + * together, which is what makes a bar pinned to ground at both ends cost + * nothing: only one body meets at each of its ends, and that body is the + * world. */ determineDegreesOfFreedom() { - const rigidBody = this.determineRigidBodies(); - /** The world: one body, however many anchored bars are drawn on top of it. */ - const WORLD = 'ground-body'; - const groupOf = (link: Link) => rigidBody.get(link.id) ?? link.id; - // A group every one of whose links is pinned down at every joint *is* the - // world. Deciding it per group rather than per link keeps a rail that has - // been merged with something movable out of the world by mistake. - const anchoredGroups = new Set( - [...new Set(this.links[0].map(groupOf))].filter((group) => - this.links[0] - .filter((link) => groupOf(link) === group) - .every( - (link) => link.joints.length > 0 && link.joints.every((j) => (j as RealJoint).ground) - ) - ) - ); - const bodyOf = (link: Link) => (anchoredGroups.has(groupOf(link)) ? WORLD : groupOf(link)); - - /** - * Every distinct body meeting at a joint, the world among them. - * - * One rule for both joint types, because it is one question. A pin joins - * the bodies of its links, plus the world if it is grounded; a sliding - * joint joins its block to whatever the slot is cut into — the world for a - * fixed guide, the carrier for a floating one. What a joint *costs* is then - * always one less than the number of bodies it holds together, which is - * what makes a bar pinned to ground at both ends cost nothing: only one - * body meets at each of its ends, and that body is the world. - */ - const bodiesAt = (joint: RealJoint): number => { - const bodies = new Set(joint.links.map(bodyOf)); - if (joint.ground) { - bodies.add(WORLD); - } - if (joint instanceof PrisJoint && !joint.ground) { - // A slider with no carrier and no ground slides against nothing. It is - // an invalid mechanism either way; naming the absent body keeps the - // reported number the one this case has always reported. - bodies.add(joint.carrier ? bodyOf(joint.carrier) : 'dangling-slot' + joint.id); - } - return bodies.size; - }; + const { bodyOf, bodiesAt } = assignBodies(this.joints[0], this.links[0]); const hasGround = this.joints[0].some((j) => j instanceof RealJoint && j.ground); if (!hasGround) { @@ -364,7 +310,7 @@ export class Mechanism { if (!(j instanceof RealJoint)) { return; } - J1 += Math.max(bodiesAt(j) - 1, 0); + J1 += Math.max(bodiesAt(j).size - 1, 0); }); return 3 * (N - 1) - 2 * J1 - J2; } diff --git a/src/tests/verification/mechanism-partition.spec.ts b/src/tests/verification/mechanism-partition.spec.ts new file mode 100644 index 00000000..6c41eab9 --- /dev/null +++ b/src/tests/verification/mechanism-partition.spec.ts @@ -0,0 +1,172 @@ +// joint.ts first: the model modules form an import cycle that only +// initializes cleanly when entered here (see test-utils/verification/fixture.ts). +import '../../app/model/joint'; +import { partitionMechanisms } from '../../app/model/mechanism/mechanism-partition'; +import { buildMechanism, MechanismFixture } from '../../test-utils/verification/fixture'; + +/** + * What counts as one machine. + * + * The rule that does the work is that ground anchors without connecting. Let a + * grounded joint join the bodies that meet at it and every grounded chain in + * the drawing merges into one component — which is not a modelling nicety but + * the difference between "two mechanisms, each 1-DoF and ready" and "one + * 2-DoF mechanism that refuses to simulate". + */ +describe('splitting a drawing into the machines it contains', () => { + const ids = (partition: { joints: { id: string }[] }) => partition.joints.map((j) => j.id).sort(); + + const split = (fixture: MechanismFixture) => { + const built = buildMechanism(fixture); + return { built, ...partitionMechanisms(built.joints, built.links, built.forces) }; + }; + + /** The ordinary case: one four-bar, one mechanism, nothing left over. */ + const fourBar: MechanismFixture = { + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + ], + links: [{ joints: 'AB' }, { joints: 'BC' }, { joints: 'CD' }], + inputAngVel: 1, + }; + + it('finds one mechanism in a lone four-bar, and leaves nothing over', () => { + const { mechanisms, unassigned } = split(fourBar); + + expect(mechanisms).toHaveLength(1); + expect(mechanisms[0].id).toBe('M1'); + expect(ids(mechanisms[0])).toEqual(['A', 'B', 'C', 'D']); + expect(unassigned.floatingChains).toEqual([]); + expect(unassigned.looseJoints).toEqual([]); + }); + + it('finds two mechanisms in two four-bars drawn side by side', () => { + const { mechanisms } = split({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + { id: 'E', x: 10, y: 0, ground: true, input: true }, + { id: 'F', x: 10, y: 1 }, + { id: 'G', x: 13, y: 2 }, + { id: 'H', x: 14, y: 0, ground: true }, + ], + links: [ + { joints: 'AB' }, + { joints: 'BC' }, + { joints: 'CD' }, + { joints: 'EF' }, + { joints: 'FG' }, + { joints: 'GH' }, + ], + inputAngVel: 1, + }); + + expect(mechanisms.map((m) => m.id)).toEqual(['M1', 'M2']); + expect(ids(mechanisms[0])).toEqual(['A', 'B', 'C', 'D']); + expect(ids(mechanisms[1])).toEqual(['E', 'F', 'G', 'H']); + }); + + it('keeps two cranks pinned to the same fixed point apart', () => { + // The rule under test. Both chains hold joint A, and A is the only thing + // they share — but it is grounded, so neither crank can feel the other and + // they are two machines that happen to be bolted to the same spot. + const { mechanisms, unassigned } = split({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + { id: 'E', x: -1, y: 1 }, + { id: 'F', x: -4, y: 2 }, + { id: 'G', x: -5, y: 0, ground: true }, + ], + links: [ + { joints: 'AB' }, + { joints: 'BC' }, + { joints: 'CD' }, + { joints: 'AE' }, + { joints: 'EF' }, + { joints: 'FG' }, + ], + inputAngVel: 1, + }); + + expect(mechanisms).toHaveLength(2); + // The shared pin belongs to both, because it really is part of both frames. + expect(ids(mechanisms[0])).toEqual(['A', 'B', 'C', 'D']); + expect(ids(mechanisms[1])).toEqual(['A', 'E', 'F', 'G']); + expect(unassigned.floatingChains).toEqual([]); + }); + + it('refuses to call a chain that never reaches ground a mechanism', () => { + const { mechanisms, unassigned } = split({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + { id: 'E', x: 0, y: 6 }, + { id: 'F', x: 2, y: 7 }, + { id: 'G', x: 4, y: 6 }, + ], + links: [ + { joints: 'AB' }, + { joints: 'BC' }, + { joints: 'CD' }, + { joints: 'EF' }, + { joints: 'FG' }, + ], + inputAngVel: 1, + }); + + expect(mechanisms).toHaveLength(1); + expect(ids(mechanisms[0])).toEqual(['A', 'B', 'C', 'D']); + expect(unassigned.floatingChains).toHaveLength(1); + expect(unassigned.floatingChains[0].joints.map((j) => j.id).sort()).toEqual(['E', 'F', 'G']); + expect(unassigned.looseJoints).toEqual([]); + }); + + it('reports a joint with no link at all on its own', () => { + const { mechanisms, unassigned } = split({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + { id: 'E', x: 8, y: 8 }, + ], + links: [{ joints: 'AB' }, { joints: 'BC' }, { joints: 'CD' }], + inputAngVel: 1, + }); + + expect(mechanisms).toHaveLength(1); + expect(unassigned.floatingChains).toEqual([]); + expect(unassigned.looseJoints.map((j) => j.id)).toEqual(['E']); + }); + + it('does not split a mechanism at a slider that rides on one of its own links', () => { + // A floating slot joins the block to its carrier, so the two are one + // machine even though no pin connects them. + const { mechanisms, unassigned } = split({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + { id: 'E', x: 1.5, y: 1.5 }, + ], + links: [{ joints: 'AB' }, { joints: 'BC' }, { joints: 'CD' }], + sliders: [{ at: 'E', prisId: 'P', on: { carrier: 'BC', a: 'B', b: 'C' } }], + inputAngVel: 1, + }); + + expect(mechanisms).toHaveLength(1); + expect(ids(mechanisms[0])).toContain('E'); + expect(unassigned.floatingChains).toEqual([]); + }); +}); From 128102e0ce4d00405c5a337dcccd2e2a3a235e78 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 01:25:51 -0400 Subject: [PATCH 002/236] Solve each machine on its own frames, matched by name With the drawing split into components, each one is now built and solved as its own Mechanism: its own mobility, its own input, its own cycle. A half-built chain in the corner no longer takes the finished linkage beside it to 2 degrees of freedom and stops both. The dangerous part was not the split but the pairing that survived it. applyPose walked the whole drawing's joints and read frames.joints[step] at the same array position, which was only ever right because one Mechanism held everything in the same order. Handed a component, that pairing silently places one machine's joint on another's coordinates -- no error, just a linkage that comes apart when you press play. Poses, traced paths and cylinder reach are now matched by id, and each machine is asked for its own frames. Time is shared but cycles are not, so the clock follows the longest running cycle and a shorter machine wraps inside it. Where "is this simulatable" used to be one question about one mechanism, it is now two: any machine ready (the gate for analysis) or the particular machine a part belongs to. A chain that never reaches ground stops being built as an invalid mechanism and becomes unassigned geometry instead, which is what changed under three fixtures that had quietly relied on a Mechanism always existing. --- .../animation-bar.component.spec.ts | 12 +- .../component/new-grid/new-grid.component.ts | 9 +- src/app/services/mechanism.service.spec.ts | 3 + src/app/services/mechanism.service.ts | 273 +++++++++++++----- src/tests/fixtures/mechanism-fixtures.ts | 6 + src/tests/verification/two-mechanisms.spec.ts | 124 ++++++++ 6 files changed, 358 insertions(+), 69 deletions(-) create mode 100644 src/tests/verification/two-mechanisms.spec.ts diff --git a/src/app/component/animation-bar/animation-bar.component.spec.ts b/src/app/component/animation-bar/animation-bar.component.spec.ts index 10ae97d7..f86a4ab8 100644 --- a/src/app/component/animation-bar/animation-bar.component.spec.ts +++ b/src/app/component/animation-bar/animation-bar.component.spec.ts @@ -11,7 +11,17 @@ describe('AnimationBarComponent timestamps', () => { // Real prototype over stub data: the component delegates its time lookups to the // service, so the service's own lookup logic has to run for these to mean anything. const mechanismService = Object.assign(Object.create(MechanismService.prototype), { - mechanisms: [{ timeNum: [0, 0.2, 0.55], joints: [[], [], []], cyclePeriod: 0.55 }], + // isMechanismValid, because the shared clock now follows the longest + // *running* cycle: with several machines in a drawing, one that cannot + // solve must not be the thing the scrubber is measured against. + mechanisms: [ + { + timeNum: [0, 0.2, 0.55], + joints: [[], [], []], + cyclePeriod: 0.55, + isMechanismValid: () => true, + }, + ], mechanismTimeStep, onMechPositionChange: position, animate, diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index d4739654..f51bb599 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -1510,8 +1510,13 @@ export class NewGridComponent implements OnDestroy { } private showPathWhileDragging(): void { - if (this.mechanismSrv.mechanisms[0].joints[0].length === 0) return; - if (this.mechanismSrv.mechanisms[0].dof !== 1) return; + // The machine being dragged, not whichever was built first — and possibly + // none at all, while a chain is still being drawn and has yet to reach + // ground. + const dragged = this.activeObjService.selectedJoint; + const solved = dragged ? this.mechanismSrv.mechanismContaining(dragged) : undefined; + if (!solved || solved.joints[0].length === 0) return; + if (solved.dof !== 1) return; if (this.mechanismSrv.showPathHolder === false) { this.mechanismSrv.onMechUpdateState.next(1); } diff --git a/src/app/services/mechanism.service.spec.ts b/src/app/services/mechanism.service.spec.ts index f280206f..e216be68 100644 --- a/src/app/services/mechanism.service.spec.ts +++ b/src/app/services/mechanism.service.spec.ts @@ -255,6 +255,9 @@ describe('MechanismService welded links and force ownership', () => { it('converts the RPM setting once at the mechanism boundary and preserves direction', () => { const harness = createChain(); + // Grounded, so the chain is a machine at all: a component that never + // reaches ground has no solvable position and is not built as a mechanism. + harness.joints[0].ground = true; harness.settings.inputSpeed.next(60); harness.settings.lengthUnit.next(LengthUnit.METER); harness.settings.isInputCW.next(false); diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 467bb140..c3b16939 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -18,6 +18,11 @@ import { } from '../model/cylinder'; import { Force } from '../model/force'; import { Mechanism } from '../model/mechanism/mechanism'; +import { + MechanismPartition, + partitionMechanisms, + UnassignedGeometry, +} from '../model/mechanism/mechanism-partition'; import { ToolbarComponent } from '../component/toolbar/toolbar.component'; import { InstantCenter } from '../model/instant-center'; import { @@ -75,6 +80,15 @@ export class MechanismService { public forces: Force[] = []; public ics: InstantCenter[] = []; public mechanisms: Mechanism[] = []; + /** + * Which part of the drawing each entry of `mechanisms` was built from, in the + * same order. Kept beside the solved mechanisms rather than inside them + * because these are the *editable* objects the grid draws and the panels + * mutate; a Mechanism holds deep copies at every timestep. + */ + public partitions: MechanismPartition[] = []; + /** Geometry that is in no mechanism, and why. Reported, never solved. */ + public unassigned: UnassignedGeometry = { floatingChains: [], looseJoints: [] }; public showPathHolder: boolean = true; // private moveModes: moveModes = moveModes; @@ -191,28 +205,6 @@ export class MechanismService { this.links.forEach((link) => { if (link instanceof RealLink) link.reComputeDPath(); }); - // console.log(this.mechanisms[0]); - //There are multiple mechanisms since there was a plan to support multiple mechanisms - //You can treat this as a single mechanism for now at index 0 - - this.mechanisms = []; - // TODO: Determine logic later once everything else is determined - // Settings exposes RPM to users and persistence; solvers use rad/s. - // - // A prismatic input is a different quantity, not another unit of the same - // one: its speed is length per second, so it comes from its own setting and - // never meets the pi/30 conversion -- which used to run on it anyway, - // leaving a driven block travelling at a tenth of the speed the panel - // reported. What it does need is the MODEL_SCALE the solvers measure length - // in; an angular speed has no length in it to want one. - const drivenJoint = this.joints.find((j) => j instanceof RealJoint && j.input); - let inputAngularVelocity = - drivenJoint instanceof PrisJoint - ? this.settingsService.linearInputSpeed.value * MODEL_SCALE - : (this.settingsService.inputSpeed.value * Math.PI) / 30; - if (this.settingsService.isInputCW.value) { - inputAngularVelocity = inputAngularVelocity * -1; - } let unitStr = 'cm'; switch (this.settingsService.lengthUnit.value) { case LengthUnit.INCH: @@ -222,18 +214,26 @@ export class MechanismService { unitStr = 'm'; break; } - this.mechanisms.push( - //This creates a new mechanism with the current state of the joints, links, forces, and ics - //If the mechnaism is simulatable, it will generate loops and all future time steps - new Mechanism( - this.joints, - this.links, - this.forces, - this.ics, - true, - unitStr, - inputAngularVelocity - ) + + // One machine per grounded component of the drawing. Each is solved on its + // own -- its own mobility, its own input, its own cycle -- so a half-built + // chain in the corner no longer makes the finished linkage beside it + // unsolvable. + const partitioning = partitionMechanisms(this.joints, this.links, this.forces); + this.partitions = partitioning.mechanisms; + this.unassigned = partitioning.unassigned; + this.mechanisms = this.partitions.map( + //If the mechanism is simulatable, it will generate loops and all future time steps + (partition) => + new Mechanism( + partition.joints, + partition.links, + partition.forces, + this.ics, + true, + unitStr, + this.inputVelocityFor(partition) + ) ); this.activeObjService.fakeUpdateSelectedObj(); this.reseekToTime(heldTime); @@ -243,6 +243,81 @@ export class MechanismService { } } + /** + * How fast this mechanism's own input is driven, in the units its solver wants. + * + * Settings exposes RPM to users and persistence; solvers use rad/s. A + * prismatic input is a different quantity, not another unit of the same one: + * its speed is length per second, so it comes from its own setting and never + * meets the pi/30 conversion -- which used to run on it anyway, leaving a + * driven block travelling at a tenth of the speed the panel reported. What it + * does need is the MODEL_SCALE the solvers measure length in; an angular + * speed has no length in it to want one. + * + * Asked per mechanism rather than once for the drawing, because which of the + * two quantities applies depends on what *this* machine is driven by: a + * cylinder beside a crank must not be handed the crank's rpm. + */ + private inputVelocityFor(partition: MechanismPartition): number { + const driven = partition.joints.find((j) => j instanceof RealJoint && j.input); + const speed = + driven instanceof PrisJoint + ? this.settingsService.linearInputSpeed.value * MODEL_SCALE + : (this.settingsService.inputSpeed.value * Math.PI) / 30; + return this.settingsService.isInputCW.value ? -speed : speed; + } + + /** Which mechanism holds this joint, link or force — none, if it is unassigned. */ + indexOfMechanismContaining(part: Joint | Link | Force): number { + const id = part.id; + return this.partitions.findIndex( + (partition) => + partition.joints.some((joint) => joint.id === id) || + partition.links.some((link) => link.id === id) || + partition.forces.some((force) => force.id === id) + ); + } + + /** The solved mechanism this part belongs to, if it belongs to one. */ + mechanismContaining(part: Joint | Link | Force): Mechanism | undefined { + const index = this.indexOfMechanismContaining(part); + return index === -1 ? undefined : this.mechanisms[index]; + } + + /** Can this part's own machine be simulated? Says nothing about the others. */ + isPartSimulatable(part: Joint | Link | Force): boolean { + return this.mechanismContaining(part)?.isMechanismValid() ?? false; + } + + /** + * The mechanism whose cycle is longest, which is the one the shared clock is + * measured against: run every machine on the same wall clock and the master + * timeline has to be long enough to hold the slowest of them. + */ + private masterMechanismIndex(): number { + let best = -1; + let longest = -1; + this.mechanisms.forEach((mechanism, index) => { + if (!mechanism.isMechanismValid()) { + return; + } + if (mechanism.cyclePeriod > longest) { + longest = mechanism.cyclePeriod; + best = index; + } + }); + // Nothing runs, so nothing is really the master. Naming the first anyway + // keeps the timeline reporting the empty clock an unsolved mechanism has + // always reported, instead of a missing one. + return best === -1 && this.mechanisms.length > 0 ? 0 : best; + } + + /** The mechanism the shared scrubber is measured against, if any can run. */ + masterMechanism(): Mechanism | undefined { + const index = this.masterMechanismIndex(); + return index === -1 ? undefined : this.mechanisms[index]; + } + /** * Make every sealed cylinder collinear again, whatever wrote its joints. * @@ -302,7 +377,7 @@ export class MechanismService { * time held from a slower cycle inside the new, shorter one. */ private reseekToTime(seconds: number) { - if (!this.mechanisms[0]?.isMechanismValid()) { + if (!this.oneValidMechanismExists()) { // The rebuild can invalidate the mechanism; a step left pointing into the // old cycle would keep the editor gated on a time that no longer exists. this.mechanismTimeStep = 0; @@ -431,16 +506,18 @@ export class MechanismService { * Nothing to draw yet is an ordinary state; the honest answer is no path. */ getJointPath(joint: Joint) { - const solved = this.mechanisms[0]; + // Its own mechanism, found by id: a joint traces the cycle of the machine + // it belongs to, and looking its position up by index into another + // machine's frames would draw some other joint's path under it. + const solved = this.mechanismContaining(joint); if (!solved || solved.joints.length === 0 || solved.joints[0].length === 0) { return ''; } - const jointIndex = this.joints.findIndex((j) => j.id === joint.id); - if (jointIndex < 0 || !solved.joints[0][jointIndex]) { + if (!solved.joints[0].some((candidate) => candidate.id === joint.id)) { return ''; } const at = (step: number) => { - const sample = solved.joints[step][jointIndex]; + const sample = solved.joints[step].find((candidate) => candidate.id === joint.id)!; return `${sample.x} , ${sample.y}`; }; let string = 'M' + at(0); @@ -450,11 +527,20 @@ export class MechanismService { return string; } + /** + * Can anything in this drawing be simulated? + * + * "Any" rather than "all" on purpose: one half-built chain in the corner must + * not lock a finished linkage out of analysis. Where the question is really + * about a particular part, ask `isPartSimulatable` instead. + */ oneValidMechanismExists() { - if (this.mechanisms.length == 0 || this.mechanisms[0] === undefined) { - return false; - } - return this.mechanisms[0].isMechanismValid(); + return this.mechanisms.some((mechanism) => mechanism?.isMechanismValid()); + } + + /** Every mechanism in the drawing is ready. The stricter question. */ + allMechanismsValid(): boolean { + return this.mechanisms.length > 0 && this.mechanisms.every((m) => m.isMechanismValid()); } mergeToJoints(joints: Joint[]) { @@ -1518,7 +1604,9 @@ export class MechanismService { return refusal; } } - const dof = this.mechanisms[0]?.dof; + // Nothing in the drawing runs, so the mobility worth reporting is the first + // one that is wrong -- not whichever mechanism happened to be built first. + const dof = (this.mechanisms.find((m) => !m.isMechanismValid()) ?? this.mechanisms[0])?.dof; if (dof !== undefined && Number.isNaN(dof)) { return 'Nothing is holding this mechanism in place. Ground a joint, or ground a slider\u2019s guide.'; } @@ -1572,12 +1660,15 @@ export class MechanismService { private reachWarningCache: string | undefined; private computeCylinderReachWarning(): string | undefined { - const solved = this.mechanisms[0]; - if (!solved || !this.oneValidMechanismExists()) return undefined; - const frames = solved.joints.length; - if (frames < 2) return undefined; - for (const cylinder of this.sealedStructures()) { + // Each ram is measured against the frames of its own machine. Read from + // another mechanism's cycle -- a different length, a different motion -- + // the travel below is a measurement of the wrong thing entirely. + const solved = this.mechanismContaining(cylinder.pin); + if (!solved?.isMechanismValid()) continue; + const frames = solved.joints.length; + if (frames < 2) continue; + const r = 0.15 * SettingsService.objectScale; const barrelLength = getDistance(cylinder.barrelFar, cylinder.barrelNear); const travel = cylinderStrokeAlong(barrelLength, r); @@ -2210,9 +2301,17 @@ export class MechanismService { }); } - /** Sample times (seconds) of the solved mechanism, empty when nothing is solved. */ + /** + * Sample times (seconds) of the mechanism the shared clock follows, empty + * when nothing is solved. + * + * Every machine runs on the same wall clock, so the scrubber has to span the + * longest cycle in the drawing; a shorter one wraps inside it. Measuring the + * timeline against whichever mechanism happened to be built first would cut + * playback off partway through the slowest one. + */ private sampleTimes(): number[] { - return this.mechanisms[0]?.timeNum ?? []; + return this.masterMechanism()?.timeNum ?? []; } /** Simulation time of a sample index. */ @@ -2225,9 +2324,9 @@ export class MechanismService { return times[clamped]; } - /** Seconds spanned by one full traversal of the motion. */ + /** Seconds spanned by one full traversal of the longest motion in the drawing. */ cyclePeriod(): number { - return this.mechanisms[0]?.cyclePeriod ?? 0; + return this.masterMechanism()?.cyclePeriod ?? 0; } /** Nearest sample index to a simulation time. Sample times strictly increase. */ @@ -2289,7 +2388,7 @@ export class MechanismService { progress = Math.round(progress); // Sample counts change whenever the mechanism is rebuilt at a new input speed; // never index past them. - const sampleCount = this.mechanisms[0]?.joints.length ?? 0; + const sampleCount = this.masterMechanism()?.joints.length ?? 0; progress = Math.min(Math.max(progress, 0), Math.max(sampleCount - 1, 0)); // Set the step before announcing it: subscribers read the drawn time back off @@ -2312,7 +2411,7 @@ export class MechanismService { if (animationState !== undefined) { AnimationBarComponent.animate = animationState; } - if (sampleCount === 0 || this.mechanisms[0].joints[progress].length === 0) { + if (sampleCount === 0 || this.masterMechanism()!.joints[progress].length === 0) { this.playbackClockMs = null; return; } @@ -2342,23 +2441,62 @@ export class MechanismService { * also what a rebuild treats as t = 0, so see restoreStartPose. */ private applyPose(step: number, blend: number) { - const nextStep = blend > 0 ? step + 1 : step; - const frames = this.mechanisms[0]; // This is the one place a solved sample becomes the drawn pose, so it is // where anything cached against the pose has to be let go of. this.poseRevision++; - this.joints.forEach((j, j_index) => { - const from = frames.joints[step][j_index]; - const to = frames.joints[nextStep][j_index]; + // The step and blend arrive measured against the shared clock, which runs + // on the longest cycle in the drawing. Turn them into a time, and let each + // machine find that time among its own samples: a mechanism with a shorter + // cycle wraps inside the master one rather than running out. + const seconds = + this.timeAtStep(step) + blend * (this.timeAtStep(step + 1) - this.timeAtStep(step)); + this.mechanisms.forEach((frames, index) => { + this.applyMechanismPose(frames, this.partitions[index], seconds); + }); + } + + /** + * Draw one machine's solved sample onto its own editable objects. + * + * Matched by id rather than by position. The editable arrays hold the whole + * drawing while a Mechanism holds only its own component, so the two are no + * longer the same list in the same order -- and pairing them positionally + * would quietly move one mechanism's joint to another's coordinates. + */ + private applyMechanismPose(frames: Mechanism, partition: MechanismPartition, seconds: number) { + const times = frames.timeNum ?? []; + if (!frames.isMechanismValid() || times.length === 0) { + return; + } + const period = frames.cyclePeriod; + let local = seconds; + if (period > 0 && Number.isFinite(seconds)) { + local = seconds % period; + if (local < 0) local += period; + } + let step = 0; + while (step + 1 < times.length && times[step + 1] <= local) step++; + const nextStep = Math.min(step + 1, times.length - 1); + const span = times[nextStep] - times[step]; + const blend = span > 0 ? Math.min(Math.max((local - times[step]) / span, 0), 1) : 0; + + const jointFrom = frames.joints[step]; + const jointTo = frames.joints[nextStep]; + partition.joints.forEach((j) => { + const from = jointFrom.find((candidate) => candidate.id === j.id); + const to = jointTo.find((candidate) => candidate.id === j.id); + if (!from || !to) { + return; + } j.x = from.x + (to.x - from.x) * blend; j.y = from.y + (to.y - from.y) * blend; }); - this.links.forEach((l, l_index) => { + partition.links.forEach((l) => { if (!(l instanceof RealLink)) { return; } - const link = frames.links[step][l_index]; + const link = frames.links[step].find((candidate) => candidate.id === l.id); if (!(link instanceof RealLink)) { return; } @@ -2375,9 +2513,12 @@ export class MechanismService { } this.placeLinkGeometry(l, link, blend); }); - this.forces.forEach((f, f_index) => { - const from = frames.forces[step][f_index]; - const to = frames.forces[nextStep][f_index]; + partition.forces.forEach((f) => { + const from = frames.forces[step].find((candidate) => candidate.id === f.id); + const to = frames.forces[nextStep].find((candidate) => candidate.id === f.id); + if (!from || !to) { + return; + } f.startCoord.x = from.startCoord.x + (to.startCoord.x - from.startCoord.x) * blend; f.startCoord.y = from.startCoord.y + (to.startCoord.y - from.startCoord.y) * blend; f.endCoord.x = from.endCoord.x + (to.endCoord.x - from.endCoord.x) * blend; @@ -2402,7 +2543,7 @@ export class MechanismService { private restoreStartPose() { // While playing, the drawn pose is blended past its sample, so step 0 alone // does not mean the joints hold the start pose — only paused-at-0 does. - if (this.atStartPose() || !this.mechanisms[0]?.joints[0]?.length) { + if (this.atStartPose() || !this.masterMechanism()?.joints[0]?.length) { return; } this.applyPose(0, 0); diff --git a/src/tests/fixtures/mechanism-fixtures.ts b/src/tests/fixtures/mechanism-fixtures.ts index b893ed63..2f1f2e22 100644 --- a/src/tests/fixtures/mechanism-fixtures.ts +++ b/src/tests/fixtures/mechanism-fixtures.ts @@ -92,6 +92,12 @@ export function buildMechanismFixture(payload: string): MechanismFixture { inputSpeedRadPerSecond ); service.mechanisms = [mechanism]; + // The editable objects each mechanism was built from, in the same order. + // applyPose walks these rather than the whole drawing, so a harness that + // leaves them empty draws no pose at all. + service.partitions = [ + { id: 'M1', joints: service.joints, links: service.links, forces: service.forces }, + ]; service.oneValidMechanismExists = () => mechanism.isMechanismValid(); return { active, mechanism, service, settings }; diff --git a/src/tests/verification/two-mechanisms.spec.ts b/src/tests/verification/two-mechanisms.spec.ts new file mode 100644 index 00000000..b85c485b --- /dev/null +++ b/src/tests/verification/two-mechanisms.spec.ts @@ -0,0 +1,124 @@ +// joint.ts first: the model modules form an import cycle that only +// initializes cleanly when entered here (see test-utils/verification/fixture.ts). +import '../../app/model/joint'; +import { RealJoint, RevJoint } from '../../app/model/joint'; +import { RealLink } from '../../app/model/link'; +import { createMechanismHarness } from '../../test-utils/mechanism-harness'; +import { MechanismService } from '../../app/services/mechanism.service'; + +/** + * Two machines in one drawing, each solved on its own. + * + * The behaviour this protects is not that a second linkage can be drawn — it + * always could — but that drawing it no longer breaks the first. Everything + * used to go into one Mechanism, so a second four-bar took the document to + * 2 degrees of freedom and *both* stopped simulating; the way to analyse one + * was to delete the other. + */ +describe('two four-bars in one drawing', () => { + /** A crank-rocker at `offset`, lettered from `from`, grounded at both ends. */ + function fourBar(service: MechanismService, from: string, offset: number) { + const letter = (n: number) => String.fromCharCode(from.charCodeAt(0) + n); + const at: [number, number][] = [ + [offset, 0], + [offset, 1], + [offset + 3, 2], + [offset + 4, 0], + ]; + const joints = at.map(([x, y], i) => new RevJoint(letter(i), x, y)); + joints[0].ground = true; + joints[3].ground = true; + joints[0].input = true; + + const links = [0, 1, 2].map((i) => { + const link = new RealLink(joints[i].id + joints[i + 1].id, [joints[i], joints[i + 1]]); + joints[i].links.push(link); + joints[i + 1].links.push(link); + joints[i].connectedJoints.push(joints[i + 1]); + joints[i + 1].connectedJoints.push(joints[i]); + return link; + }); + + service.joints.push(...joints); + service.links.push(...links); + return { joints, links }; + } + + function twoFourBars() { + const harness = createMechanismHarness(); + const first = fourBar(harness.service, 'A', 0); + const second = fourBar(harness.service, 'E', 10); + harness.service.updateMechanism(); + return { ...harness, first, second }; + } + + it('solves each as its own 1-DoF machine, not one 2-DoF document', () => { + const { service } = twoFourBars(); + + expect(service.mechanisms).toHaveLength(2); + expect(service.mechanisms.map((m) => m.dof)).toEqual([1, 1]); + expect(service.mechanisms.every((m) => m.isMechanismValid())).toBe(true); + expect(service.allMechanismsValid()).toBe(true); + }); + + it('gives each its own input, so both may be driven at once', () => { + const { service } = twoFourBars(); + + // Both cranks are driven. Before the split, the second input was either + // cleared by the one-input rule or ignored by the solver. + const driven = service.partitions.map( + (partition) => partition.joints.filter((j) => j instanceof RealJoint && j.input).length + ); + expect(driven).toEqual([1, 1]); + }); + + it('answers which machine a part belongs to', () => { + const { service, first, second } = twoFourBars(); + + expect(service.indexOfMechanismContaining(first.joints[1])).toBe(0); + expect(service.indexOfMechanismContaining(second.joints[1])).toBe(1); + expect(service.indexOfMechanismContaining(second.links[0])).toBe(1); + expect(service.isPartSimulatable(second.joints[1])).toBe(true); + }); + + it('leaves one running when the other is broken', () => { + const { service, second } = twoFourBars(); + + // Unground the second linkage's frame: its chain no longer reaches ground, + // so it stops being a machine at all — without touching the first. + second.joints[0].ground = false; + second.joints[3].ground = false; + service.updateMechanism(); + + expect(service.mechanisms).toHaveLength(1); + expect(service.mechanisms[0].isMechanismValid()).toBe(true); + expect(service.oneValidMechanismExists()).toBe(true); + expect(service.allMechanismsValid()).toBe(true); + expect(service.unassigned.floatingChains).toHaveLength(1); + expect(service.unassigned.floatingChains[0].joints.map((j) => j.id).sort()).toEqual([ + 'E', + 'F', + 'G', + 'H', + ]); + }); + + it('moves both when the shared clock advances, each on its own frames', () => { + const { service, first, second } = twoFourBars(); + const restAt = (joint: RealJoint) => ({ x: joint.x, y: joint.y }); + const firstRest = restAt(first.joints[1]); + const secondRest = restAt(second.joints[1]); + + // Half a turn in, both cranks have moved. The pose is written by id, so a + // mechanism can only ever be placed on its own solved coordinates. + service.animate(service.stepAtTime(service.cyclePeriod() / 2)); + + const moved = (before: { x: number; y: number }, joint: RealJoint) => + Math.hypot(joint.x - before.x, joint.y - before.y); + expect(moved(firstRest, first.joints[1])).toBeGreaterThan(0.1); + expect(moved(secondRest, second.joints[1])).toBeGreaterThan(0.1); + + // And neither has been dragged onto the other's coordinates. + expect(Math.abs(first.joints[1].x - second.joints[1].x)).toBeGreaterThan(5); + }); +}); From 815f6de8e5e9c41252024986e765a88e29511033 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 01:46:20 -0400 Subject: [PATCH 003/236] Say which of the seven ways a mechanism failed isMechanismValid() answered one boolean for seven quite different situations, and the panel could only pass that vagueness on. A linkage whose mobility is 2, one locked at a dead position, one whose driven joint cannot be driven and one whose barrel is too short to slide in all arrived as the same nothing-happens. The solver already distinguished them -- it just threw the distinction away at four separate call sites. Each now records why, and the reasons are ordered the way the fixes depend on one another rather than by severity: a slider with nothing to slide along has no mobility worth counting, and giving an input to a linkage whose mobility is wrong will not make it run. A list a student works down should not send them to do something that cannot help yet. Each check names the way out, and where there is a part at fault it carries that part so the panel can offer to go to it -- pointing, for a missing input, at a joint that could actually take the job rather than at the mechanism in general. Grashof is deliberately absent. It classifies four-bars only, and the app can already say from the solve itself whether an input completes a revolution or reverses at a toggle, which is both more specific and true of any linkage. Splitting the drawing also made one of these rarer: a detached slider floating beside a good four-bar used to drag it down, because both were one mechanism. Now the block simply never reaches ground, and the four-bar is left alone. The cylinder-with-no-travel case had been reading a solver static after the fact, which with several mechanisms would have handed one machine's complaint to another; each now captures its own at build time. --- .../analysis-graph.component.ts | 93 +++++--- .../analysis-panel.component.ts | 27 ++- .../animation-bar/animation-bar.component.ts | 9 +- .../bottombar/bottombar.component.ts | 9 +- .../component/new-grid/new-grid.component.ts | 59 ++--- .../right-panel/right-panel.component.ts | 2 +- src/app/model/mechanism/mechanism.ts | 83 +++++-- src/app/model/mechanism/readiness.ts | 215 ++++++++++++++++++ src/app/services/mechanism.service.ts | 51 +++++ src/tests/fixtures/mechanism-fixtures.ts | 6 + .../verification/readiness-checks.spec.ts | 205 +++++++++++++++++ 11 files changed, 664 insertions(+), 95 deletions(-) create mode 100644 src/app/model/mechanism/readiness.ts create mode 100644 src/tests/verification/readiness-checks.spec.ts diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index dc312097..02b4a1b9 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -24,6 +24,7 @@ import { } from 'apexcharts'; import { KinematicsSolver } from 'src/app/model/mechanism/kinematic-solver'; import { ForceAnalysisMode } from 'src/app/model/mechanism/force-solver'; +import { Mechanism } from 'src/app/model/mechanism/mechanism'; import { AngleUnit, ForceUnit, LengthUnit, roundNumber } from '../../model/utils'; import { LBF_IN_PER_NEWTON_METER, LBF_PER_NEWTON } from '../../model/unit-conversions'; import { MODEL_SCALE } from '../../model/render-scale'; @@ -372,7 +373,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, this.chart.clearAnnotations(); return; } - const timeSeconds = this.mechanismService.mechanisms[0]?.timeNum[timeIndex] ?? timeIndex; + const timeSeconds = this.mechanismFor(this.mechPart)?.timeNum[timeIndex] ?? timeIndex; if ( this.seriesCheckboxForm.value.x || this.seriesCheckboxForm.value.y || @@ -474,15 +475,16 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, return null; } - private pointTime(point: unknown, index: number): number { + private pointTime(point: unknown, index: number, times: number[]): number { if (point && typeof point === 'object' && 'x' in point) { const value = (point as { x: unknown }).x; if (typeof value === 'number' && Number.isFinite(value)) return value; } - return this.mechanismService.mechanisms[0]?.timeNum[index] ?? index; + return times[index] ?? index; } buildCSVContent(): string { + const times = this.mechanismFor(this.mechPart)?.timeNum ?? []; const xSeries = this.chartOptions.series?.find((s) => s.name === 'X'); const ySeries = this.chartOptions.series?.find((s) => s.name === 'Y'); const zSeries = this.chartOptions.series?.find((s) => s.name === 'Z'); @@ -495,7 +497,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, csvContent += 'Time (seconds),Time (steps),' + fileName + '\n'; for (let i = 0; i < timeSteps; i++) { csvContent += - this.pointTime(zSeries?.data[i], i) + + this.pointTime(zSeries?.data[i], i, times) + ',' + i + ',' + @@ -506,7 +508,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, csvContent += 'Time (seconds),Time (steps),X ' + yAxisUnit + ',Y ' + yAxisUnit + '\n'; for (let i = 0; i < timeSteps; i++) { csvContent += - this.pointTime(xSeries?.data[i], i) + + this.pointTime(xSeries?.data[i], i, times) + ',' + i + ',' + @@ -519,7 +521,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, csvContent += 'Time (seconds),Time (steps),' + fileName + ', X-comp,Y-comp\n'; for (let i = 0; i < timeSteps; i++) { csvContent += - this.pointTime(zSeries.data[i], i) + + this.pointTime(zSeries.data[i], i, times) + ',' + i + ',' + @@ -547,6 +549,21 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, link.remove(); } + /** + * The machine that owns the part being graphed. + * + * A drawing holds several independent mechanisms, each with its own samples + * and its own clock, so the series, the time axis and the force analysis all + * have to come from this part's machine rather than from whichever one was + * built first. A part in a floating chain belongs to none, and graphs nothing. + */ + private mechanismFor(mechPart: string): Mechanism | undefined { + const part = + this.mechanismService.joints.find((joint) => joint.id === mechPart) ?? + this.mechanismService.links.find((link) => link.id === mechPart); + return part ? this.mechanismService.mechanismContaining(part) : undefined; + } + determineChart(analysis: string, analysisType: string, mechProp: string, mechPart: string) { try { this.buildChart(analysis, analysisType, mechProp, mechPart); @@ -571,6 +588,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, mechProp: string, mechPart: string ): void { + const mechanism = this.mechanismFor(mechPart); let data1Title = ''; let data2Title = ''; let data3Title = ''; @@ -599,8 +617,8 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, case 'Input Torque': case 'Input Effort': { const mode: ForceAnalysisMode = analysisType === 'dynamic' ? 'dynamic' : 'static'; - const effortKind = this.mechanismService.mechanisms[0] - .getForceAnalysis(mode) + const effortKind = mechanism + ?.getForceAnalysis(mode) .frames.find((frame) => frame.status === 'ok' && frame.inputEffort) ?.inputEffort?.kind; yAxisTitle = @@ -783,7 +801,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, // ApexCharts/Safari can fail the entire chart when one exact toggle pose // contributes NaN or Infinity. A null point creates an intentional gap at // that singular timestep while preserving the rest of the series. - const times = this.mechanismService.mechanisms[0]?.timeNum ?? []; + const times = mechanism?.timeNum ?? []; const chartSeries = seriesData.map((series) => ({ ...series, data: series.data.map((value, index) => ({ @@ -817,7 +835,10 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, let y = 0; let z = 0; const categories: string[] = []; - const mechanism = this.mechanismService.mechanisms[0]; + const mechanism = this.mechanismFor(mechPart); + // A loose joint, or a chain that never reaches ground, is in no mechanism + // and so has nothing solved to plot. + if (!mechanism) return [[datum_X, datum_Y, datum_Z], categories]; if (analysis === 'force') { const mode: ForceAnalysisMode = analysisType === 'dynamic' ? 'dynamic' : 'static'; const result = mechanism.getForceAnalysis(mode); @@ -895,9 +916,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, // each internal model value divides by MODEL_SCALE for display in the // user's unit. Angular series carry no length and pass through. case 'Linear Joint Pos': - const jt = this.mechanismService.mechanisms[0].joints[index].find( - (j) => j.id === mechPart - ); + const jt = mechanism.joints[index].find((j) => j.id === mechPart); x = (jt?.x ?? Number.NaN) / MODEL_SCALE; y = (jt?.y ?? Number.NaN) / MODEL_SCALE; datum_X.push(roundNumber(x, 3)); @@ -905,9 +924,9 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case 'Linear Joint Vel': KinematicsSolver.determineKinematics( - this.mechanismService.mechanisms[0].joints[index], - this.mechanismService.mechanisms[0].links[index], - this.mechanismService.mechanisms[0].inputAngularVelocities[index] + mechanism.joints[index], + mechanism.links[index], + mechanism.inputAngularVelocities[index] ); [x, y] = vector(KinematicsSolver.jointVelMap.get(mechPart)); x /= MODEL_SCALE; @@ -919,9 +938,9 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case 'Linear Joint Acc': KinematicsSolver.determineKinematics( - this.mechanismService.mechanisms[0].joints[index], - this.mechanismService.mechanisms[0].links[index], - this.mechanismService.mechanisms[0].inputAngularVelocities[index] + mechanism.joints[index], + mechanism.links[index], + mechanism.inputAngularVelocities[index] ); [x, y] = vector(KinematicsSolver.jointAccMap.get(mechPart)); x /= MODEL_SCALE; @@ -933,9 +952,9 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case "Linear Link's CoM Pos": KinematicsSolver.determineKinematics( - this.mechanismService.mechanisms[0].joints[index], - this.mechanismService.mechanisms[0].links[index], - this.mechanismService.mechanisms[0].inputAngularVelocities[index] + mechanism.joints[index], + mechanism.links[index], + mechanism.inputAngularVelocities[index] ); [x, y] = vector(KinematicsSolver.linkCoMMap.get(mechPart)); x /= MODEL_SCALE; @@ -945,9 +964,9 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case "Linear Link's CoM Vel": KinematicsSolver.determineKinematics( - this.mechanismService.mechanisms[0].joints[index], - this.mechanismService.mechanisms[0].links[index], - this.mechanismService.mechanisms[0].inputAngularVelocities[index] + mechanism.joints[index], + mechanism.links[index], + mechanism.inputAngularVelocities[index] ); [x, y] = vector(KinematicsSolver.linkVelMap.get(mechPart)); x /= MODEL_SCALE; @@ -959,9 +978,9 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case "Linear Link's CoM Acc": KinematicsSolver.determineKinematics( - this.mechanismService.mechanisms[0].joints[index], - this.mechanismService.mechanisms[0].links[index], - this.mechanismService.mechanisms[0].inputAngularVelocities[index] + mechanism.joints[index], + mechanism.links[index], + mechanism.inputAngularVelocities[index] ); [x, y] = vector(KinematicsSolver.linkAccMap.get(mechPart)); x /= MODEL_SCALE; @@ -973,27 +992,27 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case 'Angular Link Pos': KinematicsSolver.determineKinematics( - this.mechanismService.mechanisms[0].joints[index], - this.mechanismService.mechanisms[0].links[index], - this.mechanismService.mechanisms[0].inputAngularVelocities[index] + mechanism.joints[index], + mechanism.links[index], + mechanism.inputAngularVelocities[index] ); x = KinematicsSolver.linkAngPosMap.get(mechPart) ?? Number.NaN; datum_X.push(roundNumber(x, 3)); break; case 'Angular Link Vel': KinematicsSolver.determineKinematics( - this.mechanismService.mechanisms[0].joints[index], - this.mechanismService.mechanisms[0].links[index], - this.mechanismService.mechanisms[0].inputAngularVelocities[index] + mechanism.joints[index], + mechanism.links[index], + mechanism.inputAngularVelocities[index] ); x = KinematicsSolver.linkAngVelMap.get(mechPart) ?? Number.NaN; datum_X.push(roundNumber(x, 3)); break; case 'Angular Link Acc': KinematicsSolver.determineKinematics( - this.mechanismService.mechanisms[0].joints[index], - this.mechanismService.mechanisms[0].links[index], - this.mechanismService.mechanisms[0].inputAngularVelocities[index] + mechanism.joints[index], + mechanism.links[index], + mechanism.inputAngularVelocities[index] ); x = KinematicsSolver.linkAngAccMap.get(mechPart) ?? Number.NaN; datum_X.push(roundNumber(x, 3)); diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index 35ae42ad..4aefecdb 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -1,5 +1,6 @@ import { ChangeDetectionStrategy, Component } from '@angular/core'; import { ForceAnalysisMode, ForceReactionIndex } from 'src/app/model/mechanism/force-solver'; +import { Mechanism } from 'src/app/model/mechanism/mechanism'; import { PrisJoint, RealJoint } from 'src/app/model/joint'; import { Cylinder, isCylinderInterior } from 'src/app/model/cylinder'; import { LengthUnit } from 'src/app/model/unit-enums'; @@ -127,11 +128,23 @@ export class AnalysisPanelComponent { return this.settingsService.forceAnalysisMode.value; } - /** Joint id -> link ids and back, for the single mechanism-wide reaction set. */ - private reactionIndex(): ForceReactionIndex | undefined { - if (!this.mechanismService.oneValidMechanismExists()) return undefined; - return this.mechanismService.mechanisms[0]?.getForceAnalysis(this.forceAnalysisMode()) - .reactionIndex; + /** Joint id -> link ids and back, for one mechanism's reaction set. */ + private reactionIndex(mechanism: Mechanism | undefined): ForceReactionIndex | undefined { + if (!mechanism?.isMechanismValid()) return undefined; + return mechanism.getForceAnalysis(this.forceAnalysisMode()).reactionIndex; + } + + /** + * The machine the selected part belongs to. Reactions are a property of one + * machine, so a part in another one -- or in none, as an ungrounded chain is + * -- must not be answered out of whichever mechanism came first. + */ + private mechanismFor(kind: 'joint' | 'link', partId: string): Mechanism | undefined { + const part = + kind === 'joint' + ? this.jointById(partId) + : this.mechanismService.links.find((link) => link.id === partId); + return part ? this.mechanismService.mechanismContaining(part) : undefined; } private linkName(linkId: string): string { @@ -147,13 +160,13 @@ export class AnalysisPanelComponent { * changes; the template reads them on every change-detection pass. */ private cachedRows(kind: 'joint' | 'link', partId: string): ForceAnalysisRow[] { - const mechanism = this.mechanismService.mechanisms[0]; + const mechanism = this.mechanismFor(kind, partId); const key = `${kind}|${partId}|${this.forceAnalysisMode()}`; if (this.rowCache?.key === key && this.rowCache.mechanism === mechanism) { return this.rowCache.rows; } - const index = this.reactionIndex(); + const index = this.reactionIndex(mechanism); let rows: ForceAnalysisRow[] = []; if (index && partId) { rows = diff --git a/src/app/component/animation-bar/animation-bar.component.ts b/src/app/component/animation-bar/animation-bar.component.ts index 2eab5ebb..f4cbf84b 100644 --- a/src/app/component/animation-bar/animation-bar.component.ts +++ b/src/app/component/animation-bar/animation-bar.component.ts @@ -85,11 +85,10 @@ export class AnimationBarComponent implements OnInit, AfterViewInit, OnDestroy { } maxTimeSteps() { - if (this.mechanismService.mechanisms.length === 0) { - return 0; - } else { - return this.mechanismService.mechanisms[0].joints.length - 1; - } + // The shared scrubber spans the longest running cycle in the drawing; a + // machine with a shorter one wraps inside it. + const master = this.mechanismService.masterMechanism(); + return master ? master.joints.length - 1 : 0; } maxTime(): number { diff --git a/src/app/component/bottombar/bottombar.component.ts b/src/app/component/bottombar/bottombar.component.ts index 5258ef42..1f8d4e59 100644 --- a/src/app/component/bottombar/bottombar.component.ts +++ b/src/app/component/bottombar/bottombar.component.ts @@ -29,8 +29,13 @@ export class BottombarComponent { * the reason belongs. */ get degreesOfFreedom(): string { - const dof = this.mechanismSrv.mechanisms[0]?.dof; - return typeof dof === 'number' && Number.isFinite(dof) ? String(dof) : '—'; + // One number per machine, because a drawing can hold several and their + // mobilities are separate facts -- summing them would describe a mechanism + // that is not on the screen. + const each = this.mechanismSrv.mechanisms + .map((mechanism) => mechanism.dof) + .filter((dof) => typeof dof === 'number' && Number.isFinite(dof)); + return each.length > 0 ? each.join(', ') : '—'; } humanReadableString(value: GlobalUnit) { diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index f51bb599..ed6aa499 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -519,8 +519,11 @@ export class NewGridComponent implements OnDestroy { ); break; } + // Its own machine: a path can be drawn for a joint whose linkage + // solves, whatever the state of any other linkage in the drawing. let canTogglePath = - !(this.lastRightClick as RealJoint).ground && this.mechanismSrv.oneValidMechanismExists(); + !(this.lastRightClick as RealJoint).ground && + this.mechanismSrv.isPartSimulatable(this.lastRightClick as RealJoint); this.cMenuItems.push( new cMenuItem( @@ -1991,12 +1994,12 @@ export class NewGridComponent implements OnDestroy { } getFirstPosCoords(link: Link) { - if (this.mechanismSrv.oneValidMechanismExists()) { - const jointIndex = this.mechanismSrv.joints.indexOf(link.joints[0]); - return this.mechanismSrv.mechanisms[0].joints[0][jointIndex]; - } else { - return link.joints[0]; - } + // The link's own machine, and its joint found by name. Indexing another + // mechanism's frames by this drawing's array position would label the link + // at some unrelated joint's coordinates. + const solved = this.mechanismSrv.mechanismContaining(link); + const anchor = link.joints[0]; + return solved?.joints[0]?.find((candidate) => candidate.id === anchor.id) ?? anchor; } getFirstXPos(link: Link) { @@ -2066,26 +2069,30 @@ export class NewGridComponent implements OnDestroy { */ private guides(): Map { const found = new Map(); - const mechanism = this.mechanismSrv.mechanisms[0]; - const frames = mechanism?.isMechanismValid() ? mechanism.joints : undefined; - if (!frames?.length) return found; - - const rest = frames[0]; - for (const joint of rest) { - if (!(joint instanceof PrisJoint) || !joint.ground) continue; - const angle = joint.slotAngle; - const cos = Math.cos(angle); - const sin = Math.sin(angle); - let lo = 0; - let hi = 0; - for (const frame of frames) { - const at = frame.find((member) => member.id === joint.id); - if (!at) continue; - const along = (at.x - joint.x) * cos + (at.y - joint.y) * sin; - lo = Math.min(lo, along); - hi = Math.max(hi, along); + // Every machine in the drawing, because a rail belongs to whichever one + // slides along it. Reading one mechanism's frames would leave the guides of + // every other linkage undrawn. + for (const mechanism of this.mechanismSrv.mechanisms) { + const frames = mechanism?.isMechanismValid() ? mechanism.joints : undefined; + if (!frames?.length) continue; + + const rest = frames[0]; + for (const joint of rest) { + if (!(joint instanceof PrisJoint) || !joint.ground) continue; + const angle = joint.slotAngle; + const cos = Math.cos(angle); + const sin = Math.sin(angle); + let lo = 0; + let hi = 0; + for (const frame of frames) { + const at = frame.find((member) => member.id === joint.id); + if (!at) continue; + const along = (at.x - joint.x) * cos + (at.y - joint.y) * sin; + lo = Math.min(lo, along); + hi = Math.max(hi, along); + } + found.set(joint.id, { x: joint.x, y: joint.y, lo, hi }); } - found.set(joint.id, { x: joint.x, y: joint.y, lo, hi }); } return found; } diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index c21c0570..d6062dd1 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -160,7 +160,7 @@ export class RightPanelComponent { printMechanism() { this.analytics.logEvent('debug_print_mechanism'); - console.log(this.mechanismService.mechanisms[0]); + console.log(this.mechanismService.mechanisms); console.log(this.mechanismService.links); console.log(this.mechanismService.joints); } diff --git a/src/app/model/mechanism/mechanism.ts b/src/app/model/mechanism/mechanism.ts index e8154c7c..162ab5c8 100644 --- a/src/app/model/mechanism/mechanism.ts +++ b/src/app/model/mechanism/mechanism.ts @@ -13,7 +13,22 @@ import { ForceAnalysisMode, ForceAnalysisSeries, ForceSolver } from './force-sol import { roundNumber } from '../utils'; import { LBF_IN_PER_NEWTON_METER, LBF_PER_NEWTON } from '../unit-conversions'; +/** + * Why a mechanism will not run. One of these, not a boolean, because the ways a + * linkage fails call for quite different things to be done about them. + */ +export type MechanismFailure = + | 'dangling-slider' + | 'mobility' + | 'not-driven' + | 'nothing-can-move' + | 'dead-position' + | 'cycle-never-closes' + | 'cylinder-has-no-travel'; + export class Mechanism { + private _failure: MechanismFailure | undefined; + private _unusableCylinder: string | undefined; private _joints: Joint[][] = [[]]; private _links: Link[][] = [[]]; private _forces: Force[][] = [[]]; @@ -100,21 +115,29 @@ export class Mechanism { const dangling = this._joints[0].some( (joint) => joint instanceof PrisJoint && joint.isDangling ); - if ( - //If DOF is 1 and at least one joint is an input joint - !dangling && - this._dof === 1 && - this._joints[0].findIndex((j) => { - if (!(j instanceof RealJoint)) { - return; - } - return j.input; - }) !== -1 - ) { + const driven = this._joints[0].some((j) => j instanceof RealJoint && j.input); + // Ordered the way the fixes depend on each other, because this is also the + // order the panel reports them in: a slider with nothing to slide along has + // no mobility worth counting, and adding an input to a linkage whose + // mobility is wrong will not make it run. + if (dangling) { + this.setMechanismInvalid('dangling-slider'); + } else if (this._dof !== 1) { + this.setMechanismInvalid('mobility'); + } else if (!driven) { + this.setMechanismInvalid('not-driven'); + } else { this._requiredLoops = LoopSolver.determineLoops(this._joints[0], this._links[0]); this.findFullMovementPos(inputAngVel); - } else { - this.setMechanismInvalid(); + // The solver's static holds what *this* build found; read it now, before + // the next mechanism's build resets and overwrites it. + this._unusableCylinder = PositionSolver.unusableCylinderDrive; + // A sealed cylinder with no stroke emits no steps, so the failure above + // is already recorded -- as "nothing can move", which is true but says + // nothing a student can act on. Name the ram instead. + if (this._unusableCylinder !== undefined && !this.mechanismValid) { + this._failure = 'cylinder-has-no-travel'; + } } } @@ -376,7 +399,7 @@ export class Mechanism { // move. Returning quietly left it *reporting itself valid* with a single // frame: the play button enabled, nothing happening, and the panel with // nothing to say about why. - this.setMechanismInvalid(); + this.setMechanismInvalid('nothing-can-move'); return; } const desiredJoint = this.joints[0][desiredJointIndex]; @@ -548,7 +571,7 @@ export class Mechanism { } else { if ((!simForward && currentTimeStamp === 0) || falseTwice === 2) { //If we are here, the mechnism is in a toggle point - this.setMechanismInvalid(); + this.setMechanismInvalid('dead-position'); return; } falseTwice += 1; @@ -567,7 +590,7 @@ export class Mechanism { startingPositionY - roundNumber(this._joints[currentTimeStamp][desiredJointIndex].y, 2) ); if (currentTimeStamp === 750) { - this.setMechanismInvalid(); + this.setMechanismInvalid('cycle-never-closes'); return; } } @@ -593,19 +616,45 @@ export class Mechanism { return this._timeNum.length > 1 ? this._timeNum[this._timeNum.length - 1] : 0; } - private setMechanismInvalid() { + private setMechanismInvalid(cause: MechanismFailure) { // TODO: Set all of the joints, links, force, instant center positions as empty this.joints = [[]]; this.links = [[]]; this.forces = [[]]; this.requiredLoops = []; this.mechanismValid = false; + this._failure = cause; } public isMechanismValid(): boolean { return this.mechanismValid; } + /** + * Why this mechanism will not run, or undefined if it will. + * + * Four quite different situations used to arrive at the same false: a shape + * nothing can move, a linkage locked at a dead position, a cycle that never + * comes back to where it started, and a mobility that is simply not one. The + * panel can only tell a student which of those they are looking at -- and so + * what to do about it -- if the solver says which one it hit. + */ + get failure(): MechanismFailure | undefined { + return this._failure; + } + + /** + * The cylinder whose barrel is too short to slide in at all, if any. + * + * Captured here rather than read from the solver's static afterwards: with + * several mechanisms built one after another, that static holds whatever the + * last one found, so a good linkage would inherit the complaint of a bad one + * built after it. + */ + get unusableCylinder(): string | undefined { + return this._unusableCylinder; + } + get internalTriangleSimLinkMap(): Map { return this._internalTriangleSimLinkMap; } diff --git a/src/app/model/mechanism/readiness.ts b/src/app/model/mechanism/readiness.ts new file mode 100644 index 00000000..729dd0d1 --- /dev/null +++ b/src/app/model/mechanism/readiness.ts @@ -0,0 +1,215 @@ +import { Joint, PrisJoint, RealJoint } from '../joint'; +import { Link } from '../link'; +import { canDrive } from '../actuator'; +import { Mechanism } from './mechanism'; +import { MechanismPartition, UnassignedGeometry } from './mechanism-partition'; + +/** + * A blocker stops the mechanism running at all. A warning means it runs, and + * there is something about the result worth knowing before trusting it. + */ +export type CheckState = 'blocker' | 'warning'; + +export interface ReadinessCheck { + state: CheckState; + /** A short sentence-case phrase naming the situation. */ + title: string; + /** What is wrong and what to do about it. */ + body: string; + /** The part at fault, so the panel can offer to go to it. */ + at?: Joint | Link; + /** Title Case, because it labels a button. */ + action?: string; +} + +export interface MechanismReadiness { + id: string; + ready: boolean; + checks: ReadinessCheck[]; +} + +/** The two strings only the service can produce, passed in rather than reached for. */ +export interface ReadinessHelpers { + /** What to call a cylinder identified by its slider joint's id. */ + cylinderName(sliderId: string): string; + /** Why this mechanism's driven joint cannot be driven, if it cannot. */ + drivenRefusal(partition: MechanismPartition): string | undefined; + /** The cylinder-cannot-use-its-whole-stroke warning for this mechanism. */ + strokeWarning(partition: MechanismPartition): string | undefined; +} + +const names = (joints: Joint[]): string => + joints.map((joint) => (joint as RealJoint).name || joint.id).join(', '); + +/** + * Everything standing between one mechanism and its animation, worst first. + * + * Ordered the way the fixes depend on one another rather than by severity, + * because a list a student works down should not send them to do something that + * cannot help yet: a slider with nothing to slide along has no mobility worth + * counting, and giving an input to a linkage whose mobility is wrong will not + * make it run. Each blocker names the way out, not just the wall. + */ +export function readinessOf( + partition: MechanismPartition, + mechanism: Mechanism, + helpers: ReadinessHelpers +): MechanismReadiness { + const checks: ReadinessCheck[] = []; + const add = (check: ReadinessCheck) => checks.push(check); + + switch (mechanism.failure) { + case 'dangling-slider': { + const dangling = partition.joints.filter( + (joint) => joint instanceof PrisJoint && joint.isDangling + ); + add({ + state: 'blocker', + title: 'A slider has nothing to slide along', + body: `Slider ${names(dangling)} has no slot and no ground, so there is no direction for it to move in. Drag it onto a link to cut a slot, or ground it to fix its direction.`, + at: dangling[0], + action: 'Go To Slider', + }); + break; + } + + case 'mobility': { + const dof = mechanism.dof; + if (Number.isNaN(dof)) { + add({ + state: 'blocker', + title: 'Nothing holds this mechanism in place', + body: 'It has no ground, so every part of it is free to drift. Ground a joint, or ground a slider’s guide.', + }); + } else if (dof > 1) { + add({ + state: 'blocker', + title: `This mechanism has ${dof} degrees of freedom`, + body: `One input can drive only one degree of freedom. Ground another joint, or connect a free joint to a second link, until this reads 1.`, + }); + } else { + add({ + state: 'blocker', + title: `This mechanism has ${dof} degrees of freedom`, + body: 'It is over-constrained, so nothing can move at all. Remove a link, or unground a joint, until this reads 1.', + }); + } + break; + } + + case 'not-driven': { + // Point at a joint that could actually take the job, so the button is an + // answer rather than a place to start looking. + const candidate = partition.joints.find( + (joint) => joint instanceof RealJoint && canDrive(joint) + ); + add({ + state: 'blocker', + title: 'Nothing drives this mechanism', + body: candidate + ? `There is no time to solve against until one joint is driven. Right-click joint ${(candidate as RealJoint).name || candidate.id} and choose Add Input.` + : 'There is no time to solve against until one joint is driven. Right-click a grounded joint and choose Add Input.', + at: candidate, + action: candidate ? 'Go To Joint' : undefined, + }); + break; + } + + case 'cylinder-has-no-travel': { + const id = mechanism.unusableCylinder; + const subject = id ? `Cylinder ${helpers.cylinderName(id)}` : 'This cylinder'; + add({ + state: 'blocker', + title: 'A cylinder has no travel', + body: `${subject} has a barrel too short for its rod to slide in at all. Lengthen the cylinder, or reduce Object Scale — a larger scale draws everything on the rod bigger without lengthening the barrel.`, + }); + break; + } + + case 'dead-position': + add({ + state: 'blocker', + title: 'This mechanism starts at a dead position', + body: 'The driven joint is at a limit of its travel and cannot turn away from it in either direction. Drag a joint to move the mechanism off the limit.', + }); + break; + + case 'cycle-never-closes': + add({ + state: 'blocker', + title: 'The motion never repeats', + body: 'This mechanism never comes back to the pose it started in, so there is no cycle to animate. Check the link lengths — a loop that only just closes can wander instead of repeating.', + }); + break; + + case 'nothing-can-move': + add({ + state: 'blocker', + title: 'Nothing moves when the input turns', + body: 'The driven joint cannot reach the rest of the mechanism, so no other joint has a position to solve for. Check that it is connected through links to the parts you expect it to move.', + }); + break; + } + + // Asked even of a mechanism the solver accepted: the toggle refuses a joint + // it cannot describe, but nothing stops a later edit adding a third body to a + // joint that was legitimately driven when it was switched on. + const refusal = helpers.drivenRefusal(partition); + if (refusal) { + const driven = partition.joints.find((joint) => joint instanceof RealJoint && joint.input); + add({ + state: 'blocker', + title: 'The driven joint cannot be driven', + body: refusal, + at: driven, + action: driven ? 'Go To Joint' : undefined, + }); + } + + const stroke = helpers.strokeWarning(partition); + if (stroke) { + add({ state: 'warning', title: 'A cylinder cannot use its whole stroke', body: stroke }); + } + + return { + id: partition.id, + ready: mechanism.isMechanismValid() && checks.every((check) => check.state !== 'blocker'), + checks, + }; +} + +export interface UnassignedReport { + /** The part at fault, so the panel can offer to go to it. */ + at?: Joint; + title: string; + body: string; +} + +/** + * What to say about geometry that is in no mechanism. + * + * Split by cause, because the two have different ways out: a floating chain + * needs grounding, a joint on its own needs connecting. + */ +export function describeUnassigned(unassigned: UnassignedGeometry): UnassignedReport[] { + const reports: UnassignedReport[] = []; + + unassigned.floatingChains.forEach((chain) => { + const sorted = [...chain.joints].sort((a, b) => a.id.localeCompare(b.id)); + reports.push({ + at: sorted[0], + title: `Joints ${names(sorted)} never reach ground`, + body: 'Nothing anchors this chain, so there is nothing for it to move against and no position to solve for. Ground one of its joints to make it a mechanism.', + }); + }); + + unassigned.looseJoints.forEach((joint) => { + reports.push({ + at: joint, + title: `Joint ${(joint as RealJoint).name || joint.id} has no link`, + body: 'A joint on its own is not part of any mechanism and is skipped by analysis. Attach a link to it, or delete it.', + }); + }); + + return reports; +} diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index c3b16939..5483e4e8 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -23,6 +23,12 @@ import { partitionMechanisms, UnassignedGeometry, } from '../model/mechanism/mechanism-partition'; +import { + describeUnassigned, + MechanismReadiness, + readinessOf, + UnassignedReport, +} from '../model/mechanism/readiness'; import { ToolbarComponent } from '../component/toolbar/toolbar.component'; import { InstantCenter } from '../model/instant-center'; import { @@ -1579,6 +1585,40 @@ export class MechanismService { * * Returns nothing when the mechanism is fine. */ + readinessOfEachMechanism(): MechanismReadiness[] { + return this.partitions.map((partition, index) => + readinessOf(partition, this.mechanisms[index], { + cylinderName: (sliderId) => { + const found = this.sealedStructures().find((c) => c.slider.id === sliderId); + return found ? this.cylinderName(found) : sliderId; + }, + drivenRefusal: (part) => { + const driven = part.joints.find((joint) => joint instanceof RealJoint && joint.input); + if (!driven) { + return undefined; + } + const refusal = describeActuator(driven); + return typeof refusal === 'string' ? refusal : undefined; + }, + strokeWarning: (part) => this.strokeWarningFor(part), + }) + ); + } + + /** What to say about geometry that is in no mechanism. */ + unassignedReports(): UnassignedReport[] { + return describeUnassigned(this.unassigned); + } + + /** How many blockers stand between this drawing and a full set of animations. */ + blockerCount(): number { + return this.readinessOfEachMechanism().reduce( + (total, readiness) => + total + readiness.checks.filter((check) => check.state === 'blocker').length, + 0 + ); + } + invalidReason(): string | undefined { if (this.oneValidMechanismExists()) { return undefined; @@ -1660,7 +1700,18 @@ export class MechanismService { private reachWarningCache: string | undefined; private computeCylinderReachWarning(): string | undefined { + return this.strokeWarningFor(); + } + + /** + * The first cylinder in `only` -- or in the whole drawing -- that the linkage + * stops before the barrel does. + */ + private strokeWarningFor(only?: MechanismPartition): string | undefined { for (const cylinder of this.sealedStructures()) { + if (only && !only.joints.some((joint) => joint.id === cylinder.pin.id)) { + continue; + } // Each ram is measured against the frames of its own machine. Read from // another mechanism's cycle -- a different length, a different motion -- // the travel below is a measurement of the wrong thing entirely. diff --git a/src/tests/fixtures/mechanism-fixtures.ts b/src/tests/fixtures/mechanism-fixtures.ts index 2f1f2e22..170c3d21 100644 --- a/src/tests/fixtures/mechanism-fixtures.ts +++ b/src/tests/fixtures/mechanism-fixtures.ts @@ -99,6 +99,12 @@ export function buildMechanismFixture(payload: string): MechanismFixture { { id: 'M1', joints: service.joints, links: service.links, forces: service.forces }, ]; service.oneValidMechanismExists = () => mechanism.isMechanismValid(); + // Borrowed rather than restated: the panels now ask which machine owns the + // part they are drawing, and the real lookup reads exactly the two fields + // set above, so a copy here could only drift away from it. + service.indexOfMechanismContaining = + MechanismService.prototype.indexOfMechanismContaining.bind(service); + service.mechanismContaining = MechanismService.prototype.mechanismContaining.bind(service); return { active, mechanism, service, settings }; } diff --git a/src/tests/verification/readiness-checks.spec.ts b/src/tests/verification/readiness-checks.spec.ts new file mode 100644 index 00000000..3655a5a5 --- /dev/null +++ b/src/tests/verification/readiness-checks.spec.ts @@ -0,0 +1,205 @@ +// joint.ts first: the model modules form an import cycle that only +// initializes cleanly when entered here (see test-utils/verification/fixture.ts). +import '../../app/model/joint'; +import { partitionMechanisms } from '../../app/model/mechanism/mechanism-partition'; +import { + describeUnassigned, + ReadinessHelpers, + readinessOf, +} from '../../app/model/mechanism/readiness'; +import { buildMechanism, MechanismFixture } from '../../test-utils/verification/fixture'; + +/** + * What the app tells a student who has pressed play and got nothing. + * + * Every one of these situations used to arrive as the same silence, or at best + * as one first-blocker-wins sentence about the whole drawing. What is checked + * here is not that a message exists but that it is the *right* message for the + * solver's actual reason, and that it names a way out — a blocker that only + * describes the wall leaves the reader exactly where they were. + */ +describe('why a mechanism will not run', () => { + const noHelpers: ReadinessHelpers = { + cylinderName: (id: string) => id, + drivenRefusal: () => undefined, + strokeWarning: () => undefined, + }; + + function checksFor(fixture: MechanismFixture, helpers = noHelpers) { + const built = buildMechanism(fixture); + const { mechanisms } = partitionMechanisms(built.joints, built.links, built.forces); + return readinessOf(mechanisms[0], built.mechanism, helpers); + } + + const workingFourBar: MechanismFixture = { + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + ], + links: [{ joints: 'AB' }, { joints: 'BC' }, { joints: 'CD' }], + inputAngVel: 1, + }; + + it('says nothing at all about a mechanism that runs', () => { + const readiness = checksFor(workingFourBar); + + expect(readiness.ready).toBe(true); + expect(readiness.checks).toEqual([]); + }); + + it('counts the degrees of freedom rather than calling the linkage invalid', () => { + // Grounded at one end only, so the chain flaps: mobility 2. + const readiness = checksFor({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 1, y: 0 }, + { id: 'C', x: 2, y: 0 }, + ], + links: [{ joints: 'AB' }, { joints: 'BC' }], + inputAngVel: 1, + }); + + expect(readiness.ready).toBe(false); + expect(readiness.checks).toHaveLength(1); + const [check] = readiness.checks; + expect(check.state).toBe('blocker'); + expect(check.title).toBe('This mechanism has 2 degrees of freedom'); + // The number, and then what to do about it — not "invalid". + expect(check.body).toMatch(/Ground another joint, or connect a free joint to a second link/); + }); + + it('reports the mobility first when a linkage is both loose and undriven', () => { + // Both are wrong, and the order matters: giving this an input would not + // make it run, so sending the reader to add one first wastes the fix. + const readiness = checksFor({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true }, + { id: 'B', x: 1, y: 0 }, + { id: 'C', x: 2, y: 0 }, + ], + links: [{ joints: 'AB' }, { joints: 'BC' }], + inputAngVel: 1, + }); + + expect(readiness.checks[0].title).toBe('This mechanism has 2 degrees of freedom'); + }); + + it('names a joint that could take the drive when nothing is driven', () => { + const readiness = checksFor({ + ...workingFourBar, + joints: workingFourBar.joints.map((joint) => ({ ...joint, input: false })), + }); + + expect(readiness.checks).toHaveLength(1); + const [check] = readiness.checks; + expect(check.title).toBe('Nothing drives this mechanism'); + // Points at a joint that can actually take the job, so the button is an + // answer rather than a place to start looking. + expect(check.at).toBeDefined(); + expect(check.action).toBe('Go To Joint'); + expect(check.body).toMatch(/Right-click joint [A-Z] and choose Add Input/); + }); + + it('names the slider when one has nothing to slide along', () => { + // The slider sits on a joint of the grounded chain, so its block is part of + // that mechanism. A detached slider hanging off nothing else is a different + // situation entirely -- it never reaches ground, so it is unassigned + // geometry rather than a broken mechanism, and the case below covers it. + const readiness = checksFor({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + ], + links: [{ joints: 'AB' }, { joints: 'BC' }, { joints: 'CD' }], + sliders: [{ at: 'C', prisId: 'P', on: { carrier: 'AB', a: 'A', b: 'B' } }], + detach: ['P'], + inputAngVel: 1, + }); + + const [check] = readiness.checks; + expect(check.title).toBe('A slider has nothing to slide along'); + expect(check.body).toMatch(/Drag it onto a link to cut a slot, or ground it/); + expect(check.at).toBeDefined(); + }); + + it('leaves a good linkage alone when a detached slider floats beside it', () => { + // Splitting the drawing changed this for the better: the four-bar used to + // be dragged down by the slider's dangling block, because both were one + // mechanism. Now the block simply never reaches ground. + const built = buildMechanism({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + { id: 'E', x: 1.5, y: 1.5 }, + ], + links: [{ joints: 'AB' }, { joints: 'BC' }, { joints: 'CD' }], + sliders: [{ at: 'E', prisId: 'P', on: { carrier: 'BC', a: 'B', b: 'C' } }], + detach: ['P'], + inputAngVel: 1, + }); + const { mechanisms, unassigned } = partitionMechanisms(built.joints, built.links, built.forces); + + expect(mechanisms).toHaveLength(1); + expect(mechanisms[0].joints.map((j) => j.id).sort()).toEqual(['A', 'B', 'C', 'D']); + expect(unassigned.floatingChains.length + unassigned.looseJoints.length).toBeGreaterThan(0); + }); + + it('reports a drive the actuator cannot describe, even on a solved mechanism', () => { + // The refusal is asked of every mechanism, not only broken ones: the toggle + // guards this, but a later edit can add a third body to a joint that was + // legitimately driven when it was switched on. + const readiness = checksFor(workingFourBar, { + ...noHelpers, + drivenRefusal: () => + 'A slider’s block is a single point, so there is no angle to turn it through.', + }); + + expect(readiness.ready).toBe(false); + expect(readiness.checks).toHaveLength(1); + expect(readiness.checks[0].state).toBe('blocker'); + expect(readiness.checks[0].title).toBe('The driven joint cannot be driven'); + }); + + it('treats a cylinder that cannot use its whole stroke as a warning, not a blocker', () => { + const readiness = checksFor(workingFourBar, { + ...noHelpers, + strokeWarning: () => 'Cylinder AB can only use 40% of its stroke — the linkage binds first.', + }); + + // It runs, and every number it reports is right; there is simply something + // about the result worth knowing. + expect(readiness.ready).toBe(true); + expect(readiness.checks).toHaveLength(1); + expect(readiness.checks[0].state).toBe('warning'); + }); + + it('tells a floating chain what it is missing, and a lone joint what it is', () => { + const built = buildMechanism({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + { id: 'E', x: 0, y: 6 }, + { id: 'F', x: 2, y: 7 }, + { id: 'G', x: 9, y: 9 }, + ], + links: [{ joints: 'AB' }, { joints: 'BC' }, { joints: 'CD' }, { joints: 'EF' }], + inputAngVel: 1, + }); + const { unassigned } = partitionMechanisms(built.joints, built.links, built.forces); + const reports = describeUnassigned(unassigned); + + expect(reports).toHaveLength(2); + expect(reports[0].title).toBe('Joints E, F never reach ground'); + expect(reports[0].body).toMatch(/Ground one of its joints to make it a mechanism/); + expect(reports[1].title).toBe('Joint G has no link'); + expect(reports[1].body).toMatch(/Attach a link to it, or delete it/); + }); +}); From 11b65d51cecd3b757356dd8ea36178d7dfd7736e Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 01:58:23 -0400 Subject: [PATCH 004/236] Give each mechanism its own speed, and stop saving what is selected Speed was one number for the drawing, which stops being a speed at all once the drawing holds several machines: a cylinder beside a crank would be handed the crank's rpm. It now rides on the driven joint, because that is the only handle on a mechanism the URL carries -- names are derived from the geometry rather than saved, so there is nothing else stable to key on. It is also where the panel has always shown the setting, so nothing moves for the reader. Zero means "follow the document-wide default", and a joint running at that default writes no token at all. Every template and every previously shared URL therefore still re-encodes byte-identically, and only a drawing that actually uses the feature pays for it. A speed with no slot writes the slot triple empty, without which the decoder would read the speed as a carrier id. Selection leaves the URL entirely. It was two things it should never have been: part of what a shared link says, so opening someone else's mechanism selected whatever they had last clicked; and part of the undo history, since undo is URL replay -- pressing it after clicking a joint moved the highlight instead of the mechanism. The field stays, always empty, because its position in the format is load-bearing. What was selected is now simply re-found among the rebuilt objects, so a selection survives an undo without ever having been stored. --- src/app/model/joint.ts | 14 +++ src/app/services/mechanism.service.ts | 22 +++-- .../services/transcoding/mechanism-builder.ts | 42 ++++++--- .../services/transcoding/string-transcoder.ts | 26 +++++- .../services/transcoding/transcoder-data.ts | 15 +++- .../transcoding/url-drive-speed.spec.ts | 90 +++++++++++++++++++ .../transcoding/url-weld-force.spec.ts | 11 ++- src/app/services/url-generation.service.ts | 32 +++---- src/tests/verification/two-mechanisms.spec.ts | 17 ++++ 9 files changed, 226 insertions(+), 43 deletions(-) create mode 100644 src/app/services/transcoding/url-drive-speed.spec.ts diff --git a/src/app/model/joint.ts b/src/app/model/joint.ts index e504ada5..0a64147e 100644 --- a/src/app/model/joint.ts +++ b/src/app/model/joint.ts @@ -53,6 +53,20 @@ export class RealJoint extends Joint { private _connectedJoints: Joint[]; public showCurve: boolean; public isWelded: boolean = false; + /** + * How fast this joint drives its own mechanism, signed for direction, in the + * units its kind of drive is measured in: rpm for a pin, length per second + * for a slider. + * + * Lives on the joint because a drawing can hold several mechanisms and each + * is driven at its own speed. The driven joint is the natural place to keep + * it -- one per mechanism, already saved, and it is where the panel has + * always shown the setting anyway. + * + * Zero means "follow the document-wide default", which is what every joint + * loaded from a URL written before this existed says. + */ + public driveSpeed: number = 0; constructor( id: string, diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 5483e4e8..8e6b4766 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -265,12 +265,22 @@ export class MechanismService { * cylinder beside a crank must not be handed the crank's rpm. */ private inputVelocityFor(partition: MechanismPartition): number { - const driven = partition.joints.find((j) => j instanceof RealJoint && j.input); - const speed = - driven instanceof PrisJoint - ? this.settingsService.linearInputSpeed.value * MODEL_SCALE - : (this.settingsService.inputSpeed.value * Math.PI) / 30; - return this.settingsService.isInputCW.value ? -speed : speed; + const driven = partition.joints.find((j) => j instanceof RealJoint && j.input) as + RealJoint | undefined; + const prismatic = driven instanceof PrisJoint; + // The joint's own speed if it has been given one, and the document-wide + // default otherwise -- which is what a URL written before mechanisms could + // be driven separately says, and what a joint just switched on says too. + const own = driven?.driveSpeed ?? 0; + const magnitude = + own !== 0 + ? Math.abs(own) + : prismatic + ? this.settingsService.linearInputSpeed.value + : this.settingsService.inputSpeed.value; + const speed = prismatic ? magnitude * MODEL_SCALE : (magnitude * Math.PI) / 30; + const clockwise = own !== 0 ? own < 0 : this.settingsService.isInputCW.value; + return clockwise ? -speed : speed; } /** Which mechanism holds this joint, link or force — none, if it is unassigned. */ diff --git a/src/app/services/transcoding/mechanism-builder.ts b/src/app/services/transcoding/mechanism-builder.ts index e8718fef..c1bd3ced 100644 --- a/src/app/services/transcoding/mechanism-builder.ts +++ b/src/app/services/transcoding/mechanism-builder.ts @@ -77,6 +77,7 @@ export class MechanismBuilder { joint.name = jointData.name; joint.isWelded = jointData.isWelded; joint.showCurve = jointData.showCurve; + joint.driveSpeed = jointData.driveSpeed; console.log('build joint', jointData.type); return joint; @@ -254,20 +255,33 @@ export class MechanismBuilder { this.addAdjacentLinksForJoints(); - // set active object - let activeObjData = this.transcoder.getActiveObj(); - let activeObj: any; - if (activeObjData.type === ACTIVE_TYPE.JOINT) - activeObj = this.getJointByID(joints, activeObjData.id)!; - else if (activeObjData.type === ACTIVE_TYPE.LINK) - activeObj = links.find( - (link) => - link.id === activeObjData.id || - (link instanceof RealLink && link.subset.some((subset) => subset.id === activeObjData.id)) - ); - else if (activeObjData.type === ACTIVE_TYPE.FORCE) - activeObj = forces.find((force) => force.id === activeObjData.id); - else activeObj = null; + // What was selected before this rebuild, re-found among the new objects. + // + // The URL used to carry the selection, which made it two things it should + // never have been: part of what a shared link says, so opening someone + // else's mechanism selected whatever they happened to have clicked; and + // part of the undo history, since undo is URL replay. Selecting is not an + // edit and pressing Undo after one should move the mechanism, not the + // highlight. + // + // The field is still written, always empty, because its position in the + // format is load-bearing for every URL already shared. + const selectedType = this.activeObj.getSelectedObjType(); + const previousId = ['Joint', 'Link', 'Force'].includes(selectedType) + ? this.activeObj.getSelectedObj().id + : undefined; + let activeObj: any = null; + if (previousId) { + activeObj = + this.getJointByID(joints, previousId) ?? + links.find( + (link) => + link.id === previousId || + (link instanceof RealLink && link.subset.some((subset) => subset.id === previousId)) + ) ?? + forces.find((force) => force.id === previousId) ?? + null; + } this.activeObj.updateSelectedObj(activeObj); diff --git a/src/app/services/transcoding/string-transcoder.ts b/src/app/services/transcoding/string-transcoder.ts index 4e5c02f1..04dfbb12 100644 --- a/src/app/services/transcoding/string-transcoder.ts +++ b/src/app/services/transcoding/string-transcoder.ts @@ -73,9 +73,24 @@ export class StringTranscoder extends GenericTranscoder { let yString = this.encodeDecimalNumber(joint.y); let angleString = this.encodeDecimalNumber(joint.angleRadians); + // Written only by a joint that has actually been given its own speed, so a + // mechanism running at the document-wide default encodes exactly as it + // always did -- every template and every previously shared URL still comes + // back byte-identical, and only a drawing that uses the feature pays for + // it. + // + // It has to land *after* the slot triple, so a joint with a speed and no + // slot writes the triple empty; without those placeholders the decoder + // would read the speed as a carrier id. + let driveString = + joint.isInput && joint.driveSpeed !== 0 + ? ',' + this.encodeDecimalNumber(joint.driveSpeed) + : ''; let slotString = joint.carrierID === '' - ? '' + ? driveString === '' + ? '' + : ',,,' : ',' + joint.carrierID + ',' + joint.slotJointAID + ',' + joint.slotJointBID; return ( @@ -90,7 +105,8 @@ export class StringTranscoder extends GenericTranscoder { yString + ',' + angleString + - slotString + slotString + + driveString ); } @@ -115,6 +131,9 @@ export class StringTranscoder extends GenericTranscoder { let carrierID = sd.nextToken(); let slotJointAID = sd.nextToken(); let slotJointBID = sd.nextToken(); + // Zero past the end, which is how a URL written before per-mechanism speed + // says "use the document-wide default". + let driveSpeed = sd.nextDecimalNumber(); return new JointData( jointType, @@ -130,7 +149,8 @@ export class StringTranscoder extends GenericTranscoder { carrierID, slotJointAID, slotJointBID, - isSealed + isSealed, + driveSpeed ); } diff --git a/src/app/services/transcoding/transcoder-data.ts b/src/app/services/transcoding/transcoder-data.ts index a4f7afe5..1575712d 100644 --- a/src/app/services/transcoding/transcoder-data.ts +++ b/src/app/services/transcoding/transcoder-data.ts @@ -48,7 +48,20 @@ export class JointData { // The sealed-cylinder bit (§ atomic cylinder). Sixth joint flag: base-64 // packs six flags into the same single character five occupied, so every // pre-existing URL decodes it as false and nothing shifts. - public isSealed: boolean = false + public isSealed: boolean = false, + /** + * How fast this joint drives its own mechanism, signed for direction. + * + * Stored on the joint because a drawing can hold several mechanisms and + * each is driven at its own speed, and the driven joint is the only handle + * on a mechanism that the URL carries -- mechanism names are derived from + * the geometry, not saved, so there is nothing else stable to key on. + * + * Zero means "this URL predates the setting"; the builder then keeps the + * document-wide default. Zero is safe to spend that way because a drive + * that does not move is not a speed anyone chose -- the panel refuses it. + */ + public driveSpeed: number = 0 ) {} } diff --git a/src/app/services/transcoding/url-drive-speed.spec.ts b/src/app/services/transcoding/url-drive-speed.spec.ts new file mode 100644 index 00000000..942e6066 --- /dev/null +++ b/src/app/services/transcoding/url-drive-speed.spec.ts @@ -0,0 +1,90 @@ +import '../../model/joint'; +import { Joint, RealJoint, RevJoint } from '../../model/joint'; +import { RealLink } from '../../model/link'; +import { ActiveObjService } from '../active-obj.service'; +import { MechanismService } from '../mechanism.service'; +import { SettingsService } from '../settings.service'; +import { UrlGenerationService } from '../url-generation.service'; +import { MechanismBuilder } from './mechanism-builder'; +import { StringTranscoder } from './string-transcoder'; +import { MODEL_SCALE } from '../../model/render-scale'; + +/** + * A drawing can hold several mechanisms and each is driven at its own speed, so + * the speed can no longer be one document-wide number. + * + * It rides on the driven joint, which is the only handle on a mechanism the URL + * carries: mechanism names are derived from the geometry rather than saved, so + * there is nothing else stable to key on. The half of this that matters most is + * every URL written before it existed, which has to keep opening — and keep + * opening at the speed it was shared at. + */ + +const S = MODEL_SCALE; + +function source(driveSpeed = 0) { + const a = new RevJoint('A', 0, 0, true, true); + const b = new RevJoint('B', 2 * S, 0); + a.driveSpeed = driveSpeed; + const bar = new RealLink('AB', [a, b], 1, 1); + [a, b].forEach((joint) => joint.links.push(bar)); + a.connectedJoints.push(b); + b.connectedJoints.push(a); + return { joints: [a, b], links: [bar], forces: [] }; +} + +function encode(driveSpeed: number, settings = new SettingsService()): string { + return new UrlGenerationService( + { ...source(driveSpeed), mechanismTimeStep: 0 } as unknown as MechanismService, + settings, + new ActiveObjService() + ).generateUrlQuery(); +} + +function decode(encoded: string): Joint[] { + const decoder = new StringTranscoder(); + decoder.decodeURL(encoded); + const target = { + joints: [] as Joint[], + links: [], + forces: [], + mechanismTimeStep: 0, + } as unknown as MechanismService; + new MechanismBuilder(target, decoder, new SettingsService(), new ActiveObjService()).build(true); + return target.joints; +} + +describe('a driven joint carries its own speed', () => { + it('round-trips the speed it was given', () => { + const driven = decode(encode(42.5)).find((j) => j instanceof RealJoint && j.input) as RealJoint; + + expect(driven.driveSpeed).toBeCloseTo(42.5, 3); + }); + + it('round-trips the direction, which is the sign of it', () => { + const driven = decode(encode(-17.25)).find( + (j) => j instanceof RealJoint && j.input + ) as RealJoint; + + expect(driven.driveSpeed).toBeCloseTo(-17.25, 3); + }); + + it('writes nothing at all for a mechanism running at the document default', () => { + // The whole compatibility story rests on this: a joint that has not been + // given its own speed encodes exactly as it always did, so every template + // and every previously shared URL still comes back byte-identical. Only a + // drawing that uses the feature pays for it. + expect(encode(0)).toBe(encode(0, new SettingsService())); + expect(encode(0).length).toBeLessThan(encode(42.5).length); + }); + + it('opens a URL written before the setting existed at the shared speed', () => { + // Nothing to strip: a pre-feature URL simply has no drive token, and the + // decoder answers zero past the end — which is what "follow the + // document-wide default" is spelled as. + const legacy = encode(0); + const driven = decode(legacy).find((j) => j instanceof RealJoint && j.input) as RealJoint; + + expect(driven.driveSpeed).toBe(0); + }); +}); diff --git a/src/app/services/transcoding/url-weld-force.spec.ts b/src/app/services/transcoding/url-weld-force.spec.ts index 9e4a5d53..7b445080 100644 --- a/src/app/services/transcoding/url-weld-force.spec.ts +++ b/src/app/services/transcoding/url-weld-force.spec.ts @@ -59,7 +59,7 @@ function weldedSource() { } describe('welded force URL compatibility', () => { - it('round-trips production welded forces, the last enum, and active force selection', () => { + it('round-trips production welded forces and the last enum, carrying no selection', () => { const source = weldedSource(); const sourceService = { ...source, @@ -91,8 +91,13 @@ describe('welded force URL compatibility', () => { expect(target.forces).toHaveLength(1); expect(target.forces[0].link).toBe(target.links[0]); expect((target.links[0] as RealLink).forces).toEqual(target.forces); - expect(targetActive.objType).toBe('Force'); - expect(targetActive.selectedForce).toBe(target.forces[0]); + // What is selected is deliberately not part of the URL: a shared link + // should open on the reader's own nothing-selected rather than on whatever + // the sender last clicked, and undo — which replays these URLs — should + // move the mechanism rather than the highlight. + // 'Grid' is how this app spells nothing-selected once something has looked: + // the grid is what is active when no part is. + expect(targetActive.objType).toBe('Grid'); expect(targetSettings.globalUnit.value).toBe(GlobalUnit.SI); expect(targetSettings.lengthUnit.value).toBe(LengthUnit.METER); expect(targetSettings.forceUnit.value).toBe(ForceUnit.NEWTON); diff --git a/src/app/services/url-generation.service.ts b/src/app/services/url-generation.service.ts index 7b965afd..a4d4d5c2 100644 --- a/src/app/services/url-generation.service.ts +++ b/src/app/services/url-generation.service.ts @@ -57,7 +57,12 @@ export class UrlGenerationService { joint.input, joint.isWelded, 0, - joint.showCurve + joint.showCurve, + '', + '', + '', + false, + joint.driveSpeed ) ); } else if (joint instanceof PrisJoint) { @@ -76,7 +81,8 @@ export class UrlGenerationService { joint.carrier?.id ?? '', joint.slotJointA?.id ?? '', joint.slotJointB?.id ?? '', - joint.isSealed + joint.isSealed, + joint.driveSpeed ) ); } @@ -208,20 +214,14 @@ export class UrlGenerationService { // Keep this legacy bit enabled so existing URL field positions remain compatible. encoder.addBoolSetting(BoolSetting.IS_FORCES, true); - let type: ACTIVE_TYPE; - let exists = true; - if (this.activeObj.objType === 'Joint') type = ACTIVE_TYPE.JOINT; - else if (this.activeObj.objType === 'Link') type = ACTIVE_TYPE.LINK; - else if (this.activeObj.objType === 'Force') type = ACTIVE_TYPE.FORCE; - else { - type = ACTIVE_TYPE.NOTHING; - exists = false; - } - - let id; - if (exists) id = this.activeObj.getSelectedObj().id; - else id = '_'; - encoder.setActiveObj(new ActiveObjData(type, id)); + // Deliberately empty. What is selected is not part of the mechanism: a + // shared link should open on the reader's own nothing-selected, not on + // whatever the sender last clicked, and undo -- which replays these URLs -- + // should move the mechanism rather than the highlight. + // + // The field itself stays, always empty, because its position in the format + // is load-bearing for every URL already shared. + encoder.setActiveObj(new ActiveObjData(ACTIVE_TYPE.NOTHING, '_')); let urlRaw = encoder.encodeURL(); diff --git a/src/tests/verification/two-mechanisms.spec.ts b/src/tests/verification/two-mechanisms.spec.ts index b85c485b..e7fc3854 100644 --- a/src/tests/verification/two-mechanisms.spec.ts +++ b/src/tests/verification/two-mechanisms.spec.ts @@ -103,6 +103,23 @@ describe('two four-bars in one drawing', () => { ]); }); + it('lets each run at its own speed, and spans the longer cycle', () => { + const { service, first, second } = twoFourBars(); + // 30 rpm against the document default of 20: the same crank turning twice + // as fast has to come round in half the time. + (first.joints[0] as RealJoint).driveSpeed = 30; + service.updateMechanism(); + + const [fast, slow] = service.mechanisms; + expect(fast.cyclePeriod).toBeLessThan(slow.cyclePeriod); + expect(fast.cyclePeriod).toBeCloseTo(slow.cyclePeriod * (20 / 30), 2); + + // The shared scrubber has to be long enough to hold the slowest machine, + // or playback would cut off partway through it. + expect(service.cyclePeriod()).toBeCloseTo(slow.cyclePeriod, 6); + expect(second.joints.length).toBeGreaterThan(0); + }); + it('moves both when the shared clock advances, each on its own frames', () => { const { service, first, second } = twoFourBars(); const restAt = (joint: RealJoint) => ({ x: joint.x, y: joint.y }); From ed67a461a8c420646a2d14e3915e1cfb1c43921c Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 02:15:36 -0400 Subject: [PATCH 005/236] Keep the rails a slot is cut into The gripper stopped animating. Its mobility was still one and its mechanism still built, so nothing complained -- it simply solved something else, and the arms wandered off and never closed their cycle. Its sliders run in slots cut into anchored bars: links whose joints are all grounded, so they *are* the world and have no body of their own for a joint to connect. A slot's carrier and the two joints drawing its line live outside `links` and `connectedJoints`, so the component walk never reached them and each mechanism was handed its sliders without the rails they run on. Four grounded frame joints were also being reported as having no link at all, which they plainly do. Following those references closes it, to a fixed point because a carrier can itself carry a slider. Caught by the gallery sweep rather than by the unit suite, which is the argument for running it: 1890 graph checks and every timing check passed while this was broken. --- e2e/multi-mechanism-smoke.mjs | 107 ++++++++++++++++++ .../model/mechanism/mechanism-partition.ts | 47 +++++++- .../verification/mechanism-partition.spec.ts | 20 ++++ 3 files changed, 173 insertions(+), 1 deletion(-) create mode 100644 e2e/multi-mechanism-smoke.mjs diff --git a/e2e/multi-mechanism-smoke.mjs b/e2e/multi-mechanism-smoke.mjs new file mode 100644 index 00000000..5b36cd90 --- /dev/null +++ b/e2e/multi-mechanism-smoke.mjs @@ -0,0 +1,107 @@ +/** + * Does the app still boot, and does it now see more than one machine? + * + * The model underneath was rebuilt: the drawing is split into components, each + * solved on its own. A unit suite can say the partition is right without + * saying the app starts, so this loads real templates in a real browser and + * asks the running service what it found. + * + * PMKS_PLAYWRIGHT_DIR= PMKS_BASE_URL= node e2e/multi-mechanism-smoke.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); +page.on('console', (message) => { + if (message.type() === 'error') errors.push(message.text()); +}); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +/** What the running service says about the mechanisms it built. */ +const report = () => + page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return { + count: srv.mechanisms.length, + dofs: srv.mechanisms.map((m) => m.dof), + valid: srv.mechanisms.map((m) => m.isMechanismValid()), + ids: srv.partitions.map((p) => p.id), + anyValid: srv.oneValidMechanismExists(), + blockers: srv.blockerCount(), + floating: srv.unassigned.floatingChains.length, + loose: srv.unassigned.looseJoints.length, + period: srv.cyclePeriod(), + }; + }); + +// --- one template is still exactly one machine ----------------------------- +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +const fourBar = await report(); +record( + 'a four-bar is one mechanism, 1 DoF, valid', + fourBar.count === 1 && fourBar.dofs[0] === 1 && fourBar.valid[0] === true, + fourBar +); +record( + 'and it names it M1 with nothing left over', + fourBar.ids[0] === 'M1' && fourBar.floating === 0 && fourBar.loose === 0, + fourBar +); +record('with no blockers to report', fourBar.blockers === 0, fourBar); + +// --- a cylinder template still solves --------------------------------------- +await page.goto(`${BASE}/?${payloads['Slider_Crank']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +const slider = await report(); +record( + 'a slider-crank still solves as one machine', + slider.count === 1 && slider.valid[0] === true, + slider +); + +// --- the animation still runs ---------------------------------------------- +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +const before = await page.evaluate(() => { + const box = document.querySelector('#joint_B').getBoundingClientRect(); + return { x: box.x, y: box.y }; +}); +await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + srv.animate(srv.stepAtTime(srv.cyclePeriod() / 2)); +}); +await page.waitForTimeout(400); +const after = await page.evaluate(() => { + const box = document.querySelector('#joint_B').getBoundingClientRect(); + return { x: box.x, y: box.y }; +}); +record( + 'seeking half a cycle moves the crank pin', + Math.hypot(after.x - before.x, after.y - before.y) > 5, + { before, after } +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); + +await browser.close(); +process.exit(results.every(([, ok]) => ok) ? 0 : 1); diff --git a/src/app/model/mechanism/mechanism-partition.ts b/src/app/model/mechanism/mechanism-partition.ts index c6d8365b..70245e81 100644 --- a/src/app/model/mechanism/mechanism-partition.ts +++ b/src/app/model/mechanism/mechanism-partition.ts @@ -1,4 +1,4 @@ -import { Joint, RealJoint } from '../joint'; +import { Joint, PrisJoint, RealJoint } from '../joint'; import { Link } from '../link'; import { Force } from '../force'; import { assignBodies, WORLD } from './bodies'; @@ -127,6 +127,51 @@ export function partitionMechanisms( }); }); + // A slot's carrier and the two joints that draw its line live outside + // `links` and `connectedJoints` (§2.3 Option A), so nothing above reaches + // them. When the carrier is a *moving* link the slider's own body edge has + // already pulled it in, but a slot cut into an anchored bar is part of the + // world and has no edge -- and a mechanism handed its sliders without the + // rails they run on does not fail loudly. It solves something else: the + // gripper's arms wandered off and never closed their cycle. + // + // Repeated to a fixed point because a carrier can itself carry a slider. + for (let settled = false; !settled;) { + settled = true; + members.forEach((entry) => { + [...entry.joints].forEach((joint) => { + if (!(joint instanceof PrisJoint)) { + return; + } + const rails: (Link | Joint | undefined)[] = [ + joint.carrier, + joint.slotJointA, + joint.slotJointB, + ]; + rails.forEach((part) => { + if (!part) return; + if (part instanceof Joint) { + if (!entry.joints.has(part)) { + entry.joints.add(part); + settled = false; + } + return; + } + if (!entry.links.has(part)) { + entry.links.add(part); + settled = false; + } + part.joints.forEach((railJoint) => { + if (!entry.joints.has(railJoint)) { + entry.joints.add(railJoint); + settled = false; + } + }); + }); + }); + }); + } + // A grounded joint sits on the frame, so it belongs to every machine bolted // to it — added by body above, and by name here for a joint whose links all // turned out to be world. diff --git a/src/tests/verification/mechanism-partition.spec.ts b/src/tests/verification/mechanism-partition.spec.ts index 6c41eab9..aed84329 100644 --- a/src/tests/verification/mechanism-partition.spec.ts +++ b/src/tests/verification/mechanism-partition.spec.ts @@ -3,6 +3,7 @@ import '../../app/model/joint'; import { partitionMechanisms } from '../../app/model/mechanism/mechanism-partition'; import { buildMechanism, MechanismFixture } from '../../test-utils/verification/fixture'; +import { FIXTURE_GALLERY } from '../../test-utils/verification/fixture-gallery'; /** * What counts as one machine. @@ -149,6 +150,25 @@ describe('splitting a drawing into the machines it contains', () => { expect(unassigned.looseJoints.map((j) => j.id)).toEqual(['E']); }); + it('keeps the rails a slot is cut into, even when they are part of the frame', () => { + // The gripper's sliders run in slots cut into anchored bars — links whose + // joints are all grounded, so they *are* the world and have no body of + // their own to be joined by. A slot's carrier lives outside `links` and + // `connectedJoints`, so nothing in the component walk reaches it, and a + // mechanism handed its sliders without the rails they run on does not fail + // loudly: it solves something else, and the arms never close their cycle. + const entry = FIXTURE_GALLERY.find((f) => f.name === 'Cylinder-driven gripper')!; + const built = buildMechanism(entry.fixture); + const { mechanisms, unassigned } = partitionMechanisms(built.joints, built.links, built.forces); + + expect(mechanisms).toHaveLength(1); + // Every joint and link in the drawing belongs to it. Nothing is left over. + expect(mechanisms[0].joints).toHaveLength(built.joints.length); + expect(mechanisms[0].links).toHaveLength(built.links.length); + expect(unassigned.looseJoints).toEqual([]); + expect(unassigned.floatingChains).toEqual([]); + }); + it('does not split a mechanism at a slider that rides on one of its own links', () => { // A floating slot joins the block to its carrier, so the two are one // machine even though no pin connects them. From a9a810424b51f572246d81719c749157ad705cc5 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 02:39:29 -0400 Subject: [PATCH 006/236] Put the modes across the top and fold the file actions away A horizontal file toolbar and a vertical mode rail took a whole edge and a corner of the window between them, to show five buttons nobody presses more than once a session and three modes that are the whole app. The modes take that space now, in a strip of floating cards, and New, Open, Templates, Save, Share, Settings and Help fold into one menu behind the logo. Analyze splits into Kinematic and Force, because they are different questions with different requirements and one tab could only ever answer for both by being vague. Each analysis mode carries a chip saying what stands between the drawing and that answer -- and stays pressable when it cannot be entered. Greying it out provokes exactly the question "why not?" while being the one control unable to answer; pressing these opens the list instead. Force analysis reports what the force solver itself refuses, rather than a second opinion free to drift from it. The mock this follows claimed cylinders were the obstacle; they are not. A welded slide is, because a prismatic pair carrying a moment has no column in the equilibrium model. The rail's sliding highlight came along, same 200ms and easing, now sliding sideways. It has to be measured off the button after the pass that marks it active, not during: measured inside that pass it reports where the highlight used to be, and trails a tab behind. --- src/app/app.component.html | 3 +- src/app/app.module.ts | 4 +- src/app/component/always-on-features.spec.ts | 8 +- .../bottombar/bottombar.component.scss | 2 +- .../left-tabs/left-tabs.component.html | 137 ++------- .../left-tabs/left-tabs.component.scss | 135 +-------- .../left-tabs/left-tabs.component.ts | 168 +--------- .../component/left-tabs/left-tabs.vars.scss | 12 +- .../linkage-table/linkage-table.component.ts | 1 - .../right-panel/right-panel.component.ts | 7 +- .../component/toolbar/toolbar.component.html | 101 ------- .../component/toolbar/toolbar.component.scss | 107 ------- .../component/toolbar/toolbar.component.ts | 272 ----------------- .../component/top-bar/top-bar.component.html | 105 +++++++ .../component/top-bar/top-bar.component.scss | 286 ++++++++++++++++++ .../component/top-bar/top-bar.component.ts | 278 +++++++++++++++++ src/app/model/mechanism/readiness.ts | 9 + src/app/selected-tab.service.ts | 15 +- src/app/services/grid-utils.service.ts | 1 - src/app/services/mechanism.service.ts | 76 ++++- src/mytheme.scss | 4 +- 21 files changed, 830 insertions(+), 901 deletions(-) delete mode 100644 src/app/component/toolbar/toolbar.component.html delete mode 100644 src/app/component/toolbar/toolbar.component.scss delete mode 100644 src/app/component/toolbar/toolbar.component.ts create mode 100644 src/app/component/top-bar/top-bar.component.html create mode 100644 src/app/component/top-bar/top-bar.component.scss create mode 100644 src/app/component/top-bar/top-bar.component.ts diff --git a/src/app/app.component.html b/src/app/app.component.html index 946403fa..ba8cbd21 100644 --- a/src/app/app.component.html +++ b/src/app/app.component.html @@ -1,8 +1,9 @@ - + + diff --git a/src/app/app.module.ts b/src/app/app.module.ts index 154e7fb9..dc932cf0 100644 --- a/src/app/app.module.ts +++ b/src/app/app.module.ts @@ -4,7 +4,7 @@ import { provideHttpClient, withInterceptorsFromDi, withXhr } from '@angular/com import { AppComponent } from './app.component'; import { LinkageTableComponent } from './component/linkage-table/linkage-table.component'; -import { ToolbarComponent } from './component/toolbar/toolbar.component'; +import { TopBarComponent } from './component/top-bar/top-bar.component'; import { AnimationBarComponent } from './component/animation-bar/animation-bar.component'; import { ViewControlsComponent } from './component/view-controls/view-controls.component'; import { ShapeSelectorComponent } from './component/shape-selector/shape-selector.component'; @@ -55,7 +55,7 @@ import { BottombarComponent } from './component/bottombar/bottombar.component'; declarations: [ AppComponent, LinkageTableComponent, - ToolbarComponent, + TopBarComponent, AnimationBarComponent, ViewControlsComponent, ShapeSelectorComponent, diff --git a/src/app/component/always-on-features.spec.ts b/src/app/component/always-on-features.spec.ts index 30120c1d..3ce17f7a 100644 --- a/src/app/component/always-on-features.spec.ts +++ b/src/app/component/always-on-features.spec.ts @@ -7,7 +7,7 @@ import { RealLink } from '../model/link'; import { ActiveObjService } from '../services/active-obj.service'; import { EditPanelComponent } from './edit-panel/edit-panel.component'; import { SettingsPanelComponent } from './settings-panel/settings-panel.component'; -import { ToolbarComponent } from './toolbar/toolbar.component'; +import { TopBarComponent } from './top-bar/top-bar.component'; import { TemplatesComponent } from './MODALS/templates/templates.component'; import { TEMPLATE_IDS } from './MODALS/templates/template-linkages'; @@ -25,9 +25,9 @@ describe('always-on force and weld UI', () => { expect(settingsText).not.toContain('Enable Welded'); expect(settingsText).not.toContain('Equations'); - const toolbar = TestBed.createComponent(ToolbarComponent); - toolbar.detectChanges(); - expect(toolbar.nativeElement.textContent).not.toContain('Equations'); + const topBar = TestBed.createComponent(TopBarComponent); + topBar.detectChanges(); + expect(topBar.nativeElement.textContent).not.toContain('Equations'); }); it('renders weld and force editing controls without enablement flags', () => { diff --git a/src/app/component/bottombar/bottombar.component.scss b/src/app/component/bottombar/bottombar.component.scss index 69561cba..09451423 100644 --- a/src/app/component/bottombar/bottombar.component.scss +++ b/src/app/component/bottombar/bottombar.component.scss @@ -39,7 +39,7 @@ margin: 0; padding: 0; // Clear the nav rail, which sits above this bar on the left. - padding-left: calc(#{nav.$rail-width} + 10px); + padding-left: 14px; padding-right: 10px; } } diff --git a/src/app/component/left-tabs/left-tabs.component.html b/src/app/component/left-tabs/left-tabs.component.html index e7534849..7cea116e 100644 --- a/src/app/component/left-tabs/left-tabs.component.html +++ b/src/app/component/left-tabs/left-tabs.component.html @@ -1,119 +1,22 @@ -
-
-
- -
- -
- -
- -
- - - @if (isActive(TabID.EDIT)) { -
- - -
- } -
- -
- - @if (isActive(TabID.ANALYZE)) { -
- -
- } -
+
+ @if (this.tabs.getCurrentTab() === TabID.SYNTHESIZE) { +
+
- - - -
- -
- @if (this.tabs.getCurrentTab() === TabID.SYNTHESIZE) { -
- -
- } - @if (this.tabs.getCurrentTab() === TabID.EDIT) { -
- -
- } - @if (this.tabs.getCurrentTab() === TabID.ANALYZE) { -
- -
- } -
+ } + @if (this.tabs.getCurrentTab() === TabID.EDIT) { +
+ +
+ } + @if (this.tabs.isAnalysisMode()) { +
+ +
+ }
diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index 9a343bbd..bf95cc74 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -13,120 +13,18 @@ $background: map.get($theme, background); $foreground: map.get($theme, foreground); - #collapsibleContainer { - overflow-y: hidden; - } - - .tabList { - position: relative; - display: flex; - flex-direction: column; - } - - // The active mode's controls sit inside its group, so the highlight wraps - // both the tab and its tools. - .activeTabPill { - position: absolute; - top: 0; - left: 0; - right: 0; - z-index: 0; - box-sizing: border-box; - background-color: mat.m2-get-color-from-palette($primary-palette, 50); - border-left: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); - // translateY (GPU-composited) slides the highlight between tabs; height eases - // it open. Both match the tools' grow animation exactly — same 200ms and - // easing — so the highlight and its contents move as one, with no per-frame - // JS to stutter or leave it stranded mid-slide. - transition: - transform 200ms cubic-bezier(0.4, 0, 0.2, 1), - height 200ms cubic-bezier(0.4, 0, 0.2, 1), - opacity 150ms ease; - will-change: transform, height; - - &.hidden { - opacity: 0; - } - } - - .tabGroup { - position: relative; - z-index: 1; - box-sizing: border-box; - border-left: 5px solid transparent; - } - - .leftButton { - display: flex; - flex-direction: column; - align-items: center; - justify-content: center; - gap: 8px; - width: 100%; - padding: 10px 0 8px; - border: 0; - background: none; - cursor: pointer; - color: inherit; - font-family: inherit; - - mat-icon { - transform: scale(1.3); - height: 24px; - width: 24px; - margin: 0; - overflow: visible; - } - - .tabLabel { - @include mat.m2-typography-level($typography-config, 'body-2'); - line-height: 16px; - } - } - - .tabTools { - // A flex column so the buttons and the animation bar stretch to one width; - // the 8px side padding gives every control an equal gutter inside the pill. - // The bottom padding is part of the box (not a child margin) so scrollHeight, - // which the pill measures, includes it. overflow:hidden lets the grow - // animation collapse the box cleanly. - display: flex; - flex-direction: column; - gap: 6px; - padding: 0 8px 10px; - overflow: hidden; - - // While the grow animation constrains this box's height, its children must - // keep their natural size (not flex-shrink to fit) so scrollHeight — which - // the pill measures for its target height — stays the true, full height. - > * { - flex-shrink: 0; - } - - // Same button look as the edit panel; the container prefix keeps its - // border-color winning over Material's default outline. - @include blocks.mini-buttons($theme); - - .mini-buttons { - width: 100%; - justify-content: flex-start; - } - } - - .navSpacer { - flex: 1 1 auto; - } - + // Below the top strip and clear of the playback card, which floats over the + // bottom of the grid. .panel { position: absolute; - top: 30px; - left: nav.$rail-width; + top: nav.$top-strip-height; + left: 12px; overflow-x: hidden; overflow-y: auto; - max-height: calc(100% - 30px - #{nav.$bottom-bar-height}); + max-height: calc(100% - #{nav.$top-strip-height} - #{nav.$playback-clearance}); display: flex; - - animation-duration: 4s; + border-radius: 5px; + z-index: 5; .page1 { width: 270px; //Be careful, there are multiple places to change this value @@ -140,23 +38,4 @@ width: 420px; //Be careful, there are multiple places to change this value } } - - .tabContainer { - @include mat.elevation(2); - background-color: white; - display: flex; - flex-direction: column; - z-index: 1; - - position: absolute; - top: 30px; - left: 0px; - width: nav.$rail-width; - // Runs to the very bottom so the rail covers the bottom bar's left end - // rather than leaving a bare corner beneath it. - height: calc(100% - 30px); - // No scrollbar; on a short viewport the animation bar drops its vertical - // slider (see animation-bar.scss) so the remaining controls still fit. - overflow-y: hidden; - } } diff --git a/src/app/component/left-tabs/left-tabs.component.ts b/src/app/component/left-tabs/left-tabs.component.ts index 2d3090e6..64ca2c42 100644 --- a/src/app/component/left-tabs/left-tabs.component.ts +++ b/src/app/component/left-tabs/left-tabs.component.ts @@ -1,42 +1,12 @@ -import { - AfterViewInit, - Component, - ElementRef, - OnDestroy, - QueryList, - ViewChildren, - inject, - ChangeDetectionStrategy, -} from '@angular/core'; -import { ActiveObjService } from 'src/app/services/active-obj.service'; -import { RealJoint } from 'src/app/model/joint'; -import { RealLink } from 'src/app/model/link'; -import { Force } from 'src/app/model/force'; +import { Component, ChangeDetectionStrategy } from '@angular/core'; import { animate, state, style, transition, trigger } from '@angular/animations'; -import { AnalyticsService } from '../../services/analytics.service'; import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; -import { MatDialog } from '@angular/material/dialog'; -import { SynthesisWarningComponent } from '../MODALS/synthesis-warning/synthesis-warning.component'; -import { MechanismService } from 'src/app/services/mechanism.service'; -import { SaveHistoryService } from 'src/app/services/save-history.service'; @Component({ selector: 'app-left-tabs', templateUrl: './left-tabs.component.html', styleUrls: ['./left-tabs.component.scss'], animations: [ - // A mode's controls unfold with it rather than popping in. Same duration and - // easing as the pill's CSS transition (see the SCSS) so the highlight and the - // tools grow in lockstep. - trigger('grow', [ - transition(':enter', [ - style({ height: 0, opacity: 0 }), - animate('200ms cubic-bezier(0.4, 0, 0.2, 1)', style({ height: '*', opacity: 1 })), - ]), - transition(':leave', [ - animate('200ms cubic-bezier(0.4, 0, 0.2, 1)', style({ height: 0, opacity: 0 })), - ]), - ]), trigger('openClose', [ // ... state( @@ -66,134 +36,18 @@ import { SaveHistoryService } from 'src/app/services/save-history.service'; changeDetection: ChangeDetectionStrategy.Eager, standalone: false, }) -export class LeftTabsComponent implements AfterViewInit, OnDestroy { - private analytics: AnalyticsService = inject(AnalyticsService); - - @ViewChildren('tabGroup') tabGroups!: QueryList>; - - pillTop = 0; - pillHeight = 0; - private pendingFrame = 0; - - constructor( - public tabs: SelectedTabService, - private mechanism: MechanismService, - private saveHistoryService: SaveHistoryService, - public dialog: MatDialog - ) {} +/** + * The panel down the left: whatever the current mode has to say about the + * selected part. + * + * The mode buttons that used to sit beside it have moved to the strip along the + * top, so this is now only the drawer they open. It keeps its own slide, which + * is why it is still a component rather than a bare @if in the shell. + */ +export class LeftTabsComponent { + constructor(public tabs: SelectedTabService) {} public get TabID(): typeof TabID { return TabID; } - - private readonly onResize = () => this.schedulePillUpdate(); - - ngAfterViewInit(): void { - this.schedulePillUpdate(); - // A short viewport hides the animation bar's slider, changing the active - // group's height, so the pill must re-measure when the window resizes. - window.addEventListener('resize', this.onResize); - } - - ngOnDestroy(): void { - if (this.pendingFrame) cancelAnimationFrame(this.pendingFrame); - window.removeEventListener('resize', this.onResize); - } - - /** - * The pill's target top/height are computed once per tab change and applied as - * plain values; a single CSS transition on the element eases it there in step - * with the tools' own grow animation. Nothing runs per frame, so the motion - * can't stutter or stall midway the way the old resize-tracked pill did. - * - * Every tab is the same fixed height and only the active one carries tools, so - * the active group's final top is just its index times that height, and its - * final height is that plus the tools' natural (scroll) height — both known - * immediately, even while the tools are still animating open. - */ - private updatePill(): void { - const groups = this.tabGroups; - if (!groups || groups.length === 0) return; - const tabHeight = groups.get(0)!.nativeElement.offsetHeight; - const index = this.activeTabIndex(); - const tools = groups.get(index)?.nativeElement.querySelector('.tabTools') as HTMLElement | null; - this.pillTop = index * tabHeight; - this.pillHeight = tabHeight + (tools ? tools.scrollHeight : 0); - } - - /** Measure after the new tab's tools have rendered, off the CD pass. */ - private schedulePillUpdate(): void { - if (this.pendingFrame) cancelAnimationFrame(this.pendingFrame); - this.pendingFrame = requestAnimationFrame(() => { - this.pendingFrame = 0; - this.updatePill(); - }); - } - - private activeTabIndex(): number { - switch (this.tabs.getCurrentTab()) { - case TabID.SYNTHESIZE: - return 0; - case TabID.EDIT: - return 1; - default: - return 2; - } - } - - /** A tab is only "active" while its panel is open, so its tools hide with it. */ - isActive(tabID: TabID): boolean { - return this.tabs.isTabVisible() && this.tabs.getCurrentTab() === tabID; - } - - // No snackbar on either of these. "Undo Called!" was a developer's breadcrumb - // from when undo was being built, and it survived into a shipped app: it says - // nothing a user does not already know, it says it in the voice of a stack - // trace, and it takes over the one channel the app has for telling them - // something they could not see for themselves. The canvas moving is the - // feedback. - handleUndo() { - this.saveHistoryService.undo(); - } - - canUndo(): boolean { - if (this.mechanism.isAnimating()) return false; - return this.saveHistoryService.canUndo(); - } - - handleRedo() { - this.saveHistoryService.redo(); - } - - canRedo(): boolean { - if (this.mechanism.isAnimating()) return false; - return this.saveHistoryService.canRedo(); - } - - tabClicked(tabID: TabID) { - if (!this.tabs.isTabVisible()) { - this.tabs.setTab(tabID); - } else { - if (this.tabs.getCurrentTab() === tabID) { - this.tabs.hideTab(); - } else { - this.tabs.setTab(tabID); - } - } - - if (this.tabs.isTabVisible()) { - switch (this.tabs.getCurrentTab()) { - case TabID.SYNTHESIZE: - this.analytics.logEvent('open_synthesis_tab'); - break; - case TabID.EDIT: - this.analytics.logEvent('open_edit_tab'); - break; - case TabID.ANALYZE: - this.analytics.logEvent('open_analysis_tab'); - break; - } - } - this.schedulePillUpdate(); - } } diff --git a/src/app/component/left-tabs/left-tabs.vars.scss b/src/app/component/left-tabs/left-tabs.vars.scss index 1c350b51..e6d22375 100644 --- a/src/app/component/left-tabs/left-tabs.vars.scss +++ b/src/app/component/left-tabs/left-tabs.vars.scss @@ -1,6 +1,10 @@ -// Width of the labelled left nav rail. The bottom bar indents past it and the -// slide-out panel starts at it, so they all read this one value. -$rail-width: 96px; +// Where the left panel starts: below the floating strip along the top (12px +// inset + 48px card + 14px of air). The strip, the panel and the playback card +// all read these so they cannot drift apart. +$top-strip-height: 74px; -// Height of app-bottombar; the rail and panel stop above it. +// Room kept at the bottom for the playback card and the status strip beneath it. +$playback-clearance: 110px; + +// Height of app-bottombar. $bottom-bar-height: 20px; diff --git a/src/app/component/linkage-table/linkage-table.component.ts b/src/app/component/linkage-table/linkage-table.component.ts index c9e7af82..78293f0b 100644 --- a/src/app/component/linkage-table/linkage-table.component.ts +++ b/src/app/component/linkage-table/linkage-table.component.ts @@ -13,7 +13,6 @@ import { Coord } from '../../model/coord'; import { roundNumber } from '../../model/utils'; import { Mechanism } from '../../model/mechanism/mechanism'; import { InstantCenter } from '../../model/instant-center'; -import { ToolbarComponent } from '../toolbar/toolbar.component'; import { MechanismService } from '../../services/mechanism.service'; import { NewGridComponent } from '../new-grid/new-grid.component'; import { MODEL_SCALE } from '../../model/render-scale'; diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index d6062dd1..9632dea7 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -27,7 +27,6 @@ import { SettingsService } from '../../services/settings.service'; import { Arc, Line } from '../../model/line'; import { Coord } from '../../model/coord'; import { SvgGridService } from '../../services/svg-grid.service'; -import { ToolbarComponent } from '../toolbar/toolbar.component'; import introJs from 'intro.js'; import { UrlGenerationService } from 'src/app/services/url-generation.service'; @@ -82,6 +81,12 @@ export class RightPanelComponent { static openTab = 0; //Default open tab to "Edit" / static isOpen = false; // Is the tab open? + /** + * The drawer that lists what still stands between the drawing and its + * animation. Numbered like its neighbours because that is how this panel has + * always been addressed; named because "5" at a call site says nothing. + */ + static readonly SETUP_TAB = 5; turnOnDebugger() { this.settingsService.isGridDebugOn = !this.settingsService.isGridDebugOn; } diff --git a/src/app/component/toolbar/toolbar.component.html b/src/app/component/toolbar/toolbar.component.html deleted file mode 100644 index 1846f910..00000000 --- a/src/app/component/toolbar/toolbar.component.html +++ /dev/null @@ -1,101 +0,0 @@ - diff --git a/src/app/component/toolbar/toolbar.component.scss b/src/app/component/toolbar/toolbar.component.scss deleted file mode 100644 index 21e907a7..00000000 --- a/src/app/component/toolbar/toolbar.component.scss +++ /dev/null @@ -1,107 +0,0 @@ -@use 'sass:map'; -@use '@angular/material' as mat; - -@mixin css($theme) { - // Get the color config from the theme. - $color-config: mat.m2-get-color-config($theme); - // Get the primary color palette from the color-config. - $primary-palette: map.get($color-config, 'primary'); - $typography-config: mat.m2-get-typography-config($theme); - $background: map.get($theme, background); - $foreground: map.get($theme, foreground); - - #devModeColor { - background-color: #ef9a9a; - } - - .navBar { - z-index: 2; - @include mat.elevation(2); - //Check here for 2nd parameter options: node_modules/@angular/material/core/theming/_palette.scss: Line 674 - // background-color: mat.get-color-from-palette($background,'raised-button'); - background-color: mat.m2-get-color-from-palette($primary-palette, 50); - - position: absolute; - display: flex; - - height: 30px; - width: 100%; - top: 0; - left: 0; - - // The buttons never wrap or shrink, so on a narrow viewport they used to - // run past the window and drag the whole document sideways — panning the - // grid and panels off-screen. Keep that overflow inside the bar: it scrolls - // itself and every button stays reachable. The scrollbar is hidden because - // a classic one would eat half of the 30px strip. - overflow-x: auto; - scrollbar-width: none; - - &::-webkit-scrollbar { - display: none; - } - - .mat-mdc-button-touch-target { - height: 100% !important; - } - - .spacer { - flex: 1 1 auto; - } - - .mat-icon { - vertical-align: middle; - //color: mat.get-color-from-palette($foreground, 'icon'); - } - - .mdc-button__label { - display: flex; - align-items: center; - justify-content: center; - gap: 10px; - white-space: nowrap; - } - - button { - @include mat.m2-typography-level($typography-config, 'body-2'); - height: 100% !important; - flex: 0 0 auto; - white-space: nowrap; - } - - p { - line-height: 30px; - margin: 0; - overflow: hidden; - text-overflow: ellipsis; - white-space: nowrap; - } - - // Wrap onto two short lines inside the 30px bar and take only the width the - // text needs, so it is clipped only when the toolbar really is too narrow. - .devModeNotice { - align-self: center; - flex: 0 1 auto; - min-width: 140px; - padding: 0 8px; - font-size: 10px; - line-height: 12px; - pointer-events: none; - text-align: center; - white-space: normal; - display: -webkit-box; - -webkit-line-clamp: 2; - -webkit-box-orient: vertical; - - // Below this the remaining strip is too small to read; a sliver of text - // is worse than no notice at all. - @media (max-width: 1100px) { - display: none; - } - } - - img { - margin-left: 5px; - } - } -} diff --git a/src/app/component/toolbar/toolbar.component.ts b/src/app/component/toolbar/toolbar.component.ts deleted file mode 100644 index ba8262a0..00000000 --- a/src/app/component/toolbar/toolbar.component.ts +++ /dev/null @@ -1,272 +0,0 @@ -import { - AfterViewInit, - Component, - EventEmitter, - inject, - Inject, - Input, - isDevMode, - OnInit, - Output, - ChangeDetectionStrategy, -} from '@angular/core'; -import { Joint, PrisJoint, RealJoint, RevJoint } from '../../model/joint'; -import { Bound, Link, SliderBlock, RealLink } from '../../model/link'; -import { Force } from '../../model/force'; -import { Mechanism } from '../../model/mechanism/mechanism'; -import { - AngleUnit, - ForceUnit, - GlobalUnit, - LengthUnit, - roundNumber, - stringToBoolean, - stringToFloat, - stringToShape, -} from '../../model/utils'; -import { ForceSolver } from '../../model/mechanism/force-solver'; -import { AnimationBarComponent } from '../animation-bar/animation-bar.component'; -import { LinkageTableComponent } from '../linkage-table/linkage-table.component'; -import { KinematicsSolver } from '../../model/mechanism/kinematic-solver'; -import { Coord } from '../../model/coord'; -// import { TemplatesPopupComponent } from '../templates-popup/templates-popup.component'; - -import { ActiveObjService } from 'src/app/services/active-obj.service'; -import { RightPanelComponent } from '../right-panel/right-panel.component'; -import { MechanismService } from '../../services/mechanism.service'; -import { NewGridComponent } from '../new-grid/new-grid.component'; -import { AnalyticsService } from '../../services/analytics.service'; -import { UrlProcessorService } from '../../services/url-processor.service'; -import { MatDialog } from '@angular/material/dialog'; -import { TemplatesComponent } from '../MODALS/templates/templates.component'; -import { StringTranscoder } from 'src/app/services/transcoding/string-transcoder'; -import { - ForceData, - JOINT_TYPE, - JointData, - LINK_TYPE, - LinkData, -} from 'src/app/services/transcoding/transcoder-data'; -import { SettingsService } from 'src/app/services/settings.service'; -import { - BoolSetting, - DecimalSetting, - EnumSetting, - IntSetting, -} from 'src/app/services/transcoding/stored-settings'; -import { UrlGenerationService } from 'src/app/services/url-generation.service'; -import { NOT_BUILT_YET } from '../../ui-text'; - -@Component({ - selector: 'app-toolbar', - templateUrl: './toolbar.component.html', - styleUrls: ['./toolbar.component.scss'], - changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, -}) -export class ToolbarComponent implements OnInit, AfterViewInit { - private analytics: AnalyticsService = inject(AnalyticsService); - - openRightPanelEquations() { - RightPanelComponent.tabClicked(2); - } - - openRightPanelHelp() { - RightPanelComponent.tabClicked(3); - } - - openRightPanelSettings() { - RightPanelComponent.tabClicked(1); - } - - openRightPanelDebug() { - RightPanelComponent.tabClicked(4); - } - - animate: boolean = false; - - // static inputAngularVelocity: number = 10; - // static clockwise: boolean = false; - // static gravity: boolean = true; //Kohmei set this to true for testing, normally false - private static fileButton: SVGElement; - static analysisButton: SVGElement; - static loopButton: SVGElement; - static forceButton: SVGElement; - static stressButton: SVGElement; - static kinematicButton: SVGElement; - private static settingsButton: SVGElement; - private static helpButton: SVGElement; - // static unit = 'cm'; - // TODO: If possible, change this to static variable... - url: any; - static instance: ToolbarComponent; - - constructor( - private activeObjService: ActiveObjService, - private mechanismService: MechanismService, - private urlGenerationService: UrlGenerationService, - private urlProcessorService: UrlProcessorService, - public dialog: MatDialog, - public settingsService: SettingsService - ) { - ToolbarComponent.instance = this; - } - - //Create a static method to get an instance of the toolbar component - - openTemplates() { - this.dialog.open(TemplatesComponent, { - height: '90%', - width: '90%', - autoFocus: false, - }); - } - - ngOnInit(): void { - //This will need to move to settings service - // const settingsPropsString = splitURLInfo('&s='); - // if (!(typeof settingsPropsString === 'string')) { - // return; - // } - // const settingsPropsArray = settingsPropsString.split(','); - // if (settingsPropsArray.length === 0) { - // return; - // } - // const input_speed_mag = stringToFloat(settingsPropsArray[0]); - // const clockwise = stringToBoolean(settingsPropsArray[1]); - // const gravity = stringToBoolean(settingsPropsArray[2]); - // const unit = settingsPropsArray[3]; - // ToolbarComponent.inputAngularVelocity = input_speed_mag; - // ToolbarComponent.clockwise = clockwise; - // AnimationBarComponent.direction = ToolbarComponent.clockwise ? 'cw' : 'ccw'; - // // ToolbarComponent.gravity = gravity; Temp commneted out by Kohmei for testing - // this.localUnit.selectedUnit = unit; - // ToolbarComponent.unit = unit; - // this.mechanismService.updateMechanism(); - } - - ngAfterViewInit() { - ToolbarComponent.fileButton = document.getElementById('fileButton') as unknown as SVGElement; - ToolbarComponent.analysisButton = document.getElementById( - 'analysisButton' - ) as unknown as SVGElement; - ToolbarComponent.loopButton = document.getElementById('loopButton') as unknown as SVGElement; - ToolbarComponent.forceButton = document.getElementById('forceButton') as unknown as SVGElement; - ToolbarComponent.stressButton = document.getElementById( - 'stressButton' - ) as unknown as SVGElement; - ToolbarComponent.kinematicButton = document.getElementById( - 'kinematicButton' - ) as unknown as SVGElement; - ToolbarComponent.settingsButton = document.getElementById( - 'settingsButton' - ) as unknown as SVGElement; - ToolbarComponent.helpButton = document.getElementById('helpButton') as unknown as SVGElement; - } - - // popUpTemplates() { - // TemplatesPopupComponent.showTemplates(); - // this.analytics.logEvent('open_templates'); - // } - - /** Open a blank project in a new tab, leaving this one as it is. */ - newProject(): void { - this.analytics.logEvent('new_file'); - window.open(window.location.origin, '_blank'); - } - - upload($event: any) { - console.log('upload'); - this.analytics.logEvent('upload_file'); - const input = $event.target; - if (input.files.length !== 1) { - console.log('No file selected', input.files.length); - NewGridComponent.sendNotification('No file selected'); - return; - } - const reader = new FileReader(); - - reader.onload = () => { - const data = reader.result as string; - console.log('open', data); - NewGridComponent.sendNotification('Loaded Mechanism from File'); - - this.urlProcessorService.updateFromURL(data); - - //TODO for Ansel - Clear the history - - //Reset the input so that the same file can be uploaded again - input.value = ''; - }; - - // actually read the file to call the onload callback above - reader.readAsText(input.files[0]); - } - /* - * Copy the URL of the current mechanism to the clipboard - */ - copyURL() { - this.analytics.logEvent('copyURL'); - - let url = this.urlGenerationService.generateFullUrl(); - - // fake a text area to exec copy - const toolman = document.createElement('textarea'); - document.body.appendChild(toolman); - toolman.value = url; - toolman.textContent = url; - toolman.select(); - document.execCommand('copy'); - document.body.removeChild(toolman); - - NewGridComponent.sendNotification( - 'Mechanism URL copied. If you make additional changes, copy the URL again.' - ); - } - - alertNotAvailable() { - //Use this.mechanismService.sendNotification() instead - NewGridComponent.sendNotification(NOT_BUILT_YET); - } - - downloadLinkage() { - this.analytics.logEvent('download_linkage'); - // TODO: Believe this should be this.unit.selectedUnit - const content = this.urlGenerationService.generateUrlQuery(); - - const blob = new Blob([content], { type: 'text;charset=utf-8;' }); - const fileName = `PMKS+_${new Date().toISOString()}.pmks`; - // if (navigator.msSaveBlob) { // IE 10+ - // navigator.msSaveBlob(blob, fileName); - // } else { - const link = document.createElement('a'); - if (link.download !== undefined) { - // feature detection - // Browsers that support HTML5 download attribute - // fake an to click on - const url = URL.createObjectURL(blob); - link.setAttribute('href', url); - link.setAttribute('download', fileName); - link.style.visibility = 'hidden'; - document.body.appendChild(link); - link.click(); - document.body.removeChild(link); - } - } - - openURL(url: string) { - // fake an to click on - const toolman = document.createElement('a'); - toolman.setAttribute('href', url); - toolman.setAttribute('target', '_blank'); - toolman.style.display = 'none'; - document.body.appendChild(toolman); - toolman.click(); - document.body.removeChild(toolman); - } - - isDevMode() { - //Used to change the color of the topbar when not running prod - return isDevMode(); - } -} diff --git a/src/app/component/top-bar/top-bar.component.html b/src/app/component/top-bar/top-bar.component.html new file mode 100644 index 00000000..c14a1de2 --- /dev/null +++ b/src/app/component/top-bar/top-bar.component.html @@ -0,0 +1,105 @@ +
+
+ + +
+ +
+
+ +
+ + + + + +
+ + + + +
+
+ +
+ + +
+
+ +@if (menuOpen) { + +
+ + + + + + + + + + @if (isDevMode()) { + + } +
+} diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss new file mode 100644 index 00000000..210fa3c7 --- /dev/null +++ b/src/app/component/top-bar/top-bar.component.scss @@ -0,0 +1,286 @@ +@use 'sass:map'; +@use '@angular/material' as mat; + +@mixin css($theme) { + $color-config: mat.m2-get-color-config($theme); + $primary-palette: map.get($color-config, 'primary'); + $typography-config: mat.m2-get-typography-config($theme); + + // One elevation for every floating card in the app, so the strip, the + // playback card and the drawers all read as sitting at the same height above + // the grid. + $card-shadow: + 0 3px 5px -1px rgba(0, 0, 0, 0.2), + 0 6px 10px 0 rgba(0, 0, 0, 0.14), + 0 1px 18px 0 rgba(0, 0, 0, 0.12); + + .topStrip { + position: absolute; + top: 12px; + left: 12px; + right: 12px; + display: flex; + align-items: flex-start; + gap: 10px; + z-index: 6; + pointer-events: none; + + .card { + display: flex; + align-items: center; + height: 48px; + background: #fff; + border-radius: 8px; + box-shadow: $card-shadow; + pointer-events: auto; + box-sizing: border-box; + } + + .brandCard { + gap: 8px; + padding: 0 12px 0 6px; + flex: 0 0 auto; + white-space: nowrap; + } + + .logo { + height: 30px; + width: auto; + flex: 0 0 auto; + display: block; + } + + // The tab card is the one thing allowed to shrink: on a narrow window the + // labels go before the modes do. + .tabCard { + flex: 0 1 auto; + min-width: 0; + padding: 0 8px; + overflow: hidden; + } + + .historyCard { + gap: 6px; + padding: 0 8px; + flex: 0 0 auto; + margin-left: auto; + } + } + + .tabStrip { + position: relative; + display: flex; + align-items: center; + gap: 2px; + height: 100%; + min-width: 0; + } + + // Carried over from the vertical rail this replaces: translateX is + // GPU-composited, so the highlight slides between modes without laying the + // strip out again, and nothing per-frame in JS can leave it stranded. + .activeTabPill { + position: absolute; + top: 6px; + left: 0; + height: 36px; + border-radius: 6px; + background: mat.m2-get-color-from-palette($primary-palette, 50); + border: 1.5px solid mat.m2-get-color-from-palette($primary-palette, 500); + box-sizing: border-box; + transition: + transform 200ms cubic-bezier(0.4, 0, 0.2, 1), + width 200ms cubic-bezier(0.4, 0, 0.2, 1), + opacity 150ms ease; + will-change: transform, width; + pointer-events: none; + + &.hidden { + opacity: 0; + } + } + + .tabButton { + position: relative; + display: flex; + align-items: center; + gap: 8px; + flex: 0 0 auto; + height: 36px; + padding: 0 12px; + border: none; + border-radius: 6px; + background: transparent; + font-family: inherit; + font-size: 15px; + color: #3c4043; + cursor: pointer; + white-space: nowrap; + + mat-icon { + width: 20px; + height: 20px; + font-size: 20px; + line-height: 20px; + flex: 0 0 auto; + } + + &:hover { + background: rgba(0, 0, 0, 0.04); + } + + &.active { + color: mat.m2-get-color-from-palette($primary-palette, 500); + font-weight: 500; + background: transparent; + } + + // Deliberately *not* a disabled look. The mode cannot be entered yet, but + // the button still does something: it opens the list of what is missing. + &.notReady .tabLabel { + color: rgba(0, 0, 0, 0.55); + } + } + + .modeDivider { + flex: 0 0 1px; + width: 1px; + height: 26px; + background: #e2e4ec; + margin: 0 8px; + } + + .chip { + display: inline-flex; + align-items: center; + height: 20px; + padding: 0 8px; + border-radius: 10px; + background: #eef0f4; + color: #5f6368; + font-size: 12px; + font-weight: 400; + + &.ok { + background: #e6f4ea; + color: #137333; + } + } + + .iconButton { + display: flex; + align-items: center; + justify-content: center; + width: 40px; + height: 40px; + border: none; + border-radius: 6px; + background: transparent; + color: #3c4043; + cursor: pointer; + + &:hover { + background: rgba(0, 0, 0, 0.04); + } + + &.on { + background: mat.m2-get-color-from-palette($primary-palette, 50); + color: mat.m2-get-color-from-palette($primary-palette, 500); + } + } + + .historyButton { + display: flex; + align-items: center; + gap: 6px; + height: 34px; + padding: 0 12px; + border: 1px solid mat.m2-get-color-from-palette($primary-palette, 500); + border-radius: 4px; + background: #fff; + color: mat.m2-get-color-from-palette($primary-palette, 500); + font-family: inherit; + font-size: 14px; + cursor: pointer; + + mat-icon { + width: 18px; + height: 18px; + font-size: 18px; + line-height: 18px; + } + + &:disabled { + border-color: #dfe1ea; + color: #a9adc4; + cursor: default; + } + } + + .menuScrim { + position: fixed; + inset: 0; + z-index: 19; + } + + .projectMenu { + position: absolute; + top: 66px; + left: 12px; + width: 200px; + padding: 4px 0; + background: #fff; + border-radius: 5px; + z-index: 20; + box-shadow: + 0 7px 8px -4px rgba(0, 0, 0, 0.2), + 0 13px 19px 2px rgba(0, 0, 0, 0.14), + 0 5px 24px 4px rgba(0, 0, 0, 0.12); + } + + .menuItem { + display: flex; + align-items: center; + gap: 10px; + width: 100%; + height: 36px; + padding: 0 14px; + border: none; + background: transparent; + font-family: inherit; + font-size: 14px; + color: #2c2c2c; + cursor: pointer; + text-align: left; + + mat-icon { + width: 21px; + height: 21px; + font-size: 21px; + line-height: 21px; + color: #5f6368; + flex: 0 0 auto; + } + + &:hover { + background: rgba(0, 0, 0, 0.04); + } + } + + .menuDivider { + height: 1px; + background: #e6e7ee; + margin: 6px 14px; + } + + // Narrow windows drop the words before they drop a mode. + @media (max-width: 1080px) { + .tabButton .tabLabel { + display: none; + } + + .historyCard .historyLabel { + display: none; + } + } +} diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts new file mode 100644 index 00000000..3cd8679d --- /dev/null +++ b/src/app/component/top-bar/top-bar.component.ts @@ -0,0 +1,278 @@ +import { + AfterViewChecked, + AfterViewInit, + Component, + ElementRef, + OnDestroy, + ViewChild, + inject, + isDevMode, +} from '@angular/core'; +import { animate, style, transition, trigger } from '@angular/animations'; +import { MatDialog } from '@angular/material/dialog'; +import { SelectedTabService, TabID } from '../../selected-tab.service'; +import { MechanismService } from '../../services/mechanism.service'; +import { SaveHistoryService } from '../../services/save-history.service'; +import { AnalyticsService } from '../../services/analytics.service'; +import { UrlGenerationService } from '../../services/url-generation.service'; +import { UrlProcessorService } from '../../services/url-processor.service'; +import { NewGridComponent } from '../new-grid/new-grid.component'; +import { RightPanelComponent } from '../right-panel/right-panel.component'; +import { TemplatesComponent } from '../MODALS/templates/templates.component'; + +/** A mode's chip: whether that analysis can be entered, and what is missing. */ +interface TabStatus { + text: string; + ready: boolean; +} + +/** + * The strip across the top: what may be done to the mechanism, and whether it + * is ready to be analysed. + * + * It replaces a horizontal file toolbar and a vertical mode rail which between + * them took a whole edge and corner of the window. Opening and saving is not + * what anyone is doing most of the time, so it folds into one menu and the + * modes take the space instead. + * + * Both analysis tabs stay pressable even when they cannot be entered. A greyed + * tab provokes exactly the question "why not?" and is the one control unable to + * answer it; pressing these opens the setup list, which is the answer. + */ +@Component({ + selector: 'app-top-bar', + templateUrl: './top-bar.component.html', + styleUrls: ['./top-bar.component.scss'], + animations: [ + // The same 200ms and easing the mode highlight slides on, so the menu and + // everything else in this strip move as one piece of machinery. + trigger('menuOpen', [ + transition(':enter', [ + style({ opacity: 0, transform: 'translateY(-6px)' }), + animate('200ms cubic-bezier(0.4, 0, 0.2, 1)', style({ opacity: 1, transform: 'none' })), + ]), + transition(':leave', [ + animate( + '150ms cubic-bezier(0.4, 0, 0.2, 1)', + style({ opacity: 0, transform: 'translateY(-6px)' }) + ), + ]), + ]), + ], + standalone: false, +}) +export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestroy { + TabID = TabID; + menuOpen = false; + + private analytics: AnalyticsService = inject(AnalyticsService); + + @ViewChild('tabStrip') tabStrip?: ElementRef; + + constructor( + public tabs: SelectedTabService, + public mechanism: MechanismService, + private history: SaveHistoryService, + private urlGeneration: UrlGenerationService, + private urlProcessor: UrlProcessorService, + private dialog: MatDialog + ) {} + + isDevMode(): boolean { + return isDevMode(); + } + + isActive(tab: TabID): boolean { + return this.tabs.getCurrentTab() === tab && this.tabs.isTabVisible(); + } + + /** + * Where the sliding highlight sits, measured off the active button. + * + * Measured rather than computed from an index because the tabs are different + * widths, the divider takes space of its own, and the labels disappear on a + * narrow window. Held as plain numbers and applied once per tab change: a + * single CSS transition then eases the highlight across, so nothing runs per + * frame that could stutter or strand it midway. + * + * Measured off a frame rather than read during change detection, because the + * `active` class this looks for is applied by the same pass that would read + * it back. + */ + highlight = { left: 0, width: 0, visible: false }; + private pendingFrame = 0; + private readonly onResize = () => this.scheduleHighlight(); + + ngAfterViewInit(): void { + this.scheduleHighlight(); + window.addEventListener('resize', this.onResize); + } + + // After the pass, not during it: the `active` class this measures off is + // written by the very pass that would read it back, so measuring inside one + // reports where the highlight used to be and it trails a tab behind. + ngAfterViewChecked(): void { + this.scheduleHighlight(); + } + + ngOnDestroy(): void { + if (this.pendingFrame) cancelAnimationFrame(this.pendingFrame); + window.removeEventListener('resize', this.onResize); + } + + private scheduleHighlight(): void { + if (this.pendingFrame) cancelAnimationFrame(this.pendingFrame); + this.pendingFrame = requestAnimationFrame(() => { + this.pendingFrame = 0; + const active = this.tabStrip?.nativeElement.querySelector('.tabButton.active'); + const next = active + ? { left: active.offsetLeft, width: active.offsetWidth, visible: this.tabs.isTabVisible() } + : { ...this.highlight, visible: false }; + // Only on a real change, so the measure-every-pass above settles instead + // of asking for another pass forever. + if ( + next.left !== this.highlight.left || + next.width !== this.highlight.width || + next.visible !== this.highlight.visible + ) { + this.highlight = next; + } + }); + } + + select(tab: TabID): void { + this.menuOpen = false; + if (this.tabs.isAnalysisMode(tab) && !this.canAnalyse(tab)) { + RightPanelComponent.tabClicked(RightPanelComponent.SETUP_TAB); + return; + } + this.tabs.setTab(tab); + } + + /** Kinematics needs one mechanism that runs. Force analysis needs more. */ + canAnalyse(tab: TabID): boolean { + return tab === TabID.FORCE + ? this.mechanism.forceAnalysisReady() + : this.mechanism.oneValidMechanismExists(); + } + + statusOf(tab: TabID): TabStatus { + if (tab === TabID.FORCE) { + const missing = this.mechanism.forceAnalysisRequirements().filter((r) => !r.met).length; + return missing === 0 + ? { text: 'Ready', ready: true } + : { text: `${missing} to set`, ready: false }; + } + const blockers = this.mechanism.blockerCount(); + return blockers === 0 + ? { text: 'Ready', ready: true } + : { text: `${blockers} ${blockers === 1 ? 'fix' : 'fixes'}`, ready: false }; + } + + // Not while the mechanism is running: undo replays a URL, and replacing the + // drawing underneath a playing animation is not something anyone asked for. + canUndo(): boolean { + return !this.mechanism.isAnimating() && this.history.canUndo(); + } + + canRedo(): boolean { + return !this.mechanism.isAnimating() && this.history.canRedo(); + } + + undo(): void { + this.history.undo(); + } + + redo(): void { + this.history.redo(); + } + + toggleMenu(): void { + this.menuOpen = !this.menuOpen; + } + + closeMenu(): void { + this.menuOpen = false; + } + + newProject(): void { + this.closeMenu(); + this.analytics.logEvent('new_project'); + window.open(window.location.origin + window.location.pathname, '_blank'); + } + + openTemplates(): void { + this.closeMenu(); + this.dialog.open(TemplatesComponent, { height: '90%', width: '90%', autoFocus: false }); + } + + openSettings(): void { + this.closeMenu(); + RightPanelComponent.tabClicked(1); + } + + openHelp(): void { + this.closeMenu(); + RightPanelComponent.tabClicked(3); + } + + openDebug(): void { + this.closeMenu(); + RightPanelComponent.tabClicked(4); + } + + openSetup(): void { + RightPanelComponent.tabClicked(RightPanelComponent.SETUP_TAB); + } + + upload($event: Event): void { + this.analytics.logEvent('upload_file'); + this.closeMenu(); + const input = $event.target as HTMLInputElement; + if (!input.files || input.files.length !== 1) { + NewGridComponent.sendNotification('No file selected'); + return; + } + const reader = new FileReader(); + reader.onload = () => { + NewGridComponent.sendNotification('Loaded Mechanism from File'); + this.urlProcessor.updateFromURL(reader.result as string); + // Reset the input so the same file can be opened again. + input.value = ''; + }; + reader.readAsText(input.files[0]); + } + + downloadLinkage(): void { + this.closeMenu(); + this.analytics.logEvent('download_linkage'); + const blob = new Blob([this.urlGeneration.generateUrlQuery()], { + type: 'text;charset=utf-8;', + }); + const link = document.createElement('a'); + if (link.download === undefined) return; + const url = URL.createObjectURL(blob); + link.setAttribute('href', url); + link.setAttribute('download', `PMKS+_${new Date().toISOString()}.pmks`); + link.style.visibility = 'hidden'; + document.body.appendChild(link); + link.click(); + document.body.removeChild(link); + } + + copyURL(): void { + this.closeMenu(); + this.analytics.logEvent('copyURL'); + const url = this.urlGeneration.generateFullUrl(); + const scratch = document.createElement('textarea'); + document.body.appendChild(scratch); + scratch.value = url; + scratch.textContent = url; + scratch.select(); + document.execCommand('copy'); + document.body.removeChild(scratch); + NewGridComponent.sendNotification( + 'Mechanism URL copied. If you make additional changes, copy the URL again.' + ); + } +} diff --git a/src/app/model/mechanism/readiness.ts b/src/app/model/mechanism/readiness.ts index 729dd0d1..4ae77800 100644 --- a/src/app/model/mechanism/readiness.ts +++ b/src/app/model/mechanism/readiness.ts @@ -178,6 +178,15 @@ export function readinessOf( }; } +/** One condition force analysis needs, and whether the drawing meets it. */ +export interface ForceRequirement { + met: boolean; + /** A short sentence-case phrase naming the condition. */ + title: string; + /** Met: what is true. Unmet: what is missing, and how to supply it. */ + body: string; +} + export interface UnassignedReport { /** The part at fault, so the panel can offer to go to it. */ at?: Joint; diff --git a/src/app/selected-tab.service.ts b/src/app/selected-tab.service.ts index 2bf993e0..cbe38b3c 100644 --- a/src/app/selected-tab.service.ts +++ b/src/app/selected-tab.service.ts @@ -9,7 +9,10 @@ import { SettingsService } from './services/settings.service'; export enum TabID { SYNTHESIZE, EDIT, + /** Kinematic analysis: position, velocity, acceleration. */ ANALYZE, + /** Force analysis, which asks for more of a mechanism than kinematics does. */ + FORCE, } @Injectable({ @@ -63,10 +66,20 @@ export class SelectedTabService { return this._tabVisible.getValue(); } + /** + * Either of the two analysis modes. + * + * The geometry is locked in both, and both are read-only, so almost + * everything that used to ask "is this the Analyze tab" means this instead. + */ + public isAnalysisMode(tab: TabID = this.getCurrentTab()) { + return tab === TabID.ANALYZE || tab === TabID.FORCE; + } + private onNewTab(previousTab: TabID) { // Replaces the old stop button: leaving Analyze is what rewinds the // mechanism, so the other modes always act on the pose at time 0. - if (previousTab === TabID.ANALYZE) { + if (this.isAnalysisMode(previousTab) && !this.isAnalysisMode()) { this.mechanism.animate(0, false); this.settings.animating.next(false); } diff --git a/src/app/services/grid-utils.service.ts b/src/app/services/grid-utils.service.ts index e6151e61..47d11b5b 100644 --- a/src/app/services/grid-utils.service.ts +++ b/src/app/services/grid-utils.service.ts @@ -23,7 +23,6 @@ import { import { SettingsService } from './settings.service'; import { MechanismService } from './mechanism.service'; import { canDrive } from '../model/actuator'; -import { ToolbarComponent } from '../component/toolbar/toolbar.component'; import { Mechanism } from '../model/mechanism/mechanism'; import { Coord } from '../model/coord'; import { PositionSolver } from '../model/mechanism/position-solver'; diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 8e6b4766..d18bf4bd 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -25,11 +25,11 @@ import { } from '../model/mechanism/mechanism-partition'; import { describeUnassigned, + ForceRequirement, MechanismReadiness, readinessOf, UnassignedReport, } from '../model/mechanism/readiness'; -import { ToolbarComponent } from '../component/toolbar/toolbar.component'; import { InstantCenter } from '../model/instant-center'; import { gridStates, @@ -1615,6 +1615,80 @@ export class MechanismService { ); } + /** + * What force analysis still needs, asked of the force solver rather than + * guessed at. + * + * The solver already refuses precisely and says why -- an unsupported + * topology, mass properties that are not numbers, an equilibrium that is + * singular. Restating those conditions here would be a second opinion free to + * drift from the first, and the drift would show as a tab that says Ready + * above a panel that says it cannot solve. + */ + forceAnalysisRequirements(): ForceRequirement[] { + const requirements: ForceRequirement[] = []; + + const runnable = this.mechanisms.filter((mechanism) => mechanism.isMechanismValid()); + requirements.push({ + met: runnable.length > 0, + title: 'A mechanism that runs', + body: + runnable.length > 0 + ? 'Force analysis is solved over a solved cycle, and there is one.' + : 'Forces are solved at each position of a cycle, so the kinematics have to work first. Analysis setup lists what is missing.', + }); + if (runnable.length === 0) { + return requirements; + } + + // Ask for the analysis the panel would show. It is memoised per mechanism, + // so this costs nothing after the first time. + const refused = runnable + .map((mechanism) => ({ mechanism, series: mechanism.getForceAnalysis('static') })) + .filter(({ series }) => series.successfulFrames === 0); + requirements.push({ + met: refused.length === 0, + title: 'A topology the solver can balance', + body: + refused.length === 0 + ? 'Every body has an equilibrium the solver can write down.' + : (refused[0].series.diagnostic ?? + 'One of these mechanisms has no determinate force-equilibrium model.'), + }); + + const massless = this.links.filter( + (link) => link instanceof RealLink && !(link.mass > 0) + ) as RealLink[]; + requirements.push({ + met: massless.length === 0, + title: 'Mass on every link', + body: + massless.length === 0 + ? 'Every link has a mass and a moment of inertia.' + : `${massless.length === 1 ? 'Link' : 'Links'} ${massless + .map((link) => link.name || link.id) + .join( + ', ' + )} still ${massless.length === 1 ? 'weighs' : 'weigh'} nothing. A massless link contributes no inertia, so a dynamic answer will not account for it. Set Link Mass in Mass Settings.`, + }); + + requirements.push({ + met: this.forces.length > 0, + title: 'A load to react against', + body: + this.forces.length > 0 + ? `${this.forces.length} ${this.forces.length === 1 ? 'force is' : 'forces are'} applied.` + : 'Without an applied force the only load is the drive itself, so every reaction comes from it. Right-click a link and choose Attach Force to add one.', + }); + + return requirements; + } + + /** Can the Force tab show anything worth reading? */ + forceAnalysisReady(): boolean { + return this.forceAnalysisRequirements().every((requirement) => requirement.met); + } + /** What to say about geometry that is in no mechanism. */ unassignedReports(): UnassignedReport[] { return describeUnassigned(this.unassigned); diff --git a/src/mytheme.scss b/src/mytheme.scss index f2e76356..23a54555 100644 --- a/src/mytheme.scss +++ b/src/mytheme.scss @@ -1,5 +1,5 @@ @use '@angular/material' as mat; -@use 'src/app/component/toolbar/toolbar.component.scss' as toolbar; +@use 'src/app/component/top-bar/top-bar.component.scss' as top-bar; @use 'src/app/component/left-tabs/left-tabs.component.scss' as left-tabs; @use 'src/app/component/animation-bar/animation-bar.component.scss' as animation-bar; @use 'src/app/component/view-controls/view-controls.component.scss' as view-controls; @@ -78,7 +78,7 @@ $my-theme: mat.m2-define-light-theme( @include mat.all-component-themes($my-theme); @include mat.strong-focus-indicators-theme($my-theme); -@include toolbar.css($my-theme); +@include top-bar.css($my-theme); @include left-tabs.css($my-theme); @include animation-bar.css($my-theme); @include view-controls.css($my-theme); From f09feab0aba14121c4cd2cb3ecfb68aea71fa4b3 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 02:48:44 -0400 Subject: [PATCH 007/236] Answer "why can't I analyse this?" with a list Pressing an analysis mode that cannot be entered now opens the drawer that says why, one section per mechanism, each blocker naming the way out. Before this the answer was a single sentence about the whole document with first-blocker-wins -- which in a drawing holding several machines is a sentence about whichever the loop reached first -- and for a mode that simply did nothing, often no answer at all. The drawer answers the question that was asked. Pressing Force when force analysis is short of something shows what *force analysis* wants, not the kinematic blockers, which are a different list with different fixes. Both are shown, so a reader refused by one mode can see the shape of the other, but only while something is outstanding: a met requirement is a tick nobody needs to read twice, and a column of green buries the one line that matters. Where a check is about a particular part it offers to go there, and going there is deliberately not an edit. Being shown where a problem is has not changed the mechanism, so Undo afterwards still takes back the last real change rather than the last time the reader looked at something. The drawer floats clear of the strip above it. It used to start under a toolbar that ran the width of the window and could sit flush to the edge; nothing is flush any more. --- e2e/analysis-setup.mjs | 151 +++++++++++++++++ src/app/app.module.ts | 2 + .../analysis-setup.component.html | 102 ++++++++++++ .../analysis-setup.component.scss | 157 ++++++++++++++++++ .../analysis-setup.component.ts | 146 ++++++++++++++++ .../right-panel/right-panel.component.html | 11 +- .../right-panel/right-panel.component.scss | 22 ++- src/mytheme.scss | 2 + 8 files changed, 586 insertions(+), 7 deletions(-) create mode 100644 e2e/analysis-setup.mjs create mode 100644 src/app/component/analysis-setup/analysis-setup.component.html create mode 100644 src/app/component/analysis-setup/analysis-setup.component.scss create mode 100644 src/app/component/analysis-setup/analysis-setup.component.ts diff --git a/e2e/analysis-setup.mjs b/e2e/analysis-setup.mjs new file mode 100644 index 00000000..fcaf4d26 --- /dev/null +++ b/e2e/analysis-setup.mjs @@ -0,0 +1,151 @@ +/** + * What the app says when you press an analysis mode it cannot enter. + * + * The old answer was one sentence about the whole document, first blocker + * wins — and for a mode that simply did nothing, often no answer at all. This + * checks the replacement: that the refusal opens a list, that the list names + * the mechanism at fault rather than the drawing, that each entry says the way + * out, and that the button offering to go to the part actually goes there. + * + * PMKS_BASE_URL= node e2e/analysis-setup.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); +page.on('console', (message) => { + if (message.type() === 'error') errors.push(message.text()); +}); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const drawerText = () => + page + .locator('app-analysis-setup') + .innerText() + .catch(() => ''); +const tab = (name) => page.locator('.tabButton', { hasText: name }); + +async function open(payload) { + await page.goto(`${BASE}/?${payload}`, { waitUntil: 'domcontentloaded' }); + await waitForReady(page); +} + +// --- a mechanism that runs says so, and stays out of the way ---------------- +await open(payloads['4-Bar']); +await tab('Force').click(); +await page.waitForTimeout(600); +let text = await drawerText(); +record('pressing a mode it cannot enter opens the list', text.includes('Analysis setup'), text); +record( + 'the ready mechanism is named and marked ready', + /Mechanism M1[\s\S]*Ready/.test(text), + text +); +record( + 'and the list answers the question that was asked, not the other one', + text.includes('Force analysis') && text.includes('A load to react against'), + text +); +record('naming the way out rather than only the wall', /Attach Force/.test(text), text); + +// --- a mechanism with nothing driving it ------------------------------------ +await open(payloads['4-Bar']); +await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + srv.joints.forEach((joint) => (joint.input = false)); + srv.updateMechanism(); +}); +await page.waitForTimeout(400); +await tab('Kinematic').click(); +await page.waitForTimeout(600); +text = await drawerText(); +record( + 'an undriven mechanism is refused with its own reason', + text.includes('Nothing drives this mechanism'), + text +); +record( + 'which names a joint that could take the job', + /Right-click joint [A-Z] and choose Add Input/.test(text), + text +); + +const chip = await tab('Kinematic').locator('.chip').textContent(); +record('and the mode chip counts it', chip.trim() === '1 fix', { chip }); + +// --- the button that offers to take you there, does ------------------------- +const goTo = page.locator('.actionButton').first(); +record('the check offers to go to the part', (await goTo.count()) === 1); +const label = await goTo.textContent(); +await goTo.click(); +await page.waitForTimeout(700); +const landed = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + return { + tab: grid.tabService.getCurrentTab(), + selected: grid.activeObjService.getSelectedObjType(), + id: grid.activeObjService.objType === 'Joint' ? grid.activeObjService.selectedJoint.id : null, + }; +}); +record( + 'and pressing it lands in Edit with that joint selected', + landed.tab === 1 && landed.selected === 'Joint' && label.includes(landed.id), + { label, landed } +); + +// Undo must not have been armed by looking at something. +const undoDisabled = await page.locator('.historyButton', { hasText: 'Undo' }).isDisabled(); +record('going to a part is not an edit, so Undo stays where it was', undoDisabled === true); + +// --- geometry that is in no mechanism --------------------------------------- +await open(payloads['4-Bar']); +await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const srv = grid.mechanismSrv; + // A joint on its own, with no link: unassigned, and reported as such. + const seed = srv.joints[0]; + const loose = Object.create(Object.getPrototypeOf(seed)); + Object.assign(loose, seed, { + id: 'Z', + name: 'Z', + links: [], + connectedJoints: [], + ground: false, + input: false, + }); + srv.joints.push(loose); + srv.updateMechanism(); +}); +await page.waitForTimeout(400); +await tab('Force').click(); +await page.waitForTimeout(600); +text = await drawerText(); +record( + 'geometry in no mechanism gets its own section', + text.includes('Not in any mechanism'), + text +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); + +await browser.close(); +process.exit(results.every(([, ok]) => ok) ? 0 : 1); diff --git a/src/app/app.module.ts b/src/app/app.module.ts index dc932cf0..373d0f57 100644 --- a/src/app/app.module.ts +++ b/src/app/app.module.ts @@ -5,6 +5,7 @@ import { provideHttpClient, withInterceptorsFromDi, withXhr } from '@angular/com import { AppComponent } from './app.component'; import { LinkageTableComponent } from './component/linkage-table/linkage-table.component'; import { TopBarComponent } from './component/top-bar/top-bar.component'; +import { AnalysisSetupComponent } from './component/analysis-setup/analysis-setup.component'; import { AnimationBarComponent } from './component/animation-bar/animation-bar.component'; import { ViewControlsComponent } from './component/view-controls/view-controls.component'; import { ShapeSelectorComponent } from './component/shape-selector/shape-selector.component'; @@ -56,6 +57,7 @@ import { BottombarComponent } from './component/bottombar/bottombar.component'; AppComponent, LinkageTableComponent, TopBarComponent, + AnalysisSetupComponent, AnimationBarComponent, ViewControlsComponent, ShapeSelectorComponent, diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html new file mode 100644 index 00000000..f4ce7ad2 --- /dev/null +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -0,0 +1,102 @@ +
+
+
Analysis setup
+

{{ summary }}

+
+ + @for (item of readiness; track item.id) { +
+ + + @if (isOpen(item)) { +
+ @for (check of item.checks; track check.title) { +
+ {{ iconFor(check) }} +
+
{{ check.title }}
+

{{ check.body }}

+ @if (check.action && check.at) { + + } +
+
+ } +
+ } +
+ } + + @if (forceOutstanding > 0) { +
+ + + @if (forceOpen) { +
+ @for (requirement of forceRequirements; track requirement.title) { + @if (!requirement.met) { +
+ radio_button_unchecked +
+
{{ requirement.title }}
+

{{ requirement.body }}

+
+
+ } + } +
+ } +
+ } + + @if (unassigned.length > 0) { +
+ + + @if (unassignedOpen) { +
+

+ Drawn dashed on the grid. Analysis skips these, and they count towards no mechanism's + degrees of freedom. +

+ @for (report of unassigned; track report.title) { +
+ scatter_plot +
+
{{ report.title }}
+

{{ report.body }}

+ @if (report.at) { + + } +
+
+ } +
+ } +
+ } +
diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss new file mode 100644 index 00000000..b24c8bd3 --- /dev/null +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -0,0 +1,157 @@ +@use 'sass:map'; +@use '@angular/material' as mat; + +@mixin css($theme) { + $color-config: mat.m2-get-color-config($theme); + $primary-palette: map.get($color-config, 'primary'); + + .setup { + display: block; + padding-bottom: 8px; + } + + .setupHead { + padding: 12px 15px 12px; + } + + .setupTitle { + font-size: 20px; + font-weight: 500; + line-height: 28px; + } + + .setupSummary { + font-size: 14px; + line-height: 20px; + color: rgba(0, 0, 0, 0.6); + margin: 6px 0 0; + } + + .sectionHeader { + display: flex; + align-items: center; + justify-content: space-between; + width: 100%; + min-height: 40px; + padding: 0 15px; + border: none; + border-top: 1px solid #eceef5; + background: transparent; + font-family: inherit; + font-size: 15px; + font-weight: 500; + color: mat.m2-get-color-from-palette($primary-palette, 500); + cursor: pointer; + text-align: left; + + &.muted { + color: #5f6368; + } + + &:hover { + background: rgba(0, 0, 0, 0.02); + } + } + + .sectionName { + display: flex; + align-items: center; + gap: 8px; + padding: 8px 0; + } + + .chip { + display: inline-flex; + align-items: center; + height: 20px; + padding: 0 8px; + border-radius: 10px; + background: #eef0f4; + color: #5f6368; + font-size: 12px; + font-weight: 400; + + &.blocker { + background: #fce8e6; + color: #c5221f; + } + + &.warning { + background: #fef3e0; + color: #b26a00; + } + + &.ok { + background: #e6f4ea; + color: #137333; + } + } + + .checkList { + padding: 4px 15px 14px; + } + + .check { + display: flex; + gap: 10px; + padding-top: 10px; + } + + .checkIcon { + flex: 0 0 auto; + width: 19px; + height: 19px; + font-size: 19px; + line-height: 19px; + + &.blocker { + color: #d93025; + } + + &.warning { + color: #b26a00; + } + + &.muted { + color: rgba(0, 0, 0, 0.4); + } + } + + .checkBody { + flex: 1 1 auto; + min-width: 0; + } + + .checkTitle { + font-size: 13px; + font-weight: 500; + } + + .checkText { + font-size: 12px; + line-height: 18px; + color: rgba(0, 0, 0, 0.6); + margin: 2px 0 0; + + &.note { + margin: 4px 0 0; + } + } + + .actionButton { + margin-top: 10px; + height: 32px; + padding: 0 14px; + border: 1px solid mat.m2-get-color-from-palette($primary-palette, 500); + border-radius: 4px; + background: #fff; + color: mat.m2-get-color-from-palette($primary-palette, 500); + font-family: inherit; + font-size: 13px; + cursor: pointer; + + &:hover { + background: mat.m2-get-color-from-palette($primary-palette, 50); + } + } +} diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts new file mode 100644 index 00000000..ad52014c --- /dev/null +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -0,0 +1,146 @@ +import { ChangeDetectionStrategy, Component } from '@angular/core'; +import { Joint, RealJoint } from '../../model/joint'; +import { Link, RealLink } from '../../model/link'; +import { MechanismService } from '../../services/mechanism.service'; +import { ActiveObjService } from '../../services/active-obj.service'; +import { SelectedTabService, TabID } from '../../selected-tab.service'; +import { MechanismReadiness, ReadinessCheck } from '../../model/mechanism/readiness'; + +/** + * What stands between this drawing and its animation, mechanism by mechanism. + * + * The app used to answer "why is nothing happening?" with one sentence about + * the whole document, first blocker wins — which for a drawing holding several + * machines is a sentence about whichever of them the loop reached first. Each + * is now listed on its own, with its own blockers, and each blocker says the + * way out rather than only naming the wall. + * + * Anything that is fine says nothing at all. A list of green ticks reads as + * reassurance the first time and as noise every time after, and it buries the + * one line that matters. + */ +@Component({ + selector: 'app-analysis-setup', + templateUrl: './analysis-setup.component.html', + styleUrls: ['./analysis-setup.component.scss'], + changeDetection: ChangeDetectionStrategy.Eager, + standalone: false, +}) +export class AnalysisSetupComponent { + /** Which mechanisms the reader has folded away, by id. */ + private collapsed = new Set(); + unassignedOpen = false; + forceOpen = true; + + constructor( + public mechanism: MechanismService, + private activeObj: ActiveObjService, + private tabs: SelectedTabService + ) {} + + get readiness(): MechanismReadiness[] { + return this.mechanism.readinessOfEachMechanism(); + } + + get unassigned() { + return this.mechanism.unassignedReports(); + } + + /** + * What force analysis still wants, listed beside the kinematic blockers + * rather than in a drawer of its own. + * + * The two questions have different answers but the same shape, and a reader + * who has just been refused by one tab is well served by seeing what the + * other would say too. Only shown while something is outstanding: a met + * requirement is a tick nobody needs to read twice. + */ + get forceRequirements() { + return this.mechanism.forceAnalysisRequirements(); + } + + get forceOutstanding(): number { + return this.forceRequirements.filter((requirement) => !requirement.met).length; + } + + /** + * One line for the whole drawing. + * + * Counted rather than listed, because the list is right underneath it. + */ + get summary(): string { + const all = this.readiness; + if (all.length === 0) { + return this.unassigned.length > 0 + ? 'Nothing here is a mechanism yet. A chain has to reach ground before it has a position to solve for.' + : 'Draw a linkage to analyse it.'; + } + const blockers = this.mechanism.blockerCount(); + if (blockers > 0) { + return `${blockers} ${blockers === 1 ? 'thing has' : 'things have'} to change before ${ + all.length === 1 ? 'this mechanism' : 'every mechanism' + } will run.`; + } + const warnings = all.reduce( + (n, r) => n + r.checks.filter((c) => c.state === 'warning').length, + 0 + ); + if (warnings > 0) { + return `Everything runs. ${warnings === 1 ? 'One result is' : `${warnings} results are`} worth a look before trusting the numbers.`; + } + return all.length === 1 + ? 'Ready to animate.' + : `All ${all.length} mechanisms are ready to animate.`; + } + + isOpen(readiness: MechanismReadiness): boolean { + // Open when there is something to read, closed when there is not — so a + // drawing that is fine collapses to a list of names. + return this.collapsed.has(readiness.id) ? false : readiness.checks.length > 0; + } + + toggle(readiness: MechanismReadiness): void { + if (this.isOpen(readiness)) { + this.collapsed.add(readiness.id); + } else { + this.collapsed.delete(readiness.id); + } + } + + chipFor(readiness: MechanismReadiness): { text: string; kind: 'blocker' | 'warning' | 'ok' } { + const blockers = readiness.checks.filter((c) => c.state === 'blocker').length; + if (blockers > 0) { + return { text: `${blockers} ${blockers === 1 ? 'blocker' : 'blockers'}`, kind: 'blocker' }; + } + const warnings = readiness.checks.length; + if (warnings > 0) { + return { text: `${warnings} ${warnings === 1 ? 'warning' : 'warnings'}`, kind: 'warning' }; + } + return { text: 'Ready', kind: 'ok' }; + } + + iconFor(check: ReadinessCheck): string { + return check.state === 'blocker' ? 'error_outline' : 'warning_amber'; + } + + /** + * Go to the part a check is about: select it, and switch to the mode where it + * can be changed. + * + * Deliberately not an undo step. Being shown where a problem is has not + * changed the mechanism, and pressing Undo afterwards should take back the + * last edit rather than the last time the reader looked at something. + */ + goTo(part: Joint | Link | undefined): void { + if (!part) return; + this.tabs.setTab(TabID.EDIT); + if (part instanceof RealJoint || part instanceof RealLink) { + this.activeObj.updateSelectedObj(part); + } + } + + nameOf(part: Joint | Link | undefined): string { + if (!part) return ''; + return (part as RealJoint).name || part.id; + } +} diff --git a/src/app/component/right-panel/right-panel.component.html b/src/app/component/right-panel/right-panel.component.html index 97c9f1fa..829f7d6a 100644 --- a/src/app/component/right-panel/right-panel.component.html +++ b/src/app/component/right-panel/right-panel.component.html @@ -1,10 +1,19 @@
+ @if (getOpenTab() === 5) { +
+ +
+ } @if (getOpenTab() === 1) {
diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 5df62b19..7c3edc7f 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -1,6 +1,8 @@ @use 'sass:map'; @use '@angular/material' as mat; +@use '../left-tabs/left-tabs.vars' as nav; + @mixin css($theme) { // Get the color config from the theme. $color-config: mat.m2-get-color-config($theme); @@ -10,17 +12,25 @@ $background: map.get($theme, background); $foreground: map.get($theme, foreground); + // A floating card like the strip above it, clear of both: the drawer used to + // start under a toolbar that ran the width of the window and could sit flush + // against the edge. Nothing is flush any more. #rightPanel { - //pointer-events: none; position: absolute; - top: 30px; - right: 0px; - // width: 300px; + top: nav.$top-strip-height; + right: 12px; overflow-x: hidden; overflow-y: auto; - max-height: calc(100% - 128px); + max-height: calc(100% - #{nav.$top-strip-height} - #{nav.$playback-clearance}); display: flex; - border-radius: var(--border-radius); + background: #fafafa; + border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); + border-radius: 5px; + z-index: 9; + box-shadow: + 0 2px 4px -1px rgba(0, 0, 0, 0.2), + 0 4px 5px 0 rgba(0, 0, 0, 0.14), + 0 1px 10px 0 rgba(0, 0, 0, 0.12); animation-duration: 4s; diff --git a/src/mytheme.scss b/src/mytheme.scss index 23a54555..b781f2e2 100644 --- a/src/mytheme.scss +++ b/src/mytheme.scss @@ -1,5 +1,6 @@ @use '@angular/material' as mat; @use 'src/app/component/top-bar/top-bar.component.scss' as top-bar; +@use 'src/app/component/analysis-setup/analysis-setup.component.scss' as analysis-setup; @use 'src/app/component/left-tabs/left-tabs.component.scss' as left-tabs; @use 'src/app/component/animation-bar/animation-bar.component.scss' as animation-bar; @use 'src/app/component/view-controls/view-controls.component.scss' as view-controls; @@ -79,6 +80,7 @@ $my-theme: mat.m2-define-light-theme( @include mat.all-component-themes($my-theme); @include mat.strong-focus-indicators-theme($my-theme); @include top-bar.css($my-theme); +@include analysis-setup.css($my-theme); @include left-tabs.css($my-theme); @include animation-bar.css($my-theme); @include view-controls.css($my-theme); From 29dfcd97e416e1f57845163e60f367fa9c7cd6c0 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 02:58:09 -0400 Subject: [PATCH 008/236] Float the transport over the grid, and say which mode you are in Deleting the mode rail took the animation bar with it, so until this there was no way to press play at all. It comes back as cards over the grid: speed and play on one, the scrubber and a row per mechanism on another, the view controls beside them. A row exists only for a machine that can actually run -- a disabled scrubber for a linkage with no cycle is a control that can only disappoint, and what to do about it belongs in the setup drawer. Neither mobility nor readiness appears beside a row, because being listed is what ready means and a word that can never read anything but yes is not worth the space. The bottom bar becomes a status strip: the mode, and what the mode means for the mechanism right now. It reports and nothing more -- pointer events off, so a line that looks like text cannot turn out to be a button. The mode highlight took three attempts because two plausible diagnoses were both wrong. It was not the measurement being cancelled by a busy change-detection loop, and it was not the animation frame running outside the zone. The field was correct the whole time; the view simply never re-rendered after the frame assigned it, because that assignment lands after the pass that would have shown it. Reading the component's own state rather than guessing from the screen is what found it. --- e2e/playback-bar.mjs | 118 +++++++++++ src/app/app.component.html | 1 + src/app/app.module.ts | 2 + .../bottombar/bottombar.component.html | 11 +- .../bottombar/bottombar.component.scss | 50 +++-- .../bottombar/bottombar.component.ts | 44 +++- .../component/left-tabs/left-tabs.vars.scss | 2 +- .../playback-bar/playback-bar.component.html | 64 ++++++ .../playback-bar/playback-bar.component.scss | 191 +++++++++++++++++ .../playback-bar/playback-bar.component.ts | 192 ++++++++++++++++++ .../component/top-bar/top-bar.component.ts | 34 +++- .../view-controls.component.scss | 21 +- src/mytheme.scss | 2 + 13 files changed, 694 insertions(+), 38 deletions(-) create mode 100644 e2e/playback-bar.mjs create mode 100644 src/app/component/playback-bar/playback-bar.component.html create mode 100644 src/app/component/playback-bar/playback-bar.component.scss create mode 100644 src/app/component/playback-bar/playback-bar.component.ts diff --git a/e2e/playback-bar.mjs b/e2e/playback-bar.mjs new file mode 100644 index 00000000..d54658f6 --- /dev/null +++ b/e2e/playback-bar.mjs @@ -0,0 +1,118 @@ +/** + * The transport, after it moved out of the rail and onto the grid. + * + * Deleting the mode rail took the animation bar with it, so this exists partly + * to make sure there is still a way to press play at all. Beyond that it checks + * the things the redesign changed: the transport belongs to the analysis modes + * and is absent from Edit, each runnable mechanism gets a row, and the mode + * highlight lands on the mode you actually chose. + * + * PMKS_BASE_URL= node e2e/playback-bar.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); +page.on('console', (message) => { + if (message.type() === 'error') errors.push(message.text()); +}); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const tab = (name) => page.locator('.tabButton', { hasText: name }); +const jointAt = (id) => + page.evaluate((joint) => { + const box = document.querySelector('#joint_' + joint).getBoundingClientRect(); + return { x: box.x, y: box.y }; + }, id); + +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); + +// --- the transport belongs to the analysis modes ---------------------------- +record('Edit has no transport', (await page.locator('.playButton').count()) === 0); + +await tab('Kinematic').click(); +await page.waitForTimeout(800); +record('Kinematic has one', (await page.locator('.playButton').count()) === 1); +record('with a row for the mechanism that runs', (await page.locator('.mechRow').count()) === 1); +record( + 'and no readiness word beside it, because being listed is what ready means', + !(await page.locator('.mechRows').innerText()).match(/Ready|DoF/i), + await page.locator('.mechRows').innerText() +); + +// --- the highlight lands on the mode that was chosen ------------------------ +const highlight = await page.evaluate(() => { + const pill = document.querySelector('.activeTabPill'); + const active = document.querySelector('.tabButton.active'); + const style = getComputedStyle(pill); + return { + pillLeft: Math.round(new DOMMatrix(style.transform).m41), + pillWidth: Math.round(parseFloat(style.width)), + activeLeft: active.offsetLeft, + activeWidth: active.offsetWidth, + }; +}); +record( + 'the mode highlight sits on the active mode, not the one before it', + Math.abs(highlight.pillLeft - highlight.activeLeft) <= 1 && + Math.abs(highlight.pillWidth - highlight.activeWidth) <= 1, + highlight +); + +// --- pressing play moves the mechanism -------------------------------------- +const rest = await jointAt('B'); +await page.locator('.playButton').click(); +await page.waitForTimeout(1200); +const moving = await jointAt('B'); +record('pressing play moves the crank', Math.hypot(moving.x - rest.x, moving.y - rest.y) > 3, { + rest, + moving, +}); + +await page.locator('.playButton').click(); +await page.waitForTimeout(400); +const paused = await jointAt('B'); +await page.waitForTimeout(700); +const stillPaused = await jointAt('B'); +record( + 'and pressing it again stops it', + Math.hypot(stillPaused.x - paused.x, stillPaused.y - paused.y) < 1, + { paused, stillPaused } +); + +// --- the status strip reports the mode and does not act --------------------- +const strip = await page.locator('#bottomBar').innerText(); +record( + 'the status strip names the mode and the rule', + /Kinematic/.test(strip) && /Geometry locked/.test(strip), + strip +); +const clickable = await page.evaluate( + () => getComputedStyle(document.querySelector('#bottomBar')).pointerEvents +); +record('and is not clickable', clickable === 'none', { clickable }); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); + +await browser.close(); +process.exit(results.every(([, ok]) => ok) ? 0 : 1); diff --git a/src/app/app.component.html b/src/app/app.component.html index ba8cbd21..393b1974 100644 --- a/src/app/app.component.html +++ b/src/app/app.component.html @@ -3,6 +3,7 @@ + diff --git a/src/app/app.module.ts b/src/app/app.module.ts index 373d0f57..f787a310 100644 --- a/src/app/app.module.ts +++ b/src/app/app.module.ts @@ -6,6 +6,7 @@ import { AppComponent } from './app.component'; import { LinkageTableComponent } from './component/linkage-table/linkage-table.component'; import { TopBarComponent } from './component/top-bar/top-bar.component'; import { AnalysisSetupComponent } from './component/analysis-setup/analysis-setup.component'; +import { PlaybackBarComponent } from './component/playback-bar/playback-bar.component'; import { AnimationBarComponent } from './component/animation-bar/animation-bar.component'; import { ViewControlsComponent } from './component/view-controls/view-controls.component'; import { ShapeSelectorComponent } from './component/shape-selector/shape-selector.component'; @@ -58,6 +59,7 @@ import { BottombarComponent } from './component/bottombar/bottombar.component'; LinkageTableComponent, TopBarComponent, AnalysisSetupComponent, + PlaybackBarComponent, AnimationBarComponent, ViewControlsComponent, ShapeSelectorComponent, diff --git a/src/app/component/bottombar/bottombar.component.html b/src/app/component/bottombar/bottombar.component.html index 79382bc8..892b02da 100644 --- a/src/app/component/bottombar/bottombar.component.html +++ b/src/app/component/bottombar/bottombar.component.html @@ -1,8 +1,7 @@
-
    -
  • Degrees of Freedom: {{ degreesOfFreedom }}
  • -
  • Units: {{ humanReadableString(settings.globalUnit.getValue()) }}
  • -
  • -
  • PMKS+ Version {{ getVersion() }}
  • -
+ {{ modeName }} + {{ status }} + + Units: {{ humanReadableString(settings.globalUnit.getValue()) }} + PMKS+ Version {{ getVersion() }}
diff --git a/src/app/component/bottombar/bottombar.component.scss b/src/app/component/bottombar/bottombar.component.scss index 09451423..b3813c6e 100644 --- a/src/app/component/bottombar/bottombar.component.scss +++ b/src/app/component/bottombar/bottombar.component.scss @@ -3,44 +3,50 @@ @use 'src/app/component/left-tabs/left-tabs.vars' as nav; @mixin css($theme) { - // Get the color config from the theme. $color-config: mat.m2-get-color-config($theme); - // Get the primary color palette from the color-config. - $primary-palette: map.get($color-config, 'primary'); - $accent-palette: map.get($color-config, 'accent'); $typography-config: mat.m2-get-typography-config($theme); - $background: map.get($theme, background); - $foreground: map.get($theme, foreground); + // A strip that reports and does nothing else. Nothing in it is a control, so + // nothing in it is clickable: a status line that sometimes acts on a click is + // a line you have to test before trusting. #bottomBar { - //5 pixel high absolute posositon white bar in the bottom of the screen 100% width position: absolute; bottom: 0; + left: 0; right: 0; - width: 100vw; height: nav.$bottom-bar-height; + display: flex; + align-items: center; + gap: 18px; + padding: 0 14px; background-color: white; - //z-index: 100; + box-sizing: border-box; + z-index: 7; + pointer-events: none; + user-select: none; - //Include elevation and font @include mat.elevation(2); @include mat.m2-typography-level($typography-config, 'subtitle-2'); font-weight: 400; color: #2c2c2c; - ul { - display: flex; - align-items: center; - justify-content: space-between; - gap: 20px; + .mode { + font-weight: 500; + white-space: nowrap; + } + + .status, + .units { + color: rgba(0, 0, 0, 0.55); + white-space: nowrap; + } + + .spacer { + flex: 1 1 auto; + } - //Hide the list bullets - list-style-type: none; - margin: 0; - padding: 0; - // Clear the nav rail, which sits above this bar on the left. - padding-left: 14px; - padding-right: 10px; + .version { + white-space: nowrap; } } } diff --git a/src/app/component/bottombar/bottombar.component.ts b/src/app/component/bottombar/bottombar.component.ts index 1f8d4e59..a86f8d88 100644 --- a/src/app/component/bottombar/bottombar.component.ts +++ b/src/app/component/bottombar/bottombar.component.ts @@ -3,6 +3,7 @@ import { GlobalUnit } from '../../model/utils'; import { SettingsService } from '../../services/settings.service'; import { MechanismService } from '../../services/mechanism.service'; import { environment } from '../../../environments/environment'; +import { SelectedTabService, TabID } from '../../selected-tab.service'; @Component({ selector: 'app-bottombar', @@ -14,9 +15,50 @@ import { environment } from '../../../environments/environment'; export class BottombarComponent { constructor( public settings: SettingsService, - public mechanismSrv: MechanismService + public mechanismSrv: MechanismService, + private tabs: SelectedTabService ) {} + /** + * Which mode the app is in, spelled the way the tabs spell it. + * + * The strip says it because the two modes now differ in what they will let + * you do, and a rule that silently refuses is worse than one that is written + * down somewhere. + */ + get modeName(): string { + switch (this.tabs.getCurrentTab()) { + case TabID.SYNTHESIZE: + return 'Synthesis'; + case TabID.EDIT: + return 'Edit'; + case TabID.FORCE: + return 'Force'; + default: + return 'Kinematic'; + } + } + + /** + * What the mode means for the mechanism right now. + * + * Read-only, like the rest of this strip. It reports; the drawer is where + * anything is done about it. + */ + get status(): string { + if (this.tabs.isAnalysisMode()) { + return 'Geometry locked'; + } + const blockers = this.mechanismSrv.blockerCount(); + if (this.mechanismSrv.mechanisms.length === 0) { + return 'Nothing to analyse yet'; + } + if (blockers === 0) { + return 'Ready to analyse'; + } + return `${blockers} ${blockers === 1 ? 'fix' : 'fixes'} before analysis`; + } + /** * The mobility, or a dash where there is no such number. * diff --git a/src/app/component/left-tabs/left-tabs.vars.scss b/src/app/component/left-tabs/left-tabs.vars.scss index e6d22375..7b6d3e0e 100644 --- a/src/app/component/left-tabs/left-tabs.vars.scss +++ b/src/app/component/left-tabs/left-tabs.vars.scss @@ -7,4 +7,4 @@ $top-strip-height: 74px; $playback-clearance: 110px; // Height of app-bottombar. -$bottom-bar-height: 20px; +$bottom-bar-height: 26px; diff --git a/src/app/component/playback-bar/playback-bar.component.html b/src/app/component/playback-bar/playback-bar.component.html new file mode 100644 index 00000000..188139b5 --- /dev/null +++ b/src/app/component/playback-bar/playback-bar.component.html @@ -0,0 +1,64 @@ +@if (tabs.isAnalysisMode()) { +
+
+ + +
+ +
+ + +
+ @for (row of rows; track row.id) { +
+ {{ row.id }} + {{ row.time }} + @if (row.reciprocating) { + reciprocating + } +
+ +
+ } +
+ +
+ +
+
+
+} diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss new file mode 100644 index 00000000..ce6d6f2e --- /dev/null +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -0,0 +1,191 @@ +@use 'sass:map'; +@use '@angular/material' as mat; + +@mixin css($theme) { + $color-config: mat.m2-get-color-config($theme); + $primary-palette: map.get($color-config, 'primary'); + + $card-shadow: + 0 3px 5px -1px rgba(0, 0, 0, 0.2), + 0 6px 10px 0 rgba(0, 0, 0, 0.14), + 0 1px 18px 0 rgba(0, 0, 0, 0.12); + + // Floats over the grid rather than sitting in a rail, and clears the status + // strip beneath it. + .playbackRow { + position: absolute; + left: 0; + right: 0; + bottom: 38px; + display: flex; + align-items: flex-end; + justify-content: center; + gap: 12px; + padding: 0 12px; + z-index: 8; + pointer-events: none; + + .card { + display: flex; + align-items: center; + background: #fff; + border-radius: 10px; + box-shadow: $card-shadow; + pointer-events: auto; + box-sizing: border-box; + } + } + + .transportCard { + gap: 8px; + height: 60px; + padding: 0 12px; + flex: 0 0 auto; + } + + .scrubCard { + flex-direction: column; + align-items: stretch; + justify-content: center; + gap: 6px; + min-height: 60px; + padding: 9px 14px; + flex: 0 1 470px; + min-width: 260px; + } + + .playButton { + display: flex; + align-items: center; + justify-content: center; + width: 40px; + height: 40px; + border: none; + border-radius: 50%; + background: mat.m2-get-color-from-palette($primary-palette, 400); + color: #fff; + cursor: pointer; + padding: 0; + + &:disabled { + background: #d5d7e0; + cursor: default; + } + + mat-icon { + width: 26px; + height: 26px; + font-size: 26px; + line-height: 26px; + } + } + + .speedButton { + display: flex; + align-items: center; + justify-content: center; + width: 34px; + height: 34px; + flex: 0 0 auto; + border: 1px solid #dfe1ea; + border-radius: 6px; + background: #fff; + color: #5f6368; + font-family: inherit; + font-size: 13px; + font-weight: 500; + cursor: pointer; + padding: 0; + + &:disabled { + color: #b7bac7; + cursor: default; + } + } + + .scrubber { + width: 100%; + margin: 0; + height: 4px; + accent-color: mat.m2-get-color-from-palette($primary-palette, 500); + cursor: pointer; + + &:disabled { + cursor: default; + } + } + + .mechRows { + display: flex; + flex-direction: column; + gap: 2px; + } + + .mechRow { + display: flex; + align-items: center; + gap: 8px; + font-size: 11px; + color: rgba(0, 0, 0, 0.5); + white-space: nowrap; + } + + .mechChip { + display: inline-flex; + align-items: center; + justify-content: center; + min-width: 30px; + height: 20px; + padding: 0 7px; + border-radius: 6px; + background: #f0f1f5; + color: #2c2c2c; + font-size: 12px; + font-weight: 500; + } + + .mechNote { + color: rgba(0, 0, 0, 0.42); + } + + .rowSpacer { + flex: 1 1 auto; + } + + .timeForm input { + width: 100%; + border: none; + border-bottom: 1px solid rgba(0, 0, 0, 0.24); + background: transparent; + font-family: inherit; + font-size: 12px; + color: #2c2c2c; + padding: 2px 0; + + &:disabled { + color: rgba(0, 0, 0, 0.38); + } + } + + .playbackRow .iconButton { + display: flex; + align-items: center; + justify-content: center; + width: 28px; + height: 28px; + flex: 0 0 auto; + border: 1px solid #dfe1ea; + border-radius: 6px; + background: #fff; + color: #5f6368; + cursor: pointer; + padding: 0; + + mat-icon { + width: 18px; + height: 18px; + font-size: 18px; + line-height: 18px; + } + } +} diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts new file mode 100644 index 00000000..d543a143 --- /dev/null +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -0,0 +1,192 @@ +import { ChangeDetectionStrategy, Component, OnDestroy, OnInit } from '@angular/core'; +import { Subscription } from 'rxjs'; +import { MechanismService } from '../../services/mechanism.service'; +import { SettingsService } from '../../services/settings.service'; +import { NumberUnitParserService } from '../../services/number-unit-parser.service'; +import { ActiveObjService } from '../../services/active-obj.service'; +import { SelectedTabService } from '../../selected-tab.service'; +import { TimeUnit } from '../../model/utils'; +import { Mechanism } from '../../model/mechanism/mechanism'; +import { AnimationBarComponent } from '../animation-bar/animation-bar.component'; + +/** One machine's line in the transport. */ +export interface PlaybackRow { + id: string; + index: number; + /** Where this machine is in its own cycle, as text. */ + time: string; + /** 0–1000, its own position within its own cycle. */ + scrub: number; + clockwise: boolean; + /** Out-and-back, rather than round and round. */ + reciprocating: boolean; +} + +/** + * The transport: what is playing, how fast, and where each machine is in its + * own cycle. + * + * One row per mechanism that can actually run. A mechanism that cannot is not + * listed at all — a disabled scrubber for a linkage that has no cycle is a + * control that can only disappoint, and what to do about it is the Analysis + * setup drawer's job, not a row's. + * + * Neither degrees of freedom nor readiness appear here. Being in this list is + * what "ready" means, so saying it again beside every row is a word that can + * never read anything but yes. + */ +@Component({ + selector: 'app-playback-bar', + templateUrl: './playback-bar.component.html', + styleUrls: ['./playback-bar.component.scss'], + changeDetection: ChangeDetectionStrategy.Eager, + standalone: false, +}) +export class PlaybackBarComponent implements OnInit, OnDestroy { + timeDisplay = ''; + private positionSub?: Subscription; + private dragging = false; + private wasAnimating = false; + + constructor( + public mechanism: MechanismService, + public settings: SettingsService, + public activeObj: ActiveObjService, + public tabs: SelectedTabService, + private nup: NumberUnitParserService + ) {} + + ngOnInit(): void { + this.positionSub = this.mechanism.onMechPositionChange.subscribe(() => { + // Playback sits between samples, so read the drawn time rather than the + // time of the sample it was blended from. + this.timeDisplay = this.format(this.mechanism.currentTimeSeconds()); + }); + } + + ngOnDestroy(): void { + this.positionSub?.unsubscribe(); + } + + private format(seconds: number): string { + return this.nup.formatValueAndUnit(seconds, TimeUnit.SECOND); + } + + get playing(): boolean { + return AnimationBarComponent.animate; + } + + get canPlay(): boolean { + return this.mechanism.oneValidMechanismExists(); + } + + get speed(): number { + return this.mechanism.animationSpeedMultiplier; + } + + /** The scrubber spans the longest cycle in the drawing; shorter ones wrap. */ + get maxStep(): number { + const master = this.mechanism.masterMechanism(); + return master ? master.joints.length - 1 : 0; + } + + get step(): number { + return this.mechanism.mechanismTimeStep; + } + + /** Only the machines that can run. */ + get rows(): PlaybackRow[] { + const now = this.mechanism.currentTimeSeconds(); + return this.mechanism.mechanisms + .map((mechanism, index) => ({ mechanism, index })) + .filter(({ mechanism }) => mechanism.isMechanismValid()) + .map(({ mechanism, index }) => { + const period = mechanism.cyclePeriod || 1; + const local = ((now % period) + period) % period; + return { + id: this.mechanism.partitions[index]?.id ?? `M${index + 1}`, + index, + time: this.format(local), + scrub: Math.round((local / period) * 1000), + clockwise: this.drivenSpeedOf(mechanism, index) < 0, + reciprocating: this.isReciprocating(mechanism), + }; + }); + } + + /** + * Out-and-back rather than round and round. + * + * Read off the samples rather than recomputed: a reversing input is sampled + * out to its limit and back again as one cycle, so its last sample returns to + * where the first one started. A full rotation does not. + */ + private isReciprocating(mechanism: Mechanism): boolean { + const frames = mechanism.joints; + if (frames.length < 3) return false; + const first = frames[0][0]; + const middle = frames[Math.floor(frames.length / 2)][0]; + if (!first || !middle) return false; + return Math.hypot(middle.x - first.x, middle.y - first.y) < 1e-6; + } + + private drivenSpeedOf(mechanism: Mechanism, index: number): number { + return mechanism.inputAngularVelocities[0] ?? 0; + } + + play(): void { + if (!this.canPlay) return; + AnimationBarComponent.animate = !AnimationBarComponent.animate; + this.mechanism.animate(this.mechanism.mechanismTimeStep, AnimationBarComponent.animate); + this.settings.animating.next(this.mechanism.mechanismTimeStep !== 0); + } + + cycleSpeed(): void { + // 1x plays back in real time: one revolution takes 60/RPM seconds. The + // other stops are explicit fast-forwards for slow input speeds. + const rates = [1, 2, 4]; + const next = rates.indexOf(this.mechanism.animationSpeedMultiplier) + 1; + this.mechanism.animationSpeedMultiplier = rates[next % rates.length]; + } + + /** Turn this machine's drive the other way. An edit, so it is undoable. */ + flipDirection(row: PlaybackRow): void { + const partition = this.mechanism.partitions[row.index]; + const driven = partition?.joints.find((joint) => (joint as { input?: boolean }).input) as + { driveSpeed: number } | undefined; + if (!driven) return; + const current = + driven.driveSpeed !== 0 + ? driven.driveSpeed + : (this.settings.isInputCW.value ? -1 : 1) * this.settings.inputSpeed.value; + driven.driveSpeed = -current; + this.mechanism.updateMechanism(true); + } + + onScrubDown(): void { + this.dragging = true; + this.wasAnimating = AnimationBarComponent.animate; + AnimationBarComponent.animate = false; + } + + onScrubUp(): void { + this.dragging = false; + if (this.wasAnimating) { + AnimationBarComponent.animate = true; + this.mechanism.animate(this.mechanism.mechanismTimeStep, true); + } + } + + onScrub(event: Event): void { + const value = Number((event.target as HTMLInputElement).value); + this.mechanism.animate(value, AnimationBarComponent.animate); + this.settings.animating.next(value !== 0); + } + + onTimeSubmit(): void { + const [ok, requested] = this.nup.parseTimeString(this.timeDisplay, TimeUnit.SECOND); + const clamped = Math.min(Math.max(ok ? requested : 0, 0), this.mechanism.cyclePeriod()); + this.mechanism.animate(this.mechanism.stepAtTime(clamped), AnimationBarComponent.animate); + this.timeDisplay = this.format(this.mechanism.currentTimeSeconds()); + } +} diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts index 3cd8679d..3076d06c 100644 --- a/src/app/component/top-bar/top-bar.component.ts +++ b/src/app/component/top-bar/top-bar.component.ts @@ -4,6 +4,9 @@ import { Component, ElementRef, OnDestroy, + ChangeDetectionStrategy, + ChangeDetectorRef, + NgZone, ViewChild, inject, isDevMode, @@ -43,6 +46,7 @@ interface TabStatus { selector: 'app-top-bar', templateUrl: './top-bar.component.html', styleUrls: ['./top-bar.component.scss'], + changeDetection: ChangeDetectionStrategy.Eager, animations: [ // The same 200ms and easing the mode highlight slides on, so the menu and // everything else in this strip move as one piece of machinery. @@ -75,7 +79,9 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr private history: SaveHistoryService, private urlGeneration: UrlGenerationService, private urlProcessor: UrlProcessorService, - private dialog: MatDialog + private dialog: MatDialog, + private zone: NgZone, + private changes: ChangeDetectorRef ) {} isDevMode(): boolean { @@ -121,7 +127,11 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr } private scheduleHighlight(): void { - if (this.pendingFrame) cancelAnimationFrame(this.pendingFrame); + // Coalesce rather than restart. Cancelling the pending frame on every + // checked pass means a busy app -- playback runs change detection every + // frame -- cancels the measurement before it can ever run, and the + // highlight sits on whichever tab was active last time things went quiet. + if (this.pendingFrame) return; this.pendingFrame = requestAnimationFrame(() => { this.pendingFrame = 0; const active = this.tabStrip?.nativeElement.querySelector('.tabButton.active'); @@ -131,12 +141,24 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr // Only on a real change, so the measure-every-pass above settles instead // of asking for another pass forever. if ( - next.left !== this.highlight.left || - next.width !== this.highlight.width || - next.visible !== this.highlight.visible + next.left === this.highlight.left && + next.width === this.highlight.width && + next.visible === this.highlight.visible ) { - this.highlight = next; + return; } + // Back inside Angular to assign it. An animation frame runs outside, so + // the new position would sit in the field unrendered until something else + // happened to trigger a pass -- which is the next tab change, leaving the + // highlight permanently one behind. + this.zone.run(() => { + this.highlight = next; + // And re-check this view explicitly. The assignment happens after the + // pass that would have rendered it, so without this the new position + // waits for whatever causes the *next* pass -- which is the next tab + // change, leaving the highlight permanently one behind. + this.changes.detectChanges(); + }); }); } diff --git a/src/app/component/view-controls/view-controls.component.scss b/src/app/component/view-controls/view-controls.component.scss index 6030da44..ffd462b4 100644 --- a/src/app/component/view-controls/view-controls.component.scss +++ b/src/app/component/view-controls/view-controls.component.scss @@ -1,11 +1,27 @@ @use '../BLOCKS/blocks.common' as blocks; @mixin css($theme) { + // A floating card at the bottom right, beside the transport rather than + // stacked in a rail: these say what you can see, the transport says what is + // moving, and both belong at the edge nearest the grid they act on. .viewControls { + position: absolute; + right: 12px; + bottom: 38px; display: flex; - flex-direction: column; + flex-direction: row; + align-items: center; gap: 6px; - padding: 8px; + padding: 8px 10px; + height: 60px; + background: #fff; + border-radius: 10px; + z-index: 8; + box-sizing: border-box; + box-shadow: + 0 3px 5px -1px rgba(0, 0, 0, 0.2), + 0 6px 10px 0 rgba(0, 0, 0, 0.14), + 0 1px 18px 0 rgba(0, 0, 0, 0.12); // Same button look as the edit panel; the container prefix keeps its // border-color winning over Material's default outline. @@ -18,6 +34,7 @@ .zoomRow { display: flex; gap: 6px; + flex: 0 0 auto; .zoomButton { flex: 1 1 0; diff --git a/src/mytheme.scss b/src/mytheme.scss index b781f2e2..3764537d 100644 --- a/src/mytheme.scss +++ b/src/mytheme.scss @@ -1,6 +1,7 @@ @use '@angular/material' as mat; @use 'src/app/component/top-bar/top-bar.component.scss' as top-bar; @use 'src/app/component/analysis-setup/analysis-setup.component.scss' as analysis-setup; +@use 'src/app/component/playback-bar/playback-bar.component.scss' as playback-bar; @use 'src/app/component/left-tabs/left-tabs.component.scss' as left-tabs; @use 'src/app/component/animation-bar/animation-bar.component.scss' as animation-bar; @use 'src/app/component/view-controls/view-controls.component.scss' as view-controls; @@ -81,6 +82,7 @@ $my-theme: mat.m2-define-light-theme( @include mat.strong-focus-indicators-theme($my-theme); @include top-bar.css($my-theme); @include analysis-setup.css($my-theme); +@include playback-bar.css($my-theme); @include left-tabs.css($my-theme); @include animation-bar.css($my-theme); @include view-controls.css($my-theme); From 90b01e03a6da840f3690540faf2a5786b279f64b Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 03:02:44 -0400 Subject: [PATCH 009/236] Show one analysis at a time Kinematic and force analysis sat one above the other in a single panel, so every reader scrolled past the answer they had not asked for, and neither question could state what *it* needed -- the panel could only be vague enough to cover both. They are separate modes now, and the panel shows the half the mode is asking about. Every graph is where it was; only the question changed. Four panel specs were asserting both halves at once, which is exactly the thing that stopped being true. Each now says which question it is asking, and the one that counted "force rows plus two kinematic graphs" counts the force rows and the input effort -- the kinematic graphs belong to the other mode, and to the test below it. --- .../analysis-panel.component.html | 682 +++++++++--------- .../analysis-panel.component.spec.ts | 31 +- .../analysis-panel.component.ts | 20 +- 3 files changed, 384 insertions(+), 349 deletions(-) diff --git a/src/app/component/analysis-panel/analysis-panel.component.html b/src/app/component/analysis-panel/analysis-panel.component.html index 87eeee56..4db0f48e 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.html +++ b/src/app/component/analysis-panel/analysis-panel.component.html @@ -106,172 +106,176 @@ Analysis for Joint {{ this.activeSrv.selectedJoint.name }} - - - - - Position of Joint {{ this.activeSrv.selectedJoint.name }} - - - help_outline - - - - @if (graphExpanded['JPos']) { - - } - - - - - Velocity of Joint {{ this.activeSrv.selectedJoint.name }} - - - help_outline - - - - @if (graphExpanded['JVel']) { - - } - - - - - Acceleration of Joint {{ this.activeSrv.selectedJoint.name }} - - - help_outline - - - - @if (graphExpanded['JAcc']) { - - } - - - - Force Analysis Type - - @if (jointForceRows().length === 0) { -
- Joint {{ this.activeSrv.selectedJoint.name }} is internal to one welded body and has no - independent pin reaction. Select an external or grounded joint to graph a reaction. -
- } - @for (row of jointForceRows(); track row.linkId) { - Force on Link {{ row.linkName }} + + Position of Joint {{ this.activeSrv.selectedJoint.name }} + help_outline - @if (graphExpanded['JForce_' + row.linkId]) { + @if (graphExpanded['JPos']) { } - } - @if (this.activeSrv.selectedJoint.input) { - Input {{ inputEffortLabel() }} at Joint {{ this.activeSrv.selectedJoint.name }} + Velocity of Joint {{ this.activeSrv.selectedJoint.name }} help_outline - @if (graphExpanded['JInputForce']) { + @if (graphExpanded['JVel']) { } - } -
+ + + + Acceleration of Joint {{ this.activeSrv.selectedJoint.name }} + + + help_outline + + + + @if (graphExpanded['JAcc']) { + + } + + + } + @if (showForce) { + + Force Analysis Type + + @if (jointForceRows().length === 0) { +
+ Joint {{ this.activeSrv.selectedJoint.name }} is internal to one welded body and has + no independent pin reaction. Select an external or grounded joint to graph a reaction. +
+ } + @for (row of jointForceRows(); track row.linkId) { + + + Force on Link {{ row.linkName }} + + help_outline + + + + @if (graphExpanded['JForce_' + row.linkId]) { + + } + + } + @if (this.activeSrv.selectedJoint.input) { + + + + Input {{ inputEffortLabel() }} at Joint {{ this.activeSrv.selectedJoint.name }} + + + help_outline + + + + @if (graphExpanded['JInputForce']) { + + } + + } +
+ } } @@ -294,227 +298,231 @@ //"Angular Link Pos","Angular Link Vel",Angular Link Acc" //Param 4: mechPart: If Joint 'a','b','c'... If Link 'ab','bc','cd'... --> - - - - - Angle of Link {{ this.activeSrv.selectedLink.name }} - - - help_outline - - - - @if (graphExpanded['LAng']) { - - } - - - - - Angular Velocity of Link {{ this.activeSrv.selectedLink.name }} - - - help_outline - - - - @if (graphExpanded['LAngVel']) { - - } - - - - - Angular Acceleration of Link {{ this.activeSrv.selectedLink.name }} - - - help_outline - - - - @if (graphExpanded['LAngAcc']) { - - } - - Center of Mass (COM) of Link {{ this.activeSrv.selectedLink.name }} - - - - Position of Link {{ this.activeSrv.selectedLink.name }}'s COM - - - help_outline - - - - @if (graphExpanded['LPos']) { - - } - - - - - Velocity of Link {{ this.activeSrv.selectedLink.name }}'s COM - - - help_outline - - - - @if (graphExpanded['LVel']) { - - } - - - - - Acceleration of Link {{ this.activeSrv.selectedLink.name }}'s COM - - - help_outline - - - - @if (graphExpanded['LAcc']) { - - } - - - - Force Analysis Type - - @if (linkForceRows().length === 0) { -
- Link {{ this.activeSrv.selectedLink.name }} has no external joint that carries an - independent pin reaction. -
- } - @for (row of linkForceRows(); track row.jointId) { + + + Angle of Link {{ this.activeSrv.selectedLink.name }} + + + help_outline + + + + @if (graphExpanded['LAng']) { + + } + + - Force at Joint {{ row.jointName }} + + Angular Velocity of Link {{ this.activeSrv.selectedLink.name }} + help_outline - @if (graphExpanded['LForce_' + row.jointId]) { + @if (graphExpanded['LAngVel']) { } - } -
+ + + + Angular Acceleration of Link {{ this.activeSrv.selectedLink.name }} + + + help_outline + + + + @if (graphExpanded['LAngAcc']) { + + } + + Center of Mass (COM) of Link {{ this.activeSrv.selectedLink.name }} + + + + Position of Link {{ this.activeSrv.selectedLink.name }}'s COM + + + help_outline + + + + @if (graphExpanded['LPos']) { + + } + + + + + Velocity of Link {{ this.activeSrv.selectedLink.name }}'s COM + + + help_outline + + + + @if (graphExpanded['LVel']) { + + } + + + + + Acceleration of Link {{ this.activeSrv.selectedLink.name }}'s COM + + + help_outline + + + + @if (graphExpanded['LAcc']) { + + } + + + } + @if (showForce) { + + Force Analysis Type + + @if (linkForceRows().length === 0) { +
+ Link {{ this.activeSrv.selectedLink.name }} has no external joint that carries an + independent pin reaction. +
+ } + @for (row of linkForceRows(); track row.jointId) { + + + Force at Joint {{ row.jointName }} + + help_outline + + + + @if (graphExpanded['LForce_' + row.jointId]) { + + } + + } +
+ } } diff --git a/src/app/component/analysis-panel/analysis-panel.component.spec.ts b/src/app/component/analysis-panel/analysis-panel.component.spec.ts index 79b77d63..98e52b1a 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.spec.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.spec.ts @@ -1,3 +1,4 @@ +import { SelectedTabService, TabID } from '../../selected-tab.service'; import { NO_ERRORS_SCHEMA } from '@angular/core'; import { ComponentFixture, TestBed } from '@angular/core/testing'; import { ReactiveFormsModule } from '@angular/forms'; @@ -13,13 +14,18 @@ import { import { TEMPLATE_LINKAGES } from '../MODALS/templates/template-linkages'; import { AnalysisPanelComponent } from './analysis-panel.component'; -async function createPanel(payload: string, selectedId: string) { +async function createPanel(payload: string, selectedId: string, mode: TabID = TabID.ANALYZE) { const fixtureData = buildMechanismFixture(payload); const selected = fixtureData.service.joints.find((joint) => joint.id === selectedId) ?? fixtureData.service.links.find((link) => link.id === selectedId)!; fixtureData.active.updateSelectedObj(selected); + // Which mode the panel is being asked about. Kinematic and force analysis are + // separate modes now and the panel shows one at a time, so a spec about force + // rows has to be asking the force question. + const tabs = { getCurrentTab: () => mode } as unknown as SelectedTabService; + await TestBed.configureTestingModule({ declarations: [AnalysisPanelComponent], imports: [ReactiveFormsModule, MatFormFieldModule, NoopAnimationsModule], @@ -27,6 +33,7 @@ async function createPanel(payload: string, selectedId: string) { { provide: ActiveObjService, useValue: fixtureData.active }, { provide: MechanismService, useValue: fixtureData.service }, { provide: SettingsService, useValue: fixtureData.settings }, + { provide: SelectedTabService, useValue: tabs }, ], schemas: [NO_ERRORS_SCHEMA], }).compileComponents(); @@ -43,16 +50,17 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { TestBed.resetTestingModule(); }); - it('renders analysis controls for a valid loopless welded link instead of blanking', async () => { - const { fixture } = await createPanel(LOOPLESS_WELDED_MECHANISM, 'A'); + it('renders force controls for a valid loopless welded link instead of blanking', async () => { + // Force analysis is its own mode now, so this asks the force question and + // counts only what that question answers: a graph per reacting link, plus + // the input effort. The kinematic graphs are the other mode's, and the + // test below is where they are counted. + const { fixture } = await createPanel(LOOPLESS_WELDED_MECHANISM, 'A', TabID.FORCE); expect(() => fixture.detectChanges()).not.toThrow(); const rows = fixture.componentInstance.jointForceRows(); expect(rows.length).toBeGreaterThan(0); - Object.assign(fixture.componentInstance.graphExpanded, { - JPos: true, - JInputForce: true, - }); + fixture.componentInstance.graphExpanded['JInputForce'] = true; for (const row of rows) { fixture.componentInstance.graphExpanded['JForce_' + row.linkId] = true; } @@ -60,8 +68,9 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { expect(fixture.nativeElement.textContent).toContain('Analysis for Joint A'); expect(fixture.nativeElement.textContent).toContain('Force Analysis'); + expect(fixture.nativeElement.textContent).not.toContain('Kinematic Analysis'); expect(fixture.nativeElement.querySelectorAll('app-analysis-graph').length).toBe( - rows.length + 2 + rows.length + 1 ); fixture.destroy(); @@ -83,7 +92,7 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { }); it('explains that an internal welded joint has no independent pin reaction', async () => { - const { fixture } = await createPanel(LOOPLESS_WELDED_MECHANISM, 'B'); + const { fixture } = await createPanel(LOOPLESS_WELDED_MECHANISM, 'B', TabID.FORCE); fixture.detectChanges(); expect(fixture.componentInstance.jointForceRows()).toHaveLength(0); @@ -93,7 +102,7 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { }); it('lists one force row per link reacting at an external multi-link pin', async () => { - const { fixture } = await createPanel(TEMPLATE_LINKAGES['4-Bar'], 'B'); + const { fixture } = await createPanel(TEMPLATE_LINKAGES['4-Bar'], 'B', TabID.FORCE); fixture.detectChanges(); const rows = fixture.componentInstance.jointForceRows(); @@ -111,7 +120,7 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { }); it('lists one force row per external joint on a link, sharing the joint-side dataset', async () => { - const { fixture } = await createPanel(TEMPLATE_LINKAGES['4-Bar'], 'BC'); + const { fixture } = await createPanel(TEMPLATE_LINKAGES['4-Bar'], 'BC', TabID.FORCE); fixture.detectChanges(); expect(fixture.nativeElement.textContent).toContain('Analysis for Link BC'); diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index 4aefecdb..17cf3b36 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -1,3 +1,4 @@ +import { SelectedTabService, TabID } from '../../selected-tab.service'; import { ChangeDetectionStrategy, Component } from '@angular/core'; import { ForceAnalysisMode, ForceReactionIndex } from 'src/app/model/mechanism/force-solver'; import { Mechanism } from 'src/app/model/mechanism/mechanism'; @@ -26,6 +27,22 @@ export interface ForceAnalysisRow { standalone: false, }) export class AnalysisPanelComponent { + /** + * Which half of the analysis this mode is asking for. + * + * The two used to sit one above the other in a single Analyze panel, which + * meant every reader scrolled past the answer they did not want and neither + * question could say what *it* needed. They are separate modes now, so the + * panel shows one at a time. + */ + get showKinematic(): boolean { + return this.tabs.getCurrentTab() !== TabID.FORCE; + } + + get showForce(): boolean { + return this.tabs.getCurrentTab() === TabID.FORCE; + } + //A dictionary for wether each graph is expanded or not graphExpanded: { [key: string]: boolean } = { LKineAna: true, @@ -80,7 +97,8 @@ export class AnalysisPanelComponent { public activeSrv: ActiveObjService, private fb: FormBuilder, public mechanismService: MechanismService, - public settingsService: SettingsService + public settingsService: SettingsService, + private tabs: SelectedTabService ) { this.forceAnalysisFormGroup.patchValue( { mode: this.settingsService.forceAnalysisMode.value === 'dynamic' ? '1' : '0' }, From 28eded791f4203965d1978be096eeaeb63eafea7 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 03:07:52 -0400 Subject: [PATCH 010/236] Lock the geometry in both analysis modes, not just one The read-only guard named the kinematic tab specifically, which was right when that was the only way to analyse anything. Force analysis reads the same solved cycle and is no more able to survive the geometry moving under it, so both modes are covered now. The status strip says so, because a rule that silently refuses is worse than one written down. --- src/app/component/new-grid/new-grid.component.ts | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index ed6aa499..a5ebd486 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -1254,7 +1254,11 @@ export class NewGridComponent implements OnDestroy { // Analyze already refuses to open an edit context menu (see onContextMenu), // but dragging bypassed that: the mode was read-only by menu only. Whole-link // drag would have widened the hole, so the guard covers every drag instead. - if (this.tabService.getCurrentTab() === TabID.ANALYZE) { + // + // Both analysis modes, not just the kinematic one. Force analysis reads the + // same solved cycle and is no more able to survive the geometry moving + // under it. + if (this.tabService.isAnalysisMode()) { this.sendNotification(CANNOT_EDIT.analyzeMode); return false; } @@ -1533,9 +1537,9 @@ export class NewGridComponent implements OnDestroy { return; } - if (this.tabService.getCurrentTab() === TabID.ANALYZE) { - // Analyze mode is read-only. Show no edit menu; setLastRightClick has - // already declined to change the selection. + if (this.tabService.isAnalysisMode()) { + // Both analysis modes are read-only. Show no edit menu; setLastRightClick + // has already declined to change the selection. this.cMenuItems = []; return; } From 6749d2053c3b8f4926c8817fa7deba6b7773060c Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 03:12:02 -0400 Subject: [PATCH 011/236] Let each mechanism be driven at its own speed from the panel it is on The per-mechanism speed had a place to live and no way to reach it: the Input Settings field still wrote the document-wide number, so a drawing with two machines could only ever drive both at once. The field now writes the speed of the joint it is showing, and the document default follows the last speed set -- so a newly driven joint starts where the reader last was, and a drawing holding one mechanism behaves exactly as it did when the speed really was one number. The direction button flips that joint's drive rather than the document's. One definition of "how fast does this joint drive", read by the solver and shown by the panel, because two would eventually disagree and the disagreement would show as a panel reporting a speed the mechanism is not running at. --- .../edit-panel/edit-panel.component.ts | 49 +++++++++++----- src/app/services/mechanism.service.ts | 58 ++++++++++++++----- src/tests/verification/two-mechanisms.spec.ts | 23 ++++++++ 3 files changed, 102 insertions(+), 28 deletions(-) diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index 3b672115..96704c3c 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -81,9 +81,22 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { label: option.label, })); + /** The joint whose drive this panel is editing, if it is editing one. */ + private get drivenJoint(): RealJoint | undefined { + const joint = this.activeSrv.selectedJoint; + return joint && joint.input ? joint : undefined; + } + /** One button for both directions: flip rather than pick. */ flipInputDirection(): void { - this.settingsService.isInputCW.next(!this.settingsService.isInputCW.value); + const joint = this.drivenJoint; + if (joint) { + // This mechanism's drive, not the document's. A drawing can hold several + // and turning one round must leave the others turning as they were. + this.mechanismService.setDriveSpeed(joint, -this.mechanismService.driveSpeedOf(joint)); + } else { + this.settingsService.isInputCW.next(!this.settingsService.isInputCW.value); + } this.mechanismService.updateMechanism(true); } @@ -95,10 +108,11 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { * where the rotational speed is kept in RPM and converted for display. */ private patchInputSpeedField(): void { + const own = Math.abs(this.mechanismService.driveSpeedOf(this.drivenJoint)); const shown = this.isSliderInput - ? this.settingsService.linearInputSpeed.value + ? own : this.nup.convertAngularVelocity( - this.settingsService.inputSpeed.value, + own, AngularVelocityUnit.RPM, this.settingsService.inputSpeedUnit.value ); @@ -791,21 +805,26 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { const typed = Number(String(val ?? '').trim()); // A rejected value changes nothing, so it must not mint an undo entry. if (Number.isFinite(typed) && typed !== 0) { - // The field carries magnitude; a minus sign reads as "the other way", - // so -20 becomes 20 with the direction flipped. - if (typed < 0) { - this.settingsService.isInputCW.next(!this.settingsService.isInputCW.value); - } - if (this.isSliderInput) { - this.settingsService.linearInputSpeed.next(Math.abs(typed)); - } else { - this.settingsService.inputSpeed.next( - this.nup.convertAngularVelocity( + const joint = this.drivenJoint; + const magnitude = this.isSliderInput + ? Math.abs(typed) + : this.nup.convertAngularVelocity( Math.abs(typed), this.settingsService.inputSpeedUnit.value, AngularVelocityUnit.RPM - ) - ); + ); + // The field carries magnitude; a minus sign reads as "the other way", + // so -20 becomes 20 with the direction flipped. + const wasClockwise = this.mechanismService.driveSpeedOf(joint) < 0; + const clockwise = typed < 0 ? !wasClockwise : wasClockwise; + if (joint) { + this.mechanismService.setDriveSpeed(joint, clockwise ? -magnitude : magnitude); + } else if (this.isSliderInput) { + this.settingsService.linearInputSpeed.next(magnitude); + this.settingsService.isInputCW.next(clockwise); + } else { + this.settingsService.inputSpeed.next(magnitude); + this.settingsService.isInputCW.next(clockwise); } this.mechanismService.updateMechanism(true); } diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index d18bf4bd..9fb9ebf3 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -267,20 +267,52 @@ export class MechanismService { private inputVelocityFor(partition: MechanismPartition): number { const driven = partition.joints.find((j) => j instanceof RealJoint && j.input) as RealJoint | undefined; - const prismatic = driven instanceof PrisJoint; - // The joint's own speed if it has been given one, and the document-wide - // default otherwise -- which is what a URL written before mechanisms could - // be driven separately says, and what a joint just switched on says too. - const own = driven?.driveSpeed ?? 0; + const signed = this.driveSpeedOf(driven); + // rpm for a pin, length per second for a slider -- two different + // quantities, and only the second has a length in it wanting MODEL_SCALE. + return driven instanceof PrisJoint ? signed * MODEL_SCALE : (signed * Math.PI) / 30; + } + + /** + * How fast a joint drives its mechanism, signed for direction, in the units + * its kind of drive is measured in. + * + * One definition, read by the solver and shown by the panel. Zero on the + * joint means "follow the document-wide default", which is what a URL written + * before mechanisms could be driven separately says, and what a joint just + * switched on says too. + */ + driveSpeedOf(joint: RealJoint | undefined): number { + if (joint && joint.driveSpeed !== 0) { + return joint.driveSpeed; + } const magnitude = - own !== 0 - ? Math.abs(own) - : prismatic - ? this.settingsService.linearInputSpeed.value - : this.settingsService.inputSpeed.value; - const speed = prismatic ? magnitude * MODEL_SCALE : (magnitude * Math.PI) / 30; - const clockwise = own !== 0 ? own < 0 : this.settingsService.isInputCW.value; - return clockwise ? -speed : speed; + joint instanceof PrisJoint + ? this.settingsService.linearInputSpeed.value + : this.settingsService.inputSpeed.value; + return this.settingsService.isInputCW.value ? -magnitude : magnitude; + } + + /** + * Set the speed of one mechanism's drive. + * + * The document-wide default follows along, so the next joint switched on + * starts where the reader last was rather than at whatever the app shipped + * with -- and so a drawing holding one mechanism behaves exactly as it did + * when the speed really was one number. + */ + setDriveSpeed(joint: RealJoint, signed: number): void { + if (!Number.isFinite(signed) || signed === 0) { + return; + } + joint.driveSpeed = signed; + const magnitude = Math.abs(signed); + if (joint instanceof PrisJoint) { + this.settingsService.linearInputSpeed.next(magnitude); + } else { + this.settingsService.inputSpeed.next(magnitude); + } + this.settingsService.isInputCW.next(signed < 0); } /** Which mechanism holds this joint, link or force — none, if it is unassigned. */ diff --git a/src/tests/verification/two-mechanisms.spec.ts b/src/tests/verification/two-mechanisms.spec.ts index e7fc3854..4da63155 100644 --- a/src/tests/verification/two-mechanisms.spec.ts +++ b/src/tests/verification/two-mechanisms.spec.ts @@ -120,6 +120,29 @@ describe('two four-bars in one drawing', () => { expect(second.joints.length).toBeGreaterThan(0); }); + it('changes one drive without touching the other', () => { + // What the Input Settings panel does when a driven joint is selected. The + // speed used to be one number for the drawing, so setting it here would + // have changed both machines at once. + const { service, first, second } = twoFourBars(); + const firstDrive = first.joints[0] as RealJoint; + const secondDrive = second.joints[0] as RealJoint; + + service.setDriveSpeed(firstDrive, 35); + service.updateMechanism(); + + expect(service.driveSpeedOf(firstDrive)).toBe(35); + // The other joint has no speed of its own, so it follows the document + // default -- which now reads 35 too. Giving it one is what pins it. + service.setDriveSpeed(secondDrive, -12); + service.updateMechanism(); + + expect(service.driveSpeedOf(firstDrive)).toBe(35); + expect(service.driveSpeedOf(secondDrive)).toBe(-12); + expect(service.mechanisms[0].inputAngularVelocities[0]).toBeGreaterThan(0); + expect(service.mechanisms[1].inputAngularVelocities[0]).toBeLessThan(0); + }); + it('moves both when the shared clock advances, each on its own frames', () => { const { service, first, second } = twoFourBars(); const restAt = (joint: RealJoint) => ({ x: joint.x, y: joint.y }); From 022ab0615d1fb9164f5357917c2635e520ccbe76 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 03:17:58 -0400 Subject: [PATCH 012/236] Say what a mechanism is, not only what is wrong with it A reader told their linkage is ready still has questions the app answered nowhere: which joint drives it, how fast, how long a cycle takes, whether it goes round or backs up. Those facts now sit under each mechanism in the setup drawer -- which is where someone goes to ask about a mechanism, so they did not need a new place to be selected from to have somewhere to live. A healthy mechanism stays collapsed to its name and its Ready chip; the facts are one press away rather than in the way. "Motion" was reciprocating for everything at first. It compared a joint's position at the start of the cycle against the midpoint, and the joint it sampled was the first in the frame -- which is usually ground, and ground never moves. The solver already flips the sign of the recorded input velocity at each reversal, so a cycle holding both signs is exactly one that turned around, and that is what both this and the transport now read. --- .../analysis-setup.component.html | 12 +++- .../analysis-setup.component.scss | 24 ++++++++ .../analysis-setup.component.ts | 13 ++++- .../playback-bar/playback-bar.component.ts | 13 ++--- src/app/model/mechanism/readiness.ts | 58 +++++++++++++++++++ src/app/services/mechanism.service.ts | 13 +++++ .../verification/readiness-checks.spec.ts | 1 + 7 files changed, 119 insertions(+), 15 deletions(-) diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index f4ce7ad2..ef1295bd 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -11,12 +11,18 @@ Mechanism {{ item.id }} {{ chipFor(item).text }} - @if (item.checks.length > 0) { - {{ isOpen(item) ? 'expand_less' : 'expand_more' }} - } + {{ isOpen(item) ? 'expand_less' : 'expand_more' }} @if (isOpen(item)) { +
+ @for (fact of item.facts; track fact.label) { +
+ {{ fact.label }} + {{ fact.value }} +
+ } +
@for (check of item.checks; track check.title) {
diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index b24c8bd3..49d7e424 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -87,6 +87,30 @@ } } + .factGrid { + display: grid; + grid-template-columns: 1fr 1fr; + gap: 10px 12px; + padding: 10px 15px 4px; + } + + .fact { + display: flex; + flex-direction: column; + gap: 1px; + min-width: 0; + } + + .factLabel { + font-size: 11px; + color: rgba(0, 0, 0, 0.45); + } + + .factValue { + font-size: 13px; + color: #2c2c2c; + } + .checkList { padding: 4px 15px 14px; } diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index ad52014c..25028487 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -94,16 +94,23 @@ export class AnalysisSetupComponent { } isOpen(readiness: MechanismReadiness): boolean { - // Open when there is something to read, closed when there is not — so a - // drawing that is fine collapses to a list of names. - return this.collapsed.has(readiness.id) ? false : readiness.checks.length > 0; + // Open when something is wrong, closed when nothing is — so a drawing that + // is fine collapses to a list of names, and the facts about a healthy + // mechanism are one press away rather than in the way. + return this.collapsed.has(readiness.id) + ? false + : this.expanded.has(readiness.id) || readiness.checks.length > 0; } + private expanded = new Set(); + toggle(readiness: MechanismReadiness): void { if (this.isOpen(readiness)) { this.collapsed.add(readiness.id); + this.expanded.delete(readiness.id); } else { this.collapsed.delete(readiness.id); + this.expanded.add(readiness.id); } } diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index d543a143..d15a0d47 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -117,17 +117,12 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { /** * Out-and-back rather than round and round. * - * Read off the samples rather than recomputed: a reversing input is sampled - * out to its limit and back again as one cycle, so its last sample returns to - * where the first one started. A full rotation does not. + * From the sign of the recorded input velocity, which the solver flips at + * each reversal: a cycle holding both signs is one that turned around. */ private isReciprocating(mechanism: Mechanism): boolean { - const frames = mechanism.joints; - if (frames.length < 3) return false; - const first = frames[0][0]; - const middle = frames[Math.floor(frames.length / 2)][0]; - if (!first || !middle) return false; - return Math.hypot(middle.x - first.x, middle.y - first.y) < 1e-6; + const speeds = mechanism.inputAngularVelocities; + return speeds.some((speed) => speed > 0) && speeds.some((speed) => speed < 0); } private drivenSpeedOf(mechanism: Mechanism, index: number): number { diff --git a/src/app/model/mechanism/readiness.ts b/src/app/model/mechanism/readiness.ts index 4ae77800..a75ccb50 100644 --- a/src/app/model/mechanism/readiness.ts +++ b/src/app/model/mechanism/readiness.ts @@ -22,10 +22,18 @@ export interface ReadinessCheck { action?: string; } +/** A named number about a mechanism, for the overview grid. */ +export interface MechanismFact { + label: string; + value: string; +} + export interface MechanismReadiness { id: string; ready: boolean; checks: ReadinessCheck[]; + /** What this mechanism *is*, for a reader whose question is not "why is it broken". */ + facts: MechanismFact[]; } /** The two strings only the service can produce, passed in rather than reached for. */ @@ -36,6 +44,8 @@ export interface ReadinessHelpers { drivenRefusal(partition: MechanismPartition): string | undefined; /** The cylinder-cannot-use-its-whole-stroke warning for this mechanism. */ strokeWarning(partition: MechanismPartition): string | undefined; + /** This mechanism's input speed, in the units the panel shows it in. */ + describeSpeed(partition: MechanismPartition): string; } const names = (joints: Joint[]): string => @@ -175,9 +185,57 @@ export function readinessOf( id: partition.id, ready: mechanism.isMechanismValid() && checks.every((check) => check.state !== 'blocker'), checks, + facts: factsOf(partition, mechanism, helpers), }; } +/** + * What a mechanism is, as opposed to what is wrong with it. + * + * A reader who has just been told their linkage is ready still has questions — + * which joint drives it, how long a cycle takes, whether it goes round or backs + * up — and until now the app answered none of them anywhere. + */ +function factsOf( + partition: MechanismPartition, + mechanism: Mechanism, + helpers: ReadinessHelpers +): MechanismFact[] { + const driven = partition.joints.find((joint) => joint instanceof RealJoint && joint.input) as + RealJoint | undefined; + const moving = partition.links.length; + const dof = mechanism.dof; + const facts: MechanismFact[] = [ + { label: 'Degrees of freedom', value: Number.isFinite(dof) ? String(dof) : '—' }, + { label: 'Links / joints', value: `${moving} / ${partition.joints.length}` }, + { label: 'Driven joint', value: driven ? driven.name || driven.id : 'Not set' }, + ]; + if (mechanism.isMechanismValid()) { + facts.push({ label: 'Input speed', value: helpers.describeSpeed(partition) }); + facts.push({ label: 'Cycle time', value: `${mechanism.cyclePeriod.toFixed(2)} s` }); + facts.push({ + label: 'Motion', + value: reciprocates(mechanism) ? 'Reciprocating' : 'Continuous', + }); + } + return facts; +} + +/** + * Out and back, rather than round and round. + * + * Taken from the sign of the recorded input velocity, which the solver flips at + * each reversal — so a cycle containing both signs is one that turned around. + * + * An earlier version compared a joint's position at the start and the midpoint, + * which read every mechanism as reciprocating: the joint it sampled was the + * first in the frame, and the first joint is usually ground, which never moves. + */ +function reciprocates(mechanism: Mechanism): boolean { + const speeds = mechanism.inputAngularVelocities; + return speeds.some((speed) => speed > 0) && speeds.some((speed) => speed < 0); +} + /** One condition force analysis needs, and whether the drawing meets it. */ export interface ForceRequirement { met: boolean; diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 9fb9ebf3..41e3d7a3 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -1643,6 +1643,19 @@ export class MechanismService { return typeof refusal === 'string' ? refusal : undefined; }, strokeWarning: (part) => this.strokeWarningFor(part), + describeSpeed: (part) => { + const driven = part.joints.find((joint) => joint instanceof RealJoint && joint.input) as + RealJoint | undefined; + if (!driven) { + return 'Not set'; + } + const signed = this.driveSpeedOf(driven); + const magnitude = Math.abs(signed).toFixed(2); + const way = signed < 0 ? 'CW' : 'CCW'; + return driven instanceof PrisJoint + ? `${magnitude} ${this.nup.unitLabel(this.settingsService.lengthUnit.value)}/s` + : `${magnitude} RPM ${way}`; + }, }) ); } diff --git a/src/tests/verification/readiness-checks.spec.ts b/src/tests/verification/readiness-checks.spec.ts index 3655a5a5..370aa809 100644 --- a/src/tests/verification/readiness-checks.spec.ts +++ b/src/tests/verification/readiness-checks.spec.ts @@ -23,6 +23,7 @@ describe('why a mechanism will not run', () => { cylinderName: (id: string) => id, drivenRefusal: () => undefined, strokeWarning: () => undefined, + describeSpeed: () => '20.00 RPM CCW', }; function checksFor(fixture: MechanismFixture, helpers = noHelpers) { From 7efd80dc3284666b5a8834dc8986623e6932ab9b Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 03:23:45 -0400 Subject: [PATCH 013/236] Let the machines run apart, or together Every mechanism ran on one wall clock, which is the right default -- two machines on the same clock can be compared, and comparing them is most of the reason for drawing them together -- but it was also the only option, so reading one machine's cycle meant watching the others move. Unsync hands each its own time and its own play button. Leaving sync gives every machine the time it is already showing, so nothing jumps at the moment the toggle is pressed. The toggle only appears when there is more than one machine to get out of step, which is the same rule the rows follow: the transport shows what there is to control and nothing else. --- e2e/force-analysis-panels.mjs | 69 +++- e2e/input-settings-and-playback.mjs | 40 +- e2e/left-nav-modes.mjs | 348 ++++++++++-------- e2e/phase5-driven-cylinder.mjs | 10 +- e2e/playback-timing.mjs | 30 +- e2e/template-open.mjs | 38 +- e2e/two-mechanisms.mjs | 154 ++++++++ .../playback-bar/playback-bar.component.html | 20 + .../playback-bar/playback-bar.component.scss | 59 +++ .../playback-bar/playback-bar.component.ts | 32 +- src/app/services/mechanism.service.ts | 81 +++- 11 files changed, 662 insertions(+), 219 deletions(-) create mode 100644 e2e/two-mechanisms.mjs diff --git a/e2e/force-analysis-panels.mjs b/e2e/force-analysis-panels.mjs index 26f545df..42c8e76f 100644 --- a/e2e/force-analysis-panels.mjs +++ b/e2e/force-analysis-panels.mjs @@ -1,6 +1,10 @@ // Verifies the Force Analysis accordion on both the joint and the link // analysis panels: one row per reacting link / per external joint, and a single // mechanism-wide "Force Analysis Type" toggle shared by both. +// +// These rows now live in the Force mode rather than beside the kinematic ones, +// and that mode refuses to open without a load — so the four-bar is given one +// first, through the same context menu a user would reach for. const { chromium } = await import( (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' ); @@ -10,7 +14,7 @@ import path from 'node:path'; const screenshotDir = path.resolve('artifacts/screenshots'); await fs.mkdir(screenshotDir, { recursive: true }); -const baseUrl = process.env.PMKS_URL || 'http://127.0.0.1:4200/'; +const baseUrl = process.env.PMKS_BASE_URL || process.env.PMKS_URL || 'http://127.0.0.1:4200/'; const runPrefix = process.env.RUN_PREFIX || 'force-panels'; const chromePath = process.env.PMKS_CHROME ?? '/Applications/Google Chrome.app/Contents/MacOS/Google Chrome'; @@ -86,17 +90,57 @@ async function toggleLabels() { }); } -/** Select a joint or link by clicking its SVG element, then open the Analyze tab. */ +/** Model-space point to screen, through the layer the mechanism is drawn in. */ +const toScreen = (x, y) => + page.evaluate( + ([modelX, modelY]) => { + const m = document.querySelector('#linkHolder').getScreenCTM(); + return { x: modelX * m.a + modelY * m.c + m.e, y: modelX * m.b + modelY * m.d + m.f }; + }, + [x, y] + ); + +const jointCoord = (id) => + page.evaluate((jointId) => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + const joint = srv.joints.find((candidate) => candidate.id === jointId); + return joint ? { x: joint.x, y: joint.y } : undefined; + }, id); + +const forceCount = () => + page.evaluate( + () => ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv.forces.length + ); + +/** Hang a load on link BC, which is what makes the Force mode enterable at all. */ +async function attachForceToBC() { + const b = await jointCoord('B'); + const c = await jointCoord('C'); + const on = await toScreen(b.x + (c.x - b.x) * 0.4, b.y + (c.y - b.y) * 0.4); + await page.mouse.move(on.x, on.y); + await page.mouse.click(on.x, on.y, { button: 'right' }); + await page.waitForTimeout(500); + await page.evaluate(() => { + const item = [...document.querySelectorAll('#contextMenu #menu-item')].find((node) => + /Attach Force/.test(node.textContent) + ); + item?.querySelector('button')?.click(); + }); + await page.waitForTimeout(300); + await page.mouse.move(on.x + 110, on.y - 80, { steps: 8 }); + await page.waitForTimeout(200); + await page.mouse.click(on.x + 110, on.y - 80); + await page.waitForTimeout(800); +} + +/** Select a joint or link by clicking its SVG element, then open the Force mode. */ async function selectAndAnalyze(selector, index) { + // Selection is an Edit-mode act; the analysis modes lock the geometry. + await page.locator('.tabButton', { hasText: 'Edit' }).click(); + await page.waitForTimeout(400); await page.locator(selector).nth(index).click({ force: true }); await page.waitForTimeout(400); - // The tab button toggles, so only click it when the panel is not already open. - const open = await page - .locator('app-analysis-panel #analysisWrapper') - .first() - .isVisible() - .catch(() => false); - if (!open) await page.locator('button.leftButton').nth(2).click(); + await page.locator('.tabButton', { hasText: 'Force' }).click(); await page.waitForTimeout(900); } @@ -113,6 +157,11 @@ try { await waitForReady(page); await dismissIntro(); + await attachForceToBC(); + check('the four-bar took a load, so Force analysis can be entered', (await forceCount()) === 1, { + forces: await forceCount(), + }); + // --- Joint panel: joint B connects links AB and BC. --- await selectAndAnalyze('#jointHolder svg', 1); const jointHeading = await page.evaluate( @@ -233,4 +282,6 @@ try { } const failed = checks.filter((c) => !c.ok); +for (const c of checks) console.log(`${c.ok ? 'PASS' : 'FAIL'} ${c.name}`); console.log(JSON.stringify({ passed: checks.length - failed.length, failed, issues }, null, 2)); +process.exit(failed.length ? 1 : 0); diff --git a/e2e/input-settings-and-playback.mjs b/e2e/input-settings-and-playback.mjs index 1f100594..a31091bf 100644 --- a/e2e/input-settings-and-playback.mjs +++ b/e2e/input-settings-and-playback.mjs @@ -10,7 +10,7 @@ const { chromium } = await import( import { mkdirSync, writeFileSync } from 'node:fs'; import { waitForReady } from './app-ready.mjs'; -const BASE = process.env.PMKS_URL ?? 'http://127.0.0.1:4200/'; +const BASE = process.env.PMKS_BASE_URL ?? process.env.PMKS_URL ?? 'http://127.0.0.1:4200/'; // Same encoded four-bar the other e2e scripts use — loading by URL avoids the // template dialog entirely. const FOUR_BAR = @@ -52,11 +52,10 @@ await page.waitForTimeout(800); await page.screenshot({ path: `${OUT}/01-loaded.png` }); // ---------------------------------------------------------------- Edit panel -// The tab toggles the panel, so click until the panel is actually showing. const editPanel = page.locator('app-edit-panel'); for (let attempt = 0; attempt < 3; attempt++) { if (await editPanel.isVisible().catch(() => false)) break; - await page.locator('button.leftButton').nth(1).click(); + await page.locator('.tabButton', { hasText: 'Edit' }).click(); await page.waitForTimeout(600); } check('Edit panel opens', await editPanel.isVisible().catch(() => false)); @@ -228,11 +227,10 @@ await speedInput.press('Tab'); await page.waitForTimeout(900); // ------------------------------------------------------- Global settings gone -const settingsTab = page.locator('button.leftButton', { hasText: /Settings/i }).first(); -if (await settingsTab.isVisible().catch(() => false)) { - await settingsTab.click(); - await page.waitForTimeout(600); -} +// Settings is a project-menu entry now, so the hamburger has to be opened first. +await page.locator('.topStrip .iconButton').first().click(); +await page.locator('.projectMenu .menuItem', { hasText: 'Settings' }).click(); +await page.waitForTimeout(700); const settingsPanel = page.locator('app-settings-panel'); const settingsText = (await settingsPanel.textContent().catch(() => '')) ?? ''; check( @@ -246,24 +244,30 @@ check( ); await page.screenshot({ path: `${OUT}/05-settings-panel.png`, fullPage: true }); -// ------------------------------------------------------------- Analyze / time -await page.locator('button.leftButton').nth(2).click(); +// ----------------------------------------------------------- Kinematic / time +await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); await page.waitForTimeout(700); const timeInput = page.locator('#animationBar-input'); +// The field used to be sized against the Play button because both stacked in +// one narrow rail column. They are in separate cards now, so what is left to +// hold is that the field stays inside the card it lives in -- a field wide +// enough for a long time value but wider than its card is the failure that +// sizing rule was there to prevent. const metrics = await timeInput.evaluate((el) => { - const play = document.querySelector('.playButton'); + const card = el.closest('.scrubCard'); + const field = el.getBoundingClientRect(); + const box = card.getBoundingClientRect(); return { - clientWidth: el.clientWidth, - scrollWidth: el.scrollWidth, - offsetWidth: el.offsetWidth, - playWidth: play ? play.getBoundingClientRect().width : 0, + fieldWidth: Math.round(field.width), + overflowLeft: Math.round(box.left - field.left), + overflowRight: Math.round(field.right - box.right), }; }); check( - 'Time field spans the same width as the Play button', - Math.abs(metrics.offsetWidth - metrics.playWidth) <= 2, - `time=${metrics.offsetWidth}px, play=${metrics.playWidth}px` + 'Time field stays inside the transport card it sits in', + metrics.fieldWidth > 0 && metrics.overflowLeft <= 0 && metrics.overflowRight <= 0, + `field=${metrics.fieldWidth}px, spill left=${metrics.overflowLeft}px right=${metrics.overflowRight}px` ); // ------------------------------------------------------------ Playback motion diff --git a/e2e/left-nav-modes.mjs b/e2e/left-nav-modes.mjs index 60654b09..8755495c 100644 --- a/e2e/left-nav-modes.mjs +++ b/e2e/left-nav-modes.mjs @@ -1,16 +1,30 @@ -// Verifies the mode-scoped left nav rail: Undo/Redo appear only in Edit, -// playback only in Analyze, the view controls are always present, and leaving -// Analyze rewinds the mechanism (there is no stop button any more). +/** + * Mode navigation, after the rail that used to carry it was deleted. + * + * The four modes, Undo/Redo and the file menu were spread across a horizontal + * toolbar and a vertical rail; they are now one strip along the top, with the + * transport and the view controls floating over the canvas instead of living + * inside the rail. This checks the navigation that replaced it: pressing a mode + * changes the mode, the left panel follows it, the sliding highlight lands on + * the mode you actually chose, each analysis mode carries a chip saying whether + * it can be entered, the transport belongs to the analysis modes alone, and + * leaving an analysis mode still rewinds the mechanism (there is no stop + * button). The removed chrome is asserted absent, because a selector that + * matches nothing passes every test written against it. + * + * PMKS_BASE_URL= node e2e/left-nav-modes.mjs + */ const { chromium } = await import( (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' ); import fs from 'node:fs/promises'; import path from 'node:path'; +import { waitForReady } from './app-ready.mjs'; const screenshotDir = path.resolve('artifacts/screenshots'); await fs.mkdir(screenshotDir, { recursive: true }); -const baseUrl = process.env.PMKS_URL || 'http://127.0.0.1:4200/'; +const baseUrl = process.env.PMKS_BASE_URL || process.env.PMKS_URL || 'http://127.0.0.1:4200/'; const runPrefix = process.env.RUN_PREFIX || 'left-nav'; const chromePath = process.env.PMKS_CHROME ?? '/Applications/Google Chrome.app/Contents/MacOS/Google Chrome'; @@ -19,10 +33,11 @@ const fourBar = '0P.TY.K,0.101.MA,A,0mv,0VU,0.GB,B,0e_,E6,0.GC,C,l1,WW,0.KD,D,qD,0Pk,0..YRAB,AB,Fe,Fe,0ix,08i,c5cae9,A,B,,.YRBC,BC,Fe,Fe,32,NJ,303e9f,B,C,,.YRCD,CD,Fe,Fe,nd,3P,0d125a,C,D,,...JBq'; const issues = []; -const checks = []; -const check = (name, ok, details = {}) => { - checks.push({ name, ok, ...details }); - if (!ok) issues.push({ name, severity: 'high', ...details }); +const results = []; +const record = (what, ok, detail) => { + results.push({ what, ok, detail }); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); + if (!ok) issues.push({ name: what, severity: 'high', detail }); }; const context = await chromium.launchPersistentContext(`/tmp/pmks-left-nav-${Date.now()}`, { @@ -36,7 +51,6 @@ page.setDefaultTimeout(10000); page.on('pageerror', (error) => issues.push({ name: 'Uncaught page error', severity: 'high', error: error.message }) ); -import { waitForReady } from './app-ready.mjs'; page.on('console', (msg) => { if (msg.type() === 'error' && !/favicon|google-analytics/i.test(msg.text())) { issues.push({ name: `Console error: ${msg.text().slice(0, 160)}`, severity: 'medium' }); @@ -46,9 +60,28 @@ page.on('console', (msg) => { const shot = (name) => page.screenshot({ path: path.join(screenshotDir, `${runPrefix}-${name}`), fullPage: false }); -const railText = () => page.locator('.tabContainer').innerText(); -const tab = (label) => page.locator('.leftButton', { hasText: label }); +const tab = (label) => page.locator('.tabButton', { hasText: label }); const timeValue = () => page.locator('#animationBar-input').inputValue(); +/** The value carries its own unit, so read the leading number off "0.20 s". */ +const timeSeconds = async () => parseFloat(await timeValue()); +const currentTab = () => + page.evaluate(() => + ng.getComponent(document.querySelector('app-new-grid')).tabService.getCurrentTab() + ); + +/** Which mode the sliding highlight is actually sitting on. */ +const highlighted = () => + page.evaluate(() => { + const pill = document.querySelector('.activeTabPill'); + const active = document.querySelector('.tabButton.active'); + if (!pill || !active) return null; + const style = getComputedStyle(pill); + return { + label: active.querySelector('.tabLabel')?.innerText ?? '', + dLeft: Math.round(new DOMMatrix(style.transform).m41 - active.offsetLeft), + dWidth: Math.round(parseFloat(style.width) - active.offsetWidth), + }; + }); try { await page.goto(`${baseUrl}?${fourBar}`, { waitUntil: 'domcontentloaded', timeout: 60000 }); @@ -60,131 +93,165 @@ try { .catch(() => {}); await page.waitForTimeout(400); - // The pill highlights one tab group. It is positioned with a transform, so - // compare rendered rects (which include the transform), not offsetTop. - const pillTop = () => - page.evaluate(() => { - const pill = document.querySelector('.activeTabPill').getBoundingClientRect(); - const groups = [...document.querySelectorAll('.tabGroup')]; - const withinPill = groups.find((g) => Math.abs(g.getBoundingClientRect().top - pill.top) < 2); - return withinPill ? withinPill.querySelector('.leftButton .tabLabel').innerText : null; - }); + // --- the rail and the file toolbar are gone, not merely restyled ----------- + const removed = await page.evaluate(() => ({ + toolbar: document.querySelectorAll('app-toolbar, nav.navBar').length, + rail: document.querySelectorAll('.tabList, .leftButton, .tabGroup').length, + })); + record('the file toolbar is gone', removed.toolbar === 0, removed); + record('the mode rail is gone', removed.rail === 0, removed); + record('and one strip carries the four modes', (await page.locator('.tabButton').count()) === 4); - // --- Edit mode --- - const editText = await railText(); + // --- Edit mode ------------------------------------------------------------- await shot('01-edit.png'); - check('the pill highlights the Edit group', (await pillTop()) === 'Edit'); - check('the Edit panel is open', (await page.locator('app-edit-panel').count()) === 1); - check('Undo/Redo show in Edit', /Undo/.test(editText) && /Redo/.test(editText), { editText }); - check( - 'Undo/Redo use the shared mini-button style', - (await page.locator('.tabTools .mini-buttons', { hasText: 'Undo' }).count()) === 1 + record('Edit is the mode the app opens in', (await currentTab()) === 1); + record( + 'the Edit panel is open', + (await page.locator('app-left-tabs .panel app-edit-panel').count()) === 1 ); - check( - 'playback controls hidden in Edit', - (await page.locator('.playbackControls').count()) === 0 + const editHighlight = await highlighted(); + record( + 'the highlight sits on Edit', + editHighlight?.label === 'Edit' && + Math.abs(editHighlight.dLeft) <= 1 && + Math.abs(editHighlight.dWidth) <= 1, + editHighlight ); - check( - 'view controls are always present', - /CoM/.test(editText) && /Label/.test(editText) && /View/.test(editText) + record('the transport is absent in Edit', (await page.locator('.playButton').count()) === 0); + + // Undo/Redo left the rail for the strip, where they are reachable from every + // mode rather than from Edit alone. + record( + 'Undo and Redo are in the top strip', + (await page.locator('.historyCard .historyButton').count()) === 2 ); - check( - 'Undo/Redo left the top toolbar', - (await page.locator('nav.navBar button', { hasText: 'Undo' }).count()) === 0 + + // --- Synthesis ------------------------------------------------------------- + await tab('Synthesis').click(); + await page.waitForTimeout(700); + record('pressing Synthesis switches to it', (await currentTab()) === 0); + record( + 'and the panel follows the mode', + (await page.locator('app-left-tabs .panel app-synthesis-panel').count()) === 1 && + (await page.locator('app-left-tabs .panel app-edit-panel').count()) === 0 ); + record('the transport is absent in Synthesis', (await page.locator('.playButton').count()) === 0); - // The rail must not clip its own labels. - const clipped = await page.evaluate(() => { - const rail = document.querySelector('.tabContainer'); - return rail ? rail.scrollWidth > rail.clientWidth + 1 : true; + // --- the chips say whether an analysis can be entered ----------------------- + const kinematicChip = (await tab('Kinematic').locator('.chip').innerText()).trim(); + const forceChip = (await tab('Force').locator('.chip').innerText()).trim(); + record('the Kinematic chip reads Ready for a four-bar that runs', kinematicChip === 'Ready', { + kinematicChip, }); - check('rail is wide enough for its labels', clipped === false); + // The four-bar carries no load, so force analysis has exactly one thing left. + record('the Force chip counts what is still missing', forceChip === '1 to set', { forceChip }); - // --- Analyze mode --- - await tab('Analyze').click(); + // --- Kinematic mode -------------------------------------------------------- + await tab('Kinematic').click(); await page.waitForTimeout(900); - const analyzeText = await railText(); - await shot('02-analyze.png'); - check('the pill highlights the Analyze group', (await pillTop()) === 'Analyze'); - check( - 'playback controls show in Analyze', - (await page.locator('.playbackControls').count()) === 1 + await shot('02-kinematic.png'); + record('pressing Kinematic switches to it', (await currentTab()) === 2); + record( + 'the analysis panel follows', + (await page.locator('app-left-tabs .panel app-analysis-panel').count()) === 1 + ); + const kinematicHighlight = await highlighted(); + record( + 'the highlight settles exactly on Kinematic, not the mode before it', + kinematicHighlight?.label === 'Kinematic' && + Math.abs(kinematicHighlight.dLeft) <= 1 && + Math.abs(kinematicHighlight.dWidth) <= 1, + kinematicHighlight ); - check('Undo/Redo hidden in Analyze', !/Undo/.test(analyzeText), { analyzeText }); - check( + record('the transport appears', (await page.locator('.playButton').count()) === 1); + record( 'stop button is gone', - (await page.locator('.playbackControls mat-icon', { hasText: 'stop' }).count()) === 0 + (await page.locator('app-playback-bar mat-icon', { hasText: 'stop' }).count()) === 0 ); - check( - 'slider is vertical', - await page.evaluate(() => { - const slider = document.querySelector('.verticalSlider mat-slider'); - if (!slider) return false; - const rect = slider.getBoundingClientRect(); - return rect.height > rect.width; - }) + + // The scrubber is a plain range input now, laid out across the card. + const scrubber = await page.evaluate(() => { + const slider = document.querySelector('#slider'); + if (!slider) return null; + const box = slider.getBoundingClientRect(); + return { tag: slider.tagName, type: slider.type, width: box.width, height: box.height }; + }); + record( + 'the scrubber is a horizontal range input', + scrubber?.tag === 'INPUT' && scrubber.type === 'range' && scrubber.width > scrubber.height, + scrubber ); - // Every playback control sits inside the rail — no horizontal overflow. - const overflow = await page.evaluate(() => { - const rail = document.querySelector('.tabContainer').getBoundingClientRect(); - return [...document.querySelectorAll('.playbackControls > *')] + // The transport floats over the canvas, so nothing may hang off the window. + const spill = await page.evaluate(() => + [...document.querySelectorAll('app-playback-bar .card, .viewControls')] .map((el) => el.getBoundingClientRect()) .filter((r) => r.width > 0) - .some((r) => r.left < rail.left - 0.5 || r.right > rail.right + 0.5); - }); - check('playback controls do not overflow the rail', overflow === false); + .some( + (r) => + r.left < -0.5 || r.right > window.innerWidth + 0.5 || r.bottom > window.innerHeight + 0.5 + ) + ); + record('the floating controls stay inside the window', spill === false); - // At rest the pill exactly covers the active group (the animation settled, - // did not stall part-way). - const cover = await page.evaluate(() => { - const pill = document.querySelector('.activeTabPill').getBoundingClientRect(); - const group = document.querySelectorAll('.tabGroup')[2].getBoundingClientRect(); - return { - dTop: Math.round(pill.top - group.top), - dHeight: Math.round(pill.height - group.height), - }; - }); - check( - 'pill settles exactly over the Analyze group', - Math.abs(cover.dTop) <= 1 && Math.abs(cover.dHeight) <= 1, - { cover } + // --- pressing a mode that cannot be entered ------------------------------- + await tab('Force').click(); + await page.waitForTimeout(800); + await shot('03-force-refused.png'); + record( + 'Force refuses to open without a load, and stays out of that mode', + (await currentTab()) === 2, + { tab: await currentTab() } + ); + record( + 'and answers with the setup list instead of nothing', + (await page.locator('app-analysis-setup').count()) === 1 ); - // --- Play, then leave Analyze: the mechanism must rewind --- + // --- play, then leave: the mechanism must rewind --------------------------- + await tab('Kinematic').click(); + await page.waitForTimeout(500); await page.locator('.playButton').click(); await page.waitForTimeout(1600); - // The value carries its own unit, so read the leading number off "0.20 s". - const timeSeconds = async () => parseFloat(await timeValue()); const playing = await timeSeconds(); - check('play advances the animation', playing > 0, { playing }); - await shot('03-playing.png'); + record('play advances the animation', playing > 0, { playing }); + await shot('04-playing.png'); await tab('Edit').click(); await page.waitForTimeout(1200); - await shot('04-back-in-edit.png'); - await tab('Analyze').click(); + await tab('Kinematic').click(); await page.waitForTimeout(1000); const afterSwitch = await timeSeconds(); - check('switching to Edit rewound the mechanism to time 0', afterSwitch === 0, { + record('switching to Edit rewound the mechanism to time 0', afterSwitch === 0, { playing, afterSwitch, }); - check( + record( 'animation is no longer running after the mode switch', - (await page.locator('.playbackControls mat-icon', { hasText: 'pause' }).count()) === 0 + (await page.locator('app-playback-bar mat-icon', { hasText: 'pause' }).count()) === 0 + ); + + // --- the view controls are present in every mode, and still act ------------ + const viewControlsEverywhere = []; + for (const mode of ['Synthesis', 'Edit', 'Kinematic']) { + await tab(mode).click(); + await page.waitForTimeout(600); + viewControlsEverywhere.push([mode, await page.locator('.viewControls').isVisible()]); + } + record( + 'the view controls are present in every mode', + viewControlsEverywhere.every(([, visible]) => visible), + viewControlsEverywhere ); - // --- The absorbed view controls still work --- await tab('Edit').click(); - await page.waitForTimeout(700); + await page.waitForTimeout(600); const comButton = page.locator('.viewControls .mini-buttons', { hasText: 'CoM' }); + const comBefore = await page.locator('#comHolder, .comIcon').count(); await comButton.click(); await page.waitForTimeout(500); - check( - 'CoM toggle acts on the grid', - (await page.locator('#comHolder, .comIcon, svg #comHolder').count()) >= 0 - ); + const comAfter = await page.locator('#comHolder, .comIcon').count(); + record('the CoM toggle acts on the drawing', comAfter !== comBefore, { comBefore, comAfter }); await comButton.click(); await page.waitForTimeout(300); await page.locator('.viewControls .mini-buttons', { hasText: 'View' }).click(); @@ -192,85 +259,64 @@ try { await page.locator('.zoomButton').first().click(); await page.waitForTimeout(400); await shot('05-view-controls.png'); - check('view controls did not throw', true); - // The rail covers the bottom bar's left end (no bare corner), while the bar's - // text still clears the rail and the rail paints on top of the bar. - const bottomBar = await page.evaluate(() => { + // --- the status strip reports the mode rather than acting on it ------------ + const strip = await page.evaluate(() => { const bar = document.querySelector('#bottomBar'); - const barUl = document.querySelector('#bottomBar ul'); - const rail = document.querySelector('.tabContainer'); - if (!bar || !barUl || !rail) return null; - const first = barUl.querySelector('li'); - const railBox = rail.getBoundingClientRect(); - const barBox = bar.getBoundingClientRect(); - // At the rail's bottom-left, the topmost painted element should be the rail. - const probe = document.elementFromPoint(railBox.left + 8, barBox.top + barBox.height / 2); - return { - textLeft: Math.round(first.getBoundingClientRect().left), - railRight: Math.round(railBox.right), - railBottom: Math.round(railBox.bottom), - barBottom: Math.round(barBox.bottom), - cornerOwnedByRail: !!(probe && probe.closest('.tabContainer')), - }; + return { text: bar.innerText, pointerEvents: getComputedStyle(bar).pointerEvents }; }); - check( - 'bottom bar text clears the nav rail', - bottomBar !== null && bottomBar.textLeft >= bottomBar.railRight, - { bottomBar } - ); - check( - 'nav rail covers the bottom bar corner (no white gap)', - bottomBar !== null && - bottomBar.railBottom >= bottomBar.barBottom - 1 && - bottomBar.cornerOwnedByRail, - { bottomBar } + record('the status strip names the mode it is in', /Edit/.test(strip.text), strip.text); + record('and is not clickable', strip.pointerEvents === 'none', strip); + + await tab('Kinematic').click(); + await page.waitForTimeout(600); + const analysisStrip = await page.locator('#bottomBar').innerText(); + record( + 'and follows the mode into analysis', + /Kinematic/.test(analysisStrip) && /Geometry locked/.test(analysisStrip), + analysisStrip ); - // --- Short viewport: the analyze scrubber drops so the rest stays visible --- - await tab('Analyze').click(); - await page.waitForTimeout(700); + // --- short viewport: nothing overlaps the status strip --------------------- await page.setViewportSize({ width: 1440, height: 700 }); - await page.waitForTimeout(500); + await page.waitForTimeout(600); await shot('06-short-viewport.png'); const short = await page.evaluate(() => { - const vs = document.querySelector('.verticalSlider'); + const bar = document.querySelector('#bottomBar').getBoundingClientRect(); const inView = (sel) => { const el = document.querySelector(sel); if (!el) return false; const r = el.getBoundingClientRect(); - return r.top >= 30 && r.bottom <= window.innerHeight + 0.5 && r.width > 0; + return r.top >= 0 && r.bottom <= window.innerHeight + 0.5 && r.width > 0; + }; + const clears = (sel) => { + const el = document.querySelector(sel); + return el ? el.getBoundingClientRect().bottom <= bar.top + 0.5 : false; }; - const pill = document.querySelector('.activeTabPill').getBoundingClientRect(); - const group = document.querySelectorAll('.tabGroup')[2].getBoundingClientRect(); return { - sliderHidden: !(vs && vs.offsetParent), playVisible: inView('.playButton'), timeVisible: inView('#animationBar-input'), viewControlsVisible: inView('.viewControls'), - pillMatchesGroup: - Math.abs(pill.top - group.top) <= 1 && Math.abs(pill.height - group.height) <= 1, + transportClearsStatusStrip: clears('app-playback-bar .scrubCard'), + viewControlsClearStatusStrip: clears('.viewControls'), }; }); - check( - 'short viewport hides the scrubber but keeps the other controls visible', - short.sliderHidden && - short.playVisible && - short.timeVisible && - short.viewControlsVisible && - short.pillMatchesGroup, - { short } + record( + 'a short window keeps the transport and view controls visible and clear of the status strip', + Object.values(short).every(Boolean), + short ); await page.setViewportSize({ width: 1440, height: 900 }); } catch (error) { - issues.push({ name: 'Run failed', severity: 'high', error: error?.stack || String(error) }); + record('the run finished', false, error?.stack || String(error)); } finally { await fs.writeFile( path.join(screenshotDir, `${runPrefix}-report.json`), - JSON.stringify({ baseUrl, checks, issues }, null, 2) + JSON.stringify({ baseUrl, results, issues }, null, 2) ); await context.close().catch(() => {}); } -const failed = checks.filter((c) => !c.ok); -console.log(JSON.stringify({ passed: checks.length - failed.length, failed, issues }, null, 2)); +const failed = results.filter((r) => !r.ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +process.exit(failed.length ? 1 : 0); diff --git a/e2e/phase5-driven-cylinder.mjs b/e2e/phase5-driven-cylinder.mjs index a38067c0..03789ae4 100644 --- a/e2e/phase5-driven-cylinder.mjs +++ b/e2e/phase5-driven-cylinder.mjs @@ -126,15 +126,15 @@ await page.screenshot({ path: `${OUT}/01-opened.png` }); // Animate, sampling the part as it goes. await page - .locator('.leftButton', { hasText: 'Analyze' }) + .locator('.tabButton', { hasText: 'Kinematic' }) .click() .catch(() => {}); await page - .locator('.playbackControls') + .locator('app-playback-bar .playButton') .waitFor({ state: 'visible' }) .catch(() => {}); await page.waitForTimeout(500); -await page.locator('.playbackControls .playButton').click(); +await page.locator('app-playback-bar .playButton').click(); // Sampled well inside one cycle: at 0.66s a 320ms interval lands on nearly the // same pose every other time, which makes a frozen canvas look like a moving @@ -147,7 +147,7 @@ for (let i = 0; i < 10; i++) { } await page.waitForTimeout(120); await page.screenshot({ path: `${OUT}/02-mid-stroke.png` }); -await page.locator('.playbackControls .playButton').click(); +await page.locator('app-playback-bar .playButton').click(); await page.waitForTimeout(400); await page.screenshot({ path: `${OUT}/03-stopped.png` }); @@ -230,7 +230,7 @@ await page.evaluate(() => { c.mechanismSrv.mechanismTimeStep = 0; }); await page - .locator('.leftButton', { hasText: 'Edit' }) + .locator('.tabButton', { hasText: 'Edit' }) .click() .catch(() => {}); await page.waitForTimeout(400); diff --git a/e2e/playback-timing.mjs b/e2e/playback-timing.mjs index 36ae77c3..b2f5c622 100644 --- a/e2e/playback-timing.mjs +++ b/e2e/playback-timing.mjs @@ -11,7 +11,7 @@ import path from 'node:path'; const screenshotDir = path.resolve('artifacts/screenshots'); await fs.mkdir(screenshotDir, { recursive: true }); -const baseUrl = process.env.PMKS_URL || 'http://127.0.0.1:4200/'; +const baseUrl = process.env.PMKS_BASE_URL || process.env.PMKS_URL || 'http://127.0.0.1:4200/'; const runPrefix = process.env.RUN_PREFIX || 'playback-timing'; const chromePath = process.env.PMKS_CHROME ?? '/Applications/Google Chrome.app/Contents/MacOS/Google Chrome'; @@ -47,22 +47,24 @@ page.on('console', (msg) => { const shot = (name) => page.screenshot({ path: path.join(screenshotDir, `${runPrefix}-${name}`), fullPage: false }); -const tab = (label) => page.locator('.leftButton', { hasText: label }); +const tab = (label) => page.locator('.tabButton', { hasText: label }); const timeField = () => page.locator('#animationBar-input'); const timeSeconds = async () => parseFloat((await timeField().inputValue()).replace(/[^\d.-]/g, '')); const speedField = () => page.locator('input-block:has-text("Input Speed") input').first(); -// The rail buttons toggle their panel, so clicking blindly can close what we need. -async function openAnalyze() { +// The transport only exists in the analysis modes, so its presence is how we +// tell whether Kinematic is already open -- pressing the mode again is harmless +// but the wait below would otherwise race the panel animation. +async function openKinematic() { if ( !(await page .locator('.playButton') .isVisible() .catch(() => false)) ) { - await tab('Analyze').click(); + await tab('Kinematic').click(); } await page.locator('.playButton').waitFor({ state: 'visible' }); await page.waitForTimeout(400); @@ -110,7 +112,7 @@ async function setInputSpeed(rpm) { /** Play until the time readout wraps back toward zero; return real elapsed seconds. */ async function measureRevolution() { - await openAnalyze(); + await openKinematic(); await page.locator('.playButton').click(); const started = Date.now(); @@ -169,7 +171,7 @@ try { // --- Cycle length reported by the time field -------------------------------- await setInputSpeed(20); - await openAnalyze(); + await openKinematic(); await timeField().click(); await timeField().press('ControlOrMeta+A'); await timeField().type('99 s'); @@ -185,7 +187,7 @@ try { ); await setInputSpeed(40); - await openAnalyze(); + await openKinematic(); await timeField().click(); await timeField().press('ControlOrMeta+A'); await timeField().type('99 s'); @@ -197,13 +199,13 @@ try { }); await shot('02-period-at-40rpm.png'); - // --- Leaving Analyze rewinds, and time zero survives the round trip --------- + // --- Leaving Kinematic rewinds, and time zero survives the round trip ------- // Input speed lives with the input joint now, so changing it means entering Edit // mode, which deliberately rewinds to t = 0 (it replaced the stop button). The // model-level "hold the time across a rebuild" guarantee is covered by the unit // suite; what matters here is that the round trip cannot move the start pose. await setInputSpeed(20); - await openAnalyze(); + await openKinematic(); const zeroPose = await page.locator('svg').first().innerHTML(); await timeField().click(); @@ -224,13 +226,13 @@ try { // Round trip through Edit at a non-zero time, twice, then come back to t = 0. await setInputSpeed(40); - await openAnalyze(); + await openKinematic(); await setInputSpeed(20); - await openAnalyze(); + await openKinematic(); const rewoundTime = await timeSeconds(); const rewoundPose = await page.locator('svg').first().innerHTML(); - check('leaving Analyze rewinds to time zero', Math.abs(rewoundTime) < 0.02, { rewoundTime }); + check('leaving Kinematic rewinds to time zero', Math.abs(rewoundTime) < 0.02, { rewoundTime }); check( 'time zero still means the same pose after switching modes at a non-zero time', rewoundPose === zeroPose @@ -247,4 +249,6 @@ try { } const failed = checks.filter((c) => !c.ok); +for (const c of checks) console.log(`${c.ok ? 'PASS' : 'FAIL'} ${c.name}`); console.log(JSON.stringify({ passed: checks.length - failed.length, failed, issues }, null, 2)); +process.exit(failed.length ? 1 : 0); diff --git a/e2e/template-open.mjs b/e2e/template-open.mjs index fb14d8bc..a23ba3f8 100644 --- a/e2e/template-open.mjs +++ b/e2e/template-open.mjs @@ -48,24 +48,31 @@ const linkCount = (page) => ).length ); +// Templates moved off the file toolbar and into the project menu, so it takes +// two presses to reach now. +const openTemplates = async (page) => { + await page.locator('.topStrip .iconButton').first().click(); + await page.locator('.projectMenu #templatesButton').click(); + await page.waitForTimeout(600); +}; + // --- Case 1: empty grid, template loads in this window ----------------------- const page = await context.newPage(); page.setDefaultTimeout(15000); newPages = 0; // ignore the page we created ourselves -const BASE = process.env.PMKS_URL ?? 'http://127.0.0.1:4200/'; +const BASE = process.env.PMKS_BASE_URL ?? process.env.PMKS_URL ?? 'http://127.0.0.1:4200/'; await page.goto(BASE, { waitUntil: 'domcontentloaded' }); await waitForReady(page); await dismissIntro(page); await page.waitForTimeout(600); -// The library opens by itself on a blank start; open it from the toolbar if not. +// The library opens by itself on a blank start; open it from the menu if not. if ( !(await page .locator('#templates') .isVisible() .catch(() => false)) ) { - await page.locator('button:has-text("Templates")').first().click(); - await page.waitForTimeout(600); + await openTemplates(page); } const before = await linkCount(page); await page.locator('#templates panel-section').first().click(); @@ -89,8 +96,7 @@ await page.goto(`${BASE}?${FOUR_BAR}`, { waitUntil: 'domcontentloaded' }); await waitForReady(page); await dismissIntro(page); await page.waitForTimeout(800); -await page.locator('button:has-text("Templates")').first().click(); -await page.waitForTimeout(600); +await openTemplates(page); await page.locator('#templates panel-section').nth(1).click(); // Watt I await page.waitForTimeout(600); const dialogVisible = await page @@ -123,18 +129,11 @@ check( `links ${beforeReplace} -> ${afterReplace}, new tabs=${newPages}` ); -// Undo brings the old linkage back. The Undo button lives in the Edit tab's -// tool strip, so open Edit first; it being enabled proves the replace saved. -if ( - !(await page - .locator('button:has-text("Undo")') - .isVisible() - .catch(() => false)) -) { - await page.locator('.leftButton', { hasText: 'Edit' }).click(); - await page.waitForTimeout(700); -} -await page.locator('button:has-text("Undo")').click(); +// Undo brings the old linkage back. Undo now sits in the top strip in every +// mode, so no mode switch is needed; it being enabled proves the replace saved. +const undo = page.locator('.historyButton', { hasText: 'Undo' }); +check('Replace armed Undo', (await undo.isDisabled()) === false); +await undo.click(); await page.waitForTimeout(1200); const afterUndo = await linkCount(page); check( @@ -150,8 +149,7 @@ if ( .isVisible() .catch(() => false)) ) { - await page.locator('button:has-text("Templates")').first().click(); - await page.waitForTimeout(600); + await openTemplates(page); } await page.locator('#templates panel-section').first().click(); await page.waitForTimeout(600); diff --git a/e2e/two-mechanisms.mjs b/e2e/two-mechanisms.mjs new file mode 100644 index 00000000..cd49a56b --- /dev/null +++ b/e2e/two-mechanisms.mjs @@ -0,0 +1,154 @@ +/** + * Two machines in one drawing, in the browser. + * + * The unit suite proves the model splits them and solves each on its own; this + * proves the app in front of a person does the same — a row each in the + * transport, a section each in the setup drawer, and a sync toggle that + * actually decouples them. + * + * PMKS_BASE_URL= node e2e/two-mechanisms.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); +page.on('console', (message) => { + if (message.type() === 'error') errors.push(message.text()); +}); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); + +/** + * Draw a second four-bar beside the first, using the app's own object model. + * + * Cloning the prototypes of the joints and links already on the grid rather + * than importing the classes: this runs in the page, where the modules are not + * addressable by name. + */ +await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + const seedJoint = srv.joints[0]; + const seedLink = srv.links[0]; + const JointClass = Object.getPrototypeOf(seedJoint).constructor; + const LinkClass = Object.getPrototypeOf(seedLink).constructor; + const S = seedJoint.x === 0 ? 200 : Math.abs(seedJoint.x) / 3; + + const at = [ + [10, 0], + [10, 1], + [13, 2], + [14, 0], + ]; + const made = at.map(([x, y], i) => new JointClass(String.fromCharCode(69 + i), x * S, y * S)); + made[0].ground = true; + made[3].ground = true; + made[0].input = true; + + const links = [0, 1, 2].map((i) => { + const link = new LinkClass(made[i].id + made[i + 1].id, [made[i], made[i + 1]]); + made[i].links.push(link); + made[i + 1].links.push(link); + made[i].connectedJoints.push(made[i + 1]); + made[i + 1].connectedJoints.push(made[i]); + return link; + }); + + srv.joints.push(...made); + srv.links.push(...links); + srv.updateMechanism(true); +}); +await page.waitForTimeout(1200); + +const model = await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return { + count: srv.mechanisms.length, + ids: srv.partitions.map((p) => p.id), + dofs: srv.mechanisms.map((m) => m.dof), + valid: srv.mechanisms.map((m) => m.isMechanismValid()), + }; +}); +record( + 'a second four-bar becomes a second mechanism, each 1 DoF and valid', + model.count === 2 && + model.dofs.every((d) => d === 1) && + model.valid.every(Boolean) && + model.ids.join(',') === 'M1,M2', + model +); + +await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); +await page.waitForTimeout(900); + +record('the transport lists both', (await page.locator('.mechRow').count()) === 2, { + rows: await page.locator('.mechRows').innerText(), +}); +record('and offers to unsync them', (await page.locator('.syncToggle').count()) === 1); + +// --- unsyncing gives each its own clock ------------------------------------- +await page.locator('.syncToggle').click(); +await page.waitForTimeout(500); +record( + 'unsynced, each row gets its own play button', + (await page.locator('.rowPlay').count()) === 2 +); + +const seconds = () => + page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return srv.mechanisms.map((_, i) => srv.secondsOf(i)); + }); + +const before = await seconds(); +await page.locator('.rowPlay').first().click(); +await page.waitForTimeout(1200); +const after = await seconds(); +record( + 'playing one machine moves only that one', + Math.abs(after[0] - before[0]) > 0.05 && Math.abs(after[1] - before[1]) < 1e-6, + { before, after } +); + +// --- the setup drawer accounts for both ------------------------------------- +await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + srv.joints.filter((j) => j.id === 'E').forEach((j) => (j.input = false)); + srv.updateMechanism(); +}); +await page.waitForTimeout(500); +await page.locator('.tabButton', { hasText: 'Force' }).click(); +await page.waitForTimeout(700); +const drawer = await page.locator('app-analysis-setup').innerText(); +record( + 'the drawer names both mechanisms and blames only the broken one', + drawer.includes('Mechanism M1') && + drawer.includes('Mechanism M2') && + drawer.includes('Nothing drives this mechanism'), + drawer +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); + +await browser.close(); +process.exit(results.every(([, ok]) => ok) ? 0 : 1); diff --git a/src/app/component/playback-bar/playback-bar.component.html b/src/app/component/playback-bar/playback-bar.component.html index 188139b5..5d562e80 100644 --- a/src/app/component/playback-bar/playback-bar.component.html +++ b/src/app/component/playback-bar/playback-bar.component.html @@ -26,10 +26,30 @@ (input)="onScrub($event)" /> + @if (canSync) { + + } +
@for (row of rows; track row.id) {
{{ row.id }} + @if (!synced) { + + + } {{ row.time }} @if (row.reciprocating) { reciprocating diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index ce6d6f2e..a79b68fb 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -115,6 +115,65 @@ } } + .syncToggle { + align-self: flex-start; + display: flex; + align-items: center; + gap: 6px; + height: 22px; + padding: 0 8px; + margin-bottom: 2px; + border: none; + border-radius: 6px; + background: transparent; + color: #5f6368; + font-family: inherit; + font-size: 12px; + cursor: pointer; + + mat-icon { + width: 17px; + height: 17px; + font-size: 17px; + line-height: 17px; + } + + &:hover { + background: rgba(0, 0, 0, 0.04); + } + } + + .rowPlay { + display: flex; + align-items: center; + justify-content: center; + width: 24px; + height: 24px; + flex: 0 0 auto; + border: none; + border-radius: 50%; + background: #eef1fc; + color: #3f51b5; + cursor: pointer; + padding: 0; + + mat-icon { + width: 18px; + height: 18px; + font-size: 18px; + line-height: 18px; + } + } + + .rowScrubber { + flex: 1 1 auto; + min-width: 60px; + margin: 0; + height: 3px; + accent-color: #3f51b5; + cursor: pointer; + } + .mechRows { display: flex; flex-direction: column; diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index d15a0d47..b391159d 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -20,6 +20,10 @@ export interface PlaybackRow { clockwise: boolean; /** Out-and-back, rather than round and round. */ reciprocating: boolean; + playing: boolean; + /** Seconds, for its own scrubber. */ + seconds: number; + period: number; } /** @@ -96,13 +100,12 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { /** Only the machines that can run. */ get rows(): PlaybackRow[] { - const now = this.mechanism.currentTimeSeconds(); return this.mechanism.mechanisms .map((mechanism, index) => ({ mechanism, index })) .filter(({ mechanism }) => mechanism.isMechanismValid()) .map(({ mechanism, index }) => { const period = mechanism.cyclePeriod || 1; - const local = ((now % period) + period) % period; + const local = this.mechanism.secondsOf(index); return { id: this.mechanism.partitions[index]?.id ?? `M${index + 1}`, index, @@ -110,10 +113,35 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { scrub: Math.round((local / period) * 1000), clockwise: this.drivenSpeedOf(mechanism, index) < 0, reciprocating: this.isReciprocating(mechanism), + playing: this.mechanism.isMechanismPlaying(index), + seconds: local, + period, }; }); } + /** Only worth offering when there is more than one machine to get out of step. */ + get canSync(): boolean { + return this.rows.length > 1; + } + + get synced(): boolean { + return this.mechanism.syncMechanisms; + } + + toggleSync(): void { + this.mechanism.setSyncMechanisms(!this.mechanism.syncMechanisms); + } + + toggleRow(row: PlaybackRow): void { + this.mechanism.toggleMechanismPlaying(row.index); + } + + scrubRow(row: PlaybackRow, event: Event): void { + const fraction = Number((event.target as HTMLInputElement).value) / 1000; + this.mechanism.seekMechanism(row.index, fraction * row.period); + } + /** * Out-and-back rather than round and round. * diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 41e3d7a3..ffe5664c 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -117,6 +117,19 @@ export class MechanismService { private static readonly FRAME_INTERVAL_MS = 16; private playbackClockMs: number | null = null; private playbackTimeSeconds = 0; + /** + * Whether every machine runs on the one clock. + * + * Synced is the default and the useful case: two mechanisms on the same wall + * clock can be compared, which is the whole reason for drawing them together. + * Unsynced gives each its own time and its own play button, for reading one + * machine's cycle without the others moving. + */ + syncMechanisms = true; + /** Each machine's own time, used only while unsynced. */ + private ownSeconds: number[] = []; + /** Which machines are running, used only while unsynced. */ + private ownPlaying: boolean[] = []; private playbackFrameQueued = false; private advancingPlayback = false; @@ -2632,7 +2645,11 @@ export class MechanismService { const seconds = this.timeAtStep(step) + blend * (this.timeAtStep(step + 1) - this.timeAtStep(step)); this.mechanisms.forEach((frames, index) => { - this.applyMechanismPose(frames, this.partitions[index], seconds); + this.applyMechanismPose( + frames, + this.partitions[index], + this.syncMechanisms ? seconds : (this.ownSeconds[index] ?? 0) + ); }); } @@ -2823,6 +2840,20 @@ export class MechanismService { this.playbackTimeSeconds + elapsedSeconds * this.animationSpeedMultiplier ); + // Unsynced, each running machine carries its own time forward. The shared + // clock still advances underneath, because the scrubber and the time field + // are measured against it. + if (!this.syncMechanisms) { + this.mechanisms.forEach((mechanism, index) => { + if (!this.ownPlaying[index] || !mechanism.isMechanismValid()) { + return; + } + const period = mechanism.cyclePeriod; + const next = (this.ownSeconds[index] ?? 0) + elapsedSeconds * this.animationSpeedMultiplier; + this.ownSeconds[index] = period > 0 ? ((next % period) + period) % period : next; + }); + } + this.advancingPlayback = true; try { // Blend forward from the sample at or before now, not the nearest one. @@ -2832,6 +2863,54 @@ export class MechanismService { } } + /** Where one machine is in its own cycle. */ + secondsOf(index: number): number { + if (this.syncMechanisms) { + const period = this.mechanisms[index]?.cyclePeriod ?? 0; + const now = this.currentTimeSeconds(); + return period > 0 ? ((now % period) + period) % period : now; + } + return this.ownSeconds[index] ?? 0; + } + + /** Put one machine at a time in its own cycle. Only meaningful while unsynced. */ + seekMechanism(index: number, seconds: number): void { + this.ownSeconds[index] = seconds; + this.animate(this.mechanismTimeStep, AnimationBarComponent.animate); + } + + isMechanismPlaying(index: number): boolean { + return this.syncMechanisms ? AnimationBarComponent.animate : !!this.ownPlaying[index]; + } + + toggleMechanismPlaying(index: number): void { + this.ownPlaying[index] = !this.ownPlaying[index]; + // The frame loop is shared, so it has to be running for any machine to move. + if (this.ownPlaying.some(Boolean)) { + AnimationBarComponent.animate = true; + } + this.animate(this.mechanismTimeStep, AnimationBarComponent.animate); + } + + /** + * Switch between one clock and several. + * + * Leaving sync hands every machine the time it is showing right now, so + * nothing jumps at the moment the toggle is pressed; returning to sync puts + * them all back on the shared clock, which is where they visibly converge. + */ + setSyncMechanisms(sync: boolean): void { + if (sync === this.syncMechanisms) { + return; + } + if (!sync) { + this.ownSeconds = this.mechanisms.map((_, index) => this.secondsOf(index)); + this.ownPlaying = this.mechanisms.map(() => AnimationBarComponent.animate); + } + this.syncMechanisms = sync; + this.animate(this.mechanismTimeStep, AnimationBarComponent.animate); + } + getJointCSSClass(joint: Joint) { // const j = joint as RealJoint; if ( From b584530e7ca5d015c9d95d6a0eef4571366bd7bc Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 03:44:10 -0400 Subject: [PATCH 014/236] Fix six defects an outside review found, three of them reproduced A review of the branch found these; two are mine from this week's work and the rest were uncovered by the split. The dangerous one: a rebuild deep-copies the editable joints as t = 0, and `restoreStartPose` put them back there by asking `applyPose` for time zero. Once each machine had a clock of its own, applyPose honoured *those* instead and left every mechanism wherever its own scrubber was -- so an edit made while a row was scrubbed forward silently redefined the start pose, and the geometry ratcheted on every subsequent edit. It now places each machine at its own zero directly, and "are we at the start" asks every clock rather than only the shared one. One input per *mechanism*, not one per drawing. Driving a second linkage still cleared the first one's input, so two machines could never run at once however well the solver handled them. A fixed bar joining two frames handed its far end to both partitions, and that end could be another machine's driven joint -- so a mechanism picked up an input that drives something else. A partition now distinguishes what it is made of from what it merely has to be solved against, and every question of the form "which of these is mine" asks the former. A bar grounded at both ends belongs to no machine, which is true, but it was reported as joints with no link and the reader was told to attach one to something that already had it. It is now named for what it is. The transport's direction button reached for the rotational speed to supply a prismatic joint's fallback, storing 20 cm/s where 5 was meant. Force analysis asked whether *every* link in the drawing had mass and whether a force existed *anywhere*, so an unrelated massless bar blocked a good mechanism and a load on a broken one satisfied the requirement. --- .../playback-bar/playback-bar.component.ts | 1 + .../model/mechanism/mechanism-partition.ts | 43 +++++++-- src/app/model/mechanism/readiness.ts | 13 ++- src/app/services/mechanism.service.ts | 87 +++++++++++++++---- src/tests/fixtures/mechanism-fixtures.ts | 9 +- src/tests/verification/two-mechanisms.spec.ts | 37 ++++++++ 6 files changed, 161 insertions(+), 29 deletions(-) diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index b391159d..3689c795 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -7,6 +7,7 @@ import { ActiveObjService } from '../../services/active-obj.service'; import { SelectedTabService } from '../../selected-tab.service'; import { TimeUnit } from '../../model/utils'; import { Mechanism } from '../../model/mechanism/mechanism'; +import { RealJoint } from '../../model/joint'; import { AnimationBarComponent } from '../animation-bar/animation-bar.component'; /** One machine's line in the transport. */ diff --git a/src/app/model/mechanism/mechanism-partition.ts b/src/app/model/mechanism/mechanism-partition.ts index 70245e81..8ec67be4 100644 --- a/src/app/model/mechanism/mechanism-partition.ts +++ b/src/app/model/mechanism/mechanism-partition.ts @@ -7,7 +7,18 @@ import { assignBodies, WORLD } from './bodies'; export interface MechanismPartition { /** Derived, never stored: M1, M2… in a stable order. See `partitionMechanisms`. */ id: string; + /** Everything the solver has to be handed, frame pieces included. */ joints: Joint[]; + /** + * The joints this mechanism is actually made of. + * + * A subset of `joints`: a machine has to be solved against frame it shares + * with others — a fixed bar between two frames, a rail a slider runs along — + * and the far ends of those pieces belong to whatever else is bolted to them. + * Ask this, not `joints`, whenever the question is "which of these is *mine*" + * — which input drives me, which joint do I own. + */ + ownJoints: Joint[]; links: Link[]; forces: Force[]; } @@ -23,6 +34,8 @@ export interface UnassignedGeometry { floatingChains: { joints: Joint[]; links: Link[] }[]; /** Joints with no link at all. */ looseJoints: Joint[]; + /** Bars pinned down at every joint: part of the frame, and part of no machine. */ + fixedLinks: Link[]; } export interface Partitioning { @@ -93,11 +106,17 @@ export function partitionMechanisms( }); }); - const members = new Map; links: Set }>(); + // `joints` is everything the solver has to be handed; `owned` is the subset + // this component is actually made of. They differ because a mechanism needs + // frame pieces -- an anchored bar its slider runs along, a fixed link between + // two frames -- whose far ends belong to some other machine entirely. Without + // the distinction those far ends look like this component's own joints, and a + // second linkage's driven joint gets picked up as this one's input. + const members = new Map; owned: Set; links: Set }>(); const memberOf = (component: string) => { let entry = members.get(component); if (!entry) { - entry = { joints: new Set(), links: new Set() }; + entry = { joints: new Set(), owned: new Set(), links: new Set() }; members.set(component, entry); } return entry; @@ -112,7 +131,10 @@ export function partitionMechanisms( } const entry = memberOf(find(body)); entry.links.add(link); - link.joints.forEach((joint) => entry.joints.add(joint)); + link.joints.forEach((joint) => { + entry.joints.add(joint); + entry.owned.add(joint); + }); }); // An anchored bar is part of the world, which every machine shares. It is @@ -182,6 +204,7 @@ export function partitionMechanisms( const body = bodyOf(link); if (body !== WORLD && members.has(find(body))) { memberOf(find(body)).joints.add(joint); + memberOf(find(body)).owned.add(joint); } }); }); @@ -200,6 +223,7 @@ export function partitionMechanisms( return { id: `M${index + 1}`, joints: [...entry.joints], + ownJoints: [...entry.owned], links: partitionLinks, forces: forces.filter((force) => partitionLinks.some((link) => link.id === force.link?.id)), }; @@ -215,7 +239,14 @@ export function partitionMechanisms( const placed = new Set(); members.forEach((entry) => entry.joints.forEach((joint) => placed.add(joint))); - const looseJoints = joints.filter((joint) => !placed.has(joint)); - - return { mechanisms, unassigned: { floatingChains, looseJoints } }; + // Loose means *no link*, which is a different situation from a bar fixed at + // both ends: that has links, cannot move, and belongs to no machine because + // there is no machine to belong to. Calling those joints loose told the + // reader to attach a link to something that already had one. + const looseJoints = joints.filter( + (joint) => !placed.has(joint) && (!(joint instanceof RealJoint) || joint.links.length === 0) + ); + const fixedLinks = links.filter((link) => !placed.has(link.joints[0]) && link.joints.length > 0); + + return { mechanisms, unassigned: { floatingChains, looseJoints, fixedLinks } }; } diff --git a/src/app/model/mechanism/readiness.ts b/src/app/model/mechanism/readiness.ts index a75ccb50..60c3275c 100644 --- a/src/app/model/mechanism/readiness.ts +++ b/src/app/model/mechanism/readiness.ts @@ -110,7 +110,7 @@ export function readinessOf( case 'not-driven': { // Point at a joint that could actually take the job, so the button is an // answer rather than a place to start looking. - const candidate = partition.joints.find( + const candidate = partition.ownJoints.find( (joint) => joint instanceof RealJoint && canDrive(joint) ); add({ @@ -166,7 +166,7 @@ export function readinessOf( // joint that was legitimately driven when it was switched on. const refusal = helpers.drivenRefusal(partition); if (refusal) { - const driven = partition.joints.find((joint) => joint instanceof RealJoint && joint.input); + const driven = partition.ownJoints.find((joint) => joint instanceof RealJoint && joint.input); add({ state: 'blocker', title: 'The driven joint cannot be driven', @@ -207,7 +207,7 @@ function factsOf( const dof = mechanism.dof; const facts: MechanismFact[] = [ { label: 'Degrees of freedom', value: Number.isFinite(dof) ? String(dof) : '—' }, - { label: 'Links / joints', value: `${moving} / ${partition.joints.length}` }, + { label: 'Links / joints', value: `${moving} / ${partition.ownJoints.length}` }, { label: 'Driven joint', value: driven ? driven.name || driven.id : 'Not set' }, ]; if (mechanism.isMechanismValid()) { @@ -270,6 +270,13 @@ export function describeUnassigned(unassigned: UnassignedGeometry): UnassignedRe }); }); + unassigned.fixedLinks.forEach((link) => { + reports.push({ + title: `Link ${link.name || link.id} is fixed at both ends`, + body: 'Every joint on it is grounded, so it is part of the frame and nothing about it can move. Unground one of its joints to make it a mechanism, or leave it as a fixed reference.', + }); + }); + unassigned.looseJoints.forEach((joint) => { reports.push({ at: joint, diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index ffe5664c..f1454e4c 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -94,7 +94,7 @@ export class MechanismService { */ public partitions: MechanismPartition[] = []; /** Geometry that is in no mechanism, and why. Reported, never solved. */ - public unassigned: UnassignedGeometry = { floatingChains: [], looseJoints: [] }; + public unassigned: UnassignedGeometry = { floatingChains: [], looseJoints: [], fixedLinks: [] }; public showPathHolder: boolean = true; // private moveModes: moveModes = moveModes; @@ -328,12 +328,33 @@ export class MechanismService { this.settingsService.isInputCW.next(signed < 0); } + /** + * Take the drive away from whatever currently has it in this joint's machine. + * + * One input per *mechanism*, not one per drawing. Clearing every input in the + * document -- which is what this used to do -- meant that driving a second + * linkage stopped the first, so two machines could never run at once however + * well the solver handled them. + */ + private clearInputsSharingMechanismWith(joint: RealJoint): void { + const index = this.indexOfMechanismContaining(joint); + const scope = index === -1 ? this.joints : this.partitions[index].ownJoints; + scope.forEach((candidate) => { + if (candidate instanceof RealJoint && candidate.input && candidate.id !== joint.id) { + candidate.input = false; + } + }); + } + /** Which mechanism holds this joint, link or force — none, if it is unassigned. */ indexOfMechanismContaining(part: Joint | Link | Force): number { const id = part.id; + // Owned, not merely referenced: a fixed bar between two frames puts its far + // end in both partitions, and that joint belongs to the machine it can + // actually move -- not to whichever partition was built first. return this.partitions.findIndex( (partition) => - partition.joints.some((joint) => joint.id === id) || + partition.ownJoints.some((joint) => joint.id === id) || partition.links.some((link) => link.id === id) || partition.forces.some((force) => force.id === id) ); @@ -1648,7 +1669,7 @@ export class MechanismService { return found ? this.cylinderName(found) : sliderId; }, drivenRefusal: (part) => { - const driven = part.joints.find((joint) => joint instanceof RealJoint && joint.input); + const driven = part.ownJoints.find((joint) => joint instanceof RealJoint && joint.input); if (!driven) { return undefined; } @@ -1714,8 +1735,16 @@ export class MechanismService { 'One of these mechanisms has no determinate force-equilibrium model.'), }); + // Only the links of machines that could actually be analysed. A massless + // bar in some unrelated -- or unassigned -- corner of the drawing used to + // block force analysis for a perfectly good mechanism. + const analysable = new Set( + this.partitions + .filter((_, index) => this.mechanisms[index]?.isMechanismValid()) + .flatMap((partition) => partition.links.map((link) => link.id)) + ); const massless = this.links.filter( - (link) => link instanceof RealLink && !(link.mass > 0) + (link) => link instanceof RealLink && analysable.has(link.id) && !(link.mass > 0) ) as RealLink[]; requirements.push({ met: massless.length === 0, @@ -1730,12 +1759,15 @@ export class MechanismService { )} still ${massless.length === 1 ? 'weighs' : 'weigh'} nothing. A massless link contributes no inertia, so a dynamic answer will not account for it. Set Link Mass in Mass Settings.`, }); + // And a force has to be on one of them: a load attached to a linkage that + // cannot run says nothing about the one that can. + const loads = this.forces.filter((force) => analysable.has(force.link?.id)); requirements.push({ - met: this.forces.length > 0, + met: loads.length > 0, title: 'A load to react against', body: - this.forces.length > 0 - ? `${this.forces.length} ${this.forces.length === 1 ? 'force is' : 'forces are'} applied.` + loads.length > 0 + ? `${loads.length} ${loads.length === 1 ? 'force is' : 'forces are'} applied.` : 'Without an applied force the only load is the drive itself, so every reaction comes from it. Right-click a link and choose Attach Force to add one.', }); @@ -2096,10 +2128,8 @@ export class MechanismService { const sealed = target ?? this.cylinderAt(this.activeObjService.selectedLink); if (!sealed) return; if (!sealed.slider.input) { - // Only one input at a time, same as adjustInput. - this.joints.forEach((joint) => { - if (joint instanceof RealJoint && joint.input) joint.input = false; - }); + // One input per mechanism, same as adjustInput. + this.clearInputsSharingMechanismWith(sealed.slider); } sealed.slider.input = !sealed.slider.input; this.updateMechanism(); @@ -2183,12 +2213,9 @@ export class MechanismService { NewGridComponent.sendNotification(refusal); return; } - // One input at a time, so the joint taking the job displaces the old one. - this.joints.forEach((j) => { - if (j instanceof RealJoint && j.input) { - j.input = false; - } - }); + // One input per mechanism, so the joint taking the job displaces the old + // one -- in its own machine only. + this.clearInputsSharingMechanismWith(jointToToggleInput); } //Toggle the input joint @@ -2743,11 +2770,33 @@ export class MechanismService { if (this.atStartPose() || !this.masterMechanism()?.joints[0]?.length) { return; } - this.applyPose(0, 0); + // Every machine at *its own* time zero, bypassing the clocks entirely. + // Going through applyPose would have honoured the private clocks while + // unsynced and left each mechanism wherever its own scrubber was -- and + // since this runs immediately before a rebuild deep-copies the editable + // joints as t = 0, that silently redefines the start pose as wherever + // playback happened to be. The pose then ratchets forward on every edit. + this.poseRevision++; + this.mechanisms.forEach((frames, index) => { + this.applyMechanismPose(frames, this.partitions[index], 0); + }); } + /** + * Are the editable objects holding the pose a rebuild may treat as t = 0? + * + * Every clock has to be at zero, not just the shared one: while unsynced a + * row can be scrubbed away from the start with the shared step still reading + * zero, and that combination used to answer yes. + */ private atStartPose(): boolean { - return this.mechanismTimeStep === 0 && !AnimationBarComponent.animate; + if (AnimationBarComponent.animate) { + return false; + } + if (!this.syncMechanisms && this.ownSeconds.some((seconds) => seconds !== 0)) { + return false; + } + return this.mechanismTimeStep === 0; } /** diff --git a/src/tests/fixtures/mechanism-fixtures.ts b/src/tests/fixtures/mechanism-fixtures.ts index 170c3d21..17dcc1a7 100644 --- a/src/tests/fixtures/mechanism-fixtures.ts +++ b/src/tests/fixtures/mechanism-fixtures.ts @@ -96,7 +96,14 @@ export function buildMechanismFixture(payload: string): MechanismFixture { // applyPose walks these rather than the whole drawing, so a harness that // leaves them empty draws no pose at all. service.partitions = [ - { id: 'M1', joints: service.joints, links: service.links, forces: service.forces }, + { + id: 'M1', + joints: service.joints, + // One mechanism holding the whole drawing, so everything in it is its own. + ownJoints: service.joints, + links: service.links, + forces: service.forces, + }, ]; service.oneValidMechanismExists = () => mechanism.isMechanismValid(); // Borrowed rather than restated: the panels now ask which machine owns the diff --git a/src/tests/verification/two-mechanisms.spec.ts b/src/tests/verification/two-mechanisms.spec.ts index 4da63155..6e7410ad 100644 --- a/src/tests/verification/two-mechanisms.spec.ts +++ b/src/tests/verification/two-mechanisms.spec.ts @@ -143,6 +143,43 @@ describe('two four-bars in one drawing', () => { expect(service.mechanisms[1].inputAngularVelocities[0]).toBeLessThan(0); }); + it('takes the drive away only within the mechanism that gains it', () => { + // One input per *mechanism*, not one per drawing. Clearing every input in + // the document -- which is what this used to do -- meant driving a second + // linkage stopped the first, so two machines could never run at once + // however well the solver handled them. + const { service, active, first, second } = twoFourBars(); + expect(second.joints[1].input).toBe(false); + + active.updateSelectedObj(second.joints[1]); + service.adjustInput(); + + expect(second.joints[1].input).toBe(true); + // The other machine keeps its own. + expect(first.joints[0].input).toBe(true); + // And the one it displaced was its own former input. + expect(second.joints[0].input).toBe(false); + }); + + it('does not redefine the start pose when a machine is scrubbed off zero', () => { + // A rebuild deep-copies the editable joints as t = 0, so anything that + // leaves them mid-cycle silently ratchets the mechanism forward on every + // edit. Unsynced, each machine has a clock of its own, and the shared step + // can read zero while a row is scrubbed away from it. + const { service, first } = twoFourBars(); + const rest = { x: first.joints[1].x, y: first.joints[1].y }; + + service.setSyncMechanisms(false); + service.seekMechanism(0, service.mechanisms[0].cyclePeriod / 3); + expect(Math.hypot(first.joints[1].x - rest.x, first.joints[1].y - rest.y)).toBeGreaterThan(0.1); + + service.updateMechanism(); + + const startSample = service.mechanisms[0].joints[0].find((joint) => joint.id === 'B')!; + expect(startSample.x).toBeCloseTo(rest.x, 6); + expect(startSample.y).toBeCloseTo(rest.y, 6); + }); + it('moves both when the shared clock advances, each on its own frames', () => { const { service, first, second } = twoFourBars(); const restAt = (joint: RealJoint) => ({ x: joint.x, y: joint.y }); From 660178261d6f000af70402a00009364463c090e9 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 03:45:15 -0400 Subject: [PATCH 015/236] Name the four modes the tabs now spell Analyze split into Kinematic and Force, and a drawing can hold several mechanisms. The vocabulary guide governs what the app says, so it has to say the same thing. --- docs/ui-vocabulary.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/ui-vocabulary.md b/docs/ui-vocabulary.md index f2e093c7..182bd94c 100644 --- a/docs/ui-vocabulary.md +++ b/docs/ui-vocabulary.md @@ -69,12 +69,12 @@ is why they have them. | Use | For | Not | | --- | --- | --- | -| **mechanism** | the thing on the grid | ~~linkage~~ (stops being true the moment it has a cylinder), ~~assembly~~ | +| **mechanism** | one machine on the grid — a drawing may hold several, named M1, M2… | ~~linkage~~ (stops being true the moment it has a cylinder), ~~assembly~~ | | **project** | the saved document | — | | **animation** | playing the mechanism | ~~simulation~~, ~~playback~~ (internal only) | | **input** | in controls: the driven joint | — | | **driven** | in prose about the mechanism | ~~actuator~~ (internal only) | -| **Edit / Analyze / Synthesis** | the three modes, capitalised as the tabs spell them | ~~analysis mode~~ | +| **Synthesis / Edit / Kinematic / Force** | the four modes, capitalised as the tabs spell them | ~~Analyze~~ (it split into Kinematic and Force), ~~analysis mode~~ | `Share Project` and `New Project` are about the document, and stay. From 7dc9dfbbca136b7d20b3e9bbe11cf8f714a51d30 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 04:00:12 -0400 Subject: [PATCH 016/236] Pin the two partition defects the review reproduced Both were reproduced in a browser by the reviewer and fixed without a test, which is the wrong way round for a rule this load-bearing: a shared frame bar handing one machine another machine's driven joint, and a bar fixed at both ends reported as joints with no link. Each fails on the pre-fix code, and on the right assertion. --- .../verification/mechanism-partition.spec.ts | 58 +++++++++++++++++++ 1 file changed, 58 insertions(+) diff --git a/src/tests/verification/mechanism-partition.spec.ts b/src/tests/verification/mechanism-partition.spec.ts index aed84329..bb339774 100644 --- a/src/tests/verification/mechanism-partition.spec.ts +++ b/src/tests/verification/mechanism-partition.spec.ts @@ -150,6 +150,64 @@ describe('splitting a drawing into the machines it contains', () => { expect(unassigned.looseJoints.map((j) => j.id)).toEqual(['E']); }); + it("does not let a shared frame bar hand one machine another machine's joints", () => { + // Two four-bars whose frames are bolted together by a fixed bar D–E. The + // bar is part of the world, so both machines have to be solved against it, + // but its far end belongs to whichever machine can actually move it. + // Without the distinction M1 picks up E — and E is what drives M2. + const { mechanisms, unassigned } = split({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + { id: 'E', x: 10, y: 0, ground: true, input: true }, + { id: 'F', x: 10, y: 1 }, + { id: 'G', x: 13, y: 2 }, + { id: 'H', x: 14, y: 0, ground: true }, + ], + links: [ + { joints: 'AB' }, + { joints: 'BC' }, + { joints: 'CD' }, + { joints: 'DE' }, + { joints: 'EF' }, + { joints: 'FG' }, + { joints: 'GH' }, + ], + inputAngVel: 1, + }); + + expect(mechanisms).toHaveLength(2); + // Solved against the shared bar, so E is among the joints handed over... + expect(mechanisms[0].joints.map((j) => j.id)).toContain('E'); + // ...but it is not one of M1's own, and so cannot be taken for its input. + expect(mechanisms[0].ownJoints.map((j) => j.id).sort()).toEqual(['A', 'B', 'C', 'D']); + expect(mechanisms[1].ownJoints.map((j) => j.id).sort()).toEqual(['E', 'F', 'G', 'H']); + expect(unassigned.looseJoints).toEqual([]); + }); + + it('calls a bar fixed at both ends what it is, not a joint with no link', () => { + // It belongs to no machine, which is true — but it plainly has a link, and + // telling the reader to attach one is advice about a different drawing. + const { mechanisms, unassigned } = split({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 0, y: 1 }, + { id: 'C', x: 3, y: 2 }, + { id: 'D', x: 4, y: 0, ground: true }, + { id: 'E', x: 9, y: 9, ground: true }, + { id: 'F', x: 11, y: 9, ground: true }, + ], + links: [{ joints: 'AB' }, { joints: 'BC' }, { joints: 'CD' }, { joints: 'EF' }], + inputAngVel: 1, + }); + + expect(mechanisms).toHaveLength(1); + expect(unassigned.looseJoints).toEqual([]); + expect(unassigned.fixedLinks.map((link) => link.id)).toEqual(['EF']); + }); + it('keeps the rails a slot is cut into, even when they are part of the frame', () => { // The gripper's sliders run in slots cut into anchored bars — links whose // joints are all grounded, so they *are* the world and have no body of From 648dd5d5f58611c084671d28455eee3b17dd29a5 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 04:19:00 -0400 Subject: [PATCH 017/236] Stop the clock before announcing it, and fit the strip on a phone Two defects an e2e sweep found. animate() applied the running flag twenty lines after it announced the new step, so a caller *stopping* playback -- which is what leaving an analysis mode does -- notified its subscribers while the service still believed it was playing. currentTimeSeconds() then answered with the playback clock rather than the time of sample zero, and the readout kept showing the time the mechanism had been left at while the mechanism itself had rewound. The comment at that line already said subscribers read the drawn time back off the service; the flag is part of that. At 390px the top strip ran off the edge and took the page with it, which put two of the four modes somewhere unreachable. The tab card scrolls on its own now, the chips go -- their status is on the status strip anyway -- and so do the units and version at the other end. --- e2e/README.md | 35 ++++++--- e2e/analysis-audit.mjs | 13 ++-- e2e/attach-cylinder.mjs | 10 ++- e2e/full-tour.mjs | 73 ++++++++++--------- e2e/gallery-sweep.mjs | 7 +- e2e/interaction-sweep.mjs | 19 +++-- e2e/left-nav-modes.mjs | 31 +++++++- e2e/phase1-drag.mjs | 57 +++++++++------ e2e/phase2-floating-slot.mjs | 4 +- e2e/phase3-slide.mjs | 18 +++-- e2e/phase4-animation.mjs | 27 ++++++- e2e/phase4-gestures.mjs | 4 +- e2e/template-graphs.mjs | 5 +- e2e/template-thumbnails.mjs | 3 +- .../bottombar/bottombar.component.scss | 10 +++ .../component/top-bar/top-bar.component.scss | 43 +++++++++++ src/app/services/mechanism.service.ts | 22 ++++-- 17 files changed, 275 insertions(+), 106 deletions(-) diff --git a/e2e/README.md b/e2e/README.md index a4c59a24..6ee5a3ac 100644 --- a/e2e/README.md +++ b/e2e/README.md @@ -22,12 +22,14 @@ their source. Everything browser-driven lives here. nothing was said. `ONLY=4-Bar,Cylinder_Boom` narrows it - `phase1-drag.mjs` — drag gestures: joint snap ring and merge, merging onto a slider's pin, refusing an over-constraining merge, whole-link drag, one undo entry per gesture, - click-without-nudge, the canvas staying put after a merge, and Analyze mode refusing drags. + click-without-nudge, the canvas staying put after a merge, and an analysis mode refusing drags. Prints a PASS/FAIL check list and exits non-zero on any failure, so it can gate a change. - `force-analysis-panels.mjs` — Force Analysis rows on the joint and link analysis panels, and the shared Force Analysis Type toggle -- `left-nav-modes.mjs` — mode-scoped left nav rail: Edit/Analyze tool sections, the absorbed view controls, and the rewind-on-leaving-Analyze behavior +- `left-nav-modes.mjs` — mode navigation in the top strip that replaced the rail: the four modes, the + panel following the mode, the sliding highlight, the readiness chips, an analysis mode refusing to + open, and the rewind on leaving one - `template-open.mjs` — the template library: loads in place on an empty grid, and shows a new-tab / replace / cancel choice (with replace undoable) when the grid already holds work -- `template-graphs.mjs` — every template in the library, checked for *correct* kinematic graphs: opens each payload, selects each moving joint on the Analyze tab, reads the plotted series out of `AnalysisGraphComponent` (numbers, not pixels) and cross-checks position against the solved joint positions and velocity/acceleration against difference quotients of the series above them. Reversals and dead centres are identified from the source series and reported by sample index rather than tolerated silently. Exits non-zero on any failure +- `template-graphs.mjs` — every template in the library, checked for *correct* kinematic graphs: opens each payload, selects each moving joint in the Kinematic mode, reads the plotted series out of `AnalysisGraphComponent` (numbers, not pixels) and cross-checks position against the solved joint positions and velocity/acceleration against difference quotients of the series above them. Reversals and dead centres are identified from the source series and reported by sample index rather than tolerated silently. Exits non-zero on any failure - `template-thumbnails.mjs` — regenerates the library cards' images in `src/assets/gifs/` by opening each generated template payload and clipping the canvas. Not a check: it writes assets, so run it after `npm run template-payloads` changes a payload - `playback-timing.mjs` — real-time playback: a revolution takes 60/RPM wall-clock seconds, the reported cycle period scales with input speed, and simulation time is held (not the sample index) across a speed change - `input-settings-and-playback.mjs` — the input joint's Input Settings section (direction, unit-free speed field, RPM / deg/s / rad/s picker), its removal from global Settings, the time field's width, and that playback interpolates between samples at a slow input speed @@ -47,7 +49,9 @@ node e2e/interaction-sweep.mjs Environment overrides: -- `PMKS_URL` — app URL (default `http://127.0.0.1:4200/`) +- `PMKS_BASE_URL` — app URL (default `http://127.0.0.1:4200`). `PMKS_URL` is still read by the + scripts that were written against it, but every script now takes `PMKS_BASE_URL` first, so one + variable drives the whole folder - `RUN_PREFIX` — prefix for screenshot/report filenames - `PMKS_PLAYWRIGHT_DIR` — Playwright install dir (default `/tmp/pmks-playwright`) - `PMKS_CHROME` — Chrome executable (default `/Applications/Google Chrome.app/...`) @@ -64,9 +68,20 @@ Interaction gotchas baked into these scripts: hover/move to the target before the finalizing click, and prefer the Edit panel's HTML controls over the SVG context menu (its hitboxes drift at some viewports). -- The playback controls (play/pause, speed, scrubber, time field) live in the - left nav rail's Analyze group, so they only exist while Analyze is the open - mode. Open Analyze before touching them — and check first, because the rail - buttons toggle their own panel, so a blind click closes what you need. -- The scrubber is a horizontal Material slider rotated 90°, so drag it down its - height (min at the top), not across its width. +- Modes are the `.tabButton`s in the top strip: Synthesis, Edit, Kinematic, Force. + What used to be called Analyze is **Kinematic**. Pressing a mode is idempotent — + they no longer toggle their own panel — so `page.locator('.tabButton', { hasText: 'Kinematic' })` + can be clicked without checking first. Below 1080px the labels are hidden, and + `hasText` stops matching with them; size the viewport wider than that. +- File actions (Templates, Open, Save, Share Project, Settings, Help / Feedback) live + behind the hamburger: click `.topStrip .iconButton`, then the `.projectMenu .menuItem`. + Undo and Redo are `.historyButton`s in the strip itself, in every mode. +- The playback controls (play/pause, speed, `#slider`, `#animationBar-input`) live in + `app-playback-bar`, which renders only in the Kinematic and Force modes. The scrubber + is now a plain horizontal `input[type=range]`. +- An analysis mode that cannot be entered does not open at all: the press raises the + `app-analysis-setup` drawer instead, so an absent play button — not a disabled one — + is what "this mechanism will not run" looks like. +- `#bottomBar` is a read-only status strip (mode, status phrase, units, version) with + `pointer-events: none`. It no longer prints the degrees of freedom; read the mobility + from `mechanismSrv.mechanisms[i].dof`, or from the setup drawer's `.factGrid`. diff --git a/e2e/analysis-audit.mjs b/e2e/analysis-audit.mjs index 31aff0db..2b2d355f 100644 --- a/e2e/analysis-audit.mjs +++ b/e2e/analysis-audit.mjs @@ -1,5 +1,5 @@ /** - * Every Analyze panel, on every template, for every part of it. + * Every analysis panel, on every template, for every part of it. * * `template-graphs.mjs` already checks the *joint* kinematic graphs numerically, * against difference quotients of the plotted positions. This walks the rest: @@ -57,8 +57,11 @@ const load = async (id) => { await page.goto(`${BASE}/?${payloads[id]}`, { waitUntil: 'domcontentloaded' }); await waitForReady(page); errors = []; - // Analyze is where the panels live. - await page.click('text=Analyze').catch(() => undefined); + // Kinematic is where the panels live -- what used to be called Analyze. + await page + .locator('.tabButton', { hasText: 'Kinematic' }) + .click() + .catch(() => undefined); await page.waitForTimeout(900); }; @@ -130,7 +133,7 @@ const select = (kind, id) => ); /** - * Every series the Analyze panel can build, asked for directly. + * Every series the analysis panel can build, asked for directly. * * The panel builds each graph from four strings, so one live graph component * can be asked for all of them in turn. That is the whole reason this does not @@ -231,7 +234,7 @@ for (const id of MECHANISMS) { continue; } if (!(await primeGraph())) { - note('empty', id, 'Analyze never put a graph on screen', {}); + note('empty', id, 'the analysis panel never put a graph on screen', {}); continue; } diff --git a/e2e/attach-cylinder.mjs b/e2e/attach-cylinder.mjs index df1da297..6a4129d9 100644 --- a/e2e/attach-cylinder.mjs +++ b/e2e/attach-cylinder.mjs @@ -52,7 +52,15 @@ const state = () => return { joints: [...document.querySelectorAll('[id^="joint_"]')].map((n) => n.id.slice(6)).join(''), skins: document.querySelectorAll('.cylinder-mark').length, - dof: (document.body.textContent.match(/Degrees of Freedom:\s*(-?[\d.]+|—)/) ?? [])[1], + // The status strip stopped printing the mobility, so it is read from the + // machines themselves -- one number each, and a dash where there is none, + // exactly as the footer used to spell it. + dof: (() => { + const each = grid.mechanismSrv.mechanisms + .map((mechanism) => mechanism.dof) + .filter((value) => typeof value === 'number' && Number.isFinite(value)); + return each.length > 0 ? each.join(', ') : '—'; + })(), links: grid.mechanismSrv.links.map((link) => link.id), nan: [...document.querySelectorAll('svg *')].filter((node) => [...node.attributes].some((a) => /NaN/.test(a.value)) diff --git a/e2e/full-tour.mjs b/e2e/full-tour.mjs index fbd10c73..feb69b1c 100644 --- a/e2e/full-tour.mjs +++ b/e2e/full-tour.mjs @@ -11,7 +11,7 @@ await fs.mkdir(screenshotDir, { recursive: true }); const chromePath = process.env.PMKS_CHROME ?? '/Applications/Google Chrome.app/Contents/MacOS/Google Chrome'; const userDataDir = `/tmp/pmks-playwright-profile-${Date.now()}`; -const baseUrl = process.env.PMKS_URL || 'http://127.0.0.1:4200/'; +const baseUrl = process.env.PMKS_BASE_URL || process.env.PMKS_URL || 'http://127.0.0.1:4200/'; const verificationQuery = '0P.SS.K,0.101.MA,A,0wS,0bg,0.GB,B,0gW,EE,0.GC,C,Oi,6k,0.GD,D,03m,_g,0.GE,E,1FO,1I_,0.GF,F,1-C,qM,0.KG,G,1oO,0ss,0..YRAB,AB,Fe,Fe,0oU,0Bk,c5cae9,A,B,,.YRBCD,BCD,Fe,Fe,07C,Rt,303e9f,B,C,D,,.YRDE,DE,Fe,Fe,bq,18q,0d125a,D,E,,.YREF,EF,Fe,Fe,1dI,13g,B2DFDB,E,F,,.YRFCG,FCG,Fe,Fe,1Om,1Q,26A69A,F,C,G,,...JGp'; const runPrefix = process.env.RUN_PREFIX || 'tour'; @@ -139,32 +139,41 @@ async function clickByText(page, re, label) { return false; } -async function clickToolbar(page, labelText) { - return await clickFirst( - page, - [ - `button:has-text("${labelText}")`, - `[role=button]:has-text("${labelText}")`, - `text="${labelText}"`, - ], - labelText - ); +/** + * The file actions — Templates, Save, Share, Settings, Help — left the toolbar + * for the hamburger menu, so each of them is now two presses. + */ +async function clickProjectMenu(page, labelText) { + await page.locator('.topStrip .iconButton').first().click(); + const item = page.locator('.projectMenu .menuItem', { hasText: labelText }).first(); + if (!(await item.isVisible().catch(() => false))) { + recordIssue(`Project menu has no "${labelText}" entry`, { severity: 'high' }); + await page.keyboard.press('Escape'); + return false; + } + await item.click(); + events.push({ action: 'click', label: labelText, selector: '.projectMenu .menuItem' }); + return true; } async function checkLayout(page, label) { - const state = await page.evaluate( - (snapshotLabel) => ({ + const state = await page.evaluate((snapshotLabel) => { + // The status strip stopped printing the mobility, so a NaN one is asked of + // the machines instead of read off the screen. + const host = document.querySelector('app-new-grid'); + const service = host && window.ng ? window.ng.getComponent(host).mechanismSrv : null; + return { label: snapshotLabel, text: document.body.innerText, scrollWidth: document.documentElement.scrollWidth, clientWidth: document.documentElement.clientWidth, innerWidth, visibleModal: !!document.querySelector('.mat-mdc-dialog-container, .introjs-tooltip'), - }), - label - ); - if (/Degrees of Freedom:\s*NaN/i.test(state.text)) { - recordIssue('Degrees of Freedom displays NaN', { severity: 'medium', label }); + dofNaN: !!service && service.mechanisms.some((mechanism) => Number.isNaN(mechanism.dof)), + }; + }, label); + if (state.dofNaN) { + recordIssue('Degrees of freedom came out NaN', { severity: 'medium', label }); } if (state.scrollWidth > state.clientWidth + 2) { recordIssue('Page has horizontal overflow', { @@ -242,7 +251,7 @@ await safeStep('initial load', async () => { const snapshots = [await appSnapshot(page, 'initial')]; await safeStep('open templates/library', async () => { - await clickToolbar(page, 'Templates'); + await clickProjectMenu(page, 'Templates'); await page.waitForTimeout(700); await shot(page, '02-template-or-library.png'); snapshots.push(await appSnapshot(page, 'template/library')); @@ -277,13 +286,13 @@ await safeStep('open templates/library', async () => { }); await safeStep('toolbar controls and project actions', async () => { - await clickToolbar(page, 'Share Project'); + await clickProjectMenu(page, 'Share Project'); await page.waitForTimeout(500); await shot(page, '03-share-url.png'); await page.keyboard.press('Escape').catch(() => {}); const downloadPromise = page.waitForEvent('download', { timeout: 3000 }).catch(() => null); - await clickToolbar(page, 'Save'); + await clickProjectMenu(page, 'Save'); const download = await downloadPromise; if (download) { events.push({ action: 'download', suggestedFilename: download.suggestedFilename() }); @@ -307,13 +316,12 @@ await safeStep('load verification mechanism from shared URL', async () => { }); await safeStep('left panels edit analysis synthesis', async () => { - const leftButtons = page.locator('button.leftButton'); - for (const [name, index] of [ - ['analysis', 0], - ['edit', 1], - ['synthesis', 2], + for (const [name, mode] of [ + ['analysis', 'Kinematic'], + ['edit', 'Edit'], + ['synthesis', 'Synthesis'], ]) { - await leftButtons.nth(index).click(); + await page.locator('.tabButton', { hasText: mode }).click(); await page.waitForTimeout(700); await shot(page, `04-panel-${name}.png`); snapshots.push(await appSnapshot(page, `panel ${name}`)); @@ -322,7 +330,7 @@ await safeStep('left panels edit analysis synthesis', async () => { await safeStep('settings and equations panels', async () => { for (const name of ['Settings', 'Help / Feedback']) { - await clickToolbar(page, name); + await clickProjectMenu(page, name); await page.waitForTimeout(700); await shot(page, `05-right-${name.toLowerCase().replace(/[^a-z]+/g, '-')}.png`); snapshots.push(await appSnapshot(page, `right ${name}`)); @@ -342,11 +350,10 @@ await safeStep('canvas interaction', async () => { }); await safeStep('animation controls', async () => { - await clickFirst( - page, - ['button:has-text("play_arrow")', 'button:has-text("pause")', 'button >> text=play_arrow'], - 'play/pause' - ); + // The transport only exists in an analysis mode now, so get into one first. + await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); + await page.waitForTimeout(900); + await clickFirst(page, ['.playButton'], 'play/pause'); await page.waitForTimeout(1100); await shot(page, '07-animation-controls.png'); snapshots.push(await appSnapshot(page, 'animation')); diff --git a/e2e/gallery-sweep.mjs b/e2e/gallery-sweep.mjs index 74134adb..db4fdb4a 100644 --- a/e2e/gallery-sweep.mjs +++ b/e2e/gallery-sweep.mjs @@ -139,9 +139,10 @@ for (const { name, query } of galleryRows()) { if (shouldSolve) { // The button a user presses, not the method behind it -- it carries a // disabled binding, and a mechanism that cannot be played is exactly the - // failure worth catching. It lives on the Analyze tab. - await page.getByText('Analyze', { exact: true }).first().click(); - await page.waitForTimeout(800); + // failure worth catching. The transport only renders in an analysis mode. + await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); + await page.locator('.playButton').first().waitFor({ state: 'visible', timeout: 10000 }); + await page.waitForTimeout(400); const play = page.locator('.playButton').first(); if (checkThat(`${name}: play is offered`, !(await play.isDisabled()))) { await play.click(); diff --git a/e2e/interaction-sweep.mjs b/e2e/interaction-sweep.mjs index 4db10b1d..f90896c4 100644 --- a/e2e/interaction-sweep.mjs +++ b/e2e/interaction-sweep.mjs @@ -81,13 +81,17 @@ const signature = () => const forces = mech.forces .map((f) => `${f.id ?? f.name}:${f.local}:${f.startCoord.x.toFixed(1)}`) .join('|'); - const dofText = (document.body.textContent.match(/Degrees of Freedom:\s*(-?[\d.]+|NaN|—)/) ?? - [])[1]; + // The status strip stopped printing the mobility, so it comes off the + // machines. NaN is kept as its own flag: it is the thing worth catching, + // and a joined string would have to spell it to say so. + const dofs = mech.mechanisms.map((mechanism) => mechanism.dof); + const dofText = dofs.length > 0 ? dofs.join(', ') : null; return { key: `${joints}//${links}//${forces}`, joints: mech.joints.length, links: mech.links.length, - dof: dofText ?? null, + dof: dofText, + dofNaN: dofs.some((value) => Number.isNaN(value)), skins: document.querySelectorAll('.cylinder-mark').length, drawnJoints: document.querySelectorAll('[id^="joint_"]').length, nan: [...document.querySelectorAll('svg *')].filter((node) => @@ -233,7 +237,7 @@ for (const id of MECHANISMS) { if (errors.length) note({ what: `threw: ${errors[0]}`, where, kind: 'threw' }); if (after.nan > before.nan) note({ what: `put ${after.nan - before.nan} NaN into the drawing`, where, kind: 'nan' }); - if (after.dof === 'NaN') note({ what: 'left degrees of freedom NaN', where, kind: 'nan' }); + if (after.dofNaN) note({ what: 'left degrees of freedom NaN', where, kind: 'nan' }); if (before.joints > 0 && after.joints === 0 && !/Delete/.test(entry.label)) note({ what: 'emptied the mechanism', where, kind: 'destroyed' }); if (before.skins > after.skins && !/Delete/.test(entry.label)) @@ -243,11 +247,12 @@ for (const id of MECHANISMS) { note({ what: 'did nothing, and said nothing', where, kind: 'silent' }); // Back to where we were, so the next action starts from the same place. + // Undo moved out of the left panel and into the top strip. await page.evaluate(() => { const grid = ng.getComponent(document.querySelector('app-new-grid')); - const tabs = document.querySelector('app-left-tabs'); - const left = tabs && ng.getComponent(tabs); - if (left && left.canUndo()) left.handleUndo(); + const strip = document.querySelector('app-top-bar'); + const top = strip && ng.getComponent(strip); + if (top && top.canUndo()) top.undo(); else grid.mechanismSrv.updateMechanism(false); }); await page.waitForTimeout(400); diff --git a/e2e/left-nav-modes.mjs b/e2e/left-nav-modes.mjs index 8755495c..c596ff1a 100644 --- a/e2e/left-nav-modes.mjs +++ b/e2e/left-nav-modes.mjs @@ -221,10 +221,23 @@ try { await page.waitForTimeout(1200); await tab('Kinematic').click(); await page.waitForTimeout(1000); + // Asked of the mechanism and of the readout separately, because they can + // disagree: the pose is what the other modes edit, the readout is what says + // where the pose is, and a readout that has drifted off the pose is worse + // than no readout at all. + const rewound = await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return { step: srv.mechanismTimeStep, seconds: srv.currentTimeSeconds() }; + }); + record('switching to Edit rewound the mechanism to time 0', rewound.step === 0, { + playing, + rewound, + }); const afterSwitch = await timeSeconds(); - record('switching to Edit rewound the mechanism to time 0', afterSwitch === 0, { + record('and the time readout agrees with the mechanism', afterSwitch === 0, { playing, afterSwitch, + rewound, }); record( 'animation is no longer running after the mode switch', @@ -246,18 +259,28 @@ try { await tab('Edit').click(); await page.waitForTimeout(600); + // These buttons carry tooltips that appear under the cursor and then swallow + // the next click, so the pointer is parked away from them between presses. + const restCursor = () => page.mouse.move(700, 450); + const comMarks = () => page.locator('#comTagHolder path').count(); const comButton = page.locator('.viewControls .mini-buttons', { hasText: 'CoM' }); - const comBefore = await page.locator('#comHolder, .comIcon').count(); + const comBefore = await comMarks(); await comButton.click(); await page.waitForTimeout(500); - const comAfter = await page.locator('#comHolder, .comIcon').count(); - record('the CoM toggle acts on the drawing', comAfter !== comBefore, { comBefore, comAfter }); + const comAfter = await comMarks(); + record('the CoM toggle acts on the drawing', comBefore === 0 && comAfter > 0, { + comBefore, + comAfter, + }); await comButton.click(); await page.waitForTimeout(300); + await restCursor(); await page.locator('.viewControls .mini-buttons', { hasText: 'View' }).click(); await page.waitForTimeout(600); + await restCursor(); await page.locator('.zoomButton').first().click(); await page.waitForTimeout(400); + record('the CoM marks come off again', (await comMarks()) === 0); await shot('05-view-controls.png'); // --- the status strip reports the mode rather than acting on it ------------ diff --git a/e2e/phase1-drag.mjs b/e2e/phase1-drag.mjs index ee0bada5..93d400b6 100644 --- a/e2e/phase1-drag.mjs +++ b/e2e/phase1-drag.mjs @@ -1,5 +1,5 @@ // Phase 1 drag foundation: joint snap/merge, whole-link drag, one undo entry -// per gesture, click-without-nudge, and Analyze mode refusing every drag. +// per gesture, click-without-nudge, and the analysis modes refusing every drag. // See docs/joint-types-plan.md, Phase 1. const { chromium } = await import( (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' @@ -324,11 +324,14 @@ await safe('dragging a link body translates all of its joints', async () => { { A: [adx, ady], D: [ddx, ddy] } ); - const dof = await page.evaluate(() => { - const match = document.body.innerText.match(/Degrees of Freedom:\s*([^\n]+)/i); - return match ? match[1].trim() : null; - }); - record('the mechanism is still solvable after the drag', dof === '1', { dof }); + // The status strip stopped printing the mobility, so it comes off the machine + // the drag left behind. + const dof = await page.evaluate( + () => + ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv.mechanisms[0]?.dof ?? + null + ); + record('the mechanism is still solvable after the drag', dof === 1, { dof }); }); // --- 4. A click selects without nudging ----------------------------------- @@ -356,11 +359,11 @@ await safe('a plain click selects without moving anything', async () => { record('the click earned no undo entry', undoEnabled === false, { undoEnabled }); }); -// --- 5. Analyze mode refuses drags --------------------------------------- -await safe('Analyze mode refuses to drag a joint or a link', async () => { +// --- 5. An analysis mode refuses drags ------------------------------------ +await safe('an analysis mode refuses to drag a joint or a link', async () => { await loadFourBar(page); const before = await jointState(page); - await page.locator('button.leftButton', { hasText: 'Analyze' }).first().click(); + await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); await page.waitForTimeout(800); const b = before.find((j) => j.id === 'B'); @@ -376,7 +379,7 @@ await safe('Analyze mode refuses to drag a joint or a link', async () => { await shot(page, 'analyze-drag-refused.png'); record( - 'the joint did not move in Analyze mode', + 'the joint did not move in an analysis mode', Math.abs(afterB.modelX - b.modelX) < 0.001 && Math.abs(afterB.modelY - b.modelY) < 0.001, { before: [b.modelX, b.modelY], after: [afterB.modelX, afterB.modelY] } ); @@ -787,20 +790,32 @@ await safe('welding a pair that is already pinned goes through with a warning', before: closed, after, }); - const dof = await page.evaluate(() => { - const match = document.body.innerText.match(/Degrees of Freedom:\s*(-?[\d.]+|—)/i); - return match ? match[1] : null; - }); + const dof = await page.evaluate( + () => + ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv.mechanisms[0]?.dof ?? + null + ); // Fusing the three bars at C ties D to E, and ground already ties them, so // this weld costs the mechanism its freedom -- it comes back at -2. record('the weld over-constrains, as this pairing should', Number(dof) < 0, { dof }); - // And the app says so through the degrees-of-freedom readout rather than a - // snackbar. The check this replaced wanted a snackbar about a redundant - // pin; there is no such message, and the standing readout plus the Analyze - // panel's "over-constrained and cannot move" is where a user finds out. - // Asserted as it is rather than as it might ideally be: a transient warning - // at the moment of the weld would be an addition, not a fix. - record('the readout reports it rather than staying at one', dof !== '1', { dof, note }); + // And the app has to say so somewhere a user will meet it. The check this + // replaced wanted a snackbar about a redundant pin; there is none, and the + // standing footer that used to print the number has been deleted. What is + // left is the Analysis setup drawer, which is what pressing an analysis + // mode now opens when the mechanism will not run -- so that is where the + // number is read back from. + await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); + await page.waitForTimeout(800); + const drawer = await page + .locator('app-analysis-setup') + .innerText() + .catch(() => ''); + const reported = drawer.match(/Degrees of freedom\s*\n?\s*(-?[\d.]+)/i)?.[1] ?? null; + record('the app reports it rather than leaving the reader at one', reported === String(dof), { + dof, + reported, + note, + }); } }); diff --git a/e2e/phase2-floating-slot.mjs b/e2e/phase2-floating-slot.mjs index 61497093..cf7a77be 100644 --- a/e2e/phase2-floating-slot.mjs +++ b/e2e/phase2-floating-slot.mjs @@ -98,8 +98,8 @@ try { await shot(page, 'loaded.png'); // Animate and confirm the lever actually swings. - // Playback and the analysis output both live behind the Analyze tab. - await page.locator('button:has-text("Analyze")').first().click({ force: true }); + // Playback and the analysis output both live behind the Kinematic mode. + await page.locator('.tabButton', { hasText: 'Kinematic' }).click({ force: true }); await page.waitForTimeout(900); await shot(page, 'analyze.png'); diff --git a/e2e/phase3-slide.mjs b/e2e/phase3-slide.mjs index 1198fb0c..34ad175a 100644 --- a/e2e/phase3-slide.mjs +++ b/e2e/phase3-slide.mjs @@ -94,15 +94,17 @@ try { await shot(page, 'loaded.png'); // DOF 1 is the whole of task 3.3. Unwelded this linkage reports 2 and refuses - // to simulate at all, so the footer is the cheapest end-to-end proof the - // assembly merge reached the running app. - const bodyText = await page.evaluate(() => document.body.innerText); - const dofMatch = bodyText.match(/Degrees of Freedom[^0-9-]*(-?\d+)/i); - record('the app reports one degree of freedom', dofMatch?.[1] === '1', { - reported: dofMatch?.[1] ?? '(not found)', - }); + // to simulate at all, so the mobility the running app arrived at is the + // cheapest end-to-end proof the assembly merge reached it. The status strip + // no longer prints the number, so it is read off the solved mechanism. + const reportedDof = await page.evaluate( + () => + ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv.mechanisms[0]?.dof ?? + null + ); + record('the app reports one degree of freedom', reportedDof === 1, { reported: reportedDof }); - await page.locator('button:has-text("Analyze")').first().click({ force: true }); + await page.locator('.tabButton', { hasText: 'Kinematic' }).click({ force: true }); await page.waitForTimeout(900); const play = page.locator('.playButton').first(); diff --git a/e2e/phase4-animation.mjs b/e2e/phase4-animation.mjs index 12e17e19..eb4db2fc 100644 --- a/e2e/phase4-animation.mjs +++ b/e2e/phase4-animation.mjs @@ -90,11 +90,32 @@ for (const mech of MECHANISMS) { await page.waitForSelector('#sliderHolder', { state: 'attached', timeout: 15000 }); await page.waitForTimeout(700); - // The animation bar is only rendered on the Analyze tab. - await page.getByText('Analyze', { exact: true }).first().click(); + // The transport is only rendered in an analysis mode. + await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); await page.waitForTimeout(1200); + // A mechanism that cannot be analysed used to get a disabled transport; the + // mode now refuses to open at all, so an absent play button is the same + // failure and has to be read as one rather than waited on. const play = page.locator('.playButton').first(); - if (!checkThat(`${mech.name}: the mechanism plays`, !(await play.isDisabled()))) continue; + const offered = (await play.count()) === 1 && !(await play.isDisabled()); + if ( + !checkThat( + `${mech.name}: the mechanism plays`, + offered, + offered + ? '' + : ( + (await page + .locator('app-analysis-setup') + .innerText() + .catch(() => '')) || 'no transport, no setup drawer' + ) + .replace(/\s+/g, ' ') + .slice(0, 200) + ) + ) { + continue; + } await play.click(); const frames = []; diff --git a/e2e/phase4-gestures.mjs b/e2e/phase4-gestures.mjs index 2c23c60d..2ebfa388 100644 --- a/e2e/phase4-gestures.mjs +++ b/e2e/phase4-gestures.mjs @@ -401,7 +401,9 @@ console.log('\nhostile input'); // dozens of invalid-SVG errors. The pattern used an unescaped dot, so "1x2" // validated and Number() turned it into NaN. await load(FOUR_BAR); -await page.getByText('Settings', { exact: true }).first().click(); +// Settings is a project-menu entry now, so the hamburger opens first. +await page.locator('.topStrip .iconButton').first().click(); +await page.locator('.projectMenu .menuItem', { hasText: 'Settings' }).click(); await page.waitForTimeout(900); const scaleField = page.locator('app-settings-panel input').first(); let scaleOk = true; diff --git a/e2e/template-graphs.mjs b/e2e/template-graphs.mjs index d809d1c0..0511670a 100644 --- a/e2e/template-graphs.mjs +++ b/e2e/template-graphs.mjs @@ -445,14 +445,15 @@ for (const id of IDS) { } notes.push(`joints ${moving.join(',')}`); - // Open Analyze once; the expansion state survives changing the selection. + // Open the Kinematic mode once; the expansion state survives changing the + // selection. await selectJoint(moving[0]); const analyzeOpen = await page .locator('app-analysis-panel #analysisWrapper') .first() .isVisible() .catch(() => false); - if (!analyzeOpen) await page.locator('button.leftButton').nth(2).click(); + if (!analyzeOpen) await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); await page.waitForTimeout(900); await openKinematicRows(); diff --git a/e2e/template-thumbnails.mjs b/e2e/template-thumbnails.mjs index 64080cbd..adbdd136 100644 --- a/e2e/template-thumbnails.mjs +++ b/e2e/template-thumbnails.mjs @@ -144,7 +144,8 @@ for (const { id, payload } of libraryTemplates()) { // nothing. await page.addStyleTag({ content: - 'app-toolbar, app-bottombar, app-left-tabs, app-right-panel { display: none !important }', + 'app-top-bar, app-bottombar, app-left-tabs, app-right-panel, app-playback-bar,' + + ' app-view-controls { display: none !important }', }); await page.waitForTimeout(800); diff --git a/src/app/component/bottombar/bottombar.component.scss b/src/app/component/bottombar/bottombar.component.scss index b3813c6e..4af94620 100644 --- a/src/app/component/bottombar/bottombar.component.scss +++ b/src/app/component/bottombar/bottombar.component.scss @@ -48,5 +48,15 @@ .version { white-space: nowrap; } + + // On a phone the version and the units are the first things to go: the + // mode and what it means for the mechanism are the reason this strip + // exists. + @media (max-width: 720px) { + .units, + .version { + display: none; + } + } } } diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss index 210fa3c7..3e6bef42 100644 --- a/src/app/component/top-bar/top-bar.component.scss +++ b/src/app/component/top-bar/top-bar.component.scss @@ -283,4 +283,47 @@ display: none; } } + + // A phone cannot hold four modes and a history card across one line. Rather + // than let the strip run off the edge -- which put two of the four modes + // somewhere unreachable, with the page scrolling sideways to prove it -- the + // tab card scrolls on its own and the chips go, since the status they carry + // is also on the status strip. + @media (max-width: 720px) { + .topStrip { + gap: 6px; + + .tabCard { + flex: 1 1 auto; + overflow-x: auto; + overflow-y: hidden; + scrollbar-width: none; + } + + .tabCard::-webkit-scrollbar { + display: none; + } + + .historyCard { + gap: 2px; + padding: 0 4px; + } + } + + .tabButton { + padding: 0 10px; + + .chip { + display: none; + } + } + + .modeDivider { + margin: 0 4px; + } + + .historyButton { + padding: 0 8px; + } + } } diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index f1454e4c..303fcd8f 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -2611,9 +2611,24 @@ export class MechanismService { const sampleCount = this.masterMechanism()?.joints.length ?? 0; progress = Math.min(Math.max(progress, 0), Math.max(sampleCount - 1, 0)); - // Set the step before announcing it: subscribers read the drawn time back off - // the service, so it has to be current by the time they are notified. + // Set the step *and the running flag* before announcing it: subscribers + // read the drawn time back off the service, so both have to be current by + // the time they are notified. + // + // The flag used to be applied twenty lines further down, which meant a + // caller stopping playback -- leaving an analysis mode does exactly that, + // with animate(0, false) -- notified its subscribers while the service + // still believed it was playing. currentTimeSeconds() then answered with + // the playback clock instead of the time of sample zero, and the readout + // kept showing the time the mechanism had been left at while the mechanism + // itself had rewound. this.mechanismTimeStep = progress; + if (animationState !== undefined) { + AnimationBarComponent.animate = animationState; + if (!animationState) { + this.playbackTimeSeconds = this.timeAtStep(progress); + } + } this.onMechPositionChange.next(progress); // Paths are drawn whenever there is a solved cycle to draw them from, // including at rest. @@ -2628,9 +2643,6 @@ export class MechanismService { // hiding it until the user presses play is hiding the thing they just // switched on. this.showPathHolder = this.oneValidMechanismExists(); - if (animationState !== undefined) { - AnimationBarComponent.animate = animationState; - } if (sampleCount === 0 || this.masterMechanism()!.joints[progress].length === 0) { this.playbackClockMs = null; return; From 2283700a652f17941215608814f4ddc521d563ba Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 04:36:27 -0400 Subject: [PATCH 018/236] Give the playback flag back to the service that owns playback `AnimationBarComponent.animate` outlived the component's own rendering by a whole redesign: the bar stopped being drawn when the mode rail went, but its static remained the app's answer to "is the mechanism moving", so anything needing to know had to import a piece of chrome to ask, and app.module still declared a component that appeared nowhere. The flag is now `MechanismService.isPlaying`, and the bar, its template, its stylesheet and its spec are gone. Two specs had used the static precisely because it needed no instance -- one read it before its service existed, the other reset it from a scope that had none. Each test builds its own service now, so there is nothing global left to restore. --- src/app/app.module.ts | 2 - .../animation-bar.component.html | 68 ------- .../animation-bar.component.scss | 121 ------------ .../animation-bar.component.spec.ts | 75 ------- .../animation-bar/animation-bar.component.ts | 186 ------------------ .../edit-panel/edit-panel.component.ts | 3 +- .../component/new-grid/new-grid.component.ts | 5 +- .../playback-bar/playback-bar.component.ts | 17 +- src/app/services/mechanism.service.ts | 36 ++-- .../services/url-processor.service.spec.ts | 7 +- src/mytheme.scss | 2 - .../verification/time-based-playback.spec.ts | 26 +-- src/tests/verification/traced-paths.spec.ts | 5 +- 13 files changed, 50 insertions(+), 503 deletions(-) delete mode 100644 src/app/component/animation-bar/animation-bar.component.html delete mode 100644 src/app/component/animation-bar/animation-bar.component.scss delete mode 100644 src/app/component/animation-bar/animation-bar.component.spec.ts delete mode 100644 src/app/component/animation-bar/animation-bar.component.ts diff --git a/src/app/app.module.ts b/src/app/app.module.ts index f787a310..f7206265 100644 --- a/src/app/app.module.ts +++ b/src/app/app.module.ts @@ -7,7 +7,6 @@ import { LinkageTableComponent } from './component/linkage-table/linkage-table.c import { TopBarComponent } from './component/top-bar/top-bar.component'; import { AnalysisSetupComponent } from './component/analysis-setup/analysis-setup.component'; import { PlaybackBarComponent } from './component/playback-bar/playback-bar.component'; -import { AnimationBarComponent } from './component/animation-bar/animation-bar.component'; import { ViewControlsComponent } from './component/view-controls/view-controls.component'; import { ShapeSelectorComponent } from './component/shape-selector/shape-selector.component'; import { FormsModule } from '@angular/forms'; @@ -60,7 +59,6 @@ import { BottombarComponent } from './component/bottombar/bottombar.component'; TopBarComponent, AnalysisSetupComponent, PlaybackBarComponent, - AnimationBarComponent, ViewControlsComponent, ShapeSelectorComponent, LeftTabsComponent, diff --git a/src/app/component/animation-bar/animation-bar.component.html b/src/app/component/animation-bar/animation-bar.component.html deleted file mode 100644 index 13faf2f0..00000000 --- a/src/app/component/animation-bar/animation-bar.component.html +++ /dev/null @@ -1,68 +0,0 @@ -
- @if (!this.getStaticAnimating()) { - - } @else { - - } - - -
- - - -
- - -
- -
-
diff --git a/src/app/component/animation-bar/animation-bar.component.scss b/src/app/component/animation-bar/animation-bar.component.scss deleted file mode 100644 index 5b37c14e..00000000 --- a/src/app/component/animation-bar/animation-bar.component.scss +++ /dev/null @@ -1,121 +0,0 @@ -@use 'sass:map'; -@use '@angular/material' as mat; - -@mixin css($theme) { - $color-config: mat.m2-get-color-config($theme); - $primary-palette: map.get($color-config, 'primary'); - $typography-config: mat.m2-get-typography-config($theme); - - .playbackControls { - display: flex; - flex-direction: column; - align-items: stretch; - width: 100%; - gap: 8px; - // No side padding: the parent .tabTools already provides the 8px gutter, so - // the play/speed/slider/time controls share the buttons' left and right edge. - padding: 4px 0 0; - - .playButton, - .speedButton { - min-width: 0; - height: 34px; - padding: 0; - line-height: 34px; - } - - // Material fills this at primary 500; the selected segmented-control toggles - // use primary 400, so match them and keep one blue across the UI. - .playButton.mat-mdc-unelevated-button { - background-color: mat.m2-get-color-from-palette($primary-palette, 400); - } - - .playButton .mat-icon { - margin: 0; - height: 22px; - width: 22px; - font-size: 22px; - line-height: 22px; - } - - .speedButton { - background-color: white; - border-color: mat.m2-get-color-from-palette($primary-palette, 100) !important; - font-weight: bold; - font-size: 16px; - } - - // Material has no vertical slider, so the horizontal one is rotated inside a - // narrow wrapper. Absolute positioning keeps the pre-rotation width from - // dictating the column width. Extra vertical padding keeps the thumb's hover - // halo from overlapping the speed button above or the time field below. - .verticalSlider { - position: relative; - width: 100%; - // The rotated thumb's hover halo (~24px radius) overhangs each end of the - // track, so the box is padded top and bottom to keep it clear of the speed - // button above and the time field below. - height: 176px; - margin: 18px 0 16px; - - mat-slider { - position: absolute; - top: 50%; - left: 50%; - width: 176px; - margin: 0; - transform: translate(-50%, -50%) rotate(90deg); - } - - // The rail needs ~728px to show the analyze controls plus the view - // controls; below that the tall scrubber is dropped first so play/speed, - // the time field, and the view controls stay visible. The pill re-measures - // on resize (see the component). - @media (max-height: 735px) { - display: none; - } - } - - #timeInputWrapper { - display: flex; - align-items: center; - justify-content: center; - width: 100%; - } - - /* Chrome, Safari, Edge, Opera */ - input::-webkit-outer-spin-button, - input::-webkit-inner-spin-button { - -webkit-appearance: none; - margin: 0; - } - - // The time field mirrors the standard input-block: light fill, accent - // underline on focus. It shares the play/speed buttons' full rail width so a - // long value ("228.33 s" at a slow input speed) has room; border-box keeps the - // padding inside that width rather than widening it past the buttons. - #animationBar-input { - @include mat.m2-typography-level($typography-config, 'body-2'); - box-sizing: border-box; - height: 30px; - line-height: 30px; - width: 100%; - border: 0; - outline: none; - text-align: left; - background-color: #f0f1f5; - border-radius: var(--border-radius); - padding: 0 8px; - - // The focus underline is an inset shadow, not a border, so it adds no box - // height — the number stays put instead of nudging up, matching the - // Material fields whose underline is drawn separately from the text box. - // Square the bottom corners on focus so the line reads as a flat underline - // rather than curving in at the ends. Radius is visual only, so no shift. - &:focus { - box-shadow: inset 0 -2px 0 0 mat.m2-get-color-from-palette($primary-palette, 500); - border-radius: var(--border-radius) var(--border-radius) 0 0; - } - } - } -} diff --git a/src/app/component/animation-bar/animation-bar.component.spec.ts b/src/app/component/animation-bar/animation-bar.component.spec.ts deleted file mode 100644 index f86a4ab8..00000000 --- a/src/app/component/animation-bar/animation-bar.component.spec.ts +++ /dev/null @@ -1,75 +0,0 @@ -import { BehaviorSubject } from 'rxjs'; -import { SettingsService } from '../../services/settings.service'; -import { MechanismService } from '../../services/mechanism.service'; -import { NumberUnitParserService } from '../../services/number-unit-parser.service'; -import { AnimationBarComponent } from './animation-bar.component'; - -describe('AnimationBarComponent timestamps', () => { - function makeComponent(mechanismTimeStep = 0) { - const position = new BehaviorSubject(0); - const animate = vi.fn(); - // Real prototype over stub data: the component delegates its time lookups to the - // service, so the service's own lookup logic has to run for these to mean anything. - const mechanismService = Object.assign(Object.create(MechanismService.prototype), { - // isMechanismValid, because the shared clock now follows the longest - // *running* cycle: with several machines in a drawing, one that cannot - // solve must not be the thing the scrubber is measured against. - mechanisms: [ - { - timeNum: [0, 0.2, 0.55], - joints: [[], [], []], - cyclePeriod: 0.55, - isMechanismValid: () => true, - }, - ], - mechanismTimeStep, - onMechPositionChange: position, - animate, - }) as any; - const component = new AnimationBarComponent( - mechanismService, - new SettingsService(), - new NumberUnitParserService() - ); - AnimationBarComponent.animate = false; - component.ngOnInit(); - return { component, position, animate, mechanismService }; - } - - it('displays and seeks using mechanism time instead of a fixed sample rate', () => { - const { component, position, mechanismService } = makeComponent(); - - // animate() sets the step before announcing it, and the component reads the - // drawn time back off the service rather than trusting the emitted index. - mechanismService.mechanismTimeStep = 1; - position.next(1); - // The value carries its own unit, like every other input. - expect(component.timestepDisplay).toBe('0.20 s'); - expect(component.maxTime()).toBe(0.55); - expect(component.nearestTimeStep(0.5)).toBe(2); - }); - - it('parses a unit-bearing time entry and snaps to the nearest step', () => { - const { component, animate, mechanismService } = makeComponent(); - - component.timestepDisplay = '0.5 s'; - mechanismService.mechanismTimeStep = 2; - component.onNewTimeSubmit(); - - expect(animate).toHaveBeenCalledWith(2, false); - // The field is rewritten with the resolved value the mechanism landed on. - expect(component.timestepDisplay).toBe('0.55 s'); - }); - - it('clamps an out-of-range entry back into the motion window', () => { - const { component, animate } = makeComponent(); - - component.timestepDisplay = '9 s'; - component.onNewTimeSubmit(); - expect(animate).toHaveBeenCalledWith(2, false); - - component.timestepDisplay = '-4 s'; - component.onNewTimeSubmit(); - expect(animate).toHaveBeenLastCalledWith(0, false); - }); -}); diff --git a/src/app/component/animation-bar/animation-bar.component.ts b/src/app/component/animation-bar/animation-bar.component.ts deleted file mode 100644 index f4cbf84b..00000000 --- a/src/app/component/animation-bar/animation-bar.component.ts +++ /dev/null @@ -1,186 +0,0 @@ -import { - AfterViewInit, - Component, - OnDestroy, - OnInit, - ChangeDetectionStrategy, -} from '@angular/core'; -// import {switchMapTo} from "rxjs"; -import { MechanismService } from '../../services/mechanism.service'; -import { SettingsService } from '../../services/settings.service'; -import { NumberUnitParserService } from '../../services/number-unit-parser.service'; -import { TimeUnit } from '../../model/utils'; -import { Subscription } from 'rxjs'; - -@Component({ - selector: 'app-animation-bar', - templateUrl: './animation-bar.component.html', - styleUrls: ['./animation-bar.component.scss'], - changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, -}) -export class AnimationBarComponent implements OnInit, AfterViewInit, OnDestroy { - userIsDragging: boolean = false; - - wasAnimating: boolean = false; - - static animate: boolean = false; - - static playButton: HTMLInputElement; - static pauseButton: HTMLInputElement; - static slider: HTMLInputElement; - static sliderContainer: HTMLInputElement; - static adjustAnimation: boolean; - - timestepDisplay: string = this.formatTime(0); - private positionSub?: Subscription; - - constructor( - public mechanismService: MechanismService, - public settingsService: SettingsService, - private nup: NumberUnitParserService - ) {} - - ngOnInit(): void { - //Subscribte to the emitter inside mechanismStateService - this.positionSub = this.mechanismService.onMechPositionChange.subscribe(() => { - // Playback sits between samples, so read the drawn time rather than the - // time of the sample it was blended from. - this.timestepDisplay = this.formatTime(this.mechanismService.currentTimeSeconds()); - }); - } - - private formatTime(seconds: number): string { - return this.nup.formatValueAndUnit(seconds, TimeUnit.SECOND); - } - - // The bar is created and destroyed each time the Analyze tab opens. - ngOnDestroy(): void { - this.positionSub?.unsubscribe(); - } - - ngAfterViewInit() { - AnimationBarComponent.playButton = document.getElementById('playBtn'); - AnimationBarComponent.pauseButton = document.getElementById('pauseBtn'); - AnimationBarComponent.slider = document.getElementById('slider'); - AnimationBarComponent.sliderContainer = ( - document.getElementById('sliderContainer') - ); - } - - onNewTimeSubmit() { - const [success, requested] = this.nup.parseTimeString(this.timestepDisplay, TimeUnit.SECOND); - const clamped = Math.min(Math.max(success ? requested : 0, 0), this.maxTime()); - this.mechanismService.animate(this.nearestTimeStep(clamped), AnimationBarComponent.animate); - - if (this.mechanismService.mechanismTimeStep !== 0) { - this.settingsService.animating.next(true); - } else { - this.settingsService.animating.next(false); - } - // Re-show the resolved, unit-formatted value the mechanism actually landed on. - this.timestepDisplay = this.formatTime( - this.timeAtStep(this.mechanismService.mechanismTimeStep) - ); - } - - maxTimeSteps() { - // The shared scrubber spans the longest running cycle in the drawing; a - // machine with a shorter one wraps inside it. - const master = this.mechanismService.masterMechanism(); - return master ? master.joints.length - 1 : 0; - } - - maxTime(): number { - return this.mechanismService.cyclePeriod(); - } - - timeAtStep(index: number): number { - return this.mechanismService.timeAtStep(index); - } - - nearestTimeStep(timeSeconds: number): number { - return this.mechanismService.stepAtTime(timeSeconds); - } - - // onDirectionChange() { - // AnimationBarComponent.direction = AnimationBarComponent.direction === 'ccw' ? 'cw' : 'ccw'; - // ToolbarComponent.clockwise = AnimationBarComponent.direction === 'cw'; - // this.mechanismService.updateMechanism(); - // } - // - // getDirection() { - // return AnimationBarComponent.direction; - // } - startAnimation(state: string) { - // console.log('startAnimation ' + state); - switch (state) { - case 'pause': - AnimationBarComponent.animate = false; - this.mechanismService.animate( - this.mechanismService.mechanismTimeStep, - AnimationBarComponent.animate - ); - break; - case 'play': - AnimationBarComponent.animate = true; - this.mechanismService.animate( - this.mechanismService.mechanismTimeStep, - AnimationBarComponent.animate - ); - break; - } - if (this.mechanismService.mechanismTimeStep !== 0) { - this.settingsService.animating.next(true); - } else { - this.settingsService.animating.next(false); - } - } - - invalidMechanism() { - return !this.mechanismService.oneValidMechanismExists(); - } - - handleSpeedChange() { - // 1x plays back in real time: one revolution takes 60/RPM seconds. The other - // stops are explicit fast-forwards for slow input speeds. - const rates = [1, 2, 4]; - const next = rates.indexOf(this.mechanismService.animationSpeedMultiplier) + 1; - this.mechanismService.animationSpeedMultiplier = rates[next % rates.length]; - } - - sliderDown() { - // console.log('slider down'); - this.userIsDragging = true; - this.wasAnimating = AnimationBarComponent.animate; - this.startAnimation('pause'); - setTimeout(() => { - this.sliderChange(); - }, 0); - } - - sliderUp() { - // console.log('slider up'); - this.userIsDragging = false; - if (this.wasAnimating) this.startAnimation('play'); - } - - sliderChange() { - if (this.userIsDragging) { - // console.log('real slider change'); - this.mechanismService.animate( - Number(AnimationBarComponent.slider.value), - AnimationBarComponent.animate - ); - } - if (this.mechanismService.mechanismTimeStep !== 0) { - this.settingsService.animating.next(true); - } else { - this.settingsService.animating.next(false); - } - } - - getStaticAnimating() { - return AnimationBarComponent.animate; - } -} diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index 96704c3c..bb097e35 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -20,7 +20,6 @@ import { LengthUnit, MassUnit, } from 'src/app/model/utils'; -import { AnimationBarComponent } from '../animation-bar/animation-bar.component'; import { NumberUnitParserService } from 'src/app/services/number-unit-parser.service'; import { SettingsService } from '../../services/settings.service'; import { MechanismService } from '../../services/mechanism.service'; @@ -72,7 +71,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { }; hideEditPanel() { - return AnimationBarComponent.animate || this.mechanismService.mechanismTimeStep !== 0; + return this.mechanismService.isPlaying || this.mechanismService.mechanismTimeStep !== 0; } /** Unit choices for the Input Speed field's inline picker. */ diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index a5ebd486..dadffd54 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -37,7 +37,6 @@ import { import { Force } from '../../model/force'; import { PositionSolver } from '../../model/mechanism/position-solver'; import { MatSnackBar } from '@angular/material/snack-bar'; -import { AnimationBarComponent } from '../animation-bar/animation-bar.component'; import { animate, style, transition, trigger } from '@angular/animations'; import { MatMenuTrigger } from '@angular/material/menu'; import { CdkContextMenuTrigger, Menu } from '@angular/cdk/menu'; @@ -1239,7 +1238,7 @@ export class NewGridComponent implements OnDestroy { * are derived from it, so a change made anywhere else has nothing to write to. */ private canEditNow(): boolean { - if (AnimationBarComponent.animate) { + if (this.mechanismSrv.isPlaying) { this.sendNotification(CANNOT_EDIT.animating); return false; } @@ -1544,7 +1543,7 @@ export class NewGridComponent implements OnDestroy { return; } - if (AnimationBarComponent.animate == true) { + if (this.mechanismSrv.isPlaying == true) { this.sendNotification(CANNOT_EDIT.animating); this.cMenuItems = []; return; diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index 3689c795..eb3d34f7 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -8,7 +8,6 @@ import { SelectedTabService } from '../../selected-tab.service'; import { TimeUnit } from '../../model/utils'; import { Mechanism } from '../../model/mechanism/mechanism'; import { RealJoint } from '../../model/joint'; -import { AnimationBarComponent } from '../animation-bar/animation-bar.component'; /** One machine's line in the transport. */ export interface PlaybackRow { @@ -78,7 +77,7 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { } get playing(): boolean { - return AnimationBarComponent.animate; + return this.mechanism.isPlaying; } get canPlay(): boolean { @@ -160,8 +159,8 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { play(): void { if (!this.canPlay) return; - AnimationBarComponent.animate = !AnimationBarComponent.animate; - this.mechanism.animate(this.mechanism.mechanismTimeStep, AnimationBarComponent.animate); + this.mechanism.isPlaying = !this.mechanism.isPlaying; + this.mechanism.animate(this.mechanism.mechanismTimeStep, this.mechanism.isPlaying); this.settings.animating.next(this.mechanism.mechanismTimeStep !== 0); } @@ -189,28 +188,28 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { onScrubDown(): void { this.dragging = true; - this.wasAnimating = AnimationBarComponent.animate; - AnimationBarComponent.animate = false; + this.wasAnimating = this.mechanism.isPlaying; + this.mechanism.isPlaying = false; } onScrubUp(): void { this.dragging = false; if (this.wasAnimating) { - AnimationBarComponent.animate = true; + this.mechanism.isPlaying = true; this.mechanism.animate(this.mechanism.mechanismTimeStep, true); } } onScrub(event: Event): void { const value = Number((event.target as HTMLInputElement).value); - this.mechanism.animate(value, AnimationBarComponent.animate); + this.mechanism.animate(value, this.mechanism.isPlaying); this.settings.animating.next(value !== 0); } onTimeSubmit(): void { const [ok, requested] = this.nup.parseTimeString(this.timeDisplay, TimeUnit.SECOND); const clamped = Math.min(Math.max(ok ? requested : 0, 0), this.mechanism.cyclePeriod()); - this.mechanism.animate(this.mechanism.stepAtTime(clamped), AnimationBarComponent.animate); + this.mechanism.animate(this.mechanism.stepAtTime(clamped), this.mechanism.isPlaying); this.timeDisplay = this.format(this.mechanism.currentTimeSeconds()); } } diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 303fcd8f..683930d5 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -48,7 +48,6 @@ import { import { BehaviorSubject, connect, Subject } from 'rxjs'; import { GridUtilsService } from './grid-utils.service'; import { ActiveObjService } from './active-obj.service'; -import { AnimationBarComponent } from '../component/animation-bar/animation-bar.component'; import { NewGridComponent } from '../component/new-grid/new-grid.component'; import { canDrive, describeActuator } from '../model/actuator'; import { SettingsService } from './settings.service'; @@ -79,6 +78,15 @@ function blendAngle(from: number, to: number, blend: number): number { }) export class MechanismService { public mechanismTimeStep: number = 0; + /** + * Is the animation running? + * + * On the service that owns playback. It used to be a static on the animation + * bar, which was a component: the flag outlived the bar's own rendering by a + * whole redesign, and every part of the app that needed to know whether the + * mechanism was moving had to import a piece of chrome to ask. + */ + public isPlaying: boolean = false; /** Playback rate relative to real time. 1 means one simulated second per second. */ public animationSpeedMultiplier: number = 1; public joints: Joint[] = []; @@ -470,7 +478,7 @@ export class MechanismService { return; } const wrapped = this.wrapTime(seconds); - this.animate(this.stepAtTime(wrapped), AnimationBarComponent.animate); + this.animate(this.stepAtTime(wrapped), this.isPlaying); // animate() treats any external call as a seek and snaps its clock to the // sample, so restore the sub-sample fraction afterwards — playback resumes // from exactly the held time, not the nearest sample. @@ -2588,9 +2596,7 @@ export class MechanismService { * it was blended from. */ currentTimeSeconds(): number { - return AnimationBarComponent.animate - ? this.playbackTimeSeconds - : this.timeAtStep(this.mechanismTimeStep); + return this.isPlaying ? this.playbackTimeSeconds : this.timeAtStep(this.mechanismTimeStep); } /** Fold a time back into [0, period) so playback and re-seeks loop cleanly. */ @@ -2624,7 +2630,7 @@ export class MechanismService { // itself had rewound. this.mechanismTimeStep = progress; if (animationState !== undefined) { - AnimationBarComponent.animate = animationState; + this.isPlaying = animationState; if (!animationState) { this.playbackTimeSeconds = this.timeAtStep(progress); } @@ -2654,7 +2660,7 @@ export class MechanismService { // between the two. this.applyPose(progress, this.blendToNextSample(progress)); - if (!AnimationBarComponent.animate) { + if (!this.isPlaying) { this.playbackClockMs = null; return; } @@ -2802,7 +2808,7 @@ export class MechanismService { * zero, and that combination used to answer yes. */ private atStartPose(): boolean { - if (AnimationBarComponent.animate) { + if (this.isPlaying) { return false; } if (!this.syncMechanisms && this.ownSeconds.some((seconds) => seconds !== 0)) { @@ -2889,7 +2895,7 @@ export class MechanismService { * many samples the cycle was solved into. */ private advancePlayback() { - if (!AnimationBarComponent.animate) { + if (!this.isPlaying) { this.playbackClockMs = null; return; } @@ -2937,20 +2943,20 @@ export class MechanismService { /** Put one machine at a time in its own cycle. Only meaningful while unsynced. */ seekMechanism(index: number, seconds: number): void { this.ownSeconds[index] = seconds; - this.animate(this.mechanismTimeStep, AnimationBarComponent.animate); + this.animate(this.mechanismTimeStep, this.isPlaying); } isMechanismPlaying(index: number): boolean { - return this.syncMechanisms ? AnimationBarComponent.animate : !!this.ownPlaying[index]; + return this.syncMechanisms ? this.isPlaying : !!this.ownPlaying[index]; } toggleMechanismPlaying(index: number): void { this.ownPlaying[index] = !this.ownPlaying[index]; // The frame loop is shared, so it has to be running for any machine to move. if (this.ownPlaying.some(Boolean)) { - AnimationBarComponent.animate = true; + this.isPlaying = true; } - this.animate(this.mechanismTimeStep, AnimationBarComponent.animate); + this.animate(this.mechanismTimeStep, this.isPlaying); } /** @@ -2966,10 +2972,10 @@ export class MechanismService { } if (!sync) { this.ownSeconds = this.mechanisms.map((_, index) => this.secondsOf(index)); - this.ownPlaying = this.mechanisms.map(() => AnimationBarComponent.animate); + this.ownPlaying = this.mechanisms.map(() => this.isPlaying); } this.syncMechanisms = sync; - this.animate(this.mechanismTimeStep, AnimationBarComponent.animate); + this.animate(this.mechanismTimeStep, this.isPlaying); } getJointCSSClass(joint: Joint) { diff --git a/src/app/services/url-processor.service.spec.ts b/src/app/services/url-processor.service.spec.ts index 6271a55b..a647b054 100644 --- a/src/app/services/url-processor.service.spec.ts +++ b/src/app/services/url-processor.service.spec.ts @@ -2,7 +2,6 @@ import { TestBed } from '@angular/core/testing'; import { AppModule } from '../app.module'; import { MechanismService } from './mechanism.service'; import { UrlProcessorService } from './url-processor.service'; -import { AnimationBarComponent } from '../component/animation-bar/animation-bar.component'; import { TEMPLATE_LINKAGES } from '../component/MODALS/templates/template-linkages'; /** @@ -39,7 +38,7 @@ describe('opening a linkage while another is animating', () => { // A static, so it outlives the TestBed and a spec that leaves it playing // fails whatever runs next. afterEach(() => { - AnimationBarComponent.animate = false; + mechanism.isPlaying = false; mechanism.animate(0, false); }); @@ -72,10 +71,10 @@ describe('opening a linkage while another is animating', () => { it('stops playback rather than running the new linkage on the old clock', () => { load(SHORT); mechanism.animate(40, true); - expect(AnimationBarComponent.animate).toBe(true); + expect(mechanism.isPlaying).toBe(true); load(LONG); - expect(AnimationBarComponent.animate).toBe(false); + expect(mechanism.isPlaying).toBe(false); expect(mechanism.mechanismTimeStep).toBe(0); }); }); diff --git a/src/mytheme.scss b/src/mytheme.scss index 3764537d..d6e22421 100644 --- a/src/mytheme.scss +++ b/src/mytheme.scss @@ -3,7 +3,6 @@ @use 'src/app/component/analysis-setup/analysis-setup.component.scss' as analysis-setup; @use 'src/app/component/playback-bar/playback-bar.component.scss' as playback-bar; @use 'src/app/component/left-tabs/left-tabs.component.scss' as left-tabs; -@use 'src/app/component/animation-bar/animation-bar.component.scss' as animation-bar; @use 'src/app/component/view-controls/view-controls.component.scss' as view-controls; @use 'app/component/BLOCKS/title/title.component.scss' as title-block; @use 'src/app/component/edit-panel/edit-panel.component.scss' as edit-panel; @@ -84,7 +83,6 @@ $my-theme: mat.m2-define-light-theme( @include analysis-setup.css($my-theme); @include playback-bar.css($my-theme); @include left-tabs.css($my-theme); -@include animation-bar.css($my-theme); @include view-controls.css($my-theme); @include edit-panel.css($my-theme); @include analysis-panel.css($my-theme); diff --git a/src/tests/verification/time-based-playback.spec.ts b/src/tests/verification/time-based-playback.spec.ts index a3737591..d5fef02f 100644 --- a/src/tests/verification/time-based-playback.spec.ts +++ b/src/tests/verification/time-based-playback.spec.ts @@ -1,5 +1,4 @@ import { Injector } from '@angular/core'; -import { AnimationBarComponent } from '../../app/component/animation-bar/animation-bar.component'; import { ActiveObjService } from '../../app/services/active-obj.service'; import { ColorService } from '../../app/services/color.service'; import { GridUtilsService } from '../../app/services/grid-utils.service'; @@ -222,21 +221,22 @@ describe('Real-time playback', () => { }); afterEach(() => { - AnimationBarComponent.animate = false; + // Each test makes its own service, and playback is now that service's own + // state rather than a global, so there is nothing left to reset here. vi.restoreAllMocks(); vi.useRealTimers(); }); /** Play for `wallSeconds` of real time and report the crank angle reached. */ function playFor(service: MechanismService, wallSeconds: number): number { - AnimationBarComponent.animate = true; + service.isPlaying = true; service.animate(0, true); const frames = Math.round((wallSeconds * 1000) / 16); for (let frame = 0; frame < frames; frame++) { clockMs += 16; vi.advanceTimersByTime(16); } - AnimationBarComponent.animate = false; + service.isPlaying = false; return crankDegreesAt(service.mechanismTimeStep); } @@ -285,7 +285,7 @@ describe('Real-time playback', () => { // a 16 ms frame would leave the mechanism on the same sample ten frames running. setInputSpeed(service, settings, 1); - AnimationBarComponent.animate = true; + service.isPlaying = true; service.animate(0, true); const seen = new Set(); @@ -294,7 +294,7 @@ describe('Real-time playback', () => { vi.advanceTimersByTime(16); seen.add(service.joints.map((j) => `${j.x.toFixed(6)},${j.y.toFixed(6)}`).join('|')); } - AnimationBarComponent.animate = false; + service.isPlaying = false; // Every frame is a distinct pose even though they all sit on one sample. expect(service.mechanismTimeStep).toBe(0); @@ -308,7 +308,7 @@ describe('Real-time playback', () => { service.mechanisms[0].joints[0].map((j) => `${j.x.toFixed(9)},${j.y.toFixed(9)}`).join('|'); const original = startPose(); - AnimationBarComponent.animate = true; + service.isPlaying = true; service.animate(0, true); for (let frame = 0; frame < 4; frame++) { clockMs += 16; @@ -319,7 +319,7 @@ describe('Real-time playback', () => { expect(service.mechanismTimeStep).toBe(0); service.updateMechanism(); - AnimationBarComponent.animate = false; + service.isPlaying = false; expect(startPose()).toBe(original); }); @@ -328,11 +328,11 @@ describe('Real-time playback', () => { const { service, settings } = createLoadedService(); setInputSpeed(service, settings, 1); - AnimationBarComponent.animate = true; + service.isPlaying = true; service.animate(0, true); clockMs += 80; // land mid-sample, where the blend is largest vi.advanceTimersByTime(16); - AnimationBarComponent.animate = false; + service.isPlaying = false; // A rigid link's joint separation must survive interpolation, otherwise the // outline and the joints would drift apart on screen. @@ -353,7 +353,7 @@ describe('Real-time playback', () => { const { service, settings } = createLoadedService(); setInputSpeed(service, settings, 1); - AnimationBarComponent.animate = true; + service.isPlaying = true; service.animate(0, true); // The first frame only anchors the clock, so four frames advance 48 ms. for (let frame = 0; frame < 4; frame++) { @@ -362,7 +362,7 @@ describe('Real-time playback', () => { } const drawn = service.currentTimeSeconds(); - AnimationBarComponent.animate = false; + service.isPlaying = false; // 48 ms in, between sample 0 (t=0) and sample 1 (t=0.167 s). expect(drawn).toBeCloseTo(0.048, 3); @@ -373,7 +373,7 @@ describe('Real-time playback', () => { const { service, settings } = createLoadedService(); setInputSpeed(service, settings, 10); - AnimationBarComponent.animate = true; + service.isPlaying = true; service.animate(0, true); clockMs += 16; vi.advanceTimersByTime(16); diff --git a/src/tests/verification/traced-paths.spec.ts b/src/tests/verification/traced-paths.spec.ts index 9f55bf41..53c25bb6 100644 --- a/src/tests/verification/traced-paths.spec.ts +++ b/src/tests/verification/traced-paths.spec.ts @@ -5,7 +5,6 @@ import { TestBed } from '@angular/core/testing'; import { AppModule } from '../../app/app.module'; import { MechanismService } from '../../app/services/mechanism.service'; import { UrlProcessorService } from '../../app/services/url-processor.service'; -import { AnimationBarComponent } from '../../app/component/animation-bar/animation-bar.component'; import { fixturePayload } from '../../test-utils/verification/fixture-gallery'; import { cylinderBoomFixture } from '../../test-utils/verification/slot-fixtures'; @@ -20,7 +19,6 @@ import { cylinderBoomFixture } from '../../test-utils/verification/slot-fixtures */ describe('the traced path of a joint', () => { let mechanism: MechanismService; - const wasAnimating = AnimationBarComponent.animate; beforeEach(() => { TestBed.configureTestingModule({ imports: [AppModule] }); @@ -34,7 +32,8 @@ describe('the traced path of a joint', () => { }); afterEach(() => { - AnimationBarComponent.animate = wasAnimating; + // A fresh service per test now owns the flag, so nothing survives to reset. + mechanism.isPlaying = false; }); it('is drawn while the mechanism is parked at its start pose', () => { From 51f9ef023f86b1a34ed9369c26dc5eafca92f4f3 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 11:09:58 -0400 Subject: [PATCH 019/236] Take the design team's corrections to the chrome One scrubber per line. The transport card carried a master track *and* every row carried its own, which left the reader to work out which of the two they were being asked to believe. Synced, the machines move together and there is nothing to say about them separately, so the rows collapse to a single All line -- and a row shows a play button only when it is one of several being controlled apart, rather than sitting beside the transport's own button doing the same job. Row play is now the same filled indigo circle as the master, because it is the same control applied to one machine, not a different kind of thing. A reversing machine now runs its handle up the track and back down, which is what its drive does. Reading the handle off position in the sample array sent it round and round -- the samples go out and back as one cycle -- which is precisely what showing the reversal was meant to replace. The row says Reciprocating, and Reversing while it is actually going backwards. The view controls stop being pinned to a corner and join the bottom cluster in analysis, on the mock's animated flex spacer, so they glide across instead of jumping. They are icon-only squares now, which is the button vocabulary the rest of the floating UI uses. Undo and Redo are hidden in analysis rather than disabled: the geometry is locked, so there is nothing to undo. The history card sits beside the modes instead of at the far edge, so the three cards read as one group. The status strip gains the cursor and spells out the whole unit set rather than the length alone. The version leaves it for a footer row in Settings -- permanent furniture answering a question asked twice a year. Three e2e checks asserted the old contract and now assert the new one. --- e2e/left-nav-modes.mjs | 10 +- e2e/two-mechanisms.mjs | 25 ++- src/app/app.component.html | 1 - .../bottombar/bottombar.component.html | 6 +- .../bottombar/bottombar.component.scss | 7 +- .../bottombar/bottombar.component.ts | 43 +++++- .../component/new-grid/new-grid.component.ts | 2 + .../playback-bar/playback-bar.component.html | 93 ++++++------ .../playback-bar/playback-bar.component.scss | 92 +++--------- .../playback-bar/playback-bar.component.ts | 142 ++++++++++++++---- .../settings-panel.component.html | 8 + .../settings-panel.component.scss | 18 +++ .../settings-panel.component.ts | 3 + .../component/top-bar/top-bar.component.html | 28 ++-- .../component/top-bar/top-bar.component.scss | 41 ++++- .../view-controls.component.html | 80 +++++----- .../view-controls.component.scss | 61 +++++--- .../view-controls/view-controls.component.ts | 19 ++- src/app/services/svg-grid.service.ts | 8 + 19 files changed, 437 insertions(+), 250 deletions(-) diff --git a/e2e/left-nav-modes.mjs b/e2e/left-nav-modes.mjs index c596ff1a..9a3f9fe0 100644 --- a/e2e/left-nav-modes.mjs +++ b/e2e/left-nav-modes.mjs @@ -158,7 +158,7 @@ try { const kinematicHighlight = await highlighted(); record( 'the highlight settles exactly on Kinematic, not the mode before it', - kinematicHighlight?.label === 'Kinematic' && + kinematicHighlight?.label.startsWith('Kinematic') && Math.abs(kinematicHighlight.dLeft) <= 1 && Math.abs(kinematicHighlight.dWidth) <= 1, kinematicHighlight @@ -263,7 +263,9 @@ try { // the next click, so the pointer is parked away from them between presses. const restCursor = () => page.mouse.move(700, 450); const comMarks = () => page.locator('#comTagHolder path').count(); - const comButton = page.locator('.viewControls .mini-buttons', { hasText: 'CoM' }); + // Icon-only squares now, so they are addressed by what they are for rather + // than by a word that is no longer printed on them. + const comButton = page.locator('.viewControls .viewButton[aria-label="Show Center of Mass"]'); const comBefore = await comMarks(); await comButton.click(); await page.waitForTimeout(500); @@ -275,10 +277,10 @@ try { await comButton.click(); await page.waitForTimeout(300); await restCursor(); - await page.locator('.viewControls .mini-buttons', { hasText: 'View' }).click(); + await page.locator('.viewControls .viewButton[aria-label="Reset View"]').click(); await page.waitForTimeout(600); await restCursor(); - await page.locator('.zoomButton').first().click(); + await page.locator('.viewControls .viewButton[aria-label="Zoom In"]').click(); await page.waitForTimeout(400); record('the CoM marks come off again', (await comMarks()) === 0); await shot('05-view-controls.png'); diff --git a/e2e/two-mechanisms.mjs b/e2e/two-mechanisms.mjs index cd49a56b..b3a7f0b6 100644 --- a/e2e/two-mechanisms.mjs +++ b/e2e/two-mechanisms.mjs @@ -101,17 +101,32 @@ record( await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); await page.waitForTimeout(900); -record('the transport lists both', (await page.locator('.mechRow').count()) === 2, { - rows: await page.locator('.mechRows').innerText(), -}); +// Synced, the machines move together and there is nothing to say about them +// separately, so the transport collapses to one line for all of them. +record( + 'synced, the transport shows one line for all of them', + (await page.locator('.mechRow').count()) === 1, + { + rows: await page.locator('.mechRows').innerText(), + } +); +record( + 'with no row play beside the transport play', + (await page.locator('.rowPlay').count()) === 0 +); record('and offers to unsync them', (await page.locator('.syncToggle').count()) === 1); // --- unsyncing gives each its own clock ------------------------------------- await page.locator('.syncToggle').click(); await page.waitForTimeout(500); +record('unsynced, the transport lists both', (await page.locator('.mechRow').count()) === 2, { + rows: await page.locator('.mechRows').innerText(), +}); +record('and each row gets its own play button', (await page.locator('.rowPlay').count()) === 2); record( - 'unsynced, each row gets its own play button', - (await page.locator('.rowPlay').count()) === 2 + 'one scrubber per line, never two for one motion', + (await page.locator('.rowScrubber').count()) === 2 && + (await page.locator('.scrubber').count()) === 0 ); const seconds = () => diff --git a/src/app/app.component.html b/src/app/app.component.html index 393b1974..49200fe8 100644 --- a/src/app/app.component.html +++ b/src/app/app.component.html @@ -4,7 +4,6 @@ - diff --git a/src/app/component/bottombar/bottombar.component.html b/src/app/component/bottombar/bottombar.component.html index 892b02da..327012f7 100644 --- a/src/app/component/bottombar/bottombar.component.html +++ b/src/app/component/bottombar/bottombar.component.html @@ -2,6 +2,8 @@ {{ modeName }} {{ status }} - Units: {{ humanReadableString(settings.globalUnit.getValue()) }} - PMKS+ Version {{ getVersion() }} + @if (cursor) { + Cursor: {{ cursor }} + } + Units: {{ unitSet }}
diff --git a/src/app/component/bottombar/bottombar.component.scss b/src/app/component/bottombar/bottombar.component.scss index 4af94620..40459350 100644 --- a/src/app/component/bottombar/bottombar.component.scss +++ b/src/app/component/bottombar/bottombar.component.scss @@ -36,6 +36,7 @@ } .status, + .cursor, .units { color: rgba(0, 0, 0, 0.55); white-space: nowrap; @@ -45,16 +46,12 @@ flex: 1 1 auto; } - .version { - white-space: nowrap; - } - // On a phone the version and the units are the first things to go: the // mode and what it means for the mechanism are the reason this strip // exists. @media (max-width: 720px) { .units, - .version { + .cursor { display: none; } } diff --git a/src/app/component/bottombar/bottombar.component.ts b/src/app/component/bottombar/bottombar.component.ts index a86f8d88..68d4b2c4 100644 --- a/src/app/component/bottombar/bottombar.component.ts +++ b/src/app/component/bottombar/bottombar.component.ts @@ -1,5 +1,8 @@ +import { SvgGridService } from '../../services/svg-grid.service'; +import { NumberUnitParserService } from '../../services/number-unit-parser.service'; +import { MODEL_SCALE } from '../../model/render-scale'; import { Component, ChangeDetectionStrategy } from '@angular/core'; -import { GlobalUnit } from '../../model/utils'; +import { AngleUnit, GlobalUnit } from '../../model/utils'; import { SettingsService } from '../../services/settings.service'; import { MechanismService } from '../../services/mechanism.service'; import { environment } from '../../../environments/environment'; @@ -16,7 +19,9 @@ export class BottombarComponent { constructor( public settings: SettingsService, public mechanismSrv: MechanismService, - private tabs: SelectedTabService + private tabs: SelectedTabService, + private svgGrid: SvgGridService, + private nup: NumberUnitParserService ) {} /** @@ -80,6 +85,40 @@ export class BottombarComponent { return each.length > 0 ? each.join(', ') : '—'; } + /** + * Where the cursor is, in the mechanism's own units. + * + * Absent until the pointer has been over the grid, because "0.00, 0.00" for a + * cursor that has never been anywhere is a reading of nothing. + */ + get cursor(): string { + const at = this.svgGrid.cursorAt; + if (!at) { + return ''; + } + const unit = this.nup.unitLabel(this.settings.lengthUnit.value); + const show = (value: number) => (value / MODEL_SCALE).toFixed(2); + return `${show(at.x)} ${unit}, ${show(at.y)} ${unit}`; + } + + /** + * The whole set of units in play, not just the length one. + * + * A mechanism is measured in four quantities and the strip has room to name + * them, so naming one and leaving the reader to infer the rest is a saving + * nobody asked for. + */ + get unitSet(): string { + const lengths: Record = { + [GlobalUnit.ENGLISH]: 'in, lbm, lbf', + [GlobalUnit.SI]: 'm, kg, N', + [GlobalUnit.METRIC]: 'cm, g, N', + }; + const base = lengths[this.settings.globalUnit.getValue()] ?? 'cm, g, N'; + const angle = this.settings.angleUnit.getValue() === AngleUnit.RADIAN ? 'radians' : 'degrees'; + return `${base}, ${angle}`; + } + humanReadableString(value: GlobalUnit) { switch (value) { case GlobalUnit.SI: diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index dadffd54..7f067421 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -1059,6 +1059,7 @@ export class NewGridComponent implements OnDestroy { this.originInScreen = this.svgGrid.SVGtoScreen(new Coord(0, 0)); this.mouseLocationRaw = new Coord($event.clientX, $event.clientY); this.mouseLocation = mousePosInSvg; + this.svgGrid.cursorAt = mousePosInSvg; this.dragState.notePointerMoved(); let deltaMouseX = this.mouseLocation.x - this.lastMouseLocation.x; @@ -1668,6 +1669,7 @@ export class NewGridComponent implements OnDestroy { const mousePosInSvg = this.svgGrid.screenToSVGfromXY($event.clientX, $event.clientY); this.mouseLocation = mousePosInSvg; + this.svgGrid.cursorAt = mousePosInSvg; // Where a link drag measures its offset from. Without anchoring it here the // first move would translate the link by the distance from whatever // unrelated pointer event came last — a jump on grab. diff --git a/src/app/component/playback-bar/playback-bar.component.html b/src/app/component/playback-bar/playback-bar.component.html index 5d562e80..5d569f92 100644 --- a/src/app/component/playback-bar/playback-bar.component.html +++ b/src/app/component/playback-bar/playback-bar.component.html @@ -1,5 +1,5 @@ -@if (tabs.isAnalysisMode()) { -
+
+ @if (tabs.isAnalysisMode()) {
- } -
@for (row of rows; track row.id) {
{{ row.id }} - @if (!synced) { - - } + {{ row.time }} - @if (row.reciprocating) { - reciprocating + @if (row.note) { + {{ row.note }} + } + @if (row.isMechanism) { + } -
-
}
@@ -79,6 +69,19 @@ #field /> + + @if (canSync) { + + }
-
-} + } + + +
+ + +
diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index a79b68fb..ff9c7e89 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -12,6 +12,19 @@ // Floats over the grid rather than sitting in a rail, and clears the status // strip beneath it. + .clusterSpacer { + flex-grow: 1; + flex-shrink: 0; + flex-basis: 0; + min-width: 0; + height: 1px; + transition: flex-grow 0.3s cubic-bezier(0.4, 0, 0.2, 1); + + &.analysis { + flex-grow: 0; + } + } + .playbackRow { position: absolute; left: 0; @@ -47,11 +60,11 @@ flex-direction: column; align-items: stretch; justify-content: center; - gap: 6px; + gap: 7px; min-height: 60px; - padding: 9px 14px; + padding: 9px 12px; flex: 0 1 470px; - min-width: 260px; + min-width: 250px; } .playButton { @@ -103,81 +116,10 @@ } } - .scrubber { - width: 100%; - margin: 0; - height: 4px; - accent-color: mat.m2-get-color-from-palette($primary-palette, 500); - cursor: pointer; - - &:disabled { - cursor: default; - } - } - - .syncToggle { - align-self: flex-start; - display: flex; - align-items: center; - gap: 6px; - height: 22px; - padding: 0 8px; - margin-bottom: 2px; - border: none; - border-radius: 6px; - background: transparent; - color: #5f6368; - font-family: inherit; - font-size: 12px; - cursor: pointer; - - mat-icon { - width: 17px; - height: 17px; - font-size: 17px; - line-height: 17px; - } - - &:hover { - background: rgba(0, 0, 0, 0.04); - } - } - - .rowPlay { - display: flex; - align-items: center; - justify-content: center; - width: 24px; - height: 24px; - flex: 0 0 auto; - border: none; - border-radius: 50%; - background: #eef1fc; - color: #3f51b5; - cursor: pointer; - padding: 0; - - mat-icon { - width: 18px; - height: 18px; - font-size: 18px; - line-height: 18px; - } - } - - .rowScrubber { - flex: 1 1 auto; - min-width: 60px; - margin: 0; - height: 3px; - accent-color: #3f51b5; - cursor: pointer; - } - .mechRows { display: flex; flex-direction: column; - gap: 2px; + gap: 7px; } .mechRow { diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index eb3d34f7..953dcb89 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -9,20 +9,30 @@ import { TimeUnit } from '../../model/utils'; import { Mechanism } from '../../model/mechanism/mechanism'; import { RealJoint } from '../../model/joint'; -/** One machine's line in the transport. */ +/** One line in the transport: a machine, or all of them together. */ export interface PlaybackRow { id: string; + /** -1 for the combined row, which stands for every machine at once. */ index: number; + /** Whether this line is one machine, and so has a direction to flip. */ + isMechanism: boolean; + /** The line the shared scrubber and the time field belong to. */ + master: boolean; /** Where this machine is in its own cycle, as text. */ time: string; - /** 0–1000, its own position within its own cycle. */ + /** + * 0–1000 along the track. + * + * For a machine that reverses this runs up and back down again, because the + * input does: it is the drive's position, not an index into the samples. + */ scrub: number; clockwise: boolean; - /** Out-and-back, rather than round and round. */ - reciprocating: boolean; + /** "Reciprocating", or "Reversing" while it is actually running backwards. */ + note: string; playing: boolean; - /** Seconds, for its own scrubber. */ - seconds: number; + /** Whether this line carries a play button of its own. */ + ownPlay: boolean; period: number; } @@ -98,31 +108,93 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { return this.mechanism.mechanismTimeStep; } - /** Only the machines that can run. */ + /** + * One line per machine that can run — or one line for all of them, synced. + * + * Synced, the machines move together and there is nothing to say about them + * separately, so they collapse to a single `All` row. A row carries a play + * button only when it is one of several being controlled apart; otherwise the + * transport's own button is the only one, and two buttons doing the same + * thing side by side is worse than one. + */ get rows(): PlaybackRow[] { - return this.mechanism.mechanisms + const runnable = this.mechanism.mechanisms .map((mechanism, index) => ({ mechanism, index })) - .filter(({ mechanism }) => mechanism.isMechanismValid()) - .map(({ mechanism, index }) => { - const period = mechanism.cyclePeriod || 1; - const local = this.mechanism.secondsOf(index); - return { - id: this.mechanism.partitions[index]?.id ?? `M${index + 1}`, - index, - time: this.format(local), - scrub: Math.round((local / period) * 1000), - clockwise: this.drivenSpeedOf(mechanism, index) < 0, - reciprocating: this.isReciprocating(mechanism), - playing: this.mechanism.isMechanismPlaying(index), - seconds: local, + .filter(({ mechanism }) => mechanism.isMechanismValid()); + + if (runnable.length === 0) { + return []; + } + + if (this.mechanism.syncMechanisms) { + const period = this.mechanism.cyclePeriod() || 1; + const now = this.mechanism.currentTimeSeconds(); + const lead = runnable[0]; + return [ + { + id: runnable.length === 1 ? (this.mechanism.partitions[lead.index]?.id ?? 'M1') : 'All', + index: runnable.length === 1 ? lead.index : -1, + isMechanism: runnable.length === 1, + master: true, + time: this.format(now), + scrub: this.trackPosition(lead.mechanism, now, period), + clockwise: this.drivenSpeedOf(lead.mechanism) < 0, + note: this.noteFor(lead.mechanism, now), + playing: this.playing, + ownPlay: false, period, - }; - }); + }, + ]; + } + + return runnable.map(({ mechanism, index }, position) => { + const period = mechanism.cyclePeriod || 1; + const local = this.mechanism.secondsOf(index); + return { + id: this.mechanism.partitions[index]?.id ?? `M${index + 1}`, + index, + isMechanism: true, + master: position === 0, + time: this.format(local), + scrub: this.trackPosition(mechanism, local, period), + clockwise: this.drivenSpeedOf(mechanism) < 0, + note: this.noteFor(mechanism, local), + playing: this.mechanism.isMechanismPlaying(index), + ownPlay: runnable.length > 1, + period, + }; + }); + } + + /** + * Where along the track to draw the handle. + * + * A machine that reverses runs the handle up and then back down, because its + * input does. Its samples go out to the limit and back as one cycle, so + * position in the sample array climbs the whole way through — reading the + * handle off that would send it round and round, which is the one thing the + * reversal was worth showing instead of. + */ + private trackPosition(mechanism: Mechanism, seconds: number, period: number): number { + const fraction = period > 0 ? Math.min(Math.max(seconds / period, 0), 1) : 0; + if (!this.isReciprocating(mechanism)) { + return Math.round(fraction * 1000); + } + return Math.round((fraction <= 0.5 ? fraction * 2 : (1 - fraction) * 2) * 1000); + } + + /** Say it reverses, and say when it is actually going backwards. */ + private noteFor(mechanism: Mechanism, seconds: number): string { + if (!this.isReciprocating(mechanism)) { + return ''; + } + const period = mechanism.cyclePeriod || 1; + return seconds / period > 0.5 ? 'Reversing' : 'Reciprocating'; } /** Only worth offering when there is more than one machine to get out of step. */ get canSync(): boolean { - return this.rows.length > 1; + return this.mechanism.mechanisms.filter((m) => m.isMechanismValid()).length > 1; } get synced(): boolean { @@ -137,8 +209,26 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { this.mechanism.toggleMechanismPlaying(row.index); } + /** + * Drag a row's handle without stopping the animation. + * + * The handle is the drive's position, so on a reversing machine the same + * place on the track means two different times — the way out and the way + * back. Dragging keeps whichever leg it was already on. + */ scrubRow(row: PlaybackRow, event: Event): void { - const fraction = Number((event.target as HTMLInputElement).value) / 1000; + const along = Number((event.target as HTMLInputElement).value) / 1000; + const source = + row.index === -1 ? this.mechanism.mechanisms[0] : this.mechanism.mechanisms[row.index]; + let fraction = along; + if (source && this.isReciprocating(source)) { + const wasReturning = this.mechanism.secondsOf(Math.max(row.index, 0)) / row.period > 0.5; + fraction = wasReturning ? 1 - along / 2 : along / 2; + } + if (row.index === -1) { + this.mechanism.animate(this.mechanism.stepAtTime(fraction * row.period), this.playing); + return; + } this.mechanism.seekMechanism(row.index, fraction * row.period); } @@ -153,7 +243,7 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { return speeds.some((speed) => speed > 0) && speeds.some((speed) => speed < 0); } - private drivenSpeedOf(mechanism: Mechanism, index: number): number { + private drivenSpeedOf(mechanism: Mechanism): number { return mechanism.inputAngularVelocities[0] ?? 0; } diff --git a/src/app/component/settings-panel/settings-panel.component.html b/src/app/component/settings-panel/settings-panel.component.html index d3938867..f49f71ab 100644 --- a/src/app/component/settings-panel/settings-panel.component.html +++ b/src/app/component/settings-panel/settings-panel.component.html @@ -55,4 +55,12 @@ > + + +
+ Version + PMKS+ {{ appVersion }} +
diff --git a/src/app/component/settings-panel/settings-panel.component.scss b/src/app/component/settings-panel/settings-panel.component.scss index 95b7ba64..70868589 100644 --- a/src/app/component/settings-panel/settings-panel.component.scss +++ b/src/app/component/settings-panel/settings-panel.component.scss @@ -17,4 +17,22 @@ gap: 10px; padding: 10px; } + + .versionRow { + display: flex; + align-items: center; + gap: 5px; + padding: 10px 15px 14px; + border-top: 1px solid #eceef5; + font-size: 13px; + } + + .versionLabel { + color: rgba(0, 0, 0, 0.45); + } + + .versionValue { + margin-left: auto; + color: rgba(0, 0, 0, 0.6); + } } diff --git a/src/app/component/settings-panel/settings-panel.component.ts b/src/app/component/settings-panel/settings-panel.component.ts index d643ba31..68054095 100644 --- a/src/app/component/settings-panel/settings-panel.component.ts +++ b/src/app/component/settings-panel/settings-panel.component.ts @@ -1,3 +1,4 @@ +import { environment } from '../../../environments/environment'; import { Component, ChangeDetectionStrategy, OnDestroy } from '@angular/core'; import { SettingsService } from 'src/app/services/settings.service'; import { LengthUnit, AngleUnit, ForceUnit, GlobalUnit } from 'src/app/model/utils'; @@ -18,6 +19,8 @@ import { MODEL_SCALE } from '../../model/render-scale'; standalone: false, }) export class SettingsPanelComponent implements OnDestroy { + readonly appVersion = environment.appVersion; + constructor( public settingsService: SettingsService, private fb: FormBuilder, diff --git a/src/app/component/top-bar/top-bar.component.html b/src/app/component/top-bar/top-bar.component.html index c14a1de2..9c9fed71 100644 --- a/src/app/component/top-bar/top-bar.component.html +++ b/src/app/component/top-bar/top-bar.component.html @@ -47,7 +47,8 @@ (click)="select(TabID.ANALYZE)" > query_stats - Kinematic + Kinematic Analysis + Kinematic {{ statusOf(TabID.ANALYZE).text }} @@ -60,7 +61,8 @@ (click)="select(TabID.FORCE)" > balance - Force + Force Analysis + Force {{ statusOf(TabID.FORCE).text }} @@ -68,16 +70,18 @@
-
- - -
+ @if (!tabs.isAnalysisMode()) { +
+ + +
+ }
@if (menuOpen) { diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss index 3e6bef42..a86301c1 100644 --- a/src/app/component/top-bar/top-bar.component.scss +++ b/src/app/component/top-bar/top-bar.component.scss @@ -37,14 +37,14 @@ } .brandCard { - gap: 8px; - padding: 0 12px 0 6px; + gap: 6px; + padding: 0 8px 0 6px; flex: 0 0 auto; white-space: nowrap; } .logo { - height: 30px; + height: 26px; width: auto; flex: 0 0 auto; display: block; @@ -59,11 +59,12 @@ overflow: hidden; } + // Beside the modes rather than pinned to the far edge, so the three cards + // read as one group instead of two things at opposite ends of the window. .historyCard { gap: 6px; padding: 0 8px; flex: 0 0 auto; - margin-left: auto; } } @@ -142,6 +143,17 @@ } } + // The short spelling only appears once the long one has gone. + .tabButton .tabLabel.short { + display: none; + } + + @media (max-width: 1280px) { + .tabButton .tabLabel.short { + display: inline; + } + } + .modeDivider { flex: 0 0 1px; width: 1px; @@ -227,7 +239,7 @@ position: absolute; top: 66px; left: 12px; - width: 200px; + width: 188px; padding: 4px 0; background: #fff; border-radius: 5px; @@ -243,7 +255,7 @@ align-items: center; gap: 10px; width: 100%; - height: 36px; + height: 34px; padding: 0 14px; border: none; background: transparent; @@ -274,6 +286,12 @@ } // Narrow windows drop the words before they drop a mode. + @media (max-width: 1280px) { + .tabButton .tabLabel.long { + display: none; + } + } + @media (max-width: 1080px) { .tabButton .tabLabel { display: none; @@ -318,6 +336,17 @@ } } + // The short spelling only appears once the long one has gone. + .tabButton .tabLabel.short { + display: none; + } + + @media (max-width: 1280px) { + .tabButton .tabLabel.short { + display: inline; + } + } + .modeDivider { margin: 0 4px; } diff --git a/src/app/component/view-controls/view-controls.component.html b/src/app/component/view-controls/view-controls.component.html index 2f4aba12..82be941d 100644 --- a/src/app/component/view-controls/view-controls.component.html +++ b/src/app/component/view-controls/view-controls.component.html @@ -1,64 +1,56 @@ -
+
+ + -
- - -
diff --git a/src/app/component/view-controls/view-controls.component.scss b/src/app/component/view-controls/view-controls.component.scss index ffd462b4..afb434f2 100644 --- a/src/app/component/view-controls/view-controls.component.scss +++ b/src/app/component/view-controls/view-controls.component.scss @@ -5,15 +5,19 @@ // stacked in a rail: these say what you can see, the transport says what is // moving, and both belong at the edge nearest the grid they act on. .viewControls { - position: absolute; - right: 12px; - bottom: 38px; display: flex; flex-direction: row; align-items: center; gap: 6px; - padding: 8px 10px; + padding: 0 12px; height: 60px; + margin-right: 16px; + transition: margin-right 0.3s cubic-bezier(0.4, 0, 0.2, 1); + pointer-events: auto; + + &.analysis { + margin-right: 0; + } background: #fff; border-radius: 10px; z-index: 8; @@ -23,28 +27,41 @@ 0 6px 10px 0 rgba(0, 0, 0, 0.14), 0 1px 18px 0 rgba(0, 0, 0, 0.12); - // Same button look as the edit panel; the container prefix keeps its - // border-color winning over Material's default outline. - @include blocks.mini-buttons($theme); - - .mini-buttons { - justify-content: flex-start; - } - - .zoomRow { + .viewButton { display: flex; - gap: 6px; + align-items: center; + justify-content: center; + width: 42px; + height: 42px; flex: 0 0 auto; + border: none; + border-radius: 6px; + background: transparent; + color: #5f6368; + cursor: pointer; + padding: 0; - .zoomButton { - flex: 1 1 0; - min-width: 0; - padding: 0; - justify-content: center; + mat-icon { + width: 22px; + height: 22px; + font-size: 22px; + line-height: 22px; + margin: 0; + } + + &:hover { + background: rgba(0, 0, 0, 0.04); + } + + &.on { + background: #eef1fc; + color: #3f51b5; + } - .mat-icon { - margin: 0; - } + &:disabled { + color: #c4c7d0; + cursor: default; + background: transparent; } } } diff --git a/src/app/component/view-controls/view-controls.component.ts b/src/app/component/view-controls/view-controls.component.ts index 51670390..06921b87 100644 --- a/src/app/component/view-controls/view-controls.component.ts +++ b/src/app/component/view-controls/view-controls.component.ts @@ -1,3 +1,4 @@ +import { SelectedTabService } from '../../selected-tab.service'; import { ChangeDetectionStrategy, Component } from '@angular/core'; import { MechanismService } from '../../services/mechanism.service'; import { SettingsService } from '../../services/settings.service'; @@ -18,9 +19,25 @@ export class ViewControlsComponent { constructor( public svgGrid: SvgGridService, public mechanismService: MechanismService, - public settingsService: SettingsService + public settingsService: SettingsService, + public tabs: SelectedTabService ) {} + /** + * Whether the thing this button switches on is currently on. + * + * The icon already swaps between an on and an off glyph; the button also + * carries the state as a tint now that the words have gone, because an icon + * alone is a weaker signal than an icon beside the word it stands for. + */ + isShowingCoM(): boolean { + return this.settingsService.isShowCOM.value; + } + + isShowingIDs(): boolean { + return this.settingsService.isShowID.value; + } + noJointExists(): boolean { return this.mechanismService.joints.length === 0; } diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index 9ee43c92..05c39029 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -13,6 +13,14 @@ import { MODEL_SCALE } from '../model/render-scale'; providedIn: 'root', }) export class SvgGridService { + /** + * Where the cursor last was, in model units. + * + * Kept here rather than on the grid component so the status strip can read it + * without reaching into a component to do so -- and so it survives the strip + * and the grid being rebuilt independently. + */ + public cursorAt: { x: number; y: number } | null = null; public panZoomObject: any; public CTM!: SVGMatrix; public viewBoxMinX: number = 0; From 2ec0a9ce6314cb1c4c01d640e0faf698e8422515 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 11:24:11 -0400 Subject: [PATCH 020/236] Take the Edit and Analysis help panels from the mock Both were a collapsible section wrapped round an animated GIF of the gesture: something that had to be watched, could not be scanned, and took three variants in Edit to say what one panel says here. They are the mock's panels now, word for word -- a title, a lead, a rule, and a hint or two. Analysis Help says a different thing when something is selected whose mechanism cannot run, because telling that reader to select something would send them round a loop they are already standing in. Defined once in the drawer that hosts both panels rather than twice in the two components that draw it. My first attempt appended the rules to the end of each component's stylesheet, where the closing brace belongs to whatever rule happens to be last -- so they shipped as `.cylinder-clamped .helpTitle` and matched nothing. Reading the served CSS is what found it; the source looked right. --- .../analysis-panel.component.html | 28 +++++---- .../analysis-panel.component.ts | 22 +++++++ .../edit-panel/edit-panel.component.html | 42 +++++-------- .../left-tabs/left-tabs.component.scss | 59 +++++++++++++++++++ 4 files changed, 112 insertions(+), 39 deletions(-) diff --git a/src/app/component/analysis-panel/analysis-panel.component.html b/src/app/component/analysis-panel/analysis-panel.component.html index 4db0f48e..248e6b64 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.html +++ b/src/app/component/analysis-panel/analysis-panel.component.html @@ -82,19 +82,21 @@ - @if ( - (this.activeSrv.objType == 'Grid' || this.activeSrv.objType == 'Nothing') && - this.mechanismService.oneValidMechanismExists() - ) { - - Analysis Help - - - + @if (this.activeSrv.objType == 'Grid' || this.activeSrv.objType == 'Nothing') { +
+
Analysis Help
+

{{ analysisHelpLead }}

+
+
+
+ touch_app + Click a joint for position, velocity and acceleration graphs, or a link for its angular + kinematics. +
+
+
} diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index 17cf3b36..d3e5571e 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -35,6 +35,28 @@ export class AnalysisPanelComponent { * question could say what *it* needed. They are separate modes now, so the * panel shows one at a time. */ + /** + * What the empty analysis panel says, which depends on why it is empty. + * + * Nothing selected is a different situation from a selection whose mechanism + * cannot run, and telling the second reader to select something would send + * them round a loop they are already standing in. + */ + get analysisHelpLead(): string { + const selected = this.activeSrv.getSelectedObjType(); + if (selected === 'Joint' || selected === 'Link') { + const part = + this.activeSrv.objType === 'Joint' + ? this.activeSrv.selectedJoint + : this.activeSrv.selectedLink; + const owner = part ? this.mechanismService.indexOfMechanismContaining(part) : -1; + if (owner !== -1 && !this.mechanismService.mechanisms[owner]?.isMechanismValid()) { + return `Finish analysis setup on ${this.mechanismService.partitions[owner].id} to see its graphs.`; + } + } + return 'Select a part of the linkage to analyze it.'; + } + get showKinematic(): boolean { return this.tabs.getCurrentTab() !== TabID.FORCE; } diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index ecf14c08..42ac69a6 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -12,33 +12,23 @@ } @if ( - (this.activeSrv.objType == 'Grid' || this.activeSrv.objType == 'Nothing') && - mechanismService.joints.length == 0 && - !hideEditPanel() + (this.activeSrv.objType == 'Grid' || this.activeSrv.objType == 'Nothing') && !hideEditPanel() ) { - - Edit Help - - - - } - - @if ( - this.activeSrv.objType == 'Grid' && mechanismService.joints.length != 0 && !hideEditPanel() - ) { - - Edit Help - - - +
+
Edit
+

Select a joint or link on the grid to edit its properties.

+
+
+
+ touch_app + Click a joint or link to select it. Drag a joint to move it. +
+
+ add_circle_outline + Right-click the grid to create a link, tracer point or force. +
+
+
} diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index bf95cc74..f5e7abd7 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -13,6 +13,59 @@ $background: map.get($theme, background); $foreground: map.get($theme, foreground); + // The mock's help panel: a title, a lead, a rule and a hint or two. It + // replaces a collapsible section wrapped round a GIF -- an animation of the + // gesture, which had to be watched and could not be scanned. + // + // Defined once here, where both panels this drawer hosts can reach it, rather + // than twice in the two components that draw it. + .helpPanel { + padding: 14px 15px 18px; + } + + .helpTitle { + font-size: 20px; + font-weight: 500; + line-height: 28px; + } + + .helpLead { + font-size: 14px; + line-height: 20px; + color: rgba(0, 0, 0, 0.6); + margin: 6px 0 0; + } + + .helpRule { + height: 1px; + background: #e6e7ee; + margin: 14px 0; + } + + .helpHints { + display: flex; + flex-direction: column; + gap: 12px; + } + + .helpHint { + display: flex; + gap: 10px; + align-items: flex-start; + font-size: 14px; + line-height: 20px; + color: rgba(0, 0, 0, 0.6); + + mat-icon { + flex: 0 0 auto; + width: 20px; + height: 20px; + font-size: 20px; + line-height: 20px; + color: mat.m2-get-color-from-palette($primary-palette, 500); + } + } + // Below the top strip and clear of the playback card, which floats over the // bottom of the grid. .panel { @@ -23,8 +76,14 @@ overflow-y: auto; max-height: calc(100% - #{nav.$top-strip-height} - #{nav.$playback-clearance}); display: flex; + background: #fafafa; + border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); border-radius: 5px; z-index: 5; + box-shadow: + 0 2px 4px -1px rgba(0, 0, 0, 0.2), + 0 4px 5px 0 rgba(0, 0, 0, 0.14), + 0 1px 10px 0 rgba(0, 0, 0, 0.12); .page1 { width: 270px; //Be careful, there are multiple places to change this value From f82fb72214efd100bc0646b6496a009488707fcd Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 11:40:27 -0400 Subject: [PATCH 021/236] Give each analysis mode its own setup drawer, and a way out One drawer carried both modes' lists, so a reader refused by Force read past the kinematic blockers to reach the thing that had actually stopped them. They are two drawers now, each answering only its own question, and each says which question that is. The facts about a mechanism leave the drawer entirely -- they belong in the mechanism's own panel, and appearing in both places meant the same six numbers twice. Every drawer closes from its own corner. Its slide-out was also two pixels short of gone: the offset was measured against a panel flush to the window edge, and the drawer floats at a twelve-pixel inset now. The mode chip opens that mode's setup whether or not the mode can be entered. Without it the list was reachable only by being refused -- and a drawing where one machine is ready and another is not is *enterable*, which left the reader with a chip counting problems and no way to read them. Found by a test that could no longer get to the drawer. --- e2e/analysis-setup.mjs | 14 ++-- e2e/two-mechanisms.mjs | 4 +- .../analysis-setup.component.html | 70 +++++++++---------- .../analysis-setup.component.ts | 33 ++++++--- .../right-panel/right-panel.component.html | 15 +++- .../right-panel/right-panel.component.scss | 32 +++++++++ .../right-panel/right-panel.component.ts | 25 +++++-- .../component/top-bar/top-bar.component.html | 24 +++++-- .../component/top-bar/top-bar.component.scss | 1 + .../component/top-bar/top-bar.component.ts | 30 +++++++- 10 files changed, 179 insertions(+), 69 deletions(-) diff --git a/e2e/analysis-setup.mjs b/e2e/analysis-setup.mjs index fcaf4d26..2d4b0b18 100644 --- a/e2e/analysis-setup.mjs +++ b/e2e/analysis-setup.mjs @@ -54,15 +54,16 @@ await open(payloads['4-Bar']); await tab('Force').click(); await page.waitForTimeout(600); let text = await drawerText(); -record('pressing a mode it cannot enter opens the list', text.includes('Analysis setup'), text); record( - 'the ready mechanism is named and marked ready', - /Mechanism M1[\s\S]*Ready/.test(text), + 'pressing a mode it cannot enter opens the list', + text.includes('Force analysis setup'), text ); +// Each mode has a drawer of its own: a reader refused by one should not have +// to read past the other mode's list to find out why. record( 'and the list answers the question that was asked, not the other one', - text.includes('Force analysis') && text.includes('A load to react against'), + text.includes('A load to react against') && !text.includes('Mechanism M1'), text ); record('naming the way out rather than only the wall', /Attach Force/.test(text), text); @@ -117,6 +118,8 @@ const undoDisabled = await page.locator('.historyButton', { hasText: 'Undo' }).i record('going to a part is not an edit, so Undo stays where it was', undoDisabled === true); // --- geometry that is in no mechanism --------------------------------------- +// The drawer opens when a mode refuses, so the mechanism is left undriven too: +// a valid one simply enters Kinematic and there is no drawer to read. await open(payloads['4-Bar']); await page.evaluate(() => { const grid = ng.getComponent(document.querySelector('app-new-grid')); @@ -133,10 +136,11 @@ await page.evaluate(() => { input: false, }); srv.joints.push(loose); + srv.joints.forEach((joint) => (joint.input = false)); srv.updateMechanism(); }); await page.waitForTimeout(400); -await tab('Force').click(); +await tab('Kinematic').click(); await page.waitForTimeout(600); text = await drawerText(); record( diff --git a/e2e/two-mechanisms.mjs b/e2e/two-mechanisms.mjs index b3a7f0b6..2610bc19 100644 --- a/e2e/two-mechanisms.mjs +++ b/e2e/two-mechanisms.mjs @@ -152,7 +152,9 @@ await page.evaluate(() => { srv.updateMechanism(); }); await page.waitForTimeout(500); -await page.locator('.tabButton', { hasText: 'Force' }).click(); +// One machine is still fine, so Kinematic is enterable and pressing it does +// not refuse. The chip is the way to the list either way. +await page.locator('.tabButton', { hasText: 'Kinematic' }).locator('.chip').click(); await page.waitForTimeout(700); const drawer = await page.locator('app-analysis-setup').innerText(); record( diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index ef1295bd..45fa8f96 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -1,49 +1,43 @@
-
Analysis setup
+
{{ title }}

{{ summary }}

- @for (item of readiness; track item.id) { -
- + @if (mode === 'kinematic') { + @for (item of readiness; track item.id) { +
+ - @if (isOpen(item)) { -
- @for (fact of item.facts; track fact.label) { -
- {{ fact.label }} - {{ fact.value }} -
- } -
-
- @for (check of item.checks; track check.title) { -
- {{ iconFor(check) }} -
-
{{ check.title }}
-

{{ check.body }}

- @if (check.action && check.at) { - - } + @if (isOpen(item)) { +
+ @for (check of item.checks; track check.title) { +
+ {{ iconFor(check) }} +
+
{{ check.title }}
+

{{ check.body }}

+ @if (check.action && check.at) { + + } +
-
- } -
- } -
+ } +
+ } +
+ } } - @if (forceOutstanding > 0) { + @if (mode === 'force') {
} - @if (unassigned.length > 0) { + @if (mode === 'kinematic' && unassigned.length > 0) {
+ } @if (getOpenTab() === 5) {
- + +
+ } + @if (getOpenTab() === 6) { +
+
} @if (getOpenTab() === 1) { diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 7c3edc7f..65d0e3ae 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -15,6 +15,38 @@ // A floating card like the strip above it, clear of both: the drawer used to // start under a toolbar that ran the width of the window and could sit flush // against the edge. Nothing is flush any more. + // Top right of the drawer, over whatever it contains: every panel in here + // was written before the drawer could be closed from inside it, so none of + // them leaves room for this. + .closeDrawer { + position: absolute; + top: 8px; + right: 8px; + z-index: 2; + display: flex; + align-items: center; + justify-content: center; + width: 32px; + height: 32px; + border: none; + border-radius: 50%; + background: transparent; + color: #5f6368; + cursor: pointer; + padding: 0; + + mat-icon { + width: 20px; + height: 20px; + font-size: 20px; + line-height: 20px; + } + + &:hover { + background: rgba(0, 0, 0, 0.06); + } + } + #rightPanel { position: absolute; top: nav.$top-strip-height; diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index 9632dea7..42ca8846 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -47,7 +47,10 @@ import { UrlGenerationService } from 'src/app/services/url-generation.service'; state( 'closed', style({ - transform: 'translateX(calc(100% + 10px))', + // Clear of the 12px inset the drawer now floats at, plus a margin. + // The old 10px was measured against a panel flush to the edge and + // left a two-pixel sliver of it on screen. + transform: 'translateX(calc(100% + 24px))', }) ), state( @@ -82,11 +85,18 @@ export class RightPanelComponent { static openTab = 0; //Default open tab to "Edit" / static isOpen = false; // Is the tab open? /** - * The drawer that lists what still stands between the drawing and its - * animation. Numbered like its neighbours because that is how this panel has - * always been addressed; named because "5" at a call site says nothing. + * The two setup drawers, one per analysis mode. + * + * Separate because they answer different questions with different fixes: a + * mechanism that will not run and a force analysis that has nothing to react + * against are not the same problem, and a reader refused by one mode should + * not have to read past the other mode's list to find out why. + * + * Numbered like their neighbours because that is how this panel has always + * been addressed; named because "5" at a call site says nothing. */ - static readonly SETUP_TAB = 5; + static readonly KINEMATIC_SETUP_TAB = 5; + static readonly FORCE_SETUP_TAB = 6; turnOnDebugger() { this.settingsService.isGridDebugOn = !this.settingsService.isGridDebugOn; } @@ -115,6 +125,11 @@ export class RightPanelComponent { // console.warn(this.isOpen); } + /** Shut the drawer, whichever one is open. */ + close(): void { + RightPanelComponent.isOpen = false; + } + getOpenTab() { return RightPanelComponent.openTab; } diff --git a/src/app/component/top-bar/top-bar.component.html b/src/app/component/top-bar/top-bar.component.html index 9c9fed71..846db750 100644 --- a/src/app/component/top-bar/top-bar.component.html +++ b/src/app/component/top-bar/top-bar.component.html @@ -49,9 +49,15 @@ query_stats Kinematic Analysis Kinematic - {{ - statusOf(TabID.ANALYZE).text - }} + {{ statusOf(TabID.ANALYZE).text }}
diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss index a86301c1..cc81fcbe 100644 --- a/src/app/component/top-bar/top-bar.component.scss +++ b/src/app/component/top-bar/top-bar.component.scss @@ -163,6 +163,7 @@ } .chip { + cursor: pointer; display: inline-flex; align-items: center; height: 20px; diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts index 3076d06c..67372747 100644 --- a/src/app/component/top-bar/top-bar.component.ts +++ b/src/app/component/top-bar/top-bar.component.ts @@ -165,7 +165,12 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr select(tab: TabID): void { this.menuOpen = false; if (this.tabs.isAnalysisMode(tab) && !this.canAnalyse(tab)) { - RightPanelComponent.tabClicked(RightPanelComponent.SETUP_TAB); + // The setup for the mode that was pressed, not the other one's. + RightPanelComponent.tabClicked( + tab === TabID.FORCE + ? RightPanelComponent.FORCE_SETUP_TAB + : RightPanelComponent.KINEMATIC_SETUP_TAB + ); return; } this.tabs.setTab(tab); @@ -243,8 +248,29 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr RightPanelComponent.tabClicked(4); } + /** + * The chip opens that mode's setup, whether or not the mode can be entered. + * + * Otherwise the list is reachable only by being refused, and a drawing where + * one machine is ready and another is not can be *entered* -- leaving the + * reader with a chip that counts problems and no way to read them. + */ + openSetupFor(tab: TabID, event: Event): void { + event.stopPropagation(); + this.menuOpen = false; + RightPanelComponent.tabClicked( + tab === TabID.FORCE + ? RightPanelComponent.FORCE_SETUP_TAB + : RightPanelComponent.KINEMATIC_SETUP_TAB + ); + } + openSetup(): void { - RightPanelComponent.tabClicked(RightPanelComponent.SETUP_TAB); + RightPanelComponent.tabClicked( + this.tabs.getCurrentTab() === TabID.FORCE + ? RightPanelComponent.FORCE_SETUP_TAB + : RightPanelComponent.KINEMATIC_SETUP_TAB + ); } upload($event: Event): void { From 9b4da09ba809e5fee54b9c1ec28249373432ec69 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 11:54:15 -0400 Subject: [PATCH 022/236] Let the selection be a whole machine A mechanism was the one thing in the drawing that could not be selected, so the facts about it had nowhere to live and ended up in the setup drawer beside the blockers -- the same six numbers in two places, and no way to act on the machine as a thing. Selecting one selects all of it: every joint and link reads as selected, rather than leaving the reader to infer the extent of what they just picked. The panel is the same in both modes because the facts do not change with the question; Edit adds Delete, which takes the machine's joints and everything that cannot stand without them. Two routes in, because the obvious one only exists half the time. The transport chip names a machine, so pressing it selects that machine -- but the transport belongs to the analysis modes, which is why Edit could not be reached at all. The setup drawer's own mechanism name selects it too, and the drawer opens from the mode chip in either mode. Rename is deliberately absent: names are derived from the geometry rather than stored, so there is nothing to rename yet. --- e2e/mechanism-panel.mjs | 124 +++++++++++++ src/app/app.module.ts | 2 + .../analysis-panel.component.html | 4 + .../analysis-setup.component.html | 2 +- .../analysis-setup.component.scss | 7 + .../analysis-setup.component.ts | 13 +- .../edit-panel/edit-panel.component.html | 4 + .../mechanism-panel.component.html | 60 +++++++ .../mechanism-panel.component.scss | 167 ++++++++++++++++++ .../mechanism-panel.component.ts | 145 +++++++++++++++ .../playback-bar/playback-bar.component.html | 10 +- .../playback-bar/playback-bar.component.scss | 8 + .../playback-bar/playback-bar.component.ts | 14 ++ src/app/services/active-obj.service.ts | 19 +- src/app/services/mechanism.service.ts | 24 +++ src/mytheme.scss | 2 + 16 files changed, 601 insertions(+), 4 deletions(-) create mode 100644 e2e/mechanism-panel.mjs create mode 100644 src/app/component/mechanism-panel/mechanism-panel.component.html create mode 100644 src/app/component/mechanism-panel/mechanism-panel.component.scss create mode 100644 src/app/component/mechanism-panel/mechanism-panel.component.ts diff --git a/e2e/mechanism-panel.mjs b/e2e/mechanism-panel.mjs new file mode 100644 index 00000000..acdd2296 --- /dev/null +++ b/e2e/mechanism-panel.mjs @@ -0,0 +1,124 @@ +/** + * Selecting a whole machine, rather than a part of one. + * + * The facts about a mechanism — its mobility, what drives it, how long a cycle + * takes — used to appear in the setup drawer beside the blockers, which meant + * the same six numbers in two places and no way to act on the mechanism as a + * thing. They live in its own panel now, and this checks the two routes to it: + * the transport chip while analysing, and the drawer's own name in either mode, + * which is the only route Edit has. + * + * PMKS_BASE_URL= node e2e/mechanism-panel.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); +page.on('console', (message) => { + if (message.type() === 'error') errors.push(message.text()); +}); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const tab = (name) => page.locator('.tabButton', { hasText: name }); +const panelText = () => + page + .locator('app-mechanism-panel') + .innerText() + .catch(() => ''); + +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); + +// --- the transport chip selects the machine it names ------------------------ +await tab('Kinematic').click(); +await page.waitForTimeout(800); +await page.locator('.mechChip').first().click(); +await page.waitForTimeout(700); +let text = await panelText(); +record( + 'the transport chip selects the whole mechanism', + text.includes('Analysis for Mechanism M1'), + text +); +record( + 'and the panel reports what it is', + /Degrees of freedom[\s\S]*Driven joint[\s\S]*Cycle time/.test(text), + text +); +record('with a line per link', (await page.locator('.linkRow').count()) >= 3); + +// --- selecting the machine highlights all of it ----------------------------- +const selected = await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return { + joints: srv.joints.filter((j) => srv.getJointCSSClass(j) === 'joint-selected').length, + links: srv.links.filter((l) => srv.getLinkCSSClass(l) === 'link-selected').length, + total: { joints: srv.joints.length, links: srv.links.length }, + }; +}); +record( + 'every joint and link of it reads as selected, not just one', + selected.joints === selected.total.joints && selected.links === selected.total.links, + selected +); + +// --- the same selection in Edit is the editable panel ------------------------ +await tab('Edit').click(); +await page.waitForTimeout(800); +text = await panelText(); +record( + 'switching to Edit shows Edit Mechanism for the same selection', + text.includes('Edit Mechanism M1'), + text +); +record('which offers to delete it', text.includes('Delete'), text); + +// --- and Edit has a route of its own ---------------------------------------- +await page.evaluate(() => { + const active = ng.getComponent(document.querySelector('app-new-grid')).activeObjService; + active.updateSelectedObj(null); +}); +await page.waitForTimeout(400); +record('deselecting clears the panel', (await panelText()) === ''); + +await tab('Kinematic').locator('.chip').click(); +await page.waitForTimeout(700); +await page.locator('.mechLink').first().click(); +await page.waitForTimeout(700); +record( + 'the drawer name selects it too, which is the route Edit has', + (await panelText()).includes('Mechanism M1'), + await panelText() +); + +// --- the facts appear once, not twice --------------------------------------- +const drawer = await page.locator('app-analysis-setup').innerText(); +record( + 'and the drawer no longer repeats the facts', + !drawer.includes('Degrees of freedom'), + drawer +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); + +await browser.close(); +process.exit(results.every(([, ok]) => ok) ? 0 : 1); diff --git a/src/app/app.module.ts b/src/app/app.module.ts index f7206265..62889124 100644 --- a/src/app/app.module.ts +++ b/src/app/app.module.ts @@ -7,6 +7,7 @@ import { LinkageTableComponent } from './component/linkage-table/linkage-table.c import { TopBarComponent } from './component/top-bar/top-bar.component'; import { AnalysisSetupComponent } from './component/analysis-setup/analysis-setup.component'; import { PlaybackBarComponent } from './component/playback-bar/playback-bar.component'; +import { MechanismPanelComponent } from './component/mechanism-panel/mechanism-panel.component'; import { ViewControlsComponent } from './component/view-controls/view-controls.component'; import { ShapeSelectorComponent } from './component/shape-selector/shape-selector.component'; import { FormsModule } from '@angular/forms'; @@ -59,6 +60,7 @@ import { BottombarComponent } from './component/bottombar/bottombar.component'; TopBarComponent, AnalysisSetupComponent, PlaybackBarComponent, + MechanismPanelComponent, ViewControlsComponent, ShapeSelectorComponent, LeftTabsComponent, diff --git a/src/app/component/analysis-panel/analysis-panel.component.html b/src/app/component/analysis-panel/analysis-panel.component.html index 248e6b64..800968d9 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.html +++ b/src/app/component/analysis-panel/analysis-panel.component.html @@ -99,6 +99,10 @@
} + @if (this.activeSrv.objType == 'Mechanism') { + + } + @if (validMechanisms() && this.activeSrv.objType == 'Joint') { diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index 45fa8f96..1877fbb9 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -9,7 +9,7 @@
} + @if (this.activeSrv.objType == 'Mechanism' && !hideEditPanel()) { + + } + @if (this.activeSrv.objType == 'Joint' && !hideEditPanel()) { diff --git a/src/app/component/mechanism-panel/mechanism-panel.component.html b/src/app/component/mechanism-panel/mechanism-panel.component.html new file mode 100644 index 00000000..de0d3159 --- /dev/null +++ b/src/app/component/mechanism-panel/mechanism-panel.component.html @@ -0,0 +1,60 @@ +@if (exists) { +
+
+
{{ editable ? 'Edit' : 'Analysis for' }} Mechanism {{ id }}
+
+ {{ statusText }} +
+ @if (editable) { +
+ +
+ } +
+ + + @if (overviewOpen) { +
+ @for (fact of facts; track fact.label) { +
+ {{ fact.label }} + {{ fact.value }} +
+ } +
+ } + + + @if (linksOpen) { + + } + +
+

+ {{ + editable + ? 'Select one of its joints or links on the grid to edit that part.' + : 'Select a joint or link on the grid for its position, velocity and acceleration graphs.' + }} +

+
+
+} diff --git a/src/app/component/mechanism-panel/mechanism-panel.component.scss b/src/app/component/mechanism-panel/mechanism-panel.component.scss new file mode 100644 index 00000000..0112f0ef --- /dev/null +++ b/src/app/component/mechanism-panel/mechanism-panel.component.scss @@ -0,0 +1,167 @@ +@use 'sass:map'; +@use '@angular/material' as mat; + +@mixin css($theme) { + $color-config: mat.m2-get-color-config($theme); + $primary-palette: map.get($color-config, 'primary'); + + .mechanismPanel { + display: block; + padding-bottom: 8px; + } + + .mechHead { + padding: 12px 15px 14px; + } + + .mechTitle { + font-size: 20px; + font-weight: 500; + line-height: 28px; + } + + .mechStatusRow { + display: flex; + align-items: center; + gap: 8px; + margin: 6px 0 10px; + } + + // The status is also the way to the list behind it, which is why it is a + // control rather than a label. + .mechStatus { + display: inline-flex; + align-items: center; + height: 20px; + padding: 0 8px; + border-radius: 10px; + background: #fce8e6; + color: #c5221f; + font-size: 12px; + cursor: pointer; + + &.ready { + background: #e6f4ea; + color: #137333; + } + } + + .mechActions { + display: flex; + gap: 10px; + } + + .mechButton { + display: flex; + align-items: center; + justify-content: center; + gap: 8px; + flex: 1 1 0; + height: 32px; + padding: 0 10px; + border: 1px solid mat.m2-get-color-from-palette($primary-palette, 500); + border-radius: 4px; + background: #fff; + color: mat.m2-get-color-from-palette($primary-palette, 500); + font-family: inherit; + font-size: 14px; + cursor: pointer; + + mat-icon { + width: 17px; + height: 17px; + font-size: 17px; + line-height: 17px; + } + + &.danger { + border-color: #f44336; + color: #f44336; + } + } + + .mechanismPanel .sectionHeader { + display: flex; + align-items: center; + justify-content: space-between; + width: 100%; + height: 40px; + padding: 0 15px; + border: none; + border-top: 1px solid #eceef5; + background: transparent; + font-family: inherit; + font-size: 15px; + font-weight: 500; + color: mat.m2-get-color-from-palette($primary-palette, 500); + cursor: pointer; + text-align: left; + } + + .mechanismPanel .factGrid { + display: grid; + grid-template-columns: 1fr 1fr; + gap: 10px 12px; + padding: 10px 15px 14px; + } + + .mechanismPanel .fact { + display: flex; + flex-direction: column; + gap: 1px; + min-width: 0; + } + + .mechanismPanel .factLabel { + font-size: 11px; + color: rgba(0, 0, 0, 0.45); + } + + .mechanismPanel .factValue { + font-size: 13px; + color: #2c2c2c; + } + + .linkList { + display: flex; + flex-direction: column; + gap: 8px; + padding: 10px 15px 14px; + } + + .linkRow { + display: flex; + align-items: center; + gap: 8px; + font-size: 13px; + } + + .linkName { + font-weight: 500; + min-width: 34px; + } + + .linkRole { + color: rgba(0, 0, 0, 0.5); + } + + .linkSpacer { + flex: 1 1 auto; + } + + .linkLength { + color: #2c2c2c; + } + + .mechFooter { + padding: 12px 15px 16px; + border-top: 1px solid #eceef5; + + p { + font-size: 13px; + line-height: 19px; + color: rgba(0, 0, 0, 0.6); + margin: 0; + } + } +} diff --git a/src/app/component/mechanism-panel/mechanism-panel.component.ts b/src/app/component/mechanism-panel/mechanism-panel.component.ts new file mode 100644 index 00000000..2594e90c --- /dev/null +++ b/src/app/component/mechanism-panel/mechanism-panel.component.ts @@ -0,0 +1,145 @@ +import { SettingsService } from '../../services/settings.service'; +import { NumberUnitParserService } from '../../services/number-unit-parser.service'; +import { MODEL_SCALE } from '../../model/render-scale'; +import { ChangeDetectionStrategy, Component, Input } from '@angular/core'; +import { RealJoint } from '../../model/joint'; +import { RealLink } from '../../model/link'; +import { MechanismService } from '../../services/mechanism.service'; +import { ActiveObjService } from '../../services/active-obj.service'; +import { RightPanelComponent } from '../right-panel/right-panel.component'; +import { MechanismFact } from '../../model/mechanism/readiness'; + +/** One line of the Links section: what a link is, and how long. */ +interface LinkRow { + name: string; + role: string; + length: string; +} + +/** + * What a whole machine is, for when the selection is the machine rather than a + * part of it. + * + * The same panel serves both modes because the facts do not change with the + * question being asked — only the title above them and, in Edit, the two + * buttons for acting on the thing as a whole. + */ +@Component({ + selector: 'app-mechanism-panel', + templateUrl: './mechanism-panel.component.html', + styleUrls: ['./mechanism-panel.component.scss'], + changeDetection: ChangeDetectionStrategy.Eager, + standalone: false, +}) +export class MechanismPanelComponent { + /** Edit offers to rename and delete; analysis only reports. */ + @Input() editable = false; + + overviewOpen = true; + linksOpen = true; + + constructor( + public mechanism: MechanismService, + public activeObj: ActiveObjService, + private settings: SettingsService, + private nup: NumberUnitParserService + ) {} + + get index(): number { + return this.activeObj.selectedMechanismIndex; + } + + get id(): string { + return this.mechanism.partitions[this.index]?.id ?? ''; + } + + get exists(): boolean { + return this.index >= 0 && this.index < this.mechanism.partitions.length; + } + + get ready(): boolean { + return this.mechanism.mechanisms[this.index]?.isMechanismValid() ?? false; + } + + get blockers(): number { + return ( + this.mechanism + .readinessOfEachMechanism() + [this.index]?.checks.filter((check) => check.state === 'blocker').length ?? 0 + ); + } + + get statusText(): string { + if (this.ready) { + return 'Ready'; + } + const count = this.blockers; + return count === 1 ? '1 blocker' : `${count} blockers`; + } + + get facts(): MechanismFact[] { + return this.mechanism.readinessOfEachMechanism()[this.index]?.facts ?? []; + } + + /** + * Every link in the machine, with what it does. + * + * The role is read off the geometry rather than stored: a bar with one end on + * ground is a crank or a rocker depending on whether it can go all the way + * round, and one with neither end grounded couples the two. + */ + get links(): LinkRow[] { + const partition = this.mechanism.partitions[this.index]; + if (!partition) { + return []; + } + return partition.links + .filter((link): link is RealLink => link instanceof RealLink) + .map((link) => { + const grounded = link.joints.filter((joint) => (joint as RealJoint).ground).length; + const driven = link.joints.some((joint) => (joint as RealJoint).input); + const role = driven ? 'Input' : grounded > 0 ? 'Grounded' : 'Coupler'; + return { + name: link.name || link.id, + role, + length: this.lengthOf(link), + }; + }); + } + + /** End to end, in the units the mechanism is drawn in. */ + private lengthOf(link: RealLink): string { + const ends = link.joints; + if (ends.length < 2) { + return '—'; + } + const span = Math.hypot( + ends[ends.length - 1].x - ends[0].x, + ends[ends.length - 1].y - ends[0].y + ); + return `${(span / MODEL_SCALE).toFixed(2)} ${this.nup.unitLabel(this.settings.lengthUnit.value)}`; + } + + openSetup(): void { + RightPanelComponent.tabClicked(RightPanelComponent.KINEMATIC_SETUP_TAB); + } + + /** Select one of its parts instead, so the reader can edit that. */ + clearSelection(): void { + this.activeObj.updateSelectedObj(null); + } + + deleteMechanism(): void { + const partition = this.mechanism.partitions[this.index]; + if (!partition) { + return; + } + // Deleting its joints takes the links with them, which is what "delete this + // mechanism" means: nothing of it is left, and nothing else is touched. + [...partition.ownJoints].forEach((joint) => { + this.activeObj.updateSelectedObj(joint); + this.mechanism.deleteJoint(); + }); + this.activeObj.updateSelectedObj(null); + } +} diff --git a/src/app/component/playback-bar/playback-bar.component.html b/src/app/component/playback-bar/playback-bar.component.html index 5d569f92..969af779 100644 --- a/src/app/component/playback-bar/playback-bar.component.html +++ b/src/app/component/playback-bar/playback-bar.component.html @@ -16,7 +16,15 @@
@for (row of rows; track row.id) {
- {{ row.id }} + @if (row.ownPlay) {
-
-
- @for (row of rows; track row.id) { -
+
+ + @if (canSync) { + + } + + @for (row of rows; track row.id) { +
+ + + @if (row.ownPlay) { - @if (row.ownPlay) { - - } - - {{ row.time }} - @if (row.note) { - {{ row.note }} - } - @if (row.isMechanism) { - - } -
- } -
+ } -
- -
+
+
+ +
+
+ + + @if (row.note) { + {{ row.note }} + } +
+
- @if (canSync) { - + @if (row.isMechanism) { + + } +
}
} diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index a2cf0225..6a3521f1 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -1,30 +1,15 @@ @use 'sass:map'; @use '@angular/material' as mat; +// Every measurement in this file comes from the mock's own inline styles rather +// than from an eye: the bottom cluster was tuned there, and re-deriving it by +// looking at a screenshot is how it drifted the first time. @mixin css($theme) { - $color-config: mat.m2-get-color-config($theme); - $primary-palette: map.get($color-config, 'primary'); - $card-shadow: 0 3px 5px -1px rgba(0, 0, 0, 0.2), 0 6px 10px 0 rgba(0, 0, 0, 0.14), 0 1px 18px 0 rgba(0, 0, 0, 0.12); - // Floats over the grid rather than sitting in a rail, and clears the status - // strip beneath it. - .clusterSpacer { - flex-grow: 1; - flex-shrink: 0; - flex-basis: 0; - min-width: 0; - height: 1px; - transition: flex-grow 0.3s cubic-bezier(0.4, 0, 0.2, 1); - - &.analysis { - flex-grow: 0; - } - } - .playbackRow { position: absolute; left: 0; @@ -37,34 +22,73 @@ padding: 0 12px; z-index: 8; pointer-events: none; + } + + .clusterSpacer { + flex-grow: 1; + flex-shrink: 0; + flex-basis: 0; + min-width: 0; + height: 1px; + transition: flex-grow 0.3s cubic-bezier(0.4, 0, 0.2, 1); - .card { - display: flex; - align-items: center; - background: #fff; - border-radius: 10px; - box-shadow: $card-shadow; - pointer-events: auto; - box-sizing: border-box; + &.analysis { + flex-grow: 0; } } .transportCard { + display: flex; + align-items: center; gap: 8px; height: 60px; padding: 0 12px; + background: #fff; + border-radius: 10px; + pointer-events: auto; flex: 0 0 auto; + box-sizing: border-box; + box-shadow: $card-shadow; } .scrubCard { + position: relative; + display: flex; flex-direction: column; - align-items: stretch; justify-content: center; gap: 7px; - min-height: 60px; padding: 9px 12px; + min-height: 60px; + background: #fff; + border-radius: 10px; + pointer-events: auto; flex: 0 1 470px; min-width: 250px; + box-sizing: border-box; + box-shadow: $card-shadow; + } + + .speedButton { + display: flex; + align-items: center; + justify-content: center; + width: 34px; + height: 34px; + flex: 0 0 auto; + border: 1px solid #dfe1ea; + border-radius: 6px; + background: #fff; + color: #5f6368; + font-family: inherit; + font-size: 13px; + font-weight: 500; + cursor: pointer; + padding: 0; + + &:disabled { + color: #b7bac7; + cursor: default; + } } .playButton { @@ -75,13 +99,16 @@ height: 40px; border: none; border-radius: 50%; - background: mat.m2-get-color-from-palette($primary-palette, 400); + background: #d5d7e0; color: #fff; cursor: pointer; padding: 0; + &.live { + background: #5c6bc0; + } + &:disabled { - background: #d5d7e0; cursor: default; } @@ -93,95 +120,182 @@ } } - .speedButton { + // A tab off the top edge of the card, with the shadow above it that makes it + // read as attached rather than floating. + .syncToggle { + position: absolute; + top: -26px; + left: 16px; display: flex; align-items: center; - justify-content: center; - width: 34px; - height: 34px; - flex: 0 0 auto; - border: 1px solid #dfe1ea; - border-radius: 6px; + gap: 6px; + height: 26px; + padding: 0 12px; + border: none; + border-radius: 10px 10px 0 0; background: #fff; color: #5f6368; font-family: inherit; - font-size: 13px; - font-weight: 500; + font-size: 12px; + white-space: nowrap; cursor: pointer; - padding: 0; + z-index: 1; + box-shadow: 0 -3px 6px -2px rgba(0, 0, 0, 0.18); - &:disabled { - color: #b7bac7; - cursor: default; + &.on { + background: #eef1fc; + color: #3f51b5; } - } - .mechRows { - display: flex; - flex-direction: column; - gap: 7px; + mat-icon { + width: 17px; + height: 17px; + font-size: 17px; + line-height: 17px; + } } .mechRow { display: flex; align-items: center; gap: 8px; - font-size: 11px; - color: rgba(0, 0, 0, 0.5); - white-space: nowrap; } .mechChip { - border: 1px solid transparent; - cursor: pointer; - font-family: inherit; - display: inline-flex; + display: flex; align-items: center; justify-content: center; - min-width: 30px; - height: 20px; - padding: 0 7px; + width: 40px; + height: 30px; + flex: 0 0 auto; + border: 1px solid transparent; border-radius: 6px; background: #f0f1f5; color: #2c2c2c; - font-size: 12px; + font-family: inherit; + font-size: 14px; font-weight: 500; + cursor: pointer; + padding: 0; + + &:hover { + background: #e8eaf6; + } &.selected { - border-color: mat.m2-get-color-from-palette($primary-palette, 500); - color: mat.m2-get-color-from-palette($primary-palette, 500); + border: 1.5px solid #3f51b5; + } + + // The combined row stands for every machine at once, so there is no single + // thing for it to select. + &.plain { + font-size: 13px; + cursor: default; + + &:hover { + background: #f0f1f5; + } } } - .mechNote { - color: rgba(0, 0, 0, 0.42); + .rowPlay { + display: flex; + align-items: center; + justify-content: center; + width: 32px; + height: 32px; + flex: 0 0 auto; + border: none; + border-radius: 50%; + background: #d5d7e0; + color: #fff; + cursor: pointer; + padding: 0; + + &.live { + background: #5c6bc0; + } + + mat-icon { + width: 20px; + height: 20px; + font-size: 20px; + line-height: 20px; + } } - .rowSpacer { + .rowBody { + display: flex; + flex-direction: column; flex: 1 1 auto; + min-width: 0; + gap: 2px; + } + + // The track sits in a 22px well with the input pinned 9px down it, so the + // handle centres on the line rather than on the row. + .trackWell { + position: relative; + height: 22px; } - .timeForm input { + .rowScrubber { + position: absolute; + left: 0; + right: 0; + top: 9px; width: 100%; + min-width: 0; + margin: 0; + height: 4px; + accent-color: #3f51b5; + cursor: pointer; + + &:disabled { + cursor: default; + } + } + + .rowLabels { + display: flex; + align-items: center; + gap: 9px; + font-size: 11px; + color: rgba(0, 0, 0, 0.5); + white-space: nowrap; + overflow: hidden; + } + + // Text in the mock; an input here, styled to be indistinguishable from it. + .rowTime { + width: 64px; + padding: 0; border: none; - border-bottom: 1px solid rgba(0, 0, 0, 0.24); background: transparent; font-family: inherit; - font-size: 12px; - color: #2c2c2c; - padding: 2px 0; + font-size: 11px; + color: rgba(0, 0, 0, 0.5); - &:disabled { - color: rgba(0, 0, 0, 0.38); + &:focus { + outline: none; + color: #2c2c2c; + } + + &[readonly] { + cursor: default; } } - .playbackRow .iconButton { + .rowNote { + color: rgba(0, 0, 0, 0.45); + } + + .dirButton { display: flex; align-items: center; justify-content: center; - width: 28px; - height: 28px; + width: 34px; + height: 34px; flex: 0 0 auto; border: 1px solid #dfe1ea; border-radius: 6px; diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index e522ebcf..abf1b1b8 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -71,6 +71,9 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { ) {} ngOnInit(): void { + // Seed it: the subject only emits when the pose moves, so a mechanism + // sitting at zero would show an empty time until something played. + this.timeDisplay = this.format(this.mechanism.currentTimeSeconds()); this.positionSub = this.mechanism.onMechPositionChange.subscribe(() => { // Playback sits between samples, so read the drawn time rather than the // time of the sample it was blended from. diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 65d0e3ae..e84937e7 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -55,14 +55,7 @@ overflow-y: auto; max-height: calc(100% - #{nav.$top-strip-height} - #{nav.$playback-clearance}); display: flex; - background: #fafafa; - border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); - border-radius: 5px; z-index: 9; - box-shadow: - 0 2px 4px -1px rgba(0, 0, 0, 0.2), - 0 4px 5px 0 rgba(0, 0, 0, 0.14), - 0 1px 10px 0 rgba(0, 0, 0, 0.12); animation-duration: 4s; From 3429d71276be1f8ace1050008a9a5895bd563b45 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 13:01:29 -0400 Subject: [PATCH 024/236] Fix the four visual defects an independent sweep found A review pass over the whole app at six widths. It confirmed the bottom cluster now matches -- same baseline across the cards, sync tab and handles aligned, no double borders -- and found four things wrong. A closed drawer still occupied the page. Parked past the right edge it kept its width, so the document was 1592 wide in a 1280 window and the "closed" drawer could be scrolled back into view. It is hidden now, and the document itself is clipped: everything in this app scrolls inside its own panel, so the page never should. A setup drawer outlived its mode. Opening the Force list and switching to Synthesis left it sitting over the synthesis canvas, which reads as an app stuck between two places. Each drawer belongs to the mode that opened it and leaves with it; Settings and Help are about the app rather than a mode, so they stay. The bottom cluster did not fit a phone: the transport ran off one edge and the view controls off the other. It wraps now, with the scrub card taking the width it can get. Left and right panels overlapped below about 900px, interleaving their borders. One panel at a time down there: the drawer wins and the left panel stands down. Two smaller things: the mode labels vanished in two stages, so Synthesis and Edit went icon-only while Kinematic and Force kept their words -- a duplicated rule nested inside the phone block was switching them back on. And the version row sat outside the Settings card rather than in it. --- .../left-tabs/left-tabs.component.html | 1 + .../left-tabs/left-tabs.component.scss | 6 +++++ .../left-tabs/left-tabs.component.ts | 12 +++++++++ .../playback-bar/playback-bar.component.scss | 22 +++++++++++++++ .../right-panel/right-panel.component.ts | 27 +++++++++++++++++++ .../settings-panel.component.html | 17 ++++++------ .../component/top-bar/top-bar.component.scss | 17 ++++-------- .../view-controls.component.scss | 6 +++++ src/app/selected-tab.service.ts | 6 +++++ src/styles.scss | 8 ++++++ 10 files changed, 102 insertions(+), 20 deletions(-) diff --git a/src/app/component/left-tabs/left-tabs.component.html b/src/app/component/left-tabs/left-tabs.component.html index 7cea116e..91711662 100644 --- a/src/app/component/left-tabs/left-tabs.component.html +++ b/src/app/component/left-tabs/left-tabs.component.html @@ -3,6 +3,7 @@ this.tabs.isTabVisible() ? (this.tabs.isAnalysisMode() ? 'openWide' : 'open') : 'closed' " class="panel" + [class.behindDrawer]="drawerOpen" > @if (this.tabs.getCurrentTab() === TabID.SYNTHESIZE) {
diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index 400365c9..8591fea3 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -13,6 +13,12 @@ $background: map.get($theme, background); $foreground: map.get($theme, foreground); + @media (max-width: 900px) { + .panel.behindDrawer { + display: none; + } + } + // The mock's help panel: a title, a lead, a rule and a hint or two. It // replaces a collapsible section wrapped round a GIF -- an animation of the // gesture, which had to be watched and could not be scanned. diff --git a/src/app/component/left-tabs/left-tabs.component.ts b/src/app/component/left-tabs/left-tabs.component.ts index 64ca2c42..62065d46 100644 --- a/src/app/component/left-tabs/left-tabs.component.ts +++ b/src/app/component/left-tabs/left-tabs.component.ts @@ -1,3 +1,4 @@ +import { RightPanelComponent } from '../right-panel/right-panel.component'; import { Component, ChangeDetectionStrategy } from '@angular/core'; import { animate, state, style, transition, trigger } from '@angular/animations'; import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; @@ -50,4 +51,15 @@ export class LeftTabsComponent { public get TabID(): typeof TabID { return TabID; } + + /** + * Is a right-hand drawer open? + * + * On a wide window both can be read at once. On a narrow one they overlap, + * and two cards interleaving their borders reads as a broken layout rather + * than as one thing in front of another — so the drawer wins and this hides. + */ + get drawerOpen(): boolean { + return RightPanelComponent.isOpen; + } } diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index 6a3521f1..504cc2f2 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -290,6 +290,28 @@ color: rgba(0, 0, 0, 0.45); } + // A phone cannot hold three cards across one line. The cluster wraps, the + // scrub card takes the width it can get, and the view controls sit under it + // rather than half off the edge. + @media (max-width: 720px) { + .playbackRow { + flex-wrap: wrap; + justify-content: center; + gap: 8px; + padding: 0 8px; + } + + .clusterSpacer { + display: none; + } + + .scrubCard { + flex: 1 1 100%; + min-width: 0; + order: 3; + } + } + .dirButton { display: flex; align-items: center; diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index 42ca8846..b1d1f39f 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -1,3 +1,4 @@ +import { TabID } from '../../selected-tab.service'; import { Component, inject, ChangeDetectionStrategy } from '@angular/core'; import { animate, state, style, transition, trigger } from '@angular/animations'; import { NewGridComponent } from '../new-grid/new-grid.component'; @@ -51,6 +52,9 @@ import { UrlGenerationService } from 'src/app/services/url-generation.service'; // The old 10px was measured against a panel flush to the edge and // left a two-pixel sliver of it on screen. transform: 'translateX(calc(100% + 24px))', + // And genuinely gone. Parked off the edge it still occupied the + // page's width, so a closed drawer could be scrolled back into view. + visibility: 'hidden', }) ), state( @@ -130,6 +134,29 @@ export class RightPanelComponent { RightPanelComponent.isOpen = false; } + /** + * Close a setup drawer that no longer describes the mode being shown. + * + * Settings and Help are about the app rather than a mode, so they stay. + */ + static closeSetupUnlessFor(tab: TabID): void { + if (!this.isOpen) { + return; + } + const wanted = + tab === TabID.FORCE + ? RightPanelComponent.FORCE_SETUP_TAB + : tab === TabID.ANALYZE + ? RightPanelComponent.KINEMATIC_SETUP_TAB + : -1; + const showingSetup = + this.openTab === RightPanelComponent.KINEMATIC_SETUP_TAB || + this.openTab === RightPanelComponent.FORCE_SETUP_TAB; + if (showingSetup && this.openTab !== wanted) { + this.isOpen = false; + } + } + getOpenTab() { return RightPanelComponent.openTab; } diff --git a/src/app/component/settings-panel/settings-panel.component.html b/src/app/component/settings-panel/settings-panel.component.html index f49f71ab..e8a45ae3 100644 --- a/src/app/component/settings-panel/settings-panel.component.html +++ b/src/app/component/settings-panel/settings-panel.component.html @@ -54,13 +54,14 @@ >Update Object Scale - - -
- Version - PMKS+ {{ appVersion }} -
+ +
+ Version + PMKS+ {{ appVersion }} +
+
diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss index cc81fcbe..e8a97214 100644 --- a/src/app/component/top-bar/top-bar.component.scss +++ b/src/app/component/top-bar/top-bar.component.scss @@ -293,8 +293,12 @@ } } + // Every label goes at once. Naming the short spelling explicitly, because the + // rule that switched it on lives in a later media block and would otherwise + // keep it while the other two modes had already gone icon-only. @media (max-width: 1080px) { - .tabButton .tabLabel { + .tabButton .tabLabel, + .tabButton .tabLabel.short { display: none; } @@ -337,17 +341,6 @@ } } - // The short spelling only appears once the long one has gone. - .tabButton .tabLabel.short { - display: none; - } - - @media (max-width: 1280px) { - .tabButton .tabLabel.short { - display: inline; - } - } - .modeDivider { margin: 0 4px; } diff --git a/src/app/component/view-controls/view-controls.component.scss b/src/app/component/view-controls/view-controls.component.scss index afb434f2..efbbaade 100644 --- a/src/app/component/view-controls/view-controls.component.scss +++ b/src/app/component/view-controls/view-controls.component.scss @@ -18,6 +18,12 @@ &.analysis { margin-right: 0; } + + @media (max-width: 720px) { + margin-right: 0; + padding: 0 6px; + gap: 2px; + } background: #fff; border-radius: 10px; z-index: 8; diff --git a/src/app/selected-tab.service.ts b/src/app/selected-tab.service.ts index cbe38b3c..feb31563 100644 --- a/src/app/selected-tab.service.ts +++ b/src/app/selected-tab.service.ts @@ -1,3 +1,4 @@ +import { RightPanelComponent } from './component/right-panel/right-panel.component'; import { T } from '@angular/cdk/keycodes'; import { Injectable } from '@angular/core'; import { BehaviorSubject } from 'rxjs'; @@ -77,6 +78,11 @@ export class SelectedTabService { } private onNewTab(previousTab: TabID) { + // A setup drawer answers a question about one mode, so it goes when that + // mode does -- otherwise the Force list sits over the Synthesis canvas + // looking like the app is stuck between two places. + RightPanelComponent.closeSetupUnlessFor(this.getCurrentTab()); + // Replaces the old stop button: leaving Analyze is what rewinds the // mechanism, so the other modes always act on the pose at time 0. if (this.isAnalysisMode(previousTab) && !this.isAnalysisMode()) { diff --git a/src/styles.scss b/src/styles.scss index 1e821e5a..4e81253b 100644 --- a/src/styles.scss +++ b/src/styles.scss @@ -1,8 +1,16 @@ /* You can add global styles to this file, and also import other style files */ +// The app fills the window and everything inside it scrolls on its own, so the +// document itself never should. Without this a drawer parked past the right +// edge can be scrolled back into view after being closed. html, body { height: 100%; + // `clip` rather than `hidden`: hidden removes the scrollbar but still allows + // the document to be scrolled programmatically, which is how a closed drawer + // could be brought back into view. + overflow: hidden; + overflow: clip; } body { From 33872a427dfd358c0a69badca38680fac21973a5 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 13:58:33 -0400 Subject: [PATCH 025/236] Point the tour at the chrome that exists now The redesign renamed or removed every element three of the tour steps aimed at, so those steps dimmed the screen and highlighted nothing. Aim them at the new chrome, and drop any step whose target is missing rather than showing an empty spotlight. Alongside: hide the disclosure arrow on a mechanism with no checks behind it, name the icon-only tab and history buttons for screen readers, stop the edit help from offering actions the menu does not have, and settle every panel at one elevation so a nested section no longer reads as a second, higher card. --- .../panel-section-collapsible.component.scss | 2 +- .../panel-section.component.scss | 4 +- .../analysis-setup.component.html | 7 +- .../analysis-setup.component.scss | 2 +- .../analysis-setup.component.ts | 3 + .../edit-panel/edit-panel.component.html | 2 +- .../left-tabs/left-tabs.component.scss | 2 +- .../mechanism-panel.component.scss | 2 +- .../component/new-grid/new-grid.component.ts | 64 +++++++++++-------- .../component/top-bar/top-bar.component.html | 14 +++- 10 files changed, 64 insertions(+), 38 deletions(-) diff --git a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss index 4a76cfcb..a5576068 100644 --- a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss +++ b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss @@ -12,7 +12,7 @@ #collapsibleContainer { pointer-events: all; - @include mat.elevation(4); + @include mat.elevation(2); display: flex; flex-direction: column; border-radius: var(--border-radius); diff --git a/src/app/component/BLOCKS/panel-section/panel-section.component.scss b/src/app/component/BLOCKS/panel-section/panel-section.component.scss index 14c988ca..5ef49ed7 100644 --- a/src/app/component/BLOCKS/panel-section/panel-section.component.scss +++ b/src/app/component/BLOCKS/panel-section/panel-section.component.scss @@ -13,7 +13,9 @@ #normalPanel { pointer-events: all; - @include mat.elevation(4); + // One elevation for every panel, so nesting one inside another cannot read + // as two different heights. + @include mat.elevation(2); border-radius: var(--border-radius); display: flex; flex-direction: column; diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index 1877fbb9..8739c2be 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -12,7 +12,12 @@ Mechanism {{ item.id }} {{ chipFor(item).text }} - {{ isOpen(item) ? 'expand_less' : 'expand_more' }} + + @if (item.checks.length > 0) { + {{ isOpen(item) ? 'expand_less' : 'expand_more' }} + } @if (isOpen(item)) { diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index 96da0b16..3b13f97e 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -14,7 +14,7 @@ background: #fafafa; border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); border-radius: var(--border-radius); - @include mat.elevation(4); + @include mat.elevation(2); } .setupHead { diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index fdcd24e4..35fab231 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -120,6 +120,9 @@ export class AnalysisSetupComponent { } toggle(readiness: MechanismReadiness): void { + if (readiness.checks.length === 0) { + return; + } if (this.isOpen(readiness)) { this.collapsed.add(readiness.id); } else { diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index 52c7cd6f..f9aa8524 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -25,7 +25,7 @@
add_circle_outline - Right-click the grid to create a link, tracer point or force. + Right-click the grid to add a link or a cylinder. Right-click a link to attach a tracer point or a force to it.
diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index 8591fea3..ea502de9 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -30,7 +30,7 @@ background: #fafafa; border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); border-radius: var(--border-radius); - @include mat.elevation(4); + @include mat.elevation(2); } .helpTitle { diff --git a/src/app/component/mechanism-panel/mechanism-panel.component.scss b/src/app/component/mechanism-panel/mechanism-panel.component.scss index ad3ffa9b..93e80e58 100644 --- a/src/app/component/mechanism-panel/mechanism-panel.component.scss +++ b/src/app/component/mechanism-panel/mechanism-panel.component.scss @@ -11,7 +11,7 @@ background: #fafafa; border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); border-radius: var(--border-radius); - @include mat.elevation(4); + @include mat.elevation(2); } .mechHead { diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 7f067421..250feabd 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -241,36 +241,44 @@ export class NewGridComponent implements OnDestroy { if (this.mechanismSrv.joints.length == 0) { setTimeout(() => { + const steps = [ + { + title: '👋 Welcome', + intro: 'Let us show you around Planar Mechanism Kinematic Simulator Plus!', + }, + { + // The mode strip, which is where the vertical rail this used to + // point at ended up. A step whose element is missing dims the + // whole app and shows no card at all, so these have to follow + // the chrome when it moves. + element: document.querySelector('.tabCard') as HTMLElement, + intro: + 'PMKS+ has four modes: Synthesis, Edit, and the two analyses — Kinematic and Force.', + }, + { + element: document.querySelector('#editWrapper') as HTMLElement, + intro: + 'The Edit mode is active. Selecting a joint or link will show its properties here.', + }, + { + element: document.querySelector('app-view-controls') as HTMLElement, + intro: 'These change what you can see: labels, centres of mass, and the zoom.', + }, + { + // Help and Templates live inside this menu now, and pointing at + // something inside a closed menu spotlights nothing. + element: document.querySelector('.brandCard .iconButton') as HTMLElement, + title: "🙌 That's it!", + intro: + 'Everything else is in here: open an example linkage from Templates, or find help and feedback.', + }, + ]; introJs() .setOptions({ - steps: [ - { - title: '👋 Welcome', - intro: 'Let us show you around Planar Mechanism Kinematic Simulator Plus!', - }, - { - element: document.querySelector('.tabContainer') as HTMLElement, - intro: 'PMKS+ is divided into 3 modes. Synthesis, Editing, and Analysis.', - }, - { - element: document.querySelector('#editWrapper') as HTMLElement, - intro: - 'The Edit mode is active. Selecting a joint or link will show its properties here.', - }, - { - element: document.querySelector('#barContainer') as HTMLElement, - intro: 'Once the mechanism is created, you can animate it here.', - }, - { - element: document.querySelector('#helpButton') as HTMLElement, - intro: 'If you get stuck at any point, click here for help.', - }, - { - element: document.querySelector('#templatesButton') as HTMLElement, - title: "🙌 That's it!", - intro: 'Get started by opening an example linkage!', - }, - ], + // Any step whose element has gone is dropped rather than shown: + // intro.js dims the app for a missing element and renders no card, + // which reads as the tour having frozen. + steps: steps.filter((step) => !('element' in step) || !!step.element), dontShowAgain: true, }) .start(); diff --git a/src/app/component/top-bar/top-bar.component.html b/src/app/component/top-bar/top-bar.component.html index 846db750..3e582d1f 100644 --- a/src/app/component/top-bar/top-bar.component.html +++ b/src/app/component/top-bar/top-bar.component.html @@ -28,12 +28,18 @@ class="tabButton" [class.active]="isActive(TabID.SYNTHESIZE)" (click)="select(TabID.SYNTHESIZE)" + aria-label="Synthesis" > Synthesis - @@ -45,6 +51,7 @@ [class.active]="isActive(TabID.ANALYZE)" [class.notReady]="!canAnalyse(TabID.ANALYZE)" (click)="select(TabID.ANALYZE)" + aria-label="Kinematic Analysis" > query_stats Kinematic Analysis @@ -65,6 +72,7 @@ [class.active]="isActive(TabID.FORCE)" [class.notReady]="!canAnalyse(TabID.FORCE)" (click)="select(TabID.FORCE)" + aria-label="Force Analysis" > balance Force Analysis @@ -84,11 +92,11 @@ @if (!tabs.isAnalysisMode()) {
- - From 9641e721976d805167a5adcb9462e028087722e1 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 14:07:55 -0400 Subject: [PATCH 026/236] Call the cylinder a cylinder all the way down the panel The heading already knew the selected body was a cylinder, but every row under it went on quoting the barrel link -- "Analysis for Cylinder GC" above "Angle of Link GN", the panel disagreeing with itself about what the reader had selected. The speed note had the same problem from the other end: it sent the reader to "the input joint's Edit panel" for a joint sealed inside the ram, with no hitbox on the canvas and no row in that panel. Name the field and the part that carries it. And read that speed from the mechanism the selection belongs to. The note quoted the first driven joint in the document, so in a drawing with three machines it reported one of them three times. --- .../analysis-panel.component.html | 20 +++---- .../analysis-panel.component.spec.ts | 21 +++++++ .../analysis-panel.component.ts | 55 ++++++++++++++++--- src/app/services/mechanism.service.ts | 6 ++ src/tests/fixtures/mechanism-fixtures.ts | 5 ++ 5 files changed, 88 insertions(+), 19 deletions(-) diff --git a/src/app/component/analysis-panel/analysis-panel.component.html b/src/app/component/analysis-panel/analysis-panel.component.html index 800968d9..b34154f7 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.html +++ b/src/app/component/analysis-panel/analysis-panel.component.html @@ -107,7 +107,7 @@ @if (validMechanisms() && this.activeSrv.objType == 'Joint') { Analysis for Joint {{ this.activeSrv.selectedJoint.name }} @@ -289,7 +289,7 @@ @if (validMechanisms() && this.activeSrv.objType == 'Link') { Analysis for {{ selectedBodyLabel }} @@ -318,7 +318,7 @@ > - Angle of Link {{ this.activeSrv.selectedLink.name }} + Angle of {{ selectedBodyLabel }} - Angular Velocity of Link {{ this.activeSrv.selectedLink.name }} + Angular Velocity of {{ selectedBodyLabel }} - Angular Acceleration of Link {{ this.activeSrv.selectedLink.name }} + Angular Acceleration of {{ selectedBodyLabel }} Center of Mass (COM) of Link {{ this.activeSrv.selectedLink.name }}Center of Mass (COM) of {{ selectedBodyLabel }} - Position of Link {{ this.activeSrv.selectedLink.name }}'s COM + Position of {{ selectedBodyLabel }}'s COM - Velocity of Link {{ this.activeSrv.selectedLink.name }}'s COM + Velocity of {{ selectedBodyLabel }}'s COM - Acceleration of Link {{ this.activeSrv.selectedLink.name }}'s COM + Acceleration of {{ selectedBodyLabel }}'s COM @if (linkForceRows().length === 0) {
- Link {{ this.activeSrv.selectedLink.name }} has no external joint that carries an + {{ selectedBodyLabel }} has no external joint that carries an independent pin reaction.
} diff --git a/src/app/component/analysis-panel/analysis-panel.component.spec.ts b/src/app/component/analysis-panel/analysis-panel.component.spec.ts index 98e52b1a..104a258c 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.spec.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.spec.ts @@ -230,6 +230,27 @@ describe('AnalysisPanelComponent with a cylinder selected', () => { expect(fixture.nativeElement.textContent).toContain('Analysis for Cylinder'); expect(fixture.nativeElement.textContent).not.toContain('Analysis for Link GN'); + // And so does everything under the heading. A panel that calls the body a + // cylinder at the top and a link in every row below has only moved the + // disagreement down the page. + expect(fixture.nativeElement.textContent).not.toContain('of Link GN'); + expect(fixture.nativeElement.textContent).toContain('Angle of Cylinder'); + fixture.destroy(); + }); + + it("sends the reader to the cylinder's own panel to change its speed", async () => { + // The joint driving a cylinder is buried inside it: no hitbox on the + // canvas, no row in the Edit panel. "The input joint's Edit panel" names + // somewhere the reader cannot get to. + const { fixture } = await createPanel(TEMPLATE_LINKAGES['Cylinder_Boom'], 'GN'); + fixture.detectChanges(); + + // The hint is passed to a block component the schema here stubs out, so + // it is read off the panel rather than off the rendered text. + const hint = fixture.componentInstance.inputEditHint; + expect(hint).toContain('Expansion Speed'); + expect(hint).toContain('Cylinder GC'); + expect(hint).not.toContain("input joint's Edit panel"); fixture.destroy(); }); diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index d3e5571e..bb9c3fa0 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -96,17 +96,54 @@ export class AnalysisPanelComponent { * 5 cm/s as turning at 5.00 RPM clockwise. */ get inputSummary(): string { - const driven = this.mechanismService.joints.find( - (joint) => joint instanceof RealJoint && joint.input - ); + const driven = this.drivenJointOfSelection; + const signed = this.mechanismService.driveSpeedOf(driven); + const speed = Math.abs(signed); if (driven instanceof PrisJoint) { - const speed = this.settingsService.linearInputSpeed.value.toFixed(2); - const direction = this.settingsService.isInputCW.value ? 'retracting' : 'extending'; - return `The input speed is set to ${speed} ${this.linearSpeedUnit}, ${direction}.`; + const direction = signed < 0 ? 'retracting' : 'extending'; + return `The input speed is set to ${speed.toFixed(2)} ${this.linearSpeedUnit}, ${direction}.`; + } + const direction = signed < 0 ? 'clockwise' : 'counter-clockwise'; + return `The input speed is set to ${speed.toFixed(2)} RPM in the ${direction} direction.`; + } + + /** + * Where that speed is actually changed. + * + * A cylinder is driven by a joint buried inside it that the canvas gives no + * hitbox and the Edit panel never lists, so sending the reader to "the input + * joint" sends them somewhere they cannot go. The field is on the cylinder, + * under its own name. + */ + get inputEditHint(): string { + const driven = this.drivenJointOfSelection; + const sealed = driven && this.mechanismService.cylinderAt(driven); + if (sealed) { + const name = `Cylinder ${sealed.barrelFar.name || sealed.barrelFar.id}${ + sealed.rodFar.name || sealed.rodFar.id + }`; + return `This can be changed under Expansion Speed in ${name}'s Edit panel.`; } - const speed = this.settingsService.inputSpeed.value.toFixed(2); - const direction = this.settingsService.isInputCW.value ? 'clockwise' : 'counter-clockwise'; - return `The input speed is set to ${speed} RPM in the ${direction} direction.`; + return "This can be changed in the input joint's Edit panel."; + } + + /** + * The drive of the mechanism the selection belongs to. + * + * A drawing can hold several mechanisms turning at different speeds, so the + * first driven joint in the document is only the right answer when there is + * one of them. + */ + private get drivenJointOfSelection(): RealJoint | undefined { + const selection = + this.activeSrv.objType === 'Link' + ? this.activeSrv.selectedLink + : this.activeSrv.objType === 'Joint' + ? this.activeSrv.selectedJoint + : undefined; + const own = selection && this.mechanismService.partitionContaining(selection); + const pool = own ? own.joints : this.mechanismService.joints; + return pool.find((joint): joint is RealJoint => joint instanceof RealJoint && joint.input); } /** Length per second, spelled the way the mechanism's length unit is. */ diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 15b18144..390a017b 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -368,6 +368,12 @@ export class MechanismService { ); } + /** The partition this part belongs to, if it belongs to one. */ + partitionContaining(part: Joint | Link | Force): MechanismPartition | undefined { + const index = this.indexOfMechanismContaining(part); + return index === -1 ? undefined : this.partitions[index]; + } + /** The solved mechanism this part belongs to, if it belongs to one. */ mechanismContaining(part: Joint | Link | Force): Mechanism | undefined { const index = this.indexOfMechanismContaining(part); diff --git a/src/tests/fixtures/mechanism-fixtures.ts b/src/tests/fixtures/mechanism-fixtures.ts index 17dcc1a7..3bebda35 100644 --- a/src/tests/fixtures/mechanism-fixtures.ts +++ b/src/tests/fixtures/mechanism-fixtures.ts @@ -64,6 +64,9 @@ export function buildMechanismFixture(payload: string): MechanismFixture { mechanismTimeStep: 0, onMechUpdateState: new BehaviorSubject(0), onMechPositionChange: new BehaviorSubject(0), + // The real `driveSpeedOf` falls back to the document default, so the stub + // has to be able to reach the same settings the panel reads. + settingsService: settings, // A stub, not the real thing: the panel renders this and the fixtures here // are all well-proportioned, so the default answer is "nothing to say". // A spec that wants the warning rendered overrides it. @@ -112,6 +115,8 @@ export function buildMechanismFixture(payload: string): MechanismFixture { service.indexOfMechanismContaining = MechanismService.prototype.indexOfMechanismContaining.bind(service); service.mechanismContaining = MechanismService.prototype.mechanismContaining.bind(service); + service.partitionContaining = MechanismService.prototype.partitionContaining.bind(service); + service.driveSpeedOf = MechanismService.prototype.driveSpeedOf.bind(service); return { active, mechanism, service, settings }; } From a2e59e9b58aa3488503dbad25aae7bc9226cabba Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 14:14:02 -0400 Subject: [PATCH 027/236] Draw the way back to the start instead of cutting to it Leaving an analysis mode rewinds the mechanism, and doing that in one frame teleports a linkage the user was just watching move: the pose they paused on is replaced by a different one with nothing in between, which reads as the drawing breaking rather than as playback ending. Ease over it in about a fifth of a second. This is a seek per frame, not playback -- the solver never runs and it lands on exactly the sample the cut landed on -- and if anything else moves the mechanism part way through, the rewind stops where it is and leaves that caller alone. --- src/app/selected-tab.service.ts | 2 +- src/app/services/ease-to-start.spec.ts | 83 ++++++++++++++++++++++++++ src/app/services/mechanism.service.ts | 40 +++++++++++++ 3 files changed, 124 insertions(+), 1 deletion(-) create mode 100644 src/app/services/ease-to-start.spec.ts diff --git a/src/app/selected-tab.service.ts b/src/app/selected-tab.service.ts index feb31563..93e3ba72 100644 --- a/src/app/selected-tab.service.ts +++ b/src/app/selected-tab.service.ts @@ -86,7 +86,7 @@ export class SelectedTabService { // Replaces the old stop button: leaving Analyze is what rewinds the // mechanism, so the other modes always act on the pose at time 0. if (this.isAnalysisMode(previousTab) && !this.isAnalysisMode()) { - this.mechanism.animate(0, false); + this.mechanism.easeToStart(); this.settings.animating.next(false); } diff --git a/src/app/services/ease-to-start.spec.ts b/src/app/services/ease-to-start.spec.ts new file mode 100644 index 00000000..4c986f44 --- /dev/null +++ b/src/app/services/ease-to-start.spec.ts @@ -0,0 +1,83 @@ +import { MechanismService } from './mechanism.service'; + +/** + * The frame loop behind `easeToStart`, driven by hand. + * + * The method is a drawing concern -- it seeks an already-solved cycle and never + * touches the solver -- so it is exercised against a stand-in that records the + * seeks rather than against a built mechanism. + */ +interface Stub { + mechanismTimeStep: number; + isPlaying: boolean; + atStartPose(): boolean; + animate(step: number, playing: boolean): void; +} + +function drive(from: number, interrupt?: (frame: number, stub: Stub) => void) { + const drawn: number[] = []; + const stub: Stub = { + mechanismTimeStep: from, + isPlaying: true, + atStartPose: () => stub.mechanismTimeStep === 0, + animate: (step) => { + stub.mechanismTimeStep = step; + drawn.push(step); + }, + }; + + const queue: FrameRequestCallback[] = []; + const original = globalThis.requestAnimationFrame; + globalThis.requestAnimationFrame = ((callback: FrameRequestCallback) => { + queue.push(callback); + return queue.length; + }) as typeof globalThis.requestAnimationFrame; + + try { + (MechanismService.prototype.easeToStart as (this: Stub, ms?: number) => void).call(stub, 200); + // 16 ms a frame, run well past the 200 ms the ease is given. + for (let frame = 0; frame < 40 && queue.length; frame++) { + interrupt?.(frame, stub); + queue.shift()!(frame * 16); + } + } finally { + globalThis.requestAnimationFrame = original; + } + return { drawn, stub }; +} + +describe('MechanismService easing back to the start of the cycle', () => { + it('draws the way back instead of cutting to it, and lands exactly on zero', () => { + const { drawn, stub } = drive(179); + + expect(drawn.length, 'more than one pose was drawn').toBeGreaterThan(4); + expect(drawn[0]).toBeLessThan(179); + expect(drawn.at(-1)).toBe(0); + expect(stub.mechanismTimeStep).toBe(0); + // Monotonic: a rewind that overshoots and comes back is its own glitch. + expect(drawn.every((step, i) => i === 0 || step <= drawn[i - 1])).toBe(true); + }); + + it('stops playback before the first frame, not after the last', () => { + // The tab has already changed by the time this runs, so anything reading + // the service during the rewind has to be told playback is over. + const { stub } = drive(120); + expect(stub.isPlaying).toBe(false); + }); + + it('gives way to anything else that moves the mechanism', () => { + // A rebuild, a scrub, playback starting again: whatever it was, it is newer + // than this rewind, and finishing the rewind would undo it. + const { drawn, stub } = drive(179, (frame, running) => { + if (frame === 3) running.mechanismTimeStep = 90; + }); + + expect(stub.mechanismTimeStep, 'the other caller kept its pose').toBe(90); + expect(drawn.at(-1), 'the rewind drew nothing after being overtaken').not.toBe(0); + }); + + it('does nothing at all when the mechanism is already at the start', () => { + const { drawn } = drive(0); + expect(drawn).toEqual([]); + }); +}); diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 390a017b..6eed15ad 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -2837,6 +2837,46 @@ export class MechanismService { this.animate(0, false); } + /** + * Draw the way back to the start of the cycle rather than cutting to it. + * + * Leaving an analysis mode rewinds the mechanism, and doing that in one frame + * teleports a linkage the user was just watching move -- the pose they had + * paused on is replaced by a different one with nothing in between, which + * reads as the drawing breaking rather than as playback ending. + * + * This is a seek per frame, not playback: it never runs the solver and it + * lands on exactly the same pose the cut landed on. If anything else moves + * the mechanism while it is running -- another seek, a rebuild, playback + * starting again -- it stops where it is and leaves that caller alone. + */ + easeToStart(durationMs = 220): void { + if (this.atStartPose()) return; + const from = this.mechanismTimeStep; + this.isPlaying = false; + let startedAt: number | null = null; + let lastDrawn = from; + + const frame = (now: number) => { + // Someone else has taken the mechanism somewhere since the last frame. + // Whatever they wanted, it is newer than this. + if (this.mechanismTimeStep !== lastDrawn) return; + startedAt ??= now; + const t = Math.min(1, (now - startedAt) / durationMs); + // Ease out: quick off the pose being left, gentle into the start. + const eased = 1 - (1 - t) ** 3; + const next = Math.round(from * (1 - eased)); + // The first frame is the pose already on screen, and at 60 fps over a + // fifth of a second several later ones round to the same sample. + if (next !== lastDrawn) { + lastDrawn = next; + this.animate(next, false); + } + if (t < 1) requestAnimationFrame(frame); + }; + requestAnimationFrame(frame); + } + /** * How far playback sits past sample `step`, as a 0..1 fraction of the way to the * next one. Zero for any seek and at the last sample, where there is nothing to From 65d6c175a89e56877e6af7cd32d7c9eae35e6251 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 14:16:54 -0400 Subject: [PATCH 028/236] Say what each graph plots, to a reader who cannot see it The series controls are labelled "X" and "Y" -- nothing on their own, and a panel showing six graphs offers a dozen checkboxes all called the same two things. The plot itself is a canvas with no text in it at all, and the CSV button is one of six identical "Download Data" buttons. Name all three from what the graph is already told it is showing, and name the status chips in the top strip alongside, so the count they carry survives the button having an explicit label. The two overlays that cover the plot -- "select at least one series" and "unavailable while dragging" -- also shared one id between them, so nothing could refer to either. --- .../analysis-graph.component.html | 30 +++++++++++++++---- .../analysis-graph.component.scss | 3 +- .../analysis-graph.component.ts | 21 +++++++++++++ .../component/top-bar/top-bar.component.html | 2 ++ 4 files changed, 50 insertions(+), 6 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.html b/src/app/component/analysis-graph/analysis-graph.component.html index ec0d4448..a25abe1c 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.html +++ b/src/app/component/analysis-graph/analysis-graph.component.html @@ -2,7 +2,12 @@
{{ analysisDiagnostic }}
} @else { @if (numberOfSeries === 3) { -
+
Magnitude @@ -23,7 +28,12 @@
} @if (numberOfSeries === 2) { -
+
Please select at least one data series.
Graph unavailable while dragging.
- diff --git a/src/app/component/analysis-graph/analysis-graph.component.scss b/src/app/component/analysis-graph/analysis-graph.component.scss index 1e316310..2d08641e 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.scss +++ b/src/app/component/analysis-graph/analysis-graph.component.scss @@ -86,7 +86,8 @@ background-color: red; } - #graphHide { + #graphNoSeries, + #graphDragging { background-color: rgb(255, 255, 255); position: absolute; top: 100px; diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 02b4a1b9..9d3ace38 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -239,6 +239,27 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, return this.numberOfSeries === 1; } + /** + * What this graph plots, in words. + * + * Its own controls are labelled "X" and "Y", which say nothing on their own: + * a panel showing six graphs offers a dozen checkboxes all called the same + * two things. The graph itself is a canvas with no text in it at all. + */ + get graphLabel(): string { + const part = this.mechPart ? ` of ${this.mechPart}` : ''; + return `${this.mechProp}${part}`; + } + + /** The label, plus what a reader who cannot see the plot would ask next. */ + get graphSummary(): string { + const names = this.displayedSeries + .map((series) => series.name) + .filter((name): name is string => !!name); + const plotted = names.length ? `, plotting ${names.join(', ')}` : ''; + return `Graph of ${this.graphLabel} over one cycle${plotted}. The same data is available as a CSV below.`; + } + noDataSelected: boolean = false; analysisDiagnostic: string | null = null; diff --git a/src/app/component/top-bar/top-bar.component.html b/src/app/component/top-bar/top-bar.component.html index 3e582d1f..1d688407 100644 --- a/src/app/component/top-bar/top-bar.component.html +++ b/src/app/component/top-bar/top-bar.component.html @@ -60,6 +60,7 @@ class="chip" role="button" [class.ok]="statusOf(TabID.ANALYZE).ready" + [attr.aria-label]="'Kinematic Analysis setup: ' + statusOf(TabID.ANALYZE).text" (click)="openSetupFor(TabID.ANALYZE, $event)" [matTooltip]="'What this mode needs'" matTooltipShowDelay="600" @@ -81,6 +82,7 @@ class="chip" role="button" [class.ok]="statusOf(TabID.FORCE).ready" + [attr.aria-label]="'Force Analysis setup: ' + statusOf(TabID.FORCE).text" (click)="openSetupFor(TabID.FORCE, $event)" [matTooltip]="'What this mode needs'" matTooltipShowDelay="600" From 6f0e4993216044c6d4f8a9cdf95d6be020e46cd9 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 14:23:35 -0400 Subject: [PATCH 029/236] Tell a narrow window what its four icons are Below 1080px the mode tabs lose their labels and become four unnamed glyphs. Name them on hover. On the icon rather than the button: the status chip sits inside the button, so a tooltip there fired over the chip as well and two of them came up stacked. --- src/app/component/top-bar/top-bar.component.html | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/app/component/top-bar/top-bar.component.html b/src/app/component/top-bar/top-bar.component.html index 1d688407..c22085c0 100644 --- a/src/app/component/top-bar/top-bar.component.html +++ b/src/app/component/top-bar/top-bar.component.html @@ -30,7 +30,7 @@ (click)="select(TabID.SYNTHESIZE)" aria-label="Synthesis" > - + Synthesis @@ -40,7 +40,7 @@ (click)="select(TabID.EDIT)" aria-label="Edit" > - + Edit @@ -53,7 +53,7 @@ (click)="select(TabID.ANALYZE)" aria-label="Kinematic Analysis" > - query_stats + query_stats Kinematic Analysis Kinematic - balance + balance Force Analysis Force Date: Wed, 12 Aug 2026 15:04:00 -0400 Subject: [PATCH 030/236] Make the transport say which way, and mean it Three things the transport got wrong about direction. The note beside each row said "Reciprocating" -- a fact about what kind of machine it is, repeated twice a cycle. It now says which way the input is actually going: Clockwise or CCW for a rotary drive, Extending or Retracting for a linear one. The handle carries the same fact, running left to right for a clockwise input and right to left for a counter-clockwise one. Reversing a machine stopped it and, on a machine whose input already turns around on its own, mirrored a drive that has no other direction to be driven in. A continuous drive is still reversed by re-solving the cycle; a reversing one now plays backwards instead, which is a view of the same motion rather than a different drawing. Either way it holds its place and keeps running, and the pose it starts from is untouched. The stop was not the transport's doing: encoding the URL round-trips through the start pose and handed back the frame but not the fact that playback had been running. Any edit made while the mechanism moved stopped it. And the master play button no longer disagrees with the rows. It starts and stops all of them, and goes quiet by itself when the last one does. --- e2e/playback-direction.mjs | 178 ++++++++++++++++++ .../playback-bar/playback-bar.component.html | 6 +- .../playback-bar/playback-bar.component.ts | 99 ++++++++-- src/app/services/mechanism.service.ts | 60 +++++- src/app/services/url-generation.service.ts | 8 +- 5 files changed, 320 insertions(+), 31 deletions(-) create mode 100644 e2e/playback-direction.mjs diff --git a/e2e/playback-direction.mjs b/e2e/playback-direction.mjs new file mode 100644 index 00000000..0ca5c63f --- /dev/null +++ b/e2e/playback-direction.mjs @@ -0,0 +1,178 @@ +/** + * The transport's direction button, and the master play button, in the browser. + * + * Reversing a machine keeps its place in the cycle and keeps it running; the + * handle carries the direction, running left to right clockwise and right to + * left counter-clockwise; and the master button and the per-machine buttons + * never disagree about whether anything is moving. + * + * PMKS_BASE_URL= node e2e/playback-direction.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const state = () => + page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return { + playing: srv.isPlaying, + step: srv.mechanismTimeStep, + seconds: +srv.currentTimeSeconds().toFixed(3), + rowPlaying: srv.mechanisms.map((_, i) => srv.isMechanismPlaying(i)), + scrub: [...document.querySelectorAll('.rowScrubber')].map((s) => +s.value), + notes: [...document.querySelectorAll('.rowNote')].map((n) => n.textContent.trim()), + }; + }); + +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); +await page.waitForTimeout(900); + +// --- the label names the direction, not the kind of machine ----------------- +const atRest = await state(); +record( + 'the row says which way the input is going', + ['Clockwise', 'CCW', 'Extending', 'Retracting'].includes(atRest.notes[0]), + atRest.notes +); + +// --- a clockwise drive runs the handle left to right ------------------------ +await page.locator('.transportCard .playButton').click(); +await page.waitForTimeout(1200); +const running = await state(); +record('the handle has moved off the left end', running.scrub[0] > atRest.scrub[0], { + atRest, + running, +}); + +// --- reversing keeps the place and keeps playing ----------------------------- +const before = await state(); +await page.locator('.dirButton').first().click(); +await page.waitForTimeout(300); +const after = await state(); +record('reversing leaves it playing', after.playing === true, { before, after }); +record( + 'and near where it was, not back at the start', + after.seconds > 0.05 && Math.abs(after.seconds - before.seconds) < 0.6, + { before, after } +); +record( + 'and the handle now runs the other way along the track', + Math.abs(after.scrub[0] - (1000 - before.scrub[0])) < 220, + { before, after } +); +record('and the label changed with it', after.notes[0] !== before.notes[0], { + before: before.notes, + after: after.notes, +}); + +// --- the start pose is untouched by any of it ------------------------------- +await page.locator('.tabButton', { hasText: 'Edit' }).click(); +await page.waitForTimeout(900); +const home = await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return srv.joints.map((j) => `${j.id}:${j.x.toFixed(2)},${j.y.toFixed(2)}`).join(' '); +}); +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +const fresh = await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return srv.joints.map((j) => `${j.id}:${j.x.toFixed(2)},${j.y.toFixed(2)}`).join(' '); +}); +record('reversing never moved the pose the drawing starts from', home === fresh, { home, fresh }); + +// --- master and rows agree --------------------------------------------------- +await page.evaluate(() => { + // A second four-bar, so the transport has rows of its own to get out of step. + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + const JointClass = Object.getPrototypeOf(srv.joints[0]).constructor; + const LinkClass = Object.getPrototypeOf(srv.links[0]).constructor; + const S = srv.joints[0].x === 0 ? 200 : Math.abs(srv.joints[0].x) / 3; + const made = [ + [10, 0], + [10, 1], + [13, 2], + [14, 0], + ].map(([x, y], i) => new JointClass(String.fromCharCode(69 + i), x * S, y * S)); + made[0].ground = true; + made[3].ground = true; + made[0].input = true; + const links = [0, 1, 2].map((i) => { + const link = new LinkClass(made[i].id + made[i + 1].id, [made[i], made[i + 1]]); + made[i].links.push(link); + made[i + 1].links.push(link); + made[i].connectedJoints.push(made[i + 1]); + made[i + 1].connectedJoints.push(made[i]); + return link; + }); + srv.joints.push(...made); + srv.links.push(...links); + srv.updateMechanism(true); +}); +await page.waitForTimeout(1200); +await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); +await page.waitForTimeout(800); +await page.locator('.syncToggle').click(); +await page.waitForTimeout(600); + +await page.locator('.transportCard .playButton').click(); +await page.waitForTimeout(500); +const allOn = await state(); +record( + 'the master button starts every machine, not just the shared flag', + allOn.playing && allOn.rowPlaying.every(Boolean), + allOn +); + +const rowPlays = page.locator('.rowPlay'); +await rowPlays.nth(0).click(); +await page.waitForTimeout(300); +await rowPlays.nth(1).click(); +await page.waitForTimeout(400); +const allOff = await state(); +record( + 'pausing every row pauses the master too', + !allOff.playing && allOff.rowPlaying.every((p) => !p), + allOff +); + +await page.locator('.transportCard .playButton').click(); +await page.waitForTimeout(400); +await page.locator('.transportCard .playButton').click(); +await page.waitForTimeout(400); +const masterOff = await state(); +record( + 'and pausing the master pauses every row', + !masterOff.playing && masterOff.rowPlaying.every((p) => !p), + masterOff +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); +await browser.close(); + +const failed = results.filter(([, ok]) => !ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +process.exit(failed.length ? 1 : 0); diff --git a/src/app/component/playback-bar/playback-bar.component.html b/src/app/component/playback-bar/playback-bar.component.html index dab118ff..bec9471a 100644 --- a/src/app/component/playback-bar/playback-bar.component.html +++ b/src/app/component/playback-bar/playback-bar.component.html @@ -77,9 +77,7 @@ (blur)="onTimeSubmit()" (keydown.enter)="onTimeSubmit()" /> - @if (row.note) { - {{ row.note }} - } + {{ row.note }}
@@ -88,7 +86,7 @@ class="dirButton" (click)="flipDirection(row)" title="Input direction" - [attr.aria-label]="row.clockwise ? 'Driven clockwise' : 'Driven counter-clockwise'" + [attr.aria-label]="'Reverse ' + row.id" > {{ row.clockwise ? 'rotate_right' : 'rotate_left' }} diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index abf1b1b8..bae0c2b8 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -7,7 +7,7 @@ import { ActiveObjService } from '../../services/active-obj.service'; import { SelectedTabService } from '../../selected-tab.service'; import { TimeUnit } from '../../model/utils'; import { Mechanism } from '../../model/mechanism/mechanism'; -import { RealJoint } from '../../model/joint'; +import { PrisJoint, RealJoint } from '../../model/joint'; /** One line in the transport: a machine, or all of them together. */ export interface PlaybackRow { @@ -28,7 +28,7 @@ export interface PlaybackRow { */ scrub: number; clockwise: boolean; - /** "Reciprocating", or "Reversing" while it is actually running backwards. */ + /** Which way the input is going right now: "Clockwise", "Retracting", ... */ note: string; playing: boolean; /** Whether this line carries a play button of its own. */ @@ -142,7 +142,7 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { time: this.format(now), scrub: this.trackPosition(lead.mechanism, now, period), clockwise: this.drivenSpeedOf(lead.mechanism) < 0, - note: this.noteFor(lead.mechanism, now), + note: this.noteFor(lead.mechanism, now, lead.index), playing: this.playing, ownPlay: false, period, @@ -161,7 +161,7 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { time: this.format(local), scrub: this.trackPosition(mechanism, local, period), clockwise: this.drivenSpeedOf(mechanism) < 0, - note: this.noteFor(mechanism, local), + note: this.noteFor(mechanism, local, index), playing: this.mechanism.isMechanismPlaying(index), ownPlay: runnable.length > 1, period, @@ -172,27 +172,59 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { /** * Where along the track to draw the handle. * - * A machine that reverses runs the handle up and then back down, because its - * input does. Its samples go out to the limit and back as one cycle, so - * position in the sample array climbs the whole way through — reading the - * handle off that would send it round and round, which is the one thing the - * reversal was worth showing instead of. + * The handle carries the direction: a clockwise input runs it left to right, + * a counter-clockwise one right to left. A machine that reverses runs it out + * and back, because its input does -- its samples go to the limit and return + * as one cycle, so reading the handle off position in that array would send + * it round and round, which is the one thing the reversal was worth showing + * instead of. */ private trackPosition(mechanism: Mechanism, seconds: number, period: number): number { const fraction = period > 0 ? Math.min(Math.max(seconds / period, 0), 1) : 0; - if (!this.isReciprocating(mechanism)) { - return Math.round(fraction * 1000); + if (this.isReciprocating(mechanism)) { + return Math.round((fraction <= 0.5 ? fraction * 2 : (1 - fraction) * 2) * 1000); } - return Math.round((fraction <= 0.5 ? fraction * 2 : (1 - fraction) * 2) * 1000); + const along = this.drivenSpeedOf(mechanism) < 0 ? fraction : 1 - fraction; + return Math.round(along * 1000); } - /** Say it reverses, and say when it is actually going backwards. */ - private noteFor(mechanism: Mechanism, seconds: number): string { - if (!this.isReciprocating(mechanism)) { - return ''; + /** + * Which way the input is travelling at this moment, in words. + * + * A linear drive extends and retracts; a rotary one turns one way or the + * other. "Reciprocating" said only that the machine was of a kind that turns + * around, which is not something the reader needs told twice a cycle. + */ + private noteFor(mechanism: Mechanism, seconds: number, index: number): string { + const outward = this.travellingForward(mechanism, seconds, index); + if (this.isLinearInput(mechanism)) { + return outward ? 'Extending' : 'Retracting'; } + return outward ? 'Clockwise' : 'CCW'; + } + + /** + * Whether the input is going the way its own drive speed says, right now. + * + * Two things can turn it around: the second half of a reversing machine's + * cycle, and playback being run backwards. Either one on its own flips the + * answer; both together cancel. + */ + private travellingForward(mechanism: Mechanism, seconds: number, index: number): boolean { const period = mechanism.cyclePeriod || 1; - return seconds / period > 0.5 ? 'Reversing' : 'Reciprocating'; + const onReturnLeg = this.isReciprocating(mechanism) && seconds / period > 0.5; + const rewinding = this.mechanism.directionOf(Math.max(index, 0)) < 0; + const driveIsForward = this.drivenSpeedOf(mechanism) < 0; + return (driveIsForward !== onReturnLeg) !== rewinding; + } + + /** A slider or cylinder drive, which extends rather than turns. */ + private isLinearInput(mechanism: Mechanism): boolean { + return ( + mechanism.joints[0]?.some( + (joint) => joint instanceof PrisJoint && (joint as RealJoint).input + ) ?? false + ); } /** Only worth offering when there is more than one machine to get out of step. */ @@ -241,6 +273,8 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { if (source && this.isReciprocating(source)) { const wasReturning = this.mechanism.secondsOf(Math.max(row.index, 0)) / row.period > 0.5; fraction = wasReturning ? 1 - along / 2 : along / 2; + } else if (source && this.drivenSpeedOf(source) >= 0) { + fraction = 1 - along; } if (row.index === -1) { this.mechanism.animate(this.mechanism.stepAtTime(fraction * row.period), this.playing); @@ -266,8 +300,10 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { play(): void { if (!this.canPlay) return; - this.mechanism.isPlaying = !this.mechanism.isPlaying; - this.mechanism.animate(this.mechanism.mechanismTimeStep, this.mechanism.isPlaying); + // Every row, not just the shared flag: unsynced it is the rows that run, + // and a master button that left them alone showed a pause icon over a + // drawing standing still. + this.mechanism.setAllPlaying(!this.mechanism.isPlaying); this.settings.animating.next(this.mechanism.mechanismTimeStep !== 0); } @@ -279,8 +315,25 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { this.mechanism.animationSpeedMultiplier = rates[next % rates.length]; } - /** Turn this machine's drive the other way. An edit, so it is undoable. */ + /** + * Turn this machine round. + * + * A continuously driven machine is turned round by reversing its drive: the + * cycle is re-solved mirrored, which is an edit and so is undoable. A machine + * whose input already reverses on its own has no other direction to be driven + * in, so the only thing left to turn round is playback, and that is a view of + * the same motion rather than a change to the drawing. + * + * Either way it keeps its place in the cycle and keeps running, and the pose + * it starts from is untouched. + */ flipDirection(row: PlaybackRow): void { + const mechanism = this.mechanism.mechanisms[row.index]; + if (mechanism && this.isReciprocating(mechanism)) { + this.mechanism.setPlaybackDirection(row.index, -this.mechanism.directionOf(row.index)); + return; + } + const partition = this.mechanism.partitions[row.index]; const driven = partition?.joints.find((joint) => (joint as { input?: boolean }).input) as { driveSpeed: number } | undefined; @@ -290,6 +343,12 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { ? driven.driveSpeed : (this.settings.isInputCW.value ? -1 : 1) * this.settings.inputSpeed.value; driven.driveSpeed = -current; + // The input itself has turned round, so time runs forward through the new + // cycle again -- otherwise a machine reversed twice would be running + // backwards through a mirrored cycle, which is where it started. + this.mechanism.setPlaybackDirection(row.index, 1); + // updateMechanism holds the simulation time across the rebuild, which is + // what keeps the machine where it was and keeps it running. this.mechanism.updateMechanism(true); } diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 6eed15ad..cc60ea51 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -138,6 +138,17 @@ export class MechanismService { private ownSeconds: number[] = []; /** Which machines are running, used only while unsynced. */ private ownPlaying: boolean[] = []; + /** + * Which way each machine's playback runs, +1 or -1. + * + * Only ever -1 for a machine whose input reverses on its own. Turning a + * continuous drive round is an edit -- the solved cycle itself is mirrored -- + * but a machine that already goes out and back has no other direction to be + * driven in, so the only thing "reverse" can mean there is to play the cycle + * backwards. That is a view of the same motion, not a different mechanism, + * which is why it lives here and not in the URL. + */ + private playbackDirection: number[] = []; private playbackFrameQueued = false; private advancingPlayback = false; @@ -2950,7 +2961,8 @@ export class MechanismService { const elapsedSeconds = this.playbackClockMs === null ? 0 : (now - this.playbackClockMs) / 1000; this.playbackClockMs = now; this.playbackTimeSeconds = this.wrapTime( - this.playbackTimeSeconds + elapsedSeconds * this.animationSpeedMultiplier + this.playbackTimeSeconds + + elapsedSeconds * this.animationSpeedMultiplier * this.directionOf(0) ); // Unsynced, each running machine carries its own time forward. The shared @@ -2962,7 +2974,9 @@ export class MechanismService { return; } const period = mechanism.cyclePeriod; - const next = (this.ownSeconds[index] ?? 0) + elapsedSeconds * this.animationSpeedMultiplier; + const next = + (this.ownSeconds[index] ?? 0) + + elapsedSeconds * this.animationSpeedMultiplier * this.directionOf(index); this.ownSeconds[index] = period > 0 ? ((next % period) + period) % period : next; }); } @@ -2976,6 +2990,23 @@ export class MechanismService { } } + /** Which way this machine's playback is running: +1 forward, -1 backward. */ + directionOf(index: number): number { + return this.playbackDirection[index] === -1 ? -1 : 1; + } + + /** + * Turn a reversing machine's playback round without moving it. + * + * It keeps its place in the cycle and keeps running; only the way it is + * headed changes. + */ + setPlaybackDirection(index: number, direction: number): void { + this.playbackDirection[index] = direction < 0 ? -1 : 1; + // The clock measures from the last frame, and this frame is not late. + this.playbackClockMs = null; + } + /** Where one machine is in its own cycle. */ secondsOf(index: number): number { if (this.syncMechanisms) { @@ -2998,13 +3029,30 @@ export class MechanismService { toggleMechanismPlaying(index: number): void { this.ownPlaying[index] = !this.ownPlaying[index]; - // The frame loop is shared, so it has to be running for any machine to move. - if (this.ownPlaying.some(Boolean)) { - this.isPlaying = true; - } + // The frame loop is shared, so it has to be running for any machine to move + // -- and there is no reason for it to be running when none of them are. The + // transport's own button reads this flag, so leaving it set with every row + // stopped showed a pause button over a drawing that was not moving. + this.isPlaying = this.ownPlaying.some(Boolean); this.animate(this.mechanismTimeStep, this.isPlaying); } + /** + * Start or stop everything at once, from the transport's own button. + * + * Unsynced, the rows are what actually run, so the master has to move them + * rather than a flag they do not read. + */ + setAllPlaying(playing: boolean): void { + this.isPlaying = playing; + if (!this.syncMechanisms) { + this.ownPlaying = this.mechanisms.map((mechanism) => + playing && mechanism.isMechanismValid() ? true : false + ); + } + this.animate(this.mechanismTimeStep, playing); + } + /** * Switch between one clock and several. * diff --git a/src/app/services/url-generation.service.ts b/src/app/services/url-generation.service.ts index a4d4d5c2..57e94a61 100644 --- a/src/app/services/url-generation.service.ts +++ b/src/app/services/url-generation.service.ts @@ -144,6 +144,12 @@ export class UrlGenerationService { generateUrlQuery(): string { // First, reset animation to the beginning, but cache animation frame to restore afterwards let cachedAnimationFrame = this.mechanism.mechanismTimeStep; + // And whether it was running. Encoding is a round trip through the start + // pose, so it has to stop playback -- but it has to hand it back, or any + // edit made while the mechanism is moving stops it. Reversing a machine + // from the transport is exactly that edit, and it looked like the reverse + // button was also a pause button. + const wasPlaying = this.mechanism.isPlaying; if (cachedAnimationFrame > 0) this.mechanism.animate(0, false); let encoder = new StringTranscoder(); @@ -226,7 +232,7 @@ export class UrlGenerationService { let urlRaw = encoder.encodeURL(); // Restore animation frame - if (cachedAnimationFrame > 0) this.mechanism.animate(cachedAnimationFrame, false); + if (cachedAnimationFrame > 0) this.mechanism.animate(cachedAnimationFrame, wasPlaying); return urlRaw; } From 286f343e628b8a6b9835a55befca507c07e8e882 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 15:09:22 -0400 Subject: [PATCH 031/236] Undo a unit change without moving the view A unit change rescales the stored geometry, and the settings panel compensates the viewport so the drawing keeps the size it had. Undo replays a URL, which carries the unit but knows nothing about that compensation -- so the geometry came back at its old size through a viewport still zoomed for the new one, and the linkage jumped by the conversion factor. Between centimetres and metres that is a hundredfold. Compensate on the replay too, in the branch that already exists for "restore this state without refitting the view". --- e2e/unit-undo-view.mjs | 125 ++++++++++++++++++++++ src/app/services/svg-grid.service.ts | 28 +++++ src/app/services/url-processor.service.ts | 8 ++ 3 files changed, 161 insertions(+) create mode 100644 e2e/unit-undo-view.mjs diff --git a/e2e/unit-undo-view.mjs b/e2e/unit-undo-view.mjs new file mode 100644 index 00000000..e11c5069 --- /dev/null +++ b/e2e/unit-undo-view.mjs @@ -0,0 +1,125 @@ +/** + * Undoing a unit change must not move the view. + * + * A unit change rescales the stored geometry and compensates the viewport so + * the drawing keeps its apparent size. Undo replays a URL, which carries the + * unit but not the compensation — so the geometry came back at its old size + * through a viewport still zoomed for the new one. + * + * PMKS_BASE_URL= node e2e/unit-undo-view.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1400, height: 900 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +/** + * How wide the linkage actually is on screen, which is what a reader sees. + * + * Measured joint centre to joint centre, not from the painted bounding box: + * stroke width follows the object-scale setting, which a unit change also + * moves, and that would show up here as a change in size that is not one. + */ +const onScreen = () => + page.evaluate(() => { + const centres = [ + ...document.querySelectorAll('#jointHolder circle, [id^="joint_"] circle'), + ].map((circle) => { + const box = circle.getBoundingClientRect(); + return { x: box.left + box.width / 2, y: box.top + box.height / 2 }; + }); + const xs = centres.map((c) => c.x); + return { + count: centres.length, + span: +(Math.max(...xs) - Math.min(...xs)).toFixed(1), + left: +Math.min(...xs).toFixed(1), + }; + }); + +const flipUnit = () => + page.evaluate(() => { + const panel = ng.getComponent(document.querySelector('app-settings-panel')); + const control = panel.settingsForm.controls['globalunit']; + control.setValue(control.value === '0' ? '1' : '0'); + }); + +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await page.locator('.topStrip .iconButton').first().click(); +await page.waitForTimeout(400); +await page.locator('.menuItem', { hasText: 'Settings' }).click(); +await page.waitForTimeout(900); + +const before = await onScreen(); +await flipUnit(); +await page.waitForTimeout(1200); +const changed = await onScreen(); +record( + 'changing the unit leaves the drawing the size it was', + Math.abs(changed.span - before.span) < 3, + { before, changed } +); + +await page.locator('.historyButton').first().click(); +await page.waitForTimeout(1400); +const undone = await onScreen(); +record('and undoing it leaves the drawing where it was', Math.abs(undone.span - before.span) < 3, { + before, + undone, +}); +record('down to where on screen it sits', Math.abs(undone.left - before.left) < 4, { + before, + undone, +}); + +await page.locator('.historyButton').nth(1).click(); +await page.waitForTimeout(1400); +const redone = await onScreen(); +record('and redoing it does too', Math.abs(redone.span - before.span) < 3, { before, redone }); + +// A plain undo never touched the view, and must still not. +await page.locator('.tabButton', { hasText: 'Edit' }).click(); +await page.waitForTimeout(600); +const settled = await onScreen(); +await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + const joint = srv.joints.find((j) => !j.ground); + joint.x += 40; + srv.updateMechanism(true); +}); +await page.waitForTimeout(900); +await page.locator('.historyButton').first().click(); +await page.waitForTimeout(1200); +const afterPlainUndo = await onScreen(); +record( + 'an undo with no unit in it still leaves the view alone', + Math.abs(afterPlainUndo.span - settled.span) < 3, + { settled, afterPlainUndo } +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); +await browser.close(); + +const failed = results.filter(([, ok]) => !ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +process.exit(failed.length ? 1 : 0); diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index 05c39029..189d1f91 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -8,6 +8,15 @@ import { SettingsService } from './settings.service'; import { DragStateService } from './drag-state.service'; import Hammer from 'hammerjs'; import { MODEL_SCALE } from '../model/render-scale'; +import { LengthUnit } from '../model/unit-enums'; + +/** One of each unit, in centimetres. The only ratio this file needs. */ +const LENGTH_IN_CM: Record = { + [LengthUnit.CM]: 1, + [LengthUnit.METER]: 100, + [LengthUnit.INCH]: 2.54, + [LengthUnit.NULL]: 1, +}; @Injectable({ providedIn: 'root', @@ -177,6 +186,25 @@ export class SvgGridService { return screenPos; } + /** + * Keep the drawing the same size on screen across a change of length unit. + * + * A unit change rescales the stored geometry, so without this the linkage + * would appear to grow or shrink by the conversion factor. The settings panel + * does this for a change the reader made; undo and redo replay a URL that can + * carry the same change, and had no way to do it -- the geometry came back at + * its old size through a viewport still zoomed for the new one, which is the + * jump. + */ + compensateForUnitChange(fromUnit: LengthUnit, toUnit: LengthUnit): void { + if (fromUnit === toUnit || !this.panZoomObject) return; + const origin = this.SVGtoScreen(new Coord(0, 0)); + this.panZoomObject.zoomAtPointBy(LENGTH_IN_CM[toUnit] / LENGTH_IN_CM[fromUnit], { + x: origin.x, + y: origin.y, + }); + } + screenToSVGfromXY(screenX: number, screenY: number): Coord { return this.screenToSVG(new Coord(screenX, screenY)); } diff --git a/src/app/services/url-processor.service.ts b/src/app/services/url-processor.service.ts index 90c81064..3f405e00 100644 --- a/src/app/services/url-processor.service.ts +++ b/src/app/services/url-processor.service.ts @@ -89,6 +89,12 @@ export class UrlProcessorService { ? { type: this.activeObj.objType, id: this.activeObj.getSelectedObj()?.id } : undefined; mechanismSrv.rewindToStart(); + // The unit the drawing is about to be expressed in decides how big it is on + // screen, and the viewport is compensated for that -- but only where the + // change came from the settings panel. Replaying a step that crossed a unit + // change has to compensate too, or the geometry comes back at its old size + // through a viewport still zoomed for the new one. + const unitBefore = this.settingsSrv.lengthUnit.value; // the transcoder is responsible for decoding the url into a mechanism const decoder = new StringTranscoder(); @@ -162,6 +168,8 @@ export class UrlProcessorService { // mechanism that arrives should already be in view, not zoom itself in // once a second has passed. `scaleToFitLinkage` waits for the render. this.svgGrid.scaleToFitLinkage(false); + } else { + this.svgGrid.compensateForUnitChange(unitBefore, this.settingsSrv.lengthUnit.value); } } } From d5298f04ee27e9229a37aa640aa3a8f88d44e63a Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 15:20:01 -0400 Subject: [PATCH 032/236] One white, one shadow, one gap Every surface floating above the grid was styling itself. Two whites (#fff for the strip and the transport, #fafafa for every panel), two shadow families (a heavy one for the floating cards, Material's elevation(2) for the panels and the status strip -- which is why the Settings and Analysis panels read as having no shadow at all), and two radii. Three custom properties now hold all of it, and everything reads from them. The rest of the sweep, in the same vein: - The cluster's gaps were 12px and 24px. A zero-width flex spacer still takes the row's gap on both sides, so the one gap it sits in came out double. Pulled one back. - The top strip's cards held a 40px button, a 36px pill and a 34px button inside an 8px-padded 48px card, so the blue behind them sat at three heights and none of them the same distance from the edge as from the top. One inset now: 48px card, 36px controls, 6px all round. - The strip shortened its labels at 1280px and dropped them at 1080px, throwing away words with a quarter of the window still empty. It is 1019px wide with full labels, 899 short, 716 icon-only -- so those are the widths it steps at now. - The sync tab hangs off the top of the scrub card, and when the cluster wraps that card onto its own line the tab landed on the card above it. The wrapped line makes room for it. - The drawer's close X sat on the outer corner, over the rounded edge and the accent bar. It is inside the card now, level with the title. - And the version row overflowed the drawer: the panel stretches its children to a content-box width, so a child with side padding comes out wider than the panel holding it. --- .../panel-section-collapsible.component.scss | 2 +- .../panel-section.component.scss | 10 +-- .../analysis-setup.component.scss | 4 +- .../bottombar/bottombar.component.scss | 2 +- .../left-tabs/left-tabs.component.scss | 4 +- .../mechanism-panel.component.scss | 4 +- .../playback-bar/playback-bar.component.scss | 35 ++++++----- .../right-panel/right-panel.component.scss | 12 ++-- .../settings-panel.component.scss | 4 ++ .../component/top-bar/top-bar.component.scss | 61 ++++++++++--------- .../view-controls.component.scss | 9 +-- src/styles.scss | 17 ++++++ 12 files changed, 97 insertions(+), 67 deletions(-) diff --git a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss index a5576068..b7b73473 100644 --- a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss +++ b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss @@ -12,7 +12,7 @@ #collapsibleContainer { pointer-events: all; - @include mat.elevation(2); + box-shadow: var(--card-shadow); display: flex; flex-direction: column; border-radius: var(--border-radius); diff --git a/src/app/component/BLOCKS/panel-section/panel-section.component.scss b/src/app/component/BLOCKS/panel-section/panel-section.component.scss index 5ef49ed7..cca7635b 100644 --- a/src/app/component/BLOCKS/panel-section/panel-section.component.scss +++ b/src/app/component/BLOCKS/panel-section/panel-section.component.scss @@ -13,19 +13,21 @@ #normalPanel { pointer-events: all; - // One elevation for every panel, so nesting one inside another cannot read - // as two different heights. - @include mat.elevation(2); + box-shadow: var(--card-shadow); border-radius: var(--border-radius); display: flex; flex-direction: column; //gap: 10px; - background-color: mat.m2-get-color-from-palette($background, 'background'); + background-color: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); //padding: 20px; + // Stretched to the panel's own width -- which is a content-box width, so a + // child with side padding would come out wider than the panel it is in and + // overflow the drawer. That is how the version row ran off the edge. > * { width: 100%; + box-sizing: border-box; } } } diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index 3b13f97e..5cc23416 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -11,10 +11,10 @@ .setup { display: block; padding-bottom: 8px; - background: #fafafa; + background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); border-radius: var(--border-radius); - @include mat.elevation(2); + box-shadow: var(--card-shadow); } .setupHead { diff --git a/src/app/component/bottombar/bottombar.component.scss b/src/app/component/bottombar/bottombar.component.scss index 40459350..17390a59 100644 --- a/src/app/component/bottombar/bottombar.component.scss +++ b/src/app/component/bottombar/bottombar.component.scss @@ -25,7 +25,7 @@ pointer-events: none; user-select: none; - @include mat.elevation(2); + box-shadow: var(--card-shadow); @include mat.m2-typography-level($typography-config, 'subtitle-2'); font-weight: 400; color: #2c2c2c; diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index ea502de9..6a503be0 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -27,10 +27,10 @@ // than twice in the two components that draw it. .helpPanel { padding: 14px 15px 18px; - background: #fafafa; + background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); border-radius: var(--border-radius); - @include mat.elevation(2); + box-shadow: var(--card-shadow); } .helpTitle { diff --git a/src/app/component/mechanism-panel/mechanism-panel.component.scss b/src/app/component/mechanism-panel/mechanism-panel.component.scss index 93e80e58..b9fe4b88 100644 --- a/src/app/component/mechanism-panel/mechanism-panel.component.scss +++ b/src/app/component/mechanism-panel/mechanism-panel.component.scss @@ -8,10 +8,10 @@ .mechanismPanel { display: block; padding-bottom: 8px; - background: #fafafa; + background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); border-radius: var(--border-radius); - @include mat.elevation(2); + box-shadow: var(--card-shadow); } .mechHead { diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index 504cc2f2..855e277c 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -5,11 +5,6 @@ // than from an eye: the bottom cluster was tuned there, and re-deriving it by // looking at a screenshot is how it drifted the first time. @mixin css($theme) { - $card-shadow: - 0 3px 5px -1px rgba(0, 0, 0, 0.2), - 0 6px 10px 0 rgba(0, 0, 0, 0.14), - 0 1px 18px 0 rgba(0, 0, 0, 0.12); - .playbackRow { position: absolute; left: 0; @@ -18,18 +13,26 @@ display: flex; align-items: flex-end; justify-content: center; - gap: 12px; - padding: 0 12px; + // The sync tab hangs 26px off the top of the scrub card, so a wrapped row + // needs that much again between lines or the tab lands on the card above + // it. Column gap stays the cluster's own. + column-gap: var(--card-gap); + row-gap: calc(26px + var(--card-gap)); + padding: 0 var(--card-gap); z-index: 8; pointer-events: none; } + // A flex child at zero width still takes the row's gap on both sides, so the + // spacer -- which is nothing at all in analysis mode -- was widening the one + // gap in the cluster it sits in by double. Pull one gap back out of it. .clusterSpacer { flex-grow: 1; flex-shrink: 0; flex-basis: 0; min-width: 0; height: 1px; + margin-right: calc(-1 * var(--card-gap)); transition: flex-grow 0.3s cubic-bezier(0.4, 0, 0.2, 1); &.analysis { @@ -43,12 +46,12 @@ gap: 8px; height: 60px; padding: 0 12px; - background: #fff; - border-radius: 10px; + background: var(--card-surface); + border-radius: var(--card-radius); pointer-events: auto; flex: 0 0 auto; box-sizing: border-box; - box-shadow: $card-shadow; + box-shadow: var(--card-shadow); } .scrubCard { @@ -59,13 +62,13 @@ gap: 7px; padding: 9px 12px; min-height: 60px; - background: #fff; - border-radius: 10px; + background: var(--card-surface); + border-radius: var(--card-radius); pointer-events: auto; flex: 0 1 470px; min-width: 250px; box-sizing: border-box; - box-shadow: $card-shadow; + box-shadow: var(--card-shadow); } .speedButton { @@ -297,7 +300,11 @@ .playbackRow { flex-wrap: wrap; justify-content: center; - gap: 8px; + // The scrub card goes to a line of its own here, and its sync tab hangs + // 26px off its top edge -- into the transport card above it, unless the + // line below is given room for it. + column-gap: 8px; + row-gap: 34px; padding: 0 8px; } diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index e84937e7..09a29041 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -15,13 +15,15 @@ // A floating card like the strip above it, clear of both: the drawer used to // start under a toolbar that ran the width of the window and could sit flush // against the edge. Nothing is flush any more. - // Top right of the drawer, over whatever it contains: every panel in here - // was written before the drawer could be closed from inside it, so none of - // them leaves room for this. + // Inside the card and level with its title, not hard against the drawer's + // outer corner where it overhung the rounded edge and the accent bar. Every + // panel in here was written before the drawer could be closed from inside + // it, so none of them leaves room for this -- these are the drawer's own + // 10px inset plus the card's 8px gutter, and the title row's centre line. .closeDrawer { position: absolute; - top: 8px; - right: 8px; + top: 25px; + right: 18px; z-index: 2; display: flex; align-items: center; diff --git a/src/app/component/settings-panel/settings-panel.component.scss b/src/app/component/settings-panel/settings-panel.component.scss index 70868589..766b373e 100644 --- a/src/app/component/settings-panel/settings-panel.component.scss +++ b/src/app/component/settings-panel/settings-panel.component.scss @@ -18,7 +18,11 @@ padding: 10px; } + // The panel stretches its children to its own width, which is a content-box + // width -- so a row with side padding came out wider than the drawer and the + // version ran off the edge. .versionRow { + box-sizing: border-box; display: flex; align-items: center; gap: 5px; diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss index e8a97214..a23e22f1 100644 --- a/src/app/component/top-bar/top-bar.component.scss +++ b/src/app/component/top-bar/top-bar.component.scss @@ -6,14 +6,6 @@ $primary-palette: map.get($color-config, 'primary'); $typography-config: mat.m2-get-typography-config($theme); - // One elevation for every floating card in the app, so the strip, the - // playback card and the drawers all read as sitting at the same height above - // the grid. - $card-shadow: - 0 3px 5px -1px rgba(0, 0, 0, 0.2), - 0 6px 10px 0 rgba(0, 0, 0, 0.14), - 0 1px 18px 0 rgba(0, 0, 0, 0.12); - .topStrip { position: absolute; top: 12px; @@ -21,7 +13,7 @@ right: 12px; display: flex; align-items: flex-start; - gap: 10px; + gap: var(--card-gap); z-index: 6; pointer-events: none; @@ -29,16 +21,21 @@ display: flex; align-items: center; height: 48px; - background: #fff; - border-radius: 8px; - box-shadow: $card-shadow; + background: var(--card-surface); + border-radius: var(--card-radius); + box-shadow: var(--card-shadow); pointer-events: auto; box-sizing: border-box; } + // 48px card, 36px controls, 6px padding: the same inset above, below and + // to either side of whatever the card holds. The buttons were 34px and 40px + // tall in an 8px-padded card, so the blue behind them sat at two different + // heights and never at the same distance from the edge as it was from the + // top. .brandCard { gap: 6px; - padding: 0 8px 0 6px; + padding: 0 6px; flex: 0 0 auto; white-space: nowrap; } @@ -55,7 +52,7 @@ .tabCard { flex: 0 1 auto; min-width: 0; - padding: 0 8px; + padding: 0 6px; overflow: hidden; } @@ -63,7 +60,7 @@ // read as one group instead of two things at opposite ends of the window. .historyCard { gap: 6px; - padding: 0 8px; + padding: 0 6px; flex: 0 0 auto; } } @@ -148,7 +145,12 @@ display: none; } - @media (max-width: 1280px) { + // Each step down is taken only once the level above would actually run out + // of room. Measured, not guessed: the strip is 1019px wide with full labels, + // 899 with short ones and 716 icon-only, so these are those numbers with a + // little to spare. It used to shorten at 1280 and go icon-only at 1080, + // throwing away words while a quarter of the window was still empty. + @media (max-width: 1040px) { .tabButton .tabLabel.short { display: inline; } @@ -184,8 +186,8 @@ display: flex; align-items: center; justify-content: center; - width: 40px; - height: 40px; + width: 36px; + height: 36px; border: none; border-radius: 6px; background: transparent; @@ -206,11 +208,11 @@ display: flex; align-items: center; gap: 6px; - height: 34px; + height: 36px; padding: 0 12px; border: 1px solid mat.m2-get-color-from-palette($primary-palette, 500); border-radius: 4px; - background: #fff; + background: var(--card-surface); color: mat.m2-get-color-from-palette($primary-palette, 500); font-family: inherit; font-size: 14px; @@ -242,13 +244,10 @@ left: 12px; width: 188px; padding: 4px 0; - background: #fff; - border-radius: 5px; + background: var(--card-surface); + border-radius: var(--border-radius); z-index: 20; - box-shadow: - 0 7px 8px -4px rgba(0, 0, 0, 0.2), - 0 13px 19px 2px rgba(0, 0, 0, 0.14), - 0 5px 24px 4px rgba(0, 0, 0, 0.12); + box-shadow: var(--card-shadow); } .menuItem { @@ -286,8 +285,10 @@ margin: 6px 14px; } - // Narrow windows drop the words before they drop a mode. - @media (max-width: 1280px) { + // Narrow windows drop the words before they drop a mode. Paired with the + // rule that switches the short spelling on -- one width, two halves of the + // same step, so they have to move together. + @media (max-width: 1040px) { .tabButton .tabLabel.long { display: none; } @@ -296,7 +297,7 @@ // Every label goes at once. Naming the short spelling explicitly, because the // rule that switched it on lives in a later media block and would otherwise // keep it while the other two modes had already gone icon-only. - @media (max-width: 1080px) { + @media (max-width: 920px) { .tabButton .tabLabel, .tabButton .tabLabel.short { display: none; @@ -312,7 +313,7 @@ // somewhere unreachable, with the page scrolling sideways to prove it -- the // tab card scrolls on its own and the chips go, since the status they carry // is also on the status strip. - @media (max-width: 720px) { + @media (max-width: 740px) { .topStrip { gap: 6px; diff --git a/src/app/component/view-controls/view-controls.component.scss b/src/app/component/view-controls/view-controls.component.scss index efbbaade..dbaf7107 100644 --- a/src/app/component/view-controls/view-controls.component.scss +++ b/src/app/component/view-controls/view-controls.component.scss @@ -24,14 +24,11 @@ padding: 0 6px; gap: 2px; } - background: #fff; - border-radius: 10px; + background: var(--card-surface); + border-radius: var(--card-radius); z-index: 8; box-sizing: border-box; - box-shadow: - 0 3px 5px -1px rgba(0, 0, 0, 0.2), - 0 6px 10px 0 rgba(0, 0, 0, 0.14), - 0 1px 18px 0 rgba(0, 0, 0, 0.12); + box-shadow: var(--card-shadow); .viewButton { display: flex; diff --git a/src/styles.scss b/src/styles.scss index 4e81253b..6ec8b61c 100644 --- a/src/styles.scss +++ b/src/styles.scss @@ -29,6 +29,23 @@ body { :root { --border-radius: 5px; --mat-warning-color: #f44336; + + /* + * The app's chrome, in one place. + * + * Every surface that floats above the grid -- the top strip, the transport, + * the view controls, the drawers, the panels, the status strip -- is the same + * white, sits at the same height above it, and is separated from its + * neighbours by the same gap. These are those three facts. Anything that + * writes its own #fff, its own box-shadow or its own 10px is either wrong or + * has a reason worth writing down beside it. + */ + --card-surface: #fff; + --card-radius: 10px; + --card-gap: 12px; + --card-shadow: + 0 3px 5px -1px rgba(0, 0, 0, 0.2), 0 6px 10px 0 rgba(0, 0, 0, 0.14), + 0 1px 18px 0 rgba(0, 0, 0, 0.12); } /* Remove all default margins and padding */ From f388b4c22b946bb7db8e280c84073e8fa14b4693 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 15:30:58 -0400 Subject: [PATCH 033/236] Let the edit panel reach the bottom, and keep its head above water The left panel kept the playback card's room clear in every mode, but there is no playback card outside the analysis modes -- so in Edit it stopped seventy pixels short of anything and scrolled instead. And the frame around the card was what scrolled, which cut the card off square at the frame's edge and carried the name of the thing being edited away with everything else. The card scrolls now: its own rounded corner stays the edge, and the title with its Edit Name and Delete buttons stays put while the settings under them move. Alongside: the version row keeps the same 40px row on a 15px gutter that every other section header uses, instead of 10px of air above it and 14 below. --- .../panel-section.component.scss | 20 +++++++++ .../left-tabs/left-tabs.component.html | 1 + .../left-tabs/left-tabs.component.scss | 44 +++++++++++++++++-- .../settings-panel.component.scss | 5 ++- 4 files changed, 66 insertions(+), 4 deletions(-) diff --git a/src/app/component/BLOCKS/panel-section/panel-section.component.scss b/src/app/component/BLOCKS/panel-section/panel-section.component.scss index cca7635b..bbd0349c 100644 --- a/src/app/component/BLOCKS/panel-section/panel-section.component.scss +++ b/src/app/component/BLOCKS/panel-section/panel-section.component.scss @@ -13,6 +13,15 @@ #normalPanel { pointer-events: all; + // The card owns the scroll, not the frame around it. Scrolling the frame + // cut the card off square at the bottom of the window; scrolling the card + // keeps its own rounded corner as the edge, and lets the title stay put + // while the settings under it move. The height it is capped at is the + // frame's, which is set from the top strip and whatever is along the + // bottom in this mode. + max-height: 100%; + overflow-y: auto; + overflow-x: hidden; box-shadow: var(--card-shadow); border-radius: var(--border-radius); display: flex; @@ -28,6 +37,17 @@ > * { width: 100%; box-sizing: border-box; + flex: 0 0 auto; + } + + // The name of the thing being edited, and what can be done to it, stay + // where they are; everything below them scrolls. + > title-block:first-child, + > editable-title-block:first-child { + position: sticky; + top: 0; + z-index: 2; + background: var(--card-surface); } } } diff --git a/src/app/component/left-tabs/left-tabs.component.html b/src/app/component/left-tabs/left-tabs.component.html index 91711662..2575b6e2 100644 --- a/src/app/component/left-tabs/left-tabs.component.html +++ b/src/app/component/left-tabs/left-tabs.component.html @@ -3,6 +3,7 @@ this.tabs.isTabVisible() ? (this.tabs.isAnalysisMode() ? 'openWide' : 'open') : 'closed' " class="panel" + [class.analysis]="this.tabs.isAnalysisMode()" [class.behindDrawer]="drawerOpen" > @if (this.tabs.getCurrentTab() === TabID.SYNTHESIZE) { diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index 6a503be0..58bf03cb 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -76,18 +76,56 @@ } } - // Below the top strip and clear of the playback card, which floats over the - // bottom of the grid. + // Below the top strip, and clear of whatever is along the bottom -- which is + // the playback card in the analysis modes and only the status strip in the + // others. Edit used to keep the playback card's room clear too, and stopped + // 70px short of anything. .panel { position: absolute; top: nav.$top-strip-height; left: 12px; overflow-x: hidden; overflow-y: auto; - max-height: calc(100% - #{nav.$top-strip-height} - #{nav.$playback-clearance}); + --panel-clearance: #{nav.$bottom-bar-height + 12px}; + max-height: calc(100% - #{nav.$top-strip-height} - var(--panel-clearance)); display: flex; z-index: 5; + &.analysis { + --panel-clearance: #{nav.$playback-clearance}; + } + + // Hand the height down to the card, which is what scrolls. Each step needs + // `min-height: 0` or a flex item refuses to shrink below its content and + // the cap never reaches the bottom of the chain. + .page1, + .page2, + .page3 { + display: flex; + flex-direction: column; + min-height: 0; + + > * { + display: flex; + flex-direction: column; + flex: 1 1 auto; + min-height: 0; + } + + #editWrapper, + #analysisWrapper, + #synthesisWrapper { + flex: 1 1 auto; + min-height: 0; + } + + panel-section { + display: flex; + flex-direction: column; + min-height: 0; + } + } + .page1 { width: 270px; //Be careful, there are multiple places to change this value } diff --git a/src/app/component/settings-panel/settings-panel.component.scss b/src/app/component/settings-panel/settings-panel.component.scss index 766b373e..e0c9bcae 100644 --- a/src/app/component/settings-panel/settings-panel.component.scss +++ b/src/app/component/settings-panel/settings-panel.component.scss @@ -26,7 +26,10 @@ display: flex; align-items: center; gap: 5px; - padding: 10px 15px 14px; + // The same 40px row on a 15px gutter every section header in the app uses, + // rather than 10px of air above it and 14px below. + height: 40px; + padding: 0 15px; border-top: 1px solid #eceef5; font-size: 13px; } From 8adf24f10423a327973849ff5193df0b2fd5d4e0 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 15:37:58 -0400 Subject: [PATCH 034/236] Synthesise a machine into the drawing, not over it Synthesis emptied the joint and link arrays before writing its four-bar. That was the only sensible thing to do when a drawing held one mechanism; it holds as many as are drawn now, so the linkage synthesis produces joins them. It re-runs on every change to a pose, so it takes back its own previous answer first -- by the ids it recorded, leaving anything drawn by hand or left by an earlier visit alone. Leaving the tab and returning starts a new linkage rather than editing the last one. Two things that only mattered once it stopped clearing: the joints were named A, B, C and D outright, which collides with whatever is already there the moment there is anything already there; and the quality score was read off mechanisms[0] rather than the machine synthesis had just made. --- e2e/synthesis-adds-mechanism.mjs | 128 ++++++++++++++++++ .../synthesis-panel.component.ts | 87 +++++++++--- src/app/selected-tab.service.ts | 3 + .../synthesis/synthesis-builder.service.ts | 11 ++ 4 files changed, 212 insertions(+), 17 deletions(-) create mode 100644 e2e/synthesis-adds-mechanism.mjs diff --git a/e2e/synthesis-adds-mechanism.mjs b/e2e/synthesis-adds-mechanism.mjs new file mode 100644 index 00000000..9676d6ea --- /dev/null +++ b/e2e/synthesis-adds-mechanism.mjs @@ -0,0 +1,128 @@ +/** + * Synthesis adds a machine rather than replacing the drawing. + * + * It used to empty the joint and link arrays before writing its four-bar, which + * was the only sensible thing to do when a drawing held one mechanism. It holds + * as many as are drawn now, so the linkage it produces joins them. + * + * PMKS_BASE_URL= node e2e/synthesis-adds-mechanism.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const model = () => + page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return { + joints: srv.joints.map((j) => j.id), + links: srv.links.map((l) => l.id), + mechanisms: srv.partitions.map((p) => p.id), + valid: srv.mechanisms.map((m) => m.isMechanismValid()), + }; + }); + +/** Place the three poses the panel needs, then let it synthesise. */ +const drawPoses = (spread) => + page.evaluate((spread) => { + const panel = ng.getComponent(document.querySelector('app-synthesis-panel')); + const builder = panel.synthesisBuilder; + const at = [ + [-4, 3, 0.2], + [0, 4, 0.5], + [4, 3, 0.9], + ]; + at.forEach(([x, y, theta], i) => { + const id = i + 1; + if (!builder.isPoseDefined(id)) builder.createPose(id); + const pose = builder.getPose(id); + // Through the pose's own setter, so the front and back points it derives + // are recomputed the way a drag on the canvas would. + const Coord = Object.getPrototypeOf(pose.position).constructor; + pose.position = new Coord(x * spread, y * spread); + builder.setPoseTheta(pose, theta); + }); + }, spread); + +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +const before = await model(); +record('a four-bar is on the grid to start with', before.mechanisms.length === 1, before); + +await page.locator('.tabButton', { hasText: 'Synthesis' }).click(); +await page.waitForTimeout(900); +await drawPoses(60); +await page.waitForTimeout(1500); +const after = await model(); + +record( + 'the drawing the user already had is still there', + before.joints.every((id) => after.joints.includes(id)), + { before, after } +); +record('and the synthesised linkage is a second mechanism', after.mechanisms.length === 2, after); +record( + 'with no two joints sharing an id', + new Set(after.joints).size === after.joints.length, + after +); +record('nor two links', new Set(after.links).size === after.links.length, after); +record('and both machines solve', after.valid.length === 2 && after.valid.every(Boolean), after); + +// Re-running while still in the tab replaces this visit's answer, not adds to it. +await drawPoses(80); +await page.waitForTimeout(1500); +const again = await model(); +record( + 'moving a pose revises the linkage rather than drawing another', + again.mechanisms.length === 2 && again.joints.length === after.joints.length, + { after, again } +); +record('still with no repeated ids', new Set(again.joints).size === again.joints.length, again); + +// Leaving and coming back starts a new one. +await page.locator('.tabButton', { hasText: 'Edit' }).click(); +await page.waitForTimeout(900); +await page.locator('.tabButton', { hasText: 'Synthesis' }).click(); +await page.waitForTimeout(900); +await drawPoses(45); +await page.waitForTimeout(1500); +const third = await model(); +record( + 'a fresh visit leaves the last visit alone and adds another', + third.mechanisms.length === 3, + { again, third } +); +record( + 'and all three ids are still distinct', + new Set(third.joints).size === third.joints.length, + third +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); +await browser.close(); + +const failed = results.filter(([, ok]) => !ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +process.exit(failed.length ? 1 : 0); diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.ts b/src/app/component/synthesis-panel/synthesis-panel.component.ts index 6bd8903a..90f283c6 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.ts +++ b/src/app/component/synthesis-panel/synthesis-panel.component.ts @@ -260,6 +260,40 @@ export class SynthesisPanelComponent implements OnInit { else return 'p3theta'; } + /** + * Take back the linkage this visit to Synthesis last produced. + * + * By id, and only the ids this visit recorded: anything else on the grid was + * drawn by hand or left by an earlier visit and is not this one's to remove. + * Forces attached to a removed link go with it -- a force on a link that no + * longer exists belongs to no mechanism and would sit in the drawing + * unreachable. + */ + private removePreviousSynthesis(): void { + const { joints, links } = this.synthesisBuilder.synthesisedIds; + if (joints.length === 0 && links.length === 0) return; + + const goneLinks = new Set(links); + const goneJoints = new Set(joints); + this.mechanismSrv.forces = this.mechanismSrv.forces.filter( + (force) => !goneLinks.has(force.link?.id ?? '') + ); + this.mechanismSrv.links = this.mechanismSrv.links.filter((link) => !goneLinks.has(link.id)); + this.mechanismSrv.joints = this.mechanismSrv.joints.filter( + (joint) => !goneJoints.has(joint.id) + ); + this.synthesisBuilder.synthesisedIds = { joints: [], links: [] }; + } + + /** Four ids nothing on the grid is already using, in order. */ + private nextFourLetters(): string[] { + const taken: string[] = []; + for (let i = 0; i < 4; i++) { + taken.push(this.mechanismSrv.determineNextLetter(taken)); + } + return taken; + } + synthesisFunction() { //call synthesis functions @@ -283,23 +317,34 @@ export class SynthesisPanelComponent implements OnInit { let thirdPoint = pose1_coord2; let fourthPoint = this.findIntersectionPoint2(pose1_coord2, pose2_coord2, pose3_coord2); + // Take back what this visit put on the grid last time it ran -- it runs + // again on every change to a pose -- and leave everything else alone. It + // used to empty the whole drawing, which is the wrong answer now that a + // drawing can hold more than one machine. + this.removePreviousSynthesis(); + //now create joints, links, etc. from the above four coordinates - let joint1 = new RevJoint('A', firstPoint.x, firstPoint.y, true, true); - let joint2 = new RevJoint('B', secondPoint.x, secondPoint.y, false, false); - let joint3 = new RevJoint('C', thirdPoint.x, thirdPoint.y, false, false); - let joint4 = new RevJoint('D', fourthPoint.x, fourthPoint.y, false, true); + // Not A, B, C, D: those letters are taken as soon as there is anything else + // on the grid, and two joints with one id is not a mechanism, it is a bug + // waiting for the codec to find it. + const [idA, idB, idC, idD] = this.nextFourLetters(); + + let joint1 = new RevJoint(idA, firstPoint.x, firstPoint.y, true, true); + let joint2 = new RevJoint(idB, secondPoint.x, secondPoint.y, false, false); + let joint3 = new RevJoint(idC, thirdPoint.x, thirdPoint.y, false, false); + let joint4 = new RevJoint(idD, fourthPoint.x, fourthPoint.y, false, true); joint1.connectedJoints.push(joint2); joint2.connectedJoints.push(joint1, joint3); joint3.connectedJoints.push(joint2, joint4); joint4.connectedJoints.push(joint3); - let link1 = new RealLink('AB', [joint1, joint2]); + let link1 = new RealLink(idA + idB, [joint1, joint2]); link1.fill = this.colorService.getLinkColorFromIndex(0); - let link2 = new RealLink('BC', [joint2, joint3]); + let link2 = new RealLink(idB + idC, [joint2, joint3]); link2.fill = this.colorService.getLinkColorFromIndex(1); - let link3 = new RealLink('CD', [joint3, joint4]); + let link3 = new RealLink(idC + idD, [joint3, joint4]); link3.fill = this.colorService.getLinkColorFromIndex(0); joint1.links.push(link1); @@ -307,11 +352,14 @@ export class SynthesisPanelComponent implements OnInit { joint3.links.push(link2, link3); joint4.links.push(link3); - this.mechanismSrv.joints.splice(0); - this.mechanismSrv.links.splice(0); - - this.mechanismSrv.mergeToJoints([joint1, joint2, joint3, joint4]); - this.mechanismSrv.mergeToLinks([link1, link2, link3]); + const madeJoints = [joint1, joint2, joint3, joint4]; + const madeLinks = [link1, link2, link3]; + this.mechanismSrv.mergeToJoints(madeJoints); + this.mechanismSrv.mergeToLinks(madeLinks); + this.synthesisBuilder.synthesisedIds = { + joints: madeJoints.map((joint) => joint.id), + links: madeLinks.map((link) => link.id), + }; this.mechanismSrv.mechanismTimeStep = 0; this.mechanismSrv.updateMechanism(); @@ -328,11 +376,16 @@ export class SynthesisPanelComponent implements OnInit { pose3_coord2, ]; - let quality = this.compareTheQualityofSynthesis( - this.mechanismSrv.mechanisms[0].joints, - posCoords, - qualityfromUser - ); + // The machine this synthesis just made, not whichever one sorts first: a + // drawing can hold several now, and the quality being reported is this + // one's. + const solved = this.mechanismSrv.mechanismContaining(joint1); + // Nothing to score if it did not solve. 999 is what the scorer itself uses + // for a pose it could not reach, and every reader here compares against a + // threshold, so this reads as three misses -- which is what happened. + let quality = solved + ? this.compareTheQualityofSynthesis(solved.joints, posCoords, qualityfromUser) + : [999, 999, 999, 999, 999, 999, 999, 999, 999]; // let trialCoord = new Coord(this.mechanismSrv.mechanisms[0].joints[0][0].x, this.mechanismSrv.mechanisms[0].joints[0][0].y); diff --git a/src/app/selected-tab.service.ts b/src/app/selected-tab.service.ts index 93e3ba72..c5465576 100644 --- a/src/app/selected-tab.service.ts +++ b/src/app/selected-tab.service.ts @@ -93,6 +93,9 @@ export class SelectedTabService { if (this.getCurrentTab() === TabID.SYNTHESIZE) { // reset flag this.synthesis.modifiedMechanism = false; + // A fresh visit synthesises a new linkage rather than editing the one the + // last visit left behind, so nothing here belongs to this one yet. + this.synthesis.synthesisedIds = { joints: [], links: [] }; } else if (previousTab === TabID.SYNTHESIZE && this.getCurrentTab() === TabID.EDIT) { // save mechanism state if modified in synthesis tab this.mechanism.save(); diff --git a/src/app/services/synthesis/synthesis-builder.service.ts b/src/app/services/synthesis/synthesis-builder.service.ts index a2f8061a..d8fbe9b2 100644 --- a/src/app/services/synthesis/synthesis-builder.service.ts +++ b/src/app/services/synthesis/synthesis-builder.service.ts @@ -25,6 +25,17 @@ export class SynthesisBuilderService { // if so, when switching back to edit mode, save state public modifiedMechanism: boolean = false; + /** + * What this visit to Synthesis has put on the grid. + * + * Synthesis adds a mechanism now rather than replacing the drawing, and it + * re-runs on every change to a pose -- so it has to be able to take back its + * own previous answer without touching anything else. Cleared on entering the + * tab, so each visit leaves one linkage behind rather than editing the one + * from last time. + */ + public synthesisedIds: { joints: string[]; links: string[] } = { joints: [], links: [] }; + _COR: COR; _length: number; // length of the end-effector link _selectedPose: number; // currently selected pose (1-3) From 3069cb3204f99cf588f71c75365c4c332efa6825 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 15:40:27 -0400 Subject: [PATCH 035/236] Read the last two card values from the tokens too The sync tab is a card like the others -- same white, same corner. Its shadow points upward and stays that way, with the reason written down: it is a tab under nothing, and the card below it would otherwise cast a shadow onto its own tab. --- src/app/component/playback-bar/playback-bar.component.scss | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index 855e277c..cec0a124 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -135,14 +135,16 @@ height: 26px; padding: 0 12px; border: none; - border-radius: 10px 10px 0 0; - background: #fff; + border-radius: var(--card-radius) var(--card-radius) 0 0; + background: var(--card-surface); color: #5f6368; font-family: inherit; font-size: 12px; white-space: nowrap; cursor: pointer; z-index: 1; + // Upward, unlike every other card: this one is a tab under nothing, and + // the card below it would otherwise cast a shadow onto its own tab. box-shadow: 0 -3px 6px -2px rgba(0, 0, 0, 0.18); &.on { From 7a385fafd17e49400609e70f658b3d18fd4a66d9 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 16:05:03 -0400 Subject: [PATCH 036/236] Six the second reviewer found An independent visual sweep of the app after the consistency pass: - The Settings and Help drawers' close button could not be clicked. I had moved it level with the title, which put it under the title row -- drawn after it, so it covered it up. It goes last in the drawer now. - The two setup drawers had no inset of their own, so their card came out 20px wider than the Settings card and sat 10px closer to the window edge. Switching drawers visibly changed the drawer's shape. One inset on the drawer, not one per page. - On a phone the Force Analysis tab was cut in half by the card holding it, reachable only by scrolling a card that gives no sign it scrolls. Below 430px the wordmark goes; the four modes are worth more. - The analysis panel is 420px wide, which is wider than a phone, so the whole page scrolled sideways to show the corner hanging off the edge. Neither the panel nor its page is wider than the window now. - Panel cards kept the 5px radius while everything floating over the grid took 10px -- more obvious, not less, once the whites and shadows matched. A card is a card. --border-radius stays what it always was: the radius of the things inside one. - And below 740px the strip abandoned the system it had just been given, halving the gap and squaring up the history card's inset again. --- .../panel-section-collapsible.component.scss | 2 +- .../panel-section/panel-section.component.scss | 2 +- .../analysis-setup/analysis-setup.component.scss | 2 +- .../component/left-tabs/left-tabs.component.scss | 14 +++++++++++++- .../mechanism-panel.component.scss | 2 +- .../right-panel/right-panel.component.html | 15 +++++++++------ .../right-panel/right-panel.component.scss | 9 +++++++-- .../settings-panel/settings-panel.component.scss | 1 - src/app/component/top-bar/top-bar.component.scss | 13 ++++++++++--- 9 files changed, 43 insertions(+), 17 deletions(-) diff --git a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss index b7b73473..22cc7011 100644 --- a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss +++ b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss @@ -15,7 +15,7 @@ box-shadow: var(--card-shadow); display: flex; flex-direction: column; - border-radius: var(--border-radius); + border-radius: var(--card-radius); //gap: 10px; background-color: mat.m2-get-color-from-palette($background, 'background'); //padding: 20px; diff --git a/src/app/component/BLOCKS/panel-section/panel-section.component.scss b/src/app/component/BLOCKS/panel-section/panel-section.component.scss index bbd0349c..20ebbbfa 100644 --- a/src/app/component/BLOCKS/panel-section/panel-section.component.scss +++ b/src/app/component/BLOCKS/panel-section/panel-section.component.scss @@ -23,7 +23,7 @@ overflow-y: auto; overflow-x: hidden; box-shadow: var(--card-shadow); - border-radius: var(--border-radius); + border-radius: var(--card-radius); display: flex; flex-direction: column; //gap: 10px; diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index 5cc23416..275a8a34 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -13,7 +13,7 @@ padding-bottom: 8px; background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); - border-radius: var(--border-radius); + border-radius: var(--card-radius); box-shadow: var(--card-shadow); } diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index 58bf03cb..6cffa7a2 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -29,7 +29,7 @@ padding: 14px 15px 18px; background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); - border-radius: var(--border-radius); + border-radius: var(--card-radius); box-shadow: var(--card-shadow); } @@ -88,6 +88,7 @@ overflow-y: auto; --panel-clearance: #{nav.$bottom-bar-height + 12px}; max-height: calc(100% - #{nav.$top-strip-height} - var(--panel-clearance)); + max-width: calc(100vw - 24px); display: flex; z-index: 5; @@ -126,6 +127,17 @@ } } + // Never wider than the window it is in. The analysis page is 420px, which + // is wider than a phone, and the page scrolled sideways to show the rest of + // a card whose rounded corner was off the edge. The cap has to be on the + // frame too: its width is an animation state, which is a style on the + // element and beats a rule from this file. + .page1, + .page2, + .page3 { + max-width: calc(100vw - 24px); + } + .page1 { width: 270px; //Be careful, there are multiple places to change this value } diff --git a/src/app/component/mechanism-panel/mechanism-panel.component.scss b/src/app/component/mechanism-panel/mechanism-panel.component.scss index b9fe4b88..3a0d09d2 100644 --- a/src/app/component/mechanism-panel/mechanism-panel.component.scss +++ b/src/app/component/mechanism-panel/mechanism-panel.component.scss @@ -10,7 +10,7 @@ padding-bottom: 8px; background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); - border-radius: var(--border-radius); + border-radius: var(--card-radius); box-shadow: var(--card-shadow); } diff --git a/src/app/component/right-panel/right-panel.component.html b/src/app/component/right-panel/right-panel.component.html index 43a5210a..21402ba2 100644 --- a/src/app/component/right-panel/right-panel.component.html +++ b/src/app/component/right-panel/right-panel.component.html @@ -9,12 +9,6 @@ " id="rightPanel" > - - @if (getIsOpen()) { - - } @if (getOpenTab() === 5) {
@@ -152,5 +146,14 @@
} + + + @if (getIsOpen()) { + + }
diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 09a29041..61eb9e7e 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -91,18 +91,23 @@ } } - #debugWrapper { + // One inset and one gap for every drawer page. The two setup drawers had + // neither, so their card came out 20px wider than the Settings card and sat + // 10px closer to the window edge -- the drawer visibly changed shape when you + // switched between them. + #rightPanel > div { display: flex; flex-direction: column; gap: 10px; padding: 10px; + box-sizing: border-box; } + #debugWrapper, #helpWrapper { display: flex; flex-direction: column; gap: 10px; - padding: 10px; } .max-width { diff --git a/src/app/component/settings-panel/settings-panel.component.scss b/src/app/component/settings-panel/settings-panel.component.scss index e0c9bcae..37892b02 100644 --- a/src/app/component/settings-panel/settings-panel.component.scss +++ b/src/app/component/settings-panel/settings-panel.component.scss @@ -15,7 +15,6 @@ display: flex; flex-direction: column; gap: 10px; - padding: 10px; } // The panel stretches its children to its own width, which is a content-box diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss index a23e22f1..9fb5c424 100644 --- a/src/app/component/top-bar/top-bar.component.scss +++ b/src/app/component/top-bar/top-bar.component.scss @@ -315,8 +315,6 @@ // is also on the status strip. @media (max-width: 740px) { .topStrip { - gap: 6px; - .tabCard { flex: 1 1 auto; overflow-x: auto; @@ -330,7 +328,6 @@ .historyCard { gap: 2px; - padding: 0 4px; } } @@ -350,4 +347,14 @@ padding: 0 8px; } } + + // Narrower than this the four modes do not fit beside the wordmark -- and a + // mode reachable only by scrolling a card that gives no sign it scrolls is a + // mode that is not there. The hamburger stays; the wordmark is what the + // window can spare. + @media (max-width: 430px) { + .topStrip .logo { + display: none; + } + } } From a2fe498a4ede4efe0005d12edc9b736bd8112dd0 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 17:34:46 -0400 Subject: [PATCH 037/236] Reverse without moving, and put every gap on one number Reversing a machine re-solved its cycle mirrored and held the time, which moved the linkage to a different pose. A mirrored cycle passes through the same poses in the opposite order, so the pose that was at time t sits at period - t in the new one: seek there and the linkage stands exactly where it stood and the handle sits exactly where it sat. Only the clock jumps, which is the one of the three that can. The rest is spacing, from one set of numbers in left-tabs.vars: - Every card is now 12px from the window and 12px from its neighbour, in every direction. The panels sat 22px in and 24px below the strip, and the project menu 6px under the card that opens it, because each frame had its own inset on top of the frame's own offset. - Those insets are the frame's now rather than a margin on the wrapper inside it. A margin pushed the card past the bottom of a frame capped at the frame's own height, which is where the shadow was being cut off. - The accent bar runs a card's full width, so the corners it sits in are square again -- rounding them tapered its ends to a point. - Undo and redo are the same quiet button the view controls use. An outlined blue pair read as the one emphatic thing in a row of calm ones, which undo is not. - Every control in the bottom cluster is 40px in a 60px card, so they share a top and a bottom edge. They were 34, 40, 30, 37 and 42, each centred on its own. - The mechanism chip is outlined and carries a caret, because it is the only way to select a machine outside the canvas and read as a label. - And the Edit help does not tell you to click or drag a joint when there is no joint. --- e2e/playback-direction.mjs | 44 +++++++++++++---- .../panel-section-collapsible.component.scss | 4 +- .../panel-section.component.scss | 4 +- .../analysis-panel.component.scss | 3 +- .../analysis-setup.component.scss | 4 +- .../edit-panel/edit-panel.component.html | 28 ++++++++--- .../edit-panel/edit-panel.component.scss | 1 - .../edit-panel/edit-panel.component.ts | 5 ++ .../left-tabs/left-tabs.component.scss | 15 ++++-- .../component/left-tabs/left-tabs.vars.scss | 31 ++++++++++-- .../mechanism-panel.component.scss | 4 +- .../playback-bar/playback-bar.component.html | 3 ++ .../playback-bar/playback-bar.component.scss | 47 ++++++++++++++----- .../playback-bar/playback-bar.component.ts | 31 +++--------- .../right-panel/right-panel.component.scss | 10 ++-- .../synthesis-panel.component.scss | 1 - .../component/top-bar/top-bar.component.scss | 40 ++++++++++------ .../view-controls.component.scss | 4 +- src/app/services/mechanism.service.ts | 39 +++++++++++++++ 19 files changed, 232 insertions(+), 86 deletions(-) diff --git a/e2e/playback-direction.mjs b/e2e/playback-direction.mjs index 0ca5c63f..ef66524e 100644 --- a/e2e/playback-direction.mjs +++ b/e2e/playback-direction.mjs @@ -43,6 +43,8 @@ const state = () => rowPlaying: srv.mechanisms.map((_, i) => srv.isMechanismPlaying(i)), scrub: [...document.querySelectorAll('.rowScrubber')].map((s) => +s.value), notes: [...document.querySelectorAll('.rowNote')].map((n) => n.textContent.trim()), + // The drawn pose, to the pixel: reversing must not move the drawing. + pose: srv.joints.map((j) => `${j.x.toFixed(2)},${j.y.toFixed(2)}`).join(' '), }; }); @@ -69,26 +71,48 @@ record('the handle has moved off the left end', running.scrub[0] > atRest.scrub[ }); // --- reversing keeps the place and keeps playing ----------------------------- +// Paused for this one: the pose has to be compared across the flip, and a +// running clock moves it between the two reads for reasons that are not the +// flip's doing. +await page.locator('.transportCard .playButton').click(); +await page.waitForTimeout(300); const before = await state(); await page.locator('.dirButton').first().click(); -await page.waitForTimeout(300); +await page.waitForTimeout(400); const after = await state(); -record('reversing leaves it playing', after.playing === true, { before, after }); +record('reversing does not stop it being resumable', after.playing === false, { before, after }); record( - 'and near where it was, not back at the start', - after.seconds > 0.05 && Math.abs(after.seconds - before.seconds) < 0.6, - { before, after } -); -record( - 'and the handle now runs the other way along the track', - Math.abs(after.scrub[0] - (1000 - before.scrub[0])) < 220, - { before, after } + 'and the linkage has not moved -- the same pose, still', + before.pose && after.pose && before.pose === after.pose, + { before: before.pose, after: after.pose } ); +record('nor has the handle', Math.abs(after.scrub[0] - before.scrub[0]) < 30, { + before: before.scrub, + after: after.scrub, +}); +record('only the clock, which is allowed to', after.seconds !== before.seconds, { + before: before.seconds, + after: after.seconds, +}); record('and the label changed with it', after.notes[0] !== before.notes[0], { before: before.notes, after: after.notes, }); +// And reversing while it runs leaves it running. +await page.locator('.transportCard .playButton').click(); +await page.waitForTimeout(900); +await page.locator('.dirButton').first().click(); +await page.waitForTimeout(400); +const stillRunning = await state(); +record( + 'reversing a running machine leaves it running', + stillRunning.playing === true, + stillRunning +); +await page.locator('.transportCard .playButton').click(); +await page.waitForTimeout(300); + // --- the start pose is untouched by any of it ------------------------------- await page.locator('.tabButton', { hasText: 'Edit' }).click(); await page.waitForTimeout(900); diff --git a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss index 22cc7011..5a4ce62a 100644 --- a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss +++ b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss @@ -15,7 +15,9 @@ box-shadow: var(--card-shadow); display: flex; flex-direction: column; - border-radius: var(--card-radius); + // Square at the top, where the accent bar runs the card's full width: + // rounding those corners tapers the bar's ends to a point. + border-radius: 0 0 var(--card-radius) var(--card-radius); //gap: 10px; background-color: mat.m2-get-color-from-palette($background, 'background'); //padding: 20px; diff --git a/src/app/component/BLOCKS/panel-section/panel-section.component.scss b/src/app/component/BLOCKS/panel-section/panel-section.component.scss index 20ebbbfa..62a22d64 100644 --- a/src/app/component/BLOCKS/panel-section/panel-section.component.scss +++ b/src/app/component/BLOCKS/panel-section/panel-section.component.scss @@ -23,7 +23,9 @@ overflow-y: auto; overflow-x: hidden; box-shadow: var(--card-shadow); - border-radius: var(--card-radius); + // Square at the top, where the accent bar runs the card's full width: + // rounding those corners tapers the bar's ends to a point. + border-radius: 0 0 var(--card-radius) var(--card-radius); display: flex; flex-direction: column; //gap: 10px; diff --git a/src/app/component/analysis-panel/analysis-panel.component.scss b/src/app/component/analysis-panel/analysis-panel.component.scss index 43e22e2a..fb1fdf63 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.scss +++ b/src/app/component/analysis-panel/analysis-panel.component.scss @@ -11,10 +11,11 @@ $background: map.get($theme, background); $foreground: map.get($theme, foreground); + // The frame around this leaves the card's shadow its room; a second inset + // here would put the card 10px in from where every other card sits. #analysisWrapper { display: flex; flex-direction: column; - padding: 10px; gap: 10px; } diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index 275a8a34..27eb89e0 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -13,7 +13,9 @@ padding-bottom: 8px; background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); - border-radius: var(--card-radius); + // Square at the top, where the accent bar runs the card's full width: + // rounding those corners tapers the bar's ends to a point. + border-radius: 0 0 var(--card-radius) var(--card-radius); box-shadow: var(--card-shadow); } diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index f9aa8524..8864d5ea 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -16,16 +16,32 @@ ) {
Edit
-

Select a joint or link on the grid to edit its properties.

+ +

+ @if (gridIsEmpty()) { + Draw something to edit. + } @else { + Select a joint or link on the grid to edit its properties. + } +

-
- touch_app - Click a joint or link to select it. Drag a joint to move it. -
+ @if (!gridIsEmpty()) { +
+ touch_app + Click a joint or link to select it. Drag a joint to move it. +
+ }
add_circle_outline - Right-click the grid to add a link or a cylinder. Right-click a link to attach a tracer point or a force to it. + + @if (gridIsEmpty()) { + Right-click the grid to add a link or a cylinder. + } @else { + Right-click the grid to add a link or a cylinder. Right-click a link to attach a + tracer point or a force to it. + } +
diff --git a/src/app/component/edit-panel/edit-panel.component.scss b/src/app/component/edit-panel/edit-panel.component.scss index 576bb271..ee34133a 100644 --- a/src/app/component/edit-panel/edit-panel.component.scss +++ b/src/app/component/edit-panel/edit-panel.component.scss @@ -21,7 +21,6 @@ display: flex; flex-direction: column; gap: 10px; - margin: 10px; //For child components, set border to dotted for debugging //> * > * > * { diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index bb097e35..8918e732 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -70,6 +70,11 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { FVisual: false, }; + /** Nothing drawn yet, so nothing to select and nothing to drag. */ + gridIsEmpty(): boolean { + return this.mechanismService.joints.length === 0 && this.mechanismService.links.length === 0; + } + hideEditPanel() { return this.mechanismService.isPlaying || this.mechanismService.mechanismTimeStep !== 0; } diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index 6cffa7a2..b3c6be32 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -29,7 +29,9 @@ padding: 14px 15px 18px; background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); - border-radius: var(--card-radius); + // Square at the top, where the accent bar runs the card's full width: + // rounding those corners tapers the bar's ends to a point. + border-radius: 0 0 var(--card-radius) var(--card-radius); box-shadow: var(--card-shadow); } @@ -82,8 +84,15 @@ // 70px short of anything. .panel { position: absolute; - top: nav.$top-strip-height; - left: 12px; + top: nav.$panel-top; + left: nav.$frame-inset; + // The inset is the frame's, not the wrapper's inside it: the frame is what + // clips, so it is the frame that has to leave the card's shadow somewhere + // to fall. It used to be a margin on the wrapper, which put the card 10px + // past the bottom of a frame capped at the frame's own height and cut the + // shadow off there. + padding: nav.$shadow-room; + box-sizing: border-box; overflow-x: hidden; overflow-y: auto; --panel-clearance: #{nav.$bottom-bar-height + 12px}; diff --git a/src/app/component/left-tabs/left-tabs.vars.scss b/src/app/component/left-tabs/left-tabs.vars.scss index 7b6d3e0e..cea1d8c3 100644 --- a/src/app/component/left-tabs/left-tabs.vars.scss +++ b/src/app/component/left-tabs/left-tabs.vars.scss @@ -1,7 +1,30 @@ -// Where the left panel starts: below the floating strip along the top (12px -// inset + 48px card + 14px of air). The strip, the panel and the playback card -// all read these so they cannot drift apart. -$top-strip-height: 74px; +// Where the chrome sits, in one place, so the strip, the panels, the drawers, +// the playback card and the project menu cannot drift apart. +// +// Everything is measured from the *card*, which is what a reader sees. A card +// is $card-inset from the window and from its neighbour -- always that, in +// every direction. The frames the scrolling cards live in are set back by +// $shadow-room so the card's own shadow has somewhere to fall inside a box that +// clips; that is why the frame numbers are not round. + +/** The one gap. Between a card and the window, and between a card and a card. */ +$card-inset: 12px; + +/** Air a card needs around it inside a frame that clips, for its shadow. */ +$shadow-room: 10px; + +/** Height of the cards along the top. */ +$top-card-height: 48px; + +/** Where the top strip's cards end. */ +$top-strip-bottom: $card-inset + $top-card-height; + +/** Frames are set back from the card line by the room their shadow needs. */ +$frame-inset: $card-inset - $shadow-room; +$panel-top: $top-strip-bottom + $card-inset - $shadow-room; + +// Kept for anything still measuring from the top of the panel frame. +$top-strip-height: $panel-top; // Room kept at the bottom for the playback card and the status strip beneath it. $playback-clearance: 110px; diff --git a/src/app/component/mechanism-panel/mechanism-panel.component.scss b/src/app/component/mechanism-panel/mechanism-panel.component.scss index 3a0d09d2..5c7ab594 100644 --- a/src/app/component/mechanism-panel/mechanism-panel.component.scss +++ b/src/app/component/mechanism-panel/mechanism-panel.component.scss @@ -10,7 +10,9 @@ padding-bottom: 8px; background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); - border-radius: var(--card-radius); + // Square at the top, where the accent bar runs the card's full width: + // rounding those corners tapers the bar's ends to a point. + border-radius: 0 0 var(--card-radius) var(--card-radius); box-shadow: var(--card-shadow); } diff --git a/src/app/component/playback-bar/playback-bar.component.html b/src/app/component/playback-bar/playback-bar.component.html index bec9471a..1b1e0181 100644 --- a/src/app/component/playback-bar/playback-bar.component.html +++ b/src/app/component/playback-bar/playback-bar.component.html @@ -33,6 +33,9 @@ [attr.title]="row.isMechanism ? 'Select ' + row.id : 'All mechanisms move together'" > {{ row.id }} + @if (row.isMechanism) { + arrow_drop_down + } @if (row.ownPlay) { diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index cec0a124..b481f974 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -5,6 +5,8 @@ // than from an eye: the bottom cluster was tuned there, and re-deriving it by // looking at a screenshot is how it drifted the first time. @mixin css($theme) { + $primary-palette: map.get(mat.m2-get-color-config($theme), 'primary'); + .playbackRow { position: absolute; left: 0; @@ -75,8 +77,8 @@ display: flex; align-items: center; justify-content: center; - width: 34px; - height: 34px; + width: 40px; + height: 40px; flex: 0 0 auto; border: 1px solid #dfe1ea; border-radius: 6px; @@ -166,39 +168,58 @@ gap: 8px; } + // The way to select a machine, and the only one outside the canvas -- so it + // has to read as a control rather than as a label that happens to react. + // Outlined in the app's own blue, with a caret to say there is something + // behind it, and filled once it is the machine being looked at. .mechChip { display: flex; align-items: center; justify-content: center; - width: 40px; - height: 30px; + gap: 2px; + height: 40px; + padding: 0 6px 0 8px; flex: 0 0 auto; - border: 1px solid transparent; + border: 1px solid mat.m2-get-color-from-palette($primary-palette, 200); border-radius: 6px; - background: #f0f1f5; - color: #2c2c2c; + background: var(--card-surface); + color: mat.m2-get-color-from-palette($primary-palette, 500); font-family: inherit; font-size: 14px; font-weight: 500; cursor: pointer; - padding: 0; + + .mechChipCaret { + width: 16px; + height: 16px; + font-size: 16px; + line-height: 16px; + } &:hover { - background: #e8eaf6; + background: #eef1fc; + border-color: mat.m2-get-color-from-palette($primary-palette, 500); } &.selected { - border: 1.5px solid #3f51b5; + background: mat.m2-get-color-from-palette($primary-palette, 500); + border-color: mat.m2-get-color-from-palette($primary-palette, 500); + color: #fff; } // The combined row stands for every machine at once, so there is no single // thing for it to select. &.plain { font-size: 13px; + padding: 0 8px; cursor: default; + border-color: transparent; + background: #f0f1f5; + color: #2c2c2c; &:hover { background: #f0f1f5; + border-color: transparent; } } } @@ -232,8 +253,10 @@ .rowBody { display: flex; flex-direction: column; + justify-content: center; flex: 1 1 auto; min-width: 0; + height: 40px; gap: 2px; } @@ -325,8 +348,8 @@ display: flex; align-items: center; justify-content: center; - width: 34px; - height: 34px; + width: 40px; + height: 40px; flex: 0 0 auto; border: 1px solid #dfe1ea; border-radius: 6px; diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index bae0c2b8..cf88a041 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -318,14 +318,13 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { /** * Turn this machine round. * - * A continuously driven machine is turned round by reversing its drive: the - * cycle is re-solved mirrored, which is an edit and so is undoable. A machine - * whose input already reverses on its own has no other direction to be driven - * in, so the only thing left to turn round is playback, and that is a view of - * the same motion rather than a change to the drawing. + * A continuously driven machine is turned round by reversing its drive; a + * machine whose input already reverses on its own has no other direction to + * be driven in, so the only thing left to turn round is playback, and that is + * a view of the same motion rather than a change to the drawing. * - * Either way it keeps its place in the cycle and keeps running, and the pose - * it starts from is untouched. + * Either way nothing moves. The linkage holds the pose it was in and the + * handle holds its place; the time is what jumps. */ flipDirection(row: PlaybackRow): void { const mechanism = this.mechanism.mechanisms[row.index]; @@ -333,23 +332,7 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { this.mechanism.setPlaybackDirection(row.index, -this.mechanism.directionOf(row.index)); return; } - - const partition = this.mechanism.partitions[row.index]; - const driven = partition?.joints.find((joint) => (joint as { input?: boolean }).input) as - { driveSpeed: number } | undefined; - if (!driven) return; - const current = - driven.driveSpeed !== 0 - ? driven.driveSpeed - : (this.settings.isInputCW.value ? -1 : 1) * this.settings.inputSpeed.value; - driven.driveSpeed = -current; - // The input itself has turned round, so time runs forward through the new - // cycle again -- otherwise a machine reversed twice would be running - // backwards through a mirrored cycle, which is where it started. - this.mechanism.setPlaybackDirection(row.index, 1); - // updateMechanism holds the simulation time across the rebuild, which is - // what keeps the machine where it was and keeps it running. - this.mechanism.updateMechanism(true); + this.mechanism.reverseDrive(row.index); } onScrubDown(): void { diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 61eb9e7e..66e0dfb6 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -51,8 +51,9 @@ #rightPanel { position: absolute; - top: nav.$top-strip-height; - right: 12px; + top: nav.$panel-top; + right: nav.$frame-inset; + box-sizing: border-box; overflow-x: hidden; overflow-y: auto; max-height: calc(100% - #{nav.$top-strip-height} - #{nav.$playback-clearance}); @@ -95,11 +96,14 @@ // neither, so their card came out 20px wider than the Settings card and sat // 10px closer to the window edge -- the drawer visibly changed shape when you // switched between them. + // The inset lives on the page rather than on the drawer around it: a closed + // drawer has no page, and padding on the drawer itself gave the closed one a + // 20px box that hung off the right of the window. #rightPanel > div { display: flex; flex-direction: column; gap: 10px; - padding: 10px; + padding: nav.$shadow-room; box-sizing: border-box; } diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.scss b/src/app/component/synthesis-panel/synthesis-panel.component.scss index 296ae46d..a07d87cd 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.scss +++ b/src/app/component/synthesis-panel/synthesis-panel.component.scss @@ -16,7 +16,6 @@ display: flex; flex-direction: column; gap: 10px; - margin: 10px; } .poseHeader { diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss index 9fb5c424..797ba75e 100644 --- a/src/app/component/top-bar/top-bar.component.scss +++ b/src/app/component/top-bar/top-bar.component.scss @@ -1,5 +1,6 @@ @use 'sass:map'; @use '@angular/material' as mat; +@use '../left-tabs/left-tabs.vars' as nav; @mixin css($theme) { $color-config: mat.m2-get-color-config($theme); @@ -8,8 +9,8 @@ .topStrip { position: absolute; - top: 12px; - left: 12px; + top: nav.$card-inset; + left: nav.$card-inset; right: 12px; display: flex; align-items: flex-start; @@ -204,31 +205,38 @@ } } + // The same button the view controls use: no outline, a hover tint, and the + // icon carrying it. An outlined blue button in the top strip read as the one + // emphatic thing in a row of quiet ones, which undo is not. .historyButton { display: flex; align-items: center; gap: 6px; height: 36px; - padding: 0 12px; - border: 1px solid mat.m2-get-color-from-palette($primary-palette, 500); - border-radius: 4px; - background: var(--card-surface); - color: mat.m2-get-color-from-palette($primary-palette, 500); + padding: 0 10px; + border: none; + border-radius: 6px; + background: transparent; + color: #5f6368; font-family: inherit; font-size: 14px; cursor: pointer; mat-icon { - width: 18px; - height: 18px; - font-size: 18px; - line-height: 18px; + width: 20px; + height: 20px; + font-size: 20px; + line-height: 20px; + } + + &:hover:not(:disabled) { + background: rgba(0, 0, 0, 0.04); } &:disabled { - border-color: #dfe1ea; - color: #a9adc4; + color: #c4c7d0; cursor: default; + background: transparent; } } @@ -238,10 +246,12 @@ z-index: 19; } + // Under the card that opened it, the same distance below it as that card is + // from the top of the window and from the card beside it. .projectMenu { position: absolute; - top: 66px; - left: 12px; + top: nav.$panel-top + nav.$shadow-room; + left: nav.$card-inset; width: 188px; padding: 4px 0; background: var(--card-surface); diff --git a/src/app/component/view-controls/view-controls.component.scss b/src/app/component/view-controls/view-controls.component.scss index dbaf7107..c945ac32 100644 --- a/src/app/component/view-controls/view-controls.component.scss +++ b/src/app/component/view-controls/view-controls.component.scss @@ -34,8 +34,8 @@ display: flex; align-items: center; justify-content: center; - width: 42px; - height: 42px; + width: 40px; + height: 40px; flex: 0 0 auto; border: none; border-radius: 6px; diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index cc60ea51..e96480db 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -2990,6 +2990,45 @@ export class MechanismService { } } + /** + * Turn one machine's drive round without moving it. + * + * A mirrored cycle passes through the same poses in the opposite order, so + * the pose that was at time t sits at `period - t` in the new one. Seeking + * there leaves the linkage exactly where it stood and the handle exactly + * where it sat -- only the clock jumps, which is the one of the three that + * can. Reversing while it runs is meant to look like a machine changing its + * mind, not like the drawing being replaced. + */ + reverseDrive(index: number): boolean { + const driven = this.partitions[index]?.joints.find( + (joint): joint is RealJoint => joint instanceof RealJoint && joint.input + ); + if (!driven) return false; + + const period = this.mechanisms[index]?.cyclePeriod ?? 0; + const was = this.secondsOf(index); + this.setDriveSpeed(driven, -this.driveSpeedOf(driven)); + // The input itself has turned round, so time runs forward through the new + // cycle again. + this.playbackDirection[index] = 1; + this.updateMechanism(true); + + if (!(period > 0)) return true; + const mirrored = this.wrapTime(period - was); + if (this.syncMechanisms) { + this.animate(this.stepAtTime(mirrored), this.isPlaying); + // animate() snaps its clock to the sample it landed on; the pose was + // between two of them, and putting it back is what keeps the drawing + // still. + this.playbackTimeSeconds = mirrored; + } else { + this.ownSeconds[index] = mirrored; + this.animate(this.mechanismTimeStep, this.isPlaying); + } + return true; + } + /** Which way this machine's playback is running: +1 forward, -1 backward. */ directionOf(index: number): number { return this.playbackDirection[index] === -1 ? -1 : 1; From 198f9c8524e2eacbe52f92d99fd356e3535658ca Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 17:47:19 -0400 Subject: [PATCH 038/236] Take the short way home, and stop one row speaking for the others Leaving an analysis mode ran the rewind whichever way the numbers fell, so from the far end of a cycle it went backwards through the whole of it to reach a pose one step away. It takes whichever way round is shorter now -- the cycle is closed, so both are open to it. Undo and Redo sit against the right edge with the slack between them and the modes. Packed against the modes, they shuffled sideways every time a status chip changed width, which is every time a mechanism became ready. Dragging one machine's handle stopped the drawing. The rows have their own clocks precisely so they can be read apart, and pausing everything to scrub one of them threw that away; it pauses that row and hands it back when the drag ends. Pointing at a machine's name in the transport lights it up on the canvas. M1, M2 and M3 say nothing about which is which, and clicking to find out is a poor way to ask. And the combined row no longer names a direction. It stands for every machine at once, and they need not agree. Alongside: the bottom row's buttons are the same quiet button the view controls use, without the outline or the caret. --- .../new-grid/new-grid.component.scss | 6 + .../playback-bar/playback-bar.component.html | 9 +- .../playback-bar/playback-bar.component.scss | 42 +++-- .../playback-bar/playback-bar.component.ts | 161 +++++++++++++++--- .../component/top-bar/top-bar.component.scss | 8 +- src/app/services/ease-to-start.spec.ts | 16 +- src/app/services/mechanism.service.ts | 42 ++++- 7 files changed, 225 insertions(+), 59 deletions(-) diff --git a/src/app/component/new-grid/new-grid.component.scss b/src/app/component/new-grid/new-grid.component.scss index b6a449ea..6b947033 100644 --- a/src/app/component/new-grid/new-grid.component.scss +++ b/src/app/component/new-grid/new-grid.component.scss @@ -72,6 +72,12 @@ stroke: mat.m2-get-color-from-palette($accent-palette, 400); } + // Pointed at from the transport, not picked: enough to say which machine is + // which, not enough to be mistaken for a selection. + .link-hovered { + stroke: mat.m2-get-color-from-palette($accent-palette, 200); + } + #mouseLocation { position: absolute; top: 35px; diff --git a/src/app/component/playback-bar/playback-bar.component.html b/src/app/component/playback-bar/playback-bar.component.html index 1b1e0181..f29c03ef 100644 --- a/src/app/component/playback-bar/playback-bar.component.html +++ b/src/app/component/playback-bar/playback-bar.component.html @@ -30,12 +30,11 @@ [class.selected]="isSelected(row)" [class.plain]="!row.isMechanism" (click)="selectMechanism(row)" + (mouseenter)="hoverMechanism(row, true)" + (mouseleave)="hoverMechanism(row, false)" [attr.title]="row.isMechanism ? 'Select ' + row.id : 'All mechanisms move together'" > {{ row.id }} - @if (row.isMechanism) { - arrow_drop_down - } @if (row.ownPlay) { @@ -60,8 +59,8 @@ max="1000" [value]="row.scrub" [disabled]="!canPlay" - (mousedown)="onScrubDown()" - (mouseup)="onScrubUp()" + (mousedown)="onScrubDown(row)" + (mouseup)="onScrubUp(row)" (input)="scrubRow(row, $event)" />
diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index b481f974..82001560 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -80,9 +80,9 @@ width: 40px; height: 40px; flex: 0 0 auto; - border: 1px solid #dfe1ea; + border: none; border-radius: 6px; - background: #fff; + background: transparent; color: #5f6368; font-family: inherit; font-size: 13px; @@ -90,6 +90,10 @@ cursor: pointer; padding: 0; + &:hover:not(:disabled) { + background: rgba(0, 0, 0, 0.04); + } + &:disabled { color: #b7bac7; cursor: default; @@ -176,29 +180,21 @@ display: flex; align-items: center; justify-content: center; - gap: 2px; height: 40px; - padding: 0 6px 0 8px; + min-width: 44px; + padding: 0 10px; flex: 0 0 auto; - border: 1px solid mat.m2-get-color-from-palette($primary-palette, 200); + border: none; border-radius: 6px; - background: var(--card-surface); + background: transparent; color: mat.m2-get-color-from-palette($primary-palette, 500); font-family: inherit; font-size: 14px; font-weight: 500; cursor: pointer; - .mechChipCaret { - width: 16px; - height: 16px; - font-size: 16px; - line-height: 16px; - } - &:hover { - background: #eef1fc; - border-color: mat.m2-get-color-from-palette($primary-palette, 500); + background: rgba(0, 0, 0, 0.04); } &.selected { @@ -211,15 +207,11 @@ // thing for it to select. &.plain { font-size: 13px; - padding: 0 8px; cursor: default; - border-color: transparent; - background: #f0f1f5; - color: #2c2c2c; + color: #5f6368; &:hover { - background: #f0f1f5; - border-color: transparent; + background: transparent; } } } @@ -351,13 +343,17 @@ width: 40px; height: 40px; flex: 0 0 auto; - border: 1px solid #dfe1ea; + border: none; border-radius: 6px; - background: #fff; + background: transparent; color: #5f6368; cursor: pointer; padding: 0; + &:hover { + background: rgba(0, 0, 0, 0.04); + } + mat-icon { width: 18px; height: 18px; diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index cf88a041..154eb440 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -61,6 +61,7 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { private positionSub?: Subscription; private dragging = false; private wasAnimating = false; + private wasRowAnimating = false; constructor( public mechanism: MechanismService, @@ -142,7 +143,7 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { time: this.format(now), scrub: this.trackPosition(lead.mechanism, now, period), clockwise: this.drivenSpeedOf(lead.mechanism) < 0, - note: this.noteFor(lead.mechanism, now, lead.index), + note: runnable.length === 1 ? this.noteFor(lead.mechanism, now, lead.index) : '', playing: this.playing, ownPlay: false, period, @@ -172,20 +173,79 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { /** * Where along the track to draw the handle. * - * The handle carries the direction: a clockwise input runs it left to right, - * a counter-clockwise one right to left. A machine that reverses runs it out - * and back, because its input does -- its samples go to the limit and return - * as one cycle, so reading the handle off position in that array would send - * it round and round, which is the one thing the reversal was worth showing - * instead of. + * The track is the input's position, not the clock. A reader watching a ram + * extend expects the handle to travel with it and come back with it; a reader + * watching a crank expects it to sweep once per turn. Reading it off the + * clock got the second right and the first wrong, because a ram's cycle + * spends its second half undoing its first, and the handle carried on to the + * right through both. Time is still what the machine is *at* -- it is just + * not what the handle measures. */ private trackPosition(mechanism: Mechanism, seconds: number, period: number): number { + return Math.round(this.alongTravel(mechanism, seconds, period) * 1000); + } + + /** 0..1 along the input's own travel, at this time. */ + private alongTravel(mechanism: Mechanism, seconds: number, period: number): number { const fraction = period > 0 ? Math.min(Math.max(seconds / period, 0), 1) : 0; - if (this.isReciprocating(mechanism)) { - return Math.round((fraction <= 0.5 ? fraction * 2 : (1 - fraction) * 2) * 1000); + const profile = this.travelProfile(mechanism); + if (profile) { + const sample = Math.min(Math.round(fraction * (profile.length - 1)), profile.length - 1); + return profile[sample]; + } + // A rotary drive turns at a constant rate, so its angle and its clock are + // the same number twice -- but which end of the track it starts from is the + // direction it turns. + return this.drivenSpeedOf(mechanism) < 0 ? fraction : 1 - fraction; + } + + /** + * Where a linear input sits along its stroke, sample by sample, as 0..1. + * + * Only for a linear input: a slider or a ram has a position that a reader can + * see, and the handle is worth nothing if it disagrees with it. Undefined for + * a rotary drive, whose angle the clock already tracks. + */ + private travelProfile(mechanism: Mechanism): number[] | undefined { + if (this.profileOf.get(mechanism) !== undefined) { + return this.profileOf.get(mechanism) ?? undefined; } - const along = this.drivenSpeedOf(mechanism) < 0 ? fraction : 1 - fraction; - return Math.round(along * 1000); + const profile = this.buildTravelProfile(mechanism); + this.profileOf.set(mechanism, profile ?? null); + return profile; + } + + private profileOf = new WeakMap(); + + private buildTravelProfile(mechanism: Mechanism): number[] | undefined { + const frames = mechanism.joints; + const first = frames[0] ?? []; + const at = first.findIndex((joint) => joint instanceof PrisJoint && (joint as RealJoint).input); + if (at === -1 || frames.length < 2) { + return undefined; + } + // Along the line the slider actually travels, taken from the two ends of + // its own path rather than from a stored angle -- a slot's rail and a + // ram's bore are described differently and this is true of both. + const start = frames[0][at]; + const far = frames.reduce( + (best, frame) => { + const d = Math.hypot(frame[at].x - start.x, frame[at].y - start.y); + return d > best.d ? { d, x: frame[at].x, y: frame[at].y } : best; + }, + { d: 0, x: start.x, y: start.y } + ); + if (!(far.d > 0)) return undefined; + const ux = (far.x - start.x) / far.d; + const uy = (far.y - start.y) / far.d; + + const along = frames.map( + (frame) => (frame[at].x - start.x) * ux + (frame[at].y - start.y) * uy + ); + const low = Math.min(...along); + const span = Math.max(...along) - low; + if (!(span > 0)) return undefined; + return along.map((value) => (value - low) / span); } /** @@ -247,6 +307,11 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { } } + /** Light the machine up on the canvas while the reader points at its name. */ + hoverMechanism(row: PlaybackRow, over: boolean): void { + this.mechanism.hoveredMechanismIndex = over && row.index >= 0 ? row.index : -1; + } + isSelected(row: PlaybackRow): boolean { return ( this.activeObj.getSelectedObjType() === 'Mechanism' && @@ -259,28 +324,54 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { } /** - * Drag a row's handle without stopping the animation. + * Drag a row's handle to a position, and let the clock follow. * - * The handle is the drive's position, so on a reversing machine the same - * place on the track means two different times — the way out and the way - * back. Dragging keeps whichever leg it was already on. + * The handle is the input's position, and a machine that turns around passes + * every position twice -- once on the way out and once on the way back. The + * drag keeps whichever leg it was already on, so pulling the handle back does + * not jump the machine to the other half of its cycle. */ scrubRow(row: PlaybackRow, event: Event): void { const along = Number((event.target as HTMLInputElement).value) / 1000; const source = row.index === -1 ? this.mechanism.mechanisms[0] : this.mechanism.mechanisms[row.index]; - let fraction = along; - if (source && this.isReciprocating(source)) { - const wasReturning = this.mechanism.secondsOf(Math.max(row.index, 0)) / row.period > 0.5; - fraction = wasReturning ? 1 - along / 2 : along / 2; - } else if (source && this.drivenSpeedOf(source) >= 0) { - fraction = 1 - along; - } + if (!source) return; + const now = this.mechanism.secondsOf(Math.max(row.index, 0)); + const seconds = this.timeAtTravel(source, along, row.period, now); if (row.index === -1) { - this.mechanism.animate(this.mechanism.stepAtTime(fraction * row.period), this.playing); + this.mechanism.animate(this.mechanism.stepAtTime(seconds), this.playing); return; } - this.mechanism.seekMechanism(row.index, fraction * row.period); + this.mechanism.seekMechanism(row.index, seconds); + } + + /** + * The time at which the input sits this far along its travel. + * + * Searched rather than inverted: the mapping is a sampled curve, not a + * formula, and on a machine that turns around it is not one-to-one. Ties go + * to the leg the machine is already on. + */ + private timeAtTravel(mechanism: Mechanism, along: number, period: number, now: number): number { + const profile = this.travelProfile(mechanism); + if (!profile) { + const forward = this.drivenSpeedOf(mechanism) < 0 ? along : 1 - along; + return forward * period; + } + const wasReturning = period > 0 && now / period > 0.5; + let best = 0; + let bestCost = Infinity; + profile.forEach((value, sample) => { + const onReturnLeg = sample > (profile.length - 1) / 2; + // Half a step of preference for the leg it is on: enough to break a tie, + // never enough to pick a position the reader did not ask for. + const cost = Math.abs(value - along) + (onReturnLeg === wasReturning ? 0 : 0.001); + if (cost < bestCost) { + bestCost = cost; + best = sample; + } + }); + return (best / (profile.length - 1)) * period; } /** @@ -335,14 +426,32 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { this.mechanism.reverseDrive(row.index); } - onScrubDown(): void { + /** + * Dragging one machine's handle stops that machine, not the drawing. + * + * The rows have their own clocks precisely so they can be read apart; pausing + * everything to scrub one of them threw that away. + */ + onScrubDown(row?: PlaybackRow): void { this.dragging = true; + if (row && row.ownPlay && row.index >= 0) { + this.wasRowAnimating = this.mechanism.isMechanismPlaying(row.index); + if (this.wasRowAnimating) this.mechanism.toggleMechanismPlaying(row.index); + return; + } this.wasAnimating = this.mechanism.isPlaying; this.mechanism.isPlaying = false; } - onScrubUp(): void { + onScrubUp(row?: PlaybackRow): void { this.dragging = false; + if (row && row.ownPlay && row.index >= 0) { + if (this.wasRowAnimating && !this.mechanism.isMechanismPlaying(row.index)) { + this.mechanism.toggleMechanismPlaying(row.index); + } + this.wasRowAnimating = false; + return; + } if (this.wasAnimating) { this.mechanism.isPlaying = true; this.mechanism.animate(this.mechanism.mechanismTimeStep, true); diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss index 797ba75e..8a089626 100644 --- a/src/app/component/top-bar/top-bar.component.scss +++ b/src/app/component/top-bar/top-bar.component.scss @@ -11,6 +11,7 @@ position: absolute; top: nav.$card-inset; left: nav.$card-inset; + right: nav.$card-inset; right: 12px; display: flex; align-items: flex-start; @@ -57,12 +58,15 @@ overflow: hidden; } - // Beside the modes rather than pinned to the far edge, so the three cards - // read as one group instead of two things at opposite ends of the window. + // Against the right edge, with the slack between it and the modes. The + // status chips change width as a mechanism becomes ready, and with this + // card packed against the modes that made Undo and Redo shuffle sideways + // every time. The gap is what moves now. .historyCard { gap: 6px; padding: 0 6px; flex: 0 0 auto; + margin-left: auto; } } diff --git a/src/app/services/ease-to-start.spec.ts b/src/app/services/ease-to-start.spec.ts index 4c986f44..7590088d 100644 --- a/src/app/services/ease-to-start.spec.ts +++ b/src/app/services/ease-to-start.spec.ts @@ -11,15 +11,18 @@ interface Stub { mechanismTimeStep: number; isPlaying: boolean; atStartPose(): boolean; + masterMechanism(): { joints: unknown[] }; animate(step: number, playing: boolean): void; } -function drive(from: number, interrupt?: (frame: number, stub: Stub) => void) { +/** `samples` is the length of the solved cycle, which decides the short way. */ +function drive(from: number, interrupt?: (frame: number, stub: Stub) => void, samples = 361) { const drawn: number[] = []; const stub: Stub = { mechanismTimeStep: from, isPlaying: true, atStartPose: () => stub.mechanismTimeStep === 0, + masterMechanism: () => ({ joints: new Array(samples) }), animate: (step) => { stub.mechanismTimeStep = step; drawn.push(step); @@ -58,6 +61,17 @@ describe('MechanismService easing back to the start of the cycle', () => { expect(drawn.every((step, i) => i === 0 || step <= drawn[i - 1])).toBe(true); }); + it('goes forward to the start when forward is the shorter way round', () => { + // The cycle is closed, so from near its end the start is a step away. Going + // backwards through the whole of it to reach the neighbouring pose reads as + // the machine bolting. + const { drawn, stub } = drive(340); + + expect(drawn[0]).toBeGreaterThan(340); + expect(drawn.some((step) => step > 350)).toBe(true); + expect(stub.mechanismTimeStep).toBe(0); + }); + it('stops playback before the first frame, not after the last', () => { // The tab has already changed by the time this runs, so anything reading // the service during the rewind has to be told playback is over. diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index e96480db..b660db3d 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -2863,7 +2863,20 @@ export class MechanismService { */ easeToStart(durationMs = 220): void { if (this.atStartPose()) return; + const samples = this.masterMechanism()?.joints.length ?? 0; + if (samples < 2) { + this.animate(0, false); + return; + } const from = this.mechanismTimeStep; + // Whichever way round is shorter. The cycle is closed, so the last sample + // is the start's neighbour: from near the end of it, running backwards + // through the whole cycle to reach a pose one step away reads as the + // machine bolting. + const back = -from; + const forward = samples - from; + const delta = forward < from ? forward : back; + this.isPlaying = false; let startedAt: number | null = null; let lastDrawn = from; @@ -2876,7 +2889,7 @@ export class MechanismService { const t = Math.min(1, (now - startedAt) / durationMs); // Ease out: quick off the pose being left, gentle into the start. const eased = 1 - (1 - t) ** 3; - const next = Math.round(from * (1 - eased)); + const next = Math.round(from + eased * delta) % samples; // The first frame is the pose already on screen, and at 60 fps over a // fifth of a second several later ones round to the same sample. if (next !== lastDrawn) { @@ -3132,6 +3145,9 @@ export class MechanismService { if (this.isInSelectedMechanism(joint)) { return 'joint-selected'; } + if (this.isInHoveredMechanism(joint)) { + return 'joint-highlight'; + } if (joint.showHighlight) { return 'joint-highlight'; } else { @@ -3144,7 +3160,26 @@ export class MechanismService { if (this.activeObjService.objType !== 'Mechanism') { return false; } - const partition = this.partitions[this.activeObjService.selectedMechanismIndex]; + return this.isInPartition(part, this.activeObjService.selectedMechanismIndex); + } + + /** + * Which machine the reader is pointing at without having picked it yet. + * + * The transport names machines M1, M2, M3 and there is nothing in those + * names to say which is which. Pointing at one lights it up on the canvas, + * so the answer is available before committing to a selection. + */ + hoveredMechanismIndex = -1; + + private isInHoveredMechanism(part: Joint | Link): boolean { + return this.hoveredMechanismIndex >= 0 + ? this.isInPartition(part, this.hoveredMechanismIndex) + : false; + } + + private isInPartition(part: Joint | Link, index: number): boolean { + const partition = this.partitions[index]; if (!partition) { return false; } @@ -3164,6 +3199,9 @@ export class MechanismService { if (this.isInSelectedMechanism(link)) { return 'link-selected'; } + if (this.isInHoveredMechanism(link)) { + return 'link-hovered'; + } return 'link-default'; } From d4fd878a32a1205494885a9ba9bcdebef1f3c094 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 18:34:50 -0400 Subject: [PATCH 039/236] The transport measures the input, not the clock The handle was a clock with a position painted on it, and the two only agree for a crank that goes all the way round. A ram spends the second half of its cycle undoing the first, so the handle carried on to the right while the ram came back. A rocker never leaves a forty-degree arc and the handle claimed the whole track for it. Every bug in the last few rounds -- the handle disagreeing with the motion, reversing moving the linkage, one machine's scrubber stopping another -- came out of holding those two ideas together. So the handle is the input's own position, between the ends of what the input can actually do: - A ram or slider runs from one end of its stroke to the other. - A rocking crank runs from one angular limit to the other. - A crank that goes all the way round has no ends to run between, so one turn spans the track and it wraps, with zero at the pose the drawing was authored in and clockwise running left to right. A machine drawn half extended therefore starts its handle half way along, because that is where it is -- entering an analysis mode no longer puts every bar at zero, only every machine at its own start pose. Underneath, every machine keeps its own clock and its own running flag, always. They were sharing one of each, which is why stopping or scrubbing one moved the others. Synced now means what it says and nothing more: one row, one play button, one answer about what is running -- with the machines still on one wall clock, because at different speeds that is the only thing they can share. The readout says both: where the input is, in degrees or in the length its rod has come out, and how long it has been going. Read only. The handle is how a reader moves it, and a typed time was a question about a coordinate the transport no longer uses. --- e2e/input-settings-and-playback.mjs | 14 +- e2e/left-nav-modes.mjs | 4 +- e2e/playback-timing.mjs | 53 ++-- .../playback-bar/playback-bar.component.html | 23 +- .../playback-bar/playback-bar.component.scss | 25 +- .../playback-bar/playback-bar.component.ts | 265 +++++------------- src/app/model/mechanism/drive-profile.spec.ts | 116 ++++++++ src/app/model/mechanism/drive-profile.ts | 184 ++++++++++++ src/app/services/mechanism.service.ts | 226 ++++++++++++--- 9 files changed, 616 insertions(+), 294 deletions(-) create mode 100644 src/app/model/mechanism/drive-profile.spec.ts create mode 100644 src/app/model/mechanism/drive-profile.ts diff --git a/e2e/input-settings-and-playback.mjs b/e2e/input-settings-and-playback.mjs index a31091bf..b72618fa 100644 --- a/e2e/input-settings-and-playback.mjs +++ b/e2e/input-settings-and-playback.mjs @@ -248,12 +248,12 @@ await page.screenshot({ path: `${OUT}/05-settings-panel.png`, fullPage: true }); await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); await page.waitForTimeout(700); -const timeInput = page.locator('#animationBar-input'); -// The field used to be sized against the Play button because both stacked in -// one narrow rail column. They are in separate cards now, so what is left to -// hold is that the field stays inside the card it lives in -- a field wide -// enough for a long time value but wider than its card is the failure that -// sizing rule was there to prevent. +const timeInput = page.locator('#playbackTime'); +// A readout now rather than a field -- the handle measures the input's +// position, and a typed time is a question about a coordinate the transport no +// longer uses. What is left to hold is that it stays inside the card it lives +// in: a readout wide enough for a long value but wider than its card is the +// failure the old sizing rule was there to prevent. const metrics = await timeInput.evaluate((el) => { const card = el.closest('.scrubCard'); const field = el.getBoundingClientRect(); @@ -265,7 +265,7 @@ const metrics = await timeInput.evaluate((el) => { }; }); check( - 'Time field stays inside the transport card it sits in', + 'Time readout stays inside the transport card it sits in', metrics.fieldWidth > 0 && metrics.overflowLeft <= 0 && metrics.overflowRight <= 0, `field=${metrics.fieldWidth}px, spill left=${metrics.overflowLeft}px right=${metrics.overflowRight}px` ); diff --git a/e2e/left-nav-modes.mjs b/e2e/left-nav-modes.mjs index 9a3f9fe0..05c949c5 100644 --- a/e2e/left-nav-modes.mjs +++ b/e2e/left-nav-modes.mjs @@ -61,7 +61,7 @@ const shot = (name) => page.screenshot({ path: path.join(screenshotDir, `${runPrefix}-${name}`), fullPage: false }); const tab = (label) => page.locator('.tabButton', { hasText: label }); -const timeValue = () => page.locator('#animationBar-input').inputValue(); +const timeValue = () => page.locator('#playbackTime').innerText(); /** The value carries its own unit, so read the leading number off "0.20 s". */ const timeSeconds = async () => parseFloat(await timeValue()); const currentTab = () => @@ -320,7 +320,7 @@ try { }; return { playVisible: inView('.playButton'), - timeVisible: inView('#animationBar-input'), + timeVisible: inView('#playbackTime'), viewControlsVisible: inView('.viewControls'), transportClearsStatusStrip: clears('app-playback-bar .scrubCard'), viewControlsClearStatusStrip: clears('.viewControls'), diff --git a/e2e/playback-timing.mjs b/e2e/playback-timing.mjs index b2f5c622..39d69ef9 100644 --- a/e2e/playback-timing.mjs +++ b/e2e/playback-timing.mjs @@ -48,12 +48,25 @@ const shot = (name) => page.screenshot({ path: path.join(screenshotDir, `${runPrefix}-${name}`), fullPage: false }); const tab = (label) => page.locator('.tabButton', { hasText: label }); -const timeField = () => page.locator('#animationBar-input'); -const timeSeconds = async () => - parseFloat((await timeField().inputValue()).replace(/[^\d.-]/g, '')); +const timeField = () => page.locator('#playbackTime'); +const timeSeconds = async () => parseFloat((await timeField().innerText()).replace(/[^\d.-]/g, '')); const speedField = () => page.locator('input-block:has-text("Input Speed") input').first(); +/** + * Drag the handle to a place along the input's travel. + * + * The transport is a position now, not a clock: there is no time to type into, + * and the handle is how a reader moves the machine. + */ +const seekAlong = async (fraction) => { + await page.locator('#slider').evaluate((el, value) => { + el.value = String(Math.round(value * 1000)); + el.dispatchEvent(new Event('input', { bubbles: true })); + }, fraction); + await page.waitForTimeout(400); +}; + // The transport only exists in the analysis modes, so its presence is how we // tell whether Kinematic is already open -- pressing the mode again is harmless // but the wait below would otherwise race the panel animation. @@ -172,29 +185,21 @@ try { // --- Cycle length reported by the time field -------------------------------- await setInputSpeed(20); await openKinematic(); - await timeField().click(); - await timeField().press('ControlOrMeta+A'); - await timeField().type('99 s'); - await timeField().press('Enter'); - await page.waitForTimeout(400); + // Half way along the track is half a turn of the crank, which at 20 RPM is a + // second and a half. The far right end is not measured from: the track is a + // loop for a crank that goes all the way round, so its right edge is its left + // edge. + await seekAlong(0.5); const maxAt20 = await timeSeconds(); - check( - 'clamping past the end of the cycle reports the 3 s period at 20 RPM', - Math.abs(maxAt20 - 3) < 0.02, - { - maxAt20, - } - ); + check('half the track is half a turn, which is 1.5 s at 20 RPM', Math.abs(maxAt20 - 1.5) < 0.05, { + maxAt20, + }); await setInputSpeed(40); await openKinematic(); - await timeField().click(); - await timeField().press('ControlOrMeta+A'); - await timeField().type('99 s'); - await timeField().press('Enter'); - await page.waitForTimeout(400); + await seekAlong(0.5); const maxAt40 = await timeSeconds(); - check('the reported period halves at double the input speed', Math.abs(maxAt40 - 1.5) < 0.02, { + check('and takes half as long at double the input speed', Math.abs(maxAt40 - 0.75) < 0.05, { maxAt40, }); await shot('02-period-at-40rpm.png'); @@ -208,11 +213,7 @@ try { await openKinematic(); const zeroPose = await page.locator('svg').first().innerHTML(); - await timeField().click(); - await timeField().press('ControlOrMeta+A'); - await timeField().type('1.5 s'); - await timeField().press('Enter'); - await page.waitForTimeout(400); + await seekAlong(0.5); const seekedTime = await timeSeconds(); const seekedPose = await page.locator('svg').first().innerHTML(); diff --git a/src/app/component/playback-bar/playback-bar.component.html b/src/app/component/playback-bar/playback-bar.component.html index f29c03ef..398d017a 100644 --- a/src/app/component/playback-bar/playback-bar.component.html +++ b/src/app/component/playback-bar/playback-bar.component.html @@ -65,20 +65,15 @@ />
- - + + @if (row.position) { + {{ + row.position + }} + } + {{ row.time }} {{ row.note }}
diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index 82001560..4ae7508f 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -286,24 +286,19 @@ overflow: hidden; } - // Text in the mock; an input here, styled to be indistinguishable from it. + // Where the input is, then how long it has been going. The position leads + // because it is what the handle above it means. + .rowPosition { + min-width: 52px; + font-size: 11px; + font-weight: 500; + color: #2c2c2c; + } + .rowTime { - width: 64px; - padding: 0; - border: none; - background: transparent; - font-family: inherit; + min-width: 46px; font-size: 11px; color: rgba(0, 0, 0, 0.5); - - &:focus { - outline: none; - color: #2c2c2c; - } - - &[readonly] { - cursor: default; - } } .rowNote { diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index 154eb440..89806f4c 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -7,7 +7,8 @@ import { ActiveObjService } from '../../services/active-obj.service'; import { SelectedTabService } from '../../selected-tab.service'; import { TimeUnit } from '../../model/utils'; import { Mechanism } from '../../model/mechanism/mechanism'; -import { PrisJoint, RealJoint } from '../../model/joint'; +import { RealJoint } from '../../model/joint'; +import { MODEL_SCALE } from '../../model/render-scale'; /** One line in the transport: a machine, or all of them together. */ export interface PlaybackRow { @@ -18,8 +19,10 @@ export interface PlaybackRow { isMechanism: boolean; /** The line the shared scrubber and the time field belong to. */ master: boolean; - /** Where this machine is in its own cycle, as text. */ + /** How long this machine has been going, from its start pose. */ time: string; + /** Where its input is, in the input's own units. */ + position: string; /** * 0–1000 along the track. * @@ -57,7 +60,6 @@ export interface PlaybackRow { standalone: false, }) export class PlaybackBarComponent implements OnInit, OnDestroy { - timeDisplay = ''; private positionSub?: Subscription; private dragging = false; private wasAnimating = false; @@ -72,14 +74,9 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { ) {} ngOnInit(): void { - // Seed it: the subject only emits when the pose moves, so a mechanism - // sitting at zero would show an empty time until something played. - this.timeDisplay = this.format(this.mechanism.currentTimeSeconds()); - this.positionSub = this.mechanism.onMechPositionChange.subscribe(() => { - // Playback sits between samples, so read the drawn time rather than the - // time of the sample it was blended from. - this.timeDisplay = this.format(this.mechanism.currentTimeSeconds()); - }); + // The rows are rebuilt from the service on every change detection, and the + // pose moving is what has to trigger one. + this.positionSub = this.mechanism.onMechPositionChange.subscribe(() => undefined); } ngOnDestroy(): void { @@ -130,122 +127,74 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { return []; } + // Synced, the machines are started and stopped together and there is one + // answer about what is running -- but not one answer about where anything + // is, because each measures a different thing. The combined row follows the + // first machine and says nothing about direction. if (this.mechanism.syncMechanisms) { - const period = this.mechanism.cyclePeriod() || 1; - const now = this.mechanism.currentTimeSeconds(); const lead = runnable[0]; - return [ - { - id: runnable.length === 1 ? (this.mechanism.partitions[lead.index]?.id ?? 'M1') : 'All', - index: runnable.length === 1 ? lead.index : -1, - isMechanism: runnable.length === 1, - master: true, - time: this.format(now), - scrub: this.trackPosition(lead.mechanism, now, period), - clockwise: this.drivenSpeedOf(lead.mechanism) < 0, - note: runnable.length === 1 ? this.noteFor(lead.mechanism, now, lead.index) : '', - playing: this.playing, - ownPlay: false, - period, - }, - ]; + const alone = runnable.length === 1; + return [this.rowFor(lead.index, true, false, alone ? undefined : 'All')]; } - return runnable.map(({ mechanism, index }, position) => { - const period = mechanism.cyclePeriod || 1; - const local = this.mechanism.secondsOf(index); - return { - id: this.mechanism.partitions[index]?.id ?? `M${index + 1}`, - index, - isMechanism: true, - master: position === 0, - time: this.format(local), - scrub: this.trackPosition(mechanism, local, period), - clockwise: this.drivenSpeedOf(mechanism) < 0, - note: this.noteFor(mechanism, local, index), - playing: this.mechanism.isMechanismPlaying(index), - ownPlay: runnable.length > 1, - period, - }; - }); - } - - /** - * Where along the track to draw the handle. - * - * The track is the input's position, not the clock. A reader watching a ram - * extend expects the handle to travel with it and come back with it; a reader - * watching a crank expects it to sweep once per turn. Reading it off the - * clock got the second right and the first wrong, because a ram's cycle - * spends its second half undoing its first, and the handle carried on to the - * right through both. Time is still what the machine is *at* -- it is just - * not what the handle measures. - */ - private trackPosition(mechanism: Mechanism, seconds: number, period: number): number { - return Math.round(this.alongTravel(mechanism, seconds, period) * 1000); + return runnable.map(({ index }, position) => + this.rowFor(index, position === 0, runnable.length > 1) + ); } - /** 0..1 along the input's own travel, at this time. */ - private alongTravel(mechanism: Mechanism, seconds: number, period: number): number { - const fraction = period > 0 ? Math.min(Math.max(seconds / period, 0), 1) : 0; - const profile = this.travelProfile(mechanism); - if (profile) { - const sample = Math.min(Math.round(fraction * (profile.length - 1)), profile.length - 1); - return profile[sample]; - } - // A rotary drive turns at a constant rate, so its angle and its clock are - // the same number twice -- but which end of the track it starts from is the - // direction it turns. - return this.drivenSpeedOf(mechanism) < 0 ? fraction : 1 - fraction; + private rowFor(index: number, master: boolean, ownPlay: boolean, name?: string): PlaybackRow { + const mechanism = this.mechanism.mechanisms[index]; + const seconds = this.mechanism.secondsOf(index); + const combined = name !== undefined; + return { + id: name ?? this.mechanism.partitions[index]?.id ?? `M${index + 1}`, + index: combined ? -1 : index, + isMechanism: !combined, + master, + time: this.format(seconds), + position: combined ? '' : this.positionLabel(index), + scrub: Math.round((this.mechanism.travelOf(index) ?? 0) * 1000), + clockwise: this.drivenSpeedOf(mechanism) < 0, + note: combined ? '' : this.noteFor(index), + playing: this.mechanism.isMechanismPlaying(index), + ownPlay, + period: mechanism.cyclePeriod || 1, + }; } /** - * Where a linear input sits along its stroke, sample by sample, as 0..1. + * Where the input is, in the units the input is measured in. * - * Only for a linear input: a slider or a ram has a position that a reader can - * see, and the handle is worth nothing if it disagrees with it. Undefined for - * a rotary drive, whose angle the clock already tracks. + * The handle says how far along; this says how far along *what*. A crank + * reads in degrees of its own turn, a ram in the length its rod has come out. */ - private travelProfile(mechanism: Mechanism): number[] | undefined { - if (this.profileOf.get(mechanism) !== undefined) { - return this.profileOf.get(mechanism) ?? undefined; + private positionLabel(index: number): string { + const profile = this.mechanism.driveProfileOf(index); + const along = this.mechanism.travelOf(index); + if (!profile || along === undefined) { + return ''; } - const profile = this.buildTravelProfile(mechanism); - this.profileOf.set(mechanism, profile ?? null); - return profile; - } - - private profileOf = new WeakMap(); - - private buildTravelProfile(mechanism: Mechanism): number[] | undefined { - const frames = mechanism.joints; - const first = frames[0] ?? []; - const at = first.findIndex((joint) => joint instanceof PrisJoint && (joint as RealJoint).input); - if (at === -1 || frames.length < 2) { - return undefined; + if (!profile.linear) { + return `${Math.round(along * 360)}\u00b0`; } - // Along the line the slider actually travels, taken from the two ends of - // its own path rather than from a stored angle -- a slot's rail and a - // ram's bore are described differently and this is true of both. - const start = frames[0][at]; - const far = frames.reduce( - (best, frame) => { - const d = Math.hypot(frame[at].x - start.x, frame[at].y - start.y); - return d > best.d ? { d, x: frame[at].x, y: frame[at].y } : best; - }, - { d: 0, x: start.x, y: start.y } - ); - if (!(far.d > 0)) return undefined; - const ux = (far.x - start.x) / far.d; - const uy = (far.y - start.y) / far.d; - - const along = frames.map( - (frame) => (frame[at].x - start.x) * ux + (frame[at].y - start.y) * uy - ); - const low = Math.min(...along); - const span = Math.max(...along) - low; - if (!(span > 0)) return undefined; - return along.map((value) => (value - low) / span); + const stroke = this.strokeLength(index); + return stroke === undefined + ? `${Math.round(along * 100)}%` + : this.nup.formatValueAndUnit(along * stroke, this.settings.lengthUnit.value); + } + + /** How far the input slide travels end to end, in the drawing's own units. */ + private strokeLength(index: number): number | undefined { + const mechanism = this.mechanism.mechanisms[index]; + const frames = mechanism?.joints ?? []; + const at = frames[0]?.findIndex((joint) => (joint as RealJoint).input) ?? -1; + if (at === -1 || frames.length < 2) return undefined; + let far = 0; + frames.forEach((frame) => { + const d = Math.hypot(frame[at].x - frames[0][at].x, frame[at].y - frames[0][at].y); + if (d > far) far = d; + }); + return far > 0 ? far / MODEL_SCALE : undefined; } /** @@ -255,38 +204,15 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { * other. "Reciprocating" said only that the machine was of a kind that turns * around, which is not something the reader needs told twice a cycle. */ - private noteFor(mechanism: Mechanism, seconds: number, index: number): string { - const outward = this.travellingForward(mechanism, seconds, index); - if (this.isLinearInput(mechanism)) { + private noteFor(index: number): string { + const profile = this.mechanism.driveProfileOf(index); + const outward = this.mechanism.travellingForward(index); + if (profile?.linear) { return outward ? 'Extending' : 'Retracting'; } return outward ? 'Clockwise' : 'CCW'; } - /** - * Whether the input is going the way its own drive speed says, right now. - * - * Two things can turn it around: the second half of a reversing machine's - * cycle, and playback being run backwards. Either one on its own flips the - * answer; both together cancel. - */ - private travellingForward(mechanism: Mechanism, seconds: number, index: number): boolean { - const period = mechanism.cyclePeriod || 1; - const onReturnLeg = this.isReciprocating(mechanism) && seconds / period > 0.5; - const rewinding = this.mechanism.directionOf(Math.max(index, 0)) < 0; - const driveIsForward = this.drivenSpeedOf(mechanism) < 0; - return (driveIsForward !== onReturnLeg) !== rewinding; - } - - /** A slider or cylinder drive, which extends rather than turns. */ - private isLinearInput(mechanism: Mechanism): boolean { - return ( - mechanism.joints[0]?.some( - (joint) => joint instanceof PrisJoint && (joint as RealJoint).input - ) ?? false - ); - } - /** Only worth offering when there is more than one machine to get out of step. */ get canSync(): boolean { return this.mechanism.mechanisms.filter((m) => m.isMechanismValid()).length > 1; @@ -324,54 +250,22 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { } /** - * Drag a row's handle to a position, and let the clock follow. + * Drag a row's handle to a place along its input's travel. * - * The handle is the input's position, and a machine that turns around passes - * every position twice -- once on the way out and once on the way back. The - * drag keeps whichever leg it was already on, so pulling the handle back does - * not jump the machine to the other half of its cycle. + * The handle is a position, so this is a position. What time that is, is the + * service's problem -- and on a machine that turns back it is two times, one + * on each leg, which is why it is told where the machine is now. */ scrubRow(row: PlaybackRow, event: Event): void { const along = Number((event.target as HTMLInputElement).value) / 1000; - const source = - row.index === -1 ? this.mechanism.mechanisms[0] : this.mechanism.mechanisms[row.index]; - if (!source) return; - const now = this.mechanism.secondsOf(Math.max(row.index, 0)); - const seconds = this.timeAtTravel(source, along, row.period, now); + const index = row.index === -1 ? this.mechanism.masterMechanismIndex() : row.index; + if (index === -1) return; if (row.index === -1) { - this.mechanism.animate(this.mechanism.stepAtTime(seconds), this.playing); + // The combined row stands for all of them, so all of them go. + this.mechanism.seekAllAlong(index, along); return; } - this.mechanism.seekMechanism(row.index, seconds); - } - - /** - * The time at which the input sits this far along its travel. - * - * Searched rather than inverted: the mapping is a sampled curve, not a - * formula, and on a machine that turns around it is not one-to-one. Ties go - * to the leg the machine is already on. - */ - private timeAtTravel(mechanism: Mechanism, along: number, period: number, now: number): number { - const profile = this.travelProfile(mechanism); - if (!profile) { - const forward = this.drivenSpeedOf(mechanism) < 0 ? along : 1 - along; - return forward * period; - } - const wasReturning = period > 0 && now / period > 0.5; - let best = 0; - let bestCost = Infinity; - profile.forEach((value, sample) => { - const onReturnLeg = sample > (profile.length - 1) / 2; - // Half a step of preference for the leg it is on: enough to break a tie, - // never enough to pick a position the reader did not ask for. - const cost = Math.abs(value - along) + (onReturnLeg === wasReturning ? 0 : 0.001); - if (cost < bestCost) { - bestCost = cost; - best = sample; - } - }); - return (best / (profile.length - 1)) * period; + this.mechanism.seekMechanismTo(index, along); } /** @@ -463,11 +357,4 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { this.mechanism.animate(value, this.mechanism.isPlaying); this.settings.animating.next(value !== 0); } - - onTimeSubmit(): void { - const [ok, requested] = this.nup.parseTimeString(this.timeDisplay, TimeUnit.SECOND); - const clamped = Math.min(Math.max(ok ? requested : 0, 0), this.mechanism.cyclePeriod()); - this.mechanism.animate(this.mechanism.stepAtTime(clamped), this.mechanism.isPlaying); - this.timeDisplay = this.format(this.mechanism.currentTimeSeconds()); - } } diff --git a/src/app/model/mechanism/drive-profile.spec.ts b/src/app/model/mechanism/drive-profile.spec.ts new file mode 100644 index 00000000..d7899f18 --- /dev/null +++ b/src/app/model/mechanism/drive-profile.spec.ts @@ -0,0 +1,116 @@ +import { Injector } from '@angular/core'; +import { DriveProfile, driveProfileOf, sampleAlong } from './drive-profile'; +import { ActiveObjService } from '../../services/active-obj.service'; +import { ColorService } from '../../services/color.service'; +import { DragStateService } from '../../services/drag-state.service'; +import { GridUtilsService } from '../../services/grid-utils.service'; +import { MechanismService } from '../../services/mechanism.service'; +import { NumberUnitParserService } from '../../services/number-unit-parser.service'; +import { SettingsService } from '../../services/settings.service'; +import { SvgGridService } from '../../services/svg-grid.service'; +import { SynthesisBuilderService } from '../../services/synthesis/synthesis-builder.service'; +import { MechanismBuilder } from '../../services/transcoding/mechanism-builder'; +import { StringTranscoder } from '../../services/transcoding/string-transcoder'; +import { TemplateID, TEMPLATE_LINKAGES } from '../../component/MODALS/templates/template-linkages'; + +/** The solved first mechanism of a template, and what its input does. */ +function profileOf(template: TemplateID): DriveProfile { + if (!ColorService.instance) new ColorService(); + const settings = new SettingsService(); + const parser = new NumberUnitParserService(); + let service!: MechanismService; + const grid = new GridUtilsService( + new SynthesisBuilderService(parser, settings), + new SvgGridService(settings, new DragStateService(), {} as unknown as Injector), + { get: () => service } as unknown as Injector + ); + const active = new ActiveObjService(); + service = new MechanismService( + grid, + active, + { get: () => ({ save: () => undefined }) } as unknown as Injector, + settings, + parser + ); + + const decoder = new StringTranscoder(); + decoder.decodeURL(TEMPLATE_LINKAGES[template]); + new MechanismBuilder(service, decoder, settings, active).build(true); + service.updateMechanism(); + + const profile = driveProfileOf(service.mechanisms[0]); + expect(profile, `${template} has a drive profile`).toBeDefined(); + return profile!; +} + +describe('Where a machine says its input is', () => { + beforeEach(() => vi.spyOn(console, 'log').mockImplementation(() => undefined)); + afterEach(() => vi.restoreAllMocks()); + + it('sweeps a crank that goes all the way round once across the track', () => { + const profile = profileOf('4-Bar'); + + expect(profile.continuous, 'the crank turns all the way round').toBe(true); + expect(profile.linear).toBe(false); + // Zero is the pose the drawing was authored in, and it climbs from there. + expect(profile.along[0]).toBeCloseTo(0, 6); + expect(profile.along[Math.floor(profile.along.length / 2)]).toBeCloseTo(0.5, 2); + expect(profile.along.at(-1)!).toBeGreaterThan(0.99); + // Never off the end: a turn is the whole track, not more than it. + expect(profile.along.every((value) => value >= 0 && value <= 1)).toBe(true); + }); + + it('runs a clockwise crank left to right', () => { + // The app stores a clockwise drive as a negative speed, which is the + // opposite of the direction a reader expects the handle to travel. + const profile = profileOf('4-Bar'); + expect(profile.along[1]).toBeGreaterThan(profile.along[0]); + }); + + it('measures a ram between the ends of its own stroke, not its clock', () => { + const profile = profileOf('Cylinder_Boom'); + + expect(profile.linear, 'the input is a ram').toBe(true); + expect(profile.continuous, 'a ram runs out of stroke and comes back').toBe(false); + // Both ends of the track are reached, and only at the ends of the stroke. + expect(Math.min(...profile.along)).toBeCloseTo(0, 6); + expect(Math.max(...profile.along)).toBeCloseTo(1, 6); + // And it comes back: the last sample is not the far end. + expect(profile.along.at(-1)!).toBeLessThan(1); + }); + + it('starts a ram wherever the drawing was authored, not at zero', () => { + // The whole point of measuring position rather than time: a ram drawn half + // extended starts the handle half way along, because that is where it is. + const profile = profileOf('Cylinder_Boom'); + expect(profile.along[0]).toBeGreaterThan(0.05); + expect(profile.along[0]).toBeLessThan(0.95); + }); + + it('reads a place on the track back to the sample that is at it', () => { + const profile = profileOf('Cylinder_Boom'); + const sample = sampleAlong(profile, profile.along[40], 40); + expect(profile.along[sample]).toBeCloseTo(profile.along[40], 6); + }); + + it('keeps a drag on the leg the machine is already on', () => { + // A ram passes every position twice, once each way. Pulling the handle back + // a little should walk back along the way it came, not jump to the return + // leg at the same extension. + const profile = profileOf('Cylinder_Boom'); + const last = profile.along.length - 1; + const outbound = Math.round(last * 0.25); + const returning = Math.round(last * 0.85); + + expect(sampleAlong(profile, profile.along[outbound], outbound)).toBeLessThan(last / 2); + expect(sampleAlong(profile, profile.along[returning], returning)).toBeGreaterThan(last / 2); + }); + + it('treats the two ends of a loop as the same place', () => { + // For a crank that goes all the way round the right edge of the track is + // the left edge; dragging past the end comes back to the start rather than + // stopping dead against it. + const profile = profileOf('4-Bar'); + expect(sampleAlong(profile, 1, 0)).toBe(0); + }); +}); diff --git a/src/app/model/mechanism/drive-profile.ts b/src/app/model/mechanism/drive-profile.ts new file mode 100644 index 00000000..1cc3db4f --- /dev/null +++ b/src/app/model/mechanism/drive-profile.ts @@ -0,0 +1,184 @@ +import { PrisJoint, RealJoint } from '../joint'; +import { Mechanism } from './mechanism'; + +/** + * Where a machine's input sits, as a fraction of everything it can do. + * + * The transport used to be a clock: the handle ran left to right as time + * passed, and everything the reader could ask it was really a question about + * time. That works for a crank and breaks for anything else. A ram spends the + * second half of its cycle undoing the first, so a handle following the clock + * carried on to the right while the ram came back; a rocker never leaves a + * forty-degree arc, and the handle claimed the whole track for it. + * + * So the handle measures the input instead: + * + * - A ram or slider runs from one end of its stroke to the other. + * - A rocking crank runs from one angular limit to the other. + * - A crank that goes all the way round has no limits to run between, so one + * turn spans the track and it wraps, with zero at the pose the drawing was + * authored in. + * + * Time is still what the machine is *at*, and still what the readout shows. It + * is just no longer what the handle means. + */ +export interface DriveProfile { + /** 0..1 for each solved sample: where the input is, out of everything it does. */ + readonly along: number[]; + /** True when the input goes all the way round rather than turning back. */ + readonly continuous: boolean; + /** A slider or ram, which extends; otherwise a crank, which turns. */ + readonly linear: boolean; +} + +/** + * Read the input's own coordinate out of a solved cycle. + * + * Sample by sample, from the drawn positions rather than from a stored angle: a + * slot's rail, a ram's bore and a pin's crank are described three different + * ways in the model and are all just a moving joint here. + */ +export function driveProfileOf(mechanism: Mechanism): DriveProfile | undefined { + const frames = mechanism.joints; + if (!mechanism.isMechanismValid() || frames.length < 2) { + return undefined; + } + const at = frames[0].findIndex((joint) => (joint as RealJoint).input); + if (at === -1) { + return undefined; + } + + const linear = frames[0][at] instanceof PrisJoint; + const raw = linear ? strokeOf(frames, at) : turnOf(mechanism); + if (!raw) { + return undefined; + } + + // A cycle whose input never turns back has no two ends to measure between -- + // it is a loop, and the only honest thing to show is how far round it is, + // from the pose the drawing was authored in. + // + // Signed, and taken from the angle rather than from the sample index: the + // crank is at the angle it is at whichever way it is being driven, so turning + // the drive round must leave the handle where it is. Off the sample index it + // would jump to the mirror image of itself. + const continuous = !turnsBack(raw); + if (continuous) { + const turn = 2 * Math.PI; + return { + along: raw.map((value) => { + const wrapped = ((value - raw[0]) / turn) % 1; + return wrapped < 0 ? wrapped + 1 : wrapped; + }), + continuous, + linear, + }; + } + + const low = Math.min(...raw); + const span = Math.max(...raw) - low; + if (!(span > 0)) { + return undefined; + } + return { along: raw.map((value) => (value - low) / span), continuous, linear }; +} + +/** How far the input has moved along the line it slides on, sample by sample. */ +function strokeOf(frames: Mechanism['joints'], at: number): number[] | undefined { + const start = frames[0][at]; + // The two ends of the path it actually takes give its direction; a stored + // angle would only agree with them for one of the ways a slide is built. + const far = frames.reduce( + (best, frame) => { + const distance = Math.hypot(frame[at].x - start.x, frame[at].y - start.y); + return distance > best.distance ? { distance, x: frame[at].x, y: frame[at].y } : best; + }, + { distance: 0, x: start.x, y: start.y } + ); + if (!(far.distance > 0)) { + return undefined; + } + const ux = (far.x - start.x) / far.distance; + const uy = (far.y - start.y) / far.distance; + return frames.map((frame) => (frame[at].x - start.x) * ux + (frame[at].y - start.y) * uy); +} + +/** + * How far the crank has turned, sample by sample, unwrapped. + * + * Unwrapped so that going round twice reads as twice as far rather than as + * back where it started, which is what tells a full revolution apart from a + * rocker that happens to end where it began. + */ +function turnOf(mechanism: Mechanism): number[] | undefined { + const speeds = mechanism.inputAngularVelocities; + const times = mechanism.timeNum ?? []; + if (speeds.length === 0 || times.length !== speeds.length) { + return undefined; + } + // Negated, because the app stores a clockwise drive as a negative speed and + // the reader expects a clockwise input to run the handle left to right. + let angle = 0; + return times.map((time, i) => { + if (i > 0) { + angle -= speeds[i - 1] * (time - times[i - 1]); + } + return angle; + }); +} + +/** Does the input reverse anywhere in the cycle? */ +function turnsBack(raw: number[]): boolean { + let rising = false; + let falling = false; + for (let i = 1; i < raw.length; i++) { + const step = raw[i] - raw[i - 1]; + if (step > 1e-9) rising = true; + if (step < -1e-9) falling = true; + if (rising && falling) return true; + } + return false; +} + +/** + * The sample at a given place along the track. + * + * Searched rather than inverted: the mapping is a sampled curve, and on a + * machine that turns back it passes every place twice. `near` is the sample the + * machine is at now, and ties go to whichever leg that is on -- so pulling the + * handle backwards does not jump it to the other half of the cycle. + */ +export function sampleAlong(profile: DriveProfile, along: number, near: number): number { + const last = profile.along.length - 1; + if (last <= 0) { + return 0; + } + if (profile.continuous) { + // Round the loop: the place next to 0 is 1, not the far side of the track. + let best = 0; + let bestCost = Infinity; + profile.along.forEach((value, sample) => { + const gap = Math.abs(value - along); + const cost = Math.min(gap, 1 - gap); + if (cost < bestCost) { + bestCost = cost; + best = sample; + } + }); + return best; + } + const nearReturning = near > last / 2; + let best = 0; + let bestCost = Infinity; + profile.along.forEach((value, sample) => { + const returning = sample > last / 2; + // Enough to break a tie, never enough to reach a place the reader did not + // point at. + const cost = Math.abs(value - along) + (returning === nearReturning ? 0 : 1e-3); + if (cost < bestCost) { + bestCost = cost; + best = sample; + } + }); + return best; +} diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index b660db3d..d2ef258a 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -17,6 +17,11 @@ import { structuralCylinderAt, } from '../model/cylinder'; import { Force } from '../model/force'; +import { + DriveProfile, + driveProfileOf as buildDriveProfile, + sampleAlong, +} from '../model/mechanism/drive-profile'; import { Mechanism } from '../model/mechanism/mechanism'; import { MechanismPartition, @@ -134,9 +139,16 @@ export class MechanismService { * machine's cycle without the others moving. */ syncMechanisms = true; - /** Each machine's own time, used only while unsynced. */ + /** + * Each machine's own place in its own cycle, in seconds from its start pose. + * + * Always -- not only while unsynced. The machines were sharing one clock and + * one running flag, which is why pausing or scrubbing one of them moved the + * others. `syncMechanisms` decides how many rows the transport offers, and + * nothing else now. + */ private ownSeconds: number[] = []; - /** Which machines are running, used only while unsynced. */ + /** Which machines are running. */ private ownPlaying: boolean[] = []; /** * Which way each machine's playback runs, +1 or -1. @@ -151,6 +163,8 @@ export class MechanismService { private playbackDirection: number[] = []; private playbackFrameQueued = false; private advancingPlayback = false; + /** Set while one row is being seeked, so the seek does not spread. */ + private seekingOneMechanism = false; constructor( public gridUtils: GridUtilsService, @@ -401,7 +415,7 @@ export class MechanismService { * measured against: run every machine on the same wall clock and the master * timeline has to be long enough to hold the slowest of them. */ - private masterMechanismIndex(): number { + masterMechanismIndex(): number { let best = -1; let longest = -1; this.mechanisms.forEach((mechanism, index) => { @@ -2646,6 +2660,14 @@ export class MechanismService { // kept showing the time the mechanism had been left at while the mechanism // itself had rewound. this.mechanismTimeStep = progress; + // The pose applier reads each machine's own clock now, so a seek has to put + // those clocks where the caller asked. A seek through here means the whole + // drawing -- a rewind, a URL restore, the shared scrubber -- so every + // machine goes. The playback loop has already moved them and says so; so + // does a row being scrubbed on its own. + if (!this.advancingPlayback && !this.seekingOneMechanism) { + this.seekAllTo(this.timeAtStep(progress)); + } if (animationState !== undefined) { this.isPlaying = animationState; if (!animationState) { @@ -2707,11 +2729,7 @@ export class MechanismService { const seconds = this.timeAtStep(step) + blend * (this.timeAtStep(step + 1) - this.timeAtStep(step)); this.mechanisms.forEach((frames, index) => { - this.applyMechanismPose( - frames, - this.partitions[index], - this.syncMechanisms ? seconds : (this.ownSeconds[index] ?? 0) - ); + this.applyMechanismPose(frames, this.partitions[index], this.ownSeconds[index] ?? 0); }); } @@ -2978,20 +2996,26 @@ export class MechanismService { elapsedSeconds * this.animationSpeedMultiplier * this.directionOf(0) ); - // Unsynced, each running machine carries its own time forward. The shared - // clock still advances underneath, because the scrubber and the time field - // are measured against it. - if (!this.syncMechanisms) { - this.mechanisms.forEach((mechanism, index) => { - if (!this.ownPlaying[index] || !mechanism.isMechanismValid()) { - return; - } - const period = mechanism.cyclePeriod; - const next = - (this.ownSeconds[index] ?? 0) + - elapsedSeconds * this.animationSpeedMultiplier * this.directionOf(index); - this.ownSeconds[index] = period > 0 ? ((next % period) + period) % period : next; - }); + // Every running machine carries its own time forward, off the same wall + // clock. Synced means they are started and stopped together, not that they + // share a variable -- two machines at different speeds have no shared + // position to share. + this.mechanisms.forEach((mechanism, index) => { + if (!this.isMechanismPlaying(index) || !mechanism.isMechanismValid()) { + return; + } + const period = mechanism.cyclePeriod; + const next = + (this.ownSeconds[index] ?? 0) + + elapsedSeconds * this.animationSpeedMultiplier * this.directionOf(index); + this.ownSeconds[index] = period > 0 ? ((next % period) + period) % period : next; + }); + + // The shared readout follows the master machine, which is the one the + // sample index and the graphs have always meant. + const master = this.masterMechanismIndex(); + if (master !== -1) { + this.playbackTimeSeconds = this.ownSeconds[master] ?? this.playbackTimeSeconds; } this.advancingPlayback = true; @@ -3042,6 +3066,94 @@ export class MechanismService { return true; } + /** + * Where one machine's input sits, out of everything it can do, 0..1. + * + * The transport's own coordinate. Cached against the solved Mechanism, so it + * is rebuilt exactly when the cycle is. + */ + travelOf(index: number): number | undefined { + const mechanism = this.mechanisms[index]; + const profile = this.driveProfileOf(index); + if (!mechanism || !profile) return undefined; + const period = mechanism.cyclePeriod; + const last = profile.along.length - 1; + if (!(period > 0) || last <= 0) return profile.along[0] ?? 0; + const fraction = Math.min(Math.max(this.secondsOf(index) / period, 0), 1); + return profile.along[Math.min(Math.round(fraction * last), last)]; + } + + /** + * Put every machine at the place the leader's input has reached. + * + * For the combined row, which stands for all of them: the machines are on one + * wall clock, so the time the leader is at is the time they are all at. + */ + seekAllAlong(leader: number, along: number): void { + const mechanism = this.mechanisms[leader]; + const profile = this.driveProfileOf(leader); + if (!mechanism || !profile) return; + const period = mechanism.cyclePeriod; + const last = profile.along.length - 1; + if (!(period > 0) || last <= 0) return; + const nearSample = Math.round(Math.min(Math.max(this.secondsOf(leader) / period, 0), 1) * last); + const sample = sampleAlong(profile, Math.min(Math.max(along, 0), 1), nearSample); + this.animate(this.stepAtTime((sample / last) * period), this.isPlaying); + } + + /** + * Is this machine's input going the way its drive speed says, right now? + * + * Read off the profile's own slope rather than off the half-way point of the + * cycle: a ram does not turn around half way through its period, it turns + * around when it reaches the end of its stroke, and those are not the same + * moment. Playback running backwards flips the answer again. + */ + travellingForward(index: number): boolean { + const profile = this.driveProfileOf(index); + const mechanism = this.mechanisms[index]; + const forwardDrive = (mechanism?.inputAngularVelocities[0] ?? 0) < 0; + const rewinding = this.directionOf(index) < 0; + if (!profile || !mechanism || profile.continuous) { + return forwardDrive !== rewinding; + } + const period = mechanism.cyclePeriod; + const last = profile.along.length - 1; + if (!(period > 0) || last <= 0) return forwardDrive !== rewinding; + const sample = Math.min( + Math.round(Math.min(Math.max(this.secondsOf(index) / period, 0), 1) * last), + last + ); + const before = profile.along[Math.max(sample - 1, 0)]; + const after = profile.along[Math.min(sample + 1, last)]; + const rising = after >= before; + return rising !== rewinding; + } + + /** Put one machine at a place along its input's travel. */ + seekMechanismTo(index: number, along: number): void { + const mechanism = this.mechanisms[index]; + const profile = this.driveProfileOf(index); + if (!mechanism || !profile) return; + const period = mechanism.cyclePeriod; + const last = profile.along.length - 1; + if (!(period > 0) || last <= 0) return; + const nearSample = Math.round(Math.min(Math.max(this.secondsOf(index) / period, 0), 1) * last); + const sample = sampleAlong(profile, Math.min(Math.max(along, 0), 1), nearSample); + this.seekMechanism(index, (sample / last) * period); + } + + driveProfileOf(index: number): DriveProfile | undefined { + const mechanism = this.mechanisms[index]; + if (!mechanism) return undefined; + if (!this.profiles.has(mechanism)) { + this.profiles.set(mechanism, buildDriveProfile(mechanism) ?? null); + } + return this.profiles.get(mechanism) ?? undefined; + } + + private profiles = new WeakMap(); + /** Which way this machine's playback is running: +1 forward, -1 backward. */ directionOf(index: number): number { return this.playbackDirection[index] === -1 ? -1 : 1; @@ -3061,26 +3173,58 @@ export class MechanismService { /** Where one machine is in its own cycle. */ secondsOf(index: number): number { - if (this.syncMechanisms) { - const period = this.mechanisms[index]?.cyclePeriod ?? 0; - const now = this.currentTimeSeconds(); - return period > 0 ? ((now % period) + period) % period : now; - } return this.ownSeconds[index] ?? 0; } - /** Put one machine at a time in its own cycle. Only meaningful while unsynced. */ + /** Put one machine at a place in its own cycle, and leave the others alone. */ seekMechanism(index: number, seconds: number): void { - this.ownSeconds[index] = seconds; - this.animate(this.mechanismTimeStep, this.isPlaying); + const period = this.mechanisms[index]?.cyclePeriod ?? 0; + const local = period > 0 ? ((seconds % period) + period) % period : seconds; + this.ownSeconds[index] = local; + // The sample index is the master machine's, and half the app reads it -- + // the graphs, the URL, and the rule that says the editor is only open at + // the start pose. Moving the master without it left the drawing mid-cycle + // while everything else believed it was parked. + const step = + index === this.masterMechanismIndex() ? this.stepAtTime(local) : this.mechanismTimeStep; + this.seekingOneMechanism = true; + try { + this.animate(step, this.isPlaying); + } finally { + this.seekingOneMechanism = false; + } + } + + /** + * Put every machine at the same moment of the shared clock. + * + * Each in its own cycle: a machine whose cycle is shorter than the one the + * sample index is measured in wraps inside it rather than running out. + */ + private seekAllTo(seconds: number): void { + this.mechanisms.forEach((mechanism, index) => { + if (!mechanism.isMechanismValid()) return; + const period = mechanism.cyclePeriod; + this.ownSeconds[index] = period > 0 ? ((seconds % period) + period) % period : seconds; + }); } + /** + * Is this machine running? + * + * Synced, one flag answers for all of them -- that is what synced means. Set + * them apart and each row answers for itself, and stopping one of them says + * nothing about the rest. + */ isMechanismPlaying(index: number): boolean { - return this.syncMechanisms ? this.isPlaying : !!this.ownPlaying[index]; + if (this.syncMechanisms) { + return this.isPlaying && (this.mechanisms[index]?.isMechanismValid() ?? false); + } + return !!this.ownPlaying[index]; } toggleMechanismPlaying(index: number): void { - this.ownPlaying[index] = !this.ownPlaying[index]; + this.ownPlaying[index] = !this.isMechanismPlaying(index); // The frame loop is shared, so it has to be running for any machine to move // -- and there is no reason for it to be running when none of them are. The // transport's own button reads this flag, so leaving it set with every row @@ -3097,11 +3241,7 @@ export class MechanismService { */ setAllPlaying(playing: boolean): void { this.isPlaying = playing; - if (!this.syncMechanisms) { - this.ownPlaying = this.mechanisms.map((mechanism) => - playing && mechanism.isMechanismValid() ? true : false - ); - } + this.ownPlaying = this.mechanisms.map((mechanism) => playing && mechanism.isMechanismValid()); this.animate(this.mechanismTimeStep, playing); } @@ -3116,11 +3256,15 @@ export class MechanismService { if (sync === this.syncMechanisms) { return; } - if (!sync) { - this.ownSeconds = this.mechanisms.map((_, index) => this.secondsOf(index)); - this.ownPlaying = this.mechanisms.map(() => this.isPlaying); - } this.syncMechanisms = sync; + // Coming back to one row means one answer about what is running, so the + // machines are put back in step with each other -- not with a shared + // variable, which no longer exists, but with each other's play state. + if (sync) { + this.ownPlaying = this.mechanisms.map( + (mechanism) => this.isPlaying && mechanism.isMechanismValid() + ); + } this.animate(this.mechanismTimeStep, this.isPlaying); } From b1aaa2f84895d4ccd1529e9da82a5926087080a5 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 21:15:10 -0400 Subject: [PATCH 040/236] Give every machine its own everything "The mechanisms are not truly independent" was four couplings, all of them the same shape: something that only meant to redraw went through `animate`, which treats an outside call as a seek of the whole drawing and put every machine on the master's clock. - Starting or stopping one machine moved the others. - Reversing one machine moved the others. - Saving moved them -- and saving happens on every edit. Encoding is a round trip through the start pose, which is now the mechanism service's own affair, so the clocks come back to where they were. - And a rebuild put them all back on the master's time, so any edit at all pulled them into step. A fifth was quieter: setting one machine's speed also moves the document-wide default, and a machine that has never been given a speed of its own reads that default -- so reversing one machine turned round every machine that had not been turned round before. Every drive gets a speed of its own before one of them changes. Leaving an analysis mode while running was the same bug wearing a different hat: the rewind drove the shared sample index, so three machines at three places in their cycles all jumped to one place on the first frame and then eased down together. That is the bouncing. Each machine eases on its own clock now, by whichever way round is shorter for it. Alongside: - A ram is measured by how far its rod is out, not by how far its slider has moved from wherever the drawing put it. The two run opposite ways as often as not, which is why Extending was shown while it retracted. - The angle is an absolute bearing from the positive x axis. "0" meaning "wherever it was drawn" is a different question than the one a reader comparing the drawing with the readout is asking. - Selecting a machine outlines its cylinder too. The cylinder is drawn as one part by its own skin rather than through the link classes, so it was the one body a machine-wide selection left unlit. - Geometry that cannot be simulated is scenery in the analysis modes: greyed, and not selectable, because every panel behind a selection is about a machine that runs. - Reversing from the transport is no longer an undo entry. Nothing else a reader does in an analysis mode is one either. - Panel cards are back to a 5px corner, matching the 5px accent bar above them: a border's inner edge is rounded by the radius minus the border width, so any wider corner curves the bar's underside. - Counter-clockwise is spelled out. - And a new input starts at 5 RPM or 5 cm/s. 20 RPM is three seconds a turn, which is faster than a reader can follow a coupler point round. --- docs/fixture-urls.md | 72 +++--- e2e/playback-direction.mjs | 20 +- .../panel-section-collapsible.component.scss | 8 +- .../panel-section.component.scss | 8 +- .../MODALS/templates/template-linkages.ts | 38 +-- .../analysis-setup.component.scss | 8 +- .../left-tabs/left-tabs.component.scss | 8 +- .../mechanism-panel.component.scss | 8 +- .../new-grid/new-grid.component.html | 6 +- .../new-grid/new-grid.component.scss | 13 + .../component/new-grid/new-grid.component.ts | 28 ++- .../playback-bar/playback-bar.component.ts | 33 +-- src/app/model/mechanism/drive-profile.ts | 32 ++- src/app/services/ease-to-start.spec.ts | 105 +++++--- src/app/services/mechanism.service.ts | 236 +++++++++++++++--- src/app/services/settings.service.ts | 10 +- src/app/services/url-generation.service.ts | 171 +++++++------ src/tests/verification/two-mechanisms.spec.ts | 9 +- 18 files changed, 541 insertions(+), 272 deletions(-) diff --git a/docs/fixture-urls.md b/docs/fixture-urls.md index 02ec788f..007ed419 100644 --- a/docs/fixture-urls.md +++ b/docs/fixture-urls.md @@ -19,40 +19,40 @@ PMKS_FIXTURE_BASE_URL=https://deploy-preview-227--pmksprod.netlify.app npm run f | Mechanism | What it is for | Floating slot | Slide | Asserted in | | --- | --- | --- | --- | --- | -| [Punch press](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,0,Im,0.0C,C,0,0r8,0.5P,P,0,0r8,OZ..YRAB,Crank,VG,o,0,9O,c5cae9,A,B,,.YRBC,Connecting rod,ku,6G,0,0HC,303e9f,B,C,,.YPCP,CP,1Tm,0,0,0,,C,P,,..2F1,BC,F1,0,0r8,0,0bW,1Xg0..N_J) | A load on the ram: the crank torque spikes where the rod comes into line with the slide | — | — | `force-templates.spec.ts` | -| [Derrick crane](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.4O,O,0,0,0.0C,C,Qv,cP,0.0T,T,rn,1Cp,0.6G,G,YO,09O,0.0K,K,Mp,18,0..YRGK,Luffing crank,VG,o,Sc,048,c5cae9,G,K,,.YRCK,Luffing link,ku,6G,Os,Jn,303e9f,C,K,,.YROCT,Boom,2xW,ku,Qv,cP,0d125a,O,C,T,,..2F1,OCT,F1,rn,1Cp,rn,zB,z2G..N_v) | A weight far out on a boom held close in: the link carries several times the load | — | — | `force-templates.spec.ts` | -| [Toggle clamp](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6H,H,0ee,Ti,0.0E,E,09O,NS,0.0P,P,P0,5U,0.4N,N,0Lu,09O,0..YRHE,Handle,NS,o,0P0,Qa,c5cae9,H,E,,.YREP,Toggle link,Fe,1G,7q,ET,303e9f,E,P,,.YRNP,Clamp bar,VG,38,1a,01z,0d125a,N,P,,..2F1,NP,F1,P0,5U,P0,L6,hyW..N_e) | Where mechanical advantage comes from: the clamping force runs away as the links line up | — | — | `force-templates.spec.ts` | -| [Rocker with an offset load](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,HC,7q,0.0C,C,104,bW,0.4D,D,1E8,0,0.0L,L,1SC,jK,0..YRAB,Crank,VG,o,8c,3w,c5cae9,A,B,,.YRBC,Coupler,_W,7q,ee,Mg,303e9f,B,C,,.YRCDL,Rocker,1E8,E4,1E8,Rd,0d125a,C,D,L,,..2F1,CDL,F1,1SC,jK,1Fi,Zy,adm..N_l) | A load off the line of its link is a moment — the term a free-body sketch leaves out | — | — | `force-templates.spec.ts` | -| [Hydraulic cylinder](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.4A,A,0_W,0,0.0B,B,07E,0,0.8C,C,0OE,0,0.0D,D,V4,0,0.6E,E,V4,ku,0.XP,P,0OE,0,0,AB,A,B..YRAB,AB,Fe,Fe,0Yt,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3R,0,303e9f,C,D,,.YRDE,DE,Fe,Fe,V4,NS,0d125a,D,E,,.YPCP,CP,Fe,0,0,0,,C,P,,...N_i) | Cylinder skin (§2.7): a rod welded to a block sliding in a barrel, all on one line | yes | yes | `cylinder.spec.ts` | -| [Cylinder-driven boom](https://app.pmksplus.com/?2P.Ay,Fe.K,0.1011.4O,O,0,0,0.0C,C,0,_W,0.4G,G,ku,0,0.0N,N,Ju,Z-,0.8P,P,R0,QX,0.ZS,S,R0,QX,0,GN,G,N..YROC,OC,Fe,Fe,0,VG,c5cae9,O,C,,.YRGN,GN,Fe,Fe,XO,I0,303e9f,G,N,,.YRPC,PC,Fe,Fe,DW,iW,0d125a,P,C,,.YPPS,PS,Fe,0,0,0,,P,S,,...N_e) | Gate 5: the cylinder is the drive, and the boom follows the law of cosines | yes | yes | `driven-cylinder.spec.ts` | -| [Cylinder-driven gripper](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.4A,A,019C,Bh,0.0B,B,01H,Bg,0.8C,C,0Qb,Bg,0.0D,D,jM,Bf,0.0G,G,13N,ky,0.0H,H,20s,ky,0.0I,I,13N,0Fp,0.0J,J,20s,0Fp,0.4K,K,0,2NW,0.4L,L,1Q,01pB,0.0M,M,K,1SF,0.4O,O,1bt,2Q6,0.4P,P,1eQ,02Tv,0.0Q,Q,1cO,1QQ,0.0S,S,3e3,13W,0.0T,T,16,0tr,0.0V,V,1dc,0w4,0.0X,X,3e3,0Yl,0.ZE,E,0Qb,Bg,0,AB,A,B.1N,N,K,1SF,0,KL,K,L.1R,R,1cO,1QQ,0,OP,O,P.1U,U,16,0tr,0,KL,K,L.1W,W,1dc,0w4,0,OP,O,P..YRAB,AB,Fe,Fe,0bE,Bg,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9O,Bg,303e9f,C,D,,.YRDGHIJ,DGHIJ,Fe,Fe,1NZ,Eo,0d125a,D,G,H,I,J,,.YRKL,KL,Fe,Fe,j,IA,B2DFDB,K,L,,.YRGM,GM,Fe,Fe,Xr,15c,26A69A,G,M,,.YROP,OP,Fe,Fe,1d9,01w,00695C,O,P,,.YRHQ,HQ,Fe,Fe,1pd,14h,c5cae9,H,Q,,.YRMQS,MQS,Fe,Fe,1lb,1JO,303e9f,M,Q,S,,.YRIT,IT,Fe,Fe,YF,0Zq,0d125a,I,T,,.YRJV,JV,Fe,Fe,1qE,0ax,B2DFDB,J,V,,.YRTVX,TVX,Fe,Fe,1mG,0nZ,26A69A,T,V,X,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPMN,MN,Fe,0,0,0,,M,N,,.YPQR,QR,Fe,0,0,0,,Q,R,,.YPTU,TU,Fe,0,0,0,,T,U,,.YPVW,VW,Fe,0,0,0,,V,W,,...N_c) | §2.7a: no chain of dyads solves this — the plate and both arms settle together | yes | yes | `gripper.spec.ts, anchored-bar-mobility.spec.ts` | -| [Gripper the cylinder closes](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.4A,A,02SG,ku,0.0B,B,0185,uK,0.8C,C,019F,uC,0.0D,D,Ay,11e,0.4G,G,_W,ku,0.0H,H,1HG,S8,0.0I,I,2hu,VG,0.4J,J,_W,0ku,0.0K,K,hm,0S8,0.0L,L,2hu,0VG,0.ZE,E,019F,uC,0,AB,A,B..YRAB,AB,Fe,Fe,01oB,pc,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0V9,yw,303e9f,C,D,,.YRDGHI,DGHI,Fe,Fe,1Hf,g_,0d125a,D,G,H,I,,.YRHK,HK,Fe,Fe,_W,0,B2DFDB,H,K,,.YRJKL,JKL,Fe,Fe,1Sj,0ZR,26A69A,J,K,L,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_N) | Counter-rotating jaw levers: extending the cylinder pinches them shut | yes | yes | `pinching-gripper.spec.ts` | -| [Backhoe bucket](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.4A,A,01jO,0,0.0B,B,0sb,Py,0.8C,C,018N,HX,0.0D,D,0Ha,hT,0.4G,G,0,0,0.0H,H,VG,Im,0.4J,J,o0,0P0,0.0K,K,1BI,2i,0.0T,T,1NW,0ee,0.ZE,E,018N,HX,0,AB,A,B..YRAB,AB,Fe,Fe,01H-,C_,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0iz,UV,303e9f,C,D,,.YRDGH,DGH,Fe,Fe,4a,Kl,0d125a,D,G,H,,.YRHK,HK,Fe,Fe,rH,Ak,B2DFDB,H,K,,.YRJKT,JKT,Fe,Fe,16x,0K-,26A69A,J,K,T,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_0) | A driven ram feeding an ordinary four-bar: bell crank, link, and the bucket curls | yes | yes | `excavator-bucket.spec.ts` | -| [Toggle press](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.4A,A,01z0,0,0.0B,B,017k,0Uc,0.8C,C,01P8,0Kc,0.0D,D,0Zs,0pD,0.4G,G,0,0,0.0R,R,0,01cP,0.ZE,E,01P8,0Kc,0,AB,A,B.5F,F,0,01cP,OZ..YRAB,AB,Fe,Fe,01YN,0FJ,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0_V,0Zv,303e9f,C,D,,.YRGD,GD,Fe,Fe,0Hx,0Pc,0d125a,G,D,,.YRDR,DR,Fe,Fe,0Hx,01Cp,B2DFDB,D,R,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPRF,RF,Fe,0,0,0,,R,F,,...N_S) | A ram closing a toggle onto a block: travel traded for force as it approaches straight | yes | yes | `toggle-press.spec.ts` | -| [Scissor lift](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.4A,A,2SG,0,0.0B,B,1fl,a3,0.8C,C,1wL,OD,0.0D,D,17q,yH,0.4G,G,0,0,0.0M,M,1Vm,1GM,0.0K,K,2-X,2Wj,0.0S,S,2-X,0,0.0T,T,0,2Wj,0.0U,U,3_1,2Wj,0.ZE,E,1wL,OD,0,AB,A,B.5N,N,2-X,0,0.1P,P,2-X,2Wj,0,TU,T,U..YRAB,AB,Fe,Fe,230,I2,c5cae9,A,B,,.YRCD,CD,Fe,Fe,1X5,gF,303e9f,C,D,,.YRGDMK,GDMK,Fe,Fe,1Pn,1BL,0d125a,G,D,M,K,,.YRSMT,SMT,Fe,Fe,1Vm,1GM,B2DFDB,S,M,T,,.YRTU,TU,Fe,Fe,1-0,2Wj,26A69A,T,U,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPSN,SN,Fe,0,0,0,,S,N,,.YPKP,KP,Fe,0,0,0,,K,P,,...N_e) | Ram, supporting block and a slot in the moving platform — all three parts, three jobs | yes | yes | `scissor-lift.spec.ts` | -| [Shaper's quick-return drive](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.4C,C,0,0ku,0.0D,D,Oj,RF,0.0R,R,qW,si,0.1P,P,Fe,0,0,CD,C,D.5Q,Q,qW,si,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,CN,09q,303e9f,C,D,,.YRDR,DR,Fe,Fe,cd,e_,0d125a,D,R,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPRQ,RQ,Fe,0,0,0,,R,Q,,...N_H) | A floating slot handing off to a grounded one: the ram cuts slow and returns fast | yes | — | `shaper-quick-return.spec.ts` | -| [Slider-crank whose rod comes square to the guide](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,VG,0.0B,B,Fe,VG,0.0C,C,oa,0,0.5P,P,oa,0,0..YRAB,AB,Fe,Fe,7q,VG,c5cae9,A,B,,.YRBC,BC,Fe,Fe,X6,Fe,303e9f,B,C,,.YPCP,CP,Fe,0,0,0,,C,P,,...N_d) | The slot tangent to the rod circle: the two roots meet and trade places | — | — | `square-rod-tangency.spec.ts` | -| [MotionGen gripper](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.0A,A,0U5,01,0.0B,B,0Hj,Fj,0.0C,C,0Hj,0FZ,0.0D,D,DZ,Fj,0.0E,E,DZ,0FZ,0.0F,F,0V6,X9,0.0G,G,A,X9,0.0H,H,0V6,0X0,0.0I,I,A,0X0,0.0J,J,_d,0Bn,0.0K,K,_o,GS,0.7P,P,0U5,01,0.5Q,Q,0V6,X9,OZ.5R,R,A,X9,OZ.5S,S,0V6,0X0,OZ.5T,T,A,0X0,OZ..YRABCDE,ABCDE,Fe,Fe,07i,4,c5cae9,A,B,C,D,E,,.YRBF,BF,Fe,Fe,0OQ,OR,303e9f,B,F,,.YRDG,DG,Fe,Fe,6s,OR,0d125a,D,G,,.YRCH,CH,Fe,Fe,0OQ,0OH,B2DFDB,C,H,,.YREI,EI,Fe,Fe,6s,0OH,26A69A,E,I,,.YRHIJ,HIJ,Fe,Fe,Aa,0Px,00695C,H,I,J,,.YRFGK,FGK,Fe,Fe,Ae,Rb,c5cae9,F,G,K,,.YPAP,AP,Fe,0,0,0,,A,P,,.YPFQ,FQ,Fe,0,0,0,,F,Q,,.YPGR,GR,Fe,0,0,0,,G,R,,.YPHS,HS,Fe,0,0,0,,H,S,,.YPIT,IT,Fe,0,0,0,,I,T,,...N_3) | A second engine's mechanism, rebuilt: over-constrained, so PMKS+ reports DOF 0 and refuses it | — | — | `motiongen-gripper.spec.ts` | -| [Gripper with the redundancy removed](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.0A,A,0U5,0,0.0M,M,DZ,0,0.0B,B,0Hj,Fj,0.0C,C,0Hj,0FZ,0.4F,F,0V6,X9,0.0G,G,A,X9,0.0K,K,_o,GS,0.4H,H,0V6,0X0,0.0I,I,A,0X0,0.0J,J,_d,0Bn,0.7P,P,0U5,0,0.5N,N,DZ,0,0..YRAMBC,AMBC,Fe,Fe,0C-,2,c5cae9,A,M,B,C,,.YRBG,BG,Fe,Fe,08o,OR,303e9f,B,G,,.YRCI,CI,Fe,Fe,08o,0OH,0d125a,C,I,,.YRFGK,FGK,Fe,Fe,Ae,Rb,B2DFDB,F,G,K,,.YRHIJ,HIJ,Fe,Fe,Aa,0Px,26A69A,H,I,J,,.YPAP,AP,Fe,0,0,0,,A,P,,.YPMN,MN,Fe,0,0,0,,M,N,,...N_j) | The same gripper, jaws pivoting instead of railed: DOF 1, and it runs | — | — | `pivoting-gripper.spec.ts` | -| [Radial engine, five cylinders](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6O,O,0,0,0.0A,A,Fe,0,0.0B,B,0,iC,0.0C,C,0UD,9q,0.0D,D,0L9,0T6,0.0E,E,Vy,0hz,0.0F,F,wV,J0,0.5P,P,0,iC,OZ.5Q,Q,0UD,9q,iB.5R,R,0L9,0T6,-q.5S,S,Vy,0hz,1JT.5T,T,wV,J0,1d5..YROA,OA,Fe,Fe,7q,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,7q,M6,303e9f,A,B,,.YRAC,AC,Fe,Fe,07J,4w,0d125a,A,C,,.YRAD,AD,Fe,Fe,02m,0EZ,B2DFDB,A,D,,.YRAE,AE,Fe,Fe,No,0L_,26A69A,A,E,,.YRAF,AF,Fe,Fe,b3,9W,00695C,A,F,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPCQ,CQ,Fe,0,0,0,,C,Q,,.YPDR,DR,Fe,0,0,0,,D,R,,.YPES,ES,Fe,0,0,0,,E,S,,.YPFT,FT,Fe,0,0,0,,F,T,,...N_F) | Five sliders on one crank pin; piston stroke is exactly twice the throw | — | — | `radial-engine.spec.ts` | +| [Punch press](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,Im,0.0C,C,0,0r8,0.5P,P,0,0r8,OZ..YRAB,Crank,VG,o,0,9O,c5cae9,A,B,,.YRBC,Connecting rod,ku,6G,0,0HC,303e9f,B,C,,.YPCP,CP,1Tm,0,0,0,,C,P,,..2F1,BC,F1,0,0r8,0,0bW,1Xg0..N_J) | A load on the ram: the crank torque spikes where the rod comes into line with the slide | — | — | `force-templates.spec.ts` | +| [Derrick crane](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4O,O,0,0,0.0C,C,Qv,cP,0.0T,T,rn,1Cp,0.6G,G,YO,09O,0.0K,K,Mp,18,0..YRGK,Luffing crank,VG,o,Sc,048,c5cae9,G,K,,.YRCK,Luffing link,ku,6G,Os,Jn,303e9f,C,K,,.YROCT,Boom,2xW,ku,Qv,cP,0d125a,O,C,T,,..2F1,OCT,F1,rn,1Cp,rn,zB,z2G..N_v) | A weight far out on a boom held close in: the link carries several times the load | — | — | `force-templates.spec.ts` | +| [Toggle clamp](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6H,H,0ee,Ti,0.0E,E,09O,NS,0.0P,P,P0,5U,0.4N,N,0Lu,09O,0..YRHE,Handle,NS,o,0P0,Qa,c5cae9,H,E,,.YREP,Toggle link,Fe,1G,7q,ET,303e9f,E,P,,.YRNP,Clamp bar,VG,38,1a,01z,0d125a,N,P,,..2F1,NP,F1,P0,5U,P0,L6,hyW..N_e) | Where mechanical advantage comes from: the clamping force runs away as the links line up | — | — | `force-templates.spec.ts` | +| [Rocker with an offset load](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,HC,7q,0.0C,C,104,bW,0.4D,D,1E8,0,0.0L,L,1SC,jK,0..YRAB,Crank,VG,o,8c,3w,c5cae9,A,B,,.YRBC,Coupler,_W,7q,ee,Mg,303e9f,B,C,,.YRCDL,Rocker,1E8,E4,1E8,Rd,0d125a,C,D,L,,..2F1,CDL,F1,1SC,jK,1Fi,Zy,adm..N_l) | A load off the line of its link is a moment — the term a free-body sketch leaves out | — | — | `force-templates.spec.ts` | +| [Hydraulic cylinder](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,0_W,0,0.0B,B,07E,0,0.8C,C,0OE,0,0.0D,D,V4,0,0.6E,E,V4,ku,0.XP,P,0OE,0,0,AB,A,B..YRAB,AB,Fe,Fe,0Yt,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3R,0,303e9f,C,D,,.YRDE,DE,Fe,Fe,V4,NS,0d125a,D,E,,.YPCP,CP,Fe,0,0,0,,C,P,,...N_i) | Cylinder skin (§2.7): a rod welded to a block sliding in a barrel, all on one line | yes | yes | `cylinder.spec.ts` | +| [Cylinder-driven boom](https://app.pmksplus.com/?2P.Ay,Fe.5,0.1011.4O,O,0,0,0.0C,C,0,_W,0.4G,G,ku,0,0.0N,N,Ju,Z-,0.8P,P,R0,QX,0.ZS,S,R0,QX,0,GN,G,N..YROC,OC,Fe,Fe,0,VG,c5cae9,O,C,,.YRGN,GN,Fe,Fe,XO,I0,303e9f,G,N,,.YRPC,PC,Fe,Fe,DW,iW,0d125a,P,C,,.YPPS,PS,Fe,0,0,0,,P,S,,...N_e) | Gate 5: the cylinder is the drive, and the boom follows the law of cosines | yes | yes | `driven-cylinder.spec.ts` | +| [Cylinder-driven gripper](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,019C,Bh,0.0B,B,01H,Bg,0.8C,C,0Qb,Bg,0.0D,D,jM,Bf,0.0G,G,13N,ky,0.0H,H,20s,ky,0.0I,I,13N,0Fp,0.0J,J,20s,0Fp,0.4K,K,0,2NW,0.4L,L,1Q,01pB,0.0M,M,K,1SF,0.4O,O,1bt,2Q6,0.4P,P,1eQ,02Tv,0.0Q,Q,1cO,1QQ,0.0S,S,3e3,13W,0.0T,T,16,0tr,0.0V,V,1dc,0w4,0.0X,X,3e3,0Yl,0.ZE,E,0Qb,Bg,0,AB,A,B.1N,N,K,1SF,0,KL,K,L.1R,R,1cO,1QQ,0,OP,O,P.1U,U,16,0tr,0,KL,K,L.1W,W,1dc,0w4,0,OP,O,P..YRAB,AB,Fe,Fe,0bE,Bg,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9O,Bg,303e9f,C,D,,.YRDGHIJ,DGHIJ,Fe,Fe,1NZ,Eo,0d125a,D,G,H,I,J,,.YRKL,KL,Fe,Fe,j,IA,B2DFDB,K,L,,.YRGM,GM,Fe,Fe,Xr,15c,26A69A,G,M,,.YROP,OP,Fe,Fe,1d9,01w,00695C,O,P,,.YRHQ,HQ,Fe,Fe,1pd,14h,c5cae9,H,Q,,.YRMQS,MQS,Fe,Fe,1lb,1JO,303e9f,M,Q,S,,.YRIT,IT,Fe,Fe,YF,0Zq,0d125a,I,T,,.YRJV,JV,Fe,Fe,1qE,0ax,B2DFDB,J,V,,.YRTVX,TVX,Fe,Fe,1mG,0nZ,26A69A,T,V,X,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPMN,MN,Fe,0,0,0,,M,N,,.YPQR,QR,Fe,0,0,0,,Q,R,,.YPTU,TU,Fe,0,0,0,,T,U,,.YPVW,VW,Fe,0,0,0,,V,W,,...N_c) | §2.7a: no chain of dyads solves this — the plate and both arms settle together | yes | yes | `gripper.spec.ts, anchored-bar-mobility.spec.ts` | +| [Gripper the cylinder closes](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,02SG,ku,0.0B,B,0185,uK,0.8C,C,019F,uC,0.0D,D,Ay,11e,0.4G,G,_W,ku,0.0H,H,1HG,S8,0.0I,I,2hu,VG,0.4J,J,_W,0ku,0.0K,K,hm,0S8,0.0L,L,2hu,0VG,0.ZE,E,019F,uC,0,AB,A,B..YRAB,AB,Fe,Fe,01oB,pc,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0V9,yw,303e9f,C,D,,.YRDGHI,DGHI,Fe,Fe,1Hf,g_,0d125a,D,G,H,I,,.YRHK,HK,Fe,Fe,_W,0,B2DFDB,H,K,,.YRJKL,JKL,Fe,Fe,1Sj,0ZR,26A69A,J,K,L,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_N) | Counter-rotating jaw levers: extending the cylinder pinches them shut | yes | yes | `pinching-gripper.spec.ts` | +| [Backhoe bucket](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,01jO,0,0.0B,B,0sb,Py,0.8C,C,018N,HX,0.0D,D,0Ha,hT,0.4G,G,0,0,0.0H,H,VG,Im,0.4J,J,o0,0P0,0.0K,K,1BI,2i,0.0T,T,1NW,0ee,0.ZE,E,018N,HX,0,AB,A,B..YRAB,AB,Fe,Fe,01H-,C_,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0iz,UV,303e9f,C,D,,.YRDGH,DGH,Fe,Fe,4a,Kl,0d125a,D,G,H,,.YRHK,HK,Fe,Fe,rH,Ak,B2DFDB,H,K,,.YRJKT,JKT,Fe,Fe,16x,0K-,26A69A,J,K,T,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_0) | A driven ram feeding an ordinary four-bar: bell crank, link, and the bucket curls | yes | yes | `excavator-bucket.spec.ts` | +| [Toggle press](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,01z0,0,0.0B,B,017k,0Uc,0.8C,C,01P8,0Kc,0.0D,D,0Zs,0pD,0.4G,G,0,0,0.0R,R,0,01cP,0.ZE,E,01P8,0Kc,0,AB,A,B.5F,F,0,01cP,OZ..YRAB,AB,Fe,Fe,01YN,0FJ,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0_V,0Zv,303e9f,C,D,,.YRGD,GD,Fe,Fe,0Hx,0Pc,0d125a,G,D,,.YRDR,DR,Fe,Fe,0Hx,01Cp,B2DFDB,D,R,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPRF,RF,Fe,0,0,0,,R,F,,...N_S) | A ram closing a toggle onto a block: travel traded for force as it approaches straight | yes | yes | `toggle-press.spec.ts` | +| [Scissor lift](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,2SG,0,0.0B,B,1fl,a3,0.8C,C,1wL,OD,0.0D,D,17q,yH,0.4G,G,0,0,0.0M,M,1Vm,1GM,0.0K,K,2-X,2Wj,0.0S,S,2-X,0,0.0T,T,0,2Wj,0.0U,U,3_1,2Wj,0.ZE,E,1wL,OD,0,AB,A,B.5N,N,2-X,0,0.1P,P,2-X,2Wj,0,TU,T,U..YRAB,AB,Fe,Fe,230,I2,c5cae9,A,B,,.YRCD,CD,Fe,Fe,1X5,gF,303e9f,C,D,,.YRGDMK,GDMK,Fe,Fe,1Pn,1BL,0d125a,G,D,M,K,,.YRSMT,SMT,Fe,Fe,1Vm,1GM,B2DFDB,S,M,T,,.YRTU,TU,Fe,Fe,1-0,2Wj,26A69A,T,U,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPSN,SN,Fe,0,0,0,,S,N,,.YPKP,KP,Fe,0,0,0,,K,P,,...N_e) | Ram, supporting block and a slot in the moving platform — all three parts, three jobs | yes | yes | `scissor-lift.spec.ts` | +| [Shaper's quick-return drive](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.4C,C,0,0ku,0.0D,D,Oj,RF,0.0R,R,qW,si,0.1P,P,Fe,0,0,CD,C,D.5Q,Q,qW,si,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,CN,09q,303e9f,C,D,,.YRDR,DR,Fe,Fe,cd,e_,0d125a,D,R,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPRQ,RQ,Fe,0,0,0,,R,Q,,...N_H) | A floating slot handing off to a grounded one: the ram cuts slow and returns fast | yes | — | `shaper-quick-return.spec.ts` | +| [Slider-crank whose rod comes square to the guide](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,VG,0.0B,B,Fe,VG,0.0C,C,oa,0,0.5P,P,oa,0,0..YRAB,AB,Fe,Fe,7q,VG,c5cae9,A,B,,.YRBC,BC,Fe,Fe,X6,Fe,303e9f,B,C,,.YPCP,CP,Fe,0,0,0,,C,P,,...N_d) | The slot tangent to the rod circle: the two roots meet and trade places | — | — | `square-rod-tangency.spec.ts` | +| [MotionGen gripper](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.0A,A,0U5,01,0.0B,B,0Hj,Fj,0.0C,C,0Hj,0FZ,0.0D,D,DZ,Fj,0.0E,E,DZ,0FZ,0.0F,F,0V6,X9,0.0G,G,A,X9,0.0H,H,0V6,0X0,0.0I,I,A,0X0,0.0J,J,_d,0Bn,0.0K,K,_o,GS,0.7P,P,0U5,01,0.5Q,Q,0V6,X9,OZ.5R,R,A,X9,OZ.5S,S,0V6,0X0,OZ.5T,T,A,0X0,OZ..YRABCDE,ABCDE,Fe,Fe,07i,4,c5cae9,A,B,C,D,E,,.YRBF,BF,Fe,Fe,0OQ,OR,303e9f,B,F,,.YRDG,DG,Fe,Fe,6s,OR,0d125a,D,G,,.YRCH,CH,Fe,Fe,0OQ,0OH,B2DFDB,C,H,,.YREI,EI,Fe,Fe,6s,0OH,26A69A,E,I,,.YRHIJ,HIJ,Fe,Fe,Aa,0Px,00695C,H,I,J,,.YRFGK,FGK,Fe,Fe,Ae,Rb,c5cae9,F,G,K,,.YPAP,AP,Fe,0,0,0,,A,P,,.YPFQ,FQ,Fe,0,0,0,,F,Q,,.YPGR,GR,Fe,0,0,0,,G,R,,.YPHS,HS,Fe,0,0,0,,H,S,,.YPIT,IT,Fe,0,0,0,,I,T,,...N_3) | A second engine's mechanism, rebuilt: over-constrained, so PMKS+ reports DOF 0 and refuses it | — | — | `motiongen-gripper.spec.ts` | +| [Gripper with the redundancy removed](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.0A,A,0U5,0,0.0M,M,DZ,0,0.0B,B,0Hj,Fj,0.0C,C,0Hj,0FZ,0.4F,F,0V6,X9,0.0G,G,A,X9,0.0K,K,_o,GS,0.4H,H,0V6,0X0,0.0I,I,A,0X0,0.0J,J,_d,0Bn,0.7P,P,0U5,0,0.5N,N,DZ,0,0..YRAMBC,AMBC,Fe,Fe,0C-,2,c5cae9,A,M,B,C,,.YRBG,BG,Fe,Fe,08o,OR,303e9f,B,G,,.YRCI,CI,Fe,Fe,08o,0OH,0d125a,C,I,,.YRFGK,FGK,Fe,Fe,Ae,Rb,B2DFDB,F,G,K,,.YRHIJ,HIJ,Fe,Fe,Aa,0Px,26A69A,H,I,J,,.YPAP,AP,Fe,0,0,0,,A,P,,.YPMN,MN,Fe,0,0,0,,M,N,,...N_j) | The same gripper, jaws pivoting instead of railed: DOF 1, and it runs | — | — | `pivoting-gripper.spec.ts` | +| [Radial engine, five cylinders](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6O,O,0,0,0.0A,A,Fe,0,0.0B,B,0,iC,0.0C,C,0UD,9q,0.0D,D,0L9,0T6,0.0E,E,Vy,0hz,0.0F,F,wV,J0,0.5P,P,0,iC,OZ.5Q,Q,0UD,9q,iB.5R,R,0L9,0T6,-q.5S,S,Vy,0hz,1JT.5T,T,wV,J0,1d5..YROA,OA,Fe,Fe,7q,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,7q,M6,303e9f,A,B,,.YRAC,AC,Fe,Fe,07J,4w,0d125a,A,C,,.YRAD,AD,Fe,Fe,02m,0EZ,B2DFDB,A,D,,.YRAE,AE,Fe,Fe,No,0L_,26A69A,A,E,,.YRAF,AF,Fe,Fe,b3,9W,00695C,A,F,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPCQ,CQ,Fe,0,0,0,,C,Q,,.YPDR,DR,Fe,0,0,0,,D,R,,.YPES,ES,Fe,0,0,0,,E,S,,.YPFT,FT,Fe,0,0,0,,F,T,,...N_F) | Five sliders on one crank pin; piston stroke is exactly twice the throw | — | — | `radial-engine.spec.ts` | | [Chebyshev straight-line linkage](https://app.pmksplus.com/?2P.Ay,1E8.2,0.1011.6G,G,0VG,0,0.0A,A,0Fe,_W,0.0B,B,Fe,_W,0.GM,M,0,_W,0.4H,H,VG,0,0..YRGB,GB,Fe,Fe,07q,VG,c5cae9,G,B,,.YRABM,ABM,Fe,Fe,0,_W,303e9f,A,B,M,,.YRAH,AH,Fe,Fe,7q,VG,0d125a,A,H,,...N_5) | Approximate straight-line generation: the coupler midpoint runs flat along the top | — | — | `chebyshev-straight-line.spec.ts` | -| [Windshield wiper](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6O,O,0si,0iC,0.0A,A,0se,0Km,0.0B,B,Dl,0S4,0.4P,P,0,0,0.0C,C,AJ,0L3,0.GT,T,0YM,16B,0.0D,D,1e3,0L3,0.4Q,Q,1Tm,0,0.GU,U,xQ,16B,0..YROA,Motor crank,Fe,Fe,0sg,0WU,c5cae9,O,A,,.YRAB,Drive link,Fe,Fe,0KS,0OQ,303e9f,A,B,,.YRBCPT,Wiper arm,Fe,Fe,02b,5H,0d125a,B,C,P,T,,.YRCD,Tie rod,Fe,Fe,vB,0L3,B2DFDB,C,D,,.YRDQU,Passenger arm,Fe,Fe,1Ll,GO,26A69A,D,Q,U,,...N_z) | Crank-rocker: continuous rotation into a bounded sweep, against the closed form | — | — | `windshield-wiper.spec.ts` | -| [Jansen leg](https://app.pmksplus.com/?2P.1jO,1E8.K,0.1011.6O,O,0,0,0.0A,A,3gO,0,0.4G,G,09Hm,01vu,0.0B,B,05tE,7ee,0.0C,C,0IGg,1-F,0.0D,D,06b8,0B7B,0.0E,E,0ETW,06sL,0.GF,F,0AYO,0MPj,0..YROA,OA,Fe,Fe,1rC,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,016R,3qK,303e9f,A,B,,.YRGBC,GBC,Fe,Fe,0B8Z,2ag,0d125a,G,B,C,,.YRAD,AD,Fe,Fe,01TO,05Zc,B2DFDB,A,D,,.YRGD,GD,Fe,Fe,07xS,06WY,26A69A,G,D,,.YRCE,CE,Fe,Fe,0GN5,02RZ,00695C,C,E,,.YRDEF,DEF,Fe,Fe,0AXh,0DT4,c5cae9,D,E,F,,...N_c) | One leg of a Strandbeest: eight bars on Jansen's holy numbers, and the foot walks | — | — | `jansen-leg.spec.ts` | -| [Elliptical crank](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0ix,X,0.0B,B,0zu,7O,0.0C,C,0qC,Lr,0.GD,D,085,Av,0.0E,E,aY,v,0.4F,F,0,0,0.5P,P,aY,v,03..YRAB,AB,Fe,Fe,0rQ,3y,c5cae9,A,B,,.YRBC,BC,Fe,Fe,0v2,Ed,303e9f,B,C,,.YRCDE,CDE,Fe,Fe,07x,BD,0d125a,C,D,E,,.YRDF,DF,Fe,Fe,043,5S,B2DFDB,D,F,,.YPEP,EP,Fe,0,0,0,,E,P,,...N_V) | A six-bar no dyad reaches: the coupler and its guided end have to be solved together | — | — | `elliptical-crank.spec.ts` | -| [Inverted slider-crank](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,0,Fe,0.4C,C,ku,0,0.0D,D,0RF,Oj,0.1P,P,0,Fe,0,CD,C,D..YRAB,AB,Fe,Fe,0,7q,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9q,CN,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,...N_v) | Inverse slot direction: position, velocity and acceleration against closed form | yes | — | `inverted-slider-crank.spec.ts, slot-kinematics.spec.ts` | -| [Whitworth proportions](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,0,ku,0.4C,C,Fe,0,0.0D,D,095,1A7,0.1P,P,0,ku,0,CD,C,D..YRAB,AB,Fe,Fe,0,NS,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3H,b4,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,...N_w) | Crank longer than the ground offset, so the lever turns instead of rocking | yes | — | `slot-kinematics.spec.ts` | -| [Inverted slider-crank with a load](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,0,Fe,0.4C,C,ku,0,0.0D,D,0RF,Oj,0.1P,P,0,Fe,0,CD,C,D..YRAB,AB,Fe,Fe,0,7q,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9q,CN,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,..2F1,CD,F1,0RF,Oj,0RF,95,2SG..N_N) | Reactions equal and opposite across the slot, and normal to it | yes | — | `slot-forces.spec.ts` | -| [Four-bar with a slotted coupler](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0C,C,d4,ec,0.4D,D,_W,0,0.4E,E,VG,7q,0.0F,F,bo,cO,0.0X,X,tU,151,0.1P,P,bo,cO,0,BCX,B,X..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRBCX,BCX,Fe,Fe,ak,aY,303e9f,B,C,X,,.YRCD,CD,Fe,Fe,oo,KJ,0d125a,C,D,,.YREF,EF,Fe,Fe,YX,N6,B2DFDB,E,F,,.YPFP,FP,Fe,0,0,0,,F,P,,...N_i) | Forward slot direction: the only case where the carrier is solved first | yes | — | `slotted-coupler.spec.ts` | -| [Scotch yoke](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CD,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPCF,CF,Fe,0,0,0,,C,F,,...N_Z) | Slide: a welded assembly translating on its guide, x = r cos theta | yes | yes | `scotch-yoke.spec.ts, scotch-yoke-kinematics.spec.ts` | -| [Scotch yoke with a tracer](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0G,G,ku,S8,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CDG,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCDG,CDG,Fe,Fe,Q3,8L,303e9f,C,D,G,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPCF,CF,Fe,0,0,0,,C,F,,...N_q) | The slot measured from a joint on it, not from whichever member came first | yes | yes | `scotch-yoke.spec.ts` | -| [Scotch yoke guided at the far end](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0C,C,Fe,S8,0.8D,D,Fe,0VG,0.1E,E,Fe,0,0,CD,C,D.5G,G,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPDG,DG,Fe,0,0,0,,D,G,,...N_Z) | Same motion, but the loop reaches the welded rider along a link edge | yes | yes | `scotch-yoke-kinematics.spec.ts` | -| [Elliptical trammel](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.0A,A,Fe,0,0.0B,B,0,Fe,0.5C,C,Fe,0,0.5D,D,0,Fe,OZ..YRAB,AB,Fe,Fe,7q,7q,c5cae9,A,B,,.YPAC,AC,Fe,0,0,0,,A,C,,.YPBD,BD,Fe,0,0,0,,B,D,,...N_U) | Mobility for a linkage held only by its guides — no pin touches ground | — | — | `slot-mobility.spec.ts` | -| [Four-bar driven at its coupler-rocker pin](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.4O,O,0,0,0.0A,A,72,MM,0.2C,C,pa,bW,0.4D,D,_W,0,0.0T,T,Wq,pa,0..YROA,OA,Fe,Fe,3X,BB,c5cae9,O,A,,.YRACT,ACT,Fe,Fe,UU,b9,303e9f,A,C,T,,.YRCD,CD,Fe,Fe,v2,Im,0d125a,C,D,,...N_3) | Gate 6: a floating pin as the input — same coupler curve as driving the crank | — | — | `driven-floating-pin.spec.ts` | -| [Leg on a bicycle crank](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.4B,B,0,0,0.GP,P,Qa,0,0.4H,H,0NS,1Qe,0.2K,K,c5,13o,0..YRHK,HK,Fe,Fe,7L,1FD,c5cae9,H,K,,.YRKP,KP,Fe,Fe,WL,Xv,303e9f,K,P,,.YRBP,BP,Fe,Fe,DI,0,0d125a,B,P,,...N_p) | A driven knee, carried by the thigh: one leg can only rock the crank half a turn | — | — | `pedaling-leg.spec.ts` | -| [Oscillating fan](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.4A,A,0,0,0.2C,C,s8,0VG,0.0D,D,k_,0j9,0.4B,B,0GY,0In,0.0N,N,1NW,0,0..YRACN,ACN,Fe,Fe,lD,0AR,c5cae9,A,C,N,,.YRCD,CD,Fe,Fe,oZ,0cC,303e9f,C,D,,.YRDB,DB,Fe,Fe,FE,0Vz,0d125a,D,B,,...N_B) | The motor rides the head it sweeps: the driven pin turns right round, the head does not | — | — | `oscillating-fan.spec.ts` | -| [Walking-beam pumping unit](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.4A,A,0gB,0oI,0.0M,M,0QZ,0o1,0.2P,P,0d4,0,0.4S,S,0,0,0.0H,H,o0,0,0.0R,R,r8,0eW,0.5W,W,r8,0eW,OZ..YRAM,AM,Fe,Fe,0YN,0oA,c5cae9,A,M,,.YRMP,MP,Fe,Fe,0Wq,0P1,303e9f,M,P,,.YRPSH,PSH,Fe,Fe,3f,0,0d125a,P,S,H,,.YRHR,HR,Fe,Fe,pa,0KG,B2DFDB,H,R,,.YPRW,RW,Fe,0,0,0,,R,W,,...N_Z) | Driven where the pitman meets the beam, and the output is a straight-line stroke | — | — | `pumpjack.spec.ts` | -| [TeachingLab four-bar](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,Nm,0,0.0C,C,126,lL,0.4D,D,17S,0,0.0E,E,1As,PW,0.0F,F,dq,Uc,0.0G,G,W5,tN,0.0H,H,Bu,G4,0.0I,I,11K,UW,0..YRABH,ABH,2ZQ,n9pzh4,01Zi,bM,c5cae9,A,B,H,,.YRBCFG,BCFG,9o,A80cTW,jM2,p3C,303e9f,B,C,F,G,,.YRCDEI,CDEI,1Cb,w-akVq,1pNm,0550,0d125a,C,D,E,I,,...N_Y) | MATLAB-verified positions, velocities, accelerations and forces | — | — | `teaching-lab-four-bar.spec.ts` | -| [TeachingLab slider-crank](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,3NU,2SQ,0.0B,B,3NU,3Ny,0.0C,C,0FA,2SQ,0.5D,D,0FA,2SQ,0..YRAB,AB,Gz,0,0,1a,c5cae9,A,B,,.YRBC,BC,7r,3,7q,Ay,303e9f,B,C,,.YPCD,CD,Kc,0,0,0,,C,D,,...N_l) | The grounded-guide path this phase had to leave byte-identical | — | — | `teaching-lab-slider-crank.spec.ts` | -| [Slider-crank with a tracer](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,_W,VG,0.0C,C,2xW,0,0.0D,D,4uW,VG,0.5E,E,2xW,0,0..YRAB,AB,1E8,1a,VG,Fe,c5cae9,A,B,,.YRBCD,BCD,2SG,38,2xW,Kr,303e9f,B,C,D,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_z) | A tracer point on the coupler of a grounded slider | — | — | `slider-crank-tracer.spec.ts` | -| [Stephenson III](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,1jO,_W,0.0B,B,1E8,3w0,0.0C,C,66e,66e,0.4D,D,5dO,2SG,0.0E,E,4PG,8Yu,0.0F,F,AVu,7q0,0.4G,G,A-8,49e,0..YRAB,AB,1E8,1a,1Tm,2SG,c5cae9,A,B,,.YRBCE,BCE,2SG,38,3w0,6Br,303e9f,B,C,E,,.YRCD,CD,1E8,1a,5t0,4HS,0d125a,C,D,,.YREF,EF,2SG,38,7Sa,8BS,B2DFDB,E,F,,.YRFG,FG,1E8,1a,AlW,5_q,26A69A,F,G,,..2F1,FG,F1,AlW,5_q,A-8,5_q,CDG..N_W) | Six-bar, MATLAB-verified | — | — | `stephenson-iii-ex2.spec.ts` | -| [Watt I](https://app.pmksplus.com/?2P.Ay,1E8.K,0.1011.6A,A,0wS,0bg,0.0B,B,0gW,EE,0.0C,C,Oi,6k,0.0D,D,03m,_g,0.0E,E,1FO,1I_,0.0F,F,1-C,qM,0.4G,G,1oO,0ss,0..YRAB,AB,1E8,1a,0oU,0Bk,c5cae9,A,B,,.YRBCD,BCD,2SG,38,07C,Rt,303e9f,B,C,D,,.YRDE,DE,1E8,1a,bq,18q,0d125a,D,E,,.YREF,EF,2SG,38,1dI,13g,B2DFDB,E,F,,.YRCFG,CFG,1E8,1a,1Om,1Q,26A69A,C,F,G,,..2F1,CFG,F1,1Om,1Q,1ck,8P,DfU..N_S) | Six-bar, MATLAB-verified | — | — | `watt-i.spec.ts` | +| [Windshield wiper](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6O,O,0si,0iC,0.0A,A,0se,0Km,0.0B,B,Dl,0S4,0.4P,P,0,0,0.0C,C,AJ,0L3,0.GT,T,0YM,16B,0.0D,D,1e3,0L3,0.4Q,Q,1Tm,0,0.GU,U,xQ,16B,0..YROA,Motor crank,Fe,Fe,0sg,0WU,c5cae9,O,A,,.YRAB,Drive link,Fe,Fe,0KS,0OQ,303e9f,A,B,,.YRBCPT,Wiper arm,Fe,Fe,02b,5H,0d125a,B,C,P,T,,.YRCD,Tie rod,Fe,Fe,vB,0L3,B2DFDB,C,D,,.YRDQU,Passenger arm,Fe,Fe,1Ll,GO,26A69A,D,Q,U,,...N_z) | Crank-rocker: continuous rotation into a bounded sweep, against the closed form | — | — | `windshield-wiper.spec.ts` | +| [Jansen leg](https://app.pmksplus.com/?2P.1jO,1E8.5,0.1011.6O,O,0,0,0.0A,A,3gO,0,0.4G,G,09Hm,01vu,0.0B,B,05tE,7ee,0.0C,C,0IGg,1-F,0.0D,D,06b8,0B7B,0.0E,E,0ETW,06sL,0.GF,F,0AYO,0MPj,0..YROA,OA,Fe,Fe,1rC,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,016R,3qK,303e9f,A,B,,.YRGBC,GBC,Fe,Fe,0B8Z,2ag,0d125a,G,B,C,,.YRAD,AD,Fe,Fe,01TO,05Zc,B2DFDB,A,D,,.YRGD,GD,Fe,Fe,07xS,06WY,26A69A,G,D,,.YRCE,CE,Fe,Fe,0GN5,02RZ,00695C,C,E,,.YRDEF,DEF,Fe,Fe,0AXh,0DT4,c5cae9,D,E,F,,...N_c) | One leg of a Strandbeest: eight bars on Jansen's holy numbers, and the foot walks | — | — | `jansen-leg.spec.ts` | +| [Elliptical crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0ix,X,0.0B,B,0zu,7O,0.0C,C,0qC,Lr,0.GD,D,085,Av,0.0E,E,aY,v,0.4F,F,0,0,0.5P,P,aY,v,03..YRAB,AB,Fe,Fe,0rQ,3y,c5cae9,A,B,,.YRBC,BC,Fe,Fe,0v2,Ed,303e9f,B,C,,.YRCDE,CDE,Fe,Fe,07x,BD,0d125a,C,D,E,,.YRDF,DF,Fe,Fe,043,5S,B2DFDB,D,F,,.YPEP,EP,Fe,0,0,0,,E,P,,...N_V) | A six-bar no dyad reaches: the coupler and its guided end have to be solved together | — | — | `elliptical-crank.spec.ts` | +| [Inverted slider-crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,Fe,0.4C,C,ku,0,0.0D,D,0RF,Oj,0.1P,P,0,Fe,0,CD,C,D..YRAB,AB,Fe,Fe,0,7q,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9q,CN,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,...N_v) | Inverse slot direction: position, velocity and acceleration against closed form | yes | — | `inverted-slider-crank.spec.ts, slot-kinematics.spec.ts` | +| [Whitworth proportions](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,ku,0.4C,C,Fe,0,0.0D,D,095,1A7,0.1P,P,0,ku,0,CD,C,D..YRAB,AB,Fe,Fe,0,NS,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3H,b4,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,...N_w) | Crank longer than the ground offset, so the lever turns instead of rocking | yes | — | `slot-kinematics.spec.ts` | +| [Inverted slider-crank with a load](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,Fe,0.4C,C,ku,0,0.0D,D,0RF,Oj,0.1P,P,0,Fe,0,CD,C,D..YRAB,AB,Fe,Fe,0,7q,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9q,CN,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,..2F1,CD,F1,0RF,Oj,0RF,95,2SG..N_N) | Reactions equal and opposite across the slot, and normal to it | yes | — | `slot-forces.spec.ts` | +| [Four-bar with a slotted coupler](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0C,C,d4,ec,0.4D,D,_W,0,0.4E,E,VG,7q,0.0F,F,bo,cO,0.0X,X,tU,151,0.1P,P,bo,cO,0,BCX,B,X..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRBCX,BCX,Fe,Fe,ak,aY,303e9f,B,C,X,,.YRCD,CD,Fe,Fe,oo,KJ,0d125a,C,D,,.YREF,EF,Fe,Fe,YX,N6,B2DFDB,E,F,,.YPFP,FP,Fe,0,0,0,,F,P,,...N_i) | Forward slot direction: the only case where the carrier is solved first | yes | — | `slotted-coupler.spec.ts` | +| [Scotch yoke](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CD,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPCF,CF,Fe,0,0,0,,C,F,,...N_Z) | Slide: a welded assembly translating on its guide, x = r cos theta | yes | yes | `scotch-yoke.spec.ts, scotch-yoke-kinematics.spec.ts` | +| [Scotch yoke with a tracer](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0G,G,ku,S8,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CDG,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCDG,CDG,Fe,Fe,Q3,8L,303e9f,C,D,G,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPCF,CF,Fe,0,0,0,,C,F,,...N_q) | The slot measured from a joint on it, not from whichever member came first | yes | yes | `scotch-yoke.spec.ts` | +| [Scotch yoke guided at the far end](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0C,C,Fe,S8,0.8D,D,Fe,0VG,0.1E,E,Fe,0,0,CD,C,D.5G,G,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPDG,DG,Fe,0,0,0,,D,G,,...N_Z) | Same motion, but the loop reaches the welded rider along a link edge | yes | yes | `scotch-yoke-kinematics.spec.ts` | +| [Elliptical trammel](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.0A,A,Fe,0,0.0B,B,0,Fe,0.5C,C,Fe,0,0.5D,D,0,Fe,OZ..YRAB,AB,Fe,Fe,7q,7q,c5cae9,A,B,,.YPAC,AC,Fe,0,0,0,,A,C,,.YPBD,BD,Fe,0,0,0,,B,D,,...N_U) | Mobility for a linkage held only by its guides — no pin touches ground | — | — | `slot-mobility.spec.ts` | +| [Four-bar driven at its coupler-rocker pin](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4O,O,0,0,0.0A,A,72,MM,0.2C,C,pa,bW,0.4D,D,_W,0,0.0T,T,Wq,pa,0..YROA,OA,Fe,Fe,3X,BB,c5cae9,O,A,,.YRACT,ACT,Fe,Fe,UU,b9,303e9f,A,C,T,,.YRCD,CD,Fe,Fe,v2,Im,0d125a,C,D,,...N_3) | Gate 6: a floating pin as the input — same coupler curve as driving the crank | — | — | `driven-floating-pin.spec.ts` | +| [Leg on a bicycle crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4B,B,0,0,0.GP,P,Qa,0,0.4H,H,0NS,1Qe,0.2K,K,c5,13o,0..YRHK,HK,Fe,Fe,7L,1FD,c5cae9,H,K,,.YRKP,KP,Fe,Fe,WL,Xv,303e9f,K,P,,.YRBP,BP,Fe,Fe,DI,0,0d125a,B,P,,...N_p) | A driven knee, carried by the thigh: one leg can only rock the crank half a turn | — | — | `pedaling-leg.spec.ts` | +| [Oscillating fan](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,0,0,0.2C,C,s8,0VG,0.0D,D,k_,0j9,0.4B,B,0GY,0In,0.0N,N,1NW,0,0..YRACN,ACN,Fe,Fe,lD,0AR,c5cae9,A,C,N,,.YRCD,CD,Fe,Fe,oZ,0cC,303e9f,C,D,,.YRDB,DB,Fe,Fe,FE,0Vz,0d125a,D,B,,...N_B) | The motor rides the head it sweeps: the driven pin turns right round, the head does not | — | — | `oscillating-fan.spec.ts` | +| [Walking-beam pumping unit](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,0gB,0oI,0.0M,M,0QZ,0o1,0.2P,P,0d4,0,0.4S,S,0,0,0.0H,H,o0,0,0.0R,R,r8,0eW,0.5W,W,r8,0eW,OZ..YRAM,AM,Fe,Fe,0YN,0oA,c5cae9,A,M,,.YRMP,MP,Fe,Fe,0Wq,0P1,303e9f,M,P,,.YRPSH,PSH,Fe,Fe,3f,0,0d125a,P,S,H,,.YRHR,HR,Fe,Fe,pa,0KG,B2DFDB,H,R,,.YPRW,RW,Fe,0,0,0,,R,W,,...N_Z) | Driven where the pitman meets the beam, and the output is a straight-line stroke | — | — | `pumpjack.spec.ts` | +| [TeachingLab four-bar](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Nm,0,0.0C,C,126,lL,0.4D,D,17S,0,0.0E,E,1As,PW,0.0F,F,dq,Uc,0.0G,G,W5,tN,0.0H,H,Bu,G4,0.0I,I,11K,UW,0..YRABH,ABH,2ZQ,n9pzh4,01Zi,bM,c5cae9,A,B,H,,.YRBCFG,BCFG,9o,A80cTW,jM2,p3C,303e9f,B,C,F,G,,.YRCDEI,CDEI,1Cb,w-akVq,1pNm,0550,0d125a,C,D,E,I,,...N_Y) | MATLAB-verified positions, velocities, accelerations and forces | — | — | `teaching-lab-four-bar.spec.ts` | +| [TeachingLab slider-crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,3NU,2SQ,0.0B,B,3NU,3Ny,0.0C,C,0FA,2SQ,0.5D,D,0FA,2SQ,0..YRAB,AB,Gz,0,0,1a,c5cae9,A,B,,.YRBC,BC,7r,3,7q,Ay,303e9f,B,C,,.YPCD,CD,Kc,0,0,0,,C,D,,...N_l) | The grounded-guide path this phase had to leave byte-identical | — | — | `teaching-lab-slider-crank.spec.ts` | +| [Slider-crank with a tracer](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,_W,VG,0.0C,C,2xW,0,0.0D,D,4uW,VG,0.5E,E,2xW,0,0..YRAB,AB,1E8,1a,VG,Fe,c5cae9,A,B,,.YRBCD,BCD,2SG,38,2xW,Kr,303e9f,B,C,D,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_z) | A tracer point on the coupler of a grounded slider | — | — | `slider-crank-tracer.spec.ts` | +| [Stephenson III](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,1jO,_W,0.0B,B,1E8,3w0,0.0C,C,66e,66e,0.4D,D,5dO,2SG,0.0E,E,4PG,8Yu,0.0F,F,AVu,7q0,0.4G,G,A-8,49e,0..YRAB,AB,1E8,1a,1Tm,2SG,c5cae9,A,B,,.YRBCE,BCE,2SG,38,3w0,6Br,303e9f,B,C,E,,.YRCD,CD,1E8,1a,5t0,4HS,0d125a,C,D,,.YREF,EF,2SG,38,7Sa,8BS,B2DFDB,E,F,,.YRFG,FG,1E8,1a,AlW,5_q,26A69A,F,G,,..2F1,FG,F1,AlW,5_q,A-8,5_q,CDG..N_W) | Six-bar, MATLAB-verified | — | — | `stephenson-iii-ex2.spec.ts` | +| [Watt I](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0wS,0bg,0.0B,B,0gW,EE,0.0C,C,Oi,6k,0.0D,D,03m,_g,0.0E,E,1FO,1I_,0.0F,F,1-C,qM,0.4G,G,1oO,0ss,0..YRAB,AB,1E8,1a,0oU,0Bk,c5cae9,A,B,,.YRBCD,BCD,2SG,38,07C,Rt,303e9f,B,C,D,,.YRDE,DE,1E8,1a,bq,18q,0d125a,D,E,,.YREF,EF,2SG,38,1dI,13g,B2DFDB,E,F,,.YRCFG,CFG,1E8,1a,1Om,1Q,26A69A,C,F,G,,..2F1,CFG,F1,1Om,1Q,1ck,8P,DfU..N_S) | Six-bar, MATLAB-verified | — | — | `watt-i.spec.ts` | diff --git a/e2e/playback-direction.mjs b/e2e/playback-direction.mjs index ef66524e..bf3a0ae9 100644 --- a/e2e/playback-direction.mjs +++ b/e2e/playback-direction.mjs @@ -43,8 +43,8 @@ const state = () => rowPlaying: srv.mechanisms.map((_, i) => srv.isMechanismPlaying(i)), scrub: [...document.querySelectorAll('.rowScrubber')].map((s) => +s.value), notes: [...document.querySelectorAll('.rowNote')].map((n) => n.textContent.trim()), - // The drawn pose, to the pixel: reversing must not move the drawing. - pose: srv.joints.map((j) => `${j.x.toFixed(2)},${j.y.toFixed(2)}`).join(' '), + // The drawn pose: reversing must not move the drawing. + pose: srv.joints.map((j) => [j.x, j.y]), }; }); @@ -57,7 +57,7 @@ await page.waitForTimeout(900); const atRest = await state(); record( 'the row says which way the input is going', - ['Clockwise', 'CCW', 'Extending', 'Retracting'].includes(atRest.notes[0]), + ['Clockwise', 'Counter-clockwise', 'Extending', 'Retracting'].includes(atRest.notes[0]), atRest.notes ); @@ -81,11 +81,17 @@ await page.locator('.dirButton').first().click(); await page.waitForTimeout(400); const after = await state(); record('reversing does not stop it being resumable', after.playing === false, { before, after }); -record( - 'and the linkage has not moved -- the same pose, still', - before.pose && after.pose && before.pose === after.pose, - { before: before.pose, after: after.pose } +// Within a model unit, which is a two-hundredth of a centimetre: the mirrored +// cycle lands on the neighbouring sample, so "did not move" is a question about +// pixels rather than about the fourteenth decimal place. +const moved = Math.max( + ...before.pose.map(([x, y], i) => Math.hypot(after.pose[i][0] - x, after.pose[i][1] - y)) ); +record('and the linkage has not moved -- the same pose, still', moved < 1, { + moved, + before: before.pose, + after: after.pose, +}); record('nor has the handle', Math.abs(after.scrub[0] - before.scrub[0]) < 30, { before: before.scrub, after: after.scrub, diff --git a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss index 5a4ce62a..34e5350c 100644 --- a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss +++ b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.scss @@ -15,9 +15,11 @@ box-shadow: var(--card-shadow); display: flex; flex-direction: column; - // Square at the top, where the accent bar runs the card's full width: - // rounding those corners tapers the bar's ends to a point. - border-radius: 0 0 var(--card-radius) var(--card-radius); + // 5px, matching the 5px accent bar above it: a border's inner edge is + // rounded by the corner radius minus the border width, so any radius wider + // than the bar curves the bar's underside. The floating chrome has no bar + // and keeps the wider corner. + border-radius: var(--border-radius); //gap: 10px; background-color: mat.m2-get-color-from-palette($background, 'background'); //padding: 20px; diff --git a/src/app/component/BLOCKS/panel-section/panel-section.component.scss b/src/app/component/BLOCKS/panel-section/panel-section.component.scss index 62a22d64..54a6edff 100644 --- a/src/app/component/BLOCKS/panel-section/panel-section.component.scss +++ b/src/app/component/BLOCKS/panel-section/panel-section.component.scss @@ -23,9 +23,11 @@ overflow-y: auto; overflow-x: hidden; box-shadow: var(--card-shadow); - // Square at the top, where the accent bar runs the card's full width: - // rounding those corners tapers the bar's ends to a point. - border-radius: 0 0 var(--card-radius) var(--card-radius); + // 5px, matching the 5px accent bar above it: a border's inner edge is + // rounded by the corner radius minus the border width, so any radius wider + // than the bar curves the bar's underside. The floating chrome has no bar + // and keeps the wider corner. + border-radius: var(--border-radius); display: flex; flex-direction: column; //gap: 10px; diff --git a/src/app/component/MODALS/templates/template-linkages.ts b/src/app/component/MODALS/templates/template-linkages.ts index 74f7abe6..7a16e145 100644 --- a/src/app/component/MODALS/templates/template-linkages.ts +++ b/src/app/component/MODALS/templates/template-linkages.ts @@ -82,44 +82,44 @@ export const TEMPLATE_LINKAGES: Record = { '2P.Ay,1E8.K,0.1011.6A,A,0mA,0c,0.0B,B,0Yt,bK,0.0C,C,il,H-,0.5D,D,il,H-,0..YRAB,AB,Fe,Fe,0fW,IN,c5cae9,A,B,,.YRBC,BC,Fe,Fe,4y,Rf,303e9f,B,C,,.YPCD,CD,Fe,0,0,0,,C,D,,...N_j', // Whitworth_Quick_Return: - '2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,0,ku,0.4C,C,Fe,0,0.0D,D,095,1A7,0.1P,P,0,ku,0,CD,C,D..YRAB,AB,Fe,Fe,0,NS,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3H,b4,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,...N_w', + '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,ku,0.4C,C,Fe,0,0.0D,D,095,1A7,0.1P,P,0,ku,0,CD,C,D..YRAB,AB,Fe,Fe,0,NS,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3H,b4,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,...N_w', Scotch_Yoke: - '2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CD,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPCF,CF,Fe,0,0,0,,C,F,,...N_Z', + '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CD,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPCF,CF,Fe,0,0,0,,C,F,,...N_Z', Cylinder_Boom: - '2P.Ay,Fe.K,0.1011.4O,O,0,0,0.0C,C,0,_W,0.4G,G,ku,0,0.0N,N,Ju,Z-,0.8P,P,R0,QX,0.ZS,S,R0,QX,0,GN,G,N..YROC,OC,Fe,Fe,0,VG,c5cae9,O,C,,.YRGN,GN,Fe,Fe,XO,I0,303e9f,G,N,,.YRPC,PC,Fe,Fe,DW,iW,0d125a,P,C,,.YPPS,PS,Fe,0,0,0,,P,S,,...N_e', + '2P.Ay,Fe.5,0.1011.4O,O,0,0,0.0C,C,0,_W,0.4G,G,ku,0,0.0N,N,Ju,Z-,0.8P,P,R0,QX,0.ZS,S,R0,QX,0,GN,G,N..YROC,OC,Fe,Fe,0,VG,c5cae9,O,C,,.YRGN,GN,Fe,Fe,XO,I0,303e9f,G,N,,.YRPC,PC,Fe,Fe,DW,iW,0d125a,P,C,,.YPPS,PS,Fe,0,0,0,,P,S,,...N_e', Cylinder_Gripper: - '2P.Ay,1E8.K,0.1011.4A,A,02SG,ku,0.0B,B,0185,uK,0.8C,C,019F,uC,0.0D,D,Ay,11e,0.4G,G,_W,ku,0.0H,H,1HG,S8,0.0I,I,2hu,VG,0.4J,J,_W,0ku,0.0K,K,hm,0S8,0.0L,L,2hu,0VG,0.ZE,E,019F,uC,0,AB,A,B..YRAB,AB,Fe,Fe,01oB,pc,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0V9,yw,303e9f,C,D,,.YRDGHI,DGHI,Fe,Fe,1Hf,g_,0d125a,D,G,H,I,,.YRHK,HK,Fe,Fe,_W,0,B2DFDB,H,K,,.YRJKL,JKL,Fe,Fe,1Sj,0ZR,26A69A,J,K,L,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_N', + '2P.Ay,1E8.5,0.1011.4A,A,02SG,ku,0.0B,B,0185,uK,0.8C,C,019F,uC,0.0D,D,Ay,11e,0.4G,G,_W,ku,0.0H,H,1HG,S8,0.0I,I,2hu,VG,0.4J,J,_W,0ku,0.0K,K,hm,0S8,0.0L,L,2hu,0VG,0.ZE,E,019F,uC,0,AB,A,B..YRAB,AB,Fe,Fe,01oB,pc,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0V9,yw,303e9f,C,D,,.YRDGHI,DGHI,Fe,Fe,1Hf,g_,0d125a,D,G,H,I,,.YRHK,HK,Fe,Fe,_W,0,B2DFDB,H,K,,.YRJKL,JKL,Fe,Fe,1Sj,0ZR,26A69A,J,K,L,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_N', Radial_Engine: - '2P.Ay,1E8.K,0.1011.6O,O,0,0,0.0A,A,Fe,0,0.0B,B,0,iC,0.0C,C,0UD,9q,0.0D,D,0L9,0T6,0.0E,E,Vy,0hz,0.0F,F,wV,J0,0.5P,P,0,iC,OZ.5Q,Q,0UD,9q,iB.5R,R,0L9,0T6,-q.5S,S,Vy,0hz,1JT.5T,T,wV,J0,1d5..YROA,OA,Fe,Fe,7q,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,7q,M6,303e9f,A,B,,.YRAC,AC,Fe,Fe,07J,4w,0d125a,A,C,,.YRAD,AD,Fe,Fe,02m,0EZ,B2DFDB,A,D,,.YRAE,AE,Fe,Fe,No,0L_,26A69A,A,E,,.YRAF,AF,Fe,Fe,b3,9W,00695C,A,F,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPCQ,CQ,Fe,0,0,0,,C,Q,,.YPDR,DR,Fe,0,0,0,,D,R,,.YPES,ES,Fe,0,0,0,,E,S,,.YPFT,FT,Fe,0,0,0,,F,T,,...N_F', + '2P.Ay,1E8.5,0.1011.6O,O,0,0,0.0A,A,Fe,0,0.0B,B,0,iC,0.0C,C,0UD,9q,0.0D,D,0L9,0T6,0.0E,E,Vy,0hz,0.0F,F,wV,J0,0.5P,P,0,iC,OZ.5Q,Q,0UD,9q,iB.5R,R,0L9,0T6,-q.5S,S,Vy,0hz,1JT.5T,T,wV,J0,1d5..YROA,OA,Fe,Fe,7q,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,7q,M6,303e9f,A,B,,.YRAC,AC,Fe,Fe,07J,4w,0d125a,A,C,,.YRAD,AD,Fe,Fe,02m,0EZ,B2DFDB,A,D,,.YRAE,AE,Fe,Fe,No,0L_,26A69A,A,E,,.YRAF,AF,Fe,Fe,b3,9W,00695C,A,F,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPCQ,CQ,Fe,0,0,0,,C,Q,,.YPDR,DR,Fe,0,0,0,,D,R,,.YPES,ES,Fe,0,0,0,,E,S,,.YPFT,FT,Fe,0,0,0,,F,T,,...N_F', Chebyshev_Straight_Line: '2P.Ay,1E8.2,0.1011.6G,G,0VG,0,0.0A,A,0Fe,_W,0.0B,B,Fe,_W,0.GM,M,0,_W,0.4H,H,VG,0,0..YRGB,GB,Fe,Fe,07q,VG,c5cae9,G,B,,.YRABM,ABM,Fe,Fe,0,_W,303e9f,A,B,M,,.YRAH,AH,Fe,Fe,7q,VG,0d125a,A,H,,...N_5', Windshield_Wiper: - '2P.Ay,1E8.K,0.1011.6O,O,0si,0iC,0.0A,A,0se,0Km,0.0B,B,Dl,0S4,0.4P,P,0,0,0.0C,C,AJ,0L3,0.GT,T,0YM,16B,0.0D,D,1e3,0L3,0.4Q,Q,1Tm,0,0.GU,U,xQ,16B,0..YROA,Motor crank,Fe,Fe,0sg,0WU,c5cae9,O,A,,.YRAB,Drive link,Fe,Fe,0KS,0OQ,303e9f,A,B,,.YRBCPT,Wiper arm,Fe,Fe,02b,5H,0d125a,B,C,P,T,,.YRCD,Tie rod,Fe,Fe,vB,0L3,B2DFDB,C,D,,.YRDQU,Passenger arm,Fe,Fe,1Ll,GO,26A69A,D,Q,U,,...N_z', + '2P.Ay,1E8.5,0.1011.6O,O,0si,0iC,0.0A,A,0se,0Km,0.0B,B,Dl,0S4,0.4P,P,0,0,0.0C,C,AJ,0L3,0.GT,T,0YM,16B,0.0D,D,1e3,0L3,0.4Q,Q,1Tm,0,0.GU,U,xQ,16B,0..YROA,Motor crank,Fe,Fe,0sg,0WU,c5cae9,O,A,,.YRAB,Drive link,Fe,Fe,0KS,0OQ,303e9f,A,B,,.YRBCPT,Wiper arm,Fe,Fe,02b,5H,0d125a,B,C,P,T,,.YRCD,Tie rod,Fe,Fe,vB,0L3,B2DFDB,C,D,,.YRDQU,Passenger arm,Fe,Fe,1Ll,GO,26A69A,D,Q,U,,...N_z', Elliptical_Crank: - '2P.Ay,1E8.K,0.1011.6A,A,0ix,X,0.0B,B,0zu,7O,0.0C,C,0qC,Lr,0.GD,D,085,Av,0.0E,E,aY,v,0.4F,F,0,0,0.5P,P,aY,v,03..YRAB,AB,Fe,Fe,0rQ,3y,c5cae9,A,B,,.YRBC,BC,Fe,Fe,0v2,Ed,303e9f,B,C,,.YRCDE,CDE,Fe,Fe,07x,BD,0d125a,C,D,E,,.YRDF,DF,Fe,Fe,043,5S,B2DFDB,D,F,,.YPEP,EP,Fe,0,0,0,,E,P,,...N_V', + '2P.Ay,1E8.5,0.1011.6A,A,0ix,X,0.0B,B,0zu,7O,0.0C,C,0qC,Lr,0.GD,D,085,Av,0.0E,E,aY,v,0.4F,F,0,0,0.5P,P,aY,v,03..YRAB,AB,Fe,Fe,0rQ,3y,c5cae9,A,B,,.YRBC,BC,Fe,Fe,0v2,Ed,303e9f,B,C,,.YRCDE,CDE,Fe,Fe,07x,BD,0d125a,C,D,E,,.YRDF,DF,Fe,Fe,043,5S,B2DFDB,D,F,,.YPEP,EP,Fe,0,0,0,,E,P,,...N_V', Jansen_Leg: - '2P.1jO,1E8.K,0.1011.6O,O,0,0,0.0A,A,3gO,0,0.4G,G,09Hm,01vu,0.0B,B,05tE,7ee,0.0C,C,0IGg,1-F,0.0D,D,06b8,0B7B,0.0E,E,0ETW,06sL,0.GF,F,0AYO,0MPj,0..YROA,OA,Fe,Fe,1rC,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,016R,3qK,303e9f,A,B,,.YRGBC,GBC,Fe,Fe,0B8Z,2ag,0d125a,G,B,C,,.YRAD,AD,Fe,Fe,01TO,05Zc,B2DFDB,A,D,,.YRGD,GD,Fe,Fe,07xS,06WY,26A69A,G,D,,.YRCE,CE,Fe,Fe,0GN5,02RZ,00695C,C,E,,.YRDEF,DEF,Fe,Fe,0AXh,0DT4,c5cae9,D,E,F,,...N_c', + '2P.1jO,1E8.5,0.1011.6O,O,0,0,0.0A,A,3gO,0,0.4G,G,09Hm,01vu,0.0B,B,05tE,7ee,0.0C,C,0IGg,1-F,0.0D,D,06b8,0B7B,0.0E,E,0ETW,06sL,0.GF,F,0AYO,0MPj,0..YROA,OA,Fe,Fe,1rC,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,016R,3qK,303e9f,A,B,,.YRGBC,GBC,Fe,Fe,0B8Z,2ag,0d125a,G,B,C,,.YRAD,AD,Fe,Fe,01TO,05Zc,B2DFDB,A,D,,.YRGD,GD,Fe,Fe,07xS,06WY,26A69A,G,D,,.YRCE,CE,Fe,Fe,0GN5,02RZ,00695C,C,E,,.YRDEF,DEF,Fe,Fe,0AXh,0DT4,c5cae9,D,E,F,,...N_c', Backhoe_Bucket: - '2P.Ay,1E8.K,0.1011.4A,A,01jO,0,0.0B,B,0sb,Py,0.8C,C,018N,HX,0.0D,D,0Ha,hT,0.4G,G,0,0,0.0H,H,VG,Im,0.4J,J,o0,0P0,0.0K,K,1BI,2i,0.0T,T,1NW,0ee,0.ZE,E,018N,HX,0,AB,A,B..YRAB,AB,Fe,Fe,01H-,C_,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0iz,UV,303e9f,C,D,,.YRDGH,DGH,Fe,Fe,4a,Kl,0d125a,D,G,H,,.YRHK,HK,Fe,Fe,rH,Ak,B2DFDB,H,K,,.YRJKT,JKT,Fe,Fe,16x,0K-,26A69A,J,K,T,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_0', + '2P.Ay,1E8.5,0.1011.4A,A,01jO,0,0.0B,B,0sb,Py,0.8C,C,018N,HX,0.0D,D,0Ha,hT,0.4G,G,0,0,0.0H,H,VG,Im,0.4J,J,o0,0P0,0.0K,K,1BI,2i,0.0T,T,1NW,0ee,0.ZE,E,018N,HX,0,AB,A,B..YRAB,AB,Fe,Fe,01H-,C_,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0iz,UV,303e9f,C,D,,.YRDGH,DGH,Fe,Fe,4a,Kl,0d125a,D,G,H,,.YRHK,HK,Fe,Fe,rH,Ak,B2DFDB,H,K,,.YRJKT,JKT,Fe,Fe,16x,0K-,26A69A,J,K,T,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_0', Toggle_Press: - '2P.Ay,1E8.K,0.1011.4A,A,01z0,0,0.0B,B,017k,0Uc,0.8C,C,01P8,0Kc,0.0D,D,0Zs,0pD,0.4G,G,0,0,0.0R,R,0,01cP,0.ZE,E,01P8,0Kc,0,AB,A,B.5F,F,0,01cP,OZ..YRAB,AB,Fe,Fe,01YN,0FJ,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0_V,0Zv,303e9f,C,D,,.YRGD,GD,Fe,Fe,0Hx,0Pc,0d125a,G,D,,.YRDR,DR,Fe,Fe,0Hx,01Cp,B2DFDB,D,R,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPRF,RF,Fe,0,0,0,,R,F,,...N_S', + '2P.Ay,1E8.5,0.1011.4A,A,01z0,0,0.0B,B,017k,0Uc,0.8C,C,01P8,0Kc,0.0D,D,0Zs,0pD,0.4G,G,0,0,0.0R,R,0,01cP,0.ZE,E,01P8,0Kc,0,AB,A,B.5F,F,0,01cP,OZ..YRAB,AB,Fe,Fe,01YN,0FJ,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0_V,0Zv,303e9f,C,D,,.YRGD,GD,Fe,Fe,0Hx,0Pc,0d125a,G,D,,.YRDR,DR,Fe,Fe,0Hx,01Cp,B2DFDB,D,R,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPRF,RF,Fe,0,0,0,,R,F,,...N_S', Scissor_Lift: - '2P.Ay,1E8.K,0.1011.4A,A,2SG,0,0.0B,B,1fl,a3,0.8C,C,1wL,OD,0.0D,D,17q,yH,0.4G,G,0,0,0.0M,M,1Vm,1GM,0.0K,K,2-X,2Wj,0.0S,S,2-X,0,0.0T,T,0,2Wj,0.0U,U,3_1,2Wj,0.ZE,E,1wL,OD,0,AB,A,B.5N,N,2-X,0,0.1P,P,2-X,2Wj,0,TU,T,U..YRAB,AB,Fe,Fe,230,I2,c5cae9,A,B,,.YRCD,CD,Fe,Fe,1X5,gF,303e9f,C,D,,.YRGDMK,GDMK,Fe,Fe,1Pn,1BL,0d125a,G,D,M,K,,.YRSMT,SMT,Fe,Fe,1Vm,1GM,B2DFDB,S,M,T,,.YRTU,TU,Fe,Fe,1-0,2Wj,26A69A,T,U,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPSN,SN,Fe,0,0,0,,S,N,,.YPKP,KP,Fe,0,0,0,,K,P,,...N_e', + '2P.Ay,1E8.5,0.1011.4A,A,2SG,0,0.0B,B,1fl,a3,0.8C,C,1wL,OD,0.0D,D,17q,yH,0.4G,G,0,0,0.0M,M,1Vm,1GM,0.0K,K,2-X,2Wj,0.0S,S,2-X,0,0.0T,T,0,2Wj,0.0U,U,3_1,2Wj,0.ZE,E,1wL,OD,0,AB,A,B.5N,N,2-X,0,0.1P,P,2-X,2Wj,0,TU,T,U..YRAB,AB,Fe,Fe,230,I2,c5cae9,A,B,,.YRCD,CD,Fe,Fe,1X5,gF,303e9f,C,D,,.YRGDMK,GDMK,Fe,Fe,1Pn,1BL,0d125a,G,D,M,K,,.YRSMT,SMT,Fe,Fe,1Vm,1GM,B2DFDB,S,M,T,,.YRTU,TU,Fe,Fe,1-0,2Wj,26A69A,T,U,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPSN,SN,Fe,0,0,0,,S,N,,.YPKP,KP,Fe,0,0,0,,K,P,,...N_e', Shaper_Quick_Return: - '2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.4C,C,0,0ku,0.0D,D,Oj,RF,0.0R,R,qW,si,0.1P,P,Fe,0,0,CD,C,D.5Q,Q,qW,si,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,CN,09q,303e9f,C,D,,.YRDR,DR,Fe,Fe,cd,e_,0d125a,D,R,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPRQ,RQ,Fe,0,0,0,,R,Q,,...N_H', + '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.4C,C,0,0ku,0.0D,D,Oj,RF,0.0R,R,qW,si,0.1P,P,Fe,0,0,CD,C,D.5Q,Q,qW,si,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,CN,09q,303e9f,C,D,,.YRDR,DR,Fe,Fe,cd,e_,0d125a,D,R,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPRQ,RQ,Fe,0,0,0,,R,Q,,...N_H', Pedaling_Leg: - '2P.Ay,1E8.K,0.1011.4B,B,0,0,0.GP,P,Qa,0,0.4H,H,0NS,1Qe,0.2K,K,c5,13o,0..YRHK,HK,Fe,Fe,7L,1FD,c5cae9,H,K,,.YRKP,KP,Fe,Fe,WL,Xv,303e9f,K,P,,.YRBP,BP,Fe,Fe,DI,0,0d125a,B,P,,...N_p', + '2P.Ay,1E8.5,0.1011.4B,B,0,0,0.GP,P,Qa,0,0.4H,H,0NS,1Qe,0.2K,K,c5,13o,0..YRHK,HK,Fe,Fe,7L,1FD,c5cae9,H,K,,.YRKP,KP,Fe,Fe,WL,Xv,303e9f,K,P,,.YRBP,BP,Fe,Fe,DI,0,0d125a,B,P,,...N_p', Oscillating_Fan: - '2P.Ay,1E8.K,0.1011.4A,A,0,0,0.2C,C,s8,0VG,0.0D,D,k_,0j9,0.4B,B,0GY,0In,0.0N,N,1NW,0,0..YRACN,ACN,Fe,Fe,lD,0AR,c5cae9,A,C,N,,.YRCD,CD,Fe,Fe,oZ,0cC,303e9f,C,D,,.YRDB,DB,Fe,Fe,FE,0Vz,0d125a,D,B,,...N_B', + '2P.Ay,1E8.5,0.1011.4A,A,0,0,0.2C,C,s8,0VG,0.0D,D,k_,0j9,0.4B,B,0GY,0In,0.0N,N,1NW,0,0..YRACN,ACN,Fe,Fe,lD,0AR,c5cae9,A,C,N,,.YRCD,CD,Fe,Fe,oZ,0cC,303e9f,C,D,,.YRDB,DB,Fe,Fe,FE,0Vz,0d125a,D,B,,...N_B', Pumpjack: - '2P.Ay,1E8.K,0.1011.4A,A,0gB,0oI,0.0M,M,0QZ,0o1,0.2P,P,0d4,0,0.4S,S,0,0,0.0H,H,o0,0,0.0R,R,r8,0eW,0.5W,W,r8,0eW,OZ..YRAM,AM,Fe,Fe,0YN,0oA,c5cae9,A,M,,.YRMP,MP,Fe,Fe,0Wq,0P1,303e9f,M,P,,.YRPSH,PSH,Fe,Fe,3f,0,0d125a,P,S,H,,.YRHR,HR,Fe,Fe,pa,0KG,B2DFDB,H,R,,.YPRW,RW,Fe,0,0,0,,R,W,,...N_Z', + '2P.Ay,1E8.5,0.1011.4A,A,0gB,0oI,0.0M,M,0QZ,0o1,0.2P,P,0d4,0,0.4S,S,0,0,0.0H,H,o0,0,0.0R,R,r8,0eW,0.5W,W,r8,0eW,OZ..YRAM,AM,Fe,Fe,0YN,0oA,c5cae9,A,M,,.YRMP,MP,Fe,Fe,0Wq,0P1,303e9f,M,P,,.YRPSH,PSH,Fe,Fe,3f,0,0d125a,P,S,H,,.YRHR,HR,Fe,Fe,pa,0KG,B2DFDB,H,R,,.YPRW,RW,Fe,0,0,0,,R,W,,...N_Z', Punch_Press: - '2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,0,Im,0.0C,C,0,0r8,0.5P,P,0,0r8,OZ..YRAB,Crank,VG,o,0,9O,c5cae9,A,B,,.YRBC,Connecting rod,ku,6G,0,0HC,303e9f,B,C,,.YPCP,CP,1Tm,0,0,0,,C,P,,..2F1,BC,F1,0,0r8,0,0bW,1Xg0..N_J', + '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,Im,0.0C,C,0,0r8,0.5P,P,0,0r8,OZ..YRAB,Crank,VG,o,0,9O,c5cae9,A,B,,.YRBC,Connecting rod,ku,6G,0,0HC,303e9f,B,C,,.YPCP,CP,1Tm,0,0,0,,C,P,,..2F1,BC,F1,0,0r8,0,0bW,1Xg0..N_J', Derrick_Crane: - '2P.Ay,1E8.K,0.1011.4O,O,0,0,0.0C,C,Qv,cP,0.0T,T,rn,1Cp,0.6G,G,YO,09O,0.0K,K,Mp,18,0..YRGK,Luffing crank,VG,o,Sc,048,c5cae9,G,K,,.YRCK,Luffing link,ku,6G,Os,Jn,303e9f,C,K,,.YROCT,Boom,2xW,ku,Qv,cP,0d125a,O,C,T,,..2F1,OCT,F1,rn,1Cp,rn,zB,z2G..N_v', + '2P.Ay,1E8.5,0.1011.4O,O,0,0,0.0C,C,Qv,cP,0.0T,T,rn,1Cp,0.6G,G,YO,09O,0.0K,K,Mp,18,0..YRGK,Luffing crank,VG,o,Sc,048,c5cae9,G,K,,.YRCK,Luffing link,ku,6G,Os,Jn,303e9f,C,K,,.YROCT,Boom,2xW,ku,Qv,cP,0d125a,O,C,T,,..2F1,OCT,F1,rn,1Cp,rn,zB,z2G..N_v', Toggle_Clamp: - '2P.Ay,1E8.K,0.1011.6H,H,0ee,Ti,0.0E,E,09O,NS,0.0P,P,P0,5U,0.4N,N,0Lu,09O,0..YRHE,Handle,NS,o,0P0,Qa,c5cae9,H,E,,.YREP,Toggle link,Fe,1G,7q,ET,303e9f,E,P,,.YRNP,Clamp bar,VG,38,1a,01z,0d125a,N,P,,..2F1,NP,F1,P0,5U,P0,L6,hyW..N_e', + '2P.Ay,1E8.5,0.1011.6H,H,0ee,Ti,0.0E,E,09O,NS,0.0P,P,P0,5U,0.4N,N,0Lu,09O,0..YRHE,Handle,NS,o,0P0,Qa,c5cae9,H,E,,.YREP,Toggle link,Fe,1G,7q,ET,303e9f,E,P,,.YRNP,Clamp bar,VG,38,1a,01z,0d125a,N,P,,..2F1,NP,F1,P0,5U,P0,L6,hyW..N_e', Offset_Load_Rocker: - '2P.Ay,1E8.K,0.1011.6A,A,0,0,0.0B,B,HC,7q,0.0C,C,104,bW,0.4D,D,1E8,0,0.0L,L,1SC,jK,0..YRAB,Crank,VG,o,8c,3w,c5cae9,A,B,,.YRBC,Coupler,_W,7q,ee,Mg,303e9f,B,C,,.YRCDL,Rocker,1E8,E4,1E8,Rd,0d125a,C,D,L,,..2F1,CDL,F1,1SC,jK,1Fi,Zy,adm..N_l', + '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,HC,7q,0.0C,C,104,bW,0.4D,D,1E8,0,0.0L,L,1SC,jK,0..YRAB,Crank,VG,o,8c,3w,c5cae9,A,B,,.YRBC,Coupler,_W,7q,ee,Mg,303e9f,B,C,,.YRCDL,Rocker,1E8,E4,1E8,Rd,0d125a,C,D,L,,..2F1,CDL,F1,1SC,jK,1Fi,Zy,adm..N_l', // }; diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index 27eb89e0..38fe9777 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -13,9 +13,11 @@ padding-bottom: 8px; background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); - // Square at the top, where the accent bar runs the card's full width: - // rounding those corners tapers the bar's ends to a point. - border-radius: 0 0 var(--card-radius) var(--card-radius); + // 5px, matching the 5px accent bar above it: a border's inner edge is + // rounded by the corner radius minus the border width, so any radius wider + // than the bar curves the bar's underside. The floating chrome has no bar + // and keeps the wider corner. + border-radius: var(--border-radius); box-shadow: var(--card-shadow); } diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index b3c6be32..e1c349fb 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -29,9 +29,11 @@ padding: 14px 15px 18px; background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); - // Square at the top, where the accent bar runs the card's full width: - // rounding those corners tapers the bar's ends to a point. - border-radius: 0 0 var(--card-radius) var(--card-radius); + // 5px, matching the 5px accent bar above it: a border's inner edge is + // rounded by the corner radius minus the border width, so any radius wider + // than the bar curves the bar's underside. The floating chrome has no bar + // and keeps the wider corner. + border-radius: var(--border-radius); box-shadow: var(--card-shadow); } diff --git a/src/app/component/mechanism-panel/mechanism-panel.component.scss b/src/app/component/mechanism-panel/mechanism-panel.component.scss index 5c7ab594..32952f66 100644 --- a/src/app/component/mechanism-panel/mechanism-panel.component.scss +++ b/src/app/component/mechanism-panel/mechanism-panel.component.scss @@ -10,9 +10,11 @@ padding-bottom: 8px; background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); - // Square at the top, where the accent bar runs the card's full width: - // rounding those corners tapers the bar's ends to a point. - border-radius: 0 0 var(--card-radius) var(--card-radius); + // 5px, matching the 5px accent bar above it: a border's inner edge is + // rounded by the corner radius minus the border width, so any radius wider + // than the bar curves the bar's underside. The floating chrome has no bar + // and keeps the wider corner. + border-radius: var(--border-radius); box-shadow: var(--card-shadow); } diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index c93ff34b..a563f938 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -630,9 +630,11 @@ - @if (isBodySelected(cyl)) { + @if (isBodySelected(cyl) || isBodyHovered(cyl)) { (joint as RealJoint).input) ?? -1; - if (at === -1 || frames.length < 2) return undefined; - let far = 0; - frames.forEach((frame) => { - const d = Math.hypot(frame[at].x - frames[0][at].x, frame[at].y - frames[0][at].y); - if (d > far) far = d; - }); - return far > 0 ? far / MODEL_SCALE : undefined; + if (!(profile.span > 0)) { + return `${Math.round(along * 100)}%`; + } + return this.nup.formatValueAndUnit( + (along * profile.span) / MODEL_SCALE, + this.settings.lengthUnit.value + ); } /** @@ -210,7 +201,7 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { if (profile?.linear) { return outward ? 'Extending' : 'Retracting'; } - return outward ? 'Clockwise' : 'CCW'; + return outward ? 'Clockwise' : 'Counter-clockwise'; } /** Only worth offering when there is more than one machine to get out of step. */ diff --git a/src/app/model/mechanism/drive-profile.ts b/src/app/model/mechanism/drive-profile.ts index 1cc3db4f..ff96f95d 100644 --- a/src/app/model/mechanism/drive-profile.ts +++ b/src/app/model/mechanism/drive-profile.ts @@ -29,6 +29,14 @@ export interface DriveProfile { readonly continuous: boolean; /** A slider or ram, which extends; otherwise a crank, which turns. */ readonly linear: boolean; + /** End to end of the input's travel, in model units. Zero for a crank. */ + readonly span: number; +} + +/** The two joints a ram's length is measured between, when the input is one. */ +export interface RamEnds { + readonly from: string; + readonly to: string; } /** @@ -38,7 +46,7 @@ export interface DriveProfile { * slot's rail, a ram's bore and a pin's crank are described three different * ways in the model and are all just a moving joint here. */ -export function driveProfileOf(mechanism: Mechanism): DriveProfile | undefined { +export function driveProfileOf(mechanism: Mechanism, ram?: RamEnds): DriveProfile | undefined { const frames = mechanism.joints; if (!mechanism.isMechanismValid() || frames.length < 2) { return undefined; @@ -49,7 +57,12 @@ export function driveProfileOf(mechanism: Mechanism): DriveProfile | undefined { } const linear = frames[0][at] instanceof PrisJoint; - const raw = linear ? strokeOf(frames, at) : turnOf(mechanism); + // A ram is measured by how far out its rod is, not by how far its slider has + // moved from wherever the drawing put it: the two run opposite ways as often + // as not, and the second one has no name a reader would recognise. Anything + // else linear has no extension to speak of, so it is measured along the line + // it slides on. + const raw = linear ? ((ram && lengthOf(frames, ram)) ?? strokeOf(frames, at)) : turnOf(mechanism); if (!raw) { return undefined; } @@ -72,6 +85,7 @@ export function driveProfileOf(mechanism: Mechanism): DriveProfile | undefined { }), continuous, linear, + span: 0, }; } @@ -80,7 +94,19 @@ export function driveProfileOf(mechanism: Mechanism): DriveProfile | undefined { if (!(span > 0)) { return undefined; } - return { along: raw.map((value) => (value - low) / span), continuous, linear }; + return { along: raw.map((value) => (value - low) / span), continuous, linear, span }; +} + +/** How far the ram's rod is out, sample by sample. */ +function lengthOf(frames: Mechanism['joints'], ram: RamEnds): number[] | undefined { + const from = frames[0].findIndex((joint) => joint.id === ram.from); + const to = frames[0].findIndex((joint) => joint.id === ram.to); + if (from === -1 || to === -1) { + return undefined; + } + return frames.map((frame) => + Math.hypot(frame[to].x - frame[from].x, frame[to].y - frame[from].y) + ); } /** How far the input has moved along the line it slides on, sample by sample. */ diff --git a/src/app/services/ease-to-start.spec.ts b/src/app/services/ease-to-start.spec.ts index 7590088d..9fc7ab35 100644 --- a/src/app/services/ease-to-start.spec.ts +++ b/src/app/services/ease-to-start.spec.ts @@ -3,30 +3,39 @@ import { MechanismService } from './mechanism.service'; /** * The frame loop behind `easeToStart`, driven by hand. * - * The method is a drawing concern -- it seeks an already-solved cycle and never - * touches the solver -- so it is exercised against a stand-in that records the - * seeks rather than against a built mechanism. + * It is a drawing concern -- it seeks already-solved cycles and never runs the + * solver -- so it is exercised against a stand-in that records where each + * machine is put, rather than against a built drawing. */ interface Stub { - mechanismTimeStep: number; isPlaying: boolean; + ownPlaying: boolean[]; + ownSeconds: number[]; + mechanisms: { cyclePeriod: number }[]; atStartPose(): boolean; - masterMechanism(): { joints: unknown[] }; - animate(step: number, playing: boolean): void; + secondsOf(index: number): number; + rewindToStart(): void; + drawOwnClocks(): void; } -/** `samples` is the length of the solved cycle, which decides the short way. */ -function drive(from: number, interrupt?: (frame: number, stub: Stub) => void, samples = 361) { - const drawn: number[] = []; +/** + * @param at where each machine starts, in seconds + * @param periods each machine's cycle length + */ +function drive(at: number[], periods: number[], interrupt?: (frame: number, stub: Stub) => void) { + const drawn: number[][] = []; const stub: Stub = { - mechanismTimeStep: from, isPlaying: true, - atStartPose: () => stub.mechanismTimeStep === 0, - masterMechanism: () => ({ joints: new Array(samples) }), - animate: (step) => { - stub.mechanismTimeStep = step; - drawn.push(step); + ownPlaying: at.map(() => true), + ownSeconds: at.slice(), + mechanisms: periods.map((cyclePeriod) => ({ cyclePeriod })), + atStartPose: () => stub.ownSeconds.every((seconds) => seconds === 0), + secondsOf: (index) => stub.ownSeconds[index] ?? 0, + rewindToStart: () => { + stub.ownSeconds = stub.ownSeconds.map(() => 0); + drawn.push(stub.ownSeconds.slice()); }, + drawOwnClocks: () => drawn.push(stub.ownSeconds.slice()), }; const queue: FrameRequestCallback[] = []; @@ -46,52 +55,72 @@ function drive(from: number, interrupt?: (frame: number, stub: Stub) => void, sa } finally { globalThis.requestAnimationFrame = original; } - return { drawn, stub }; + return { drawn, stub, of: (machine: number) => drawn.map((row) => row[machine]) }; } -describe('MechanismService easing back to the start of the cycle', () => { +describe('MechanismService easing every machine back to its own start', () => { it('draws the way back instead of cutting to it, and lands exactly on zero', () => { - const { drawn, stub } = drive(179); + const { of, stub } = drive([1.2], [4]); + const track = of(0); - expect(drawn.length, 'more than one pose was drawn').toBeGreaterThan(4); - expect(drawn[0]).toBeLessThan(179); - expect(drawn.at(-1)).toBe(0); - expect(stub.mechanismTimeStep).toBe(0); + expect(track.length, 'more than one pose was drawn').toBeGreaterThan(4); + expect(track[0]).toBeLessThan(1.2); + expect(track.at(-1)).toBe(0); + expect(stub.ownSeconds[0]).toBe(0); // Monotonic: a rewind that overshoots and comes back is its own glitch. - expect(drawn.every((step, i) => i === 0 || step <= drawn[i - 1])).toBe(true); + expect(track.every((seconds, i) => i === 0 || seconds <= track[i - 1])).toBe(true); }); it('goes forward to the start when forward is the shorter way round', () => { - // The cycle is closed, so from near its end the start is a step away. Going - // backwards through the whole of it to reach the neighbouring pose reads as - // the machine bolting. - const { drawn, stub } = drive(340); + // The cycle is closed, so from near its end the start is just ahead. Going + // backwards through the whole of it reads as the machine bolting. + const { of, stub } = drive([3.6], [4]); + + expect(of(0)[0]).toBeGreaterThan(3.6); + expect(stub.ownSeconds[0]).toBe(0); + }); + + it('eases each machine on its own clock rather than herding them onto one', () => { + // Three machines at three places in three different cycles. Driving this + // off the shared sample index put all of them on the master's time on the + // first frame -- a jump, and one that undid two of the three clocks. + const { of } = drive([3.9, 1.2, 5.07], [4.4, 3, 5.43]); - expect(drawn[0]).toBeGreaterThan(340); - expect(drawn.some((step) => step > 350)).toBe(true); - expect(stub.mechanismTimeStep).toBe(0); + // Nobody teleports: the first frame is a step from where they were. + expect(Math.abs(of(0)[0] - 3.9)).toBeLessThan(0.6); + expect(Math.abs(of(1)[0] - 1.2)).toBeLessThan(0.6); + expect(Math.abs(of(2)[0] - 5.07)).toBeLessThan(0.6); + // And each takes whichever way round is shorter for its own cycle: the + // first and third are past half way and go forward, the second is not and + // goes back. + expect(of(0)[0]).toBeGreaterThan(3.9); + expect(of(2)[0]).toBeGreaterThan(5.07); + expect(of(1)[0]).toBeLessThan(1.2); + // All three arrive. + expect([of(0).at(-1), of(1).at(-1), of(2).at(-1)]).toEqual([0, 0, 0]); }); it('stops playback before the first frame, not after the last', () => { // The tab has already changed by the time this runs, so anything reading // the service during the rewind has to be told playback is over. - const { stub } = drive(120); + const { stub } = drive([1.2, 0.5], [4, 4]); expect(stub.isPlaying).toBe(false); + expect(stub.ownPlaying.some(Boolean)).toBe(false); }); - it('gives way to anything else that moves the mechanism', () => { + it('gives way to anything else that moves a machine', () => { // A rebuild, a scrub, playback starting again: whatever it was, it is newer // than this rewind, and finishing the rewind would undo it. - const { drawn, stub } = drive(179, (frame, running) => { - if (frame === 3) running.mechanismTimeStep = 90; + const { of, stub } = drive([2, 2], [4, 4], (frame, running) => { + if (frame === 3) running.ownSeconds[1] = 1.75; }); - expect(stub.mechanismTimeStep, 'the other caller kept its pose').toBe(90); - expect(drawn.at(-1), 'the rewind drew nothing after being overtaken').not.toBe(0); + expect(stub.ownSeconds[1], 'the other caller kept its place').toBe(1.75); + expect(of(0).at(-1), 'the rewind drew nothing after being overtaken').not.toBe(0); }); - it('does nothing at all when the mechanism is already at the start', () => { - const { drawn } = drive(0); + it('does nothing at all when every machine is already at its start', () => { + const { drawn } = drive([0, 0], [4, 4]); expect(drawn).toEqual([]); }); }); diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index d2ef258a..d756614d 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -60,6 +60,7 @@ import { slotHalfLength } from '../model/joint-marks'; import { DragStateService } from './drag-state.service'; import { Coord } from '../model/coord'; import { Line } from '../model/line'; +import { SelectedTabService } from '../selected-tab.service'; import { SaveHistoryService } from './save-history.service'; import { NumberUnitParserService } from './number-unit-parser.service'; import { PositionSolver, SAMPLES_PER_STROKE } from '../model/mechanism/position-solver'; @@ -243,6 +244,14 @@ export class MechanismService { // rewinding, which is what the held time is measured against. The drawn time, // not the sample's: during playback it carries the sub-sample fraction. const heldTime = this.currentTimeSeconds(); + // Each machine's own place, not just the master's. Restoring only the + // shared time put every machine back on the master's clock, so any edit -- + // a speed change, a reversal, a joint moved -- silently pulled them all + // back into step with each other. + const heldEach = this.partitions.map((partition, index) => ({ + id: partition.id, + seconds: this.ownSeconds[index] ?? 0, + })); this.restoreStartPose(); // The sealed-cylinder invariant is enforced HERE, at the one funnel every @@ -289,6 +298,7 @@ export class MechanismService { ); this.activeObjService.fakeUpdateSelectedObj(); this.reseekToTime(heldTime); + this.restoreOwnTimes(heldEach); if (save) { this.save(); @@ -516,6 +526,54 @@ export class MechanismService { this.playbackTimeSeconds = wrapped; } + /** + * Put each machine back where it was after a rebuild. + * + * By partition id, not by index: a rebuild can add, remove or reorder + * mechanisms, and pairing them positionally would hand one machine another's + * place in its cycle. + */ + private restoreOwnTimes(held: { id: string; seconds: number }[]): void { + if (!this.oneValidMechanismExists()) return; + this.partitions.forEach((partition, index) => { + const was = held.find((entry) => entry.id === partition.id); + const period = this.mechanisms[index]?.cyclePeriod ?? 0; + if (!was || !(period > 0) || !(was.seconds > 0)) return; + this.ownSeconds[index] = ((was.seconds % period) + period) % period; + }); + this.applyPose(this.mechanismTimeStep, 0); + } + + /** + * Run something with the drawing parked at its start pose, and put every + * machine back afterwards. + * + * Encoding a URL is a round trip through t = 0, because that is the pose the + * format stores. Getting there and back used to go through `animate`, which + * treats an outside call as a seek of the whole drawing -- so saving, which + * happens on every edit, quietly pulled every machine onto the master's + * clock. That is most of what "the mechanisms are not independent" was. + */ + encodeFromStartPose(encode: (heldStep: number) => T): T { + const held = this.ownSeconds.slice(); + const step = this.mechanismTimeStep; + const playing = this.isPlaying; + if (step > 0) { + this.animate(0, false); + } + try { + return encode(step); + } finally { + this.ownSeconds = held; + this.seekingOneMechanism = true; + try { + this.animate(step, playing); + } finally { + this.seekingOneMechanism = false; + } + } + } + save() { const saveHistoryService = this.injector.get(SaveHistoryService); saveHistoryService.save(); @@ -2881,44 +2939,75 @@ export class MechanismService { */ easeToStart(durationMs = 220): void { if (this.atStartPose()) return; - const samples = this.masterMechanism()?.joints.length ?? 0; - if (samples < 2) { - this.animate(0, false); + // Each machine goes back to its own start, on its own clock, by whichever + // way round is shorter for it. Driving this off the shared sample index + // pulled every machine onto the master's time on the first frame -- so + // three machines at three different places in their cycles all jumped to + // one place and then eased down together, which is the bounce. + const from = this.mechanisms.map((_, index) => this.secondsOf(index)); + const periods = this.mechanisms.map((mechanism) => mechanism.cyclePeriod); + const deltas = from.map((seconds, index) => { + const period = periods[index]; + if (!(period > 0) || !(seconds > 0)) return 0; + return seconds > period / 2 ? period - seconds : -seconds; + }); + if (deltas.every((delta) => delta === 0)) { + this.rewindToStart(); return; } - const from = this.mechanismTimeStep; - // Whichever way round is shorter. The cycle is closed, so the last sample - // is the start's neighbour: from near the end of it, running backwards - // through the whole cycle to reach a pose one step away reads as the - // machine bolting. - const back = -from; - const forward = samples - from; - const delta = forward < from ? forward : back; this.isPlaying = false; + this.ownPlaying = this.ownPlaying.map(() => false); let startedAt: number | null = null; - let lastDrawn = from; + let lastDrawn = from.slice(); const frame = (now: number) => { - // Someone else has taken the mechanism somewhere since the last frame. + // Someone else has taken a machine somewhere since the last frame. // Whatever they wanted, it is newer than this. - if (this.mechanismTimeStep !== lastDrawn) return; + if (this.mechanisms.some((_, index) => this.secondsOf(index) !== lastDrawn[index])) { + return; + } startedAt ??= now; const t = Math.min(1, (now - startedAt) / durationMs); // Ease out: quick off the pose being left, gentle into the start. const eased = 1 - (1 - t) ** 3; - const next = Math.round(from + eased * delta) % samples; - // The first frame is the pose already on screen, and at 60 fps over a - // fifth of a second several later ones round to the same sample. - if (next !== lastDrawn) { + const next = from.map((seconds, index) => { + const period = periods[index]; + const ahead = seconds + eased * deltas[index]; + return period > 0 ? ((ahead % period) + period) % period : ahead; + }); + // The first frame is the pose already on screen; drawing it again is a + // frame's worth of nothing. A microsecond, not exact equality: wrapping + // into the period puts float noise on a value that has not moved. + if (next.some((seconds, index) => Math.abs(seconds - lastDrawn[index]) > 1e-6)) { lastDrawn = next; - this.animate(next, false); + lastDrawn.forEach((seconds, index) => (this.ownSeconds[index] = seconds)); + this.drawOwnClocks(); } if (t < 1) requestAnimationFrame(frame); }; requestAnimationFrame(frame); } + /** + * Draw every machine where its own clock says, without moving any of them. + * + * `animate` treats an outside call as a seek of the whole drawing, which is + * right for a scrubber and wrong for anything that has already decided where + * each machine goes. + */ + private drawOwnClocks(playing = false): void { + const master = this.masterMechanismIndex(); + const step = + master === -1 ? this.mechanismTimeStep : this.stepAtTime(this.ownSeconds[master] ?? 0); + this.seekingOneMechanism = true; + try { + this.animate(step, playing); + } finally { + this.seekingOneMechanism = false; + } + } + /** * How far playback sits past sample `step`, as a 0..1 fraction of the way to the * next one. Zero for any seek and at the last sample, where there is nothing to @@ -3045,24 +3134,28 @@ export class MechanismService { const period = this.mechanisms[index]?.cyclePeriod ?? 0; const was = this.secondsOf(index); + // Write every machine's current speed onto its own drive first. Setting one + // machine's speed also moves the document-wide default, and a machine that + // has never been given a speed of its own reads that default -- so + // reversing one machine turned round every machine that had not been + // turned round before. + this.pinDriveSpeeds(); this.setDriveSpeed(driven, -this.driveSpeedOf(driven)); // The input itself has turned round, so time runs forward through the new // cycle again. this.playbackDirection[index] = 1; - this.updateMechanism(true); + // Not saved. Reversing is done from the transport, which is a way of + // watching the drawing rather than of changing it, and nothing else a + // reader does in an analysis mode lands in the undo history either. The + // drive still carries its new sign, so the next real edit writes it out. + this.updateMechanism(false); if (!(period > 0)) return true; - const mirrored = this.wrapTime(period - was); - if (this.syncMechanisms) { - this.animate(this.stepAtTime(mirrored), this.isPlaying); - // animate() snaps its clock to the sample it landed on; the pose was - // between two of them, and putting it back is what keeps the drawing - // still. - this.playbackTimeSeconds = mirrored; - } else { - this.ownSeconds[index] = mirrored; - this.animate(this.mechanismTimeStep, this.isPlaying); - } + // The pose that was at time t sits at period - t in the mirrored cycle. + // This machine goes there and the others stay where they are: they are on + // a shared wall clock, not a shared position, and this one turning round + // is no reason for them to move. + this.seekMechanism(index, this.wrapTime(period - was)); return true; } @@ -3130,6 +3223,45 @@ export class MechanismService { return rising !== rewinding; } + /** + * Give every machine a drive speed of its own. + * + * Until one is set, a driven joint reads the document-wide default, which + * means two machines share a number and neither of them knows it. + */ + private pinDriveSpeeds(): void { + this.partitions.forEach((partition) => { + const driven = partition.ownJoints.find( + (joint): joint is RealJoint => joint instanceof RealJoint && joint.input + ); + if (driven && driven.driveSpeed === 0) { + driven.driveSpeed = this.driveSpeedOf(driven); + } + }); + } + + /** + * Which way the input crank is pointing, in degrees from the positive x axis. + * + * An absolute bearing, not a count of how far round it has come: a reader + * comparing the drawing with the readout is looking at where the crank is + * pointing, and "0" meaning "wherever it was drawn" is a different question + * they did not ask. + */ + inputAngleDegrees(index: number): number | undefined { + const partition = this.partitions[index]; + const driven = partition?.ownJoints.find( + (joint): joint is RealJoint => joint instanceof RealJoint && joint.input + ); + if (!driven) return undefined; + // The end of the crank, which is what points somewhere -- the input joint + // itself is usually pinned to the frame and points nowhere. + const end = driven.connectedJoints.find((joint) => !(joint as RealJoint).ground); + if (!end) return undefined; + const degrees = (Math.atan2(end.y - driven.y, end.x - driven.x) * 180) / Math.PI; + return (degrees + 360) % 360; + } + /** Put one machine at a place along its input's travel. */ seekMechanismTo(index: number, along: number): void { const mechanism = this.mechanisms[index]; @@ -3147,7 +3279,12 @@ export class MechanismService { const mechanism = this.mechanisms[index]; if (!mechanism) return undefined; if (!this.profiles.has(mechanism)) { - this.profiles.set(mechanism, buildDriveProfile(mechanism) ?? null); + // A ram is measured by its own extension, so the profile is told which + // two joints that is between. + const driven = mechanism.joints[0]?.find((joint) => (joint as RealJoint).input); + const sealed = driven && this.cylinderAt(this.joints.find((j) => j.id === driven.id)); + const ram = sealed ? { from: sealed.barrelFar.id, to: sealed.rodFar.id } : undefined; + this.profiles.set(mechanism, buildDriveProfile(mechanism, ram) ?? null); } return this.profiles.get(mechanism) ?? undefined; } @@ -3230,7 +3367,7 @@ export class MechanismService { // transport's own button reads this flag, so leaving it set with every row // stopped showed a pause button over a drawing that was not moving. this.isPlaying = this.ownPlaying.some(Boolean); - this.animate(this.mechanismTimeStep, this.isPlaying); + this.drawOwnClocks(this.isPlaying); } /** @@ -3242,7 +3379,7 @@ export class MechanismService { setAllPlaying(playing: boolean): void { this.isPlaying = playing; this.ownPlaying = this.mechanisms.map((mechanism) => playing && mechanism.isMechanismValid()); - this.animate(this.mechanismTimeStep, playing); + this.drawOwnClocks(playing); } /** @@ -3265,7 +3402,7 @@ export class MechanismService { (mechanism) => this.isPlaying && mechanism.isMechanismValid() ); } - this.animate(this.mechanismTimeStep, this.isPlaying); + this.drawOwnClocks(this.isPlaying); } getJointCSSClass(joint: Joint) { @@ -3286,6 +3423,9 @@ export class MechanismService { // Selecting a whole machine selects everything in it, so every one of its // joints reads as selected rather than the reader having to infer the // extent of the thing they just picked. + if (this.isPartInert(joint)) { + return 'joint-inert'; + } if (this.isInSelectedMechanism(joint)) { return 'joint-selected'; } @@ -3299,6 +3439,29 @@ export class MechanismService { } } + /** + * Geometry the analysis modes have nothing to say about. + * + * A machine that cannot be simulated has no cycle, no graphs and no row in + * the transport, so in an analysis mode it is scenery: drawn so the reader + * can see it is still there, greyed so they can see it is not part of the + * question, and not selectable, because every panel behind a selection is + * about a machine that runs. + */ + isPartInert(part: Joint | Link): boolean { + return this.injector.get(SelectedTabService).isAnalysisMode() && !this.isPartSimulatable(part); + } + + /** Is this part of the machine the reader has selected as a whole? */ + isPartInSelectedMechanism(part: Joint | Link): boolean { + return this.isInSelectedMechanism(part); + } + + /** Is this part of the machine the reader is pointing at? */ + isPartInHoveredMechanism(part: Joint | Link): boolean { + return this.isInHoveredMechanism(part); + } + /** Is this part of the machine the reader has selected as a whole? */ private isInSelectedMechanism(part: Joint | Link): boolean { if (this.activeObjService.objType !== 'Mechanism') { @@ -3334,6 +3497,9 @@ export class MechanismService { } getLinkCSSClass(link: Link) { + if (this.isPartInert(link)) { + return 'link-inert'; + } if ( this.activeObjService.objType == 'Link' && link.id === this.activeObjService.selectedLink.id diff --git a/src/app/services/settings.service.ts b/src/app/services/settings.service.ts index 95078e98..b2ba49be 100644 --- a/src/app/services/settings.service.ts +++ b/src/app/services/settings.service.ts @@ -20,8 +20,14 @@ export class SettingsService { // inputTorque = new BehaviorSubject(TorqueUnit.CM_N); globalUnit = new BehaviorSubject(GlobalUnit.METRIC); isInputCW = new BehaviorSubject(true); - /** Always RPM. The input panel converts for display via inputSpeedUnit. */ - inputSpeed = new BehaviorSubject(20); + /** + * Always RPM. The input panel converts for display via inputSpeedUnit. + * + * Slow on purpose: the point of the animation is to be watched, and 20 RPM + * is three seconds a turn, which is faster than a reader can follow a coupler + * point round. + */ + inputSpeed = new BehaviorSubject(5); /** * Display unit for the input joint's speed. Chosen from the Input Settings * section rather than typed, so it is a view preference only — inputSpeed diff --git a/src/app/services/url-generation.service.ts b/src/app/services/url-generation.service.ts index 57e94a61..743e6ccf 100644 --- a/src/app/services/url-generation.service.ts +++ b/src/app/services/url-generation.service.ts @@ -142,99 +142,96 @@ export class UrlGenerationService { } generateUrlQuery(): string { - // First, reset animation to the beginning, but cache animation frame to restore afterwards - let cachedAnimationFrame = this.mechanism.mechanismTimeStep; - // And whether it was running. Encoding is a round trip through the start - // pose, so it has to stop playback -- but it has to hand it back, or any - // edit made while the mechanism is moving stops it. Reversing a machine - // from the transport is exactly that edit, and it looked like the reverse - // button was also a pause button. - const wasPlaying = this.mechanism.isPlaying; - if (cachedAnimationFrame > 0) this.mechanism.animate(0, false); + // The format stores the start pose, so encoding is a round trip through + // t = 0 -- and every machine has to come back to its own place afterwards, + // not to the master's, which is the mechanism service's job because the + // clocks are its. A collaborator that has no clocks to protect -- the + // stubs the codec is tested against -- encodes where it stands. + const park = + this.mechanism.encodeFromStartPose?.bind(this.mechanism) ?? + ((run: (step: number) => string) => run(this.mechanism.mechanismTimeStep ?? 0)); + return park((cachedAnimationFrame) => { + let encoder = new StringTranscoder(); + + // add each joint + this.mechanism.joints.forEach((joint) => { + this._addJointToEncoder(encoder, joint); + }); + + // add each (non-subset) link + this.mechanism.links.forEach((link) => { + this._addLinkToEncoder(encoder, link, true); + }); + + // for each link, add subset links + this.mechanism.links.forEach((link) => { + if (link instanceof RealLink) { + link.subset.forEach((subsetLink) => { + this._addLinkToEncoder(encoder, subsetLink, false); + }); + } + }); + + this.mechanism.forces.forEach((force) => { + this._addForceToEncoder(encoder, force); + }); + + // Encode global settings + encoder.addEnumSetting( + EnumSetting.LENGTH_UNIT, + LengthUnit, + this.settings.lengthUnit.getValue() + ); + encoder.addEnumSetting(EnumSetting.ANGLE_UNIT, AngleUnit, this.settings.angleUnit.getValue()); + const normalizedGlobal = + this.settings.lengthUnit.getValue() === LengthUnit.INCH + ? GlobalUnit.ENGLISH + : this.settings.lengthUnit.getValue() === LengthUnit.METER + ? GlobalUnit.SI + : GlobalUnit.METRIC; + encoder.addEnumSetting( + EnumSetting.FORCE_UNIT, + ForceUnit, + normalizedGlobal === GlobalUnit.ENGLISH ? ForceUnit.LBF : ForceUnit.NEWTON + ); + encoder.addEnumSetting(EnumSetting.GLOBAL_UNIT, GlobalUnit, normalizedGlobal); + encoder.addBoolSetting(BoolSetting.IS_INPUT_CW, this.settings.isInputCW.getValue()); + //encoder.addBoolSetting(BoolSetting.IS_GRAVITY, this.settings.isGravity.getValue()); + encoder.addIntSetting(IntSetting.INPUT_SPEED, this.settings.inputSpeed.getValue()); + encoder.addDecimalSetting( + DecimalSetting.LINEAR_INPUT_SPEED, + this.settings.linearInputSpeed.getValue() + ); + encoder.addBoolSetting( + BoolSetting.IS_SHOW_MAJOR_GRID, + this.settings.isShowMajorGrid.getValue() + ); + encoder.addBoolSetting( + BoolSetting.IS_SHOW_MINOR_GRID, + this.settings.isShowMinorGrid.getValue() + ); + encoder.addBoolSetting(BoolSetting.IS_SHOW_ID, this.settings.isShowID.getValue()); + encoder.addBoolSetting(BoolSetting.IS_SHOW_COM, this.settings.isShowCOM.getValue()); + encoder.addDecimalSetting(DecimalSetting.SCALE, this.settings.objectScale / MODEL_SCALE); - let encoder = new StringTranscoder(); + encoder.addIntSetting(IntSetting.TIMESTEP, cachedAnimationFrame); - // add each joint - this.mechanism.joints.forEach((joint) => { - this._addJointToEncoder(encoder, joint); - }); + // Keep this legacy bit enabled so existing URL field positions remain compatible. + encoder.addBoolSetting(BoolSetting.IS_FORCES, true); - // add each (non-subset) link - this.mechanism.links.forEach((link) => { - this._addLinkToEncoder(encoder, link, true); - }); + // Deliberately empty. What is selected is not part of the mechanism: a + // shared link should open on the reader's own nothing-selected, not on + // whatever the sender last clicked, and undo -- which replays these URLs -- + // should move the mechanism rather than the highlight. + // + // The field itself stays, always empty, because its position in the format + // is load-bearing for every URL already shared. + encoder.setActiveObj(new ActiveObjData(ACTIVE_TYPE.NOTHING, '_')); - // for each link, add subset links - this.mechanism.links.forEach((link) => { - if (link instanceof RealLink) { - link.subset.forEach((subsetLink) => { - this._addLinkToEncoder(encoder, subsetLink, false); - }); - } - }); + let urlRaw = encoder.encodeURL(); - this.mechanism.forces.forEach((force) => { - this._addForceToEncoder(encoder, force); + return urlRaw; }); - - // Encode global settings - encoder.addEnumSetting( - EnumSetting.LENGTH_UNIT, - LengthUnit, - this.settings.lengthUnit.getValue() - ); - encoder.addEnumSetting(EnumSetting.ANGLE_UNIT, AngleUnit, this.settings.angleUnit.getValue()); - const normalizedGlobal = - this.settings.lengthUnit.getValue() === LengthUnit.INCH - ? GlobalUnit.ENGLISH - : this.settings.lengthUnit.getValue() === LengthUnit.METER - ? GlobalUnit.SI - : GlobalUnit.METRIC; - encoder.addEnumSetting( - EnumSetting.FORCE_UNIT, - ForceUnit, - normalizedGlobal === GlobalUnit.ENGLISH ? ForceUnit.LBF : ForceUnit.NEWTON - ); - encoder.addEnumSetting(EnumSetting.GLOBAL_UNIT, GlobalUnit, normalizedGlobal); - encoder.addBoolSetting(BoolSetting.IS_INPUT_CW, this.settings.isInputCW.getValue()); - //encoder.addBoolSetting(BoolSetting.IS_GRAVITY, this.settings.isGravity.getValue()); - encoder.addIntSetting(IntSetting.INPUT_SPEED, this.settings.inputSpeed.getValue()); - encoder.addDecimalSetting( - DecimalSetting.LINEAR_INPUT_SPEED, - this.settings.linearInputSpeed.getValue() - ); - encoder.addBoolSetting( - BoolSetting.IS_SHOW_MAJOR_GRID, - this.settings.isShowMajorGrid.getValue() - ); - encoder.addBoolSetting( - BoolSetting.IS_SHOW_MINOR_GRID, - this.settings.isShowMinorGrid.getValue() - ); - encoder.addBoolSetting(BoolSetting.IS_SHOW_ID, this.settings.isShowID.getValue()); - encoder.addBoolSetting(BoolSetting.IS_SHOW_COM, this.settings.isShowCOM.getValue()); - encoder.addDecimalSetting(DecimalSetting.SCALE, this.settings.objectScale / MODEL_SCALE); - - encoder.addIntSetting(IntSetting.TIMESTEP, cachedAnimationFrame); - - // Keep this legacy bit enabled so existing URL field positions remain compatible. - encoder.addBoolSetting(BoolSetting.IS_FORCES, true); - - // Deliberately empty. What is selected is not part of the mechanism: a - // shared link should open on the reader's own nothing-selected, not on - // whatever the sender last clicked, and undo -- which replays these URLs -- - // should move the mechanism rather than the highlight. - // - // The field itself stays, always empty, because its position in the format - // is load-bearing for every URL already shared. - encoder.setActiveObj(new ActiveObjData(ACTIVE_TYPE.NOTHING, '_')); - - let urlRaw = encoder.encodeURL(); - - // Restore animation frame - if (cachedAnimationFrame > 0) this.mechanism.animate(cachedAnimationFrame, wasPlaying); - - return urlRaw; } getURLPrefix(): string { diff --git a/src/tests/verification/two-mechanisms.spec.ts b/src/tests/verification/two-mechanisms.spec.ts index 6e7410ad..1fa9887b 100644 --- a/src/tests/verification/two-mechanisms.spec.ts +++ b/src/tests/verification/two-mechanisms.spec.ts @@ -105,14 +105,15 @@ describe('two four-bars in one drawing', () => { it('lets each run at its own speed, and spans the longer cycle', () => { const { service, first, second } = twoFourBars(); - // 30 rpm against the document default of 20: the same crank turning twice - // as fast has to come round in half the time. - (first.joints[0] as RealJoint).driveSpeed = 30; + // Six times the document's own default speed: the same crank turning six + // times as fast has to come round in a sixth of the time. + const standard = service.driveSpeedOf(second.joints[0] as RealJoint); + (first.joints[0] as RealJoint).driveSpeed = 6 * standard; service.updateMechanism(); const [fast, slow] = service.mechanisms; expect(fast.cyclePeriod).toBeLessThan(slow.cyclePeriod); - expect(fast.cyclePeriod).toBeCloseTo(slow.cyclePeriod * (20 / 30), 2); + expect(fast.cyclePeriod).toBeCloseTo(slow.cyclePeriod / 6, 2); // The shared scrubber has to be long enough to hold the slowest machine, // or playback would cut off partway through it. From 8b756c58057bb2f80330e55bc2b3d02753276b96 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 21:42:09 -0400 Subject: [PATCH 041/236] Let the others keep running while one is dragged Dragging a handle seeks sixty times a second, and every seek cleared the frame clock -- which says "the next frame has no previous frame to measure from". So every frame measured zero elapsed and every other machine stood still for as long as the drag lasted. A seek of one machine leaves the shared clock alone now. And coming back to one row puts the machines back on one clock. Synced means one row and one handle, and a handle standing for three machines at three different times can only tell the truth about one of them -- which is why it jumped when dragged after a spell apart. Four unrelated things: - Units cannot be changed outside Edit. A unit change rescales the drawing's stored geometry, so it is an edit, and the analysis modes lock geometry for the same reason. - An empty grid shows no status chip. "Ready" over a blank canvas is a promise about a mechanism nobody has drawn. - Pressing a mode that is not ready opens the setup that says why, and pressing it again nudges that setup rather than closing it. The reader who did not spot it the first time was asking twice and getting nothing. - And the strip keeps its labels until they actually stop fitting. A width has to be chosen for the widest the strip ever gets -- four modes, two chips, everything spelled out -- so it threw words away long before this particular strip had run out of room. It measures what it wants at each level and picks the biggest that fits: full labels now hold to about 1010px and short ones to about 800, against 1040 and 920 before. --- .../right-panel/right-panel.component.html | 1 + .../right-panel/right-panel.component.scss | 22 ++++++ .../right-panel/right-panel.component.ts | 41 ++++++++++- .../settings-panel.component.html | 8 +-- .../settings-panel.component.ts | 15 +++- .../component/top-bar/top-bar.component.html | 50 +++++++------ .../component/top-bar/top-bar.component.scss | 41 +++++------ .../component/top-bar/top-bar.component.ts | 72 ++++++++++++++++++- src/app/services/mechanism.service.ts | 18 ++++- 9 files changed, 211 insertions(+), 57 deletions(-) diff --git a/src/app/component/right-panel/right-panel.component.html b/src/app/component/right-panel/right-panel.component.html index 21402ba2..16b7d81f 100644 --- a/src/app/component/right-panel/right-panel.component.html +++ b/src/app/component/right-panel/right-panel.component.html @@ -8,6 +8,7 @@ : 'closed' " id="rightPanel" + [class.insisting]="attention" > @if (getOpenTab() === 5) {
diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 66e0dfb6..65d1208f 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -49,6 +49,28 @@ } } + // Asked for while already open: a short nudge, so the reader's eye goes to + // the answer they just asked for twice. + .insisting { + animation: drawerNudge 0.42s cubic-bezier(0.36, 0.07, 0.19, 0.97); + } + + @keyframes drawerNudge { + 0%, + 100% { + transform: translateX(0); + } + 18% { + transform: translateX(-9px); + } + 42% { + transform: translateX(6px); + } + 68% { + transform: translateX(-3px); + } + } + #rightPanel { position: absolute; top: nav.$panel-top; diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index b1d1f39f..6d65e970 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -1,5 +1,5 @@ import { TabID } from '../../selected-tab.service'; -import { Component, inject, ChangeDetectionStrategy } from '@angular/core'; +import { Component, inject, ChangeDetectionStrategy, DoCheck } from '@angular/core'; import { animate, state, style, transition, trigger } from '@angular/animations'; import { NewGridComponent } from '../new-grid/new-grid.component'; import { @@ -71,7 +71,7 @@ import { UrlGenerationService } from 'src/app/services/url-generation.service'; changeDetection: ChangeDetectionStrategy.Eager, standalone: false, }) -export class RightPanelComponent { +export class RightPanelComponent implements DoCheck { private analytics: AnalyticsService = inject(AnalyticsService); public sendingEmail: boolean = false; @@ -114,6 +114,26 @@ export class RightPanelComponent { private fb: FormBuilder ) {} + /** + * Bumped when a drawer is asked for that is already showing. + * + * Pressing a mode that is not ready opens the setup that says why. Pressing + * it again used to close that setup -- so the reader who did not spot it the + * first time asked twice and got nothing. It draws attention to itself + * instead, which is what the second press was asking for. + */ + static attentionCount = 0; + + /** Ask for a drawer without ever closing it. */ + static insistOn(tabID: number): void { + if (this.isOpen && this.openTab === tabID) { + this.attentionCount++; + return; + } + this.isOpen = true; + this.openTab = tabID; + } + static tabClicked(tabID: number) { if (!this.isOpen) { this.isOpen = true; @@ -129,6 +149,23 @@ export class RightPanelComponent { // console.warn(this.isOpen); } + /** + * Whether the drawer is currently being pointed at. + * + * A class for one animation's length, taken off again so a second ask plays + * it a second time rather than doing nothing. + */ + attention = false; + private shownAttention = 0; + + ngDoCheck(): void { + if (RightPanelComponent.attentionCount !== this.shownAttention && !this.attention) { + this.shownAttention = RightPanelComponent.attentionCount; + this.attention = true; + setTimeout(() => (this.attention = false), 450); + } + } + /** Shut the drawer, whichever one is open. */ close(): void { RightPanelComponent.isOpen = false; diff --git a/src/app/component/settings-panel/settings-panel.component.html b/src/app/component/settings-panel/settings-panel.component.html index e8a45ae3..bd99b0b6 100644 --- a/src/app/component/settings-panel/settings-panel.component.html +++ b/src/app/component/settings-panel/settings-panel.component.html @@ -9,8 +9,8 @@ option3="SI (m)" [formGroup]="this.settingsForm" _formControl="globalunit" - tooltip="Select the global units to be used for the analysis." - [disabled]="this.settingsService.animating.value" + tooltip="Select the global units to be used for the analysis. Available in Edit mode." + [disabled]="!unitsEditable()" >Global Units Angle Units @@ -56,16 +56,19 @@ query_stats Kinematic Analysis Kinematic - {{ statusOf(TabID.ANALYZE).text }} + + @if (hasStatus()) { + {{ statusOf(TabID.ANALYZE).text }} + }
diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss index 8a089626..d82969d2 100644 --- a/src/app/component/top-bar/top-bar.component.scss +++ b/src/app/component/top-bar/top-bar.component.scss @@ -150,17 +150,27 @@ display: none; } - // Each step down is taken only once the level above would actually run out - // of room. Measured, not guessed: the strip is 1019px wide with full labels, - // 899 with short ones and 716 icon-only, so these are those numbers with a - // little to spare. It used to shorten at 1280 and go icon-only at 1080, - // throwing away words while a quarter of the window was still empty. - @media (max-width: 1040px) { + // How much of each label there is room for, decided by measuring rather than + // by window width. A width has to be chosen for the widest the strip ever + // gets -- four modes, two chips, everything spelled out -- so it throws words + // away long before this particular strip has run out of room for them. + .tabCard.level1 { + .tabButton .tabLabel.long { + display: none; + } + .tabButton .tabLabel.short { display: inline; } } + .tabCard.level0 { + .tabButton .tabLabel, + .tabButton .tabLabel.short { + display: none; + } + } + .modeDivider { flex: 0 0 1px; width: 1px; @@ -299,24 +309,9 @@ margin: 6px 14px; } - // Narrow windows drop the words before they drop a mode. Paired with the - // rule that switches the short spelling on -- one width, two halves of the - // same step, so they have to move together. - @media (max-width: 1040px) { - .tabButton .tabLabel.long { - display: none; - } - } - - // Every label goes at once. Naming the short spelling explicitly, because the - // rule that switched it on lives in a later media block and would otherwise - // keep it while the other two modes had already gone icon-only. + // The history card's words go with the modes' -- it is the same strip + // running out of the same room. @media (max-width: 920px) { - .tabButton .tabLabel, - .tabButton .tabLabel.short { - display: none; - } - .historyCard .historyLabel { display: none; } diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts index 67372747..58197725 100644 --- a/src/app/component/top-bar/top-bar.component.ts +++ b/src/app/component/top-bar/top-bar.component.ts @@ -72,6 +72,18 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr private analytics: AnalyticsService = inject(AnalyticsService); @ViewChild('tabStrip') tabStrip?: ElementRef; + @ViewChild('strip') strip?: ElementRef; + + /** + * How much of each label the strip has room for: 2 full, 1 short, 0 icons. + * + * Measured rather than guessed at a width. Fixed breakpoints have to be set + * for the widest the strip ever gets -- four modes, two status chips, both + * spelled out -- so they throw words away long before the window has run out + * of room for them. This asks the strip. + */ + labelLevel = 2; + private naturalWidths?: [number, number, number]; constructor( public tabs: SelectedTabService, @@ -118,9 +130,52 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr // written by the very pass that would read it back, so measuring inside one // reports where the highlight used to be and it trails a tab behind. ngAfterViewChecked(): void { + this.fitLabels(); this.scheduleHighlight(); } + /** + * Drop a level of label only once the level above will not fit. + * + * The three natural widths are measured once, by laying the strip out at each + * level and reading what it wanted. After that it is arithmetic against the + * space available, which is cheap enough to do on every checked pass. + */ + private fitLabels(): void { + const strip = this.strip?.nativeElement; + const card = this.tabStrip?.nativeElement.parentElement; + if (!strip || !card || strip.clientWidth === 0) return; + + if (!this.naturalWidths) { + const measured: number[] = []; + const was = this.labelLevel; + for (const level of [2, 1, 0]) { + card.classList.remove('level2', 'level1', 'level0'); + card.classList.add(`level${level}`); + measured[level] = card.scrollWidth; + } + card.classList.remove('level2', 'level1', 'level0'); + this.labelLevel = was; + if (measured.some((width) => !(width > 0))) return; + this.naturalWidths = [measured[0], measured[1], measured[2]]; + } + + // What is left for the tab card once its neighbours have taken theirs. + const others = [...strip.children] + .filter((child) => child !== card) + .reduce((total, child) => total + (child as HTMLElement).offsetWidth, 0); + const gaps = 12 * Math.max(strip.children.length - 1, 0); + const room = strip.clientWidth - others - gaps; + + const [icons, short, full] = this.naturalWidths; + const level = room >= full ? 2 : room >= short ? 1 : 0; + void icons; + if (level !== this.labelLevel) { + this.labelLevel = level; + this.changes.detectChanges(); + } + } + ngOnDestroy(): void { if (this.pendingFrame) cancelAnimationFrame(this.pendingFrame); window.removeEventListener('resize', this.onResize); @@ -165,8 +220,10 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr select(tab: TabID): void { this.menuOpen = false; if (this.tabs.isAnalysisMode(tab) && !this.canAnalyse(tab)) { - // The setup for the mode that was pressed, not the other one's. - RightPanelComponent.tabClicked( + // The setup for the mode that was pressed, not the other one's -- and + // never a toggle: a reader pressing a mode that will not open is asking + // why, and closing the answer is not one. + RightPanelComponent.insistOn( tab === TabID.FORCE ? RightPanelComponent.FORCE_SETUP_TAB : RightPanelComponent.KINEMATIC_SETUP_TAB @@ -183,6 +240,17 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr : this.mechanism.oneValidMechanismExists(); } + /** + * An empty grid has nothing to be ready for. + * + * "Ready" over a blank canvas is a promise about a mechanism that has not + * been drawn: nothing is stopping analysis because there is nothing to + * analyse. + */ + hasStatus(): boolean { + return this.mechanism.joints.length > 0 || this.mechanism.links.length > 0; + } + statusOf(tab: TabID): TabStatus { if (tab === TabID.FORCE) { const missing = this.mechanism.forceAnalysisRequirements().filter((r) => !r.met).length; diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index d756614d..02c8d7b4 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -2761,9 +2761,16 @@ export class MechanismService { this.playbackClockMs = null; return; } - // Anything other than the playback loop itself (slider, time field, URL restore) - // is a seek: re-anchor the clock to the sample the caller asked for. - if (!this.advancingPlayback) { + // Anything other than the playback loop itself (a scrubber, a URL restore) + // is a seek of the whole drawing: re-anchor the clock to the sample the + // caller asked for. + // + // Except a seek of one machine, which must leave the frame clock alone. + // Clearing it says "the next frame has no previous frame to measure from", + // so a drag -- which seeks sixty times a second -- measured zero elapsed + // every frame and every other machine stood still for as long as the drag + // lasted. + if (!this.advancingPlayback && !this.seekingOneMechanism) { this.playbackTimeSeconds = this.timeAtStep(this.mechanismTimeStep); this.playbackClockMs = null; } @@ -3401,6 +3408,11 @@ export class MechanismService { this.ownPlaying = this.mechanisms.map( (mechanism) => this.isPlaying && mechanism.isMechanismValid() ); + // And back onto one clock. Synced means one row and one handle, and a + // handle standing for machines that are at four different times can only + // lie about three of them -- which is what made it jump when dragged + // after a spell apart. + this.seekAllTo(this.ownSeconds[this.masterMechanismIndex()] ?? 0); } this.drawOwnClocks(this.isPlaying); } From c7b583fe812d00fc21a2df2710b210c15b951544 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 22:32:07 -0400 Subject: [PATCH 042/236] Let the others keep running while one is dragged Seeking one machine cleared the shared frame clock, which says "the next frame has no previous frame to measure from" -- so a drag, which seeks sixty times a second, measured zero elapsed every frame and every other machine stood still for as long as the drag lasted. And going back to one clock now puts every machine on it. A single handle standing for machines at four different times can only be honest about one of them, which is why it lurched when dragged after a spell apart. The combined row follows the longest cycle in the drawing, so that one handle can still reach every frame of every machine. The strip measures itself rather than remembering. The natural widths of its three label levels depend on the chips, the font and the layout being finished, and a set measured before any of that settled says the strip is small enough for anything -- which is how a phone came to show four full labels in a card a fifth of the width they need. It re-fits when the room or the chips change, and watches the card as well as the window. Also: unassigned geometry counts as something to fix, so a drawing of two joints and a bar no longer reports itself ready to analyse; the status chip is hidden entirely when nothing is drawn; units are editable only in Edit, since a unit change rescales the geometry the other modes lock; pressing a mode that will not open never closes the setup drawer explaining why -- it nudges it; and the rewind out of an analysis mode goes whichever way round the cycle is shorter. --- e2e/top-strip-states.mjs | 195 ++++++++++++++++++ .../left-tabs/left-tabs.component.scss | 4 + .../left-tabs/left-tabs.component.ts | 8 +- .../playback-bar/playback-bar.component.ts | 19 +- .../right-panel/right-panel.component.scss | 28 ++- .../right-panel/right-panel.component.ts | 2 +- .../component/top-bar/top-bar.component.html | 4 +- .../component/top-bar/top-bar.component.scss | 110 +++++----- .../component/top-bar/top-bar.component.ts | 98 ++++++--- src/app/services/mechanism.service.ts | 11 +- 10 files changed, 372 insertions(+), 107 deletions(-) create mode 100644 e2e/top-strip-states.mjs diff --git a/e2e/top-strip-states.mjs b/e2e/top-strip-states.mjs new file mode 100644 index 00000000..c2d81274 --- /dev/null +++ b/e2e/top-strip-states.mjs @@ -0,0 +1,195 @@ +/** + * Every state the top strip has, checked in a browser. + * + * The strip has four things that vary independently, and the combinations are + * where it went wrong: how much room the window leaves it, how much the status + * chips are saying, which mode is showing, and whether it was laid out at that + * size or resized to it. Fixed breakpoints made the first two disagree; a + * remembered measurement made the last two disagree. + * + * What must hold in every combination: + * + * - Nothing in the tab card is outside the tab card. + * - The card is not scrolled (its content fits, or the labels gave way). + * - The page does not scroll sideways. + * - The history card stays inside the window. + * - Shrinking and growing back cross the same steps, with room to spare + * either side, so a window dragged slowly does not flicker between them. + * + * PMKS_BASE_URL= node e2e/top-strip-states.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +/** Two joints and a bar: in no mechanism, so nothing about it is ready. */ +const LONE_BAR = + '2P.Zz,1E8.5,0.1011.0A,A,2UW,9v,0.0B,B,3E8,1Zn,0..YRAB,AB,Fe,Fe,2sK,sr,303e9f,A,B,,...N_P'; + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +/** Everything about the strip that can be wrong. */ +const inspect = (page) => + page.evaluate(() => { + const strip = document.querySelector('.topStrip'); + const card = document.querySelector('.tabCard'); + const history = document.querySelector('.historyCard'); + if (!strip || !card) return { missing: true }; + const box = card.getBoundingClientRect(); + // A hidden element has a zero rect at the origin, which is not "outside". + const escaped = [...card.querySelectorAll('.tabButton,.chip')] + .filter((node) => { + const rect = node.getBoundingClientRect(); + if (rect.width === 0 && rect.height === 0) return false; + return rect.right > box.right + 0.5 || rect.left < box.left - 0.5; + }) + .map((node) => node.textContent.trim().slice(0, 16)); + // scrollWidth still reports content that overflow:hidden has clipped, so + // whether the page can actually be scrolled is the honest question. + const scroller = document.scrollingElement; + const was = scroller.scrollLeft; + scroller.scrollLeft = 300; + const scrolls = scroller.scrollLeft; + scroller.scrollLeft = was; + return { + level: Number((card.className.match(/level(\d)/) ?? [, '2'])[1]), + clipped: card.scrollWidth - card.clientWidth, + escaped, + scrolls, + pastEdge: Math.round( + (history?.getBoundingClientRect().right ?? 0) - document.documentElement.clientWidth + ), + chips: [...document.querySelectorAll('.chip')].map((chip) => chip.textContent.trim()), + }; + }); + +const broken = (state) => + state.missing + ? false + : state.clipped > 1 || state.escaped.length > 0 || state.scrolls > 0 || state.pastEdge > -6; + +const browser = await chromium.launch(); +const errors = []; + +// --- every drawing, at every width, in every mode -------------------------- +const WIDTHS = [1500, 1200, 1015, 1000, 900, 820, 800, 745, 735, 500, 400, 360]; +const DRAWINGS = [ + ['an empty grid', ''], + ['geometry in no mechanism', LONE_BAR], + ['a four-bar that runs', payloads['4-Bar']], + ['a cylinder boom', payloads['Cylinder_Boom']], + ['a Jansen leg', payloads['Jansen_Leg']], +]; + +const failures = []; +for (const [what, payload] of DRAWINGS) { + for (const width of WIDTHS) { + const page = await browser.newPage({ viewport: { width, height: 860 } }); + page.on('pageerror', (error) => errors.push(String(error))); + await page.goto(`${BASE}/${payload ? '?' + payload : ''}`, { waitUntil: 'domcontentloaded' }); + await waitForReady(page).catch(() => undefined); + // The tour runs on a first visit and is not what this is measuring. + await page.evaluate(() => + document + .querySelectorAll('.introjs-overlay,.introjs-helperLayer,.introjs-tooltipReferenceLayer') + .forEach((node) => node.remove()) + ); + for (const mode of ['Synthesis', 'Edit', 'Kinematic', 'Force']) { + await page + .locator('.tabButton', { hasText: mode }) + .click({ force: true }) + .catch(() => undefined); + await page.waitForTimeout(300); + const state = await inspect(page); + if (broken(state)) failures.push({ what, width, mode, ...state }); + } + await page.close(); + } +} +record( + `the strip holds together in all ${DRAWINGS.length * WIDTHS.length * 4} states`, + failures.length === 0, + failures.slice(0, 6) +); + +// --- shrinking and growing back -------------------------------------------- +const page = await browser.newPage({ viewport: { width: 1500, height: 900 } }); +page.on('pageerror', (error) => errors.push(String(error))); +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); + +const sweep = async (from, to, step) => { + const seen = []; + for (let width = from; step < 0 ? width >= to : width <= to; width += step) { + await page.setViewportSize({ width, height: 900 }); + await page.waitForTimeout(130); + seen.push({ width, ...(await inspect(page)) }); + } + return seen; +}; + +const down = await sweep(1500, 380, -10); +const up = await sweep(380, 1500, 10); +record( + 'nothing breaks at any width on the way down or back up', + [...down, ...up].every((state) => !broken(state)), + [...down, ...up].filter(broken).slice(0, 4) +); + +const steps = (seen) => + seen.filter((state, i) => i > 0 && state.level !== seen[i - 1].level).map((s) => s.width); +const downSteps = steps(down); +const upSteps = steps(up); +record('it steps down twice and back up twice', downSteps.length === 2 && upSteps.length === 2, { + downSteps, + upSteps, +}); +// Hysteresis: the width it gives a label back at is above the one it took it +// away at, so a window dragged slowly across the boundary does not flicker. +record( + 'and gives each label back a little wider than it took it away', + downSteps.every((width, i) => upSteps[upSteps.length - 1 - i] > width), + { downSteps, upSteps } +); + +// --- the chips changing under a fixed window -------------------------------- +await page.setViewportSize({ width: 1015, height: 900 }); +await page.waitForTimeout(400); +const chipStates = []; +for (let round = 0; round < 3; round++) { + await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + const driven = srv.joints.find((joint) => joint.input); + if (driven) driven.input = false; + else srv.joints[0].input = true; + srv.updateMechanism(true); + }); + await page.waitForTimeout(600); + chipStates.push(await inspect(page)); +} +record( + 'a status chip changing width never leaves the strip clipped', + chipStates.every((state) => !broken(state)), + chipStates +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); +await browser.close(); + +const failed = results.filter(([, ok]) => !ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +process.exit(failed.length ? 1 : 0); diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index e1c349fb..a6d5e0e0 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -95,6 +95,10 @@ // shadow off there. padding: nav.$shadow-room; box-sizing: border-box; + // Wide enough for the card plus the room its shadow needs. Shrink-to-fit + // sized the frame to the card alone, so the card overhung its own padding + // and the right-hand shadow was cut off against the frame's edge. + width: max-content; overflow-x: hidden; overflow-y: auto; --panel-clearance: #{nav.$bottom-bar-height + 12px}; diff --git a/src/app/component/left-tabs/left-tabs.component.ts b/src/app/component/left-tabs/left-tabs.component.ts index 62065d46..eeb11203 100644 --- a/src/app/component/left-tabs/left-tabs.component.ts +++ b/src/app/component/left-tabs/left-tabs.component.ts @@ -10,11 +10,15 @@ import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; animations: [ trigger('openClose', [ // ... + // The card's own width plus the 20px the frame keeps around it for its + // shadow. Set to the card's width alone, the frame was exactly as wide + // as what it held, so the card overhung its own padding and the + // right-hand shadow was cut off against the frame's edge. state( 'open', style({ transform: 'translateX(0)', - width: '270px', //Be careful, there are multiple places to change this value + width: '290px', //Be careful, there are multiple places to change this value }) ), state( @@ -26,7 +30,7 @@ import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; state( 'openWide', style({ - width: '420px', //Be careful, there are multiple places to change this value + width: '440px', //Be careful, there are multiple places to change this value }) ), transition('open => openWide', [animate('0.1s ease-in-out')]), diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index a7179e8d..9bacdb2b 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -15,6 +15,8 @@ export interface PlaybackRow { id: string; /** -1 for the combined row, which stands for every machine at once. */ index: number; + /** The machine the row's handle is measured against. */ + leader: number; /** Whether this line is one machine, and so has a direction to flip. */ isMechanism: boolean; /** The line the shared scrubber and the time field belong to. */ @@ -132,7 +134,13 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { // is, because each measures a different thing. The combined row follows the // first machine and says nothing about direction. if (this.mechanism.syncMechanisms) { - const lead = runnable[0]; + // The longest cycle in the drawing, so one handle can reach every frame + // of every machine. Following the first one instead left the slower + // machines with a stretch at the end of their cycles the handle could + // not get to. + const lead = runnable.reduce((longest, candidate) => + candidate.mechanism.cyclePeriod > longest.mechanism.cyclePeriod ? candidate : longest + ); const alone = runnable.length === 1; return [this.rowFor(lead.index, true, false, alone ? undefined : 'All')]; } @@ -149,6 +157,7 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { return { id: name ?? this.mechanism.partitions[index]?.id ?? `M${index + 1}`, index: combined ? -1 : index, + leader: index, isMechanism: !combined, master, time: this.format(seconds), @@ -249,13 +258,13 @@ export class PlaybackBarComponent implements OnInit, OnDestroy { */ scrubRow(row: PlaybackRow, event: Event): void { const along = Number((event.target as HTMLInputElement).value) / 1000; - const index = row.index === -1 ? this.mechanism.masterMechanismIndex() : row.index; - if (index === -1) return; if (row.index === -1) { - // The combined row stands for all of them, so all of them go. - this.mechanism.seekAllAlong(index, along); + // The combined row stands for all of them, so all of them go -- led by + // the longest cycle, which is the one whose frames the handle spans. + this.mechanism.seekAllAlong(row.leader, along); return; } + const index = row.index; this.mechanism.seekMechanismTo(index, along); } diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 65d1208f..840d93a7 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -49,25 +49,31 @@ } } - // Asked for while already open: a short nudge, so the reader's eye goes to - // the answer they just asked for twice. + // Asked for while already open. A deliberate pull rather than a wobble: it + // steps out and back twice, at a size a reader reads as "look here" instead + // of as a drawer having trouble closing. .insisting { - animation: drawerNudge 0.42s cubic-bezier(0.36, 0.07, 0.19, 0.97); + animation: drawerNudge 0.62s cubic-bezier(0.22, 1, 0.36, 1); } @keyframes drawerNudge { - 0%, - 100% { + 0% { transform: translateX(0); } - 18% { - transform: translateX(-9px); + 14% { + transform: translateX(-26px); + } + 34% { + transform: translateX(0); } - 42% { - transform: translateX(6px); + 54% { + transform: translateX(-26px); } - 68% { - transform: translateX(-3px); + 76% { + transform: translateX(0); + } + 100% { + transform: translateX(0); } } diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index 6d65e970..58ddd01c 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -162,7 +162,7 @@ export class RightPanelComponent implements DoCheck { if (RightPanelComponent.attentionCount !== this.shownAttention && !this.attention) { this.shownAttention = RightPanelComponent.attentionCount; this.attention = true; - setTimeout(() => (this.attention = false), 450); + setTimeout(() => (this.attention = false), 650); } } diff --git a/src/app/component/top-bar/top-bar.component.html b/src/app/component/top-bar/top-bar.component.html index fe94b191..7f63ce4c 100644 --- a/src/app/component/top-bar/top-bar.component.html +++ b/src/app/component/top-bar/top-bar.component.html @@ -1,4 +1,4 @@ -
+
-
+
diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss index d82969d2..39a6ff53 100644 --- a/src/app/component/top-bar/top-bar.component.scss +++ b/src/app/component/top-bar/top-bar.component.scss @@ -150,11 +150,21 @@ display: none; } - // How much of each label there is room for, decided by measuring rather than - // by window width. A width has to be chosen for the widest the strip ever - // gets -- four modes, two chips, everything spelled out -- so it throws words - // away long before this particular strip has run out of room for them. - .tabCard.level1 { + // One ladder of states, each strictly smaller than the one above it, and the + // strip takes the highest that fits. Measured rather than set at a window + // width: a width has to be chosen for the widest the strip ever gets -- four + // modes, two status chips, everything spelled out -- so it gives up words + // long before this particular strip has run out of room for them. + // + // fit3 full labels, chips, Undo and Redo spelled out + // fit2 short labels for the two analysis modes + // fit1 icons only, chips kept + // fit0 icons only, no chips, no wordmark + // + // Strictly smaller matters: when the chips lived in a media query, crossing + // it freed enough room to bring the labels *back*, so shrinking the window + // made the strip grow. + .topStrip.fit2 { .tabButton .tabLabel.long { display: none; } @@ -164,11 +174,38 @@ } } - .tabCard.level0 { + .topStrip.fit1, + .topStrip.fit0 { .tabButton .tabLabel, .tabButton .tabLabel.short { display: none; } + + .historyCard .historyLabel { + display: none; + } + } + + .topStrip.fit0 { + .tabButton .chip { + display: none; + } + + .logo { + display: none; + } + + .tabButton { + padding: 0 8px; + } + + .modeDivider { + margin: 0 4px; + } + + .historyButton { + padding: 0 8px; + } } .modeDivider { @@ -309,60 +346,17 @@ margin: 6px 14px; } - // The history card's words go with the modes' -- it is the same strip - // running out of the same room. - @media (max-width: 920px) { - .historyCard .historyLabel { - display: none; + // The last resort, and only that: if even the smallest state does not fit, + // the tab card scrolls rather than putting a mode off the edge of the window. + @media (max-width: 380px) { + .topStrip .tabCard { + flex: 1 1 auto; + overflow-x: auto; + overflow-y: hidden; + scrollbar-width: none; } - } - - // A phone cannot hold four modes and a history card across one line. Rather - // than let the strip run off the edge -- which put two of the four modes - // somewhere unreachable, with the page scrolling sideways to prove it -- the - // tab card scrolls on its own and the chips go, since the status they carry - // is also on the status strip. - @media (max-width: 740px) { - .topStrip { - .tabCard { - flex: 1 1 auto; - overflow-x: auto; - overflow-y: hidden; - scrollbar-width: none; - } - - .tabCard::-webkit-scrollbar { - display: none; - } - - .historyCard { - gap: 2px; - } - } - - .tabButton { - padding: 0 10px; - - .chip { - display: none; - } - } - - .modeDivider { - margin: 0 4px; - } - - .historyButton { - padding: 0 8px; - } - } - // Narrower than this the four modes do not fit beside the wordmark -- and a - // mode reachable only by scrolling a card that gives no sign it scrolls is a - // mode that is not there. The hamburger stays; the wordmark is what the - // window can spare. - @media (max-width: 430px) { - .topStrip .logo { + .topStrip .tabCard::-webkit-scrollbar { display: none; } } diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts index 58197725..10e15f88 100644 --- a/src/app/component/top-bar/top-bar.component.ts +++ b/src/app/component/top-bar/top-bar.component.ts @@ -82,8 +82,17 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr * spelled out -- so they throw words away long before the window has run out * of room for them. This asks the strip. */ - labelLevel = 2; - private naturalWidths?: [number, number, number]; + labelLevel = 3; + /** + * The room and the labels the current level was chosen for. + * + * Nothing else is remembered between fits. The natural widths depend on the + * chips, the font and the layout being finished, and a set measured before + * any of that settled says the strip is small enough for anything -- which + * is how a phone came to show four full labels in a card a fifth of the + * width they need. + */ + private lastFit = ''; constructor( public tabs: SelectedTabService, @@ -124,12 +133,17 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr ngAfterViewInit(): void { this.scheduleHighlight(); window.addEventListener('resize', this.onResize); + document.fonts?.ready.then(() => { + this.lastFit = ''; + this.zone.run(() => this.fitLabels()); + }); } // After the pass, not during it: the `active` class this measures off is // written by the very pass that would read it back, so measuring inside one // reports where the highlight used to be and it trails a tab behind. ngAfterViewChecked(): void { + this.watchCard(); this.fitLabels(); this.scheduleHighlight(); } @@ -143,33 +157,41 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr */ private fitLabels(): void { const strip = this.strip?.nativeElement; - const card = this.tabStrip?.nativeElement.parentElement; - if (!strip || !card || strip.clientWidth === 0) return; - - if (!this.naturalWidths) { - const measured: number[] = []; - const was = this.labelLevel; - for (const level of [2, 1, 0]) { - card.classList.remove('level2', 'level1', 'level0'); - card.classList.add(`level${level}`); - measured[level] = card.scrollWidth; - } - card.classList.remove('level2', 'level1', 'level0'); - this.labelLevel = was; - if (measured.some((width) => !(width > 0))) return; - this.naturalWidths = [measured[0], measured[1], measured[2]]; - } - - // What is left for the tab card once its neighbours have taken theirs. - const others = [...strip.children] - .filter((child) => child !== card) - .reduce((total, child) => total + (child as HTMLElement).offsetWidth, 0); + if (!strip || strip.clientWidth === 0) return; + + // Re-fit when the question changes, not on every pass: four class toggles + // and four layout reads is cheap once and dear sixty times a second. The + // chips are part of the question -- "Ready" is half of "3 to set". + const question = [ + strip.clientWidth, + this.statusOf(TabID.ANALYZE).text, + this.statusOf(TabID.FORCE).text, + this.tabs.getCurrentTab(), + ].join('|'); + if (question === this.lastFit) return; + this.lastFit = question; + + // What the strip wants at each level: its cards at their natural widths, + // plus the gaps between them. Their laid-out widths would only tell us how + // far they have already been squeezed. const gaps = 12 * Math.max(strip.children.length - 1, 0); - const room = strip.clientWidth - others - gaps; + const restore = strip.className; + const wants = [0, 1, 2, 3].map((level) => { + strip.classList.remove('fit0', 'fit1', 'fit2', 'fit3'); + strip.classList.add(`fit${level}`); + return [...strip.children].reduce((total, card) => total + card.scrollWidth, 0) + gaps; + }); + strip.className = restore; + if (!(wants[3] > 0)) { + // Nothing has been laid out yet. Ask again rather than remembering that. + this.lastFit = ''; + return; + } - const [icons, short, full] = this.naturalWidths; - const level = room >= full ? 2 : room >= short ? 1 : 0; - void icons; + const level = wants.reduce( + (best, want, at) => (want <= strip.clientWidth ? Math.max(best, at) : best), + 0 + ); if (level !== this.labelLevel) { this.labelLevel = level; this.changes.detectChanges(); @@ -179,6 +201,28 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr ngOnDestroy(): void { if (this.pendingFrame) cancelAnimationFrame(this.pendingFrame); window.removeEventListener('resize', this.onResize); + this.cardWatch?.disconnect(); + } + + private cardWatch?: ResizeObserver; + + /** + * Watch the card, not just the window. + * + * The card can be squeezed without the window changing -- a chip growing, a + * drawer opening beside it -- and a squeeze nothing asks a question about is + * one the reader sees as clipped text. + */ + private watchCard(): void { + const card = this.strip?.nativeElement; + if (!card || this.cardWatch || typeof ResizeObserver === 'undefined') return; + this.cardWatch = new ResizeObserver(() => + this.zone.run(() => { + this.lastFit = ''; + this.fitLabels(); + }) + ); + this.cardWatch.observe(card); } private scheduleHighlight(): void { diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 02c8d7b4..0270b601 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -1882,12 +1882,21 @@ export class MechanismService { } /** How many blockers stand between this drawing and a full set of animations. */ + /** + * How many things stand between the drawing and being analysed. + * + * Geometry that is in no mechanism counts. Without it a drawing of two + * joints and a bar -- which is in no mechanism, has no input and cannot be + * analysed at all -- reported nothing to fix, because there was no mechanism + * for anything to be wrong with, and the chip read "Ready". + */ blockerCount(): number { - return this.readinessOfEachMechanism().reduce( + const inMechanisms = this.readinessOfEachMechanism().reduce( (total, readiness) => total + readiness.checks.filter((check) => check.state === 'blocker').length, 0 ); + return inMechanisms + this.unassignedReports().length; } invalidReason(): string | undefined { From 2067a9bd131b9791baca8196f197a93690b3af7a Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 22:45:01 -0400 Subject: [PATCH 043/236] Read the strip's state off the strip The state moved from the tab card to the strip when the ladder replaced the media queries, and the check was still looking for it on the card -- so it saw one level everywhere and could not tell a step from a stall. It also expects three steps rather than two now, because there are four states rather than three. --- e2e/top-strip-states.mjs | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/e2e/top-strip-states.mjs b/e2e/top-strip-states.mjs index c2d81274..997cd30e 100644 --- a/e2e/top-strip-states.mjs +++ b/e2e/top-strip-states.mjs @@ -66,7 +66,7 @@ const inspect = (page) => const scrolls = scroller.scrollLeft; scroller.scrollLeft = was; return { - level: Number((card.className.match(/level(\d)/) ?? [, '2'])[1]), + level: Number((strip.className.match(/fit(\d)/) ?? [, '3'])[1]), clipped: card.scrollWidth - card.clientWidth, escaped, scrolls, @@ -154,10 +154,11 @@ const steps = (seen) => seen.filter((state, i) => i > 0 && state.level !== seen[i - 1].level).map((s) => s.width); const downSteps = steps(down); const upSteps = steps(up); -record('it steps down twice and back up twice', downSteps.length === 2 && upSteps.length === 2, { - downSteps, - upSteps, -}); +record( + 'it steps down through the ladder and back up the same way', + downSteps.length === 3 && upSteps.length === 3, + { downSteps, upSteps } +); // Hysteresis: the width it gives a label back at is above the one it took it // away at, so a window dragged slowly across the boundary does not flicker. record( From 2879ea687a199eb453c239418818322d94f02026 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 22:58:46 -0400 Subject: [PATCH 044/236] Draw the grid as a background, on a one-two-five ladder Both sets of grid lines were black at a hairline width, which is a grey the browser picks rather than one the app does -- and a different grey at every zoom level. They are two named greys a shade apart now, a pixel each, with the axes the only line on the grid carrying any weight. And the labels land on multiples of five. The cell size halved and quartered its way down from a fixed starting size, which is a one-two-four ladder: the numbers came out on multiples of four and every line between two of them was a quarter of whatever the label said. The minor cell is now one, two or five of whichever decade fits, and five of them make the labelled cell -- so the number on a line is round, and so is every line between them. Colours, weights and the type scale are the redesign's own. --- .../new-grid/new-grid.component.html | 32 ++++++------ .../new-grid/new-grid.component.scss | 17 +++++- src/app/services/svg-grid.service.ts | 52 ++++++++++++++----- 3 files changed, 71 insertions(+), 30 deletions(-) diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index a563f938..6089f201 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -116,8 +116,8 @@ [attr.y1]="svgGrid.viewBoxMinY" [attr.x2]="line" [attr.y2]="svgGrid.viewBoxMaxY" - stroke="black" - [attr.stroke-width]="svgGrid.scaleWithZoom(0.15)" + class="gridLineMinor" + [attr.stroke-width]="svgGrid.scaleWithZoom(1)" > } @@ -128,8 +128,8 @@ [attr.y1]="line" [attr.x2]="svgGrid.viewBoxMaxX" [attr.y2]="line" - stroke="black" - [attr.stroke-width]="svgGrid.scaleWithZoom(0.15)" + class="gridLineMinor" + [attr.stroke-width]="svgGrid.scaleWithZoom(1)" > } @@ -145,8 +145,8 @@ [attr.y1]="svgGrid.viewBoxMinY" [attr.x2]="line" [attr.y2]="svgGrid.viewBoxMaxY" - stroke="black" - [attr.stroke-width]="svgGrid.scaleWithZoom(0.75)" + class="gridLineMajor" + [attr.stroke-width]="svgGrid.scaleWithZoom(1)" > } @@ -157,8 +157,8 @@ [attr.y1]="line" [attr.x2]="svgGrid.viewBoxMaxX" [attr.y2]="line" - stroke="black" - [attr.stroke-width]="svgGrid.scaleWithZoom(0.75)" + class="gridLineMajor" + [attr.stroke-width]="svgGrid.scaleWithZoom(1)" > } @@ -171,7 +171,7 @@ y1="0" [attr.x2]="svgGrid.viewBoxMaxX" y2="0" - [attr.stroke-width]="svgGrid.scaleWithZoom(3)" + [attr.stroke-width]="svgGrid.scaleWithZoom(1.5)" > @@ -190,8 +190,8 @@ text-anchor="middle" [attr.x]="line" [attr.y]="svgGrid.scaleWithZoom(20)" - [attr.stroke-width]="svgGrid.scaleWithZoom(5)" - [attr.font-size]="svgGrid.scaleWithZoom(15)" + [attr.stroke-width]="svgGrid.scaleWithZoom(3)" + [attr.font-size]="svgGrid.scaleWithZoom(14)" > {{ axisLabel(line) }} @@ -204,8 +204,8 @@ text-anchor="end" [attr.y]="line" [attr.x]="svgGrid.scaleWithZoom(-10)" - [attr.stroke-width]="svgGrid.scaleWithZoom(5)" - [attr.font-size]="svgGrid.scaleWithZoom(15)" + [attr.stroke-width]="svgGrid.scaleWithZoom(3)" + [attr.font-size]="svgGrid.scaleWithZoom(14)" > {{ axisLabel(-line) }} @@ -216,8 +216,8 @@ text-anchor="end" [attr.y]="svgGrid.scaleWithZoom(20)" [attr.x]="svgGrid.scaleWithZoom(-10)" - [attr.stroke-width]="svgGrid.scaleWithZoom(5)" - [attr.font-size]="svgGrid.scaleWithZoom(15)" + [attr.stroke-width]="svgGrid.scaleWithZoom(3)" + [attr.font-size]="svgGrid.scaleWithZoom(14)" > 0 diff --git a/src/app/component/new-grid/new-grid.component.scss b/src/app/component/new-grid/new-grid.component.scss index 712cc5df..7d48090c 100644 --- a/src/app/component/new-grid/new-grid.component.scss +++ b/src/app/component/new-grid/new-grid.component.scss @@ -17,10 +17,23 @@ opacity: 0.3; } + // The grid is a background, and reads as one: two greys a shade apart, the + // minor one barely there, and the axes the only line on it with any weight. + // Both were black at a hairline width, which is a grey the browser chooses + // rather than one the app does -- and a different grey at every zoom level. + .gridLineMinor { + stroke: #f2f2f4; + } + + .gridLineMajor { + stroke: #e6e6ea; + } + #axes_numbers { - fill: mat.m2-get-color-from-palette($foreground, 'text'); + // Lighter than body text: these are a reference, not something to read. + fill: rgba(0, 0, 0, 0.55); paint-order: stroke; - stroke: white; + stroke: #fff; stroke-linejoin: round; stroke-linecap: round; alignment-baseline: middle; diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index 189d1f91..ce3858de 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -8,6 +8,15 @@ import { SettingsService } from './settings.service'; import { DragStateService } from './drag-state.service'; import Hammer from 'hammerjs'; import { MODEL_SCALE } from '../model/render-scale'; + +/** + * Minor lines to a major cell. + * + * Five, so the lines between two labels are whole units: the labels fall on + * multiples of five, and at four divisions every line between them was a + * quarter of whatever the label said. + */ +const MINOR_DIVISIONS = 5; import { LengthUnit } from '../model/unit-enums'; /** One of each unit, in centimetres. The only ratio this file needs. */ @@ -299,10 +308,12 @@ export class SvgGridService { } this.verticalLinesMinor = []; - currentLine = Math.floor(this.viewBoxMinX / (this.cellSize / 4)) * (this.cellSize / 4); + currentLine = + Math.floor(this.viewBoxMinX / (this.cellSize / MINOR_DIVISIONS)) * + (this.cellSize / MINOR_DIVISIONS); while (currentLine < this.viewBoxMaxX) { this.verticalLinesMinor.push(currentLine); - currentLine += this.cellSize / 4; + currentLine += this.cellSize / MINOR_DIVISIONS; } this.horizontalLines = []; @@ -317,10 +328,12 @@ export class SvgGridService { } this.horizontalLinesMinor = []; - currentLine = Math.floor(this.viewBoxMinY / (this.cellSize / 4)) * (this.cellSize / 4); + currentLine = + Math.floor(this.viewBoxMinY / (this.cellSize / MINOR_DIVISIONS)) * + (this.cellSize / MINOR_DIVISIONS); while (currentLine < this.viewBoxMaxY) { this.horizontalLinesMinor.push(currentLine); - currentLine += this.cellSize / 4; + currentLine += this.cellSize / MINOR_DIVISIONS; } //Clean up the lines by rounding them to 2 decimal places @@ -364,14 +377,7 @@ export class SvgGridService { handleZoom(zoomLevel: number) { // console.log(this.getZoom()); - this.cellSize = this.defualtCellSize; - const divisionSequnece: number[] = [2.5, 2, 2]; - let i = 0; - while (this.cellSize * this.getZoom() > 200) { - //This number is the maximum size of the cell, if it's any larger it will get sub-divided - this.cellSize = this.cellSize / divisionSequnece[i % divisionSequnece.length]; - i++; - } + this.cellSize = this.cellSizeFor(this.getZoom()); this.handlePan(); if (this.getZoom() * this.settingsService.objectScale < 5) { NewGridComponent.sendNotification( @@ -387,6 +393,28 @@ export class SvgGridService { } } + /** + * How far apart the labelled lines go at this zoom. + * + * A minor cell of one, two or five of whatever decade fits -- so the number + * on a labelled line is always round, and so is every minor line between + * them. Five minors to the major means every label is a multiple of five. + * + * It used to halve and quarter its way down from a fixed starting size, + * which is a one-two-four ladder: the labels came out on multiples of four + * and the lines between them on quarters of whatever the label said. + */ + private cellSizeFor(zoom: number): number { + const MAX_MAJOR_PX = 200; + const unitsPerMinor = MAX_MAJOR_PX / (zoom * MODEL_SCALE * MINOR_DIVISIONS); + if (!(unitsPerMinor > 0) || !Number.isFinite(unitsPerMinor)) { + return this.defualtCellSize; + } + const decade = 10 ** Math.floor(Math.log10(unitsPerMinor)); + const minorUnits = [5, 2, 1].find((step) => decade * step <= unitsPerMinor) ?? 1; + return decade * minorUnits * MINOR_DIVISIONS * MODEL_SCALE; + } + handleUpdatedCTM(newCTM: SVGMatrix) { this.CTM = newCTM; } From a98a26d0095342e4b43914c983e36ec3b2b79d60 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 23:09:35 -0400 Subject: [PATCH 045/236] Climb the ladder every graph paper climbs MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The cell size stepped 1, 2.5, 5 — a rung the recording does not have. Its majors go 0.5, 2, 10, which is the one-two-five ladder, so pick the major from that and let the five minors follow. Across a zoom sweep the labels now step 0.05, 0.1, 0.2, 0.5, 1, 2, 5: mantissas of one, two and five only, with five minor lines to a major at every level. --- src/app/services/svg-grid.service.ts | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index ce3858de..75416f8b 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -396,9 +396,10 @@ export class SvgGridService { /** * How far apart the labelled lines go at this zoom. * - * A minor cell of one, two or five of whatever decade fits -- so the number - * on a labelled line is always round, and so is every minor line between - * them. Five minors to the major means every label is a multiple of five. + * One, two or five of whatever decade fits, which is the ladder every graph + * paper and plotting library climbs: 0.5, 1, 2, 5, 10, 20, 50. Five minor + * lines to a major, so the labelled lines land on round numbers and the + * grid subdivides at a steady rate rather than in jumps. * * It used to halve and quarter its way down from a fixed starting size, * which is a one-two-four ladder: the labels came out on multiples of four @@ -406,13 +407,14 @@ export class SvgGridService { */ private cellSizeFor(zoom: number): number { const MAX_MAJOR_PX = 200; - const unitsPerMinor = MAX_MAJOR_PX / (zoom * MODEL_SCALE * MINOR_DIVISIONS); - if (!(unitsPerMinor > 0) || !Number.isFinite(unitsPerMinor)) { + const unitsPerMajor = MAX_MAJOR_PX / (zoom * MODEL_SCALE); + if (!(unitsPerMajor > 0) || !Number.isFinite(unitsPerMajor)) { return this.defualtCellSize; } - const decade = 10 ** Math.floor(Math.log10(unitsPerMinor)); - const minorUnits = [5, 2, 1].find((step) => decade * step <= unitsPerMinor) ?? 1; - return decade * minorUnits * MINOR_DIVISIONS * MODEL_SCALE; + // The largest one, two or five of this decade that still fits the budget. + const decade = 10 ** Math.floor(Math.log10(unitsPerMajor)); + const majorUnits = [5, 2, 1].find((step) => decade * step <= unitsPerMajor) ?? 1; + return decade * majorUnits * MODEL_SCALE; } handleUpdatedCTM(newCTM: SVGMatrix) { From 7bbf88873a9aefab5d6d937a2c34cecd22764f34 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 23:10:49 -0400 Subject: [PATCH 046/236] Put the number in the header, and the graph behind it A reader asking "where is joint B" had to open a graph to find out, and a joint and a link between them offer ten graphs to open. Each one now carries its own values in its header -- the pose on screen, not the cycle -- so the graph is what you open when the number is not enough. That value comes from a new AnalysisSampleService, which is the switch that used to sit inside the graph's plotting loop. The only way to ask what a quantity reads right now was to build all 360 samples and take one point out; both callers share the arithmetic now, the graph by walking every index and the header by asking for one. The rest is the panel getting out of the way: - The "Kinematic Analysis" and "Force Analysis" accordions are gone. They named the mode the reader had already chosen and were one more thing to open before reaching a graph. The panel's own title says it: "Kinematic Analysis for Joint B". - Three checkboxes under each graph became the values row itself. One row now reads the series out and, once the graph is open, switches them on and off -- with a rule in each series' own colour, which the checkboxes never showed. - The Download Data button is gone; it belongs somewhere it can be offered once rather than ten times. Twelve near-identical forty-line expansion panels collapsed into one component used twelve times, which is most of the 481 lines this takes off the panel template. --- src/app/app.module.ts | 2 + .../analysis-graph-section.component.html | 56 ++ .../analysis-graph-section.component.scss | 121 ++++ .../analysis-graph-section.component.ts | 159 +++++ .../analysis-graph.component.html | 59 -- .../analysis-graph.component.scss | 98 --- .../analysis-graph.component.spec.ts | 34 +- .../analysis-graph.component.ts | 230 ++------ .../analysis-panel.component.html | 558 +++++------------- .../analysis-panel.component.spec.ts | 50 +- .../analysis-panel.component.ts | 16 +- src/app/model/analysis-series.ts | 12 + .../services/analysis-sample.service.spec.ts | 155 +++++ src/app/services/analysis-sample.service.ts | 187 ++++++ src/mytheme.scss | 2 + 15 files changed, 974 insertions(+), 765 deletions(-) create mode 100644 src/app/component/analysis-graph-section/analysis-graph-section.component.html create mode 100644 src/app/component/analysis-graph-section/analysis-graph-section.component.scss create mode 100644 src/app/component/analysis-graph-section/analysis-graph-section.component.ts create mode 100644 src/app/model/analysis-series.ts create mode 100644 src/app/services/analysis-sample.service.spec.ts create mode 100644 src/app/services/analysis-sample.service.ts diff --git a/src/app/app.module.ts b/src/app/app.module.ts index 62889124..d9955203 100644 --- a/src/app/app.module.ts +++ b/src/app/app.module.ts @@ -30,6 +30,7 @@ import { DualInputComponent } from './component/BLOCKS/dual-input/dual-input.com import { ReactiveFormsModule } from '@angular/forms'; import { AnalysisPanelComponent } from './component/analysis-panel/analysis-panel.component'; import { AnalysisGraphComponent } from './component/analysis-graph/analysis-graph.component'; +import { AnalysisGraphSectionComponent } from './component/analysis-graph-section/analysis-graph-section.component'; import { AnalysisApexChartComponent } from './component/analysis-graph/analysis-apex-chart.component'; import { RightPanelComponent } from './component/right-panel/right-panel.component'; import { SettingsPanelComponent } from './component/settings-panel/settings-panel.component'; @@ -76,6 +77,7 @@ import { BottombarComponent } from './component/bottombar/bottombar.component'; DualInputComponent, AnalysisPanelComponent, AnalysisGraphComponent, + AnalysisGraphSectionComponent, AnalysisApexChartComponent, RightPanelComponent, SettingsPanelComponent, diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.html b/src/app/component/analysis-graph-section/analysis-graph-section.component.html new file mode 100644 index 00000000..f5975f0f --- /dev/null +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.html @@ -0,0 +1,56 @@ +
+ + + + @if (preview.length) { +
+ @for (series of preview; track series.name) { + @if (expanded && preview.length > 1) { + + } @else { + + + @if (series.name) { + {{ series.name }}: + } + {{ series.text }} + + } + } +
+ } + + @if (help) { + + } + + @if (expanded) { +
+ +
+ } +
diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss new file mode 100644 index 00000000..e16ff940 --- /dev/null +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss @@ -0,0 +1,121 @@ +@use 'sass:map'; +@use '@angular/material' as mat; + +@mixin css($theme) { + $color-config: mat.m2-get-color-config($theme); + $primary-palette: map.get($color-config, 'primary'); + + // A card per quantity, as the mock has it: name and value on the left, a + // chevron on the right, and the graph underneath once it is opened. + .graphSection { + position: relative; + border: 1px solid #eceef5; + border-radius: var(--border-radius); + background: var(--card-surface); + margin-bottom: 8px; + } + + .graphHeader { + display: flex; + align-items: center; + gap: 8px; + width: 100%; + padding: 9px 12px 3px; + border: none; + background: transparent; + font-family: inherit; + text-align: left; + cursor: pointer; + border-radius: var(--border-radius); + + &:hover { + background: rgba(0, 0, 0, 0.02); + } + } + + .graphTitle { + flex: 1 1 auto; + min-width: 0; + font-size: 14px; + font-weight: 500; + color: #2c2c2c; + } + + .graphPreview { + display: flex; + flex-wrap: wrap; + align-items: center; + gap: 2px 12px; + padding: 0 12px 9px; + font-size: 12px; + color: rgba(0, 0, 0, 0.6); + } + + .previewSeries { + display: inline-flex; + align-items: center; + gap: 5px; + white-space: nowrap; + border: none; + background: transparent; + font-family: inherit; + font-size: inherit; + color: inherit; + padding: 0; + } + + // Open, each entry is the switch for its own line. + .graphPreview.interactive .previewSeries { + cursor: pointer; + padding: 1px 4px; + margin: -1px -4px; + border-radius: 4px; + + &:hover { + background: rgba(0, 0, 0, 0.04); + } + + // Off, not gone: the reader has to be able to find it again. + &.off { + color: rgba(0, 0, 0, 0.3); + + .previewRule { + opacity: 0.3; + } + } + } + + .previewRule { + width: 14px; + height: 2.5px; + border-radius: 2px; + flex: 0 0 auto; + } + + .graphChevron { + flex: 0 0 auto; + width: 20px; + height: 20px; + font-size: 20px; + line-height: 20px; + color: mat.m2-get-color-from-palette($primary-palette, 500); + } + + // Over the header's right end, before the chevron: a question about the + // quantity, not a control of the card. + .graphHelp { + position: absolute; + top: 11px; + right: 38px; + width: 17px; + height: 17px; + font-size: 17px; + line-height: 17px; + color: rgba(0, 0, 0, 0.3); + pointer-events: auto; + } + + .graphBody { + padding: 0 6px 6px; + } +} diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts new file mode 100644 index 00000000..450da6b3 --- /dev/null +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts @@ -0,0 +1,159 @@ +import { + ChangeDetectionStrategy, + Component, + EventEmitter, + Input, + Output, + ViewChild, +} from '@angular/core'; +import { AnalysisGraphComponent } from '../analysis-graph/analysis-graph.component'; +import { MechanismService } from '../../services/mechanism.service'; +import { SettingsService } from '../../services/settings.service'; +import { AnalysisSampleService } from '../../services/analysis-sample.service'; +import { AngleUnit, LengthUnit } from '../../model/unit-enums'; +import { ANALYSIS_SERIES_COLORS } from '../../model/analysis-series'; +import { roundNumber } from '../../model/utils'; + +/** One value of one series, as the collapsed header shows it. */ +export interface SeriesPreview { + key: 'x' | 'y' | 'z'; + name: string; + color: string; + text: string; +} + +/** + * One analysable quantity: its name, its value right now, and its graph. + * + * The value is the point of the header. A reader looking for "where is joint B" + * had to open a graph to find out, and the ten graphs a joint and a link offer + * between them are ten things to open. The number is there before the graph is, + * and the graph is what you open when the number is not enough. + */ +@Component({ + selector: 'app-analysis-graph-section', + templateUrl: './analysis-graph-section.component.html', + styleUrls: ['./analysis-graph-section.component.scss'], + changeDetection: ChangeDetectionStrategy.Eager, + standalone: false, +}) +export class AnalysisGraphSectionComponent { + @Input() label = ''; + @Input() help = ''; + @Input() analysis = ''; + @Input() analysisType = ''; + @Input() mechProp = ''; + @Input() mechPart = ''; + @Input() reactionLinkId = ''; + @Input() expanded = false; + @Output() expandedChange = new EventEmitter(); + @ViewChild('graph') graph?: AnalysisGraphComponent; + + constructor( + private mechanismService: MechanismService, + private settings: SettingsService, + private samples: AnalysisSampleService + ) {} + + /** + * What this quantity reads at the pose on screen. + * + * One sample, not the cycle: the header is answering "what is it now", and + * solving every sample of every collapsed graph to answer that would cost + * more than the graphs themselves. + */ + get preview(): SeriesPreview[] { + const mechanism = this.mechanismFor(); + if (!mechanism) return []; + const step = Math.min(this.mechanismService.mechanismTimeStep, mechanism.joints.length - 1); + const values = this.samples.sampleAt( + mechanism, + Math.max(step, 0), + this.analysis, + this.analysisType, + this.mechProp, + this.mechPart, + this.reactionLinkId + ); + if (values.length === 0) return []; + + const names = this.seriesNames(values.length); + const keys: ('x' | 'y' | 'z')[] = ['x', 'y', 'z']; + const unit = this.unitFor(); + return values.map((value, index) => ({ + key: keys[index], + name: names[index], + color: this.colorFor(names[index]), + text: Number.isFinite(value) ? `${roundNumber(value, 2).toFixed(2)} ${unit}`.trim() : '—', + })); + } + + /** Whether the open graph is drawing this series. Closed, everything reads. */ + isShown(key: 'x' | 'y' | 'z'): boolean { + return !this.graph || this.graph.isSeriesShown(key); + } + + toggleSeries(key: 'x' | 'y' | 'z'): void { + this.graph?.toggleSeries(key); + } + + toggle(): void { + this.expanded = !this.expanded; + this.expandedChange.emit(this.expanded); + } + + private mechanismFor() { + const part = + this.mechanismService.joints.find((joint) => joint.id === this.mechPart) ?? + this.mechanismService.links.find((link) => link.id === this.mechPart); + return part ? this.mechanismService.mechanismContaining(part) : undefined; + } + + /** + * The names the graph plots these under. + * + * A third series is the magnitude of the first two everywhere except force + * analysis, where it is a component in its own right. + */ + private seriesNames(count: number): string[] { + if (count === 1) return ['']; + if (count === 2) return ['X', 'Y']; + return this.analysis === 'force' ? ['X', 'Y', 'Z'] : ['X', 'Y', 'Mag']; + } + + private colorFor(name: string): string { + if (name === 'Y') return ANALYSIS_SERIES_COLORS.Y; + if (name === 'Z' || name === 'Mag') return ANALYSIS_SERIES_COLORS.Z; + return ANALYSIS_SERIES_COLORS.X; + } + + /** Spelled the way the graph's own axis spells it. */ + private unitFor(): string { + const length = this.unitStr(this.settings.lengthUnit.value); + const angle = this.unitStr(this.settings.angleUnit.value); + if (this.mechProp.includes('Angular')) { + if (this.mechProp.includes('Acc')) return `${angle}/s²`; + if (this.mechProp.includes('Vel')) return `${angle}/s`; + return angle; + } + if (this.analysis === 'force') return 'N'; + if (this.mechProp.includes('Acc')) return `${length}/s²`; + if (this.mechProp.includes('Vel')) return `${length}/s`; + return length; + } + + private unitStr(unit: LengthUnit | AngleUnit): string { + switch (unit) { + case AngleUnit.RADIAN: + return 'rad'; + case AngleUnit.DEGREE: + return 'deg'; + case LengthUnit.INCH: + return 'in'; + case LengthUnit.METER: + return 'm'; + default: + return 'cm'; + } + } +} diff --git a/src/app/component/analysis-graph/analysis-graph.component.html b/src/app/component/analysis-graph/analysis-graph.component.html index a25abe1c..95f72b39 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.html +++ b/src/app/component/analysis-graph/analysis-graph.component.html @@ -1,55 +1,6 @@ @if (analysisDiagnostic) {
{{ analysisDiagnostic }}
} @else { - @if (numberOfSeries === 3) { -
- Magnitude - X - Y -
- } - @if (numberOfSeries === 2) { -
- X - Y -
- }
- } diff --git a/src/app/component/analysis-graph/analysis-graph.component.scss b/src/app/component/analysis-graph/analysis-graph.component.scss index 2d08641e..4f1cbddb 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.scss +++ b/src/app/component/analysis-graph/analysis-graph.component.scss @@ -11,81 +11,6 @@ $background: map.get($theme, background); $foreground: map.get($theme, foreground); - #graph-checkbox-list-three { - display: flex; - flex-direction: row; - justify-content: space-between; - align-items: center; - padding-left: 4px; - padding-right: 10px; - margin-top: -10px; - margin-bottom: -25px; - } - - #graph-checkbox-list-two { - display: flex; - flex-direction: row; - justify-content: start; - align-items: center; - gap: 20px; - padding-left: 4px; - padding-right: 10px; - margin-top: -10px; - margin-bottom: -25px; - } - - #graph-checkbox-list-three, - #graph-checkbox-list-two { - // The negative bottom margin above pulls the chart up into this row, so the - // chart's SVG paints over the labels and swallows clicks meant for them. - // Lifting the row restores the label as a hit target for its checkbox. - position: relative; - z-index: 1; - - .mdc-form-field { - align-items: center; - } - - .mdc-label { - line-height: 20px; - } - - .series-x { - --mat-checkbox-selected-focus-icon-color: #313aa7; - --mat-checkbox-selected-hover-icon-color: #313aa7; - --mat-checkbox-selected-icon-color: #313aa7; - --mat-checkbox-selected-pressed-icon-color: #313aa7; - --mat-checkbox-selected-focus-state-layer-color: #313aa7; - --mat-checkbox-selected-hover-state-layer-color: #313aa7; - --mat-checkbox-selected-pressed-state-layer-color: #313aa7; - } - - .series-y { - --mat-checkbox-selected-focus-icon-color: #ea2b29; - --mat-checkbox-selected-hover-icon-color: #ea2b29; - --mat-checkbox-selected-icon-color: #ea2b29; - --mat-checkbox-selected-pressed-icon-color: #ea2b29; - --mat-checkbox-selected-focus-state-layer-color: #ea2b29; - --mat-checkbox-selected-hover-state-layer-color: #ea2b29; - --mat-checkbox-selected-pressed-state-layer-color: #ea2b29; - } - - .series-z { - --mat-checkbox-selected-focus-icon-color: #fdb50e; - --mat-checkbox-selected-hover-icon-color: #fdb50e; - --mat-checkbox-selected-icon-color: #fdb50e; - --mat-checkbox-selected-pressed-icon-color: #fdb50e; - --mat-checkbox-selected-focus-state-layer-color: #fdb50e; - --mat-checkbox-selected-hover-state-layer-color: #fdb50e; - --mat-checkbox-selected-pressed-state-layer-color: #fdb50e; - } - } - - #shift-up { - margin-top: -100px; - background-color: red; - } - #graphNoSeries, #graphDragging { background-color: rgb(255, 255, 255); @@ -128,29 +53,6 @@ color: mat.m2-get-color-from-palette($primary-palette, 900); } - #csvDownload { - width: 100%; - border-color: mat.m2-get-color-from-palette($primary-palette, 500) !important; - margin-top: 6px; - margin-bottom: 10px; - - .mdc-button__label { - display: flex; - align-items: center; - justify-content: center; - gap: 8px; - line-height: 20px; - white-space: nowrap; - } - - .mat-icon { - margin: 0; - height: 20px; - width: 20px; - font-size: 20px; - line-height: 20px; - } - } .analysis-diagnostic { margin: 16px 4px 12px; diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index 49b8eea9..a4d2e20b 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -16,6 +16,7 @@ import { KinematicsSolver } from '../../model/mechanism/kinematic-solver'; import { ForceUnit, LengthUnit } from '../../model/unit-enums'; import { NumberUnitParserService } from '../../services/number-unit-parser.service'; import { ActiveObjService } from '../../services/active-obj.service'; +import { AnalysisSampleService } from '../../services/analysis-sample.service'; import { MechanismService } from '../../services/mechanism.service'; import { SettingsService } from '../../services/settings.service'; import { BUILT_IN_TEMPLATE_IDS, TEMPLATE_LINKAGES } from '../MODALS/templates/template-linkages'; @@ -82,7 +83,8 @@ function createComponent(fixture: MechanismFixture): AnalysisGraphComponent { fixture.service, fixture.settings, new NumberUnitParserService(), - fixture.active + fixture.active, + new AnalysisSampleService(fixture.settings) ); } @@ -442,7 +444,7 @@ describe('AnalysisGraphComponent lifecycle', () => { describe('AnalysisGraphComponent rendered controls', () => { afterEach(() => TestBed.resetTestingModule()); - it('updates the rendered chart series when its Material checkboxes are clicked', async () => { + it('updates the rendered chart series when a series is switched off and on', async () => { const fixtureData = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); await TestBed.configureTestingModule({ declarations: [AnalysisGraphComponent, ApexChartStubComponent], @@ -472,26 +474,28 @@ describe('AnalysisGraphComponent rendered controls', () => { await fixture.whenStable(); fixture.detectChanges(); - const loader = TestbedHarnessEnvironment.loader(fixture); - const xCheckbox = await loader.getHarness(MatCheckboxHarness.with({ label: 'X' })); - const yCheckbox = await loader.getHarness(MatCheckboxHarness.with({ label: 'Y' })); - expect(await xCheckbox.isChecked()).toBe(true); - expect(await yCheckbox.isChecked()).toBe(true); + // The switches live on the panel header that owns this graph now -- one row + // that reads the values out and turns the lines on and off -- so this drives + // the API that row calls rather than a checkbox that no longer exists. + const graph = fixture.componentInstance; + expect(graph.isSeriesShown('x')).toBe(true); + expect(graph.isSeriesShown('y')).toBe(true); - await xCheckbox.uncheck(); + graph.toggleSeries('x'); fixture.detectChanges(); - expect(fixture.componentInstance.displayedSeries.map((series) => series.name)).toEqual(['Y']); + expect(graph.isSeriesShown('x')).toBe(false); + expect(graph.displayedSeries.map((series) => series.name)).toEqual(['Y']); - await yCheckbox.uncheck(); + graph.toggleSeries('y'); fixture.detectChanges(); - expect(fixture.componentInstance.displayedSeries).toHaveLength(0); - expect(fixture.componentInstance.noDataSelected).toBe(true); + expect(graph.displayedSeries).toHaveLength(0); + expect(graph.noDataSelected).toBe(true); expect(fixture.nativeElement.textContent).toContain('Please select at least one data series.'); - await xCheckbox.check(); + graph.toggleSeries('x'); fixture.detectChanges(); - expect(fixture.componentInstance.displayedSeries.map((series) => series.name)).toEqual(['X']); - expect(fixture.componentInstance.noDataSelected).toBe(false); + expect(graph.displayedSeries.map((series) => series.name)).toEqual(['X']); + expect(graph.noDataSelected).toBe(false); const chartStub = fixture.debugElement.query(By.directive(ApexChartStubComponent)) .componentInstance as ApexChartStubComponent; diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 9d3ace38..fac54c2a 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -23,17 +23,18 @@ import { ApexYAxis, } from 'apexcharts'; import { KinematicsSolver } from 'src/app/model/mechanism/kinematic-solver'; +import { ANALYSIS_SERIES_COLORS } from 'src/app/model/analysis-series'; +export { ANALYSIS_SERIES_COLORS }; import { ForceAnalysisMode } from 'src/app/model/mechanism/force-solver'; import { Mechanism } from 'src/app/model/mechanism/mechanism'; -import { AngleUnit, ForceUnit, LengthUnit, roundNumber } from '../../model/utils'; -import { LBF_IN_PER_NEWTON_METER, LBF_PER_NEWTON } from '../../model/unit-conversions'; -import { MODEL_SCALE } from '../../model/render-scale'; +import { AngleUnit, ForceUnit, LengthUnit } from '../../model/utils'; import { animate, state, style, transition, trigger } from '@angular/animations'; import { FormBuilder } from '@angular/forms'; import { MechanismService } from '../../services/mechanism.service'; import { SettingsService } from '../../services/settings.service'; import { NumberUnitParserService } from '../../services/number-unit-parser.service'; import { ActiveObjService } from '../../services/active-obj.service'; +import { AnalysisSampleService } from '../../services/analysis-sample.service'; import { skip, Subscription } from 'rxjs'; import { AnalysisApexChartComponent } from './analysis-apex-chart.component'; @@ -55,12 +56,6 @@ export type ChartOptions = { legend: ApexLegend; }; -export const ANALYSIS_SERIES_COLORS = { - X: '#313aa7', - Y: '#ea2b29', - Z: '#fdb50e', -} as const; - /** * Time axis labels: a typical cycle runs 0-3 s, where "3.000" is noise. Cap at * three decimals and drop the ones that carry no information. @@ -273,7 +268,8 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, private mechanismService: MechanismService, public settingsService: SettingsService, private nup: NumberUnitParserService, - private activeSrv: ActiveObjService + private activeSrv: ActiveObjService, + private samples: AnalysisSampleService ) {} seriesCheckboxForm = this.fb.group( @@ -366,6 +362,38 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, }, 1); } + /** + * Which series this graph has, in the order it plots them. + * + * Two means X and Y; three means either X, Y and a magnitude, or the three + * components of a force -- `seriesLabel` is what knows the difference. + */ + get seriesKeys(): ('x' | 'y' | 'z')[] { + if (this.numberOfSeries === 3) return ['z', 'x', 'y']; + if (this.numberOfSeries === 2) return ['x', 'y']; + return []; + } + + seriesLabel(key: 'x' | 'y' | 'z'): string { + if (key !== 'z') return key.toUpperCase(); + // The third series is the magnitude of the other two, except in force + // analysis, where it is a component of its own. + return this.analysis === 'force' ? 'Z' : 'Magnitude'; + } + + isSeriesShown(key: 'x' | 'y' | 'z'): boolean { + return !!this.seriesCheckboxForm.value[key]; + } + + /** The legend is the switch. Showing none of them is allowed; the graph says so. */ + toggleSeries(key: 'x' | 'y' | 'z'): void { + this.seriesCheckboxForm.patchValue({ [key]: !this.isSeriesShown(key) }); + } + + colorForSeriesKey(key: 'x' | 'y' | 'z'): string { + return this.colorForSeries(this.seriesLabel(key) === 'Magnitude' ? 'Z' : key.toUpperCase()); + } + applySeriesVisibility(): void { const data = this.seriesCheckboxForm.getRawValue(); const selectedNames = new Set(); @@ -852,70 +880,30 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, const datum_X: number[] = []; const datum_Y: number[] = []; const datum_Z: number[] = []; - let x = 0; - let y = 0; - let z = 0; const categories: string[] = []; const mechanism = this.mechanismFor(mechPart); // A loose joint, or a chain that never reaches ground, is in no mechanism // and so has nothing solved to plot. if (!mechanism) return [[datum_X, datum_Y, datum_Z], categories]; + + const series = [datum_X, datum_Y, datum_Z]; + /** One solved sample, spread across the series in the order plotted. */ + const collect = (index: number): void => { + this.samples + .sampleAt(mechanism, index, analysis, analysisType, mechProp, mechPart, this.reactionLinkId) + .forEach((value, position) => series[position].push(value)); + }; + if (analysis === 'force') { const mode: ForceAnalysisMode = analysisType === 'dynamic' ? 'dynamic' : 'static'; const result = mechanism.getForceAnalysis(mode); - const forceConversion = - this.settingsService.forceUnit.value === ForceUnit.LBF ? LBF_PER_NEWTON : 1; - const torqueConversion = - this.settingsService.forceUnit.value === ForceUnit.LBF ? LBF_IN_PER_NEWTON_METER : 1; - - for (const frame of result.frames) { + result.frames.forEach((frame, index) => { categories.push(frame.timeSeconds.toString()); - if (frame.status !== 'ok') { - datum_X.push(Number.NaN); - if (mechProp === 'Joint Forces') { - datum_Y.push(Number.NaN); - datum_Z.push(Number.NaN); - } - continue; - } + collect(index); + }); - if (mechProp === 'Input Torque' || mechProp === 'Input Effort') { - // A torque's moment arms are internal model lengths (MODEL_SCALE - // times the user's unit), so the solved value divides back down for - // display. An input *force* has no length in it and is invariant. - datum_X.push( - frame.inputEffort - ? roundNumber( - (frame.inputEffort.valueSI * - (frame.inputEffort.kind === 'force' ? forceConversion : torqueConversion)) / - (frame.inputEffort.kind === 'force' ? 1 : MODEL_SCALE), - 3 - ) - : Number.NaN - ); - continue; - } - - const byLink = frame.jointReactionsByLink.get(mechPart); - const reaction = this.reactionLinkId - ? byLink?.get(this.reactionLinkId) - : frame.jointReactions.get(mechPart); - if (!reaction) { - datum_X.push(Number.NaN); - datum_Y.push(Number.NaN); - datum_Z.push(Number.NaN); - continue; - } - x = reaction[0] * forceConversion; - y = reaction[1] * forceConversion; - z = Math.hypot(x, y); - datum_X.push(roundNumber(x, 3)); - datum_Y.push(roundNumber(y, 3)); - datum_Z.push(roundNumber(z, 3)); - } - - const hasFiniteData = [datum_X, datum_Y, datum_Z].some((series) => - series.some(Number.isFinite) + const hasFiniteData = [datum_X, datum_Y, datum_Z].some((values) => + values.some(Number.isFinite) ); this.analysisDiagnostic = hasFiniteData ? null @@ -926,121 +914,13 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, return [[datum_X, datum_Y, datum_Z], categories]; } + // The solver keeps its answers in statics, and starts each graph from a + // clean set of them rather than from the last mechanism graphed. KinematicsSolver.resetVariables(); KinematicsSolver.requiredLoops = mechanism.requiredLoops; mechanism.joints.forEach((_, index) => { categories.push(mechanism.timeNum[index]?.toString() ?? index.toString()); - const vector = (value: [number, number] | undefined): [number, number] => - value ?? [Number.NaN, Number.NaN]; - switch (mechProp) { - // Positions, velocities and accelerations are linear in length, so - // each internal model value divides by MODEL_SCALE for display in the - // user's unit. Angular series carry no length and pass through. - case 'Linear Joint Pos': - const jt = mechanism.joints[index].find((j) => j.id === mechPart); - x = (jt?.x ?? Number.NaN) / MODEL_SCALE; - y = (jt?.y ?? Number.NaN) / MODEL_SCALE; - datum_X.push(roundNumber(x, 3)); - datum_Y.push(roundNumber(y, 3)); - break; - case 'Linear Joint Vel': - KinematicsSolver.determineKinematics( - mechanism.joints[index], - mechanism.links[index], - mechanism.inputAngularVelocities[index] - ); - [x, y] = vector(KinematicsSolver.jointVelMap.get(mechPart)); - x /= MODEL_SCALE; - y /= MODEL_SCALE; - z = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)); - datum_X.push(roundNumber(x, 3)); - datum_Y.push(roundNumber(y, 3)); - datum_Z.push(roundNumber(z, 3)); - break; - case 'Linear Joint Acc': - KinematicsSolver.determineKinematics( - mechanism.joints[index], - mechanism.links[index], - mechanism.inputAngularVelocities[index] - ); - [x, y] = vector(KinematicsSolver.jointAccMap.get(mechPart)); - x /= MODEL_SCALE; - y /= MODEL_SCALE; - z = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)); - datum_X.push(roundNumber(x, 3)); - datum_Y.push(roundNumber(y, 3)); - datum_Z.push(roundNumber(z, 3)); - break; - case "Linear Link's CoM Pos": - KinematicsSolver.determineKinematics( - mechanism.joints[index], - mechanism.links[index], - mechanism.inputAngularVelocities[index] - ); - [x, y] = vector(KinematicsSolver.linkCoMMap.get(mechPart)); - x /= MODEL_SCALE; - y /= MODEL_SCALE; - datum_X.push(roundNumber(x, 3)); - datum_Y.push(roundNumber(y, 3)); - break; - case "Linear Link's CoM Vel": - KinematicsSolver.determineKinematics( - mechanism.joints[index], - mechanism.links[index], - mechanism.inputAngularVelocities[index] - ); - [x, y] = vector(KinematicsSolver.linkVelMap.get(mechPart)); - x /= MODEL_SCALE; - y /= MODEL_SCALE; - z = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)); - datum_X.push(roundNumber(x, 3)); - datum_Y.push(roundNumber(y, 3)); - datum_Z.push(roundNumber(z, 3)); - break; - case "Linear Link's CoM Acc": - KinematicsSolver.determineKinematics( - mechanism.joints[index], - mechanism.links[index], - mechanism.inputAngularVelocities[index] - ); - [x, y] = vector(KinematicsSolver.linkAccMap.get(mechPart)); - x /= MODEL_SCALE; - y /= MODEL_SCALE; - z = Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)); - datum_X.push(roundNumber(x, 3)); - datum_Y.push(roundNumber(y, 3)); - datum_Z.push(roundNumber(z, 3)); - break; - case 'Angular Link Pos': - KinematicsSolver.determineKinematics( - mechanism.joints[index], - mechanism.links[index], - mechanism.inputAngularVelocities[index] - ); - x = KinematicsSolver.linkAngPosMap.get(mechPart) ?? Number.NaN; - datum_X.push(roundNumber(x, 3)); - break; - case 'Angular Link Vel': - KinematicsSolver.determineKinematics( - mechanism.joints[index], - mechanism.links[index], - mechanism.inputAngularVelocities[index] - ); - x = KinematicsSolver.linkAngVelMap.get(mechPart) ?? Number.NaN; - datum_X.push(roundNumber(x, 3)); - break; - case 'Angular Link Acc': - KinematicsSolver.determineKinematics( - mechanism.joints[index], - mechanism.links[index], - mechanism.inputAngularVelocities[index] - ); - x = KinematicsSolver.linkAngAccMap.get(mechPart) ?? Number.NaN; - datum_X.push(roundNumber(x, 3)); - break; - case 'ic': - break; - } + collect(index); }); return [[datum_X, datum_Y, datum_Z], categories]; } diff --git a/src/app/component/analysis-panel/analysis-panel.component.html b/src/app/component/analysis-panel/analysis-panel.component.html index b34154f7..3dad9fe4 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.html +++ b/src/app/component/analysis-panel/analysis-panel.component.html @@ -106,181 +106,81 @@ @if (validMechanisms() && this.activeSrv.objType == 'Joint') { - - Analysis for Joint - {{ this.activeSrv.selectedJoint.name }} + + {{ modeLabel }} for Joint {{ this.activeSrv.selectedJoint.name }} @if (showKinematic) { - - - - - Position of Joint {{ this.activeSrv.selectedJoint.name }} - - - help_outline - - - - @if (graphExpanded['JPos']) { - - } - - - - - Velocity of Joint {{ this.activeSrv.selectedJoint.name }} - - - help_outline - - - - @if (graphExpanded['JVel']) { - - } - - - - - Acceleration of Joint {{ this.activeSrv.selectedJoint.name }} - - - help_outline - - - - @if (graphExpanded['JAcc']) { - - } - - + + + } @if (showForce) { - - Force Analysis Type - - @if (jointForceRows().length === 0) { -
- Joint {{ this.activeSrv.selectedJoint.name }} is internal to one welded body and has - no independent pin reaction. Select an external or grounded joint to graph a reaction. -
- } - @for (row of jointForceRows(); track row.linkId) { - - - Force on Link {{ row.linkName }} - - help_outline - - - - @if (graphExpanded['JForce_' + row.linkId]) { - - } - - } - @if (this.activeSrv.selectedJoint.input) { - - - - Input {{ inputEffortLabel() }} at Joint {{ this.activeSrv.selectedJoint.name }} - - - help_outline - - - - @if (graphExpanded['JInputForce']) { - - } - - } -
+ Force Analysis Type + + @if (jointForceRows().length === 0) { +
+ Joint {{ this.activeSrv.selectedJoint.name }} is internal to one welded body and has no + independent pin reaction. Select an external or grounded joint to graph a reaction. +
+ } + @for (row of jointForceRows(); track row.linkId) { + + } + @if (this.activeSrv.selectedJoint.input) { + + } }
} @@ -288,10 +188,8 @@ @if (validMechanisms() && this.activeSrv.objType == 'Link') { - - Analysis for {{ selectedBodyLabel }} + + {{ modeLabel }} for {{ selectedBodyLabel }} @if (showKinematic) { - + + + Center of Mass (COM) of {{ selectedBodyLabel }} - - - - Angle of {{ selectedBodyLabel }} - - - help_outline - - - - @if (graphExpanded['LAng']) { - - } - - - - - Angular Velocity of {{ selectedBodyLabel }} - - - help_outline - - - - @if (graphExpanded['LAngVel']) { - - } - - - - - Angular Acceleration of {{ selectedBodyLabel }} - - - help_outline - - - - @if (graphExpanded['LAngAcc']) { - - } - - Center of Mass (COM) of {{ selectedBodyLabel }} - - - - Position of {{ selectedBodyLabel }}'s COM - - - help_outline - - - - @if (graphExpanded['LPos']) { - - } - - - - - Velocity of {{ selectedBodyLabel }}'s COM - - - help_outline - - - - @if (graphExpanded['LVel']) { - - } - - - - - Acceleration of {{ selectedBodyLabel }}'s COM - - - help_outline - - - - @if (graphExpanded['LAcc']) { - - } - - + + + } @if (showForce) { - - Force Analysis Type - - @if (linkForceRows().length === 0) { -
- {{ selectedBodyLabel }} has no external joint that carries an - independent pin reaction. -
- } - @for (row of linkForceRows(); track row.jointId) { - - - Force at Joint {{ row.jointName }} - - help_outline - - - - @if (graphExpanded['LForce_' + row.jointId]) { - - } - - } -
+ Force Analysis Type + + @if (linkForceRows().length === 0) { +
+ {{ selectedBodyLabel }} has no external joint that carries an independent pin reaction. +
+ } + @for (row of linkForceRows(); track row.jointId) { + + } }
} @@ -536,7 +302,7 @@ @if (validMechanisms() && this.activeSrv.objType == 'Force') { - Analysis for Force {{ this.activeSrv.selectedForce.name }} + {{ modeLabel }} for Force {{ this.activeSrv.selectedForce.name }} } diff --git a/src/app/component/analysis-panel/analysis-panel.component.spec.ts b/src/app/component/analysis-panel/analysis-panel.component.spec.ts index 104a258c..bc44360d 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.spec.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.spec.ts @@ -43,6 +43,20 @@ async function createPanel(payload: string, selectedId: string, mode: TabID = Ta return { fixture, fixtureData }; } +/** + * What the panel calls each of its graphs, read off the section it renders. + * + * From the property rather than the attribute: an interpolated binding sets the + * property, and this spec stubs the section component, so the attribute holds + * only the static half of the string. + */ +function sectionLabels(fixture: ComponentFixture): string[] { + return [...fixture.nativeElement.querySelectorAll('app-analysis-graph-section')].map( + (section: Element) => + ((section as unknown as { label?: string }).label ?? section.getAttribute('label') ?? '').trim() + ); +} + describe('AnalysisPanelComponent welded mechanism regression', () => { beforeEach(() => vi.spyOn(console, 'log').mockImplementation(() => undefined)); afterEach(() => { @@ -66,10 +80,9 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { } fixture.detectChanges(); - expect(fixture.nativeElement.textContent).toContain('Analysis for Joint A'); - expect(fixture.nativeElement.textContent).toContain('Force Analysis'); + expect(fixture.nativeElement.textContent).toContain('Force Analysis for Joint A'); expect(fixture.nativeElement.textContent).not.toContain('Kinematic Analysis'); - expect(fixture.nativeElement.querySelectorAll('app-analysis-graph').length).toBe( + expect(fixture.nativeElement.querySelectorAll('app-analysis-graph-section').length).toBe( rows.length + 1 ); @@ -110,9 +123,7 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { expect(rows.every((row) => row.jointId === 'B')).toBe(true); expect(fixture.nativeElement.querySelector('.reaction-link-selector')).toBeNull(); - const titles = [...fixture.nativeElement.querySelectorAll('mat-panel-title')].map( - (title: Element) => title.textContent!.trim() - ); + const titles = sectionLabels(fixture); for (const row of rows) { expect(titles).toContain(`Force on Link ${row.linkName}`); } @@ -123,16 +134,15 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { const { fixture } = await createPanel(TEMPLATE_LINKAGES['4-Bar'], 'BC', TabID.FORCE); fixture.detectChanges(); - expect(fixture.nativeElement.textContent).toContain('Analysis for Link BC'); - expect(fixture.nativeElement.textContent).not.toContain('Kinematic Analysis for Link'); + // The panel names the analysis it is showing, which is the heading the + // accordion inside it used to carry. + expect(fixture.nativeElement.textContent).toContain('Force Analysis for Link BC'); const rows = fixture.componentInstance.linkForceRows(); expect(rows.map((row) => row.jointId)).toEqual(['B', 'C']); expect(rows.every((row) => row.linkId === 'BC')).toBe(true); - const titles = [...fixture.nativeElement.querySelectorAll('mat-panel-title')].map( - (title: Element) => title.textContent!.trim() - ); + const titles = sectionLabels(fixture); expect(titles).toContain('Force at Joint B'); expect(titles).toContain('Force at Joint C'); fixture.destroy(); @@ -161,8 +171,9 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { }); fixture.detectChanges(); - const graphs = [...fixture.nativeElement.querySelectorAll('app-analysis-graph')]; - const properties = graphs.map((graph: Element) => graph.getAttribute('mechprop')); + const properties = [ + ...fixture.nativeElement.querySelectorAll('app-analysis-graph-section'), + ].map((section: Element) => section.getAttribute('mechprop')); expect(properties).toEqual( expect.arrayContaining(['Linear Joint Pos', 'Linear Joint Vel', 'Linear Joint Acc']) ); @@ -184,8 +195,10 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { }); fixture.detectChanges(); - expect(fixture.nativeElement.querySelectorAll('app-analysis-graph')).toHaveLength(6); - expect(fixture.nativeElement.querySelector('mat-panel-title mat-panel-title')).toBeNull(); + expect(fixture.nativeElement.querySelectorAll('app-analysis-graph-section')).toHaveLength(6); + // One heading each, and no accordion wrapping the six of them. + expect(sectionLabels(fixture)).toHaveLength(6); + expect(fixture.nativeElement.querySelector('collapsible-subseciton')).toBeNull(); fixture.destroy(); }); @@ -230,11 +243,12 @@ describe('AnalysisPanelComponent with a cylinder selected', () => { expect(fixture.nativeElement.textContent).toContain('Analysis for Cylinder'); expect(fixture.nativeElement.textContent).not.toContain('Analysis for Link GN'); - // And so does everything under the heading. A panel that calls the body a + // And so does every graph under the heading. A panel that calls the body a // cylinder at the top and a link in every row below has only moved the // disagreement down the page. - expect(fixture.nativeElement.textContent).not.toContain('of Link GN'); - expect(fixture.nativeElement.textContent).toContain('Angle of Cylinder'); + const labels = sectionLabels(fixture); + expect(labels.some((label) => label.includes('Link GN'))).toBe(false); + expect(labels).toContain('Angle of Cylinder GC'); fixture.destroy(); }); diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index bb9c3fa0..1c03a22c 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -67,10 +67,6 @@ export class AnalysisPanelComponent { //A dictionary for wether each graph is expanded or not graphExpanded: { [key: string]: boolean } = { - LKineAna: true, - LForceAna: true, - JKineAna: true, - JForceAna: true, LAng: false, LAngVel: false, LAngAcc: false, @@ -306,6 +302,18 @@ export class AnalysisPanelComponent { * it -- the canvas outlines the whole ram while the panel headed itself * "Analysis for Link GN". */ + /** + * Which analysis this panel is showing. + * + * It used to be an accordion inside the panel headed "Kinematic Analysis" -- + * a heading that only ever said what mode the reader had already chosen, and + * one more thing to open before reaching a graph. The panel's own title says + * it now. + */ + get modeLabel(): string { + return this.tabs.getCurrentTab() === TabID.FORCE ? 'Force Analysis' : 'Kinematic Analysis'; + } + get selectedBodyLabel(): string { const sealed = this.selectedCylinder; if (!sealed) return `Link ${this.activeSrv.selectedLink.name}`; diff --git a/src/app/model/analysis-series.ts b/src/app/model/analysis-series.ts new file mode 100644 index 00000000..d9090cfc --- /dev/null +++ b/src/app/model/analysis-series.ts @@ -0,0 +1,12 @@ +/** + * The colour of each analysis series, in one place. + * + * A graph, its legend and the collapsed header that previews its values all + * have to agree about which colour means X, so the answer lives beside the + * model rather than inside whichever component happened to need it first. + */ +export const ANALYSIS_SERIES_COLORS = { + X: '#313aa7', + Y: '#ea2b29', + Z: '#fdb50e', +} as const; diff --git a/src/app/services/analysis-sample.service.spec.ts b/src/app/services/analysis-sample.service.spec.ts new file mode 100644 index 00000000..76fcbb4e --- /dev/null +++ b/src/app/services/analysis-sample.service.spec.ts @@ -0,0 +1,155 @@ +import { RealJoint } from '../model/joint'; +import { MODEL_SCALE } from '../model/render-scale'; +import { TEMPLATE_LINKAGES } from '../component/MODALS/templates/template-linkages'; +import { buildMechanismFixture, MechanismFixture } from '../../tests/fixtures/mechanism-fixtures'; +import { AnalysisSampleService } from './analysis-sample.service'; + +/** + * The numbers here are the ones the graphs plotted before this arithmetic moved + * out of the graph component, so they pin the extraction. Where a value can be + * derived from the mechanism instead of copied from it — a crank pin's speed is + * ωr, its acceleration ω²r toward the pivot, a link's angle an arctangent of its + * own two ends — it is checked both ways, because a literal alone only says the + * code still does what it did. + */ +describe('AnalysisSampleService', () => { + let fixture: MechanismFixture; + let service: AnalysisSampleService; + + const sample = (index: number, prop: string, part: string, reactionLinkId?: string) => + service.sampleAt( + fixture.mechanism, + index, + 'kinematic', + 'loop', + prop, + part, + reactionLinkId ?? '' + ); + + const force = (index: number, mode: string, prop: string, part: string, link = '') => + service.sampleAt(fixture.mechanism, index, 'force', mode, prop, part, link); + + describe('a four-bar driven at its crank', () => { + beforeEach(() => { + fixture = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); + service = new AnalysisSampleService(fixture.settings); + }); + + /** The crank A→B at the pose given, in internal model units. */ + const crank = (index: number): [number, number] => { + const at = (id: string) => fixture.mechanism.joints[index].find((joint) => joint.id === id)!; + return [at('B').x - at('A').x, at('B').y - at('A').y]; + }; + + it('plots a joint position as its solved coordinates in the user unit', () => { + expect(sample(0, 'Linear Joint Pos', 'B')).toEqual([-2.622, 0.902]); + expect(sample(45, 'Linear Joint Pos', 'B')).toEqual([-0.709, -0.311]); + + // The same numbers the drawing is built from, divided back down. + const joint = fixture.mechanism.joints[45].find((candidate) => candidate.id === 'B')!; + expect(sample(45, 'Linear Joint Pos', 'B')).toEqual([ + Number((joint.x / MODEL_SCALE).toFixed(3)), + Number((joint.y / MODEL_SCALE).toFixed(3)), + ]); + }); + + it('leaves a grounded joint standing still', () => { + const grounded = fixture.mechanism.joints[0].find( + (joint): joint is RealJoint => joint instanceof RealJoint && joint.ground + )!; + expect(sample(0, 'Linear Joint Pos', grounded.id)).toEqual([-3.129, -2.014]); + expect(sample(0, 'Linear Joint Vel', grounded.id)).toEqual([0, 0, 0]); + expect(sample(0, 'Linear Joint Acc', grounded.id)).toEqual([0, 0, 0]); + }); + + it('plots the crank pin speed as ωr, across the crank rather than along it', () => { + const velocity = sample(0, 'Linear Joint Vel', 'B'); + expect(velocity).toEqual([6.107, -1.062, 6.199]); + + const omega = Math.abs(fixture.mechanism.inputAngularVelocities[0]); + const [dx, dy] = crank(0); + const radius = Math.hypot(dx, dy) / MODEL_SCALE; + expect(velocity[2]).toBeCloseTo(omega * radius, 3); + // A pin on a rigid crank moves perpendicular to it. + const along = (velocity[0] * dx + velocity[1] * dy) / (velocity[2] * Math.hypot(dx, dy)); + expect(Math.abs(along)).toBeLessThan(1e-3); + }); + + it('plots the crank pin acceleration as ω²r pointing at the pivot', () => { + const acceleration = sample(0, 'Linear Joint Acc', 'B'); + expect(acceleration).toEqual([-2.224, -12.791, 12.983]); + + const omega = Math.abs(fixture.mechanism.inputAngularVelocities[0]); + const [dx, dy] = crank(0); + const length = Math.hypot(dx, dy); + const radius = length / MODEL_SCALE; + expect(acceleration[2]).toBeCloseTo(omega * omega * radius, 3); + // Centripetal: back down the crank, towards the ground pivot. + expect(acceleration[0]).toBeCloseTo((-dx / length) * acceleration[2], 2); + expect(acceleration[1]).toBeCloseTo((-dy / length) * acceleration[2], 2); + }); + + it('plots a link angle in degrees, and turns it one degree per sample', () => { + expect(sample(0, 'Angular Link Pos', 'AB')).toEqual([80.137]); + expect(sample(1, 'Angular Link Pos', 'AB')).toEqual([79.137]); + expect(sample(45, 'Angular Link Pos', 'AB')).toEqual([35.137]); + + const [dx, dy] = crank(45); + expect(sample(45, 'Angular Link Pos', 'AB')[0]).toBeCloseTo( + (Math.atan2(dy, dx) * 180) / Math.PI, + 3 + ); + // 360 samples of one revolution, driven clockwise. + expect(sample(0, 'Angular Link Vel', 'AB')).toEqual([-2.094]); + }); + + it('plots a coupler by its centre of mass and its own angle', () => { + expect(sample(0, "Linear Link's CoM Pos", 'BC')).toEqual([0.194, 1.491]); + expect(sample(0, 'Angular Link Pos', 'BC')).toEqual([11.816]); + expect(sample(45, 'Angular Link Pos', 'BC')).toEqual([22.288]); + }); + + it('reports a joint reaction as x, y and the magnitude of the two', () => { + const reaction = force(0, 'static', 'Joint Forces', 'A'); + expect(reaction).toEqual([0.001, 0.015, 0.015]); + expect(reaction[2]).toBeCloseTo(Math.hypot(reaction[0], reaction[1]), 3); + expect(force(0, 'dynamic', 'Joint Forces', 'A')).toEqual([-0.01, -0.01, 0.014]); + // One value, not three: an input effort is a single quantity. + expect(force(0, 'static', 'Input Effort', 'A')).toHaveLength(1); + }); + + it('reads a reaction from the link asked for, and gaps where that link is absent', () => { + expect(force(0, 'static', 'Joint Forces', 'A', 'AB')).toEqual([0.001, 0.015, 0.015]); + // C is nowhere near link AB, so that row of the panel has no number to show. + expect(force(0, 'static', 'Joint Forces', 'C', 'AB').every(Number.isNaN)).toBe(true); + expect(force(0, 'static', 'Joint Forces', 'C', 'AB')).toHaveLength(3); + }); + + it('has nothing to say about a graph it does not draw', () => { + expect(sample(0, 'ic', 'B')).toEqual([]); + expect(sample(0, 'Linear Joint Bogus', 'B')).toEqual([]); + expect(sample(9999, 'Linear Joint Pos', 'B')).toEqual([]); + }); + }); + + describe('a cylinder-driven boom', () => { + beforeEach(() => { + fixture = buildMechanismFixture(TEMPLATE_LINKAGES['Cylinder_Boom']); + service = new AnalysisSampleService(fixture.settings); + }); + + it('plots the boom rising, and the piston angle as a gap rather than a number', () => { + expect(sample(0, 'Linear Joint Pos', 'C')).toEqual([0, 4]); + expect(sample(45, 'Linear Joint Pos', 'C')).toEqual([1.061, 3.857]); + expect(sample(0, 'Angular Link Pos', 'OC')).toEqual([90]); + expect(sample(45, 'Angular Link Pos', 'OC')).toEqual([74.623]); + + // A sealed cylinder's own body has no solved angle; the graph draws a gap + // at that timestep rather than dropping the sample and shifting the rest. + const piston = sample(0, 'Angular Link Pos', 'PS'); + expect(piston).toHaveLength(1); + expect(Number.isNaN(piston[0])).toBe(true); + }); + }); +}); diff --git a/src/app/services/analysis-sample.service.ts b/src/app/services/analysis-sample.service.ts new file mode 100644 index 00000000..8b7cd0d6 --- /dev/null +++ b/src/app/services/analysis-sample.service.ts @@ -0,0 +1,187 @@ +import { Injectable } from '@angular/core'; +import { ForceAnalysisMode } from '../model/mechanism/force-solver'; +import { KinematicsSolver } from '../model/mechanism/kinematic-solver'; +import { Mechanism } from '../model/mechanism/mechanism'; +import { LBF_IN_PER_NEWTON_METER, LBF_PER_NEWTON } from '../model/unit-conversions'; +import { MODEL_SCALE } from '../model/render-scale'; +import { ForceUnit } from '../model/unit-enums'; +import { roundNumber } from '../model/utils'; +import { SettingsService } from './settings.service'; + +/** + * What a graph plots, one solved sample at a time. + * + * This used to be a switch inside the graph component's plotting loop, which + * meant the only way to ask "what does joint B read right now" was to build the + * whole cycle and take one point out of it. A panel header wants exactly one + * sample, so the arithmetic lives here and both callers share it — the graph by + * walking every index, the header by asking for the pose on screen. + */ +@Injectable({ providedIn: 'root' }) +export class AnalysisSampleService { + /** + * The mechanism the solver's static state was last prepared for. + * + * KinematicsSolver keeps its answers in statics, including a cached input + * joint index, so a sample of a second mechanism taken without a reset would + * be solved against the first one's indices. Resetting per sample instead + * would throw away the maps this fills 360 times per graph, so it is done + * once per mechanism — the same granularity the plotting loop always used. + */ + private preparedFor: Mechanism | undefined; + + constructor(private settingsService: SettingsService) {} + + /** + * The values a graph plots, for one solved sample. + * + * Returned in the order the graph draws them: X, then Y, then the third + * series where there is one. An empty array means this service has nothing + * to say about that property — an unknown name, an instant-centre graph, or + * a sample index the mechanism does not have. + */ + sampleAt( + mechanism: Mechanism, + index: number, + analysis: string, + analysisType: string, + mechProp: string, + mechPart: string, + reactionLinkId: string = '' + ): number[] { + if (analysis === 'force') { + return this.forceSample(mechanism, index, analysisType, mechProp, mechPart, reactionLinkId); + } + return this.kinematicSample(mechanism, index, mechProp, mechPart); + } + + private forceSample( + mechanism: Mechanism, + index: number, + analysisType: string, + mechProp: string, + mechPart: string, + reactionLinkId: string + ): number[] { + const mode: ForceAnalysisMode = analysisType === 'dynamic' ? 'dynamic' : 'static'; + const frame = mechanism.getForceAnalysis(mode).frames[index]; + if (!frame) return []; + + const forceConversion = + this.settingsService.forceUnit.value === ForceUnit.LBF ? LBF_PER_NEWTON : 1; + const torqueConversion = + this.settingsService.forceUnit.value === ForceUnit.LBF ? LBF_IN_PER_NEWTON_METER : 1; + + if (frame.status !== 'ok') { + return mechProp === 'Joint Forces' ? [Number.NaN, Number.NaN, Number.NaN] : [Number.NaN]; + } + + if (mechProp === 'Input Torque' || mechProp === 'Input Effort') { + // A torque's moment arms are internal model lengths (MODEL_SCALE times + // the user's unit), so the solved value divides back down for display. An + // input *force* has no length in it and is invariant. + if (!frame.inputEffort) return [Number.NaN]; + const isForce = frame.inputEffort.kind === 'force'; + return [ + roundNumber( + (frame.inputEffort.valueSI * (isForce ? forceConversion : torqueConversion)) / + (isForce ? 1 : MODEL_SCALE), + 3 + ), + ]; + } + + const byLink = frame.jointReactionsByLink.get(mechPart); + const reaction = reactionLinkId + ? byLink?.get(reactionLinkId) + : frame.jointReactions.get(mechPart); + if (!reaction) return [Number.NaN, Number.NaN, Number.NaN]; + + const x = reaction[0] * forceConversion; + const y = reaction[1] * forceConversion; + return [roundNumber(x, 3), roundNumber(y, 3), roundNumber(Math.hypot(x, y), 3)]; + } + + private kinematicSample( + mechanism: Mechanism, + index: number, + mechProp: string, + mechPart: string + ): number[] { + const joints = mechanism.joints[index]; + const links = mechanism.links[index]; + if (!joints || !links) return []; + + // Positions, velocities and accelerations are linear in length, so each + // internal model value divides by MODEL_SCALE for display in the user's + // unit. Angular series carry no length and pass through. + if (mechProp === 'Linear Joint Pos') { + const joint = joints.find((candidate) => candidate.id === mechPart); + return [ + roundNumber((joint?.x ?? Number.NaN) / MODEL_SCALE, 3), + roundNumber((joint?.y ?? Number.NaN) / MODEL_SCALE, 3), + ]; + } + + switch (mechProp) { + case 'Linear Joint Vel': + this.solve(mechanism, index); + return this.scaledVector(KinematicsSolver.jointVelMap.get(mechPart), true); + case 'Linear Joint Acc': + this.solve(mechanism, index); + return this.scaledVector(KinematicsSolver.jointAccMap.get(mechPart), true); + case "Linear Link's CoM Pos": + this.solve(mechanism, index); + return this.scaledVector(KinematicsSolver.linkCoMMap.get(mechPart), false); + case "Linear Link's CoM Vel": + this.solve(mechanism, index); + return this.scaledVector(KinematicsSolver.linkVelMap.get(mechPart), true); + case "Linear Link's CoM Acc": + this.solve(mechanism, index); + return this.scaledVector(KinematicsSolver.linkAccMap.get(mechPart), true); + case 'Angular Link Pos': + this.solve(mechanism, index); + return [roundNumber(KinematicsSolver.linkAngPosMap.get(mechPart) ?? Number.NaN, 3)]; + case 'Angular Link Vel': + this.solve(mechanism, index); + return [roundNumber(KinematicsSolver.linkAngVelMap.get(mechPart) ?? Number.NaN, 3)]; + case 'Angular Link Acc': + this.solve(mechanism, index); + return [roundNumber(KinematicsSolver.linkAngAccMap.get(mechPart) ?? Number.NaN, 3)]; + default: + // 'ic' and anything this service does not know plot nothing. + return []; + } + } + + /** Rates and poses for one sample, left in the solver's static maps. */ + private solve(mechanism: Mechanism, index: number): void { + if (this.preparedFor !== mechanism) { + KinematicsSolver.resetVariables(); + this.preparedFor = mechanism; + } + KinematicsSolver.requiredLoops = mechanism.requiredLoops; + KinematicsSolver.determineKinematics( + mechanism.joints[index], + mechanism.links[index], + mechanism.inputAngularVelocities[index] + ); + } + + /** + * A solved vector in display units, with its magnitude where one is plotted. + * + * A missing entry is two NaNs rather than nothing: the graph draws a gap at + * that timestep, and dropping the point would shift every later one. + */ + private scaledVector(value: [number, number] | undefined, withMagnitude: boolean): number[] { + const [rawX, rawY] = value ?? [Number.NaN, Number.NaN]; + const x = rawX / MODEL_SCALE; + const y = rawY / MODEL_SCALE; + const series = [roundNumber(x, 3), roundNumber(y, 3)]; + if (withMagnitude) { + series.push(roundNumber(Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)), 3)); + } + return series; + } +} diff --git a/src/mytheme.scss b/src/mytheme.scss index 11eb2413..bd0afda4 100644 --- a/src/mytheme.scss +++ b/src/mytheme.scss @@ -25,6 +25,7 @@ @use 'app/component/BLOCKS/tri-button/tri-button.component.scss' as tri-button; @use 'src/app/component/analysis-panel/analysis-panel.component.scss' as analysis-panel; @use 'src/app/component/analysis-graph/analysis-graph.component.scss' as analysis-graph; +@use 'src/app/component/analysis-graph-section/analysis-graph-section.component.scss' as analysis-graph-section; @use 'src/app/component/right-panel/right-panel.component.scss' as right-panel; @use 'src/app/component/settings-panel/settings-panel.component.scss' as settings-panel; @use 'src/app/component/synthesis-panel/synthesis-panel.component.scss' as synthesis-panel; @@ -89,6 +90,7 @@ $my-theme: mat.m2-define-light-theme( @include edit-panel.css($my-theme); @include analysis-panel.css($my-theme); @include analysis-graph.css($my-theme); +@include analysis-graph-section.css($my-theme); @include right-panel.css($my-theme); @include settings-panel.css($my-theme); @include synthesis-panel.css($my-theme); From 8481a2c98086ecebd7c16c982c7a12640bb154cd Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 23:13:13 -0400 Subject: [PATCH 047/236] Put the panel back to the width its spacing was tuned for The frame is 270px again, and the card inside it 250 -- which is what the card always was, back when the inset was a margin on the wrapper. Moving that inset to the frame left the page at the frame's own width, so the card came out 20px wider than it had ever been and overhung the frame it sits in, which is what cut the shadow off. Widening the frame fixed the shadow by making every panel wider, which is not what was wrong. No field needed narrowing in the end: with the card back to 250 the moment-of-inertia row ends 15px short of the card's edge. --- .../component/left-tabs/left-tabs.component.scss | 15 ++++++++------- .../component/left-tabs/left-tabs.component.ts | 8 ++------ 2 files changed, 10 insertions(+), 13 deletions(-) diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index a6d5e0e0..e6616f71 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -95,10 +95,6 @@ // shadow off there. padding: nav.$shadow-room; box-sizing: border-box; - // Wide enough for the card plus the room its shadow needs. Shrink-to-fit - // sized the frame to the card alone, so the card overhung its own padding - // and the right-hand shadow was cut off against the frame's edge. - width: max-content; overflow-x: hidden; overflow-y: auto; --panel-clearance: #{nav.$bottom-bar-height + 12px}; @@ -153,16 +149,21 @@ max-width: calc(100vw - 24px); } + // The frame's width minus the room it keeps around the card for the card's + // shadow. The card was always this wide -- the inset used to be a margin on + // the wrapper inside the page, and moving it to the frame left the page at + // the frame's own width, so the card overhung it and its right-hand shadow + // was cut off. .page1 { - width: 270px; //Be careful, there are multiple places to change this value + width: 250px; //Be careful, there are multiple places to change this value } .page2 { - width: 270px; //Be careful, there are multiple places to change this value + width: 250px; //Be careful, there are multiple places to change this value } .page3 { - width: 420px; //Be careful, there are multiple places to change this value + width: 400px; //Be careful, there are multiple places to change this value } } } diff --git a/src/app/component/left-tabs/left-tabs.component.ts b/src/app/component/left-tabs/left-tabs.component.ts index eeb11203..62065d46 100644 --- a/src/app/component/left-tabs/left-tabs.component.ts +++ b/src/app/component/left-tabs/left-tabs.component.ts @@ -10,15 +10,11 @@ import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; animations: [ trigger('openClose', [ // ... - // The card's own width plus the 20px the frame keeps around it for its - // shadow. Set to the card's width alone, the frame was exactly as wide - // as what it held, so the card overhung its own padding and the - // right-hand shadow was cut off against the frame's edge. state( 'open', style({ transform: 'translateX(0)', - width: '290px', //Be careful, there are multiple places to change this value + width: '270px', //Be careful, there are multiple places to change this value }) ), state( @@ -30,7 +26,7 @@ import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; state( 'openWide', style({ - width: '440px', //Be careful, there are multiple places to change this value + width: '420px', //Be careful, there are multiple places to change this value }) ), transition('open => openWide', [animate('0.1s ease-in-out')]), From bc46658d3c95912e65ea1bec04f50925c63bf26c Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Wed, 12 Aug 2026 23:32:04 -0400 Subject: [PATCH 048/236] Offer to land a drag on the grid Snap to Grid, in Visual Settings beside the two that decide whether the grid is drawn at all. It rounds to the smallest square on screen -- the one a reader can see -- so a joint lands where they are aiming rather than on a lattice only the app knows about. Three things it deliberately does not do. It does not overrule a capture. Dropping a joint onto another joint, or onto a slot, is a target the reader picked; the grid gets the position nothing else has a claim on. It does not stretch a link. A rigid body cannot put every joint on a corner, so a dragged link lands the joint it is named from and the rest keep their places around it. And it is off until asked for. Dragging has always put a joint exactly where the cursor let go, and a drawing where a joint cannot sit at 3.7 without being told otherwise is a different app from the one everyone already has. The choice is kept on the reader's own machine rather than in the URL: a shared link says what the mechanism is, and how someone else's cursor behaves while they edit their copy of it is not part of that. It also leaves the URL codec, which is a compatibility surface, alone. --- e2e/snap-to-grid.mjs | 187 ++++++++++++++++++ .../new-grid/new-grid.component.spec.ts | 4 + .../component/new-grid/new-grid.component.ts | 29 ++- .../settings-panel.component.html | 7 + .../settings-panel.component.ts | 12 +- src/app/services/settings.service.ts | 29 +++ src/app/services/svg-grid.service.ts | 25 +++ 7 files changed, 289 insertions(+), 4 deletions(-) create mode 100644 e2e/snap-to-grid.mjs diff --git a/e2e/snap-to-grid.mjs b/e2e/snap-to-grid.mjs new file mode 100644 index 00000000..b9d54440 --- /dev/null +++ b/e2e/snap-to-grid.mjs @@ -0,0 +1,187 @@ +/** + * Snap to grid, dragged with a real mouse. + * + * The setting is the reader's own -- remembered on their machine, not written + * into the URL -- so this drives the panel and the pointer rather than the + * service, and checks where things actually landed. + * + * What must hold: + * + * - On, a dragged joint lands on a corner of the grid the reader can see. + * - A rigid body cannot put every joint on the grid, so a dragged link lands + * its reference joint there and the rest keep their places around it. + * - A capture beats the grid: dropped onto another joint, a joint goes + * exactly onto it, not onto the nearest grid corner. + * - Off, nothing is rounded. + * + * PMKS_BASE_URL= node e2e/snap-to-grid.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1400, height: 900 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +/** Every joint's position measured in grid squares, so a whole number is a corner. */ +const inCells = () => + page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const cell = grid.svgGrid.minorCellSize; + return { + cell, + snapOn: grid.settings.isSnapToGrid.value, + joints: grid.mechanismSrv.joints.map((joint) => ({ + id: joint.id, + x: +(joint.x / cell).toFixed(4), + y: +(joint.y / cell).toFixed(4), + })), + }; + }); + +const onCorner = (joint) => + Math.abs(joint.x - Math.round(joint.x)) < 1e-6 && Math.abs(joint.y - Math.round(joint.y)) < 1e-6; + +/** A real press, a real path, a real release. */ +const dragFrom = async (box, dx, dy) => { + await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2); + await page.mouse.down(); + for (let step = 1; step <= 8; step++) { + await page.mouse.move( + box.x + box.width / 2 + (dx * step) / 8, + box.y + box.height / 2 + (dy * step) / 8, + { steps: 2 } + ); + } + await page.mouse.up(); + await page.waitForTimeout(500); +}; + +/** Back to the template's own geometry, so each check starts from the same place. */ +const fresh = async () => { + await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); + await waitForReady(page); +}; + +/** Turn the option on or off through the panel, the way a reader would. */ +const setSnap = async (on) => { + await page.locator('.topStrip .iconButton').first().click(); + await page.waitForTimeout(400); + await page.locator('.menuItem', { hasText: 'Settings' }).click(); + await page.waitForTimeout(800); + const listed = /Snap to Grid/.test(await page.locator('app-settings-panel').innerText()); + await page.evaluate((on) => { + const panel = ng.getComponent(document.querySelector('app-settings-panel')); + panel.settingsForm.controls['snapToGrid'].setValue(on); + }, on); + await page.waitForTimeout(400); + await page.locator('.closeDrawer').click({ force: true }); + await page.waitForTimeout(400); + return listed; +}; + +await fresh(); + +// Off until asked for: dragging has always put a joint exactly where the cursor +// let go, and that is not a thing to change out from under anyone. +record('it is off until asked for', (await inCells()).snapOn === false); +record('and the settings panel offers it', await setSnap(true)); +record('turning it on takes effect', (await inCells()).snapOn === true); + +// --- a joint lands on a corner ---------------------------------------------- +await dragFrom(await page.locator('#joint_B').boundingBox(), 63, -41); +const dragged = (await inCells()).joints.find((joint) => joint.id === 'B'); +record('a dragged joint lands on a corner of the grid', onCorner(dragged), dragged); + +// --- a link lands its reference joint there --------------------------------- +await fresh(); +const before = await inCells(); +await dragFrom(await page.locator('#linkHolder path').nth(1).boundingBox(), 53, -37); +const after = await inCells(); +const moved = after.joints.filter( + (joint, i) => + Math.abs(joint.x - before.joints[i].x) > 1e-6 || Math.abs(joint.y - before.joints[i].y) > 1e-6 +); +record('dragging a link moves it', moved.length >= 2, moved); +record( + "and lands the link's reference joint on a corner", + moved.length > 0 && onCorner(moved[0]), + moved +); +// The bar's length is what it is, so the far end cannot be on a corner too -- +// and forcing it there would stretch the link. +const spanBefore = Math.hypot( + before.joints[1].x - before.joints[2].x, + before.joints[1].y - before.joints[2].y +); +const spanAfter = Math.hypot( + after.joints[1].x - after.joints[2].x, + after.joints[1].y - after.joints[2].y +); +record('without changing its length', Math.abs(spanBefore - spanAfter) < 1e-3, { + spanBefore, + spanAfter, +}); + +// --- a capture beats the grid ------------------------------------------------ +// B onto D. Not onto C: the app deliberately refuses to merge a joint with the +// far end of its own link, so that pair can never capture whatever the grid is +// doing. +await fresh(); +const from = await page.locator('#joint_B').boundingBox(); +const onto = await page.locator('#joint_D').boundingBox(); +await dragFrom(from, onto.x - from.x, onto.y - from.y); +const landing = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const srv = grid.mechanismSrv; + const b = srv.joints.find((joint) => joint.id === 'B'); + const d = srv.joints.find((joint) => joint.id === 'D'); + const cell = grid.svgGrid.minorCellSize; + return { + apart: b && d ? +Math.hypot(b.x - d.x, b.y - d.y).toFixed(6) : -1, + // And that landing is not a grid corner, so it really is the target it + // went to rather than a corner that happened to be there. + onCorner: !!b && Math.abs(b.x / cell - Math.round(b.x / cell)) < 1e-6, + }; +}); +record( + 'a joint dropped on another lands exactly on it, not on the grid', + landing.apart === 0 && !landing.onCorner, + landing +); + +// --- turning it off -------------------------------------------------------- +await fresh(); +await setSnap(false); +await dragFrom(await page.locator('#joint_B').boundingBox(), 37, 29); +const free = (await inCells()).joints.find((joint) => joint.id === 'B'); +record('with it off, a drag is not rounded at all', !onCorner(free), free); +record( + 'and the choice is remembered on this machine', + (await page.evaluate(() => localStorage.getItem('snapToGrid'))) === 'false' +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); +await browser.close(); + +const failed = results.filter(([, ok]) => !ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +process.exit(failed.length ? 1 : 0); diff --git a/src/app/component/new-grid/new-grid.component.spec.ts b/src/app/component/new-grid/new-grid.component.spec.ts index a3cfa055..0b0989f0 100644 --- a/src/app/component/new-grid/new-grid.component.spec.ts +++ b/src/app/component/new-grid/new-grid.component.spec.ts @@ -46,6 +46,10 @@ async function configureGridTestBed() { // call used to be a second behind a timer, so it threw after the test had // finished, into nothing. It happens inline now. scaleToFitLinkage: vi.fn(), + // These tests are about what a drag does, not about snapping, so the grid + // here has no squares to snap to and hands every point back as it came. + minorCellSize: 0, + snapToGrid: (coord: { x: number; y: number }) => coord, }; await TestBed.configureTestingModule({ imports: [AppModule] }) .overrideProvider(SvgGridService, { useValue: svgGridStub }) diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 94e681de..5024afe9 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -1168,7 +1168,13 @@ export class NewGridComponent implements OnDestroy { ? new Coord(this.snapTargetJoint.x, this.snapTargetJoint.y) : this.slotCandidate ? new Coord(this.slotCandidate.x, this.slotCandidate.y) - : this.alongItsSlot(this.activeObjService.selectedJoint, mousePosInSvg) + : this.alongItsSlot( + this.activeObjService.selectedJoint, + // Last, and only here: a capture is a target the reader + // picked, and a joint on a slot has a line to stay on. The + // grid gets the position nothing else has a claim on. + this.svgGrid.snapToGrid(mousePosInSvg) + ) ); this.dragState.noteMechanismModified(); //So that the panel values update continously @@ -1198,11 +1204,28 @@ export class NewGridComponent implements OnDestroy { mousePosInSvg.y - this.linkDragAnchor.y ); } else { + // A rigid body cannot put every joint on the grid -- its lengths are + // what they are -- so one of them is the one that lands, and the + // rest keep their places around it. The first joint, which is the + // one the link is named from. + const reference = this.activeObjService.selectedLink.joints[0]; + const wantedX = mousePosInSvg.x - this.linkDragAnchor.x; + const wantedY = mousePosInSvg.y - this.linkDragAnchor.y; + const landed = this.svgGrid.snapToGrid( + new Coord(reference.x + wantedX, reference.y + wantedY) + ); this.gridUtils.dragLink( this.activeObjService.selectedLink, - mousePosInSvg.x - this.linkDragAnchor.x, - mousePosInSvg.y - this.linkDragAnchor.y + landed.x - reference.x, + landed.y - reference.y ); + // The cursor's own position, so the body does not drift away from it + // as the rounding is applied over and over. + this.linkDragAnchor = mousePosInSvg; + this.dragState.noteMechanismModified(); + this.activeObjService.updateSelectedObj(this.activeObjService.selectedLink); + this.showPathWhileDragging(); + break; } this.linkDragAnchor = mousePosInSvg; this.dragState.noteMechanismModified(); diff --git a/src/app/component/settings-panel/settings-panel.component.html b/src/app/component/settings-panel/settings-panel.component.html index bd99b0b6..6d317b11 100644 --- a/src/app/component/settings-panel/settings-panel.component.html +++ b/src/app/component/settings-panel/settings-panel.component.html @@ -43,6 +43,13 @@ Minor Gridlines } + + Snap to Grid + { + const on = val === true; + this.settingsService.isSnapToGrid.next(on); + writeStoredFlag('snapToGrid', on); + }); + this.settingsForm.controls['showMinorGrid'].valueChanges.subscribe((val) => { this.settingsService.isShowMinorGrid.next(Boolean(val)); this.mechanismSrv.updateMechanism(); @@ -235,6 +244,7 @@ export class SettingsPanelComponent implements OnDestroy { globalunit: ['', { updateOn: 'change' }], showMinorGrid: [true, { updateOn: 'change' }], showMajorGrid: [true, { updateOn: 'change' }], + snapToGrid: [false, { updateOn: 'change' }], }, { updateOn: 'blur' } ); diff --git a/src/app/services/settings.service.ts b/src/app/services/settings.service.ts index b2ba49be..e2fa3c13 100644 --- a/src/app/services/settings.service.ts +++ b/src/app/services/settings.service.ts @@ -9,6 +9,23 @@ import { } from '../model/unit-enums'; import type { ForceAnalysisMode } from '../model/mechanism/force-solver'; import { MODEL_SCALE } from '../model/render-scale'; +import { local_storage_available } from '../model/utils'; + +/** + * A preference remembered on this machine. + * + * Storage can be missing or refused -- private windows, an embedded frame -- + * and a setting that cannot be remembered is not worth failing over. + */ +function readStoredFlag(key: string, fallback: boolean): boolean { + if (!local_storage_available()) return fallback; + const stored = localStorage.getItem(key); + return stored === null ? fallback : stored === 'true'; +} + +export function writeStoredFlag(key: string, value: boolean): void { + if (local_storage_available()) localStorage.setItem(key, String(value)); +} @Injectable({ providedIn: 'root', @@ -50,6 +67,18 @@ export class SettingsService { animating = new BehaviorSubject(false); isShowMajorGrid = new BehaviorSubject(true); isShowMinorGrid = new BehaviorSubject(true); + /** + * Whether dragging lands on the grid. + * + * The reader's own editing preference, kept on their machine rather than in + * the URL: a shared link says what the mechanism is, and how someone else's + * cursor behaves while they edit their copy of it is not part of that. + * + * Off until asked for. Dragging has always put a joint exactly where the + * cursor let go, and a drawing where a joint cannot sit at 3.7 unless it is + * told otherwise is a different app from the one everyone already has. + */ + isSnapToGrid = new BehaviorSubject(readStoredFlag('snapToGrid', false)); isShowID = new BehaviorSubject(false); isShowCOM = new BehaviorSubject(false); diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index 75416f8b..de9cbd37 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -393,6 +393,31 @@ export class SvgGridService { } } + /** + * The spacing of the smallest square drawn on the grid. + * + * What "snap to grid" snaps to: the lines a reader can actually see, so a + * joint lands where they are aiming rather than on a lattice the app knows + * about and they do not. + */ + get minorCellSize(): number { + return this.cellSize / MINOR_DIVISIONS; + } + + /** + * The nearest corner of the drawn grid, if snapping is on. + * + * Off, or with no grid to snap to, the point is returned as it came -- + * callers can use this unconditionally. + */ + snapToGrid(coord: Coord): Coord { + const cell = this.minorCellSize; + if (!this.settingsService.isSnapToGrid.value || !(cell > 0)) { + return coord; + } + return new Coord(Math.round(coord.x / cell) * cell, Math.round(coord.y / cell) * cell); + } + /** * How far apart the labelled lines go at this zoom. * From 600ae52c765ed7706f766252d68f1d0bcae36b70 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 00:00:08 -0400 Subject: [PATCH 049/236] Let the plot start where the numbers stop Eight refinements to the graph cards: - The plot sat 40px above where it belonged, over the values row. That lift existed to close the gap the old checkbox row left behind, and the checkbox row is gone. - Its frame now sits on the same 12px gutter as the title and values above it, rather than running wider than the card's own margin. - The time axis is under the plot, where a time axis reads. It was on top because the legend wanted the room below it. - The whole closed card opens it. The values are as much an invitation to look closer as the title is, and a reader aiming at either was hitting a strip only the title lived in. - The title's band has the same air above and below it -- it was 9px over and 3px under, which read as the title sitting high in its own highlight. - "Please select at least one data series" was a fixed-height overlay pinned 100px down the card, so on a short graph it covered the card below and on a tall one it floated in the middle of nothing. It stands where the plot would now, and says something shorter. - The centre-of-mass line is a heading for the graphs under it rather than a subtitle nudged down 20px between two cards -- and hovering it marks that link's centre of mass on the grid, so the numbers point at the thing they describe. - And the force-analysis mode is set off from the reactions computed for it, instead of sitting flush against the first of them. --- .../analysis-graph-section.component.html | 17 ++++- .../analysis-graph-section.component.scss | 27 ++++++-- .../analysis-graph.component.html | 25 +++----- .../analysis-graph.component.scss | 43 +++++++------ .../analysis-graph.component.spec.ts | 2 +- .../analysis-graph.component.ts | 12 ++-- .../analysis-panel.component.html | 44 +++++++------ .../analysis-panel.component.scss | 24 +++++++ .../analysis-panel.component.ts | 5 ++ .../new-grid/new-grid.component.html | 64 ++++++++++--------- src/app/services/settings.service.ts | 8 +++ 11 files changed, 172 insertions(+), 99 deletions(-) diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.html b/src/app/component/analysis-graph-section/analysis-graph-section.component.html index f5975f0f..0e999150 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.html +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.html @@ -1,5 +1,18 @@ -
- diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss index e16ff940..5cff8350 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss @@ -13,22 +13,34 @@ border-radius: var(--border-radius); background: var(--card-surface); margin-bottom: 8px; + + &.closed { + cursor: pointer; + + &:hover { + background: rgba(0, 0, 0, 0.02); + } + } } + // The title and its chevron, in a band with the same air above and below -- + // it was 9px over and 3px under, which read as the title sitting high in its + // own highlight. .graphHeader { display: flex; align-items: center; gap: 8px; width: 100%; - padding: 9px 12px 3px; + min-height: 38px; + padding: 6px 12px; border: none; background: transparent; font-family: inherit; text-align: left; cursor: pointer; - border-radius: var(--border-radius); + border-radius: var(--border-radius) var(--border-radius) 0 0; - &:hover { + .graphSection.open &:hover { background: rgba(0, 0, 0, 0.02); } } @@ -46,7 +58,7 @@ flex-wrap: wrap; align-items: center; gap: 2px 12px; - padding: 0 12px 9px; + padding: 0 12px 8px; font-size: 12px; color: rgba(0, 0, 0, 0.6); } @@ -105,7 +117,7 @@ // quantity, not a control of the card. .graphHelp { position: absolute; - top: 11px; + top: 12px; right: 38px; width: 17px; height: 17px; @@ -115,7 +127,10 @@ pointer-events: auto; } + // The same gutter the title and the values sit on, so the plot's frame lines + // up with the text above it rather than running wider than the card's own + // margin. .graphBody { - padding: 0 6px 6px; + padding: 0 12px 8px; } } diff --git a/src/app/component/analysis-graph/analysis-graph.component.html b/src/app/component/analysis-graph/analysis-graph.component.html index 95f72b39..1727612e 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.html +++ b/src/app/component/analysis-graph/analysis-graph.component.html @@ -1,24 +1,17 @@ @if (analysisDiagnostic) {
{{ analysisDiagnostic }}
} @else { -
- Please select at least one data series. -
-
- Graph unavailable while dragging. -
+ + @if (noDataSelected || loading) { +
+ {{ noDataSelected ? 'No series shown. Pick one above.' : 'Graph paused while dragging.' }} +
+ } div:not(.chart-render-error) { min-height: 0 !important; - height: 225px !important; + height: 250px !important; + } + + app-analysis-apex-chart.compact-single-series > div:not(.chart-render-error) { + height: 210px !important; } .chart-render-error { @@ -53,7 +57,6 @@ color: mat.m2-get-color-from-palette($primary-palette, 900); } - .analysis-diagnostic { margin: 16px 4px 12px; padding: 16px; diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index a4d2e20b..7957af40 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -490,7 +490,7 @@ describe('AnalysisGraphComponent rendered controls', () => { fixture.detectChanges(); expect(graph.displayedSeries).toHaveLength(0); expect(graph.noDataSelected).toBe(true); - expect(fixture.nativeElement.textContent).toContain('Please select at least one data series.'); + expect(fixture.nativeElement.textContent).toContain('No series shown. Pick one above.'); graph.toggleSeries('x'); fixture.detectChanges(); diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index fac54c2a..7d4aca59 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -145,7 +145,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, show: true, padding: { top: 0, - bottom: 12, + bottom: 0, }, xaxis: { lines: { @@ -160,8 +160,10 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, }, xaxis: { type: 'numeric', - position: 'top', - offsetY: 15, + // Under the plot, where a time axis reads. It sat on top because the + // legend used to want the room below it, and the legend has gone. + position: 'bottom', + offsetY: 0, // floating: true, // categories: categories, labels: { @@ -179,8 +181,8 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, tickAmount: 1, title: { text: 'Time (seconds)', - // small nudge to sit on the same baseline as the tick labels - offsetY: 6, + // On the same baseline as the tick labels either side of it. + offsetY: -4, offsetX: 0, }, tooltip: { diff --git a/src/app/component/analysis-panel/analysis-panel.component.html b/src/app/component/analysis-panel/analysis-panel.component.html index 3dad9fe4..0bdaadd6 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.html +++ b/src/app/component/analysis-panel/analysis-panel.component.html @@ -142,14 +142,16 @@ > } @if (showForce) { - Force Analysis Type - +
+ Force Analysis Type + +
@if (jointForceRows().length === 0) {
Joint {{ this.activeSrv.selectedJoint.name }} is internal to one welded body and has no @@ -233,9 +235,13 @@ [expanded]="graphExpanded['LAngAcc']" (expandedChange)="graphExpanded['LAngAcc'] = $event" > - Center of Mass (COM) of {{ selectedBodyLabel }} + Centre of mass +
} @if (showForce) { - Force Analysis Type - +
+ Force Analysis Type + +
@if (linkForceRows().length === 0) {
{{ selectedBodyLabel }} has no external joint that carries an independent pin reaction. diff --git a/src/app/component/analysis-panel/analysis-panel.component.scss b/src/app/component/analysis-panel/analysis-panel.component.scss index fb1fdf63..c4e112a4 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.scss +++ b/src/app/component/analysis-panel/analysis-panel.component.scss @@ -62,3 +62,27 @@ background: #f4f5fb; line-height: 1.4; } + +// Names the group of graphs under it. It used to be a subtitle-block nudged +// down 20px, which read as a stray line of text between two cards rather than +// as a heading for the ones below it. +#analysisWrapper .graphGroupHeading { + margin: 14px 0 8px; + padding-top: 12px; + border-top: 1px solid #eceef5; + font-size: 12px; + font-weight: 500; + letter-spacing: 0.04em; + text-transform: uppercase; + color: rgba(0, 0, 0, 0.5); + cursor: default; +} + +// The mode the reactions below are computed for, set off from them the same way +// the centre-of-mass heading is set off from its graphs. It used to sit flush +// against the first reaction card, so the two read as one control. +#analysisWrapper .forceModeRow { + margin-bottom: 12px; + padding-bottom: 12px; + border-bottom: 1px solid #eceef5; +} diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index 1c03a22c..924158e5 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -310,6 +310,11 @@ export class AnalysisPanelComponent { * one more thing to open before reaching a graph. The panel's own title says * it now. */ + /** Point at the thing on the grid these numbers describe, while asked to. */ + highlightCoM(on: boolean): void { + this.settingsService.previewCoMLinkId = on ? (this.activeSrv.selectedLink?.id ?? null) : null; + } + get modeLabel(): string { return this.tabs.getCurrentTab() === TabID.FORCE ? 'Force Analysis' : 'Kinematic Analysis'; } diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index a563f938..11c10791 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -1133,39 +1133,41 @@ } - @if (settings.isShowCOM.value) { + @if (settings.isShowCOM.value || settings.previewCoMLinkId) { @for (link of mechanismSrv.getLinks(); track link) { - - - - - - + @if (settings.isShowCOM.value || settings.previewCoMLinkId === link.id) { + + + + + + + } } } diff --git a/src/app/services/settings.service.ts b/src/app/services/settings.service.ts index b2ba49be..0d97a4e1 100644 --- a/src/app/services/settings.service.ts +++ b/src/app/services/settings.service.ts @@ -53,6 +53,14 @@ export class SettingsService { isShowID = new BehaviorSubject(false); isShowCOM = new BehaviorSubject(false); + /** + * A link whose centre of mass to draw while the reader is asking about it. + * + * Hovering the analysis panel's centre-of-mass heading points at the thing on + * the grid the numbers under it describe, without turning the setting on + * behind the reader's back. + */ + previewCoMLinkId: string | null = null; tempGridDisable: boolean = false; //This is to hide the grid lines to fit only to the linkage when doing a svg fit isGridDebugOn: boolean = false; From b603a696292d4f24a9abb07d24abff70ad3ee06d Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 00:11:56 -0400 Subject: [PATCH 050/236] Let the drawing follow the hand across a combined drag Two grids stood between the pointer and the pose. The handle's position was snapped to the leader's nearest sample, and that sample was then put through the master's sample grid on its way to every machine's clock -- so a degree of crank, which is a couple of pixels of track, held the drawing still for those pixels and then jumped it. Now the position is read between samples and the times are set on each machine directly. Dragging the combined handle across sixty frames moves every joint a steady 27 model units a frame with no frame standing still, where before whole runs of them did. Interpolating only between the two samples that bracket the answer, not past either: at the end of a loop the nearest sample is the one at the far end -- the right edge of the track being the left edge -- and reaching past it walks back the way the drag came. Alongside, the moment-of-inertia row puts its label on its own line. It wanted 239px of a 220px row, so the field was being crushed to 65 and "1.00 kg·cm²" clipped; the panel already reads this way for Joint Position and Center of Mass. --- .../BLOCKS/input/input.component.html | 2 +- .../BLOCKS/input/input.component.scss | 28 +++++++++++++--- .../component/BLOCKS/input/input.component.ts | 9 ++++++ .../edit-panel/edit-panel.component.html | 2 +- src/app/model/mechanism/drive-profile.spec.ts | 15 ++++++++- src/app/model/mechanism/drive-profile.ts | 32 +++++++++++++++++++ src/app/services/mechanism.service.ts | 13 +++++--- 7 files changed, 90 insertions(+), 11 deletions(-) diff --git a/src/app/component/BLOCKS/input/input.component.html b/src/app/component/BLOCKS/input/input.component.html index 2f0f12ff..b40984c1 100644 --- a/src/app/component/BLOCKS/input/input.component.html +++ b/src/app/component/BLOCKS/input/input.component.html @@ -1,4 +1,4 @@ -
+
diff --git a/src/app/component/BLOCKS/input/input.component.scss b/src/app/component/BLOCKS/input/input.component.scss index 505b1f2d..e3f8dd5c 100644 --- a/src/app/component/BLOCKS/input/input.component.scss +++ b/src/app/component/BLOCKS/input/input.component.scss @@ -2,6 +2,30 @@ @use '@angular/material' as mat; @mixin css($theme) { + // Label above, field below, each across the row's full width. For a label + // too long to share a line with its field -- "Moment of Inertia" beside a + // value in kg·cm² wants 239px of a 220px row, and one of the two + // gets crushed. The panel already reads this way for Joint Position and + // Center of Mass. + #input-block.stacked { + .row { + flex-wrap: wrap; + row-gap: 4px; + } + + .spacer { + display: none; + } + + .label-help { + margin-right: auto; + } + + .customInputForm, + .mat-mdc-text-field-wrapper { + width: 100%; + } + } // Get the color config from the theme. $color-config: mat.m2-get-color-config($theme); // Get the primary color palette from the color-config. @@ -47,10 +71,6 @@ padding: 0 6px; } - &.wide .mat-mdc-text-field-wrapper { - width: 104px; - } - .input-unit { margin-left: 4px; color: map.get($foreground, 'secondary-text'); diff --git a/src/app/component/BLOCKS/input/input.component.ts b/src/app/component/BLOCKS/input/input.component.ts index 93fb837b..9040c78e 100644 --- a/src/app/component/BLOCKS/input/input.component.ts +++ b/src/app/component/BLOCKS/input/input.component.ts @@ -19,6 +19,15 @@ export class InputComponent { @Input() unit: string | undefined; /** Widens the field for values whose unit suffix does not fit the default. */ @Input({ transform: booleanAttribute }) wide: boolean = false; + /** + * Put the label on its own line, with the field under it. + * + * For a label too long to share a line with its field -- "Moment of Inertia" + * next to a value in kg·cm² wants 239px of a 220px row, and one + * of the two gets crushed. The panel already reads this way for Joint + * Position and Center of Mass. + */ + @Input({ transform: booleanAttribute }) stacked: boolean = false; @Input() tooltip: string | undefined; @Input() _formControl!: string; @Input() formGroup!: FormGroup; diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index 8864d5ea..a4d3e8d7 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -369,7 +369,7 @@ >Link Mass { expect(sampleAlong(profile, profile.along[returning], returning)).toBeGreaterThan(last / 2); }); + it('answers between samples, so a drag is not a series of small jumps', () => { + // A degree of crank is a couple of pixels of track. Snapping to the nearest + // sample held the drawing still for those two pixels and then jumped it, + // which is what a reader sees as stutter. + const profile = profileOf('4-Bar'); + const half = (profile.along[10] + profile.along[11]) / 2; + const at = fractionalSampleAlong(profile, half, 10); + expect(at).toBeGreaterThan(10); + expect(at).toBeLessThan(11); + // And still lands exactly on a sample when that is what was asked for. + expect(fractionalSampleAlong(profile, profile.along[10], 10)).toBe(10); + }); + it('treats the two ends of a loop as the same place', () => { // For a crank that goes all the way round the right edge of the track is // the left edge; dragging past the end comes back to the start rather than diff --git a/src/app/model/mechanism/drive-profile.ts b/src/app/model/mechanism/drive-profile.ts index ff96f95d..62c2995b 100644 --- a/src/app/model/mechanism/drive-profile.ts +++ b/src/app/model/mechanism/drive-profile.ts @@ -175,6 +175,38 @@ function turnsBack(raw: number[]): boolean { * handle backwards does not jump it to the other half of the cycle. */ export function sampleAlong(profile: DriveProfile, along: number, near: number): number { + return Math.round(fractionalSampleAlong(profile, along, near)); +} + +/** + * The same answer, between samples. + * + * A drag is continuous and the samples are not: a degree of crank is a couple + * of pixels of track, so snapping to the nearest one holds the drawing still + * for two pixels and then jumps it. Interpolating between the sample found and + * its neighbour on the side the reader is pointing lets the drawing follow the + * hand. + */ +export function fractionalSampleAlong(profile: DriveProfile, along: number, near: number): number { + const at = nearestSample(profile, along, near); + const last = profile.along.length - 1; + if (last <= 0) return 0; + const here = profile.along[at]; + // Toward whichever neighbour lies on the side the reader asked for. + const step = along > here ? 1 : -1; + const next = at + step; + if (next < 0 || next > last) return at; + const span = profile.along[next] - here; + if (Math.abs(span) < 1e-9) return at; + const share = (along - here) / span; + // Only between the two. Off the end of a loop the nearest sample is the one + // at the far end -- the right edge of the track being the left edge -- and + // interpolating away from it would walk back the way the drag came. + if (!(share > 0 && share < 1)) return at; + return at + step * share; +} + +function nearestSample(profile: DriveProfile, along: number, near: number): number { const last = profile.along.length - 1; if (last <= 0) { return 0; diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 0270b601..b973117b 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -20,7 +20,7 @@ import { Force } from '../model/force'; import { DriveProfile, driveProfileOf as buildDriveProfile, - sampleAlong, + fractionalSampleAlong, } from '../model/mechanism/drive-profile'; import { Mechanism } from '../model/mechanism/mechanism'; import { @@ -3206,8 +3206,13 @@ export class MechanismService { const last = profile.along.length - 1; if (!(period > 0) || last <= 0) return; const nearSample = Math.round(Math.min(Math.max(this.secondsOf(leader) / period, 0), 1) * last); - const sample = sampleAlong(profile, Math.min(Math.max(along, 0), 1), nearSample); - this.animate(this.stepAtTime((sample / last) * period), this.isPlaying); + const sample = fractionalSampleAlong(profile, Math.min(Math.max(along, 0), 1), nearSample); + // Straight onto every machine's own clock. Going through the master's + // sample grid quantised the answer a second time -- once against the + // leader's samples and again against the master's -- and two grids for a + // drag to cross is what the drawing was stuttering over. + this.seekAllTo((sample / last) * period); + this.drawOwnClocks(this.isPlaying); } /** @@ -3287,7 +3292,7 @@ export class MechanismService { const last = profile.along.length - 1; if (!(period > 0) || last <= 0) return; const nearSample = Math.round(Math.min(Math.max(this.secondsOf(index) / period, 0), 1) * last); - const sample = sampleAlong(profile, Math.min(Math.max(along, 0), 1), nearSample); + const sample = fractionalSampleAlong(profile, Math.min(Math.max(along, 0), 1), nearSample); this.seekMechanism(index, (sample / last) * period); } From 6c843c430ee71067cf3f6a118665378c7dfe2595 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 00:16:55 -0400 Subject: [PATCH 051/236] Line the card up with the paragraph above it The graph cards ran the full width of the panel while every line of text in it sat on a 15px gutter, so the cards looked like they belonged to a different panel. They sit on that gutter now. And within the card: - The title, its help mark and its chevron share one centre line. They were at three different heights, the help mark five pixels below the other two. - Opening a card animates its height the way every other section in the app does, rather than appearing all at once. - Sixteen pixels between the values and the top of the plot, down from thirty. - The two ends of the time axis read 0.0 and 3.0, in the size and weight the y axis uses -- "0" against "6.0" looked like two different kinds of number -- and they sit clear of the plot's frame instead of against it. - "Time (seconds)" moved up beside them rather than taking a line of its own underneath. --- .../analysis-graph-section.component.html | 19 ++++++------- .../analysis-graph-section.component.scss | 14 ++++++---- .../analysis-graph-section.component.ts | 10 +++++++ .../analysis-graph.component.ts | 28 +++++++++++++++---- 4 files changed, 51 insertions(+), 20 deletions(-) diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.html b/src/app/component/analysis-graph-section/analysis-graph-section.component.html index 0e999150..b256a8a4 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.html +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.html @@ -14,6 +14,11 @@ [attr.aria-expanded]="expanded" > {{ label }} + @if (help) { + + } {{ expanded ? 'expand_less' : 'expand_more' }} @@ -48,14 +53,8 @@
} - @if (help) { - - } - - @if (expanded) { -
+
+ @if (expanded) { -
- } + } +
diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss index 5cff8350..0abefc7b 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss @@ -12,7 +12,10 @@ border: 1px solid #eceef5; border-radius: var(--border-radius); background: var(--card-surface); - margin-bottom: 8px; + // On the panel's own text gutter, so the card's edges line up with the + // paragraph above it rather than running the full width of the panel. + margin: 0 15px 8px; + overflow: hidden; &.closed { cursor: pointer; @@ -27,6 +30,7 @@ // it was 9px over and 3px under, which read as the title sitting high in its // own highlight. .graphHeader { + position: relative; display: flex; align-items: center; gap: 8px; @@ -114,11 +118,10 @@ } // Over the header's right end, before the chevron: a question about the - // quantity, not a control of the card. + // quantity, not a control of the card. Centred on the title's line, with the + // chevron -- the three of them used to sit at three heights. .graphHelp { - position: absolute; - top: 12px; - right: 38px; + flex: 0 0 auto; width: 17px; height: 17px; font-size: 17px; @@ -132,5 +135,6 @@ // margin. .graphBody { padding: 0 12px 8px; + overflow: hidden; } } diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts index 450da6b3..a1503828 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts @@ -6,6 +6,7 @@ import { Output, ViewChild, } from '@angular/core'; +import { animate, AUTO_STYLE, state, style, transition, trigger } from '@angular/animations'; import { AnalysisGraphComponent } from '../analysis-graph/analysis-graph.component'; import { MechanismService } from '../../services/mechanism.service'; import { SettingsService } from '../../services/settings.service'; @@ -32,6 +33,15 @@ export interface SeriesPreview { */ @Component({ selector: 'app-analysis-graph-section', + // The same open and close every other section in the app uses. + animations: [ + trigger('openClose', [ + state('open', style({ visibility: AUTO_STYLE, height: AUTO_STYLE, opacity: '1' })), + state('closed', style({ opacity: '0', height: '0px', padding: '0px' })), + transition(':enter', []), + transition('* => *', [animate('0.15s ease-in-out')]), + ]), + ], templateUrl: './analysis-graph-section.component.html', styleUrls: ['./analysis-graph-section.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 7d4aca59..bbdaa17d 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -66,6 +66,18 @@ export function formatTimeLabel(value: number): string { return Number(rounded.toFixed(3)).toString(); } +/** + * The two ends of the time axis, to one decimal. + * + * They read beside the y axis, which is also one decimal, and "0" against + * "6.0" looks like two different kinds of number. + */ +export function formatAxisEnd(value: number): string { + const rounded = Number(value); + if (!Number.isFinite(rounded)) return ''; + return rounded.toFixed(1); +} + @Component({ selector: 'app-analysis-graph', templateUrl: './analysis-graph.component.html', @@ -144,7 +156,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, position: 'back', show: true, padding: { - top: 0, + top: -14, bottom: 0, }, xaxis: { @@ -173,16 +185,22 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, // the space actually free at the two ends of this axis. trim: false, hideOverlappingLabels: false, - offsetY: 0, + // Clear of the plot's own frame, which they used to sit against. + offsetY: 4, + style: { + fontSize: '12px', + fontWeight: 400, + colors: ['#373d3f', '#373d3f'], + }, formatter: function (val) { - return formatTimeLabel(Number(val)); + return formatAxisEnd(Number(val)); }, }, tickAmount: 1, title: { text: 'Time (seconds)', - // On the same baseline as the tick labels either side of it. - offsetY: -4, + // Up beside the two ends rather than on a line of its own below them. + offsetY: -18, offsetX: 0, }, tooltip: { From 3b0ec8d9e783cbc10ffe70054347356b6f962d84 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 00:19:33 -0400 Subject: [PATCH 052/236] Name every link on the link, and quieten the mass marks Three things about what the canvas says without being asked. A link's name is always drawn now. It is the name the panels and the analysis use, and a body has room to hold it; the Labels button still governs the joint and force labels, which would otherwise crowd the joints they sit beside. Black or white by the link's own luminance, at 55%, so it reads on a pale mint bar and on a navy one alike, and sized from the object scale rather than the screen -- the same size as the grid's own numbers on a drawing at the default scale, and the size of the parts from there. It is anchored on the middle of the link's joints, not on its centre of mass. The centre of mass is a physical property with a field of its own in the Edit panel, and a link told its mass sits out at one end is a link whose name was written off the metal. A welded link is the Boolean union of its parts and can be any shape at all -- an L has nothing in the crook -- so the name goes in the middle of its biggest part. The centre-of-mass mark is small now, and half opaque. Two of its four quarters are not painted at all, so the link's colour shows through where the white used to be, and the outline is the same four wedges stroked rather than a circle drawn beside them -- one set of coordinates, so it cannot land anywhere else. And the name steps out of its way when it is being shown, since both belong at the middle. Alongside: Option suspends snapping for the length of a gesture, the same key that already means "no help from the app" while dragging. --- e2e/link-labels.mjs | 246 ++++++++++++++++++ e2e/snap-to-grid.mjs | 18 +- .../new-grid/new-grid.component.html | 75 +++--- .../component/new-grid/new-grid.component.ts | 56 +++- src/app/model/link.ts | 4 +- src/app/services/svg-grid.service.ts | 12 +- 6 files changed, 368 insertions(+), 43 deletions(-) create mode 100644 e2e/link-labels.mjs diff --git a/e2e/link-labels.mjs b/e2e/link-labels.mjs new file mode 100644 index 00000000..b044e25a --- /dev/null +++ b/e2e/link-labels.mjs @@ -0,0 +1,246 @@ +/** + * A link's name is drawn on the link. + * + * The name is always shown -- unlike the joint and force labels, which the + * Labels button governs -- so it has to be readable against the body it names + * and it has to land on that body. Neither is a given: the bodies run from pale + * mint to navy, and a welded one is the Boolean union of its parts, which can + * be any shape at all. An L has its centre of mass in the crook, outside the + * metal. + * + * PMKS_BASE_URL= node e2e/link-labels.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1400, height: 900 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +/** + * Whether each label has landed on a body at all. + * + * Two ways of counting, because bodies are drawn two ways. A filled one paints + * under the label, and hit-testing finds it. A slotted one is a rail -- two + * lines with a channel between them -- and a name in that channel is exactly + * where a name should be, over nothing at all; for those the body's own extent + * is what answers the question. + * + * What this catches is a label floating in empty space. That the anchor is the + * right link's own is decided in `linkLabelAnchor`, from that link's joints. + */ +const labelsOnBodies = () => + page.evaluate(() => { + const bodies = [...document.querySelectorAll('#linkHolder path')] + .concat([...document.querySelectorAll('[class*="cylinder-"]')]) + .map((node) => node.getBoundingClientRect()) + .filter((box) => box.width > 0 || box.height > 0); + return [...document.querySelectorAll('#linkTagHolder > svg')] + .map((holder) => holder.querySelector('text')) + .filter(Boolean) + .map((text) => { + const label = text.getBoundingClientRect(); + const x = label.left + label.width / 2; + const y = label.top + label.height / 2; + const painted = document + .elementsFromPoint(x, y) + .some( + (node) => + node.closest('#linkHolder') || + /cylinder-|__rider|__rail/.test(String(node.className.baseVal ?? node.className)) + ); + const within = bodies.some( + (box) => + x >= box.left - 1 && x <= box.right + 1 && y >= box.top - 1 && y <= box.bottom + 1 + ); + return { name: text.textContent.trim(), onBody: painted || within }; + }); + }); + +const load = async (payload) => { + await page.goto(`${BASE}/?${payload}`, { waitUntil: 'domcontentloaded' }); + await waitForReady(page); + // Frame the whole drawing: a label that is off the edge of the window cannot + // be hit-tested, and "off screen" is not the question being asked here. + await page.evaluate(() => + ng.getComponent(document.querySelector('app-new-grid')).svgGrid.scaleToFitLinkage(false) + ); + await page.waitForTimeout(900); +}; + +/** + * The anchor, against the joints it is supposed to be the middle of. + * + * This is the guarantee: a point inside the hull of a link's own joints is + * inside the body, because the body is drawn around that hull. It holds for + * every drawing, including the ones whose bodies are rails and shells that + * cannot be hit-tested. + */ +const anchorsAreCentres = () => + page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + return grid.mechanismSrv.getLinks().map((link) => { + const parts = link.subset?.length ? link.subset : [link]; + const span = (part) => { + const first = part.joints[0]; + const last = part.joints[part.joints.length - 1]; + return first && last ? Math.hypot(last.x - first.x, last.y - first.y) : 0; + }; + const biggest = parts.reduce((best, part) => (span(part) > span(best) ? part : best)); + const joints = biggest.joints ?? []; + const want = { + x: joints.reduce((total, joint) => total + joint.x, 0) / (joints.length || 1), + y: joints.reduce((total, joint) => total + joint.y, 0) / (joints.length || 1), + }; + const got = grid.linkLabelAnchor(link); + return { + id: link.id, + centred: + joints.length === 0 || + (Math.abs(got.x - want.x) < 1e-6 && Math.abs(got.y - want.y) < 1e-6), + }; + }); + }); + +// --- every template --------------------------------------------------------- +for (const name of [ + '4-Bar', + 'Stephenson_III', + 'Watt_I', + 'Jansen_Leg', + 'Cylinder_Boom', + 'Scissor_Lift', +]) { + await load(payloads[name]); + const anchors = await anchorsAreCentres(); + record( + `every label in ${name} is anchored inside the joints of the link it names`, + anchors.length > 0 && anchors.every((link) => link.centred), + anchors.filter((link) => !link.centred) + ); +} + +// And, where the body is a filled shape this can hit-test, that the label is +// actually painted on it. +for (const name of ['4-Bar', 'Stephenson_III', 'Watt_I', 'Jansen_Leg', 'Cylinder_Boom']) { + await load(payloads[name]); + const labels = await labelsOnBodies(); + record( + `and in ${name} it is drawn on the body`, + labels.length > 0 && labels.every((label) => label.onBody), + labels.filter((label) => !label.onBody) + ); +} + +// --- a welded body, which is where the centre of mass stops being safe ------- +await load(payloads['Stephenson_III']); +await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + const shared = srv.joints.find((joint) => joint.links?.length > 1 && !joint.ground); + if (shared) srv.weldJoint(shared); +}); +await page.waitForTimeout(1200); +const welded = await labelsOnBodies(); +record( + 'and on a welded body, whose shape is a union of its parts', + welded.length > 0 && welded.every((label) => label.onBody), + welded +); +record( + 'which is named for all of its joints', + welded.some((label) => label.name.length > 2), + welded.map((label) => label.name) +); + +// --- readable against the body, and the size of the grid's own numbers ------- +await load(payloads['Stephenson_III']); +const type = await page.evaluate(() => { + const svg = document.querySelector('#canvas') ?? document.querySelector('svg'); + const perUnit = Math.abs(svg.querySelector('g').getScreenCTM().a); + const px = (node) => +(parseFloat(getComputedStyle(node).fontSize) * perUnit).toFixed(1); + return { + labels: [...document.querySelectorAll('#linkTagHolder text')].map((text) => ({ + ink: text.getAttribute('fill'), + opacity: text.getAttribute('fill-opacity'), + size: px(text), + })), + gridNumber: px(document.querySelector('#axes_numbers')), + objectScale: ng.getComponent(document.querySelector('app-new-grid')).settings.objectScale, + }; +}); +record( + 'each label is inked black or white, whichever its body can be read against', + type.labels.length > 0 && + type.labels.every((label) => ['black', 'white'].includes(label.ink)) && + new Set(type.labels.map((label) => label.ink)).size === 2, + type.labels +); +record( + 'at 55%, so it sits on the body rather than over it', + type.labels.every((label) => label.opacity === '0.55'), + type.labels +); +// Sized from the object scale, so it matches the grid's numbers on a drawing +// at the default scale and follows the parts from there. +record( + "no bigger than the grid's own numbers", + type.labels.every((label) => label.size <= type.gridNumber + 0.5), + { labels: type.labels.map((l) => l.size), gridNumber: type.gridNumber } +); + +// Sized in the drawing's units, not the screen's: the name is the size of the +// thing it names, so making the parts bigger makes their names bigger. +await page.evaluate(() => { + const settings = ng.getComponent(document.querySelector('app-new-grid')).settings; + settings.constructor._objectScale.next(settings.objectScale * 2); +}); +await page.waitForTimeout(600); +const doubled = await page.evaluate(() => { + const svg = document.querySelector('#canvas') ?? document.querySelector('svg'); + const perUnit = Math.abs(svg.querySelector('g').getScreenCTM().a); + const text = document.querySelector('#linkTagHolder text'); + return +(parseFloat(getComputedStyle(text).fontSize) * perUnit).toFixed(1); +}); +record('and it grows with the object scale', doubled > type.labels[0].size * 1.6, { + was: type.labels[0].size, + now: doubled, +}); + +// --- the other labels still answer to the button ---------------------------- +await load(payloads['4-Bar']); +const governed = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const count = () => ({ + joints: document.querySelectorAll('#jointTagHolder text').length, + links: document.querySelectorAll('#linkTagHolder text').length, + }); + const off = count(); + grid.settings.isShowID.next(true); + return { off, on: count() }; +}); +record('the Labels button still governs the joint labels', true, governed); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); +await browser.close(); + +const failed = results.filter(([, ok]) => !ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +process.exit(failed.length ? 1 : 0); diff --git a/e2e/snap-to-grid.mjs b/e2e/snap-to-grid.mjs index b9d54440..f5d1b46a 100644 --- a/e2e/snap-to-grid.mjs +++ b/e2e/snap-to-grid.mjs @@ -60,8 +60,9 @@ const inCells = () => const onCorner = (joint) => Math.abs(joint.x - Math.round(joint.x)) < 1e-6 && Math.abs(joint.y - Math.round(joint.y)) < 1e-6; -/** A real press, a real path, a real release. */ -const dragFrom = async (box, dx, dy) => { +/** A real press, a real path, a real release. Optionally with Option held. */ +const dragFrom = async (box, dx, dy, { holdOption = false } = {}) => { + if (holdOption) await page.keyboard.down('Alt'); await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2); await page.mouse.down(); for (let step = 1; step <= 8; step++) { @@ -72,6 +73,7 @@ const dragFrom = async (box, dx, dy) => { ); } await page.mouse.up(); + if (holdOption) await page.keyboard.up('Alt'); await page.waitForTimeout(500); }; @@ -111,6 +113,18 @@ await dragFrom(await page.locator('#joint_B').boundingBox(), 63, -41); const dragged = (await inCells()).joints.find((joint) => joint.id === 'B'); record('a dragged joint lands on a corner of the grid', onCorner(dragged), dragged); +// --- Option suspends it for the length of a gesture ------------------------- +// The same key that already means "no help from the app" while dragging: it is +// what turns off capturing a joint you drop on. +await fresh(); +await dragFrom(await page.locator('#joint_B').boundingBox(), 43, -29, { holdOption: true }); +const withOption = (await inCells()).joints.find((joint) => joint.id === 'B'); +record('holding Option drags free of the grid', !onCorner(withOption), withOption); +// And lets go of it again. +await dragFrom(await page.locator('#joint_B').boundingBox(), 31, 22); +const afterOption = (await inCells()).joints.find((joint) => joint.id === 'B'); +record('and the next drag snaps again', onCorner(afterOption), afterOption); + // --- a link lands its reference joint there --------------------------------- await fresh(); const before = await inCells(); diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 6089f201..e383e52f 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -1137,34 +1137,31 @@ @for (link of mechanismSrv.getLinks(); track link) { - - - - + + @for ( + quarter of [ + mechanismSrv.getLinkProp(link, 'CoM_d1'), + mechanismSrv.getLinkProp(link, 'CoM_d2'), + mechanismSrv.getLinkProp(link, 'CoM_d3'), + mechanismSrv.getLinkProp(link, 'CoM_d4') + ]; + track $index + ) { + + } } @@ -1172,21 +1169,31 @@ @for (link of mechanismSrv.getLinks(); track link) { + @if ( this.showLinkLengthOverlay < -1 && this.showLinkAngleOverlay < -1 && !isSecondaryCylinderTag(link) && - ((gridUtils.typeOfLink(link) !== 'P' && settings.isShowID.value) || - link.showHighlight || - (this.activeObjService.selectedLink == link && this.activeObjService.objType == 'Link')) + gridUtils.typeOfLink(link) !== 'P' ) { - + + {{ linkDisplayName(link) }} } diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 5024afe9..47507d73 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -1173,7 +1173,7 @@ export class NewGridComponent implements OnDestroy { // Last, and only here: a capture is a target the reader // picked, and a joint on a slot has a line to stay on. The // grid gets the position nothing else has a claim on. - this.svgGrid.snapToGrid(mousePosInSvg) + this.svgGrid.snapToGrid(mousePosInSvg, $event.altKey) ) ); this.dragState.noteMechanismModified(); @@ -1212,7 +1212,8 @@ export class NewGridComponent implements OnDestroy { const wantedX = mousePosInSvg.x - this.linkDragAnchor.x; const wantedY = mousePosInSvg.y - this.linkDragAnchor.y; const landed = this.svgGrid.snapToGrid( - new Coord(reference.x + wantedX, reference.y + wantedY) + new Coord(reference.x + wantedX, reference.y + wantedY), + $event.altKey ); this.gridUtils.dragLink( this.activeObjService.selectedLink, @@ -2550,6 +2551,57 @@ export class NewGridComponent implements OnDestroy { return !!sealed && link.id !== sealed.barrel.id; } + /** + * Where to write a link's name so it lands on the link. + * + * The average of the joints it is made of, which is inside the hull they + * describe -- and the body is drawn around that hull, so it is inside the + * body. A welded link is the Boolean union of its parts and can be any shape + * at all (an L has nothing in the crook), so the name goes in the middle of + * the biggest part, which is inside the union because that part is. + * + * Not the centre of mass, which is where this used to go: that is a physical + * property with a field of its own in the Edit panel, and a link told its + * mass sits out at one end is a link whose name was written off the metal. + */ + linkLabelAnchor(link: Link): { x: number; y: number } { + const parts = (link instanceof RealLink ? link.subset : []) ?? []; + const middleOf = (of: Link) => { + const joints = of.joints ?? []; + if (joints.length === 0) return { x: 0, y: 0 }; + return { + x: joints.reduce((total, joint) => total + joint.x, 0) / joints.length, + y: joints.reduce((total, joint) => total + joint.y, 0) / joints.length, + }; + }; + if (parts.length === 0) return middleOf(link); + const span = (part: Link) => { + const first = part.joints[0]; + const last = part.joints[part.joints.length - 1]; + return first && last ? Math.hypot(last.x - first.x, last.y - first.y) : 0; + }; + return middleOf(parts.reduce((best, part) => (span(part) > span(best) ? part : best))); + } + + /** + * Black or white, whichever the link's own colour can be read against. + * + * The label sits on the body it names, and the bodies run from pale mint to + * navy, so one ink cannot serve them all. Relative luminance decides it, the + * same rule a contrast checker uses. + */ + linkLabelInk(link: Link): string { + const fill = (link as { fill?: string }).fill ?? '#ffffff'; + const hex = fill.replace('#', ''); + if (hex.length < 6) return 'black'; + const channel = (at: number) => { + const value = parseInt(hex.slice(at, at + 2), 16) / 255; + return value <= 0.03928 ? value / 12.92 : ((value + 0.055) / 1.055) ** 2.4; + }; + const luminance = 0.2126 * channel(0) + 0.7152 * channel(2) + 0.0722 * channel(4); + return luminance > 0.45 ? 'black' : 'white'; + } + linkDisplayName(link: Link): string { const sealed = this.mechanismSrv.cylinderAt(link); if (!sealed) return link.name; diff --git a/src/app/model/link.ts b/src/app/model/link.ts index a1657ee7..7708dfd1 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -724,7 +724,9 @@ export class RealLink extends Link { updateCoMDs() { //This is such a bad way of doing this. Just import the SVG file from the assets folder and use that instead of constructing the exact same thing every time. - const radius = SettingsService.objectScale * 0.2; + // Small. The mark says where the centre of mass is; at the size it was, on + // a drawing with several links, it was the loudest thing on the canvas. + const radius = SettingsService.objectScale * 0.09; this._CoM_d1 = 'M' + this.CoM.x + diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index de9cbd37..abad63d0 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -407,12 +407,16 @@ export class SvgGridService { /** * The nearest corner of the drawn grid, if snapping is on. * - * Off, or with no grid to snap to, the point is returned as it came -- - * callers can use this unconditionally. + * Off, suspended, or with no grid to snap to, the point is returned as it + * came -- callers can use this unconditionally. + * + * `suspended` is the Option key, which already means "no help from the app" + * while dragging: it is what turns off capturing a joint you drop on, and it + * turns off the grid for the same gesture and the same reason. */ - snapToGrid(coord: Coord): Coord { + snapToGrid(coord: Coord, suspended = false): Coord { const cell = this.minorCellSize; - if (!this.settingsService.isSnapToGrid.value || !(cell > 0)) { + if (suspended || !this.settingsService.isSnapToGrid.value || !(cell > 0)) { return coord; } return new Coord(Math.round(coord.x / cell) * cell, Math.round(coord.y / cell) * cell); From 23787db6349fa9088d17e0b3df7397139a5f4d6e Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 00:38:09 -0400 Subject: [PATCH 053/236] Let a slotted bar own its channel, and drag again Dragging a link with snapping on moved nothing at all. The offset was measured from the previous pointer event, which is a few units -- less than half a cell, so it rounded to no move, every frame, for ever. It is measured from the grab now: where the reference joint stood when the drag began, plus the whole distance the cursor has travelled since. A bar carrying a slot is drawn as a rail with a channel down it, and a name in that channel has no body colour behind it to be read against. Those go in the middle of the slot, in full black. The rest keep the 55% ink chosen from their own colour. And everything the canvas names is a little bigger: the marks for the centre of mass, the link names, and -- now the same size as those -- the joint and force names, which stay opaque because they name points rather than bodies and have nothing behind them to read through. --- e2e/link-labels.mjs | 53 ++++++++++-- .../new-grid/new-grid.component.html | 18 ++-- .../component/new-grid/new-grid.component.ts | 86 ++++++++++++++----- src/app/model/link.ts | 2 +- 4 files changed, 123 insertions(+), 36 deletions(-) diff --git a/e2e/link-labels.mjs b/e2e/link-labels.mjs index b044e25a..4c1b0f4a 100644 --- a/e2e/link-labels.mjs +++ b/e2e/link-labels.mjs @@ -98,6 +98,12 @@ const anchorsAreCentres = () => page.evaluate(() => { const grid = ng.getComponent(document.querySelector('app-new-grid')); return grid.mechanismSrv.getLinks().map((link) => { + // A bar carrying a slot is drawn as a rail; its name goes in the channel, + // which is checked separately. + const carriedSlot = grid.mechanismSrv.joints.find( + (joint) => joint.carrier?.id === link.id && joint.slotJointA && joint.slotJointB + ); + if (carriedSlot) return { id: link.id, centred: true }; const parts = link.subset?.length ? link.subset : [link]; const span = (part) => { const first = part.joints[0]; @@ -110,7 +116,7 @@ const anchorsAreCentres = () => x: joints.reduce((total, joint) => total + joint.x, 0) / (joints.length || 1), y: joints.reduce((total, joint) => total + joint.y, 0) / (joints.length || 1), }; - const got = grid.linkLabelAnchor(link); + const got = grid.linkLabelStyle(link); return { id: link.id, centred: @@ -150,6 +156,38 @@ for (const name of ['4-Bar', 'Stephenson_III', 'Watt_I', 'Jansen_Leg', 'Cylinder ); } +// --- a bar carrying a slot, whose name goes in the channel ------------------ +for (const name of ['Scotch_Yoke', 'Whitworth_Quick_Return']) { + await load(payloads[name]); + const slotted = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + return grid.mechanismSrv + .getLinks() + .map((link) => { + const slot = grid.mechanismSrv.joints.find( + (joint) => joint.carrier?.id === link.id && joint.slotJointA && joint.slotJointB + ); + if (!slot) return null; + const style = grid.linkLabelStyle(link); + return { + id: link.id, + inTheChannel: + Math.abs(style.x - (slot.slotJointA.x + slot.slotJointB.x) / 2) < 1e-6 && + Math.abs(style.y - (slot.slotJointA.y + slot.slotJointB.y) / 2) < 1e-6, + ink: style.ink, + opacity: style.opacity, + }; + }) + .filter(Boolean); + }); + record( + `in ${name} the slotted bar's name sits in the middle of its slot, in full black`, + slotted.length > 0 && + slotted.every((link) => link.inTheChannel && link.ink === 'black' && link.opacity === 1), + slotted + ); +} + // --- a welded body, which is where the centre of mass stops being safe ------- await load(payloads['Stephenson_III']); await page.evaluate(() => { @@ -183,6 +221,7 @@ const type = await page.evaluate(() => { size: px(text), })), gridNumber: px(document.querySelector('#axes_numbers')), + perUnit, objectScale: ng.getComponent(document.querySelector('app-new-grid')).settings.objectScale, }; }); @@ -198,12 +237,14 @@ record( type.labels.every((label) => label.opacity === '0.55'), type.labels ); -// Sized from the object scale, so it matches the grid's numbers on a drawing -// at the default scale and follows the parts from there. +// Sized from the object scale rather than from the screen, so a name is the +// size of the thing it names. On a drawing at the default scale that lands +// within a few points of the grid's own numbers; on one whose parts are half +// the size, so are their names, which is the point. record( - "no bigger than the grid's own numbers", - type.labels.every((label) => label.size <= type.gridNumber + 0.5), - { labels: type.labels.map((l) => l.size), gridNumber: type.gridNumber } + 'every label is sized from the object scale', + type.labels.every((label) => Math.abs(label.size / type.perUnit - type.objectScale * 0.18) < 0.5), + { labels: type.labels.map((l) => l.size), objectScale: type.objectScale } ); // Sized in the drawing's units, not the screen's: the name is the size of the diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index e383e52f..87926434 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -1115,7 +1115,7 @@ - + {{ mergeLabel }} } @else if ( @@ -1126,7 +1126,7 @@ (this.activeObjService.selectedJoint == joint && this.activeObjService.objType == 'Joint')) ) { - + {{ joint.name }} } @@ -1169,8 +1169,8 @@ @for (link of mechanismSrv.getLinks(); track link) { {{ linkDisplayName(link) }} @@ -1214,7 +1214,7 @@ force.showHighlight || (this.activeObjService.selectedForce == force && this.activeObjService.objType == 'Force') ) { - + {{ force.name }} } diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 47507d73..76ac77cf 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -189,6 +189,16 @@ export class NewGridComponent implements OnDestroy { /** Where the link being dragged was last placed, in SVG coordinates. */ private linkDragAnchor: Coord = new Coord(0, 0); + /** + * Where the grabbed link's reference joint stood when the drag began. + * + * Snapping needs the whole distance dragged, not this frame's part of it: a + * single pointer event moves a few units, which rounds to no move at all, and + * a link measured frame by frame would never leave its corner however far the + * cursor went. + */ + private linkDragOrigin?: { at: Coord; from: Coord }; + //This is terrible but: // -2 => hidden // -1 => Link length and angle shown @@ -1208,20 +1218,24 @@ export class NewGridComponent implements OnDestroy { // what they are -- so one of them is the one that lands, and the // rest keep their places around it. The first joint, which is the // one the link is named from. + // + // Measured from where the grab started, not from the last frame: one + // pointer event is a few units, which rounds to no move at all, and a + // link asked frame by frame would sit on its corner for ever. const reference = this.activeObjService.selectedLink.joints[0]; - const wantedX = mousePosInSvg.x - this.linkDragAnchor.x; - const wantedY = mousePosInSvg.y - this.linkDragAnchor.y; - const landed = this.svgGrid.snapToGrid( - new Coord(reference.x + wantedX, reference.y + wantedY), - $event.altKey - ); + const grab = this.linkDragOrigin; + const wantedX = grab + ? grab.at.x + (mousePosInSvg.x - grab.from.x) + : reference.x + (mousePosInSvg.x - this.linkDragAnchor.x); + const wantedY = grab + ? grab.at.y + (mousePosInSvg.y - grab.from.y) + : reference.y + (mousePosInSvg.y - this.linkDragAnchor.y); + const landed = this.svgGrid.snapToGrid(new Coord(wantedX, wantedY), $event.altKey); this.gridUtils.dragLink( this.activeObjService.selectedLink, landed.x - reference.x, landed.y - reference.y ); - // The cursor's own position, so the body does not drift away from it - // as the rounding is applied over and over. this.linkDragAnchor = mousePosInSvg; this.dragState.noteMechanismModified(); this.activeObjService.updateSelectedObj(this.activeObjService.selectedLink); @@ -1714,6 +1728,10 @@ export class NewGridComponent implements OnDestroy { // first move would translate the link by the distance from whatever // unrelated pointer event came last — a jump on grab. this.linkDragAnchor = mousePosInSvg; + const grabbed = this.activeObjService.selectedLink?.joints?.[0]; + this.linkDragOrigin = grabbed + ? { at: new Coord(grabbed.x, grabbed.y), from: new Coord(mousePosInSvg.x, mousePosInSvg.y) } + : undefined; switch ($event.button) { case 0: // Handle Left-Click on canvas @@ -2552,19 +2570,32 @@ export class NewGridComponent implements OnDestroy { } /** - * Where to write a link's name so it lands on the link. + * Where a link's name goes, and in what ink. * - * The average of the joints it is made of, which is inside the hull they - * describe -- and the body is drawn around that hull, so it is inside the - * body. A welded link is the Boolean union of its parts and can be any shape - * at all (an L has nothing in the crook), so the name goes in the middle of - * the biggest part, which is inside the union because that part is. + * The anchor is the average of the joints the link is made of, which is + * inside the hull they describe -- and the body is drawn around that hull, so + * it is inside the body. Not the centre of mass, which is a physical property + * with a field of its own in the Edit panel: a link told its mass sits out at + * one end is a link whose name was written off the metal. * - * Not the centre of mass, which is where this used to go: that is a physical - * property with a field of its own in the Edit panel, and a link told its - * mass sits out at one end is a link whose name was written off the metal. + * Two bodies are not their own hull. A welded link is the Boolean union of + * its parts and can be any shape at all -- an L has nothing in the crook -- + * so the name goes in the middle of its biggest part, which is inside the + * union because that part is. And a bar carrying a slot is drawn as a rail + * with a channel down it, so the name goes in the channel, in full black: + * there is no body colour behind it there to be read against. */ - linkLabelAnchor(link: Link): { x: number; y: number } { + linkLabelStyle(link: Link): { x: number; y: number; ink: string; opacity: number } { + const slot = this.slotCarriedBy(link); + if (slot) { + const [from, to] = [slot.slotJointA!, slot.slotJointB!]; + return { + x: (from.x + to.x) / 2, + y: (from.y + to.y) / 2, + ink: 'black', + opacity: 1, + }; + } const parts = (link instanceof RealLink ? link.subset : []) ?? []; const middleOf = (of: Link) => { const joints = of.joints ?? []; @@ -2574,13 +2605,28 @@ export class NewGridComponent implements OnDestroy { y: joints.reduce((total, joint) => total + joint.y, 0) / joints.length, }; }; - if (parts.length === 0) return middleOf(link); const span = (part: Link) => { const first = part.joints[0]; const last = part.joints[part.joints.length - 1]; return first && last ? Math.hypot(last.x - first.x, last.y - first.y) : 0; }; - return middleOf(parts.reduce((best, part) => (span(part) > span(best) ? part : best))); + const on = + parts.length === 0 + ? link + : parts.reduce((best, part) => (span(part) > span(best) ? part : best)); + return { ...middleOf(on), ink: this.linkLabelInk(link), opacity: 0.55 }; + } + + /** The slot this bar carries, if it is a plain bar carrying one. */ + private slotCarriedBy(link: Link): PrisJoint | undefined { + if ((link.joints?.length ?? 0) !== 2) return undefined; + return this.mechanismSrv.joints.find( + (joint): joint is PrisJoint => + joint instanceof PrisJoint && + joint.carrier?.id === link.id && + !!joint.slotJointA && + !!joint.slotJointB + ); } /** diff --git a/src/app/model/link.ts b/src/app/model/link.ts index 7708dfd1..c07d1bb4 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -726,7 +726,7 @@ export class RealLink extends Link { //This is such a bad way of doing this. Just import the SVG file from the assets folder and use that instead of constructing the exact same thing every time. // Small. The mark says where the centre of mass is; at the size it was, on // a drawing with several links, it was the loudest thing on the canvas. - const radius = SettingsService.objectScale * 0.09; + const radius = SettingsService.objectScale * 0.11; this._CoM_d1 = 'M' + this.CoM.x + From 945959827df4570d1550bc99a5a40b46b6fbc13c Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 00:41:27 -0400 Subject: [PATCH 054/236] Measure the chart against the box it ended up in Apex measures its host once, when it builds the chart, and keeps that width. Every chart on a panel's first render was built while the panel was still settling, so it stayed 387px wide in a 364px box and the label at the far end of the time axis sat past the card's edge. Toggling the card rebuilt the chart and it came back right, which is what made this look like a rendering fault rather than a measuring one. It re-lays out when its container's width changes now. Alongside: - Both axes letter their ticks the same. Apex defaults to 11px and the time axis had been set to 12px on its own, so the two ends of one plot were in different sizes. - The help mark and the chevron sit on the title's line. Material gives mat-icon a 24px box whatever glyph is inside it, and a 17px glyph with a 17px line-height sat at the top of that box -- and Material's own rules land after these in the bundle, so one class does not beat one class. - The centre-of-mass heading and the force-mode row sit on the cards' gutter rather than flush against the panel edge, and the heading is weighted to carry the group under it instead of being the quietest thing on the page. --- .../analysis-graph-section.component.scss | 25 +++++++++++----- .../analysis-apex-chart.component.ts | 30 +++++++++++++++++++ .../analysis-graph.component.ts | 12 ++++++++ .../analysis-panel.component.scss | 14 ++++----- 4 files changed, 66 insertions(+), 15 deletions(-) diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss index 0abefc7b..28df2d5d 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss @@ -108,24 +108,33 @@ flex: 0 0 auto; } - .graphChevron { + .graphHeader .graphChevron { flex: 0 0 auto; - width: 20px; - height: 20px; + display: flex; + align-items: center; + justify-content: center; + width: 24px; + height: 24px; font-size: 20px; - line-height: 20px; + line-height: 1; color: mat.m2-get-color-from-palette($primary-palette, 500); } // Over the header's right end, before the chevron: a question about the // quantity, not a control of the card. Centred on the title's line, with the // chevron -- the three of them used to sit at three heights. - .graphHelp { + // Material gives mat-icon a 24px box whatever the glyph inside it is, so a + // 17px glyph with a 17px line-height sat at the top of it. Centre the glyph + // in the box the box actually is. + .graphHeader .graphHelp { flex: 0 0 auto; - width: 17px; - height: 17px; + display: flex; + align-items: center; + justify-content: center; + width: 24px; + height: 24px; font-size: 17px; - line-height: 17px; + line-height: 1; color: rgba(0, 0, 0, 0.3); pointer-events: auto; } diff --git a/src/app/component/analysis-graph/analysis-apex-chart.component.ts b/src/app/component/analysis-graph/analysis-apex-chart.component.ts index 4fcf6f70..4a2a3148 100644 --- a/src/app/component/analysis-graph/analysis-apex-chart.component.ts +++ b/src/app/component/analysis-graph/analysis-apex-chart.component.ts @@ -84,15 +84,45 @@ export class AnalysisApexChartComponent implements OnChanges, AfterViewInit, OnD ngAfterViewInit(): void { this.viewInitialized = true; this.scheduleUpdate(); + this.watchWidth(); } ngOnDestroy(): void { this.destroyed = true; this.updateGeneration++; + this.widthWatch?.disconnect(); this.chartInstance?.destroy(); this.chartInstance = undefined; } + private widthWatch?: ResizeObserver; + private renderedWidth = 0; + + /** + * Re-lay the chart out when its container's width changes under it. + * + * Apex measures the host once, at construction, and keeps that width. A chart + * built while the panel was still settling -- which is every chart on the + * first render of a panel -- stayed at the width it was built for, so the + * label at the far end of the axis sat past the card's edge and was clipped. + * Toggling the card rebuilt the chart and it came back right, which is what + * made this look like a rendering bug rather than a measuring one. + */ + private watchWidth(): void { + const host = this.chartHost?.nativeElement; + if (!host || typeof ResizeObserver === 'undefined') return; + this.renderedWidth = host.clientWidth; + this.widthWatch = new ResizeObserver(() => { + const width = host.clientWidth; + if (!width || width === this.renderedWidth || this.destroyed) return; + this.renderedWidth = width; + this.zone.runOutsideAngular(() => { + this.chartInstance?.updateOptions({ chart: { width } }, false, false); + }); + }); + this.widthWatch.observe(host); + } + updateOptions( options: object, redrawPaths?: boolean, diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index bbdaa17d..b01988cb 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -210,6 +210,15 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, yaxis: { showForNullSeries: false, forceNiceScale: true, + // The same size and weight as the time axis. Apex defaults the two axes + // to 11px and the x axis was set to 12px on its own, so the two ends of + // one plot were lettered differently. + labels: { + style: { + fontSize: '12px', + fontWeight: 400, + }, + }, min: function (min) { return Math.floor(min); }, @@ -218,6 +227,9 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, }, title: { text: 'setLater', + style: { + fontSize: '12px', + }, }, // tickAmount: 1, decimalsInFloat: 1, diff --git a/src/app/component/analysis-panel/analysis-panel.component.scss b/src/app/component/analysis-panel/analysis-panel.component.scss index c4e112a4..e54e12cc 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.scss +++ b/src/app/component/analysis-panel/analysis-panel.component.scss @@ -67,14 +67,14 @@ // down 20px, which read as a stray line of text between two cards rather than // as a heading for the ones below it. #analysisWrapper .graphGroupHeading { - margin: 14px 0 8px; - padding-top: 12px; + // On the cards' own gutter, and weighted to carry the group under it rather + // than to be the quietest thing on the page. + margin: 16px 15px 10px; + padding-top: 14px; border-top: 1px solid #eceef5; - font-size: 12px; + font-size: 15px; font-weight: 500; - letter-spacing: 0.04em; - text-transform: uppercase; - color: rgba(0, 0, 0, 0.5); + color: #2c2c2c; cursor: default; } @@ -82,7 +82,7 @@ // the centre-of-mass heading is set off from its graphs. It used to sit flush // against the first reaction card, so the two read as one control. #analysisWrapper .forceModeRow { - margin-bottom: 12px; + margin: 0 15px 12px; padding-bottom: 12px; border-bottom: 1px solid #eceef5; } From 5417578bf5d29601a803b94baa34f1dc032884b1 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 00:51:24 -0400 Subject: [PATCH 055/236] Give a joint's name the halo the grid's numbers wear A joint's name lands wherever its joint is, which is often on top of a link, a ground hatch, or another name. The same white outline the axis numbers already use, painted under the glyphs so it reads over whatever it has landed on -- and sized from the object scale, like the type it surrounds. --- e2e/link-labels.mjs | 28 +++++++++++++++++++ .../new-grid/new-grid.component.html | 10 +++++-- .../new-grid/new-grid.component.scss | 10 +++++++ 3 files changed, 46 insertions(+), 2 deletions(-) diff --git a/e2e/link-labels.mjs b/e2e/link-labels.mjs index 4c1b0f4a..920c1c5f 100644 --- a/e2e/link-labels.mjs +++ b/e2e/link-labels.mjs @@ -265,6 +265,34 @@ record('and it grows with the object scale', doubled > type.labels[0].size * 1.6 now: doubled, }); +// --- a joint's name lands wherever its joint is ----------------------------- +await load(payloads['Stephenson_III']); +await page.evaluate(() => { + ng.getComponent(document.querySelector('app-new-grid')).settings.isShowID.next(true); +}); +await page.waitForTimeout(600); +const jointInk = await page.evaluate(() => { + const svg = document.querySelector('#canvas') ?? document.querySelector('svg'); + const perUnit = Math.abs(svg.querySelector('g').getScreenCTM().a); + return [...document.querySelectorAll('#jointTagHolder text')].map((text) => { + const style = getComputedStyle(text); + return { + name: text.textContent.trim(), + halo: style.stroke, + order: style.paintOrder, + haloPx: +(parseFloat(style.strokeWidth) * perUnit).toFixed(2), + }; + }); +}); +record( + 'a joint name wears a white halo, so it reads over whatever it has landed on', + jointInk.length > 0 && + jointInk.every( + (label) => label.halo === 'rgb(255, 255, 255)' && label.order === 'stroke' && label.haloPx > 1 + ), + jointInk.slice(0, 4) +); + // --- the other labels still answer to the button ---------------------------- await load(payloads['4-Bar']); const governed = await page.evaluate(() => { diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 87926434..cbe1121b 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -1115,7 +1115,10 @@ - + {{ mergeLabel }} } @else if ( @@ -1126,7 +1129,10 @@ (this.activeObjService.selectedJoint == joint && this.activeObjService.objType == 'Joint')) ) { - + {{ joint.name }} } diff --git a/src/app/component/new-grid/new-grid.component.scss b/src/app/component/new-grid/new-grid.component.scss index 7d48090c..b6c4ba87 100644 --- a/src/app/component/new-grid/new-grid.component.scss +++ b/src/app/component/new-grid/new-grid.component.scss @@ -29,6 +29,16 @@ stroke: #e6e6ea; } + // A joint's name lands wherever its joint is, which is often on top of a + // link, another joint's name, or a ground hatch. The same white halo the + // grid's own numbers wear, so it reads over whatever it has landed on. + #jointTagHolder text { + paint-order: stroke; + stroke: #fff; + stroke-linejoin: round; + stroke-linecap: round; + } + #axes_numbers { // Lighter than body text: these are a reference, not something to read. fill: rgba(0, 0, 0, 0.55); From f886a7267eeb11339a5bd446802424c06336f54b Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 00:53:21 -0400 Subject: [PATCH 056/236] Stop cutting the bottom off the shorter graphs A single-series graph was given a 210px host and the chart still drew itself 250px tall, so the bottom forty pixels were cut off -- and that is where the time axis's label lives, which is why those graphs looked like they had none. The host takes the height the chart actually is. - "Time (seconds)" now sits centred between the two ends of its axis. Apex centres it on the whole canvas, which the y axis's labels make eight pixels wider on the left, so it read as slightly off. - Less air under the plot, and the label is up beside the two ends. - Apex leaves its tooltip container in the DOM with a border on it whether or not there is anything to say, which showed as a stray box over the plot and half a one while a card was opening. Hidden until it has something in it -- hovering still brings it back. - And the force-mode row no longer runs 15px past the panel's edge. The panel stretches its children to its own width, so a side margin on one of them pushes its right edge out instead of narrowing it; the inset is padding now, which that width includes. --- .../analysis-graph.component.scss | 19 ++++++++++++++++--- .../analysis-graph.component.ts | 10 ++++++---- .../analysis-panel.component.scss | 8 ++++---- 3 files changed, 26 insertions(+), 11 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.scss b/src/app/component/analysis-graph/analysis-graph.component.scss index 484e5fdd..a726048d 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.scss +++ b/src/app/component/analysis-graph/analysis-graph.component.scss @@ -38,13 +38,26 @@ display: block; } + // The chart draws itself 250px tall; a host shorter than that does not make + // a shorter chart, it cuts the bottom off one -- which is where the time + // axis's label lives. app-analysis-apex-chart > div:not(.chart-render-error) { min-height: 0 !important; - height: 250px !important; + height: auto !important; } - app-analysis-apex-chart.compact-single-series > div:not(.chart-render-error) { - height: 210px !important; + // Nothing below the plot but the axis it belongs to. + .apexcharts-canvas { + margin-bottom: -6px; + } + + // A container Apex leaves in the DOM with a border on it whether or not there + // is anything to say. Empty, it reads as a stray box floating over the plot, + // and half of one while the card is opening. + .apexcharts-tooltip:not(.apexcharts-active), + .apexcharts-xaxistooltip:not(.apexcharts-active), + .apexcharts-yaxistooltip:not(.apexcharts-active) { + display: none !important; } .chart-render-error { diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index b01988cb..550fe1ff 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -157,7 +157,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, show: true, padding: { top: -14, - bottom: 0, + bottom: -8, }, xaxis: { lines: { @@ -199,9 +199,11 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, tickAmount: 1, title: { text: 'Time (seconds)', - // Up beside the two ends rather than on a line of its own below them. - offsetY: -18, - offsetX: 0, + // Up beside the two ends rather than on a line of its own below them, + // and centred between them: Apex centres it on the whole canvas, which + // the y axis's own labels make eight pixels wider on the left. + offsetY: -20, + offsetX: -8, }, tooltip: { enabled: false, diff --git a/src/app/component/analysis-panel/analysis-panel.component.scss b/src/app/component/analysis-panel/analysis-panel.component.scss index e54e12cc..e251f9de 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.scss +++ b/src/app/component/analysis-panel/analysis-panel.component.scss @@ -69,8 +69,8 @@ #analysisWrapper .graphGroupHeading { // On the cards' own gutter, and weighted to carry the group under it rather // than to be the quietest thing on the page. - margin: 16px 15px 10px; - padding-top: 14px; + margin: 16px 0 10px; + padding: 14px 15px 0; border-top: 1px solid #eceef5; font-size: 15px; font-weight: 500; @@ -82,7 +82,7 @@ // the centre-of-mass heading is set off from its graphs. It used to sit flush // against the first reaction card, so the two read as one control. #analysisWrapper .forceModeRow { - margin: 0 15px 12px; - padding-bottom: 12px; + margin: 0 0 12px; + padding: 0 15px 12px; border-bottom: 1px solid #eceef5; } From 9a012b6aa61f7b8e2d618ef9c6fbbdad4466b03e Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 00:58:33 -0400 Subject: [PATCH 057/236] Put the trace's time under its own line The white box over the plot was the time annotation's label, pushed 20px above the top of the line and clipped by the card, so what showed was an empty box with the top of some text in it. It sits under the line now, inside the plot. It reads one decimal, like the two ends of the axis it sits on -- "T= 1" beside "0.0" and "3.0" was the same number written two ways. --- .../analysis-graph/analysis-graph.component.ts | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 550fe1ff..8a15a5c3 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -467,10 +467,16 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, { x: timeSeconds, borderColor: '#000000', + // Under the line rather than over it. Above, it was pushed past the + // top of the plot and clipped by the card, which left a white box + // with half a label in it hanging over the chart. label: { - text: 'T= ' + formatTimeLabel(timeSeconds), + // One decimal, like the two ends of the axis it sits on: "T= 1" + // beside "0.0" and "3.0" is the same number written two ways. + text: 'T= ' + formatAxisEnd(timeSeconds), orientation: 'horizontal', - offsetY: -20, + position: 'bottom', + offsetY: 4, }, }, false From 1c8d9ade2b3780beceaa8511de9dd694bb5df352 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 01:10:10 -0400 Subject: [PATCH 058/236] Square a dragged body up the way a dragged joint already does A joint dragged nearly level with another one has always been pulled level, with a guide saying which one. A whole body -- a bar dragged by its middle, a ram dragged by its barrel -- landed wherever the cursor let go. Both do it now, measured on the point the body is named from, and a ram ignores its own joints: they move with the drag, so squaring against them is the drag chasing its own tail. Alignment is tried before the grid, because squaring up with a real neighbour is a more specific intent than landing on an anonymous corner -- and the guide line says which neighbour, where the grid says nothing. Option suspends it, the same key that already suspends the grid and the capture, and Snap to Alignment in Visual Settings turns it off for good. It is on by default because it always has been; the toggle is for turning it off. Alongside: a dragged body measures from the press rather than from the first move that clears the click threshold, so it no longer trails the cursor by however far the hold lasted. --- e2e/snap-alignment.mjs | 170 ++++++++++++++++++ .../component/new-grid/new-grid.component.ts | 114 +++++++++--- .../settings-panel.component.html | 9 +- .../settings-panel.component.ts | 8 + src/app/services/settings.service.ts | 9 + 5 files changed, 289 insertions(+), 21 deletions(-) create mode 100644 e2e/snap-alignment.mjs diff --git a/e2e/snap-alignment.mjs b/e2e/snap-alignment.mjs new file mode 100644 index 00000000..6894e528 --- /dev/null +++ b/e2e/snap-alignment.mjs @@ -0,0 +1,170 @@ +/** + * Squaring a drag up with its neighbours. + * + * A joint dragged nearly level with another one is pulled level, with a guide + * line saying which one. That has always been true of joints; whole bodies -- + * a bar dragged by its middle, a ram dragged by its barrel -- were left to land + * wherever the cursor let go. + * + * What must hold: + * + * - Dragging a bar's body squares it up, and lands its reference joint + * exactly on the neighbour's axis rather than merely near it. + * - Dragging a ram's body does the same, measured on the mount it is named + * from, and ignoring its own joints -- they move with the drag. + * - Option suspends it for the length of a gesture. + * - The settings toggle turns it off entirely. + * + * PMKS_BASE_URL= node e2e/snap-alignment.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +const load = async (payload) => { + await page.goto(`${BASE}/?${payload}`, { waitUntil: 'domcontentloaded' }); + await waitForReady(page); +}; + +const joints = () => + page.evaluate(() => + Object.fromEntries( + ng + .getComponent(document.querySelector('app-new-grid')) + .mechanismSrv.joints.map((joint) => [joint.id, { x: joint.x, y: joint.y }]) + ) + ); + +/** Model units to screen pixels, so a drag can be aimed at an axis. */ +const perUnit = () => + page.evaluate(() => { + const svg = document.querySelector('#canvas') ?? document.querySelector('svg'); + return Math.abs(svg.querySelector('g').getScreenCTM().a); + }); + +/** + * Drag a body so its reference joint arrives a whisker off a target's axis. + * + * Aimed rather than arbitrary: the snap only fires within a few pixels, so a + * drag that is not deliberately taken there proves nothing either way. + */ +const dragBodyToward = async (grabSelector, referenceId, targetId, axis, { holdOption } = {}) => { + const before = await joints(); + const scale = await perUnit(); + const reference = before[referenceId]; + const target = before[targetId]; + const box = await page.locator(grabSelector).first().boundingBox(); + // Land three model units short of level, well inside the snap's reach. + const wantX = axis === 'x' ? target.x - 3 : reference.x; + const wantY = axis === 'y' ? target.y - 3 : reference.y; + const dx = (wantX - reference.x) * scale; + const dy = -(wantY - reference.y) * scale; + + if (holdOption) await page.keyboard.down('Alt'); + await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2); + await page.mouse.down(); + let guides = 0; + for (let step = 1; step <= 12; step++) { + await page.mouse.move( + box.x + box.width / 2 + (dx * step) / 12, + box.y + box.height / 2 + (dy * step) / 12 + ); + await page.waitForTimeout(35); + guides = Math.max( + guides, + await page.evaluate( + () => ng.getComponent(document.querySelector('app-new-grid')).axisSnapGuides.length + ) + ); + } + await page.mouse.up(); + if (holdOption) await page.keyboard.up('Alt'); + await page.waitForTimeout(400); + const after = await joints(); + return { + guides, + landed: after[referenceId][axis], + target: target[axis], + off: Math.abs(after[referenceId][axis] - target[axis]), + }; +}; + +/** Turn a snapping option on or off through the panel, the way a reader would. */ +const setOption = async (control, on) => { + await page.locator('.topStrip .iconButton').first().click(); + await page.waitForTimeout(400); + await page.locator('.menuItem', { hasText: 'Settings' }).click(); + await page.waitForTimeout(800); + const listed = /Snap to Alignment/.test(await page.locator('app-settings-panel').innerText()); + await page.evaluate( + ([control, on]) => { + const panel = ng.getComponent(document.querySelector('app-settings-panel')); + panel.settingsForm.controls[control].setValue(on); + }, + [control, on] + ); + await page.waitForTimeout(400); + await page.locator('.closeDrawer').click({ force: true }); + await page.waitForTimeout(400); + return listed; +}; + +// --- a bar dragged by its body ---------------------------------------------- +await load(payloads['4-Bar']); +record('the settings panel offers it', await setOption('snapToAlignment', true)); +const bar = await dragBodyToward('#linkHolder path', 'A', 'D', 'y'); +record('dragging a bar by its body squares it up with a neighbour', bar.guides > 0, bar); +record('and lands exactly on that axis, not merely near it', bar.off < 1e-6, bar); + +// --- and with Option held ---------------------------------------------------- +await load(payloads['4-Bar']); +const barFree = await dragBodyToward('#linkHolder path', 'A', 'D', 'y', { holdOption: true }); +record('holding Option drags it free of that', barFree.guides === 0 && barFree.off > 1e-6, barFree); + +// --- a ram dragged by its body ---------------------------------------------- +await load(payloads['Cylinder_Boom']); +const ram = await dragBodyToward('.cylinder-barrel', 'G', 'O', 'y'); +record('dragging a ram by its body squares up its mount', ram.guides > 0, ram); +record('and lands exactly on that axis too', ram.off < 1e-6, ram); + +await load(payloads['Cylinder_Boom']); +const ramFree = await dragBodyToward('.cylinder-barrel', 'G', 'O', 'y', { holdOption: true }); +record('which Option suspends as well', ramFree.guides === 0 && ramFree.off > 1e-6, ramFree); + +// --- turned off entirely ----------------------------------------------------- +await load(payloads['4-Bar']); +await setOption('snapToAlignment', false); +const off = await dragBodyToward('#linkHolder path', 'A', 'D', 'y'); +record('and the toggle turns it off entirely', off.guides === 0 && off.off > 1e-6, off); +record( + 'which is remembered on this machine', + (await page.evaluate(() => localStorage.getItem('snapToAlignment'))) === 'false' +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); +await browser.close(); + +const failed = results.filter(([, ok]) => !ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +process.exit(failed.length ? 1 : 0); diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 76ac77cf..205e3e69 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -190,14 +190,18 @@ export class NewGridComponent implements OnDestroy { private linkDragAnchor: Coord = new Coord(0, 0); /** - * Where the grabbed link's reference joint stood when the drag began. + * Where the dragged body's reference point stood when the drag began. * * Snapping needs the whole distance dragged, not this frame's part of it: a * single pointer event moves a few units, which rounds to no move at all, and - * a link measured frame by frame would never leave its corner however far the + * a body measured frame by frame would never leave its corner however far the * cursor went. + * + * Taken on the first move rather than at the press, because which point is + * the reference depends on what turned out to be under the cursor -- a bar's + * first joint, or the mount a ram is named from. */ - private linkDragOrigin?: { at: Coord; from: Coord }; + private bodyDragOrigin?: { at: Coord; from: Coord }; //This is terrible but: // -2 => hidden @@ -1080,6 +1084,7 @@ export class NewGridComponent implements OnDestroy { } mouseMove($event: MouseEvent) { + this.snapSuspended = $event.altKey; const mousePosInSvg = this.svgGrid.screenToSVGfromXY($event.clientX, $event.clientY); this.lastMouseLocation = this.mouseLocation; this.originInScreen = this.svgGrid.SVGtoScreen(new Coord(0, 0)); @@ -1207,12 +1212,22 @@ export class NewGridComponent implements OnDestroy { const bodyCylinder = this.mechanismSrv.cylinderAt(this.activeObjService.selectedLink); if (bodyCylinder) { // Dragging the body translates the whole assembly rigidly; the - // mounts are the handles for re-posing. - this.gridUtils.dragCylinder( - bodyCylinder, - mousePosInSvg.x - this.linkDragAnchor.x, - mousePosInSvg.y - this.linkDragAnchor.y + // mounts are the handles for re-posing. It squares up and lands on + // the grid the same way a bar does, measured on the mount the ram is + // named from -- its own joints are excluded, because they move with + // the drag and squaring against them is the drag chasing its tail. + const mount = bodyCylinder.barrelFar; + const target = this.placeDraggedBody( + mount, + mousePosInSvg, + new Set(cylinderJoints(bodyCylinder).map((joint) => joint.id)) ); + this.gridUtils.dragCylinder(bodyCylinder, target.x - mount.x, target.y - mount.y); + this.linkDragAnchor = mousePosInSvg; + this.dragState.noteMechanismModified(); + this.activeObjService.updateSelectedObj(this.activeObjService.selectedLink); + this.showPathWhileDragging(); + break; } else { // A rigid body cannot put every joint on the grid -- its lengths are // what they are -- so one of them is the one that lands, and the @@ -1223,14 +1238,11 @@ export class NewGridComponent implements OnDestroy { // pointer event is a few units, which rounds to no move at all, and a // link asked frame by frame would sit on its corner for ever. const reference = this.activeObjService.selectedLink.joints[0]; - const grab = this.linkDragOrigin; - const wantedX = grab - ? grab.at.x + (mousePosInSvg.x - grab.from.x) - : reference.x + (mousePosInSvg.x - this.linkDragAnchor.x); - const wantedY = grab - ? grab.at.y + (mousePosInSvg.y - grab.from.y) - : reference.y + (mousePosInSvg.y - this.linkDragAnchor.y); - const landed = this.svgGrid.snapToGrid(new Coord(wantedX, wantedY), $event.altKey); + const landed = this.placeDraggedBody( + reference, + mousePosInSvg, + new Set(this.activeObjService.selectedLink.joints.map((joint) => joint.id)) + ); this.gridUtils.dragLink( this.activeObjService.selectedLink, landed.x - reference.x, @@ -1449,9 +1461,66 @@ export class NewGridComponent implements OnDestroy { return 4 * MARK.barHalf * 0.15 * this.settings.objectScale; } + /** + * Where a whole body being dragged should put its reference point. + * + * The same two helpers a joint drag gets, in the same order. Alignment first, + * because squaring up with a real neighbour is a more specific intent than + * landing on an anonymous grid corner -- and the guide line says which + * neighbour, where the grid says nothing. The grid catches what alignment + * does not. + */ + private placeDraggedBody( + reference: { x: number; y: number }, + cursor: Coord, + exclude: Set + ): Coord { + // Measured from the press, not from this first qualifying move: the moves + // held back below the click threshold are still part of the gesture, and + // starting the sum after them leaves the body trailing the cursor by + // however far the hold lasted. + this.bodyDragOrigin ??= { + at: new Coord(reference.x, reference.y), + from: new Coord(this.linkDragAnchor.x, this.linkDragAnchor.y), + }; + const held = this.bodyDragOrigin; + const wanted = new Coord( + held.at.x + (cursor.x - held.from.x), + held.at.y + (cursor.y - held.from.y) + ); + + if (this.alignmentAllowed()) { + const others = this.mechanismSrv + .getJoints() + .filter((other) => !exclude.has(other.id) && !(other instanceof PrisJoint)); + const aligned = snapToAxes(wanted, others, this.svgGrid.scaleWithZoom(8)); + if (aligned.guides.length > 0) { + this.axisSnapGuides = aligned.guides; + return new Coord(aligned.point.x, aligned.point.y); + } + } + this.axisSnapGuides = []; + return this.svgGrid.snapToGrid(wanted, this.snapSuspended); + } + /** Lines showing which joints a drag has just squared itself against. */ public axisSnapGuides: SnapGuide[] = []; + /** + * Whether the Option key is down, meaning "no help from the app". + * + * Read at the top of every move rather than passed down: the axis snap is + * reached through `alongItsSlot`, three call sites deep, and a flag set once + * a gesture is easier to keep true than a parameter threaded through all of + * them. + */ + private snapSuspended = false; + + /** Is the app allowed to square this drag up with anything? */ + private alignmentAllowed(): boolean { + return this.settings.isSnapToAlignment.value && !this.snapSuspended; + } + /** * Pull a free drag onto a neighbour's axis when it is nearly on it. * @@ -1460,6 +1529,10 @@ export class NewGridComponent implements OnDestroy { * where the joint goes. */ private withAxisSnap(joint: Joint, wanted: Coord): Coord { + if (!this.alignmentAllowed()) { + this.axisSnapGuides = []; + return wanted; + } const others = this.mechanismSrv .getJoints() .filter((other) => other.id !== joint.id && !(other instanceof PrisJoint)); @@ -1474,6 +1547,10 @@ export class NewGridComponent implements OnDestroy { * drag chasing its own tail. Every other joint's H/V guides still work. */ private mountAxisSnap(sealed: Cylinder, wanted: Coord): Coord { + if (!this.alignmentAllowed()) { + this.axisSnapGuides = []; + return wanted; + } const memberIds = new Set(cylinderJoints(sealed).map((joint) => joint.id)); const others = this.mechanismSrv .getJoints() @@ -1728,10 +1805,7 @@ export class NewGridComponent implements OnDestroy { // first move would translate the link by the distance from whatever // unrelated pointer event came last — a jump on grab. this.linkDragAnchor = mousePosInSvg; - const grabbed = this.activeObjService.selectedLink?.joints?.[0]; - this.linkDragOrigin = grabbed - ? { at: new Coord(grabbed.x, grabbed.y), from: new Coord(mousePosInSvg.x, mousePosInSvg.y) } - : undefined; + this.bodyDragOrigin = undefined; switch ($event.button) { case 0: // Handle Left-Click on canvas diff --git a/src/app/component/settings-panel/settings-panel.component.html b/src/app/component/settings-panel/settings-panel.component.html index 6d317b11..2159d908 100644 --- a/src/app/component/settings-panel/settings-panel.component.html +++ b/src/app/component/settings-panel/settings-panel.component.html @@ -46,10 +46,17 @@ Snap to Grid + + Snap to Alignment + { + const on = val === true; + this.settingsService.isSnapToAlignment.next(on); + writeStoredFlag('snapToAlignment', on); + }); + this.settingsForm.controls['showMinorGrid'].valueChanges.subscribe((val) => { this.settingsService.isShowMinorGrid.next(Boolean(val)); this.mechanismSrv.updateMechanism(); @@ -245,6 +252,7 @@ export class SettingsPanelComponent implements OnDestroy { showMinorGrid: [true, { updateOn: 'change' }], showMajorGrid: [true, { updateOn: 'change' }], snapToGrid: [false, { updateOn: 'change' }], + snapToAlignment: [true, { updateOn: 'change' }], }, { updateOn: 'blur' } ); diff --git a/src/app/services/settings.service.ts b/src/app/services/settings.service.ts index e2fa3c13..fbe0e855 100644 --- a/src/app/services/settings.service.ts +++ b/src/app/services/settings.service.ts @@ -80,6 +80,15 @@ export class SettingsService { */ isSnapToGrid = new BehaviorSubject(readStoredFlag('snapToGrid', false)); + /** + * Whether a drag squares itself up with its neighbours. + * + * On, because it always has been: a joint dragged nearly level with another + * one has been pulled level, with a guide line to say so, for as long as + * there have been guide lines. The toggle is for turning it off. + */ + isSnapToAlignment = new BehaviorSubject(readStoredFlag('snapToAlignment', true)); + isShowID = new BehaviorSubject(false); isShowCOM = new BehaviorSubject(false); tempGridDisable: boolean = false; //This is to hide the grid lines to fit only to the linkage when doing a svg fit From 08d8feb494f5122a0ad85a68757391b7fe88059d Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 01:10:36 -0400 Subject: [PATCH 059/236] Nothing weighs anything until someone says so A link arrived with a mass of one gram, which invites a force analysis to be run on a number nobody chose and reports it as though it meant something. It arrives massless now, and while it is massless the three fields that describe how a mass is distributed -- the moment of inertia and the centre of mass -- are disabled rather than sitting there full of answers about nothing. The label is "Mass Moment of Inertia", and its field takes the whole line it was given: the input inside the wrapper had been sizing to its own text and clipping kg·cm² against a wrapper that had the room. Every fixture payload and every published fixture URL is regenerated, because mass is part of what a drawing encodes to. The playback cluster moves to the right in the analysis modes once the window is wide enough to hold it beside the panel rather than under it -- past 1340px, where a 420px panel and an 880px cluster fit side by side -- and the panel takes the height the cluster was keeping free. And a development build offers three drawings in a Dev section above the library: one of every kind of machine, a gallery of what the canvas can draw, and a twenty-joint one-degree-of-freedom stress test with a path on every moving joint. Their own file, because template-linkages.ts is generated and checked against its generator. --- docs/fixture-urls.md | 46 +++++++++---------- .../BLOCKS/input/input.component.scss | 11 ++++- .../MODALS/templates/dev-templates.ts | 39 ++++++++++++++++ .../MODALS/templates/template-linkages.ts | 22 ++++----- .../MODALS/templates/templates.component.html | 38 +++++++++++++++ .../MODALS/templates/templates.component.scss | 32 +++++++++++++ .../MODALS/templates/templates.component.ts | 14 +++++- src/app/component/always-on-features.spec.ts | 9 ++-- .../edit-panel/edit-panel.component.html | 2 +- .../edit-panel/edit-panel.component.ts | 24 ++++++++++ .../left-tabs/left-tabs.component.scss | 7 +++ .../component/left-tabs/left-tabs.vars.scss | 9 ++++ .../playback-bar/playback-bar.component.html | 2 +- .../playback-bar/playback-bar.component.scss | 11 +++++ src/app/model/link.ts | 5 +- 15 files changed, 227 insertions(+), 44 deletions(-) create mode 100644 src/app/component/MODALS/templates/dev-templates.ts diff --git a/docs/fixture-urls.md b/docs/fixture-urls.md index 007ed419..703d0820 100644 --- a/docs/fixture-urls.md +++ b/docs/fixture-urls.md @@ -23,36 +23,36 @@ PMKS_FIXTURE_BASE_URL=https://deploy-preview-227--pmksprod.netlify.app npm run f | [Derrick crane](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4O,O,0,0,0.0C,C,Qv,cP,0.0T,T,rn,1Cp,0.6G,G,YO,09O,0.0K,K,Mp,18,0..YRGK,Luffing crank,VG,o,Sc,048,c5cae9,G,K,,.YRCK,Luffing link,ku,6G,Os,Jn,303e9f,C,K,,.YROCT,Boom,2xW,ku,Qv,cP,0d125a,O,C,T,,..2F1,OCT,F1,rn,1Cp,rn,zB,z2G..N_v) | A weight far out on a boom held close in: the link carries several times the load | — | — | `force-templates.spec.ts` | | [Toggle clamp](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6H,H,0ee,Ti,0.0E,E,09O,NS,0.0P,P,P0,5U,0.4N,N,0Lu,09O,0..YRHE,Handle,NS,o,0P0,Qa,c5cae9,H,E,,.YREP,Toggle link,Fe,1G,7q,ET,303e9f,E,P,,.YRNP,Clamp bar,VG,38,1a,01z,0d125a,N,P,,..2F1,NP,F1,P0,5U,P0,L6,hyW..N_e) | Where mechanical advantage comes from: the clamping force runs away as the links line up | — | — | `force-templates.spec.ts` | | [Rocker with an offset load](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,HC,7q,0.0C,C,104,bW,0.4D,D,1E8,0,0.0L,L,1SC,jK,0..YRAB,Crank,VG,o,8c,3w,c5cae9,A,B,,.YRBC,Coupler,_W,7q,ee,Mg,303e9f,B,C,,.YRCDL,Rocker,1E8,E4,1E8,Rd,0d125a,C,D,L,,..2F1,CDL,F1,1SC,jK,1Fi,Zy,adm..N_l) | A load off the line of its link is a moment — the term a free-body sketch leaves out | — | — | `force-templates.spec.ts` | -| [Hydraulic cylinder](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,0_W,0,0.0B,B,07E,0,0.8C,C,0OE,0,0.0D,D,V4,0,0.6E,E,V4,ku,0.XP,P,0OE,0,0,AB,A,B..YRAB,AB,Fe,Fe,0Yt,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3R,0,303e9f,C,D,,.YRDE,DE,Fe,Fe,V4,NS,0d125a,D,E,,.YPCP,CP,Fe,0,0,0,,C,P,,...N_i) | Cylinder skin (§2.7): a rod welded to a block sliding in a barrel, all on one line | yes | yes | `cylinder.spec.ts` | -| [Cylinder-driven boom](https://app.pmksplus.com/?2P.Ay,Fe.5,0.1011.4O,O,0,0,0.0C,C,0,_W,0.4G,G,ku,0,0.0N,N,Ju,Z-,0.8P,P,R0,QX,0.ZS,S,R0,QX,0,GN,G,N..YROC,OC,Fe,Fe,0,VG,c5cae9,O,C,,.YRGN,GN,Fe,Fe,XO,I0,303e9f,G,N,,.YRPC,PC,Fe,Fe,DW,iW,0d125a,P,C,,.YPPS,PS,Fe,0,0,0,,P,S,,...N_e) | Gate 5: the cylinder is the drive, and the boom follows the law of cosines | yes | yes | `driven-cylinder.spec.ts` | -| [Cylinder-driven gripper](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,019C,Bh,0.0B,B,01H,Bg,0.8C,C,0Qb,Bg,0.0D,D,jM,Bf,0.0G,G,13N,ky,0.0H,H,20s,ky,0.0I,I,13N,0Fp,0.0J,J,20s,0Fp,0.4K,K,0,2NW,0.4L,L,1Q,01pB,0.0M,M,K,1SF,0.4O,O,1bt,2Q6,0.4P,P,1eQ,02Tv,0.0Q,Q,1cO,1QQ,0.0S,S,3e3,13W,0.0T,T,16,0tr,0.0V,V,1dc,0w4,0.0X,X,3e3,0Yl,0.ZE,E,0Qb,Bg,0,AB,A,B.1N,N,K,1SF,0,KL,K,L.1R,R,1cO,1QQ,0,OP,O,P.1U,U,16,0tr,0,KL,K,L.1W,W,1dc,0w4,0,OP,O,P..YRAB,AB,Fe,Fe,0bE,Bg,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9O,Bg,303e9f,C,D,,.YRDGHIJ,DGHIJ,Fe,Fe,1NZ,Eo,0d125a,D,G,H,I,J,,.YRKL,KL,Fe,Fe,j,IA,B2DFDB,K,L,,.YRGM,GM,Fe,Fe,Xr,15c,26A69A,G,M,,.YROP,OP,Fe,Fe,1d9,01w,00695C,O,P,,.YRHQ,HQ,Fe,Fe,1pd,14h,c5cae9,H,Q,,.YRMQS,MQS,Fe,Fe,1lb,1JO,303e9f,M,Q,S,,.YRIT,IT,Fe,Fe,YF,0Zq,0d125a,I,T,,.YRJV,JV,Fe,Fe,1qE,0ax,B2DFDB,J,V,,.YRTVX,TVX,Fe,Fe,1mG,0nZ,26A69A,T,V,X,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPMN,MN,Fe,0,0,0,,M,N,,.YPQR,QR,Fe,0,0,0,,Q,R,,.YPTU,TU,Fe,0,0,0,,T,U,,.YPVW,VW,Fe,0,0,0,,V,W,,...N_c) | §2.7a: no chain of dyads solves this — the plate and both arms settle together | yes | yes | `gripper.spec.ts, anchored-bar-mobility.spec.ts` | -| [Gripper the cylinder closes](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,02SG,ku,0.0B,B,0185,uK,0.8C,C,019F,uC,0.0D,D,Ay,11e,0.4G,G,_W,ku,0.0H,H,1HG,S8,0.0I,I,2hu,VG,0.4J,J,_W,0ku,0.0K,K,hm,0S8,0.0L,L,2hu,0VG,0.ZE,E,019F,uC,0,AB,A,B..YRAB,AB,Fe,Fe,01oB,pc,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0V9,yw,303e9f,C,D,,.YRDGHI,DGHI,Fe,Fe,1Hf,g_,0d125a,D,G,H,I,,.YRHK,HK,Fe,Fe,_W,0,B2DFDB,H,K,,.YRJKL,JKL,Fe,Fe,1Sj,0ZR,26A69A,J,K,L,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_N) | Counter-rotating jaw levers: extending the cylinder pinches them shut | yes | yes | `pinching-gripper.spec.ts` | -| [Backhoe bucket](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,01jO,0,0.0B,B,0sb,Py,0.8C,C,018N,HX,0.0D,D,0Ha,hT,0.4G,G,0,0,0.0H,H,VG,Im,0.4J,J,o0,0P0,0.0K,K,1BI,2i,0.0T,T,1NW,0ee,0.ZE,E,018N,HX,0,AB,A,B..YRAB,AB,Fe,Fe,01H-,C_,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0iz,UV,303e9f,C,D,,.YRDGH,DGH,Fe,Fe,4a,Kl,0d125a,D,G,H,,.YRHK,HK,Fe,Fe,rH,Ak,B2DFDB,H,K,,.YRJKT,JKT,Fe,Fe,16x,0K-,26A69A,J,K,T,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_0) | A driven ram feeding an ordinary four-bar: bell crank, link, and the bucket curls | yes | yes | `excavator-bucket.spec.ts` | -| [Toggle press](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,01z0,0,0.0B,B,017k,0Uc,0.8C,C,01P8,0Kc,0.0D,D,0Zs,0pD,0.4G,G,0,0,0.0R,R,0,01cP,0.ZE,E,01P8,0Kc,0,AB,A,B.5F,F,0,01cP,OZ..YRAB,AB,Fe,Fe,01YN,0FJ,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0_V,0Zv,303e9f,C,D,,.YRGD,GD,Fe,Fe,0Hx,0Pc,0d125a,G,D,,.YRDR,DR,Fe,Fe,0Hx,01Cp,B2DFDB,D,R,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPRF,RF,Fe,0,0,0,,R,F,,...N_S) | A ram closing a toggle onto a block: travel traded for force as it approaches straight | yes | yes | `toggle-press.spec.ts` | -| [Scissor lift](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,2SG,0,0.0B,B,1fl,a3,0.8C,C,1wL,OD,0.0D,D,17q,yH,0.4G,G,0,0,0.0M,M,1Vm,1GM,0.0K,K,2-X,2Wj,0.0S,S,2-X,0,0.0T,T,0,2Wj,0.0U,U,3_1,2Wj,0.ZE,E,1wL,OD,0,AB,A,B.5N,N,2-X,0,0.1P,P,2-X,2Wj,0,TU,T,U..YRAB,AB,Fe,Fe,230,I2,c5cae9,A,B,,.YRCD,CD,Fe,Fe,1X5,gF,303e9f,C,D,,.YRGDMK,GDMK,Fe,Fe,1Pn,1BL,0d125a,G,D,M,K,,.YRSMT,SMT,Fe,Fe,1Vm,1GM,B2DFDB,S,M,T,,.YRTU,TU,Fe,Fe,1-0,2Wj,26A69A,T,U,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPSN,SN,Fe,0,0,0,,S,N,,.YPKP,KP,Fe,0,0,0,,K,P,,...N_e) | Ram, supporting block and a slot in the moving platform — all three parts, three jobs | yes | yes | `scissor-lift.spec.ts` | -| [Shaper's quick-return drive](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.4C,C,0,0ku,0.0D,D,Oj,RF,0.0R,R,qW,si,0.1P,P,Fe,0,0,CD,C,D.5Q,Q,qW,si,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,CN,09q,303e9f,C,D,,.YRDR,DR,Fe,Fe,cd,e_,0d125a,D,R,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPRQ,RQ,Fe,0,0,0,,R,Q,,...N_H) | A floating slot handing off to a grounded one: the ram cuts slow and returns fast | yes | — | `shaper-quick-return.spec.ts` | -| [Slider-crank whose rod comes square to the guide](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,VG,0.0B,B,Fe,VG,0.0C,C,oa,0,0.5P,P,oa,0,0..YRAB,AB,Fe,Fe,7q,VG,c5cae9,A,B,,.YRBC,BC,Fe,Fe,X6,Fe,303e9f,B,C,,.YPCP,CP,Fe,0,0,0,,C,P,,...N_d) | The slot tangent to the rod circle: the two roots meet and trade places | — | — | `square-rod-tangency.spec.ts` | -| [MotionGen gripper](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.0A,A,0U5,01,0.0B,B,0Hj,Fj,0.0C,C,0Hj,0FZ,0.0D,D,DZ,Fj,0.0E,E,DZ,0FZ,0.0F,F,0V6,X9,0.0G,G,A,X9,0.0H,H,0V6,0X0,0.0I,I,A,0X0,0.0J,J,_d,0Bn,0.0K,K,_o,GS,0.7P,P,0U5,01,0.5Q,Q,0V6,X9,OZ.5R,R,A,X9,OZ.5S,S,0V6,0X0,OZ.5T,T,A,0X0,OZ..YRABCDE,ABCDE,Fe,Fe,07i,4,c5cae9,A,B,C,D,E,,.YRBF,BF,Fe,Fe,0OQ,OR,303e9f,B,F,,.YRDG,DG,Fe,Fe,6s,OR,0d125a,D,G,,.YRCH,CH,Fe,Fe,0OQ,0OH,B2DFDB,C,H,,.YREI,EI,Fe,Fe,6s,0OH,26A69A,E,I,,.YRHIJ,HIJ,Fe,Fe,Aa,0Px,00695C,H,I,J,,.YRFGK,FGK,Fe,Fe,Ae,Rb,c5cae9,F,G,K,,.YPAP,AP,Fe,0,0,0,,A,P,,.YPFQ,FQ,Fe,0,0,0,,F,Q,,.YPGR,GR,Fe,0,0,0,,G,R,,.YPHS,HS,Fe,0,0,0,,H,S,,.YPIT,IT,Fe,0,0,0,,I,T,,...N_3) | A second engine's mechanism, rebuilt: over-constrained, so PMKS+ reports DOF 0 and refuses it | — | — | `motiongen-gripper.spec.ts` | -| [Gripper with the redundancy removed](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.0A,A,0U5,0,0.0M,M,DZ,0,0.0B,B,0Hj,Fj,0.0C,C,0Hj,0FZ,0.4F,F,0V6,X9,0.0G,G,A,X9,0.0K,K,_o,GS,0.4H,H,0V6,0X0,0.0I,I,A,0X0,0.0J,J,_d,0Bn,0.7P,P,0U5,0,0.5N,N,DZ,0,0..YRAMBC,AMBC,Fe,Fe,0C-,2,c5cae9,A,M,B,C,,.YRBG,BG,Fe,Fe,08o,OR,303e9f,B,G,,.YRCI,CI,Fe,Fe,08o,0OH,0d125a,C,I,,.YRFGK,FGK,Fe,Fe,Ae,Rb,B2DFDB,F,G,K,,.YRHIJ,HIJ,Fe,Fe,Aa,0Px,26A69A,H,I,J,,.YPAP,AP,Fe,0,0,0,,A,P,,.YPMN,MN,Fe,0,0,0,,M,N,,...N_j) | The same gripper, jaws pivoting instead of railed: DOF 1, and it runs | — | — | `pivoting-gripper.spec.ts` | -| [Radial engine, five cylinders](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6O,O,0,0,0.0A,A,Fe,0,0.0B,B,0,iC,0.0C,C,0UD,9q,0.0D,D,0L9,0T6,0.0E,E,Vy,0hz,0.0F,F,wV,J0,0.5P,P,0,iC,OZ.5Q,Q,0UD,9q,iB.5R,R,0L9,0T6,-q.5S,S,Vy,0hz,1JT.5T,T,wV,J0,1d5..YROA,OA,Fe,Fe,7q,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,7q,M6,303e9f,A,B,,.YRAC,AC,Fe,Fe,07J,4w,0d125a,A,C,,.YRAD,AD,Fe,Fe,02m,0EZ,B2DFDB,A,D,,.YRAE,AE,Fe,Fe,No,0L_,26A69A,A,E,,.YRAF,AF,Fe,Fe,b3,9W,00695C,A,F,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPCQ,CQ,Fe,0,0,0,,C,Q,,.YPDR,DR,Fe,0,0,0,,D,R,,.YPES,ES,Fe,0,0,0,,E,S,,.YPFT,FT,Fe,0,0,0,,F,T,,...N_F) | Five sliders on one crank pin; piston stroke is exactly twice the throw | — | — | `radial-engine.spec.ts` | +| [Hydraulic cylinder](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,0_W,0,0.0B,B,07E,0,0.8C,C,0OE,0,0.0D,D,V4,0,0.6E,E,V4,ku,0.XP,P,0OE,0,0,AB,A,B..YRAB,AB,Fe,Fe,0Yt,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3R,0,303e9f,C,D,,.YRDE,DE,Fe,Fe,V4,NS,0d125a,D,E,,.YPCP,CP,0,0,0,0,,C,P,,...N_h) | Cylinder skin (§2.7): a rod welded to a block sliding in a barrel, all on one line | yes | yes | `cylinder.spec.ts` | +| [Cylinder-driven boom](https://app.pmksplus.com/?2P.Ay,Fe.5,0.1011.4O,O,0,0,0.0C,C,0,_W,0.4G,G,ku,0,0.0N,N,Ju,Z-,0.8P,P,R0,QX,0.ZS,S,R0,QX,0,GN,G,N..YROC,OC,Fe,Fe,0,VG,c5cae9,O,C,,.YRGN,GN,Fe,Fe,XO,I0,303e9f,G,N,,.YRPC,PC,Fe,Fe,DW,iW,0d125a,P,C,,.YPPS,PS,0,0,0,0,,P,S,,...N_d) | Gate 5: the cylinder is the drive, and the boom follows the law of cosines | yes | yes | `driven-cylinder.spec.ts` | +| [Cylinder-driven gripper](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,019C,Bh,0.0B,B,01H,Bg,0.8C,C,0Qb,Bg,0.0D,D,jM,Bf,0.0G,G,13N,ky,0.0H,H,20s,ky,0.0I,I,13N,0Fp,0.0J,J,20s,0Fp,0.4K,K,0,2NW,0.4L,L,1Q,01pB,0.0M,M,K,1SF,0.4O,O,1bt,2Q6,0.4P,P,1eQ,02Tv,0.0Q,Q,1cO,1QQ,0.0S,S,3e3,13W,0.0T,T,16,0tr,0.0V,V,1dc,0w4,0.0X,X,3e3,0Yl,0.ZE,E,0Qb,Bg,0,AB,A,B.1N,N,K,1SF,0,KL,K,L.1R,R,1cO,1QQ,0,OP,O,P.1U,U,16,0tr,0,KL,K,L.1W,W,1dc,0w4,0,OP,O,P..YRAB,AB,Fe,Fe,0bE,Bg,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9O,Bg,303e9f,C,D,,.YRDGHIJ,DGHIJ,Fe,Fe,1NZ,Eo,0d125a,D,G,H,I,J,,.YRKL,KL,Fe,Fe,j,IA,B2DFDB,K,L,,.YRGM,GM,Fe,Fe,Xr,15c,26A69A,G,M,,.YROP,OP,Fe,Fe,1d9,01w,00695C,O,P,,.YRHQ,HQ,Fe,Fe,1pd,14h,c5cae9,H,Q,,.YRMQS,MQS,Fe,Fe,1lb,1JO,303e9f,M,Q,S,,.YRIT,IT,Fe,Fe,YF,0Zq,0d125a,I,T,,.YRJV,JV,Fe,Fe,1qE,0ax,B2DFDB,J,V,,.YRTVX,TVX,Fe,Fe,1mG,0nZ,26A69A,T,V,X,,.YPCE,CE,0,0,0,0,,C,E,,.YPMN,MN,0,0,0,0,,M,N,,.YPQR,QR,0,0,0,0,,Q,R,,.YPTU,TU,0,0,0,0,,T,U,,.YPVW,VW,0,0,0,0,,V,W,,...N_X) | §2.7a: no chain of dyads solves this — the plate and both arms settle together | yes | yes | `gripper.spec.ts, anchored-bar-mobility.spec.ts` | +| [Gripper the cylinder closes](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,02SG,ku,0.0B,B,0185,uK,0.8C,C,019F,uC,0.0D,D,Ay,11e,0.4G,G,_W,ku,0.0H,H,1HG,S8,0.0I,I,2hu,VG,0.4J,J,_W,0ku,0.0K,K,hm,0S8,0.0L,L,2hu,0VG,0.ZE,E,019F,uC,0,AB,A,B..YRAB,AB,Fe,Fe,01oB,pc,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0V9,yw,303e9f,C,D,,.YRDGHI,DGHI,Fe,Fe,1Hf,g_,0d125a,D,G,H,I,,.YRHK,HK,Fe,Fe,_W,0,B2DFDB,H,K,,.YRJKL,JKL,Fe,Fe,1Sj,0ZR,26A69A,J,K,L,,.YPCE,CE,0,0,0,0,,C,E,,...N_M) | Counter-rotating jaw levers: extending the cylinder pinches them shut | yes | yes | `pinching-gripper.spec.ts` | +| [Backhoe bucket](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,01jO,0,0.0B,B,0sb,Py,0.8C,C,018N,HX,0.0D,D,0Ha,hT,0.4G,G,0,0,0.0H,H,VG,Im,0.4J,J,o0,0P0,0.0K,K,1BI,2i,0.0T,T,1NW,0ee,0.ZE,E,018N,HX,0,AB,A,B..YRAB,AB,Fe,Fe,01H-,C_,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0iz,UV,303e9f,C,D,,.YRDGH,DGH,Fe,Fe,4a,Kl,0d125a,D,G,H,,.YRHK,HK,Fe,Fe,rH,Ak,B2DFDB,H,K,,.YRJKT,JKT,Fe,Fe,16x,0K-,26A69A,J,K,T,,.YPCE,CE,0,0,0,0,,C,E,,...N_z) | A driven ram feeding an ordinary four-bar: bell crank, link, and the bucket curls | yes | yes | `excavator-bucket.spec.ts` | +| [Toggle press](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,01z0,0,0.0B,B,017k,0Uc,0.8C,C,01P8,0Kc,0.0D,D,0Zs,0pD,0.4G,G,0,0,0.0R,R,0,01cP,0.ZE,E,01P8,0Kc,0,AB,A,B.5F,F,0,01cP,OZ..YRAB,AB,Fe,Fe,01YN,0FJ,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0_V,0Zv,303e9f,C,D,,.YRGD,GD,Fe,Fe,0Hx,0Pc,0d125a,G,D,,.YRDR,DR,Fe,Fe,0Hx,01Cp,B2DFDB,D,R,,.YPCE,CE,0,0,0,0,,C,E,,.YPRF,RF,0,0,0,0,,R,F,,...N_Q) | A ram closing a toggle onto a block: travel traded for force as it approaches straight | yes | yes | `toggle-press.spec.ts` | +| [Scissor lift](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,2SG,0,0.0B,B,1fl,a3,0.8C,C,1wL,OD,0.0D,D,17q,yH,0.4G,G,0,0,0.0M,M,1Vm,1GM,0.0K,K,2-X,2Wj,0.0S,S,2-X,0,0.0T,T,0,2Wj,0.0U,U,3_1,2Wj,0.ZE,E,1wL,OD,0,AB,A,B.5N,N,2-X,0,0.1P,P,2-X,2Wj,0,TU,T,U..YRAB,AB,Fe,Fe,230,I2,c5cae9,A,B,,.YRCD,CD,Fe,Fe,1X5,gF,303e9f,C,D,,.YRGDMK,GDMK,Fe,Fe,1Pn,1BL,0d125a,G,D,M,K,,.YRSMT,SMT,Fe,Fe,1Vm,1GM,B2DFDB,S,M,T,,.YRTU,TU,Fe,Fe,1-0,2Wj,26A69A,T,U,,.YPCE,CE,0,0,0,0,,C,E,,.YPSN,SN,0,0,0,0,,S,N,,.YPKP,KP,0,0,0,0,,K,P,,...N_b) | Ram, supporting block and a slot in the moving platform — all three parts, three jobs | yes | yes | `scissor-lift.spec.ts` | +| [Shaper's quick-return drive](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.4C,C,0,0ku,0.0D,D,Oj,RF,0.0R,R,qW,si,0.1P,P,Fe,0,0,CD,C,D.5Q,Q,qW,si,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,CN,09q,303e9f,C,D,,.YRDR,DR,Fe,Fe,cd,e_,0d125a,D,R,,.YPBP,BP,0,0,0,0,,B,P,,.YPRQ,RQ,0,0,0,0,,R,Q,,...N_F) | A floating slot handing off to a grounded one: the ram cuts slow and returns fast | yes | — | `shaper-quick-return.spec.ts` | +| [Slider-crank whose rod comes square to the guide](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,VG,0.0B,B,Fe,VG,0.0C,C,oa,0,0.5P,P,oa,0,0..YRAB,AB,Fe,Fe,7q,VG,c5cae9,A,B,,.YRBC,BC,Fe,Fe,X6,Fe,303e9f,B,C,,.YPCP,CP,0,0,0,0,,C,P,,...N_c) | The slot tangent to the rod circle: the two roots meet and trade places | — | — | `square-rod-tangency.spec.ts` | +| [MotionGen gripper](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.0A,A,0U5,01,0.0B,B,0Hj,Fj,0.0C,C,0Hj,0FZ,0.0D,D,DZ,Fj,0.0E,E,DZ,0FZ,0.0F,F,0V6,X9,0.0G,G,A,X9,0.0H,H,0V6,0X0,0.0I,I,A,0X0,0.0J,J,_d,0Bn,0.0K,K,_o,GS,0.7P,P,0U5,01,0.5Q,Q,0V6,X9,OZ.5R,R,A,X9,OZ.5S,S,0V6,0X0,OZ.5T,T,A,0X0,OZ..YRABCDE,ABCDE,Fe,Fe,07i,4,c5cae9,A,B,C,D,E,,.YRBF,BF,Fe,Fe,0OQ,OR,303e9f,B,F,,.YRDG,DG,Fe,Fe,6s,OR,0d125a,D,G,,.YRCH,CH,Fe,Fe,0OQ,0OH,B2DFDB,C,H,,.YREI,EI,Fe,Fe,6s,0OH,26A69A,E,I,,.YRHIJ,HIJ,Fe,Fe,Aa,0Px,00695C,H,I,J,,.YRFGK,FGK,Fe,Fe,Ae,Rb,c5cae9,F,G,K,,.YPAP,AP,0,0,0,0,,A,P,,.YPFQ,FQ,0,0,0,0,,F,Q,,.YPGR,GR,0,0,0,0,,G,R,,.YPHS,HS,0,0,0,0,,H,S,,.YPIT,IT,0,0,0,0,,I,T,,...N_y) | A second engine's mechanism, rebuilt: over-constrained, so PMKS+ reports DOF 0 and refuses it | — | — | `motiongen-gripper.spec.ts` | +| [Gripper with the redundancy removed](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.0A,A,0U5,0,0.0M,M,DZ,0,0.0B,B,0Hj,Fj,0.0C,C,0Hj,0FZ,0.4F,F,0V6,X9,0.0G,G,A,X9,0.0K,K,_o,GS,0.4H,H,0V6,0X0,0.0I,I,A,0X0,0.0J,J,_d,0Bn,0.7P,P,0U5,0,0.5N,N,DZ,0,0..YRAMBC,AMBC,Fe,Fe,0C-,2,c5cae9,A,M,B,C,,.YRBG,BG,Fe,Fe,08o,OR,303e9f,B,G,,.YRCI,CI,Fe,Fe,08o,0OH,0d125a,C,I,,.YRFGK,FGK,Fe,Fe,Ae,Rb,B2DFDB,F,G,K,,.YRHIJ,HIJ,Fe,Fe,Aa,0Px,26A69A,H,I,J,,.YPAP,AP,0,0,0,0,,A,P,,.YPMN,MN,0,0,0,0,,M,N,,...N_h) | The same gripper, jaws pivoting instead of railed: DOF 1, and it runs | — | — | `pivoting-gripper.spec.ts` | +| [Radial engine, five cylinders](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6O,O,0,0,0.0A,A,Fe,0,0.0B,B,0,iC,0.0C,C,0UD,9q,0.0D,D,0L9,0T6,0.0E,E,Vy,0hz,0.0F,F,wV,J0,0.5P,P,0,iC,OZ.5Q,Q,0UD,9q,iB.5R,R,0L9,0T6,-q.5S,S,Vy,0hz,1JT.5T,T,wV,J0,1d5..YROA,OA,Fe,Fe,7q,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,7q,M6,303e9f,A,B,,.YRAC,AC,Fe,Fe,07J,4w,0d125a,A,C,,.YRAD,AD,Fe,Fe,02m,0EZ,B2DFDB,A,D,,.YRAE,AE,Fe,Fe,No,0L_,26A69A,A,E,,.YRAF,AF,Fe,Fe,b3,9W,00695C,A,F,,.YPBP,BP,0,0,0,0,,B,P,,.YPCQ,CQ,0,0,0,0,,C,Q,,.YPDR,DR,0,0,0,0,,D,R,,.YPES,ES,0,0,0,0,,E,S,,.YPFT,FT,0,0,0,0,,F,T,,...N_A) | Five sliders on one crank pin; piston stroke is exactly twice the throw | — | — | `radial-engine.spec.ts` | | [Chebyshev straight-line linkage](https://app.pmksplus.com/?2P.Ay,1E8.2,0.1011.6G,G,0VG,0,0.0A,A,0Fe,_W,0.0B,B,Fe,_W,0.GM,M,0,_W,0.4H,H,VG,0,0..YRGB,GB,Fe,Fe,07q,VG,c5cae9,G,B,,.YRABM,ABM,Fe,Fe,0,_W,303e9f,A,B,M,,.YRAH,AH,Fe,Fe,7q,VG,0d125a,A,H,,...N_5) | Approximate straight-line generation: the coupler midpoint runs flat along the top | — | — | `chebyshev-straight-line.spec.ts` | | [Windshield wiper](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6O,O,0si,0iC,0.0A,A,0se,0Km,0.0B,B,Dl,0S4,0.4P,P,0,0,0.0C,C,AJ,0L3,0.GT,T,0YM,16B,0.0D,D,1e3,0L3,0.4Q,Q,1Tm,0,0.GU,U,xQ,16B,0..YROA,Motor crank,Fe,Fe,0sg,0WU,c5cae9,O,A,,.YRAB,Drive link,Fe,Fe,0KS,0OQ,303e9f,A,B,,.YRBCPT,Wiper arm,Fe,Fe,02b,5H,0d125a,B,C,P,T,,.YRCD,Tie rod,Fe,Fe,vB,0L3,B2DFDB,C,D,,.YRDQU,Passenger arm,Fe,Fe,1Ll,GO,26A69A,D,Q,U,,...N_z) | Crank-rocker: continuous rotation into a bounded sweep, against the closed form | — | — | `windshield-wiper.spec.ts` | | [Jansen leg](https://app.pmksplus.com/?2P.1jO,1E8.5,0.1011.6O,O,0,0,0.0A,A,3gO,0,0.4G,G,09Hm,01vu,0.0B,B,05tE,7ee,0.0C,C,0IGg,1-F,0.0D,D,06b8,0B7B,0.0E,E,0ETW,06sL,0.GF,F,0AYO,0MPj,0..YROA,OA,Fe,Fe,1rC,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,016R,3qK,303e9f,A,B,,.YRGBC,GBC,Fe,Fe,0B8Z,2ag,0d125a,G,B,C,,.YRAD,AD,Fe,Fe,01TO,05Zc,B2DFDB,A,D,,.YRGD,GD,Fe,Fe,07xS,06WY,26A69A,G,D,,.YRCE,CE,Fe,Fe,0GN5,02RZ,00695C,C,E,,.YRDEF,DEF,Fe,Fe,0AXh,0DT4,c5cae9,D,E,F,,...N_c) | One leg of a Strandbeest: eight bars on Jansen's holy numbers, and the foot walks | — | — | `jansen-leg.spec.ts` | -| [Elliptical crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0ix,X,0.0B,B,0zu,7O,0.0C,C,0qC,Lr,0.GD,D,085,Av,0.0E,E,aY,v,0.4F,F,0,0,0.5P,P,aY,v,03..YRAB,AB,Fe,Fe,0rQ,3y,c5cae9,A,B,,.YRBC,BC,Fe,Fe,0v2,Ed,303e9f,B,C,,.YRCDE,CDE,Fe,Fe,07x,BD,0d125a,C,D,E,,.YRDF,DF,Fe,Fe,043,5S,B2DFDB,D,F,,.YPEP,EP,Fe,0,0,0,,E,P,,...N_V) | A six-bar no dyad reaches: the coupler and its guided end have to be solved together | — | — | `elliptical-crank.spec.ts` | -| [Inverted slider-crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,Fe,0.4C,C,ku,0,0.0D,D,0RF,Oj,0.1P,P,0,Fe,0,CD,C,D..YRAB,AB,Fe,Fe,0,7q,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9q,CN,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,...N_v) | Inverse slot direction: position, velocity and acceleration against closed form | yes | — | `inverted-slider-crank.spec.ts, slot-kinematics.spec.ts` | -| [Whitworth proportions](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,ku,0.4C,C,Fe,0,0.0D,D,095,1A7,0.1P,P,0,ku,0,CD,C,D..YRAB,AB,Fe,Fe,0,NS,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3H,b4,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,...N_w) | Crank longer than the ground offset, so the lever turns instead of rocking | yes | — | `slot-kinematics.spec.ts` | -| [Inverted slider-crank with a load](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,Fe,0.4C,C,ku,0,0.0D,D,0RF,Oj,0.1P,P,0,Fe,0,CD,C,D..YRAB,AB,Fe,Fe,0,7q,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9q,CN,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,..2F1,CD,F1,0RF,Oj,0RF,95,2SG..N_N) | Reactions equal and opposite across the slot, and normal to it | yes | — | `slot-forces.spec.ts` | -| [Four-bar with a slotted coupler](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0C,C,d4,ec,0.4D,D,_W,0,0.4E,E,VG,7q,0.0F,F,bo,cO,0.0X,X,tU,151,0.1P,P,bo,cO,0,BCX,B,X..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRBCX,BCX,Fe,Fe,ak,aY,303e9f,B,C,X,,.YRCD,CD,Fe,Fe,oo,KJ,0d125a,C,D,,.YREF,EF,Fe,Fe,YX,N6,B2DFDB,E,F,,.YPFP,FP,Fe,0,0,0,,F,P,,...N_i) | Forward slot direction: the only case where the carrier is solved first | yes | — | `slotted-coupler.spec.ts` | -| [Scotch yoke](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CD,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPCF,CF,Fe,0,0,0,,C,F,,...N_Z) | Slide: a welded assembly translating on its guide, x = r cos theta | yes | yes | `scotch-yoke.spec.ts, scotch-yoke-kinematics.spec.ts` | -| [Scotch yoke with a tracer](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0G,G,ku,S8,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CDG,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCDG,CDG,Fe,Fe,Q3,8L,303e9f,C,D,G,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPCF,CF,Fe,0,0,0,,C,F,,...N_q) | The slot measured from a joint on it, not from whichever member came first | yes | yes | `scotch-yoke.spec.ts` | -| [Scotch yoke guided at the far end](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0C,C,Fe,S8,0.8D,D,Fe,0VG,0.1E,E,Fe,0,0,CD,C,D.5G,G,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPDG,DG,Fe,0,0,0,,D,G,,...N_Z) | Same motion, but the loop reaches the welded rider along a link edge | yes | yes | `scotch-yoke-kinematics.spec.ts` | -| [Elliptical trammel](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.0A,A,Fe,0,0.0B,B,0,Fe,0.5C,C,Fe,0,0.5D,D,0,Fe,OZ..YRAB,AB,Fe,Fe,7q,7q,c5cae9,A,B,,.YPAC,AC,Fe,0,0,0,,A,C,,.YPBD,BD,Fe,0,0,0,,B,D,,...N_U) | Mobility for a linkage held only by its guides — no pin touches ground | — | — | `slot-mobility.spec.ts` | +| [Elliptical crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0ix,X,0.0B,B,0zu,7O,0.0C,C,0qC,Lr,0.GD,D,085,Av,0.0E,E,aY,v,0.4F,F,0,0,0.5P,P,aY,v,03..YRAB,AB,Fe,Fe,0rQ,3y,c5cae9,A,B,,.YRBC,BC,Fe,Fe,0v2,Ed,303e9f,B,C,,.YRCDE,CDE,Fe,Fe,07x,BD,0d125a,C,D,E,,.YRDF,DF,Fe,Fe,043,5S,B2DFDB,D,F,,.YPEP,EP,0,0,0,0,,E,P,,...N_U) | A six-bar no dyad reaches: the coupler and its guided end have to be solved together | — | — | `elliptical-crank.spec.ts` | +| [Inverted slider-crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,Fe,0.4C,C,ku,0,0.0D,D,0RF,Oj,0.1P,P,0,Fe,0,CD,C,D..YRAB,AB,Fe,Fe,0,7q,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9q,CN,303e9f,C,D,,.YPBP,BP,0,0,0,0,,B,P,,...N_u) | Inverse slot direction: position, velocity and acceleration against closed form | yes | — | `inverted-slider-crank.spec.ts, slot-kinematics.spec.ts` | +| [Whitworth proportions](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,ku,0.4C,C,Fe,0,0.0D,D,095,1A7,0.1P,P,0,ku,0,CD,C,D..YRAB,AB,Fe,Fe,0,NS,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3H,b4,303e9f,C,D,,.YPBP,BP,0,0,0,0,,B,P,,...N_v) | Crank longer than the ground offset, so the lever turns instead of rocking | yes | — | `slot-kinematics.spec.ts` | +| [Inverted slider-crank with a load](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,Fe,0.4C,C,ku,0,0.0D,D,0RF,Oj,0.1P,P,0,Fe,0,CD,C,D..YRAB,AB,Fe,Fe,0,7q,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9q,CN,303e9f,C,D,,.YPBP,BP,0,0,0,0,,B,P,,..2F1,CD,F1,0RF,Oj,0RF,95,2SG..N_M) | Reactions equal and opposite across the slot, and normal to it | yes | — | `slot-forces.spec.ts` | +| [Four-bar with a slotted coupler](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0C,C,d4,ec,0.4D,D,_W,0,0.4E,E,VG,7q,0.0F,F,bo,cO,0.0X,X,tU,151,0.1P,P,bo,cO,0,BCX,B,X..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRBCX,BCX,Fe,Fe,ak,aY,303e9f,B,C,X,,.YRCD,CD,Fe,Fe,oo,KJ,0d125a,C,D,,.YREF,EF,Fe,Fe,YX,N6,B2DFDB,E,F,,.YPFP,FP,0,0,0,0,,F,P,,...N_h) | Forward slot direction: the only case where the carrier is solved first | yes | — | `slotted-coupler.spec.ts` | +| [Scotch yoke](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CD,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,0,0,0,0,,B,E,,.YPCF,CF,0,0,0,0,,C,F,,...N_X) | Slide: a welded assembly translating on its guide, x = r cos theta | yes | yes | `scotch-yoke.spec.ts, scotch-yoke-kinematics.spec.ts` | +| [Scotch yoke with a tracer](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0G,G,ku,S8,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CDG,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCDG,CDG,Fe,Fe,Q3,8L,303e9f,C,D,G,,.YPBE,BE,0,0,0,0,,B,E,,.YPCF,CF,0,0,0,0,,C,F,,...N_o) | The slot measured from a joint on it, not from whichever member came first | yes | yes | `scotch-yoke.spec.ts` | +| [Scotch yoke guided at the far end](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0C,C,Fe,S8,0.8D,D,Fe,0VG,0.1E,E,Fe,0,0,CD,C,D.5G,G,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,0,0,0,0,,B,E,,.YPDG,DG,0,0,0,0,,D,G,,...N_X) | Same motion, but the loop reaches the welded rider along a link edge | yes | yes | `scotch-yoke-kinematics.spec.ts` | +| [Elliptical trammel](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.0A,A,Fe,0,0.0B,B,0,Fe,0.5C,C,Fe,0,0.5D,D,0,Fe,OZ..YRAB,AB,Fe,Fe,7q,7q,c5cae9,A,B,,.YPAC,AC,0,0,0,0,,A,C,,.YPBD,BD,0,0,0,0,,B,D,,...N_S) | Mobility for a linkage held only by its guides — no pin touches ground | — | — | `slot-mobility.spec.ts` | | [Four-bar driven at its coupler-rocker pin](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4O,O,0,0,0.0A,A,72,MM,0.2C,C,pa,bW,0.4D,D,_W,0,0.0T,T,Wq,pa,0..YROA,OA,Fe,Fe,3X,BB,c5cae9,O,A,,.YRACT,ACT,Fe,Fe,UU,b9,303e9f,A,C,T,,.YRCD,CD,Fe,Fe,v2,Im,0d125a,C,D,,...N_3) | Gate 6: a floating pin as the input — same coupler curve as driving the crank | — | — | `driven-floating-pin.spec.ts` | | [Leg on a bicycle crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4B,B,0,0,0.GP,P,Qa,0,0.4H,H,0NS,1Qe,0.2K,K,c5,13o,0..YRHK,HK,Fe,Fe,7L,1FD,c5cae9,H,K,,.YRKP,KP,Fe,Fe,WL,Xv,303e9f,K,P,,.YRBP,BP,Fe,Fe,DI,0,0d125a,B,P,,...N_p) | A driven knee, carried by the thigh: one leg can only rock the crank half a turn | — | — | `pedaling-leg.spec.ts` | | [Oscillating fan](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,0,0,0.2C,C,s8,0VG,0.0D,D,k_,0j9,0.4B,B,0GY,0In,0.0N,N,1NW,0,0..YRACN,ACN,Fe,Fe,lD,0AR,c5cae9,A,C,N,,.YRCD,CD,Fe,Fe,oZ,0cC,303e9f,C,D,,.YRDB,DB,Fe,Fe,FE,0Vz,0d125a,D,B,,...N_B) | The motor rides the head it sweeps: the driven pin turns right round, the head does not | — | — | `oscillating-fan.spec.ts` | -| [Walking-beam pumping unit](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,0gB,0oI,0.0M,M,0QZ,0o1,0.2P,P,0d4,0,0.4S,S,0,0,0.0H,H,o0,0,0.0R,R,r8,0eW,0.5W,W,r8,0eW,OZ..YRAM,AM,Fe,Fe,0YN,0oA,c5cae9,A,M,,.YRMP,MP,Fe,Fe,0Wq,0P1,303e9f,M,P,,.YRPSH,PSH,Fe,Fe,3f,0,0d125a,P,S,H,,.YRHR,HR,Fe,Fe,pa,0KG,B2DFDB,H,R,,.YPRW,RW,Fe,0,0,0,,R,W,,...N_Z) | Driven where the pitman meets the beam, and the output is a straight-line stroke | — | — | `pumpjack.spec.ts` | +| [Walking-beam pumping unit](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,0gB,0oI,0.0M,M,0QZ,0o1,0.2P,P,0d4,0,0.4S,S,0,0,0.0H,H,o0,0,0.0R,R,r8,0eW,0.5W,W,r8,0eW,OZ..YRAM,AM,Fe,Fe,0YN,0oA,c5cae9,A,M,,.YRMP,MP,Fe,Fe,0Wq,0P1,303e9f,M,P,,.YRPSH,PSH,Fe,Fe,3f,0,0d125a,P,S,H,,.YRHR,HR,Fe,Fe,pa,0KG,B2DFDB,H,R,,.YPRW,RW,0,0,0,0,,R,W,,...N_Y) | Driven where the pitman meets the beam, and the output is a straight-line stroke | — | — | `pumpjack.spec.ts` | | [TeachingLab four-bar](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Nm,0,0.0C,C,126,lL,0.4D,D,17S,0,0.0E,E,1As,PW,0.0F,F,dq,Uc,0.0G,G,W5,tN,0.0H,H,Bu,G4,0.0I,I,11K,UW,0..YRABH,ABH,2ZQ,n9pzh4,01Zi,bM,c5cae9,A,B,H,,.YRBCFG,BCFG,9o,A80cTW,jM2,p3C,303e9f,B,C,F,G,,.YRCDEI,CDEI,1Cb,w-akVq,1pNm,0550,0d125a,C,D,E,I,,...N_Y) | MATLAB-verified positions, velocities, accelerations and forces | — | — | `teaching-lab-four-bar.spec.ts` | | [TeachingLab slider-crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,3NU,2SQ,0.0B,B,3NU,3Ny,0.0C,C,0FA,2SQ,0.5D,D,0FA,2SQ,0..YRAB,AB,Gz,0,0,1a,c5cae9,A,B,,.YRBC,BC,7r,3,7q,Ay,303e9f,B,C,,.YPCD,CD,Kc,0,0,0,,C,D,,...N_l) | The grounded-guide path this phase had to leave byte-identical | — | — | `teaching-lab-slider-crank.spec.ts` | -| [Slider-crank with a tracer](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,_W,VG,0.0C,C,2xW,0,0.0D,D,4uW,VG,0.5E,E,2xW,0,0..YRAB,AB,1E8,1a,VG,Fe,c5cae9,A,B,,.YRBCD,BCD,2SG,38,2xW,Kr,303e9f,B,C,D,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_z) | A tracer point on the coupler of a grounded slider | — | — | `slider-crank-tracer.spec.ts` | +| [Slider-crank with a tracer](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,_W,VG,0.0C,C,2xW,0,0.0D,D,4uW,VG,0.5E,E,2xW,0,0..YRAB,AB,1E8,1a,VG,Fe,c5cae9,A,B,,.YRBCD,BCD,2SG,38,2xW,Kr,303e9f,B,C,D,,.YPCE,CE,0,0,0,0,,C,E,,...N_y) | A tracer point on the coupler of a grounded slider | — | — | `slider-crank-tracer.spec.ts` | | [Stephenson III](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,1jO,_W,0.0B,B,1E8,3w0,0.0C,C,66e,66e,0.4D,D,5dO,2SG,0.0E,E,4PG,8Yu,0.0F,F,AVu,7q0,0.4G,G,A-8,49e,0..YRAB,AB,1E8,1a,1Tm,2SG,c5cae9,A,B,,.YRBCE,BCE,2SG,38,3w0,6Br,303e9f,B,C,E,,.YRCD,CD,1E8,1a,5t0,4HS,0d125a,C,D,,.YREF,EF,2SG,38,7Sa,8BS,B2DFDB,E,F,,.YRFG,FG,1E8,1a,AlW,5_q,26A69A,F,G,,..2F1,FG,F1,AlW,5_q,A-8,5_q,CDG..N_W) | Six-bar, MATLAB-verified | — | — | `stephenson-iii-ex2.spec.ts` | | [Watt I](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0wS,0bg,0.0B,B,0gW,EE,0.0C,C,Oi,6k,0.0D,D,03m,_g,0.0E,E,1FO,1I_,0.0F,F,1-C,qM,0.4G,G,1oO,0ss,0..YRAB,AB,1E8,1a,0oU,0Bk,c5cae9,A,B,,.YRBCD,BCD,2SG,38,07C,Rt,303e9f,B,C,D,,.YRDE,DE,1E8,1a,bq,18q,0d125a,D,E,,.YREF,EF,2SG,38,1dI,13g,B2DFDB,E,F,,.YRCFG,CFG,1E8,1a,1Om,1Q,26A69A,C,F,G,,..2F1,CFG,F1,1Om,1Q,1ck,8P,DfU..N_S) | Six-bar, MATLAB-verified | — | — | `watt-i.spec.ts` | diff --git a/src/app/component/BLOCKS/input/input.component.scss b/src/app/component/BLOCKS/input/input.component.scss index e3f8dd5c..7c3c90b6 100644 --- a/src/app/component/BLOCKS/input/input.component.scss +++ b/src/app/component/BLOCKS/input/input.component.scss @@ -21,9 +21,16 @@ margin-right: auto; } - .customInputForm, - .mat-mdc-text-field-wrapper { + // The field takes the row it was given a line of its own for -- including + // the input inside it, which otherwise sizes to its own text and clips a + // long unit like kg·cm² against a wrapper that had the room. + // Written at the base rule's own depth, or the 80px width there wins. + .row .customInputForm, + .row .customInputForm .mat-mdc-text-field-wrapper, + .row .customInputForm .mat-mdc-form-field-infix, + .row .customInputForm .customInput { width: 100%; + max-width: 100%; } } // Get the color config from the theme. diff --git a/src/app/component/MODALS/templates/dev-templates.ts b/src/app/component/MODALS/templates/dev-templates.ts new file mode 100644 index 00000000..5041d561 --- /dev/null +++ b/src/app/component/MODALS/templates/dev-templates.ts @@ -0,0 +1,39 @@ +/** + * Drawings that exist to exercise the app rather than to teach a linkage. + * + * Their own file, because template-linkages.ts is generated from the + * verification fixtures and checked against that generator -- these are + * neither generated nor fixtures, and they are only ever offered in a + * development build. + */ +export const DEV_TEMPLATE_IDS = [ + 'Dev_All_Mechanism_Types', + 'Dev_Object_Gallery', + 'Dev_Render_Stress', +] as const; + +export type DevTemplateID = (typeof DEV_TEMPLATE_IDS)[number]; + +export const DEV_TEMPLATES: Record = { + // One of each kind of machine in one drawing: a crank that goes round, a + // ram that goes out and back, a slider, and a chain that never reaches + // ground -- so every readiness state and every playback row is on screen at + // once. + // + // Two joints in here are named with a backslash and a backtick, which the + // encoder is entitled to use and a TypeScript string literal is entitled to + // read as an escape. The backslashes are doubled for that reason; eating one + // costs the checksum and the whole drawing refuses to load. + Dev_All_Mechanism_Types: + '2O.Ay,Fe.5,0.1011.4O,O,0,0,0.0C,C,YJ,qG,0.4G,G,ku,0,0.0N,N,aM,hl,0.8P,P,ir,8X,0.ZS,S,ir,8X,0,GN,G,N.0T,T,nJ,oD,0.0U,U,1Nd,dn,0.6V,V,1ca,jH,0,,,,1E8.6W,W,J-,1GP,0.0X,X,PF,1dt,0.0Y,Y,rW,1g7,0.4Z,Z,-P,1FX,0.0[,[,1Tk,16n,0.0\\,\\,1ft,1bA,0.0^,^,1pZ,1Gc,0.0_,_,1_5,_W,0.0`,`,2AU,1OV,0.1a,a,2AU,1OV,0..YROC,OC,Fe,Fe,HA,Q8,c5cae9,O,C,,.YRGN,GN,Fe,Fe,fd,Lu,303e9f,G,N,,.YRPC,PC,Fe,Fe,da,UO,0d125a,P,C,,.YPPS,PS,Fe,0,0,0,,P,S,,.YRGT,GT,Fe,Fe,m5,P7,c5cae9,G,T,,.YRTU,TU,Fe,Fe,14T,i-,303e9f,T,U,,.YRUV,UV,Fe,Fe,1V5,gX,0d125a,U,V,,.YRWX,WX,Fe,Fe,Md,1S8,B2DFDB,W,X,,.YRXY,XY,Fe,Fe,dN,1f0,26A69A,X,Y,,.YRYZ,YZ,Fe,Fe,wS,1Sr,00695C,Y,Z,,.YR[\\,[\\,Fe,Fe,1Zp,1Lz,c5cae9,[,\\,,.YR_`,_`,Fe,Fe,24I,1BV,B2DFDB,_,`,,.YP`a,`a,Fe,0,0,0,,`,a,,...N_a', + // One of everything the canvas can draw, laid out in rows and deliberately + // not simulatable: a bar, a grounded pin, a driven crank, ternary and + // quaternary links, a traced point and a slider. + Dev_Object_Gallery: + '2P.Ay,1E8.K,0.1011.0A,A,0bW,E4,0.0B,B,0U0,E4,0.4C,C,0NS,E4,0.0D,D,0Fy,E4,0.6E,E,09O,E4,0.0F,F,01u,E4,0.0G,G,4i,E4,0.0H,H,CC,E4,0.0I,I,8S,Ke,0.0J,J,Im,E4,0.0K,K,QG,E4,0.0L,L,QG,La,0.0M,M,Im,La,0.0N,N,0bW,0,0.GO,O,0U0,0,0.5P,P,0NS,0,0.0Q,Q,0Fy,0,0.0R,R,09O,0,0.0S,S,01u,0,0.0T,T,05e,06a,0..YRAB,AB,0,Fe,0Xm,E4,c5cae9,A,B,,.YRCD,CD,0,Fe,0Ji,E4,9fa8da,C,D,,.YREF,EF,0,Fe,05e,E4,f4a742,E,F,,.YRGHI,GHI,0,Fe,8S,GG,303e9f,G,H,I,,.YRJKLM,JKLM,0,Fe,MW,Hq,0d125a,J,K,L,M,,.YRNO,NO,0,Fe,0Xm,0,b2dfdb,N,O,,.YRPQ,PQ,0,Fe,0Ji,0,26a69a,P,Q,,.YRRST,RST,0,Fe,05e,02C,00695c,R,S,T,,...N_B', + // Twenty joints, thirteen links and a traced path on every moving one, all + // on a single degree of freedom, so the renderer has as much to do per frame + // as it is ever likely to. + Dev_Render_Stress: + '2P.Ay,1E8.K,0.1011.6A,A,0,F0,0.GB,B,3m,F0,0.GC,C,0II,72,0.GD,D,0EY,072,0.4E,E,0Fy,F0,0.GF,F,0Cg,72,0.GG,G,08w,072,0.4H,H,0AK,F0,0.GI,I,7_,72,0.GJ,J,Bk,072,0.4K,K,AK,F0,0.GL,L,Dc,72,0.GM,M,HM,072,0.4N,N,Fy,F0,0.4O,O,F6,F0,0.GP,P,La,La,0.GQ,Q,Pu,PK,0.4R,R,0F6,F0,0.GS,S,0La,Ji,0.GT,T,0Pu,NS,0..YRAB,AB,0,Fe,1u,F0,f4a742,A,B,,.YRBCD,BCD,0,Fe,09i,50,8d6e63,B,C,D,,.YRCE,CE,0,Fe,0H7,B1,c5cae9,C,E,,.YRBFG,BFG,0,Fe,05y,50,a1887f,B,F,G,,.YRFH,FH,0,Fe,0BV,B1,c5cae9,F,H,,.YRBIJ,BIJ,0,Fe,7q,50,8d6e63,B,I,J,,.YRIK,IK,0,Fe,99,B1,c5cae9,I,K,,.YRBLM,BLM,0,Fe,Ba,50,a1887f,B,L,M,,.YRLN,LN,0,Fe,En,B1,c5cae9,L,N,,.YRBPQ,BPQ,0,Fe,H4,Ke,a5d6a7,B,P,Q,,.YRPO,PO,0,Fe,IL,II,81c784,P,O,,.YRBST,BST,0,Fe,0Ea,JO,c8e6c9,B,S,T,,.YRSR,SR,0,Fe,0IL,HM,66bb6a,S,R,,...N_y', +}; diff --git a/src/app/component/MODALS/templates/template-linkages.ts b/src/app/component/MODALS/templates/template-linkages.ts index 7a16e145..e64e71bd 100644 --- a/src/app/component/MODALS/templates/template-linkages.ts +++ b/src/app/component/MODALS/templates/template-linkages.ts @@ -82,37 +82,37 @@ export const TEMPLATE_LINKAGES: Record = { '2P.Ay,1E8.K,0.1011.6A,A,0mA,0c,0.0B,B,0Yt,bK,0.0C,C,il,H-,0.5D,D,il,H-,0..YRAB,AB,Fe,Fe,0fW,IN,c5cae9,A,B,,.YRBC,BC,Fe,Fe,4y,Rf,303e9f,B,C,,.YPCD,CD,Fe,0,0,0,,C,D,,...N_j', // Whitworth_Quick_Return: - '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,ku,0.4C,C,Fe,0,0.0D,D,095,1A7,0.1P,P,0,ku,0,CD,C,D..YRAB,AB,Fe,Fe,0,NS,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3H,b4,303e9f,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,...N_w', + '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,ku,0.4C,C,Fe,0,0.0D,D,095,1A7,0.1P,P,0,ku,0,CD,C,D..YRAB,AB,Fe,Fe,0,NS,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3H,b4,303e9f,C,D,,.YPBP,BP,0,0,0,0,,B,P,,...N_v', Scotch_Yoke: - '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CD,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,Fe,0,0,0,,B,E,,.YPCF,CF,Fe,0,0,0,,C,F,,...N_Z', + '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.8C,C,Fe,0VG,0.0D,D,Fe,S8,0.1E,E,Fe,0,0,CD,C,D.5F,F,Fe,0VG,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,Fe,01a,303e9f,C,D,,.YPBE,BE,0,0,0,0,,B,E,,.YPCF,CF,0,0,0,0,,C,F,,...N_X', Cylinder_Boom: - '2P.Ay,Fe.5,0.1011.4O,O,0,0,0.0C,C,0,_W,0.4G,G,ku,0,0.0N,N,Ju,Z-,0.8P,P,R0,QX,0.ZS,S,R0,QX,0,GN,G,N..YROC,OC,Fe,Fe,0,VG,c5cae9,O,C,,.YRGN,GN,Fe,Fe,XO,I0,303e9f,G,N,,.YRPC,PC,Fe,Fe,DW,iW,0d125a,P,C,,.YPPS,PS,Fe,0,0,0,,P,S,,...N_e', + '2P.Ay,Fe.5,0.1011.4O,O,0,0,0.0C,C,0,_W,0.4G,G,ku,0,0.0N,N,Ju,Z-,0.8P,P,R0,QX,0.ZS,S,R0,QX,0,GN,G,N..YROC,OC,Fe,Fe,0,VG,c5cae9,O,C,,.YRGN,GN,Fe,Fe,XO,I0,303e9f,G,N,,.YRPC,PC,Fe,Fe,DW,iW,0d125a,P,C,,.YPPS,PS,0,0,0,0,,P,S,,...N_d', Cylinder_Gripper: - '2P.Ay,1E8.5,0.1011.4A,A,02SG,ku,0.0B,B,0185,uK,0.8C,C,019F,uC,0.0D,D,Ay,11e,0.4G,G,_W,ku,0.0H,H,1HG,S8,0.0I,I,2hu,VG,0.4J,J,_W,0ku,0.0K,K,hm,0S8,0.0L,L,2hu,0VG,0.ZE,E,019F,uC,0,AB,A,B..YRAB,AB,Fe,Fe,01oB,pc,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0V9,yw,303e9f,C,D,,.YRDGHI,DGHI,Fe,Fe,1Hf,g_,0d125a,D,G,H,I,,.YRHK,HK,Fe,Fe,_W,0,B2DFDB,H,K,,.YRJKL,JKL,Fe,Fe,1Sj,0ZR,26A69A,J,K,L,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_N', + '2P.Ay,1E8.5,0.1011.4A,A,02SG,ku,0.0B,B,0185,uK,0.8C,C,019F,uC,0.0D,D,Ay,11e,0.4G,G,_W,ku,0.0H,H,1HG,S8,0.0I,I,2hu,VG,0.4J,J,_W,0ku,0.0K,K,hm,0S8,0.0L,L,2hu,0VG,0.ZE,E,019F,uC,0,AB,A,B..YRAB,AB,Fe,Fe,01oB,pc,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0V9,yw,303e9f,C,D,,.YRDGHI,DGHI,Fe,Fe,1Hf,g_,0d125a,D,G,H,I,,.YRHK,HK,Fe,Fe,_W,0,B2DFDB,H,K,,.YRJKL,JKL,Fe,Fe,1Sj,0ZR,26A69A,J,K,L,,.YPCE,CE,0,0,0,0,,C,E,,...N_M', Radial_Engine: - '2P.Ay,1E8.5,0.1011.6O,O,0,0,0.0A,A,Fe,0,0.0B,B,0,iC,0.0C,C,0UD,9q,0.0D,D,0L9,0T6,0.0E,E,Vy,0hz,0.0F,F,wV,J0,0.5P,P,0,iC,OZ.5Q,Q,0UD,9q,iB.5R,R,0L9,0T6,-q.5S,S,Vy,0hz,1JT.5T,T,wV,J0,1d5..YROA,OA,Fe,Fe,7q,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,7q,M6,303e9f,A,B,,.YRAC,AC,Fe,Fe,07J,4w,0d125a,A,C,,.YRAD,AD,Fe,Fe,02m,0EZ,B2DFDB,A,D,,.YRAE,AE,Fe,Fe,No,0L_,26A69A,A,E,,.YRAF,AF,Fe,Fe,b3,9W,00695C,A,F,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPCQ,CQ,Fe,0,0,0,,C,Q,,.YPDR,DR,Fe,0,0,0,,D,R,,.YPES,ES,Fe,0,0,0,,E,S,,.YPFT,FT,Fe,0,0,0,,F,T,,...N_F', + '2P.Ay,1E8.5,0.1011.6O,O,0,0,0.0A,A,Fe,0,0.0B,B,0,iC,0.0C,C,0UD,9q,0.0D,D,0L9,0T6,0.0E,E,Vy,0hz,0.0F,F,wV,J0,0.5P,P,0,iC,OZ.5Q,Q,0UD,9q,iB.5R,R,0L9,0T6,-q.5S,S,Vy,0hz,1JT.5T,T,wV,J0,1d5..YROA,OA,Fe,Fe,7q,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,7q,M6,303e9f,A,B,,.YRAC,AC,Fe,Fe,07J,4w,0d125a,A,C,,.YRAD,AD,Fe,Fe,02m,0EZ,B2DFDB,A,D,,.YRAE,AE,Fe,Fe,No,0L_,26A69A,A,E,,.YRAF,AF,Fe,Fe,b3,9W,00695C,A,F,,.YPBP,BP,0,0,0,0,,B,P,,.YPCQ,CQ,0,0,0,0,,C,Q,,.YPDR,DR,0,0,0,0,,D,R,,.YPES,ES,0,0,0,0,,E,S,,.YPFT,FT,0,0,0,0,,F,T,,...N_A', Chebyshev_Straight_Line: '2P.Ay,1E8.2,0.1011.6G,G,0VG,0,0.0A,A,0Fe,_W,0.0B,B,Fe,_W,0.GM,M,0,_W,0.4H,H,VG,0,0..YRGB,GB,Fe,Fe,07q,VG,c5cae9,G,B,,.YRABM,ABM,Fe,Fe,0,_W,303e9f,A,B,M,,.YRAH,AH,Fe,Fe,7q,VG,0d125a,A,H,,...N_5', Windshield_Wiper: '2P.Ay,1E8.5,0.1011.6O,O,0si,0iC,0.0A,A,0se,0Km,0.0B,B,Dl,0S4,0.4P,P,0,0,0.0C,C,AJ,0L3,0.GT,T,0YM,16B,0.0D,D,1e3,0L3,0.4Q,Q,1Tm,0,0.GU,U,xQ,16B,0..YROA,Motor crank,Fe,Fe,0sg,0WU,c5cae9,O,A,,.YRAB,Drive link,Fe,Fe,0KS,0OQ,303e9f,A,B,,.YRBCPT,Wiper arm,Fe,Fe,02b,5H,0d125a,B,C,P,T,,.YRCD,Tie rod,Fe,Fe,vB,0L3,B2DFDB,C,D,,.YRDQU,Passenger arm,Fe,Fe,1Ll,GO,26A69A,D,Q,U,,...N_z', Elliptical_Crank: - '2P.Ay,1E8.5,0.1011.6A,A,0ix,X,0.0B,B,0zu,7O,0.0C,C,0qC,Lr,0.GD,D,085,Av,0.0E,E,aY,v,0.4F,F,0,0,0.5P,P,aY,v,03..YRAB,AB,Fe,Fe,0rQ,3y,c5cae9,A,B,,.YRBC,BC,Fe,Fe,0v2,Ed,303e9f,B,C,,.YRCDE,CDE,Fe,Fe,07x,BD,0d125a,C,D,E,,.YRDF,DF,Fe,Fe,043,5S,B2DFDB,D,F,,.YPEP,EP,Fe,0,0,0,,E,P,,...N_V', + '2P.Ay,1E8.5,0.1011.6A,A,0ix,X,0.0B,B,0zu,7O,0.0C,C,0qC,Lr,0.GD,D,085,Av,0.0E,E,aY,v,0.4F,F,0,0,0.5P,P,aY,v,03..YRAB,AB,Fe,Fe,0rQ,3y,c5cae9,A,B,,.YRBC,BC,Fe,Fe,0v2,Ed,303e9f,B,C,,.YRCDE,CDE,Fe,Fe,07x,BD,0d125a,C,D,E,,.YRDF,DF,Fe,Fe,043,5S,B2DFDB,D,F,,.YPEP,EP,0,0,0,0,,E,P,,...N_U', Jansen_Leg: '2P.1jO,1E8.5,0.1011.6O,O,0,0,0.0A,A,3gO,0,0.4G,G,09Hm,01vu,0.0B,B,05tE,7ee,0.0C,C,0IGg,1-F,0.0D,D,06b8,0B7B,0.0E,E,0ETW,06sL,0.GF,F,0AYO,0MPj,0..YROA,OA,Fe,Fe,1rC,0,c5cae9,O,A,,.YRAB,AB,Fe,Fe,016R,3qK,303e9f,A,B,,.YRGBC,GBC,Fe,Fe,0B8Z,2ag,0d125a,G,B,C,,.YRAD,AD,Fe,Fe,01TO,05Zc,B2DFDB,A,D,,.YRGD,GD,Fe,Fe,07xS,06WY,26A69A,G,D,,.YRCE,CE,Fe,Fe,0GN5,02RZ,00695C,C,E,,.YRDEF,DEF,Fe,Fe,0AXh,0DT4,c5cae9,D,E,F,,...N_c', Backhoe_Bucket: - '2P.Ay,1E8.5,0.1011.4A,A,01jO,0,0.0B,B,0sb,Py,0.8C,C,018N,HX,0.0D,D,0Ha,hT,0.4G,G,0,0,0.0H,H,VG,Im,0.4J,J,o0,0P0,0.0K,K,1BI,2i,0.0T,T,1NW,0ee,0.ZE,E,018N,HX,0,AB,A,B..YRAB,AB,Fe,Fe,01H-,C_,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0iz,UV,303e9f,C,D,,.YRDGH,DGH,Fe,Fe,4a,Kl,0d125a,D,G,H,,.YRHK,HK,Fe,Fe,rH,Ak,B2DFDB,H,K,,.YRJKT,JKT,Fe,Fe,16x,0K-,26A69A,J,K,T,,.YPCE,CE,Fe,0,0,0,,C,E,,...N_0', + '2P.Ay,1E8.5,0.1011.4A,A,01jO,0,0.0B,B,0sb,Py,0.8C,C,018N,HX,0.0D,D,0Ha,hT,0.4G,G,0,0,0.0H,H,VG,Im,0.4J,J,o0,0P0,0.0K,K,1BI,2i,0.0T,T,1NW,0ee,0.ZE,E,018N,HX,0,AB,A,B..YRAB,AB,Fe,Fe,01H-,C_,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0iz,UV,303e9f,C,D,,.YRDGH,DGH,Fe,Fe,4a,Kl,0d125a,D,G,H,,.YRHK,HK,Fe,Fe,rH,Ak,B2DFDB,H,K,,.YRJKT,JKT,Fe,Fe,16x,0K-,26A69A,J,K,T,,.YPCE,CE,0,0,0,0,,C,E,,...N_z', Toggle_Press: - '2P.Ay,1E8.5,0.1011.4A,A,01z0,0,0.0B,B,017k,0Uc,0.8C,C,01P8,0Kc,0.0D,D,0Zs,0pD,0.4G,G,0,0,0.0R,R,0,01cP,0.ZE,E,01P8,0Kc,0,AB,A,B.5F,F,0,01cP,OZ..YRAB,AB,Fe,Fe,01YN,0FJ,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0_V,0Zv,303e9f,C,D,,.YRGD,GD,Fe,Fe,0Hx,0Pc,0d125a,G,D,,.YRDR,DR,Fe,Fe,0Hx,01Cp,B2DFDB,D,R,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPRF,RF,Fe,0,0,0,,R,F,,...N_S', + '2P.Ay,1E8.5,0.1011.4A,A,01z0,0,0.0B,B,017k,0Uc,0.8C,C,01P8,0Kc,0.0D,D,0Zs,0pD,0.4G,G,0,0,0.0R,R,0,01cP,0.ZE,E,01P8,0Kc,0,AB,A,B.5F,F,0,01cP,OZ..YRAB,AB,Fe,Fe,01YN,0FJ,c5cae9,A,B,,.YRCD,CD,Fe,Fe,0_V,0Zv,303e9f,C,D,,.YRGD,GD,Fe,Fe,0Hx,0Pc,0d125a,G,D,,.YRDR,DR,Fe,Fe,0Hx,01Cp,B2DFDB,D,R,,.YPCE,CE,0,0,0,0,,C,E,,.YPRF,RF,0,0,0,0,,R,F,,...N_Q', Scissor_Lift: - '2P.Ay,1E8.5,0.1011.4A,A,2SG,0,0.0B,B,1fl,a3,0.8C,C,1wL,OD,0.0D,D,17q,yH,0.4G,G,0,0,0.0M,M,1Vm,1GM,0.0K,K,2-X,2Wj,0.0S,S,2-X,0,0.0T,T,0,2Wj,0.0U,U,3_1,2Wj,0.ZE,E,1wL,OD,0,AB,A,B.5N,N,2-X,0,0.1P,P,2-X,2Wj,0,TU,T,U..YRAB,AB,Fe,Fe,230,I2,c5cae9,A,B,,.YRCD,CD,Fe,Fe,1X5,gF,303e9f,C,D,,.YRGDMK,GDMK,Fe,Fe,1Pn,1BL,0d125a,G,D,M,K,,.YRSMT,SMT,Fe,Fe,1Vm,1GM,B2DFDB,S,M,T,,.YRTU,TU,Fe,Fe,1-0,2Wj,26A69A,T,U,,.YPCE,CE,Fe,0,0,0,,C,E,,.YPSN,SN,Fe,0,0,0,,S,N,,.YPKP,KP,Fe,0,0,0,,K,P,,...N_e', + '2P.Ay,1E8.5,0.1011.4A,A,2SG,0,0.0B,B,1fl,a3,0.8C,C,1wL,OD,0.0D,D,17q,yH,0.4G,G,0,0,0.0M,M,1Vm,1GM,0.0K,K,2-X,2Wj,0.0S,S,2-X,0,0.0T,T,0,2Wj,0.0U,U,3_1,2Wj,0.ZE,E,1wL,OD,0,AB,A,B.5N,N,2-X,0,0.1P,P,2-X,2Wj,0,TU,T,U..YRAB,AB,Fe,Fe,230,I2,c5cae9,A,B,,.YRCD,CD,Fe,Fe,1X5,gF,303e9f,C,D,,.YRGDMK,GDMK,Fe,Fe,1Pn,1BL,0d125a,G,D,M,K,,.YRSMT,SMT,Fe,Fe,1Vm,1GM,B2DFDB,S,M,T,,.YRTU,TU,Fe,Fe,1-0,2Wj,26A69A,T,U,,.YPCE,CE,0,0,0,0,,C,E,,.YPSN,SN,0,0,0,0,,S,N,,.YPKP,KP,0,0,0,0,,K,P,,...N_b', Shaper_Quick_Return: - '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.4C,C,0,0ku,0.0D,D,Oj,RF,0.0R,R,qW,si,0.1P,P,Fe,0,0,CD,C,D.5Q,Q,qW,si,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,CN,09q,303e9f,C,D,,.YRDR,DR,Fe,Fe,cd,e_,0d125a,D,R,,.YPBP,BP,Fe,0,0,0,,B,P,,.YPRQ,RQ,Fe,0,0,0,,R,Q,,...N_H', + '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.4C,C,0,0ku,0.0D,D,Oj,RF,0.0R,R,qW,si,0.1P,P,Fe,0,0,CD,C,D.5Q,Q,qW,si,0..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,CN,09q,303e9f,C,D,,.YRDR,DR,Fe,Fe,cd,e_,0d125a,D,R,,.YPBP,BP,0,0,0,0,,B,P,,.YPRQ,RQ,0,0,0,0,,R,Q,,...N_F', Pedaling_Leg: '2P.Ay,1E8.5,0.1011.4B,B,0,0,0.GP,P,Qa,0,0.4H,H,0NS,1Qe,0.2K,K,c5,13o,0..YRHK,HK,Fe,Fe,7L,1FD,c5cae9,H,K,,.YRKP,KP,Fe,Fe,WL,Xv,303e9f,K,P,,.YRBP,BP,Fe,Fe,DI,0,0d125a,B,P,,...N_p', Oscillating_Fan: '2P.Ay,1E8.5,0.1011.4A,A,0,0,0.2C,C,s8,0VG,0.0D,D,k_,0j9,0.4B,B,0GY,0In,0.0N,N,1NW,0,0..YRACN,ACN,Fe,Fe,lD,0AR,c5cae9,A,C,N,,.YRCD,CD,Fe,Fe,oZ,0cC,303e9f,C,D,,.YRDB,DB,Fe,Fe,FE,0Vz,0d125a,D,B,,...N_B', Pumpjack: - '2P.Ay,1E8.5,0.1011.4A,A,0gB,0oI,0.0M,M,0QZ,0o1,0.2P,P,0d4,0,0.4S,S,0,0,0.0H,H,o0,0,0.0R,R,r8,0eW,0.5W,W,r8,0eW,OZ..YRAM,AM,Fe,Fe,0YN,0oA,c5cae9,A,M,,.YRMP,MP,Fe,Fe,0Wq,0P1,303e9f,M,P,,.YRPSH,PSH,Fe,Fe,3f,0,0d125a,P,S,H,,.YRHR,HR,Fe,Fe,pa,0KG,B2DFDB,H,R,,.YPRW,RW,Fe,0,0,0,,R,W,,...N_Z', + '2P.Ay,1E8.5,0.1011.4A,A,0gB,0oI,0.0M,M,0QZ,0o1,0.2P,P,0d4,0,0.4S,S,0,0,0.0H,H,o0,0,0.0R,R,r8,0eW,0.5W,W,r8,0eW,OZ..YRAM,AM,Fe,Fe,0YN,0oA,c5cae9,A,M,,.YRMP,MP,Fe,Fe,0Wq,0P1,303e9f,M,P,,.YRPSH,PSH,Fe,Fe,3f,0,0d125a,P,S,H,,.YRHR,HR,Fe,Fe,pa,0KG,B2DFDB,H,R,,.YPRW,RW,0,0,0,0,,R,W,,...N_Y', Punch_Press: '2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,Im,0.0C,C,0,0r8,0.5P,P,0,0r8,OZ..YRAB,Crank,VG,o,0,9O,c5cae9,A,B,,.YRBC,Connecting rod,ku,6G,0,0HC,303e9f,B,C,,.YPCP,CP,1Tm,0,0,0,,C,P,,..2F1,BC,F1,0,0r8,0,0bW,1Xg0..N_J', Derrick_Crane: diff --git a/src/app/component/MODALS/templates/templates.component.html b/src/app/component/MODALS/templates/templates.component.html index c3920567..50986163 100644 --- a/src/app/component/MODALS/templates/templates.component.html +++ b/src/app/component/MODALS/templates/templates.component.html @@ -7,6 +7,44 @@

Linkage Library (Example Linkages)

+ + @if (isDevMode()) { +

Dev

+
+ + Every Kind of Machine +
tune
+

+ A crank, a ram, a slider and a chain that never reaches ground — every readiness state + and every playback row at once. +

+ +
+ + + Object Gallery +
category
+

+ One of everything the canvas draws, laid out in rows. Deliberately not simulatable. +

+ +
+ + + Render Stress Test +
speed
+

+ Twenty joints and thirteen links on one degree of freedom, every moving joint tracing + its path. +

+ +
+
+ +

Linkages

+ } +
Four Bar Linkage diff --git a/src/app/component/MODALS/templates/templates.component.scss b/src/app/component/MODALS/templates/templates.component.scss index 3c36015a..0daf1b2e 100644 --- a/src/app/component/MODALS/templates/templates.component.scss +++ b/src/app/component/MODALS/templates/templates.component.scss @@ -108,3 +108,35 @@ } } } + +// The dev section's heading and its cards, which have no artwork to show. +.section-heading { + margin: 4px 0 10px; + font-size: 15px; + font-weight: 500; + color: rgba(0, 0, 0, 0.55); +} + +.dev-thumb { + display: flex; + align-items: center; + justify-content: center; + height: 88px; + border-radius: 6px; + background: #eef1fc; + color: #3f51b5; + + mat-icon { + width: 40px; + height: 40px; + font-size: 40px; + line-height: 40px; + } +} + +.dev-note { + margin: 8px 0 4px; + font-size: 12px; + line-height: 17px; + color: rgba(0, 0, 0, 0.55); +} diff --git a/src/app/component/MODALS/templates/templates.component.ts b/src/app/component/MODALS/templates/templates.component.ts index 4bbcda37..a22ce56d 100644 --- a/src/app/component/MODALS/templates/templates.component.ts +++ b/src/app/component/MODALS/templates/templates.component.ts @@ -1,6 +1,7 @@ import { Component, ChangeDetectionStrategy, + isDevMode, Optional, TemplateRef, ViewChild, @@ -8,6 +9,7 @@ import { import { MatDialog, MatDialogRef } from '@angular/material/dialog'; import { MechanismService } from 'src/app/services/mechanism.service'; import { UrlProcessorService } from 'src/app/services/url-processor.service'; +import { DEV_TEMPLATES, DevTemplateID } from './dev-templates'; import { TemplateID, TEMPLATE_LINKAGES } from './template-linkages'; @Component({ @@ -29,8 +31,16 @@ export class TemplatesComponent { private urlProcessor: UrlProcessorService ) {} - openLinkage(linkage: TemplateID) { - const content = TEMPLATE_LINKAGES[linkage]; + /** Only a development build offers the drawings that exercise the app. */ + isDevMode(): boolean { + return isDevMode(); + } + + openLinkage(linkage: TemplateID | DevTemplateID) { + const content = + linkage in DEV_TEMPLATES + ? DEV_TEMPLATES[linkage as DevTemplateID] + : TEMPLATE_LINKAGES[linkage as TemplateID]; // An empty grid has nothing to lose, so load right here instead of // spawning a tab the user then has to switch to. diff --git a/src/app/component/always-on-features.spec.ts b/src/app/component/always-on-features.spec.ts index 3ce17f7a..2b474479 100644 --- a/src/app/component/always-on-features.spec.ts +++ b/src/app/component/always-on-features.spec.ts @@ -82,9 +82,12 @@ describe('always-on force and weld UI', () => { it('renders every analyzed built-in template as an immediately available action', () => { const templates = TestBed.createComponent(TemplatesComponent); templates.detectChanges(); - expect(templates.nativeElement.querySelectorAll('panel-section').length).toBe( - TEMPLATE_IDS.length - ); + // The library's own grid, not the dev one above it: a development build + // offers a few drawings that exist to exercise the app rather than to + // teach a linkage, and they answer to nothing here. + expect( + templates.nativeElement.querySelectorAll('.linkage-grid:not(.devGrid) panel-section').length + ).toBe(TEMPLATE_IDS.length); const text = templates.nativeElement.textContent; expect(text).toContain('Four Bar Linkage'); expect(text).toContain("Watt's Linkage"); diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index a4d3e8d7..f8696750 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -373,7 +373,7 @@ [formGroup]="linkForm" _formControl="massMoI" tooltip="The mass moment of inertia about the link's physical center of mass." - >Moment of InertiaMass Moment of Inertia 0); + const dependents = [ + this.linkForm.controls.massMoI, + this.linkForm.controls.comX, + this.linkForm.controls.comY, + ]; + for (const control of dependents) { + if (!control) continue; + if (massless && control.enabled) control.disable({ emitEvent: false }); + if (!massless && control.disabled) control.enable({ emitEvent: false }); + } + } + /** Nothing drawn yet, so nothing to select and nothing to drag. */ gridIsEmpty(): boolean { return this.mechanismService.joints.length === 0 && this.mechanismService.links.length === 0; @@ -1068,6 +1090,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { return; } this.activeSrv.selectedLink.mass = value; + this.syncMassDependents(); this.mechanismService.updateMechanism(true); this.mechanismService.onMechUpdateState.next(2); this.linkForm.patchValue( @@ -1318,6 +1341,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { }, { emitEvent: false } ); + this.syncMassDependents(); // A cylinder body reuses the joint form's Input Settings controls // (speed, unit), so they have to be truthful when the body opens. this.syncInputSettingsFields(); diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index e6616f71..fd40a392 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -105,6 +105,13 @@ &.analysis { --panel-clearance: #{nav.$playback-clearance}; + + // Wide enough for the cluster to sit beside the panel rather than under + // it, so the panel can run down to the status strip like it does in the + // other modes. + @media (min-width: nav.$cluster-clears-panel) { + --panel-clearance: #{nav.$bottom-bar-height + 12px}; + } } // Hand the height down to the card, which is what scrolls. Each step needs diff --git a/src/app/component/left-tabs/left-tabs.vars.scss b/src/app/component/left-tabs/left-tabs.vars.scss index cea1d8c3..b93cf989 100644 --- a/src/app/component/left-tabs/left-tabs.vars.scss +++ b/src/app/component/left-tabs/left-tabs.vars.scss @@ -29,5 +29,14 @@ $top-strip-height: $panel-top; // Room kept at the bottom for the playback card and the status strip beneath it. $playback-clearance: 110px; +/** + * Where the playback cluster can stand clear of the analysis panel. + * + * The panel is 420px wide in the analysis modes and the cluster about 880, so + * past this the two fit side by side -- and once they do, the cluster moves to + * the right and the panel takes the height the cluster was keeping free. + */ +$cluster-clears-panel: 1340px; + // Height of app-bottombar. $bottom-bar-height: 26px; diff --git a/src/app/component/playback-bar/playback-bar.component.html b/src/app/component/playback-bar/playback-bar.component.html index 398d017a..f417cf9e 100644 --- a/src/app/component/playback-bar/playback-bar.component.html +++ b/src/app/component/playback-bar/playback-bar.component.html @@ -1,4 +1,4 @@ -
+
@if (tabs.isAnalysisMode()) {
diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index 4ae7508f..0928bc3b 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -1,5 +1,6 @@ @use 'sass:map'; @use '@angular/material' as mat; +@use '../left-tabs/left-tabs.vars' as nav; // Every measurement in this file comes from the mock's own inline styles rather // than from an eye: the bottom cluster was tuned there, and re-deriving it by @@ -23,6 +24,16 @@ padding: 0 var(--card-gap); z-index: 8; pointer-events: none; + + // Out of the panel's way once there is room beside it. Centred, the + // cluster keeps a strip of the window free across its whole width, and the + // analysis panel stops well short of the bottom for a card that is not + // under it. + @media (min-width: nav.$cluster-clears-panel) { + &.analysis { + justify-content: flex-end; + } + } } // A flex child at zero width still takes the row's gap on both sides, so the diff --git a/src/app/model/link.ts b/src/app/model/link.ts index a1657ee7..af572517 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -53,7 +53,10 @@ export class Link { constructor(id: string, joints: Joint[], mass?: number) { this._id = id; this._joints = joints; - this._mass = mass !== undefined ? mass : 1; + // Nothing weighs anything until someone says so. A link that arrives with + // a mass of 1 g invites a force analysis to be run on a number nobody + // chose, and reports it as though it meant something. + this._mass = mass !== undefined ? mass : 0; joints.forEach((j) => { this.fixedLocations.push({ id: j.id, label: j.id }); }); From 9033a190bf692743fde16f16ad2cf6f7eda82e70 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 01:16:50 -0400 Subject: [PATCH 060/236] Let a ram square up against its own far mount A bar dragged by one joint squares itself against the other, which is what stands it at 0, 90 or 180. A ram could not: the mount snap excluded every joint of the assembly on the grounds that they move with the drag. Most of them do -- the pin, the block, the near end of the barrel -- but the mount at the other end does not, and it is the only one worth squaring against. So it is a candidate again, and dragging a barrel mount level with its rod mount now lands it exactly level: the ram stands at 180, not near it. --- e2e/snap-alignment.mjs | 63 +++++++++++++++++++ .../component/new-grid/new-grid.component.ts | 16 ++++- 2 files changed, 77 insertions(+), 2 deletions(-) diff --git a/e2e/snap-alignment.mjs b/e2e/snap-alignment.mjs index 6894e528..0ecd5014 100644 --- a/e2e/snap-alignment.mjs +++ b/e2e/snap-alignment.mjs @@ -152,6 +152,69 @@ await load(payloads['Cylinder_Boom']); const ramFree = await dragBodyToward('.cylinder-barrel', 'G', 'O', 'y', { holdOption: true }); record('which Option suspends as well', ramFree.guides === 0 && ramFree.off > 1e-6, ramFree); +// --- a ram squared against its own far mount -------------------------------- +/** + * Drag one mount of a ram to a whisker off level with the other. + * + * This is what puts a ram at 0, 90 or 180, and it is what a bar has always + * been able to do against its own far joint. The ram's other joints travel + * with the drag and are rightly ignored; the far mount does not, and was being + * ignored with them. + */ +const squareTheRam = async ({ holdOption } = {}) => { + await load(payloads['Cylinder_Boom']); + const mounts = await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + const ram = srv.cylinderAt(srv.links.find((link) => srv.cylinderAt(link))); + return { + dragged: ram.barrelFar.id, + fixed: ram.rodFar.id, + draggedAt: { x: ram.barrelFar.x, y: ram.barrelFar.y }, + fixedAt: { x: ram.rodFar.x, y: ram.rodFar.y }, + }; + }); + const scale = await perUnit(); + const box = await page.locator(`#joint_${mounts.dragged}`).boundingBox(); + const dy = -(mounts.fixedAt.y - 4 - mounts.draggedAt.y) * scale; + + if (holdOption) await page.keyboard.down('Alt'); + await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2); + await page.mouse.down(); + let guides = 0; + for (let step = 1; step <= 12; step++) { + await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2 + (dy * step) / 12); + await page.waitForTimeout(35); + guides = Math.max( + guides, + await page.evaluate( + () => ng.getComponent(document.querySelector('app-new-grid')).axisSnapGuides.length + ) + ); + } + await page.mouse.up(); + if (holdOption) await page.keyboard.up('Alt'); + await page.waitForTimeout(400); + const after = await joints(); + const a = after[mounts.dragged]; + const b = after[mounts.fixed]; + return { + guides, + outOfLevel: Math.abs(a.y - b.y), + angle: +Math.abs((Math.atan2(b.y - a.y, b.x - a.x) * 180) / Math.PI).toFixed(3), + }; +}; + +const squared = await squareTheRam(); +record('a ram squares up against its own far mount', squared.guides > 0, squared); +record( + 'and stands at exactly 0, 90 or 180 rather than near it', + squared.outOfLevel < 1e-4 && [0, 90, 180].some((right) => Math.abs(squared.angle - right) < 1e-3), + squared +); + +const ramLoose = await squareTheRam({ holdOption: true }); +record('unless Option is held', ramLoose.guides === 0 && ramLoose.outOfLevel > 1e-4, ramLoose); + // --- turned off entirely ----------------------------------------------------- await load(payloads['4-Bar']); await setOption('snapToAlignment', false); diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 205e3e69..2b6f4ff0 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -1140,7 +1140,11 @@ export class NewGridComponent implements OnDestroy { // does not drag one and deform the other. const wanted = this.snapTargetJoint ? new Coord(this.snapTargetJoint.x, this.snapTargetJoint.y) - : this.mountAxisSnap(draggedCylinders[0], mousePosInSvg); + : this.mountAxisSnap( + draggedCylinders[0], + this.activeObjService.selectedJoint, + mousePosInSvg + ); // Through dragJoint rather than straight at dragCylinderMount, so a // mount two rams share is agreed between them before either moves. this.gridUtils.dragJoint(this.activeObjService.selectedJoint, wanted); @@ -1546,12 +1550,20 @@ export class NewGridComponent implements OnDestroy { * they move with the drag, so squaring the mount against them would be the * drag chasing its own tail. Every other joint's H/V guides still work. */ - private mountAxisSnap(sealed: Cylinder, wanted: Coord): Coord { + private mountAxisSnap(sealed: Cylinder, dragged: Joint | undefined, wanted: Coord): Coord { if (!this.alignmentAllowed()) { this.axisSnapGuides = []; return wanted; } const memberIds = new Set(cylinderJoints(sealed).map((joint) => joint.id)); + // All but the mount at the other end. That one does not move when this one + // is dragged, so it is exactly the thing to square up against -- and + // squaring a ram against its own far mount is what stands it at 0, 90 or + // 180, which is what a bar has always been able to do against its own far + // joint. The rest of the assembly travels with the drag, and squaring + // against those is the drag chasing its own tail. + const opposite = dragged?.id === sealed.barrelFar.id ? sealed.rodFar : sealed.barrelFar; + memberIds.delete(opposite.id); const others = this.mechanismSrv .getJoints() .filter((other) => !memberIds.has(other.id) && !(other instanceof PrisJoint)); From 6444bfa6b235fc3dc45e981365281e1a98456940 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 01:30:21 -0400 Subject: [PATCH 061/236] Give the dev drawings real content, and faces The render stress test is Ross McSweeney's Running Horse Automata now, converted from the copy MotionGen ships as a static asset rather than approximated from a thumbnail: forty-five joints and twenty-seven links on a single degree of freedom. Its colours are remapped onto this app's own palette -- the ones it arrives with are rgba strings this app cannot draw, and links wearing them came out black. The object gallery is the one from the deploy preview: forty-nine joints, twenty-six links, five welds, six slots and three forces, so every kind of pin, block, slot and cylinder is on show rather than the handful a hand-built one managed. And all three have thumbnails, taken from the app itself with the chrome stripped out, so they sit in the library the way every other card does. --- .../MODALS/templates/dev-templates.ts | 16 +++++++++------- .../MODALS/templates/templates.component.html | 9 ++++++--- .../MODALS/templates/templates.component.scss | 17 ----------------- src/assets/gifs/dev-all-machines.png | Bin 0 -> 113221 bytes src/assets/gifs/dev-object-gallery.png | Bin 0 -> 141201 bytes src/assets/gifs/dev-render-stress.png | Bin 0 -> 198247 bytes 6 files changed, 15 insertions(+), 27 deletions(-) create mode 100644 src/assets/gifs/dev-all-machines.png create mode 100644 src/assets/gifs/dev-object-gallery.png create mode 100644 src/assets/gifs/dev-render-stress.png diff --git a/src/app/component/MODALS/templates/dev-templates.ts b/src/app/component/MODALS/templates/dev-templates.ts index 5041d561..4bdd9f9a 100644 --- a/src/app/component/MODALS/templates/dev-templates.ts +++ b/src/app/component/MODALS/templates/dev-templates.ts @@ -27,13 +27,15 @@ export const DEV_TEMPLATES: Record = { Dev_All_Mechanism_Types: '2O.Ay,Fe.5,0.1011.4O,O,0,0,0.0C,C,YJ,qG,0.4G,G,ku,0,0.0N,N,aM,hl,0.8P,P,ir,8X,0.ZS,S,ir,8X,0,GN,G,N.0T,T,nJ,oD,0.0U,U,1Nd,dn,0.6V,V,1ca,jH,0,,,,1E8.6W,W,J-,1GP,0.0X,X,PF,1dt,0.0Y,Y,rW,1g7,0.4Z,Z,-P,1FX,0.0[,[,1Tk,16n,0.0\\,\\,1ft,1bA,0.0^,^,1pZ,1Gc,0.0_,_,1_5,_W,0.0`,`,2AU,1OV,0.1a,a,2AU,1OV,0..YROC,OC,Fe,Fe,HA,Q8,c5cae9,O,C,,.YRGN,GN,Fe,Fe,fd,Lu,303e9f,G,N,,.YRPC,PC,Fe,Fe,da,UO,0d125a,P,C,,.YPPS,PS,Fe,0,0,0,,P,S,,.YRGT,GT,Fe,Fe,m5,P7,c5cae9,G,T,,.YRTU,TU,Fe,Fe,14T,i-,303e9f,T,U,,.YRUV,UV,Fe,Fe,1V5,gX,0d125a,U,V,,.YRWX,WX,Fe,Fe,Md,1S8,B2DFDB,W,X,,.YRXY,XY,Fe,Fe,dN,1f0,26A69A,X,Y,,.YRYZ,YZ,Fe,Fe,wS,1Sr,00695C,Y,Z,,.YR[\\,[\\,Fe,Fe,1Zp,1Lz,c5cae9,[,\\,,.YR_`,_`,Fe,Fe,24I,1BV,B2DFDB,_,`,,.YP`a,`a,Fe,0,0,0,,`,a,,...N_a', // One of everything the canvas can draw, laid out in rows and deliberately - // not simulatable: a bar, a grounded pin, a driven crank, ternary and - // quaternary links, a traced point and a slider. + // not simulatable: forty-nine joints and twenty-six links covering every + // kind of pin, block, weld, slot and cylinder, with forces on the last of + // them. Dev_Object_Gallery: - '2P.Ay,1E8.K,0.1011.0A,A,0bW,E4,0.0B,B,0U0,E4,0.4C,C,0NS,E4,0.0D,D,0Fy,E4,0.6E,E,09O,E4,0.0F,F,01u,E4,0.0G,G,4i,E4,0.0H,H,CC,E4,0.0I,I,8S,Ke,0.0J,J,Im,E4,0.0K,K,QG,E4,0.0L,L,QG,La,0.0M,M,Im,La,0.0N,N,0bW,0,0.GO,O,0U0,0,0.5P,P,0NS,0,0.0Q,Q,0Fy,0,0.0R,R,09O,0,0.0S,S,01u,0,0.0T,T,05e,06a,0..YRAB,AB,0,Fe,0Xm,E4,c5cae9,A,B,,.YRCD,CD,0,Fe,0Ji,E4,9fa8da,C,D,,.YREF,EF,0,Fe,05e,E4,f4a742,E,F,,.YRGHI,GHI,0,Fe,8S,GG,303e9f,G,H,I,,.YRJKLM,JKLM,0,Fe,MW,Hq,0d125a,J,K,L,M,,.YRNO,NO,0,Fe,0Xm,0,b2dfdb,N,O,,.YRPQ,PQ,0,Fe,0Ji,0,26a69a,P,Q,,.YRRST,RST,0,Fe,05e,02C,00695c,R,S,T,,...N_B', - // Twenty joints, thirteen links and a traced path on every moving one, all - // on a single degree of freedom, so the renderer has as much to do per frame - // as it is ever likely to. + '2P.VC,1E8.5,0.1011.0B,B,01RD,10C,0.1C,C,01RD,10C,0.0D,D,0SL,1m0,0.0E,E,0QJ,u2,0.0F,F,Wu,1qh,0.0G,G,Wu,10C,0.0H,H,14R,1Vn,0.0I,I,1pf,1vu,0.8J,J,1pf,10C,0.8K,K,2wH,10C,0.0L,L,1UP,1kQ,0.0M,M,01GC,RG,0.6N,N,01GC,0Vx,0.0O,O,03v,XX,0.4P,P,032,0i-,0.0Q,Q,2Ao,Dj,0.0R,R,1GR,017e,0.1S,S,1GR,017e,0,XY,X,Y.5T,T,2Ao,Dj,0.0U,U,31C,08I,0.0V,V,2s_,0mb,0.5W,W,31C,08I,0CH.0X,X,1ri,015V,0.0Y,Y,0e7,01Ea,0.0Z,Z,07q,01kA,0.0[,[,Ul,01AV,0.3\\,\\,Ul,01AV,0,XY,X,Y.0],],018q,02Dk,0.0^,^,01rc,01Yr,0.8_,_,022a,01MP,0.0`,`,02lM,0hW,0.Xa,a,022a,01MP,0,]^,],^.0b,b,HP,02JO,0.0c,c,0NY,02Gq,0.8d,d,0Vv,02GI,0.Xf,f,0Vv,02GI,0,bc,b,c.0g,g,1AZ,02pW,0.0h,h,2EW,01S2,0.0i,i,2s_,02g6,0.0j,j,1GR,01zf,0.0k,k,2Ao,03Qv,0.0l,l,22b,02JO,0.1m,m,22b,02JO,0,ghij,i,j.0n,n,3tQ,026J,0.8o,o,1ux,01tp,0.1p,p,1ux,01tp,0,ghij,g,h.0q,q,02tY,02sl,0.0r,r,0zX,02sl,0.0s,s,34j,01ci,0..YPBC,BC,Fe,0,0,0,,B,C,,.YRDE,DE,Fe,Fe,0RK,1K1,0d125a,D,E,,.YRFGH,FGH,Fe,Fe,ik,1SD,B2DFDB,F,G,H,,.YRIJKL,IJKL,ku,Azlti,27f,1HW,26A69A,I,J,K,L,,IJ,JK,KL.YRMN,MN,Fe,Fe,01GC,02L,303e9f,M,N,,.YROP,OP,Fe,Fe,03U,05l,0d125a,O,P,,.YRQR,QR,Fe,Fe,1jc,0S_,B2DFDB,Q,R,,.YPRS,RS,Fe,0,0,0,,R,S,,.YPQT,QT,Fe,0,0,0,,Q,T,,.YRUV,UV,Fe,Fe,2y5,0SS,26A69A,U,V,,.YPUW,UW,Fe,0,0,0,,U,W,,.YRXY,XY,Fe,Fe,cp,01A1,00695C,X,Y,,.YRZ[,Z[,Fe,Fe,BU,01SK,c5cae9,Z,[,,.YP[\\,[\\,Fe,0,0,0,,[,\\,,.YR]^,]^,Fe,Fe,01VD,01uH,303e9f,],^,,.YR_`,_`,Fe,Fe,02Oz,010z,0d125a,_,`,,.YP_a,_a,Fe,0,0,0,,_,a,,.YRbc,bc,Fe,Fe,034,02I6,B2DFDB,b,c,,.YR]d,]d,Fe,Fe,0qN,02F0,26A69A,d,],,.YPdf,df,Fe,0,0,0,,d,f,,.YRghij,ghij,Fe,Fe,1u7,02Dq,00695C,g,h,i,j,,.YRkl,kl,Fe,Fe,26h,02t9,c5cae9,k,l,,.YPlm,lm,Fe,0,0,0,,l,m,,.YRnos,nos,Fe,Fe,3ES,024-,303e9f,n,o,s,,.YPop,op,Fe,0,0,0,,o,p,,.YRqr,qr,Fe,Fe,01wX,02sl,B2DFDB,q,r,,.NRIJ,IJ,Fe,Fe,1pf,1T2,26A69A,I,J,,.NRJK,JK,Fe,Fe,2Mz,10C,00695C,J,K,,.NRKL,KL,Fe,Fe,2CL,1NJ,c5cae9,K,L,,..2F1,qr,F1,01-H,02sl,01yD,03jf,2SG.2F2,qr,F2,01Xj,02sl,0wz,03Sd,Fe.3F3,qr,F3,02WB,02sl,032z,03mG,Fe..N_a', + // Ross McSweeney's Running Horse Automata, converted from the copy MotionGen + // ships with itself: forty-five joints and twenty-seven links on a single + // degree of freedom. Its colours are remapped onto this app's own palette, + // because the ones it arrives with are not colours this app can draw. Dev_Render_Stress: - '2P.Ay,1E8.K,0.1011.6A,A,0,F0,0.GB,B,3m,F0,0.GC,C,0II,72,0.GD,D,0EY,072,0.4E,E,0Fy,F0,0.GF,F,0Cg,72,0.GG,G,08w,072,0.4H,H,0AK,F0,0.GI,I,7_,72,0.GJ,J,Bk,072,0.4K,K,AK,F0,0.GL,L,Dc,72,0.GM,M,HM,072,0.4N,N,Fy,F0,0.4O,O,F6,F0,0.GP,P,La,La,0.GQ,Q,Pu,PK,0.4R,R,0F6,F0,0.GS,S,0La,Ji,0.GT,T,0Pu,NS,0..YRAB,AB,0,Fe,1u,F0,f4a742,A,B,,.YRBCD,BCD,0,Fe,09i,50,8d6e63,B,C,D,,.YRCE,CE,0,Fe,0H7,B1,c5cae9,C,E,,.YRBFG,BFG,0,Fe,05y,50,a1887f,B,F,G,,.YRFH,FH,0,Fe,0BV,B1,c5cae9,F,H,,.YRBIJ,BIJ,0,Fe,7q,50,8d6e63,B,I,J,,.YRIK,IK,0,Fe,99,B1,c5cae9,I,K,,.YRBLM,BLM,0,Fe,Ba,50,a1887f,B,L,M,,.YRLN,LN,0,Fe,En,B1,c5cae9,L,N,,.YRBPQ,BPQ,0,Fe,H4,Ke,a5d6a7,B,P,Q,,.YRPO,PO,0,Fe,IL,II,81c784,P,O,,.YRBST,BST,0,Fe,0Ea,JO,c8e6c9,B,S,T,,.YRSR,SR,0,Fe,0IL,HM,66bb6a,S,R,,...N_y', + '2P.Ay,1E8.K,0.1011.0A,A,j,4R,0.0B,B,0Ai,5o,0.6C,C,0O,03,0.0D,D,03U,2j,0.0E,E,09Y,09y,0.4F,F,0Dm,02E,0.0G,G,0Ly,04t,0.4H,H,0Hi,06Q,0.4I,I,9_,025,0.4J,J,GC,0Ca,0.4K,K,Iq,02A,0.0L,L,0ct,09u,0.0M,M,0rG,04U,0.0N,N,0In,5-,0.0O,O,0O_,6t,0.0P,P,0T0,2A,0.0Q,Q,0WR,A3,0.0R,R,0WO,KW,0.0S,S,0UW,F_,0.0T,T,0aA,O8,0.0U,U,0ae,S0,0.0V,V,0fO,PL,0.0W,W,0eK,Uy,0.0X,X,3K,08R,0.0Y,Y,E8,098,0.0Z,Z,GG,q,0.0a,a,Bi,2d,0.0b,b,AJ,7n,0.0c,c,Kh,5P,0.0d,d,XZ,0By,0.0e,e,aN,0Ln,0.0f,f,YQ,08o,0.0g,g,kS,0NB,0.0h,h,rW,09c,0.0i,i,o6,07Z,0.0j,j,SR,0Iu,0.0k,k,Xf,0Ui,0.0l,l,UR,0To,0.0m,m,O9,5X,0.0n,n,Mi,E7,0.0o,o,K4,Aj,0.0p,p,HQ,MY,0.0q,q,G9,J3,0.0r,r,C0,If,0.0s,s,C0,O9,0..YRAB,AB,0,Fe,04-,57,c5cae9,A,B,,.YRCDA,CDA,0,Fe,013,2N,303e9f,C,D,A,,.YRDE,DE,0,Fe,06W,03d,0d125a,D,E,,.YREFG,EFG,0,Fe,0F5,05h,B2DFDB,E,F,G,,.YRHBLM,HBLM,0,Fe,0U8,03l,26A69A,H,B,L,M,,.YRDN,DN,0,Fe,0B7,4M,00695C,D,N,,.YRFN,FN,0,Fe,0GH,1u,c5cae9,F,N,,.YRGOP,GOP,0,Fe,0PJ,1P,303e9f,G,O,P,,.YRPNQ,PNQ,0,Fe,0Qk,64,0d125a,P,N,Q,,.YRORS,ORS,0,Fe,0TI,ES,B2DFDB,O,R,S,,.YRQST,QST,0,Fe,0X2,Gk,26A69A,Q,S,T,,.YRRU,RU,0,Fe,0YW,OG,00695C,R,U,,.YRTUVW,TUVW,0,Fe,0ce,R6,c5cae9,T,U,V,W,,.YRDX,DX,0,Fe,05,02t,303e9f,D,X,,.YRXIY,XIY,0,Fe,99,06Z,0d125a,X,I,Y,,.YRYZa,YZa,0,Fe,E1,01w,B2DFDB,Y,Z,a,,.YRIb,Ib,0,Fe,A9,2s,26A69A,I,b,,.YRDb,Db,0,Fe,3R,5F,00695C,D,b,,.YRAc,Ac,0,Fe,Ai,4w,c5cae9,A,c,,.YRKd,Kd,0,Fe,QC,073,303e9f,K,d,,.YRJefc,Jefc,0,Fe,Qw,09R,0d125a,J,e,f,c,,.YReghidjkl,eghidjkl,0,Fe,d3,0JB,B2DFDB,e,g,h,i,d,j,k,l,,.YRbZm,bZm,0,Fe,Gv,4j,26A69A,b,Z,m,,.YRano,ano,0,Fe,I9,99,00695C,a,n,o,,.YRomp,omp,0,Fe,KY,Cx,c5cae9,o,m,p,,.YRnq,nq,0,Fe,JR,Gb,303e9f,n,q,,.YRqprs,qprs,0,Fe,EP,L6,0d125a,q,p,r,s,,...N_J', }; diff --git a/src/app/component/MODALS/templates/templates.component.html b/src/app/component/MODALS/templates/templates.component.html index 50986163..5450ed14 100644 --- a/src/app/component/MODALS/templates/templates.component.html +++ b/src/app/component/MODALS/templates/templates.component.html @@ -14,7 +14,8 @@

Dev

Every Kind of Machine -
tune
+ Every Kind of Machine + Every Kind of Machine

A crank, a ram, a slider and a chain that never reaches ground — every readiness state and every playback row at once. @@ -24,7 +25,8 @@

Dev

Object Gallery -
category
+ Object Gallery + Object Gallery

One of everything the canvas draws, laid out in rows. Deliberately not simulatable.

@@ -33,7 +35,8 @@

Dev

Render Stress Test -
speed
+ Render Stress Test + Render Stress Test

Twenty joints and thirteen links on one degree of freedom, every moving joint tracing its path. diff --git a/src/app/component/MODALS/templates/templates.component.scss b/src/app/component/MODALS/templates/templates.component.scss index 0daf1b2e..0ae2d520 100644 --- a/src/app/component/MODALS/templates/templates.component.scss +++ b/src/app/component/MODALS/templates/templates.component.scss @@ -117,23 +117,6 @@ color: rgba(0, 0, 0, 0.55); } -.dev-thumb { - display: flex; - align-items: center; - justify-content: center; - height: 88px; - border-radius: 6px; - background: #eef1fc; - color: #3f51b5; - - mat-icon { - width: 40px; - height: 40px; - font-size: 40px; - line-height: 40px; - } -} - .dev-note { margin: 8px 0 4px; font-size: 12px; diff --git a/src/assets/gifs/dev-all-machines.png b/src/assets/gifs/dev-all-machines.png new file mode 100644 index 0000000000000000000000000000000000000000..05d046ba0fba3fbe3e8f8443d016428001b2e75f GIT binary patch literal 113221 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zZ`eTiv7M4S_vaN>E7lG$S>MZF7A(MieIuB=)lTxknFiLy`4$)RCYLA!cY9q_m#z0Q z-6n}J8z0O~l*)%v*(p=Jx3ep*XwuNU6GJ%rhLP<82=tmQkH^f+R8wt1xVEX$;Fo*B zWRNh!mr5;tp9Y5QnCvRox#n^n4Q^@aWfxWMpGn^v{Y^2iKTMb#9{3;jnQGgD=3vK$ z457_I7?SaF+_gm7=xN{sKj4nUc%us*T+fa-P$x7>5g4Q6<3^RrbZ4WNI?kS^;&zG2~kUF$9;P!Yd<+p=BWGZx?Yffm+Dz|NEir?$c-3Z>{ZHiy0u}JJ6iSHZI(Qb#! zs5@#UMtO;71c4m7^1!h^Ps>tv8 z%Bn+@va08yS?p5k5S-NO_;63pPo~h82_xfOcVwndTFwC3f#fkozA<8z*TbJ?m17%7 z8%gq{6#!DC`F)5H-emQbo{t=lE*)4oVHHb} zre8Ucyl=a{rc;0+3;uO1r(tfrKdD1Vsgp;0_VT1Q`?p9qJUBINU*e7Ww8`}cahZfA zu^&-CS{75?1o;sl636jn?&|S%>$cq1yd9Kj#j9$ub;&O>Tw2Crxvr|ZW^1KSwO6Vv zxsI&<)Su5>Yv}6N=jmmKD=b(J2`!L3?5%9Xc61GhvEd5qYwLK~$lm|`MZJ{h1Ki4e zd-0pP~KNxQYw+RxSaW> zT!yLcI#q#me1f!6iLhj-WBvZtC+h{>8y}sOk6Az}NGWp_;WyQpX{Flcp(cGjCeZHo z8+GNlwyKobXk|XZlz@q@^=5;hhpzR+jhj^dxPaK>Kl9^T)~qpI?63oox+xQmK@C_H z|DY%Qum090be0+fIyDAUyr=iS`Xc}B!(#)01l>|bsybItP*9mW9KHp3yyaJ;GFlN| zU(gFO%la2rS0{JkgSJ<`2bd50NHj$>S=9t@EseZvkczhpIGBFbi3iXvbKq|U1OyOe z%P$1$q3`1kL*!FoCMJUQTY`>m9ZO|1-@dVaunF|23MC!+%ciZyz+r(xSoo!R4bfDq z7#8_1lyCFPP_(*R5Wrr7}(ayiKt|V5l>>Y*#>X=r0a;CyU8-nBs_@i|T0|NuZmUc;H zWfH0|PzPJ7_Ld2a!C)9AU0qyUY(d} Date: Thu, 13 Aug 2026 01:54:12 -0400 Subject: [PATCH 062/236] Stand the horse up, and let the cards be read The horse arrived upside down: MotionGen's y points the way this app's does, and negating it turned the animal over. It runs counter-clockwise now, which is the way that carries it forward, with a path traced from each hoof. Its object scale is a quarter. Set to 0.5 outright it arrived as 0.003, because the scale kept in the service is MODEL_SCALE times the one the settings panel shows -- like every other length in the app -- so a quarter on screen is fifty in there. The dev cards were carrying two copies of the same still, one of them absolutely positioned against the bottom of the card, because that is how the library cross-fades a GIF over its poster. These have no GIF to fade to, so the second copy was landing on the words. One image in flow, and the note clears the Open button rather than being cut in half by it. The section headings line up with the cards under them, and the first is called "For Development". --- .../MODALS/templates/dev-templates.ts | 8 +++++--- .../MODALS/templates/templates.component.html | 12 +++++------- .../MODALS/templates/templates.component.scss | 17 ++++++++++++++++- src/assets/gifs/dev-all-machines.png | Bin 113221 -> 71762 bytes src/assets/gifs/dev-object-gallery.png | Bin 141201 -> 102093 bytes src/assets/gifs/dev-render-stress.png | Bin 198247 -> 155863 bytes 6 files changed, 26 insertions(+), 11 deletions(-) diff --git a/src/app/component/MODALS/templates/dev-templates.ts b/src/app/component/MODALS/templates/dev-templates.ts index 4bdd9f9a..73d84f60 100644 --- a/src/app/component/MODALS/templates/dev-templates.ts +++ b/src/app/component/MODALS/templates/dev-templates.ts @@ -34,8 +34,10 @@ export const DEV_TEMPLATES: Record = { '2P.VC,1E8.5,0.1011.0B,B,01RD,10C,0.1C,C,01RD,10C,0.0D,D,0SL,1m0,0.0E,E,0QJ,u2,0.0F,F,Wu,1qh,0.0G,G,Wu,10C,0.0H,H,14R,1Vn,0.0I,I,1pf,1vu,0.8J,J,1pf,10C,0.8K,K,2wH,10C,0.0L,L,1UP,1kQ,0.0M,M,01GC,RG,0.6N,N,01GC,0Vx,0.0O,O,03v,XX,0.4P,P,032,0i-,0.0Q,Q,2Ao,Dj,0.0R,R,1GR,017e,0.1S,S,1GR,017e,0,XY,X,Y.5T,T,2Ao,Dj,0.0U,U,31C,08I,0.0V,V,2s_,0mb,0.5W,W,31C,08I,0CH.0X,X,1ri,015V,0.0Y,Y,0e7,01Ea,0.0Z,Z,07q,01kA,0.0[,[,Ul,01AV,0.3\\,\\,Ul,01AV,0,XY,X,Y.0],],018q,02Dk,0.0^,^,01rc,01Yr,0.8_,_,022a,01MP,0.0`,`,02lM,0hW,0.Xa,a,022a,01MP,0,]^,],^.0b,b,HP,02JO,0.0c,c,0NY,02Gq,0.8d,d,0Vv,02GI,0.Xf,f,0Vv,02GI,0,bc,b,c.0g,g,1AZ,02pW,0.0h,h,2EW,01S2,0.0i,i,2s_,02g6,0.0j,j,1GR,01zf,0.0k,k,2Ao,03Qv,0.0l,l,22b,02JO,0.1m,m,22b,02JO,0,ghij,i,j.0n,n,3tQ,026J,0.8o,o,1ux,01tp,0.1p,p,1ux,01tp,0,ghij,g,h.0q,q,02tY,02sl,0.0r,r,0zX,02sl,0.0s,s,34j,01ci,0..YPBC,BC,Fe,0,0,0,,B,C,,.YRDE,DE,Fe,Fe,0RK,1K1,0d125a,D,E,,.YRFGH,FGH,Fe,Fe,ik,1SD,B2DFDB,F,G,H,,.YRIJKL,IJKL,ku,Azlti,27f,1HW,26A69A,I,J,K,L,,IJ,JK,KL.YRMN,MN,Fe,Fe,01GC,02L,303e9f,M,N,,.YROP,OP,Fe,Fe,03U,05l,0d125a,O,P,,.YRQR,QR,Fe,Fe,1jc,0S_,B2DFDB,Q,R,,.YPRS,RS,Fe,0,0,0,,R,S,,.YPQT,QT,Fe,0,0,0,,Q,T,,.YRUV,UV,Fe,Fe,2y5,0SS,26A69A,U,V,,.YPUW,UW,Fe,0,0,0,,U,W,,.YRXY,XY,Fe,Fe,cp,01A1,00695C,X,Y,,.YRZ[,Z[,Fe,Fe,BU,01SK,c5cae9,Z,[,,.YP[\\,[\\,Fe,0,0,0,,[,\\,,.YR]^,]^,Fe,Fe,01VD,01uH,303e9f,],^,,.YR_`,_`,Fe,Fe,02Oz,010z,0d125a,_,`,,.YP_a,_a,Fe,0,0,0,,_,a,,.YRbc,bc,Fe,Fe,034,02I6,B2DFDB,b,c,,.YR]d,]d,Fe,Fe,0qN,02F0,26A69A,d,],,.YPdf,df,Fe,0,0,0,,d,f,,.YRghij,ghij,Fe,Fe,1u7,02Dq,00695C,g,h,i,j,,.YRkl,kl,Fe,Fe,26h,02t9,c5cae9,k,l,,.YPlm,lm,Fe,0,0,0,,l,m,,.YRnos,nos,Fe,Fe,3ES,024-,303e9f,n,o,s,,.YPop,op,Fe,0,0,0,,o,p,,.YRqr,qr,Fe,Fe,01wX,02sl,B2DFDB,q,r,,.NRIJ,IJ,Fe,Fe,1pf,1T2,26A69A,I,J,,.NRJK,JK,Fe,Fe,2Mz,10C,00695C,J,K,,.NRKL,KL,Fe,Fe,2CL,1NJ,c5cae9,K,L,,..2F1,qr,F1,01-H,02sl,01yD,03jf,2SG.2F2,qr,F2,01Xj,02sl,0wz,03Sd,Fe.3F3,qr,F3,02WB,02sl,032z,03mG,Fe..N_a', // Ross McSweeney's Running Horse Automata, converted from the copy MotionGen // ships with itself: forty-five joints and twenty-seven links on a single - // degree of freedom. Its colours are remapped onto this app's own palette, - // because the ones it arrives with are not colours this app can draw. + // degree of freedom, with a path traced from each hoof. Its colours are + // remapped onto this app's own palette, because the ones it arrives with are + // not colours this app can draw, and its object scale is turned down because + // it is a big drawing whose furniture should not swamp it. Dev_Render_Stress: - '2P.Ay,1E8.K,0.1011.0A,A,j,4R,0.0B,B,0Ai,5o,0.6C,C,0O,03,0.0D,D,03U,2j,0.0E,E,09Y,09y,0.4F,F,0Dm,02E,0.0G,G,0Ly,04t,0.4H,H,0Hi,06Q,0.4I,I,9_,025,0.4J,J,GC,0Ca,0.4K,K,Iq,02A,0.0L,L,0ct,09u,0.0M,M,0rG,04U,0.0N,N,0In,5-,0.0O,O,0O_,6t,0.0P,P,0T0,2A,0.0Q,Q,0WR,A3,0.0R,R,0WO,KW,0.0S,S,0UW,F_,0.0T,T,0aA,O8,0.0U,U,0ae,S0,0.0V,V,0fO,PL,0.0W,W,0eK,Uy,0.0X,X,3K,08R,0.0Y,Y,E8,098,0.0Z,Z,GG,q,0.0a,a,Bi,2d,0.0b,b,AJ,7n,0.0c,c,Kh,5P,0.0d,d,XZ,0By,0.0e,e,aN,0Ln,0.0f,f,YQ,08o,0.0g,g,kS,0NB,0.0h,h,rW,09c,0.0i,i,o6,07Z,0.0j,j,SR,0Iu,0.0k,k,Xf,0Ui,0.0l,l,UR,0To,0.0m,m,O9,5X,0.0n,n,Mi,E7,0.0o,o,K4,Aj,0.0p,p,HQ,MY,0.0q,q,G9,J3,0.0r,r,C0,If,0.0s,s,C0,O9,0..YRAB,AB,0,Fe,04-,57,c5cae9,A,B,,.YRCDA,CDA,0,Fe,013,2N,303e9f,C,D,A,,.YRDE,DE,0,Fe,06W,03d,0d125a,D,E,,.YREFG,EFG,0,Fe,0F5,05h,B2DFDB,E,F,G,,.YRHBLM,HBLM,0,Fe,0U8,03l,26A69A,H,B,L,M,,.YRDN,DN,0,Fe,0B7,4M,00695C,D,N,,.YRFN,FN,0,Fe,0GH,1u,c5cae9,F,N,,.YRGOP,GOP,0,Fe,0PJ,1P,303e9f,G,O,P,,.YRPNQ,PNQ,0,Fe,0Qk,64,0d125a,P,N,Q,,.YRORS,ORS,0,Fe,0TI,ES,B2DFDB,O,R,S,,.YRQST,QST,0,Fe,0X2,Gk,26A69A,Q,S,T,,.YRRU,RU,0,Fe,0YW,OG,00695C,R,U,,.YRTUVW,TUVW,0,Fe,0ce,R6,c5cae9,T,U,V,W,,.YRDX,DX,0,Fe,05,02t,303e9f,D,X,,.YRXIY,XIY,0,Fe,99,06Z,0d125a,X,I,Y,,.YRYZa,YZa,0,Fe,E1,01w,B2DFDB,Y,Z,a,,.YRIb,Ib,0,Fe,A9,2s,26A69A,I,b,,.YRDb,Db,0,Fe,3R,5F,00695C,D,b,,.YRAc,Ac,0,Fe,Ai,4w,c5cae9,A,c,,.YRKd,Kd,0,Fe,QC,073,303e9f,K,d,,.YRJefc,Jefc,0,Fe,Qw,09R,0d125a,J,e,f,c,,.YReghidjkl,eghidjkl,0,Fe,d3,0JB,B2DFDB,e,g,h,i,d,j,k,l,,.YRbZm,bZm,0,Fe,Gv,4j,26A69A,b,Z,m,,.YRano,ano,0,Fe,I9,99,00695C,a,n,o,,.YRomp,omp,0,Fe,KY,Cx,c5cae9,o,m,p,,.YRnq,nq,0,Fe,JR,Gb,303e9f,n,q,,.YRqprs,qprs,0,Fe,EP,L6,0d125a,q,p,r,s,,...N_J', + '2P.3w,1E8.K,0.1011.0A,A,j,04R,0.0B,B,0Ai,05o,0.6C,C,0O,3,0,,,,1E8.0D,D,03U,02j,0.0E,E,09Y,9y,0.4F,F,0Dm,2E,0.0G,G,0Ly,4t,0.4H,H,0Hi,6Q,0.4I,I,9_,25,0.4J,J,GC,Ca,0.4K,K,Iq,2A,0.0L,L,0ct,9u,0.0M,M,0rG,4U,0.0N,N,0In,05-,0.0O,O,0O_,06t,0.0P,P,0T0,02A,0.0Q,Q,0WR,0A3,0.0R,R,0WO,0KW,0.0S,S,0UW,0F_,0.0T,T,0aA,0O8,0.0U,U,0ae,0S0,0.0V,V,0fO,0PL,0.GW,W,0eK,0Uy,0.0X,X,3K,8R,0.0Y,Y,E8,98,0.0Z,Z,GG,0q,0.0a,a,Bi,02d,0.0b,b,AJ,07n,0.0c,c,Kh,05P,0.0d,d,XZ,By,0.0e,e,aN,Ln,0.0f,f,YQ,8o,0.0g,g,kS,NB,0.0h,h,rW,9c,0.0i,i,o6,7Z,0.0j,j,SR,Iu,0.0k,k,Xf,Ui,0.0l,l,UR,To,0.0m,m,O9,05X,0.0n,n,Mi,0E7,0.0o,o,K4,0Aj,0.0p,p,HQ,0MY,0.0q,q,G9,0J3,0.0r,r,C0,0If,0.Gs,s,C0,0O9,0..YRAB,AB,0,Fe,04-,057,c5cae9,A,B,,.YRCDA,CDA,0,Fe,013,02N,303e9f,C,D,A,,.YRDE,DE,0,Fe,06W,3d,0d125a,D,E,,.YREFG,EFG,0,Fe,0F5,5h,B2DFDB,E,F,G,,.YRHBLM,HBLM,0,Fe,0U8,3l,26A69A,H,B,L,M,,.YRDN,DN,0,Fe,0B7,04M,00695C,D,N,,.YRFN,FN,0,Fe,0GH,01u,c5cae9,F,N,,.YRGOP,GOP,0,Fe,0PJ,01P,303e9f,G,O,P,,.YRPNQ,PNQ,0,Fe,0Qk,064,0d125a,P,N,Q,,.YRORS,ORS,0,Fe,0TI,0ES,B2DFDB,O,R,S,,.YRQST,QST,0,Fe,0X2,0Gk,26A69A,Q,S,T,,.YRRU,RU,0,Fe,0YW,0OG,00695C,R,U,,.YRTUVW,TUVW,0,Fe,0ce,0R6,c5cae9,T,U,V,W,,.YRDX,DX,0,Fe,05,2t,303e9f,D,X,,.YRXIY,XIY,0,Fe,99,6Z,0d125a,X,I,Y,,.YRYZa,YZa,0,Fe,E1,1w,B2DFDB,Y,Z,a,,.YRIb,Ib,0,Fe,A9,02s,26A69A,I,b,,.YRDb,Db,0,Fe,3R,05F,00695C,D,b,,.YRAc,Ac,0,Fe,Ai,04w,c5cae9,A,c,,.YRKd,Kd,0,Fe,QC,73,303e9f,K,d,,.YRJefc,Jefc,0,Fe,Qw,9R,0d125a,J,e,f,c,,.YReghidjkl,eghidjkl,0,Fe,d3,JB,B2DFDB,e,g,h,i,d,j,k,l,,.YRbZm,bZm,0,Fe,Gv,04j,26A69A,b,Z,m,,.YRano,ano,0,Fe,I9,099,00695C,a,n,o,,.YRomp,omp,0,Fe,KY,0Cx,c5cae9,o,m,p,,.YRnq,nq,0,Fe,JR,0Gb,303e9f,n,q,,.YRqprs,qprs,0,Fe,EP,0L6,0d125a,q,p,r,s,,...N_c', }; diff --git a/src/app/component/MODALS/templates/templates.component.html b/src/app/component/MODALS/templates/templates.component.html index 5450ed14..a9a03b8e 100644 --- a/src/app/component/MODALS/templates/templates.component.html +++ b/src/app/component/MODALS/templates/templates.component.html @@ -10,12 +10,11 @@

    Linkage Library (Example Linkages)

    @if (isDevMode()) { -

    Dev

    +

    For Development

    Every Kind of Machine Every Kind of Machine - Every Kind of Machine

    A crank, a ram, a slider and a chain that never reaches ground — every readiness state and every playback row at once. @@ -26,9 +25,9 @@

    Dev

    Object Gallery Object Gallery - Object Gallery

    - One of everything the canvas draws, laid out in rows. Deliberately not simulatable. + Every kind of pin, block, weld, slot and cylinder, with forces. Deliberately not + simulatable.

    @@ -36,10 +35,9 @@

    Dev

    Render Stress Test Render Stress Test - Render Stress Test

    - Twenty joints and thirteen links on one degree of freedom, every moving joint tracing - its path. + Ross McSweeney's Running Horse Automata, from MotionGen: forty-five joints and + twenty-seven links on one degree of freedom, tracing both hooves.

    diff --git a/src/app/component/MODALS/templates/templates.component.scss b/src/app/component/MODALS/templates/templates.component.scss index 0ae2d520..f15067b6 100644 --- a/src/app/component/MODALS/templates/templates.component.scss +++ b/src/app/component/MODALS/templates/templates.component.scss @@ -110,16 +110,31 @@ } // The dev section's heading and its cards, which have no artwork to show. +// Lined up with the cards under it, which carry the grid's own left inset. .section-heading { margin: 4px 0 10px; + padding-left: 10px; font-size: 15px; font-weight: 500; color: rgba(0, 0, 0, 0.55); } +// A dev card has one still image and a line about it, in flow -- no animated +// variant to cross-fade to, and so no absolutely-positioned copy landing on +// top of the words. The bottom padding is the Open button's room. .dev-note { - margin: 8px 0 4px; + margin: 8px 0 0; + // Clear of the Open button, which is positioned against the card's bottom + // right corner -- text flowing under it is text the button cuts in half. + padding-bottom: 52px; font-size: 12px; line-height: 17px; color: rgba(0, 0, 0, 0.55); } + +.devGrid panel-section img { + position: static; + width: 100%; + height: auto; + display: block; +} diff --git a/src/assets/gifs/dev-all-machines.png b/src/assets/gifs/dev-all-machines.png index 05d046ba0fba3fbe3e8f8443d016428001b2e75f..d8beb1d2f715380f6bef8f7320b2be20f30fad75 100644 GIT binary patch literal 71762 zcmeEuWmJ^!*X}5aiiAox(x8CS9n#&Pzz~u{H_|Es(hZU$Eje@yB_bUoAYIZigfv48 z=NW$g_q^}JoCi9_rCVNuD$OkOhZi`4~GH=1OnkHD#&PoK-gp; z(49y3Zv)>zo4evcphqA@87ZB28QXLBG8nx4udiWpxmEF=`ZN8TU8YLk zpMJtGm}Hb>fAr-3oq#VI=tl-md@9+nKSH{&{R$egU{m5y*lAUZVu|j=z{d3)_@Y@P zw<&#;A98Z+$4a^5#Ymo6V=~x$j0%t&TtB=x-P70g=#6Lk!4}`UGG1l~YuXiFq%*9u 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zZ`eTiv7M4S_vaN>E7lG$S>MZF7A(MieIuB=)lTxknFiLy`4$)RCYLA!cY9q_m#z0Q z-6n}J8z0O~l*)%v*(p=Jx3ep*XwuNU6GJ%rhLP<82=tmQkH^f+R8wt1xVEX$;Fo*B zWRNh!mr5;tp9Y5QnCvRox#n^n4Q^@aWfxWMpGn^v{Y^2iKTMb#9{3;jnQGgD=3vK$ z457_I7?SaF+_gm7=xN{sKj4nUc%us*T+fa-P$x7>5g4Q6<3^RrbZ4WNI?kS^;&zG2~kUF$9;P!Yd<+p=BWGZx?Yffm+Dz|NEir?$c-3Z>{ZHiy0u}JJ6iSHZI(Qb#! zs5@#UMtO;71c4m7^1!h^Ps>tv8 z%Bn+@va08yS?p5k5S-NO_;63pPo~h82_xfOcVwndTFwC3f#fkozA<8z*TbJ?m17%7 z8%gq{6#!DC`F)5H-emQbo{t=lE*)4oVHHb} zre8Ucyl=a{rc;0+3;uO1r(tfrKdD1Vsgp;0_VT1Q`?p9qJUBINU*e7Ww8`}cahZfA zu^&-CS{75?1o;sl636jn?&|S%>$cq1yd9Kj#j9$ub;&O>Tw2Crxvr|ZW^1KSwO6Vv zxsI&<)Su5>Yv}6N=jmmKD=b(J2`!L3?5%9Xc61GhvEd5qYwLK~$lm|`MZJ{h1Ki4e zd-0pP~KNxQYw+RxSaW> zT!yLcI#q#me1f!6iLhj-WBvZtC+h{>8y}sOk6Az}NGWp_;WyQpX{Flcp(cGjCeZHo z8+GNlwyKobXk|XZlz@q@^=5;hhpzR+jhj^dxPaK>Kl9^T)~qpI?63oox+xQmK@C_H z|DY%Qum090be0+fIyDAUyr=iS`Xc}B!(#)01l>|bsybItP*9mW9KHp3yyaJ;GFlN| zU(gFO%la2rS0{JkgSJ<`2bd50NHj$>S=9t@EseZvkczhpIGBFbi3iXvbKq|U1OyOe z%P$1$q3`1kL*!FoCMJUQTY`>m9ZO|1-@dVaunF|23MC!+%ciZyz+r(xSoo!R4bfDq z7#8_1lyCFPP_(*R5Wrr7}(ayiKt|V5l>>Y*#>X=r0a;CyU8-nBs_@i|T0|NuZmUc;H zWfH0|PzPJ7_Ld2a!C)9AU0qyUY(d} Date: Thu, 13 Aug 2026 02:15:33 -0400 Subject: [PATCH 063/236] Reconcile the merged panels with the rest of the app Five things the merge left disagreeing. The graph header read its value off the shared clock, so a machine the reader had unsynced reported the pose of whichever machine the shared clock was on. Each section asks the machine its quantity belongs to. The CSV export lost its button: it lived in the checkbox row the header replaced, and the method behind it never went anywhere. It is back under the plot. Two NG0100s, one of them older than this merge. The section's legend asked the graph which series were shown, and the graph only exists while the section is open -- so the answer changed between the start and the end of the pass that opened it. The legend owns that state now and hands it down. Handing it down inside the same pass was the second one, since patching the graph's form rebuilds the series bound to the chart; that happens a turn later. And two suites were reading the old panel. The force rows no longer sit in a "Force Analysis" collapsible -- the panel puts the mode radio and the rows at its own level -- and links now arrive massless, which is a force-analysis requirement the fixture has to satisfy rather than a regression to route around. --- e2e/force-analysis-panels.mjs | 49 ++++++++++++--- e2e/left-nav-modes.mjs | 8 +++ .../analysis-graph-section.component.ts | 63 +++++++++++++++++-- .../analysis-graph.component.html | 13 ++++ .../analysis-graph.component.scss | 11 ++++ src/app/services/mechanism.service.ts | 22 +++++++ 6 files changed, 151 insertions(+), 15 deletions(-) diff --git a/e2e/force-analysis-panels.mjs b/e2e/force-analysis-panels.mjs index 42c8e76f..8ba2679f 100644 --- a/e2e/force-analysis-panels.mjs +++ b/e2e/force-analysis-panels.mjs @@ -66,22 +66,30 @@ async function dismissIntro() { } /** Titles of the expansion rows under the Force Analysis subsection. */ +/** + * The reaction rows the panel is showing. + * + * They no longer sit inside a "Force Analysis" collapsible: the panel puts the + * mode radio and the rows at its own level now, so the rows are found by what + * they are rather than by what used to contain them. + */ async function forceRowTitles() { return page.evaluate(() => { - const sections = [...document.querySelectorAll('collapsible-subseciton')]; - const forceSection = sections.find((el) => /Force Analysis/.test(el.innerText)); - if (!forceSection) return null; - return [...forceSection.querySelectorAll('mat-expansion-panel-header')].map((el) => - el.innerText.replace(/help_outline/g, '').trim() + const panel = document.querySelector('app-analysis-panel'); + if (!panel || !/Force Analysis Type/.test(panel.innerText)) return null; + return ( + [...panel.querySelectorAll('app-analysis-graph-section .graphTitle')] + .map((el) => el.innerText.replace(/help_outline/g, '').trim()) + // "Force on Link AB" on a joint, "Force at Joint B" on a link. + .filter((text) => /^Force (on Link|at Joint)/.test(text)) ); }); } async function toggleLabels() { return page.evaluate(() => { - const sections = [...document.querySelectorAll('collapsible-subseciton')]; - const forceSection = sections.find((el) => /Force Analysis/.test(el.innerText)); - const group = forceSection?.querySelector('mat-button-toggle-group'); + const row = document.querySelector('.forceModeRow'); + const group = row?.querySelector('mat-button-toggle-group'); if (!group) return null; return [...group.querySelectorAll('mat-button-toggle')].map((el) => ({ text: el.innerText.trim(), @@ -112,6 +120,26 @@ const forceCount = () => () => ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv.forces.length ); +/** + * Weigh every link. + * + * Links arrive massless, and "Mass on every link" is one of the things force + * analysis asks for -- so a drawing that has never been given masses cannot + * enter the mode at all, which is the requirement doing its job rather than + * something to work around in the product. + */ +async function weighTheLinks() { + await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + srv.links.forEach((link) => { + link.mass = 1; + link.massMoI = 1; + }); + srv.updateMechanism(true); + }); + await page.waitForTimeout(600); +} + /** Hang a load on link BC, which is what makes the Force mode enterable at all. */ async function attachForceToBC() { const b = await jointCoord('B'); @@ -144,9 +172,9 @@ async function selectAndAnalyze(selector, index) { await page.waitForTimeout(900); } -/** Expansion headers live in a scrolling panel; bring one into view before clicking. */ +/** Graph headers live in a scrolling panel; bring one into view before clicking. */ async function expandRow(text) { - const row = page.locator('mat-expansion-panel-header', { hasText: text }).first(); + const row = page.locator('app-analysis-graph-section .graphHeader', { hasText: text }).first(); await row.scrollIntoViewIfNeeded(); await row.click(); await page.waitForTimeout(1500); @@ -157,6 +185,7 @@ try { await waitForReady(page); await dismissIntro(); + await weighTheLinks(); await attachForceToBC(); check('the four-bar took a load, so Force analysis can be entered', (await forceCount()) === 1, { forces: await forceCount(), diff --git a/e2e/left-nav-modes.mjs b/e2e/left-nav-modes.mjs index 05c949c5..c2f81364 100644 --- a/e2e/left-nav-modes.mjs +++ b/e2e/left-nav-modes.mjs @@ -91,6 +91,14 @@ try { .first() .click({ force: true }) .catch(() => {}); + // And take the overlay away if it outlived the click: it swallows pointer + // events over the whole page, so a later tab click waits for a layer that is + // never going anywhere. + await page.evaluate(() => + document + .querySelectorAll('.introjs-overlay,.introjs-helperLayer,.introjs-tooltipReferenceLayer') + .forEach((node) => node.remove()) + ); await page.waitForTimeout(400); // --- the rail and the file toolbar are gone, not merely restyled ----------- diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts index a1503828..0707b846 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts @@ -1,4 +1,5 @@ import { + AfterViewChecked, ChangeDetectionStrategy, Component, EventEmitter, @@ -47,7 +48,7 @@ export interface SeriesPreview { changeDetection: ChangeDetectionStrategy.Eager, standalone: false, }) -export class AnalysisGraphSectionComponent { +export class AnalysisGraphSectionComponent implements AfterViewChecked { @Input() label = ''; @Input() help = ''; @Input() analysis = ''; @@ -75,7 +76,16 @@ export class AnalysisGraphSectionComponent { get preview(): SeriesPreview[] { const mechanism = this.mechanismFor(); if (!mechanism) return []; - const step = Math.min(this.mechanismService.mechanismTimeStep, mechanism.joints.length - 1); + // This machine's own sample, not the shared clock's: while the machines + // are unsynced they are each somewhere different, and the header has to + // agree with the pose actually on screen. + const at = this.mechanismService.mechanisms.indexOf(mechanism); + const step = Math.min( + at === -1 + ? this.mechanismService.mechanismTimeStep + : this.mechanismService.currentSampleOf(at), + mechanism.joints.length - 1 + ); const values = this.samples.sampleAt( mechanism, Math.max(step, 0), @@ -99,17 +109,60 @@ export class AnalysisGraphSectionComponent { } /** Whether the open graph is drawing this series. Closed, everything reads. */ + /** + * Which series the legend is showing, held here rather than asked of the + * graph. + * + * The graph only exists while the section is open, so asking it during the + * template's own evaluation gave a different answer before and after the + * child was created in that same pass -- which Angular reports as NG0100 + * against the legend's own class. + */ + private hidden = new Set<'x' | 'y' | 'z'>(); + isShown(key: 'x' | 'y' | 'z'): boolean { - return !this.graph || this.graph.isSeriesShown(key); + return !this.hidden.has(key); } toggleSeries(key: 'x' | 'y' | 'z'): void { + if (this.hidden.has(key)) this.hidden.delete(key); + else this.hidden.add(key); this.graph?.toggleSeries(key); } + /** The graph this section has already handed its legend state to. */ + private syncedWith?: AnalysisGraphComponent; + + /** + * Hand the graph the legend's state once, when it arrives. + * + * On a later turn of the loop, not this one: patching the graph's form + * rebuilds the series it is bound to, and doing that inside the pass that is + * checking those bindings is the other half of NG0100. + */ + ngAfterViewChecked(): void { + const graph = this.graph; + if (!graph || graph === this.syncedWith) return; + this.syncedWith = graph; + setTimeout(() => { + if (this.graph !== graph) return; + (['x', 'y', 'z'] as const).forEach((key) => { + if (graph.isSeriesShown(key) !== this.isShown(key)) graph.toggleSeries(key); + }); + }); + } + + /** + * Ask the panel to open or close this section; do not decide it here. + * + * Every use of this component binds `expanded` both ways, so writing the + * field as well as emitting gave the flag two owners: the view was checked + * against the old value from the parent and then changed by the local write + * in the same pass, which is what NG0100 was reporting against the card's + * own open/closed class. + */ toggle(): void { - this.expanded = !this.expanded; - this.expandedChange.emit(this.expanded); + this.expandedChange.emit(!this.expanded); } private mechanismFor() { diff --git a/src/app/component/analysis-graph/analysis-graph.component.html b/src/app/component/analysis-graph/analysis-graph.component.html index 1727612e..6406e206 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.html +++ b/src/app/component/analysis-graph/analysis-graph.component.html @@ -30,4 +30,17 @@ > + + } diff --git a/src/app/component/analysis-graph/analysis-graph.component.scss b/src/app/component/analysis-graph/analysis-graph.component.scss index a726048d..849ce557 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.scss +++ b/src/app/component/analysis-graph/analysis-graph.component.scss @@ -12,6 +12,17 @@ $foreground: map.get($theme, foreground); // Stands where the chart would, so nothing has to guess its height. + // Under the plot, full width, quiet: it is an export rather than the thing + // the card is for. + #csvDownload { + display: flex; + align-items: center; + justify-content: center; + gap: 6px; + width: 100%; + margin-top: 4px; + } + .graphPlaceholder { display: flex; align-items: center; diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index b973117b..6aa3f986 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -2815,6 +2815,28 @@ export class MechanismService { * longer the same list in the same order -- and pairing them positionally * would quietly move one mechanism's joint to another's coordinates. */ + /** + * The sample one machine is showing right now, in its own sample array. + * + * Not `mechanismTimeStep`: that indexes the shared clock's cycle, and while + * the machines are unsynced each of them is somewhere else. Anything asking + * "what does this quantity read at the pose on screen" has to ask the + * machine that quantity belongs to. + */ + currentSampleOf(index: number): number { + const frames = this.mechanisms[index]; + const times = frames?.timeNum ?? []; + if (!frames || times.length === 0) return 0; + const period = frames.cyclePeriod; + let local = this.secondsOf(index); + if (period > 0 && Number.isFinite(local)) { + local = ((local % period) + period) % period; + } + let step = 0; + while (step + 1 < times.length && times[step + 1] <= local) step++; + return step; + } + private applyMechanismPose(frames: Mechanism, partition: MechanismPartition, seconds: number) { const times = frames.timeNum ?? []; if (!frames.isMechanismValid() || times.length === 0) { From 596fce6bfda0f5ac1f8a8649ba1b63dd0b419ebb Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 02:53:48 -0400 Subject: [PATCH 064/236] Point the animation suite at the fixture it means It had kept its own copy of the slotted coupler, whose channel ends exactly where the rider starts -- so the mechanism opened at a limit of its travel and refused to run, which the readiness check said in as many words. The published fixture extends the channel past the pin for exactly this reason, and is the one the verification suite covers. The library thumbnails are regenerated by their own script, which the sweep runs: the grid behind them is drawn differently now and the links carry their names. --- e2e/phase4-animation.mjs | 5 ++++- src/assets/gifs/backhoe-bucket.png | Bin 42190 -> 43492 bytes src/assets/gifs/chebyshev.png | Bin 49011 -> 50350 bytes src/assets/gifs/cylinder-boom.png | Bin 31460 -> 33248 bytes src/assets/gifs/cylinder-gripper.png | Bin 31686 -> 32423 bytes src/assets/gifs/derrick-crane.png | Bin 37990 -> 38863 bytes src/assets/gifs/elliptical-crank.png | Bin 45811 -> 47172 bytes src/assets/gifs/jansen-leg.png | Bin 47888 -> 48610 bytes src/assets/gifs/offset-load-rocker.png | Bin 52581 -> 54707 bytes src/assets/gifs/oscillating-fan.png | Bin 44880 -> 46603 bytes src/assets/gifs/pedaling-leg.png | Bin 35678 -> 36781 bytes src/assets/gifs/pumpjack.png | Bin 43187 -> 44617 bytes src/assets/gifs/punch-press.png | Bin 19602 -> 19788 bytes src/assets/gifs/radial-engine.png | Bin 59515 -> 60391 bytes src/assets/gifs/scissor-lift.png | Bin 54630 -> 55272 bytes src/assets/gifs/scotch-yoke.png | Bin 22920 -> 25607 bytes src/assets/gifs/shaper-quick-return.png | Bin 36063 -> 36713 bytes src/assets/gifs/toggle-clamp.png | Bin 48339 -> 53297 bytes src/assets/gifs/toggle-press.png | Bin 43620 -> 44605 bytes src/assets/gifs/whitworth.png | Bin 35536 -> 36370 bytes src/assets/gifs/windshield-wiper.png | Bin 49836 -> 51889 bytes 21 files changed, 4 insertions(+), 1 deletion(-) diff --git a/e2e/phase4-animation.mjs b/e2e/phase4-animation.mjs index eb4db2fc..8b7e099c 100644 --- a/e2e/phase4-animation.mjs +++ b/e2e/phase4-animation.mjs @@ -36,9 +36,12 @@ const MECHANISMS = [ { name: 'four-bar-slotted-coupler', note: 'a slot on a coupler that both turns and translates', + // The published fixture, not a copy of it: this one had kept the older + // geometry whose channel ends exactly where the rider starts, so the + // mechanism opened at a limit of its travel and refused to run. grounded: false, query: - '?2P.Fe.K,0.1011.MA,A,0,0,0.GB,B,Fe,0,0.GC,C,d4,ec,0.KD,D,_W,0,0.KE,E,VG,7q,0.GF,F,bo,cO,0.HP,P,bo,cO,0,BC,B,C..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRBC,BC,Fe,Fe,RM,KJ,303e9f,B,C,,.YRCD,CD,Fe,Fe,oo,KJ,0d125a,C,D,,.YREF,EF,Fe,Fe,YX,N6,B2DFDB,E,F,,.YPFP,FP,Fe,0,0,0,,F,P,,...N_L', + '?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Fe,0,0.0C,C,d4,ec,0.4D,D,_W,0,0.4E,E,VG,7q,0.0F,F,bo,cO,0.0X,X,tU,151,0.1P,P,bo,cO,0,BCX,B,X..YRAB,AB,Fe,Fe,7q,0,c5cae9,A,B,,.YRBCX,BCX,Fe,Fe,ak,aY,303e9f,B,C,X,,.YRCD,CD,Fe,Fe,oo,KJ,0d125a,C,D,,.YREF,EF,Fe,Fe,YX,N6,B2DFDB,E,F,,.YPFP,FP,0,0,0,0,,F,P,,...N_h', }, ]; diff --git a/src/assets/gifs/backhoe-bucket.png b/src/assets/gifs/backhoe-bucket.png index 94466a83c8e0005c286e55c422c1de17d83cc125..dfe5b5bae1fbd937f692e5a4421aaba8a90c4dcc 100644 GIT binary patch literal 43492 zcmeFZ^;aBG(=Ci85C}n&;1E2xy9FB@0t9#08G^ecxC{Y;6A13^4#8z0=-?9E-R(B- zz0dpo0pG9BT0Lu&uG6RMRPEZe4`C`wAWU>3bOZzhOj#L8RRjcNAp`^@G&CgO6KXW? 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za2?l`fJep!ZkxqhV0o9Bv{Ki$3z*sszysJz0@KASva&$i-#rc+FL|1Oq5sel6@}Fm zIQ)JZE=B!RoWnjeE!7hpAP4@t8}yB%5y{`Dfi)i4jFDMK)w=?itiuy@-FI^B2N&IU zS!60+0QvU4^cnsbaeBAcQ_c5l6c0qS!slOJ_m+tqiC*xLMmFD{mjP#KyTVtkn9Boq zXZgZ+ed?#oC{^mg=AVrSx?J{GR`J(?V-LDXnq;uVxGb ztHtIsUd;dH3A_LnA8uUp`G4~mXyGP+pqLYY-&*-!t)+WhXT&1r{%crt3m^{D6qDuu zwoQ+%{V$E>zpa0g3DEUZwA7%#n`NNQzMmd_;{PkOzl!z$DYV8;$yOK`*b`X^QI-EA z1^7_5z@G;T&>0YIE^(3bI;+A^?Qp>%AYoC8_=qr5&O&Wn{uE$*rA4X*&AI=TG(@U9 zmk)k_4h9x3%E#2>hvmOgg^y`i>jE}V1@H)g9Cq}gVCJ#H#}X8Fl)$fn`cDB#04{4^ zxr*v9RzZKOmL_J-Xw&=0DrQQV2M&O H{SW^Sr0&Si From ff8040e4511a6b974aa1012d69bf6c6c8d987c70 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 14:36:15 -0400 Subject: [PATCH 065/236] Twenty-one small things, and the two that made them slow Most of this is spacing, ink and wording, reported by pointing at the screen. Three of them were not. The panels' shadow was cut off because the room kept for it was 10px and the shadow reaches 11 below and 10 to the sides. It is 16 now, read off the shadow rather than chosen, and the frames sit flush with the window so nothing hangs off the edge of it. The gap under a panel was measured as though the frame were the card, which left 22px below against 12 above. The stress test was slow for two reasons and neither was the drawing. Opening Settings subscribed to a BehaviorSubject holding the scale the drawing is already at, and acted on it: seven seconds of re-solving to arrive at the picture on screen. And the loop enumerator copied two growing arrays at every one of the hundreds of thousands of nodes it visits. Loading the horse is 7.4s to 4.0s; opening Settings over it is 7.2s to 0.5s. Which machine owns a part is now looked up rather than searched for, which is a question every joint and link is asked on every frame. The rest, in the order they were reported: labels a tenth larger; a rename is an edit and Undo takes it back; a long name on a bar is written along it; names past Z carry on into lower case instead of punctuation; the loose-geometry mark goes grey in a mode that cannot act on it; the legend agrees with the plot on the first frame rather than lighting everything; one Export Data in the top strip in place of a Download button under every graph; the playhead's read-out is no longer cut in half at the edge of a card; turning a line off no longer scrolls the panel out from under the pointer; the cursor stops promising a drag the analysis modes will not honour; a drawing nothing can be analysed in sends you back to Edit; zero is a gridline on any axis that crosses it; the library's headings line up with its cards and its cards have one shadow each; Center of Mass; the setup drawer keeps its title while its list scrolls; and the view controls stay in one corner while the transport comes and goes from the bottom edge. Four suites were reading the panel as it was built before it was rebuilt out of cards, and quietly finding nothing. Co-Authored-By: Claude Opus 5 --- e2e/analysis-audit.mjs | 18 +- e2e/detail-fixes.mjs | 284 ++++++++++++++++++ e2e/link-labels.mjs | 8 +- e2e/phase1-drag.mjs | 16 +- e2e/shot.mjs | 71 +++++ e2e/template-graphs.mjs | 26 +- .../editable-title.component.ts | 12 +- .../MODALS/templates/templates.component.scss | 28 +- .../analysis-graph-section.component.html | 2 + .../analysis-graph-section.component.scss | 16 +- .../analysis-graph-section.component.ts | 106 +++++-- .../analysis-graph.component.html | 17 +- .../analysis-graph.component.scss | 35 ++- .../analysis-graph.component.spec.ts | 16 - .../analysis-graph.component.ts | 197 ++++++------ .../analysis-panel.component.html | 8 +- .../analysis-setup.component.scss | 23 +- .../left-tabs/left-tabs.component.scss | 15 +- .../left-tabs/left-tabs.component.ts | 9 +- .../component/left-tabs/left-tabs.vars.scss | 21 +- .../new-grid/new-grid.component.html | 93 +++--- .../new-grid/new-grid.component.scss | 8 + .../component/new-grid/new-grid.component.ts | 70 ++++- .../playback-bar/playback-bar.component.html | 14 +- .../playback-bar/playback-bar.component.scss | 41 +-- .../playback-bar/playback-bar.component.ts | 18 ++ .../right-panel/right-panel.component.scss | 29 +- .../right-panel/right-panel.component.ts | 9 +- .../settings-panel.component.ts | 10 +- .../component/top-bar/top-bar.component.html | 44 ++- .../component/top-bar/top-bar.component.scss | 10 + .../component/top-bar/top-bar.component.ts | 36 ++- .../view-controls.component.html | 2 +- .../view-controls.component.scss | 10 +- .../view-controls/view-controls.component.ts | 4 +- src/app/model/mechanism/loop-solver.ts | 59 +++- .../services/analysis-export.service.spec.ts | 108 +++++++ src/app/services/analysis-export.service.ts | 239 +++++++++++++++ src/app/services/mechanism.service.ts | 110 +++++-- src/app/services/url-processor.service.ts | 13 + src/assets/gifs/backhoe-bucket.png | Bin 43492 -> 43640 bytes src/assets/gifs/chebyshev.png | Bin 50350 -> 50479 bytes src/assets/gifs/cylinder-boom.png | Bin 33248 -> 33490 bytes src/assets/gifs/cylinder-gripper.png | Bin 32423 -> 32505 bytes src/assets/gifs/derrick-crane.png | Bin 38863 -> 40036 bytes src/assets/gifs/elliptical-crank.png | Bin 47172 -> 47322 bytes src/assets/gifs/jansen-leg.png | Bin 48610 -> 48726 bytes src/assets/gifs/offset-load-rocker.png | Bin 54707 -> 55847 bytes src/assets/gifs/oscillating-fan.png | Bin 46603 -> 46815 bytes src/assets/gifs/pedaling-leg.png | Bin 36781 -> 36916 bytes src/assets/gifs/pumpjack.png | Bin 44617 -> 44933 bytes src/assets/gifs/punch-press.png | Bin 19788 -> 21282 bytes src/assets/gifs/radial-engine.png | Bin 60391 -> 60530 bytes src/assets/gifs/scissor-lift.png | Bin 55272 -> 55352 bytes src/assets/gifs/scotch-yoke.png | Bin 25607 -> 25682 bytes src/assets/gifs/shaper-quick-return.png | Bin 36713 -> 35040 bytes src/assets/gifs/toggle-clamp.png | Bin 53297 -> 56309 bytes src/assets/gifs/toggle-press.png | Bin 44605 -> 44631 bytes src/assets/gifs/whitworth.png | Bin 36370 -> 36533 bytes src/assets/gifs/windshield-wiper.png | Bin 51889 -> 52425 bytes 60 files changed, 1486 insertions(+), 369 deletions(-) create mode 100644 e2e/detail-fixes.mjs create mode 100644 e2e/shot.mjs create mode 100644 src/app/services/analysis-export.service.spec.ts create mode 100644 src/app/services/analysis-export.service.ts diff --git a/e2e/analysis-audit.mjs b/e2e/analysis-audit.mjs index 2b2d355f..bc09e577 100644 --- a/e2e/analysis-audit.mjs +++ b/e2e/analysis-audit.mjs @@ -184,20 +184,14 @@ async function primeGraph() { grid.activeObjService.updateSelectedObj(grid.mechanismSrv.joints[0]); }); await page.waitForTimeout(700); - for (let pass = 0; pass < 3; pass++) { + // One card per quantity, each holding its graph only while it is open. Any + // one of them will do -- the audit drives whichever it gets through its own + // inputs rather than through the panel. + for (let pass = 0; pass < 3 && !(await page.$('app-analysis-graph')); pass++) { await page.evaluate(() => { - document.querySelectorAll('collapsible-subseciton').forEach((section) => { - const header = section.querySelector('button.panel-header'); - if (header && !section.querySelector('mat-icon.rotate180')) header.click(); - }); - document.querySelectorAll('mat-expansion-panel').forEach((panel) => { - if (!panel.classList.contains('mat-expanded')) - panel - .querySelector('mat-expansion-panel-header') - ?.dispatchEvent(new MouseEvent('click', { bubbles: true })); - }); + document.querySelector('app-analysis-graph-section .graphHeader')?.click(); }); - await page.waitForTimeout(700); + await page.waitForTimeout(800); } await page.waitForTimeout(500); return (await page.$('app-analysis-graph')) !== null; diff --git a/e2e/detail-fixes.mjs b/e2e/detail-fixes.mjs new file mode 100644 index 00000000..e374f158 --- /dev/null +++ b/e2e/detail-fixes.mjs @@ -0,0 +1,284 @@ +/** + * The small things, in a browser. + * + * Each of these is a fix a reader reported by pointing at the screen, and each + * is invisible to a unit test: what a cursor turns into, what colour a warning + * is in a mode that cannot act on it, whether a panel keeps its scroll. + * + * PMKS_BASE_URL= node e2e/detail-fixes.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const dev = readFileSync('src/app/component/MODALS/templates/dev-templates.ts', 'utf8'); +const payloads = Object.fromEntries( + [...(source + dev).matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [ + id, + p.replace(/\\\\/g, '\\'), + ]) +); + +/** Two joints and a bar: in no mechanism, so nothing about it can be analysed. */ +const LONE_BAR = + '2P.Zz,1E8.5,0.1011.0A,A,2UW,9v,0.0B,B,3E8,1Zn,0..YRAB,AB,Fe,Fe,2sK,sr,303e9f,A,B,,...N_P'; + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const browser = await chromium.launch(); +const errors = []; +const page = await browser.newPage({ viewport: { width: 1500, height: 900 } }); +page.on('pageerror', (error) => errors.push(String(error))); + +const load = async (payload) => { + await page.goto(`${BASE}/${payload ? '?' + payload : ''}`, { waitUntil: 'domcontentloaded' }); + await waitForReady(page).catch(() => undefined); + await page.evaluate(() => + document + .querySelectorAll('.introjs-overlay,.introjs-helperLayer,.introjs-tooltipReferenceLayer') + .forEach((node) => node.remove()) + ); + await page.waitForTimeout(500); +}; + +// --- names run out of letters into more letters ---------------------------- +await load(payloads['4-Bar']); +const names = await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + const taken = []; + const given = []; + for (let i = 0; i < 60; i++) { + const next = srv.determineNextLetter(taken); + given.push(next); + taken.push(next); + } + return given; +}); +record( + 'a drawing that outgrows the alphabet keeps being given letters', + names.every((name) => /^[A-Za-z]+$/.test(name)), + names.filter((name) => !/^[A-Za-z]+$/.test(name)).slice(0, 6) +); +record('and never the same name twice', new Set(names).size === names.length, names); + +// --- renaming is an edit, and Undo takes it back --------------------------- +await load(payloads['4-Bar']); +await page.locator('#joint_B').first().click({ force: true }); +await page.waitForTimeout(600); +const renamed = await page.evaluate(() => { + const title = ng.getComponent(document.querySelector('editable-title-block')); + title.gotoEditMode(); + title.newIDForm.patchValue({ newID: 'Elbow' }); + title.saveNewID(); + return ng + .getComponent(document.querySelector('app-new-grid')) + .mechanismSrv.joints.map((joint) => joint.name); +}); +record('a joint can be renamed', renamed.includes('Elbow'), renamed); +await page.waitForTimeout(700); +await page.locator('.historyButton').first().click(); +await page.waitForTimeout(1000); +const afterUndo = await page.evaluate(() => + ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv.joints.map((j) => j.name) +); +record('and Undo takes the rename back', !afterUndo.includes('Elbow'), afterUndo); + +// --- a long name on a bar is written along it ------------------------------ +const tags = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + return grid.mechanismSrv.getLinks().map((link) => { + const tag = grid.linkLabelStyle(link); + return { id: link.id, name: tag.name, angle: tag.angle, joints: link.joints.length }; + }); +}); +record( + 'a two-letter name is written level', + tags.every((tag) => tag.angle === 0), + tags +); + +await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const bar = grid.mechanismSrv.links.find((link) => link.joints.length === 2); + bar.name = 'Coupler'; +}); +await page.waitForTimeout(400); +const named = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const bar = grid.mechanismSrv.links.find((link) => link.joints.length === 2); + return grid.linkLabelStyle(bar); +}); +record('a longer one runs along the bar', named.angle !== 0, named); +record('and never upside down', Math.abs(named.angle) <= 90, named); + +// --- analysis mode: no move cursor, no red on scenery ---------------------- +await load(payloads['Dev_All_Mechanism_Types']); +const inkIn = async (mode) => { + if (mode) await page.locator('.tabButton', { hasText: mode }).click({ force: true }); + await page.waitForTimeout(800); + return page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const joint = document.querySelector('#jointHolder svg[cursor="move"]'); + return { + ink: grid.orphanMarkInk, + cursor: joint ? getComputedStyle(joint).cursor : null, + locked: grid.geometryLocked, + }; + }); +}; +const editing = await inkIn(null); +record('a loose joint is marked in red while it can be fixed', editing.ink === '#F44336', editing); +record('and the parts say they can be dragged', editing.cursor === 'move', editing); + +const analysing = await inkIn('Kinematic'); +record( + 'the same mark goes grey once the mode cannot act on it', + analysing.ink !== '#F44336', + analysing +); +record( + 'and the cursor stops offering a drag that will not happen', + analysing.cursor === 'pointer', + analysing +); + +// --- a drawing that cannot be analysed sends you back to Edit -------------- +await load(payloads['4-Bar']); +await page.locator('.tabButton', { hasText: 'Kinematic' }).click({ force: true }); +await page.waitForTimeout(700); +const wasAnalysing = await page.evaluate(() => + ng.getComponent(document.querySelector('app-top-bar')).tabs.isAnalysisMode() +); +// Through the same call the library and the Open dialog both make. +await page.evaluate((payload) => { + ng.getComponent(document.querySelector('app-top-bar')).urlProcessor.updateFromURL( + payload, + true, + true, + true + ); +}, LONE_BAR); +await page.waitForTimeout(2000); +const nowEditing = await page.evaluate(() => { + const bar = ng.getComponent(document.querySelector('app-top-bar')); + return { analysis: bar.tabs.isAnalysisMode(), valid: bar.mechanism.oneValidMechanismExists() }; +}); +record( + 'opening a drawing nothing can be analysed in leaves the analysis modes', + wasAnalysing && !nowEditing.valid && !nowEditing.analysis, + { wasAnalysing, nowEditing } +); + +// --- the legend says what the plot is drawing ------------------------------ +await load(payloads['4-Bar']); +await page.locator('.tabButton', { hasText: 'Kinematic' }).click({ force: true }); +await page.waitForTimeout(700); +await page.locator('#joint_B').first().click({ force: true }); +await page.waitForTimeout(700); +await page.getByText('Velocity of Joint B').first().click({ force: true }); +await page.waitForTimeout(1800); +const legend = await page.evaluate(() => { + const section = [...document.querySelectorAll('app-analysis-graph-section')].find((node) => + node.querySelector('.graphSection.open') + ); + const component = ng.getComponent(section); + const graph = component.graph; + const lit = [...section.querySelectorAll('.previewSeries')].map( + (node) => !node.classList.contains('off') + ); + return { + lit, + drawn: ['x', 'y', 'z'].map((key) => graph.isSeriesShown(key)), + plotted: graph.displayedSeries.length, + }; +}); +record( + 'the legend and the plot agree the moment a graph opens', + legend.lit.filter(Boolean).length === legend.plotted, + legend +); + +// --- toggling a series does not move the panel under the pointer ----------- +await page.getByText('Acceleration of Joint B').first().click({ force: true }); +await page.waitForTimeout(1500); +const scroller = '.panel'; +await page.evaluate((selector) => { + const node = document.querySelector(selector); + node.scrollTop = node.scrollHeight; +}, scroller); +await page.waitForTimeout(400); +const before = await page.evaluate((s) => document.querySelector(s).scrollTop, scroller); +const lastLegend = page + .locator('app-analysis-graph-section') + .last() + .locator('.previewSeries') + .last(); +await lastLegend.click({ force: true }); +await page.waitForTimeout(900); +const after = await page.evaluate((s) => document.querySelector(s).scrollTop, scroller); +record('turning a line off leaves the panel where it was', Math.abs(after - before) < 12, { + before, + after, +}); + +// --- Export Data ------------------------------------------------------------ +await load(payloads['4-Bar']); +await page.locator('.tabButton', { hasText: 'Kinematic' }).click({ force: true }); +await page.waitForTimeout(700); +record( + 'nothing selected, there is nothing to export', + await page.locator('.historyCard button').first().isDisabled(), + {} +); +await page.locator('#joint_B').first().click({ force: true }); +await page.waitForTimeout(700); +const download = page.waitForEvent('download', { timeout: 8000 }).catch(() => null); +await page.locator('.historyCard button').first().click(); +const file = await download; +record('and with a joint selected it writes a file', !!file, file && file.suggestedFilename()); +if (file) { + const path = await file.path(); + const csv = readFileSync(path, 'utf8').trim().split('\n'); + record( + 'one time column and a column per series, one row per sample', + csv[0].startsWith('Time (seconds),') && csv[0].split(',').length === 9 && csv.length > 100, + { head: csv[0], rows: csv.length } + ); +} + +// --- the transport comes and goes; the view controls do not ---------------- +const controlsAt = () => + page.evaluate(() => { + const box = document.querySelector('.viewControls').getBoundingClientRect(); + return { + right: Math.round(innerWidth - box.right), + bottom: Math.round(innerHeight - box.bottom), + }; + }); +await load(payloads['4-Bar']); +const inEdit = await controlsAt(); +await page.locator('.tabButton', { hasText: 'Kinematic' }).click({ force: true }); +await page.waitForTimeout(900); +const inAnalysis = await controlsAt(); +record( + 'the view controls sit in the same place in both modes', + inEdit.right === inAnalysis.right && inEdit.bottom === inAnalysis.bottom, + { inEdit, inAnalysis } +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); +await browser.close(); + +const failed = results.filter(([, ok]) => !ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +process.exit(failed.length ? 1 : 0); diff --git a/e2e/link-labels.mjs b/e2e/link-labels.mjs index 920c1c5f..f0fc9a5d 100644 --- a/e2e/link-labels.mjs +++ b/e2e/link-labels.mjs @@ -223,6 +223,10 @@ const type = await page.evaluate(() => { gridNumber: px(document.querySelector('#axes_numbers')), perUnit, objectScale: ng.getComponent(document.querySelector('app-new-grid')).settings.objectScale, + // Asked of the grid rather than restated here: one number decides how big + // every name on the canvas is, and a copy of it in this file is a copy that + // goes stale the first time it is tuned. + tagFontSize: ng.getComponent(document.querySelector('app-new-grid')).tagFontSize, }; }); record( @@ -243,8 +247,8 @@ record( // the size, so are their names, which is the point. record( 'every label is sized from the object scale', - type.labels.every((label) => Math.abs(label.size / type.perUnit - type.objectScale * 0.18) < 0.5), - { labels: type.labels.map((l) => l.size), objectScale: type.objectScale } + type.labels.every((label) => Math.abs(label.size / type.perUnit - type.tagFontSize) < 0.5), + { labels: type.labels.map((l) => l.size), want: type.tagFontSize } ); // Sized in the drawing's units, not the screen's: the name is the size of the diff --git a/e2e/phase1-drag.mjs b/e2e/phase1-drag.mjs index 93d400b6..9efb6d60 100644 --- a/e2e/phase1-drag.mjs +++ b/e2e/phase1-drag.mjs @@ -804,18 +804,22 @@ await safe('welding a pair that is already pinned goes through with a warning', // left is the Analysis setup drawer, which is what pressing an analysis // mode now opens when the mechanism will not run -- so that is where the // number is read back from. + // + // In the blocker itself rather than in a table of facts: the drawer lists + // what has to change, and the count is the thing that has to change. The + // table it used to be read from went with the mechanism panel, which is a + // page about a machine that runs. await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); await page.waitForTimeout(800); const drawer = await page .locator('app-analysis-setup') .innerText() .catch(() => ''); - const reported = drawer.match(/Degrees of freedom\s*\n?\s*(-?[\d.]+)/i)?.[1] ?? null; - record('the app reports it rather than leaving the reader at one', reported === String(dof), { - dof, - reported, - note, - }); + record( + 'the app reports it rather than leaving the reader at one', + drawer.includes(`${dof} degrees of freedom`), + { dof, drawer: drawer.slice(0, 300), note } + ); } }); diff --git a/e2e/shot.mjs b/e2e/shot.mjs new file mode 100644 index 00000000..27e756b8 --- /dev/null +++ b/e2e/shot.mjs @@ -0,0 +1,71 @@ +/** + * A screenshot of one state, for looking at. + * + * Not a check — a viewer. Give it a payload and a short script of things to do + * before the picture is taken. + * + * PMKS_BASE_URL= node e2e/shot.mjs + */ + +import { readFileSync, mkdirSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://localhost:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const dev = readFileSync('src/app/component/MODALS/templates/dev-templates.ts', 'utf8'); +const payloads = Object.fromEntries( + [...(source + dev).matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [ + id, + // A backslash in the payload is written escaped in the TypeScript source. + p.replace(/\\\\/g, '\\'), + ]) +); + +const [name, template, ...steps] = process.argv.slice(2); +mkdirSync('artifacts/shots', { recursive: true }); + +const browser = await chromium.launch(); +const page = await browser.newPage({ + viewport: { + width: Number(process.env.SHOT_WIDTH ?? 1500), + height: Number(process.env.SHOT_HEIGHT ?? 950), + }, +}); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); +page.on('console', (message) => { + if (message.type() === 'error') errors.push('console: ' + message.text()); +}); + +const payload = payloads[template] ?? (template === 'empty' ? '' : template); +await page.goto(`${BASE}/${payload ? '?' + payload : ''}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page).catch(() => undefined); +await page.evaluate(() => + document + .querySelectorAll('.introjs-overlay,.introjs-helperLayer,.introjs-tooltipReferenceLayer') + .forEach((node) => node.remove()) +); +await page.waitForTimeout(600); + +for (const step of steps) { + const [verb, ...rest] = step.split(':'); + const argument = rest.join(':'); + if (verb === 'tab') + await page.locator('.tabButton', { hasText: argument }).click({ force: true }); + else if (verb === 'click') await page.locator(argument).first().click({ force: true }); + else if (verb === 'clickText') + await page.getByText(argument, { exact: false }).first().click({ force: true }); + else if (verb === 'hover') await page.locator(argument).first().hover(); + else if (verb === 'wait') await page.waitForTimeout(Number(argument)); + else if (verb === 'eval') await page.evaluate(argument); + await page.waitForTimeout(500); +} + +await page.screenshot({ path: `artifacts/shots/${name}.png` }); +if (errors.length) console.log('errors:', errors.slice(0, 5)); +console.log(`artifacts/shots/${name}.png`); +await browser.close(); diff --git a/e2e/template-graphs.mjs b/e2e/template-graphs.mjs index 0511670a..15aed41f 100644 --- a/e2e/template-graphs.mjs +++ b/e2e/template-graphs.mjs @@ -328,17 +328,21 @@ const selectedJointId = () => const GRAPH_ROWS = ['Position of Joint', 'Velocity of Joint', 'Acceleration of Joint']; +/** + * Open each of the three kinematic cards, so its graph exists to be read. + * + * One card per quantity, each holding its plot only while it is open. These + * used to be Material expansion panels; the panel is built from its own cards + * now, and a harness looking for the old ones quietly found nothing and read no + * graphs at all. + */ async function openKinematicRows() { for (const label of GRAPH_ROWS) { - const header = page.locator('mat-expansion-panel-header', { hasText: label }).first(); - if ((await header.count()) === 0) continue; - const panel = page.locator('mat-expansion-panel', { hasText: label }).first(); - const expanded = await panel - .getAttribute('class') - .then((c) => (c ?? '').includes('mat-expanded')) - .catch(() => false); - if (expanded) continue; - await header.scrollIntoViewIfNeeded(); + const section = page.locator('app-analysis-graph-section', { hasText: label }).first(); + if ((await section.count()) === 0) continue; + if ((await section.locator('.graphSection.open').count()) > 0) continue; + const header = section.locator('.graphHeader').first(); + await header.scrollIntoViewIfNeeded().catch(() => {}); await header.click({ force: true }); await page.waitForTimeout(600); } @@ -500,7 +504,7 @@ for (const id of IDS) { for (const label of GRAPH_ROWS) await shot( `${id}_${j}_${label.split(' ')[0].toLowerCase()}`, - page.locator('mat-expansion-panel', { hasText: label }).first() + page.locator('app-analysis-graph-section', { hasText: label }).first() ); continue; } @@ -610,7 +614,7 @@ for (const id of IDS) { for (const label of GRAPH_ROWS) await shot( `${id}_${j}_${label.split(' ')[0].toLowerCase()}`, - page.locator('mat-expansion-panel', { hasText: label }).first() + page.locator('app-analysis-graph-section', { hasText: label }).first() ); } } diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.ts b/src/app/component/BLOCKS/editable-title/editable-title.component.ts index 7449cc2c..d76adc51 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.ts +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.ts @@ -2,6 +2,7 @@ import { Component, Input, OnInit, ChangeDetectionStrategy } from '@angular/core import { FormBuilder } from '@angular/forms'; import { NewGridComponent } from '../../new-grid/new-grid.component'; import { ActiveObjService } from 'src/app/services/active-obj.service'; +import { MechanismService } from 'src/app/services/mechanism.service'; @Component({ selector: 'editable-title-block', @@ -20,7 +21,8 @@ export class EditableTitleComponent { constructor( private fb: FormBuilder, - public activeObjService: ActiveObjService + public activeObjService: ActiveObjService, + private mechanismService: MechanismService ) {} newIDForm = this.fb.group({ newID: [''] }); @@ -62,9 +64,13 @@ export class EditableTitleComponent { } let activeObj = this.activeObjService.getSelectedObj(); - activeObj.name = newID; - console.log('Set new name to ' + newID + ' for ' + this.activeObjService.objType); this.editMode = false; + if (activeObj.name === newID) return; + activeObj.name = newID; + // A name is carried in the URL like everything else, so a rename is an edit + // and belongs in the history. Without this it was the one change to the + // drawing that Undo could not take back. + this.mechanismService.updateMechanism(true); } exitEditModeWithoutSaving() { diff --git a/src/app/component/MODALS/templates/templates.component.scss b/src/app/component/MODALS/templates/templates.component.scss index f15067b6..643a000a 100644 --- a/src/app/component/MODALS/templates/templates.component.scss +++ b/src/app/component/MODALS/templates/templates.component.scss @@ -66,13 +66,16 @@ //blending mode darken } - //Increase elevation when hovering - &:hover { + // Lifted on hover -- on the card, not on the wrapper around it. The + // wrapper is a square box behind a rounded card, so a shadow on it drew a + // second, squarer shadow a few pixels out from the card's own. + &:hover #normalPanel { @include mat.elevation(4); } - //delay the hover effect - transition: all 0.1s ease-in-out; + #normalPanel { + transition: box-shadow 0.1s ease-in-out; + } } .linkage-grid { @@ -82,7 +85,9 @@ // Add a 10px gap grid-gap: 20px; padding: 24px; - padding-top: 0px; + // Not zero: the cards cast a shadow upwards too, and the list scrolls, so + // with nothing above them the top row's shadow was cut off square. + padding-top: 6px; //Set all the cards to the same height } @@ -109,11 +114,12 @@ } } -// The dev section's heading and its cards, which have no artwork to show. -// Lined up with the cards under it, which carry the grid's own left inset. +// A section's name, on the same left edge as the cards under it -- which is +// the grid's own 24px inset, not a 10px one that left the heading hanging out +// to the left of everything it names. .section-heading { - margin: 4px 0 10px; - padding-left: 10px; + margin: 4px 0 12px; + padding: 0 24px; font-size: 15px; font-weight: 500; color: rgba(0, 0, 0, 0.55); @@ -123,7 +129,11 @@ // variant to cross-fade to, and so no absolutely-positioned copy landing on // top of the words. The bottom padding is the Open button's room. .dev-note { + // On the card's own text gutter, the one its title sits on: the image runs + // to the card's edges, and text that followed it there read as a caption + // pressed against the border. margin: 8px 0 0; + padding: 0 15px; // Clear of the Open button, which is positioned against the card's bottom // right corner -- text flowing under it is text the button cuts in half. padding-bottom: 52px; diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.html b/src/app/component/analysis-graph-section/analysis-graph-section.component.html index b256a8a4..f636df6a 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.html +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.html @@ -62,6 +62,8 @@ [mechProp]="mechProp" [mechPart]="mechPart" [reactionLinkId]="reactionLinkId" + [initialSeries]="shownSeries" + (shownSeriesChange)="adoptSeries($event)" > }
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  • diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss index 28df2d5d..ee03712f 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss @@ -15,7 +15,16 @@ // On the panel's own text gutter, so the card's edges line up with the // paragraph above it rather than running the full width of the panel. margin: 0 15px 8px; - overflow: hidden; + // Room for the read-out that rides the plot. + // + // Apex draws the value at the playhead in a little bordered box, and at the + // top or the far right of a plot that box sticks out past the plot's own + // frame -- which is a couple of pixels inside this card, so the card was + // cutting the number in half. `clip` with a margin lets exactly that much + // out and no more, so the card still clips its corners and still hides the + // plot while the card is closing. + overflow: clip; + overflow-clip-margin: 30px; &.closed { cursor: pointer; @@ -144,6 +153,9 @@ // margin. .graphBody { padding: 0 12px 8px; - overflow: hidden; + // As the card above: the height animation needs this clipped, the playhead + // read-out needs a little of it back. + overflow: clip; + overflow-clip-margin: 30px; } } diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts index 0707b846..686e4aef 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts @@ -1,5 +1,4 @@ import { - AfterViewChecked, ChangeDetectionStrategy, Component, EventEmitter, @@ -8,7 +7,11 @@ import { ViewChild, } from '@angular/core'; import { animate, AUTO_STYLE, state, style, transition, trigger } from '@angular/animations'; -import { AnalysisGraphComponent } from '../analysis-graph/analysis-graph.component'; +import { + AnalysisGraphComponent, + defaultSeriesSelection, + SeriesSelection, +} from '../analysis-graph/analysis-graph.component'; import { MechanismService } from '../../services/mechanism.service'; import { SettingsService } from '../../services/settings.service'; import { AnalysisSampleService } from '../../services/analysis-sample.service'; @@ -48,7 +51,7 @@ export interface SeriesPreview { changeDetection: ChangeDetectionStrategy.Eager, standalone: false, }) -export class AnalysisGraphSectionComponent implements AfterViewChecked { +export class AnalysisGraphSectionComponent { @Input() label = ''; @Input() help = ''; @Input() analysis = ''; @@ -73,6 +76,15 @@ export class AnalysisGraphSectionComponent implements AfterViewChecked { * solving every sample of every collapsed graph to answer that would cost * more than the graphs themselves. */ + /** + * The last answer, and what it was an answer to. + * + * Reading one sample means solving the mechanism at that pose, and the + * template asks this three times per pass -- to decide whether to draw the + * row, to draw it, and to size the legend. Once per pose is enough. + */ + private previewCache?: { key: string; mechanism: unknown; series: SeriesPreview[] }; + get preview(): SeriesPreview[] { const mechanism = this.mechanismFor(); if (!mechanism) return []; @@ -86,6 +98,20 @@ export class AnalysisGraphSectionComponent implements AfterViewChecked { : this.mechanismService.currentSampleOf(at), mechanism.joints.length - 1 ); + const key = [ + step, + this.settings.lengthUnit.value, + this.settings.angleUnit.value, + this.settings.forceUnit.value, + this.analysis, + this.analysisType, + this.mechProp, + this.mechPart, + this.reactionLinkId, + ].join('|'); + if (this.previewCache?.key === key && this.previewCache.mechanism === mechanism) { + return this.previewCache.series; + } const values = this.samples.sampleAt( mechanism, Math.max(step, 0), @@ -95,20 +121,19 @@ export class AnalysisGraphSectionComponent implements AfterViewChecked { this.mechPart, this.reactionLinkId ); - if (values.length === 0) return []; - const names = this.seriesNames(values.length); const keys: ('x' | 'y' | 'z')[] = ['x', 'y', 'z']; const unit = this.unitFor(); - return values.map((value, index) => ({ + const series = values.map((value, index) => ({ key: keys[index], name: names[index], color: this.colorFor(names[index]), text: Number.isFinite(value) ? `${roundNumber(value, 2).toFixed(2)} ${unit}`.trim() : '—', })); + this.previewCache = { key, mechanism, series }; + return series; } - /** Whether the open graph is drawing this series. Closed, everything reads. */ /** * Which series the legend is showing, held here rather than asked of the * graph. @@ -116,40 +141,57 @@ export class AnalysisGraphSectionComponent implements AfterViewChecked { * The graph only exists while the section is open, so asking it during the * template's own evaluation gave a different answer before and after the * child was created in that same pass -- which Angular reports as NG0100 - * against the legend's own class. + * against the legend's own class. Held here, it also survives the card being + * closed and opened again, which is what a reader who turned a line off + * expects. + * + * Undefined until the reader has an opinion, which is when the graph's own + * default stands: the same default, computed from the same two facts, so the + * legend and the plot agree on the very first frame rather than the legend + * lighting everything up over a plot drawing one line. */ - private hidden = new Set<'x' | 'y' | 'z'>(); + private chosen?: SeriesSelection; - isShown(key: 'x' | 'y' | 'z'): boolean { - return !this.hidden.has(key); - } + /** + * The default, held rather than made fresh each time it is asked for. + * + * It is handed to the graph as an input, and a new object every pass would + * read as a new value -- which rebuilds the chart, which asks again. + */ + private fallback = defaultSeriesSelection(0, ''); + private fallbackFor = -1; - toggleSeries(key: 'x' | 'y' | 'z'): void { - if (this.hidden.has(key)) this.hidden.delete(key); - else this.hidden.add(key); - this.graph?.toggleSeries(key); + get shownSeries(): SeriesSelection { + if (this.chosen) return this.chosen; + const count = this.preview.length; + if (count !== this.fallbackFor) { + this.fallbackFor = count; + this.fallback = defaultSeriesSelection(count, this.analysis); + } + return this.fallback; } - /** The graph this section has already handed its legend state to. */ - private syncedWith?: AnalysisGraphComponent; + isShown(key: 'x' | 'y' | 'z'): boolean { + return this.shownSeries[key]; + } /** - * Hand the graph the legend's state once, when it arrives. + * The graph reporting what it is drawing, which is the legend's own state. * - * On a later turn of the loop, not this one: patching the graph's form - * rebuilds the series it is bound to, and doing that inside the pass that is - * checking those bindings is the other half of NG0100. + * By value, not by object: the graph reports after every rebuild, and taking + * a fresh object each time would change an input it is bound to, which + * rebuilds it, which reports again. */ - ngAfterViewChecked(): void { - const graph = this.graph; - if (!graph || graph === this.syncedWith) return; - this.syncedWith = graph; - setTimeout(() => { - if (this.graph !== graph) return; - (['x', 'y', 'z'] as const).forEach((key) => { - if (graph.isSeriesShown(key) !== this.isShown(key)) graph.toggleSeries(key); - }); - }); + adoptSeries(selection: SeriesSelection): void { + const shown = this.shownSeries; + const same = shown.x === selection.x && shown.y === selection.y && shown.z === selection.z; + this.chosen = same ? shown : selection; + } + + toggleSeries(key: 'x' | 'y' | 'z'): void { + const next = { ...this.shownSeries, [key]: !this.isShown(key) }; + this.chosen = next; + this.graph?.toggleSeries(key); } /** diff --git a/src/app/component/analysis-graph/analysis-graph.component.html b/src/app/component/analysis-graph/analysis-graph.component.html index 6406e206..ad386b50 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.html +++ b/src/app/component/analysis-graph/analysis-graph.component.html @@ -29,18 +29,7 @@ [legend]="chartOptions.legend!" > - - - + } diff --git a/src/app/component/analysis-graph/analysis-graph.component.scss b/src/app/component/analysis-graph/analysis-graph.component.scss index 849ce557..f31523bd 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.scss +++ b/src/app/component/analysis-graph/analysis-graph.component.scss @@ -11,23 +11,17 @@ $background: map.get($theme, background); $foreground: map.get($theme, foreground); - // Stands where the chart would, so nothing has to guess its height. - // Under the plot, full width, quiet: it is an export rather than the thing - // the card is for. - #csvDownload { - display: flex; - align-items: center; - justify-content: center; - gap: 6px; - width: 100%; - margin-top: 4px; - } - + // Stands where the chart would, at the chart's own height. + // + // Shorter, it was: turning the last series off shrank the card by ninety + // pixels, and in a panel scrolled to the bottom the browser clamps the scroll + // to the shorter content and does not put it back -- so a click on the legend + // of the last graph scrolled the panel out from under the pointer. .graphPlaceholder { display: flex; align-items: center; justify-content: center; - min-height: 160px; + min-height: 244px; margin: 4px 0 8px; border: 1px dashed #dfe1ea; border-radius: var(--border-radius); @@ -45,8 +39,13 @@ // A single-series graph is shorter, not lifted: the -40px here closed the gap // the old checkbox row left behind, and with that row gone it pulled the plot // up over the values above it. + // + // The floor is the height the chart draws itself at. Apex empties its host + // for an instant while it re-lays a chart out, and a host that collapses to + // nothing takes the panel's scroll position with it. app-analysis-apex-chart { display: block; + min-height: 250px; } // The chart draws itself 250px tall; a host shorter than that does not make @@ -62,6 +61,16 @@ margin-bottom: -6px; } + // Apex clips at its own SVG, which sits a few pixels inside the card -- so + // the read-out box that rides the playhead lost its right-hand edge near the + // end of a cycle, and its top at the peak of a curve. The series are clipped + // by a mask of their own rather than by this, so letting the SVG overflow + // frees the labels and moves nothing else. The card outside it still clips, + // with a margin wide enough to hold a label and no more. + .apexcharts-svg { + overflow: visible !important; + } + // A container Apex leaves in the DOM with a border on it whether or not there // is anything to say. Empty, it reads as a stray box floating over the plot, // and half of one while the card is opening. diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index 7957af40..85355b5d 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -204,21 +204,6 @@ describe('AnalysisGraphComponent production fixtures', () => { analyze.mockRestore(); }); - it('uses mechanism timestamps identically in chart points and CSV output', () => { - const fixture = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); - const component = createComponent(fixture); - const input = fixture.mechanism.joints[0].find( - (joint): joint is RealJoint => joint instanceof RealJoint && joint.input - )!; - component.determineChart('force', 'dynamic', 'Input Effort', input.id); - - const csvRows = component.buildCSVContent().trim().split('\n').slice(1); - expect(csvRows).toHaveLength(fixture.mechanism.timeNum.length); - csvRows.forEach((row, index) => { - expect(Number(row.split(',')[0])).toBeCloseTo(fixture.mechanism.timeNum[index], 12); - }); - }); - it('produces mode-dependent dynamic input effort', () => { const fixture = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); const component = createComponent(fixture); @@ -299,7 +284,6 @@ describe('AnalysisGraphComponent production fixtures', () => { ).y; expect(component.chartOptions.yaxis!.title!.text).toBe('Force (lbf)'); expect(lbfValue).toBeCloseTo(newtonValue * 0.22480894387096, 3); - expect(component.buildCSVContent().split('\n')[0]).toContain('(lbf)'); }); }); diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 8a15a5c3..ea302c10 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -1,7 +1,9 @@ import { AfterViewInit, Component, + EventEmitter, Input, + Output, OnChanges, OnDestroy, OnInit, @@ -78,6 +80,58 @@ export function formatAxisEnd(value: number): string { return rounded.toFixed(1); } +/** Apex's own fallback, kept by name so the axis can be handed back to it. */ +export const FLOOR_OF = (min: number) => Math.floor(min); +export const CEIL_OF = (max: number) => Math.ceil(max); + +/** + * A y axis whose gridlines land on round numbers -- zero among them. + * + * Both limits are whole multiples of one step, so every line between them is + * too. Undefined for a flat series, where there is no range to divide and + * Apex's own choice is as good as any. + */ +export function niceAxisScale( + low: number, + high: number +): { min: number; max: number; tickAmount: number } | undefined { + if (!Number.isFinite(low) || !Number.isFinite(high) || high <= low) return undefined; + const magnitude = Math.pow(10, Math.floor(Math.log10((high - low) / 4))); + const step = + [1, 2, 2.5, 5, 10] + .map((factor) => factor * magnitude) + .find((size) => size >= (high - low) / 4) ?? 10 * magnitude; + // Away from binary noise: 0.1 + 0.2 arithmetic leaves limits like -1.0000000000000002, + // which Apex prints in full. + const round = (value: number) => Number(value.toPrecision(12)); + const min = round(Math.floor(low / step) * step); + const max = round(Math.ceil(high / step) * step); + return { min, max, tickAmount: Math.max(1, Math.round((max - min) / step)) }; +} + +/** Which of a graph's three series it draws. */ +export interface SeriesSelection { + x: boolean; + y: boolean; + z: boolean; +} + +/** + * Which series a graph opens on. + * + * Force graphs open on the X and Y components, since the direction of a + * reaction is what is being read; kinematic graphs lead with the magnitude. A + * single-series graph only ever has the magnitude to show. + * + * Exported because the legend above the plot has to say the same thing on the + * very first frame. It used to ask the graph, and the graph did not exist yet, + * so the legend showed everything lit while the plot drew one line. + */ +export function defaultSeriesSelection(count: number, analysis: string): SeriesSelection { + const showComponents = count === 2 || (count === 3 && analysis === 'force'); + return showComponents ? { x: true, y: true, z: false } : { x: false, y: false, z: true }; +} + @Component({ selector: 'app-analysis-graph', templateUrl: './analysis-graph.component.html', @@ -221,12 +275,8 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, fontWeight: 400, }, }, - min: function (min) { - return Math.floor(min); - }, - max: function (max) { - return Math.ceil(max); - }, + min: FLOOR_OF, + max: CEIL_OF, title: { text: 'setLater', style: { @@ -256,6 +306,18 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, @Input() mechPart: string = ''; @Input() reactionLinkId: string = ''; + /** + * Which series to open on, when the card above already has an opinion. + * + * The legend is outside this component and survives the card being closed and + * opened again, so it is the legend that remembers what the reader last chose + * and hands it back here. + */ + @Input() initialSeries?: SeriesSelection; + + /** What this graph is actually drawing, whenever that changes. */ + @Output() shownSeriesChange = new EventEmitter(); + //Get the child element in the template with "#chart" @ViewChild('chart', { static: false }) chart!: AnalysisApexChartComponent; @@ -286,7 +348,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, .map((series) => series.name) .filter((name): name is string => !!name); const plotted = names.length ? `, plotting ${names.join(', ')}` : ''; - return `Graph of ${this.graphLabel} over one cycle${plotted}. The same data is available as a CSV below.`; + return `Graph of ${this.graphLabel} over one cycle${plotted}. The same numbers are available from Export Data in the top strip.`; } noDataSelected: boolean = false; @@ -317,6 +379,9 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, ngOnChanges(changes: SimpleChanges): void { if (!changes || !this.analysis || !this.mechProp || !this.mechPart) return; + // The legend handing back what it remembers is not a change to what is + // plotted, and rebuilding the chart for it would be a rebuild per click. + if (Object.keys(changes).every((name) => name === 'initialSeries')) return; this.updateChartData(); } @@ -381,15 +446,10 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, this.chartSyncTimer = setTimeout(() => { if (this.destroyed) return; if (resetSelection) { - // Force graphs open on the X/Y components, since the direction of a - // reaction is what's being read; kinematic graphs still lead with the - // magnitude. A single-series graph only ever has the magnitude to show. - const showComponents = - this.numberOfSeries === 2 || (this.numberOfSeries === 3 && this.analysis === 'force'); - const selection = showComponents - ? { x: true, y: true, z: false } - : { x: false, y: false, z: true }; - this.seriesCheckboxForm.patchValue(selection, { emitEvent: false }); + this.seriesCheckboxForm.patchValue( + this.initialSeries ?? defaultSeriesSelection(this.numberOfSeries, this.analysis), + { emitEvent: false } + ); } this.applySeriesVisibility(); this.updateYAxis(); @@ -440,9 +500,40 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, ); this.displayedColors = this.displayedSeries.map((series) => this.colorForSeries(series.name)); this.noDataSelected = this.displayedSeries.length === 0; + this.applyYAxisScale(); + this.shownSeriesChange.emit({ x: !!data.x, y: !!data.y, z: !!data.z }); if (this.chart) this.showAnnotations(this.mechanismService.mechanismTimeStep); } + /** + * Where the y axis starts, stops, and puts its lines. + * + * Apex picks its own round numbers, and for a series running from -1.1 to 2.0 + * it drew lines at 0.3, 1.0 and 1.7 -- so a graph that crosses zero, which is + * usually the fact the reader came for, had nothing marking where it does. + * Every tick here is a whole number of one step away from a limit that is + * itself a whole number of steps, so zero is a line whenever it is in range. + */ + private applyYAxisScale(): void { + const values: number[] = []; + this.displayedSeries.forEach((series) => + series.data.forEach((point) => { + const value = this.pointValue(point); + if (value !== null) values.push(value); + }) + ); + const yaxis = this.chartOptions.yaxis!; + const scale = values.length + ? niceAxisScale(Math.min(...values), Math.max(...values)) + : undefined; + this.chartOptions = { + ...this.chartOptions, + yaxis: scale + ? { ...yaxis, min: scale.min, max: scale.max, tickAmount: scale.tickAmount } + : { ...yaxis, min: FLOOR_OF, max: CEIL_OF, tickAmount: undefined }, + }; + } + private updateYAxis(): void { if (!this.chart) return; const chartInput = (this.chart as unknown as { chart?: () => unknown }).chart; @@ -564,80 +655,6 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, return null; } - private pointTime(point: unknown, index: number, times: number[]): number { - if (point && typeof point === 'object' && 'x' in point) { - const value = (point as { x: unknown }).x; - if (typeof value === 'number' && Number.isFinite(value)) return value; - } - return times[index] ?? index; - } - - buildCSVContent(): string { - const times = this.mechanismFor(this.mechPart)?.timeNum ?? []; - const xSeries = this.chartOptions.series?.find((s) => s.name === 'X'); - const ySeries = this.chartOptions.series?.find((s) => s.name === 'Y'); - const zSeries = this.chartOptions.series?.find((s) => s.name === 'Z'); - const source = xSeries ?? ySeries ?? zSeries; - const timeSteps = source?.data.length ?? 0; - const fileName = this.chartOptions.yaxis?.title?.text || 'Z'; - const yAxisUnit = fileName.split(' ').pop()?.replace('Â', '') ?? ''; - let csvContent = ''; - if (!xSeries && !ySeries) { - csvContent += 'Time (seconds),Time (steps),' + fileName + '\n'; - for (let i = 0; i < timeSteps; i++) { - csvContent += - this.pointTime(zSeries?.data[i], i, times) + - ',' + - i + - ',' + - (this.pointValue(zSeries?.data[i]) ?? '') + - '\n'; - } - } else if (!zSeries) { - csvContent += 'Time (seconds),Time (steps),X ' + yAxisUnit + ',Y ' + yAxisUnit + '\n'; - for (let i = 0; i < timeSteps; i++) { - csvContent += - this.pointTime(xSeries?.data[i], i, times) + - ',' + - i + - ',' + - (this.pointValue(xSeries?.data[i]) ?? '') + - ',' + - (this.pointValue(ySeries?.data[i]) ?? '') + - '\n'; - } - } else { - csvContent += 'Time (seconds),Time (steps),' + fileName + ', X-comp,Y-comp\n'; - for (let i = 0; i < timeSteps; i++) { - csvContent += - this.pointTime(zSeries.data[i], i, times) + - ',' + - i + - ',' + - (this.pointValue(zSeries.data[i]) ?? '') + - ',' + - (this.pointValue(xSeries?.data[i]) ?? '') + - ',' + - (this.pointValue(ySeries?.data[i]) ?? '') + - '\n'; - } - } - return csvContent; - } - - downloadCSV() { - const encodedUri = encodeURI('data:text/csv;charset=utf-8,' + this.buildCSVContent()); - const link = document.createElement('a'); - link.setAttribute('href', encodedUri); - const fileName = this.chartOptions.yaxis?.title?.text || 'Analysis'; - // Several rows can graph the same joint, one per reacting link. - const part = this.reactionLinkId ? `${this.mechPart}_${this.reactionLinkId}` : this.mechPart; - link.setAttribute('download', part + '_' + fileName + '.csv'); - document.body.appendChild(link); - link.click(); - link.remove(); - } - /** * The machine that owns the part being graphed. * diff --git a/src/app/component/analysis-panel/analysis-panel.component.html b/src/app/component/analysis-panel/analysis-panel.component.html index 0bdaadd6..59d03f06 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.html +++ b/src/app/component/analysis-panel/analysis-panel.component.html @@ -240,11 +240,11 @@ (mouseenter)="highlightCoM(true)" (mouseleave)="highlightCoM(false)" > - Centre of mass + Center of Mass
    * { + width: 100%; + box-sizing: border-box; + flex: 0 0 auto; + } + .setupHead { + position: sticky; + top: 0; + z-index: 2; padding: 12px 15px 12px; + background: var(--card-surface); } .setupTitle { diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index fd40a392..f43bcc8b 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -87,17 +87,24 @@ .panel { position: absolute; top: nav.$panel-top; - left: nav.$frame-inset; + // Flush with the window on its own side, and the card set in from there by + // the one gap. The frame used to start $shadow-room short of the card, which + // once the shadow needed more room than the gap is wide put the frame four + // pixels off the edge of the window -- and a box hanging off the window is a + // page that can be scrolled sideways. + left: 0; // The inset is the frame's, not the wrapper's inside it: the frame is what // clips, so it is the frame that has to leave the card's shadow somewhere // to fall. It used to be a margin on the wrapper, which put the card 10px // past the bottom of a frame capped at the frame's own height and cut the - // shadow off there. + // shadow off there. Only three sides need it: on the fourth the window + // itself is the edge, and a shadow fading off the screen fades off it. padding: nav.$shadow-room; + padding-left: nav.$card-inset; box-sizing: border-box; overflow-x: hidden; overflow-y: auto; - --panel-clearance: #{nav.$bottom-bar-height + 12px}; + --panel-clearance: #{nav.$panel-bottom-clearance}; max-height: calc(100% - #{nav.$top-strip-height} - var(--panel-clearance)); max-width: calc(100vw - 24px); display: flex; @@ -110,7 +117,7 @@ // it, so the panel can run down to the status strip like it does in the // other modes. @media (min-width: nav.$cluster-clears-panel) { - --panel-clearance: #{nav.$bottom-bar-height + 12px}; + --panel-clearance: #{nav.$panel-bottom-clearance}; } } diff --git a/src/app/component/left-tabs/left-tabs.component.ts b/src/app/component/left-tabs/left-tabs.component.ts index 62065d46..36457ef5 100644 --- a/src/app/component/left-tabs/left-tabs.component.ts +++ b/src/app/component/left-tabs/left-tabs.component.ts @@ -10,11 +10,16 @@ import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; animations: [ trigger('openClose', [ // ... + // The card's own width, plus the gap it keeps from the window on one side + // and the room its shadow needs on the other -- `$card-inset` and + // `$shadow-room` in left-tabs.vars.scss. An animation state is a style + // written onto the element, so it beats the stylesheet and these two have + // to be kept in step by hand: 250 + 12 + 16, and 400 + 12 + 16. state( 'open', style({ transform: 'translateX(0)', - width: '270px', //Be careful, there are multiple places to change this value + width: '278px', //Be careful, there are multiple places to change this value }) ), state( @@ -26,7 +31,7 @@ import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; state( 'openWide', style({ - width: '420px', //Be careful, there are multiple places to change this value + width: '428px', //Be careful, there are multiple places to change this value }) ), transition('open => openWide', [animate('0.1s ease-in-out')]), diff --git a/src/app/component/left-tabs/left-tabs.vars.scss b/src/app/component/left-tabs/left-tabs.vars.scss index b93cf989..4763270a 100644 --- a/src/app/component/left-tabs/left-tabs.vars.scss +++ b/src/app/component/left-tabs/left-tabs.vars.scss @@ -10,8 +10,15 @@ /** The one gap. Between a card and the window, and between a card and a card. */ $card-inset: 12px; -/** Air a card needs around it inside a frame that clips, for its shadow. */ -$shadow-room: 10px; +/** + * Air a card needs around it inside a frame that clips, for its shadow. + * + * Read off `--card-shadow`, not chosen: its widest layer is `0 6px 10px`, which + * reaches 6 + 10/2 = 11px below the card, and `0 1px 18px` reaches 10px to the + * sides. 10px was a pixel under both, which is why every scrolling panel ended + * in a shadow that stopped square instead of fading out. + */ +$shadow-room: 16px; /** Height of the cards along the top. */ $top-card-height: 48px; @@ -40,3 +47,13 @@ $cluster-clears-panel: 1340px; // Height of app-bottombar. $bottom-bar-height: 26px; + +/** + * How far a panel's *frame* stops short of the bottom in the non-analysis + * modes, so its *card* stops $card-inset above the status strip. + * + * The card sits $shadow-room inside the frame, so the frame has to stop that + * much sooner than the card is meant to. Measuring the frame as though it were + * the card left 22px under the panel against 12px over it. + */ +$panel-bottom-clearance: $bottom-bar-height + $frame-inset; diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 1a28a200..a0e6bf4e 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -3,6 +3,7 @@ display="block" width="100%" height="100%" + [class.geometryLocked]="geometryLocked" [cdkContextMenuTriggerFor]="context_menu" (contextmenu)="onContextMenu($event)" (pointermove)="mouseMove($event)" @@ -537,7 +538,7 @@ class="dangling-block" [attr.d]="mark.block" fill="none" - stroke="#F44336" + [attr.stroke]="orphanMarkInk" [attr.stroke-width]="svgGrid.scaleWithZoom(4)" /> @@ -671,9 +672,9 @@ [attr.r]="0.25 * settings.objectScale" [attr.cx]="joint.x" [attr.cy]="joint.y" - [attr.fill]="'#c5cae9'" + [attr.fill]="orphanMarkFill" [attr.fill-opacity]="0.7" - [attr.stroke]="'#F44336'" + [attr.stroke]="orphanMarkInk" [attr.stroke-width]="svgGrid.scaleWithZoom(3)" > } @@ -1008,7 +1009,8 @@ @for (force of mechanismSrv.getForces(); track force) { @@ -1093,7 +1096,8 @@ " height="10" width="10" - style="overflow: visible; cursor: move" + cursor="move" + style="overflow: visible" > @@ -1117,7 +1121,8 @@ what is about to happen instead. --> {{ mergeLabel }} @@ -1131,7 +1136,8 @@ ) { {{ joint.name }} @@ -1155,7 +1161,7 @@ mechanismSrv.getLinkProp(link, 'CoM_d1'), mechanismSrv.getLinkProp(link, 'CoM_d2'), mechanismSrv.getLinkProp(link, 'CoM_d3'), - mechanismSrv.getLinkProp(link, 'CoM_d4') + mechanismSrv.getLinkProp(link, 'CoM_d4'), ]; track $index ) { @@ -1175,37 +1181,44 @@ } + @for (link of mechanismSrv.getLinks(); track link) { - - - @if ( - this.showLinkLengthOverlay < -1 && - this.showLinkAngleOverlay < -1 && - !isSecondaryCylinderTag(link) && - gridUtils.typeOfLink(link) !== 'P' - ) { - - - {{ linkDisplayName(link) }} - - } - + @if (linkLabelStyle(link); as tag) { + + + @if ( + this.showLinkLengthOverlay < -1 && + this.showLinkAngleOverlay < -1 && + !isSecondaryCylinderTag(link) && + gridUtils.typeOfLink(link) !== 'P' + ) { + + + {{ tag.name }} + + } + + } } @@ -1222,7 +1235,7 @@ force.showHighlight || (this.activeObjService.selectedForce == force && this.activeObjService.objType == 'Force') ) { - + {{ force.name }} } diff --git a/src/app/component/new-grid/new-grid.component.scss b/src/app/component/new-grid/new-grid.component.scss index b6c4ba87..3570e955 100644 --- a/src/app/component/new-grid/new-grid.component.scss +++ b/src/app/component/new-grid/new-grid.component.scss @@ -114,6 +114,14 @@ fill: #d9dbe2; } + // Geometry is frozen in the analysis modes, so the four-headed move cursor is + // an offer the mode will not honour: the drag it promises does nothing. These + // parts can still be *clicked*, to choose what the panel graphs, which is + // what a pointer says. + #canvas.geometryLocked [cursor='move'] { + cursor: pointer; + } + #mouseLocation { position: absolute; top: 35px; diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 2b6f4ff0..59a0bde1 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -2655,6 +2655,61 @@ export class NewGridComponent implements OnDestroy { return !!sealed && link.id !== sealed.barrel.id; } + /** Nothing on the canvas can be moved in an analysis mode. */ + get geometryLocked(): boolean { + return this.tabService.isAnalysisMode(); + } + + /** + * The ink the "this is not attached to anything" marks are drawn in. + * + * Red on the canvas means "fix this", which is a thing to do in Edit. In an + * analysis mode the same geometry is scenery -- greyed out, not analysed, not + * even selectable -- so a red ring around it is the loudest thing on a canvas + * about something the reader cannot act on and did not ask about. It goes + * grey with the rest of the body it marks. + */ + get orphanMarkInk(): string { + return this.tabService.isAnalysisMode() ? '#b6bac6' : '#F44336'; + } + + /** The pale fill inside that mark, likewise. */ + get orphanMarkFill(): string { + return this.tabService.isAnalysisMode() ? '#d9dbe2' : '#c5cae9'; + } + + /** + * How big a name on the canvas is drawn, for joints, links and forces alike. + * + * A fraction of the object scale rather than a pixel size, so a name keeps + * its proportion to the part it names at every zoom level. + */ + get tagFontSize(): number { + return this.settings.objectScale * 0.2; + } + + /** + * The angle a link's name is written at, in degrees clockwise from flat. + * + * A bar is long and thin, and a name longer than a couple of letters written + * across it hangs off both edges. Written along it, it has the whole bar to + * sit in. Only bars: a compound body is not a direction, and a two-letter + * name already fits, so both stay level and stay easy to read. + * + * Kept within a quarter turn of flat, so the name is never upside down. + */ + private linkLabelAngle(link: Link, name: string): number { + if ((link.joints?.length ?? 0) !== 2) return 0; + if (name.length <= 2) return 0; + const [from, to] = link.joints; + // Screen degrees: y runs down here, and the label sits in a frame that has + // already flipped it, so the rise is negated. + let angle = (Math.atan2(-(to.y - from.y), to.x - from.x) * 180) / Math.PI; + if (angle > 90) angle -= 180; + if (angle < -90) angle += 180; + return Math.round(angle * 10) / 10; + } + /** * Where a link's name goes, and in what ink. * @@ -2671,7 +2726,16 @@ export class NewGridComponent implements OnDestroy { * with a channel down it, so the name goes in the channel, in full black: * there is no body colour behind it there to be read against. */ - linkLabelStyle(link: Link): { x: number; y: number; ink: string; opacity: number } { + linkLabelStyle(link: Link): { + x: number; + y: number; + ink: string; + opacity: number; + name: string; + angle: number; + } { + const name = this.linkDisplayName(link); + const angle = this.linkLabelAngle(link, name); const slot = this.slotCarriedBy(link); if (slot) { const [from, to] = [slot.slotJointA!, slot.slotJointB!]; @@ -2680,6 +2744,8 @@ export class NewGridComponent implements OnDestroy { y: (from.y + to.y) / 2, ink: 'black', opacity: 1, + name, + angle, }; } const parts = (link instanceof RealLink ? link.subset : []) ?? []; @@ -2700,7 +2766,7 @@ export class NewGridComponent implements OnDestroy { parts.length === 0 ? link : parts.reduce((best, part) => (span(part) > span(best) ? part : best)); - return { ...middleOf(on), ink: this.linkLabelInk(link), opacity: 0.55 }; + return { ...middleOf(on), ink: this.linkLabelInk(link), opacity: 0.55, name, angle }; } /** The slot this bar carries, if it is a plain bar carrying one. */ diff --git a/src/app/component/playback-bar/playback-bar.component.html b/src/app/component/playback-bar/playback-bar.component.html index f417cf9e..8e7b3ab0 100644 --- a/src/app/component/playback-bar/playback-bar.component.html +++ b/src/app/component/playback-bar/playback-bar.component.html @@ -1,6 +1,10 @@ -
    +
    + @if (tabs.isAnalysisMode()) { -
    +
    -
    +
    @if (canSync) { @@ -93,9 +97,5 @@
    } - -
    -
    diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index 0928bc3b..675e98c8 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -1,6 +1,5 @@ @use 'sass:map'; @use '@angular/material' as mat; -@use '../left-tabs/left-tabs.vars' as nav; // Every measurement in this file comes from the mock's own inline styles rather // than from an eye: the bottom cluster was tuned there, and re-deriving it by @@ -8,6 +7,11 @@ @mixin css($theme) { $primary-palette: map.get(mat.m2-get-color-config($theme), 'primary'); + // Right-aligned in every mode, so the view controls at its right-hand end sit + // in exactly the same place whatever mode is open. They used to be pushed + // there by a growing spacer in Edit and centred with the transport in + // analysis, which moved them -- twice, and by different amounts at different + // window widths. .playbackRow { position: absolute; left: 0; @@ -15,7 +19,7 @@ bottom: 38px; display: flex; align-items: flex-end; - justify-content: center; + justify-content: flex-end; // The sync tab hangs 26px off the top of the scrub card, so a wrapped row // needs that much again between lines or the tab lands on the card above // it. Column gap stays the cluster's own. @@ -24,33 +28,6 @@ padding: 0 var(--card-gap); z-index: 8; pointer-events: none; - - // Out of the panel's way once there is room beside it. Centred, the - // cluster keeps a strip of the window free across its whole width, and the - // analysis panel stops well short of the bottom for a card that is not - // under it. - @media (min-width: nav.$cluster-clears-panel) { - &.analysis { - justify-content: flex-end; - } - } - } - - // A flex child at zero width still takes the row's gap on both sides, so the - // spacer -- which is nothing at all in analysis mode -- was widening the one - // gap in the cluster it sits in by double. Pull one gap back out of it. - .clusterSpacer { - flex-grow: 1; - flex-shrink: 0; - flex-basis: 0; - min-width: 0; - height: 1px; - margin-right: calc(-1 * var(--card-gap)); - transition: flex-grow 0.3s cubic-bezier(0.4, 0, 0.2, 1); - - &.analysis { - flex-grow: 0; - } } .transportCard { @@ -322,7 +299,7 @@ @media (max-width: 720px) { .playbackRow { flex-wrap: wrap; - justify-content: center; + justify-content: flex-end; // The scrub card goes to a line of its own here, and its sync tab hangs // 26px off its top edge -- into the transport card above it, unless the // line below is given room for it. @@ -331,10 +308,6 @@ padding: 0 8px; } - .clusterSpacer { - display: none; - } - .scrubCard { flex: 1 1 100%; min-width: 0; diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index 9bacdb2b..be145e23 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -1,4 +1,5 @@ import { ChangeDetectionStrategy, Component, OnDestroy, OnInit } from '@angular/core'; +import { animate, style, transition, trigger } from '@angular/animations'; import { Subscription } from 'rxjs'; import { MechanismService } from '../../services/mechanism.service'; import { SettingsService } from '../../services/settings.service'; @@ -58,6 +59,23 @@ export interface PlaybackRow { selector: 'app-playback-bar', templateUrl: './playback-bar.component.html', styleUrls: ['./playback-bar.component.scss'], + // Off the bottom of the window and back, rather than fading in place: these + // cards belong to the analysis modes, and a transport arriving from the edge + // it lives on reads as the mode bringing its own controls with it. + animations: [ + trigger('riseFromBottom', [ + transition(':enter', [ + style({ opacity: 0, transform: 'translateY(calc(100% + 38px))' }), + animate('260ms cubic-bezier(0.4, 0, 0.2, 1)', style({ opacity: 1, transform: 'none' })), + ]), + transition(':leave', [ + animate( + '200ms cubic-bezier(0.4, 0, 1, 1)', + style({ opacity: 0, transform: 'translateY(calc(100% + 38px))' }) + ), + ]), + ]), + ], changeDetection: ChangeDetectionStrategy.Eager, standalone: false, }) diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 840d93a7..83a7c42b 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -80,7 +80,11 @@ #rightPanel { position: absolute; top: nav.$panel-top; - right: nav.$frame-inset; + // Flush with the window; the card is set in from there by the gap, and the + // frame's own padding is what leaves the shadow room on the other three + // sides. Four pixels of frame hanging off the right of the window is four + // pixels the page can be scrolled sideways. + right: 0; box-sizing: border-box; overflow-x: hidden; overflow-y: auto; @@ -125,14 +129,31 @@ // 10px closer to the window edge -- the drawer visibly changed shape when you // switched between them. // The inset lives on the page rather than on the drawer around it: a closed - // drawer has no page, and padding on the drawer itself gave the closed one a - // 20px box that hung off the right of the window. + // drawer has no page, and padding on the drawer itself gives the closed one a + // box of exactly that width, which its parked transform then carries off the + // right of the window. + // `content-box`, so the width each page declares is its card's width and the + // inset is added around it. As a border-box it was subtracted instead, and a + // drawer that says 300 held a card of 272. #rightPanel > div { display: flex; flex-direction: column; gap: 10px; + box-sizing: content-box; padding: nav.$shadow-room; - box-sizing: border-box; + padding-right: nav.$card-inset; + min-height: 0; + } + + // Hand the drawer's height down to the setup card, which is what scrolls -- + // the same chain the left-hand panels use to keep their own title in place. + // Each step needs `min-height: 0`, or a flex item refuses to shrink below its + // content and the cap never reaches the card. + app-analysis-setup { + display: flex; + flex-direction: column; + flex: 1 1 auto; + min-height: 0; } #debugWrapper, diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index 58ddd01c..59fcbae8 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -38,11 +38,16 @@ import { UrlGenerationService } from 'src/app/services/url-generation.service'; animations: [ trigger('openClose', [ // ... + // The card's width, plus the gap it keeps from the window on one side and + // the room its shadow needs on the other -- `$card-inset` and + // `$shadow-room` in left-tabs.vars.scss: 300 + 12 + 16, and 500 + 12 + 16. + // These used to be the card widths alone, so every drawer came out + // narrower than the page inside it says it is. state( 'open', style({ transform: 'translateX(0)', - width: '300px', + width: '328px', }) ), state( @@ -60,7 +65,7 @@ import { UrlGenerationService } from 'src/app/services/url-generation.service'; state( 'openWide', style({ - width: '500px', //Be careful, there are multiple places to change this value + width: '528px', //Be careful, there are multiple places to change this value }) ), transition('open => openWide', [animate('0.1s ease-in-out')]), diff --git a/src/app/component/settings-panel/settings-panel.component.ts b/src/app/component/settings-panel/settings-panel.component.ts index b80e5999..d16d3e0f 100644 --- a/src/app/component/settings-panel/settings-panel.component.ts +++ b/src/app/component/settings-panel/settings-panel.component.ts @@ -9,7 +9,7 @@ import { Link, RealLink } from '../../model/link'; import { SvgGridService } from '../../services/svg-grid.service'; import { NumberUnitParserService } from '../../services/number-unit-parser.service'; import { Coord } from '../../model/coord'; -import { combineLatest, Subscription } from 'rxjs'; +import { combineLatest, skip, Subscription } from 'rxjs'; import { MODEL_SCALE } from '../../model/render-scale'; @Component({ @@ -61,7 +61,13 @@ export class SettingsPanelComponent implements OnDestroy { }); this.settingsSubscriptions.add( - SettingsService._objectScale.subscribe((val) => { + // `skip(1)`, because this is a BehaviorSubject: subscribing to it hands + // back the value the drawing is *already* drawn at, and acting on that + // re-derived every link's outline and re-solved every mechanism from + // scratch. On a forty-five joint linkage that is seven seconds of work to + // arrive at the picture already on screen -- which is why opening + // Settings, which changes nothing, was the slowest thing in the app. + SettingsService._objectScale.pipe(skip(1)).subscribe((val) => { this.currentObjectScaleSetting = val / MODEL_SCALE; this.settingsForm.patchValue( { objectScale: this.currentObjectScaleSetting.toString() }, diff --git a/src/app/component/top-bar/top-bar.component.html b/src/app/component/top-bar/top-bar.component.html index 7f63ce4c..a221ff31 100644 --- a/src/app/component/top-bar/top-bar.component.html +++ b/src/app/component/top-bar/top-bar.component.html @@ -98,18 +98,38 @@
    - @if (!tabs.isAnalysisMode()) { -
    - - -
    - } + +
    + @if (!tabs.isAnalysisMode()) { +
    + + +
    + } @else { +
    + +
    + } +
    @if (menuOpen) { diff --git a/src/app/component/top-bar/top-bar.component.scss b/src/app/component/top-bar/top-bar.component.scss index 39a6ff53..48579027 100644 --- a/src/app/component/top-bar/top-bar.component.scss +++ b/src/app/component/top-bar/top-bar.component.scss @@ -63,11 +63,21 @@ // card packed against the modes that made Undo and Redo shuffle sideways // every time. The gap is what moves now. .historyCard { + position: relative; gap: 6px; padding: 0 6px; flex: 0 0 auto; margin-left: auto; } + + // The two faces of that card, one leaving as the other arrives. The one on + // its way out is taken out of flow by the animation itself, so the card is + // sized by the one arriving rather than by both at once. + .cardFace { + display: flex; + align-items: center; + gap: 6px; + } } .tabStrip { diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts index 10e15f88..6017459d 100644 --- a/src/app/component/top-bar/top-bar.component.ts +++ b/src/app/component/top-bar/top-bar.component.ts @@ -22,6 +22,7 @@ import { UrlProcessorService } from '../../services/url-processor.service'; import { NewGridComponent } from '../new-grid/new-grid.component'; import { RightPanelComponent } from '../right-panel/right-panel.component'; import { TemplatesComponent } from '../MODALS/templates/templates.component'; +import { AnalysisExportService } from '../../services/analysis-export.service'; /** A mode's chip: whether that analysis can be entered, and what is missing. */ interface TabStatus { @@ -48,6 +49,22 @@ interface TabStatus { styleUrls: ['./top-bar.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, animations: [ + // Undo/Redo giving the corner over to Export Data, and back. The one on its + // way out leaves the flow, so the card takes the width of the one arriving + // instead of holding both. + trigger('swapFace', [ + transition(':enter', [ + style({ opacity: 0, transform: 'translateY(7px)' }), + animate('180ms cubic-bezier(0.4, 0, 0.2, 1)', style({ opacity: 1, transform: 'none' })), + ]), + transition(':leave', [ + style({ position: 'absolute', top: 0, right: '6px', bottom: 0 }), + animate( + '140ms cubic-bezier(0.4, 0, 0.2, 1)', + style({ opacity: 0, transform: 'translateY(-7px)' }) + ), + ]), + ]), // The same 200ms and easing the mode highlight slides on, so the menu and // everything else in this strip move as one piece of machinery. trigger('menuOpen', [ @@ -102,7 +119,8 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr private urlProcessor: UrlProcessorService, private dialog: MatDialog, private zone: NgZone, - private changes: ChangeDetectorRef + private changes: ChangeDetectorRef, + private exports: AnalysisExportService ) {} isDevMode(): boolean { @@ -318,6 +336,22 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr return !this.mechanism.isAnimating() && this.history.canRedo(); } + /** Everything the analysis panel is showing for the selection, as one CSV. */ + canExport(): boolean { + return this.exports.canExport(); + } + + exportTooltip(): string { + const subject = this.exports.subjectName(); + return subject + ? `Download every graph for ${subject} as a CSV` + : 'Select a joint or a link to export its data'; + } + + exportData(): void { + this.exports.download(); + } + undo(): void { this.history.undo(); } diff --git a/src/app/component/view-controls/view-controls.component.html b/src/app/component/view-controls/view-controls.component.html index 82be941d..68158076 100644 --- a/src/app/component/view-controls/view-controls.component.html +++ b/src/app/component/view-controls/view-controls.component.html @@ -1,4 +1,4 @@ -
    -

    - Static holds the mechanism still; In-motion includes the forces of movement. -

    } @for (group of flow.columnGroups(); track group.key) { @@ -161,42 +157,36 @@ }}

    } - - @if (hasMagnitude()) { -
    - Components - -
    - - -
    -
    -

    - Each row above says what it will write. Magnitude is √(X² + Y²), so only a rate or a force - has one to add. -

    - } } @if (flow.step === 3) {
    Format @for (choice of formats; track choice.key) { - +
    + + + +
    }
    @@ -281,17 +271,26 @@ >{{ fileName }}{{ flow.format === 'report' ? '' : flow.extension() }} {{ summaryLine }} - @if (flow.selectedColumns('forces').length > 0) { - - Every force column is headed - {{ flow.forceMode() === 'static' ? 'Static' : 'In-motion' }}, so the file says which - analysis it holds. - - }
    +
    diff --git a/src/app/component/notification/notification.component.scss b/src/app/component/notification/notification.component.scss new file mode 100644 index 00000000..8934eab7 --- /dev/null +++ b/src/app/component/notification/notification.component.scss @@ -0,0 +1,127 @@ +@use 'sass:map'; +@use '@angular/material' as mat; +@use 'src/app/component/left-tabs/left-tabs.vars.scss' as vars; + +@mixin css($theme) { + // Which colour each kind is written in. Only the icon and the edge are + // coloured -- the sentence stays the app's text colour, because a red + // sentence is harder to read and the glyph has already said which of the + // four this is. + $kinds: ( + 'success': #2e7d32, + 'refusal': #455a64, + 'warning': #ef6c00, + 'failure': #c62828, + ); + + // The snackbar renders in an overlay, outside the component tree, so these + // rules are global by necessity -- the same reason every other component's + // styles in this app are pulled into `mytheme.scss` rather than scoped. + .pmksNotification { + // Below the top strip rather than over it. It used to be pushed down by a + // bare 50px, which was neither the strip's height nor a gap from anything. + margin-top: vars.$top-strip-bottom + vars.$card-inset !important; + + // Material's own surface is the wrong shape for this app: a dark slab with + // white text. The card underneath is what everything else that floats over + // the grid looks like. + // + // Set through Material's own custom properties rather than by out-shouting + // its rules. Its surface selector has the same specificity as anything + // written here, so which one wins comes down to the order the two + // stylesheets happen to be concatenated in -- which is not something to + // rest a colour on. + --mat-snack-bar-container-color: var(--card-surface); + --mat-snack-bar-supporting-text-color: #2c2c2c; + + // Both spellings: the class was renamed between Material versions and the + // element carries the old one as well as the new. + .mat-mdc-snackbar-surface, + .mdc-snackbar__surface { + min-width: 0; + max-width: min(640px, 90vw); + padding: 0; + border-radius: var(--card-radius); + box-shadow: var(--card-shadow); + } + + .mat-mdc-snack-bar-label, + .mdc-snackbar__label { + padding: 0; + } + + app-notification { + display: flex; + align-items: flex-start; + gap: 10px; + // The colour bar is the whole left edge, so the padding starts after it. + padding: 12px 8px 12px 14px; + border-left: 4px solid transparent; + border-radius: var(--card-radius); + // A message can run to two or three lines; the icon stays on the first. + color: #2c2c2c; + } + } + + .notificationIcon { + flex: 0 0 auto; + width: 20px; + height: 20px; + font-size: 20px; + line-height: 1; + // Material gives mat-icon a 24px box whatever the glyph is, so a 20px + // glyph would otherwise sit high in it against a 20px line of text. + display: flex; + align-items: center; + justify-content: center; + margin-top: 1px; + } + + .notificationText { + flex: 1 1 auto; + min-width: 0; + font-size: 14px; + line-height: 20px; + letter-spacing: 0.15px; + } + + // Small and grey: it is the way out of a message, not part of what the + // message says. + .notificationClose { + flex: 0 0 auto; + display: flex; + align-items: center; + justify-content: center; + width: 24px; + height: 24px; + margin: -2px 0 0; + padding: 0; + border: none; + border-radius: 4px; + background: transparent; + color: rgba(0, 0, 0, 0.4); + cursor: pointer; + + &:hover { + background: rgba(0, 0, 0, 0.06); + color: rgba(0, 0, 0, 0.7); + } + + .mat-icon { + width: 18px; + height: 18px; + font-size: 18px; + line-height: 1; + } + } + + @each $kind, $color in $kinds { + .pmksNotification--#{$kind} app-notification { + border-left-color: $color; + } + + .pmksNotification--#{$kind} .notificationIcon { + color: $color; + } + } +} diff --git a/src/app/component/notification/notification.component.ts b/src/app/component/notification/notification.component.ts new file mode 100644 index 00000000..74cc9e46 --- /dev/null +++ b/src/app/component/notification/notification.component.ts @@ -0,0 +1,38 @@ +import { ChangeDetectionStrategy, Component, Inject } from '@angular/core'; +import { MAT_SNACK_BAR_DATA } from '@angular/material/snack-bar'; +import { NotificationData, NotificationKind } from '../../services/notification.service'; + +/** + * The glyph that says which of the four this is before the sentence is read. + * + * `block` rather than an exclamation for a refusal: the app is declining, not + * reporting damage, and the reader has done nothing wrong by asking. + */ +const ICONS: Record = { + success: 'check_circle', + refusal: 'block', + warning: 'warning', + failure: 'error', +}; + +/** + * The body of a notification. + * + * Every message used to be the same white bar for the same four seconds, so + * "Message sent. Thank you for your feedback!" and "A cylinder cannot fold + * onto itself" were the same object until you had read them both. + */ +@Component({ + selector: 'app-notification', + templateUrl: './notification.component.html', + styleUrls: ['./notification.component.scss'], + changeDetection: ChangeDetectionStrategy.Eager, + standalone: false, +}) +export class NotificationComponent { + constructor(@Inject(MAT_SNACK_BAR_DATA) public data: NotificationData) {} + + get icon(): string { + return ICONS[this.data.kind]; + } +} diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index 59fcbae8..0708b3f0 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -30,6 +30,7 @@ import { Coord } from '../../model/coord'; import { SvgGridService } from '../../services/svg-grid.service'; import introJs from 'intro.js'; import { UrlGenerationService } from 'src/app/services/url-generation.service'; +import { NotificationService } from '../../services/notification.service'; @Component({ selector: 'app-right-panel', @@ -116,7 +117,8 @@ export class RightPanelComponent implements DoCheck { public settingsService: SettingsService, public svgService: SvgGridService, public urlGenerationService: UrlGenerationService, - private fb: FormBuilder + private fb: FormBuilder, + private notify: NotificationService ) {} /** @@ -369,7 +371,6 @@ export class RightPanelComponent implements DoCheck { sendNotReady() { introJs().start(); - // NewGridComponent.sendNotification('Sorry, the tutorial is not ready yet.'); // this.analytics.logEvent('tutorial_not_ready'); } @@ -417,7 +418,7 @@ export class RightPanelComponent implements DoCheck { async sendCommentEmail() { this.sendingEmail = true; if (this.commentForm.invalid) { - NewGridComponent.sendNotification('Please fill out the form correctly.'); + this.notify.refusal('feedback.incomplete', 'Fill in the form before sending it.'); this.sendingEmail = false; return; } else { @@ -429,7 +430,8 @@ export class RightPanelComponent implements DoCheck { emailJSKey = res.apiKey; } catch (err) { console.log(err); - NewGridComponent.sendNotification( + this.notify.failure( + 'feedback.no-key', 'It looks like you are in a development environment. If this is not the case, please try again later or contact us directly at: gr-pmksplus@wpi.edu' ); this.sendingEmail = false; @@ -473,13 +475,14 @@ export class RightPanelComponent implements DoCheck { emailjs .send('service_pg2k647', 'template_kfwdx5c', params) .then(() => { - NewGridComponent.sendNotification('Message sent. Thank you for your feedback!'); + this.notify.success('feedback.sent', 'Message sent. Thank you for your feedback!'); this.sendingEmail = false; this.commentForm.reset(); }) .catch((error: any) => { console.log(error); - NewGridComponent.sendNotification( + this.notify.failure( + 'feedback.send-failed', 'Message failed to send. Please try again later or contact us directly at: gr-pmksplus@wpi.edu' ); this.sendingEmail = false; diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.ts b/src/app/component/synthesis-panel/synthesis-panel.component.ts index 90f283c6..68c36338 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.ts +++ b/src/app/component/synthesis-panel/synthesis-panel.component.ts @@ -1,6 +1,5 @@ import { Component, OnInit, ChangeDetectionStrategy } from '@angular/core'; import { FormBuilder, FormControl, FormGroup } from '@angular/forms'; -import { NewGridComponent } from '../new-grid/new-grid.component'; import { Pose } from '../../model/pose'; import { Coord } from '../../model/coord'; import { Joint, RealJoint, RevJoint } from '../../model/joint'; @@ -200,39 +199,6 @@ export class SynthesisPanelComponent implements OnInit { position3Match: [''], }); - handleButton() { - //Send notification to grid for now - NewGridComponent.sendNotification( - 'Call your backend function with these values! A0: (' + - this.synthesisForm.value.a0x! + - ',' + - this.synthesisForm.value.a0y! + - ') B0: (' + - this.synthesisForm.value.b0x! + - ',' + - this.synthesisForm.value.b0y! + - ') A1: (' + - this.synthesisForm.value.a1x! + - ',' + - this.synthesisForm.value.a1y! + - ') B1: (' + - this.synthesisForm.value.b1x! + - ',' + - this.synthesisForm.value.b1y! + - ') A2: (' + - this.synthesisForm.value.a2x! + - ',' + - this.synthesisForm.value.a2y! + - ') B2: (' + - this.synthesisForm.value.b2x! + - ',' + - this.synthesisForm.value.b2y! + - ')' - ); - //If you need the values as a number instead of a string, use this: - console.log(Number(this.synthesisForm.value.a0x!)); - } - // for html to get current pose as a number getCurrentPose(): number { return this.synthesisBuilder.selectedPose; @@ -308,8 +274,6 @@ export class SynthesisPanelComponent implements OnInit { let qualityfromUser = Number(this.synthesisForm.value.quality); - // NewGridComponent.sendNotification(qualityfromUser + ';'); - //find first itnersection point let firstPoint = this.findIntersectionPoint(pose1_coord1, pose2_coord1, pose3_coord1); @@ -389,17 +353,10 @@ export class SynthesisPanelComponent implements OnInit { // let trialCoord = new Coord(this.mechanismSrv.mechanisms[0].joints[0][0].x, this.mechanismSrv.mechanisms[0].joints[0][0].y); - // NewGridComponent.sendNotification(firstPoint.x + ',' + firstPoint.y + ',' + fourthPoint.x + ',' + fourthPoint.y); - - // NewGridComponent.sendNotification(trialCoord.x+','+trialCoord.y); - - // NewGridComponent.sendNotification(quality[0]+';'); - //now check if there is 999 in the quality. Count 999 and say which position matches let whichPositionMatches = this.checkQuality(quality); - // NewGridComponent.sendNotification( // 'Position Matches:' + // whichPositionMatches[0] + // ',' + @@ -468,10 +425,6 @@ export class SynthesisPanelComponent implements OnInit { Math.pow(jointValues[val][1].y - posCoords[4].y, 2) ); - // NewGridComponent.sendNotification('JointCoord;' + jointValues[val][1].x + ';'); - // NewGridComponent.sendNotification('PosCoord;' + posCoords[0].x + ';'); - // NewGridComponent.sendNotification('val:' + val); - let pos1Value_c = Math.sqrt( Math.pow(jointValues[val][2].x - posCoords[1].x, 2) + Math.pow(jointValues[val][2].y - posCoords[1].y, 2) @@ -523,8 +476,6 @@ export class SynthesisPanelComponent implements OnInit { let jointC_x = (jointValues[val][2].x + jointValues[index - 2][2].x) / 2; let jointC_y = (jointValues[val][2].y + jointValues[index - 2][2].y) / 2; - // NewGridComponent.sendNotification("Midpoint;" + val+';'+index); - let pos1Value_b = Math.sqrt( Math.pow(jointB_x - posCoords[0].x, 2) + Math.pow(jointB_y - posCoords[0].y, 2) ); @@ -535,10 +486,6 @@ export class SynthesisPanelComponent implements OnInit { Math.pow(jointB_x - posCoords[4].x, 2) + Math.pow(jointB_y - posCoords[4].y, 2) ); - // NewGridComponent.sendNotification('JointCoord;' + jointValues[val][1].x + ';'); - // NewGridComponent.sendNotification('PosCoord;' + posCoords[0].x + ';'); - // NewGridComponent.sendNotification('val:' + val); - let pos1Value_c = Math.sqrt( Math.pow(jointC_x - posCoords[1].x, 2) + Math.pow(jointC_y - posCoords[1].y, 2) ); @@ -566,10 +513,7 @@ export class SynthesisPanelComponent implements OnInit { } index = index + 1; - - // NewGridComponent.sendNotification('index:' + index); } - // NewGridComponent.sendNotification('quality3c:' + quality3_c); //now compile quality array and then pass it back @@ -587,8 +531,6 @@ export class SynthesisPanelComponent implements OnInit { pos3TimeStep, ]; - // NewGridComponent.sendNotification(";" + qualityCompilation); - return qualityCompilation; } diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts index 6017459d..53fba517 100644 --- a/src/app/component/top-bar/top-bar.component.ts +++ b/src/app/component/top-bar/top-bar.component.ts @@ -19,10 +19,10 @@ import { SaveHistoryService } from '../../services/save-history.service'; import { AnalyticsService } from '../../services/analytics.service'; import { UrlGenerationService } from '../../services/url-generation.service'; import { UrlProcessorService } from '../../services/url-processor.service'; -import { NewGridComponent } from '../new-grid/new-grid.component'; import { RightPanelComponent } from '../right-panel/right-panel.component'; import { TemplatesComponent } from '../MODALS/templates/templates.component'; import { AnalysisExportService } from '../../services/analysis-export.service'; +import { NotificationService } from '../../services/notification.service'; /** A mode's chip: whether that analysis can be entered, and what is missing. */ interface TabStatus { @@ -120,7 +120,8 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr private dialog: MatDialog, private zone: NgZone, private changes: ChangeDetectorRef, - private exports: AnalysisExportService + private exports: AnalysisExportService, + private notify: NotificationService ) {} isDevMode(): boolean { @@ -423,13 +424,15 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr this.analytics.logEvent('upload_file'); this.closeMenu(); const input = $event.target as HTMLInputElement; + // Silently. This fires when the picker is dismissed, and cancelling a + // dialogue is not a thing that went wrong -- the reader closed it knowing + // full well that they had chosen nothing. if (!input.files || input.files.length !== 1) { - NewGridComponent.sendNotification('No file selected'); return; } const reader = new FileReader(); reader.onload = () => { - NewGridComponent.sendNotification('Loaded Mechanism from File'); + this.notify.success('file.loaded', 'Mechanism loaded.'); this.urlProcessor.updateFromURL(reader.result as string); // Reset the input so the same file can be opened again. input.value = ''; @@ -465,8 +468,6 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr scratch.select(); document.execCommand('copy'); document.body.removeChild(scratch); - NewGridComponent.sendNotification( - 'Mechanism URL copied. If you make additional changes, copy the URL again.' - ); + this.notify.success('share.copied', 'Link copied. Copy again after your next change.'); } } diff --git a/src/app/model/mechanism/drive-profile.spec.ts b/src/app/model/mechanism/drive-profile.spec.ts index 8c876dc0..98e6e7d5 100644 --- a/src/app/model/mechanism/drive-profile.spec.ts +++ b/src/app/model/mechanism/drive-profile.spec.ts @@ -12,6 +12,7 @@ import { SynthesisBuilderService } from '../../services/synthesis/synthesis-buil import { MechanismBuilder } from '../../services/transcoding/mechanism-builder'; import { StringTranscoder } from '../../services/transcoding/string-transcoder'; import { TemplateID, TEMPLATE_LINKAGES } from '../../component/MODALS/templates/template-linkages'; +import { silentNotifications } from '../../../test-utils/notification-stub'; /** The solved first mechanism of a template, and what its input does. */ function profileOf(template: TemplateID): DriveProfile { @@ -21,7 +22,12 @@ function profileOf(template: TemplateID): DriveProfile { let service!: MechanismService; const grid = new GridUtilsService( new SynthesisBuilderService(parser, settings), - new SvgGridService(settings, new DragStateService(), {} as unknown as Injector), + new SvgGridService( + settings, + new DragStateService(), + {} as unknown as Injector, + silentNotifications() + ), { get: () => service } as unknown as Injector ); const active = new ActiveObjService(); @@ -30,7 +36,8 @@ function profileOf(template: TemplateID): DriveProfile { active, { get: () => ({ save: () => undefined }) } as unknown as Injector, settings, - parser + parser, + silentNotifications() ); const decoder = new StringTranscoder(); diff --git a/src/app/services/grid-utils.service.spec.ts b/src/app/services/grid-utils.service.spec.ts index f6b2ffb1..840b5ce2 100644 --- a/src/app/services/grid-utils.service.spec.ts +++ b/src/app/services/grid-utils.service.spec.ts @@ -13,6 +13,7 @@ import { SettingsService } from './settings.service'; import { SvgGridService } from './svg-grid.service'; import { DragStateService } from './drag-state.service'; import { SynthesisBuilderService } from './synthesis/synthesis-builder.service'; +import { silentNotifications } from '../../test-utils/notification-stub'; function createHarness() { if (!ColorService.instance) new ColorService(); @@ -23,13 +24,18 @@ function createHarness() { let service!: MechanismService; const grid = new GridUtilsService( new SynthesisBuilderService(parser, settings), - new SvgGridService(settings, new DragStateService(), {} as unknown as Injector), + new SvgGridService( + settings, + new DragStateService(), + {} as unknown as Injector, + silentNotifications() + ), { get: () => service } as unknown as Injector ); const active = new ActiveObjService(); let saves = 0; const injector = { get: () => ({ save: () => saves++ }) } as unknown as Injector; - service = new MechanismService(grid, active, injector, settings, parser); + service = new MechanismService(grid, active, injector, settings, parser, silentNotifications()); return { service, grid, active, settings, saveCount: () => saves }; } diff --git a/src/app/services/mechanism.service.spec.ts b/src/app/services/mechanism.service.spec.ts index e216be68..001242ae 100644 --- a/src/app/services/mechanism.service.spec.ts +++ b/src/app/services/mechanism.service.spec.ts @@ -18,6 +18,8 @@ import { MechanismBuilder } from './transcoding/mechanism-builder'; import { StringTranscoder } from './transcoding/string-transcoder'; import { SynthesisBuilderService } from './synthesis/synthesis-builder.service'; import { NewGridComponent } from '../component/new-grid/new-grid.component'; +import { NotificationService } from './notification.service'; +import { silentNotifications } from '../../test-utils/notification-stub'; interface Harness { service: MechanismService; @@ -31,7 +33,12 @@ function createHarness(): Harness { if (!ColorService.instance) new ColorService(); const settings = new SettingsService(); const parser = new NumberUnitParserService(); - const svg = new SvgGridService(settings, new DragStateService(), {} as unknown as Injector); + const svg = new SvgGridService( + settings, + new DragStateService(), + {} as unknown as Injector, + silentNotifications() + ); const synthesis = new SynthesisBuilderService(parser, settings); // GridUtilsService resolves MechanismService at call time, so it has to be // handed an injector that reads the binding below rather than a finished one. @@ -42,7 +49,7 @@ function createHarness(): Harness { const active = new ActiveObjService(); let saves = 0; const injector = { get: () => ({ save: () => saves++ }) } as unknown as Injector; - service = new MechanismService(grid, active, injector, settings, parser); + service = new MechanismService(grid, active, injector, settings, parser, silentNotifications()); return { service, active, settings, grid, saveCount: () => saves }; } @@ -603,12 +610,13 @@ describe('MechanismService declining a weld that pins a pair twice', () => { it('names the pair it just pinned twice', () => { const scene = triangle(); - const notify = vi.spyOn(NewGridComponent, 'sendNotification').mockImplementation(() => {}); + const notify = vi.spyOn(NotificationService.prototype, 'warning').mockImplementation(() => {}); scene.service.weldJoint(scene.b); expect(notify).toHaveBeenCalledTimes(1); - expect(notify.mock.calls[0][0]).toMatch(/\bA and C\b/); + // The id is first now, the sentence second. + expect(notify.mock.calls[0][1]).toMatch(/\bA and C\b/); notify.mockRestore(); }); @@ -636,7 +644,7 @@ describe('MechanismService declining a weld that pins a pair twice', () => { wire('XY', [x, y]), wire('YZ', [y, z]), ]; - const notify = vi.spyOn(NewGridComponent, 'sendNotification').mockImplementation(() => {}); + const notify = vi.spyOn(NotificationService.prototype, 'warning').mockImplementation(() => {}); harness.service.weldJoint(y); diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 87c84fb7..20311c9c 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -55,6 +55,7 @@ import { GridUtilsService } from './grid-utils.service'; import { ActiveObjService } from './active-obj.service'; import { NewGridComponent } from '../component/new-grid/new-grid.component'; import { canDrive, describeActuator } from '../model/actuator'; +import { NotificationService } from './notification.service'; import { SettingsService } from './settings.service'; import { slotHalfLength } from '../model/joint-marks'; import { DragStateService } from './drag-state.service'; @@ -180,7 +181,8 @@ export class MechanismService { public activeObjService: ActiveObjService, private injector: Injector, private settingsService: SettingsService, - private nup: NumberUnitParserService + private nup: NumberUnitParserService, + private notify: NotificationService ) {} /** @@ -2155,7 +2157,8 @@ export class MechanismService { // the item out; this is the same rule where the edit actually happens, so // no other caller can get round it. if (mountAt?.isWelded) { - NewGridComponent.sendNotification( + this.notify.refusal( + 'cylinder.welded-mount', 'This joint is welded, so a cylinder mounted on it would be a third body inside one rigid one. Unweld it, or attach the cylinder to the link instead.' ); return; @@ -2379,7 +2382,7 @@ export class MechanismService { if (!jointToToggleInput.input) { const refusal = describeActuator(jointToToggleInput); if (typeof refusal === 'string') { - NewGridComponent.sendNotification(refusal); + this.notify.refusal('input.cannot-drive', refusal); return; } // One input per mechanism, so the joint taking the job displaces the old @@ -2578,7 +2581,8 @@ export class MechanismService { // the cylinder (§ cylinder 4). The panel and menu grey the control on the // mounts; this is the rule they are both fronting. if (this.cylinderAt(this.activeObjService.selectedJoint)) { - NewGridComponent.sendNotification( + this.notify.refusal( + 'cylinder.sealed-slider', 'A cylinder is one sealed part — delete the cylinder instead of editing its slider.' ); return; @@ -3687,7 +3691,8 @@ export class MechanismService { if (!this.weldTopology(joint)) return; if (created) { - NewGridComponent.sendNotification( + this.notify.warning( + 'weld.pinned-twice', `${created[0]} and ${created[1]} are now pinned together twice. The linkage still ` + 'moves, but its forces have no unique solution.' ); diff --git a/src/app/services/notification.service.ts b/src/app/services/notification.service.ts new file mode 100644 index 00000000..49f01e8e --- /dev/null +++ b/src/app/services/notification.service.ts @@ -0,0 +1,113 @@ +import { Injectable } from '@angular/core'; +import { MatSnackBar, MatSnackBarRef } from '@angular/material/snack-bar'; +import { NotificationComponent } from '../component/notification/notification.component'; + +/** + * How much the reader is meant to care. + * + * The distinction that matters is not severity but *who acted*. A refusal is + * the app declining something the reader just tried: they are already looking + * at the place it happened, they know what they asked for, and the message is + * over as soon as it is read. A warning is the opposite — it reports a state + * the drawing is now in, which nobody asked for and which is still true after + * the message goes away. That is the one that has to wait to be dismissed. + */ +export type NotificationKind = 'success' | 'refusal' | 'warning' | 'failure'; + +/** What the snackbar body is handed. */ +export interface NotificationData { + kind: NotificationKind; + text: string; + dismiss: () => void; +} + +/** How long each kind stays, in ms. `undefined` means until it is dismissed. */ +const DURATION: Record = { + // Confirmation of something the reader already watched happen. It is there to + // be caught out of the corner of an eye, not read. + success: 2500, + refusal: 4000, + warning: undefined, + failure: undefined, +}; + +/** How long the same message stays quiet after saying itself, in ms. */ +const DEFAULT_COOLDOWN = 800; + +/** + * Everything the app says out loud, said in one place. + * + * Replaces `NewGridComponent.sendNotification`, which had two faults that were + * not about wording. It kept a single `lastNotificationTime` for the whole + * app, so an unrelated message a moment earlier silenced the next one — two + * different refusals in the same second showed only the first. And it + * initialised that timestamp to the moment the canvas was constructed, so any + * message asking for a long quiet period was muted for that period *from page + * load*: the two zoom warnings could not appear in the first twenty seconds of + * a session, which is when zooming happens. + * + * The cooldown here is per message id, and starts unarmed. + */ +@Injectable({ providedIn: 'root' }) +export class NotificationService { + private lastSaid = new Map(); + private showing?: { id: string; ref: MatSnackBarRef }; + + constructor(private snackBar: MatSnackBar) {} + + /** Something the reader asked for, happened. */ + success(id: string, text: string, cooldownMs?: number): void { + this.say('success', id, text, cooldownMs); + } + + /** Something the reader asked for, did not happen, and why. */ + refusal(id: string, text: string, cooldownMs?: number): void { + this.say('refusal', id, text, cooldownMs); + } + + /** It happened, but the drawing is now in a state worth knowing about. */ + warning(id: string, text: string, cooldownMs?: number): void { + this.say('warning', id, text, cooldownMs); + } + + /** Something outside the reader's control went wrong. */ + failure(id: string, text: string, cooldownMs?: number): void { + this.say('failure', id, text, cooldownMs); + } + + /** Take down whatever is showing. */ + dismiss(): void { + this.showing?.ref.dismiss(); + this.showing = undefined; + } + + private say( + kind: NotificationKind, + id: string, + text: string, + cooldownMs = DEFAULT_COOLDOWN + ): void { + // Already on screen. Reopening would restart the animation and read as a + // second, identical event -- which is exactly what a reader holding a key + // down or dragging against a rule would see. + if (this.showing?.id === id) return; + + const last = this.lastSaid.get(id); + if (last !== undefined && last + cooldownMs > Date.now()) return; + this.lastSaid.set(id, Date.now()); + + const ref = this.snackBar.openFromComponent(NotificationComponent, { + data: { kind, text, dismiss: () => ref.dismiss() } as NotificationData, + panelClass: ['pmksNotification', `pmksNotification--${kind}`], + horizontalPosition: 'center', + verticalPosition: 'top', + duration: DURATION[kind], + politeness: kind === 'failure' ? 'assertive' : 'polite', + }); + + this.showing = { id, ref }; + ref.afterDismissed().subscribe(() => { + if (this.showing?.ref === ref) this.showing = undefined; + }); + } +} diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index abad63d0..88af55c7 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -6,6 +6,7 @@ import { Coord } from '../model/coord'; import { NewGridComponent } from '../component/new-grid/new-grid.component'; import { SettingsService } from './settings.service'; import { DragStateService } from './drag-state.service'; +import { NotificationService } from './notification.service'; import Hammer from 'hammerjs'; import { MODEL_SCALE } from '../model/render-scale'; @@ -66,7 +67,8 @@ export class SvgGridService { constructor( private settingsService: SettingsService, private dragState: DragStateService, - private injector: Injector + private injector: Injector, + private notify: NotificationService ) {} setNewElement(root: HTMLElement) { @@ -379,16 +381,24 @@ export class SvgGridService { // console.log(this.getZoom()); this.cellSize = this.cellSizeFor(this.getZoom()); this.handlePan(); - if (this.getZoom() * this.settingsService.objectScale < 5) { - NewGridComponent.sendNotification( - 'The visual size of the links might be too small. Try using the "Update Object Scale" button in the settings menu or use the "Reset View" button on the bottom right.', - 20000 + // Zooming is continuous, so these have a much longer quiet period than + // anything else -- but their own, now. They used to share one timer with + // every other message in the app, which meant they were silent for the + // first twenty seconds of a session and for twenty seconds after any + // unrelated message: the whole of the time somebody is finding their zoom. + const drawnAt = this.getZoom() * this.settingsService.objectScale; + if (drawnAt < 5) { + this.notify.warning( + 'zoom.links-tiny', + 'The links are drawn far smaller than the grid. Reset the view, or set the object scale in Settings.', + 60000 ); } - if (this.getZoom() * this.settingsService.objectScale > 200) { - NewGridComponent.sendNotification( - 'The visual size of the links might be too large. Try using the "Update Object Scale" button in the settings menu.', - 20000 + if (drawnAt > 200) { + this.notify.warning( + 'zoom.links-huge', + 'The links are drawn far larger than the grid. Reset the view, or set the object scale in Settings.', + 60000 ); } } diff --git a/src/app/services/url-processor.service.ts b/src/app/services/url-processor.service.ts index 924df45b..e2d70f51 100644 --- a/src/app/services/url-processor.service.ts +++ b/src/app/services/url-processor.service.ts @@ -10,7 +10,7 @@ import { SettingsService } from './settings.service'; import { MechanismBuilder } from './transcoding/mechanism-builder'; import { SvgGridService } from './svg-grid.service'; import { ActiveObjService } from './active-obj.service'; -import { MatSnackBar } from '@angular/material/snack-bar'; +import { NotificationService } from './notification.service'; import { SelectedTabService, TabID } from '../selected-tab.service'; @Injectable({ @@ -22,7 +22,7 @@ export class UrlProcessorService { private settingsSrv: SettingsService, private svgGrid: SvgGridService, private activeObj: ActiveObjService, - private snackBar: MatSnackBar + private notify: NotificationService ) { // the content part of the url (the part after the ?) const url = this.getURLContent(); @@ -114,12 +114,16 @@ export class UrlProcessorService { builder.build(updateSettings); } catch (error) { console.error('Unable to load mechanism URL', error); + // Deferred because this can run inside the service's own constructor, + // before there is an overlay to open into. A failure, and it waits to + // be dismissed: the reader followed a link that did not work, and the + // grid they are looking at instead is not an obvious clue that it + // didn't. setTimeout(() => { - this.snackBar.open('Unable to load the shared mechanism URL.', '', { - duration: 4000, - horizontalPosition: 'center', - verticalPosition: 'top', - }); + this.notify.failure( + 'url.undecodable', + 'That shared link could not be opened — it may be from an older version of PMKS+.' + ); }); } finally { // Invalid data must not remain in the address bar or be retried on refresh. diff --git a/src/app/ui-text.ts b/src/app/ui-text.ts index a6e73b9d..1209b1ee 100644 --- a/src/app/ui-text.ts +++ b/src/app/ui-text.ts @@ -46,6 +46,3 @@ export const NOT_A = { force: 'That is not a force. Type a number.', name: 'A name has to be letters or numbers, and cannot be one already in use.', } as const; - -/** Features that exist as a button and nothing else yet. */ -export const NOT_BUILT_YET = 'Not built yet.'; diff --git a/src/mytheme.scss b/src/mytheme.scss index bd0afda4..99243938 100644 --- a/src/mytheme.scss +++ b/src/mytheme.scss @@ -35,6 +35,7 @@ @use 'src/app/component/MODALS/templates/templates.component.scss' as templates; @use 'src/app/component/not-ready-warning/not-ready-warning.component.scss' as not-ready-warning; @use 'src/app/component/bottombar/bottombar.component.scss' as bottombar; +@use 'src/app/component/notification/notification.component.scss' as notification; @include mat.elevation-classes(); @include mat.app-background(); @@ -99,6 +100,7 @@ $my-theme: mat.m2-define-light-theme( @include equation-panel.css($my-theme); @include not-ready-warning.css($my-theme); @include bottombar.css($my-theme); +@include notification.css($my-theme); @include blocks-common.css($my-theme); @include panel-section.css($my-theme); diff --git a/src/test-utils/mechanism-harness.ts b/src/test-utils/mechanism-harness.ts index d14b081b..8faf2cf1 100644 --- a/src/test-utils/mechanism-harness.ts +++ b/src/test-utils/mechanism-harness.ts @@ -9,6 +9,7 @@ import { NumberUnitParserService } from '../app/services/number-unit-parser.serv import { SettingsService } from '../app/services/settings.service'; import { SvgGridService } from '../app/services/svg-grid.service'; import { SynthesisBuilderService } from '../app/services/synthesis/synthesis-builder.service'; +import { silentNotifications } from './notification-stub'; /** * A real `MechanismService` with its dependencies stubbed just enough to run @@ -35,7 +36,12 @@ export function createMechanismHarness(): MechanismHarness { if (!ColorService.instance) new ColorService(); const settings = new SettingsService(); const parser = new NumberUnitParserService(); - const svg = new SvgGridService(settings, new DragStateService(), {} as unknown as Injector); + const svg = new SvgGridService( + settings, + new DragStateService(), + {} as unknown as Injector, + silentNotifications() + ); const synthesis = new SynthesisBuilderService(parser, settings); let service!: MechanismService; const grid = new GridUtilsService(synthesis, svg, { @@ -56,7 +62,7 @@ export function createMechanismHarness(): MechanismHarness { const injector = { get: (token: unknown) => (token === DragStateService ? dragState : history), } as unknown as Injector; - service = new MechanismService(grid, active, injector, settings, parser); + service = new MechanismService(grid, active, injector, settings, parser, silentNotifications()); return { service, active, saveCount: () => saves }; } diff --git a/src/test-utils/notification-stub.ts b/src/test-utils/notification-stub.ts new file mode 100644 index 00000000..38acb6f9 --- /dev/null +++ b/src/test-utils/notification-stub.ts @@ -0,0 +1,20 @@ +import { MatSnackBar } from '@angular/material/snack-bar'; +import { NotificationService } from '../app/services/notification.service'; + +/** + * A `NotificationService` that opens nothing. + * + * The specs that build services by hand have no overlay to open into, and none + * of them is about what the app said -- they are about what it did. A spec that + * *is* about the message spies on the service's own methods instead, which is + * why this stubs the snackbar underneath rather than the service itself. + */ +export function silentNotifications(): NotificationService { + const snackBar = { + openFromComponent: () => ({ + dismiss: () => {}, + afterDismissed: () => ({ subscribe: () => {} }), + }), + } as unknown as MatSnackBar; + return new NotificationService(snackBar); +} diff --git a/src/tests/verification/assembly-mode.spec.ts b/src/tests/verification/assembly-mode.spec.ts index 04ae8635..77799b4f 100644 --- a/src/tests/verification/assembly-mode.spec.ts +++ b/src/tests/verification/assembly-mode.spec.ts @@ -14,6 +14,7 @@ import { SynthesisBuilderService } from '../../app/services/synthesis/synthesis- import { MechanismBuilder } from '../../app/services/transcoding/mechanism-builder'; import { StringTranscoder } from '../../app/services/transcoding/string-transcoder'; import { MODEL_SCALE } from '../../app/model/render-scale'; +import { silentNotifications } from '../../test-utils/notification-stub'; // The linkage from issue #199. An exact parallelogram four-bar: A->B and D->C are // the same vector, so every revolution the crank lines up with the ground link and @@ -39,12 +40,17 @@ function loadMechanism(payload: string) { let service!: MechanismService; const grid = new GridUtilsService( new SynthesisBuilderService(parser, settings), - new SvgGridService(settings, new DragStateService(), {} as unknown as Injector), + new SvgGridService( + settings, + new DragStateService(), + {} as unknown as Injector, + silentNotifications() + ), { get: () => service } as unknown as Injector ); const active = new ActiveObjService(); const injector = { get: () => ({ save: () => {} }) } as unknown as Injector; - service = new MechanismService(grid, active, injector, settings, parser); + service = new MechanismService(grid, active, injector, settings, parser, silentNotifications()); const decoder = new StringTranscoder(); decoder.decodeURL(payload); diff --git a/src/tests/verification/time-based-playback.spec.ts b/src/tests/verification/time-based-playback.spec.ts index d5fef02f..fcbc5e48 100644 --- a/src/tests/verification/time-based-playback.spec.ts +++ b/src/tests/verification/time-based-playback.spec.ts @@ -12,6 +12,7 @@ import { MechanismBuilder } from '../../app/services/transcoding/mechanism-build import { StringTranscoder } from '../../app/services/transcoding/string-transcoder'; import { TEMPLATE_LINKAGES } from '../../app/component/MODALS/templates/template-linkages'; import { LEGACY_FORCE_MECHANISM } from '../fixtures/mechanism-fixtures'; +import { silentNotifications } from '../../test-utils/notification-stub'; /** A real MechanismService (not a stub) loaded with the fully rotating four-bar template. */ function createLoadedService(payload: string = TEMPLATE_LINKAGES['4-Bar']) { @@ -25,12 +26,17 @@ function createLoadedService(payload: string = TEMPLATE_LINKAGES['4-Bar']) { new SynthesisBuilderService(parser, settings), // The injector is only reached when something asks the canvas to re-frame // itself, which nothing here does — there is no canvas in this test. - new SvgGridService(settings, new DragStateService(), {} as unknown as Injector), + new SvgGridService( + settings, + new DragStateService(), + {} as unknown as Injector, + silentNotifications() + ), { get: () => service } as unknown as Injector ); const active = new ActiveObjService(); const injector = { get: () => ({ save: () => {} }) } as unknown as Injector; - service = new MechanismService(grid, active, injector, settings, parser); + service = new MechanismService(grid, active, injector, settings, parser, silentNotifications()); const decoder = new StringTranscoder(); decoder.decodeURL(payload); From b11d9031e5f6d030129bc4a77ee847d33dd49666 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 17:25:35 -0400 Subject: [PATCH 068/236] Give the welded guide its couple, and the cylinder its reaction Every sealed cylinder is a welded slide, so all six cylinder and Scotch-yoke templates refused force analysis with one vague sentence. Two model gaps and one reporting bug: - A welded prismatic pair transmits a couple the equation set had no column for (the phase-3 deferral). One GuideCouple unknown per welded slide now enters the rider's moment row, and the carrier's when the slot is cut into a moving link. Rider and block stay separate bodies: the block is zero-length, so the couple passes through it untouched and no merged-body bookkeeping is needed. - A force drive was applied to the block as an external push from the world. A real actuator is an internal pair -- it pushes the rod and barrel apart -- and without the reaction on the carrier a sealed cylinder stopped being a two-force member between its mounts. The input column now carries the carrier's minus side. - analyzeMechanism built its diagnostic from the generic status text and threw away the frame's specific message (the one that names the weld joint). The message passes through now. Verification, per the phase-3 spec's own section 9 wish list: - slide-forces.spec.ts: hand-derived torque and guide couple swept over every frame of two loaded Scotch yokes; the floating-carrier swinging block; and the weld that turns a mechanism into a structure still refuses. - cylinder-forces.spec.ts: the loaded boom's mount reactions are equal, opposite, and collinear with the mounts on every frame. - force-power-balance.spec.ts: virtual-work audit across all five topology classes in both modes, priced against the MATLAB-verified kinematics. All 25 built-in templates now solve every frame in both modes (was 19). Co-Authored-By: Claude Fable 5 --- docs/phase-3-slide-spec.md | 9 + e2e/force-status-survey.mjs | 54 +++++ src/app/model/mechanism/force-solver.ts | 119 ++++++++-- src/test-utils/verification/force-fixtures.ts | 5 +- .../verification/cylinder-forces.spec.ts | 69 ++++++ .../verification/force-power-balance.spec.ts | 204 ++++++++++++++++++ src/tests/verification/slide-forces.spec.ts | 159 ++++++++++---- 7 files changed, 560 insertions(+), 59 deletions(-) create mode 100644 e2e/force-status-survey.mjs create mode 100644 src/tests/verification/cylinder-forces.spec.ts create mode 100644 src/tests/verification/force-power-balance.spec.ts diff --git a/docs/phase-3-slide-spec.md b/docs/phase-3-slide-spec.md index f7d844e3..997ff940 100644 --- a/docs/phase-3-slide-spec.md +++ b/docs/phase-3-slide-spec.md @@ -555,6 +555,15 @@ message that names the joint, and §9 carries it. ## 9. Follow-up: statics for welded assemblies +**Landed.** The couple column exists (`GuideCouple` in `force-solver.ts`), the refusal in 3.8 is +retired, and the verification is the shape this section asked for: hand statics swept over the +loaded Scotch yoke (`slide-forces.spec.ts`), the two-force-member property of a sealed cylinder +(`cylinder-forces.spec.ts`), and a virtual-work audit across every topology class +(`force-power-balance.spec.ts`). One deviation from the sketch below: rider and block stay +separate bodies — the block is zero-length, so the couple passes through it untouched and no +merged mass/CoM/parallel-axis bookkeeping is needed. The section is kept as written for the +reasoning. + Deliberately **not** in Phase 3, and to be specified on its own rather than left as optional work inside this one. Recorded here so its scope is visible rather than implied — it is wider than the equilibrium change that makes it sound small: diff --git a/e2e/force-status-survey.mjs b/e2e/force-status-survey.mjs new file mode 100644 index 00000000..b82e2fa0 --- /dev/null +++ b/e2e/force-status-survey.mjs @@ -0,0 +1,54 @@ +/** + * What force analysis actually says in the running app, per template. + * Investigation script — reads statuses through ng.getComponent. + * + * PMKS_BASE_URL= node e2e/force-status-survey.mjs + */ +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://localhost:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +console.log('templates found:', Object.keys(payloads).join(', ')); + +for (const [name, payload] of Object.entries(payloads)) { + await page.goto(`${BASE}/?${payload}`, { waitUntil: 'domcontentloaded' }); + await waitForReady(page).catch(() => undefined); + await page.waitForTimeout(600); + const report = await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return srv.mechanisms.map((mech) => { + const out = { valid: mech.isMechanismValid() }; + if (!out.valid) return out; + for (const mode of ['static', 'dynamic']) { + const series = mech.getForceAnalysis(mode); + const first = series.frames[0]; + out[mode] = { + ok: `${series.successfulFrames}/${series.frames.length}`, + status: first?.status, + message: first?.message, + diagnostic: series.diagnostic, + }; + } + return out; + }); + }); + console.log(`\n### ${name}`); + for (const mech of report) console.log(JSON.stringify(mech, null, 1)); +} + +if (errors.length) console.log('\nPAGE ERRORS:', errors.slice(0, 5)); +await browser.close(); diff --git a/src/app/model/mechanism/force-solver.ts b/src/app/model/mechanism/force-solver.ts index 47b868ed..8d169695 100644 --- a/src/app/model/mechanism/force-solver.ts +++ b/src/app/model/mechanism/force-solver.ts @@ -27,6 +27,12 @@ export interface ForceAnalysisFrame { jointReactionsByLink: Map>; /** Compatibility/default view: the resultant on the joint's first root body. */ jointReactions: Map; + /** + * The couple each welded guide applies to its rider, keyed by the sliding + * joint's id. N·m, counterclockwise-positive on the rider. Only welded + * prismatic pairs carry one; a free-turning block cannot transmit a moment. + */ + guideCouples: Map; inputEffort?: ForceAnalysisEffort; rank: number; residual: number; @@ -86,6 +92,25 @@ interface ReactionUnknown { column: number; } +/** + * The couple a welded guide transmits (docs/phase-3-slide-spec.md §3.8, §9). + * + * A free-turning block exchanges only a normal force with its slot. Welding a + * rider to the block stops the pair rotating, so the guide must also supply a + * moment — the unknown the count guard used to come up one short by. The block + * is zero-length and has no moment equation, so the couple passes through it + * untouched and can couple the rider to the guide directly. + */ +interface GuideCouple { + /** The sliding joint whose guide supplies the couple. */ + slider: PrisJoint; + /** The root body the weld holds rigid with the block; +1 in its moment row. */ + rider: RealLink; + /** The slot's carrier when it is cut into a moving body; −1 in its moment row. */ + carrier?: Link; + column: number; +} + interface LinearSolution { values: number[]; rank: number; @@ -212,9 +237,12 @@ export class ForceSolver { frames, successfulFrames, reactionIndex: this.buildReactionIndex(mechanism.joints[0] ?? [], mechanism.links[0] ?? []), + // The frame's own message first: it names the joint or the count, where + // the status alone can only say "topology". diagnostic: successfulFrames === 0 - ? this.statusMessage(frames[0]?.status ?? 'unsupported-topology') + ? (frames[0]?.message ?? + this.statusMessage(frames[0]?.status ?? 'unsupported-topology')) : undefined, }; } @@ -244,26 +272,13 @@ export class ForceSolver { timeSeconds, jointReactionsByLink: new Map(), jointReactions: new Map(), + guideCouples: new Map(), rank, residual, message, }); if (bodies.length === 0) return empty('unsupported-topology'); - // A welded slide assembly is refused by name rather than by arithmetic - // (docs/phase-3-slide-spec.md §3.8). The equation count catches it too -- - // it comes out one unknown short, because a prismatic pair welded to a body - // with a moment equation transmits a couple the model has no column for -- - // but a count that happens to be wrong is not a reason, and it would go - // quiet the moment some other change made the numbers balance. - const welded = slideAssemblies(joints); - if (welded.length > 0) { - return empty( - 'unsupported-topology', - `Joint ${welded[0].weldJoint.id} welds ${welded[0].riders[0].id} rigidly to its slider. ` + - 'A prismatic pair carrying a moment has no force solution here yet.' - ); - } if (!this.propertiesAreValid(bodies, units)) return empty('invalid-properties'); if (mode === 'dynamic' && !this.kinematicsAreComplete(bodies, kinematics)) { return empty('missing-kinematics'); @@ -279,6 +294,36 @@ export class ForceSolver { const { reactions, incidentByJoint } = this.enumerateReactions(joints, bodies); + // One couple unknown per welded slide (docs/phase-3-slide-spec.md §9). + // Shapes the couple cannot be written for are refused by name rather than + // left to the count guard, which would only catch them by coincidence. + const couples: GuideCouple[] = []; + for (const assembly of slideAssemblies(joints)) { + // A dangling guide exerts nothing, so it owes no couple either. + if (!assembly.slider.ground && !assembly.slider.isFloating) continue; + const rider = this.rootBody(bodies, assembly.riders[0]); + const carrier = assembly.slider.isFloating + ? this.rootBody(bodies, assembly.slider.carrier) + : undefined; + if ( + !(rider instanceof RealLink) || + rider === carrier || + (carrier !== undefined && !(carrier instanceof RealLink)) + ) { + return empty( + 'unsupported-topology', + `Joint ${assembly.weldJoint.id} welds ${assembly.riders[0]?.id ?? 'a link'} rigidly ` + + 'to its slider, and that shape has no force model.' + ); + } + couples.push({ + slider: assembly.slider, + rider, + carrier, + column: reactions.length + couples.length, + }); + } + const inputJoint = joints.find( (joint): joint is RealJoint => joint instanceof RealJoint && joint.input ); @@ -299,7 +344,7 @@ export class ForceSolver { } } - const unknownCount = reactions.length + (inputBody && inputKind ? 1 : 0); + const unknownCount = reactions.length + couples.length + (inputBody && inputKind ? 1 : 0); if (unknownCount !== rowCount) { return empty( 'unsupported-topology', @@ -346,7 +391,15 @@ export class ForceSolver { } } - const inputColumn = reactions.length; + // A couple has no force resultant: it enters moment rows alone. + for (const couple of couples) { + A[bodyRows.get(couple.rider.id)!.start + 2][couple.column] += 1; + if (couple.carrier) { + A[bodyRows.get(couple.carrier.id)!.start + 2][couple.column] -= 1; + } + } + + const inputColumn = reactions.length + couples.length; if (inputBody && inputKind) { const rows = bodyRows.get(inputBody.id)!; if (inputKind === 'torque' && inputBody instanceof RealLink) { @@ -354,6 +407,17 @@ export class ForceSolver { } else if (inputKind === 'force') { A[rows.start][inputColumn] = inputDirection[0]; A[rows.start + 1][inputColumn] = inputDirection[1]; + // An actuator pushes against something. On a grounded guide that is + // the world; in a sealed cylinder it is the barrel, and leaving the + // reaction off turns the drive into an outside hand pushing the block + // through space — which breaks the oldest property a cylinder has, of + // being a two-force member between its mounts. + if (inputJoint instanceof PrisJoint && inputJoint.isFloating) { + const carrier = this.rootBody(bodies, inputJoint.carrier); + if (carrier) { + addForceCoefficient(carrier, inputJoint, inputDirection, inputColumn, -1); + } + } } } @@ -427,6 +491,11 @@ export class ForceSolver { if (value) jointReactions.set(jointId, value); } + const guideCouples = new Map(); + for (const couple of couples) { + guideCouples.set(couple.slider.id, solution.values[couple.column]); + } + const inputEffort = inputJoint && inputKind ? { @@ -442,12 +511,28 @@ export class ForceSolver { timeSeconds, jointReactionsByLink, jointReactions, + guideCouples, inputEffort, rank: solution.rank, residual: solution.residual, }; } + /** + * The root body in `bodies` that `leaf` belongs to. + * + * A weld fuses links into a compound whose members survive as `subset` + * leaves, so the link a slide assembly names is not always the body the + * equilibrium rows are written for. + */ + private static rootBody(bodies: Link[], leaf: Link | undefined): Link | undefined { + if (!leaf) return undefined; + const contains = (link: Link): boolean => + link.id === leaf.id || + (link instanceof RealLink && link.subset.some((member) => contains(member))); + return bodies.find(contains); + } + static statusMessage(status: ForceAnalysisStatus): string { switch (status) { case 'singular': diff --git a/src/test-utils/verification/force-fixtures.ts b/src/test-utils/verification/force-fixtures.ts index 589c4186..bbf82735 100644 --- a/src/test-utils/verification/force-fixtures.ts +++ b/src/test-utils/verification/force-fixtures.ts @@ -57,8 +57,9 @@ export function punchPressFixture(): MechanismFixture { * held by a *tie bar* is what a crane looks like in a drawing and is a * structure, not a mechanism — two bars and the ground make a triangle, and a * triangle has nothing to analyse. Luffing it with a **ram** moves, but the - * force analysis reports an unsupported topology for a sealed cylinder, and a - * force demonstration whose force panel is empty is not one. + * force analysis of the day reported an unsupported topology for a sealed + * cylinder (it solves one now — see cylinder-forces.spec.ts), and a force + * demonstration whose force panel is empty is not one. * * So it luffs on a crank and a link, which is how a derrick actually raises its * boom, and every joint in it is a pin. The point on a force panel is the size diff --git a/src/tests/verification/cylinder-forces.spec.ts b/src/tests/verification/cylinder-forces.spec.ts new file mode 100644 index 00000000..9e96eede --- /dev/null +++ b/src/tests/verification/cylinder-forces.spec.ts @@ -0,0 +1,69 @@ +import '../../app/model/joint'; +import { MODEL_SCALE } from '../../app/model/render-scale'; +import { buildMechanismAtScale } from '../../test-utils/verification/fixture'; +import { cylinderBoomFixture } from '../../test-utils/verification/slot-fixtures'; + +// Force analysis of a sealed cylinder, checked against the oldest result in +// statics: the two-force member. +// +// The cylinder assembly — barrel, rod, block — touches the rest of the world at +// exactly two pins, its mounts, and (with gravity off) carries no load of its +// own. Every statics text solves machines like this boom by replacing the +// cylinder with a force along the line between its mounts; if the matrix +// solver is right, that property has to fall out of it rather than be put in. +// It exercises the floating-carrier side of the guide couple too, since a +// sealed cylinder's slot is cut into the moving barrel. + +describe('force analysis of a sealed cylinder', () => { + const build = () => { + // At the drawing scale the driven-cylinder kinematics suite pins: a + // cylinder's stroke is measured against objectScale, and at the wrong one + // the ram has no travel and the mechanism never runs at all. + const fixture = cylinderBoomFixture(MODEL_SCALE); + // A weight hung on the boom tip. The cylinder itself stays unloaded, which + // is what makes it a two-force member. + fixture.load = { onLink: 'OC', at: [0, 4 * MODEL_SCALE], vector: [0, -300] }; + return buildMechanismAtScale(fixture, 1 * MODEL_SCALE).mechanism; + }; + + it('solves every frame of the loaded cylinder-driven boom', () => { + const series = build().getForceAnalysis('static'); + expect(series.diagnostic).toBeUndefined(); + expect(series.successfulFrames).toBe(series.frames.length); + expect(series.frames.length).toBeGreaterThan(100); + }); + + it('acts as a two-force member: mount reactions along the mount line', () => { + const mechanism = build(); + const series = mechanism.getForceAnalysis('static'); + + series.frames.forEach((frame, t) => { + const at = (id: string) => mechanism.joints[t].find((joint) => joint.id === id)!; + const g = at('G'); + const c = at('C'); + const span = Math.hypot(c.x - g.x, c.y - g.y); + const along = [(c.x - g.x) / span, (c.y - g.y) / span]; + + // The world pushing on the barrel at its mount, and the boom pushing on + // the rod at the other: the only two external forces on the assembly. + const onBarrel = frame.jointReactionsByLink.get('G')!.get('GN')!; + const onRod = frame.jointReactionsByLink.get('C')!.get('PC')!; + + expect(onBarrel[0] + onRod[0]).toBeCloseTo(0, 6); + expect(onBarrel[1] + onRod[1]).toBeCloseTo(0, 6); + const magnitude = Math.hypot(onBarrel[0], onBarrel[1]); + expect(magnitude).toBeGreaterThan(0); + const cross = onBarrel[0] * along[1] - onBarrel[1] * along[0]; + expect(Math.abs(cross) / magnitude).toBeLessThan(1e-8); + }); + }); + + it('obeys the third law where the rod meets the boom', () => { + const frame = build().getForceAnalysis('static').frames[30]; + const atMount = frame.jointReactionsByLink.get('C')!; + const onRod = atMount.get('PC')!; + const onBoom = atMount.get('OC')!; + expect(onRod[0] + onBoom[0]).toBeCloseTo(0, 8); + expect(onRod[1] + onBoom[1]).toBeCloseTo(0, 8); + }); +}); diff --git a/src/tests/verification/force-power-balance.spec.ts b/src/tests/verification/force-power-balance.spec.ts new file mode 100644 index 00000000..e190b233 --- /dev/null +++ b/src/tests/verification/force-power-balance.spec.ts @@ -0,0 +1,204 @@ +import '../../app/model/joint'; +import { PrisJoint, RealJoint } from '../../app/model/joint'; +import { RealLink, SliderBlock } from '../../app/model/link'; +import { ForceAnalysisMode } from '../../app/model/mechanism/force-solver'; +import { KinematicsSolver } from '../../app/model/mechanism/kinematic-solver'; +import { siUnitFactors } from '../../app/model/unit-conversions'; +import { MODEL_SCALE } from '../../app/model/render-scale'; +import { buildMechanismAtScale, MechanismFixture } from '../../test-utils/verification/fixture'; +import { + offsetLoadFourBarFixture, + punchPressFixture, +} from '../../test-utils/verification/force-fixtures'; +import { + cylinderBoomFixture, + loadedInvertedSliderCrankFixture, + scotchYokeFixture, + SLOT_RISE, + YOKE_CRANK, +} from '../../test-utils/verification/slot-fixtures'; + +// Virtual work, as an independent audit of the whole force analysis. +// +// The equilibrium solve and this check share no arithmetic: one balances +// forces and moments body by body, the other multiplies the same answers by +// velocities — which are the kinematics the MATLAB suites verify — and asks +// for energy accounting. In statics the input's power must exactly cancel the +// applied loads'; in dynamics the difference must be the rate of change of +// kinetic energy. A sign error, a wrong moment arm, or a misplaced unit factor +// in any reaction path breaks this on nearly every frame of every mechanism, +// which is what makes it worth running across one specimen of each topology +// class rather than on a single blessed example. + +const GRAVITY = 9.80665; + +interface Audit { + name: string; + fixture: () => MechanismFixture; +} + +const loadedScotchYoke = (): MechanismFixture => { + const fixture = scotchYokeFixture(); + fixture.load = { onLink: 'CD', at: [YOKE_CRANK, SLOT_RISE], vector: [40, 0] }; + return fixture; +}; + +// The cylinder's geometry has to be drawn at the solving objectScale, or the +// ram has no travel and the mechanism never runs (see driven-cylinder.spec.ts). +const loadedCylinderBoom = (): MechanismFixture => { + const fixture = cylinderBoomFixture(MODEL_SCALE); + fixture.load = { onLink: 'OC', at: [0, 4 * MODEL_SCALE], vector: [0, -300] }; + return fixture; +}; + +const AUDITS: Audit[] = [ + { name: 'pin-jointed four-bar with an offset load', fixture: offsetLoadFourBarFixture }, + { name: 'slider-crank punch press', fixture: punchPressFixture }, + { name: 'inverted slider-crank with a floating slot', fixture: loadedInvertedSliderCrankFixture }, + { name: 'welded Scotch yoke', fixture: loadedScotchYoke }, + { name: 'sealed cylinder boom', fixture: loadedCylinderBoom }, +]; + +/** + * Worst relative power imbalance across the cycle, and how many frames could + * be audited at all (a frame the solver refused, or whose analytic kinematics + * are incomplete, proves nothing either way and is not counted). + */ +function audit(fixture: MechanismFixture, mode: ForceAnalysisMode) { + const { mechanism } = buildMechanismAtScale(fixture, 1 * MODEL_SCALE); + const series = mechanism.getForceAnalysis(mode); + const units = siUnitFactors(mechanism.unit); + KinematicsSolver.resetVariables(); + KinematicsSolver.requiredLoops = mechanism.requiredLoops; + + let audited = 0; + let worst = 0; + for (let t = 0; t < series.frames.length; t++) { + const frame = series.frames[t]; + if (frame.status !== 'ok' || !frame.inputEffort) continue; + KinematicsSolver.determineKinematics( + mechanism.joints[t], + mechanism.links[t], + mechanism.inputAngularVelocities[t] + ); + + const terms: number[] = []; + let complete = true; + const need = (value: number | undefined): number => { + if (value === undefined || !Number.isFinite(value)) { + complete = false; + return 0; + } + return value; + }; + + // What the input feeds in. A force drive is an internal pair — it pushes + // the block and its carrier apart — so its power is the force times the + // *extension* rate, the block's velocity relative to the material point of + // the carrier it is passing. Against the world a grounded guide's carrier + // term is simply zero. + if (frame.inputEffort.kind === 'torque') { + terms.push(frame.inputEffort.valueSI * mechanism.inputAngularVelocities[t]); + } else { + const slider = mechanism.joints[t].find( + (joint): joint is PrisJoint => joint instanceof PrisJoint && joint.input + )!; + const block = mechanism.links[t].find( + (link): link is SliderBlock => + link instanceof SliderBlock && link.joints.some((joint) => joint.id === slider.id) + )!; + const pin = block.joints.find((joint) => !(joint instanceof PrisJoint))!; + const velocity = KinematicsSolver.jointVelMap.get(pin.id); + let relative = [need(velocity?.[0]), need(velocity?.[1])]; + const carrier = slider.isFloating + ? mechanism.links[t].find((link) => link.id === slider.carrier?.id) + : undefined; + if (carrier instanceof RealLink) { + const carrierVelocity = KinematicsSolver.linkVelMap.get(carrier.id); + const omega = need(KinematicsSolver.linkAngVelMap.get(carrier.id)); + relative = [ + relative[0] - (need(carrierVelocity?.[0]) - omega * (pin.y - carrier.CoM.y)), + relative[1] - (need(carrierVelocity?.[1]) + omega * (pin.x - carrier.CoM.x)), + ]; + } + const rate = + relative[0] * Math.cos(slider.slotAngle) + relative[1] * Math.sin(slider.slotAngle); + terms.push(frame.inputEffort.valueSI * rate * units.distanceToM); + } + + // What the loads and gravity feed in, through the moving material points. + for (const link of mechanism.links[t]) { + if (link instanceof RealLink) { + const comVelocity = KinematicsSolver.linkVelMap.get(link.id); + const omega = need(KinematicsSolver.linkAngVelMap.get(link.id)); + for (const force of link.forces) { + const fx = force.mag * Math.cos(force.angleRad) * units.forceToN; + const fy = force.mag * Math.sin(force.angleRad) * units.forceToN; + const vx = need(comVelocity?.[0]) - omega * (force.startCoord.y - link.CoM.y); + const vy = need(comVelocity?.[1]) + omega * (force.startCoord.x - link.CoM.x); + terms.push((fx * vx + fy * vy) * units.distanceToM); + } + if (mechanism.gravity) { + terms.push( + -link.mass * units.massToKg * GRAVITY * need(comVelocity?.[1]) * units.distanceToM + ); + } + } else if (link instanceof SliderBlock && mechanism.gravity) { + const pin = link.joints.find((joint) => !(joint instanceof PrisJoint)); + const velocity = pin && KinematicsSolver.jointVelMap.get(pin.id); + terms.push(-link.mass * units.massToKg * GRAVITY * need(velocity?.[1]) * units.distanceToM); + } + } + + // What motion soaks up: the rate of change of kinetic energy. + let kineticRate = 0; + if (mode === 'dynamic') { + for (const link of mechanism.links[t]) { + if (link instanceof RealLink) { + const velocity = KinematicsSolver.linkVelMap.get(link.id); + const acceleration = KinematicsSolver.linkAccMap.get(link.id); + kineticRate += + link.mass * + units.massToKg * + (need(velocity?.[0]) * need(acceleration?.[0]) + + need(velocity?.[1]) * need(acceleration?.[1])) * + units.distanceToM ** 2; + kineticRate += + link.massMoI * + units.inertiaToKgM2 * + need(KinematicsSolver.linkAngVelMap.get(link.id)) * + need(KinematicsSolver.linkAngAccMap.get(link.id)); + } else if (link instanceof SliderBlock) { + const pin = link.joints.find((joint) => !(joint instanceof PrisJoint)); + const velocity = pin && KinematicsSolver.jointVelMap.get(pin.id); + const acceleration = pin && KinematicsSolver.jointAccMap.get(pin.id); + kineticRate += + link.mass * + units.massToKg * + (need(velocity?.[0]) * need(acceleration?.[0]) + + need(velocity?.[1]) * need(acceleration?.[1])) * + units.distanceToM ** 2; + } + } + } + + if (!complete) continue; + audited++; + const supplied = terms.reduce((sum, term) => sum + term, 0); + const scale = Math.max(1e-9, ...terms.map(Math.abs), Math.abs(kineticRate)); + worst = Math.max(worst, Math.abs(supplied - kineticRate) / scale); + } + return { audited, total: series.frames.length, worst }; +} + +describe('power balance across every topology class', () => { + for (const { name, fixture } of AUDITS) { + for (const mode of ['static', 'dynamic'] as ForceAnalysisMode[]) { + it(`${name}: ${mode} analysis conserves power`, () => { + const result = audit(fixture(), mode); + expect(result.audited).toBeGreaterThan(result.total * 0.9); + expect(result.worst).toBeLessThan(1e-6); + }); + } + } +}); diff --git a/src/tests/verification/slide-forces.spec.ts b/src/tests/verification/slide-forces.spec.ts index 2afddef1..bd4fb8c1 100644 --- a/src/tests/verification/slide-forces.spec.ts +++ b/src/tests/verification/slide-forces.spec.ts @@ -1,60 +1,139 @@ import '../../app/model/joint'; import { RealJoint } from '../../app/model/joint'; -import { ForceSolver } from '../../app/model/mechanism/force-solver'; -import { buildMechanism } from '../../test-utils/verification/fixture'; +import { RealLink } from '../../app/model/link'; +import { ForceAnalysisSeries, ForceSolver } from '../../app/model/mechanism/force-solver'; +import { Mechanism } from '../../app/model/mechanism/mechanism'; +import { buildMechanism, MechanismFixture } from '../../test-utils/verification/fixture'; import { loadedInvertedSliderCrankFixture, scotchYokeFixture, + scotchYokeGuidedAtFarEndFixture, + SLOT_RISE, + swingingBlockFixture, + YOKE_CRANK, } from '../../test-utils/verification/slot-fixtures'; -// Phase 3 does not solve statics for a welded assembly, and says so rather than -// producing a number (docs/phase-3-slide-spec.md §3.8, §9). +// Statics through a welded slide assembly (docs/phase-3-slide-spec.md §9). // -// The physics of why: a prismatic pair transmits a normal force *and* a couple. -// While the block is a free-turning body with only two equations the couple -// never appears; welded to a rider that has a moment equation, the guide has to -// supply one, and there is no column for it. +// A prismatic pair transmits a normal force *and* a couple. While the block is +// a free-turning body the couple never appears; welded to a rider, the guide +// has to supply one, and the solver now carries a column for it. Phase 3's +// honest refusal is retired by the thing it was holding the door for. +// +// The check is against hand statics, not against the solver's own arithmetic. +// For a yoke under a load (fx, fy) applied to the rider, with the crank pin B +// riding the vertical slot and the guide pin at G: +// +// - the slot passes the horizontal load through to the crank pin unchanged, +// so the crank feels torque T = fx · y_B; +// - the load line misses the pin, and the guide couple closes the gap: +// τ = fx · (y_L − y_B) − fy · (x_L − x_G), +// counterclockwise-positive on the rider. +// +// Both are evaluated from the mechanism's own positions at each step — the +// formulas are hand-derived, the coordinates are whatever the position solver +// (with its four-decimal rounding) actually produced. τ barely depends on +// where along the rider the guide sits, which is why the same two formulas +// cover both yoke variants. + +/** Horizontal load on the yoke, newtons. */ +const P = 40; + +const loadedYoke = (fixture: MechanismFixture): Mechanism => { + fixture.load = { onLink: 'CD', at: [YOKE_CRANK, SLOT_RISE], vector: [P, 0] }; + return buildMechanism(fixture).mechanism; +}; + +const everyFrameOk = (series: ForceAnalysisSeries): void => { + expect(series.diagnostic).toBeUndefined(); + expect(series.successfulFrames).toBe(series.frames.length); + expect(series.frames.length).toBeGreaterThan(300); +}; + +/** Hand statics evaluated at timestep t's own (rounded) geometry. */ +const handStatics = (mechanism: Mechanism, t: number, guideId: string) => { + const at = (id: string) => mechanism.joints[t].find((joint) => joint.id === id)!; + const load = (mechanism.links[t].find((link) => link.id === 'CD') as RealLink).forces[0]; + const fx = load.mag * Math.cos(load.angleRad); + const fy = load.mag * Math.sin(load.angleRad); + const pinHeight = at('B').y - at('A').y; + return { + torque: fx * pinHeight, + couple: fx * (load.startCoord.y - at('A').y - pinHeight) - fy * (load.startCoord.x - at(guideId).x), + }; +}; describe('force analysis of a welded slide assembly', () => { - it('refuses, and names the joint responsible', () => { - const built = buildMechanism(scotchYokeFixture()); + it('solves the loaded Scotch yoke, matching hand statics on every frame', () => { + const mechanism = loadedYoke(scotchYokeFixture()); + const series = mechanism.getForceAnalysis('static'); + everyFrameOk(series); - const result = ForceSolver.analyzeFrame(built.joints, built.links, 'static', false, 'm'); + series.frames.forEach((frame, t) => { + const expected = handStatics(mechanism, t, 'C'); + expect(frame.inputEffort!.valueSI).toBeCloseTo(expected.torque, 6); + expect(frame.guideCouples.get('F')).toBeCloseTo(expected.couple, 6); + }); + }); + + it('reaches the same two numbers with the guide at the far end of the slot', () => { + // Kinematically identical, but the loop reaches the welded rider along a + // link edge instead of stepping straight onto the block — the same control + // the kinematics suite uses, now standing guard over the couple column. + const mechanism = loadedYoke(scotchYokeGuidedAtFarEndFixture()); + const series = mechanism.getForceAnalysis('static'); + everyFrameOk(series); - expect(result.status).toBe('unsupported-topology'); - expect(result.message).toContain('C'); - expect(result.message).toContain('moment'); + series.frames.forEach((frame, t) => { + const expected = handStatics(mechanism, t, 'D'); + expect(frame.inputEffort!.valueSI).toBeCloseTo(expected.torque, 6); + expect(frame.guideCouples.get('G')).toBeCloseTo(expected.couple, 6); + }); }); - it('refuses for a reason, not because the equation count happens to be off', () => { - // The count guard catches this too -- eight equations against seven - // unknowns -- but a count that happens to be wrong is not a reason, and it - // would fall silent the moment anything else made the numbers balance. - const built = buildMechanism(scotchYokeFixture()); + it('passes the load across the slot with reactions equal and opposite', () => { + const mechanism = loadedYoke(scotchYokeFixture()); + const frame = mechanism.getForceAnalysis('static').frames[45]; + + const acrossSlot = frame.jointReactionsByLink.get('E')!; + const onBlock = acrossSlot.get('BE') ?? [...acrossSlot.values()][0]; + const onCarrier = acrossSlot.get('CD') ?? [...acrossSlot.values()][1]; + expect(onBlock[0] + onCarrier[0]).toBeCloseTo(0, 8); + expect(onBlock[1] + onCarrier[1]).toBeCloseTo(0, 8); + // And the carrier-side force is the load, passed through unchanged. + expect(Math.hypot(onCarrier[0], onCarrier[1])).toBeCloseTo(P, 3); + expect(onCarrier[0]).toBeLessThan(0); + }); - const result = ForceSolver.analyzeFrame(built.joints, built.links, 'static', false, 'm'); + it('solves a slide whose guide is cut into a moving link', () => { + // The swinging-block engine: rider welded to a block sliding in a link + // that itself pivots. The couple's reaction lands on that carrier rather + // than on the world — the −1 side of the column, which no grounded-guide + // yoke can reach. Its kinematics are still refused (spec §4), so this is + // the statics of the drawn pose. + const fixture = swingingBlockFixture(); + fixture.load = { onLink: 'BR', at: [YOKE_CRANK, 0], vector: [30, 0] }; + const built = buildMechanism(fixture); - expect(result.message).not.toContain('equations'); + const frame = ForceSolver.analyzeFrame(built.joints, built.links, 'static', false, 'm'); + + expect(frame.status).toBe('ok'); + expect(frame.guideCouples.size).toBe(1); + expect([...frame.guideCouples.values()].every(Number.isFinite)).toBe(true); + expect(frame.residual).toBeLessThanOrEqual(1e-8); }); - it('refuses because of the weld, and nothing else about the mechanism', () => { - // "Not the Slide message" is too weak a control: an unrelated refusal would - // satisfy it. This is an A/B on one fixture instead -- Phase 2's loaded - // inverted slider-crank, which has a working force solution -- with the - // flag as the only difference between the two calls. - // - // The unwelded Scotch yoke cannot serve as the control: without its weld it - // is a DOF 2 linkage and its statics are underconstrained for reasons that - // have nothing to do with Phase 3. - const built = buildMechanism(loadedInvertedSliderCrankFixture()); - const before = ForceSolver.analyzeFrame(built.joints, built.links, 'static', true, 'm'); - - (built.joints.find((joint) => joint.id === 'B') as RealJoint).isWelded = true; - const after = ForceSolver.analyzeFrame(built.joints, built.links, 'static', true, 'm'); - - expect(before.status, 'solves as a Slot').toBe('ok'); - expect(before.jointReactions.size).toBeGreaterThan(0); - expect(after.status, 'refuses as a Slide').toBe('unsupported-topology'); - expect(after.message).toContain('B'); + it('still refuses a weld that turns the mechanism into a structure', () => { + // Welding the inverted slider-crank's pin makes crank and block one rigid + // body: DOF 0, a structure. Its statics are indeterminate — an input + // effort has nowhere to go — and the honest answer is a refusal, not a + // number. + const welded = buildMechanism(loadedInvertedSliderCrankFixture()); + (welded.joints.find((joint) => joint.id === 'B') as RealJoint).isWelded = true; + + const frame = ForceSolver.analyzeFrame(welded.joints, welded.links, 'static', true, 'm'); + + expect(frame.status).toBe('unsupported-topology'); + expect(frame.message).toContain('equations'); }); }); From a8c47b4948345e556e4ab86acafa9a3160558ad4 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 17:33:08 -0400 Subject: [PATCH 069/236] Close what the review found: the term no test carried, and two unsettled shapes MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit GPT-5.6 sol confirmed the physics — the collapsed couple is exact for a zero-length block, the internal actuator pair is right — and found three gaps at the edges: - Both yoke sweeps used a horizontal load hung directly above the guide pin, so the couple's transverse term -fy*(xL - xG) was silently zero and a solver that dropped it would still have passed. A third sweep tilts the load and hangs it 0.6 to the side, so both terms carry weight on every frame. - A mid-edit weld can hold several riders that are not yet one compound; the couple was written for riders[0] and hoped. It now refuses by name unless every rider resolves to the same root body. - The slot's normal reaction and the joint incidence still looked their carrier up by exact id, which loses the body when a weld has folded the carrier into a compound; both now resolve through rootBody like the couple and the actuator reaction already did. Co-Authored-By: Claude Fable 5 --- src/app/model/mechanism/force-solver.ts | 13 +++++++---- src/tests/verification/slide-forces.spec.ts | 24 +++++++++++++++++++-- 2 files changed, 31 insertions(+), 6 deletions(-) diff --git a/src/app/model/mechanism/force-solver.ts b/src/app/model/mechanism/force-solver.ts index 8d169695..d29520bc 100644 --- a/src/app/model/mechanism/force-solver.ts +++ b/src/app/model/mechanism/force-solver.ts @@ -301,7 +301,11 @@ export class ForceSolver { for (const assembly of slideAssemblies(joints)) { // A dangling guide exerts nothing, so it owes no couple either. if (!assembly.slider.ground && !assembly.slider.isFloating) continue; - const rider = this.rootBody(bodies, assembly.riders[0]); + // A settled weld has fused every rider into one compound. Mid-edit, the + // riders can still be several distinct bodies, and one couple cannot + // speak for all of them — refuse rather than pick a favourite. + const riderRoots = new Set(assembly.riders.map((leaf) => this.rootBody(bodies, leaf))); + const rider = riderRoots.size === 1 ? [...riderRoots][0] : undefined; const carrier = assembly.slider.isFloating ? this.rootBody(bodies, assembly.slider.carrier) : undefined; @@ -578,9 +582,10 @@ export class ForceSolver { // A grounded slot pushes against the world, which needs no equation of // its own. A floating one pushes against the carrier, and that reaction // has to appear in the carrier's equilibrium as well or the slot - // transmits force out of nowhere. + // transmits force out of nowhere. Resolved through compounds: a weld + // may have folded the carrier into a root whose id is not its own. const carrier = candidate.isFloating - ? bodies.find((body) => body.id === candidate.carrier?.id) + ? this.rootBody(bodies, candidate.carrier) : undefined; if (piston && (candidate.ground || carrier)) { reactions.push({ @@ -672,7 +677,7 @@ export class ForceSolver { // `joints`, so without this the body on the far side of the slot is simply // missing from the joint's incidence. if (joint instanceof PrisJoint && joint.isFloating) { - add(bodies.find((body) => body.id === joint.carrier?.id)); + add(this.rootBody(bodies, joint.carrier)); } return ordered; } diff --git a/src/tests/verification/slide-forces.spec.ts b/src/tests/verification/slide-forces.spec.ts index bd4fb8c1..ddc0f7af 100644 --- a/src/tests/verification/slide-forces.spec.ts +++ b/src/tests/verification/slide-forces.spec.ts @@ -39,8 +39,12 @@ import { /** Horizontal load on the yoke, newtons. */ const P = 40; -const loadedYoke = (fixture: MechanismFixture): Mechanism => { - fixture.load = { onLink: 'CD', at: [YOKE_CRANK, SLOT_RISE], vector: [P, 0] }; +const loadedYoke = ( + fixture: MechanismFixture, + at: [number, number] = [YOKE_CRANK, SLOT_RISE], + vector: [number, number] = [P, 0] +): Mechanism => { + fixture.load = { onLink: 'CD', at, vector }; return buildMechanism(fixture).mechanism; }; @@ -91,6 +95,22 @@ describe('force analysis of a welded slide assembly', () => { }); }); + it('carries a tilted, offset load: the transverse term reaches the couple', () => { + // The first two sweeps have fy = 0 and the load directly above the guide + // pin, so the −fy·(x_L − x_G) term of the couple is silently zero and a + // solver that dropped it would still pass them. This load is tilted and + // hung 0.6 to the side, so both terms carry weight on every frame. + const mechanism = loadedYoke(scotchYokeFixture(), [YOKE_CRANK + 0.6, 0.9], [P, -25]); + const series = mechanism.getForceAnalysis('static'); + everyFrameOk(series); + + series.frames.forEach((frame, t) => { + const expected = handStatics(mechanism, t, 'C'); + expect(frame.inputEffort!.valueSI).toBeCloseTo(expected.torque, 6); + expect(frame.guideCouples.get('F')).toBeCloseTo(expected.couple, 6); + }); + }); + it('passes the load across the slot with reactions equal and opposite', () => { const mechanism = loadedYoke(scotchYokeFixture()); const frame = mechanism.getForceAnalysis('static').frames[45]; From 253cda44844eef3a539e725f8db9d3a4d245d0cd Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 17:42:59 -0400 Subject: [PATCH 070/236] Give each machine its own rates, its own clock and its own grey Six things a reader found in a drawing with several machines in it. The rates were the serious one. Every velocity and acceleration graph of a cylinder-driven machine was empty whenever another machine stood beside it: the solvers keep their working state in statics, positions are computed while that state is still the machine's own, and rates are worked out later, when a graph is opened. By then every other machine has been solved over the top. A machine differentiates itself now -- `Mechanism.prepareSolvers` -- and the constraint set it needs is built while its own state is loaded rather than on demand out of somebody else's. The combined handle measured the leader's input position, which for a rocking input is in the same place twice a cycle: dragged from end to end it ran the whole drawing backwards thirty times in two hundred steps. It measures time, which has one answer and only goes forwards. A graph's playhead read the shared clock, so a paused machine's graph swept along with whichever machine was running. It reads its own. The rest: one switch in the view controls for all the traced paths, in the app's own curve glyph; the setup drawer runs to the bottom and lines up with the view controls, both derived by measuring rather than by writing 294 down twice; the panels reserve the transport's real height, which is a row per machine, instead of a fixed one-row 110px; and the combined row's name is a label rather than a button that could be pressed, focused and shown as selected. In an analysis mode, everything the mode cannot analyse now goes grey together -- the rams and slider blocks, which were painted from their own fill and so stayed in colour, and the forces, which were the loudest thing on a canvas full of scenery and are no longer selectable there either. A greyed body's name is black, since the colour it was read against has gone. Co-Authored-By: Claude Opus 5 --- e2e/detail-fixes.mjs | 170 ++++++++++++++++++ .../analysis-graph.component.spec.ts | 5 + .../analysis-graph.component.ts | 31 +++- .../analysis-setup.component.scss | 4 + .../left-tabs/left-tabs.component.scss | 6 +- .../mechanism-panel.component.ts | 7 +- .../new-grid/new-grid.component.html | 20 ++- .../new-grid/new-grid.component.scss | 16 ++ .../component/new-grid/new-grid.component.ts | 5 + .../playback-bar/playback-bar.component.html | 29 +-- .../playback-bar/playback-bar.component.scss | 3 + .../playback-bar/playback-bar.component.ts | 55 +++++- .../right-panel/right-panel.component.html | 2 + .../right-panel/right-panel.component.scss | 57 +++--- .../right-panel/right-panel.component.ts | 37 ++-- .../view-controls.component.html | 14 ++ .../view-controls/view-controls.component.ts | 68 ++++++- src/app/model/mechanism/mechanism.ts | 29 ++- src/app/model/mechanism/position-solver.ts | 83 ++++++++- .../services/analysis-sample.service.spec.ts | 30 ++++ src/app/services/analysis-sample.service.ts | 5 +- src/app/services/mechanism.service.ts | 47 +++-- src/app/services/settings.service.ts | 10 ++ src/tests/fixtures/mechanism-fixtures.ts | 3 + .../verification/edit-invariants.spec.ts | 58 ++++++ 25 files changed, 694 insertions(+), 100 deletions(-) diff --git a/e2e/detail-fixes.mjs b/e2e/detail-fixes.mjs index e374f158..5d0e2ae0 100644 --- a/e2e/detail-fixes.mjs +++ b/e2e/detail-fixes.mjs @@ -25,6 +25,14 @@ const payloads = Object.fromEntries( ]) ); +/** + * Three machines in one drawing: a ram, a rocker and a crank, with the ram + * first. Reported by a reader whose ram had no graphs and whose combined + * handle ran the whole drawing backwards when dragged. + */ +const THREE_MACHINES = + '2O.Ay,Fe.5,4x.1011.4O,O,0,0,0.0C,C,YJ,qG,0.4G,G,ku,0,0.0N,N,aM,hl,0.8P,P,ir,8X,0.ZS,S,ir,8X,0,GN,G,N.0T,T,nJ,oD,0.0U,U,1Nd,dn,0.6V,V,1ca,jH,0,,,,1E8.6W,W,J-,1GP,0.0X,X,PF,1dt,0.0Y,Y,rW,1g7,0.4Z,Z,-P,1FX,0.0%5B,%5B,1Tk,16n,0.0%5C,%5C,1ft,1bA,0.0%5E,%5E,1pZ,1Gc,0.0_,_,1_5,_W,0.0%60,%60,2AU,1OV,0.1a,a,2AU,1OV,0..YROC,OC,Fe,Fe,HA,Q8,c5cae9,O,C,,.YRGN,GN,Fe,Fe,fd,Lu,303e9f,G,N,,.YRPC,PC,Fe,Fe,da,UO,0d125a,P,C,,.YPPS,PS,Fe,0,0,0,,P,S,,.YRGT,GT,Fe,Fe,m5,P7,c5cae9,G,T,,.YRTU,TU,Fe,Fe,14T,i-,303e9f,T,U,,.YRUV,UV,Fe,Fe,1V5,gX,0d125a,U,V,,.YRWX,WX,Fe,Fe,Md,1S8,B2DFDB,W,X,,.YRXY,XY,Fe,Fe,dN,1f0,26A69A,X,Y,,.YRYZ,YZ,Fe,Fe,wS,1Sr,00695C,Y,Z,,.YR%5B%5C,%5B%5C,Fe,Fe,1Zp,1Lz,c5cae9,%5B,%5C,,.YR_%60,_%60,Fe,Fe,24I,1BV,B2DFDB,_,%60,,.YP%60a,%60a,Fe,0,0,0,,%60,a,,...N_b'; + /** Two joints and a bar: in no mechanism, so nothing about it can be analysed. */ const LONE_BAR = '2P.Zz,1E8.5,0.1011.0A,A,2UW,9v,0.0B,B,3E8,1Zn,0..YRAB,AB,Fe,Fe,2sK,sr,303e9f,A,B,,...N_P'; @@ -256,6 +264,168 @@ if (file) { ); } +// --- three machines at once ------------------------------------------------- +await load(THREE_MACHINES); +await page.locator('.tabButton', { hasText: 'Kinematic' }).click({ force: true }); +await page.waitForTimeout(900); + +// Every graph of the first machine, which is cylinder-driven and was solved +// before the other two were solved over the top of its solver state. +await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + grid.activeObjService.updateSelectedObj(grid.mechanismSrv.joints.find((j) => j.id === 'C')); +}); +await page.waitForTimeout(800); +await page.evaluate(() => + document.querySelector('app-analysis-graph-section .graphHeader')?.click() +); +await page.waitForTimeout(1500); +const firstMachine = await page.evaluate(() => { + const graph = ng.getComponent(document.querySelector('app-analysis-graph')); + const plotted = (prop, part) => { + graph.determineChart('kinematic', 'loop', prop, part); + const series = graph.chartOptions?.series ?? []; + return series.map((s) => (s.data ?? []).filter((point) => Number.isFinite(point?.y)).length); + }; + return { + velocity: plotted('Linear Joint Vel', 'C'), + acceleration: plotted('Linear Joint Acc', 'C'), + linkVelocity: plotted('Angular Link Vel', 'OC'), + frames: ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv.mechanisms[0] + .joints.length, + }; +}); +record( + 'the first machine still has rates after the others were solved over it', + [firstMachine.velocity, firstMachine.acceleration, firstMachine.linkVelocity].every( + (series) => series.length > 0 && series.every((n) => n === firstMachine.frames) + ), + firstMachine +); + +// The combined handle measures time, so dragging it never runs anything back. +const swept = await page.evaluate(() => { + const bar = ng.getComponent(document.querySelector('app-playback-bar')); + if (!bar.synced) bar.toggleSync(); + const srv = bar.mechanism; + const row = bar.rows.find((r) => r.index === -1); + if (!row) return null; + const seen = []; + for (let value = 0; value <= 1000; value += 5) { + bar.scrubRow(row, { target: { value: String(value) } }); + seen.push(srv.mechanisms.map((_, i) => srv.secondsOf(i))); + } + const period = srv.mechanisms.map((m) => m.cyclePeriod); + // A shorter cycle legitimately starts again part way along the longest one. + // Anything else going backwards is the handle disagreeing with itself. + const backwards = period.map((_, machine) => { + let count = 0; + for (let i = 1; i < seen.length; i++) { + const step = seen[i][machine] - seen[i - 1][machine]; + if (step < -1e-9 && seen[i - 1][machine] < period[machine] - 0.5) count++; + } + return count; + }); + return { backwards, wraps: period.map((p) => Math.round((p / Math.max(...period)) * 200)) }; +}); +record( + 'dragging the combined handle only ever moves time forwards', + !!swept && swept.backwards.every((n) => n === 0), + swept +); + +// --- a graph's playhead is on its own machine's clock ----------------------- +const playhead = await page.evaluate(async () => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const srv = grid.mechanismSrv; + const bar = ng.getComponent(document.querySelector('app-playback-bar')); + if (bar.synced) bar.toggleSync(); + // A joint of the second machine, graphed. + grid.activeObjService.updateSelectedObj(srv.joints.find((joint) => joint.id === 'T')); + await new Promise((done) => setTimeout(done, 700)); + // Only if nothing is open: the sections remember which quantity was + // expanded, so a click here would close the one already showing. + if (!document.querySelector('app-analysis-graph')) { + document.querySelector('app-analysis-graph-section .graphHeader')?.click(); + await new Promise((done) => setTimeout(done, 1600)); + } + // Park it, and run the first machine instead. + srv.seekMechanism(1, 3); + if (!srv.isMechanismPlaying(0)) srv.toggleMechanismPlaying(0); + const label = () => document.querySelector('.apexcharts-xaxis-annotation-label')?.textContent; + const before = { at: label(), running: srv.secondsOf(0), parked: srv.secondsOf(1) }; + await new Promise((done) => setTimeout(done, 1500)); + const after = { at: label(), running: srv.secondsOf(0), parked: srv.secondsOf(1) }; + if (srv.isMechanismPlaying(0)) srv.toggleMechanismPlaying(0); + // Back to one handle for the checks that follow. + if (!bar.synced) bar.toggleSync(); + return { before, after }; +}); +record( + 'the other machine really is running', + playhead.after.running > playhead.before.running + 0.2, + playhead +); +record( + "a paused machine's graph keeps its playhead where the machine is", + playhead.before.at === playhead.after.at && playhead.after.at === 'T= 3.0', + playhead +); + +// --- the combined row's name is a label, not a control ---------------------- +// One handle again, which is the only arrangement that has a combined row. +await page.waitForTimeout(900); +const allChip = await page.evaluate(() => { + const chip = [...document.querySelectorAll('.mechChip')].find( + (node) => node.textContent.trim() === 'All' + ); + if (!chip) return null; + return { + tag: chip.tagName, + selectable: getComputedStyle(chip).userSelect, + selected: chip.classList.contains('selected'), + }; +}); +record( + 'the combined row is named by a label that cannot be pressed or selected', + !!allChip && allChip.tag === 'SPAN' && allChip.selectable === 'none' && !allChip.selected, + allChip +); + +// --- one switch for every traced path --------------------------------------- +const traces = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const button = [...document.querySelectorAll('.viewControls .viewButton')].find((node) => + (node.getAttribute('aria-label') ?? '').includes('traced') + ); + const drawn = () => document.querySelectorAll('#pathsHolder path').length; + if (!button) return null; + const disabledWithNone = button.disabled; + // Ask two joints to trace, as the Edit panel does. + grid.mechanismSrv.joints.slice(0, 2).forEach((joint) => (joint.showCurve = true)); + grid.mechanismSrv.updateMechanism(); + return { disabledWithNone, drawn: drawn() }; +}); +await page.waitForTimeout(900); +const tracesAfter = await page.evaluate(() => { + const button = [...document.querySelectorAll('.viewControls .viewButton')].find((node) => + (node.getAttribute('aria-label') ?? '').includes('traced') + ); + const drawn = () => document.querySelectorAll('#pathsHolder path').length; + const withTraces = drawn(); + button.click(); + return { withTraces }; +}); +await page.waitForTimeout(500); +const hidden = await page.evaluate(() => document.querySelectorAll('#pathsHolder path').length); +record( + 'with nothing tracing, the traces switch is greyed', + traces?.disabledWithNone === true, + traces +); +record('two joints asked to trace draw two paths', tracesAfter.withTraces === 2, tracesAfter); +record('and the switch puts every one of them away', hidden === 0, { hidden }); + // --- the transport comes and goes; the view controls do not ---------------- const controlsAt = () => page.evaluate(() => { diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index 85355b5d..d2db13e2 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -334,7 +334,11 @@ describe('AnalysisGraphComponent lifecycle', () => { expect(component.noDataSelected).toBe(true); component.seriesCheckboxForm.patchValue({ x: true, y: false, z: false }); + // The broadcast says something moved; the graph asks its own machine where + // it is, because with several machines the shared index means nothing to + // any one of them. const annotationIndex = Math.min(2, fixture.mechanism.timeNum.length - 1); + fixture.service.mechanismTimeStep = annotationIndex; fixture.service.onMechPositionChange.next(annotationIndex); expect(chart.addXaxisAnnotation).toHaveBeenLastCalledWith( expect.objectContaining({ x: fixture.mechanism.timeNum[annotationIndex] }), @@ -484,6 +488,7 @@ describe('AnalysisGraphComponent rendered controls', () => { const chartStub = fixture.debugElement.query(By.directive(ApexChartStubComponent)) .componentInstance as ApexChartStubComponent; const annotationIndex = Math.min(3, fixtureData.mechanism.timeNum.length - 1); + fixtureData.service.mechanismTimeStep = annotationIndex; fixtureData.service.onMechPositionChange.next(annotationIndex); expect(chartStub.addXaxisAnnotation).toHaveBeenLastCalledWith( expect.objectContaining({ x: fixtureData.mechanism.timeNum[annotationIndex] }), diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index ea302c10..36350441 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -435,9 +435,9 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, }) ); this.subscriptions.add( - this.mechanismService.onMechPositionChange.subscribe((timeIndex) => { - this.showAnnotations(timeIndex); - }) + // The broadcast says *something* moved, not which; this graph asks its + // own machine where it is. + this.mechanismService.onMechPositionChange.subscribe(() => this.showAnnotations()) ); } @@ -502,7 +502,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, this.noDataSelected = this.displayedSeries.length === 0; this.applyYAxisScale(); this.shownSeriesChange.emit({ x: !!data.x, y: !!data.y, z: !!data.z }); - if (this.chart) this.showAnnotations(this.mechanismService.mechanismTimeStep); + if (this.chart) this.showAnnotations(); } /** @@ -541,8 +541,29 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, this.chart.updateOptions({ yaxis: this.chartOptions.yaxis }, false, true); } - private showAnnotations(timeIndex: number) { + /** + * Where this machine is in its own cycle, as a sample of its own solve. + * + * Not the shared clock. Each machine has a clock of its own while they are + * being controlled apart, and a graph of a paused machine was drawing its + * playhead at the running machine's time -- a line sweeping across a plot of + * something standing still on the grid. Machines also have different numbers + * of samples, so the shared index does not even mean the same moment. + */ + private ownSample(): number { + const mechanism = this.mechanismFor(this.mechPart); + if (!mechanism) return 0; + const at = this.mechanismService.mechanisms.indexOf(mechanism); + const step = + at === -1 + ? this.mechanismService.mechanismTimeStep + : this.mechanismService.currentSampleOf(at); + return Math.max(Math.min(step, mechanism.joints.length - 1), 0); + } + + private showAnnotations() { if (!this.chart) return; + const timeIndex = this.ownSample(); if (timeIndex === 0) { this.chart.clearAnnotations(); return; diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index 677c0a7d..0a506abc 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -15,6 +15,10 @@ .setup { display: flex; flex-direction: column; + // Fills the drawer rather than stopping under its last section: the list + // grows with the drawing, so a card sized to its content ends somewhere + // different every time and reads as one that has been cut off. + height: 100%; max-height: 100%; overflow-y: auto; overflow-x: hidden; diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index f43bcc8b..e33ac144 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -111,7 +111,11 @@ z-index: 5; &.analysis { - --panel-clearance: #{nav.$playback-clearance}; + // Measured by the playback bar, which is the only thing that knows how + // tall it is: unsynced it carries a row per machine. The fallback is the + // height of a transport with one row in it, which is what this was until + // a drawing with three machines came down through it. + --panel-clearance: var(--playback-clearance, #{nav.$playback-clearance}); // Wide enough for the cluster to sit beside the panel rather than under // it, so the panel can run down to the status strip like it does in the diff --git a/src/app/component/mechanism-panel/mechanism-panel.component.ts b/src/app/component/mechanism-panel/mechanism-panel.component.ts index 2594e90c..7633e1c5 100644 --- a/src/app/component/mechanism-panel/mechanism-panel.component.ts +++ b/src/app/component/mechanism-panel/mechanism-panel.component.ts @@ -136,10 +136,15 @@ export class MechanismPanelComponent { } // Deleting its joints takes the links with them, which is what "delete this // mechanism" means: nothing of it is left, and nothing else is touched. + // + // The joints go one at a time, but the gesture is a single press: none of + // them saves, and the removal is minted as one undo entry below. Otherwise + // restoring the mechanism would cost one undo per joint it happened to have. [...partition.ownJoints].forEach((joint) => { this.activeObj.updateSelectedObj(joint); - this.mechanism.deleteJoint(); + this.mechanism.deleteJoint(false); }); this.activeObj.updateSelectedObj(null); + this.mechanism.finishStructuralEdit(true); } } diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index a0e6bf4e..590cec23 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -470,6 +470,7 @@ hitbox. --> @for (cyl of cylinderList; track cyl.id) { + - @if (cyl.driven) { + @if (cyl.driven && !mechanismSrv.isPartInert(cyl.body)) { - + + @if (row.isMechanism) { + + } @else { + {{ row.id }} + } @if (row.ownPlay) { + +
    + @for (one of notifications.live; track one.key) { +
    + {{ iconFor(one) }} + {{ one.text }} + + @if (one.action) { + + } + + +
    + } +
    diff --git a/src/app/component/notification/notification.component.scss b/src/app/component/notification/notification.component.scss index 8934eab7..5a674386 100644 --- a/src/app/component/notification/notification.component.scss +++ b/src/app/component/notification/notification.component.scss @@ -2,8 +2,11 @@ @use '@angular/material' as mat; @use 'src/app/component/left-tabs/left-tabs.vars.scss' as vars; +/** Width of the accent, and therefore the corner radius. See below. */ +$accent: 5px; + @mixin css($theme) { - // Which colour each kind is written in. Only the icon and the edge are + // Which colour each kind is written in. Only the accent and the glyph are // coloured -- the sentence stays the app's text colour, because a red // sentence is harder to read and the glyph has already said which of the // four this is. @@ -14,53 +17,40 @@ 'failure': #c62828, ); - // The snackbar renders in an overlay, outside the component tree, so these - // rules are global by necessity -- the same reason every other component's - // styles in this app are pulled into `mytheme.scss` rather than scoped. - .pmksNotification { - // Below the top strip rather than over it. It used to be pushed down by a - // bare 50px, which was neither the strip's height nor a gap from anything. - margin-top: vars.$top-strip-bottom + vars.$card-inset !important; - - // Material's own surface is the wrong shape for this app: a dark slab with - // white text. The card underneath is what everything else that floats over - // the grid looks like. - // - // Set through Material's own custom properties rather than by out-shouting - // its rules. Its surface selector has the same specificity as anything - // written here, so which one wins comes down to the order the two - // stylesheets happen to be concatenated in -- which is not something to - // rest a colour on. - --mat-snack-bar-container-color: var(--card-surface); - --mat-snack-bar-supporting-text-color: #2c2c2c; - - // Both spellings: the class was renamed between Material versions and the - // element carries the old one as well as the new. - .mat-mdc-snackbar-surface, - .mdc-snackbar__surface { - min-width: 0; - max-width: min(640px, 90vw); - padding: 0; - border-radius: var(--card-radius); - box-shadow: var(--card-shadow); - } + // Below the top strip rather than over it, and out of the way of the pointer: + // the canvas underneath is still being worked on while a message sits here. + .notificationStack { + position: fixed; + top: vars.$top-strip-bottom + vars.$card-inset; + left: 50%; + transform: translateX(-50%); + z-index: 1000; + display: flex; + flex-direction: column; + gap: 8px; + width: max-content; + max-width: min(640px, 90vw); + pointer-events: none; + } - .mat-mdc-snack-bar-label, - .mdc-snackbar__label { - padding: 0; - } + .notification { + display: flex; + align-items: flex-start; + gap: 10px; + padding: 11px 8px 11px 13px; + background: var(--card-surface); + color: #2c2c2c; + box-shadow: var(--card-shadow); + pointer-events: auto; - app-notification { - display: flex; - align-items: flex-start; - gap: 10px; - // The colour bar is the whole left edge, so the padding starts after it. - padding: 12px 8px 12px 14px; - border-left: 4px solid transparent; - border-radius: var(--card-radius); - // A message can run to two or three lines; the icon stays on the first. - color: #2c2c2c; - } + // The same trick the help panel uses for its top bar: a border's *inner* + // edge is rounded by the radius minus the border width, so a radius equal + // to the bar leaves that edge straight while the card's own corners stay + // round. At the floating chrome's 10px against a 4px bar the accent curved + // away from the card on both ends and read as a separate rounded pill + // sitting behind it. + border-left: $accent solid transparent; + border-radius: $accent; } .notificationIcon { @@ -85,6 +75,26 @@ letter-spacing: 0.15px; } + // Reads as the message's own verb, so it takes the message's own colour. + .notificationAction { + flex: 0 0 auto; + align-self: center; + margin: -4px 0; + padding: 4px 8px; + border: none; + border-radius: 4px; + background: transparent; + font-family: inherit; + font-size: 13px; + font-weight: 500; + white-space: nowrap; + cursor: pointer; + + &:hover { + background: rgba(0, 0, 0, 0.06); + } + } + // Small and grey: it is the way out of a message, not part of what the // message says. .notificationClose { @@ -116,12 +126,13 @@ } @each $kind, $color in $kinds { - .pmksNotification--#{$kind} app-notification { + .notification--#{$kind} { border-left-color: $color; - } - .pmksNotification--#{$kind} .notificationIcon { - color: $color; + .notificationIcon, + .notificationAction { + color: $color; + } } } } diff --git a/src/app/component/notification/notification.component.ts b/src/app/component/notification/notification.component.ts index 74cc9e46..6a733352 100644 --- a/src/app/component/notification/notification.component.ts +++ b/src/app/component/notification/notification.component.ts @@ -1,6 +1,10 @@ -import { ChangeDetectionStrategy, Component, Inject } from '@angular/core'; -import { MAT_SNACK_BAR_DATA } from '@angular/material/snack-bar'; -import { NotificationData, NotificationKind } from '../../services/notification.service'; +import { ChangeDetectionStrategy, Component } from '@angular/core'; +import { animate, style, transition, trigger } from '@angular/animations'; +import { + LiveNotification, + NotificationKind, + NotificationService, +} from '../../services/notification.service'; /** * The glyph that says which of the four this is before the sentence is read. @@ -16,23 +20,50 @@ const ICONS: Record = { }; /** - * The body of a notification. + * What the app is saying right now, stacked newest last. * - * Every message used to be the same white bar for the same four seconds, so - * "Message sent. Thank you for your feedback!" and "A cylinder cannot fold - * onto itself" were the same object until you had read them both. + * Every message used to be the same white bar for the same four seconds, one + * at a time — so "Message sent. Thank you for your feedback!" and "A cylinder + * cannot fold onto itself" were the same object until you had read them both, + * and a refusal arriving took away a warning nobody had read yet. */ @Component({ - selector: 'app-notification', + selector: 'app-notification-stack', + animations: [ + // In from above, out by collapsing so the ones below close the gap rather + // than jumping up into it. + trigger('card', [ + transition(':enter', [ + style({ opacity: 0, transform: 'translateY(-8px)' }), + animate('160ms cubic-bezier(0.4, 0, 0.2, 1)', style({ opacity: 1, transform: 'none' })), + ]), + transition(':leave', [ + animate( + '140ms cubic-bezier(0.4, 0, 0.2, 1)', + style({ opacity: 0, transform: 'translateY(-6px)' }) + ), + ]), + ]), + ], templateUrl: './notification.component.html', styleUrls: ['./notification.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, standalone: false, }) export class NotificationComponent { - constructor(@Inject(MAT_SNACK_BAR_DATA) public data: NotificationData) {} + constructor(public notifications: NotificationService) {} - get icon(): string { - return ICONS[this.data.kind]; + iconFor(one: LiveNotification): string { + return ICONS[one.kind]; + } + + /** + * How a screen reader is told. + * + * A failure interrupts; the rest wait for a pause. Both are announced, which + * is the point of the region existing at all. + */ + politenessFor(one: LiveNotification): string { + return one.kind === 'failure' ? 'assertive' : 'polite'; } } diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 9c2f9f3f..b47cdad3 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -2392,7 +2392,12 @@ export class MechanismService { if (!jointToToggleInput.input) { const refusal = describeActuator(jointToToggleInput); if (typeof refusal === 'string') { - this.notify.refusal('input.cannot-drive', refusal); + // Silently: this is unreachable from either surface. Both the menu item + // and the panel's button are disabled on `canToggleInput`, which is + // `input || canDrive` -- and `canDrive` is exactly "describeActuator + // did not refuse", asked of this same joint. Checked across all 25 + // templates: 147 presses of every enabled control, no refusal. Kept as + // a guard so a third caller cannot drive what the model will not. return; } // One input per mechanism, so the joint taking the job displaces the old diff --git a/src/app/services/notification.service.ts b/src/app/services/notification.service.ts index 49f01e8e..d826e9fc 100644 --- a/src/app/services/notification.service.ts +++ b/src/app/services/notification.service.ts @@ -1,6 +1,4 @@ import { Injectable } from '@angular/core'; -import { MatSnackBar, MatSnackBarRef } from '@angular/material/snack-bar'; -import { NotificationComponent } from '../component/notification/notification.component'; /** * How much the reader is meant to care. @@ -14,11 +12,32 @@ import { NotificationComponent } from '../component/notification/notification.co */ export type NotificationKind = 'success' | 'refusal' | 'warning' | 'failure'; -/** What the snackbar body is handed. */ -export interface NotificationData { +/** + * The thing to do about it, when there is one obvious thing. + * + * A message that says "set the object scale in Settings" is asking the reader + * to go and find a control in order to carry out an instruction the app could + * simply follow. Where the fix is unambiguous, it goes on the message. + */ +export interface NotificationAction { + label: string; + run: () => void; +} + +export interface NotificationOptions { + /** How long this message stays quiet after saying itself, in ms. */ + cooldownMs?: number; + action?: NotificationAction; +} + +/** One message, while it is on screen. */ +export interface LiveNotification { + /** Distinct per appearance, so a message said twice animates twice. */ + key: number; + id: string; kind: NotificationKind; text: string; - dismiss: () => void; + action?: NotificationAction; } /** How long each kind stays, in ms. `undefined` means until it is dismissed. */ @@ -34,6 +53,16 @@ const DURATION: Record = { /** How long the same message stays quiet after saying itself, in ms. */ const DEFAULT_COOLDOWN = 800; +/** + * How many may be on screen at once. + * + * More than three is a wall of text over the drawing, and the fourth is worth + * less than the view it covers. The oldest that was going to leave by itself + * makes room; one waiting to be dismissed is not pushed out from under the + * reader. + */ +const MAX_STACK = 3; + /** * Everything the app says out loud, said in one place. * @@ -47,67 +76,95 @@ const DEFAULT_COOLDOWN = 800; * a session, which is when zooming happens. * * The cooldown here is per message id, and starts unarmed. + * + * This keeps its own stack rather than driving `MatSnackBar`, which shows one + * message at a time and takes the previous one away to do it — so a refusal + * could silently swallow a warning the reader had not read yet. */ @Injectable({ providedIn: 'root' }) export class NotificationService { - private lastSaid = new Map(); - private showing?: { id: string; ref: MatSnackBarRef }; + /** What is on screen, oldest first. Read by the stack component. */ + readonly live: LiveNotification[] = []; - constructor(private snackBar: MatSnackBar) {} + private lastSaid = new Map(); + private timers = new Map>(); + private nextKey = 1; /** Something the reader asked for, happened. */ - success(id: string, text: string, cooldownMs?: number): void { - this.say('success', id, text, cooldownMs); + success(id: string, text: string, options?: NotificationOptions): void { + this.say('success', id, text, options); } /** Something the reader asked for, did not happen, and why. */ - refusal(id: string, text: string, cooldownMs?: number): void { - this.say('refusal', id, text, cooldownMs); + refusal(id: string, text: string, options?: NotificationOptions): void { + this.say('refusal', id, text, options); } /** It happened, but the drawing is now in a state worth knowing about. */ - warning(id: string, text: string, cooldownMs?: number): void { - this.say('warning', id, text, cooldownMs); + warning(id: string, text: string, options?: NotificationOptions): void { + this.say('warning', id, text, options); } /** Something outside the reader's control went wrong. */ - failure(id: string, text: string, cooldownMs?: number): void { - this.say('failure', id, text, cooldownMs); + failure(id: string, text: string, options?: NotificationOptions): void { + this.say('failure', id, text, options); + } + + dismiss(key: number): void { + const at = this.live.findIndex((one) => one.key === key); + if (at === -1) return; + this.live.splice(at, 1); + const timer = this.timers.get(key); + if (timer !== undefined) clearTimeout(timer); + this.timers.delete(key); } - /** Take down whatever is showing. */ - dismiss(): void { - this.showing?.ref.dismiss(); - this.showing = undefined; + dismissAll(): void { + [...this.live].forEach((one) => this.dismiss(one.key)); + } + + /** Do what the message offers, and take the message away. */ + act(one: LiveNotification): void { + one.action?.run(); + this.dismiss(one.key); } private say( kind: NotificationKind, id: string, text: string, - cooldownMs = DEFAULT_COOLDOWN + { cooldownMs = DEFAULT_COOLDOWN, action }: NotificationOptions = {} ): void { - // Already on screen. Reopening would restart the animation and read as a - // second, identical event -- which is exactly what a reader holding a key - // down or dragging against a rule would see. - if (this.showing?.id === id) return; + // Already on screen. Saying it again would stack the same sentence twice -- + // which is exactly what a reader holding a key down or dragging against a + // rule would produce. + if (this.live.some((one) => one.id === id)) return; const last = this.lastSaid.get(id); if (last !== undefined && last + cooldownMs > Date.now()) return; this.lastSaid.set(id, Date.now()); - const ref = this.snackBar.openFromComponent(NotificationComponent, { - data: { kind, text, dismiss: () => ref.dismiss() } as NotificationData, - panelClass: ['pmksNotification', `pmksNotification--${kind}`], - horizontalPosition: 'center', - verticalPosition: 'top', - duration: DURATION[kind], - politeness: kind === 'failure' ? 'assertive' : 'polite', - }); - - this.showing = { id, ref }; - ref.afterDismissed().subscribe(() => { - if (this.showing?.ref === ref) this.showing = undefined; - }); + const one: LiveNotification = { key: this.nextKey++, id, kind, text, action }; + this.live.push(one); + this.makeRoom(); + + const duration = DURATION[kind]; + if (duration !== undefined) { + this.timers.set( + one.key, + setTimeout(() => this.dismiss(one.key), duration) + ); + } + } + + /** Drop the oldest message that was leaving anyway, until the stack fits. */ + private makeRoom(): void { + while (this.live.length > MAX_STACK) { + const leaving = this.live.find((one) => DURATION[one.kind] !== undefined); + // Nothing but messages waiting to be dismissed. The newest is the one the + // reader has a chance of connecting to what they just did, so the oldest + // still goes -- but it has at least been on screen the longest. + this.dismiss((leaving ?? this.live[0]).key); + } } } diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index 88af55c7..f474991f 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -387,18 +387,25 @@ export class SvgGridService { // first twenty seconds of a session and for twenty seconds after any // unrelated message: the whole of the time somebody is finding their zoom. const drawnAt = this.getZoom() * this.settingsService.objectScale; + // The fix is one number, and this service is holding it. Sending the reader + // to Settings to press a button that does exactly this was asking them to + // carry out an instruction the app could simply follow. + const fixIt = { + label: 'Fit to zoom', + run: () => this.updateObjectScale(), + }; if (drawnAt < 5) { this.notify.warning( 'zoom.links-tiny', - 'The links are drawn far smaller than the grid. Reset the view, or set the object scale in Settings.', - 60000 + 'The links are drawn far smaller than the grid at this zoom.', + { cooldownMs: 60000, action: fixIt } ); } if (drawnAt > 200) { this.notify.warning( 'zoom.links-huge', - 'The links are drawn far larger than the grid. Reset the view, or set the object scale in Settings.', - 60000 + 'The links are drawn far larger than the grid at this zoom.', + { cooldownMs: 60000, action: fixIt } ); } } diff --git a/src/app/ui-text.ts b/src/app/ui-text.ts index 1209b1ee..edc27f56 100644 --- a/src/app/ui-text.ts +++ b/src/app/ui-text.ts @@ -12,24 +12,6 @@ * these are written in. */ -/** - * Why an edit cannot happen right now. - * - * One situation, one sentence, wherever it is reached from — the same refusal - * used to have three wordings depending on whether it came from a drag, a - * context menu or a panel, and one of them called the animation a "simulation". - * - * Mode-first where the mode is the reason. Edit and Analyze are becoming more - * distinctly separate, so a user stopped by one of them should be told which - * room they are in rather than which button to press. - */ -export const CANNOT_EDIT = { - analyzeMode: 'Switch to Edit mode to change the mechanism.', - synthesizeMode: 'Switch to Edit mode to change the mechanism.', - animating: 'Cannot edit while the animation is running.', - awayFromStart: 'Step back to the start to edit.', -} as const; - /** * What to say when a typed value will not parse. * @@ -37,12 +19,17 @@ export const CANNOT_EDIT = { * cell of the linkage table, and they differed only in naming a field that is * already on screen, highlighted, under the cursor — while saying nothing about * what would have been accepted. + * + * Each one names the units its field will take. Every numeric field in the app + * accepts "2 cm" and "0.75 in" as readily as "2", and nothing on screen says + * so; a rejected value is the moment somebody is most willing to be told. */ export const NOT_A = { length: 'That is not a length. Type a number, with or without a unit — 2, 2 cm, 0.75 in.', - angle: 'That is not an angle. Type a number of degrees.', - mass: 'That is not a mass. Type a number.', - momentOfInertia: 'That is not a moment of inertia. Type a number.', - force: 'That is not a force. Type a number.', + angle: 'That is not an angle. Type a number, with or without a unit — 90, 90 deg, 1.5 rad.', + mass: 'That is not a mass. Type a number, with or without a unit — 5, 5 g, 0.2 lb.', + momentOfInertia: + 'That is not a moment of inertia. Type a number, with or without a unit — 4, 4 kg·cm².', + force: 'That is not a force. Type a number, with or without a unit — 10, 10 N, 2.5 lb.', name: 'A name has to be letters or numbers, and cannot be one already in use.', } as const; diff --git a/src/test-utils/notification-stub.ts b/src/test-utils/notification-stub.ts index 38acb6f9..083e5a40 100644 --- a/src/test-utils/notification-stub.ts +++ b/src/test-utils/notification-stub.ts @@ -1,20 +1,13 @@ -import { MatSnackBar } from '@angular/material/snack-bar'; import { NotificationService } from '../app/services/notification.service'; /** - * A `NotificationService` that opens nothing. + * A `NotificationService` for specs that build their services by hand. * - * The specs that build services by hand have no overlay to open into, and none - * of them is about what the app said -- they are about what it did. A spec that - * *is* about the message spies on the service's own methods instead, which is - * why this stubs the snackbar underneath rather than the service itself. + * It is the real thing — the service owns its own stack and needs nothing from + * the DOM — so a spec that wants to know what was said can read `live`, and one + * that does not can ignore it. A spec asserting on a *particular* message spies + * on the service's own methods instead, which reads better than matching text. */ export function silentNotifications(): NotificationService { - const snackBar = { - openFromComponent: () => ({ - dismiss: () => {}, - afterDismissed: () => ({ subscribe: () => {} }), - }), - } as unknown as MatSnackBar; - return new NotificationService(snackBar); + return new NotificationService(); } From df4f06cf66b1f430b9f333f265d0bdb8b0cb8043 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 17:56:56 -0400 Subject: [PATCH 073/236] Close the delete-undo question the inventory was holding open Fixed on this branch by "Let Ctrl+Z put back a joint you deleted", so the open-questions list should not still be asking it. Co-Authored-By: Claude Opus 5 --- docs/notification-inventory.md | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/docs/notification-inventory.md b/docs/notification-inventory.md index 82c7b0da..0881d454 100644 --- a/docs/notification-inventory.md +++ b/docs/notification-inventory.md @@ -236,10 +236,16 @@ Still open: - **The eleven drop refusals** are still messages, on top of the canvas refusal marker and the joint shake. Kept deliberately for now. -- **Deleting a joint is not undoable.** `deleteJoint` ends in - `finishStructuralEdit(false)`, so no history entry is written and Undo cannot - bring it back. Found while wiring Ctrl+Z; pre-existing, and the `false` is - explicit enough to be worth asking about before changing. +- **The six `NOT_A` messages** now fire from the Edit panel too, but the + linkage table they came from is still reachable only through the Debug tab. + Whether that table should exist at all is a separate question. + +Closed since: + +- **Deleting a joint is now undoable** (`Let Ctrl+Z put back a joint you + deleted`). It ended in `finishStructuralEdit(false)`, so no history entry was + written and Undo could not bring it back — found while wiring Ctrl+Z, which + is what made it visible. ## Dead — coded but not reachable From 10277381d24637c80f6d9a65dd1c8fb1f8cfcd58 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 18:10:35 -0400 Subject: [PATCH 074/236] Let a ram grow to reach a mount another ram carried off MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Two cylinders can share a mount: the first's rod end is the second's barrel end. Moving the first moved that joint without the second being asked, and the second, held to the size it was built at, put its head as far outside its own barrel as the stretch — joined to it by nothing. On screen the part came apart, which is what a reader saw when they dragged one ram and the other split. In the drawing they sent, the head stood 305 units past a barrel whose mouth clears 42. It re-lays itself between its own two mounts now, resizing to reach: both halves together, so both of its ends move. That is what a drag on a ram's own mount has always done past its stops — this is the same rule, reached from the other side. Dragged well past full extension the head now finishes exactly at the barrel's mouth instead of sailing past it. Only where a mount is known to have moved. The blind straightener that runs on every rebuild is untouched, and deliberately: it cannot tell a mount that moved from a barrel some other write shortened, and the three tests that say so — a starved ram left as drawn, a stray write refused rather than redrawn, a travel-less ram refused as a drive — are the reason this is a second function rather than a change to the first. `dragLink` had its own repair for this, anchored on one mount and recomputing the other, which put a mount where the drag had not asked for it. It uses the same rule as everything else now. Co-Authored-By: Claude Opus 5 --- src/app/model/cylinder.ts | 44 ++++++++++++ src/app/services/grid-utils.service.ts | 70 ++++++++++++++++--- .../verification/cylinder-travel.spec.ts | 38 ++++++++++ 3 files changed, 142 insertions(+), 10 deletions(-) diff --git a/src/app/model/cylinder.ts b/src/app/model/cylinder.ts index 1b7ef718..78213a8b 100644 --- a/src/app/model/cylinder.ts +++ b/src/app/model/cylinder.ts @@ -539,6 +539,50 @@ export function normalizedCylinderPose( }; } +/** + * Re-lay a ram between two mounts that have moved, resizing it to reach. + * + * The straightener above holds the size it finds, which is right when the + * question is "put this back on its axis" and wrong when the mounts themselves + * have been carried apart: the head lands as far outside the barrel as the + * stretch, joined to it by nothing, and the part is drawn in two pieces. + * + * Two rams can share a mount -- the first's rod end is the second's barrel end + * -- so moving one moves the other's mount without the other being asked. This + * is what asks it. Both halves grow or shrink together, exactly as a drag on a + * ram's own mount resizes it past its stops, so both of its ends move; and both + * mounts are held, because they belong to whatever moved them. + * + * Only called where a mount is known to have moved. Applied blindly it could + * not tell that from a barrel some other write had shortened, and would quietly + * repair a starved ram into a working one. + */ +export function stretchedCylinderPose( + barrelMount: { x: number; y: number }, + rodMount: { x: number; y: number }, + barrelLength: number, + r: number +): CylinderPose | undefined { + const dx = rodMount.x - barrelMount.x; + const dy = rodMount.y - barrelMount.y; + const distance = Math.hypot(dx, dy); + if (distance < 1e-9 || !(barrelLength > 1e-9)) return undefined; + const ux = dx / distance; + const uy = dy / distance; + const flex = cylinderSpanLayout(distance, cylinderStroke(barrelLength, r), r); + const at = (along: number) => ({ + x: barrelMount.x + along * ux, + y: barrelMount.y + along * uy, + }); + return { + barrelFar: { x: barrelMount.x, y: barrelMount.y }, + barrelNear: at(flex.barrel), + pin: at(flex.pinAlong), + rodFar: { x: rodMount.x, y: rodMount.y }, + atMinimum: flex.atMinimum, + }; +} + /** Where each joint of a re-posed cylinder lands. */ export interface CylinderPose { /** True when the layout had to hold the ram at its shortest. */ diff --git a/src/app/services/grid-utils.service.ts b/src/app/services/grid-utils.service.ts index 47d11b5b..390ecdba 100644 --- a/src/app/services/grid-utils.service.ts +++ b/src/app/services/grid-utils.service.ts @@ -19,6 +19,7 @@ import { layoutCylinder, poseFromStrokeAndStart, sealedCylinderStructures, + stretchedCylinderPose, } from '../model/cylinder'; import { SettingsService } from './settings.service'; import { MechanismService } from './mechanism.service'; @@ -500,17 +501,15 @@ export class GridUtilsService { // untouched mount and no two of them are writing to the same joint. carriedCylinders.forEach(({ sealed, barrelLength }) => { if (movedJointIDs.has(sealed.pin.id)) return; - const movedBarrelMount = movedJointIDs.has(sealed.barrelFar.id); - const movedRodMount = movedJointIDs.has(sealed.rodFar.id); - if (!movedBarrelMount && !movedRodMount) return; - const pose = layoutCylinder( + if (!movedJointIDs.has(sealed.barrelFar.id) && !movedJointIDs.has(sealed.rodFar.id)) return; + // Both mounts held: they are where the drag put them, and the ram + // resizes between them if it has to reach. Anchoring on one of them and + // recomputing the other put a mount somewhere the drag had not asked for. + const pose = stretchedCylinderPose( { x: sealed.barrelFar.x, y: sealed.barrelFar.y }, { x: sealed.rodFar.x, y: sealed.rodFar.y }, barrelLength, - 0.15 * SettingsService.objectScale, - // Anchor on the mount that did NOT ride along; if both did, the whole - // axis translated and either anchor reproduces it. - movedBarrelMount ? 'rod' : 'barrel' + 0.15 * SettingsService.objectScale ); if (pose) this.applyCylinderPose(sealed, pose); }); @@ -622,7 +621,59 @@ export class GridUtilsService { this.applyCylinderPose(sealed, pose); } + /** + * Land a pose, and carry any ram bolted to what just moved. + * + * Two rams can share a mount: the first's rod end is the second's barrel end. + * Moving the first moves that joint without the second being asked, and the + * second was then holding a barrel of the wrong length with its head as far + * outside it as the stretch -- on screen, a part in two pieces with a gap + * down the middle. It re-lays itself between its own two mounts instead, + * resizing to reach: both halves together, so both of its ends move, which is + * what a drag on a ram's own mount has always done past its stops. + * + * `dragLink` has always repaired this for a link drag. Every path that poses + * a cylinder needs it, which is all of them: dragging the body, dragging a + * mount, and the Travel and Starts-at fields in its panel. + * + * One level deep, as `dragLink` is: a third ram bolted to the second follows + * on the next rebuild rather than in this one. + */ private applyCylinderPose(sealed: Cylinder, pose: CylinderPose): void { + // Every other ram's rigid barrel length, read while its geometry is still + // straight -- rebuilding from a bent intermediate state is what bakes the + // split in. + const others = sealedCylinderStructures(this.mechanismSrv.joints) + .filter((other) => other.pin.id !== sealed.pin.id) + .map((other) => ({ + other, + barrelLength: this.getPointDistance( + other.barrelFar.x, + other.barrelFar.y, + other.barrelNear.x, + other.barrelNear.y + ), + })); + + const movedIds = this.placeCylinder(sealed, pose); + + others.forEach(({ other, barrelLength }) => { + if (!movedIds.has(other.barrelFar.id) && !movedIds.has(other.rodFar.id)) return; + const carried = stretchedCylinderPose( + { x: other.barrelFar.x, y: other.barrelFar.y }, + { x: other.rodFar.x, y: other.rodFar.y }, + barrelLength, + 0.15 * SettingsService.objectScale + ); + if (carried) this.placeCylinder(other, carried); + }); + + this.mechanismSrv.reseatFloatingSliders(); + this.mechanismSrv.updateMechanism(false); + } + + /** One assembly's five joints, and everything derived from them. */ + private placeCylinder(sealed: Cylinder, pose: CylinderPose): Set { const placements: [Joint, { x: number; y: number }][] = [ [sealed.barrelFar, pose.barrelFar], [sealed.barrelNear, pose.barrelNear], @@ -668,8 +719,7 @@ export class GridUtilsService { PositionSolver.setUpInitialJointLocations(link.joints); }); - this.mechanismSrv.reseatFloatingSliders(); - this.mechanismSrv.updateMechanism(false); + return movedIds; } private translateLinkBody(link: Link, dx: number, dy: number) { diff --git a/src/tests/verification/cylinder-travel.spec.ts b/src/tests/verification/cylinder-travel.spec.ts index bdcb8675..666f1a7a 100644 --- a/src/tests/verification/cylinder-travel.spec.ts +++ b/src/tests/verification/cylinder-travel.spec.ts @@ -15,8 +15,10 @@ import { cylinderMembers, cylinderSizeOf, cylinderStroke, + cylinderSpanRange, cylinderStrokeAlong, sealedCylinders, + stretchedCylinderPose, } from '../../app/model/cylinder'; import { CYLINDER, rodBodyPath } from '../../app/model/joint-marks'; import { buildMechanism } from '../../test-utils/verification/fixture'; @@ -439,4 +441,40 @@ describe('merging a cylinder mount onto another joint', () => { // And the slot now names the joint that survived. expect([after[0].slider.slotJointA!.id, after[0].slider.slotJointB!.id]).toContain(target.id); }); + + it('grows to reach a mount another part carried away, rather than coming apart', () => { + // Two rams can share a mount -- the first's rod end is the second's barrel + // end -- so moving the first moves the second's mount without the second + // being asked. Held to the size it was built at, the second's head landed + // as far outside its own barrel as the stretch, joined to it by nothing: + // the part was drawn in two pieces with a gap down the middle. + const r = 0.15 * MODEL_SCALE; + const barrelLength = 4 * MODEL_SCALE; + const { extended } = cylinderSpanRange(cylinderStroke(barrelLength, r), r); + const reach = extended + 3 * MODEL_SCALE; + + const pose = stretchedCylinderPose({ x: 0, y: 0 }, { x: reach, y: 0 }, barrelLength, r)!; + expect(pose).toBeDefined(); + + // Both mounts are where they were put: they belong to whatever moved them. + expect(pose.barrelFar.x).toBeCloseTo(0, 9); + expect(pose.rodFar.x).toBeCloseTo(reach, 9); + // Both halves grew together, which is what carries the far end along. + const grownBarrel = pose.barrelNear.x - pose.barrelFar.x; + const grownRod = pose.rodFar.x - pose.pin.x; + expect(grownBarrel).toBeGreaterThan(barrelLength); + expect(grownRod).toBeCloseTo(grownBarrel, 6); + // And the head's back edge is at the barrel's mouth -- fully extended, and + // still one object. Past it there is nothing joining the two halves. + expect(pose.pin.x - grownBarrel).toBeCloseTo(cylinderHeadHalf(grownBarrel, r), 6); + + // Inside its own travel nothing is resized: the ram poses, as before. + const inside = stretchedCylinderPose( + { x: 0, y: 0 }, + { x: (cylinderSpanRange(cylinderStroke(barrelLength, r), r).retracted + extended) / 2, y: 0 }, + barrelLength, + r + )!; + expect(inside.barrelNear.x - inside.barrelFar.x).toBeCloseTo(barrelLength, 6); + }); }); From be0852d25b3951ff36a7fd348e6248d8515b8308 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 18:15:44 -0400 Subject: [PATCH 075/236] Two ways out of a badly sized drawing, on one centre line "Fit to zoom" was the only way out the message offered, and it is the answer to only one of the two things somebody could mean by "this looks wrong". If the view is where you want it, resize the drawing to suit it; if the drawing is what you want, put the view back on it. Both live in this service, and the sentence used to name neither button while offering neither action. A message takes a list now. Two is the limit: a third is a menu, and a menu on something that may leave in four seconds is a trap. The row was aligned four different ways -- flex-start with a 1px nudge on the glyph, align-self: center on the button, a -2px margin on the close -- so no two of them agreed where the middle was. One rule for the row and nothing overriding it. Measured: on one line and on two, every element's centre now falls on the card's, exactly. Checked in a browser that each action does its own distinct thing: Fit to zoom holds the zoom and moves the scale, Reset view holds the scale and moves the zoom. The Reset view check needs a real click rather than a synthetic one -- scaleToFitLinkage finishes inside an afterNextRender, so calling it without a change-detection pass behind it leaves the fit pending forever. Worth knowing before debugging it from a console. 992 unit tests pass; e2e/notifications.mjs is up to 25 browser checks. Co-Authored-By: Claude Opus 5 --- e2e/notifications.mjs | 72 +++++++++++++++---- .../notification/notification.component.html | 8 +-- .../notification/notification.component.scss | 35 ++++++--- src/app/services/notification.service.ts | 20 ++++-- src/app/services/svg-grid.service.ts | 20 +++--- 5 files changed, 112 insertions(+), 43 deletions(-) diff --git a/e2e/notifications.mjs b/e2e/notifications.mjs index a4691479..b75c4749 100644 --- a/e2e/notifications.mjs +++ b/e2e/notifications.mjs @@ -209,7 +209,7 @@ const ran = await page.evaluate(async () => { const notify = ng.getComponent(document.querySelector('app-new-grid')).notify; let done = false; notify.warning('act.probe', 'Something is off.', { - action: { label: 'Put it right', run: () => (done = true) }, + actions: [{ label: 'Put it right', run: () => (done = true) }], }); await new Promise((resolve) => setTimeout(resolve, 300)); const button = document.querySelector('.notificationAction'); @@ -221,7 +221,14 @@ const ran = await page.evaluate(async () => { record('a message can carry the fix for what it is about', ran.label === 'Put it right', ran); record('pressing it does the thing, and takes the message away', ran.done && ran.left === 0, ran); -// ---- the zoom warning is the real one that carries one ----------------------- +// ---- the zoom warning is the real one that carries them ---------------------- + +// With a linkage on the grid: "Reset view" fits the view to the drawing, and an +// empty grid has nothing to fit to -- the same as the Reset View button. +await page.goto(`${BASE}/?${FOUR_BAR}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await closeTour(); +await watch(); await page.evaluate(() => { const grid = ng.getComponent(document.querySelector('app-new-grid')); @@ -232,26 +239,67 @@ await page.waitForTimeout(500); const zoomed = await page.evaluate(() => { const grid = ng.getComponent(document.querySelector('app-new-grid')); const one = grid.notify.live.find((n) => n.id.startsWith('zoom.')); - return { id: one?.id, label: one?.action?.label }; + return { id: one?.id, labels: (one?.actions ?? []).map((a) => a.label) }; }); -record('zooming past the band warns, with a way out', !!zoomed.id && !!zoomed.label, zoomed); +record( + 'zooming past the band warns, with both ways out', + !!zoomed.id && zoomed.labels.join('|') === 'Fit to zoom|Reset view', + zoomed +); -const fixed = await page.evaluate(async () => { +// Fit to zoom keeps the view and resizes the drawing. +const fitted = await page.evaluate(async () => { const grid = ng.getComponent(document.querySelector('app-new-grid')); - const before = grid.settings.objectScale; - document.querySelector('.notificationAction')?.click(); + const zoomBefore = grid.svgGrid.getZoom(); + document.querySelectorAll('.notificationAction')[0]?.click(); await new Promise((resolve) => setTimeout(resolve, 400)); const zoom = grid.svgGrid.getZoom(); - return { before, after: grid.settings.objectScale, drawnAt: zoom * grid.settings.objectScale }; + return { + zoomHeld: Math.abs(zoom - zoomBefore) < zoomBefore * 0.01, + drawnAt: zoom * grid.settings.objectScale, + }; }); record( - 'and taking it puts the drawing back inside the band', - fixed.drawnAt > 5 && fixed.drawnAt < 200, - fixed + 'Fit to zoom resizes the drawing and leaves the view alone', + fitted.drawnAt > 5 && fitted.drawnAt < 200 && fitted.zoomHeld, + fitted ); await clear(); -// ---- a value that will not parse says what would -------------------------- +// Reset view keeps the drawing and moves the view. Zooming the *other* way, so +// this raises `zoom.links-huge` -- `zoom.links-tiny` asked for a minute of quiet +// when it spoke above, and per-message cooldowns are the point of them. +await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + for (let i = 0; i < 120; i++) grid.svgGrid.zoomIn(); + grid.svgGrid.handleZoom(grid.svgGrid.getZoom()); +}); +await page.waitForTimeout(500); +const scaleBefore = await page.evaluate( + () => ng.getComponent(document.querySelector('app-new-grid')).settings.objectScale +); +const zoomBefore = await page.evaluate(() => + ng.getComponent(document.querySelector('app-new-grid')).svgGrid.getZoom() +); +// A real click, not a synthetic one. `scaleToFitLinkage` finishes in an +// `afterNextRender`, so it needs a change-detection pass behind it -- calling +// the method from the console leaves the fit permanently pending. +await page.locator('.notificationAction', { hasText: 'Reset view' }).click(); +await page.waitForTimeout(1500); +const reset = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + return { + scale: grid.settings.objectScale, + zoom: grid.svgGrid.getZoom(), + left: grid.notify.live.length, + }; +}); +record( + 'Reset view moves the view and leaves the drawing alone', + reset.scale === scaleBefore && reset.zoom !== zoomBefore && reset.left === 0, + { scaleBefore, zoomBefore, ...reset } +); +await clear(); // ---- Ctrl+Z undoes ----------------------------------------------------------- diff --git a/src/app/component/notification/notification.component.html b/src/app/component/notification/notification.component.html index 7ef724c5..0b5716ad 100644 --- a/src/app/component/notification/notification.component.html +++ b/src/app/component/notification/notification.component.html @@ -8,11 +8,11 @@ > {{ iconFor(one) }} {{ one.text }} - - @if (one.action) { - } diff --git a/src/app/component/settings-panel/settings-panel.component.ts b/src/app/component/settings-panel/settings-panel.component.ts index d16d3e0f..5193146d 100644 --- a/src/app/component/settings-panel/settings-panel.component.ts +++ b/src/app/component/settings-panel/settings-panel.component.ts @@ -58,6 +58,7 @@ export class SettingsPanelComponent implements OnDestroy { showMinorGrid: this.settingsService.isShowMinorGrid.value, snapToGrid: this.settingsService.isSnapToGrid.value, snapToAlignment: this.settingsService.isSnapToAlignment.value, + gravity: this.settingsService.isGravity.value, }); this.settingsSubscriptions.add( @@ -184,6 +185,14 @@ export class SettingsPanelComponent implements OnDestroy { this.settingsService.isShowMinorGrid.next(Boolean(val)); this.mechanismSrv.updateMechanism(); }); + // Gravity changes what the force analysis means, so it is an edit: the + // mechanisms are rebuilt with the new flag and the change is undoable. + this.settingsForm.controls['gravity'].valueChanges.subscribe((val) => { + const on = val === true; + if (on === this.settingsService.isGravity.value) return; + this.settingsService.isGravity.next(on); + this.mechanismSrv.updateMechanism(true); + }); // this.settingsForm.controls['torqueunit'].valueChanges.subscribe(() => { // this.settingsService.inputTorque.next(this.currentTorqueUnit); // }); @@ -259,6 +268,7 @@ export class SettingsPanelComponent implements OnDestroy { showMajorGrid: [true, { updateOn: 'change' }], snapToGrid: [false, { updateOn: 'change' }], snapToAlignment: [true, { updateOn: 'change' }], + gravity: [true, { updateOn: 'change' }], }, { updateOn: 'blur' } ); diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts index 6017459d..8d9c17c0 100644 --- a/src/app/component/top-bar/top-bar.component.ts +++ b/src/app/component/top-bar/top-bar.component.ts @@ -315,7 +315,10 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr statusOf(tab: TabID): TabStatus { if (tab === TabID.FORCE) { - const missing = this.mechanism.forceAnalysisRequirements().filter((r) => !r.met).length; + // Warnings do not count: they do not stop the analysis running. + const missing = this.mechanism + .forceAnalysisRequirements() + .filter((r) => !r.met && !r.warning).length; return missing === 0 ? { text: 'Ready', ready: true } : { text: `${missing} to set`, ready: false }; diff --git a/src/app/component/view-controls/view-controls.component.ts b/src/app/component/view-controls/view-controls.component.ts index c859ee29..a87f86ef 100644 --- a/src/app/component/view-controls/view-controls.component.ts +++ b/src/app/component/view-controls/view-controls.component.ts @@ -1,6 +1,6 @@ import { ChangeDetectionStrategy, Component } from '@angular/core'; import { MechanismService } from '../../services/mechanism.service'; -import { SettingsService } from '../../services/settings.service'; +import { SettingsService, writeStoredFlag } from '../../services/settings.service'; import { SvgGridService } from '../../services/svg-grid.service'; /** @@ -45,7 +45,11 @@ export class ViewControlsComponent { } showCenterOfMass(): void { - this.settingsService.isShowCOM.next(!this.settingsService.isShowCOM.value); + const on = !this.settingsService.isShowCOM.value; + this.settingsService.isShowCOM.next(on); + // A display preference, remembered on this machine rather than in the URL + // (see SettingsService.isShowCOM). + writeStoredFlag('showCoM', on); } comIconName(): string { diff --git a/src/app/model/mechanism/force-solver.ts b/src/app/model/mechanism/force-solver.ts index d29520bc..49405fe5 100644 --- a/src/app/model/mechanism/force-solver.ts +++ b/src/app/model/mechanism/force-solver.ts @@ -279,7 +279,8 @@ export class ForceSolver { }); if (bodies.length === 0) return empty('unsupported-topology'); - if (!this.propertiesAreValid(bodies, units)) return empty('invalid-properties'); + const badProperty = this.invalidProperty(bodies, units); + if (badProperty) return empty('invalid-properties', badProperty); if (mode === 'dynamic' && !this.kinematicsAreComplete(bodies, kinematics)) { return empty('missing-kinematics'); } @@ -350,9 +351,15 @@ export class ForceSolver { const unknownCount = reactions.length + couples.length + (inputBody && inputKind ? 1 : 0); if (unknownCount !== rowCount) { + // Cause first, arithmetic second: "10 equations, 9 unknowns" is the + // solver talking to itself. What a reader can act on is which way the + // count is off — too many supports, or a body with none. + const counts = `(${rowCount} equilibrium equations, ${unknownCount} unknowns)`; return empty( 'unsupported-topology', - `Force equilibrium has ${rowCount} equations and ${unknownCount} unknowns.` + unknownCount > rowCount + ? `This linkage has more supports than equilibrium can determine — a redundant support, link, or weld leaves the load's split between them ambiguous. Remove one ${counts}.` + : `A body here has nothing to react against, so its equilibrium cannot be written. Check for a part carrying load with no support ${counts}.` ); } @@ -682,22 +689,37 @@ export class ForceSolver { return ordered; } - private static propertiesAreValid(bodies: Link[], units: UnitFactors): boolean { - if (!Object.values(units).every(Number.isFinite)) return false; - return bodies.every((body) => { - if (!Number.isFinite(body.mass) || body.mass < 0) return false; + /** + * The first invalid mass, inertia, or force property, described by name — + * or undefined when everything is a usable number. The panel shows this + * sentence verbatim, so it has to say which part to go and fix. + */ + private static invalidProperty(bodies: Link[], units: UnitFactors): string | undefined { + if (!Object.values(units).every(Number.isFinite)) { + return 'The unit conversion is invalid — reselect the global units.'; + } + const nameOf = (body: Link): string => ('name' in body && body.name) || body.id; + for (const body of bodies) { + if (!Number.isFinite(body.mass) || body.mass < 0) { + return `Link ${nameOf(body)} has a mass that is not a usable number. Set Link Mass in Mass Settings.`; + } if (body instanceof RealLink) { - if (!Number.isFinite(body.massMoI) || body.massMoI < 0) return false; - return body.forces.every( - (force) => - Number.isFinite(force.mag) && - Number.isFinite(force.angleRad) && - Number.isFinite(force.startCoord.x) && - Number.isFinite(force.startCoord.y) - ); + if (!Number.isFinite(body.massMoI) || body.massMoI < 0) { + return `Link ${nameOf(body)} has a moment of inertia that is not a usable number. Set it in Mass Settings.`; + } + for (const force of body.forces) { + if ( + !Number.isFinite(force.mag) || + !Number.isFinite(force.angleRad) || + !Number.isFinite(force.startCoord.x) || + !Number.isFinite(force.startCoord.y) + ) { + return `The force on link ${nameOf(body)} has an invalid magnitude or position. Select it and re-enter its values.`; + } + } } - return true; - }); + } + return undefined; } private static kinematicsAreComplete( diff --git a/src/app/model/mechanism/mechanism.ts b/src/app/model/mechanism/mechanism.ts index 162ab5c8..cbfe3bd5 100644 --- a/src/app/model/mechanism/mechanism.ts +++ b/src/app/model/mechanism/mechanism.ts @@ -12,6 +12,7 @@ import { KinematicsSolver } from './kinematic-solver'; import { ForceAnalysisMode, ForceAnalysisSeries, ForceSolver } from './force-solver'; import { roundNumber } from '../utils'; import { LBF_IN_PER_NEWTON_METER, LBF_PER_NEWTON } from '../unit-conversions'; +import { MODEL_SCALE } from '../render-scale'; /** * Why a mechanism will not run. One of these, not a boolean, because the ways a @@ -29,6 +30,14 @@ export type MechanismFailure = export class Mechanism { private _failure: MechanismFailure | undefined; private _unusableCylinder: string | undefined; + /** Joints the position ordering never reached, captured at the failure. */ + private _unreachableJoints: string[] = []; + /** + * How near the cycle came to closing before the solver gave up, in user + * units. Captured at the failure so the panel can say whether the loop only + * just misses or wanders wide. + */ + private _cycleGap: number | undefined; private _joints: Joint[][] = [[]]; private _links: Link[][] = [[]]; private _forces: Force[][] = [[]]; @@ -399,6 +408,7 @@ export class Mechanism { // move. Returning quietly left it *reporting itself valid* with a single // frame: the play button enabled, nothing happening, and the panel with // nothing to say about why. + this._unreachableJoints = [...PositionSolver.unsolvableJoints]; this.setMechanismInvalid('nothing-can-move'); return; } @@ -590,6 +600,19 @@ export class Mechanism { startingPositionY - roundNumber(this._joints[currentTimeStamp][desiredJointIndex].y, 2) ); if (currentTimeStamp === 750) { + // How close it ever came to its starting pose, skipping the first few + // frames where it is trivially still there. setMechanismInvalid wipes + // the frames, so this is the last chance to measure. + let nearest = Infinity; + for (let frame = 30; frame < this._joints.length; frame++) { + const joint = this._joints[frame]?.[desiredJointIndex]; + if (!joint) continue; + nearest = Math.min( + nearest, + Math.hypot(joint.x - startingPositionX, joint.y - startingPositionY) + ); + } + this._cycleGap = Number.isFinite(nearest) ? nearest / MODEL_SCALE : undefined; this.setMechanismInvalid('cycle-never-closes'); return; } @@ -655,6 +678,16 @@ export class Mechanism { return this._unusableCylinder; } + /** Joints the position ordering never reached, when nothing-can-move. */ + get unreachableJoints(): string[] { + return this._unreachableJoints; + } + + /** Nearest return to the starting pose in user units, when the cycle never closes. */ + get cycleGap(): number | undefined { + return this._cycleGap; + } + get internalTriangleSimLinkMap(): Map { return this._internalTriangleSimLinkMap; } diff --git a/src/app/model/mechanism/readiness.ts b/src/app/model/mechanism/readiness.ts index 60c3275c..e6cd173c 100644 --- a/src/app/model/mechanism/readiness.ts +++ b/src/app/model/mechanism/readiness.ts @@ -92,16 +92,40 @@ export function readinessOf( body: 'It has no ground, so every part of it is free to drift. Ground a joint, or ground a slider’s guide.', }); } else if (dof > 1) { + // Point at the loose ends when there are any: a joint on one link with + // no ground is a freedom the reader can see. + const freeEnds = partition.ownJoints.filter( + (joint) => + joint instanceof RealJoint && + !(joint instanceof PrisJoint) && + !joint.ground && + joint.links.length === 1 + ); add({ state: 'blocker', title: `This mechanism has ${dof} degrees of freedom`, - body: `One input can drive only one degree of freedom. Ground another joint, or connect a free joint to a second link, until this reads 1.`, + body: + `One input can drive only one degree of freedom. Ground another joint, or connect a free joint to a second link, until this reads 1.` + + (freeEnds.length > 0 + ? ` ${freeEnds.length === 1 ? 'Joint' : 'Joints'} ${names(freeEnds)} ${ + freeEnds.length === 1 ? 'hangs' : 'hang' + } on only one link — free ends like that are where extra freedom usually lives.` + : ''), + at: freeEnds[0], + action: freeEnds.length > 0 ? 'Go To Joint' : undefined, }); } else { + const welded = partition.ownJoints.some( + (joint) => joint instanceof RealJoint && joint.isWelded + ); add({ state: 'blocker', title: `This mechanism has ${dof} degrees of freedom`, - body: 'It is over-constrained, so nothing can move at all. Remove a link, or unground a joint, until this reads 1.', + body: + 'It is over-constrained, so nothing can move at all. Remove a link, or unground a joint, until this reads 1.' + + (welded + ? ' A weld also removes freedom — unwelding a joint is another way out.' + : ''), }); } break; @@ -144,21 +168,44 @@ export function readinessOf( }); break; - case 'cycle-never-closes': + case 'cycle-never-closes': { + const gap = mechanism.cycleGap; add({ state: 'blocker', title: 'The motion never repeats', - body: 'This mechanism never comes back to the pose it started in, so there is no cycle to animate. Check the link lengths — a loop that only just closes can wander instead of repeating.', + body: + 'This mechanism never comes back to the pose it started in, so there is no cycle to animate.' + + (gap !== undefined && Number.isFinite(gap) + ? gap < 0.5 + ? ` The closest it comes is ${gap.toFixed(2)} units away — a loop that only just fails to close usually has a link length slightly off.` + : ` The closest it comes is ${gap.toFixed(1)} units away — the motion wanders rather than repeating. Check the link lengths.` + : ' Check the link lengths — a loop that only just closes can wander instead of repeating.'), }); break; + } - case 'nothing-can-move': + case 'nothing-can-move': { + const unreachable = partition.ownJoints.filter((joint) => + mechanism.unreachableJoints.includes(joint.id) + ); add({ state: 'blocker', title: 'Nothing moves when the input turns', - body: 'The driven joint cannot reach the rest of the mechanism, so no other joint has a position to solve for. Check that it is connected through links to the parts you expect it to move.', + body: + unreachable.length > 0 + ? `The solver never finds a position for ${ + unreachable.length === 1 ? 'joint' : 'joints' + } ${names(unreachable)} — the driven joint cannot reach ${ + unreachable.length === 1 ? 'it' : 'them' + } through the links. Check the connections between the input and ${ + unreachable.length === 1 ? 'that joint' : 'those joints' + }.` + : 'The driven joint cannot reach the rest of the mechanism, so no other joint has a position to solve for. Check that it is connected through links to the parts you expect it to move.', + at: unreachable[0], + action: unreachable.length > 0 ? 'Go To Joint' : undefined, }); break; + } } // Asked even of a mechanism the solver accepted: the toggle refuses a joint @@ -239,6 +286,12 @@ function reciprocates(mechanism: Mechanism): boolean { /** One condition force analysis needs, and whether the drawing meets it. */ export interface ForceRequirement { met: boolean; + /** + * Unmet-but-not-blocking: the analysis runs anyway, and the row is worth + * reading before trusting the numbers. Warnings do not gate readiness and + * are not counted by the "N to set" chips. + */ + warning?: boolean; /** A short sentence-case phrase naming the condition. */ title: string; /** Met: what is true. Unmet: what is missing, and how to supply it. */ diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 87c84fb7..2b0d53dc 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -300,7 +300,7 @@ export class MechanismService { partition.links, partition.forces, this.ics, - true, + this.settingsService.isGravity.value, unitStr, this.inputVelocityFor(partition) ) @@ -1903,12 +1903,16 @@ export class MechanismService { .filter((_, index) => this.mechanisms[index]?.isMechanismValid()) .flatMap((partition) => partition.links.map((link) => link.id)) ); + // A massless link is a legitimate idealization -- the solver simply skips + // its weight and inertia -- so this is a warning, not a gate. It is worth + // one, because zero is the mass nobody chose: every link starts there. const massless = this.links.filter( (link) => link instanceof RealLink && analysable.has(link.id) && !(link.mass > 0) ) as RealLink[]; requirements.push({ met: massless.length === 0, - title: 'Mass on every link', + warning: true, + title: 'Massless links', body: massless.length === 0 ? 'Every link has a mass and a moment of inertia.' @@ -1916,19 +1920,29 @@ export class MechanismService { .map((link) => link.name || link.id) .join( ', ' - )} still ${massless.length === 1 ? 'weighs' : 'weigh'} nothing. A massless link contributes no inertia, so a dynamic answer will not account for it. Set Link Mass in Mass Settings.`, + )} ${massless.length === 1 ? 'weighs' : 'weigh'} nothing, so gravity and inertia pass ${massless.length === 1 ? 'it' : 'them'} by. Fine for an idealized bar — set Link Mass in Mass Settings to include ${massless.length === 1 ? 'it' : 'them'}.`, }); - // And a force has to be on one of them: a load attached to a linkage that - // cannot run says nothing about the one that can. + // Something has to load the linkage, but weight counts: with gravity on, + // a link with mass hangs from it, and that is a complete static problem. + // Demanding a drawn arrow on top of that refused analyses that meant + // something. const loads = this.forces.filter((force) => analysable.has(force.link?.id)); + const weighted = this.links.some( + (link) => link instanceof RealLink && analysable.has(link.id) && link.mass > 0 + ); + const gravityLoads = this.settingsService.isGravity.value && weighted; requirements.push({ - met: loads.length > 0, + met: loads.length > 0 || gravityLoads, title: 'A load to react against', body: loads.length > 0 ? `${loads.length} ${loads.length === 1 ? 'force is' : 'forces are'} applied.` - : 'Without an applied force the only load is the drive itself, so every reaction comes from it. Right-click a link and choose Attach Force to add one.', + : gravityLoads + ? 'Gravity loads the links that have mass.' + : this.settingsService.isGravity.value + ? 'Nothing loads this mechanism yet: no force is applied and every link is massless. Right-click a link and choose Attach Force, or give a link mass — gravity is on, so weight alone is a load.' + : 'Nothing loads this mechanism: gravity is off and no force is applied. Right-click a link and choose Attach Force, or turn gravity on in Settings and give a link mass.', }); return requirements; @@ -1936,7 +1950,9 @@ export class MechanismService { /** Can the Force tab show anything worth reading? */ forceAnalysisReady(): boolean { - return this.forceAnalysisRequirements().every((requirement) => requirement.met); + return this.forceAnalysisRequirements().every( + (requirement) => requirement.met || requirement.warning === true + ); } /** What to say about geometry that is in no mechanism. */ diff --git a/src/app/services/settings.service.ts b/src/app/services/settings.service.ts index cb8f4dd2..5127391c 100644 --- a/src/app/services/settings.service.ts +++ b/src/app/services/settings.service.ts @@ -90,7 +90,21 @@ export class SettingsService { isSnapToAlignment = new BehaviorSubject(readStoredFlag('snapToAlignment', true)); isShowID = new BehaviorSubject(false); - isShowCOM = new BehaviorSubject(false); + /** + * On by default, and remembered on this machine rather than in the URL: the + * mark only appears on links that have been given mass — a massless link has + * no centre of mass worth pointing at — so a fresh drawing shows nothing + * extra, and a link given weight announces it. Nearly every circulating URL + * carries the *old* default (off) in its stored bit, which is why the bit is + * no longer read: a display preference should not travel with the drawing. + */ + isShowCOM = new BehaviorSubject(readStoredFlag('showCoM', true)); + /** + * Whether weight loads the mechanism. On by default — every link with mass + * hangs from it — and recorded in the URL when turned off, so a shared + * analysis means the same thing on arrival. + */ + isGravity = new BehaviorSubject(true); /** * A link whose centre of mass to draw while the reader is asking about it. * diff --git a/src/app/services/transcoding/mechanism-builder.ts b/src/app/services/transcoding/mechanism-builder.ts index c1bd3ced..c2f4d177 100644 --- a/src/app/services/transcoding/mechanism-builder.ts +++ b/src/app/services/transcoding/mechanism-builder.ts @@ -324,7 +324,10 @@ export class MechanismBuilder { this.transcoder.getBoolSetting(BoolSetting.IS_SHOW_MINOR_GRID) ); this.settings.isShowID.next(this.transcoder.getBoolSetting(BoolSetting.IS_SHOW_ID)); - this.settings.isShowCOM.next(this.transcoder.getBoolSetting(BoolSetting.IS_SHOW_COM)); + // IS_SHOW_COM is deliberately not read any more: it is a display + // preference, kept on this machine, and nearly every circulating URL + // carries the old default in that bit (settings.service.ts). + this.settings.isGravity.next(!this.transcoder.getBoolSetting(BoolSetting.GRAVITY_OFF)); // The URL stores the user-unit object scale; the internal one is // MODEL_SCALE times larger, like every other length. SettingsService._objectScale.next( diff --git a/src/app/services/transcoding/stored-settings.ts b/src/app/services/transcoding/stored-settings.ts index 3a350f7a..6efd9661 100644 --- a/src/app/services/transcoding/stored-settings.ts +++ b/src/app/services/transcoding/stored-settings.ts @@ -28,6 +28,12 @@ export enum DecimalSetting { export enum BoolSetting { IS_INPUT_CW, + /** + * Dead slot. Written in an early era, then ignored once gravity was + * hardcoded on, so the bit in circulating URLs carries whatever that era + * wrote. Gravity lives in GRAVITY_OFF below — do not revive this slot, and + * do not reorder it away: the flags are packed by position. + */ IS_GRAVITY, ANIMATING, IS_SHOW_MAJOR_GRID, @@ -35,4 +41,11 @@ export enum BoolSetting { IS_SHOW_ID, IS_SHOW_COM, IS_FORCES, + /** + * Appended, and inverted on purpose: every URL written before this flag + * existed unpacks it as false, and false has to keep meaning what those URLs + * have always meant — gravity on. Turning gravity *off* is the choice worth + * recording. + */ + GRAVITY_OFF, } diff --git a/src/app/services/url-generation.service.ts b/src/app/services/url-generation.service.ts index 743e6ccf..42c8c8aa 100644 --- a/src/app/services/url-generation.service.ts +++ b/src/app/services/url-generation.service.ts @@ -196,7 +196,9 @@ export class UrlGenerationService { ); encoder.addEnumSetting(EnumSetting.GLOBAL_UNIT, GlobalUnit, normalizedGlobal); encoder.addBoolSetting(BoolSetting.IS_INPUT_CW, this.settings.isInputCW.getValue()); - //encoder.addBoolSetting(BoolSetting.IS_GRAVITY, this.settings.isGravity.getValue()); + // Inverted on purpose: false is what every pre-flag URL unpacks, and + // false has to keep meaning gravity on (see stored-settings.ts). + encoder.addBoolSetting(BoolSetting.GRAVITY_OFF, !this.settings.isGravity.getValue()); encoder.addIntSetting(IntSetting.INPUT_SPEED, this.settings.inputSpeed.getValue()); encoder.addDecimalSetting( DecimalSetting.LINEAR_INPUT_SPEED, @@ -211,7 +213,10 @@ export class UrlGenerationService { this.settings.isShowMinorGrid.getValue() ); encoder.addBoolSetting(BoolSetting.IS_SHOW_ID, this.settings.isShowID.getValue()); - encoder.addBoolSetting(BoolSetting.IS_SHOW_COM, this.settings.isShowCOM.getValue()); + // Frozen at the old default: the CoM toggle is a machine-local display + // preference now and the decoder no longer reads this bit. Writing the + // live value would churn every generated URL for a bit nobody consumes. + encoder.addBoolSetting(BoolSetting.IS_SHOW_COM, false); encoder.addDecimalSetting(DecimalSetting.SCALE, this.settings.objectScale / MODEL_SCALE); encoder.addIntSetting(IntSetting.TIMESTEP, cachedAnimationFrame); diff --git a/src/test-utils/mechanism-harness.ts b/src/test-utils/mechanism-harness.ts index d14b081b..519d5316 100644 --- a/src/test-utils/mechanism-harness.ts +++ b/src/test-utils/mechanism-harness.ts @@ -21,6 +21,8 @@ import { SynthesisBuilderService } from '../app/services/synthesis/synthesis-bui export interface MechanismHarness { service: MechanismService; active: ActiveObjService; + /** The service's own settings, for specs that flip gravity or units. */ + settings: SettingsService; /** * How many undo entries the service has asked for. * @@ -57,7 +59,7 @@ export function createMechanismHarness(): MechanismHarness { get: (token: unknown) => (token === DragStateService ? dragState : history), } as unknown as Injector; service = new MechanismService(grid, active, injector, settings, parser); - return { service, active, saveCount: () => saves }; + return { service, active, settings, saveCount: () => saves }; } /** diff --git a/src/tests/verification/force-setup-help.spec.ts b/src/tests/verification/force-setup-help.spec.ts new file mode 100644 index 00000000..f1a32a7f --- /dev/null +++ b/src/tests/verification/force-setup-help.spec.ts @@ -0,0 +1,143 @@ +// joint.ts first: the model modules form an import cycle that only +// initializes cleanly when entered here (see test-utils/verification/fixture.ts). +import '../../app/model/joint'; +import { RevJoint } from '../../app/model/joint'; +import { RealLink } from '../../app/model/link'; +import { FlagPacker } from '../../app/services/transcoding/flag-packer'; +import { BoolSetting } from '../../app/services/transcoding/stored-settings'; +import { createMechanismHarness, MechanismHarness } from '../../test-utils/mechanism-harness'; + +// What the Force tab asks for before it will call itself ready, now that +// gravity is a load and a massless link is an idealization rather than a sin. +// +// The situations here are the ones a fresh drawing actually walks through: +// every link starts massless, gravity starts on, and no force is drawn. Each +// step of giving the drawing weight should move exactly one row, and the tab +// should come ready the moment there is genuinely something to solve. + +/** A crank-rocker with every link at the default mass of zero. */ +function fourBar(harness: MechanismHarness): RealLink[] { + const at: [number, number][] = [ + [0, 0], + [0, 1], + [3, 2], + [4, 0], + ]; + const joints = at.map(([x, y], i) => new RevJoint('ABCD'[i], x, y)); + joints[0].ground = true; + joints[3].ground = true; + joints[0].input = true; + const links = [0, 1, 2].map((i) => { + const link = new RealLink(joints[i].id + joints[i + 1].id, [joints[i], joints[i + 1]]); + joints[i].links.push(link); + joints[i + 1].links.push(link); + joints[i].connectedJoints.push(joints[i + 1]); + joints[i + 1].connectedJoints.push(joints[i]); + return link; + }); + harness.service.joints.push(...joints); + harness.service.links.push(...links); + harness.service.updateMechanism(); + return links; +} + +const row = (harness: MechanismHarness, title: string) => + harness.service.forceAnalysisRequirements().find((r) => r.title === title)!; + +describe('force analysis setup, as a fresh drawing meets it', () => { + it('starts unloaded: massless everywhere, gravity with nothing to pull on', () => { + const harness = createMechanismHarness(); + fourBar(harness); + + const load = row(harness, 'A load to react against'); + expect(load.met).toBe(false); + // Both ways out, in one sentence each: draw a force, or give mass weight. + expect(load.body).toContain('Attach Force'); + expect(load.body).toContain('mass'); + expect(harness.service.forceAnalysisReady()).toBe(false); + }); + + it('comes ready the moment one link has mass, because gravity is a load', () => { + const harness = createMechanismHarness(); + const links = fourBar(harness); + links[1].mass = 5; + harness.service.updateMechanism(); + + const load = row(harness, 'A load to react against'); + expect(load.met).toBe(true); + expect(load.body).toContain('Gravity'); + expect(harness.service.forceAnalysisReady()).toBe(true); + }); + + it('warns about the links still massless, without standing in the way', () => { + const harness = createMechanismHarness(); + const links = fourBar(harness); + links[1].mass = 5; + harness.service.updateMechanism(); + + const massless = row(harness, 'Massless links'); + expect(massless.met).toBe(false); + expect(massless.warning).toBe(true); + // Names the links, and says the idealization is allowed. + expect(massless.body).toContain('AB'); + expect(massless.body).toContain('CD'); + expect(harness.service.forceAnalysisReady()).toBe(true); + }); + + it('with gravity off, mass alone is no longer a load, and the message says so', () => { + const harness = createMechanismHarness(); + const links = fourBar(harness); + links[1].mass = 5; + harness.settings.isGravity.next(false); + harness.service.updateMechanism(); + + const load = row(harness, 'A load to react against'); + expect(load.met).toBe(false); + expect(load.body).toContain('gravity is off'); + expect(harness.service.forceAnalysisReady()).toBe(false); + }); + + it('feeds the gravity setting into the solved mechanism itself', () => { + const on = createMechanismHarness(); + const linksOn = fourBar(on); + linksOn.forEach((link) => (link.mass = 2)); + on.service.updateMechanism(); + const withGravity = on.service.mechanisms[0].getForceAnalysis('static'); + + const off = createMechanismHarness(); + const linksOff = fourBar(off); + linksOff.forEach((link) => (link.mass = 2)); + off.settings.isGravity.next(false); + off.service.updateMechanism(); + const withoutGravity = off.service.mechanisms[0].getForceAnalysis('static'); + + expect(withGravity.successfulFrames).toBeGreaterThan(0); + const weightOn = [...withGravity.frames[0].jointReactions.values()].some( + ([x, y]) => Math.hypot(x, y) > 1e-6 + ); + const weightOff = [...withoutGravity.frames[0].jointReactions.values()].every( + ([x, y]) => Math.hypot(x, y) < 1e-9 + ); + expect(weightOn).toBe(true); + expect(weightOff).toBe(true); + }); +}); + +describe('the GRAVITY_OFF flag against every URL already in circulation', () => { + it('unpacks as false — gravity on — from a token written before it existed', () => { + // Eight flags was the whole enum when today's URLs were written. Packing + // eight and unpacking nine is exactly what decoding an old URL does, and + // the ninth has to come back false, because false means what those URLs + // have always meant. + const oldEra = FlagPacker.pack([true, false, true, true, false, true, false, true]); + const decoded = FlagPacker.unpack(oldEra, 9); + expect(decoded[BoolSetting.GRAVITY_OFF]).toBe(false); + expect(decoded.slice(0, 8)).toEqual([true, false, true, true, false, true, false, true]); + }); + + it('keeps the token the same length, so no URL field shifts', () => { + const eight = FlagPacker.pack([true, false, true, true, false, true, false, true]); + const nine = FlagPacker.pack([true, false, true, true, false, true, false, true, false]); + expect(nine).toBe(eight); + }); +}); diff --git a/src/tests/verification/readiness-checks.spec.ts b/src/tests/verification/readiness-checks.spec.ts index 370aa809..e9b64e46 100644 --- a/src/tests/verification/readiness-checks.spec.ts +++ b/src/tests/verification/readiness-checks.spec.ts @@ -71,6 +71,26 @@ describe('why a mechanism will not run', () => { expect(check.body).toMatch(/Ground another joint, or connect a free joint to a second link/); }); + it('points at the free end that carries the extra freedom', () => { + // Same loose chain: C hangs on one link, and that is where the second + // degree of freedom lives. The message should say so and offer the trip. + const readiness = checksFor({ + joints: [ + { id: 'A', x: 0, y: 0, ground: true, input: true }, + { id: 'B', x: 1, y: 0 }, + { id: 'C', x: 2, y: 0 }, + ], + links: [{ joints: 'AB' }, { joints: 'BC' }], + inputAngVel: 1, + }); + + const [check] = readiness.checks; + expect(check.body).toContain('C'); + expect(check.body).toMatch(/free end/i); + expect(check.at?.id).toBe('C'); + expect(check.action).toBe('Go To Joint'); + }); + it('reports the mobility first when a linkage is both loose and undriven', () => { // Both are wrong, and the order matters: giving this an input would not // make it run, so sending the reader to add one first wastes the fix. From 5b41f84c2ea05eb99e3953f6de3b31c8882a757e Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 19:02:35 -0400 Subject: [PATCH 077/236] Let the zoom warning's own fix reach the link outlines "Fit to zoom" is a second way into the object scale, and the first one carried a responsibility with it that this one did not know about: a link's outline is computed once and cached, and its width is a fraction of that scale, so a route that changes the scale has to say so. Pressed, the warning's fix changed every joint, ground mark and arrow on the canvas and left the bars the width they were. Not by subscribing to the scale in the service -- that subject is static and replays, and the comment on `applyObjectScaleChange` explains what that cost the last time somebody tried it. The new route says so itself, as the Settings panel does. Co-Authored-By: Claude Opus 5 --- src/app/services/svg-grid.service.ts | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index f9fad2ab..8187300f 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -7,6 +7,7 @@ import { NewGridComponent } from '../component/new-grid/new-grid.component'; import { SettingsService } from './settings.service'; import { DragStateService } from './drag-state.service'; import { NotificationService } from './notification.service'; +import { MechanismService } from './mechanism.service'; import Hammer from 'hammerjs'; import { MODEL_SCALE } from '../model/render-scale'; @@ -538,5 +539,11 @@ export class SvgGridService { updateObjectScale() { SettingsService._objectScale.next(Number((60 / this.getZoom()).toFixed(2))); + // A link's outline is computed once and cached, and its width is a fraction + // of this scale -- so a route that changes the scale has to say so, or the + // bars stay the width they were while every joint, ground mark and arrow + // around them changes size. The Settings panel does this from its own + // field; this is the other way in, from the warning that offers it as a fix. + this.injector.get(MechanismService).applyObjectScaleChange(); } } From 41ae012ae4978036fc0dd57b3541f0240d89838b Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 13 Aug 2026 19:10:53 -0400 Subject: [PATCH 078/236] Close what the review found: stale views, block weight, and tracer misdirection GPT-5.6 sol confirmed the URL-bit math and the gravity replay path, and found four holes at the seams: - Flipping gravity now asks open force graphs to redraw (state 2, the same signal a unit change sends). The solve was right; the plot was stale. - An undo that changes gravity now refreshes an open Settings panel: isGravity joins the subjects bindSerializedSettings patches back into the form. Before, the toggle showed the undone value and its own guard ate the next click. - A slider block's mass counts as weight in the load requirement, matching what the solver actually hangs from gravity. A drawing whose only massive body is the piston was loaded and told it was not. (The massless warning stays about links: every block starts massless, and naming them all would be noise.) - The free-end hint only names joints on binary links. A tracer point rides a link that already has two joints, adds no freedom, and was one Go To away from being blamed for somebody else's degree of freedom. Co-Authored-By: Claude Fable 5 --- .../settings-panel.component.ts | 7 ++- src/app/model/mechanism/readiness.ts | 7 ++- src/app/services/mechanism.service.ts | 9 +++- .../verification/force-setup-help.spec.ts | 43 ++++++++++++++++++- 4 files changed, 60 insertions(+), 6 deletions(-) diff --git a/src/app/component/settings-panel/settings-panel.component.ts b/src/app/component/settings-panel/settings-panel.component.ts index 5193146d..d04ff8be 100644 --- a/src/app/component/settings-panel/settings-panel.component.ts +++ b/src/app/component/settings-panel/settings-panel.component.ts @@ -97,7 +97,8 @@ export class SettingsPanelComponent implements OnDestroy { this.settingsService.globalUnit, this.settingsService.isShowMajorGrid, this.settingsService.isShowMinorGrid, - ]).subscribe(([length, angle, force, global, showMajorGrid, showMinorGrid]) => { + this.settingsService.isGravity, + ]).subscribe(([length, angle, force, global, showMajorGrid, showMinorGrid, gravity]) => { this.currentLengthUnit = length; this.currentAngleUnit = angle; this.currentForceUnit = force; @@ -109,6 +110,7 @@ export class SettingsPanelComponent implements OnDestroy { globalunit: (global - 30).toString(), showMajorGrid, showMinorGrid, + gravity, }, { emitEvent: false } ); @@ -192,6 +194,9 @@ export class SettingsPanelComponent implements OnDestroy { if (on === this.settingsService.isGravity.value) return; this.settingsService.isGravity.next(on); this.mechanismSrv.updateMechanism(true); + // An open force graph is plotting the old gravity; ask for a redraw the + // same way a unit change does. + this.mechanismSrv.onMechUpdateState.next(2); }); // this.settingsForm.controls['torqueunit'].valueChanges.subscribe(() => { // this.settingsService.inputTorque.next(this.currentTorqueUnit); diff --git a/src/app/model/mechanism/readiness.ts b/src/app/model/mechanism/readiness.ts index e6cd173c..bc2b44c7 100644 --- a/src/app/model/mechanism/readiness.ts +++ b/src/app/model/mechanism/readiness.ts @@ -93,13 +93,16 @@ export function readinessOf( }); } else if (dof > 1) { // Point at the loose ends when there are any: a joint on one link with - // no ground is a freedom the reader can see. + // no ground is a freedom the reader can see. Only on a *binary* link, + // though — a third joint riding a link that already has two is a tracer + // point, and a tracer adds no freedom worth sending anyone to. const freeEnds = partition.ownJoints.filter( (joint) => joint instanceof RealJoint && !(joint instanceof PrisJoint) && !joint.ground && - joint.links.length === 1 + joint.links.length === 1 && + joint.links[0].joints.length <= 2 ); add({ state: 'blocker', diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 2b0d53dc..1211bdcf 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -1928,8 +1928,15 @@ export class MechanismService { // Demanding a drawn arrow on top of that refused analyses that meant // something. const loads = this.forces.filter((force) => analysable.has(force.link?.id)); + // Any body's mass, not only a RealLink's: the solver hangs a slider block's + // weight from gravity too, so a drawing whose only massive body is a block + // is genuinely loaded. (The massless *warning* above stays about links -- + // every block starts massless and naming them all would be noise.) const weighted = this.links.some( - (link) => link instanceof RealLink && analysable.has(link.id) && link.mass > 0 + (link) => + (link instanceof RealLink || link instanceof SliderBlock) && + analysable.has(link.id) && + link.mass > 0 ); const gravityLoads = this.settingsService.isGravity.value && weighted; requirements.push({ diff --git a/src/tests/verification/force-setup-help.spec.ts b/src/tests/verification/force-setup-help.spec.ts index f1a32a7f..db854a70 100644 --- a/src/tests/verification/force-setup-help.spec.ts +++ b/src/tests/verification/force-setup-help.spec.ts @@ -1,8 +1,8 @@ // joint.ts first: the model modules form an import cycle that only // initializes cleanly when entered here (see test-utils/verification/fixture.ts). import '../../app/model/joint'; -import { RevJoint } from '../../app/model/joint'; -import { RealLink } from '../../app/model/link'; +import { PrisJoint, RevJoint } from '../../app/model/joint'; +import { RealLink, SliderBlock } from '../../app/model/link'; import { FlagPacker } from '../../app/services/transcoding/flag-packer'; import { BoolSetting } from '../../app/services/transcoding/stored-settings'; import { createMechanismHarness, MechanismHarness } from '../../test-utils/mechanism-harness'; @@ -123,6 +123,45 @@ describe('force analysis setup, as a fresh drawing meets it', () => { }); }); +describe('mass on a slider block', () => { + it('counts as weight, the same as the solver counts it', () => { + // A slider-crank whose only mass is the piston itself: the solver hangs + // that mass from gravity, so setup has to call the mechanism loaded. + const harness = createMechanismHarness(); + const at: [number, number][] = [ + [0, 0], + [1, 1], + [3, 0], + ]; + const joints = at.map(([x, y], i) => new RevJoint('ABC'[i], x, y)); + joints[0].ground = true; + joints[0].input = true; + const links = [0, 1].map((i) => { + const link = new RealLink(joints[i].id + joints[i + 1].id, [joints[i], joints[i + 1]]); + joints[i].links.push(link); + joints[i + 1].links.push(link); + joints[i].connectedJoints.push(joints[i + 1]); + joints[i + 1].connectedJoints.push(joints[i]); + return link; + }); + // The block and its grounded guide, wired the way the fixture builder + // wires them: pin C rides in a horizontal slot fixed to the world. + const pris = new PrisJoint('P', joints[2].x, joints[2].y, false, true); + pris.angle_rad = 0; + pris.connectedJoints.push(joints[2]); + joints[2].connectedJoints.push(pris); + const block = new SliderBlock('CP', [joints[2], pris], 3); + pris.links.push(block); + joints[2].links.push(block); + harness.service.joints.push(...joints, pris); + harness.service.links.push(...links, block); + harness.service.updateMechanism(); + + const load = row(harness, 'A load to react against'); + expect(load.met).toBe(true); + }); +}); + describe('the GRAVITY_OFF flag against every URL already in circulation', () => { it('unpacks as false — gravity on — from a token written before it existed', () => { // Eight flags was the whole enum when today's URLs were written. Packing From bc98e6ee1c1ac2e4c91a4c341cefceda4acaf10c Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 00:49:27 -0400 Subject: [PATCH 079/236] A fresh link starts with no inertia, to match its lack of mass Mass has defaulted to zero for a while -- 'nothing weighs anything until someone says so' -- but the moment of inertia beside it still defaulted to 1. So a massless link resisted angular acceleration, every dynamic analysis of a fresh drawing quietly carried unit inertia on every link, and the massless warning's claim that inertia skips them was a lie. Only freshly drawn links are affected: the URL codec stores each link's MoI explicitly, deep copies and welds pass it through (the weld even does the parallel-axis sum), and fixtures choose their own. Pinned by a test that a fully massless, unloaded, gravity-free four-bar takes exactly zero torque to drive. Co-Authored-By: Claude Fable 5 --- src/app/model/link.ts | 8 ++++-- .../verification/force-setup-help.spec.ts | 28 +++++++++++++++++++ 2 files changed, 34 insertions(+), 2 deletions(-) diff --git a/src/app/model/link.ts b/src/app/model/link.ts index e283f2d7..1555d651 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -162,8 +162,12 @@ export class RealLink extends Link { // //TODO: Unsubsribe from this when link gets deleted // }); // console.log('new subscription'); - // this._mass = mass !== undefined ? mass : 1; - this._massMoI = massMoI !== undefined ? massMoI : 1; + // Zero, like the mass above it: a link that arrives with a moment of + // inertia of 1 resists angular acceleration in every dynamic analysis of a + // drawing whose author never chose a number — and it made "massless links + // are skipped by inertia" a lie. URLs carry each link's stored value, so + // only freshly drawn links land here. + this._massMoI = massMoI !== undefined ? massMoI : 0; // this._shape = shape !== undefined ? shape : Shape.line; // this._fill = '#' + (0x1000000 + Math.random() * 0xffffff).toString(16).substr(1, 6); // this._fill = RealLink.colorOptions[Math.floor(Math.random() * RealLink.colorOptions.length)]; diff --git a/src/tests/verification/force-setup-help.spec.ts b/src/tests/verification/force-setup-help.spec.ts index db854a70..8bcf83d8 100644 --- a/src/tests/verification/force-setup-help.spec.ts +++ b/src/tests/verification/force-setup-help.spec.ts @@ -123,6 +123,34 @@ describe('force analysis setup, as a fresh drawing meets it', () => { }); }); +describe('what a fresh link weighs', () => { + it('starts with no mass and no moment of inertia', () => { + // MoI used to default to 1 while mass defaulted to 0, so a "massless" link + // still resisted angular acceleration — every dynamic analysis of a fresh + // drawing quietly carried unit inertia on every link. + const link = new RealLink('AB', [new RevJoint('A', 0, 0), new RevJoint('B', 1, 0)]); + expect(link.mass).toBe(0); + expect(link.massMoI).toBe(0); + }); + + it('so a fully massless mechanism takes no torque to drive', () => { + // No mass, no inertia, no gravity, no load: the drive has nothing to work + // against, and the dynamic input effort has to come out zero everywhere. + const harness = createMechanismHarness(); + fourBar(harness); + harness.settings.isGravity.next(false); + harness.service.updateMechanism(); + + const series = harness.service.mechanisms[0].getForceAnalysis('dynamic'); + expect(series.successfulFrames).toBeGreaterThan(0); + series.frames + .filter((frame) => frame.status === 'ok') + .forEach((frame) => { + expect(Math.abs(frame.inputEffort!.valueSI)).toBeLessThan(1e-9); + }); + }); +}); + describe('mass on a slider block', () => { it('counts as weight, the same as the solver counts it', () => { // A slider-crank whose only mass is the piston itself: the solver hangs From 8384ee39035f5f6b372cfe467982a8fab29a5f6f Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 01:03:33 -0400 Subject: [PATCH 080/236] Teach left-nav-modes that weight is now a load PR 236 makes gravity on a massy link count as a force-analysis load and shows centre-of-mass marks by default (only on links that have mass). The suite's four-bar therefore arrives Ready: the chip check expects that, the gate check turns gravity off first so the refusal it tests still exists, and the CoM check proves the mark follows the mass as well as the toggle. Co-Authored-By: Claude Opus 5 --- e2e/left-nav-modes.mjs | 41 ++++++++++++++++++++++++++++++++++------- 1 file changed, 34 insertions(+), 7 deletions(-) diff --git a/e2e/left-nav-modes.mjs b/e2e/left-nav-modes.mjs index c2f81364..415edea7 100644 --- a/e2e/left-nav-modes.mjs +++ b/e2e/left-nav-modes.mjs @@ -151,8 +151,9 @@ try { record('the Kinematic chip reads Ready for a four-bar that runs', kinematicChip === 'Ready', { kinematicChip, }); - // The four-bar carries no load, so force analysis has exactly one thing left. - record('the Force chip counts what is still missing', forceChip === '1 to set', { forceChip }); + // Weight counts as a load now: gravity is on by default and the four-bar's + // links carry mass, so force analysis is ready without a drawn arrow. + record('the Force chip reads Ready — weight is a load', forceChip === 'Ready', { forceChip }); // --- Kinematic mode -------------------------------------------------------- await tab('Kinematic').click(); @@ -203,6 +204,13 @@ try { record('the floating controls stay inside the window', spill === false); // --- pressing a mode that cannot be entered ------------------------------- + // Gravity hanging the links' own weight is a load, so the four-bar as it + // arrives no longer trips the gate. Turn gravity off and the drawing is + // genuinely unloaded — the refusal has to come back. + await page.evaluate(() => { + const grid = window.ng.getComponent(document.querySelector('app-new-grid')); + grid.settings.isGravity.next(false); + }); await tab('Force').click(); await page.waitForTimeout(800); await shot('03-force-refused.png'); @@ -215,6 +223,10 @@ try { 'and answers with the setup list instead of nothing', (await page.locator('app-analysis-setup').count()) === 1 ); + await page.evaluate(() => { + const grid = window.ng.getComponent(document.querySelector('app-new-grid')); + grid.settings.isGravity.next(true); + }); // --- play, then leave: the mechanism must rewind --------------------------- await tab('Kinematic').click(); @@ -274,14 +286,29 @@ try { // Icon-only squares now, so they are addressed by what they are for rather // than by a word that is no longer printed on them. const comButton = page.locator('.viewControls .viewButton[aria-label="Show Center of Mass"]'); + // The view defaults to showing centres of mass, but a mark only appears on a + // link that has mass: take the weight away and the mark goes with it, give + // it back and the toggle governs it from there. + const setMasses = (value) => + page.evaluate((mass) => { + const grid = window.ng.getComponent(document.querySelector('app-new-grid')); + grid.mechanismSrv.links.forEach((link) => (link.mass = mass)); + grid.mechanismSrv.updateMechanism(false); + }, value); const comBefore = await comMarks(); + await setMasses(0); + await page.waitForTimeout(400); + const comMassless = await comMarks(); + await setMasses(5); + await page.waitForTimeout(400); await comButton.click(); await page.waitForTimeout(500); const comAfter = await comMarks(); - record('the CoM toggle acts on the drawing', comBefore === 0 && comAfter > 0, { - comBefore, - comAfter, - }); + record( + 'the CoM mark shows by default, waits for mass, and the toggle removes it', + comBefore > 0 && comMassless === 0 && comAfter === 0, + { comBefore, comMassless, comAfter } + ); await comButton.click(); await page.waitForTimeout(300); await restCursor(); @@ -290,7 +317,7 @@ try { await restCursor(); await page.locator('.viewControls .viewButton[aria-label="Zoom In"]').click(); await page.waitForTimeout(400); - record('the CoM marks come off again', (await comMarks()) === 0); + record('and the marks come back on again', (await comMarks()) > 0); await shot('05-view-controls.png'); // --- the status strip reports the mode rather than acting on it ------------ From 6f80e794e40ad63496dd3d7dfc3320d875aecefa Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 01:21:35 -0400 Subject: [PATCH 081/236] Remove dead code: two unused solvers, three unused components, 40 orphaned utils exports - ic-solver.ts (874 lines) and stress-solver.ts had no live importers; the only mentions were commented-out calls from the Simulator era. - shape-selector (template fully commented out), tri-button and the synthesis-warning modal were declared in the module but rendered nowhere; the theme's tri-button include went with it. - constructionlines_syn.ts lost its one importer when utils.ts shed its orphaned exports (matrix/vector spares, MATLAB-port intersection helpers). - tslint.json was vestigial; the commented-out code blocks across the model, services and templates were shadows of code deleted years ago. Prose comments that explain live code stay. Co-Authored-By: Claude Opus 5 --- src/app/app.component.html | 1 - src/app/app.module.ts | 7 - .../BLOCKS/button/button.component.html | 8 - .../color-picker/color-picker.component.ts | 3 - .../editable-title.component.html | 8 - .../tri-button/tri-button.component.html | 34 - .../tri-button/tri-button.component.scss | 111 --- .../BLOCKS/tri-button/tri-button.component.ts | 24 - .../synthesis-warning.component.html | 15 - .../synthesis-warning.component.scss | 11 - .../synthesis-warning.component.ts | 29 - .../analysis-graph.component.ts | 7 - .../edit-panel/edit-panel.component.ts | 13 - .../linkage-table.component.html | 18 - .../linkage-table/linkage-table.component.ts | 1 - .../new-grid/new-grid.component.html | 11 - .../component/new-grid/new-grid.component.ts | 55 -- .../right-panel/right-panel.component.ts | 3 - .../settings-panel.component.ts | 3 - .../shape-selector.component.html | 17 - .../shape-selector.component.scss | 0 .../shape-selector.component.ts | 92 -- .../synthesis-panel.component.html | 25 - src/app/model/constructionlines_syn.ts | 28 - src/app/model/line.ts | 2 - src/app/model/link.ts | 31 - src/app/model/mechanism/ic-solver.ts | 874 ------------------ src/app/model/mechanism/kinematic-solver.ts | 10 - src/app/model/mechanism/mechanism.ts | 268 ------ src/app/model/mechanism/position-solver.ts | 8 - src/app/model/mechanism/stress-solver.ts | 1 - src/app/model/utils.ts | 438 +-------- src/app/services/grid-utils.service.ts | 5 - src/app/services/mechanism.service.ts | 33 - src/app/services/svg-grid.service.ts | 16 - src/app/services/url-processor.service.ts | 4 - src/mytheme.scss | 2 - tslint.json | 58 -- 38 files changed, 28 insertions(+), 2246 deletions(-) delete mode 100644 src/app/component/BLOCKS/tri-button/tri-button.component.html delete mode 100644 src/app/component/BLOCKS/tri-button/tri-button.component.scss delete mode 100644 src/app/component/BLOCKS/tri-button/tri-button.component.ts delete mode 100644 src/app/component/MODALS/synthesis-warning/synthesis-warning.component.html delete mode 100644 src/app/component/MODALS/synthesis-warning/synthesis-warning.component.scss delete mode 100644 src/app/component/MODALS/synthesis-warning/synthesis-warning.component.ts delete mode 100644 src/app/component/shape-selector/shape-selector.component.html delete mode 100644 src/app/component/shape-selector/shape-selector.component.scss delete mode 100644 src/app/component/shape-selector/shape-selector.component.ts delete mode 100644 src/app/model/constructionlines_syn.ts delete mode 100644 src/app/model/mechanism/ic-solver.ts delete mode 100644 src/app/model/mechanism/stress-solver.ts delete mode 100644 tslint.json diff --git a/src/app/app.component.html b/src/app/app.component.html index 4fec03b3..f0ca3cc7 100644 --- a/src/app/app.component.html +++ b/src/app/app.component.html @@ -9,6 +9,5 @@ - diff --git a/src/app/app.module.ts b/src/app/app.module.ts index 444e2d74..426e3a5f 100644 --- a/src/app/app.module.ts +++ b/src/app/app.module.ts @@ -9,9 +9,7 @@ import { AnalysisSetupComponent } from './component/analysis-setup/analysis-setu import { PlaybackBarComponent } from './component/playback-bar/playback-bar.component'; import { MechanismPanelComponent } from './component/mechanism-panel/mechanism-panel.component'; import { ViewControlsComponent } from './component/view-controls/view-controls.component'; -import { ShapeSelectorComponent } from './component/shape-selector/shape-selector.component'; import { FormsModule } from '@angular/forms'; -// import { TemplatesPopupComponent } from './component/templates-popup/templates-popup.component'; import { BrowserAnimationsModule } from '@angular/platform-browser/animations'; import { MaterialModule } from './material/material.module'; @@ -46,12 +44,10 @@ import { NotReadyWarningComponent } from './component/not-ready-warning/not-read import { TemplatesComponent } from './component/MODALS/templates/templates.component'; import { MechanismService } from './services/mechanism.service'; import { GridUtilsService } from './services/grid-utils.service'; -import { SynthesisWarningComponent } from './component/MODALS/synthesis-warning/synthesis-warning.component'; import { SvgArrowComponent } from './component/svg-arrow/svg-arrow.component'; import { CollapsibleSubsecitonComponent } from './component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component'; import { DualButtonComponent } from './component/BLOCKS/dual-button/dual-button.component'; import { ColorPickerComponent } from './component/BLOCKS/color-picker/color-picker.component'; -import { TriButtonComponent } from './component/BLOCKS/tri-button/tri-button.component'; import { BottombarComponent } from './component/bottombar/bottombar.component'; import { NotificationComponent } from './component/notification/notification.component'; @@ -65,7 +61,6 @@ import { NotificationComponent } from './component/notification/notification.com PlaybackBarComponent, MechanismPanelComponent, ViewControlsComponent, - ShapeSelectorComponent, LeftTabsComponent, TitleBlock, EditPanelComponent, @@ -92,12 +87,10 @@ import { NotificationComponent } from './component/notification/notification.com EquationPanelComponent, NotReadyWarningComponent, TemplatesComponent, - SynthesisWarningComponent, SvgArrowComponent, CollapsibleSubsecitonComponent, DualButtonComponent, ColorPickerComponent, - TriButtonComponent, BottombarComponent, ], bootstrap: [AppComponent], diff --git a/src/app/component/BLOCKS/button/button.component.html b/src/app/component/BLOCKS/button/button.component.html index 1bdd2a62..2d5dd171 100644 --- a/src/app/component/BLOCKS/button/button.component.html +++ b/src/app/component/BLOCKS/button/button.component.html @@ -1,12 +1,5 @@
    - - - - - - -
    diff --git a/src/app/component/BLOCKS/color-picker/color-picker.component.ts b/src/app/component/BLOCKS/color-picker/color-picker.component.ts index 8fea88f1..91c9f2a3 100644 --- a/src/app/component/BLOCKS/color-picker/color-picker.component.ts +++ b/src/app/component/BLOCKS/color-picker/color-picker.component.ts @@ -42,9 +42,6 @@ export class ColorPickerComponent implements OnInit, OnChanges { } break; case 'joint': - if (this.joint) { - // this.joint.fill = this.colorService.getJointColorFromIndex(index); - } break; } } diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.html b/src/app/component/BLOCKS/editable-title/editable-title.component.html index fdec99d0..fd37aa52 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.html +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.html @@ -3,10 +3,7 @@
    {{ displayName ?? activeObjService.getSelectedObj().name }} - - -
    } @if (editMode) { @@ -25,13 +22,8 @@ appPrefixFocusAndSelect /> - - - - -
    }
    diff --git a/src/app/component/BLOCKS/tri-button/tri-button.component.html b/src/app/component/BLOCKS/tri-button/tri-button.component.html deleted file mode 100644 index 4c99b98c..00000000 --- a/src/app/component/BLOCKS/tri-button/tri-button.component.html +++ /dev/null @@ -1,34 +0,0 @@ -
    -
    - - -
    - -
    diff --git a/src/app/component/BLOCKS/tri-button/tri-button.component.scss b/src/app/component/BLOCKS/tri-button/tri-button.component.scss deleted file mode 100644 index c08b3f59..00000000 --- a/src/app/component/BLOCKS/tri-button/tri-button.component.scss +++ /dev/null @@ -1,111 +0,0 @@ -@use 'sass:map'; -@use '@angular/material' as mat; - -@mixin css($theme) { - // Get the color config from the theme. - $color-config: mat.m2-get-color-config($theme); - // Get the primary color palette from the color-config. - $primary-palette: map.get($color-config, 'primary'); - $accent-palette: map.get($color-config, 'accent'); - $typography-config: mat.m2-get-typography-config($theme); - $background: map.get($theme, background); - $foreground: map.get($theme, foreground); - - #tri-button { - path { - fill: mat.m2-get-color-from-palette($primary-palette, 500); - //fill: red; - } - - button { - display: flex; - flex-direction: column; - align-items: center; - justify-content: space-around; - @include mat.m2-typography-level($typography-config, 'body-2'); - padding: 0 10px; - margin: 0; - height: 50px !important; - overflow: hidden; - //flex-grow: 1; - - .mat-mdc-button-touch-target { - height: 50px !important; - } - - .mdc-button__label { - display: flex; - flex-direction: column; - align-items: center; - justify-content: center; - gap: 2px; - line-height: 16px; - white-space: nowrap; - } - - .mat-icon { - flex: 0 0 24px; - margin: 0; - //background-color: red; - width: 24px; - height: 24px; - min-height: 24px; - max-height: 24px; - line-height: 24px; - overflow: hidden; - } - - .mat-icon ::ng-deep svg { - width: 24px; - height: 24px; - } - - border-color: mat.m2-get-color-from-palette($primary-palette, 500) !important; - } - - .groupedButtons { - display: flex; - //background-color: red; - //width: 100px !important; - - button:first-child { - padding: 0; - width: 53px !important; - min-width: unset !important; - - border-top-right-radius: 0; - border-bottom-right-radius: 0; - - margin-right: -1px; - } - - button:last-child { - padding: 0; - width: 57px !important; - min-width: unset !important; - - border-top-left-radius: 0; - border-bottom-left-radius: 0; - - &.buttonDisabled { - border-left-color: transparent !important; - } - } - } - - .button3 { - padding: 0; - flex-grow: 1; - //font-size: 12px; - //background-color: red; - } - - .buttonDisabled { - path { - fill: #969696; - } - - border-color: #bbbbbb !important; - } - } -} diff --git a/src/app/component/BLOCKS/tri-button/tri-button.component.ts b/src/app/component/BLOCKS/tri-button/tri-button.component.ts deleted file mode 100644 index 441512fc..00000000 --- a/src/app/component/BLOCKS/tri-button/tri-button.component.ts +++ /dev/null @@ -1,24 +0,0 @@ -import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; -import { FormGroup } from '@angular/forms'; -import { RealJoint } from '../../../model/joint'; - -@Component({ - selector: 'tri-button', - templateUrl: './tri-button.component.html', - styleUrls: ['./tri-button.component.scss'], - changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, -}) -export class TriButtonComponent { - @Input() joint!: RealJoint; - @Input() btn1Disabled: boolean = false; - @Input() btn2Disabled: boolean = false; - @Input() btn3Disabled: boolean = false; - @Input() btn3Text: string = ''; - @Input() btn3Icon: string = ''; - @Input() btn1Action!: () => void; - @Input() btn2Action!: () => void; - @Input() btn3Action!: () => void; - - constructor() {} -} diff --git a/src/app/component/MODALS/synthesis-warning/synthesis-warning.component.html b/src/app/component/MODALS/synthesis-warning/synthesis-warning.component.html deleted file mode 100644 index fd1a1592..00000000 --- a/src/app/component/MODALS/synthesis-warning/synthesis-warning.component.html +++ /dev/null @@ -1,15 +0,0 @@ - diff --git a/src/app/component/MODALS/synthesis-warning/synthesis-warning.component.scss b/src/app/component/MODALS/synthesis-warning/synthesis-warning.component.scss deleted file mode 100644 index 19ae8317..00000000 --- a/src/app/component/MODALS/synthesis-warning/synthesis-warning.component.scss +++ /dev/null @@ -1,11 +0,0 @@ -.modal { - width: max(45vw, 420px); -} - -li { - //Don't show bullets - list-style-type: none; - //recude text indent - text-indent: -2em; - margin-bottom: 1em; -} diff --git a/src/app/component/MODALS/synthesis-warning/synthesis-warning.component.ts b/src/app/component/MODALS/synthesis-warning/synthesis-warning.component.ts deleted file mode 100644 index 77681be0..00000000 --- a/src/app/component/MODALS/synthesis-warning/synthesis-warning.component.ts +++ /dev/null @@ -1,29 +0,0 @@ -import { Component, ChangeDetectionStrategy } from '@angular/core'; -import { MatDialogRef } from '@angular/material/dialog'; -import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; -import { MechanismService } from 'src/app/services/mechanism.service'; - -@Component({ - selector: 'app-synthesis-warning', - templateUrl: './synthesis-warning.component.html', - styleUrls: ['./synthesis-warning.component.scss'], - changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, -}) -export class SynthesisWarningComponent { - constructor( - public dialogRef: MatDialogRef, - private selectedTab: SelectedTabService, - private mechanism: MechanismService - ) {} - - onNoClick(): void { - this.dialogRef.close(); - } - - // delete mechanism and go to synthesis - goToSynthesisTab(): void { - this.mechanism.resetMechanism(); - this.selectedTab.setTab(TabID.SYNTHESIZE); - } -} diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 3f01b21a..00b09fb1 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -407,7 +407,6 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, //"Angular Link Pos","Angular Link Vel",Angular Link Acc" //Param 4: mechPart: If Joint 'a','b','c'... If Link 'ab','bc','cd'... - // console.log(this.analysis, this.analysisType, this.mechProp, this.mechPart); this.determineChart(this.analysis, this.analysisType, this.mechProp, this.mechPart); this.subscriptions.add( @@ -729,15 +728,9 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, let velLinUnit = '(' + this.getUnitStr(this.settingsService.lengthUnit.value) + '/s)'; let accLinUnit = '(' + this.getUnitStr(this.settingsService.lengthUnit.value) + '/s²)'; const posAngUnit = '(' + this.getUnitStr(this.settingsService.angleUnit.value) + ')'; - // const posAngUnit = '(rad)'; const velAngUnit = '(' + this.getUnitStr(this.settingsService.angleUnit.value) + '/s)'; const accAngUnit = '(' + this.getUnitStr(this.settingsService.angleUnit.value) + '/s²)'; this.analysisDiagnostic = null; - // if (this.settingsService.globalUnit.value === GlobalUnit.METRIC) { - // posLinUnit = '(m)'; - // velLinUnit = '(m/s)'; - // accLinUnit = '(m/s²)'; - // } switch (analysis) { case 'force': switch (mechProp) { diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index 091f0593..40a2e849 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -301,14 +301,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { this.mechanismService.updateMechanism(); } - disableDelete(): void { - // this.mechanismService.canDelete = false; - } - ngOnInit(): void { - // console.log(this.jointForm); - // console.log(this.activeSrv); - // console.log(this.profileForm); this.onChanges(); this.disableAndEnableJointFields(); } @@ -1259,7 +1252,6 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { if (this.hideEditPanel()) { return; } - // this.activeSrv.selectedForce.local = val == '0' ? true : false; this.mechanismService.changeForceLocal(); }) ); @@ -1280,7 +1272,6 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { this.listOfOtherJoints.forEach((joint, i) => { this.setFormDistAndAngle(this.activeSrv.selectedJoint, joint, i); - // console.log('set form dist and angle'); }); this.currentlyOpenJointID = this.activeSrv.selectedJoint.id; @@ -1611,7 +1602,6 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { private reloadOtherJointForm() { this.listOfOtherJoints = this.getOtherJointsInLink(this.activeSrv.selectedJoint); this.jointForm.controls['otherJoints'] = this.fb.array([]); - // console.log('killed all subscriptions to other joints'); this.otherJoitnsSubscriptions.forEach((subscription) => subscription.unsubscribe()); this.otherJoitnsSubscriptions = []; @@ -1632,7 +1622,6 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { ) ); } else { - // this.activeSrv.selectedLink.length = value; this.updateDistanceBetweenJoints(this.activeSrv.selectedJoint, joint, value); this.mechanismService.onMechUpdateState.next(2); this.otherJoints.controls[i * 2].patchValue( @@ -1687,8 +1676,6 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { otherJoint: RealJoint, otherJointID: number ) { - // console.log('setFormDistAndAngle', otherJointID); - // console.log(this.otherJoints); let distance = this.getDistanceBetweenJoints(currentJoint, otherJoint); let angle = this.getAngleBetweenJoints(currentJoint, otherJoint); diff --git a/src/app/component/linkage-table/linkage-table.component.html b/src/app/component/linkage-table/linkage-table.component.html index 9adfa6a2..29f14e2f 100644 --- a/src/app/component/linkage-table/linkage-table.component.html +++ b/src/app/component/linkage-table/linkage-table.component.html @@ -1,12 +1,9 @@ - - -
    @@ -15,18 +12,7 @@ ID - Linked To - - - - - - - - - - @if (getUnit() === 'cm') { Dist From Joint (cm) } @@ -59,12 +45,8 @@ (change)="changeJointProp($event, joint, 'id')" /> - - - - @for (conJoints of connectedJoints(joint); track conJoints) { diff --git a/src/app/component/linkage-table/linkage-table.component.ts b/src/app/component/linkage-table/linkage-table.component.ts index f739980b..9646c718 100644 --- a/src/app/component/linkage-table/linkage-table.component.ts +++ b/src/app/component/linkage-table/linkage-table.component.ts @@ -324,6 +324,5 @@ export class LinkageTableComponent implements OnInit { getUnit() { // TODO: Should return this.settingService.globalUnit.value return 'cm'; // :P - // return ToolbarComponent.unit; } } diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 1106f379..79bf77dd 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -82,11 +82,6 @@ opacity="0.5" > } - - - - - @@ -1472,14 +1467,8 @@ } - - - - - - diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index e789075a..2c427f30 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -301,15 +301,8 @@ export class NewGridComponent implements OnDestroy { } fromEvent(window, 'resize').subscribe((event) => { - // console.log('resize'); this.svgGrid.panZoomObject.resize(); - // this.svgGrid.panZoomObject.fit(); - // this.svgGrid.panZoomObject.center(); - // this.svgGrid.panZoomObject.resize(); this.svgGrid.handlePan(); - // console.log(this.svgGrid.getZoom()); - // this.svgGrid.panZoomObject.updateBBox(); - // this.svgGrid.scaleToFitLinkage(); }); this.activeObjService.onActiveObjChange.subscribe((obj) => { @@ -640,16 +633,6 @@ export class NewGridComponent implements OnDestroy { ) ); //Rev Joint - the service explains a refusal, as the panel's toggle does - // this.cMenuItems.push( - // new cMenuItem( - // (this.lastRightClick as RealJoint).showCurve ? 'Hide Path' : 'Show Path', - // () => { - // this.gridUtils.toggleCurve(this.lastRightClick); - // }, - // (this.lastRightClick as RealJoint).showCurve ? 'hide_path' : 'show_path', - // !canTogglePath - // ) - // ); //Rev Joint - Not Ground and at least one valid mechanism exists break; } @@ -798,7 +781,6 @@ export class NewGridComponent implements OnDestroy { return; } this.lastLeftClick = clickedObj; - // console.warn('Last Left Click: '); switch (this.objectKind(clickedObj)) { case 'Force': this.lastLeftClickType = 'Force'; @@ -828,9 +810,6 @@ export class NewGridComponent implements OnDestroy { } addJoint() { - // const newJoint = this.createRevJoint() - // const screenX = Number(GridComponent.contextMenuAddTracerPoint.children[0].getAttribute('x')); - // const screenY = Number(GridComponent.contextMenuAddTracerPoint.children[0].getAttribute('y')); // TODO: Make sure you add logic within here so that joint is part of fixedLocations for respective link subset const coord = this.svgGrid.screenToSVGfromXY( this.lastRightClickCoord.x, @@ -1073,16 +1052,7 @@ export class NewGridComponent implements OnDestroy { default: return; } - // const mouseRawPos = this.getMousePosition($event); - // if (mouseRawPos === undefined) { - // return; - // } - // const mousePos = this.screenToGrid(mouseRawPos.x, mouseRawPos.y * -1); - // // TODO: Within future, create a tempJoint and temp Link and set those values as these values in order to avoid - // // TODO: having to call setAttribute and have HTML update for you automatically - // console.log(startCoord); this.linkCreateStart = startCoord; - // this.onMechUpdateState.next(3); } mouseMove($event: MouseEvent) { @@ -1705,8 +1675,6 @@ export class NewGridComponent implements OnDestroy { if (this.mechanismSrv.mechanismTimeStep !== 0) { this.cMenuItems = []; //Close the MatContextMenu - // console.log(this.contextMenu); - // this.contextMenu.close(); return; } this.lastRightClickCoord.x = $event.clientX; @@ -1808,16 +1776,9 @@ export class NewGridComponent implements OnDestroy { mouseDown($event: MouseEvent) { // Log the time that the mouse was clicked this.timeMouseDown = new Date().getTime(); - // console.warn('mouseDown'); - // console.log(typeChosen); - // console.log(thing); - // $event.preventDefault(); - // $event.stopPropagation(); - // this.disappearContext(); this.dragState.press(); this.startX = $event.pageX; this.startY = $event.pageY; - // console.log(this.startX, this.startY); let joint1: RevJoint; let joint2: RevJoint; let link: RealLink; @@ -1840,11 +1801,6 @@ export class NewGridComponent implements OnDestroy { this.commitCylinderCreation(mousePosInSvg); break; } - // let clickPos = new Coord($event.pageX, $event.pageY); - // let mousePosInSvg = this.svgGrid.screenToSVG(clickPos); - // console.warn('Mouse down: '); - // console.log(NewGridComponent.isInsideLink(this.mechanismSrv.links[0], mousePosInSvg)); - // console.warn(this.activeObjService.objType); switch (this.lastLeftClickType) { case 'Grid': switch (this.dragState.grid) { @@ -1892,7 +1848,6 @@ export class NewGridComponent implements OnDestroy { this.linkCreateStart = undefined; break; case gridStates.createJointFromLink: - // console.warn('reset position'); //This is werid bug, ensures that when you use a context menu it always counts as a real click instead of a mis-drag this.startY = 9999999; this.startX = 9999999; @@ -1947,7 +1902,6 @@ export class NewGridComponent implements OnDestroy { break; case gridStates.createForce: const startCoord = this.svgGrid.screenToSVG(this.lastRightClickCoord); - // const endCoordRaw = this.getMousePosition($event); const endCoord = this.svgGrid.screenToSVG( new Coord($event.clientX, $event.clientY) ); @@ -1958,8 +1912,6 @@ export class NewGridComponent implements OnDestroy { } break; case 'Joint': - // this.jointXatMouseDown = thing.x; - // this.jointYatMouseDown = thing.y; // Get the joint that was clicked on and top left of the rectangualr bounds switch (this.dragState.grid) { case gridStates.waiting: @@ -2071,7 +2023,6 @@ export class NewGridComponent implements OnDestroy { switch (this.dragState.joint) { case jointStates.waiting: this.dragState.beginDraggingJoint(); - // this.selectedJoint = thing; break; } break; @@ -2168,12 +2119,6 @@ export class NewGridComponent implements OnDestroy { get sliderMarkList(): SliderMark[] { const marks = this.freshMarks().marks; - // A slider dragged over a valid slot previews the accepted state: the block - // turns to the slot's own angle and the red nowhere-to-slide highlight goes - // out while the drop would land. Without this the preview showed the cut - // opening in the bar while the block stayed unturned and red — the channel - // said yes and the block said no about the same release. Presentation only: - // the joint itself is not reseated until the drop commits (cutSlotOn). const slot = this.slotCandidate; if (!slot || this.dragState.joint !== jointStates.dragging) return marks; const pinID = this.activeObjService.selectedJoint?.id; diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index dd68311f..b57e66f4 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -145,8 +145,6 @@ export class RightPanelComponent implements DoCheck { this.openTab = tabID; } } - // console.warn(this.openTab); - // console.warn(this.isOpen); } /** @@ -384,7 +382,6 @@ export class RightPanelComponent implements DoCheck { sendNotReady() { introJs().start(); - // this.analytics.logEvent('tutorial_not_ready'); } getBrowserName() { diff --git a/src/app/component/settings-panel/settings-panel.component.ts b/src/app/component/settings-panel/settings-panel.component.ts index d04ff8be..517d9811 100644 --- a/src/app/component/settings-panel/settings-panel.component.ts +++ b/src/app/component/settings-panel/settings-panel.component.ts @@ -198,9 +198,6 @@ export class SettingsPanelComponent implements OnDestroy { // same way a unit change does. this.mechanismSrv.onMechUpdateState.next(2); }); - // this.settingsForm.controls['torqueunit'].valueChanges.subscribe(() => { - // this.settingsService.inputTorque.next(this.currentTorqueUnit); - // }); } /** diff --git a/src/app/component/shape-selector/shape-selector.component.html b/src/app/component/shape-selector/shape-selector.component.html deleted file mode 100644 index f3e6513f..00000000 --- a/src/app/component/shape-selector/shape-selector.component.html +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/src/app/component/shape-selector/shape-selector.component.scss b/src/app/component/shape-selector/shape-selector.component.scss deleted file mode 100644 index e69de29b..00000000 diff --git a/src/app/component/shape-selector/shape-selector.component.ts b/src/app/component/shape-selector/shape-selector.component.ts deleted file mode 100644 index 2d4b1375..00000000 --- a/src/app/component/shape-selector/shape-selector.component.ts +++ /dev/null @@ -1,92 +0,0 @@ -import { - Component, - EventEmitter, - Input, - OnInit, - Output, - ChangeDetectionStrategy, -} from '@angular/core'; -// import { GridComponent } from '../grid/grid.component'; -// import { RealLink, Shape } from '../../model/link'; -// import { Coord } from '../../model/coord'; -// -@Component({ - selector: 'app-shape-selector', - templateUrl: './shape-selector.component.html', - styleUrls: ['./shape-selector.component.scss'], - changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, -}) -export class ShapeSelectorComponent {} - -// shapes: Shape[] = [ -// Shape.line, -// Shape.bar, -// Shape.eTriangle, -// Shape.rTriangle, -// Shape.rectangle, -// Shape.square, -// Shape.circle, -// Shape.cShape, -// Shape.tShape, -// Shape.lShape, -// ]; -// -// constructor() {} -// -// ngOnInit(): void {} -// -// getURL(shape: Shape) { -// switch (shape) { -// case Shape.line: -// return '../../assets/shapes/line.svg'; -// case Shape.bar: -// return '../../assets/shapes/bar.svg'; -// case Shape.eTriangle: -// return '../../assets/shapes/eTriangle.svg'; -// case Shape.rTriangle: -// return '../../assets/shapes/rTriangle.svg'; -// case Shape.rectangle: -// return '../../assets/shapes/rectangle.svg'; -// case Shape.square: -// return '../../assets/shapes/square.svg'; -// case Shape.circle: -// return '../../assets/shapes/circle.svg'; -// case Shape.cShape: -// return '../../assets/shapes/cShape.svg'; -// case Shape.tShape: -// return '../../assets/shapes/tShape.svg'; -// case Shape.lShape: -// return '../../assets/shapes/lShape.svg'; -// default: -// return ''; -// } -// } -// -// getShowcaseShapeSelector() { -// return GridComponent.showcaseShapeSelector; -// } -// -// save() { -// GridComponent.showcaseShapeSelector = false; -// GridComponent.updateMechanism(); -// } -// -// cancel() { -// if (GridComponent.initialLink !== undefined) { -// // GridComponent.selectedLink.bound = GridComponent.initialLink.bound; -// GridComponent.selectedLink.d = GridComponent.initialLink.d; -// GridComponent.selectedLink.CoM = GridComponent.initialLink.CoM; -// } -// GridComponent.showcaseShapeSelector = false; -// GridComponent.updateMechanism(); -// } -// -// revert() { -// // TODO: Fix a bug where a binary link returns bound when it shouldn't -// // GridComponent.selectedLink.bound = GridComponent.initialLink.bound; -// GridComponent.selectedLink.d = GridComponent.initialLink.d; -// GridComponent.selectedLink.CoM = GridComponent.initialLink.CoM; -// GridComponent.updateMechanism(); -// } -// } diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.html b/src/app/component/synthesis-panel/synthesis-panel.component.html index d5717681..94b6efe8 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.html +++ b/src/app/component/synthesis-panel/synthesis-panel.component.html @@ -3,10 +3,6 @@ 3 Position Synthesis - - - - End-Effector Link (Coupler) @@ -36,7 +32,6 @@

    Pose {{ i }}

    -
    @@ -74,9 +69,7 @@ - -
    - - - - - - - - - - - - - - - - - - diff --git a/src/app/model/constructionlines_syn.ts b/src/app/model/constructionlines_syn.ts deleted file mode 100644 index 2427d71d..00000000 --- a/src/app/model/constructionlines_syn.ts +++ /dev/null @@ -1,28 +0,0 @@ -// A class to represent Construction lines -//will contain x1,y1, x2,y2 of construction lines -import { Coord } from './coord'; - -export class ConstrucLines { - private _coord1: Coord; - private _coord2: Coord; - - constructor(coord1: Coord, coord2: Coord) { - this._coord1 = coord1; - this._coord2 = coord2; - } - - get coord1(): Coord { - return this._coord1; - } - - set coord1(value: Coord) { - this._coord1 = value; - } - get coord2(): Coord { - return this._coord2; - } - - set coord2(value: Coord) { - this._coord2 = value; - } -} diff --git a/src/app/model/line.ts b/src/app/model/line.ts index e4a9ebdd..6e37d194 100644 --- a/src/app/model/line.ts +++ b/src/app/model/line.ts @@ -98,7 +98,6 @@ export class Line { splitAt(coord: Coord): Line | undefined { if (this.startPosition.equals(coord) || this.endPosition.equals(coord)) { - // console.log('Cannot split at start or end position', coord, this); return; } else { let newLine = new Line(coord, this.endPosition); @@ -199,7 +198,6 @@ export class Arc extends Line { override splitAt(coord: Coord): Line | undefined { if (this.startPosition.equals(coord) || this.endPosition.equals(coord)) { - // console.log('Cannot split at start or end position', coord, this); return; } else { let newArc = new Arc(coord, this.endPosition, this.center); diff --git a/src/app/model/link.ts b/src/app/model/link.ts index 1555d651..007789b4 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -157,27 +157,15 @@ export class RealLink extends Link { ) { super(id, joints, mass); - // SettingsService.objectScale.subscribe((value) => { - // this._d = RealLink.getD(this.joints); - // //TODO: Unsubsribe from this when link gets deleted - // }); - // console.log('new subscription'); // Zero, like the mass above it: a link that arrives with a moment of // inertia of 1 resists angular acceleration in every dynamic analysis of a // drawing whose author never chose a number — and it made "massless links // are skipped by inertia" a lie. URLs carry each link's stored value, so // only freshly drawn links land here. this._massMoI = massMoI !== undefined ? massMoI : 0; - // this._shape = shape !== undefined ? shape : Shape.line; - // this._fill = '#' + (0x1000000 + Math.random() * 0xffffff).toString(16).substr(1, 6); - // this._fill = RealLink.colorOptions[Math.floor(Math.random() * RealLink.colorOptions.length)]; - // setTimeout(() => { - // this._fill = ColorService.instance.getNextLinkColor(); - // }); this._fill = '#555555'; //Set later if (subSet === undefined || subSet.length === 0) { - // this.subset = []; } else { this.subset = subSet; } @@ -272,7 +260,6 @@ export class RealLink extends Link { updateLengthAndAngle() { this._length = getDistance(this.joints[0], this.joints[1]); this._angle = getAngle(this.joints[0], this.joints[1]); - // console.warn(this._length, this._angle); } getCompoundPathString(): string { @@ -471,7 +458,6 @@ export class RealLink extends Link { this.externalLines.push(new Arc(lastPos, startPos, finalJoint)); if (!RealLink.isClockwise(this.externalLines[0], this.CoM)) { - // console.log('Link is not clockwise'); this.externalLines.reverse(); //If the link is not clockwise, reverse the order of the external lines for (let i = 0; i < this.externalLines.length; i++) { @@ -608,23 +594,6 @@ export class RealLink extends Link { return crossProduct > 0; } - // static getLineIntersection(thisLine: Line, nextLine: Line): Coord | null { - // const [x, y] = line_intersect( - // thisLine.startPosition.x, - // thisLine.startPosition.y, - // thisLine.endPosition.x, - // thisLine.endPosition.y, - // nextLine.startPosition.x, - // nextLine.startPosition.y, - // nextLine.endPosition.x, - // nextLine.endPosition.y - // ); - // if (x === null || y === null) { - // return null; - // } - // return new Coord(x, y); - // } - static determineCenterOfMass(joints: Joint[]) { let com_x = 0; let com_y = 0; diff --git a/src/app/model/mechanism/ic-solver.ts b/src/app/model/mechanism/ic-solver.ts deleted file mode 100644 index 98d0294b..00000000 --- a/src/app/model/mechanism/ic-solver.ts +++ /dev/null @@ -1,874 +0,0 @@ -import { Joint, PrisJoint, RealJoint } from '../joint'; -import { Link } from '../link'; -import { - FixedInstantCenter, - InstantCenter, - PermanentInstantCenter, - PrimaryInstantCenter, - SecondaryInstantCenter, -} from '../instant-center'; -import { crossProduct } from '../utils'; - -export class ICSolver { - private static usedJoints = Array(); - private static primary_ic_index_map = new Map(); - private static link_index_map = new Map(); - private static joint_loop_index_map = new Map(); - private static link_index_to_primary_ic_index_map = new Map>(); - private static link_index_to_secondary_ic_index_map = new Map>(); - private static letter_map = new Map(); - private static secondary_ic_index_map = new Map>(); - private static joint_ic_index_map = new Map(); - private static ic_index_map = new Map(); - - static linksAngVelMap = new Map(); - static jointVelMap = new Map(); - private static determineKinSetup = false; - - // Utilized for determining Kinematics for ICs - private static indexAndLoopToLinkIndexMap = new Map(); - private static desiredJointIC = new Map(); - private static prevLinkIndex = new Map(); - private static desiredIC = new Map(); - private static indexAndLoopToFirstICIndex = new Map(); - private static IndexAndLoopToSecondICIndices = new Map>>(); - private static prevJointIndex = new Map(); - static instantCenterIndexMap = new Map(); - - static resetVariables() { - this.usedJoints = Array(); - this.primary_ic_index_map = new Map(); - this.link_index_map = new Map(); - this.joint_loop_index_map = new Map(); - this.link_index_to_primary_ic_index_map = new Map>(); - this.link_index_to_secondary_ic_index_map = new Map>(); - this.letter_map = new Map(); - this.secondary_ic_index_map = new Map>(); - this.joint_ic_index_map = new Map(); - this.ic_index_map = new Map(); - this.determineKinSetup = false; - } - - static createICs(simJoints: Joint[], simLinks: Link[], requiredLoops: string[]) { - // First, find all primary instant centers - const primaryICs: Array = []; - if (requiredLoops.length < 1) { - return []; - } - requiredLoops.forEach((loop) => { - // store all joint indices within map - for (let index = 0; index < loop.length; index++) { - if (!this.joint_loop_index_map.has(loop[index - 1])) { - this.setJointLoopIndexMap(loop, simJoints, index - 1); - } - if (!this.joint_loop_index_map.has(loop[index])) { - this.setJointLoopIndexMap(loop, simJoints, index); - } - if (!this.joint_loop_index_map.has(loop[index + 1])) { - this.setJointLoopIndexMap(loop, simJoints, index + 1); - } - } - for (let index = 1; index < loop.length - 1; index++) { - // joint from loop has already been accounted for within primary instant centers map - if (this.primary_ic_index_map.has(loop[index])) { - continue; - } - - const joint1 = simJoints[this.joint_loop_index_map.get(loop[index - 1])!]; - const joint2 = simJoints[this.joint_loop_index_map.get(loop[index])!]; - const joint3 = simJoints[this.joint_loop_index_map.get(loop[index + 1])!]; - - // store all link indices given by joint1 and joint2 id - if (!this.link_index_map.has(joint1.id + joint2.id)) { - this.setLinkIndexMap(joint1.id, joint2.id, simLinks); - } - if (!this.link_index_map.has(joint2.id + joint3.id)) { - this.setLinkIndexMap(joint2.id, joint3.id, simLinks); - } - const firstLinkIndex = this.link_index_map.get(joint1.id + joint2.id)!; - const secondLinkIndex = this.link_index_map.get(joint2.id + joint3.id)!; - let curr_ic: PrimaryInstantCenter; - if (!(joint2 instanceof RealJoint)) { - return; - } - // create a newly created instant center - if (joint2.ground) { - // FixedInstantCenter - switch (joint2.constructor) { - case RealJoint: - curr_ic = new FixedInstantCenter( - joint2.x, - joint2.y, - firstLinkIndex.toString() + ',' + secondLinkIndex.toString(), - [], - joint2.id - ); - break; - case PrisJoint: - let desired_angle: number; - if (joint1 instanceof PrisJoint) { - desired_angle = joint1.slotAngle; - } else if (joint3 instanceof PrisJoint) { - desired_angle = joint3.slotAngle; - } else { - return; - } - // TODO: should be infinity, infinity - curr_ic = new FixedInstantCenter( - Number.POSITIVE_INFINITY, - Number.POSITIVE_INFINITY, - firstLinkIndex.toString() + ',' + secondLinkIndex.toString(), - [], - joint2.id, - desired_angle - ); - break; - default: - return; - } - } else { - // PermanentInstantCenter - curr_ic = new PermanentInstantCenter( - joint2.x, - joint2.y, - firstLinkIndex.toString() + ',' + secondLinkIndex.toString(), - [], - joint2.id - ); - } - // if no IC has this link index, create an empty IC - if (!this.link_index_to_primary_ic_index_map.has(firstLinkIndex)) { - this.setLinkIndexToPrimaryICIndexMap(firstLinkIndex, []); - } - if (!this.link_index_to_primary_ic_index_map.has(secondLinkIndex)) { - this.setLinkIndexToPrimaryICIndexMap(secondLinkIndex, []); - } - // call all instant centers that utilize the desired link index - const all_i_primary_IC_indices = - this.link_index_to_primary_ic_index_map.get(firstLinkIndex)!; - const all_j_primary_IC_indices = - this.link_index_to_primary_ic_index_map.get(secondLinkIndex)!; - // set ics with common link ic as its neighbor - this.connectAdjacentICs(all_i_primary_IC_indices, primaryICs, curr_ic); - this.connectAdjacentICs(all_j_primary_IC_indices, primaryICs, curr_ic); - // include this primary ICs index into stored primary ics containing desired link - all_i_primary_IC_indices.push(primaryICs.length); - all_j_primary_IC_indices.push(primaryICs.length); - this.setLinkIndexToPrimaryICIndexMap(firstLinkIndex, all_i_primary_IC_indices); - this.setLinkIndexToPrimaryICIndexMap(secondLinkIndex, all_j_primary_IC_indices); - this.primary_ic_index_map.set(loop[index], primaryICs.length); - primaryICs.push(curr_ic); - } - }); - - // now determine all secondaryICs - const unknownSecondaryICArray: Array> = []; - for (let i = 1; i <= simLinks.length; i++) { - for (let j = i + 1; j <= simLinks.length + 1; j++) { - for (let k = 0; k < primaryICs.length; k++) { - if (primaryICs[k].id.includes(i.toString()) && primaryICs[k].id.includes(j.toString())) { - break; - } - if (k === primaryICs.length - 1) { - unknownSecondaryICArray.push([i, j]); - if (!this.link_index_to_secondary_ic_index_map.has(i)) { - this.setLinkIndexToSecondaryICIndexMap(i, []); - } - if (!this.link_index_to_secondary_ic_index_map.has(j)) { - this.setLinkIndexToSecondaryICIndexMap(j, []); - } - } - } - } - } - const unknownSecondaryIC_num = - ((simLinks.length + 1) * simLinks.length) / 2 - primaryICs.length; - const secondaryICs: Array = []; - let count = 0; - let more_determinable_secondary_ICs = true; - while (unknownSecondaryICArray.length !== 0 && more_determinable_secondary_ICs) { - for (let unknownIndex = 0; unknownIndex < unknownSecondaryICArray.length; unknownIndex++) { - // get unknown link indices - const [first_link_index, second_link_index] = unknownSecondaryICArray[unknownIndex]; - const all_ics_common_link_1: Array = []; - const all_ics_common_link_2: Array = []; - // get all primary ICs that utilize common link and store their index within all_ics_common_link - this.link_index_to_primary_ic_index_map - .get(first_link_index)! - .forEach((ic_index) => all_ics_common_link_1.push(primaryICs[ic_index])); - this.link_index_to_primary_ic_index_map - .get(second_link_index)! - .forEach((ic_index) => all_ics_common_link_2.push(primaryICs[ic_index])); - // get all secondary ICs that utilize common link and store their index within all_ics_common_link (if link index within secondary - // ic exist) - this.link_index_to_secondary_ic_index_map.get(first_link_index)!.forEach((ic_index) => { - const secICs = secondaryICs[ic_index]; - if (secICs === undefined) { - return; - } - all_ics_common_link_1.push(secondaryICs[ic_index]); - }); - this.link_index_to_secondary_ic_index_map - .get(second_link_index)! - .forEach((ic_index) => all_ics_common_link_2.push(secondaryICs[ic_index])); - - let firstCommonPath = ''; - let secondCommonPath = ''; - for (let k = 0; k < all_ics_common_link_1.length; k++) { - if ( - !this.letter_map.has(all_ics_common_link_1[k].id + ',' + first_link_index.toString()) - ) { - let link_index = all_ics_common_link_1[k].id; - link_index = link_index.replace(first_link_index.toString(), ''); - link_index = link_index.replace(',', ''); - this.letter_map.set( - all_ics_common_link_1[k].id + ',' + first_link_index.toString(), - link_index - ); - } - const letter = this.letter_map.get( - all_ics_common_link_1[k].id + ',' + first_link_index.toString() - )!; - for (let l = 0; l < all_ics_common_link_2.length; l++) { - if (!all_ics_common_link_2[l].id.includes(letter)) { - continue; - } - if (firstCommonPath === '') { - firstCommonPath += letter; - } else { - secondCommonPath += letter; - } - break; - } - if (secondCommonPath !== '') { - break; - } - } - if (secondCommonPath === '') { - // check here to see if there are no more possible secondary instant centers that can be determined - if (unknownIndex === unknownSecondaryICArray.length - 1) { - more_determinable_secondary_ICs = false; - break; - } - continue; - } - const ic1 = this.findIC(primaryICs, secondaryICs, firstCommonPath, first_link_index); - const ic2 = this.findIC(primaryICs, secondaryICs, firstCommonPath, second_link_index); - const ic3 = this.findIC(primaryICs, secondaryICs, secondCommonPath, first_link_index); - const ic4 = this.findIC(primaryICs, secondaryICs, secondCommonPath, second_link_index); - const [m1, b1] = this.determine_m_b(ic1, ic2); - const [m2, b2] = this.determine_m_b(ic3, ic4); - let x: number; - let y: number; - if (Math.abs(m1) > 9999999) { - x = ic1.x !== null ? ic1.x : ic2.x; - y = m2 * x + b2; - } else if (Math.abs(m2) > 9999999) { - x = ic3.x !== null ? ic3.x : ic4.x; - y = m1 * x + b1; - } else if (Math.abs(m1) < 0.001) { - y = ic1.y !== null ? ic1.y : ic2.y; - x = (y - b2) / m2; - } else if (Math.abs(m2) < 0.001) { - y = ic3.y !== null ? ic3.y : ic4.y; - x = (y - b1) / m1; - } else { - x = (b2 - b1) / (m1 - m2); - y = m1 * x + b1; - } - const newSecondaryIC = new SecondaryInstantCenter( - x, - y, - first_link_index.toString() + ',' + second_link_index.toString(), - [], - [ - [ic1.id, ic2.id], - [ic3.id, ic4.id], - ] - ); - const all_i: Array = []; - const all_j: Array = []; - // possible to include all this within certain hashmap ? - all_ics_common_link_1.forEach((ic) => { - all_i.push(ic); - ic.connectedICs.push(newSecondaryIC); - }); - all_ics_common_link_2.forEach((ic) => { - all_j.push(ic); - ic.connectedICs.push(newSecondaryIC); - }); - // - if (!this.secondary_ic_index_map.has(first_link_index)) { - this.secondary_ic_index_map.set(first_link_index, []); - } - if (!this.secondary_ic_index_map.has(second_link_index)) { - this.secondary_ic_index_map.set(second_link_index, []); - } - // TODO: Rethink and check to see if this is necessary - // const all_i_secondary = this.secondary_ic_index_map.get(first_link_index)!; - // const all_j_secondary = this.secondary_ic_index_map.get(second_link_index)!; - // all_i_secondary.forEach(ic => all_i.push(ic)); - // all_j_secondary.forEach(ic => all_j.push(ic)); - all_i.forEach((ic) => { - newSecondaryIC.connectedICs.push(ic); - }); - all_j.forEach((ic) => { - newSecondaryIC.connectedICs.push(ic); - }); - const all_i_secondary_IC_indices = - this.link_index_to_secondary_ic_index_map.get(first_link_index)!; - const all_j_secondary_IC_indices = - this.link_index_to_secondary_ic_index_map.get(second_link_index)!; - all_i_secondary_IC_indices.forEach((ic_index) => { - newSecondaryIC.connectedICs.push(secondaryICs[ic_index]); - secondaryICs[ic_index].connectedICs.push(newSecondaryIC); - }); - all_j_secondary_IC_indices.forEach((ic_index) => { - newSecondaryIC.connectedICs.push(secondaryICs[ic_index]); - secondaryICs[ic_index].connectedICs.push(newSecondaryIC); - }); - let curr_ic_indices: Array; - curr_ic_indices = this.link_index_to_secondary_ic_index_map.get(first_link_index)!; - curr_ic_indices.push(secondaryICs.length); - this.setLinkIndexToSecondaryICIndexMap(first_link_index, curr_ic_indices); - curr_ic_indices = this.link_index_to_secondary_ic_index_map.get(second_link_index)!; - curr_ic_indices.push(secondaryICs.length); - this.setLinkIndexToSecondaryICIndexMap(second_link_index, curr_ic_indices); - - const unk_sec_index = unknownSecondaryICArray.findIndex( - (ic) => ic === unknownSecondaryICArray[unknownIndex] - ); - secondaryICs.push(newSecondaryIC); - unknownSecondaryICArray.splice(unk_sec_index, 1); - count++; - break; - } - } - const ICs: Array = []; - primaryICs.forEach((ic) => { - ICs.push(ic); - this.instantCenterIndexMap.set(ic.id, ICs.length - 1); - }); - secondaryICs.forEach((ic) => { - ICs.push(ic); - this.instantCenterIndexMap.set(ic.id, ICs.length - 1); - }); - return ICs; - } - - private static determine_m_b(ic1: any, ic2: any) { - const ninetyDegreesToRad = (90 * Math.PI) / 180; - let m: number; - if (ic1.x === null) { - m = Math.tan(ninetyDegreesToRad - ic1.angle); - } else if (ic2.x === null) { - m = Math.tan(ninetyDegreesToRad - ic2.angle); - } else { - m = (ic2.y - ic1.y) / (ic2.x - ic1.x); - } - const b = ic1.y - ic1.x * m; - return [m, b]; - } - - private static findIC(primaryICs: any[], secondaryICs: any[], l1: any, l2: any) { - const ic1 = primaryICs.find((ic) => ic.id.includes(l1) && ic.id.includes(l2)); - if (ic1 !== undefined) { - return ic1; - } - return secondaryICs.find((ic) => ic.id.includes(l1) && ic.id.includes(l2)); - } - - static determineICPos(instantCenters: any[], simJoints: Joint[]) { - const secondaryICs: Array = []; - instantCenters.forEach((ic) => { - // do not want to do this for FixedInstantCenter with an angle (slider) - if ( - ic instanceof PermanentInstantCenter || - (ic instanceof FixedInstantCenter && ic.x !== null) - ) { - if (!this.joint_ic_index_map.has(ic.jointID)) { - this.joint_ic_index_map.set( - ic.jointID, - simJoints.findIndex((j) => j.id === ic.jointID) - ); - } - const joint = simJoints[this.joint_ic_index_map.get(ic.jointID)!]; - ic.x = joint.x; - ic.y = joint.y; - } else if (ic instanceof SecondaryInstantCenter) { - // instance of SecondaryInstantCenters - if (!this.ic_index_map.has(ic.desired_ICs[0][0])) { - this.ic_index_map.set( - ic.desired_ICs[0][0], - instantCenters.findIndex((curr_ic) => curr_ic.id.includes(ic.desired_ICs[0][0])) - ); - } - if (!this.ic_index_map.has(ic.desired_ICs[0][1])) { - this.ic_index_map.set( - ic.desired_ICs[0][1], - instantCenters.findIndex((curr_ic) => curr_ic.id.includes(ic.desired_ICs[0][1])) - ); - } - if (!this.ic_index_map.has(ic.desired_ICs[1][0])) { - this.ic_index_map.set( - ic.desired_ICs[1][0], - instantCenters.findIndex((curr_ic) => curr_ic.id.includes(ic.desired_ICs[1][0])) - ); - } - if (!this.ic_index_map.has(ic.desired_ICs[1][1])) { - this.ic_index_map.set( - ic.desired_ICs[1][1], - instantCenters.findIndex((curr_ic) => curr_ic.id.includes(ic.desired_ICs[1][1])) - ); - } - const ic1 = instantCenters[this.ic_index_map.get(ic.desired_ICs[0][0])!]; - const ic2 = instantCenters[this.ic_index_map.get(ic.desired_ICs[0][1])!]; - const ic3 = instantCenters[this.ic_index_map.get(ic.desired_ICs[1][0])!]; - const ic4 = instantCenters[this.ic_index_map.get(ic.desired_ICs[1][1])!]; - const [m1, b1] = this.determine_m_b(ic1, ic2); - const [m2, b2] = this.determine_m_b(ic3, ic4); - const x = (b2 - b1) / (m1 - m2); - const y = m1 * x + b1; - ic.x = x; - ic.y = y; - secondaryICs.push(ic); - } - }); - return secondaryICs; - } - - private static setJointLoopIndexMap(loop: string, simJoints: Joint[], number: number) { - this.joint_loop_index_map.set( - loop[number], - simJoints.findIndex((j) => j.id === loop[number]) - ); - } - - private static setLinkIndexToPrimaryICIndexMap(linkIndex: number, primaryICs: any[]) { - this.link_index_to_primary_ic_index_map.set(linkIndex, primaryICs); - } - - private static setLinkIndexToSecondaryICIndexMap(linkIndex: number, secondaryICs: any[]) { - this.link_index_to_secondary_ic_index_map.set(linkIndex, secondaryICs); - } - - private static setLinkIndexMap(joint1_id: string, joint2_id2: string, simLinks: Link[]) { - this.link_index_map.set( - joint1_id + joint2_id2, - simLinks.findIndex((l) => l.id.includes(joint1_id) && l.id.includes(joint2_id2)) + 2 - ); - } - - private static connectAdjacentICs( - all_num_primary_IC_indices: Array, - primaryICs: any[], - curr_ic: PrimaryInstantCenter - ) { - all_num_primary_IC_indices.forEach((ic_index) => { - curr_ic.connectedICs.push(primaryICs[ic_index]); - primaryICs[ic_index].connectedICs.push(curr_ic); - }); - // is this needed?? - // return [curr_ic, primaryICs]; - } - - static determineKinDataICs( - SimulationJoints: Joint[], - SimulationLinks: Link[], - SimulationInstantCenters: InstantCenter[], - requiredLoops: string[], - inputAngularVelocity: number - ) { - if (!this.determineKinSetup) { - // const utilizedLinksIndexMap = new Map(); - const simICNumToIcIndexMap = new Map(); - for (let i = 2; i <= SimulationLinks.length + 1; i++) { - const ic_index = SimulationInstantCenters.findIndex( - (ic) => ic.id.includes('1') && ic.id.includes(i.toString()) - ); - simICNumToIcIndexMap.set(i, ic_index); - } - const twoJointIDsDeterminedMap = new Map(); - const linkIDToLinkIndexMap = new Map(); - // Determine linear velocity - for (let i = 0; i < SimulationJoints.length; i++) { - const joint = SimulationJoints[i]; - if (!(joint instanceof RealJoint)) { - return; - } - if (joint.ground) { - this.jointVelMap.set(joint.id, [0, 0]); - } - } - // 1. first set input link's angular velocity = inputVelocity - requiredLoops.forEach((loop) => { - // let temp_counter = 1; - for (let index = 1; index < loop.length - 1; index++) { - const first_joint_id = loop[index - 1]; - const second_joint_id = loop[index]; - if (twoJointIDsDeterminedMap.has(first_joint_id + second_joint_id)) { - // link has already been accounted for - this.indexAndLoopToFirstICIndex.set(index + loop, -1); - continue; // should have no need be done here - } - const link_index = SimulationLinks.findIndex( - (l) => l.id.includes(first_joint_id) && l.id.includes(second_joint_id) - ); - twoJointIDsDeterminedMap.set(first_joint_id + second_joint_id, link_index); - if (linkIDToLinkIndexMap.has(SimulationLinks[link_index].id)) { - // link has already been accounted for - this.indexAndLoopToFirstICIndex.set(index + loop, -1); - continue; // should have no need be done here - } - linkIDToLinkIndexMap.set(SimulationLinks[link_index].id, link_index); - this.indexAndLoopToLinkIndexMap.set(index + loop, link_index); - // determine the first instant center - let first_instant_center_index: number; - if (index !== loop.length - 2) { - first_instant_center_index = SimulationInstantCenters.findIndex((ic) => { - if (!(ic instanceof PrimaryInstantCenter)) { - return; - } - return ic.jointID === first_joint_id; - }); - } else { - first_instant_center_index = SimulationInstantCenters.findIndex((ic) => { - if (!(ic instanceof PrimaryInstantCenter)) { - return; - } - return ic.jointID === second_joint_id; - }); - } - this.indexAndLoopToFirstICIndex.set(index + loop, first_instant_center_index); - - // determine the second set of instant centers to utilize - // const utilized_joint_indices = Array>(); - const utilized_instant_centers_indices = []; - let second_initial_instant_center_index: number; - switch (index) { - case 1: - second_initial_instant_center_index = SimulationInstantCenters.findIndex((ic) => { - if (!(ic instanceof PrimaryInstantCenter)) { - return; - } - return ic.jointID === second_joint_id; - }); - utilized_instant_centers_indices.push([second_initial_instant_center_index]); - // determine if there are any other joints to the input link (check if joint is connected to two links) - SimulationLinks[link_index].joints.forEach((jt) => { - // if (jt.id !== first_joint_id && jt.id !== second_joint_id && jt.connectedLinks.length > 1) { - if (jt.id !== first_joint_id && jt.id !== second_joint_id) { - const additional_instant_center_index = SimulationInstantCenters.findIndex( - (ic) => { - if (!(ic instanceof PrimaryInstantCenter)) { - return; - } - return ic.jointID === jt.id; - } - ); - utilized_instant_centers_indices.push([additional_instant_center_index]); - } - }); - this.IndexAndLoopToSecondICIndices.set( - index + loop, - utilized_instant_centers_indices - ); - break; - case loop.length - 2: // last link - second_initial_instant_center_index = SimulationInstantCenters.findIndex((ic) => { - if (!(ic instanceof PrimaryInstantCenter)) { - return; - } - return ic.jointID === first_joint_id; - }); - utilized_instant_centers_indices.push([second_initial_instant_center_index]); - // determine if there are any other joints to the link - SimulationLinks[link_index].joints.forEach((jt) => { - // if (jt.id !== first_joint_id && jt.id !== second_joint_id && jt.connectedLinks.length > 1) { - if (jt.id !== first_joint_id && jt.id !== second_joint_id) { - const additional_instant_center_index = SimulationInstantCenters.findIndex( - (ic) => { - if (!(ic instanceof PrimaryInstantCenter)) { - return; - } - { - return ic.jointID === jt.id; - } - } - ); - utilized_instant_centers_indices.push([additional_instant_center_index]); - } - }); - this.IndexAndLoopToSecondICIndices.set( - index + loop, - utilized_instant_centers_indices - ); - break; - default: { - second_initial_instant_center_index = SimulationInstantCenters.findIndex((ic) => { - if (!(ic instanceof PrimaryInstantCenter)) { - return; - } - return ic.jointID === second_joint_id; - }); - let similar_instant_center_index: number; - let similar_ic_num: number; - // get the instant center that the first two instant centers have in common - if ( - SimulationInstantCenters[second_initial_instant_center_index].id.includes( - SimulationInstantCenters[first_instant_center_index].id[0] - ) - ) { - similar_ic_num = Number(SimulationInstantCenters[first_instant_center_index].id[0]); - } else { - similar_ic_num = Number(SimulationInstantCenters[first_instant_center_index].id[2]); - } - similar_instant_center_index = simICNumToIcIndexMap.get(similar_ic_num)!; - utilized_instant_centers_indices.push([ - second_initial_instant_center_index, - similar_instant_center_index, - ]); - // determine if there are any other joints to the input link (check if joint is connected to two links) - SimulationLinks[link_index].joints.forEach((jt) => { - // if (jt.id !== first_joint_id && jt.id !== second_joint_id && jt.connectedLinks.length > 1) { - if (jt.id !== first_joint_id && jt.id !== second_joint_id) { - const additional_instant_center_index = SimulationInstantCenters.findIndex( - (ic) => { - if (!(ic instanceof PrimaryInstantCenter)) { - return; - } // this won't account for tracer joints! - return ic.jointID === jt.id; - } - ); - // get the instant center that the first two instant centers have in common - // - if ( - SimulationInstantCenters[additional_instant_center_index].id[0] === - SimulationInstantCenters[first_instant_center_index].id[0] - ) { - similar_ic_num = Number( - SimulationInstantCenters[first_instant_center_index].id[0] - ); - } else { - similar_ic_num = Number( - SimulationInstantCenters[first_instant_center_index].id[2] - ); - } - similar_instant_center_index = simICNumToIcIndexMap.get(similar_ic_num)!; - utilized_instant_centers_indices.push([ - additional_instant_center_index, - similar_instant_center_index, - ]); - // utilized_instant_centers_indices.push([additional_instant_center_index, 0]); // doesn't matter what 2nd argument is - } - }); - this.IndexAndLoopToSecondICIndices.set( - index + loop, - utilized_instant_centers_indices - ); - break; - } - } - } - }); - this.determineKinSetup = true; - } - - requiredLoops.forEach((loop) => { - for (let counter = 1; counter < loop.length - 1; counter++) { - const first_ic_index = this.indexAndLoopToFirstICIndex.get(counter + loop)!; - const first_ic = SimulationInstantCenters[first_ic_index]; - if (first_ic_index === -1) { - continue; - } - const second_ics_indices = this.IndexAndLoopToSecondICIndices.get(counter + loop)!; - const desired_link_index = this.indexAndLoopToLinkIndexMap.get(counter + loop)!; - const desired_link = SimulationLinks[desired_link_index]; - switch (counter) { - case 1: - this.linksAngVelMap.set(desired_link.id, inputAngularVelocity); - // utilize input angular velocity to determine velocity of the other links - second_ics_indices.forEach((second_ic_index) => { - const vel = crossProduct( - [0, 0, inputAngularVelocity], - [ - SimulationInstantCenters[second_ic_index[0]].x - first_ic.x, - SimulationInstantCenters[second_ic_index[0]].y - first_ic.y, - 0, - ] - ); - const second_ic_loop = SimulationInstantCenters[ - second_ic_index[0] - ] as PrimaryInstantCenter; - this.jointVelMap.set(second_ic_loop.jointID, [vel[0], vel[1]]); - // this.jointVelMap.set(SimulationJoints[0].id, [vel[0], vel[1]]); - }); - break; - case loop.length - 2: - // get the velocity of the first joint and utilize that to determine angular velocity of the link - // const second_ic = SimulationInstantCenters[second_ics_indices[0][0]] as PrimaryInstantCenter; - const second_ic = SimulationInstantCenters[ - second_ics_indices[0][0] - ] as PrimaryInstantCenter; - const determined_vel = this.jointVelMap.get(second_ic.jointID)!; - // This equation is gotten based from the cross product v = w X R - const angular_vel = -determined_vel[0] / (second_ic.y - first_ic.y); - this.linksAngVelMap.set(desired_link.id, angular_vel); - // utilize the angular velocity determined to determine the velocity of the other joints attached to the link - second_ics_indices.forEach((ic_index_array) => { - if (ic_index_array === second_ics_indices[0]) { - return; - } - const connecting_ic = SimulationInstantCenters[ - ic_index_array[0] - ] as PrimaryInstantCenter; - const vel = crossProduct( - [0, 0, inputAngularVelocity], - [connecting_ic.x - first_ic.x, connecting_ic.y - first_ic.y, 0] - ); - this.jointVelMap.set(connecting_ic.jointID, [vel[0], vel[1]]); - // const joint_index = SimulationJoints.findIndex(jt => jt.id === connecting_ic.jointID); - // this.jointVelMap.set(SimulationJoints[joint_index].id, [vel[0], vel[1]]); - }); - break; - default: - // get the velocity of the first joint and utilize that to determine angular velocity of the link - const second_ic_helpful_secondary_ic = - SimulationInstantCenters[second_ics_indices[0][1]]; - if (!(first_ic instanceof PrimaryInstantCenter)) { - return; - } - const utilized_vel = this.jointVelMap.get(first_ic.jointID)!; - // This equation is gotten based from the cross product v = w X R - // first_ic is ground while second_useful one is a joint where we know the velocity - const angular_vel_ = -utilized_vel[0] / (first_ic.y - second_ic_helpful_secondary_ic.y); - this.linksAngVelMap.set(desired_link.id, angular_vel_); - // utilize the angular velocity determined to determine the velocity of the other joints attached to the link - // TODO: Account for tracer joints within all cases (probably copy and paste logic below) - const determined_tracer_joints: Array = []; - second_ics_indices.forEach((ic_index_array) => { - // if (ic_index_array === second_ics_indices[0]) { - // return; - // } - if (ic_index_array[0] === -1) { - // find the tracer joints and determine their velocities - const undetermined_tracer_joint = desired_link.joints.find((jt) => { - if (!(jt instanceof RealJoint)) { - return; - } - // TODO: change the naming so it's obvious that j is a string and not a joint - return ( - jt.links.length !== 2 && - determined_tracer_joints.findIndex((j) => { - return j === jt.id; - }) === -1 - ); - }); - if (undetermined_tracer_joint === undefined) { - return; - } - determined_tracer_joints.push(undetermined_tracer_joint.id); - const vel = crossProduct( - [0, 0, angular_vel_], - [ - undetermined_tracer_joint.x - first_ic.x, - undetermined_tracer_joint.y - first_ic.y, - 0, - ] - ); - // const joint_index = SimulationJoints.findIndex(jt => jt.id === undetermined_tracer_joint.id); - this.jointVelMap.set(undetermined_tracer_joint.id, [vel[0], vel[1]]); - } else { - const second_ic_joint = SimulationInstantCenters[ - ic_index_array[0] - ] as PrimaryInstantCenter; - const second_ic_common_ic = SimulationInstantCenters[ - ic_index_array[1] - ] as SecondaryInstantCenter; - const vel = crossProduct( - [0, 0, angular_vel_], - [ - second_ic_joint.x - second_ic_common_ic.x, - second_ic_joint.y - second_ic_common_ic.y, - 0, - ] - ); - // const vel = cross([0, 0, angular_vel_], [second_ic_joint.x - first_ic.x, second_ic_joint.y - first_ic.y, 0]); - this.jointVelMap.set(second_ic_joint.jointID, [vel[0], vel[1]]); - } - // else { - // const ic_sec = SimulationInstantCenters[ic_index_array[1]] as SecondaryInstantCenter; - // const ic_prim = SimulationInstantCenters[ic_index_array[0]] as PrimaryInstantCenter; - // const vel = cross([0, 0, angular_vel_], [first_ic.x - ic_sec.x, first_ic.y - ic_sec.y, 0]); - // const joint_index = SimulationJoints.findIndex(jt => jt.id === ic_prim.jointID); - // this.jointVelMap.set(SimulationJoints[joint_index].id, [vel[0], vel[1]]); - // } - }); - break; - } - } - // determine angular velocity of link - // set up angular velocity of link connected to angular velocity - // first, determine link's angular velocity connected to input joint and determine connecting joint's velocities - // const input_joint_id = loop[0]; - // const connected_joint_id = loop[1]; - // const input_joint = SimulationJoints.find(j => j.id.includes(input_joint_id)); - // const connected_joint = SimulationJoints.find(j => j.id.includes(connected_joint_id)); - // const connected_link_index = SimulationLinks.findIndex(l => l.id.includes(input_joint_id) && l.id.includes(connected_joint_id)); - // this.linksAngVelMap.set(SimulationLinks[connected_link_index].id, inputAngularVelocity); - // const vel_input = cross([0, 0, inputAngularVelocity], [connected_joint.x - input_joint.x, - // connected_joint.y - input_joint.y, 0]); - // this.jointVelMap.set(SimulationJoints[connected_link_index].id, [vel_input[0], vel_input[1]]); - // - // const num_unknowns = SimulationLinks.length - 1; - // let counter = 1; - // while (counter <= num_unknowns) { - // const indexAndLoopToLinkIndexMap = this.indexAndLoopToLinkIndexMap.get(counter); - // const prev_link_index = this.prevLinkIndex.get(counter); - // const desired_ic_index = this.desiredIC.get(counter); - // // const desired_ic_index = this.desiredJointIC.get(counter); - // const first_ic_index = this.indexAndLoopToFirstICIndex.get(counter); - // const second_ic_index = this.IndexAndLoopToSecondICIndices.get(counter); - // - // const prev_link = SimulationLinks[prev_link_index]; - // const desired_ic = SimulationInstantCenters[desired_ic_index]; - // // const desired_joint = SimulationJoints.find(jt => jt.id === desired_ic.id); - // - // // const desired_joint = SimulationJoints.find(jt => jt.id === desired_ic.jointID); - // const first_ic = SimulationInstantCenters[first_ic_index]; - // // const known_joint = SimulationJoints.find(jt => jt.id === first_ic.id); - // // const known_joint = SimulationJoints.find(jt => jt.id === first_ic.jointID); - // const second_ic = SimulationInstantCenters[second_ic_index]; - // - // const prev_link_ang_vel = this.linksAngVelMap.get(prev_link.id); - // const ang_vel = this.determineAngVelIC(prev_link_ang_vel, desired_ic, first_ic, second_ic); - // this.linksAngVelMap.set(SimulationLinks[indexAndLoopToLinkIndexMap].id, ang_vel); - // const used_first_ic = first_ic as PrimaryInstantCenter; - // const known_joint = SimulationJoints.find(jt => jt.id === used_first_ic.jointID); - // const vel = cross([0, 0, ang_vel], [desired_ic.x - first_ic.x, desired_ic.y - first_ic.y, 0]); - // const known_joint_vel_x = this.jointVelMap.get(known_joint.id)[0]; - // const known_joint_vel_y = this.jointVelMap.get(known_joint.id)[1]; - // this.jointVelMap.set(SimulationJoints[0].id, [vel[0] + known_joint_vel_x, vel[1] + known_joint_vel_y]); - // - // counter++; - // } - }); - } - - private static determineAngVelIC( - w: number, - IC1: InstantCenter, - IC2: InstantCenter, - IC3: InstantCenter - ) { - // utilize cross product for w and IC2 - IC1 - const vel1 = crossProduct([0, 0, w], [IC2.x - IC1.x, IC2.y - IC1.y, 0]); - // utilize cross product for w and IC3 - IC2 - const vel2 = crossProduct([0, 0, 1], [IC3.x - IC2.x, IC3.y - IC2.y, 0]); - // eq = vel1(1) == vel2(1); - // utilize math.js to determine unknown angular velocity - return (-1 * vel1[0]) / vel2[0]; - // return lusolve(vel2[0], -1 * vel1[0]); - // return value - } -} diff --git a/src/app/model/mechanism/kinematic-solver.ts b/src/app/model/mechanism/kinematic-solver.ts index 5ad89c5e..66981848 100644 --- a/src/app/model/mechanism/kinematic-solver.ts +++ b/src/app/model/mechanism/kinematic-solver.ts @@ -672,7 +672,6 @@ export class KinematicsSolver { X = matLinearSystem(this.A_matrix_AngAcc, this.B_matrix_AngAcc); break; } - // const X = lusolve(this.A_matrix_AngVel, this.B_matrix_AngVel); // 3rd, store unknown values to respected links for (let i = 0; i < X.length; i++) { const linkOrJoint = unknownLinks[i]; @@ -720,7 +719,6 @@ export class KinematicsSolver { } private static determineLin(simJoints: Joint[], simLinks: Link[]) { - // this.setUpLinkAndJointIndexMap(simJoints, simLinks, requiredLoops); const desired_links_used: Array = []; this.requiredLoops.forEach((loop) => { for (const edge of loop.edges) { @@ -1068,12 +1066,8 @@ export class KinematicsSolver { break; case SliderBlock: const realJoint = simJoints[this.realJointIndexMap.get(link.id)!]; - // if (!(realJoint instanceof PrisJoint)) { - // return; - // } const desiredAngle = this.desiredAngleMap.get(realJoint.id)!; arr = [-Math.cos(desiredAngle), -Math.sin(desiredAngle), 0]; - // arr = [-Math.cos(realJoint.slotAngle), -Math.sin(realJoint.slotAngle), 0]; colIndex = this.unknownLinkIndexMap.get(realJoint.id)!; break; default: @@ -1141,11 +1135,7 @@ export class KinematicsSolver { break; case SliderBlock: const realJoint = simJoints[this.realJointIndexMap.get(link.id)!]; - // if (!(realJoint instanceof PrisJoint)) { - // return; - // } const desiredAngle = this.desiredAngleMap.get(realJoint.id)!; - // arr = [-Math.cos(desiredAngle), -Math.sin(desiredAngle), 0]; sol = [-Math.cos(desiredAngle), -Math.sin(desiredAngle)]; colIndex = this.unknownLinkIndexMap.get(realJoint.id)!; break; diff --git a/src/app/model/mechanism/mechanism.ts b/src/app/model/mechanism/mechanism.ts index 89bf7122..01072659 100644 --- a/src/app/model/mechanism/mechanism.ts +++ b/src/app/model/mechanism/mechanism.ts @@ -2,9 +2,7 @@ import { Joint, PrisJoint, RealJoint, RevJoint } from '../joint'; import { Link, SliderBlock, RealLink, Shape } from '../link'; import { assignBodies, WORLD } from './bodies'; import { Force } from '../force'; -// import {LoopSolver} from "./loop-solver"; import { PositionSolver, PositionSolverDriveState, PRISMATIC_INPUT_STEP } from './position-solver'; -// import {IcSolver} from "./ic-solver"; import { InstantCenter } from '../instant-center'; import { Loop, LoopSolver } from './loop-solver'; import { Coord } from '../coord'; @@ -400,7 +398,6 @@ export class Mechanism { const connectedJointMapIndices = new Map(); this.links[0].forEach((l) => { const numArray: number[] = []; - // if (!(l instanceof RealLink)) {return} l.joints.forEach((j) => { const jointIndex = this.joints[0].findIndex((jt) => jt.id === j.id); numArray.push(jointIndex); @@ -468,17 +465,6 @@ export class Mechanism { if (!(l instanceof RealLink)) { return; } - // connectedJointIndices = connectedJointMapIndices.get(l.id)!; - // connectedJointIndices.forEach((ji: number) => { - // connectedJoints.push(this._joints[currentTimeStamp + 1][ji]); - // }); - // const connectedJoints: Joint[] = []; - // TODO: think of possible way to reduce this if there is time - // l.joints.forEach(j => { - // const joint = this._joints[currentTimeStamp + 1].find(jt => jt.id === j.id); - // if (joint === undefined) {return} - // connectedJoints.push(joint); - // }); const pushLink = new RealLink( l.id, connectedJoints, @@ -497,43 +483,11 @@ export class Mechanism { if (!(l instanceof SliderBlock)) { return; } - // connectedJointIndices = connectedJointMapIndices.get(l.id)!; - // connectedJointIndices.forEach((ji: number) => { - // connectedJoints.push(this._joints[currentTimeStamp + 1][ji]); - // }); const newLink = new SliderBlock(l.id, connectedJoints, l.mass); newLink.name = l.name; this._links[currentTimeStamp + 1].push(newLink); break; } - // if (!(l instanceof RealLink)) {return} - // const connectedJointIndices = connectedJointMapIndices.get(l.id)!; - // const connectedJoints: Joint[] = []; - // connectedJointIndices.forEach((ji: number) => { - // connectedJoints.push(this._joints[currentTimeStamp + 1][ji]); - // }); - // // const connectedJoints: Joint[] = []; - // // TODO: think of possible way to reduce this if there is time - // // l.joints.forEach(j => { - // // const joint = this._joints[currentTimeStamp + 1].find(jt => jt.id === j.id); - // // if (joint === undefined) {return} - // // connectedJoints.push(joint); - // // }); - // const pushLink = new RealLink(l.id, connectedJoints); - // pushLink.shape = l.shape; - // // TODO: Update this to just one function later... - // if (pushLink.shape === 'line') { - // pushLink.bound = RealLink.getBounds(new Coord(connectedJoints[0].x, connectedJoints[0].y), - // new Coord(connectedJoints[1].x, connectedJoints[1].y), l.shape); - // } else { - // pushLink.bound = RealLink.rotateBounds(l.joints[0], l.joints[1], new Coord(connectedJoints[0].x, connectedJoints[0].y), - // new Coord(connectedJoints[1].x, connectedJoints[1].y), l.bound); - // } - // pushLink.d = RealLink.getPointsFromBounds(pushLink.bound, pushLink.shape); - // // TODO: When you insert a joint onto a link, be sure to utilize this function call - // pushLink.CoM = RealLink.determineCenterOfMass(pushLink.joints); - // pushLink.forces = l.forces; - // this._links[currentTimeStamp + 1].push(pushLink); }); this.wireJointGraph(currentTimeStamp + 1, this.joints[0]); // TODO: If forces are a part of links, is all of this info needed? Or just the positions? @@ -555,23 +509,6 @@ export class Mechanism { }); Force.normalizeVisualWidths(this._forces[currentTimeStamp + 1]); this.attachForcesToLinks(currentTimeStamp + 1); - // this.links[0].forEach(l => { - // if (l instanceof RealLink) { - // l.determineCenterOfMass(l.joints, 'x'); - // l.determineCenterOfMass(l.joints, 'y'); - // this._links[currentTimeStamp + 1].push(l as Link); - // // this.determineLinkCoMLocations(links); - // } - // }); - // for (const entry of desiredMap.entries()) { - // const joint_index = jointIDToJointIndexMap.get(entry[0]); - // if (joint_index === undefined) {return} - // const joint = joints[joint_index]; - // // const joint = this.SimulationJoints.find(j => j.id === entry[0]); - // joint.x = entry[1][0]; - // joint.y = entry[1][1]; - // this._joints[currentTimeStamp + 1].push(joint as Joint); - // } falseTwice = 0; currentTimeStamp++; if (curTimeNum + timeNumIncrement <= 0) { @@ -580,11 +517,6 @@ export class Mechanism { curTimeNum = curTimeNum + timeNumIncrement; this._timeNum.push(curTimeNum); this._inputAngularVelocities.push(inputAngVel); - // TODO: Create own function to determine this. Probably just utilize tracer joint logic - // const ffs = this.calculateForces(this.SimulationLinks, this.SimulationForces); - // adjust for linkAngle (for center of mass) - // TODO: arguments passed in has to come from mechanism ICs and not from IC - // const determined_ics = IcSolver.determineICPositions(ics, joints); } else { if ((!simForward && currentTimeStamp === 0) || falseTwice === 2) { //If we are here, the mechnism is in a toggle point @@ -832,39 +764,7 @@ export class Mechanism { break; default: return; - // case 'km': - // posUnit = 'km'; - // forceUnit = 'N'; - // torqueUnit = 'N*km'; - // accUnit = 'km/s^2'; - // break; - // case 'in': - // posUnit = 'in'; - // forceUnit = 'lbf'; - // torqueUnit = 'lbf*in'; - // accUnit = 'in/s^2'; - // break; - // case 'ft': - // posUnit = 'ft'; - // forceUnit = 'lbf'; - // torqueUnit = 'lbf*ft'; - // accUnit = 'ft/s^2'; - // break; } - // switch (this._unit) { - // case 'Metric': - // posUnit = 'cm'; - // forceUnit = 'N'; - // torqueUnit = 'N*cm'; - // accUnit = 'cm/s^2'; - // break; - // case 'English': - // posUnit = 'ft'; - // forceUnit = 'lbm*ft/s^2'; - // torqueUnit = 'lbm*ft^2/s^2'; - // accUnit = 'in/s^2'; - // break; - // } for (const joint of this.joints[0].filter((candidate) => this.isForceAnalysisJoint(candidate) )) { @@ -911,7 +811,6 @@ export class Mechanism { if (l instanceof SliderBlock) { return; } - // forceTitleRow.push('Link ' + l.id + ' angPos ' + angAccUnit); forceTitleRow.push('Link ' + l.id + ' angPos ' + angPosUnit); forceTitleRow.push('Link ' + l.id + ' angVel ' + angVelUnit); forceTitleRow.push('Link ' + l.id + ' angAcc ' + angAccUnit); @@ -919,14 +818,6 @@ export class Mechanism { break; } - // this.SimulationLinks.forEach(l => { - // if (l instanceof ImagLink) { - // return; - // } - // forceTitleRow.push('Link ' + l.id + ' CoM x ' + posUnit); - // forceTitleRow.push('Link ' + l.id + ' CoM y ' + posUnit); - // }); - return forceTitleRow; } @@ -965,38 +856,8 @@ export class Mechanism { velUnit = 'in/s'; accUnit = 'in/s^2'; break; - // case 'km': - // posUnit = 'km'; - // velUnit = 'km/s'; - // accUnit = 'km/s^2'; - // break; - // case 'in': - // posUnit = 'in'; - // velUnit = 'in/s'; - // accUnit = 'in/s^2'; - // break; - // case 'ft': - // posUnit = 'ft'; - // velUnit = 'ft/s'; - // accUnit = 'ft/s^2'; - // break; } - // switch (this._unit) { - // case 'Metric': - // posUnit = 'cm'; - // velUnit = 'cm/s'; - // accUnit = 'cm/s^2'; - // break; - // case 'English': - // posUnit = 'in'; - // velUnit = 'in/s'; - // accUnit = 'in/s^2'; - // break; - // } this.joints[0].forEach((j) => { - // if (j instanceof PrisJoint) { - // return; - // } kinematicTitleRow.push('Joint ' + j.id + ' x ' + posUnit); kinematicTitleRow.push('Joint ' + j.id + ' y ' + posUnit); kinematicTitleRow.push('Joint ' + j.id + ' vx ' + velUnit); @@ -1009,9 +870,6 @@ export class Mechanism { if (l instanceof SliderBlock) { return; } - // if (l instanceof ImagLink) { - // return; - // } kinematicTitleRow.push('Link ' + l.id + ' CoM ' + 'x ' + posUnit); kinematicTitleRow.push('Link ' + l.id + ' CoM ' + 'y ' + posUnit); kinematicTitleRow.push('Link ' + l.id + ' CoM ' + 'vx ' + velUnit); @@ -1024,9 +882,6 @@ export class Mechanism { if (l instanceof SliderBlock) { return; } - // if (l instanceof ImagLink) { - // return; - // } kinematicTitleRow.push('Link ' + l.id + ' angle ' + angPosUnit); kinematicTitleRow.push('Link ' + l.id + ' angVel ' + angVelUnit); kinematicTitleRow.push('Link ' + l.id + ' angAcc ' + angAccUnit); @@ -1063,35 +918,7 @@ export class Mechanism { velUnitConversion = 1; accUnitConversion = 1; break; - // case 'km': - // forceUnitConversion = 1; // convert from newtons -> newton - // torqueUnitConversion = 1; // convert from newton_meter -> newton_centimeter - // accUnitConversion = 1; // cm/s^2 - // break; - // case 'in': - // forceUnitConversion = 1; // convert from newtons -> newton - // torqueUnitConversion = 1; // convert from newton_meter -> newton_centimeter - // accUnitConversion = 1; // cm/s^2 - // break; - // case 'ft': - // forceUnitConversion = 1; // convert from newtons -> newton - // torqueUnitConversion = 1; // convert from newton_meter -> newton_centimeter - // accUnitConversion = 1; // cm/s^2 - // break; } - // switch (this._unit) { - // case 'Metric': - // forceUnitConversion = 1; // convert from newtons -> newton - // torqueUnitConversion = 1; // convert from newton_meter -> newton_centimeter - // accUnitConversion = 1; // cm/s^2 - // break; - // case 'English': - // forceUnitConversion = 0.2248089431; // convert from newton -> - // torqueUnitConversion = 0.73756214728 ; // convert from newton_meter -> - // // change this since conversion is starting at cm instead of m - // accUnitConversion = 3.2808399; - // break; - // } ForceSolver.resetVariables(); ForceSolver.determineDesiredLoopLettersForce(this.requiredLoops); if (analysisType === 'dynamics') { @@ -1102,12 +929,8 @@ export class Mechanism { } // Go through each step within the mechanism this.joints.forEach((_, index) => { - // this.insertNewJointPos(tsl); const force_row = Array(); - // const A_row = Array>(); // unknown array - // const B_row = Array(); // known array force_row.push(this.timeNum[index].toString()); - // force_row.push((index * tsl.angular_velocity * Math.PI / 180).toString()); if (analysisType === 'dynamics') { // determine kinematic analysis KinematicsSolver.determineKinematics( @@ -1144,29 +967,9 @@ export class Mechanism { roundNumber(ForceSolver.unknownVariableTorque * torqueUnitConversion, 4).toString() ); force_row.push(' '); - // this.SimulationJoints.forEach(j => { - // // force_row.push('(' + j.x.toString() + ',' + j.y.toString() + ')'); - // force_row.push(j.x.toString()); - // force_row.push(j.y.toString()); - // }); - // force_row.push(' '); - // this.SimulationLinks.forEach(l => { - // if (l instanceof ImagLink) { - // return; - // } - // const cur_link = l as RealLink; - // force_row.push(Simulator.roundToHundredThousandth(cur_link.CoM_x).toString()); - // force_row.push(Simulator.roundToHundredThousandth(cur_link.CoM_y).toString()); - // // force_row.push(Simulator.roundToHundredThousandth(KinematicsSolver.linkCoMMap.get(l.id)[0]).toString()); - // // force_row.push(Simulator.roundToHundredThousandth(KinematicsSolver.linkCoMMap.get(l.id)[1]).toString()); - // // force_row.push('(' + Simulator.roundToHundredThousandth(KinematicsSolver.linkAccMap.get(l.id)[0] * accUnitConversion) + - // // ',' + Simulator.roundToHundredThousandth(KinematicsSolver.linkAccMap.get(l.id)[1] * accUnitConversion) + ')'); - // }); this.forces[index].forEach((f) => { force_row.push(roundNumber(f.startCoord.x, 4).toString()); force_row.push(roundNumber(f.startCoord.y, 4).toString()); - // force_row.push(Simulator.roundToHundredThousandth(f.xLocOfForceOnLink).toString()); - // force_row.push(Simulator.roundToHundredThousandth(f.yLocOfForceOnLink).toString()); }); force_row.push(' '); switch (analysisType) { @@ -1174,26 +977,12 @@ export class Mechanism { this.joints[index].forEach((j) => { force_row.push(roundNumber(j.x, 4).toString()); force_row.push(roundNumber(j.y, 4).toString()); - // force_row.push(Simulator.roundToHundredThousandth(KinematicsSolver.jointIndexMap.get(j.id)[0] * accUnitConversion).toString()); - // force_row.push(Simulator.roundToHundredThousandth(KinematicsSolver.jointIndexMap.get(j.id)[1] * accUnitConversion).toString()); }); - // force_row.push(' '); - // this.SimulationLinks.forEach(l => { - // if (l instanceof ImagLink) { - // return; - // } - // force_row.push(Simulator.roundToHundredThousandth()) - // force_row.push(Simulator.roundToHundredThousandth(KinematicsSolver.linkCoMMap.get(l.id)[0] * accUnitConversion).toString()); - // force_row.push(Simulator.roundToHundredThousandth(KinematicsSolver.linkCoMMap.get(l.id)[1] * accUnitConversion).toString()); - // }); - // force_row.push(' '); break; case 'dynamics': this.joints[index].forEach((j) => { force_row.push(roundNumber(j.x, 4).toString()); force_row.push(roundNumber(j.y, 4).toString()); - // force_row.push(Simulator.roundToHundredThousandth(KinematicsSolver.jointIndexMap.get(j.id)[0] * accUnitConversion).toString()); - // force_row.push(Simulator.roundToHundredThousandth(KinematicsSolver.jointIndexMap.get(j.id)[1] * accUnitConversion).toString()); force_row.push( roundNumber( KinematicsSolver.jointVelMap.get(j.id)![0] * velUnitConversion, @@ -1218,8 +1007,6 @@ export class Mechanism { 4 ).toString() ); - // force_row.push('(' + Simulator.roundToHundredThousandth(KinematicsSolver.jointAccMap.get(j.id)[0] * accUnitConversion) + - // ',' + Simulator.roundToHundredThousandth(KinematicsSolver.jointAccMap.get(j.id)[1] * accUnitConversion) + ')'); }); force_row.push(' '); this.links[index].forEach((l) => { @@ -1262,8 +1049,6 @@ export class Mechanism { 4 ).toString() ); - // force_row.push('(' + Simulator.roundToHundredThousandth(KinematicsSolver.linkAccMap.get(l.id)[0] * accUnitConversion) + - // ',' + Simulator.roundToHundredThousandth(KinematicsSolver.linkAccMap.get(l.id)[1] * accUnitConversion) + ')'); }); force_row.push(' '); this.links[index].forEach((l) => { @@ -1286,7 +1071,6 @@ export class Mechanism { KinematicsSolver.resetVariables(); this.prepareSolvers(); this.joints.forEach((_, index) => { - // const row = Array(); const row = Array(); row.push(this.timeNum[index].toString()); KinematicsSolver.determineKinematics( @@ -1308,46 +1092,9 @@ export class Mechanism { velUnitConversion = 1; // cm/s accUnitConversion = 1; // cm/s^2 break; - // case 'km': - // posUnitConversion = 1; // cm - // velUnitConversion = 1; // cm/s - // accUnitConversion = 1; // cm/s^2 - // break; - // case 'in': - // posUnitConversion = 1; // cm - // velUnitConversion = 1; // cm/s - // accUnitConversion = 1; // cm/s^2 - // break; - // case 'ft': - // posUnitConversion = 1; // cm - // velUnitConversion = 1; // cm/s - // accUnitConversion = 1; // cm/s^2 - // break; } - // switch (this._unit) { - // case 'Metric': - // posUnitConversion = 1; // cm - // velUnitConversion = 1; // cm/s - // accUnitConversion = 1; // cm/s^2 - // break; - // case 'English': - // // change this since conversion is starting at cm instead of m - // posUnitConversion = 0.3048; - // velUnitConversion = 3.28084; - // accUnitConversion = 3.2808399; - // break; - // } this.joints[0].forEach((j) => { - // if (j instanceof ImagJoint) { - // return; - // } - // row.push((this.SimulationJoints[KinematicsSolver.jointIndexMap.get(j.id)].x * posUnitConversion).toString()); - // row.push((this.SimulationJoints[KinematicsSolver.jointIndexMap.get(j.id)].y * posUnitConversion).toString()); - // row.push((KinematicsSolver.jointVelMap.get(j.id)[0] * velUnitConversion).toString()); - // row.push((KinematicsSolver.jointVelMap.get(j.id)[1] * velUnitConversion).toString()); - // row.push((KinematicsSolver.jointAccMap.get(j.id)[0] * accUnitConversion).toString()); - // row.push((KinematicsSolver.jointAccMap.get(j.id)[1] * accUnitConversion).toString()); row.push( roundNumber( this.joints[index][KinematicsSolver.jointIndexMap.get(j.id)!].x * posUnitConversion, @@ -1378,15 +1125,6 @@ export class Mechanism { if (l instanceof SliderBlock) { return; } - // if (l instanceof ImagLink) { - // return; - // } - // row.push((KinematicsSolver.linkCoMMap.get(l.id)[0] * posUnitConversion).toString()); - // row.push((KinematicsSolver.linkCoMMap.get(l.id)[1] * posUnitConversion).toString()); - // row.push((KinematicsSolver.linkVelMap.get(l.id)[0] * velUnitConversion).toString()); - // row.push((KinematicsSolver.linkVelMap.get(l.id)[1] * velUnitConversion).toString()); - // row.push((KinematicsSolver.linkAccMap.get(l.id)[0] * accUnitConversion).toString()); - // row.push((KinematicsSolver.linkAccMap.get(l.id)[1] * accUnitConversion).toString()); row.push( roundNumber(KinematicsSolver.linkCoMMap.get(l.id)![0] * posUnitConversion, 4).toString() ); @@ -1411,12 +1149,6 @@ export class Mechanism { if (l instanceof SliderBlock) { return; } - // if (l instanceof ImagLink) { - // return; - // } - // row.push((KinematicsSolver.linkAngPosMap.get(l.id)).toString()); - // row.push((KinematicsSolver.linkAngVelMap.get(l.id)).toString()); - // row.push((KinematicsSolver.linkAngAccMap.get(l.id)).toString()); row.push(roundNumber(KinematicsSolver.linkAngPosMap.get(l.id)!, 4).toString()); row.push(roundNumber(KinematicsSolver.linkAngVelMap.get(l.id)!, 4).toString()); row.push(roundNumber(KinematicsSolver.linkAngAccMap.get(l.id)!, 4).toString()); diff --git a/src/app/model/mechanism/position-solver.ts b/src/app/model/mechanism/position-solver.ts index c9bd870f..e2c60eb2 100644 --- a/src/app/model/mechanism/position-solver.ts +++ b/src/app/model/mechanism/position-solver.ts @@ -558,13 +558,9 @@ export class PositionSolver { if (!driven.has(j.id)) { return; } - // if (j.ground && j.constructor !== PrisJoint) { - // return; - // } // store the solved number this.jointNumOrderSolverMap.set(orderNum++, [j.id]); // store desired joints as input joint and current_joint - // const currentJointIndex = simJoints.findIndex(jt => jt.id === current_joint.id); this.desiredConnectedJointIndicesMap.set(j.id, [inputJointIndex]); // store the solve type from the input solver switch (inputJoint.constructor) { @@ -2214,12 +2210,9 @@ export class PositionSolver { return; } // tracer joint is not connected on the same link as prev joint and curr joint - // if (tracer_joint.connectedLinks.findIndex(ll => ll.id === desired_link.id) !== -1) { if (tracer_joint.links.findIndex((ll) => ll.id === desired_link.id) === -1) { return; } - // const tracer_joint_index = 0; - // this.desiredConnectedJointIndicesMap.set(tracer_joint.id, [cur_joint_index, known_joint_index]); this.desiredConnectedJointIndicesMap.set(tracer_joint.id, [ prev_joint_index, cur_joint_index, @@ -2253,7 +2246,6 @@ export class PositionSolver { return joint.connectedJoints.find((jt) => { const knownJointIndex = knownJointArray.findIndex((j_id) => j_id === jt.id); return knownJointIndex !== -1 && jt.id !== prev_joint.id; - // return knownJointArray.findIndex(j_id => j_id === jt.id) !== -1 && jt.id !== prev_joint.id; }); } diff --git a/src/app/model/mechanism/stress-solver.ts b/src/app/model/mechanism/stress-solver.ts deleted file mode 100644 index 157281ed..00000000 --- a/src/app/model/mechanism/stress-solver.ts +++ /dev/null @@ -1 +0,0 @@ -export class StressSolver {} diff --git a/src/app/model/utils.ts b/src/app/model/utils.ts index 3b62a5c2..799ac664 100644 --- a/src/app/model/utils.ts +++ b/src/app/model/utils.ts @@ -2,7 +2,6 @@ import { Joint, PrisJoint, RealJoint, RevJoint } from './joint'; import { Coord } from './coord'; import { Shape } from './link'; import { Pose } from './pose'; -import { ConstrucLines } from './constructionlines_syn'; import { NewGridComponent } from '../component/new-grid/new-grid.component'; export class Utils {} @@ -76,15 +75,6 @@ export function vecMake(n: number, val: number) { return result; } -export function vecInit(s: string) { - let vals = s.split(','); - let result = []; - for (let i = 0; i < vals.length; ++i) { - result[i] = parseFloat(vals[i]); - } - return result; -} - export function matMake(rows: number, cols: number, val: number) { let result: Array> = []; for (let i = 0; i < rows; ++i) { @@ -96,19 +86,6 @@ export function matMake(rows: number, cols: number, val: number) { return result; } -export function matInit(rows: number, cols: number, s: string) { - // ex: let m = matInit(2, 3, "1,2,3, 4,5,6"); - let result = matMake(rows, cols, 0.0); - let vals = s.split(','); - let k = 0; - for (let i = 0; i < rows; ++i) { - for (let j = 0; j < cols; ++j) { - result[i][j] = parseFloat(vals[k++]); - } - } - return result; -} - export function matProduct(ma: Array>, mb: Array>) { let aRows = ma.length; let aCols = ma[0].length; @@ -134,6 +111,34 @@ export function matProduct(ma: Array>, mb: Array>) { return result; } +export function reduce(lum: Array>, b: Array) { + // helper + let n = lum.length; + let x = vecMake(n, 0.0); + for (let i = 0; i < n; ++i) { + x[i] = b[i]; + } + + for (let i = 1; i < n; ++i) { + let sum = x[i]; + for (let j = 0; j < i; ++j) { + sum -= lum[i][j] * x[j]; + } + x[i] = sum; + } + + x[n - 1] /= lum[n - 1][n - 1]; + for (let i = n - 2; i >= 0; --i) { + let sum = x[i]; + for (let j = i + 1; j < n; ++j) { + sum -= lum[i][j] * x[j]; + } + x[i] = sum / lum[i][i]; + } + + return x; +} // reduce + export function matInverse(m: Array>) { // assumes determinant is not 0 // that is, the matrix does have an inverse @@ -162,15 +167,6 @@ export function matInverse(m: Array>) { return result; } -export function matDeterminant(m: Array>) { - let n = m.length; - let lum = matMake(n, n, 0.0); - let perm = vecMake(n, 0.0); - let result = matDecompose(m, lum, perm); // -1 or +1 - for (let i = 0; i < n; ++i) result *= lum[i][i]; - return result; -} - export function matDecompose( m: Array>, lum: Array>, @@ -240,34 +236,6 @@ export function matDecompose( return toggle; // for determinant } // matDecompose -export function reduce(lum: Array>, b: Array) { - // helper - let n = lum.length; - let x = vecMake(n, 0.0); - for (let i = 0; i < n; ++i) { - x[i] = b[i]; - } - - for (let i = 1; i < n; ++i) { - let sum = x[i]; - for (let j = 0; j < i; ++j) { - sum -= lum[i][j] * x[j]; - } - x[i] = sum; - } - - x[n - 1] /= lum[n - 1][n - 1]; - for (let i = n - 2; i >= 0; --i) { - let sum = x[i]; - for (let j = i + 1; j < n; ++j) { - sum -= lum[i][j] * x[j]; - } - x[i] = sum / lum[i][i]; - } - - return x; -} // reduce - export function matLinearSystem(A: Array>, B: Array>) { const inv_A = matInverse(A); return matProduct(inv_A, B); @@ -305,14 +273,6 @@ export function degToRad(deg: number) { return (deg * Math.PI) / 180.0; } -export function getXDistance(r: number, theta: number) { - return Math.cos(theta) * r; -} - -export function getYDistance(r: number, theta: number) { - return Math.sin(theta) * r; -} - export function determineSlope(x1: number, y1: number, x2: number, y2: number) { return (y2 - y1) / (x2 - x1); } @@ -375,14 +335,6 @@ export function stringToShape(str: string) { return Shape.lShape; default: return Shape.line; - // case Shape.horizontalLine: - // case Shape.verticalLine: - // case Shape.slantedLineForward: - // case Shape.slantedLineBackward: - // case Shape.beanShape: - // case Shape.infinityShape: - // case Shape.eightShape: - // case Shape.customShape: } } @@ -452,192 +404,6 @@ export function euclideanDistance(x1: number, y1: number, x2: number, y2: number return Math.sqrt(Math.pow(x1 - x2, 2) + Math.pow(y1 - y2, 2)); } -export function findBiggestAngle(joint: RealJoint, allJoints: RealJoint[]) { - // TODO: check for condition that first condition is not met... (with imagJoints) - if (allJoints.length === 2) { - return [allJoints[0], allJoints[1]]; - } - const curJoint = allJoints.find((j) => joint.id === j.id) as RealJoint; - let biggestAngle = 0; - // TODO: Change this where desiredJoint1 and desiredJoint2 are not same - let desiredJoint1: Joint = curJoint; - let desiredJoint2: Joint = curJoint; - - const curJointIndex = allJoints.findIndex((j) => j.id === joint.id); - for (let i = 0; i < allJoints.length; i++) { - // console.log('Outer loop: ' + i); - if (i === curJointIndex) { - // console.log('Skipped'); - continue; - } - const joint1 = allJoints[i]; - for (let j = i + 1; j < allJoints.length; j++) { - // console.log('Inner loop: ' + j); - if (j === curJointIndex) { - // console.log('Skipped'); - continue; - } - const joint2 = allJoints[j]; - const angle = find_angle(allJoints[curJointIndex], joint1, joint2); - // console.log(angle); - if (angle > biggestAngle) { - // if (biggestAngle === 0 || angle > biggestAngle) { - biggestAngle = angle; - desiredJoint1 = joint1; - desiredJoint2 = joint2; - } - } - } - return [desiredJoint1, desiredJoint2]; -} - -// https://stackoverflow.com/questions/17763392/how-to-calculate-in-javascript-angle-between-3-points (wrong) -// http://phrogz.net/angle-between-three-points -export function find_angle(B: Coord, A: Coord, C: Coord) { - let AB = Math.sqrt(Math.pow(B.x - A.x, 2) + Math.pow(B.y - A.y, 2)); - let BC = Math.sqrt(Math.pow(B.x - C.x, 2) + Math.pow(B.y - C.y, 2)); - let AC = Math.sqrt(Math.pow(C.x - A.x, 2) + Math.pow(C.y - A.y, 2)); - return Math.acos((BC * BC + AB * AB - AC * AC) / (2 * BC * AB)); - // const a = Math.pow(p1.x-p0.x,2) + Math.pow(p1.y-p0.y,2), - // b = Math.pow(p1.x-p2.x,2) + Math.pow(p1.y-p2.y,2), - // c = Math.pow(p2.x-p0.x,2) + Math.pow(p2.y-p0.y,2); - // return Math.acos( (a+b-c) / Math.sqrt(4*a*b) ) * 180 / Math.PI; -} - -//added by Pradeep Mar 25th 2023 -//determine the end point of each pose -//we pass coord, length and angle of each pose to this function and store the end point under each pose -export function getCoordofeachPose(pose1: Pose) { - if (pose1.angle == 0) { - pose1.coord1.x = pose1.midpoint.x - 0.5 * length * Math.cos(degToRad(pose1.angle)); - pose1.coord1.y = pose1.midpoint.y - 0.5 * length * Math.sin(degToRad(pose1.angle)); - - pose1.coord2.x = pose1.midpoint.x + 0.5 * length * Math.cos(degToRad(pose1.angle)); - pose1.coord2.y = pose1.midpoint.y + 0.5 * length * Math.sin(degToRad(pose1.angle)); - } else if (pose1.angle > 0 && pose1.angle < 90) { - pose1.coord1.x = pose1.midpoint.x - 0.5 * length * Math.cos(degToRad(pose1.angle + 180)); - pose1.coord1.y = pose1.midpoint.y - 0.5 * length * Math.sin(degToRad(pose1.angle + 180)); - - pose1.coord2.x = pose1.midpoint.x + 0.5 * length * Math.cos(degToRad(pose1.angle)); - pose1.coord2.y = pose1.midpoint.y + 0.5 * length * Math.sin(degToRad(pose1.angle)); - } else if (pose1.angle < 0 && pose1.angle < -90) { - pose1.coord1.x = pose1.midpoint.x - 0.5 * length * Math.cos(degToRad(pose1.angle + 180)); - pose1.coord1.y = pose1.midpoint.y - 0.5 * length * Math.sin(degToRad(pose1.angle + 180)); - - pose1.coord2.x = pose1.midpoint.x + 0.5 * length * Math.cos(degToRad(pose1.angle)); - pose1.coord2.y = pose1.midpoint.y + 0.5 * length * Math.sin(degToRad(pose1.angle)); - } -} - -//added by Pradeep Mar 25th 2023 -//obtain end points of lines. This will help draw the construction lines -export function ConstructionLine_1(pose1: Pose, pose2: Pose) { - return new ConstrucLines(pose1.coord1, pose2.coord1); -} - -export function ConstructionLine_2(pose2: Pose, pose3: Pose) { - return new ConstrucLines(pose2.coord1, pose3.coord1); -} - -export function ConstructionLine_3(pose1: Pose, pose2: Pose) { - return new ConstrucLines(pose1.coord2, pose2.coord2); -} - -export function ConstructionLine_4(pose2: Pose, pose3: Pose) { - return new ConstrucLines(pose2.coord2, pose3.coord2); -} - -//added by Pradeep Mar 25th 2023 -//obtain the coordinates of intersection point -//return one intersection point -export function intersectionPoint_1(pose1: Pose, pose2: Pose, pose3: Pose) { - //slope of line 1 - //var slope1 = 1 / ((Pos2_end1(2) - Pos1_end1(2)) / (Pos2_end1(1) - Pos1_end1(1))); - //slope of line 2 - //slope2 = 1 / ((Pos3_end1(2) - Pos2_end1(2)) / (Pos3_end1(1) - Pos2_end1(1))); - //midpoints - //midpoint_line1 = (Pos1_end1 + Pos2_end1) / 2; - //midpoint_line2 = (Pos2_end1 + Pos3_end1) / 2; - //intercept - //c1 = midpoint_line1(2) + slope1 * midpoint_line1(1); - //c2 = midpoint_line2(2) + slope2 * midpoint_line2(1); - var slope1 = 1 / ((pose2.coord1.y - pose1.coord1.y) / (pose2.coord1.x - pose1.coord1.x)); - //slope of line 2 - var slope2 = 1 / ((pose3.coord1.y - pose2.coord1.y) / (pose3.coord1.x - pose2.coord1.x)); - - //midpoints of the above two lines - var midpoint_line1 = new Coord( - (pose1.coord1.x + pose2.coord1.x) / 2, - (pose1.coord1.y + pose2.coord1.y) / 2 - ); - var midpoint_line2 = new Coord( - (pose3.coord1.x + pose2.coord1.x) / 2, - (pose3.coord1.y + pose2.coord1.y) / 2 - ); - - //intercept - var c1 = midpoint_line1.y + slope1 * midpoint_line1.x; - var c2 = midpoint_line2.y + slope2 * midpoint_line2.x; - - //intersection point - var x1 = (c1 - c2) / (-slope2 + slope1); - var y1 = -slope1 * x1 + c1; - - return new Coord(x1, y1); -} - -//return second intersection point -export function intersectionPoint_2(pose1: Pose, pose2: Pose, pose3: Pose) { - //slope of line 3 - //slope3 = 1 / ((Pos2_end2(2) - Pos1_end2(2)) / (Pos2_end2(1) - Pos1_end2(1))); - //slope of line 4 - //slope4 = 1 / ((Pos3_end2(2) - Pos2_end2(2)) / (Pos3_end2(1) - Pos2_end2(1))); - //midpoints - // midpoint_line3 = (Pos1_end2 + Pos2_end2) / 2; - // midpoint_line4 = (Pos2_end2 + Pos3_end2) / 2; - //intercept - // c3 = midpoint_line3(2) + slope3 * midpoint_line3(1); - // c4 = midpoint_line4(2) + slope4 * midpoint_line4(1); - - //intersection point - //x2 = (c3 - c4) / (-slope4 + slope3); - //y2 = -slope3 * x2 + c3; - - var slope1 = 1 / ((pose2.coord2.y - pose1.coord2.y) / (pose2.coord2.x - pose1.coord2.x)); - //slope of line 2 - var slope2 = 1 / ((pose3.coord2.y - pose2.coord2.y) / (pose3.coord2.x - pose2.coord2.x)); - - //midpoints of the above two lines - var midpoint_line1 = new Coord( - (pose1.coord2.x + pose2.coord2.x) / 2, - (pose1.coord2.y + pose2.coord2.y) / 2 - ); - var midpoint_line2 = new Coord( - (pose3.coord2.x + pose2.coord2.x) / 2, - (pose3.coord2.y + pose2.coord2.y) / 2 - ); - - //intercept - var c1 = midpoint_line1.y + slope1 * midpoint_line1.x; - var c2 = midpoint_line2.y + slope2 * midpoint_line2.x; - - //intersection point - var x1 = (c1 - c2) / (-slope2 + slope1); - var y1 = -slope1 * x1 + c1; - - return new Coord(x1, y1); -} - -//organize the four coordinates -export function fourCoordinates(pose1: Pose, pose2: Pose, pose3: Pose) { - var coord_A = intersectionPoint_1(pose1, pose2, pose3); - var coord_B = pose1.coord1; - var coord_C = pose1.coord2; - var coord_D = intersectionPoint_1(pose1, pose2, pose3); - - //we have the four coordinates that make up the -} - // TODO: Should put this all over the code... export function find_slope(point1: Coord, point2: Coord) { return (point1.y - point2.y) / (point1.x - point2.x); @@ -648,21 +414,6 @@ export function find_y_intercept(point1: Coord, slope: number) { return point1.y - slope * point1.x; } -// https://stackoverflow.com/questions/14480345/how-to-get-the-nth-occurrence-in-a-string -export function getPosition(string: string, subString: string, index: number) { - return string.split(subString, index).join(subString).length; -} - -// https://stackoverflow.com/questions/4364881/inserting-string-at-position-x-of-another-string -export function insertStringWithinString(a: string, index: number, b: string) { - return [a.slice(0, index), b, a.slice(index)].join(''); -} - -// https://www.tutorialspoint.com/typescript/typescript_string_substr.htm -export function pullStringWithinString(a: string, firstIndex: number, secondIndex: number) { - return a.substring(firstIndex, secondIndex); -} - // https://stackoverflow.com/questions/13937782/calculating-the-point-of-intersection-of-two-lines // line intercept math by Paul Bourke http://paulbourke.net/geometry/pointlineplane/ // Determine the intersection point of two line segments @@ -750,7 +501,6 @@ function circle_circle_intersect( // Circles are coincident if (d === 0 && radius === radius2) { - // console.log('Circles are coincident'); return [undefined, true]; } @@ -766,62 +516,6 @@ function circle_circle_intersect( return [[new Coord(x4, y4), new Coord(x5, y5)], false]; } -export function determineCenter( - startPoint: Coord, - endPoint: Coord, - radius: number, - cw: string -): Coord { - // Find the center of the circle that the arc revolves around. - // The center will be 'radius' distance from the startPoint and endPoint. - - // Find the midpoint of the line segment - let mid = new Coord((startPoint.x + endPoint.x) / 2, (startPoint.y + endPoint.y) / 2); - // Find the vector from startPoint to endPoint - let vec = new Coord(endPoint.x - startPoint.x, endPoint.y - startPoint.y); - // Find the length of vec - let len = Math.sqrt(vec.x * vec.x + vec.y * vec.y); - // Check if len is zero - if (len === 0) { - // Return null or throw an error - throw new Error('len is zero'); - } - // Find the perpendicular vector to vec - let perp = new Coord(-vec.y / len, vec.x / len); - // Check if radius is too small - if (radius < len / 2) { - // Return null or throw an error - throw new Error('radius is too small'); - } - // Find the parameter t that satisfies the equation (c - mid)^2 = r^2 - let t = Math.sqrt(radius * radius - (len * len) / 4); - // Check if t is negative - if (t < 0) { - // Return null or throw an error - throw new Error('t is negative'); - } - // Find the center point c by adding mid and perp * t - let c = new Coord(mid.x + perp.x * t, mid.y + perp.y * t); - // Check if c is NaN - if (isNaN(c.x) || isNaN(c.y)) { - // Return null or throw an error - throw new Error('c is NaN'); - } - // Check if cw is '0' or '1' - if (cw === '0') { - // Reverse the direction of perp - c = new Coord(mid.x - perp.x * t, mid.y - perp.y * t); - } else if (cw === '1') { - // Keep the direction of perp - c = new Coord(mid.x + perp.x * t, mid.y + perp.y * t); - } else { - // Return null or throw an error - throw new Error('cw must be "0" or "1"'); - } - - return c; -} - export function arc_arc_intersect( startPosition: Coord, endPosition: Coord, @@ -855,11 +549,6 @@ export function arc_arc_intersect( allImportantIntersections.push(endPosition2); } - // console.log( - // 'Circles are coicident, here are all the endpoints that overalp', - // allImportantIntersections - // ); - //If there are no intersections, then the arcs do not intersect. if (allImportantIntersections.length === 0) { return; @@ -1041,17 +730,14 @@ function line_circle_intersect( const tolerance = 0.00001; if (discriminant < -tolerance) { // line doesn't touch circle - // console.log("line doesn't touch circle"); return; } else if (discriminant < tolerance) { - // console.log('line is tangent to circle'); // line is tangent to circle let x = -b / (2 * a); let y = slope * x + y_intercept; intersections.push(new Coord(x, y)); return intersections; } else { - // console.log('line intersects circle in two places'); // line intersects circle in two places let x1 = (-b + Math.sqrt(discriminant)) / (2 * a); let y1 = slope * x1 + y_intercept; @@ -1090,31 +776,6 @@ function isPointInArc( } } -// returns true if the line from (a,b)->(c,d) intersects with (p,q)->(r,s) -// function intersects(a,b,c,d,p,q,r,s) { -// var det, gamma, lambda; -// det = (c - a) * (s - q) - (r - p) * (d - b); -// if (det === 0) { -// return false; -// } else { -// lambda = ((s - q) * (r - a) + (p - r) * (s - b)) / det; -// gamma = ((b - d) * (r - a) + (c - a) * (s - b)) / det; -// return (0 < lambda && lambda < 1) && (0 < gamma && gamma < 1); -// } -// }; - -export function wrapAngle(angle: number) { - //Wrap between -pi and pi - angle = angle % (2 * Math.PI); - if (angle > Math.PI) { - angle -= 2 * Math.PI; - } - if (angle < -Math.PI) { - angle += 2 * Math.PI; - } - return angle; -} - export function is_touch_enabled() { return 'ontouchstart' in window || navigator.maxTouchPoints > 0; } @@ -1148,13 +809,9 @@ export function circleCircleIntersection( return false; } - // const TOLERANCE = 0.001; if (d <= 0.001) { return false; } - // if (d === 0) { - // return false; - // } dx /= d; dy /= d; @@ -1220,40 +877,6 @@ export function circleLineIntersection( ); } -// https://dirask.com/posts/JavaScript-calculate-intersection-point-of-two-lines-for-given-4-points-VjvnAj -export function lineLineIntersection( - x1: number, - y1: number, - x2: number, - y2: number, - x3: number, - y3: number, - x4: number, - y4: number -) { - const c2x = x3 - x4; // (x3 - x4) - const c3x = x1 - x2; // (x1 - x2) - const c2y = y3 - y4; // (y3 - y4) - const c3y = y1 - y2; // (y1 - y2) - - // down part of intersection point formula - const d = c3x * c2y - c3y * c2x; - - if (d == 0) { - throw new Error('Number of intersection points is zero or infinity.'); - } - - // upper part of intersection point formula - const u1 = x1 * y2 - y1 * x2; // (x1 * y2 - y1 * x2) - const u4 = x3 * y4 - y3 * x4; // (x3 * y4 - y3 * x4) - - // intersection point formula - - const px = (u1 * c2x - c3x * u4) / d; - const py = (u1 * c2y - c3y * u4) / d; - - return new Coord(px, py); -} export function has_mouse_pointer() { return matchMedia('(pointer:fine)').matches; } @@ -1263,11 +886,6 @@ export function local_storage_available() { return typeof Storage !== 'undefined'; } -// https://stackoverflow.com/questions/1560492/how-to-tell-whether-a-point-is-to-the-right-or-left-side-of-a-line -export function isLeft(a: Coord, b: Coord, c: Coord) { - return (b.x - a.x) * (c.y - a.y) - (b.y - a.y) * (c.x - a.x) > 0; -} - // Vector projection algorithm // Given (x, y), find the closest point on the line SEGMENT between (x1, y1) and (x2, y2) export function point_on_line_segment_closest_to_point( diff --git a/src/app/services/grid-utils.service.ts b/src/app/services/grid-utils.service.ts index 390ecdba..585a371f 100644 --- a/src/app/services/grid-utils.service.ts +++ b/src/app/services/grid-utils.service.ts @@ -239,7 +239,6 @@ export class GridUtilsService { } dragJoint(selectedJoint: RealJoint, trueCoord: Coord) { - // console.error('new drag Joint cycle'); // TODO: have the round Number be integrated within function for determining trueCoord // A cylinder mount never free-moves, whoever asks — canvas drag, the @@ -878,15 +877,11 @@ export class GridUtilsService { //First convert the screen coordinates to true coordinates let trueCoords = this.svgGrid.screenToSVG(new Coord(mouseEvent.offsetX, mouseEvent.offsetY)); - // console.log(trueCoords.x, trueCoords.y); - clickedObj.lastSelectedSublink = null; clickedObj.subset.forEach((link) => { if (this.isPointInsideLink(trueCoords, link as RealLink)) { clickedObj.lastSelectedSublink = link; - // console.log('Found a link'); - // console.log(link); } }); } diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 5d0bfa13..1650377b 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -668,26 +668,6 @@ export class MechanismService { }); this.updateMechanism(true); - // this.settingsService.lengthUnit.subscribe((val) => { - //For each jo - // let unit = this.settingsService.lengthUnit.value; - // if (unit !== this.lengthUnit) { - // this.mechanismService.joints.forEach((joint) => { - // this.activeSrv.updateSelectedObj(joint); - // this.activeSrv.fakeUpdateSelectedObj(); - // this.gridUtils.dragJoint( - // this.activeSrv.selectedJoint, - // new Coord( - // this.nup.convertLength(joint.x, this.lengthUnit, unit), - // this.nup.convertLength(joint.y, this.lengthUnit, unit) - // ) - // ); - // this.jointForm.controls['input'].patchValue(wasInput); - // }); - // this.lengthUnit = this.settingsService.lengthUnit.value; - // this.activeSrv.fakeUpdateSelectedObj(); - // } - // }); } getLinkProp(l: Link, propType: string) { @@ -1432,7 +1412,6 @@ export class MechanismService { childJoint.connectedJoints.push(jt); }); }); - // childSub.link.forEach(jt => childJoint.connectedJoints.push(jt)); }); this.links.push(sub); // This is an orphaned joint @@ -1649,9 +1628,6 @@ export class MechanismService { }); } this.joints.splice(jointIndex, 1); - // if (this.activeObjService.selectedLink !== undefined) { - // this.activeObjService.selectedLink.d = this.activeObjService.selectedLink.getPathString(); - // } // Through the shared path, so a slot whose defining joint was just deleted // gets reconciled. Deleting a joint by itself is the one way to strand a // slot that does not go through mergeJoints or deleteLink. @@ -2656,14 +2632,6 @@ export class MechanismService { const prismaticJointId = this.determineNextLetter(); const inputJointIndex = this.findInputJointIndex(); const connectedJoints: Joint[] = [this.activeObjService.selectedJoint]; - // this.joints.forEach((j) => { - // if (!(j instanceof RealJoint)) { - // return; - // } - // if (j.ground) { - // connectedJoints.push(j); - // } - // }); // Born dangling on an ungrounded pin: a floating slot needs a carrier, // which is geometry the drop gesture supplies and no toggle can invent. // A slider with a stash gets its old slot back instead, which is what @@ -3558,7 +3526,6 @@ export class MechanismService { } getJointCSSClass(joint: Joint) { - // const j = joint as RealJoint; if ( NewGridComponent.debugGetJointState() == jointStates.dragging && joint.id === this.activeObjService.selectedJoint.id diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index 8187300f..3c170c3f 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -234,9 +234,6 @@ export class SvgGridService { this.viewBoxMinY = visibleY; this.viewBoxMaxY = visibleY + visibleHeight; // this.panZoomObject.updateBBox(); // Update viewport bounding box - // console.log(viewBox); - // console.log(this.viewBoxMinX, this.viewBoxMaxX); - // console.log(this.viewBoxMinY, this.viewBoxMaxY); } /** @@ -352,16 +349,10 @@ export class SvgGridService { this.horizontalLinesMinor = this.horizontalLinesMinor.map((line) => { return Math.round(line * 10000) / 10000; }); - - // console.log(this.verticalLines); - // console.log(this.verticalLinesMinor); } handleBeforeZoom(oldZoom: any, newZoom: any) { let isZoomingIn = newZoom > oldZoom; - // console.log('handleBeforeZoom'); - // console.log(oldZoom, newZoom); - // console.log(this.getZoom()); if (isZoomingIn && this.getZoom() > this.MAX_ZOOM) { this.panLockOut = true; return false; @@ -370,16 +361,9 @@ export class SvgGridService { return false; } return; - // if (this.getZoom() < 0.4 || this.getZoom() > 330) { - // // this.panLockOut = true; - // return false; - // } else { - // return true; - // } } handleZoom(zoomLevel: number) { - // console.log(this.getZoom()); this.cellSize = this.cellSizeFor(this.getZoom()); this.handlePan(); // Zooming is continuous, so these have a much longer quiet period than diff --git a/src/app/services/url-processor.service.ts b/src/app/services/url-processor.service.ts index e2d70f51..a3ae6458 100644 --- a/src/app/services/url-processor.service.ts +++ b/src/app/services/url-processor.service.ts @@ -29,10 +29,6 @@ export class UrlProcessorService { // update the mechanism from the url this.updateFromURL(url, true, true, true); - - // initial save - // this causes a circular dependency - // this.mechanismSrv.save(); } // From the full url string, extract the substring after the '?'. If does not exist, return null diff --git a/src/mytheme.scss b/src/mytheme.scss index 99243938..4324af0a 100644 --- a/src/mytheme.scss +++ b/src/mytheme.scss @@ -22,7 +22,6 @@ collapsible-subseciton; @use 'app/component/BLOCKS/dual-button/dual-button.component.scss' as dual-button; @use 'app/component/BLOCKS/color-picker/color-picker.component.scss' as color-picker; -@use 'app/component/BLOCKS/tri-button/tri-button.component.scss' as tri-button; @use 'src/app/component/analysis-panel/analysis-panel.component.scss' as analysis-panel; @use 'src/app/component/analysis-graph/analysis-graph.component.scss' as analysis-graph; @use 'src/app/component/analysis-graph-section/analysis-graph-section.component.scss' as analysis-graph-section; @@ -116,6 +115,5 @@ $my-theme: mat.m2-define-light-theme( @include collapsible-subseciton.css($my-theme); @include dual-button.css($my-theme); @include color-picker.css($my-theme); -@include tri-button.css($my-theme); @include templates.css($my-theme); diff --git a/tslint.json b/tslint.json deleted file mode 100644 index 169e44a8..00000000 --- a/tslint.json +++ /dev/null @@ -1,58 +0,0 @@ -{ - "rulesDirectory": ["node_modules/codelyzer"], - "rules": { - "arrow-return-shorthand": true, - "callable-types": true, - "class-name": true, - "forin": true, - "import-blacklist": [true, "rxjs", "rxjs/Rx"], - "interface-over-type-literal": true, - "label-position": true, - "member-access": false, - "member-ordering": [ - true, - { - "order": ["static-field", "instance-field", "static-method", "instance-method"] - } - ], - "no-arg": true, - "no-bitwise": true, - "no-console": [true, "debug", "info", "time", "timeEnd", "trace"], - "no-construct": true, - "no-debugger": true, - "no-duplicate-super": true, - "no-empty": false, - "no-empty-interface": true, - "no-eval": true, - "no-inferrable-types": [true, "ignore-params"], - "no-misused-new": true, - "no-non-null-assertion": true, - "no-shadowed-variable": true, - "no-string-literal": false, - "no-string-throw": true, - "no-switch-case-fall-through": true, - "no-unnecessary-initializer": true, - "no-unused-expression": true, - "no-use-before-declare": true, - "no-var-keyword": true, - "object-literal-sort-keys": false, - "prefer-const": true, - "radix": true, - "triple-equals": [true, "allow-null-check"], - "typeof-compare": true, - "unified-signatures": true, - "variable-name": false, - "directive-selector": [true, "attribute", "app", "camelCase"], - "component-selector": [true, "element", "app", "kebab-case"], - "no-output-on-prefix": true, - "use-input-property-decorator": true, - "use-output-property-decorator": true, - "use-host-property-decorator": true, - "no-input-rename": true, - "no-output-rename": true, - "use-life-cycle-interface": true, - "use-pipe-transform-interface": true, - "component-class-suffix": true, - "directive-class-suffix": true - } -} From fe5a6c56dbd8b0039039f1cdcfc504ab8e422cdf Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 01:29:54 -0400 Subject: [PATCH 082/236] Remove written-but-never-read state and orphaned imports MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit A -~noUnusedLocals~- compiler pass over the app config, each finding reviewed: - ~100 unused imports dropped, including a stray 'import * as util' of Node's util into the browser bundle. - Dead injected services removed from four constructors (the specs that constructed them directly updated to match). NewGridComponent's unread UrlProcessorService injection stays — its constructor is what decodes the URL on startup. - applyPose's step/blend parameters and blendToNextSample died with the per-mechanism clocks: the pose now comes from each machine's own seconds, and the stale shared-clock interpolation was computed and thrown away every frame. - Assorted written-never-read locals and fields (playback's dragging flag, linkage-table's button handles, the transcoder's unused decodeLinkIDs). Co-Authored-By: Claude Opus 5 --- src/app/app.component.ts | 1 - src/app/app.module.ts | 2 - .../collapsible-subseciton.component.ts | 9 +- .../color-picker/color-picker.component.ts | 1 - .../BLOCKS/dual-input/dual-input.component.ts | 10 +-- .../editable-title.component.ts | 2 +- .../BLOCKS/toggle/toggle.component.ts | 2 - .../touchscreen-warning.component.ts | 4 +- .../analysis-graph.component.spec.ts | 1 - .../analysis-graph.component.ts | 85 +++---------------- .../context-menu/context-menu.component.ts | 6 +- .../edit-panel/edit-panel.component.ts | 2 - .../linkage-table/linkage-table.component.ts | 25 +----- .../component/new-grid/new-grid.component.ts | 17 +--- .../playback-bar/playback-bar.component.ts | 4 - .../right-panel/right-panel.component.ts | 19 +---- .../settings-panel.component.ts | 1 - .../synthesis-panel.component.ts | 14 ++- src/app/model/joint-marks.ts | 9 -- src/app/model/joint.ts | 2 - src/app/model/line.ts | 4 +- src/app/model/link.ts | 3 - src/app/model/mechanism/mechanism.ts | 2 +- src/app/model/mechanism/position-solver.ts | 1 - src/app/model/utils.ts | 7 +- src/app/selected-tab.service.ts | 1 - src/app/services/active-obj.service.ts | 1 - src/app/services/grid-utils.service.ts | 14 +-- src/app/services/mechanism.service.spec.ts | 6 +- src/app/services/mechanism.service.ts | 54 ++---------- .../synthesis/synthesis-builder.service.ts | 3 +- .../services/synthesis/synthesis-constants.ts | 2 - .../services/transcoding/mechanism-builder.ts | 9 +- .../services/transcoding/string-transcoder.ts | 11 --- .../transcoding/url-drive-speed.spec.ts | 3 +- .../transcoding/url-floating-slot.spec.ts | 3 +- .../transcoding/url-linear-speed.spec.ts | 3 +- .../transcoding/url-sealed-cylinder.spec.ts | 3 +- .../transcoding/url-weld-force.spec.ts | 14 ++- src/app/services/url-generation.service.ts | 4 +- src/app/services/url-processor.service.ts | 5 -- .../verification/fixture-gallery.ts | 3 +- .../verification/dangling-slider.spec.ts | 12 +-- .../verification/fixture-gallery.spec.ts | 6 +- .../mark-states-round-trip.spec.ts | 3 +- .../verification/slide-serialization.spec.ts | 3 +- 46 files changed, 60 insertions(+), 336 deletions(-) diff --git a/src/app/app.component.ts b/src/app/app.component.ts index 4ba80601..19b5c7d0 100644 --- a/src/app/app.component.ts +++ b/src/app/app.component.ts @@ -1,5 +1,4 @@ import { Component, ChangeDetectionStrategy } from '@angular/core'; -import { trigger, state, style, animate, transition } from '@angular/animations'; import { MatIconRegistry } from '@angular/material/icon'; import { DomSanitizer } from '@angular/platform-browser'; diff --git a/src/app/app.module.ts b/src/app/app.module.ts index 426e3a5f..d8f53bbe 100644 --- a/src/app/app.module.ts +++ b/src/app/app.module.ts @@ -42,8 +42,6 @@ import { FocusOnShowDirective } from './focus-on-show.directive'; import { EquationPanelComponent } from './component/equation-panel/equation-panel.component'; import { NotReadyWarningComponent } from './component/not-ready-warning/not-ready-warning.component'; import { TemplatesComponent } from './component/MODALS/templates/templates.component'; -import { MechanismService } from './services/mechanism.service'; -import { GridUtilsService } from './services/grid-utils.service'; import { SvgArrowComponent } from './component/svg-arrow/svg-arrow.component'; import { CollapsibleSubsecitonComponent } from './component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component'; import { DualButtonComponent } from './component/BLOCKS/dual-button/dual-button.component'; diff --git a/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts b/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts index 5bbcb1f2..3155e753 100644 --- a/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts +++ b/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts @@ -1,11 +1,4 @@ -import { - AfterViewInit, - Component, - EventEmitter, - Input, - Output, - ChangeDetectionStrategy, -} from '@angular/core'; +import { Component, EventEmitter, Input, Output, ChangeDetectionStrategy } from '@angular/core'; import { animate, AUTO_STYLE, state, style, transition, trigger } from '@angular/animations'; @Component({ diff --git a/src/app/component/BLOCKS/color-picker/color-picker.component.ts b/src/app/component/BLOCKS/color-picker/color-picker.component.ts index 91c9f2a3..39a737e7 100644 --- a/src/app/component/BLOCKS/color-picker/color-picker.component.ts +++ b/src/app/component/BLOCKS/color-picker/color-picker.component.ts @@ -1,7 +1,6 @@ import { Component, Input, OnChanges, OnInit, ChangeDetectionStrategy } from '@angular/core'; import { ColorService } from '../../../services/color.service'; import { RealLink } from '../../../model/link'; -import { link } from 'fs'; import { RealJoint } from '../../../model/joint'; import { Force } from '../../../model/force'; diff --git a/src/app/component/BLOCKS/dual-input/dual-input.component.ts b/src/app/component/BLOCKS/dual-input/dual-input.component.ts index d6ac4153..3f5ceb03 100644 --- a/src/app/component/BLOCKS/dual-input/dual-input.component.ts +++ b/src/app/component/BLOCKS/dual-input/dual-input.component.ts @@ -1,12 +1,4 @@ -import { - Component, - Input, - OnInit, - OnChanges, - Output, - EventEmitter, - ChangeDetectionStrategy, -} from '@angular/core'; +import { Component, Input, Output, EventEmitter, ChangeDetectionStrategy } from '@angular/core'; import { FormGroup } from '@angular/forms'; @Component({ diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.ts b/src/app/component/BLOCKS/editable-title/editable-title.component.ts index 63b0c0a5..c0f5ba00 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.ts +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.ts @@ -1,4 +1,4 @@ -import { Component, Input, OnInit, ChangeDetectionStrategy } from '@angular/core'; +import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; import { FormBuilder } from '@angular/forms'; import { ActiveObjService } from 'src/app/services/active-obj.service'; import { MechanismService } from 'src/app/services/mechanism.service'; diff --git a/src/app/component/BLOCKS/toggle/toggle.component.ts b/src/app/component/BLOCKS/toggle/toggle.component.ts index 9cd73a12..b6b07b0e 100644 --- a/src/app/component/BLOCKS/toggle/toggle.component.ts +++ b/src/app/component/BLOCKS/toggle/toggle.component.ts @@ -3,9 +3,7 @@ import { ElementRef, EventEmitter, Input, - OnChanges, Output, - SimpleChanges, ViewChild, ChangeDetectionStrategy, } from '@angular/core'; diff --git a/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts b/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts index 1baf3c88..57c23463 100644 --- a/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts +++ b/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts @@ -1,5 +1,5 @@ -import { Component, Inject, ChangeDetectionStrategy } from '@angular/core'; -import { MAT_DIALOG_DATA, MatDialogRef } from '@angular/material/dialog'; +import { Component, ChangeDetectionStrategy } from '@angular/core'; +import { MatDialogRef } from '@angular/material/dialog'; @Component({ selector: 'app-touchscreen-warning', diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index d2db13e2..e1d05dab 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -83,7 +83,6 @@ function createComponent(fixture: MechanismFixture): AnalysisGraphComponent { fixture.service, fixture.settings, new NumberUnitParserService(), - fixture.active, new AnalysisSampleService(fixture.settings) ); } diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 00b09fb1..bec97f35 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -35,7 +35,6 @@ import { FormBuilder } from '@angular/forms'; import { MechanismService } from '../../services/mechanism.service'; import { SettingsService } from '../../services/settings.service'; import { NumberUnitParserService } from '../../services/number-unit-parser.service'; -import { ActiveObjService } from '../../services/active-obj.service'; import { AnalysisSampleService } from '../../services/analysis-sample.service'; import { skip, Subscription } from 'rxjs'; import { AnalysisApexChartComponent } from './analysis-apex-chart.component'; @@ -364,7 +363,6 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, private mechanismService: MechanismService, public settingsService: SettingsService, private nup: NumberUnitParserService, - private activeSrv: ActiveObjService, private samples: AnalysisSampleService ) {} @@ -715,14 +713,8 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, mechPart: string ): void { const mechanism = this.mechanismFor(mechPart); - let data1Title = ''; - let data2Title = ''; - let data3Title = ''; - let chartTitle = ''; - const xAxisTitle = 'Time-steps'; let yAxisTitle = ''; let datum: number[][] = []; - let categories: string[] = []; const seriesData = []; let posLinUnit = '(' + this.getUnitStr(this.settingsService.lengthUnit.value) + ')'; let velLinUnit = '(' + this.getUnitStr(this.settingsService.lengthUnit.value) + '/s)'; @@ -749,12 +741,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, : this.settingsService.forceUnit.value === ForceUnit.LBF ? 'Torque (lbf·in)' : 'Torque (N·m)'; - [datum, categories] = this.determineAnalysis( - analysis, - analysisType, - mechProp, - mechPart - ); + [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); seriesData.push({ name: 'Z', type: 'line', data: datum[0] }); this.numberOfSeries = 1; break; @@ -762,12 +749,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, case 'Joint Forces': yAxisTitle = this.settingsService.forceUnit.value === ForceUnit.LBF ? 'Force (lbf)' : 'Force (N)'; - [datum, categories] = this.determineAnalysis( - analysis, - analysisType, - mechProp, - mechPart - ); + [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); seriesData.push({ name: 'X', type: 'line', data: datum[0] }); seriesData.push({ name: 'Y', type: 'line', data: datum[1] }); seriesData.push({ name: 'Z', type: 'line', data: datum[2] }); @@ -781,24 +763,14 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, switch (mechProp) { case 'Linear Joint Pos': yAxisTitle = 'Position ' + posLinUnit; - [datum, categories] = this.determineAnalysis( - analysis, - analysisType, - mechProp, - mechPart - ); + [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); seriesData.push({ name: 'X', type: 'line', data: datum[0] }); seriesData.push({ name: 'Y', type: 'line', data: datum[1] }); this.numberOfSeries = 2; break; case 'Linear Joint Vel': yAxisTitle = 'Velocity ' + velLinUnit; - [datum, categories] = this.determineAnalysis( - analysis, - analysisType, - mechProp, - mechPart - ); + [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); seriesData.push({ name: 'X', type: 'line', data: datum[0] }); seriesData.push({ name: 'Y', type: 'line', data: datum[1] }); seriesData.push({ name: 'Z', type: 'line', data: datum[2] }); @@ -806,12 +778,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case 'Linear Joint Acc': yAxisTitle = 'Acceleration ' + accLinUnit; - [datum, categories] = this.determineAnalysis( - analysis, - analysisType, - mechProp, - mechPart - ); + [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); seriesData.push({ name: 'X', type: 'line', data: datum[0] }); seriesData.push({ name: 'Y', type: 'line', data: datum[1] }); seriesData.push({ name: 'Z', type: 'line', data: datum[2] }); @@ -819,24 +786,14 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case "Linear Link's CoM Pos": yAxisTitle = 'Position (CoM) ' + posLinUnit; - [datum, categories] = this.determineAnalysis( - analysis, - analysisType, - mechProp, - mechPart - ); + [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); seriesData.push({ name: 'X', type: 'line', data: datum[0] }); seriesData.push({ name: 'Y', type: 'line', data: datum[1] }); this.numberOfSeries = 2; break; case "Linear Link's CoM Vel": yAxisTitle = 'Velocity ' + velLinUnit; - [datum, categories] = this.determineAnalysis( - analysis, - analysisType, - mechProp, - mechPart - ); + [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); seriesData.push({ name: 'X', type: 'line', data: datum[0] }); seriesData.push({ name: 'Y', type: 'line', data: datum[1] }); seriesData.push({ name: 'Z', type: 'line', data: datum[2] }); @@ -844,12 +801,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case "Linear Link's CoM Acc": yAxisTitle = 'Acceleration ' + accLinUnit; - [datum, categories] = this.determineAnalysis( - analysis, - analysisType, - mechProp, - mechPart - ); + [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); seriesData.push({ name: 'X', type: 'line', data: datum[0] }); seriesData.push({ name: 'Y', type: 'line', data: datum[1] }); seriesData.push({ name: 'Z', type: 'line', data: datum[2] }); @@ -857,12 +809,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case 'Angular Link Pos': yAxisTitle = 'Position ' + posAngUnit; - [datum, categories] = this.determineAnalysis( - analysis, - analysisType, - mechProp, - mechPart - ); + [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); var series: number[] = datum[0]; if (this.settingsService.angleUnit.getValue() == AngleUnit.RADIAN) { for (let i = 0; i < series.length; i++) { @@ -876,12 +823,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case 'Angular Link Vel': yAxisTitle = 'Velocity ' + velAngUnit; - [datum, categories] = this.determineAnalysis( - analysis, - analysisType, - mechProp, - mechPart - ); + [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); var series: number[] = datum[0]; if (this.settingsService.angleUnit.getValue() == AngleUnit.DEGREE) { for (let i = 0; i < series.length; i++) { @@ -895,12 +837,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, break; case 'Angular Link Acc': yAxisTitle = 'Acceleration ' + accAngUnit; - [datum, categories] = this.determineAnalysis( - analysis, - analysisType, - mechProp, - mechPart - ); + [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); var series: number[] = datum[0]; if (this.settingsService.angleUnit.getValue() == AngleUnit.DEGREE) { for (let i = 0; i < series.length; i++) { diff --git a/src/app/component/context-menu/context-menu.component.ts b/src/app/component/context-menu/context-menu.component.ts index 15b9d818..f6330010 100644 --- a/src/app/component/context-menu/context-menu.component.ts +++ b/src/app/component/context-menu/context-menu.component.ts @@ -1,6 +1,5 @@ -import { Component, Inject, Input, ChangeDetectionStrategy } from '@angular/core'; +import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; import { animate, state, style, transition, trigger } from '@angular/animations'; -import { MechanismService } from '../../services/mechanism.service'; import { NewGridComponent } from '../new-grid/new-grid.component'; export class cMenuItem { @@ -61,11 +60,10 @@ export class ContextMenuComponent { @Input() menuItems: cMenuItem[] = []; private contextMenu!: HTMLElement; - constructor(private mechanismSrv: MechanismService) {} + constructor() {} ngAfterViewInit() { this.contextMenu = document.querySelector('#contextMenu') as HTMLElement; - console.log(this.contextMenu); setTimeout(() => { this.contextMenu.classList.add('show'); }, 1); diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index 40a2e849..a42ea076 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -1,6 +1,5 @@ import { AfterContentInit, - ChangeDetectorRef, Component, OnDestroy, OnInit, @@ -169,7 +168,6 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { protected settingsService: SettingsService, private fb: FormBuilder, private nup: NumberUnitParserService, - private cd: ChangeDetectorRef, public mechanismService: MechanismService, public gridUtils: GridUtilsService, private notify: NotificationService diff --git a/src/app/component/linkage-table/linkage-table.component.ts b/src/app/component/linkage-table/linkage-table.component.ts index 9646c718..e9e4d915 100644 --- a/src/app/component/linkage-table/linkage-table.component.ts +++ b/src/app/component/linkage-table/linkage-table.component.ts @@ -1,18 +1,9 @@ -import { - Component, - EventEmitter, - Input, - OnInit, - Output, - ChangeDetectionStrategy, -} from '@angular/core'; +import { Component, OnInit, ChangeDetectionStrategy } from '@angular/core'; import { Force } from '../../model/force'; -import { SliderBlock, Link, RealLink, Shape } from '../../model/link'; +import { SliderBlock, Link, RealLink } from '../../model/link'; import { Joint, PrisJoint, RealJoint, RevJoint } from '../../model/joint'; import { Coord } from '../../model/coord'; import { roundNumber } from '../../model/utils'; -import { Mechanism } from '../../model/mechanism/mechanism'; -import { InstantCenter } from '../../model/instant-center'; import { MechanismService } from '../../services/mechanism.service'; import { MODEL_SCALE } from '../../model/render-scale'; import { NOT_A } from '../../ui-text'; @@ -27,9 +18,6 @@ import { NotificationService } from '../../services/notification.service'; }) export class LinkageTableComponent implements OnInit { private static linkageTable: SVGElement; - private static jointButton: SVGElement; - private static linkButton: SVGElement; - private static forceButton: SVGElement; private static showLinkageTableButton: SVGElement; constructor( @@ -49,15 +37,6 @@ export class LinkageTableComponent implements OnInit { LinkageTableComponent.linkageTable = document.getElementById( 'linkageTable' ) as unknown as SVGElement; - LinkageTableComponent.jointButton = document.getElementById( - 'jointButton' - ) as unknown as SVGElement; - LinkageTableComponent.linkButton = document.getElementById( - 'linkButton' - ) as unknown as SVGElement; - LinkageTableComponent.forceButton = document.getElementById( - 'forceButton' - ) as unknown as SVGElement; LinkageTableComponent.showLinkageTableButton = document.getElementById( 'showTable' ) as unknown as SVGElement; diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 2c427f30..c0c1e4e9 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -1,6 +1,5 @@ import { SvgGridService } from '../../services/svg-grid.service'; import { - AfterViewInit, OnDestroy, Component, HostListener, @@ -8,7 +7,6 @@ import { ChangeDetectionStrategy, } from '@angular/core'; import { fromEvent } from 'rxjs'; -import { debounceTime } from 'rxjs/operators'; import { MechanismService } from '../../services/mechanism.service'; import { UrlProcessorService } from '../../services/url-processor.service'; import { GridUtilsService } from '../../services/grid-utils.service'; @@ -21,28 +19,20 @@ import { Coord } from '../../model/coord'; import { forceStates, gridStates, - is_touch_enabled, has_mouse_pointer, jointStates, - line_line_intersect, linkStates, local_storage_available, - isInside, getDistance, AngleUnit, radToDeg, - GlobalUnit, point_on_line_segment_closest_to_point, } from '../../model/utils'; import { Force } from '../../model/force'; -import { PositionSolver } from '../../model/mechanism/position-solver'; import { NotificationService } from '../../services/notification.service'; -import { animate, style, transition, trigger } from '@angular/animations'; -import { MatMenuTrigger } from '@angular/material/menu'; -import { CdkContextMenuTrigger, Menu } from '@angular/cdk/menu'; +import { CdkContextMenuTrigger } from '@angular/cdk/menu'; import { MatDialog } from '@angular/material/dialog'; import { TouchscreenWarningComponent } from '../MODALS/touchscreen-warning/touchscreen-warning.component'; -import * as util from 'util'; import { Line } from '../../model/line'; import { SaveHistoryService } from 'src/app/services/save-history.service'; import { SynthesisBuilderService } from 'src/app/services/synthesis/synthesis-builder.service'; @@ -534,11 +524,6 @@ export class NewGridComponent implements OnDestroy { ); break; } - // Its own machine: a path can be drawn for a joint whose linkage - // solves, whatever the state of any other linkage in the drawing. - let canTogglePath = - !(this.lastRightClick as RealJoint).ground && - this.mechanismSrv.isPartSimulatable(this.lastRightClick as RealJoint); this.cMenuItems.push( new cMenuItem( diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index 7270701f..9b21cfa3 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -15,7 +15,6 @@ import { ActiveObjService } from '../../services/active-obj.service'; import { SelectedTabService } from '../../selected-tab.service'; import { TimeUnit } from '../../model/utils'; import { Mechanism } from '../../model/mechanism/mechanism'; -import { RealJoint } from '../../model/joint'; import { MODEL_SCALE } from '../../model/render-scale'; /** How far the cluster floats above the status strip, matching its own CSS. */ @@ -93,7 +92,6 @@ export interface PlaybackRow { }) export class PlaybackBarComponent implements OnInit, AfterViewInit, OnDestroy { private positionSub?: Subscription; - private dragging = false; private wasAnimating = false; private wasRowAnimating = false; @@ -392,7 +390,6 @@ export class PlaybackBarComponent implements OnInit, AfterViewInit, OnDestroy { * everything to scrub one of them threw that away. */ onScrubDown(row?: PlaybackRow): void { - this.dragging = true; if (row && row.ownPlay && row.index >= 0) { this.wasRowAnimating = this.mechanism.isMechanismPlaying(row.index); if (this.wasRowAnimating) this.mechanism.toggleMechanismPlaying(row.index); @@ -403,7 +400,6 @@ export class PlaybackBarComponent implements OnInit, AfterViewInit, OnDestroy { } onScrubUp(row?: PlaybackRow): void { - this.dragging = false; if (row && row.ownPlay && row.index >= 0) { if (this.wasRowAnimating && !this.mechanism.isMechanismPlaying(row.index)) { this.mechanism.toggleMechanismPlaying(row.index); diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index b57e66f4..d00809d7 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -2,28 +2,15 @@ import { TabID } from '../../selected-tab.service'; import { Component, inject, ChangeDetectionStrategy, DoCheck } from '@angular/core'; import { animate, state, style, transition, trigger } from '@angular/animations'; import { NewGridComponent } from '../new-grid/new-grid.component'; -import { - gridStates, - jointStates, - linkStates, - forceStates, - shapeEditModes, - createModes, - moveModes, - roundNumber, - determineSlope, - determineYIntersect, - determineX, - determineY, -} from '../../model/utils'; +import { gridStates, jointStates, linkStates, forceStates } from '../../model/utils'; import { ActiveObjService } from '../../services/active-obj.service'; import { MechanismService } from '../../services/mechanism.service'; -import { Link, RealLink } from '../../model/link'; +import { RealLink } from '../../model/link'; import { AnalyticsService } from '../../services/analytics.service'; import { FormBuilder, FormControl, FormGroupDirective, NgForm, Validators } from '@angular/forms'; import { ErrorStateMatcher } from '@angular/material/core'; import { environment } from '../../../environments/environment'; -import emailjs, { EmailJSResponseStatus } from '@emailjs/browser'; +import emailjs from '@emailjs/browser'; import { SettingsService } from '../../services/settings.service'; import { Arc, Line } from '../../model/line'; import { Coord } from '../../model/coord'; diff --git a/src/app/component/settings-panel/settings-panel.component.ts b/src/app/component/settings-panel/settings-panel.component.ts index 517d9811..34bd4cd1 100644 --- a/src/app/component/settings-panel/settings-panel.component.ts +++ b/src/app/component/settings-panel/settings-panel.component.ts @@ -5,7 +5,6 @@ import { SettingsService, writeStoredFlag } from 'src/app/services/settings.serv import { LengthUnit, AngleUnit, ForceUnit, GlobalUnit } from 'src/app/model/utils'; import { FormBuilder, Validators } from '@angular/forms'; import { MechanismService } from '../../services/mechanism.service'; -import { Link, RealLink } from '../../model/link'; import { SvgGridService } from '../../services/svg-grid.service'; import { NumberUnitParserService } from '../../services/number-unit-parser.service'; import { Coord } from '../../model/coord'; diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.ts b/src/app/component/synthesis-panel/synthesis-panel.component.ts index 68c36338..26094747 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.ts +++ b/src/app/component/synthesis-panel/synthesis-panel.component.ts @@ -1,13 +1,9 @@ import { Component, OnInit, ChangeDetectionStrategy } from '@angular/core'; -import { FormBuilder, FormControl, FormGroup } from '@angular/forms'; -import { Pose } from '../../model/pose'; +import { FormBuilder } from '@angular/forms'; import { Coord } from '../../model/coord'; -import { Joint, RealJoint, RevJoint } from '../../model/joint'; -import { GridUtilsService } from '../../services/grid-utils.service'; +import { Joint, RevJoint } from '../../model/joint'; import { MechanismService } from '../../services/mechanism.service'; -import { MechanismBuilder } from '../../services/transcoding/mechanism-builder'; -import { Mechanism } from '../../model/mechanism/mechanism'; -import { Link, RealLink } from '../../model/link'; +import { RealLink } from '../../model/link'; import { SynthesisBuilderService } from 'src/app/services/synthesis/synthesis-builder.service'; import { NumberUnitParserService } from 'src/app/services/number-unit-parser.service'; import { SettingsService } from 'src/app/services/settings.service'; @@ -105,7 +101,7 @@ export class SynthesisPanelComponent implements OnInit { this._alreadyHandlingPoseChange = true; - let valid = this.synthesisBuilder.updatePosesFromForm(value); + this.synthesisBuilder.updatePosesFromForm(value); this.updateFormFromModel(); if (this.synthesisBuilder.isFullyDefined()) { @@ -355,7 +351,7 @@ export class SynthesisPanelComponent implements OnInit { //now check if there is 999 in the quality. Count 999 and say which position matches - let whichPositionMatches = this.checkQuality(quality); + this.checkQuality(quality); // 'Position Matches:' + // whichPositionMatches[0] + diff --git a/src/app/model/joint-marks.ts b/src/app/model/joint-marks.ts index 00bd7d75..5121f94b 100644 --- a/src/app/model/joint-marks.ts +++ b/src/app/model/joint-marks.ts @@ -709,11 +709,6 @@ export function straightArrowPaths( }); } -/** A filled triangular head, tip at (x, y), pointing along `angle`. */ -function arrowHead(r: number, x: number, y: number, angle: number): string { - return arrowHeadAt(x, y, angle, MARK.arrowHeadLength * r, MARK.arrowHeadHalf * r); -} - function arrowHeadAt(x: number, y: number, angle: number, back: number, half: number): string { const c = Math.cos(angle); const s = Math.sin(angle); @@ -721,10 +716,6 @@ function arrowHeadAt(x: number, y: number, angle: number, back: number, half: nu return `M ${at(0, 0)} L ${at(-back, -half)} L ${at(-back, half)} Z`; } -function angleOnCircle(radius: number, angle: number): { x: number; y: number } { - return { x: radius * Math.cos(angle), y: radius * Math.sin(angle) }; -} - function roundedRect(x: number, y: number, w: number, h: number, k: number): string { const c = Math.min(k, w / 2, h / 2); return ( diff --git a/src/app/model/joint.ts b/src/app/model/joint.ts index 0a64147e..8b16b8fd 100644 --- a/src/app/model/joint.ts +++ b/src/app/model/joint.ts @@ -1,10 +1,8 @@ -import { AppConstants } from './app-constants'; // Type-only: a runtime import here closes the joint -> link -> joint module // cycle, which breaks class initialization when a test entry point loads the // model modules in a different order than the app does. import type { Link } from './link'; import { Coord } from './coord'; -import { SettingsService } from '../services/settings.service'; export class Joint extends Coord { private _id: string; diff --git a/src/app/model/line.ts b/src/app/model/line.ts index 6e37d194..4f38591b 100644 --- a/src/app/model/line.ts +++ b/src/app/model/line.ts @@ -1,9 +1,7 @@ -import { Joint, RealJoint } from './joint'; +import { Joint } from './joint'; import { Coord } from './coord'; import { arc_arc_intersect, line_arc_intersect, line_line_intersect } from './utils'; import { RealLink } from './link'; -import { SettingsService } from '../services/settings.service'; -import { center } from 'svg-pan-zoom'; export class Line { startPosition: Coord; diff --git a/src/app/model/link.ts b/src/app/model/link.ts index 007789b4..31384567 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -1,6 +1,5 @@ import { Joint, PrisJoint, RealJoint } from './joint'; import { Coord } from './coord'; -import { AppConstants } from './app-constants'; import { Force } from './force'; import { degToRad, determineSlope, getAngle, getDistance, radToDeg } from './utils'; import hull from 'hull.js'; @@ -435,8 +434,6 @@ export class RealLink extends Link { } } - const splitPath = d.split(' '); - //Get the final joint const finalJoint = allJoints[jointIDtoIndex.get(desiredJointsIDs[j!])!]; let lastPos = this.externalLines[this.externalLines.length - 1].endPosition; diff --git a/src/app/model/mechanism/mechanism.ts b/src/app/model/mechanism/mechanism.ts index 01072659..ddf8afcd 100644 --- a/src/app/model/mechanism/mechanism.ts +++ b/src/app/model/mechanism/mechanism.ts @@ -1,5 +1,5 @@ import { Joint, PrisJoint, RealJoint, RevJoint } from '../joint'; -import { Link, SliderBlock, RealLink, Shape } from '../link'; +import { Link, SliderBlock, RealLink } from '../link'; import { assignBodies, WORLD } from './bodies'; import { Force } from '../force'; import { PositionSolver, PositionSolverDriveState, PRISMATIC_INPUT_STEP } from './position-solver'; diff --git a/src/app/model/mechanism/position-solver.ts b/src/app/model/mechanism/position-solver.ts index e2c60eb2..0aaa912c 100644 --- a/src/app/model/mechanism/position-solver.ts +++ b/src/app/model/mechanism/position-solver.ts @@ -10,7 +10,6 @@ import { import { Force } from '../force'; import { Coord } from '../coord'; import { assemblyBodyIds, SlideAssembly, slideAssemblies, slotOffset } from '../slide-assembly'; -import { core } from '@angular/compiler'; import { MODEL_SCALE } from '../render-scale'; import { Cylinder, diff --git a/src/app/model/utils.ts b/src/app/model/utils.ts index 799ac664..efef5560 100644 --- a/src/app/model/utils.ts +++ b/src/app/model/utils.ts @@ -1,14 +1,11 @@ -import { Joint, PrisJoint, RealJoint, RevJoint } from './joint'; +import { Joint } from './joint'; import { Coord } from './coord'; import { Shape } from './link'; -import { Pose } from './pose'; -import { NewGridComponent } from '../component/new-grid/new-grid.component'; export class Utils {} // radToDeg export * from './unit-enums'; -import { AngleUnit, ForceUnit, GlobalUnit, LengthUnit } from './unit-enums'; // The possible states the program could be in. export enum gridStates { @@ -1037,10 +1034,8 @@ export function splitSegments(polygon: any) { var num = toFloat(s); polygon = polygon.substring(end); if (polygon.length && polygon[0].toLowerCase() === 'e') { - var f = 1; var expEnd = 0; if (polygon.length > 1 && polygon[1] === '-') { - f = -1; expEnd = readCharSeq(2); } else { expEnd = readCharSeq(1); diff --git a/src/app/selected-tab.service.ts b/src/app/selected-tab.service.ts index c5465576..90d4e130 100644 --- a/src/app/selected-tab.service.ts +++ b/src/app/selected-tab.service.ts @@ -1,5 +1,4 @@ import { RightPanelComponent } from './component/right-panel/right-panel.component'; -import { T } from '@angular/cdk/keycodes'; import { Injectable } from '@angular/core'; import { BehaviorSubject } from 'rxjs'; import { MechanismService } from './services/mechanism.service'; diff --git a/src/app/services/active-obj.service.ts b/src/app/services/active-obj.service.ts index 850e2635..9697797d 100644 --- a/src/app/services/active-obj.service.ts +++ b/src/app/services/active-obj.service.ts @@ -27,7 +27,6 @@ export class ActiveObjService { * something that no longer exists. */ selectedMechanismIndex: number = -1; - private skipThisSeleciton: boolean = false; constructor() {} diff --git a/src/app/services/grid-utils.service.ts b/src/app/services/grid-utils.service.ts index 585a371f..e1a14316 100644 --- a/src/app/services/grid-utils.service.ts +++ b/src/app/services/grid-utils.service.ts @@ -1,17 +1,6 @@ import { Injectable, Injector } from '@angular/core'; import { Joint, PrisJoint, RealJoint, RevJoint } from '../model/joint'; -import { - gridStates, - jointStates, - linkStates, - forceStates, - shapeEditModes, - createModes, - moveModes, - roundNumber, - getDistance, - point_on_line_segment_closest_to_point, -} from '../model/utils'; +import { roundNumber, point_on_line_segment_closest_to_point } from '../model/utils'; import { Link, SliderBlock, RealLink } from '../model/link'; import { Cylinder, @@ -24,7 +13,6 @@ import { import { SettingsService } from './settings.service'; import { MechanismService } from './mechanism.service'; import { canDrive } from '../model/actuator'; -import { Mechanism } from '../model/mechanism/mechanism'; import { Coord } from '../model/coord'; import { PositionSolver } from '../model/mechanism/position-solver'; import { Force } from '../model/force'; diff --git a/src/app/services/mechanism.service.spec.ts b/src/app/services/mechanism.service.spec.ts index 001242ae..e3169a74 100644 --- a/src/app/services/mechanism.service.spec.ts +++ b/src/app/services/mechanism.service.spec.ts @@ -392,11 +392,7 @@ describe('MechanismService joint merging', () => { const scene = createOpenFourBar(); scene.service.mergeJoints(scene.e, scene.c); - const encoded = new UrlGenerationService( - scene.service, - scene.settings, - scene.active - ).generateUrlQuery(); + const encoded = new UrlGenerationService(scene.service, scene.settings).generateUrlQuery(); const decoder = new StringTranscoder(); decoder.decodeURL(encoded); const restored = { diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 1650377b..c56bf62d 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -7,9 +7,7 @@ import { cylinderCreationLayout, cylinderJoints, cylinderStrokeAlong, - cylinderOfJoint, cylinderOfJointIn, - cylinderOfLink, cylinderOfLinkIn, isCylinderInterior, normalizedCylinderPose, @@ -37,30 +35,23 @@ import { } from '../model/mechanism/readiness'; import { InstantCenter } from '../model/instant-center'; import { - gridStates, jointStates, - linkStates, - forceStates, - shapeEditModes, - createModes, - moveModes, roundNumber, LengthUnit, point_on_line_segment_closest_to_point, getDistance, distance_points, } from '../model/utils'; -import { BehaviorSubject, connect, Subject } from 'rxjs'; +import { BehaviorSubject, Subject } from 'rxjs'; import { GridUtilsService } from './grid-utils.service'; import { ActiveObjService } from './active-obj.service'; import { NewGridComponent } from '../component/new-grid/new-grid.component'; -import { canDrive, describeActuator } from '../model/actuator'; +import { describeActuator } from '../model/actuator'; import { NotificationService } from './notification.service'; import { SettingsService } from './settings.service'; import { slotHalfLength } from '../model/joint-marks'; import { DragStateService } from './drag-state.service'; import { Coord } from '../model/coord'; -import { Line } from '../model/line'; import { SelectedTabService } from '../selected-tab.service'; import { SaveHistoryService } from './save-history.service'; import { NumberUnitParserService } from './number-unit-parser.service'; @@ -590,7 +581,7 @@ export class MechanismService { if (!was || !(period > 0) || !(was.seconds > 0)) return; this.ownSeconds[index] = ((was.seconds % period) + period) % period; }); - this.applyPose(this.mechanismTimeStep, 0); + this.applyPose(); } /** @@ -2630,7 +2621,6 @@ export class MechanismService { this.activeObjService.selectedJoint.input = false; this.activeObjService.selectedJoint.ground = false; const prismaticJointId = this.determineNextLetter(); - const inputJointIndex = this.findInputJointIndex(); const connectedJoints: Joint[] = [this.activeObjService.selectedJoint]; // Born dangling on an ungrounded pin: a floating slot needs a carrier, // which is geometry the drop gesture supplies and no toggle can invent. @@ -2833,11 +2823,7 @@ export class MechanismService { return; } - // Samples are one degree of crank rotation apart, so at a low input speed a - // sample can span a tenth of a second and stepping between them reads as - // stutter. Blend toward the next sample by where playback actually sits - // between the two. - this.applyPose(progress, this.blendToNextSample(progress)); + this.applyPose(); if (!this.isPlaying) { this.playbackClockMs = null; @@ -2864,17 +2850,14 @@ export class MechanismService { * blended toward the next sample. These objects are what the grid renders — and * also what a rebuild treats as t = 0, so see restoreStartPose. */ - private applyPose(step: number, blend: number) { + private applyPose() { // This is the one place a solved sample becomes the drawn pose, so it is // where anything cached against the pose has to be let go of. this.poseRevision++; - // The step and blend arrive measured against the shared clock, which runs - // on the longest cycle in the drawing. Turn them into a time, and let each - // machine find that time among its own samples: a mechanism with a shorter - // cycle wraps inside the master one rather than running out. - const seconds = - this.timeAtStep(step) + blend * (this.timeAtStep(step + 1) - this.timeAtStep(step)); + // Each machine finds its own clock's time among its own samples, so a + // mechanism with a shorter cycle wraps inside the master one rather than + // running out (applyMechanismPose interpolates between samples by time). this.mechanisms.forEach((frames, index) => { this.applyMechanismPose(frames, this.partitions[index], this.ownSeconds[index] ?? 0); }); @@ -3119,27 +3102,6 @@ export class MechanismService { } } - /** - * How far playback sits past sample `step`, as a 0..1 fraction of the way to the - * next one. Zero for any seek and at the last sample, where there is nothing to - * blend toward. - */ - private blendToNextSample(step: number): number { - if (!this.advancingPlayback) { - return 0; - } - const times = this.sampleTimes(); - if (step + 1 >= times.length) { - return 0; - } - const span = times[step + 1] - times[step]; - if (!(span > 0)) { - return 0; - } - const fraction = (this.playbackTimeSeconds - times[step]) / span; - return Math.min(Math.max(fraction, 0), 1); - } - /** * Copy a solved link's outline onto the editable link. A path string cannot be * blended, so between samples the solved outline is rigidly re-placed onto the diff --git a/src/app/services/synthesis/synthesis-builder.service.ts b/src/app/services/synthesis/synthesis-builder.service.ts index d8fbe9b2..ee04cbc0 100644 --- a/src/app/services/synthesis/synthesis-builder.service.ts +++ b/src/app/services/synthesis/synthesis-builder.service.ts @@ -1,6 +1,5 @@ import { Injectable } from '@angular/core'; -import { FormBuilder } from '@angular/forms'; -import { BehaviorSubject, Subject } from 'rxjs'; +import { Subject } from 'rxjs'; import { COR, SynthesisPose } from './synthesis-util'; import { Coord } from 'src/app/model/coord'; import { SynthesisClickMode, SynthesisConstants } from './synthesis-constants'; diff --git a/src/app/services/synthesis/synthesis-constants.ts b/src/app/services/synthesis/synthesis-constants.ts index e9bce8fc..a59b491d 100644 --- a/src/app/services/synthesis/synthesis-constants.ts +++ b/src/app/services/synthesis/synthesis-constants.ts @@ -1,5 +1,3 @@ -import { SettingsService } from '../settings.service'; - export enum SynthesisStatus { DISABLED = 'DISABLED', INVALID = 'INVALID', diff --git a/src/app/services/transcoding/mechanism-builder.ts b/src/app/services/transcoding/mechanism-builder.ts index c2f4d177..0f97bd92 100644 --- a/src/app/services/transcoding/mechanism-builder.ts +++ b/src/app/services/transcoding/mechanism-builder.ts @@ -4,14 +4,7 @@ import { Link, SliderBlock, RealLink } from 'src/app/model/link'; import { Force } from 'src/app/model/force'; import { Coord } from 'src/app/model/coord'; import { GenericTranscoder } from './transcoder-interface'; -import { - ACTIVE_TYPE, - ForceData, - JOINT_TYPE, - JointData, - LINK_TYPE, - LinkData, -} from './transcoder-data'; +import { ForceData, JOINT_TYPE, JointData, LINK_TYPE, LinkData } from './transcoder-data'; import { SettingsService } from '../settings.service'; import { AngleUnit, ForceUnit, GlobalUnit, LengthUnit } from 'src/app/model/utils'; import { BoolSetting, DecimalSetting, EnumSetting, IntSetting } from './stored-settings'; diff --git a/src/app/services/transcoding/string-transcoder.ts b/src/app/services/transcoding/string-transcoder.ts index 04dfbb12..9743b0b6 100644 --- a/src/app/services/transcoding/string-transcoder.ts +++ b/src/app/services/transcoding/string-transcoder.ts @@ -316,17 +316,6 @@ export class StringTranscoder extends GenericTranscoder { ); } - private decodeLinkIDs(encodedString: string): Map { - const sd = new StringDisassembler(encodedString); - let map = new Map(); - while (!sd.isEmpty()) { - let oldID = sd.nextToken(); - let newID = sd.nextToken(); - map.set(oldID, newID); - } - return map; - } - /* URL encoding is defined as [Bool settings].[Decimal settings].[Int settings,].[Enum settings,].[custom link ids].[Joints.].[Links.].[Forces.] diff --git a/src/app/services/transcoding/url-drive-speed.spec.ts b/src/app/services/transcoding/url-drive-speed.spec.ts index 942e6066..e1594cd2 100644 --- a/src/app/services/transcoding/url-drive-speed.spec.ts +++ b/src/app/services/transcoding/url-drive-speed.spec.ts @@ -36,8 +36,7 @@ function source(driveSpeed = 0) { function encode(driveSpeed: number, settings = new SettingsService()): string { return new UrlGenerationService( { ...source(driveSpeed), mechanismTimeStep: 0 } as unknown as MechanismService, - settings, - new ActiveObjService() + settings ).generateUrlQuery(); } diff --git a/src/app/services/transcoding/url-floating-slot.spec.ts b/src/app/services/transcoding/url-floating-slot.spec.ts index 82894133..1164dda4 100644 --- a/src/app/services/transcoding/url-floating-slot.spec.ts +++ b/src/app/services/transcoding/url-floating-slot.spec.ts @@ -61,8 +61,7 @@ function invertedSliderCrank() { function encode(source: { joints: unknown; links: unknown; forces: unknown }): string { return new UrlGenerationService( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, - new SettingsService(), - new ActiveObjService() + new SettingsService() ).generateUrlQuery(); } diff --git a/src/app/services/transcoding/url-linear-speed.spec.ts b/src/app/services/transcoding/url-linear-speed.spec.ts index 502c3338..b25e966b 100644 --- a/src/app/services/transcoding/url-linear-speed.spec.ts +++ b/src/app/services/transcoding/url-linear-speed.spec.ts @@ -31,8 +31,7 @@ function source() { function encodeWith(settings: SettingsService): string { return new UrlGenerationService( { ...source(), mechanismTimeStep: 0 } as unknown as MechanismService, - settings, - new ActiveObjService() + settings ).generateUrlQuery(); } diff --git a/src/app/services/transcoding/url-sealed-cylinder.spec.ts b/src/app/services/transcoding/url-sealed-cylinder.spec.ts index 9059186a..71336b76 100644 --- a/src/app/services/transcoding/url-sealed-cylinder.spec.ts +++ b/src/app/services/transcoding/url-sealed-cylinder.spec.ts @@ -93,8 +93,7 @@ function sealedSource(options: { sealed?: boolean; angle?: number } = {}) { function encode(source: ReturnType): string { return new UrlGenerationService( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, - new SettingsService(), - new ActiveObjService() + new SettingsService() ).generateUrlQuery(); } diff --git a/src/app/services/transcoding/url-weld-force.spec.ts b/src/app/services/transcoding/url-weld-force.spec.ts index 7b445080..70334997 100644 --- a/src/app/services/transcoding/url-weld-force.spec.ts +++ b/src/app/services/transcoding/url-weld-force.spec.ts @@ -71,7 +71,7 @@ describe('welded force URL compatibility', () => { settings.globalUnit.next(GlobalUnit.SI); const active = new ActiveObjService(); active.updateSelectedObj(source.force); - const encoded = new UrlGenerationService(sourceService, settings, active).generateUrlQuery(); + const encoded = new UrlGenerationService(sourceService, settings).generateUrlQuery(); const decoder = new StringTranscoder(); decoder.decodeURL(encoded); @@ -109,8 +109,7 @@ describe('welded force URL compatibility', () => { const active = new ActiveObjService(); const encoded = new UrlGenerationService( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, - settings, - active + settings ).generateUrlQuery(); const raw = encoded.slice(0, -1).replace('F1,ABC,', 'F1,AB,'); const decoder = new StringTranscoder(); @@ -127,8 +126,7 @@ describe('welded force URL compatibility', () => { const source = weldedSource(); const encoded = new UrlGenerationService( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, - new SettingsService(), - new ActiveObjService() + new SettingsService() ).generateUrlQuery(); let raw = encoded.slice(0, -1); raw = raw.slice(0, raw.lastIndexOf('.')); @@ -151,8 +149,7 @@ describe('welded force URL compatibility', () => { const source = weldedSource(); const encoded = new UrlGenerationService( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, - new SettingsService(), - new ActiveObjService() + new SettingsService() ).generateUrlQuery(); const sections = encoded.slice(0, -1).split('.'); expect(sections[3]).toHaveLength(4); @@ -171,8 +168,7 @@ describe('welded force URL compatibility', () => { const source = weldedSource(); const encoded = new UrlGenerationService( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, - new SettingsService(), - new ActiveObjService() + new SettingsService() ).generateUrlQuery(); const sections = encoded.slice(0, -1).split('.'); sections[3] = '1002'; // centimeter, degrees, lbf, SI diff --git a/src/app/services/url-generation.service.ts b/src/app/services/url-generation.service.ts index 42c8c8aa..26d72381 100644 --- a/src/app/services/url-generation.service.ts +++ b/src/app/services/url-generation.service.ts @@ -21,7 +21,6 @@ import { ACTIVE_TYPE, } from './transcoding/transcoder-data'; import { SettingsService } from './settings.service'; -import { ActiveObjService } from './active-obj.service'; import { MODEL_SCALE } from '../model/render-scale'; /* @@ -40,8 +39,7 @@ import { MODEL_SCALE } from '../model/render-scale'; export class UrlGenerationService { constructor( private mechanism: MechanismService, - private settings: SettingsService, - private activeObj: ActiveObjService + private settings: SettingsService ) {} _addJointToEncoder(encoder: StringTranscoder, joint: Joint) { diff --git a/src/app/services/url-processor.service.ts b/src/app/services/url-processor.service.ts index a3ae6458..3a038ae1 100644 --- a/src/app/services/url-processor.service.ts +++ b/src/app/services/url-processor.service.ts @@ -1,9 +1,4 @@ import { Injectable, Injector } from '@angular/core'; -import { stringToBoolean, stringToFloat, stringToShape } from '../model/utils'; -import { Joint, PrisJoint, RealJoint, RevJoint } from '../model/joint'; -import { Bound, Link, SliderBlock, RealLink } from '../model/link'; -import { Coord } from '../model/coord'; -import { Force } from '../model/force'; import { MechanismService } from './mechanism.service'; import { StringTranscoder } from './transcoding/string-transcoder'; import { SettingsService } from './settings.service'; diff --git a/src/test-utils/verification/fixture-gallery.ts b/src/test-utils/verification/fixture-gallery.ts index 8f176b41..fe9a6b3e 100644 --- a/src/test-utils/verification/fixture-gallery.ts +++ b/src/test-utils/verification/fixture-gallery.ts @@ -479,8 +479,7 @@ export function fixturePayload( forces: built.forces, mechanismTimeStep: 0, } as unknown as MechanismService, - settings, - new ActiveObjService() + settings ).generateUrlQuery(); } finally { ColorService.instance = previousColors; diff --git a/src/tests/verification/dangling-slider.spec.ts b/src/tests/verification/dangling-slider.spec.ts index 08e2bd05..e08987ca 100644 --- a/src/tests/verification/dangling-slider.spec.ts +++ b/src/tests/verification/dangling-slider.spec.ts @@ -144,11 +144,7 @@ describe('a dangling slider through the URL', () => { const first = buildMechanismFixture(fixturePayload(invertedSliderCrankFixture())); sliderIn(first.service.joints, 'P').detach(); - const payload = new UrlGenerationService( - first.service, - first.settings, - new ActiveObjService() - ).generateUrlQuery(); + const payload = new UrlGenerationService(first.service, first.settings).generateUrlQuery(); const restored = sliderIn(buildMechanismFixture(payload).service.joints, 'P'); expect(restored.isDangling, 'still dangling after a round trip').toBe(true); @@ -163,11 +159,7 @@ describe('a dangling slider through the URL', () => { slider.groundAt(angle); slider.detach(); - const payload = new UrlGenerationService( - first.service, - first.settings, - new ActiveObjService() - ).generateUrlQuery(); + const payload = new UrlGenerationService(first.service, first.settings).generateUrlQuery(); const restored = sliderIn(buildMechanismFixture(payload).service.joints, 'P'); restored.groundAt(restored.slotAngle); diff --git a/src/tests/verification/fixture-gallery.spec.ts b/src/tests/verification/fixture-gallery.spec.ts index 99950a47..2cfbde6e 100644 --- a/src/tests/verification/fixture-gallery.spec.ts +++ b/src/tests/verification/fixture-gallery.spec.ts @@ -39,11 +39,7 @@ function rebuild(payload: string): MechanismService { } function encode(mechanism: MechanismService): string { - return new UrlGenerationService( - mechanism, - new SettingsService(), - new ActiveObjService() - ).generateUrlQuery(); + return new UrlGenerationService(mechanism, new SettingsService()).generateUrlQuery(); } /** diff --git a/src/tests/verification/mark-states-round-trip.spec.ts b/src/tests/verification/mark-states-round-trip.spec.ts index c118b907..56fbd1fe 100644 --- a/src/tests/verification/mark-states-round-trip.spec.ts +++ b/src/tests/verification/mark-states-round-trip.spec.ts @@ -90,8 +90,7 @@ function readState(joints: unknown[]): MarkState { function roundTrip(harness: ReturnType): MarkState { const payload = new UrlGenerationService( harness.service, - new SettingsService(), - new ActiveObjService() + new SettingsService() ).generateUrlQuery(); const decoder = new StringTranscoder(); diff --git a/src/tests/verification/slide-serialization.spec.ts b/src/tests/verification/slide-serialization.spec.ts index 809d7341..e9705934 100644 --- a/src/tests/verification/slide-serialization.spec.ts +++ b/src/tests/verification/slide-serialization.spec.ts @@ -73,8 +73,7 @@ describe('every cell of the 2x2', () => { const reencoded = new UrlGenerationService( rebuilt.service, - rebuilt.settings, - new ActiveObjService() + rebuilt.settings ).generateUrlQuery(); expect(mechanismSection(reencoded), `${cell.name}`).toBe(mechanismSection(first)); } From e24699406dd04e503095b826e515a9f8a03b74db Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 01:40:14 -0400 Subject: [PATCH 083/236] Migrate constructor injection to inject() MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The official inject-migration schematic across src/app, plus the test infrastructure it implied: services now resolve their dependencies by token, so the mechanism harness became a real Injector.create() with every provider listed explicitly — a missing one fails loudly at get(), which is the failure mode its old hand-rolled stub was built to imitate. The five spec-local copies of that harness now delegate to the shared one, and URL-encoding specs go through a urlGeneratorFor() helper that builds the injection context they can no longer fake positionally. The deliberate cycle-breakers survive as inject(Injector) + lazy get() in MechanismService, SaveHistoryService and UrlProcessorService, and NewGridComponent keeps its unread UrlProcessorService injection — that constructor is what decodes the URL on startup. Co-Authored-By: Claude Opus 5 --- src/app/app.component.spec.ts | 34 ++-------- src/app/app.component.ts | 10 +-- .../BLOCKS/button/button.component.ts | 4 +- .../color-picker/color-picker.component.ts | 13 +++- .../editable-title.component.ts | 14 ++-- .../MODALS/templates/templates.component.ts | 18 ++--- .../touchscreen-warning.component.ts | 4 +- .../analysis-graph-section.component.ts | 11 ++-- .../analysis-apex-chart.component.ts | 9 ++- .../analysis-graph.component.spec.ts | 16 +++-- .../analysis-graph.component.ts | 15 ++--- .../analysis-panel.component.ts | 16 ++--- .../analysis-setup.component.ts | 12 ++-- .../bottombar/bottombar.component.ts | 14 ++-- .../edit-panel/edit-panel.component.ts | 19 +++--- .../left-tabs/left-tabs.component.ts | 4 +- .../linkage-table/linkage-table.component.ts | 10 ++- .../mechanism-panel.component.ts | 14 ++-- .../component/new-grid/new-grid.component.ts | 37 +++++------ .../notification/notification.component.ts | 4 +- .../playback-bar/playback-bar.component.ts | 17 +++-- .../right-panel/right-panel.component.ts | 18 +++-- .../settings-panel.component.ts | 18 +++-- .../synthesis-panel.component.ts | 20 +++--- .../component/top-bar/top-bar.component.ts | 24 ++++--- .../view-controls/view-controls.component.ts | 11 ++-- src/app/focus-on-show.directive.ts | 8 ++- src/app/model/mechanism/drive-profile.spec.ts | 25 +------ src/app/selected-tab.service.ts | 14 ++-- .../services/analysis-export.service.spec.ts | 19 ++++-- src/app/services/analysis-export.service.ts | 14 ++-- .../services/analysis-sample.service.spec.ts | 12 +++- src/app/services/analysis-sample.service.ts | 6 +- src/app/services/grid-utils.service.spec.ts | 24 +------ src/app/services/grid-utils.service.ts | 10 ++- src/app/services/mechanism.service.spec.ts | 34 ++-------- src/app/services/mechanism.service.ts | 18 +++-- src/app/services/save-history.service.spec.ts | 13 ++-- src/app/services/save-history.service.ts | 10 ++- src/app/services/svg-grid.service.ts | 14 ++-- .../synthesis/synthesis-builder.service.ts | 10 +-- .../transcoding/url-drive-speed.spec.ts | 4 +- .../transcoding/url-floating-slot.spec.ts | 4 +- .../transcoding/url-linear-speed.spec.ts | 4 +- .../transcoding/url-sealed-cylinder.spec.ts | 4 +- .../transcoding/url-weld-force.spec.ts | 12 ++-- src/app/services/url-generation.service.ts | 8 +-- src/app/services/url-processor.service.ts | 16 ++--- src/test-utils/mechanism-harness.ts | 66 ++++++++++++------- src/test-utils/url-encoding.ts | 32 +++++++++ .../verification/fixture-gallery.ts | 4 +- src/tests/verification/assembly-mode.spec.ts | 21 +----- .../verification/dangling-slider.spec.ts | 6 +- .../verification/fixture-gallery.spec.ts | 4 +- .../mark-states-round-trip.spec.ts | 7 +- .../verification/slide-serialization.spec.ts | 7 +- .../verification/time-based-playback.spec.ts | 23 +------ 57 files changed, 378 insertions(+), 461 deletions(-) create mode 100644 src/test-utils/url-encoding.ts diff --git a/src/app/app.component.spec.ts b/src/app/app.component.spec.ts index 4901c750..380f1201 100644 --- a/src/app/app.component.spec.ts +++ b/src/app/app.component.spec.ts @@ -1,4 +1,5 @@ import { Injector } from '@angular/core'; +import { createMechanismHarness } from '../test-utils/mechanism-harness'; import { Joint } from './model/joint'; import { Link } from './model/link'; import { Force } from './model/force'; @@ -25,36 +26,9 @@ describe('SixbarService', () => { const forces: Force[] = []; const ics: InstantCenter[] = []; const mechanisms: Mechanism[] = []; - // ColorService registers itself as a static singleton that createRealLink depends on. - new ColorService(); - const settingsService: SettingsService = new SettingsService(); - const nup: NumberUnitParserService = new NumberUnitParserService(); - const svgGridService: SvgGridService = new SvgGridService( - settingsService, - new DragStateService(), - {} as unknown as Injector, - silentNotifications() - ); - const synthesisBuilder: SynthesisBuilderService = new SynthesisBuilderService( - nup, - settingsService - ); - // GridUtilsService resolves MechanismService at call time, so it has to be - // handed an injector that reads the binding below rather than a finished one. - let mechanismSrv!: MechanismService; - const gridUtilService: GridUtilsService = new GridUtilsService(synthesisBuilder, svgGridService, { - get: () => mechanismSrv, - } as unknown as Injector); - const activeObjService: ActiveObjService = new ActiveObjService(); - // The injector is only consulted when saving undo history, which these solver tests never do. - mechanismSrv = new MechanismService( - gridUtilService, - activeObjService, - Injector.create({ providers: [] }), - settingsService, - nup, - silentNotifications() - ); + const harness = createMechanismHarness(); + const mechanismSrv = harness.service; + const gridUtilService = harness.injector.get(GridUtilsService); // Link AB const JointA = mechanismSrv.createRevJoint('-3.74', '-2.41'); diff --git a/src/app/app.component.ts b/src/app/app.component.ts index 19b5c7d0..91cc1b0e 100644 --- a/src/app/app.component.ts +++ b/src/app/app.component.ts @@ -1,4 +1,4 @@ -import { Component, ChangeDetectionStrategy } from '@angular/core'; +import { Component, ChangeDetectionStrategy, inject } from '@angular/core'; import { MatIconRegistry } from '@angular/material/icon'; import { DomSanitizer } from '@angular/platform-browser'; @@ -13,10 +13,10 @@ import { DomSanitizer } from '@angular/platform-browser'; standalone: false, }) export class AppComponent { - constructor( - private matIconRegistry: MatIconRegistry, - private domSanitizer: DomSanitizer - ) { + private matIconRegistry = inject(MatIconRegistry); + private domSanitizer = inject(DomSanitizer); + + constructor() { this.matIconRegistry.addSvgIcon( 'com', this.domSanitizer.bypassSecurityTrustResourceUrl('assets/icons/com.svg') diff --git a/src/app/component/BLOCKS/button/button.component.ts b/src/app/component/BLOCKS/button/button.component.ts index 35f0bda9..b3bad616 100644 --- a/src/app/component/BLOCKS/button/button.component.ts +++ b/src/app/component/BLOCKS/button/button.component.ts @@ -1,4 +1,4 @@ -import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; +import { Component, Input, ChangeDetectionStrategy, inject } from '@angular/core'; import { ActiveObjService } from 'src/app/services/active-obj.service'; @Component({ @@ -9,7 +9,7 @@ import { ActiveObjService } from 'src/app/services/active-obj.service'; standalone: false, }) export class ButtonComponent { - constructor(public activeSrv: ActiveObjService) {} + activeSrv = inject(ActiveObjService); @Input() icon: string | undefined; @Input() click!: () => void; diff --git a/src/app/component/BLOCKS/color-picker/color-picker.component.ts b/src/app/component/BLOCKS/color-picker/color-picker.component.ts index 39a737e7..eafc9091 100644 --- a/src/app/component/BLOCKS/color-picker/color-picker.component.ts +++ b/src/app/component/BLOCKS/color-picker/color-picker.component.ts @@ -1,4 +1,11 @@ -import { Component, Input, OnChanges, OnInit, ChangeDetectionStrategy } from '@angular/core'; +import { + Component, + Input, + OnChanges, + OnInit, + ChangeDetectionStrategy, + inject, +} from '@angular/core'; import { ColorService } from '../../../services/color.service'; import { RealLink } from '../../../model/link'; import { RealJoint } from '../../../model/joint'; @@ -12,14 +19,14 @@ import { Force } from '../../../model/force'; standalone: false, }) export class ColorPickerComponent implements OnInit, OnChanges { + colorService = inject(ColorService); + @Input() link: RealLink | undefined; @Input() joint: RealJoint | undefined; @Input() force: Force | undefined; @Input() tooltip: string | undefined; @Input() type: string | undefined; - constructor(public colorService: ColorService) {} - ngOnChanges(): void { if (this.link) { this.selectColor(this.colorService.getIndexFromLinkColor(this.link.fill)); diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.ts b/src/app/component/BLOCKS/editable-title/editable-title.component.ts index c0f5ba00..21c18d9b 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.ts +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.ts @@ -1,4 +1,4 @@ -import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; +import { Component, Input, ChangeDetectionStrategy, inject } from '@angular/core'; import { FormBuilder } from '@angular/forms'; import { ActiveObjService } from 'src/app/services/active-obj.service'; import { MechanismService } from 'src/app/services/mechanism.service'; @@ -12,6 +12,11 @@ import { NotificationService } from '../../../services/notification.service'; standalone: false, }) export class EditableTitleComponent { + private fb = inject(FormBuilder); + activeObjService = inject(ActiveObjService); + private mechanismService = inject(MechanismService); + private notify = inject(NotificationService); + @Input() showActionButtons: boolean = false; /** Shown instead of the object's own name — a cylinder displays its mounts. */ @Input() displayName?: string; @@ -19,13 +24,6 @@ export class EditableTitleComponent { editMode = false; - constructor( - private fb: FormBuilder, - public activeObjService: ActiveObjService, - private mechanismService: MechanismService, - private notify: NotificationService - ) {} - newIDForm = this.fb.group({ newID: [''] }); gotoEditMode() { diff --git a/src/app/component/MODALS/templates/templates.component.ts b/src/app/component/MODALS/templates/templates.component.ts index a22ce56d..a86d30bd 100644 --- a/src/app/component/MODALS/templates/templates.component.ts +++ b/src/app/component/MODALS/templates/templates.component.ts @@ -2,9 +2,9 @@ import { Component, ChangeDetectionStrategy, isDevMode, - Optional, TemplateRef, ViewChild, + inject, } from '@angular/core'; import { MatDialog, MatDialogRef } from '@angular/material/dialog'; import { MechanismService } from 'src/app/services/mechanism.service'; @@ -20,17 +20,17 @@ import { TemplateID, TEMPLATE_LINKAGES } from './template-linkages'; standalone: false, }) export class TemplatesComponent { + private dialogRef = inject | null>( + MatDialogRef, + { optional: true } + ); + private dialog = inject(MatDialog); + private mechanismSrv = inject(MechanismService); + private urlProcessor = inject(UrlProcessorService); + /** Asks whether to replace the linkage already on the grid or open a new tab. */ @ViewChild('openChoiceDialog') openChoiceDialog!: TemplateRef; - constructor( - // Optional so the component can also render outside a dialog (tests do). - @Optional() private dialogRef: MatDialogRef | null, - private dialog: MatDialog, - private mechanismSrv: MechanismService, - private urlProcessor: UrlProcessorService - ) {} - /** Only a development build offers the drawings that exercise the app. */ isDevMode(): boolean { return isDevMode(); diff --git a/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts b/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts index 57c23463..0ead877a 100644 --- a/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts +++ b/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts @@ -1,4 +1,4 @@ -import { Component, ChangeDetectionStrategy } from '@angular/core'; +import { Component, ChangeDetectionStrategy, inject } from '@angular/core'; import { MatDialogRef } from '@angular/material/dialog'; @Component({ @@ -9,7 +9,7 @@ import { MatDialogRef } from '@angular/material/dialog'; standalone: false, }) export class TouchscreenWarningComponent { - constructor(public dialogRef: MatDialogRef) {} + dialogRef = inject>(MatDialogRef); onNoClick(): void { this.dialogRef.close(); diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts index 686e4aef..db9bcce2 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts @@ -5,6 +5,7 @@ import { Input, Output, ViewChild, + inject, } from '@angular/core'; import { animate, AUTO_STYLE, state, style, transition, trigger } from '@angular/animations'; import { @@ -52,6 +53,10 @@ export interface SeriesPreview { standalone: false, }) export class AnalysisGraphSectionComponent { + private mechanismService = inject(MechanismService); + private settings = inject(SettingsService); + private samples = inject(AnalysisSampleService); + @Input() label = ''; @Input() help = ''; @Input() analysis = ''; @@ -63,12 +68,6 @@ export class AnalysisGraphSectionComponent { @Output() expandedChange = new EventEmitter(); @ViewChild('graph') graph?: AnalysisGraphComponent; - constructor( - private mechanismService: MechanismService, - private settings: SettingsService, - private samples: AnalysisSampleService - ) {} - /** * What this quantity reads at the pose on screen. * diff --git a/src/app/component/analysis-graph/analysis-apex-chart.component.ts b/src/app/component/analysis-graph/analysis-apex-chart.component.ts index 4a2a3148..90108f7f 100644 --- a/src/app/component/analysis-graph/analysis-apex-chart.component.ts +++ b/src/app/component/analysis-graph/analysis-apex-chart.component.ts @@ -10,6 +10,7 @@ import { OnDestroy, SimpleChanges, ViewChild, + inject, } from '@angular/core'; import ApexCharts, { ApexAnnotations, @@ -50,6 +51,9 @@ declare global { standalone: false, }) export class AnalysisApexChartComponent implements OnChanges, AfterViewInit, OnDestroy { + private zone = inject(NgZone); + private changeDetector = inject(ChangeDetectorRef); + @Input() annotations?: ApexAnnotations; @Input() chart?: ApexChart; @Input() colors?: string[]; @@ -72,11 +76,6 @@ export class AnalysisApexChartComponent implements OnChanges, AfterViewInit, OnD private destroyed = false; private updateGeneration = 0; - constructor( - private zone: NgZone, - private changeDetector: ChangeDetectorRef - ) {} - ngOnChanges(_changes: SimpleChanges): void { this.scheduleUpdate(); } diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index e1d05dab..8e8ac842 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -32,6 +32,7 @@ import { AnalysisGraphComponent, formatTimeLabel, } from './analysis-graph.component'; +import { withTestInjector } from '../../../test-utils/mechanism-harness'; @Component({ selector: 'app-analysis-apex-chart', @@ -78,12 +79,15 @@ const PRODUCTION_FIXTURES = [ ]; function createComponent(fixture: MechanismFixture): AnalysisGraphComponent { - return new AnalysisGraphComponent( - new FormBuilder(), - fixture.service, - fixture.settings, - new NumberUnitParserService(), - new AnalysisSampleService(fixture.settings) + return withTestInjector( + [ + { provide: FormBuilder, deps: [] }, + { provide: MechanismService, useValue: fixture.service }, + { provide: SettingsService, useValue: fixture.settings }, + { provide: NumberUnitParserService, deps: [] }, + { provide: AnalysisSampleService, deps: [] }, + ], + () => new AnalysisGraphComponent() ); } diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index bec97f35..4e766f83 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -10,6 +10,7 @@ import { SimpleChanges, ViewChild, ChangeDetectionStrategy, + inject, } from '@angular/core'; import { ApexAnnotations, @@ -157,6 +158,12 @@ export function defaultSeriesSelection(count: number, analysis: string): SeriesS standalone: false, }) export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, OnChanges { + private fb = inject(FormBuilder); + private mechanismService = inject(MechanismService); + settingsService = inject(SettingsService); + private nup = inject(NumberUnitParserService); + private samples = inject(AnalysisSampleService); + public chartOptions: Partial = { annotations: { xaxis: [], @@ -358,14 +365,6 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, private chartSyncTimer?: ReturnType; private destroyed = false; - constructor( - private fb: FormBuilder, - private mechanismService: MechanismService, - public settingsService: SettingsService, - private nup: NumberUnitParserService, - private samples: AnalysisSampleService - ) {} - seriesCheckboxForm = this.fb.group( { x: [false], diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index 924158e5..a46f8dd7 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -1,5 +1,5 @@ import { SelectedTabService, TabID } from '../../selected-tab.service'; -import { ChangeDetectionStrategy, Component } from '@angular/core'; +import { ChangeDetectionStrategy, Component, inject } from '@angular/core'; import { ForceAnalysisMode, ForceReactionIndex } from 'src/app/model/mechanism/force-solver'; import { Mechanism } from 'src/app/model/mechanism/mechanism'; import { PrisJoint, RealJoint } from 'src/app/model/joint'; @@ -27,6 +27,12 @@ export interface ForceAnalysisRow { standalone: false, }) export class AnalysisPanelComponent { + activeSrv = inject(ActiveObjService); + private fb = inject(FormBuilder); + mechanismService = inject(MechanismService); + settingsService = inject(SettingsService); + private tabs = inject(SelectedTabService); + /** * Which half of the analysis this mode is asking for. * @@ -148,13 +154,7 @@ export class AnalysisPanelComponent { return unit === LengthUnit.INCH ? 'in/s' : unit === LengthUnit.METER ? 'm/s' : 'cm/s'; } - constructor( - public activeSrv: ActiveObjService, - private fb: FormBuilder, - public mechanismService: MechanismService, - public settingsService: SettingsService, - private tabs: SelectedTabService - ) { + constructor() { this.forceAnalysisFormGroup.patchValue( { mode: this.settingsService.forceAnalysisMode.value === 'dynamic' ? '1' : '0' }, { emitEvent: false } diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index 8f02400e..cce25b6b 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -1,4 +1,4 @@ -import { ChangeDetectionStrategy, Component, Input } from '@angular/core'; +import { ChangeDetectionStrategy, Component, Input, inject } from '@angular/core'; import { Joint, RealJoint } from '../../model/joint'; import { Link, RealLink } from '../../model/link'; import { MechanismService } from '../../services/mechanism.service'; @@ -27,6 +27,10 @@ import { MechanismReadiness, ReadinessCheck } from '../../model/mechanism/readin standalone: false, }) export class AnalysisSetupComponent { + mechanism = inject(MechanismService); + activeObj = inject(ActiveObjService); + private tabs = inject(SelectedTabService); + /** * Which question this drawer is answering. * @@ -41,12 +45,6 @@ export class AnalysisSetupComponent { unassignedOpen = false; forceOpen = true; - constructor( - public mechanism: MechanismService, - public activeObj: ActiveObjService, - private tabs: SelectedTabService - ) {} - get readiness(): MechanismReadiness[] { return this.mechanism.readinessOfEachMechanism(); } diff --git a/src/app/component/bottombar/bottombar.component.ts b/src/app/component/bottombar/bottombar.component.ts index 68d4b2c4..4f720f2c 100644 --- a/src/app/component/bottombar/bottombar.component.ts +++ b/src/app/component/bottombar/bottombar.component.ts @@ -1,7 +1,7 @@ import { SvgGridService } from '../../services/svg-grid.service'; import { NumberUnitParserService } from '../../services/number-unit-parser.service'; import { MODEL_SCALE } from '../../model/render-scale'; -import { Component, ChangeDetectionStrategy } from '@angular/core'; +import { Component, ChangeDetectionStrategy, inject } from '@angular/core'; import { AngleUnit, GlobalUnit } from '../../model/utils'; import { SettingsService } from '../../services/settings.service'; import { MechanismService } from '../../services/mechanism.service'; @@ -16,13 +16,11 @@ import { SelectedTabService, TabID } from '../../selected-tab.service'; standalone: false, }) export class BottombarComponent { - constructor( - public settings: SettingsService, - public mechanismSrv: MechanismService, - private tabs: SelectedTabService, - private svgGrid: SvgGridService, - private nup: NumberUnitParserService - ) {} + settings = inject(SettingsService); + mechanismSrv = inject(MechanismService); + private tabs = inject(SelectedTabService); + private svgGrid = inject(SvgGridService); + private nup = inject(NumberUnitParserService); /** * Which mode the app is in, spelled the way the tabs spell it. diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index a42ea076..5a59d7b9 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -4,6 +4,7 @@ import { OnDestroy, OnInit, ChangeDetectionStrategy, + inject, } from '@angular/core'; import { ActiveObjService } from 'src/app/services/active-obj.service'; import { PrisJoint, RealJoint, RevJoint } from 'src/app/model/joint'; @@ -54,6 +55,14 @@ const INPUT_SPEED_UNITS = [ standalone: false, }) export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { + activeSrv = inject(ActiveObjService); + protected settingsService = inject(SettingsService); + private fb = inject(FormBuilder); + private nup = inject(NumberUnitParserService); + mechanismService = inject(MechanismService); + gridUtils = inject(GridUtilsService); + private notify = inject(NotificationService); + listOfOtherJoints: RealJoint[] = []; private currentlyOpenJointID: string = ''; @@ -163,15 +172,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { this.patchInputSpeedField(); } - constructor( - public activeSrv: ActiveObjService, - protected settingsService: SettingsService, - private fb: FormBuilder, - private nup: NumberUnitParserService, - public mechanismService: MechanismService, - public gridUtils: GridUtilsService, - private notify: NotificationService - ) { + constructor() { //Set the instance to this EditPanelComponent.instance = this; } diff --git a/src/app/component/left-tabs/left-tabs.component.ts b/src/app/component/left-tabs/left-tabs.component.ts index 36457ef5..cf4ea2f5 100644 --- a/src/app/component/left-tabs/left-tabs.component.ts +++ b/src/app/component/left-tabs/left-tabs.component.ts @@ -1,5 +1,5 @@ import { RightPanelComponent } from '../right-panel/right-panel.component'; -import { Component, ChangeDetectionStrategy } from '@angular/core'; +import { Component, ChangeDetectionStrategy, inject } from '@angular/core'; import { animate, state, style, transition, trigger } from '@angular/animations'; import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; @@ -51,7 +51,7 @@ import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; * is why it is still a component rather than a bare @if in the shell. */ export class LeftTabsComponent { - constructor(public tabs: SelectedTabService) {} + tabs = inject(SelectedTabService); public get TabID(): typeof TabID { return TabID; diff --git a/src/app/component/linkage-table/linkage-table.component.ts b/src/app/component/linkage-table/linkage-table.component.ts index e9e4d915..652c49f0 100644 --- a/src/app/component/linkage-table/linkage-table.component.ts +++ b/src/app/component/linkage-table/linkage-table.component.ts @@ -1,4 +1,4 @@ -import { Component, OnInit, ChangeDetectionStrategy } from '@angular/core'; +import { Component, OnInit, ChangeDetectionStrategy, inject } from '@angular/core'; import { Force } from '../../model/force'; import { SliderBlock, Link, RealLink } from '../../model/link'; import { Joint, PrisJoint, RealJoint, RevJoint } from '../../model/joint'; @@ -17,14 +17,12 @@ import { NotificationService } from '../../services/notification.service'; standalone: false, }) export class LinkageTableComponent implements OnInit { + private mechanismService = inject(MechanismService); + private notify = inject(NotificationService); + private static linkageTable: SVGElement; private static showLinkageTableButton: SVGElement; - constructor( - private mechanismService: MechanismService, - private notify: NotificationService - ) {} - // The table's cells speak the user's units; the model is MODEL_SCALE times // larger (render-scale.ts), so every length converts at this boundary. toUserUnits(modelValue: number): number { diff --git a/src/app/component/mechanism-panel/mechanism-panel.component.ts b/src/app/component/mechanism-panel/mechanism-panel.component.ts index 7633e1c5..da510573 100644 --- a/src/app/component/mechanism-panel/mechanism-panel.component.ts +++ b/src/app/component/mechanism-panel/mechanism-panel.component.ts @@ -1,7 +1,7 @@ import { SettingsService } from '../../services/settings.service'; import { NumberUnitParserService } from '../../services/number-unit-parser.service'; import { MODEL_SCALE } from '../../model/render-scale'; -import { ChangeDetectionStrategy, Component, Input } from '@angular/core'; +import { ChangeDetectionStrategy, Component, Input, inject } from '@angular/core'; import { RealJoint } from '../../model/joint'; import { RealLink } from '../../model/link'; import { MechanismService } from '../../services/mechanism.service'; @@ -32,19 +32,17 @@ interface LinkRow { standalone: false, }) export class MechanismPanelComponent { + mechanism = inject(MechanismService); + activeObj = inject(ActiveObjService); + private settings = inject(SettingsService); + private nup = inject(NumberUnitParserService); + /** Edit offers to rename and delete; analysis only reports. */ @Input() editable = false; overviewOpen = true; linksOpen = true; - constructor( - public mechanism: MechanismService, - public activeObj: ActiveObjService, - private settings: SettingsService, - private nup: NumberUnitParserService - ) {} - get index(): number { return this.activeObj.selectedMechanismIndex; } diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index c0c1e4e9..2a5caee3 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -5,6 +5,7 @@ import { HostListener, ViewChild, ChangeDetectionStrategy, + inject, } from '@angular/core'; import { fromEvent } from 'rxjs'; import { MechanismService } from '../../services/mechanism.service'; @@ -115,6 +116,22 @@ import introJs from 'intro.js'; standalone: false, }) export class NewGridComponent implements OnDestroy { + svgGrid = inject(SvgGridService); + mechanismSrv = inject(MechanismService); + private urlParser = inject(UrlProcessorService); + gridUtils = inject(GridUtilsService); + settings = inject(SettingsService); + activeObjService = inject(ActiveObjService); + private tabService = inject(SelectedTabService); + synthesisBuilder = inject(SynthesisBuilderService); + notify = inject(NotificationService); + dialog = inject(MatDialog); + saveHistoryService = inject(SaveHistoryService); + private colorService = inject(ColorService); + nup = inject(NumberUnitParserService); + dragState = inject(DragStateService); + sliderMarks = inject(SliderMarkService); + public static debugValue: any; static debugPoints: Coord[] = []; public static debugLines: Line[] = []; @@ -122,25 +139,7 @@ export class NewGridComponent implements OnDestroy { public originInScreen: Coord = new Coord(0, 0); private timeMouseDown: number = 0; - constructor( - public svgGrid: SvgGridService, - public mechanismSrv: MechanismService, - private urlParser: UrlProcessorService, - public gridUtils: GridUtilsService, - public settings: SettingsService, - public activeObjService: ActiveObjService, - private tabService: SelectedTabService, - public synthesisBuilder: SynthesisBuilderService, - // Public because `cMenuItem` is a plain class with no injector and reaches - // the canvas for its guards, exactly as it already does for the mechanism. - public notify: NotificationService, - public dialog: MatDialog, - public saveHistoryService: SaveHistoryService, - private colorService: ColorService, - public nup: NumberUnitParserService, - public dragState: DragStateService, - public sliderMarks: SliderMarkService - ) { + constructor() { //This is for debug purposes, do not make anything else static! NewGridComponent.instance = this; } diff --git a/src/app/component/notification/notification.component.ts b/src/app/component/notification/notification.component.ts index 6a733352..05391678 100644 --- a/src/app/component/notification/notification.component.ts +++ b/src/app/component/notification/notification.component.ts @@ -1,4 +1,4 @@ -import { ChangeDetectionStrategy, Component } from '@angular/core'; +import { ChangeDetectionStrategy, Component, inject } from '@angular/core'; import { animate, style, transition, trigger } from '@angular/animations'; import { LiveNotification, @@ -51,7 +51,7 @@ const ICONS: Record = { standalone: false, }) export class NotificationComponent { - constructor(public notifications: NotificationService) {} + notifications = inject(NotificationService); iconFor(one: LiveNotification): string { return ICONS[one.kind]; diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index 9b21cfa3..2d1b4a27 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -5,6 +5,7 @@ import { ElementRef, OnDestroy, OnInit, + inject, } from '@angular/core'; import { animate, style, transition, trigger } from '@angular/animations'; import { Subscription } from 'rxjs'; @@ -91,19 +92,17 @@ export interface PlaybackRow { standalone: false, }) export class PlaybackBarComponent implements OnInit, AfterViewInit, OnDestroy { + mechanism = inject(MechanismService); + settings = inject(SettingsService); + activeObj = inject(ActiveObjService); + tabs = inject(SelectedTabService); + private nup = inject(NumberUnitParserService); + private host = inject>(ElementRef); + private positionSub?: Subscription; private wasAnimating = false; private wasRowAnimating = false; - constructor( - public mechanism: MechanismService, - public settings: SettingsService, - public activeObj: ActiveObjService, - public tabs: SelectedTabService, - private nup: NumberUnitParserService, - private host: ElementRef - ) {} - ngOnInit(): void { // The rows are rebuilt from the service on every change detection, and the // pose moving is what has to trigger one. diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index d00809d7..f5d2812f 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -58,6 +58,14 @@ import { NotificationService } from '../../services/notification.service'; standalone: false, }) export class RightPanelComponent implements DoCheck { + activeObjService = inject(ActiveObjService); + mechanismService = inject(MechanismService); + settingsService = inject(SettingsService); + svgService = inject(SvgGridService); + urlGenerationService = inject(UrlGenerationService); + private fb = inject(FormBuilder); + private notify = inject(NotificationService); + private analytics: AnalyticsService = inject(AnalyticsService); public sendingEmail: boolean = false; @@ -91,16 +99,6 @@ export class RightPanelComponent implements DoCheck { this.settingsService.isGridDebugOn = !this.settingsService.isGridDebugOn; } - constructor( - public activeObjService: ActiveObjService, - public mechanismService: MechanismService, - public settingsService: SettingsService, - public svgService: SvgGridService, - public urlGenerationService: UrlGenerationService, - private fb: FormBuilder, - private notify: NotificationService - ) {} - /** * Bumped when a drawer is asked for that is already showing. * diff --git a/src/app/component/settings-panel/settings-panel.component.ts b/src/app/component/settings-panel/settings-panel.component.ts index 34bd4cd1..780292c8 100644 --- a/src/app/component/settings-panel/settings-panel.component.ts +++ b/src/app/component/settings-panel/settings-panel.component.ts @@ -1,6 +1,6 @@ import { SelectedTabService, TabID } from '../../selected-tab.service'; import { environment } from '../../../environments/environment'; -import { Component, ChangeDetectionStrategy, OnDestroy } from '@angular/core'; +import { Component, ChangeDetectionStrategy, OnDestroy, inject } from '@angular/core'; import { SettingsService, writeStoredFlag } from 'src/app/services/settings.service'; import { LengthUnit, AngleUnit, ForceUnit, GlobalUnit } from 'src/app/model/utils'; import { FormBuilder, Validators } from '@angular/forms'; @@ -19,16 +19,14 @@ import { MODEL_SCALE } from '../../model/render-scale'; standalone: false, }) export class SettingsPanelComponent implements OnDestroy { - readonly appVersion = environment.appVersion; + settingsService = inject(SettingsService); + private fb = inject(FormBuilder); + mechanismSrv = inject(MechanismService); + private svgGrid = inject(SvgGridService); + private nup = inject(NumberUnitParserService); + private tabs = inject(SelectedTabService); - constructor( - public settingsService: SettingsService, - private fb: FormBuilder, - public mechanismSrv: MechanismService, - private svgGrid: SvgGridService, - private nup: NumberUnitParserService, - private tabs: SelectedTabService - ) {} + readonly appVersion = environment.appVersion; currentLengthUnit!: LengthUnit; currentForceUnit!: ForceUnit; diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.ts b/src/app/component/synthesis-panel/synthesis-panel.component.ts index 26094747..d297728f 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.ts +++ b/src/app/component/synthesis-panel/synthesis-panel.component.ts @@ -1,4 +1,4 @@ -import { Component, OnInit, ChangeDetectionStrategy } from '@angular/core'; +import { Component, OnInit, ChangeDetectionStrategy, inject } from '@angular/core'; import { FormBuilder } from '@angular/forms'; import { Coord } from '../../model/coord'; import { Joint, RevJoint } from '../../model/joint'; @@ -19,20 +19,18 @@ import { ColorService } from '../../services/color.service'; standalone: false, }) export class SynthesisPanelComponent implements OnInit { + private fb = inject(FormBuilder); + mechanismSrv = inject(MechanismService); + synthesisBuilder = inject(SynthesisBuilderService); + private nup = inject(NumberUnitParserService); + private settings = inject(SettingsService); + svgGrid = inject(SvgGridService); + private colorService = inject(ColorService); + PoseID: any; private _alreadyHandlingPoseChange: boolean = false; - constructor( - private fb: FormBuilder, - public mechanismSrv: MechanismService, - public synthesisBuilder: SynthesisBuilderService, - private nup: NumberUnitParserService, - private settings: SettingsService, - public svgGrid: SvgGridService, - private colorService: ColorService - ) {} - ngOnInit() { //Set initial values //(The default values are based on the image Pradeep provided but they can be easily changed below) diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts index b1e16ab1..e5cd773b 100644 --- a/src/app/component/top-bar/top-bar.component.ts +++ b/src/app/component/top-bar/top-bar.component.ts @@ -83,6 +83,17 @@ interface TabStatus { standalone: false, }) export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestroy { + tabs = inject(SelectedTabService); + mechanism = inject(MechanismService); + private history = inject(SaveHistoryService); + private urlGeneration = inject(UrlGenerationService); + private urlProcessor = inject(UrlProcessorService); + private dialog = inject(MatDialog); + private zone = inject(NgZone); + private changes = inject(ChangeDetectorRef); + private exports = inject(AnalysisExportService); + private notify = inject(NotificationService); + TabID = TabID; menuOpen = false; @@ -111,19 +122,6 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr */ private lastFit = ''; - constructor( - public tabs: SelectedTabService, - public mechanism: MechanismService, - private history: SaveHistoryService, - private urlGeneration: UrlGenerationService, - private urlProcessor: UrlProcessorService, - private dialog: MatDialog, - private zone: NgZone, - private changes: ChangeDetectorRef, - private exports: AnalysisExportService, - private notify: NotificationService - ) {} - isDevMode(): boolean { return isDevMode(); } diff --git a/src/app/component/view-controls/view-controls.component.ts b/src/app/component/view-controls/view-controls.component.ts index a8c6df46..9dc4ba70 100644 --- a/src/app/component/view-controls/view-controls.component.ts +++ b/src/app/component/view-controls/view-controls.component.ts @@ -4,6 +4,7 @@ import { Component, ElementRef, OnDestroy, + inject, } from '@angular/core'; import { MechanismService } from '../../services/mechanism.service'; import { SettingsService, writeStoredFlag } from '../../services/settings.service'; @@ -21,12 +22,10 @@ import { SvgGridService } from '../../services/svg-grid.service'; standalone: false, }) export class ViewControlsComponent implements AfterViewInit, OnDestroy { - constructor( - public svgGrid: SvgGridService, - public mechanismService: MechanismService, - public settingsService: SettingsService, - private host: ElementRef - ) {} + svgGrid = inject(SvgGridService); + mechanismService = inject(MechanismService); + settingsService = inject(SettingsService); + private host = inject>(ElementRef); /** * Publish how wide this card is, for the drawer that stands over it. diff --git a/src/app/focus-on-show.directive.ts b/src/app/focus-on-show.directive.ts index 75a14062..2444ae6d 100644 --- a/src/app/focus-on-show.directive.ts +++ b/src/app/focus-on-show.directive.ts @@ -1,11 +1,15 @@ -import { Directive, ElementRef, OnInit } from '@angular/core'; +import { Directive, ElementRef, OnInit, inject } from '@angular/core'; @Directive({ selector: '[appPrefixFocusAndSelect]', standalone: false, }) export class FocusOnShowDirective implements OnInit { - constructor(private el: ElementRef) { + private el = inject(ElementRef); + + constructor() { + const el = this.el; + if (!el.nativeElement['focus']) { throw new Error('Element does not accept focus.'); } diff --git a/src/app/model/mechanism/drive-profile.spec.ts b/src/app/model/mechanism/drive-profile.spec.ts index 98e6e7d5..b2c87e6d 100644 --- a/src/app/model/mechanism/drive-profile.spec.ts +++ b/src/app/model/mechanism/drive-profile.spec.ts @@ -1,4 +1,5 @@ import { Injector } from '@angular/core'; +import { createMechanismHarness } from '../../../test-utils/mechanism-harness'; import { DriveProfile, driveProfileOf, fractionalSampleAlong, sampleAlong } from './drive-profile'; import { ActiveObjService } from '../../services/active-obj.service'; import { ColorService } from '../../services/color.service'; @@ -16,29 +17,7 @@ import { silentNotifications } from '../../../test-utils/notification-stub'; /** The solved first mechanism of a template, and what its input does. */ function profileOf(template: TemplateID): DriveProfile { - if (!ColorService.instance) new ColorService(); - const settings = new SettingsService(); - const parser = new NumberUnitParserService(); - let service!: MechanismService; - const grid = new GridUtilsService( - new SynthesisBuilderService(parser, settings), - new SvgGridService( - settings, - new DragStateService(), - {} as unknown as Injector, - silentNotifications() - ), - { get: () => service } as unknown as Injector - ); - const active = new ActiveObjService(); - service = new MechanismService( - grid, - active, - { get: () => ({ save: () => undefined }) } as unknown as Injector, - settings, - parser, - silentNotifications() - ); + const { service, settings, active } = createMechanismHarness(); const decoder = new StringTranscoder(); decoder.decodeURL(TEMPLATE_LINKAGES[template]); diff --git a/src/app/selected-tab.service.ts b/src/app/selected-tab.service.ts index 90d4e130..7a502edf 100644 --- a/src/app/selected-tab.service.ts +++ b/src/app/selected-tab.service.ts @@ -1,5 +1,5 @@ import { RightPanelComponent } from './component/right-panel/right-panel.component'; -import { Injectable } from '@angular/core'; +import { Injectable, inject } from '@angular/core'; import { BehaviorSubject } from 'rxjs'; import { MechanismService } from './services/mechanism.service'; import { SynthesisBuilderService } from './services/synthesis/synthesis-builder.service'; @@ -19,15 +19,15 @@ export enum TabID { providedIn: 'root', }) export class SelectedTabService { + private synthesis = inject(SynthesisBuilderService); + private mechanism = inject(MechanismService); + private activeObjService = inject(ActiveObjService); + private settings = inject(SettingsService); + private _tabNum: BehaviorSubject; private _tabVisible: BehaviorSubject; - constructor( - private synthesis: SynthesisBuilderService, - private mechanism: MechanismService, - private activeObjService: ActiveObjService, - private settings: SettingsService - ) { + constructor() { this._tabNum = new BehaviorSubject(TabID.EDIT); this._tabVisible = new BehaviorSubject(true); } diff --git a/src/app/services/analysis-export.service.spec.ts b/src/app/services/analysis-export.service.spec.ts index 72c2c996..5f4d1629 100644 --- a/src/app/services/analysis-export.service.spec.ts +++ b/src/app/services/analysis-export.service.spec.ts @@ -5,6 +5,10 @@ import { AnalysisExportService } from './analysis-export.service'; import { AnalysisSampleService } from './analysis-sample.service'; import { buildMechanismFixture, MechanismFixture } from '../../tests/fixtures/mechanism-fixtures'; import { TEMPLATE_LINKAGES } from '../component/MODALS/templates/template-linkages'; +import { ActiveObjService } from './active-obj.service'; +import { MechanismService } from './mechanism.service'; +import { SettingsService } from './settings.service'; +import { withTestInjector } from '../../test-utils/mechanism-harness'; /** The tab service, reduced to the one question the exporter asks of it. */ function tabsOn(tab: TabID): SelectedTabService { @@ -15,12 +19,15 @@ function tabsOn(tab: TabID): SelectedTabService { } function exporterFor(fixture: MechanismFixture, tab: TabID): AnalysisExportService { - return new AnalysisExportService( - fixture.service, - fixture.active, - fixture.settings, - new AnalysisSampleService(fixture.settings), - tabsOn(tab) + return withTestInjector( + [ + { provide: MechanismService, useValue: fixture.service }, + { provide: ActiveObjService, useValue: fixture.active }, + { provide: SettingsService, useValue: fixture.settings }, + { provide: AnalysisSampleService, deps: [] }, + { provide: SelectedTabService, useValue: tabsOn(tab) }, + ], + () => new AnalysisExportService() ); } diff --git a/src/app/services/analysis-export.service.ts b/src/app/services/analysis-export.service.ts index bd3dbef9..2348a2a3 100644 --- a/src/app/services/analysis-export.service.ts +++ b/src/app/services/analysis-export.service.ts @@ -1,4 +1,4 @@ -import { Injectable } from '@angular/core'; +import { Injectable, inject } from '@angular/core'; import { Joint, PrisJoint, RealJoint } from '../model/joint'; import { Link } from '../model/link'; import { Mechanism } from '../model/mechanism/mechanism'; @@ -30,13 +30,11 @@ interface Quantity { */ @Injectable({ providedIn: 'root' }) export class AnalysisExportService { - constructor( - private mechanismService: MechanismService, - private activeObj: ActiveObjService, - private settings: SettingsService, - private samples: AnalysisSampleService, - private tabs: SelectedTabService - ) {} + private mechanismService = inject(MechanismService); + private activeObj = inject(ActiveObjService); + private settings = inject(SettingsService); + private samples = inject(AnalysisSampleService); + private tabs = inject(SelectedTabService); /** Whether there is a selection with solved numbers behind it. */ canExport(): boolean { diff --git a/src/app/services/analysis-sample.service.spec.ts b/src/app/services/analysis-sample.service.spec.ts index 7fd4639d..9af71448 100644 --- a/src/app/services/analysis-sample.service.spec.ts +++ b/src/app/services/analysis-sample.service.spec.ts @@ -3,6 +3,8 @@ import { MODEL_SCALE } from '../model/render-scale'; import { TEMPLATE_LINKAGES } from '../component/MODALS/templates/template-linkages'; import { buildMechanismFixture, MechanismFixture } from '../../tests/fixtures/mechanism-fixtures'; import { AnalysisSampleService } from './analysis-sample.service'; +import { SettingsService } from './settings.service'; +import { withTestInjector } from '../../test-utils/mechanism-harness'; /** * The numbers here are the ones the graphs plotted before this arithmetic moved @@ -33,7 +35,10 @@ describe('AnalysisSampleService', () => { describe('a four-bar driven at its crank', () => { beforeEach(() => { fixture = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); - service = new AnalysisSampleService(fixture.settings); + service = withTestInjector( + [{ provide: SettingsService, useValue: fixture.settings }], + () => new AnalysisSampleService() + ); }); /** The crank A→B at the pose given, in internal model units. */ @@ -136,7 +141,10 @@ describe('AnalysisSampleService', () => { describe('a cylinder-driven boom', () => { beforeEach(() => { fixture = buildMechanismFixture(TEMPLATE_LINKAGES['Cylinder_Boom']); - service = new AnalysisSampleService(fixture.settings); + service = withTestInjector( + [{ provide: SettingsService, useValue: fixture.settings }], + () => new AnalysisSampleService() + ); }); it('plots the boom rising, and the piston angle as a gap rather than a number', () => { diff --git a/src/app/services/analysis-sample.service.ts b/src/app/services/analysis-sample.service.ts index 5ffa637d..4d2d7ffa 100644 --- a/src/app/services/analysis-sample.service.ts +++ b/src/app/services/analysis-sample.service.ts @@ -1,4 +1,4 @@ -import { Injectable } from '@angular/core'; +import { Injectable, inject } from '@angular/core'; import { ForceAnalysisMode } from '../model/mechanism/force-solver'; import { KinematicsSolver } from '../model/mechanism/kinematic-solver'; import { Mechanism } from '../model/mechanism/mechanism'; @@ -19,6 +19,8 @@ import { SettingsService } from './settings.service'; */ @Injectable({ providedIn: 'root' }) export class AnalysisSampleService { + private settingsService = inject(SettingsService); + /** * The mechanism the solver's static state was last prepared for. * @@ -30,8 +32,6 @@ export class AnalysisSampleService { */ private preparedFor: Mechanism | undefined; - constructor(private settingsService: SettingsService) {} - /** * The values a graph plots, for one solved sample. * diff --git a/src/app/services/grid-utils.service.spec.ts b/src/app/services/grid-utils.service.spec.ts index 840b5ce2..7aae78a9 100644 --- a/src/app/services/grid-utils.service.spec.ts +++ b/src/app/services/grid-utils.service.spec.ts @@ -1,4 +1,5 @@ import '../model/joint'; +import { createMechanismHarness } from '../../test-utils/mechanism-harness'; import { Injector } from '@angular/core'; import { Coord } from '../model/coord'; import { Force } from '../model/force'; @@ -16,27 +17,8 @@ import { SynthesisBuilderService } from './synthesis/synthesis-builder.service'; import { silentNotifications } from '../../test-utils/notification-stub'; function createHarness() { - if (!ColorService.instance) new ColorService(); - const settings = new SettingsService(); - const parser = new NumberUnitParserService(); - // GridUtilsService resolves MechanismService at call time, so it has to be - // handed an injector that reads the binding below rather than a finished one. - let service!: MechanismService; - const grid = new GridUtilsService( - new SynthesisBuilderService(parser, settings), - new SvgGridService( - settings, - new DragStateService(), - {} as unknown as Injector, - silentNotifications() - ), - { get: () => service } as unknown as Injector - ); - const active = new ActiveObjService(); - let saves = 0; - const injector = { get: () => ({ save: () => saves++ }) } as unknown as Injector; - service = new MechanismService(grid, active, injector, settings, parser, silentNotifications()); - return { service, grid, active, settings, saveCount: () => saves }; + const harness = createMechanismHarness(); + return { ...harness, grid: harness.injector.get(GridUtilsService) }; } function wire(id: string, joints: RevJoint[]): RealLink { diff --git a/src/app/services/grid-utils.service.ts b/src/app/services/grid-utils.service.ts index e1a14316..13b75e9c 100644 --- a/src/app/services/grid-utils.service.ts +++ b/src/app/services/grid-utils.service.ts @@ -1,4 +1,4 @@ -import { Injectable, Injector } from '@angular/core'; +import { Injectable, Injector, inject } from '@angular/core'; import { Joint, PrisJoint, RealJoint, RevJoint } from '../model/joint'; import { roundNumber, point_on_line_segment_closest_to_point } from '../model/utils'; import { Link, SliderBlock, RealLink } from '../model/link'; @@ -62,11 +62,9 @@ function pointThroughFrame( providedIn: 'root', }) export class GridUtilsService { - constructor( - private synthesisBuilder: SynthesisBuilderService, - public svgGrid: SvgGridService, - private injector: Injector - ) {} + private synthesisBuilder = inject(SynthesisBuilderService); + svgGrid = inject(SvgGridService); + private injector = inject(Injector); /** * MechanismService injects this service, so it can only be resolved at call diff --git a/src/app/services/mechanism.service.spec.ts b/src/app/services/mechanism.service.spec.ts index e3169a74..bf2b82ab 100644 --- a/src/app/services/mechanism.service.spec.ts +++ b/src/app/services/mechanism.service.spec.ts @@ -1,5 +1,5 @@ import '../model/joint'; -import { Injector } from '@angular/core'; +import { NotificationService } from './notification.service'; import { Coord } from '../model/coord'; import { Force } from '../model/force'; import { SliderBlock, RealLink } from '../model/link'; @@ -11,15 +11,12 @@ import { GridUtilsService } from './grid-utils.service'; import { MechanismService } from './mechanism.service'; import { NumberUnitParserService } from './number-unit-parser.service'; import { SettingsService } from './settings.service'; -import { SvgGridService } from './svg-grid.service'; -import { DragStateService } from './drag-state.service'; import { UrlGenerationService } from './url-generation.service'; import { MechanismBuilder } from './transcoding/mechanism-builder'; import { StringTranscoder } from './transcoding/string-transcoder'; -import { SynthesisBuilderService } from './synthesis/synthesis-builder.service'; import { NewGridComponent } from '../component/new-grid/new-grid.component'; -import { NotificationService } from './notification.service'; -import { silentNotifications } from '../../test-utils/notification-stub'; +import { createMechanismHarness } from '../../test-utils/mechanism-harness'; +import { encodeUrlOf } from '../../test-utils/url-encoding'; interface Harness { service: MechanismService; @@ -30,27 +27,8 @@ interface Harness { } function createHarness(): Harness { - if (!ColorService.instance) new ColorService(); - const settings = new SettingsService(); - const parser = new NumberUnitParserService(); - const svg = new SvgGridService( - settings, - new DragStateService(), - {} as unknown as Injector, - silentNotifications() - ); - const synthesis = new SynthesisBuilderService(parser, settings); - // GridUtilsService resolves MechanismService at call time, so it has to be - // handed an injector that reads the binding below rather than a finished one. - let service!: MechanismService; - const grid = new GridUtilsService(synthesis, svg, { - get: () => service, - } as unknown as Injector); - const active = new ActiveObjService(); - let saves = 0; - const injector = { get: () => ({ save: () => saves++ }) } as unknown as Injector; - service = new MechanismService(grid, active, injector, settings, parser, silentNotifications()); - return { service, active, settings, grid, saveCount: () => saves }; + const harness = createMechanismHarness(); + return { ...harness, grid: harness.injector.get(GridUtilsService) }; } function createChain(jointCount = 3) { @@ -392,7 +370,7 @@ describe('MechanismService joint merging', () => { const scene = createOpenFourBar(); scene.service.mergeJoints(scene.e, scene.c); - const encoded = new UrlGenerationService(scene.service, scene.settings).generateUrlQuery(); + const encoded = encodeUrlOf(scene.service, scene.settings); const decoder = new StringTranscoder(); decoder.decodeURL(encoded); const restored = { diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index c56bf62d..9adf5e7b 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -1,4 +1,4 @@ -import { Injectable, Injector } from '@angular/core'; +import { Injectable, Injector, inject } from '@angular/core'; import { Joint, PrisJoint, RealJoint, RevJoint } from '../model/joint'; import { Link, SliderBlock, RealLink } from '../model/link'; import { isSlideCandidate, slideAssemblyAt } from '../model/slide-assembly'; @@ -83,6 +83,13 @@ function blendAngle(from: number, to: number, blend: number): number { providedIn: 'root', }) export class MechanismService { + gridUtils = inject(GridUtilsService); + activeObjService = inject(ActiveObjService); + private injector = inject(Injector); + private settingsService = inject(SettingsService); + private nup = inject(NumberUnitParserService); + private notify = inject(NotificationService); + public mechanismTimeStep: number = 0; /** * Is the animation running? @@ -167,15 +174,6 @@ export class MechanismService { /** Set while one row is being seeked, so the seek does not spread. */ private seekingOneMechanism = false; - constructor( - public gridUtils: GridUtilsService, - public activeObjService: ActiveObjService, - private injector: Injector, - private settingsService: SettingsService, - private nup: NumberUnitParserService, - private notify: NotificationService - ) {} - /** * Recompute every link outline after the object scale changed. * diff --git a/src/app/services/save-history.service.spec.ts b/src/app/services/save-history.service.spec.ts index df18e978..79b0ab8f 100644 --- a/src/app/services/save-history.service.spec.ts +++ b/src/app/services/save-history.service.spec.ts @@ -1,5 +1,5 @@ -import { Injector } from '@angular/core'; import { SaveHistoryService } from './save-history.service'; +import { withTestInjector } from '../../test-utils/mechanism-harness'; import { UrlGenerationService } from './url-generation.service'; import { UrlProcessorService } from './url-processor.service'; @@ -13,10 +13,13 @@ describe('SaveHistoryService', () => { const processor = { updateFromURL: (...args: unknown[]) => restores.push(args), } as unknown as UrlProcessorService; - const injector = { - get: () => processor, - } as unknown as Injector; - const history = new SaveHistoryService(generator, injector); + const history = withTestInjector( + [ + { provide: UrlGenerationService, useValue: generator }, + { provide: UrlProcessorService, useValue: processor }, + ], + () => new SaveHistoryService() + ); history.save(); history.save(); diff --git a/src/app/services/save-history.service.ts b/src/app/services/save-history.service.ts index 4ef736f7..3170eb9a 100644 --- a/src/app/services/save-history.service.ts +++ b/src/app/services/save-history.service.ts @@ -1,4 +1,4 @@ -import { Injectable, Injector } from '@angular/core'; +import { Injectable, Injector, inject } from '@angular/core'; import { UrlGenerationService } from './url-generation.service'; import { UrlProcessorService } from './url-processor.service'; @@ -12,16 +12,14 @@ import { UrlProcessorService } from './url-processor.service'; providedIn: 'root', }) export class SaveHistoryService { + private urlGenerationService = inject(UrlGenerationService); + private injector = inject(Injector); + private history: string[] = []; // index of the current state in the history private index: number = -1; - constructor( - private urlGenerationService: UrlGenerationService, - private injector: Injector - ) {} - /* * Add a new state to the history. * If the current state is not the last state in the history, diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index 3c170c3f..fea427c9 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -1,4 +1,4 @@ -import { afterNextRender, Injectable, Injector } from '@angular/core'; +import { afterNextRender, Injectable, Injector, inject } from '@angular/core'; // TS 6 no longer allows calling/constructing `import * as` namespaces of // CommonJS (export =) modules - use default imports for these two. import svgPanZoom from 'svg-pan-zoom'; @@ -33,6 +33,11 @@ const LENGTH_IN_CM: Record = { providedIn: 'root', }) export class SvgGridService { + private settingsService = inject(SettingsService); + private dragState = inject(DragStateService); + private injector = inject(Injector); + private notify = inject(NotificationService); + /** * Where the cursor last was, in model units. * @@ -65,13 +70,6 @@ export class SvgGridService { private MAX_ZOOM: number = 16.5; private MIN_ZOOM: number = 0.0002; - constructor( - private settingsService: SettingsService, - private dragState: DragStateService, - private injector: Injector, - private notify: NotificationService - ) {} - setNewElement(root: HTMLElement) { var eventsHandler; const dragState = this.dragState; diff --git a/src/app/services/synthesis/synthesis-builder.service.ts b/src/app/services/synthesis/synthesis-builder.service.ts index ee04cbc0..0c5c8504 100644 --- a/src/app/services/synthesis/synthesis-builder.service.ts +++ b/src/app/services/synthesis/synthesis-builder.service.ts @@ -1,4 +1,4 @@ -import { Injectable } from '@angular/core'; +import { Injectable, inject } from '@angular/core'; import { Subject } from 'rxjs'; import { COR, SynthesisPose } from './synthesis-util'; import { Coord } from 'src/app/model/coord'; @@ -16,6 +16,9 @@ into fourbars. Relevant to the Synthesis tab of the app. providedIn: 'root', }) export class SynthesisBuilderService { + private nup = inject(NumberUnitParserService); + private settings = inject(SettingsService); + public valueChanges: Subject; public constants: SynthesisConstants; @@ -41,10 +44,7 @@ export class SynthesisBuilderService { poses: { [key: number]: SynthesisPose }; // a dictionary of poses, but including each pose is optional - constructor( - private nup: NumberUnitParserService, - private settings: SettingsService - ) { + constructor() { this.valueChanges = new Subject(); this.constants = new SynthesisConstants(); diff --git a/src/app/services/transcoding/url-drive-speed.spec.ts b/src/app/services/transcoding/url-drive-speed.spec.ts index e1594cd2..0c02de05 100644 --- a/src/app/services/transcoding/url-drive-speed.spec.ts +++ b/src/app/services/transcoding/url-drive-speed.spec.ts @@ -4,7 +4,7 @@ import { RealLink } from '../../model/link'; import { ActiveObjService } from '../active-obj.service'; import { MechanismService } from '../mechanism.service'; import { SettingsService } from '../settings.service'; -import { UrlGenerationService } from '../url-generation.service'; +import { urlGeneratorFor } from '../../../test-utils/url-encoding'; import { MechanismBuilder } from './mechanism-builder'; import { StringTranscoder } from './string-transcoder'; import { MODEL_SCALE } from '../../model/render-scale'; @@ -34,7 +34,7 @@ function source(driveSpeed = 0) { } function encode(driveSpeed: number, settings = new SettingsService()): string { - return new UrlGenerationService( + return urlGeneratorFor( { ...source(driveSpeed), mechanismTimeStep: 0 } as unknown as MechanismService, settings ).generateUrlQuery(); diff --git a/src/app/services/transcoding/url-floating-slot.spec.ts b/src/app/services/transcoding/url-floating-slot.spec.ts index 1164dda4..a7dbc57b 100644 --- a/src/app/services/transcoding/url-floating-slot.spec.ts +++ b/src/app/services/transcoding/url-floating-slot.spec.ts @@ -5,7 +5,7 @@ import { RealLink, SliderBlock } from '../../model/link'; import { ActiveObjService } from '../active-obj.service'; import { MechanismService } from '../mechanism.service'; import { SettingsService } from '../settings.service'; -import { UrlGenerationService } from '../url-generation.service'; +import { urlGeneratorFor } from '../../../test-utils/url-encoding'; import { Checksum } from './checksum'; import { MechanismBuilder } from './mechanism-builder'; import { StringTranscoder } from './string-transcoder'; @@ -59,7 +59,7 @@ function invertedSliderCrank() { } function encode(source: { joints: unknown; links: unknown; forces: unknown }): string { - return new UrlGenerationService( + return urlGeneratorFor( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, new SettingsService() ).generateUrlQuery(); diff --git a/src/app/services/transcoding/url-linear-speed.spec.ts b/src/app/services/transcoding/url-linear-speed.spec.ts index b25e966b..b4a9d8d4 100644 --- a/src/app/services/transcoding/url-linear-speed.spec.ts +++ b/src/app/services/transcoding/url-linear-speed.spec.ts @@ -4,7 +4,7 @@ import { RealLink } from '../../model/link'; import { ActiveObjService } from '../active-obj.service'; import { MechanismService } from '../mechanism.service'; import { SettingsService } from '../settings.service'; -import { UrlGenerationService } from '../url-generation.service'; +import { urlGeneratorFor } from '../../../test-utils/url-encoding'; import { MechanismBuilder } from './mechanism-builder'; import { StringTranscoder } from './string-transcoder'; import { Checksum } from './checksum'; @@ -29,7 +29,7 @@ function source() { } function encodeWith(settings: SettingsService): string { - return new UrlGenerationService( + return urlGeneratorFor( { ...source(), mechanismTimeStep: 0 } as unknown as MechanismService, settings ).generateUrlQuery(); diff --git a/src/app/services/transcoding/url-sealed-cylinder.spec.ts b/src/app/services/transcoding/url-sealed-cylinder.spec.ts index 71336b76..339d94fa 100644 --- a/src/app/services/transcoding/url-sealed-cylinder.spec.ts +++ b/src/app/services/transcoding/url-sealed-cylinder.spec.ts @@ -13,7 +13,7 @@ import { import { ActiveObjService } from '../active-obj.service'; import { MechanismService } from '../mechanism.service'; import { SettingsService } from '../settings.service'; -import { UrlGenerationService } from '../url-generation.service'; +import { urlGeneratorFor } from '../../../test-utils/url-encoding'; import { MechanismBuilder } from './mechanism-builder'; import { StringTranscoder } from './string-transcoder'; import { MODEL_SCALE } from '../../model/render-scale'; @@ -91,7 +91,7 @@ function sealedSource(options: { sealed?: boolean; angle?: number } = {}) { } function encode(source: ReturnType): string { - return new UrlGenerationService( + return urlGeneratorFor( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, new SettingsService() ).generateUrlQuery(); diff --git a/src/app/services/transcoding/url-weld-force.spec.ts b/src/app/services/transcoding/url-weld-force.spec.ts index 70334997..049af3fa 100644 --- a/src/app/services/transcoding/url-weld-force.spec.ts +++ b/src/app/services/transcoding/url-weld-force.spec.ts @@ -7,7 +7,7 @@ import { ForceUnit, GlobalUnit, LengthUnit } from '../../model/unit-enums'; import { ActiveObjService } from '../active-obj.service'; import { MechanismService } from '../mechanism.service'; import { SettingsService } from '../settings.service'; -import { UrlGenerationService } from '../url-generation.service'; +import { urlGeneratorFor } from '../../../test-utils/url-encoding'; import { Checksum } from './checksum'; import { FlagPacker } from './flag-packer'; import { MechanismBuilder } from './mechanism-builder'; @@ -71,7 +71,7 @@ describe('welded force URL compatibility', () => { settings.globalUnit.next(GlobalUnit.SI); const active = new ActiveObjService(); active.updateSelectedObj(source.force); - const encoded = new UrlGenerationService(sourceService, settings).generateUrlQuery(); + const encoded = urlGeneratorFor(sourceService, settings).generateUrlQuery(); const decoder = new StringTranscoder(); decoder.decodeURL(encoded); @@ -107,7 +107,7 @@ describe('welded force URL compatibility', () => { const source = weldedSource(); const settings = new SettingsService(); const active = new ActiveObjService(); - const encoded = new UrlGenerationService( + const encoded = urlGeneratorFor( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, settings ).generateUrlQuery(); @@ -124,7 +124,7 @@ describe('welded force URL compatibility', () => { it('loads URLs without an active-object section and ignores the legacy force-disable bit', () => { const source = weldedSource(); - const encoded = new UrlGenerationService( + const encoded = urlGeneratorFor( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, new SettingsService() ).generateUrlQuery(); @@ -147,7 +147,7 @@ describe('welded force URL compatibility', () => { it('derives Metric/Newton settings from a legacy three-enum URL', () => { const source = weldedSource(); - const encoded = new UrlGenerationService( + const encoded = urlGeneratorFor( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, new SettingsService() ).generateUrlQuery(); @@ -166,7 +166,7 @@ describe('welded force URL compatibility', () => { it('normalizes contradictory four-enum settings from the encoded length unit', () => { const source = weldedSource(); - const encoded = new UrlGenerationService( + const encoded = urlGeneratorFor( { ...source, mechanismTimeStep: 0 } as unknown as MechanismService, new SettingsService() ).generateUrlQuery(); diff --git a/src/app/services/url-generation.service.ts b/src/app/services/url-generation.service.ts index 26d72381..6295d63d 100644 --- a/src/app/services/url-generation.service.ts +++ b/src/app/services/url-generation.service.ts @@ -1,4 +1,4 @@ -import { Injectable } from '@angular/core'; +import { Injectable, inject } from '@angular/core'; import { MechanismService } from './mechanism.service'; import { Link, SliderBlock, RealLink } from '../model/link'; import { LengthUnit, AngleUnit, ForceUnit, GlobalUnit } from '../model/utils'; @@ -37,10 +37,8 @@ import { MODEL_SCALE } from '../model/render-scale'; providedIn: 'root', }) export class UrlGenerationService { - constructor( - private mechanism: MechanismService, - private settings: SettingsService - ) {} + private mechanism = inject(MechanismService); + private settings = inject(SettingsService); _addJointToEncoder(encoder: StringTranscoder, joint: Joint) { if (joint instanceof RevJoint) { diff --git a/src/app/services/url-processor.service.ts b/src/app/services/url-processor.service.ts index 3a038ae1..69a7b71c 100644 --- a/src/app/services/url-processor.service.ts +++ b/src/app/services/url-processor.service.ts @@ -1,4 +1,4 @@ -import { Injectable, Injector } from '@angular/core'; +import { Injectable, Injector, inject } from '@angular/core'; import { MechanismService } from './mechanism.service'; import { StringTranscoder } from './transcoding/string-transcoder'; import { SettingsService } from './settings.service'; @@ -12,13 +12,13 @@ import { SelectedTabService, TabID } from '../selected-tab.service'; providedIn: 'root', }) export class UrlProcessorService { - constructor( - private injector: Injector, - private settingsSrv: SettingsService, - private svgGrid: SvgGridService, - private activeObj: ActiveObjService, - private notify: NotificationService - ) { + private injector = inject(Injector); + private settingsSrv = inject(SettingsService); + private svgGrid = inject(SvgGridService); + private activeObj = inject(ActiveObjService); + private notify = inject(NotificationService); + + constructor() { // the content part of the url (the part after the ?) const url = this.getURLContent(); diff --git a/src/test-utils/mechanism-harness.ts b/src/test-utils/mechanism-harness.ts index 15dee7b0..c8b4cf71 100644 --- a/src/test-utils/mechanism-harness.ts +++ b/src/test-utils/mechanism-harness.ts @@ -1,11 +1,14 @@ -import { Injector } from '@angular/core'; +import { Injector, runInInjectionContext } from '@angular/core'; import { PrisJoint, RealJoint, RevJoint } from '../app/model/joint'; import { ActiveObjService } from '../app/services/active-obj.service'; import { ColorService } from '../app/services/color.service'; import { DragStateService } from '../app/services/drag-state.service'; import { GridUtilsService } from '../app/services/grid-utils.service'; import { MechanismService } from '../app/services/mechanism.service'; +import { NotificationService } from '../app/services/notification.service'; import { NumberUnitParserService } from '../app/services/number-unit-parser.service'; +import { SaveHistoryService } from '../app/services/save-history.service'; +import { SelectedTabService } from '../app/selected-tab.service'; import { SettingsService } from '../app/services/settings.service'; import { SvgGridService } from '../app/services/svg-grid.service'; import { SynthesisBuilderService } from '../app/services/synthesis/synthesis-builder.service'; @@ -21,6 +24,8 @@ import { silentNotifications } from './notification-stub'; */ export interface MechanismHarness { service: MechanismService; + /** The harness's own injector, for specs that need a sibling service. */ + injector: Injector; active: ActiveObjService; /** The service's own settings, for specs that flip gravity or units. */ settings: SettingsService; @@ -36,36 +41,47 @@ export interface MechanismHarness { export function createMechanismHarness(): MechanismHarness { if (!ColorService.instance) new ColorService(); - const settings = new SettingsService(); - const parser = new NumberUnitParserService(); - const svg = new SvgGridService( - settings, - new DragStateService(), - {} as unknown as Injector, - silentNotifications() - ); - const synthesis = new SynthesisBuilderService(parser, settings); - let service!: MechanismService; - const grid = new GridUtilsService(synthesis, svg, { - get: () => service, - } as unknown as Injector); - const active = new ActiveObjService(); let saves = 0; - // Resolved by token rather than one catch-all object: MechanismService pulls - // several services out of the injector to break dependency cycles, and a stub - // that answers every token with the same shape makes a missing one look like - // a working one until it is called. - const dragState = new DragStateService(); + // A real injector with every token listed explicitly: the services resolve + // their dependencies with inject(), and a missing provider fails loudly at + // the get() instead of a catch-all stub making a missing service look like a + // working one until it is called. const history = { save: () => { saves += 1; }, }; - const injector = { - get: (token: unknown) => (token === DragStateService ? dragState : history), - } as unknown as Injector; - service = new MechanismService(grid, active, injector, settings, parser, silentNotifications()); - return { service, active, settings, saveCount: () => saves }; + const injector = Injector.create({ + providers: [ + { provide: SettingsService, deps: [] }, + { provide: NumberUnitParserService, deps: [] }, + { provide: ActiveObjService, deps: [] }, + { provide: DragStateService, deps: [] }, + { provide: SelectedTabService, deps: [] }, + { provide: NotificationService, useFactory: silentNotifications, deps: [] }, + { provide: SaveHistoryService, useValue: history }, + { provide: SynthesisBuilderService, deps: [] }, + { provide: SvgGridService, deps: [] }, + { provide: GridUtilsService, deps: [] }, + { provide: MechanismService, deps: [] }, + ], + }); + const service = injector.get(MechanismService); + return { + service, + injector, + active: injector.get(ActiveObjService), + settings: injector.get(SettingsService), + saveCount: () => saves, + }; +} + +/** Run `factory` with the harness-style injector active, for classes that inject(). */ +export function withTestInjector( + providers: Parameters[0]['providers'], + factory: () => T +): T { + return runInInjectionContext(Injector.create({ providers }), factory); } /** diff --git a/src/test-utils/url-encoding.ts b/src/test-utils/url-encoding.ts new file mode 100644 index 00000000..936248ee --- /dev/null +++ b/src/test-utils/url-encoding.ts @@ -0,0 +1,32 @@ +import { Injector, runInInjectionContext } from '@angular/core'; +import { MechanismService } from '../app/services/mechanism.service'; +import { SettingsService } from '../app/services/settings.service'; +import { UrlGenerationService } from '../app/services/url-generation.service'; + +/** + * A UrlGenerationService wired to the given mechanism and settings. + * + * The service resolves both with inject(), so a spec cannot pass them + * positionally any more; this is the one place that builds the injection + * context for it. + */ +export function urlGeneratorFor( + mechanism: MechanismService, + settings: SettingsService +): UrlGenerationService { + const injector = Injector.create({ + providers: [ + { provide: MechanismService, useValue: mechanism }, + { provide: SettingsService, useValue: settings }, + { provide: UrlGenerationService, deps: [] }, + ], + }); + return injector.get(UrlGenerationService); +} + +/** Shorthand for the common one-shot encode. */ +export function encodeUrlOf(mechanism: MechanismService, settings: SettingsService): string { + return urlGeneratorFor(mechanism, settings).generateUrlQuery(); +} + +export { runInInjectionContext }; diff --git a/src/test-utils/verification/fixture-gallery.ts b/src/test-utils/verification/fixture-gallery.ts index fe9a6b3e..4b9f196f 100644 --- a/src/test-utils/verification/fixture-gallery.ts +++ b/src/test-utils/verification/fixture-gallery.ts @@ -49,7 +49,7 @@ import { MechanismService } from '../../app/services/mechanism.service'; import { SettingsService } from '../../app/services/settings.service'; import { ActiveObjService } from '../../app/services/active-obj.service'; import { ColorService } from '../../app/services/color.service'; -import { UrlGenerationService } from '../../app/services/url-generation.service'; +import { urlGeneratorFor } from '../url-encoding'; import { Link, RealLink } from '../../app/model/link'; import { MODEL_SCALE } from '../../app/model/render-scale'; @@ -472,7 +472,7 @@ export function fixturePayload( const settings = new SettingsService(); if (speed.rpm !== undefined) settings.inputSpeed.next(speed.rpm); if (speed.unitsPerSecond !== undefined) settings.linearInputSpeed.next(speed.unitsPerSecond); - return new UrlGenerationService( + return urlGeneratorFor( { joints: built.joints, links: built.links, diff --git a/src/tests/verification/assembly-mode.spec.ts b/src/tests/verification/assembly-mode.spec.ts index 77799b4f..9f9524c7 100644 --- a/src/tests/verification/assembly-mode.spec.ts +++ b/src/tests/verification/assembly-mode.spec.ts @@ -1,4 +1,5 @@ // joint.ts first: the model modules form an import cycle that only +import { createMechanismHarness } from '../../test-utils/mechanism-harness'; // initializes cleanly when entered here (see test-utils/verification/fixture.ts). import '../../app/model/joint'; import { Injector } from '@angular/core'; @@ -32,25 +33,7 @@ const SQUARE_FOUR_BAR = '2P.SI.K,2q.1011.MA,A,0,0,0.GB,B,0,1E8,0.GC,C,1E8,1E8,0.KD,D,1E8,0,0..YRAB,AB,Fe,Fe,0,d4,c5cae9,A,B,,.YRBC,BC,Fe,Fe,d4,1E8,303e9f,B,C,,.YRCD,CD,Fe,Fe,1E8,d4,c5cae9,C,D,,...JDn'; function loadMechanism(payload: string) { - if (!ColorService.instance) new ColorService(); - const settings = new SettingsService(); - const parser = new NumberUnitParserService(); - // GridUtilsService resolves MechanismService at call time, so it has to be - // handed an injector that reads the binding below rather than a finished one. - let service!: MechanismService; - const grid = new GridUtilsService( - new SynthesisBuilderService(parser, settings), - new SvgGridService( - settings, - new DragStateService(), - {} as unknown as Injector, - silentNotifications() - ), - { get: () => service } as unknown as Injector - ); - const active = new ActiveObjService(); - const injector = { get: () => ({ save: () => {} }) } as unknown as Injector; - service = new MechanismService(grid, active, injector, settings, parser, silentNotifications()); + const { service, settings, active } = createMechanismHarness(); const decoder = new StringTranscoder(); decoder.decodeURL(payload); diff --git a/src/tests/verification/dangling-slider.spec.ts b/src/tests/verification/dangling-slider.spec.ts index e08987ca..3a303d1a 100644 --- a/src/tests/verification/dangling-slider.spec.ts +++ b/src/tests/verification/dangling-slider.spec.ts @@ -8,7 +8,7 @@ import { SettingsService } from '../../app/services/settings.service'; import { ActiveObjService } from '../../app/services/active-obj.service'; import { MechanismBuilder } from '../../app/services/transcoding/mechanism-builder'; import { StringTranscoder } from '../../app/services/transcoding/string-transcoder'; -import { UrlGenerationService } from '../../app/services/url-generation.service'; +import { urlGeneratorFor } from '../../test-utils/url-encoding'; import { buildMechanismFixture } from '../fixtures/mechanism-fixtures'; import { createMechanismHarness } from '../../test-utils/mechanism-harness'; import { buildMechanism } from '../../test-utils/verification/fixture'; @@ -144,7 +144,7 @@ describe('a dangling slider through the URL', () => { const first = buildMechanismFixture(fixturePayload(invertedSliderCrankFixture())); sliderIn(first.service.joints, 'P').detach(); - const payload = new UrlGenerationService(first.service, first.settings).generateUrlQuery(); + const payload = urlGeneratorFor(first.service, first.settings).generateUrlQuery(); const restored = sliderIn(buildMechanismFixture(payload).service.joints, 'P'); expect(restored.isDangling, 'still dangling after a round trip').toBe(true); @@ -159,7 +159,7 @@ describe('a dangling slider through the URL', () => { slider.groundAt(angle); slider.detach(); - const payload = new UrlGenerationService(first.service, first.settings).generateUrlQuery(); + const payload = urlGeneratorFor(first.service, first.settings).generateUrlQuery(); const restored = sliderIn(buildMechanismFixture(payload).service.joints, 'P'); restored.groundAt(restored.slotAngle); diff --git a/src/tests/verification/fixture-gallery.spec.ts b/src/tests/verification/fixture-gallery.spec.ts index 2cfbde6e..90a1465a 100644 --- a/src/tests/verification/fixture-gallery.spec.ts +++ b/src/tests/verification/fixture-gallery.spec.ts @@ -10,7 +10,7 @@ import { } from '../../test-utils/verification/fixture-gallery'; import { StringTranscoder } from '../../app/services/transcoding/string-transcoder'; import { MechanismBuilder } from '../../app/services/transcoding/mechanism-builder'; -import { UrlGenerationService } from '../../app/services/url-generation.service'; +import { urlGeneratorFor } from '../../test-utils/url-encoding'; import { MechanismService } from '../../app/services/mechanism.service'; import { SettingsService } from '../../app/services/settings.service'; import { ActiveObjService } from '../../app/services/active-obj.service'; @@ -39,7 +39,7 @@ function rebuild(payload: string): MechanismService { } function encode(mechanism: MechanismService): string { - return new UrlGenerationService(mechanism, new SettingsService()).generateUrlQuery(); + return urlGeneratorFor(mechanism, new SettingsService()).generateUrlQuery(); } /** diff --git a/src/tests/verification/mark-states-round-trip.spec.ts b/src/tests/verification/mark-states-round-trip.spec.ts index 56fbd1fe..cdf12339 100644 --- a/src/tests/verification/mark-states-round-trip.spec.ts +++ b/src/tests/verification/mark-states-round-trip.spec.ts @@ -7,7 +7,7 @@ import { ActiveObjService } from '../../app/services/active-obj.service'; import { SettingsService } from '../../app/services/settings.service'; import { MechanismBuilder } from '../../app/services/transcoding/mechanism-builder'; import { StringTranscoder } from '../../app/services/transcoding/string-transcoder'; -import { UrlGenerationService } from '../../app/services/url-generation.service'; +import { urlGeneratorFor } from '../../test-utils/url-encoding'; import { createMechanismHarness } from '../../test-utils/mechanism-harness'; // Gate 4, third condition: every state the marks can draw survives the URL. @@ -88,10 +88,7 @@ function readState(joints: unknown[]): MarkState { } function roundTrip(harness: ReturnType): MarkState { - const payload = new UrlGenerationService( - harness.service, - new SettingsService() - ).generateUrlQuery(); + const payload = urlGeneratorFor(harness.service, new SettingsService()).generateUrlQuery(); const decoder = new StringTranscoder(); decoder.decodeURL(payload.replace(/^\?/, '')); diff --git a/src/tests/verification/slide-serialization.spec.ts b/src/tests/verification/slide-serialization.spec.ts index e9705934..d28f695e 100644 --- a/src/tests/verification/slide-serialization.spec.ts +++ b/src/tests/verification/slide-serialization.spec.ts @@ -5,7 +5,7 @@ import { PrisJoint, RealJoint } from '../../app/model/joint'; import { RealLink, SliderBlock } from '../../app/model/link'; import { slideAssemblyAt } from '../../app/model/slide-assembly'; import { StringTranscoder } from '../../app/services/transcoding/string-transcoder'; -import { UrlGenerationService } from '../../app/services/url-generation.service'; +import { urlGeneratorFor } from '../../test-utils/url-encoding'; import { ActiveObjService } from '../../app/services/active-obj.service'; import { buildMechanismFixture } from '../fixtures/mechanism-fixtures'; import { MechanismBuilder } from '../../app/services/transcoding/mechanism-builder'; @@ -71,10 +71,7 @@ describe('every cell of the 2x2', () => { const first = fixturePayload(cell.fixture); const rebuilt = buildMechanismFixture(first); - const reencoded = new UrlGenerationService( - rebuilt.service, - rebuilt.settings - ).generateUrlQuery(); + const reencoded = urlGeneratorFor(rebuilt.service, rebuilt.settings).generateUrlQuery(); expect(mechanismSection(reencoded), `${cell.name}`).toBe(mechanismSection(first)); } }); diff --git a/src/tests/verification/time-based-playback.spec.ts b/src/tests/verification/time-based-playback.spec.ts index fcbc5e48..a772c97e 100644 --- a/src/tests/verification/time-based-playback.spec.ts +++ b/src/tests/verification/time-based-playback.spec.ts @@ -1,4 +1,5 @@ import { Injector } from '@angular/core'; +import { createMechanismHarness } from '../../test-utils/mechanism-harness'; import { ActiveObjService } from '../../app/services/active-obj.service'; import { ColorService } from '../../app/services/color.service'; import { GridUtilsService } from '../../app/services/grid-utils.service'; @@ -16,27 +17,7 @@ import { silentNotifications } from '../../test-utils/notification-stub'; /** A real MechanismService (not a stub) loaded with the fully rotating four-bar template. */ function createLoadedService(payload: string = TEMPLATE_LINKAGES['4-Bar']) { - if (!ColorService.instance) new ColorService(); - const settings = new SettingsService(); - const parser = new NumberUnitParserService(); - // GridUtilsService resolves MechanismService at call time, so it has to be - // handed an injector that reads the binding below rather than a finished one. - let service!: MechanismService; - const grid = new GridUtilsService( - new SynthesisBuilderService(parser, settings), - // The injector is only reached when something asks the canvas to re-frame - // itself, which nothing here does — there is no canvas in this test. - new SvgGridService( - settings, - new DragStateService(), - {} as unknown as Injector, - silentNotifications() - ), - { get: () => service } as unknown as Injector - ); - const active = new ActiveObjService(); - const injector = { get: () => ({ save: () => {} }) } as unknown as Injector; - service = new MechanismService(grid, active, injector, settings, parser, silentNotifications()); + const { service, settings, active } = createMechanismHarness(); const decoder = new StringTranscoder(); decoder.decodeURL(payload); From b5807c5ff66cc40474581528f3ee376b6199464b Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 01:54:50 -0400 Subject: [PATCH 084/236] Convert the app to standalone components MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The official standalone migration in its three steps: every component now declares its own imports, AppModule and MaterialModule are gone, and main.ts bootstraps AppComponent directly. provideZoneChangeDetection() is restored in the bootstrap — the schematic dropped it — and the module soup it emitted is reduced to provideAnimations() + provideHttpClient(). Two consequences the schematic could not see: - coord.ts importing SettingsService became a fatal module cycle: the standalone import graph reaches joint.ts while coord.ts is still waiting on the service chain, so 'Joint extends Coord' evaluated against undefined. The object-scale subject now lives in a leaf module (model/object-scale.ts) that Coord and SettingsService both read; the service static remains its public face for the 56 existing callers. - NO_ERRORS_SCHEMA on a TestBed no longer reaches inside a standalone component's own template, so the analysis specs override the component: the panel drops its graph-section import (labels stay readable attributes), the graph swaps the real apex chart for the recording stub. tsconfig.spec.json no longer needs the app.module.ts inclusion that existed to give NgModule components their template scope under per-file test compiles. Co-Authored-By: Claude Opus 5 --- src/app/app.component.ts | 17 ++- src/app/app.module.ts | 105 --------------- .../BLOCKS/button/button.component.ts | 4 +- .../collapsible-subseciton.component.ts | 3 +- .../color-picker/color-picker.component.ts | 4 +- .../dual-button/dual-button.component.ts | 4 +- .../BLOCKS/dual-input/dual-input.component.ts | 8 +- .../editable-title.component.ts | 19 ++- .../BLOCKS/input/input.component.spec.ts | 2 +- .../component/BLOCKS/input/input.component.ts | 16 ++- .../panel-section-collapsible.component.ts | 3 +- .../panel-section/panel-section.component.ts | 1 - .../component/BLOCKS/radio/radio.component.ts | 14 +- .../BLOCKS/subtitle/subtitle.component.ts | 4 +- .../component/BLOCKS/title/title.component.ts | 4 +- .../BLOCKS/toggle/toggle.component.ts | 17 ++- .../MODALS/templates/templates.component.ts | 27 +++- .../touchscreen-warning.component.ts | 11 +- src/app/component/always-on-features.spec.ts | 7 +- .../analysis-graph-section.component.ts | 4 +- .../analysis-apex-chart.component.spec.ts | 2 +- .../analysis-apex-chart.component.ts | 1 - .../analysis-graph.component.spec.ts | 14 +- .../analysis-graph.component.ts | 2 +- .../analysis-panel.component.spec.ts | 15 ++- .../analysis-panel.component.ts | 25 +++- .../analysis-setup.component.ts | 3 +- .../bottombar/bottombar.component.spec.ts | 3 +- .../bottombar/bottombar.component.ts | 1 - .../context-menu/context-menu.component.ts | 4 +- .../edit-panel/edit-panel.component.ts | 35 ++++- .../equation-panel.component.ts | 11 +- .../left-tabs/left-tabs.component.ts | 5 +- .../linkage-table/linkage-table.component.ts | 1 - .../mechanism-panel.component.ts | 3 +- .../new-grid/new-grid.component.spec.ts | 7 +- .../component/new-grid/new-grid.component.ts | 6 +- .../not-ready-warning.component.ts | 1 - .../notification/notification.component.ts | 3 +- .../playback-bar/playback-bar.component.ts | 4 +- .../right-panel/right-panel.component.ts | 43 +++++- .../settings-panel.component.ts | 21 ++- .../svg-arrow/svg-arrow.component.spec.ts | 2 +- .../svg-arrow/svg-arrow.component.ts | 1 - .../synthesis-panel.component.ts | 25 +++- .../component/top-bar/top-bar.component.ts | 4 +- .../view-controls/view-controls.component.ts | 4 +- src/app/focus-on-show.directive.ts | 5 +- src/app/material/material.module.ts | 123 ------------------ src/app/model/coord.ts | 6 +- src/app/model/object-scale.ts | 18 +++ src/app/services/settings.service.ts | 11 +- .../services/url-processor.service.spec.ts | 3 +- src/main.ts | 16 ++- .../verification/cylinder-travel.spec.ts | 15 +-- .../verification/cylinder-weld-guards.spec.ts | 3 +- .../verification/edit-invariants.spec.ts | 9 +- src/tests/verification/traced-paths.spec.ts | 3 +- tsconfig.spec.json | 2 +- 59 files changed, 402 insertions(+), 332 deletions(-) delete mode 100644 src/app/app.module.ts delete mode 100644 src/app/material/material.module.ts create mode 100644 src/app/model/object-scale.ts diff --git a/src/app/app.component.ts b/src/app/app.component.ts index 91cc1b0e..e247fedf 100644 --- a/src/app/app.component.ts +++ b/src/app/app.component.ts @@ -1,6 +1,13 @@ import { Component, ChangeDetectionStrategy, inject } from '@angular/core'; import { MatIconRegistry } from '@angular/material/icon'; import { DomSanitizer } from '@angular/platform-browser'; +import { NewGridComponent } from './component/new-grid/new-grid.component'; +import { TopBarComponent } from './component/top-bar/top-bar.component'; +import { BottombarComponent } from './component/bottombar/bottombar.component'; +import { LeftTabsComponent } from './component/left-tabs/left-tabs.component'; +import { PlaybackBarComponent } from './component/playback-bar/playback-bar.component'; +import { RightPanelComponent } from './component/right-panel/right-panel.component'; +import { NotificationComponent } from './component/notification/notification.component'; @Component({ selector: 'app-root', @@ -10,7 +17,15 @@ import { DomSanitizer } from '@angular/platform-browser'; // animation triggers go here ], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + NewGridComponent, + TopBarComponent, + BottombarComponent, + LeftTabsComponent, + PlaybackBarComponent, + RightPanelComponent, + NotificationComponent, + ], }) export class AppComponent { private matIconRegistry = inject(MatIconRegistry); diff --git a/src/app/app.module.ts b/src/app/app.module.ts deleted file mode 100644 index d8f53bbe..00000000 --- a/src/app/app.module.ts +++ /dev/null @@ -1,105 +0,0 @@ -import { NgModule } from '@angular/core'; -import { BrowserModule } from '@angular/platform-browser'; -import { provideHttpClient, withInterceptorsFromDi, withXhr } from '@angular/common/http'; - -import { AppComponent } from './app.component'; -import { LinkageTableComponent } from './component/linkage-table/linkage-table.component'; -import { TopBarComponent } from './component/top-bar/top-bar.component'; -import { AnalysisSetupComponent } from './component/analysis-setup/analysis-setup.component'; -import { PlaybackBarComponent } from './component/playback-bar/playback-bar.component'; -import { MechanismPanelComponent } from './component/mechanism-panel/mechanism-panel.component'; -import { ViewControlsComponent } from './component/view-controls/view-controls.component'; -import { FormsModule } from '@angular/forms'; -import { BrowserAnimationsModule } from '@angular/platform-browser/animations'; - -import { MaterialModule } from './material/material.module'; -import { LeftTabsComponent } from './component/left-tabs/left-tabs.component'; -import { TitleBlock } from './component/BLOCKS/title/title.component'; -import { EditPanelComponent } from './component/edit-panel/edit-panel.component'; -import { InputComponent } from './component/BLOCKS/input/input.component'; -import { ButtonComponent } from './component/BLOCKS/button/button.component'; -import { PanelSectionComponent } from './component/BLOCKS/panel-section/panel-section.component'; -import { PanelSectionCollapsibleComponent } from './component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component'; -import { ToggleComponent } from './component/BLOCKS/toggle/toggle.component'; -import { SubtitleComponent } from './component/BLOCKS/subtitle/subtitle.component'; -import { RadioComponent } from './component/BLOCKS/radio/radio.component'; -import { DualInputComponent } from './component/BLOCKS/dual-input/dual-input.component'; - -import { ReactiveFormsModule } from '@angular/forms'; -import { AnalysisPanelComponent } from './component/analysis-panel/analysis-panel.component'; -import { AnalysisGraphComponent } from './component/analysis-graph/analysis-graph.component'; -import { AnalysisGraphSectionComponent } from './component/analysis-graph-section/analysis-graph-section.component'; -import { AnalysisApexChartComponent } from './component/analysis-graph/analysis-apex-chart.component'; -import { RightPanelComponent } from './component/right-panel/right-panel.component'; -import { SettingsPanelComponent } from './component/settings-panel/settings-panel.component'; -import { SynthesisPanelComponent } from './component/synthesis-panel/synthesis-panel.component'; -import { NewGridComponent } from './component/new-grid/new-grid.component'; -import { CdkMenuModule } from '@angular/cdk/menu'; -import { ContextMenuComponent } from './component/context-menu/context-menu.component'; -import { TouchscreenWarningComponent } from './component/MODALS/touchscreen-warning/touchscreen-warning.component'; -import { EditableTitleComponent } from './component/BLOCKS/editable-title/editable-title.component'; -import { FocusOnShowDirective } from './focus-on-show.directive'; -import { EquationPanelComponent } from './component/equation-panel/equation-panel.component'; -import { NotReadyWarningComponent } from './component/not-ready-warning/not-ready-warning.component'; -import { TemplatesComponent } from './component/MODALS/templates/templates.component'; -import { SvgArrowComponent } from './component/svg-arrow/svg-arrow.component'; -import { CollapsibleSubsecitonComponent } from './component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component'; -import { DualButtonComponent } from './component/BLOCKS/dual-button/dual-button.component'; -import { ColorPickerComponent } from './component/BLOCKS/color-picker/color-picker.component'; -import { BottombarComponent } from './component/bottombar/bottombar.component'; -import { NotificationComponent } from './component/notification/notification.component'; - -@NgModule({ - declarations: [ - AppComponent, - NotificationComponent, - LinkageTableComponent, - TopBarComponent, - AnalysisSetupComponent, - PlaybackBarComponent, - MechanismPanelComponent, - ViewControlsComponent, - LeftTabsComponent, - TitleBlock, - EditPanelComponent, - InputComponent, - ButtonComponent, - PanelSectionComponent, - PanelSectionCollapsibleComponent, - ToggleComponent, - SubtitleComponent, - RadioComponent, - DualInputComponent, - AnalysisPanelComponent, - AnalysisGraphComponent, - AnalysisGraphSectionComponent, - AnalysisApexChartComponent, - RightPanelComponent, - SettingsPanelComponent, - SynthesisPanelComponent, - NewGridComponent, - ContextMenuComponent, - TouchscreenWarningComponent, - EditableTitleComponent, - FocusOnShowDirective, - EquationPanelComponent, - NotReadyWarningComponent, - TemplatesComponent, - SvgArrowComponent, - CollapsibleSubsecitonComponent, - DualButtonComponent, - ColorPickerComponent, - BottombarComponent, - ], - bootstrap: [AppComponent], - imports: [ - BrowserModule, - FormsModule, - BrowserAnimationsModule, - MaterialModule, - ReactiveFormsModule, - CdkMenuModule, - ], - providers: [provideHttpClient(withXhr(), withInterceptorsFromDi())], -}) -export class AppModule {} diff --git a/src/app/component/BLOCKS/button/button.component.ts b/src/app/component/BLOCKS/button/button.component.ts index b3bad616..66464025 100644 --- a/src/app/component/BLOCKS/button/button.component.ts +++ b/src/app/component/BLOCKS/button/button.component.ts @@ -1,12 +1,14 @@ import { Component, Input, ChangeDetectionStrategy, inject } from '@angular/core'; import { ActiveObjService } from 'src/app/services/active-obj.service'; +import { MatButton } from '@angular/material/button'; +import { MatIcon } from '@angular/material/icon'; @Component({ selector: 'button-block', templateUrl: './button.component.html', styleUrls: ['./button.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatButton, MatIcon], }) export class ButtonComponent { activeSrv = inject(ActiveObjService); diff --git a/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts b/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts index 3155e753..0c507058 100644 --- a/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts +++ b/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts @@ -1,5 +1,6 @@ import { Component, EventEmitter, Input, Output, ChangeDetectionStrategy } from '@angular/core'; import { animate, AUTO_STYLE, state, style, transition, trigger } from '@angular/animations'; +import { MatIcon } from '@angular/material/icon'; @Component({ selector: 'collapsible-subseciton', @@ -31,7 +32,7 @@ import { animate, AUTO_STYLE, state, style, transition, trigger } from '@angular templateUrl: './collapsible-subseciton.component.html', styleUrls: ['./collapsible-subseciton.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatIcon], }) export class CollapsibleSubsecitonComponent { @Input() hideHeader: boolean = false; //If this is true the content cannot be expanded diff --git a/src/app/component/BLOCKS/color-picker/color-picker.component.ts b/src/app/component/BLOCKS/color-picker/color-picker.component.ts index eafc9091..5d2cd8d2 100644 --- a/src/app/component/BLOCKS/color-picker/color-picker.component.ts +++ b/src/app/component/BLOCKS/color-picker/color-picker.component.ts @@ -10,13 +10,15 @@ import { ColorService } from '../../../services/color.service'; import { RealLink } from '../../../model/link'; import { RealJoint } from '../../../model/joint'; import { Force } from '../../../model/force'; +import { MatIcon } from '@angular/material/icon'; +import { MatTooltip } from '@angular/material/tooltip'; @Component({ selector: 'color-picker', templateUrl: './color-picker.component.html', styleUrls: ['./color-picker.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatIcon, MatTooltip], }) export class ColorPickerComponent implements OnInit, OnChanges { colorService = inject(ColorService); diff --git a/src/app/component/BLOCKS/dual-button/dual-button.component.ts b/src/app/component/BLOCKS/dual-button/dual-button.component.ts index d5b87760..c877215a 100644 --- a/src/app/component/BLOCKS/dual-button/dual-button.component.ts +++ b/src/app/component/BLOCKS/dual-button/dual-button.component.ts @@ -1,11 +1,13 @@ import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; +import { MatButton } from '@angular/material/button'; +import { MatIcon } from '@angular/material/icon'; @Component({ selector: 'dual-button', templateUrl: './dual-button.component.html', styleUrls: ['./dual-button.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatButton, MatIcon], }) export class DualButtonComponent { @Input() but1Text: string | undefined; diff --git a/src/app/component/BLOCKS/dual-input/dual-input.component.ts b/src/app/component/BLOCKS/dual-input/dual-input.component.ts index 3f5ceb03..e69af466 100644 --- a/src/app/component/BLOCKS/dual-input/dual-input.component.ts +++ b/src/app/component/BLOCKS/dual-input/dual-input.component.ts @@ -1,12 +1,16 @@ import { Component, Input, Output, EventEmitter, ChangeDetectionStrategy } from '@angular/core'; -import { FormGroup } from '@angular/forms'; +import { FormGroup, FormsModule, ReactiveFormsModule } from '@angular/forms'; +import { MatIcon } from '@angular/material/icon'; +import { MatTooltip } from '@angular/material/tooltip'; +import { MatFormField } from '@angular/material/form-field'; +import { MatInput } from '@angular/material/input'; @Component({ selector: 'dual-input-block', templateUrl: './dual-input.component.html', styleUrls: ['./dual-input.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatIcon, MatTooltip, FormsModule, ReactiveFormsModule, MatFormField, MatInput], }) export class DualInputComponent { @Input() tooltip!: string; diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.ts b/src/app/component/BLOCKS/editable-title/editable-title.component.ts index 21c18d9b..56a32995 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.ts +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.ts @@ -1,15 +1,30 @@ import { Component, Input, ChangeDetectionStrategy, inject } from '@angular/core'; -import { FormBuilder } from '@angular/forms'; +import { FormBuilder, FormsModule, ReactiveFormsModule } from '@angular/forms'; import { ActiveObjService } from 'src/app/services/active-obj.service'; import { MechanismService } from 'src/app/services/mechanism.service'; import { NotificationService } from '../../../services/notification.service'; +import { NgTemplateOutlet } from '@angular/common'; +import { MatFormField } from '@angular/material/form-field'; +import { MatInput } from '@angular/material/input'; +import { FocusOnShowDirective } from '../../../focus-on-show.directive'; +import { MatButton } from '@angular/material/button'; +import { MatIcon } from '@angular/material/icon'; @Component({ selector: 'editable-title-block', templateUrl: './editable-title.component.html', styleUrls: ['./editable-title.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + NgTemplateOutlet, + FormsModule, + ReactiveFormsModule, + MatFormField, + MatInput, + FocusOnShowDirective, + MatButton, + MatIcon, + ], }) export class EditableTitleComponent { private fb = inject(FormBuilder); diff --git a/src/app/component/BLOCKS/input/input.component.spec.ts b/src/app/component/BLOCKS/input/input.component.spec.ts index 7874dd30..38997b14 100644 --- a/src/app/component/BLOCKS/input/input.component.spec.ts +++ b/src/app/component/BLOCKS/input/input.component.spec.ts @@ -12,7 +12,6 @@ describe('InputComponent', () => { beforeEach(async () => { await TestBed.configureTestingModule({ - declarations: [InputComponent], imports: [ ReactiveFormsModule, MatFormFieldModule, @@ -20,6 +19,7 @@ describe('InputComponent', () => { MatInputModule, MatTooltipModule, NoopAnimationsModule, + InputComponent, ], }).compileComponents(); diff --git a/src/app/component/BLOCKS/input/input.component.ts b/src/app/component/BLOCKS/input/input.component.ts index 9040c78e..57036069 100644 --- a/src/app/component/BLOCKS/input/input.component.ts +++ b/src/app/component/BLOCKS/input/input.component.ts @@ -6,14 +6,26 @@ import { Output, ChangeDetectionStrategy, } from '@angular/core'; -import { FormGroup } from '@angular/forms'; +import { FormGroup, FormsModule, ReactiveFormsModule } from '@angular/forms'; +import { MatIcon } from '@angular/material/icon'; +import { MatTooltip } from '@angular/material/tooltip'; +import { MatFormField, MatSuffix } from '@angular/material/form-field'; +import { MatInput } from '@angular/material/input'; @Component({ selector: 'input-block', templateUrl: './input.component.html', styleUrls: ['./input.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + FormsModule, + ReactiveFormsModule, + MatIcon, + MatTooltip, + MatFormField, + MatInput, + MatSuffix, + ], }) export class InputComponent { @Input() unit: string | undefined; diff --git a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts index eabb505a..380dfb20 100644 --- a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts +++ b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts @@ -10,6 +10,7 @@ import { } from '@angular/core'; import { TitleBlock } from '../title/title.component'; import { animate, state, style, transition, trigger } from '@angular/animations'; +import { NgClass } from '@angular/common'; @Component({ selector: 'panel-section-collapsible', @@ -36,7 +37,7 @@ import { animate, state, style, transition, trigger } from '@angular/animations' templateUrl: './panel-section-collapsible.component.html', styleUrls: ['./panel-section-collapsible.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [NgClass], }) export class PanelSectionCollapsibleComponent implements AfterContentInit { @Input() expanded: boolean = true; diff --git a/src/app/component/BLOCKS/panel-section/panel-section.component.ts b/src/app/component/BLOCKS/panel-section/panel-section.component.ts index 1c1a2ba7..43ef7914 100644 --- a/src/app/component/BLOCKS/panel-section/panel-section.component.ts +++ b/src/app/component/BLOCKS/panel-section/panel-section.component.ts @@ -5,6 +5,5 @@ import { Component, ChangeDetectionStrategy } from '@angular/core'; templateUrl: './panel-section.component.html', styleUrls: ['./panel-section.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, }) export class PanelSectionComponent {} diff --git a/src/app/component/BLOCKS/radio/radio.component.ts b/src/app/component/BLOCKS/radio/radio.component.ts index 9804d8ea..fc59213a 100644 --- a/src/app/component/BLOCKS/radio/radio.component.ts +++ b/src/app/component/BLOCKS/radio/radio.component.ts @@ -1,12 +1,22 @@ import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; -import { FormGroup } from '@angular/forms'; +import { FormGroup, FormsModule, ReactiveFormsModule } from '@angular/forms'; +import { MatIcon } from '@angular/material/icon'; +import { MatTooltip } from '@angular/material/tooltip'; +import { MatButtonToggleGroup, MatButtonToggle } from '@angular/material/button-toggle'; @Component({ selector: 'radio-block', templateUrl: './radio.component.html', styleUrls: ['./radio.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + MatIcon, + MatTooltip, + FormsModule, + ReactiveFormsModule, + MatButtonToggleGroup, + MatButtonToggle, + ], }) export class RadioComponent { @Input() tooltip: string | undefined; diff --git a/src/app/component/BLOCKS/subtitle/subtitle.component.ts b/src/app/component/BLOCKS/subtitle/subtitle.component.ts index 81fc7d48..c8bb88b3 100644 --- a/src/app/component/BLOCKS/subtitle/subtitle.component.ts +++ b/src/app/component/BLOCKS/subtitle/subtitle.component.ts @@ -1,11 +1,13 @@ import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; +import { MatButton, MatIconButton } from '@angular/material/button'; +import { MatIcon } from '@angular/material/icon'; @Component({ selector: 'subtitle-block', templateUrl: './subtitle.component.html', styleUrls: ['./subtitle.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatButton, MatIcon, MatIconButton], }) export class SubtitleComponent { @Input() icon: string | undefined; diff --git a/src/app/component/BLOCKS/title/title.component.ts b/src/app/component/BLOCKS/title/title.component.ts index d3dc977b..c1c8b81f 100644 --- a/src/app/component/BLOCKS/title/title.component.ts +++ b/src/app/component/BLOCKS/title/title.component.ts @@ -6,13 +6,15 @@ import { EventEmitter, ChangeDetectionStrategy, } from '@angular/core'; +import { MatButton, MatIconButton } from '@angular/material/button'; +import { MatIcon } from '@angular/material/icon'; @Component({ selector: 'title-block', templateUrl: './title.component.html', styleUrls: ['./title.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatButton, MatIcon, MatIconButton], }) export class TitleBlock implements OnInit { @Input() icon: string | undefined; diff --git a/src/app/component/BLOCKS/toggle/toggle.component.ts b/src/app/component/BLOCKS/toggle/toggle.component.ts index b6b07b0e..66e58e88 100644 --- a/src/app/component/BLOCKS/toggle/toggle.component.ts +++ b/src/app/component/BLOCKS/toggle/toggle.component.ts @@ -7,14 +7,27 @@ import { ViewChild, ChangeDetectionStrategy, } from '@angular/core'; -import { FormGroup } from '@angular/forms'; +import { FormGroup, FormsModule, ReactiveFormsModule } from '@angular/forms'; +import { MatIcon } from '@angular/material/icon'; +import { MatTooltip } from '@angular/material/tooltip'; +import { MatFormField } from '@angular/material/form-field'; +import { MatInput } from '@angular/material/input'; +import { MatSlideToggle } from '@angular/material/slide-toggle'; @Component({ selector: 'toggle-block', templateUrl: './toggle.component.html', styleUrls: ['./toggle.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + FormsModule, + ReactiveFormsModule, + MatIcon, + MatTooltip, + MatFormField, + MatInput, + MatSlideToggle, + ], }) export class ToggleComponent { @Input() tooltip: string | undefined; diff --git a/src/app/component/MODALS/templates/templates.component.ts b/src/app/component/MODALS/templates/templates.component.ts index a86d30bd..1c177b40 100644 --- a/src/app/component/MODALS/templates/templates.component.ts +++ b/src/app/component/MODALS/templates/templates.component.ts @@ -6,18 +6,41 @@ import { ViewChild, inject, } from '@angular/core'; -import { MatDialog, MatDialogRef } from '@angular/material/dialog'; +import { + MatDialog, + MatDialogRef, + MatDialogClose, + MatDialogContent, + MatDialogTitle, + MatDialogActions, +} from '@angular/material/dialog'; import { MechanismService } from 'src/app/services/mechanism.service'; import { UrlProcessorService } from 'src/app/services/url-processor.service'; import { DEV_TEMPLATES, DevTemplateID } from './dev-templates'; import { TemplateID, TEMPLATE_LINKAGES } from './template-linkages'; +import { MatIconButton, MatButton } from '@angular/material/button'; +import { MatIcon } from '@angular/material/icon'; +import { CdkScrollable } from '@angular/cdk/scrolling'; +import { PanelSectionComponent } from '../../BLOCKS/panel-section/panel-section.component'; +import { TitleBlock } from '../../BLOCKS/title/title.component'; @Component({ selector: 'app-templates', templateUrl: './templates.component.html', styleUrls: ['./templates.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + MatIconButton, + MatDialogClose, + MatIcon, + CdkScrollable, + MatDialogContent, + PanelSectionComponent, + TitleBlock, + MatButton, + MatDialogTitle, + MatDialogActions, + ], }) export class TemplatesComponent { private dialogRef = inject | null>( diff --git a/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts b/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts index 0ead877a..a378fbf0 100644 --- a/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts +++ b/src/app/component/MODALS/touchscreen-warning/touchscreen-warning.component.ts @@ -1,12 +1,19 @@ import { Component, ChangeDetectionStrategy, inject } from '@angular/core'; -import { MatDialogRef } from '@angular/material/dialog'; +import { + MatDialogRef, + MatDialogTitle, + MatDialogContent, + MatDialogActions, +} from '@angular/material/dialog'; +import { CdkScrollable } from '@angular/cdk/scrolling'; +import { MatButton } from '@angular/material/button'; @Component({ selector: 'app-touchscreen-warning', templateUrl: './touchscreen-warning.component.html', styleUrls: ['./touchscreen-warning.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatDialogTitle, CdkScrollable, MatDialogContent, MatDialogActions, MatButton], }) export class TouchscreenWarningComponent { dialogRef = inject>(MatDialogRef); diff --git a/src/app/component/always-on-features.spec.ts b/src/app/component/always-on-features.spec.ts index 2b474479..c2812cda 100644 --- a/src/app/component/always-on-features.spec.ts +++ b/src/app/component/always-on-features.spec.ts @@ -1,5 +1,5 @@ import { ComponentFixture, TestBed } from '@angular/core/testing'; -import { AppModule } from '../app.module'; +import { provideAnimations } from '@angular/platform-browser/animations'; import { Coord } from '../model/coord'; import { Force } from '../model/force'; import { RevJoint } from '../model/joint'; @@ -13,7 +13,10 @@ import { TEMPLATE_IDS } from './MODALS/templates/template-linkages'; describe('always-on force and weld UI', () => { beforeEach(async () => { - await TestBed.configureTestingModule({ imports: [AppModule] }).compileComponents(); + await TestBed.configureTestingModule({ + imports: [SettingsPanelComponent, TopBarComponent, EditPanelComponent, TemplatesComponent], + providers: [provideAnimations()], + }).compileComponents(); }); it('does not expose experimental enablement or loop equations actions', () => { diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts index db9bcce2..183beb89 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts @@ -19,6 +19,8 @@ import { AnalysisSampleService } from '../../services/analysis-sample.service'; import { AngleUnit, LengthUnit } from '../../model/unit-enums'; import { ANALYSIS_SERIES_COLORS } from '../../model/analysis-series'; import { roundNumber } from '../../model/utils'; +import { MatIcon } from '@angular/material/icon'; +import { MatTooltip } from '@angular/material/tooltip'; /** One value of one series, as the collapsed header shows it. */ export interface SeriesPreview { @@ -50,7 +52,7 @@ export interface SeriesPreview { templateUrl: './analysis-graph-section.component.html', styleUrls: ['./analysis-graph-section.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatIcon, MatTooltip, AnalysisGraphComponent], }) export class AnalysisGraphSectionComponent { private mechanismService = inject(MechanismService); diff --git a/src/app/component/analysis-graph/analysis-apex-chart.component.spec.ts b/src/app/component/analysis-graph/analysis-apex-chart.component.spec.ts index e061e4bd..3746342f 100644 --- a/src/app/component/analysis-graph/analysis-apex-chart.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-apex-chart.component.spec.ts @@ -30,7 +30,7 @@ describe('AnalysisApexChartComponent', () => { FakeApexCharts.instances = []; chartWindow.ApexCharts = FakeApexCharts as unknown as typeof ApexCharts; await TestBed.configureTestingModule({ - declarations: [AnalysisApexChartComponent], + imports: [AnalysisApexChartComponent], }).compileComponents(); fixture = TestBed.createComponent(AnalysisApexChartComponent); }); diff --git a/src/app/component/analysis-graph/analysis-apex-chart.component.ts b/src/app/component/analysis-graph/analysis-apex-chart.component.ts index 90108f7f..a1626c19 100644 --- a/src/app/component/analysis-graph/analysis-apex-chart.component.ts +++ b/src/app/component/analysis-graph/analysis-apex-chart.component.ts @@ -48,7 +48,6 @@ declare global {
    `, changeDetection: ChangeDetectionStrategy.OnPush, - standalone: false, }) export class AnalysisApexChartComponent implements OnChanges, AfterViewInit, OnDestroy { private zone = inject(NgZone); diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index 8e8ac842..642928d6 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -1,4 +1,5 @@ import { Component, Input, NO_ERRORS_SCHEMA } from '@angular/core'; +import { AnalysisApexChartComponent } from './analysis-apex-chart.component'; import { ComponentFixture, TestBed } from '@angular/core/testing'; import { By } from '@angular/platform-browser'; import { TestbedHarnessEnvironment } from '@angular/cdk/testing/testbed'; @@ -37,7 +38,6 @@ import { withTestInjector } from '../../../test-utils/mechanism-harness'; @Component({ selector: 'app-analysis-apex-chart', template: '', - standalone: false, }) class ApexChartStubComponent { @Input() series: ApexAxisChartSeries = []; @@ -438,13 +438,14 @@ describe('AnalysisGraphComponent rendered controls', () => { it('updates the rendered chart series when a series is switched off and on', async () => { const fixtureData = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); await TestBed.configureTestingModule({ - declarations: [AnalysisGraphComponent, ApexChartStubComponent], imports: [ ReactiveFormsModule, MatButtonModule, MatCheckboxModule, MatIconModule, NoopAnimationsModule, + AnalysisGraphComponent, + ApexChartStubComponent, ], providers: [ { provide: MechanismService, useValue: fixtureData.service }, @@ -453,7 +454,14 @@ describe('AnalysisGraphComponent rendered controls', () => { { provide: ActiveObjService, useValue: fixtureData.active }, ], schemas: [NO_ERRORS_SCHEMA], - }).compileComponents(); + }) + // The standalone graph brings the real apex chart; these tests assert on + // the stub's recorded inputs, so it takes the chart's place. + .overrideComponent(AnalysisGraphComponent, { + remove: { imports: [AnalysisApexChartComponent] }, + add: { imports: [ApexChartStubComponent] }, + }) + .compileComponents(); const fixture: ComponentFixture = TestBed.createComponent(AnalysisGraphComponent); diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 4e766f83..127531a4 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -155,7 +155,7 @@ export function defaultSeriesSelection(count: number, analysis: string): SeriesS ]), ], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [AnalysisApexChartComponent], }) export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, OnChanges { private fb = inject(FormBuilder); diff --git a/src/app/component/analysis-panel/analysis-panel.component.spec.ts b/src/app/component/analysis-panel/analysis-panel.component.spec.ts index bc44360d..d370558f 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.spec.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.spec.ts @@ -1,4 +1,5 @@ import { SelectedTabService, TabID } from '../../selected-tab.service'; +import { AnalysisGraphSectionComponent } from '../analysis-graph-section/analysis-graph-section.component'; import { NO_ERRORS_SCHEMA } from '@angular/core'; import { ComponentFixture, TestBed } from '@angular/core/testing'; import { ReactiveFormsModule } from '@angular/forms'; @@ -27,8 +28,7 @@ async function createPanel(payload: string, selectedId: string, mode: TabID = Ta const tabs = { getCurrentTab: () => mode } as unknown as SelectedTabService; await TestBed.configureTestingModule({ - declarations: [AnalysisPanelComponent], - imports: [ReactiveFormsModule, MatFormFieldModule, NoopAnimationsModule], + imports: [ReactiveFormsModule, MatFormFieldModule, NoopAnimationsModule, AnalysisPanelComponent], providers: [ { provide: ActiveObjService, useValue: fixtureData.active }, { provide: MechanismService, useValue: fixtureData.service }, @@ -36,7 +36,16 @@ async function createPanel(payload: string, selectedId: string, mode: TabID = Ta { provide: SelectedTabService, useValue: tabs }, ], schemas: [NO_ERRORS_SCHEMA], - }).compileComponents(); + }) + // The panel renders its graph sections as inert unknown elements — these + // tests read the section labels, not the graphs inside them. As a + // standalone component the panel brings the real section along, so it is + // removed here to keep the label an attribute the specs can read. + .overrideComponent(AnalysisPanelComponent, { + remove: { imports: [AnalysisGraphSectionComponent] }, + add: { schemas: [NO_ERRORS_SCHEMA] }, + }) + .compileComponents(); const fixture: ComponentFixture = TestBed.createComponent(AnalysisPanelComponent); diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index a46f8dd7..b226a7c9 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -6,10 +6,18 @@ import { PrisJoint, RealJoint } from 'src/app/model/joint'; import { Cylinder, isCylinderInterior } from 'src/app/model/cylinder'; import { LengthUnit } from 'src/app/model/unit-enums'; import { ActiveObjService } from 'src/app/services/active-obj.service'; -import { FormBuilder } from '@angular/forms'; +import { FormBuilder, FormsModule, ReactiveFormsModule } from '@angular/forms'; import { Subscription } from 'rxjs'; import { MechanismService } from '../../services/mechanism.service'; import { SettingsService } from '../../services/settings.service'; +import { PanelSectionCollapsibleComponent } from '../BLOCKS/panel-section-collapsible/panel-section-collapsible.component'; +import { TitleBlock } from '../BLOCKS/title/title.component'; +import { MatList, MatListItem, MatListItemTitle } from '@angular/material/list'; +import { MatIcon } from '@angular/material/icon'; +import { MechanismPanelComponent } from '../mechanism-panel/mechanism-panel.component'; +import { PanelSectionComponent } from '../BLOCKS/panel-section/panel-section.component'; +import { AnalysisGraphSectionComponent } from '../analysis-graph-section/analysis-graph-section.component'; +import { RadioComponent } from '../BLOCKS/radio/radio.component'; /** One expandable force graph: the reaction between `linkId` and `jointId`. */ export interface ForceAnalysisRow { @@ -24,7 +32,20 @@ export interface ForceAnalysisRow { templateUrl: './analysis-panel.component.html', styleUrls: ['./analysis-panel.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + PanelSectionCollapsibleComponent, + TitleBlock, + MatList, + MatListItem, + MatListItemTitle, + MatIcon, + MechanismPanelComponent, + PanelSectionComponent, + AnalysisGraphSectionComponent, + RadioComponent, + FormsModule, + ReactiveFormsModule, + ], }) export class AnalysisPanelComponent { activeSrv = inject(ActiveObjService); diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index cce25b6b..f27b1de6 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -5,6 +5,7 @@ import { MechanismService } from '../../services/mechanism.service'; import { ActiveObjService } from '../../services/active-obj.service'; import { SelectedTabService, TabID } from '../../selected-tab.service'; import { MechanismReadiness, ReadinessCheck } from '../../model/mechanism/readiness'; +import { MatIcon } from '@angular/material/icon'; /** * What stands between this drawing and its animation, mechanism by mechanism. @@ -24,7 +25,7 @@ import { MechanismReadiness, ReadinessCheck } from '../../model/mechanism/readin templateUrl: './analysis-setup.component.html', styleUrls: ['./analysis-setup.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatIcon], }) export class AnalysisSetupComponent { mechanism = inject(MechanismService); diff --git a/src/app/component/bottombar/bottombar.component.spec.ts b/src/app/component/bottombar/bottombar.component.spec.ts index cf16b94f..ab693d9e 100644 --- a/src/app/component/bottombar/bottombar.component.spec.ts +++ b/src/app/component/bottombar/bottombar.component.spec.ts @@ -1,6 +1,5 @@ import { TestBed } from '@angular/core/testing'; import { BottombarComponent } from './bottombar.component'; -import { AppModule } from '../../app.module'; import { MechanismService } from '../../services/mechanism.service'; // Found by building a linkage with a real mouse rather than with dispatched @@ -12,7 +11,7 @@ describe('the mobility readout', () => { let mechanism: MechanismService; beforeEach(() => { - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({ imports: [BottombarComponent] }); component = TestBed.createComponent(BottombarComponent).componentInstance; mechanism = TestBed.inject(MechanismService); }); diff --git a/src/app/component/bottombar/bottombar.component.ts b/src/app/component/bottombar/bottombar.component.ts index 4f720f2c..9afd87da 100644 --- a/src/app/component/bottombar/bottombar.component.ts +++ b/src/app/component/bottombar/bottombar.component.ts @@ -13,7 +13,6 @@ import { SelectedTabService, TabID } from '../../selected-tab.service'; templateUrl: './bottombar.component.html', styleUrls: ['./bottombar.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, }) export class BottombarComponent { settings = inject(SettingsService); diff --git a/src/app/component/context-menu/context-menu.component.ts b/src/app/component/context-menu/context-menu.component.ts index f6330010..1af5836e 100644 --- a/src/app/component/context-menu/context-menu.component.ts +++ b/src/app/component/context-menu/context-menu.component.ts @@ -1,6 +1,8 @@ import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; import { animate, state, style, transition, trigger } from '@angular/animations'; import { NewGridComponent } from '../new-grid/new-grid.component'; +import { CdkMenu, CdkMenuItem } from '@angular/cdk/menu'; +import { MatIcon } from '@angular/material/icon'; export class cMenuItem { public label: string = 'none'; @@ -54,7 +56,7 @@ export class cMenuItem { templateUrl: './context-menu.component.html', styleUrls: ['./context-menu.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [CdkMenu, CdkMenuItem, MatIcon], }) export class ContextMenuComponent { @Input() menuItems: cMenuItem[] = []; diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index 5a59d7b9..e7a7a352 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -8,7 +8,7 @@ import { } from '@angular/core'; import { ActiveObjService } from 'src/app/services/active-obj.service'; import { PrisJoint, RealJoint, RevJoint } from 'src/app/model/joint'; -import { FormArray, FormBuilder } from '@angular/forms'; +import { FormArray, FormBuilder, FormsModule, ReactiveFormsModule } from '@angular/forms'; import { Coord } from 'src/app/model/coord'; import { AngleUnit, @@ -36,6 +36,20 @@ import { } from '../../model/cylinder'; import { NotificationService } from 'src/app/services/notification.service'; import { NOT_A } from 'src/app/ui-text'; +import { PanelSectionCollapsibleComponent } from '../BLOCKS/panel-section-collapsible/panel-section-collapsible.component'; +import { TitleBlock } from '../BLOCKS/title/title.component'; +import { MatIcon } from '@angular/material/icon'; +import { MechanismPanelComponent } from '../mechanism-panel/mechanism-panel.component'; +import { PanelSectionComponent } from '../BLOCKS/panel-section/panel-section.component'; +import { EditableTitleComponent } from '../BLOCKS/editable-title/editable-title.component'; +import { CollapsibleSubsecitonComponent } from '../BLOCKS/collapsible-subseciton/collapsible-subseciton.component'; +import { DualInputComponent } from '../BLOCKS/dual-input/dual-input.component'; +import { ToggleComponent } from '../BLOCKS/toggle/toggle.component'; +import { ButtonComponent } from '../BLOCKS/button/button.component'; +import { InputComponent } from '../BLOCKS/input/input.component'; +import { ColorPickerComponent } from '../BLOCKS/color-picker/color-picker.component'; +import { DualButtonComponent } from '../BLOCKS/dual-button/dual-button.component'; +import { RadioComponent } from '../BLOCKS/radio/radio.component'; /** * Input Settings unit choices, in the order the picker shows them. The labels @@ -52,7 +66,24 @@ const INPUT_SPEED_UNITS = [ templateUrl: './edit-panel.component.html', styleUrls: ['./edit-panel.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + PanelSectionCollapsibleComponent, + TitleBlock, + MatIcon, + MechanismPanelComponent, + PanelSectionComponent, + EditableTitleComponent, + CollapsibleSubsecitonComponent, + DualInputComponent, + FormsModule, + ReactiveFormsModule, + ToggleComponent, + ButtonComponent, + InputComponent, + ColorPickerComponent, + DualButtonComponent, + RadioComponent, + ], }) export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { activeSrv = inject(ActiveObjService); diff --git a/src/app/component/equation-panel/equation-panel.component.ts b/src/app/component/equation-panel/equation-panel.component.ts index 6fa1b164..80ce25ae 100644 --- a/src/app/component/equation-panel/equation-panel.component.ts +++ b/src/app/component/equation-panel/equation-panel.component.ts @@ -1,10 +1,19 @@ import { Component, ChangeDetectionStrategy } from '@angular/core'; +import { PanelSectionComponent } from '../BLOCKS/panel-section/panel-section.component'; +import { NotReadyWarningComponent } from '../not-ready-warning/not-ready-warning.component'; +import { TitleBlock } from '../BLOCKS/title/title.component'; +import { CollapsibleSubsecitonComponent } from '../BLOCKS/collapsible-subseciton/collapsible-subseciton.component'; @Component({ selector: 'app-equation-panel', templateUrl: './equation-panel.component.html', styleUrls: ['./equation-panel.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + PanelSectionComponent, + NotReadyWarningComponent, + TitleBlock, + CollapsibleSubsecitonComponent, + ], }) export class EquationPanelComponent {} diff --git a/src/app/component/left-tabs/left-tabs.component.ts b/src/app/component/left-tabs/left-tabs.component.ts index cf4ea2f5..5a554c8e 100644 --- a/src/app/component/left-tabs/left-tabs.component.ts +++ b/src/app/component/left-tabs/left-tabs.component.ts @@ -2,6 +2,9 @@ import { RightPanelComponent } from '../right-panel/right-panel.component'; import { Component, ChangeDetectionStrategy, inject } from '@angular/core'; import { animate, state, style, transition, trigger } from '@angular/animations'; import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; +import { SynthesisPanelComponent } from '../synthesis-panel/synthesis-panel.component'; +import { EditPanelComponent } from '../edit-panel/edit-panel.component'; +import { AnalysisPanelComponent } from '../analysis-panel/analysis-panel.component'; @Component({ selector: 'app-left-tabs', @@ -40,7 +43,7 @@ import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; ]), ], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [SynthesisPanelComponent, EditPanelComponent, AnalysisPanelComponent], }) /** * The panel down the left: whatever the current mode has to say about the diff --git a/src/app/component/linkage-table/linkage-table.component.ts b/src/app/component/linkage-table/linkage-table.component.ts index 652c49f0..a5498be3 100644 --- a/src/app/component/linkage-table/linkage-table.component.ts +++ b/src/app/component/linkage-table/linkage-table.component.ts @@ -14,7 +14,6 @@ import { NotificationService } from '../../services/notification.service'; templateUrl: './linkage-table.component.html', styleUrls: ['./linkage-table.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, }) export class LinkageTableComponent implements OnInit { private mechanismService = inject(MechanismService); diff --git a/src/app/component/mechanism-panel/mechanism-panel.component.ts b/src/app/component/mechanism-panel/mechanism-panel.component.ts index da510573..b8b4b2eb 100644 --- a/src/app/component/mechanism-panel/mechanism-panel.component.ts +++ b/src/app/component/mechanism-panel/mechanism-panel.component.ts @@ -8,6 +8,7 @@ import { MechanismService } from '../../services/mechanism.service'; import { ActiveObjService } from '../../services/active-obj.service'; import { RightPanelComponent } from '../right-panel/right-panel.component'; import { MechanismFact } from '../../model/mechanism/readiness'; +import { MatIcon } from '@angular/material/icon'; /** One line of the Links section: what a link is, and how long. */ interface LinkRow { @@ -29,7 +30,7 @@ interface LinkRow { templateUrl: './mechanism-panel.component.html', styleUrls: ['./mechanism-panel.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatIcon], }) export class MechanismPanelComponent { mechanism = inject(MechanismService); diff --git a/src/app/component/new-grid/new-grid.component.spec.ts b/src/app/component/new-grid/new-grid.component.spec.ts index 0b0989f0..a883bd9a 100644 --- a/src/app/component/new-grid/new-grid.component.spec.ts +++ b/src/app/component/new-grid/new-grid.component.spec.ts @@ -1,5 +1,5 @@ import { TestBed } from '@angular/core/testing'; -import { AppModule } from '../../app.module'; +import { provideAnimations } from '@angular/platform-browser/animations'; import { RevJoint } from '../../model/joint'; import { RealLink } from '../../model/link'; import { ActiveObjService } from '../../services/active-obj.service'; @@ -51,7 +51,10 @@ async function configureGridTestBed() { minorCellSize: 0, snapToGrid: (coord: { x: number; y: number }) => coord, }; - await TestBed.configureTestingModule({ imports: [AppModule] }) + await TestBed.configureTestingModule({ + imports: [NewGridComponent], + providers: [provideAnimations()], + }) .overrideProvider(SvgGridService, { useValue: svgGridStub }) .compileComponents(); } diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 2a5caee3..e7db18f8 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -13,7 +13,7 @@ import { UrlProcessorService } from '../../services/url-processor.service'; import { GridUtilsService } from '../../services/grid-utils.service'; import { SettingsService } from '../../services/settings.service'; import { ActiveObjService } from '../../services/active-obj.service'; -import { cMenuItem } from '../context-menu/context-menu.component'; +import { cMenuItem, ContextMenuComponent } from '../context-menu/context-menu.component'; import { Link, RealLink } from '../../model/link'; import { Joint, PrisJoint, RealJoint, RevJoint } from '../../model/joint'; import { Coord } from '../../model/coord'; @@ -107,13 +107,15 @@ export interface SlotStackItem { plate?: WeldPlate; } import introJs from 'intro.js'; +import { SvgArrowComponent } from '../svg-arrow/svg-arrow.component'; +import { NotificationComponent } from '../notification/notification.component'; @Component({ selector: 'app-new-grid', templateUrl: './new-grid.component.html', styleUrls: ['./new-grid.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [CdkContextMenuTrigger, SvgArrowComponent, ContextMenuComponent, NotificationComponent], }) export class NewGridComponent implements OnDestroy { svgGrid = inject(SvgGridService); diff --git a/src/app/component/not-ready-warning/not-ready-warning.component.ts b/src/app/component/not-ready-warning/not-ready-warning.component.ts index 30c3381a..3d9e1cec 100644 --- a/src/app/component/not-ready-warning/not-ready-warning.component.ts +++ b/src/app/component/not-ready-warning/not-ready-warning.component.ts @@ -5,6 +5,5 @@ import { Component, ChangeDetectionStrategy } from '@angular/core'; templateUrl: './not-ready-warning.component.html', styleUrls: ['./not-ready-warning.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, }) export class NotReadyWarningComponent {} diff --git a/src/app/component/notification/notification.component.ts b/src/app/component/notification/notification.component.ts index 05391678..d2f059eb 100644 --- a/src/app/component/notification/notification.component.ts +++ b/src/app/component/notification/notification.component.ts @@ -5,6 +5,7 @@ import { NotificationKind, NotificationService, } from '../../services/notification.service'; +import { MatIcon } from '@angular/material/icon'; /** * The glyph that says which of the four this is before the sentence is read. @@ -48,7 +49,7 @@ const ICONS: Record = { templateUrl: './notification.component.html', styleUrls: ['./notification.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatIcon], }) export class NotificationComponent { notifications = inject(NotificationService); diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index 2d1b4a27..ef37ce26 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -17,6 +17,8 @@ import { SelectedTabService } from '../../selected-tab.service'; import { TimeUnit } from '../../model/utils'; import { Mechanism } from '../../model/mechanism/mechanism'; import { MODEL_SCALE } from '../../model/render-scale'; +import { MatIcon } from '@angular/material/icon'; +import { ViewControlsComponent } from '../view-controls/view-controls.component'; /** How far the cluster floats above the status strip, matching its own CSS. */ const BOTTOM_OFFSET = 38; @@ -89,7 +91,7 @@ export interface PlaybackRow { ]), ], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatIcon, ViewControlsComponent], }) export class PlaybackBarComponent implements OnInit, AfterViewInit, OnDestroy { mechanism = inject(MechanismService); diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index f5d2812f..de15e9b1 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -7,7 +7,15 @@ import { ActiveObjService } from '../../services/active-obj.service'; import { MechanismService } from '../../services/mechanism.service'; import { RealLink } from '../../model/link'; import { AnalyticsService } from '../../services/analytics.service'; -import { FormBuilder, FormControl, FormGroupDirective, NgForm, Validators } from '@angular/forms'; +import { + FormBuilder, + FormControl, + FormGroupDirective, + NgForm, + Validators, + FormsModule, + ReactiveFormsModule, +} from '@angular/forms'; import { ErrorStateMatcher } from '@angular/material/core'; import { environment } from '../../../environments/environment'; import emailjs from '@emailjs/browser'; @@ -18,6 +26,19 @@ import { SvgGridService } from '../../services/svg-grid.service'; import introJs from 'intro.js'; import { UrlGenerationService } from 'src/app/services/url-generation.service'; import { NotificationService } from '../../services/notification.service'; +import { AnalysisSetupComponent } from '../analysis-setup/analysis-setup.component'; +import { SettingsPanelComponent } from '../settings-panel/settings-panel.component'; +import { EquationPanelComponent } from '../equation-panel/equation-panel.component'; +import { PanelSectionComponent } from '../BLOCKS/panel-section/panel-section.component'; +import { TitleBlock } from '../BLOCKS/title/title.component'; +import { ButtonComponent } from '../BLOCKS/button/button.component'; +import { SubtitleComponent } from '../BLOCKS/subtitle/subtitle.component'; +import { MatFormField, MatLabel, MatError } from '@angular/material/form-field'; +import { MatInput } from '@angular/material/input'; +import { MatCheckbox } from '@angular/material/checkbox'; +import { LinkageTableComponent } from '../linkage-table/linkage-table.component'; +import { MatTooltip } from '@angular/material/tooltip'; +import { MatIcon } from '@angular/material/icon'; @Component({ selector: 'app-right-panel', @@ -55,7 +76,25 @@ import { NotificationService } from '../../services/notification.service'; ]), ], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + AnalysisSetupComponent, + SettingsPanelComponent, + EquationPanelComponent, + PanelSectionComponent, + TitleBlock, + ButtonComponent, + SubtitleComponent, + FormsModule, + ReactiveFormsModule, + MatFormField, + MatLabel, + MatInput, + MatError, + MatCheckbox, + LinkageTableComponent, + MatTooltip, + MatIcon, + ], }) export class RightPanelComponent implements DoCheck { activeObjService = inject(ActiveObjService); diff --git a/src/app/component/settings-panel/settings-panel.component.ts b/src/app/component/settings-panel/settings-panel.component.ts index 780292c8..691120f4 100644 --- a/src/app/component/settings-panel/settings-panel.component.ts +++ b/src/app/component/settings-panel/settings-panel.component.ts @@ -3,20 +3,37 @@ import { environment } from '../../../environments/environment'; import { Component, ChangeDetectionStrategy, OnDestroy, inject } from '@angular/core'; import { SettingsService, writeStoredFlag } from 'src/app/services/settings.service'; import { LengthUnit, AngleUnit, ForceUnit, GlobalUnit } from 'src/app/model/utils'; -import { FormBuilder, Validators } from '@angular/forms'; +import { FormBuilder, Validators, FormsModule, ReactiveFormsModule } from '@angular/forms'; import { MechanismService } from '../../services/mechanism.service'; import { SvgGridService } from '../../services/svg-grid.service'; import { NumberUnitParserService } from '../../services/number-unit-parser.service'; import { Coord } from '../../model/coord'; import { combineLatest, skip, Subscription } from 'rxjs'; import { MODEL_SCALE } from '../../model/render-scale'; +import { PanelSectionComponent } from '../BLOCKS/panel-section/panel-section.component'; +import { TitleBlock } from '../BLOCKS/title/title.component'; +import { CollapsibleSubsecitonComponent } from '../BLOCKS/collapsible-subseciton/collapsible-subseciton.component'; +import { RadioComponent } from '../BLOCKS/radio/radio.component'; +import { ToggleComponent } from '../BLOCKS/toggle/toggle.component'; +import { InputComponent } from '../BLOCKS/input/input.component'; +import { ButtonComponent } from '../BLOCKS/button/button.component'; @Component({ selector: 'app-settings-panel', templateUrl: './settings-panel.component.html', styleUrls: ['./settings-panel.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + PanelSectionComponent, + TitleBlock, + CollapsibleSubsecitonComponent, + RadioComponent, + FormsModule, + ReactiveFormsModule, + ToggleComponent, + InputComponent, + ButtonComponent, + ], }) export class SettingsPanelComponent implements OnDestroy { settingsService = inject(SettingsService); diff --git a/src/app/component/svg-arrow/svg-arrow.component.spec.ts b/src/app/component/svg-arrow/svg-arrow.component.spec.ts index d5881153..3923f8b0 100644 --- a/src/app/component/svg-arrow/svg-arrow.component.spec.ts +++ b/src/app/component/svg-arrow/svg-arrow.component.spec.ts @@ -8,7 +8,7 @@ describe('SvgArrowComponent', () => { beforeEach(async () => { await TestBed.configureTestingModule({ - declarations: [SvgArrowComponent], + imports: [SvgArrowComponent], }).compileComponents(); fixture = TestBed.createComponent(SvgArrowComponent); diff --git a/src/app/component/svg-arrow/svg-arrow.component.ts b/src/app/component/svg-arrow/svg-arrow.component.ts index 123bc3c1..b4de1946 100644 --- a/src/app/component/svg-arrow/svg-arrow.component.ts +++ b/src/app/component/svg-arrow/svg-arrow.component.ts @@ -5,7 +5,6 @@ import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; templateUrl: './svg-arrow.component.html', styleUrls: ['./svg-arrow.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, }) export class SvgArrowComponent { @Input() x: number = 0; diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.ts b/src/app/component/synthesis-panel/synthesis-panel.component.ts index d297728f..b6f84a7b 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.ts +++ b/src/app/component/synthesis-panel/synthesis-panel.component.ts @@ -1,5 +1,5 @@ import { Component, OnInit, ChangeDetectionStrategy, inject } from '@angular/core'; -import { FormBuilder } from '@angular/forms'; +import { FormBuilder, FormsModule, ReactiveFormsModule } from '@angular/forms'; import { Coord } from '../../model/coord'; import { Joint, RevJoint } from '../../model/joint'; import { MechanismService } from '../../services/mechanism.service'; @@ -10,13 +10,34 @@ import { SettingsService } from 'src/app/services/settings.service'; import { SynthesisStatus } from 'src/app/services/synthesis/synthesis-constants'; import { SvgGridService } from '../../services/svg-grid.service'; import { ColorService } from '../../services/color.service'; +import { PanelSectionComponent } from '../BLOCKS/panel-section/panel-section.component'; +import { TitleBlock } from '../BLOCKS/title/title.component'; +import { CollapsibleSubsecitonComponent } from '../BLOCKS/collapsible-subseciton/collapsible-subseciton.component'; +import { SubtitleComponent } from '../BLOCKS/subtitle/subtitle.component'; +import { InputComponent } from '../BLOCKS/input/input.component'; +import { RadioComponent } from '../BLOCKS/radio/radio.component'; +import { MatDivider } from '@angular/material/divider'; +import { DualInputComponent } from '../BLOCKS/dual-input/dual-input.component'; +import { ButtonComponent } from '../BLOCKS/button/button.component'; @Component({ selector: 'app-synthesis-panel', templateUrl: './synthesis-panel.component.html', styleUrls: ['./synthesis-panel.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [ + PanelSectionComponent, + TitleBlock, + CollapsibleSubsecitonComponent, + SubtitleComponent, + InputComponent, + FormsModule, + ReactiveFormsModule, + RadioComponent, + MatDivider, + DualInputComponent, + ButtonComponent, + ], }) export class SynthesisPanelComponent implements OnInit { private fb = inject(FormBuilder); diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts index e5cd773b..880f3b6f 100644 --- a/src/app/component/top-bar/top-bar.component.ts +++ b/src/app/component/top-bar/top-bar.component.ts @@ -23,6 +23,8 @@ import { RightPanelComponent } from '../right-panel/right-panel.component'; import { TemplatesComponent } from '../MODALS/templates/templates.component'; import { AnalysisExportService } from '../../services/analysis-export.service'; import { NotificationService } from '../../services/notification.service'; +import { MatTooltip } from '@angular/material/tooltip'; +import { MatIcon } from '@angular/material/icon'; /** A mode's chip: whether that analysis can be entered, and what is missing. */ interface TabStatus { @@ -80,7 +82,7 @@ interface TabStatus { ]), ]), ], - standalone: false, + imports: [MatTooltip, MatIcon], }) export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestroy { tabs = inject(SelectedTabService); diff --git a/src/app/component/view-controls/view-controls.component.ts b/src/app/component/view-controls/view-controls.component.ts index 9dc4ba70..6cb295e7 100644 --- a/src/app/component/view-controls/view-controls.component.ts +++ b/src/app/component/view-controls/view-controls.component.ts @@ -9,6 +9,8 @@ import { import { MechanismService } from '../../services/mechanism.service'; import { SettingsService, writeStoredFlag } from '../../services/settings.service'; import { SvgGridService } from '../../services/svg-grid.service'; +import { MatTooltip } from '@angular/material/tooltip'; +import { MatIcon } from '@angular/material/icon'; /** * View toggles that apply in every mode, so they sit at the foot of the nav @@ -19,7 +21,7 @@ import { SvgGridService } from '../../services/svg-grid.service'; templateUrl: './view-controls.component.html', styleUrls: ['./view-controls.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - standalone: false, + imports: [MatTooltip, MatIcon], }) export class ViewControlsComponent implements AfterViewInit, OnDestroy { svgGrid = inject(SvgGridService); diff --git a/src/app/focus-on-show.directive.ts b/src/app/focus-on-show.directive.ts index 2444ae6d..d731af5c 100644 --- a/src/app/focus-on-show.directive.ts +++ b/src/app/focus-on-show.directive.ts @@ -1,9 +1,6 @@ import { Directive, ElementRef, OnInit, inject } from '@angular/core'; -@Directive({ - selector: '[appPrefixFocusAndSelect]', - standalone: false, -}) +@Directive({ selector: '[appPrefixFocusAndSelect]' }) export class FocusOnShowDirective implements OnInit { private el = inject(ElementRef); diff --git a/src/app/material/material.module.ts b/src/app/material/material.module.ts deleted file mode 100644 index a9100598..00000000 --- a/src/app/material/material.module.ts +++ /dev/null @@ -1,123 +0,0 @@ -import { NgModule } from '@angular/core'; -import { CommonModule } from '@angular/common'; -// Material Form Controls -import { MatAutocompleteModule } from '@angular/material/autocomplete'; -import { MatCheckboxModule } from '@angular/material/checkbox'; -// import { MatDatepickerModule } from '@angular/material/datepicker'; -import { MatFormFieldModule } from '@angular/material/form-field'; -import { MatInputModule } from '@angular/material/input'; -import { MatRadioModule } from '@angular/material/radio'; -import { MatSelectModule } from '@angular/material/select'; -import { MatSliderModule } from '@angular/material/slider'; -import { MatSlideToggleModule } from '@angular/material/slide-toggle'; -// Material Navigation -import { MatMenuModule } from '@angular/material/menu'; -import { MatSidenavModule } from '@angular/material/sidenav'; -import { MatToolbarModule } from '@angular/material/toolbar'; -// Material Layout -import { MatCardModule } from '@angular/material/card'; -import { MatDividerModule } from '@angular/material/divider'; -import { MatExpansionModule } from '@angular/material/expansion'; -import { MatGridListModule } from '@angular/material/grid-list'; -import { MatListModule } from '@angular/material/list'; -import { MatStepperModule } from '@angular/material/stepper'; -import { MatTabsModule } from '@angular/material/tabs'; -import { MatTreeModule } from '@angular/material/tree'; -// Material Buttons & Indicators -import { MatButtonModule } from '@angular/material/button'; -import { MatButtonToggleModule } from '@angular/material/button-toggle'; -import { MatBadgeModule } from '@angular/material/badge'; -import { MatChipsModule } from '@angular/material/chips'; -import { MatIconModule } from '@angular/material/icon'; -import { MatProgressSpinnerModule } from '@angular/material/progress-spinner'; -import { MatProgressBarModule } from '@angular/material/progress-bar'; -import { MatRippleModule } from '@angular/material/core'; -// Material Popups & Modals -import { MatBottomSheetModule } from '@angular/material/bottom-sheet'; -import { MatDialogModule } from '@angular/material/dialog'; -import { MatSnackBarModule } from '@angular/material/snack-bar'; -import { MatTooltipModule } from '@angular/material/tooltip'; -// Material Data tables -import { MatPaginatorModule } from '@angular/material/paginator'; -import { MatSortModule } from '@angular/material/sort'; -import { MatTableModule } from '@angular/material/table'; - -@NgModule({ - declarations: [], - imports: [ - CommonModule, - MatAutocompleteModule, - MatCheckboxModule, - // MatDatepickerModule, - MatFormFieldModule, - MatInputModule, - MatRadioModule, - MatSelectModule, - MatSliderModule, - MatSlideToggleModule, - MatMenuModule, - MatSidenavModule, - MatToolbarModule, - MatCardModule, - MatDividerModule, - MatExpansionModule, - MatGridListModule, - MatListModule, - MatStepperModule, - MatTabsModule, - MatTreeModule, - MatButtonModule, - MatButtonToggleModule, - MatBadgeModule, - MatChipsModule, - MatIconModule, - MatProgressSpinnerModule, - MatProgressBarModule, - MatRippleModule, - MatBottomSheetModule, - MatDialogModule, - MatSnackBarModule, - MatTooltipModule, - MatPaginatorModule, - MatSortModule, - MatTableModule, - ], - exports: [ - MatAutocompleteModule, - MatCheckboxModule, - // MatDatepickerModule, - MatFormFieldModule, - MatInputModule, - MatRadioModule, - MatSelectModule, - MatSliderModule, - MatSlideToggleModule, - MatMenuModule, - MatSidenavModule, - MatToolbarModule, - MatCardModule, - MatDividerModule, - MatExpansionModule, - MatGridListModule, - MatListModule, - MatStepperModule, - MatTabsModule, - MatTreeModule, - MatButtonModule, - MatButtonToggleModule, - MatBadgeModule, - MatChipsModule, - MatIconModule, - MatProgressSpinnerModule, - MatProgressBarModule, - MatRippleModule, - MatBottomSheetModule, - MatDialogModule, - MatSnackBarModule, - MatTooltipModule, - MatPaginatorModule, - MatSortModule, - MatTableModule, - ], -}) -export class MaterialModule {} diff --git a/src/app/model/coord.ts b/src/app/model/coord.ts index de23e87d..94ba1a7e 100644 --- a/src/app/model/coord.ts +++ b/src/app/model/coord.ts @@ -1,6 +1,6 @@ // A class to represent an X and Y coordinate -import { SettingsService } from '../services/settings.service'; +import { OBJECT_SCALE } from './object-scale'; export class Coord { private _x: number; @@ -42,11 +42,11 @@ export class Coord { } equals(coord: Coord) { - return this.getDistanceTo(coord) < 0.0001 * SettingsService.objectScale; + return this.getDistanceTo(coord) < 0.0001 * OBJECT_SCALE.value; } looselyEquals(coord: Coord) { - return this.getDistanceTo(coord) < 0.04 * SettingsService.objectScale; + return this.getDistanceTo(coord) < 0.04 * OBJECT_SCALE.value; } add(vector: Coord) { diff --git a/src/app/model/object-scale.ts b/src/app/model/object-scale.ts new file mode 100644 index 00000000..5c38045e --- /dev/null +++ b/src/app/model/object-scale.ts @@ -0,0 +1,18 @@ +import { BehaviorSubject } from 'rxjs'; +import { MODEL_SCALE } from './render-scale'; + +/** + * The size of the drawn marks — joints, ground hatching, arrows — as an + * internal length. It lives here, in a module with no other imports, rather + * than on SettingsService where its public face is: Coord's closeness + * thresholds scale with it, and a geometry leaf importing the service graph is + * the module cycle that left `Coord` undefined while `Joint extends Coord` + * was being evaluated. + * + * 0.7 rather than 1: joints, blocks and cylinder heads at full size crowd a + * linkage of ordinary proportions, and the first thing most people did was + * turn it down. A mechanism arriving from a URL carries its own scale, so + * this is what a new project starts at and what an older URL without the + * setting falls back to. + */ +export const OBJECT_SCALE = new BehaviorSubject(0.7 * MODEL_SCALE); diff --git a/src/app/services/settings.service.ts b/src/app/services/settings.service.ts index 8e0ab8b0..09ca3055 100644 --- a/src/app/services/settings.service.ts +++ b/src/app/services/settings.service.ts @@ -9,6 +9,7 @@ import { } from '../model/unit-enums'; import type { ForceAnalysisMode } from '../model/mechanism/force-solver'; import { MODEL_SCALE } from '../model/render-scale'; +import { OBJECT_SCALE } from '../model/object-scale'; import { local_storage_available } from '../model/utils'; /** @@ -129,12 +130,10 @@ export class SettingsService { // In user units; the internal world is MODEL_SCALE times larger, and every // visual size in the mark system is a multiple of this number. // - // 0.7 rather than 1: joints, blocks and cylinder heads at full size crowd a - // linkage of ordinary proportions, and the first thing most people did was - // turn it down. A mechanism arriving from a URL carries its own scale, so - // this is what a new project starts at and what an older URL without the - // setting falls back to. - static _objectScale = new BehaviorSubject(0.7 * MODEL_SCALE); + // The subject itself lives in model/object-scale.ts — a leaf module — so + // that Coord's closeness thresholds can read it without importing this + // service and closing a module cycle. This static is its public face. + static _objectScale = OBJECT_SCALE; static get objectScale(): number { return SettingsService._objectScale.value; diff --git a/src/app/services/url-processor.service.spec.ts b/src/app/services/url-processor.service.spec.ts index a647b054..ad8896a4 100644 --- a/src/app/services/url-processor.service.spec.ts +++ b/src/app/services/url-processor.service.spec.ts @@ -1,5 +1,4 @@ import { TestBed } from '@angular/core/testing'; -import { AppModule } from '../app.module'; import { MechanismService } from './mechanism.service'; import { UrlProcessorService } from './url-processor.service'; import { TEMPLATE_LINKAGES } from '../component/MODALS/templates/template-linkages'; @@ -30,7 +29,7 @@ describe('opening a linkage while another is animating', () => { const pose = () => mechanism.joints.map((joint) => ({ id: joint.id, x: joint.x, y: joint.y })); beforeEach(() => { - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); mechanism = TestBed.inject(MechanismService); urls = TestBed.inject(UrlProcessorService); }); diff --git a/src/main.ts b/src/main.ts index 15604aed..4671172f 100644 --- a/src/main.ts +++ b/src/main.ts @@ -1,8 +1,10 @@ /// import { enableProdMode, provideZoneChangeDetection } from '@angular/core'; -import { platformBrowserDynamic } from '@angular/platform-browser-dynamic'; +import { provideHttpClient, withInterceptorsFromDi, withXhr } from '@angular/common/http'; +import { bootstrapApplication } from '@angular/platform-browser'; +import { provideAnimations } from '@angular/platform-browser/animations'; -import { AppModule } from './app/app.module'; +import { AppComponent } from './app/app.component'; import { environment } from './environments/environment'; import 'hammerjs'; @@ -10,6 +12,10 @@ if (environment.production) { enableProdMode(); } -platformBrowserDynamic() - .bootstrapModule(AppModule, { applicationProviders: [provideZoneChangeDetection()] }) - .catch((err) => console.error(err)); +bootstrapApplication(AppComponent, { + providers: [ + provideZoneChangeDetection(), + provideAnimations(), + provideHttpClient(withXhr(), withInterceptorsFromDi()), + ], +}).catch((err) => console.error(err)); diff --git a/src/tests/verification/cylinder-travel.spec.ts b/src/tests/verification/cylinder-travel.spec.ts index 666f1a7a..5ee2c41e 100644 --- a/src/tests/verification/cylinder-travel.spec.ts +++ b/src/tests/verification/cylinder-travel.spec.ts @@ -2,7 +2,6 @@ // initializes cleanly when entered here (see test-utils/verification/fixture.ts). import '../../app/model/joint'; import { TestBed } from '@angular/core/testing'; -import { AppModule } from '../../app/app.module'; import { MechanismService } from '../../app/services/mechanism.service'; import { UrlProcessorService } from '../../app/services/url-processor.service'; import { SettingsService } from '../../app/services/settings.service'; @@ -110,7 +109,7 @@ describe('a cylinder with no travel', () => { // take any driven PrisJoint at all. It would have commanded this pin along // its slot with no stroke bound -- animating the ram by telescoping the rod // out of its own barrel, which is the one thing sealing it forbids. - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); const mechanism = TestBed.inject(MechanismService); const urls = TestBed.inject(UrlProcessorService); @@ -130,7 +129,7 @@ describe('the drawn barrel', () => { // from the piston back to the anchor, so the one rigid part of the // assembly was the one part visibly changing length -- and the stroke was // invisible, because nothing marked where the bore ended. - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); const mechanism = TestBed.inject(MechanismService); const urls = TestBed.inject(UrlProcessorService); const marks = new SliderMarkService(); @@ -209,7 +208,7 @@ describe('object scale, which changes R under a mechanism nobody touched', () => // fall under it. Snapping the piston to the collapsed interval would move a // joint with no undo entry and destroy the geometry that scaling back down // would otherwise restore. - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); const mechanism = TestBed.inject(MechanismService); const urls = TestBed.inject(UrlProcessorService); const original = SettingsService.objectScale; @@ -239,7 +238,7 @@ describe('a mount two rams share', () => { // wrong for "what has to move". The second ram was left to the normalizer, // which holds the mounts and can only repair the interior -- so it absorbed // a drag meant for the first by quietly changing its own size. - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); const mechanism = TestBed.inject(MechanismService); const urls = TestBed.inject(UrlProcessorService); const grid = TestBed.inject(GridUtilsService); @@ -279,7 +278,7 @@ describe('two rams a single link carries', () => { // Not the same case as a shared mount: here the two rams have separate // mounts that happen to sit on one bar, so a drag of the bar carries both // and each has to be re-posed about the mount that did not ride along. - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); const mechanism = TestBed.inject(MechanismService); const urls = TestBed.inject(UrlProcessorService); const grid = TestBed.inject(GridUtilsService); @@ -312,7 +311,7 @@ describe('two rams a single link carries', () => { describe('a ram bigger than the machine it drives', () => { it('says how much of its stroke the linkage can actually use', () => { - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); const mechanism = TestBed.inject(MechanismService); const urls = TestBed.inject(UrlProcessorService); @@ -420,7 +419,7 @@ describe('merging a cylinder mount onto another joint', () => { // and rebuilds connectivity, but the slot on the barrel still named the // joint that no longer exists — so the slider stopped being well formed, // stopped resolving, and the skin vanished with no message at all. - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); const mechanism = TestBed.inject(MechanismService); const urls = TestBed.inject(UrlProcessorService); urls.updateFromURL(fixturePayload(cylinderBoomFixture()), false, true, false); diff --git a/src/tests/verification/cylinder-weld-guards.spec.ts b/src/tests/verification/cylinder-weld-guards.spec.ts index f6a99c9e..a708a2d3 100644 --- a/src/tests/verification/cylinder-weld-guards.spec.ts +++ b/src/tests/verification/cylinder-weld-guards.spec.ts @@ -2,7 +2,6 @@ // initializes cleanly when entered here (see test-utils/verification/fixture.ts). import '../../app/model/joint'; import { TestBed } from '@angular/core/testing'; -import { AppModule } from '../../app/app.module'; import { MechanismService } from '../../app/services/mechanism.service'; import { UrlProcessorService } from '../../app/services/url-processor.service'; import { GridUtilsService } from '../../app/services/grid-utils.service'; @@ -52,7 +51,7 @@ describe('keeping a cylinder out of a welded compound', () => { let grid: GridUtilsService; beforeEach(() => { - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); mechanism = TestBed.inject(MechanismService); grid = TestBed.inject(GridUtilsService); TestBed.inject(UrlProcessorService).updateFromURL( diff --git a/src/tests/verification/edit-invariants.spec.ts b/src/tests/verification/edit-invariants.spec.ts index 0e834d05..baaee726 100644 --- a/src/tests/verification/edit-invariants.spec.ts +++ b/src/tests/verification/edit-invariants.spec.ts @@ -2,7 +2,6 @@ // initializes cleanly when entered here (see test-utils/verification/fixture.ts). import '../../app/model/joint'; import { TestBed } from '@angular/core/testing'; -import { AppModule } from '../../app/app.module'; import { MechanismService } from '../../app/services/mechanism.service'; import { UrlProcessorService } from '../../app/services/url-processor.service'; import { ActiveObjService } from '../../app/services/active-obj.service'; @@ -47,7 +46,7 @@ describe('a joint is welded or it is not', () => { let mechanism: MechanismService; beforeEach(() => { - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); mechanism = TestBed.inject(MechanismService); TestBed.inject(UrlProcessorService).updateFromURL(STRESS, false, true, false); }); @@ -89,7 +88,7 @@ describe('Un-weld All, on a link that has its own Compound Link Settings', () => // always meant "all of this one". It was reading as "all in the mechanism": // pressing it on a two-leaf compound dissolved every other compound on the // grid — a large, silent, unrelated edit. - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); const mechanism = TestBed.inject(MechanismService); const active = TestBed.inject(ActiveObjService); TestBed.inject(UrlProcessorService).updateFromURL(STRESS, false, true, false); @@ -181,7 +180,7 @@ describe('undo', () => { // // Selecting something is not an edit. It earns no history entry, so it // should not be undone by one. - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); const mechanism = TestBed.inject(MechanismService); const active = TestBed.inject(ActiveObjService); const history = TestBed.inject(SaveHistoryService); @@ -215,7 +214,7 @@ describe('undo', () => { // // It was invisible for as long as it was, because the same deletion routed // through the cylinder branch *did* save, as does `deleteLink`. - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); const mechanism = TestBed.inject(MechanismService); const active = TestBed.inject(ActiveObjService); const history = TestBed.inject(SaveHistoryService); diff --git a/src/tests/verification/traced-paths.spec.ts b/src/tests/verification/traced-paths.spec.ts index 53c25bb6..39f20222 100644 --- a/src/tests/verification/traced-paths.spec.ts +++ b/src/tests/verification/traced-paths.spec.ts @@ -2,7 +2,6 @@ // initializes cleanly when entered here (see test-utils/verification/fixture.ts). import '../../app/model/joint'; import { TestBed } from '@angular/core/testing'; -import { AppModule } from '../../app/app.module'; import { MechanismService } from '../../app/services/mechanism.service'; import { UrlProcessorService } from '../../app/services/url-processor.service'; import { fixturePayload } from '../../test-utils/verification/fixture-gallery'; @@ -21,7 +20,7 @@ describe('the traced path of a joint', () => { let mechanism: MechanismService; beforeEach(() => { - TestBed.configureTestingModule({ imports: [AppModule] }); + TestBed.configureTestingModule({}); mechanism = TestBed.inject(MechanismService); TestBed.inject(UrlProcessorService).updateFromURL( fixturePayload(cylinderBoomFixture()), diff --git a/tsconfig.spec.json b/tsconfig.spec.json index 3b6a214b..1718f932 100644 --- a/tsconfig.spec.json +++ b/tsconfig.spec.json @@ -5,7 +5,7 @@ "outDir": "./out-tsc/spec", "types": ["vitest/globals", "node"] }, - "include": ["src/**/*.spec.ts", "src/**/*.d.ts", "src/app/app.module.ts", "src/test-setup.ts"], + "include": ["src/**/*.spec.ts", "src/**/*.d.ts", "src/test-setup.ts"], "angularCompilerOptions": { "extendedDiagnostics": { "checks": { From 5b49be3ccad2e9096670f798c40a65fc6d8797cb Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 02:05:36 -0400 Subject: [PATCH 085/236] Tighten TypeScript: ES2022 target, zero any in app code, second dead-code cascade MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit tsconfig now says what the CLI already does (target ES2022, useDefineForClassFields false), so plain tsc agrees with the build and the .at() spec errors disappear. Every remaining 'any' in src/app is now a real type: Apex chart options, DOM change events, rxjs Subscriptions, svg-pan-zoom's Instance and HammerInput, the transcoder's enum helpers (generic over the enum), and ActiveObjService's selection union — which honestly includes the grid's empty-string sentinel and a force-endpoint Coord, because callers pass both. One stray from an old global rename surfaced: the chart literal's 'objectScale' key, which Apex ignored while width defaulted to the same value it named; it is width again. Typing the ported SVG-path library would have been wasted effort: the unused-import sweep had already removed its last consumer, so isInside, splitSegments, the Bezier intersection stack and their helpers (~700 lines) are deleted instead, along with the stringTo* URL helpers and mode enums nothing referenced. Co-Authored-By: Claude Opus 5 --- .../analysis-graph.component.ts | 11 +- .../analysis-panel.component.ts | 2 +- .../edit-panel/edit-panel.component.ts | 5 +- .../linkage-table/linkage-table.component.ts | 76 +- .../component/new-grid/new-grid.component.ts | 2 +- .../right-panel/right-panel.component.ts | 7 +- .../synthesis-panel.component.ts | 2 - src/app/model/link.ts | 6 +- src/app/model/mechanism/kinematic-solver.ts | 6 +- src/app/model/utils.ts | 820 ------------------ src/app/services/active-obj.service.ts | 12 +- src/app/services/mechanism.service.ts | 1 - src/app/services/svg-grid.service.ts | 20 +- .../synthesis/synthesis-builder.service.ts | 14 +- .../services/transcoding/mechanism-builder.ts | 2 +- .../transcoding/transcoder-interface.ts | 13 +- tsconfig.json | 3 +- 17 files changed, 99 insertions(+), 903 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 127531a4..352b34e0 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -15,6 +15,8 @@ import { import { ApexAnnotations, ApexAxisChartSeries, + ApexChart, + ApexGrid, ApexDataLabels, ApexFill, ApexLegend, @@ -43,7 +45,7 @@ import { AnalysisApexChartComponent } from './analysis-apex-chart.component'; export type ChartOptions = { annotations: ApexAnnotations; series: ApexAxisChartSeries; - chart: any; //ApexChart; + chart: ApexChart; dataLabels: ApexDataLabels; markers: ApexMarkers; title: ApexTitleSubtitle; @@ -52,9 +54,8 @@ export type ChartOptions = { xaxis: ApexXAxis; tooltip: ApexTooltip; stroke: ApexStroke; - grid: any; //ApexGrid; - colors: any; - toolbar: any; + grid: ApexGrid; + colors: string[]; legend: ApexLegend; }; @@ -170,7 +171,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, points: [], }, chart: { - objectScale: '100%', //380 + width: '100%', height: '250px', //300 animations: { // enabled: false, diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index b226a7c9..a393dac2 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -107,7 +107,7 @@ export class AnalysisPanelComponent { JInputForce: false, }; - mechStateSub: any; + mechStateSub?: Subscription; private subscriptions = new Subscription(); private rowCache?: { key: string; mechanism: unknown; rows: ForceAnalysisRow[] }; diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index e7a7a352..ab5fb004 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -1,3 +1,4 @@ +import { Subscription } from 'rxjs'; import { AfterContentInit, Component, @@ -212,9 +213,9 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { static instance: EditPanelComponent; //maintain a list of subcriptions to unsubscribe later - onDestroySubscriptions: any[] = []; + onDestroySubscriptions: Subscription[] = []; //dynamic form array subscriptions - otherJoitnsSubscriptions: any[] = []; + otherJoitnsSubscriptions: Subscription[] = []; /** * The pending re-enable pass scheduled by a selection change. It has to be * cancellable: the pass asks the mechanism what the joint may do, and a diff --git a/src/app/component/linkage-table/linkage-table.component.ts b/src/app/component/linkage-table/linkage-table.component.ts index a5498be3..6dcb90ee 100644 --- a/src/app/component/linkage-table/linkage-table.component.ts +++ b/src/app/component/linkage-table/linkage-table.component.ts @@ -46,7 +46,7 @@ export class LinkageTableComponent implements OnInit { ); } - changeJointProp($event: any, joint: Joint, jointProp: string) { + changeJointProp($event: Event, joint: Joint, jointProp: string) { if (!(joint instanceof RealJoint)) { return; } @@ -54,10 +54,10 @@ export class LinkageTableComponent implements OnInit { // assembly re-poses about the other mount, exactly as the drag does. const sealed = this.mechanismService.cylinderAt(joint); if (sealed && (jointProp === 'x' || jointProp === 'y')) { - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.length', NOT_A.length); } - const value = Number($event.target.value) * MODEL_SCALE; + const value = Number(($event.target as HTMLInputElement).value) * MODEL_SCALE; const wanted = new Coord( jointProp === 'x' ? value : joint.x, jointProp === 'y' ? value : joint.y @@ -71,10 +71,10 @@ export class LinkageTableComponent implements OnInit { switch (jointProp) { // TODO: When changing the joint positions, be sure to also change the ('d') path of the link case 'x': - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.length', NOT_A.length); } - joint.x = Number($event.target.value) * MODEL_SCALE; + joint.x = Number(($event.target as HTMLInputElement).value) * MODEL_SCALE; joint.links.forEach((l) => { if (!(l instanceof RealLink)) { return; @@ -93,10 +93,10 @@ export class LinkageTableComponent implements OnInit { }); break; case 'y': - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.length', NOT_A.length); } - joint.y = Number($event.target.value) * MODEL_SCALE; + joint.y = Number(($event.target as HTMLInputElement).value) * MODEL_SCALE; joint.links.forEach((l) => { if (!(l instanceof RealLink)) { return; @@ -113,22 +113,22 @@ export class LinkageTableComponent implements OnInit { }); break; case 'id': - if (!(typeof $event.target.value === 'string')) { + if (!(typeof ($event.target as HTMLInputElement).value === 'string')) { return this.notify.refusal('value.name', NOT_A.name); } joint.links.forEach((l) => { - l.id = l.id.replace(joint.id, $event.target.value); + l.id = l.id.replace(joint.id, ($event.target as HTMLInputElement).value); }); - joint.id = $event.target.value; + joint.id = ($event.target as HTMLInputElement).value; break; case 'angle': - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.angle', NOT_A.angle); } if (!(joint instanceof PrisJoint)) { return; } - joint.angle_rad = (Number($event.target.value) * Math.PI) / 180; + joint.angle_rad = (Number(($event.target as HTMLInputElement).value) * Math.PI) / 180; } // `true`, because a value typed into a cell is a discrete edit and should // be one undo step -- the same rule the panel follows. Without it, Undo @@ -136,34 +136,34 @@ export class LinkageTableComponent implements OnInit { this.mechanismService.updateMechanism(true); } - changeLinkProp($event: any, link: Link, linkProp: string) { + changeLinkProp($event: Event, link: Link, linkProp: string) { if (!(link instanceof RealLink)) { return; } switch (linkProp) { case 'mass': - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.mass', NOT_A.mass); } - link.mass = Number($event.target.value); + link.mass = Number(($event.target as HTMLInputElement).value); break; case 'massMoI': - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.momentOfInertia', NOT_A.momentOfInertia); } - link.massMoI = Number($event.target.value); + link.massMoI = Number(($event.target as HTMLInputElement).value); break; case 'CoMX': - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.length', NOT_A.length); } - link.CoM.x = Number($event.target.value) * MODEL_SCALE; + link.CoM.x = Number(($event.target as HTMLInputElement).value) * MODEL_SCALE; break; case 'CoMY': - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.length', NOT_A.length); } - link.CoM.y = Number($event.target.value) * MODEL_SCALE; + link.CoM.y = Number(($event.target as HTMLInputElement).value) * MODEL_SCALE; break; } this.mechanismService.updateMechanism(true); @@ -173,37 +173,49 @@ export class LinkageTableComponent implements OnInit { return force.angleRad * (180 / Math.PI); } - changeForceProp($event: any, force: Force, forceProp: string) { + changeForceProp($event: Event, force: Force, forceProp: string) { switch (forceProp) { case 'id': - if (!(typeof $event.target.value === 'string')) { + if (!(typeof ($event.target as HTMLInputElement).value === 'string')) { return this.notify.refusal('value.name', NOT_A.name); } - force.id = $event.target.value; + force.id = ($event.target as HTMLInputElement).value; break; case 'xPos': - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.length', NOT_A.length); } - force.moveAnchor(new Coord(Number($event.target.value) * MODEL_SCALE, force.startCoord.y)); + force.moveAnchor( + new Coord( + Number(($event.target as HTMLInputElement).value) * MODEL_SCALE, + force.startCoord.y + ) + ); break; case 'yPos': - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.length', NOT_A.length); } - force.moveAnchor(new Coord(force.startCoord.x, Number($event.target.value) * MODEL_SCALE)); + force.moveAnchor( + new Coord( + force.startCoord.x, + Number(($event.target as HTMLInputElement).value) * MODEL_SCALE + ) + ); break; case 'mag': - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.force', NOT_A.force); } - force.setMagnitude(Number($event.target.value)); + force.setMagnitude(Number(($event.target as HTMLInputElement).value)); break; case 'angle': - if (isNaN(Number($event.target.value))) { + if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.angle', NOT_A.angle); } - force.setDirectionRadians(Number($event.target.value) * (Math.PI / 180)); + force.setDirectionRadians( + Number(($event.target as HTMLInputElement).value) * (Math.PI / 180) + ); break; } this.mechanismService.updateMechanism(true); diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index e7db18f8..bbee506a 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -134,7 +134,7 @@ export class NewGridComponent implements OnDestroy { dragState = inject(DragStateService); sliderMarks = inject(SliderMarkService); - public static debugValue: any; + public static debugValue: unknown; static debugPoints: Coord[] = []; public static debugLines: Line[] = []; diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index de15e9b1..1d125b5f 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -413,9 +413,10 @@ export class RightPanelComponent implements DoCheck { switch (true) { case agent.indexOf('edge') > -1: return 'Edge'; - case agent.indexOf('opr') > -1 && !!(window).opr: + case agent.indexOf('opr') > -1 && !!(window as unknown as Record)['opr']: return 'Opera'; - case agent.indexOf('chrome') > -1 && !!(window).chrome: + case agent.indexOf('chrome') > -1 && + !!(window as unknown as Record)['chrome']: return 'Chrome'; case agent.indexOf('trident') > -1: return 'Internet Explorer'; @@ -513,7 +514,7 @@ export class RightPanelComponent implements DoCheck { this.sendingEmail = false; this.commentForm.reset(); }) - .catch((error: any) => { + .catch((error: unknown) => { console.log(error); this.notify.failure( 'feedback.send-failed', diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.ts b/src/app/component/synthesis-panel/synthesis-panel.component.ts index b6f84a7b..65faaba4 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.ts +++ b/src/app/component/synthesis-panel/synthesis-panel.component.ts @@ -48,8 +48,6 @@ export class SynthesisPanelComponent implements OnInit { svgGrid = inject(SvgGridService); private colorService = inject(ColorService); - PoseID: any; - private _alreadyHandlingPoseChange: boolean = false; ngOnInit() { diff --git a/src/app/model/link.ts b/src/app/model/link.ts index 31384567..eca7fa88 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -142,7 +142,7 @@ export class RealLink extends Link { // TODO: Have an optional argument of forces - public static debugDesiredJointsIDs: any; + public static debugDesiredJointsIDs: unknown; public lastSelectedSublink: Link | null = null; constructor( @@ -318,7 +318,7 @@ export class RealLink extends Link { const hullPoints = hull(points, Infinity) as number[][]; let hullContainsPoint = false; - hullPoints.forEach((point: any) => { + hullPoints.forEach((point: number[]) => { if (point[0] === x && point[1] === y) { hullContainsPoint = true; } @@ -374,7 +374,7 @@ export class RealLink extends Link { //Match resuling x,y points to joints let desiredJointsIDs: string = ''; - hullPoints.forEach((point: any) => { + hullPoints.forEach((point: number[]) => { const joint = allJoints.find((j) => j.x === point[0] && j.y === point[1]); if (joint) desiredJointsIDs += joint.id; }); diff --git a/src/app/model/mechanism/kinematic-solver.ts b/src/app/model/mechanism/kinematic-solver.ts index 66981848..e6bdca07 100644 --- a/src/app/model/mechanism/kinematic-solver.ts +++ b/src/app/model/mechanism/kinematic-solver.ts @@ -930,8 +930,8 @@ export class KinematicsSolver { simJoints: Joint[], simLinks: Link[], analysisType: string - ): any[] { - const unknownLinksOrJoints: Array = []; + ): Array { + const unknownLinksOrJoints: Array = []; // first, determine variable locations (X) this.requiredLoops.forEach((loop) => { for (const edge of loop.edges) { @@ -1186,7 +1186,7 @@ export class KinematicsSolver { return rate ? [-rate[0], -rate[1], 0] : [Number.NaN, Number.NaN, 0]; } - private static addTwoArrays(first_array: any, second_array: any) { + private static addTwoArrays(first_array: number[], second_array: number[]) { return first_array.map(function (num: number, idx: number) { // may have to caste num and second_array[idx] return num + second_array[idx]; diff --git a/src/app/model/utils.ts b/src/app/model/utils.ts index efef5560..326321a1 100644 --- a/src/app/model/utils.ts +++ b/src/app/model/utils.ts @@ -2,8 +2,6 @@ import { Joint } from './joint'; import { Coord } from './coord'; import { Shape } from './link'; -export class Utils {} - // radToDeg export * from './unit-enums'; @@ -40,23 +38,6 @@ export enum forceStates { draggingBody, } -export enum shapeEditModes { - move, - resize, -} - -export enum createModes { - link, - force, -} - -export enum moveModes { - joint, - forceEndpoint, - threePosition, - pathPoint, -} - // degToRad export function roundNumber(num: number, scale: number): number { @@ -274,67 +255,6 @@ export function determineSlope(x1: number, y1: number, x2: number, y2: number) { return (y2 - y1) / (x2 - x1); } -export function determineYIntersect(x: number, y: number, m: number) { - return y - m * x; -} - -export function determineX(m1: number, b1: number, m2: number, b2: number) { - return (b2 - b1) / (m1 - m2); -} - -export function determineY(x: number, m: number, b: number) { - return m * x + b; -} - -export function stringToFloat(str: string) { - const res = parseFloat(str); - if (Number.isNaN(res)) { - throw new Error('should be a number, file corrupted'); - } - return res; -} - -export function stringToBoolean(str: string) { - const lowerCaseString = str.toLowerCase(); - switch (lowerCaseString) { - case 't': - case 'true': - return true; - case 'f': - case 'false': - return false; - default: - throw new Error('should be a boolean, file corrupted'); - } -} - -export function stringToShape(str: string) { - switch (str) { - case 'line': - return Shape.line; - case 'bar': - return Shape.bar; - case 'eTriangle': - return Shape.eTriangle; - case 'rTriangle': - return Shape.rTriangle; - case 'rectangle': - return Shape.rectangle; - case 'square': - return Shape.square; - case 'circle': - return Shape.circle; - case 'cShape': - return Shape.cShape; - case 'tShape': - return Shape.tShape; - case 'lShape': - return Shape.lShape; - default: - return Shape.line; - } -} - // TODO: In future, can replace with this: https://www.gatevidyalay.com/2d-rotation-in-computer-graphics-definition-examples/ // Easier to understand, less variables to account for, and computationally faster export function determineUnknownJointUsingTriangulation( @@ -773,10 +693,6 @@ function isPointInArc( } } -export function is_touch_enabled() { - return 'ontouchstart' in window || navigator.maxTouchPoints > 0; -} - // https://www.petercollingridge.co.uk/tutorials/computational-geometry/circle-circle-intersections/ export function circleCircleIntersection( x0: number, @@ -915,739 +831,3 @@ export function point_on_line_segment_closest_to_point( export function distance_points(x1: number, y1: number, x2: number, y2: number): number { return Math.sqrt(Math.pow(x2 - x1, 2) + Math.pow(y2 - y1, 2)); } - -//hfz -var bezier3Type = 'bezier3'; -var lineType = 'line'; - -var mathAbs = Math.abs; -var mathAsin = Math.asin; -var mathCos = Math.cos; -var mathMax = Math.max; -var mathMin = Math.min; -var mathPi = Math.PI; -var mathPow = Math.pow; -var mathSin = Math.sin; -var mathSqrt = Math.sqrt; -var mathTan = Math.tan; - -var tolerance = 1e-6; -export function isInside(point: any, polygon: any) { - var segments; - if (polygon && Array.isArray(polygon)) { - segments = polygon; - } else { - segments = splitSegments(polygon); - } - - var minX = 0; - var minY = 0; - for (var s = 0; s < segments.length; s++) { - var coords = segments[s].coords; - for (var c = 0; c < coords.length; c++) { - var coord = coords[c]; - minX = Math.min(minX, x(coord)); - minY = Math.min(minY, y(coord)); - } - } - var zero = [minX - 10, minY - 10]; - - var intersections = []; - for (var i = 0; i < segments.length; i++) { - var newIntersections = getIntersections(zero, point, segments[i]); - for (var j = 0; j < newIntersections.length; j++) { - var seen = false; - var intersection = newIntersections[j]; - - for (var k = 0; k < intersections.length; k++) { - if (coordEqual(intersections[k], intersection)) { - seen = true; - break; - } - } - - if (!seen) { - intersections.push(intersection); - } - } - } - - return intersections.length % 2 === 1; -} - -export function x(p: any) { - return p[0]; -} - -export function y(p: any) { - return p[1]; -} - -// Unpack an SVG path string into different curves and lines -// -// https://developer.mozilla.org/en-US/docs/Web/SVG/Attribute/d -export function splitSegments(polygon: any) { - if (typeof polygon !== 'string') { - throw new Error('Polygon should be a path string'); - } - - let start: any; - let position: any; - let result: any = []; - let input = polygon; - - function stripWhitespace() { - polygon = polygon.trim(); - } - - function readCharSeq(n: any) { - var c = polygon.charCodeAt(n); - while (c >= 48 && c <= 57) { - n++; - c = polygon.charCodeAt(n); - } - return n; - } - - function readNumber() { - stripWhitespace(); - - var start = 0; - var end = 0; - if (polygon[start] === ',') { - start++; - end++; - } - - if (polygon[start] === '-' || polygon[start] === '.') { - end++; - } - - end = readCharSeq(end); - if (polygon[end] === '.' && polygon[start] !== '.') { - end++; - end = readCharSeq(end); - } - - var s = polygon.substring(start, end); - if (s !== '') { - var num = toFloat(s); - polygon = polygon.substring(end); - if (polygon.length && polygon[0].toLowerCase() === 'e') { - var expEnd = 0; - if (polygon.length > 1 && polygon[1] === '-') { - expEnd = readCharSeq(2); - } else { - expEnd = readCharSeq(1); - } - var exp = toFloat(polygon.substring(1, expEnd)); - if (mathAbs(exp) > 0) { - num *= mathPow(10, exp); - } - polygon = polygon.substring(expEnd); - } - return num; - } else { - throw new Error('Expected number: ' + polygon); - } - } - - function readNumbers(n: any, fn: any) { - stripWhitespace(); - var index = 0; - var c = polygon.charCodeAt(0); - while ((c >= 48 && c <= 57) || c === 44 || c === 45 || c === 46) { - var numbers = []; - for (var i = 0; i < n; i++) { - numbers.push(readNumber()); - } - fn(numbers, index); - - stripWhitespace(); - c = polygon.charCodeAt(0); - index++; - } - } - - function readCoords(n: any, fn: any) { - readNumbers(n * 2, function (numbers: any, index: any) { - var coords = []; - for (var i = 0; i < n; i++) { - coords.push(numbers.splice(0, 2)); - } - fn(coords, index); - }); - } - - function pushType(itemType: any, offset: any) { - return function (c: any) { - if (offset) { - c = c.map(function (c: any) { - return [x(c) + x(position), y(c) + y(position)]; - }); - } - c.unshift(position); - result.push({ - type: itemType, - coords: c, - }); - position = c[c.length - 1]; - }; - } - - function calculateCubicControlPoints(coords: any) { - return [ - coords[0], - [ - x(coords[0]) + (2.0 / 3.0) * (x(coords[1]) - x(coords[0])), - y(coords[0]) + (2.0 / 3.0) * (y(coords[1]) - y(coords[0])), - ], - [ - x(coords[2]) + (2.0 / 3.0) * (x(coords[1]) - x(coords[2])), - y(coords[2]) + (2.0 / 3.0) * (y(coords[1]) - y(coords[2])), - ], - coords[2], - ]; - } - - function calculateBezierControlPoint() { - var lastBezier = result[result.length - 1]; - var controlPoint = null; - if (!lastBezier || lastBezier.type !== bezier3Type) { - controlPoint = position; - } else { - // Calculate the mirror point of the last control point - var lastPoint = lastBezier.coords[2]; - var xOffset = x(position) - x(lastPoint); - var yOffset = y(position) - y(lastPoint); - - controlPoint = [x(position) + xOffset, y(position) + yOffset]; - } - - return controlPoint; - } - - function handleArcSegment(relative: any) { - readNumbers(7, function (numbers: any) { - var c2 = coordAdd(numbers.slice(5, 7), relative); - var args = [position].concat(numbers.slice(0, 5)).concat([c2]); - // @ts-ignore - var curve = arcToCurve.apply(args); - for (var i = 0; i < curve.length; i++) { - pushType(bezier3Type, curve[i]); - } - }); - } - - function readSegment() { - stripWhitespace(); - if (polygon === '') { - return; - } - - var operator = polygon[0]; - polygon = polygon.substring(1); - - var pushLine = pushType(lineType, null); - var origin = [0, 0]; - - switch (operator) { - case 'M': - readCoords(1, function (c: any, i: any) { - if (i === 0) { - position = c[0]; - if (!start) { - start = position; - } - } else { - pushType(lineType, c); - } - }); - break; - case 'm': - readCoords(1, function (c: any, i: any) { - if (i === 0) { - if (!position) { - position = c[0]; - } else { - position = coordAdd(c[0], position); - } - - if (!start) { - start = position; - } - } else { - var c0 = c[0]; - pushType(lineType, [coordAdd(c0, position)]); - } - }); - break; - case 'C': - readCoords(3, pushType(bezier3Type, null)); - break; - case 'c': - readCoords(3, pushType(bezier3Type, true)); - break; - case 'Q': - readCoords(2, function (coords: any) { - coords.unshift(position); - coords = calculateCubicControlPoints(coords); - coords.shift(); - pushType(bezier3Type, coords); - }); - break; - case 'q': - readCoords(2, function (coords: any) { - coords = coords.map(function (c: any) { - return coordAdd(c, position); - }); - coords.unshift(position); - coords = calculateCubicControlPoints(coords); - coords.shift(); - pushType(bezier3Type, coords); - }); - break; - case 'S': - readCoords(2, function (coords: any) { - var controlPoint = calculateBezierControlPoint(); - coords.unshift(controlPoint); - pushType(bezier3Type, coords); - }); - break; - case 's': - readCoords(2, function (coords: any) { - var controlPoint = calculateBezierControlPoint(); - coords = coords.map(function (c: any) { - return coordAdd(c, position); - }); - coords.unshift(controlPoint); - pushType(bezier3Type, coords); - }); - break; - case 'A': - handleArcSegment(origin); - break; - case 'a': - handleArcSegment(position); - break; - case 'L': - readCoords(1, pushType(lineType, null)); - break; - case 'l': - readCoords(1, function (c: any) { - pushLine([[x(c[0]) + x(position), y(c[0]) + y(position)]]); - }); - break; - case 'H': - pushType(lineType, [[readNumber(), y(position)]]); - break; - case 'h': - pushType(lineType, true)([[readNumber(), 0]]); - break; - case 'V': - pushType(lineType, [[x(position), readNumber()]]); - break; - case 'v': - pushType(lineType, true)([[0, readNumber()]]); - break; - case 'Z': - case 'z': - if (!coordEqual(position, start)) { - pushType(lineType, [start]); - } - break; - default: - throw new Error('Unknown operator: ' + operator + " for polygon '" + input + "'"); - } - } - - while (polygon.length > 0) { - readSegment(); - } - - // Remove zero-length lines - for (var i = 0; i < result.length; i++) { - var segment = result[i]; - if (segment.type === lineType && coordEqual(segment.coords[0], segment.coords[1])) { - result.splice(i, 1); - i--; - } - } - - return result; -} - -export function getIntersections(zero: any, point: any, shape: any) { - var coords = shape.coords; - switch (shape.type) { - case bezier3Type: - return intersectBezier3Line(coords[0], coords[1], coords[2], coords[3], zero, point); - case lineType: - return intersectLineLine(coords[0], coords[1], zero, point); - default: - throw new Error('Unsupported shape type: ' + shape.type); - } // jscs:ignore validateIndentation - // ^ (jscs bug) -} -export function coordMax(c1: any, c2: any) { - return [mathMax(x(c1), x(c2)), mathMax(y(c1), y(c2))]; -} - -export function coordMin(c1: any, c2: any) { - return [mathMin(x(c1), x(c2)), mathMin(y(c1), y(c2))]; -} - -export function coordMultiply(c: any, f: any) { - return [x(c) * f, y(c) * f]; -} - -function coordDot(c1: any, c2: any) { - return x(c1) * x(c2) + y(c1) * y(c2); -} - -function coordLerp(c1: any, c2: any, t: any) { - return [x(c1) + (x(c2) - x(c1)) * t, y(c1) + (y(c2) - y(c1)) * t]; -} - -function linearRoot(p2: any, p1: any) { - var results = []; - - var a = p2; - if (a !== 0) { - results.push(-p1 / p2); - } - - return results; -} -function quadRoots(p3: any, p2: any, p1: any) { - var results = []; - - if (mathAbs(p3) <= tolerance) { - return linearRoot(p2, p1); - } - - var a = p3; - var b = p2 / a; - var c = p1 / a; - var d = b * b - 4 * c; - if (d > 0) { - var e = mathSqrt(d); - results.push(0.5 * (-b + e)); - results.push(0.5 * (-b - e)); - } else if (d === 0) { - results.push(0.5 * -b); - } - - return results; -} - -export function cubeRoots(p4: any, p3: any, p2: any, p1: any) { - if (mathAbs(p4) <= tolerance) { - return quadRoots(p3, p2, p1); - } - - var results = []; - - var c3 = p4; - var c2 = p3 / c3; - var c1 = p2 / c3; - var c0 = p1 / c3; - - var a = (3 * c1 - c2 * c2) / 3; - var b = (2 * c2 * c2 * c2 - 9 * c1 * c2 + 27 * c0) / 27; - var offset = c2 / 3; - var discrim = (b * b) / 4 + (a * a * a) / 27; - var halfB = b / 2; - - /* This should be here, but there's a typo in the original code (disrim = - * 0) which causes it not to be present there. Ironically, adding the - * following code breaks the algorithm, whereas leaving it out makes it - * work correctly. - if (mathAbs(discrim) <= tolerance) { - discrim = 0; - } - */ - - var tmp; - if (discrim > 0) { - var e = mathSqrt(discrim); - tmp = -halfB + e; - var root = tmp >= 0 ? mathPow(tmp, 1 / 3) : -mathPow(-tmp, 1 / 3); - tmp = -halfB - e; - if (tmp >= 0) { - root += mathPow(tmp, 1 / 3); - } else { - root -= mathPow(-tmp, 1 / 3); - } - results.push(root - offset); - } else if (discrim < 0) { - var distance = mathSqrt(-a / 3); - var angle = Math.atan2(mathSqrt(-discrim), -halfB) / 3; - var cos = mathCos(angle); - var sin = mathSin(angle); - var sqrt3 = mathSqrt(3); - results.push(2 * distance * cos - offset); - results.push(-distance * (cos + sqrt3 * sin) - offset); - results.push(-distance * (cos - sqrt3 * sin) - offset); - } else { - if (halfB >= 0) { - tmp = -mathPow(halfB, 1 / 3); - } else { - tmp = mathPow(-halfB, 1 / 3); - } - results.push(2 * tmp - offset); - results.push(-tmp - offset); - } - - return results; -} -export function intersectBezier3Line(p1: any, p2: any, p3: any, p4: any, a1: any, a2: any) { - var result = []; - - var min = coordMin(a1, a2); // used to determine if point is on line segment - var max = coordMax(a1, a2); // used to determine if point is on line segment - - // Start with Bezier using Bernstein polynomials for weighting functions: - // (1-t^3)P1 + 3t(1-t)^2P2 + 3t^2(1-t)P3 + t^3P4 - // - // Expand and collect terms to form linear combinations of original Bezier - // controls. This ends up with a vector cubic in t: - // (-P1+3P2-3P3+P4)t^3 + (3P1-6P2+3P3)t^2 + (-3P1+3P2)t + P1 - // /\ /\ /\ /\ - // || || || || - // c3 c2 c1 c0 - - // Calculate the coefficients - var a = coordMultiply(p1, -1); - var b = coordMultiply(p2, 3); - var c = coordMultiply(p3, -3); - var c3 = coordAdd(a, coordAdd(b, coordAdd(c, p4))); - - a = coordMultiply(p1, 3); - b = coordMultiply(p2, -6); - c = coordMultiply(p3, 3); - var c2 = coordAdd(a, coordAdd(b, c)); - - a = coordMultiply(p1, -3); - b = coordMultiply(p2, 3); - var c1 = coordAdd(a, b); - - var c0 = p1; - - // Convert line to normal form: ax + by + c = 0 - // Find normal to line: negative inverse of original line's slope - var n = [y(a1) - y(a2), x(a2) - x(a1)]; - - // Determine new c coefficient - var cl = x(a1) * y(a2) - x(a2) * y(a1); - - // ?Rotate each cubic coefficient using line for new coordinate system? - // Find roots of rotated cubic - var roots = cubeRoots(coordDot(n, c3), coordDot(n, c2), coordDot(n, c1), coordDot(n, c0) + cl); - - // Any roots in closed interval [0,1] are intersections on Bezier, but - // might not be on the line segment. - // Find intersections and calculate point coordinates - for (var i = 0; i < roots.length; i++) { - var t = roots[i]; - - if (t >= 0 && t <= 1) { - // We're within the Bezier curve - // Find point on Bezier - var p5 = coordLerp(p1, p2, t); - var p6 = coordLerp(p2, p3, t); - var p7 = coordLerp(p3, p4, t); - - var p8 = coordLerp(p5, p6, t); - var p9 = coordLerp(p6, p7, t); - - var p10 = coordLerp(p8, p9, t); - - // See if point is on line segment - // Had to make special cases for vertical and horizontal lines due - // to slight errors in calculation of p10 - if (x(a1) === x(a2)) { - if (y(min) <= y(p10) && y(p10) <= y(max)) { - result.push(p10); - } - } else if (y(a1) === y(a2)) { - if (x(min) <= x(p10) && x(p10) <= x(max)) { - result.push(p10); - } - } else if (x(min) <= x(p10) && x(p10) <= x(max) && y(min) <= y(p10) && y(p10) <= y(max)) { - result.push(p10); - } - } - } - - return result; -} - -export function intersectLineLine(a1: any, a2: any, b1: any, b2: any) { - var ua_t = (x(b2) - x(b1)) * (y(a1) - y(b1)) - (y(b2) - y(b1)) * (x(a1) - x(b1)); - var ub_t = (x(a2) - x(a1)) * (y(a1) - y(b1)) - (y(a2) - y(a1)) * (x(a1) - x(b1)); - var u_b = (y(b2) - y(b1)) * (x(a2) - x(a1)) - (x(b2) - x(b1)) * (y(a2) - y(a1)); - - if (u_b !== 0) { - var ua = ua_t / u_b; - var ub = ub_t / u_b; - - if (ua >= 0 && ua <= 1 && ub >= 0 && ub <= 1) { - return [[x(a1) + ua * (x(a2) - x(a1)), y(a1) + ua * (y(a2) - y(a1))]]; - } - } - - return []; -} - -export function coordEqual(c1: any, c2: any) { - return Math.abs(x(c1) - x(c2)) < 1e-10 && Math.abs(y(c1) - y(c2)) < 1e-10; -} - -export function coordAdd(c1: any, c2: any) { - return [x(c1) + x(c2), y(c1) + y(c2)]; -} - -export function toFloat(v: any) { - return parseFloat(v); -} - -// @ts-ignore -export function arcToCurve( - cp1: any, - rx: any, - ry: any, - angle: any, - large_arc: any, - sweep: any, - cp2: any, - recurse: any -) { - function rotate(cx: any, cy: any, r: any) { - var cos = mathCos(r); - var sin = mathSin(r); - return [cx * cos - cy * sin, cx * sin + cy * cos]; - } - - var x1 = x(cp1); - var y1 = y(cp1); - var x2 = x(cp2); - var y2 = y(cp2); - - var rad = (mathPi / 180) * (+angle || 0); - var f1 = 0; - var f2 = 0; - var cx; - var cy; - var res = []; - - if (!recurse) { - var xy = rotate(x1, y1, -rad); - x1 = x(xy); - y1 = y(xy); - xy = rotate(x2, y2, -rad); - x2 = x(xy); - y2 = y(xy); - - var px = (x1 - x2) / 2; - var py = (y1 - y2) / 2; - var h = (px * px) / (rx * rx) + (py * py) / (ry * ry); - if (h > 1) { - h = mathSqrt(h); - rx = h * rx; - ry = h * ry; - } - - var rx2 = rx * rx; - var ry2 = ry * ry; - - var k = - (large_arc === sweep ? -1 : 1) * - mathSqrt( - mathAbs((rx2 * ry2 - rx2 * py * py - ry2 * px * px) / (rx2 * py * py + ry2 * px * px)) - ); - - cx = (k * rx * py) / ry + (x1 + x2) / 2; - cy = (k * -ry * px) / rx + (y1 + y2) / 2; - f1 = mathAsin(Number(((y1 - cy) / ry).toFixed(9))); - f2 = mathAsin(Number(((y2 - cy) / ry).toFixed(9))); - - f1 = x1 < cx ? mathPi - f1 : f1; - f2 = x2 < cx ? mathPi - f2 : f2; - - if (f1 < 0) { - f1 = mathPi * 2 + f1; - } - if (f2 < 0) { - f2 = mathPi * 2 + f2; - } - if (sweep && f1 > f2) { - f1 = f1 - mathPi * 2; - } - if (!sweep && f2 > f1) { - f2 = f2 - mathPi * 2; - } - } else { - f1 = recurse[0]; - f2 = recurse[1]; - cx = recurse[2]; - cy = recurse[3]; - } - - var df = f2 - f1; - if (mathAbs(df) > (mathPi * 120) / 180) { - var f2old = f2; - var x2old = x2; - var y2old = y2; - - f2 = f1 + ((mathPi * 120) / 180) * (sweep && f2 > f1 ? 1 : -1); - x2 = cx + rx * mathCos(f2); - y2 = cy + ry * mathSin(f2); - res = arcToCurve([x2, y2], rx, ry, angle, 0, sweep, [x2old, y2old], [f2, f2old, cx, cy]); - } - - df = f2 - f1; - - var c1 = mathCos(f1); - var s1 = mathSin(f1); - var c2 = mathCos(f2); - var s2 = mathSin(f2); - var t = mathTan(df / 4); - var hx = (4 / 3) * rx * t; - var hy = (4 / 3) * ry * t; - var m1 = [x1, y1]; - var m2 = [x1 + hx * s1, y1 - hy * c1]; - var m3 = [x2 + hx * s2, y2 - hy * c2]; - var m4 = [x2, y2]; - m2[0] = 2 * m1[0] - m2[0]; - m2[1] = 2 * m1[1] - m2[1]; - - function splitArray(n: any) { - return function (array: any) { - return array.reduce(function (m: any, v: any, i: any, l: any) { - if (i % n) { - return m; - } - - return m.concat([l.slice(i, i + n)]); - }, []); - }; - } - - var splitArray3 = splitArray(3); - var splitArray2 = splitArray(2); - function splitCurves(curves: any) { - return splitArray3(splitArray2(curves)); - } - - if (recurse) { - return splitCurves([m2, m3, m4].concat(res)); - } else { - res = [m2, m3, m4].concat(res).join().split(','); - var newres = []; - for (var i = 0, ii = res.length; i < ii; i++) { - newres[i] = i % 2 ? rotate(res[i - 1], res[i], rad)[1] : rotate(res[i], res[i + 1], rad)[0]; - } - return splitCurves(newres); - } -} diff --git a/src/app/services/active-obj.service.ts b/src/app/services/active-obj.service.ts index 9697797d..3c194d7d 100644 --- a/src/app/services/active-obj.service.ts +++ b/src/app/services/active-obj.service.ts @@ -1,7 +1,7 @@ import { Injectable, EventEmitter } from '@angular/core'; import { Force } from '../model/force'; -import { RealJoint } from '../model/joint'; -import { RealLink } from '../model/link'; +import { Joint, RealJoint } from '../model/joint'; +import { Link, RealLink } from '../model/link'; import { Coord } from '../model/coord'; import { SynthesisPose } from './synthesis/synthesis-util'; @@ -61,7 +61,13 @@ export class ActiveObjService { this.onActiveObjChange.emit(this.objType); } - updateSelectedObj(newActiveObj: any, forceParent: Force | null = null) { + updateSelectedObj( + // The grid canvas hands its empty-string sentinel through here for a + // background click, and a force's endpoint Coord for an endpoint drag, so + // both are part of the contract. + newActiveObj: Joint | Link | Force | Coord | SynthesisPose | String | undefined | null, + forceParent: Force | null = null + ) { this.prevSelectedJoint = this.selectedJoint; this.selectedMechanismIndex = -1; if (newActiveObj === undefined || newActiveObj === null) { diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 9adf5e7b..6d245174 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -118,7 +118,6 @@ export class MechanismService { public unassigned: UnassignedGeometry = { floatingChains: [], looseJoints: [], fixedLinks: [] }; public showPathHolder: boolean = true; - // private moveModes: moveModes = moveModes; // private selectedJoint!: RealJoint; // This is the state of the mechanism diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index fea427c9..b44b0020 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -46,7 +46,7 @@ export class SvgGridService { * and the grid being rebuilt independently. */ public cursorAt: { x: number; y: number } | null = null; - public panZoomObject: any; + public panZoomObject!: SvgPanZoom.Instance; public CTM!: SVGMatrix; public viewBoxMinX: number = 0; public viewBoxMaxX: number = 0; @@ -76,7 +76,7 @@ export class SvgGridService { eventsHandler = { haltEventListeners: ['touchstart', 'touchend', 'touchmove', 'touchleave', 'touchcancel'], - init: function (options: any) { + init: function (options: SvgPanZoom.CustomEventOptions) { var instance = options.instance, initialScale = 1, pannedX = 0, @@ -92,17 +92,17 @@ export class SvgGridService { this.hammer.get('pinch').set({ enable: true }); // Handle double tap - this.hammer.on('doubletap', function (ev: any) { + this.hammer.on('doubletap', function (ev: HammerInput) { // instance.zoomIn(); }); // Handle tap (click) and no drag. - this.hammer.on('tap', function (ev: any) { + this.hammer.on('tap', function (ev: HammerInput) { NewGridComponent.instance.handleTap(); }); // Handle pan - this.hammer.on('panstart panmove', function (ev: any) { + this.hammer.on('panstart panmove', function (ev: HammerInput) { // The canvas may only pan while a pointer is genuinely down. Hammer // tracks that from events on the element it is bound to, and a // gesture whose target is destroyed mid-drag — a joint merged into @@ -128,7 +128,7 @@ export class SvgGridService { }); // Handle pinch - this.hammer.on('pinchstart pinchmove', function (ev: any) { + this.hammer.on('pinchstart pinchmove', function (ev: HammerInput) { // On pinch start remember initial zoom if (ev.type === 'pinchstart') { initialScale = instance.getZoom(); @@ -138,10 +138,6 @@ export class SvgGridService { instance.zoomAtPoint(initialScale * ev.scale, { x: ev.center.x, y: ev.center.y }); }); - // this.hammer.on('press', function (ev: any) { - // NewGridComponent.onContextMenu(ev.center.x, ev.center.y); - // }); - // Prevent moving the page on some devices when panning over SVG options.svgElement.addEventListener('touchmove', function (e: TouchEvent) { e.preventDefault(); @@ -275,7 +271,7 @@ export class SvgGridService { ); } - handleBeforePan(oldPan: any, newPan: any) { + handleBeforePan(oldPan: SvgPanZoom.Point, newPan: SvgPanZoom.Point) { if (this.panLockOut) { this.panLockOut = false; return oldPan; @@ -349,7 +345,7 @@ export class SvgGridService { }); } - handleBeforeZoom(oldZoom: any, newZoom: any) { + handleBeforeZoom(oldZoom: number, newZoom: number) { let isZoomingIn = newZoom > oldZoom; if (isZoomingIn && this.getZoom() > this.MAX_ZOOM) { this.panLockOut = true; diff --git a/src/app/services/synthesis/synthesis-builder.service.ts b/src/app/services/synthesis/synthesis-builder.service.ts index 0c5c8504..bea121fb 100644 --- a/src/app/services/synthesis/synthesis-builder.service.ts +++ b/src/app/services/synthesis/synthesis-builder.service.ts @@ -19,7 +19,7 @@ export class SynthesisBuilderService { private nup = inject(NumberUnitParserService); private settings = inject(SettingsService); - public valueChanges: Subject; + public valueChanges: Subject; public constants: SynthesisConstants; @@ -45,7 +45,7 @@ export class SynthesisBuilderService { poses: { [key: number]: SynthesisPose }; // a dictionary of poses, but including each pose is optional constructor() { - this.valueChanges = new Subject(); + this.valueChanges = new Subject(); this.constants = new SynthesisConstants(); // start with a length of 5 user units, held in model units @@ -161,14 +161,14 @@ export class SynthesisBuilderService { // given form, update poses // if form is invalid, return false to revert form - updatePosesFromForm(form: { [key: string]: any }): boolean { + updatePosesFromForm(form: { [key: string]: string | null | undefined }): boolean { if (form['cor'] === '0') this._COR = COR.BACK; else if (form['cor'] === '1') this._COR = COR.CENTER; else this._COR = COR.FRONT; // if length is a number and positive, update length const [success, maybeLength] = this.nup.parseModelLengthString( - form['length'], + form['length']!, this.settings.lengthUnit.getValue() ); if (!success) { @@ -182,11 +182,11 @@ export class SynthesisBuilderService { // if x and y are numbers, update position const [successX, maybeX] = this.nup.parseModelLengthString( - form[`p${i}x`], + form[`p${i}x`]!, this.settings.lengthUnit.getValue() ); const [successY, maybeY] = this.nup.parseModelLengthString( - form[`p${i}y`], + form[`p${i}y`]!, this.settings.lengthUnit.getValue() ); if (!successX || !successY) { @@ -197,7 +197,7 @@ export class SynthesisBuilderService { // if theta is a number, update theta const [successTheta, maybeTheta] = this.nup.parseAngleString( - form[`p${i}theta`], + form[`p${i}theta`]!, this.settings.angleUnit.getValue() ); if (!successTheta) { diff --git a/src/app/services/transcoding/mechanism-builder.ts b/src/app/services/transcoding/mechanism-builder.ts index 0f97bd92..458f03b1 100644 --- a/src/app/services/transcoding/mechanism-builder.ts +++ b/src/app/services/transcoding/mechanism-builder.ts @@ -263,7 +263,7 @@ export class MechanismBuilder { const previousId = ['Joint', 'Link', 'Force'].includes(selectedType) ? this.activeObj.getSelectedObj().id : undefined; - let activeObj: any = null; + let activeObj: Joint | Link | Force | null = null; if (previousId) { activeObj = this.getJointByID(joints, previousId) ?? diff --git a/src/app/services/transcoding/transcoder-interface.ts b/src/app/services/transcoding/transcoder-interface.ts index 501d9ce5..8688bca4 100644 --- a/src/app/services/transcoding/transcoder-interface.ts +++ b/src/app/services/transcoding/transcoder-interface.ts @@ -49,7 +49,7 @@ export abstract class GenericTranscoder { // Returns the index of the given enum value within the specified enum type. // Example usage: getEnumIndex(Color, Color.RED) - private getEnumIndexByValue(enumType: object, enumValue: any): number | undefined { + private getEnumIndexByValue(enumType: object, enumValue: number | string): number | undefined { const enumKeys = Object.keys(enumType).filter((k) => isNaN(Number(k))); const index = enumKeys.findIndex((k) => enumType[k as keyof typeof enumType] === enumValue); return index !== -1 ? index : undefined; @@ -57,7 +57,7 @@ export abstract class GenericTranscoder { // Stores a global setting of type enum in the enumData dictionary. // Example usage: addEnumSetting("theme", Color, Color.RED) - addEnumSetting(setting: EnumSetting, enumType: object, enumValue: any): void { + addEnumSetting(setting: EnumSetting, enumType: object, enumValue: number | string): void { const settingIndex = this.getEnumIndexByValue(EnumSetting, setting) as number; const index = this.getEnumIndexByValue(enumType, enumValue); if (index !== undefined) { @@ -99,14 +99,15 @@ export abstract class GenericTranscoder { return this.forces; } - private getEnumValueByIndex(enumType: object, index: number): any | undefined { + private getEnumValueByIndex(enumType: T, index: number): T[keyof T] { const enumKeys = Object.keys(enumType).filter((k) => isNaN(Number(k))); - const enumKey = enumKeys[index]; - return enumKey !== undefined ? enumType[enumKey as keyof typeof enumType] : undefined; + // An out-of-range index has always come back undefined; the cast keeps the + // historical contract where callers treat the value as present. + return enumType[enumKeys[index] as keyof T]; } // Returns the enum value linked with the setting. - getEnumSetting(setting: EnumSetting, enumType: object): any { + getEnumSetting(setting: EnumSetting, enumType: T): T[keyof T] { const settingIndex = this.getEnumIndexByValue(EnumSetting, setting) as number; const enumIndex = this.enumData[settingIndex]; return this.getEnumValueByIndex(enumType, enumIndex); diff --git a/tsconfig.json b/tsconfig.json index e931e834..fcc8909c 100644 --- a/tsconfig.json +++ b/tsconfig.json @@ -18,7 +18,8 @@ "experimentalDecorators": true, "moduleResolution": "bundler", "importHelpers": true, - "target": "es2020", + "target": "ES2022", + "useDefineForClassFields": false, "module": "es2020" }, "angularCompilerOptions": { From 22799099f4f4f8817ef0095e772ca3e5c7a22e90 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 02:14:13 -0400 Subject: [PATCH 086/236] Adopt signal inputs, outputs and view queries where the migrations prove it safe MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The official signal-input, output and signal-queries migrations across src/app. Five inputs the schematic promoted to input.required() are optional again — the button/subtitle/dual-button click handlers, the toggle's control name and the dual-input unit were only !-asserted before, and real templates omit them; their call sites now use ?.() instead of relying on undefined never arriving. The 24 decorator inputs the migrations skipped stay as decorators: each skip is the schematic proving the input is written to or otherwise not safely convertible. The service layer's BehaviorSubjects are untouched on purpose — they are the app's reactive contract (settings fan-out, mechanism state broadcast, undo), not component-local state. Co-Authored-By: Claude Opus 5 --- .../BLOCKS/button/button.component.html | 8 +-- .../BLOCKS/button/button.component.ts | 8 +-- .../collapsible-subseciton.component.html | 4 +- .../collapsible-subseciton.component.ts | 10 +-- .../color-picker/color-picker.component.ts | 26 +++---- .../dual-button/dual-button.component.html | 14 ++-- .../dual-button/dual-button.component.ts | 14 ++-- .../dual-input/dual-input.component.html | 38 +++++----- .../BLOCKS/dual-input/dual-input.component.ts | 31 +++++---- .../editable-title.component.html | 4 +- .../editable-title.component.ts | 8 +-- .../BLOCKS/input/input.component.html | 8 +-- .../component/BLOCKS/input/input.component.ts | 25 ++++--- .../panel-section-collapsible.component.html | 2 +- .../panel-section-collapsible.component.ts | 19 ++--- .../BLOCKS/radio/radio.component.html | 16 ++--- .../component/BLOCKS/radio/radio.component.ts | 14 ++-- .../BLOCKS/subtitle/subtitle.component.html | 2 +- .../BLOCKS/subtitle/subtitle.component.ts | 4 +- .../component/BLOCKS/title/title.component.ts | 11 +-- .../BLOCKS/toggle/toggle.component.html | 18 ++--- .../BLOCKS/toggle/toggle.component.ts | 23 +++---- .../MODALS/templates/templates.component.ts | 6 +- .../analysis-graph-section.component.html | 30 ++++---- .../analysis-graph-section.component.ts | 69 ++++++++++--------- .../analysis-apex-chart.component.ts | 60 ++++++++-------- .../analysis-graph.component.spec.ts | 26 +++---- .../analysis-graph.component.ts | 5 +- .../analysis-setup.component.html | 6 +- .../analysis-setup.component.ts | 8 +-- .../context-menu/context-menu.component.html | 2 +- .../context-menu/context-menu.component.ts | 4 +- .../mechanism-panel.component.html | 6 +- .../mechanism-panel.component.ts | 4 +- .../component/new-grid/new-grid.component.ts | 4 +- .../svg-arrow/svg-arrow.component.html | 12 ++-- .../svg-arrow/svg-arrow.component.ts | 24 +++---- .../component/top-bar/top-bar.component.ts | 12 ++-- 38 files changed, 295 insertions(+), 290 deletions(-) diff --git a/src/app/component/BLOCKS/button/button.component.html b/src/app/component/BLOCKS/button/button.component.html index 2d5dd171..65f1d89a 100644 --- a/src/app/component/BLOCKS/button/button.component.html +++ b/src/app/component/BLOCKS/button/button.component.html @@ -2,11 +2,11 @@ } diff --git a/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts b/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts index 0c507058..3f828d4c 100644 --- a/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts +++ b/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.ts @@ -1,4 +1,4 @@ -import { Component, EventEmitter, Input, Output, ChangeDetectionStrategy } from '@angular/core'; +import { Component, Input, ChangeDetectionStrategy, input, output } from '@angular/core'; import { animate, AUTO_STYLE, state, style, transition, trigger } from '@angular/animations'; import { MatIcon } from '@angular/material/icon'; @@ -35,13 +35,13 @@ import { MatIcon } from '@angular/material/icon'; imports: [MatIcon], }) export class CollapsibleSubsecitonComponent { - @Input() hideHeader: boolean = false; //If this is true the content cannot be expanded + readonly hideHeader = input(false); //If this is true the content cannot be expanded @Input() expanded: boolean = false; - @Input() titleLabel: string = ''; + readonly titleLabel = input(''); - @Output() closed: EventEmitter = new EventEmitter(); - @Output() opened: EventEmitter = new EventEmitter(); + readonly closed = output(); + readonly opened = output(); toggleExpand() { this.expanded = !this.expanded; diff --git a/src/app/component/BLOCKS/color-picker/color-picker.component.ts b/src/app/component/BLOCKS/color-picker/color-picker.component.ts index 5d2cd8d2..843ce09e 100644 --- a/src/app/component/BLOCKS/color-picker/color-picker.component.ts +++ b/src/app/component/BLOCKS/color-picker/color-picker.component.ts @@ -1,10 +1,10 @@ import { Component, - Input, OnChanges, OnInit, ChangeDetectionStrategy, inject, + input, } from '@angular/core'; import { ColorService } from '../../../services/color.service'; import { RealLink } from '../../../model/link'; @@ -23,15 +23,16 @@ import { MatTooltip } from '@angular/material/tooltip'; export class ColorPickerComponent implements OnInit, OnChanges { colorService = inject(ColorService); - @Input() link: RealLink | undefined; - @Input() joint: RealJoint | undefined; - @Input() force: Force | undefined; - @Input() tooltip: string | undefined; - @Input() type: string | undefined; + readonly link = input(); + readonly joint = input(); + readonly force = input(); + readonly tooltip = input(); + readonly type = input(); ngOnChanges(): void { - if (this.link) { - this.selectColor(this.colorService.getIndexFromLinkColor(this.link.fill)); + const link = this.link(); + if (link) { + this.selectColor(this.colorService.getIndexFromLinkColor(link.fill)); } } @@ -43,10 +44,11 @@ export class ColorPickerComponent implements OnInit, OnChanges { // A method that handles the click event on a color swatch selectColor(index: number) { this.selectedIndex = index; - switch (this.type) { + const link = this.link(); + switch (this.type()) { case 'link': - if (this.link) { - this.link.fill = this.colorService.getLinkColorFromIndex(index); + if (link) { + link.fill = this.colorService.getLinkColorFromIndex(index); } break; case 'joint': @@ -55,7 +57,7 @@ export class ColorPickerComponent implements OnInit, OnChanges { } getCorrectColors(): string[] { - switch (this.type) { + switch (this.type()) { case 'link': return this.colorService.getLinkColorOptions(); case 'joint': diff --git a/src/app/component/BLOCKS/dual-button/dual-button.component.html b/src/app/component/BLOCKS/dual-button/dual-button.component.html index f0822934..4021248f 100644 --- a/src/app/component/BLOCKS/dual-button/dual-button.component.html +++ b/src/app/component/BLOCKS/dual-button/dual-button.component.html @@ -1,17 +1,17 @@
    - @if (but2Text) { } diff --git a/src/app/component/BLOCKS/dual-button/dual-button.component.ts b/src/app/component/BLOCKS/dual-button/dual-button.component.ts index c877215a..af9a9e9d 100644 --- a/src/app/component/BLOCKS/dual-button/dual-button.component.ts +++ b/src/app/component/BLOCKS/dual-button/dual-button.component.ts @@ -1,4 +1,4 @@ -import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; +import { Component, Input, ChangeDetectionStrategy, input } from '@angular/core'; import { MatButton } from '@angular/material/button'; import { MatIcon } from '@angular/material/icon'; @@ -10,12 +10,12 @@ import { MatIcon } from '@angular/material/icon'; imports: [MatButton, MatIcon], }) export class DualButtonComponent { - @Input() but1Text: string | undefined; - @Input() but1Icon: string | undefined; - @Input() but1Action!: () => void; + readonly but1Text = input(); + readonly but1Icon = input(); + readonly but1Action = input.required<() => void>(); @Input() but2Text: string | undefined; - @Input() but2Icon: string | undefined; - @Input() but2Action!: () => void; - @Input() btn2Disabled: boolean = false; + readonly but2Icon = input(); + readonly but2Action = input<(() => void) | undefined>(undefined); + readonly btn2Disabled = input(false); } diff --git a/src/app/component/BLOCKS/dual-input/dual-input.component.html b/src/app/component/BLOCKS/dual-input/dual-input.component.html index 5b6bad50..e1f414b6 100644 --- a/src/app/component/BLOCKS/dual-input/dual-input.component.html +++ b/src/app/component/BLOCKS/dual-input/dual-input.component.html @@ -1,18 +1,18 @@ -
    +
    - + help_outline
    -
    +
    @if (formSubGroup) { - {{ label1 }} + {{ label1() }}
    - {{ - label2 - }} + {{ label2() }} } @if (!formSubGroup) { - {{ label1 }} + {{ label1() }}
    - {{ - label2 - }} + {{ label2() }} } diff --git a/src/app/component/BLOCKS/dual-input/dual-input.component.ts b/src/app/component/BLOCKS/dual-input/dual-input.component.ts index e69af466..3a41bdf2 100644 --- a/src/app/component/BLOCKS/dual-input/dual-input.component.ts +++ b/src/app/component/BLOCKS/dual-input/dual-input.component.ts @@ -1,4 +1,4 @@ -import { Component, Input, Output, EventEmitter, ChangeDetectionStrategy } from '@angular/core'; +import { Component, Input, ChangeDetectionStrategy, input, output } from '@angular/core'; import { FormGroup, FormsModule, ReactiveFormsModule } from '@angular/forms'; import { MatIcon } from '@angular/material/icon'; import { MatTooltip } from '@angular/material/tooltip'; @@ -13,18 +13,18 @@ import { MatInput } from '@angular/material/input'; imports: [MatIcon, MatTooltip, FormsModule, ReactiveFormsModule, MatFormField, MatInput], }) export class DualInputComponent { - @Input() tooltip!: string; - @Input() unit!: string; - @Input() formControl1!: string; - @Input() label1: string = 'X'; - @Input() label2: string = 'Y'; - @Input() formControl2!: string; - @Input() formGroup!: FormGroup; + readonly tooltip = input.required(); + readonly unit = input(undefined); + readonly formControl1 = input.required(); + readonly label1 = input('X'); + readonly label2 = input('Y'); + readonly formControl2 = input.required(); + readonly formGroup = input.required(); @Input() formSubGroup: string | undefined; - @Input() disabled: boolean = false; - @Output() field1Entry: EventEmitter = new EventEmitter(); - @Output() field2Entry: EventEmitter = new EventEmitter(); - @Input() emitterOutputID: number = -2; + readonly disabled = input(false); + readonly field1Entry = output(); + readonly field2Entry = output(); + readonly emitterOutputID = input(-2); isField1MouseOver: boolean = false; isField1Focused: boolean = false; @@ -37,16 +37,17 @@ export class DualInputComponent { lastShowField2Overlay: boolean = false; updateOverlay() { - if (this.disabled) { + if (this.disabled()) { this.showField1Overlay = false; this.showField2Overlay = false; return; } this.showField1Overlay = this.isField1MouseOver || this.isField1Focused; + const emitterOutputID = this.emitterOutputID(); if (this.lastShowField1Overlay != this.showField1Overlay) { if (this.showField1Overlay) { - this.field1Entry.emit(this.emitterOutputID); + this.field1Entry.emit(emitterOutputID); } else { this.field1Entry.emit(-2); } @@ -56,7 +57,7 @@ export class DualInputComponent { this.showField2Overlay = this.isField2MouseOver || this.isField2Focused; if (this.lastShowField2Overlay != this.showField2Overlay) { if (this.showField2Overlay) { - this.field2Entry.emit(this.emitterOutputID); + this.field2Entry.emit(emitterOutputID); } else { this.field2Entry.emit(-2); } diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.html b/src/app/component/BLOCKS/editable-title/editable-title.component.html index fd37aa52..8cb9c2f2 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.html +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.html @@ -2,7 +2,7 @@ @if (!editMode) {
    - {{ displayName ?? activeObjService.getSelectedObj().name }} + {{ displayName() ?? activeObjService.getSelectedObj().name }}
    } @@ -39,7 +39,7 @@ Save Name } - diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.ts b/src/app/component/BLOCKS/editable-title/editable-title.component.ts index 56a32995..bc29cd68 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.ts +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.ts @@ -1,4 +1,4 @@ -import { Component, Input, ChangeDetectionStrategy, inject } from '@angular/core'; +import { Component, ChangeDetectionStrategy, inject, input } from '@angular/core'; import { FormBuilder, FormsModule, ReactiveFormsModule } from '@angular/forms'; import { ActiveObjService } from 'src/app/services/active-obj.service'; import { MechanismService } from 'src/app/services/mechanism.service'; @@ -32,10 +32,10 @@ export class EditableTitleComponent { private mechanismService = inject(MechanismService); private notify = inject(NotificationService); - @Input() showActionButtons: boolean = false; + readonly showActionButtons = input(false); /** Shown instead of the object's own name — a cylinder displays its mounts. */ - @Input() displayName?: string; - @Input() deleteAction!: () => void; + readonly displayName = input(); + readonly deleteAction = input.required<() => void>(); editMode = false; diff --git a/src/app/component/BLOCKS/input/input.component.html b/src/app/component/BLOCKS/input/input.component.html index b40984c1..20f22e82 100644 --- a/src/app/component/BLOCKS/input/input.component.html +++ b/src/app/component/BLOCKS/input/input.component.html @@ -1,7 +1,7 @@ -
    +
    - + help_outline
    @@ -34,10 +34,10 @@ diff --git a/src/app/component/BLOCKS/input/input.component.ts b/src/app/component/BLOCKS/input/input.component.ts index 57036069..1fc0e0b2 100644 --- a/src/app/component/BLOCKS/input/input.component.ts +++ b/src/app/component/BLOCKS/input/input.component.ts @@ -1,10 +1,10 @@ import { booleanAttribute, Component, - EventEmitter, Input, - Output, ChangeDetectionStrategy, + input, + output, } from '@angular/core'; import { FormGroup, FormsModule, ReactiveFormsModule } from '@angular/forms'; import { MatIcon } from '@angular/material/icon'; @@ -39,19 +39,24 @@ export class InputComponent { * of the two gets crushed. The panel already reads this way for Joint * Position and Center of Mass. */ - @Input({ transform: booleanAttribute }) stacked: boolean = false; - @Input() tooltip: string | undefined; + readonly stacked = input(false, { transform: booleanAttribute }); + readonly tooltip = input(); @Input() _formControl!: string; @Input() formGroup!: FormGroup; /** * Turns the static unit suffix into a picker sharing the field's fill, for * values whose unit the user chooses rather than types. Needs unitFormControl. */ - @Input() unitOptions: { value: string; label: string }[] | undefined; - @Input() unitFormControl: string | undefined; + readonly unitOptions = input< + { + value: string; + label: string; + }[] + >(); + readonly unitFormControl = input(); get hasUnitSelect(): boolean { - return !!this.unitOptions?.length && !!this.unitFormControl; + return !!this.unitOptions()?.length && !!this.unitFormControl(); } /** @@ -65,8 +70,8 @@ export class InputComponent { * Silent unless a caller supplies an id, so every other `input-block` in the * app is untouched. */ - @Output() fieldEntry: EventEmitter = new EventEmitter(); - @Input() emitterOutputID: number = -2; + readonly fieldEntry = output(); + readonly emitterOutputID = input(-2); private mouseOver = false; private focused = false; @@ -76,7 +81,7 @@ export class InputComponent { const wants = this.mouseOver || this.focused; if (wants === this.showing) return; this.showing = wants; - this.fieldEntry.emit(wants ? this.emitterOutputID : -2); + this.fieldEntry.emit(wants ? this.emitterOutputID() : -2); } setMouseOver(over: boolean): void { diff --git a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.html b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.html index 600f0c62..2798e361 100644 --- a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.html +++ b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.html @@ -1,4 +1,4 @@ -
    +
    @if (isLoaded) {
    diff --git a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts index 380dfb20..2fdda275 100644 --- a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts +++ b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts @@ -1,12 +1,11 @@ import { AfterContentInit, Component, - ContentChildren, - EventEmitter, Input, - Output, - QueryList, ChangeDetectionStrategy, + input, + output, + contentChildren, } from '@angular/core'; import { TitleBlock } from '../title/title.component'; import { animate, state, style, transition, trigger } from '@angular/animations'; @@ -41,17 +40,19 @@ import { NgClass } from '@angular/common'; }) export class PanelSectionCollapsibleComponent implements AfterContentInit { @Input() expanded: boolean = true; - @Input() warning: boolean = false; + readonly warning = input(false); public isLoaded: boolean = false; - @ContentChildren(TitleBlock) titleBlock?: QueryList; + readonly titleBlock = contentChildren(TitleBlock); - @Output() closed: EventEmitter = new EventEmitter(); - @Output() opened: EventEmitter = new EventEmitter(); + readonly closed = output(); + readonly opened = output(); ngAfterContentInit() { - this.titleBlock?.first.nestedComponentChange.subscribe(() => this.toggleExpand()); + this.titleBlock() + ?.at(0)! + .nestedComponentChange.subscribe(() => this.toggleExpand()); setTimeout(() => { this.isLoaded = true; }); diff --git a/src/app/component/BLOCKS/radio/radio.component.html b/src/app/component/BLOCKS/radio/radio.component.html index 42fab41a..b8930cdf 100644 --- a/src/app/component/BLOCKS/radio/radio.component.html +++ b/src/app/component/BLOCKS/radio/radio.component.html @@ -1,21 +1,21 @@
    - help_outline
    -
    - - {{ - this.option1 +
    + + {{ + this.option1() }} - {{ - this.option2 + {{ + this.option2() }} @if (this.option3) { - {{ + {{ this.option3 }} } diff --git a/src/app/component/BLOCKS/radio/radio.component.ts b/src/app/component/BLOCKS/radio/radio.component.ts index fc59213a..018d0b65 100644 --- a/src/app/component/BLOCKS/radio/radio.component.ts +++ b/src/app/component/BLOCKS/radio/radio.component.ts @@ -1,4 +1,4 @@ -import { Component, Input, ChangeDetectionStrategy } from '@angular/core'; +import { Component, Input, ChangeDetectionStrategy, input } from '@angular/core'; import { FormGroup, FormsModule, ReactiveFormsModule } from '@angular/forms'; import { MatIcon } from '@angular/material/icon'; import { MatTooltip } from '@angular/material/tooltip'; @@ -19,11 +19,11 @@ import { MatButtonToggleGroup, MatButtonToggle } from '@angular/material/button- ], }) export class RadioComponent { - @Input() tooltip: string | undefined; - @Input() option1: string | undefined; - @Input() option2: string | undefined; + readonly tooltip = input(); + readonly option1 = input(); + readonly option2 = input(); @Input() option3: string | undefined; - @Input() _formControl!: string; - @Input() formGroup!: FormGroup; - @Input() disabled: boolean = false; + readonly _formControl = input.required(); + readonly formGroup = input.required(); + readonly disabled = input(false); } diff --git a/src/app/component/BLOCKS/subtitle/subtitle.component.html b/src/app/component/BLOCKS/subtitle/subtitle.component.html index c9b0c0ae..a46dcc26 100644 --- a/src/app/component/BLOCKS/subtitle/subtitle.component.html +++ b/src/app/component/BLOCKS/subtitle/subtitle.component.html @@ -2,7 +2,7 @@
    @if (buttonLabel && icon) { - @if (preview.length) { -
    +
    @for (series of preview; track series.name) { - @if (expanded && preview.length > 1) { + @if (expanded() && preview.length > 1) {
    } - @if (mode === 'kinematic' && unassigned.length > 0) { + @if (mode() === 'kinematic' && unassigned.length > 0) {
    diff --git a/src/app/component/view-controls/view-button.component.scss b/src/app/component/view-controls/view-button.component.scss new file mode 100644 index 00000000..577afdd7 --- /dev/null +++ b/src/app/component/view-controls/view-button.component.scss @@ -0,0 +1,56 @@ +@mixin css($theme) { + // The host is only a wrapper; the button is what the row lays out. + view-button { + display: flex; + flex: 0 0 auto; + } + + .viewButton { + display: flex; + align-items: center; + justify-content: center; + width: 40px; + height: 40px; + flex: 0 0 auto; + border: none; + border-radius: 6px; + background: transparent; + color: #5f6368; + cursor: pointer; + padding: 0; + + mat-icon { + width: 22px; + height: 22px; + font-size: 22px; + line-height: 22px; + margin: 0; + // Every glyph takes the button's ink, whether it is a Material ligature + // or one of the app's own SVGs. Two of those SVGs used to paint + // themselves black, so they stayed black while the button around them + // greyed out -- one switch in a row of three that would not go quiet. + color: inherit; + fill: currentColor; + } + + &:hover:not(:disabled) { + background: rgba(0, 0, 0, 0.04); + } + + // On means a tint behind the glyph, and nothing else. The glyph itself + // stays the same grey in both states: it is drawing what is on the grid, + // so having it change colour as well made two signals out of one, and the + // three switches disagreed about which of them carried the state. + &.on { + background: #eef1fc; + } + + // Last, so it beats the tint: a switch with nothing to act on is not an + // on switch, whatever its setting says. + &:disabled { + color: #c4c7d0; + cursor: default; + background: transparent; + } + } +} diff --git a/src/app/component/view-controls/view-button.component.ts b/src/app/component/view-controls/view-button.component.ts new file mode 100644 index 00000000..3cdcad43 --- /dev/null +++ b/src/app/component/view-controls/view-button.component.ts @@ -0,0 +1,54 @@ +import { ChangeDetectionStrategy, Component, computed, input, output } from '@angular/core'; +import { MatIcon } from '@angular/material/icon'; +import { MatTooltip } from '@angular/material/tooltip'; + +/** + * One button in the view controls, in both kinds it comes in: a switch that + * says whether something is on the grid, and a plain action like zooming. + * + * One component for all six because the six were written out six times, and + * they drifted: the switches disagreed about whether the glyph showed the + * state or offered the other one, about whether the tint or the ink carried + * it, and about what "nothing to do" meant. Every one of those rules is here + * now, once. A caller says what its switch is about; it does not get to say + * how a switch looks. + */ +@Component({ + selector: 'view-button', + templateUrl: './view-button.component.html', + styleUrls: ['./view-button.component.scss'], + changeDetection: ChangeDetectionStrategy.Eager, + imports: [MatIcon, MatTooltip], +}) +export class ViewButtonComponent { + /** What a switch puts on the grid: "Center of Mass", "traced paths". */ + readonly noun = input(); + /** The glyph for each state. The `shown` one is the plain, uncrossed glyph. */ + readonly shownIcon = input(); + readonly hiddenIcon = input(); + /** Whether that thing is on the grid right now. */ + readonly shown = input(false); + + /** A plain action instead: a Material ligature and the one name it goes by. */ + readonly icon = input(); + readonly tooltip = input(); + + /** True when pressing this would change nothing on the grid. */ + readonly disabled = input(false); + readonly pressed = output(); + + /** + * The control's own name, which does not change with its state -- a reader + * looking for the traced-paths switch is looking for the same button whether + * or not paths are showing, and so is a test. + */ + readonly label = computed(() => this.tooltip() ?? `Show ${this.noun()}`); + + /** The tooltip names what pressing it would do, which is the other state. */ + readonly tip = computed(() => + this.noun() ? `${this.shown() ? 'Hide' : 'Show'} ${this.noun()}` : (this.tooltip() ?? '') + ); + + /** The glyph draws the grid as it is: the crossed-out one means hidden. */ + readonly glyph = computed(() => (this.shown() ? this.shownIcon() : this.hiddenIcon()) ?? ''); +} diff --git a/src/app/component/view-controls/view-controls.component.html b/src/app/component/view-controls/view-controls.component.html index 463c38cb..d960a765 100644 --- a/src/app/component/view-controls/view-controls.component.html +++ b/src/app/component/view-controls/view-controls.component.html @@ -1,70 +1,35 @@
    - - - - - - + (pressed)="onShowTracesPressed()" + /> + + + +
    diff --git a/src/app/component/view-controls/view-controls.component.scss b/src/app/component/view-controls/view-controls.component.scss index f98f6474..ac289f36 100644 --- a/src/app/component/view-controls/view-controls.component.scss +++ b/src/app/component/view-controls/view-controls.component.scss @@ -25,46 +25,5 @@ z-index: 8; box-sizing: border-box; box-shadow: var(--card-shadow); - - .viewButton { - display: flex; - align-items: center; - justify-content: center; - width: 40px; - height: 40px; - flex: 0 0 auto; - border: none; - border-radius: 6px; - background: transparent; - color: #5f6368; - cursor: pointer; - padding: 0; - - mat-icon { - width: 22px; - height: 22px; - font-size: 22px; - line-height: 22px; - margin: 0; - } - - &:hover { - background: rgba(0, 0, 0, 0.04); - } - - // On means a tint behind the glyph, and nothing else. The glyph itself - // stays the same grey in both states: it is drawing what is on the grid, - // so having it change colour as well made two signals out of one, and - // the three switches disagreed about which of them carried the state. - &.on { - background: #eef1fc; - } - - &:disabled { - color: #c4c7d0; - cursor: default; - background: transparent; - } - } } } diff --git a/src/app/component/view-controls/view-controls.component.ts b/src/app/component/view-controls/view-controls.component.ts index b482817a..c8aa158b 100644 --- a/src/app/component/view-controls/view-controls.component.ts +++ b/src/app/component/view-controls/view-controls.component.ts @@ -9,8 +9,7 @@ import { import { MechanismService } from '../../services/mechanism.service'; import { SettingsService, writeStoredFlag } from '../../services/settings.service'; import { SvgGridService } from '../../services/svg-grid.service'; -import { MatTooltip } from '@angular/material/tooltip'; -import { MatIcon } from '@angular/material/icon'; +import { ViewButtonComponent } from './view-button.component'; /** The one gap a card keeps from its neighbour (left-tabs.vars.scss). */ const CARD_GAP = 12; @@ -24,7 +23,7 @@ const CARD_GAP = 12; templateUrl: './view-controls.component.html', styleUrls: ['./view-controls.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - imports: [MatTooltip, MatIcon], + imports: [ViewButtonComponent], }) export class ViewControlsComponent implements AfterViewInit, OnDestroy { svgGrid = inject(SvgGridService); @@ -135,18 +134,6 @@ export class ViewControlsComponent implements AfterViewInit, OnDestroy { writeStoredFlag('showCoM', on); } - comIconName(): string { - return this.settingsService.isShowCOM.value ? 'com' : 'com_off'; - } - - idLabelIconName(): string { - return this.settingsService.isShowID.value ? 'abc' : 'abc_off'; - } - - traceIconName(): string { - return this.settingsService.isShowTraces.value ? 'show_path' : 'hide_path'; - } - onShowIDPressed(): void { this.settingsService.isShowID.next(!this.settingsService.isShowID.value); } diff --git a/src/assets/icons/add_ground.svg b/src/assets/icons/add_ground.svg index a0ee52f1..8ad6826f 100644 --- a/src/assets/icons/add_ground.svg +++ b/src/assets/icons/add_ground.svg @@ -1,9 +1,9 @@ - - - - - - - + + + + + + + diff --git a/src/assets/icons/add_slider.svg b/src/assets/icons/add_slider.svg index 893b3461..e6211627 100644 --- a/src/assets/icons/add_slider.svg +++ b/src/assets/icons/add_slider.svg @@ -1,8 +1,8 @@ - - - + + + diff --git a/src/assets/icons/add_tracer.svg b/src/assets/icons/add_tracer.svg index 557f0ca4..5027ca95 100644 --- a/src/assets/icons/add_tracer.svg +++ b/src/assets/icons/add_tracer.svg @@ -1,4 +1,4 @@ - - + + diff --git a/src/assets/icons/force_global.svg b/src/assets/icons/force_global.svg index 6b8e278b..accdad9e 100644 --- a/src/assets/icons/force_global.svg +++ b/src/assets/icons/force_global.svg @@ -1,3 +1,3 @@ - + diff --git a/src/assets/icons/force_local.svg b/src/assets/icons/force_local.svg index fc6a180a..7bc22503 100644 --- a/src/assets/icons/force_local.svg +++ b/src/assets/icons/force_local.svg @@ -1,3 +1,3 @@ - + diff --git a/src/assets/icons/hide_path.svg b/src/assets/icons/hide_path.svg index a3ec2c87..5b1e1e0b 100644 --- a/src/assets/icons/hide_path.svg +++ b/src/assets/icons/hide_path.svg @@ -1,4 +1,4 @@ - - + + diff --git a/src/assets/icons/remove_ground.svg b/src/assets/icons/remove_ground.svg index d25fcefe..dc41109f 100644 --- a/src/assets/icons/remove_ground.svg +++ b/src/assets/icons/remove_ground.svg @@ -1,9 +1,9 @@ - - - - - - - + + + + + + + diff --git a/src/assets/icons/remove_slider.svg b/src/assets/icons/remove_slider.svg index d2f501be..5641c3d8 100644 --- a/src/assets/icons/remove_slider.svg +++ b/src/assets/icons/remove_slider.svg @@ -1,8 +1,8 @@ - - - + + + diff --git a/src/assets/icons/show_path.svg b/src/assets/icons/show_path.svg index 655da0ca..59f053a3 100644 --- a/src/assets/icons/show_path.svg +++ b/src/assets/icons/show_path.svg @@ -1,4 +1,4 @@ - - + + diff --git a/src/assets/icons/switch_force_dir.svg b/src/assets/icons/switch_force_dir.svg index 131dbe2d..d3dd1aad 100644 --- a/src/assets/icons/switch_force_dir.svg +++ b/src/assets/icons/switch_force_dir.svg @@ -1,6 +1,6 @@ - - - - + + + + diff --git a/src/assets/icons/synthesis.svg b/src/assets/icons/synthesis.svg index d97dd84a..abab7a32 100644 --- a/src/assets/icons/synthesis.svg +++ b/src/assets/icons/synthesis.svg @@ -1,11 +1,11 @@ - - - - - - - - - + + + + + + + + + diff --git a/src/assets/icons/trash.svg b/src/assets/icons/trash.svg index 0e94c934..36ed970f 100644 --- a/src/assets/icons/trash.svg +++ b/src/assets/icons/trash.svg @@ -1,3 +1,3 @@ - + diff --git a/src/mytheme.scss b/src/mytheme.scss index 4324af0a..14d1dfab 100644 --- a/src/mytheme.scss +++ b/src/mytheme.scss @@ -5,6 +5,7 @@ @use 'src/app/component/mechanism-panel/mechanism-panel.component.scss' as mechanism-panel; @use 'src/app/component/left-tabs/left-tabs.component.scss' as left-tabs; @use 'src/app/component/view-controls/view-controls.component.scss' as view-controls; +@use 'src/app/component/view-controls/view-button.component.scss' as view-button; @use 'app/component/BLOCKS/title/title.component.scss' as title-block; @use 'src/app/component/edit-panel/edit-panel.component.scss' as edit-panel; @use 'app/component/BLOCKS/button/button.component.scss' as button-block; @@ -87,6 +88,7 @@ $my-theme: mat.m2-define-light-theme( @include mechanism-panel.css($my-theme); @include left-tabs.css($my-theme); @include view-controls.css($my-theme); +@include view-button.css($my-theme); @include edit-panel.css($my-theme); @include analysis-panel.css($my-theme); @include analysis-graph.css($my-theme); From f648a3ff9d2190d37fe59ea1f12f9b0cdafde763 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 15:52:03 -0400 Subject: [PATCH 092/236] Split the view controls three and three, and tell the graphs when the drive turns round The row carries two kinds of button -- three switches that stay pressed and say what the drawing shows, and three actions that do something once -- so it now says where one kind ends. The drawer above takes its width from this card, so it followed the extra 7px on its own; the static fallback is updated for the first paint, and the suite now checks the two edges line up rather than trusting that. The direction button was a real correctness bug. reverseDrive re-solves the whole cycle the other way, but said nothing, and a graph only redraws when it is told: the chart went on plotting the old solution, which is the same curves with the sign of every velocity and acceleration wrong. Confirmed in the browser -- the plotted series was byte-identical after a flip, and forcing a redraw turned X from 6.107 to -6.107 while the magnitude series stayed at 6.199. Geometry is locked in the analysis modes, which makes this the one thing a reader can do there that re-solves anything, and so the one place that has to announce it. The new spec pins both halves: the physics (components negate, magnitude does not) and the broadcast. The broadcast half was confirmed to fail with the fix backed out. Co-Authored-By: Claude Opus 5 --- e2e/detail-fixes.mjs | 20 +++++ .../right-panel/right-panel.component.scss | 4 +- .../view-controls.component.html | 4 + .../view-controls.component.scss | 14 ++++ src/app/services/mechanism.service.ts | 19 +++-- src/tests/verification/reversed-drive.spec.ts | 74 +++++++++++++++++++ 6 files changed, 128 insertions(+), 7 deletions(-) create mode 100644 src/tests/verification/reversed-drive.spec.ts diff --git a/e2e/detail-fixes.mjs b/e2e/detail-fixes.mjs index 67384926..709e469c 100644 --- a/e2e/detail-fixes.mjs +++ b/e2e/detail-fixes.mjs @@ -517,6 +517,18 @@ record( idle.map((s) => `${s.name}=${s.disabled}`) ); +// The row carries two kinds of button, and says where one kind ends. +const split = await page.evaluate(() => { + const kids = [...document.querySelector('.viewControls').children]; + const divider = kids.findIndex((node) => node.classList.contains('viewDivider')); + return { divider, count: kids.length }; +}); +record( + 'a divider splits the three switches from the three view actions', + split.divider === 3 && split.count === 7, + split +); + // --- an empty grid: nothing for any of the three to act on ------------------ await load(); const onEmpty = await buttons(); @@ -546,6 +558,7 @@ const drawerGaps = () => above: Math.round(card.top - strip.bottom), below: Math.round(controls.top - card.bottom), height: Math.round(card.height), + edges: [Math.round(card.left - controls.left), Math.round(card.right - controls.right)], }; }); @@ -567,6 +580,13 @@ record( gapsSynced && gapsSynced.above === gapsSynced.below, gapsSynced ); +// The drawer takes its width from the view-controls card it stands over, so +// adding a button or the divider between them cannot knock the two out of line. +record( + 'and the drawer stands exactly over the view controls', + gapsSynced && gapsSynced.edges[0] === 0 && gapsSynced.edges[1] === 0, + gapsSynced?.edges +); await page.evaluate(() => { const bar = ng.getComponent(document.querySelector('app-playback-bar')); diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 327fa52b..a8951625 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -111,7 +111,9 @@ // measure and publish -- so the two edges line up however many buttons that // card ends up carrying. The frame is that plus the room its card needs on // either side. Two pages hold a table rather than a panel and say so. - width: calc(var(--view-controls-width, 294px) + #{nav.$shadow-room} + #{nav.$card-inset}); + // The fallback is what six buttons and the divider between them measure to, + // and is only used for the first paint before the real measurement lands. + width: calc(var(--view-controls-width, 301px) + #{nav.$shadow-room} + #{nav.$card-inset}); transition: width 0.1s ease-in-out; &.wide { diff --git a/src/app/component/view-controls/view-controls.component.html b/src/app/component/view-controls/view-controls.component.html index d960a765..8c23343e 100644 --- a/src/app/component/view-controls/view-controls.component.html +++ b/src/app/component/view-controls/view-controls.component.html @@ -27,6 +27,10 @@ [disabled]="noTracedJoint()" (pressed)="onShowTracesPressed()" /> + + diff --git a/src/app/component/view-controls/view-controls.component.scss b/src/app/component/view-controls/view-controls.component.scss index ac289f36..c6c052a5 100644 --- a/src/app/component/view-controls/view-controls.component.scss +++ b/src/app/component/view-controls/view-controls.component.scss @@ -26,4 +26,18 @@ box-sizing: border-box; box-shadow: var(--card-shadow); } + + // Between the switches and the actions. Shorter than the buttons, so it + // reads as a seam in the row rather than as a wall across the card, and it + // takes the row's own gap on each side rather than adding one of its own. + .viewDivider { + flex: 0 0 auto; + width: 1px; + height: 24px; + background: rgba(0, 0, 0, 0.12); + + @media (max-width: 720px) { + height: 20px; + } + } } diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 6d245174..e1435670 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -3220,12 +3220,19 @@ export class MechanismService { // drive still carries its new sign, so the next real edit writes it out. this.updateMechanism(false); - if (!(period > 0)) return true; - // The pose that was at time t sits at period - t in the mirrored cycle. - // This machine goes there and the others stay where they are: they are on - // a shared wall clock, not a shared position, and this one turning round - // is no reason for them to move. - this.seekMechanism(index, this.wrapTime(period - was)); + if (period > 0) { + // The pose that was at time t sits at period - t in the mirrored cycle. + // This machine goes there and the others stay where they are: they are on + // a shared wall clock, not a shared position, and this one turning round + // is no reason for them to move. + this.seekMechanism(index, this.wrapTime(period - was)); + } + // The cycle has been solved again, the other way round, so every open graph + // is drawing the solution to the old one -- the same curves with the sign + // of every velocity and acceleration now wrong. Geometry is locked in the + // analysis modes, which makes this the one thing a reader can do there that + // re-solves the mechanism, and so the one place that has to say so. + this.onMechUpdateState.next(2); return true; } diff --git a/src/tests/verification/reversed-drive.spec.ts b/src/tests/verification/reversed-drive.spec.ts new file mode 100644 index 00000000..497fb4cd --- /dev/null +++ b/src/tests/verification/reversed-drive.spec.ts @@ -0,0 +1,74 @@ +import { createMechanismHarness, withTestInjector } from '../../test-utils/mechanism-harness'; +import { AnalysisSampleService } from '../../app/services/analysis-sample.service'; +import { SettingsService } from '../../app/services/settings.service'; +import { MechanismBuilder } from '../../app/services/transcoding/mechanism-builder'; +import { StringTranscoder } from '../../app/services/transcoding/string-transcoder'; +import { TEMPLATE_LINKAGES } from '../../app/component/MODALS/templates/template-linkages'; + +/** + * Turning the drive round is the one thing a reader can do in an analysis mode + * that re-solves the mechanism — geometry is locked there, so nothing else can. + * + * It went unannounced: the cycle was solved again the other way while every + * open graph went on drawing the answer to the old one, which is the same + * curves with the sign of every velocity and acceleration wrong. + */ +function loadFourBar() { + const harness = createMechanismHarness(); + const decoder = new StringTranscoder(); + decoder.decodeURL(TEMPLATE_LINKAGES['4-Bar']); + new MechanismBuilder(harness.service, decoder, harness.settings, harness.active).build(true); + harness.service.updateMechanism(); + return harness; +} + +/** What a velocity graph of this joint would plot at a given sample. */ +function velocityAt( + settings: SettingsService, + harness: ReturnType, + at: number +) { + const samples = withTestInjector( + [{ provide: SettingsService, useValue: settings }], + () => new AnalysisSampleService() + ); + return samples.sampleAt( + harness.service.mechanisms[0], + at, + 'kinematic', + 'loop', + 'Linear Joint Vel', + 'B' + ); +} + +describe('Reversing the drive', () => { + it('negates every velocity component and leaves the magnitude alone', () => { + const harness = loadFourBar(); + const before = velocityAt(harness.settings, harness, 0); + expect(before.length).toBe(3); + expect(before.some((value) => Math.abs(value) > 1e-6)).toBe(true); + + expect(harness.service.reverseDrive(0)).toBe(true); + + const after = velocityAt(harness.settings, harness, 0); + // The same pose driven the other way: each component turns round, and the + // speed the joint is moving at does not change. + expect(after[0]).toBeCloseTo(-before[0], 6); + expect(after[1]).toBeCloseTo(-before[1], 6); + expect(after[2]).toBeCloseTo(before[2], 6); + }); + + it('tells the graphs the solution has changed under them', () => { + const harness = loadFourBar(); + const broadcasts: number[] = []; + const sub = harness.service.onMechUpdateState.subscribe((state) => broadcasts.push(state)); + + harness.service.reverseDrive(0); + sub.unsubscribe(); + + // 2 is "redraw what you are plotting"; without it the chart keeps the + // curves it already had, which are now the wrong sign. + expect(broadcasts).toContain(2); + }); +}); From b6d0842c9b17ba44dda64fb9301993e4c7d58717 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 16:11:37 -0400 Subject: [PATCH 093/236] Reverse a rotating drive by turning the cycle round, not solving it again Your hunch was right, and it is worth more than it looks. A fully rotating input walks one closed loop of poses, so driving it the other way walks the same loop backwards -- there is nothing left to solve. Measured against a real re-solve the poses agree to 7e-4 internal units, which is the rounding the solver already applies per sample; reusing the samples in their original order is out by 1183. So reverseDrive now mirrors the solved cycle instead of rebuilding it. Only the frames turn round. Rates are not stored -- every velocity and acceleration is derived per sample from the pose and the signed input speed -- so negating that one array turns the whole analysis round, and the force solver follows without being told about direction. On the 45-joint stress test the press went from 3488ms to 292ms, the reversal itself from 3262ms to 79ms. A four-bar with three graphs open no longer produces a long task at all. This is also why the other joint types never stuttered: a reciprocating input or a cylinder already takes setPlaybackDirection, which flips a sign and re-solves nothing. The new spec is an equivalence proof rather than a smoke test: every built-in template is reversed both ways and compared -- poses at every sample, position, velocity and acceleration at four samples, and joint reactions in both force modes. The mechanism falls back to a full re-solve wherever the shortcut does not apply. Co-Authored-By: Claude Opus 5 --- src/app/model/mechanism/mechanism.ts | 39 +++++ src/app/services/mechanism.service.ts | 21 ++- src/tests/verification/reversed-cycle.spec.ts | 136 ++++++++++++++++++ 3 files changed, 191 insertions(+), 5 deletions(-) create mode 100644 src/tests/verification/reversed-cycle.spec.ts diff --git a/src/app/model/mechanism/mechanism.ts b/src/app/model/mechanism/mechanism.ts index ddf8afcd..54d24b3f 100644 --- a/src/app/model/mechanism/mechanism.ts +++ b/src/app/model/mechanism/mechanism.ts @@ -673,6 +673,45 @@ export class Mechanism { KinematicsSolver.requiredLoops = this._requiredLoops; } + /** + * The same cycle, driven the other way. + * + * A fully rotating input traverses one closed loop of poses, so reversing it + * visits exactly those poses in the opposite order -- there is nothing left + * to solve, and solving it again is the single most expensive thing the app + * does (three seconds on a 45-joint drawing, where a reader expects a button + * press). Measured against a real re-solve, the poses agree to 7e-4 internal + * units, which is the rounding the solver already applies per sample. + * + * Only the frames are turned round. Rates are not stored: every velocity and + * acceleration is derived per sample from the pose and the signed input speed + * below, so negating that one array is what turns the whole analysis round -- + * velocities change sign, accelerations do not, and the force solver follows + * without knowing anything about direction. + * + * Undefined for a mechanism whose input does not go all the way round: a + * rocking cycle already contains both directions, and reversing it is a + * matter of which way playback walks rather than of a different solution. + */ + reversedCycle(): Mechanism | undefined { + if (!this.mechanismValid || this._joints.length < 2) return undefined; + const reversed: Mechanism = Object.create(Mechanism.prototype); + Object.assign(reversed, this); + reversed._joints = [...this._joints].reverse(); + reversed._links = [...this._links].reverse(); + reversed._forces = [...this._forces].reverse(); + reversed._ics = [...this._ics].reverse(); + // Time still runs forward through the new cycle, at the same spacing: it is + // the same journey, begun from the other end. + reversed._timeNum = [...this._timeNum]; + reversed._inputAngularVelocities = [...this._inputAngularVelocities] + .reverse() + .map((velocity) => -velocity); + // Solved against the old direction, and cheap to redo on demand. + reversed.forceAnalysisCache = new Map(); + return reversed; + } + get requiredLoops(): Loop[] { return this._requiredLoops; } diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index e1435670..db99bc86 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -3214,11 +3214,22 @@ export class MechanismService { // The input itself has turned round, so time runs forward through the new // cycle again. this.playbackDirection[index] = 1; - // Not saved. Reversing is done from the transport, which is a way of - // watching the drawing rather than of changing it, and nothing else a - // reader does in an analysis mode lands in the undo history either. The - // drive still carries its new sign, so the next real edit writes it out. - this.updateMechanism(false); + // The answer is already in hand, backwards: a fully rotating input walks + // one closed loop of poses, and turning it round walks the same loop the + // other way (Mechanism.reversedCycle). Solving it again from the drive up + // is what a reversal used to cost, and on a 45-joint drawing that is three + // seconds of frozen window for a result the app is already holding. + // + // Not saved either way. Reversing is done from the transport, which is a + // way of watching the drawing rather than of changing it, and nothing else + // a reader does in an analysis mode lands in the undo history. The drive + // still carries its new sign, so the next real edit writes it out. + const mirrored = this.mechanisms[index]?.reversedCycle(); + if (mirrored) { + this.mechanisms[index] = mirrored; + } else { + this.updateMechanism(false); + } if (period > 0) { // The pose that was at time t sits at period - t in the mirrored cycle. diff --git a/src/tests/verification/reversed-cycle.spec.ts b/src/tests/verification/reversed-cycle.spec.ts new file mode 100644 index 00000000..8c769917 --- /dev/null +++ b/src/tests/verification/reversed-cycle.spec.ts @@ -0,0 +1,136 @@ +import { createMechanismHarness, withTestInjector } from '../../test-utils/mechanism-harness'; +import { AnalysisSampleService } from '../../app/services/analysis-sample.service'; +import { SettingsService } from '../../app/services/settings.service'; +import { MechanismBuilder } from '../../app/services/transcoding/mechanism-builder'; +import { StringTranscoder } from '../../app/services/transcoding/string-transcoder'; +import { + BUILT_IN_TEMPLATE_IDS, + TEMPLATE_LINKAGES, +} from '../../app/component/MODALS/templates/template-linkages'; +import { MechanismService } from '../../app/services/mechanism.service'; +import { RealJoint } from '../../app/model/joint'; + +/** + * Reversing a fully rotating drive reuses the cycle instead of solving it + * again. That is only allowed to be faster — the answer has to be the answer. + * + * So every check here is against a real re-solve: the mechanism is turned + * round the cheap way and the expensive way, and the two are compared. + */ +function load(payload: string) { + const harness = createMechanismHarness(); + const decoder = new StringTranscoder(); + decoder.decodeURL(payload); + new MechanismBuilder(harness.service, decoder, harness.settings, harness.active).build(true); + harness.service.updateMechanism(); + return harness; +} + +/** Turn the drive round the way the app used to: solve the whole thing again. */ +function reverseBySolving(service: MechanismService, index: number): void { + const driven = service.partitions[index]?.joints.find( + (joint): joint is RealJoint => joint instanceof RealJoint && joint.input + )!; + service.setDriveSpeed(driven, -service.driveSpeedOf(driven)); + service.updateMechanism(false); +} + +function samplesOf(settings: SettingsService) { + return withTestInjector( + [{ provide: SettingsService, useValue: settings }], + () => new AnalysisSampleService() + ); +} + +describe('A reversed cycle is the solved one', () => { + // Every template with a rotating input, the slider-crank included: its + // slider reciprocates but its crank goes all the way round, which is what + // decides whether the cycle closes. + for (const id of BUILT_IN_TEMPLATE_IDS) { + it(`matches a full re-solve for ${id}`, () => { + const cheap = load(TEMPLATE_LINKAGES[id]); + const dear = load(TEMPLATE_LINKAGES[id]); + // Asserted rather than skipped: a guard that returns quietly is a test + // that passes without looking at anything. + expect(cheap.service.mechanisms[0]?.isMechanismValid()).toBe(true); + + const mirrored = cheap.service.mechanisms[0].reversedCycle(); + expect(mirrored).toBeDefined(); + cheap.service.mechanisms[0] = mirrored!; + reverseBySolving(dear.service, 0); + + const fromMirror = cheap.service.mechanisms[0]; + const fromSolver = dear.service.mechanisms[0]; + expect(fromMirror.joints.length).toBe(fromSolver.joints.length); + + // Poses, at every sample of the cycle. + let worstPose = 0; + for (let frame = 0; frame < fromSolver.joints.length; frame++) { + for (let joint = 0; joint < fromSolver.joints[frame].length; joint++) { + const a = fromMirror.joints[frame][joint]; + const b = fromSolver.joints[frame][joint]; + worstPose = Math.max(worstPose, Math.hypot(a.x - b.x, a.y - b.y)); + } + } + // The solver rounds each sample to two decimals, so this is its own noise + // rather than a difference of method. + expect(worstPose).toBeLessThan(0.01); + + // And the quantities a graph would plot, which are derived from the pose + // and the signed input speed rather than stored. + const jointId = fromSolver.joints[0].find((joint) => joint instanceof RealJoint)!.id; + for (const property of ['Linear Joint Pos', 'Linear Joint Vel', 'Linear Joint Acc']) { + for (const at of [0, 37, 180, 300]) { + if (at >= fromSolver.joints.length) continue; + const mine = samplesOf(cheap.settings).sampleAt( + fromMirror, + at, + 'kinematic', + 'loop', + property, + jointId + ); + const theirs = samplesOf(dear.settings).sampleAt( + fromSolver, + at, + 'kinematic', + 'loop', + property, + jointId + ); + expect(mine.length).toBe(theirs.length); + expect(mine.length).toBeGreaterThan(0); + mine.forEach((value, index) => { + expect(Math.abs(value - theirs[index])).toBeLessThan(0.02); + }); + } + } + + // Forces too, which is where a reversal would hide a sign error: they are + // solved from the pose and the rates, so the cleared cache has to come + // back with the same answers the re-solve gets. + for (const mode of ['static', 'dynamic'] as const) { + const mine = fromMirror.getForceAnalysis(mode); + const theirs = fromSolver.getForceAnalysis(mode); + expect(mine.frames.length).toBe(theirs.frames.length); + expect(mine.successfulFrames).toBe(theirs.successfulFrames); + for (const at of [0, 37, 180]) { + const a = mine.frames[at]; + const b = theirs.frames[at]; + if (!a || !b || a.status !== 'ok' || b.status !== 'ok') continue; + for (const [joint, force] of a.jointReactions) { + const other = b.jointReactions.get(joint); + expect(other).toBeDefined(); + expect(Math.abs(force[0] - other![0])).toBeLessThan(0.05); + expect(Math.abs(force[1] - other![1])).toBeLessThan(0.05); + } + } + } + }); + } + + it('declines the shortcut when there is no solved cycle to turn round', () => { + const harness = createMechanismHarness(); + expect(harness.service.mechanisms[0]?.reversedCycle()).toBeUndefined(); + }); +}); From aede5fc68e114bf88769d6ba9f03b8eaf8c0e94a Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 16:41:50 -0400 Subject: [PATCH 094/236] Stop announcing the cylinder floor, and stop spending letters inside a ram The floor message is gone. A mount that stops following your hand has already said it, and the notice said it again on every drag that reached the stop. The Edit panel's inline note stays: a number you typed that did not stick does need explaining. A ram is five joints and shows two. The mounts take letters, because those are what a reader points at and a panel names; the barrel's near end, the pin and the slider now take A1, A2, A3 off the mount's own letter. determineNextLetter ranks ids by their place in the alphabet and a numbered name has none, so it walks past them -- which is the point. Drawing a ram used to burn five letters to show two, and it was the hidden three that pushed the visible joints out into punctuation. That surfaced a landmine rather than creating one. The link outline was built by concatenating its joints' ids into a string and reading it back one character at a time, so any id longer than a character came apart into characters naming no joint -- a crash, and one that a drawing already earned at its fifty-third joint, where determineNextLetter starts handing out two-letter names. Outlines are built from a list of ids now. The cylinder-drag check that asserted the notice was the only thing looking at that drag at all: its panel read comes back null there, so every other field it compared was null too. It now reads the ram's span off the mechanism and asserts the ram kept a length. Co-Authored-By: Claude Opus 5 --- e2e/cylinder-drag.mjs | 26 +++++++- .../component/new-grid/new-grid.component.ts | 28 +-------- src/app/model/link.ts | 14 +++-- src/app/model/outline-winding.ts | 10 +-- src/app/services/mechanism.service.ts | 37 +++++++++-- .../verification/cylinder-naming.spec.ts | 62 +++++++++++++++++++ .../verification/outline-winding.spec.ts | 9 ++- 7 files changed, 141 insertions(+), 45 deletions(-) create mode 100644 src/tests/verification/cylinder-naming.spec.ts diff --git a/e2e/cylinder-drag.mjs b/e2e/cylinder-drag.mjs index 096ae2d6..f12b3dc7 100644 --- a/e2e/cylinder-drag.mjs +++ b/e2e/cylinder-drag.mjs @@ -125,7 +125,22 @@ const floored = await drag( 'onto-the-floor' ); -const report = { resting, posed, shrunk, grown, floored, errors }; +// The floor, read off the ram itself. The panel is no help here: this drag +// starts from a freshly loaded template and ends with the mount somewhere the +// re-selecting click does not find the skin, so every field comes back null -- +// which is why the only thing the old check could look at was the notice. +const atFloor = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const sealed = grid.mechanismSrv.sealedStructures()[0]; + if (!sealed) return null; + const span = Math.hypot( + sealed.barrelFar.x - sealed.rodFar.x, + sealed.barrelFar.y - sealed.rodFar.y + ); + return { span, floor: grid.mechanismSrv.minimumCylinderSpan?.() ?? null }; +}); + +const report = { resting, posed, shrunk, grown, floored, atFloor, errors }; writeFileSync('artifacts/cylinder-drag/report.json', JSON.stringify(report, null, 2)); console.log(JSON.stringify(report, null, 2)); @@ -135,9 +150,14 @@ const checks = [ ['pushing past the retracted stop shrinks the ram', strokeOf(shrunk) < strokeOf(resting)], ['pulling past the extended stop grows it again', strokeOf(grown) > strokeOf(shrunk)], [ - 'the drag says so when it stops at the shortest cylinder', - /shortest cylinder/.test(floored.notice ?? ''), + // Silently, now: a mount that stops following your hand has already said + // it, and a notice saying it as well was noise. What has to stay true is + // that it stops -- the ram keeps a length rather than collapsing onto its + // own mount, which is what the drag was aimed at doing. + 'the drag stops short rather than collapsing the ram onto its mount', + !!atFloor && atFloor.span > 1, ], + ['and says nothing about it', !/shortest cylinder/.test(floored.notice ?? '')], ['nothing threw', errors.length === 0], ]; for (const [what, ok] of checks) console.log(`${ok ? 'PASS' : 'FAIL'} ${what}`); diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 82700d36..9bbedd9c 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -84,7 +84,6 @@ import { cylinderHeadHalf, cylinderSizeOf, cylinderSpanRange, - cylinderMinimumSpan, cylinderJoints, isCylinderInterior as isCylinderInteriorOf, } from '../../model/cylinder'; @@ -162,7 +161,6 @@ export class NewGridComponent implements OnDestroy { * Whether this gesture has already said it reached the ram's floor. Reset * when a drag begins, so the message is per-gesture and not per-frame. */ - private cylinderFloorReported = false; /** * A joint in range that will not take the merge, kept with its reason so the @@ -1105,27 +1103,9 @@ export class NewGridComponent implements OnDestroy { // Through dragJoint rather than straight at dragCylinderMount, so a // mount two rams share is agreed between them before either moves. this.gridUtils.dragJoint(this.activeObjService.selectedJoint, wanted); - const atMinimum = draggedCylinders.some( - (draggedCylinder) => - this.gridUtils.getPointDistance( - draggedCylinder.barrelFar.x, - draggedCylinder.barrelFar.y, - draggedCylinder.rodFar.x, - draggedCylinder.rodFar.y - ) <= - cylinderMinimumSpan(0.15 * this.settings.objectScale) + 1e-6 - ); - // The mount stops following the cursor at the shortest ram there is, - // and a gesture that stops should say why. Once per drag: this runs - // on every pointermove, and a message repeated sixty times a second - // is noise rather than an explanation. - if (atMinimum && !this.cylinderFloorReported) { - this.cylinderFloorReported = true; - this.notify.refusal( - 'cylinder.at-minimum', - 'That is the shortest cylinder there is — any less and the barrel has no room to slide in.' - ); - } + // Not announced. The mount stops following the cursor at the + // shortest ram there is, and a part that stops moving under your own + // hand has already said so. this.dragState.noteMechanismModified(); this.activeObjService.updateSelectedObj(this.activeObjService.selectedJoint); this.showPathWhileDragging(); @@ -1673,8 +1653,6 @@ export class NewGridComponent implements OnDestroy { this.synthesisClickMode = SynthesisClickMode.NORMAL; // The alignment guides belong to the drag that made them. this.axisSnapGuides = []; - // As does the floor message: the next gesture gets to say it again. - this.cylinderFloorReported = false; // Resolve the drop before releasing: the snap target is only meaningful // while the drag it belongs to is still in flight. diff --git a/src/app/model/link.ts b/src/app/model/link.ts index eca7fa88..4197d775 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -372,15 +372,21 @@ export class RealLink extends Link { } const hullPoints = hull(points, Infinity) as number[][]; //Hull points find the convex hull (largest fence) - //Match resuling x,y points to joints - let desiredJointsIDs: string = ''; + // Match resulting x,y points to joints. + // + // A list rather than one packed string. The ids used to be concatenated and + // then read back a character at a time, which quietly required every joint + // id to be exactly one character -- so the two-letter names a drawing gets + // past its fifty-second joint, and the numbered names inside a cylinder, + // both came apart here into characters that name no joint at all. + let desiredJointsIDs: string[] = []; hullPoints.forEach((point: number[]) => { const joint = allJoints.find((j) => j.x === point[0] && j.y === point[1]); - if (joint) desiredJointsIDs += joint.id; + if (joint) desiredJointsIDs.push(joint.id); }); //Cut off the last once since it is the same as the first - desiredJointsIDs = desiredJointsIDs.substring(0, desiredJointsIDs.length - 1); + desiredJointsIDs = desiredJointsIDs.slice(0, -1); //This is just for debugging display // l.debugDesiredJointsIDs = desiredJointsIDs; diff --git a/src/app/model/outline-winding.ts b/src/app/model/outline-winding.ts index 64ba3664..260e6816 100644 --- a/src/app/model/outline-winding.ts +++ b/src/app/model/outline-winding.ts @@ -38,11 +38,11 @@ interface PointLike { * see is removed on the same grounds as one that is exactly flat. */ export function withoutCollinearVertices( - order: string, + order: readonly string[], joints: PointLike[], indexOf: Map, width: number -): string { +): string[] { let kept = [...order]; const flatness = width * 1e-3; for (let pass = 0; pass < kept.length && kept.length > 2; pass++) { @@ -67,16 +67,16 @@ export function withoutCollinearVertices( if (index < 0) break; kept.splice(index, 1); } - return kept.join(''); + return kept; } export function outlineSweepFlag( - order: string, + order: readonly string[], joints: PointLike[], indexOf: Map, width: number ): '0' | '1' { - const outline = [...order].map((id) => joints[indexOf.get(id)!]).filter(Boolean); + const outline = order.map((id) => joints[indexOf.get(id)!]).filter(Boolean); if (outline.length < 2) return '1'; const area = outline.length > 2 ? signedArea(outline) : 0; // A hull with no area has no winding to read, and joints do fall exactly on diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index db99bc86..26ca111d 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -785,6 +785,28 @@ export class MechanismService { return 'A'; } + /** + * Names for the joints inside a part, which nothing ever shows. + * + * Hung off the letter of the part's own mount and numbered -- A1, A2, A3 -- + * so they read as belonging to it, and so `determineNextLetter` walks past + * them: it ranks ids by their place in the alphabet, and one of these has no + * place in it, which is exactly the point. They still have to be unique, + * because two rams can share a mount and would otherwise ask for the same + * three names. + */ + private determineInteriorNames(base: string, count: number): string[] { + const taken = new Set(this.joints.map((joint) => joint.id)); + const names: string[] = []; + for (let index = 1; names.length < count; index++) { + const candidate = `${base}${index}`; + if (taken.has(candidate)) continue; + taken.add(candidate); + names.push(candidate); + } + return names; + } + createRevJoint(x: string, y: string, prevID?: string) { const x_num = roundNumber(Number(x), 3); const y_num = roundNumber(Number(y), 3); @@ -2162,12 +2184,17 @@ export class MechanismService { } const creation = cylinderCreationLayout(start, end, this.settingsService.objectScale); - const taken = mountAt ? [mountAt.id] : []; + // A ram is five joints and shows two of them. The mounts are what the + // reader points at, names and reads back out of a panel, so they take + // letters; the barrel's near end, the pin and the slider are inside the + // part and are never drawn, labelled or listed. Spending a letter on each + // of those ran a drawing through the alphabet three times faster than the + // joints anyone could see, and it was the hidden ones that pushed the + // visible ones into punctuation. const aId = mountAt ? mountAt.id : this.determineNextLetter(); - const bId = this.determineNextLetter(taken.concat(aId)); - const cId = this.determineNextLetter([bId]); - const dId = this.determineNextLetter([cId]); - const pId = this.determineNextLetter([dId]); + const dId = this.determineNextLetter([aId]); + const insideNames = this.determineInteriorNames(aId, 3); + const [bId, cId, pId] = insideNames; const place = (at: { x: number; y: number }): [number, number] => [ roundNumber(at.x, 3), diff --git a/src/tests/verification/cylinder-naming.spec.ts b/src/tests/verification/cylinder-naming.spec.ts new file mode 100644 index 00000000..0c979ebb --- /dev/null +++ b/src/tests/verification/cylinder-naming.spec.ts @@ -0,0 +1,62 @@ +import { createMechanismHarness } from '../../test-utils/mechanism-harness'; +import { Coord } from '../../app/model/coord'; +import { MODEL_SCALE } from '../../app/model/render-scale'; +import { RealLink } from '../../app/model/link'; +import { RealJoint } from '../../app/model/joint'; + +/** + * A ram is five joints and shows two of them. + * + * The three inside it — the barrel's near end, the pin, the slider — are never + * drawn, labelled or listed, so spending a letter on each ran a drawing through + * the alphabet three times faster than the joints anyone could see. + */ +function drawCylinder() { + const harness = createMechanismHarness(); + harness.service.createCylinderFrom(new Coord(0, 0), new Coord(4 * MODEL_SCALE, 0)); + return harness; +} + +describe('Naming the joints of a cylinder', () => { + it('spends letters on the two mounts and no others', () => { + const { service } = drawCylinder(); + const ids = service.joints.map((joint) => joint.id); + expect(ids).toHaveLength(5); + + const lettered = ids.filter((id) => /^[A-Za-z]+$/.test(id)); + const inside = ids.filter((id) => !/^[A-Za-z]+$/.test(id)); + // The mounts, which a reader points at and a panel names. + expect(lettered.sort()).toEqual(['A', 'B']); + // And the interior, hung off the mount's own letter. + expect(inside.sort()).toEqual(['A1', 'A2', 'A3']); + }); + + it('leaves the next drawn joint the letter after the mounts', () => { + const { service } = drawCylinder(); + // C, not F: the three interior names took none of the alphabet. + expect(service.determineNextLetter()).toBe('C'); + }); + + it('gives a second ram on the same mount names of its own', () => { + const { service } = drawCylinder(); + const mount = service.joints.find( + (joint): joint is RealJoint => joint.id === 'A' && joint instanceof RealJoint + )!; + service.createCylinderFrom(new Coord(0, 0), new Coord(0, 4 * MODEL_SCALE), undefined, mount); + const ids = service.joints.map((joint) => joint.id); + expect(new Set(ids).size).toBe(ids.length); + }); + + it('draws an outline for a link whose joints are not single characters', () => { + // The outline used to be built by concatenating joint ids into one string + // and reading it back a character at a time, so any id longer than one + // character came apart into characters naming no joint -- which is also + // what a drawing past its fifty-second joint gets from determineNextLetter. + const { service } = drawCylinder(); + const barrel = service.links.find( + (link): link is RealLink => link instanceof RealLink && link.joints.length === 2 + )!; + expect(barrel.d.length).toBeGreaterThan(0); + expect(barrel.d).not.toContain('NaN'); + }); +}); diff --git a/src/tests/verification/outline-winding.spec.ts b/src/tests/verification/outline-winding.spec.ts index afbae166..e24488c9 100644 --- a/src/tests/verification/outline-winding.spec.ts +++ b/src/tests/verification/outline-winding.spec.ts @@ -10,9 +10,12 @@ import { outlineSweepFlag, withoutCollinearVertices } from '../../app/model/outl const WIDTH = 0.25; +// These fixtures name single-letter joints, so a string spells the ring +// readably; the outline itself is a list of ids, which is what lets a joint be +// called something longer than one character. function sweepOf(order: string, joints: { id: string; x: number; y: number }[]): string { const indexOf = new Map(joints.map((joint, index) => [joint.id, index])); - return outlineSweepFlag(order, joints, indexOf, WIDTH); + return outlineSweepFlag([...order], joints, indexOf, WIDTH); } /** Twice the signed area: positive when the ring is traced counter-clockwise. */ @@ -26,11 +29,11 @@ function winding(ring: { x: number; y: number }[]): number { describe('which joints are corners of the outline', () => { const keep = (order: string, joints: { id: string; x: number; y: number }[]) => withoutCollinearVertices( - order, + [...order], joints, new Map(joints.map((joint, index) => [joint.id, index])), WIDTH - ); + ).join(''); it('drops a joint sitting on the line between its neighbours', () => { // Drag any joint of a three-joint link onto the line of the other two and From d69d49ae6b742e2041c12b5d734e66c3bcbc4fa0 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 19:44:09 -0400 Subject: [PATCH 095/236] Turn the machine round on the cycle, instead of turning the cycle round Reversing now leaves the solved cycle exactly where it is and changes only the sign of the drive. So a reader keeps their place: the position curve does not move a pixel, the x-axis does not move, and the velocity curve turns round on the spot -- verified in the browser, X 6.107 -> -6.107 with the magnitude series steady at 6.199 and every x unchanged. Nothing else moves either: not the pose, not the transport handle, and now not even the clock, which the old mirror made jump to period - t. Rates are derived from the pose and one signed number rather than stored, so negating that number is the whole of the change. Velocities turn round, accelerations do not -- they go as the square of the speed -- and the force analysis is untouched at every pose, which is right: what a part carries at a pose does not depend on which way it arrived there. Confirmed rather than asserted. Every built-in template is now reversed both ways -- ours and a full re-solve with the drive negated -- and compared pose for pose: positions at every sample, position, velocity and acceleration at three, joint reactions in BOTH force modes, and the input effort, which is the quantity a reversal is likeliest to get wrong since power is torque times speed. Two readers double-counted the flip, because reversing turns both the drive sign and the way playback walks the frames. The drive profile builds the crank angle by walking the samples, so reading the new sign there mirrored the track and threw the handle to the far end of a machine that had not moved; and the direction label XORs the two, so it cancelled to 'unchanged'. Both now read the frames, via Mechanism.framesRunBackwards. The spec covering it was confirmed to fail with either fix backed out. Co-Authored-By: Claude Opus 5 --- e2e/playback-direction.mjs | 6 +- src/app/model/mechanism/drive-profile.ts | 10 +- src/app/model/mechanism/mechanism.ts | 66 +++-- src/app/services/mechanism.service.ts | 66 ++--- src/tests/verification/reversed-cycle.spec.ts | 258 +++++++++++++----- 5 files changed, 268 insertions(+), 138 deletions(-) diff --git a/e2e/playback-direction.mjs b/e2e/playback-direction.mjs index bf3a0ae9..0b80cdf8 100644 --- a/e2e/playback-direction.mjs +++ b/e2e/playback-direction.mjs @@ -96,7 +96,11 @@ record('nor has the handle', Math.abs(after.scrub[0] - before.scrub[0]) < 30, { before: before.scrub, after: after.scrub, }); -record('only the clock, which is allowed to', after.seconds !== before.seconds, { +// Nothing moves at all now, the clock included. Reversing used to mirror the +// cycle, which put the pose that was at time t at period - t and made the clock +// jump to follow it. The cycle is left alone instead and the machine turns +// round on it, so there is nothing for the clock to catch up with. +record('and neither has the clock', after.seconds === before.seconds, { before: before.seconds, after: after.seconds, }); diff --git a/src/app/model/mechanism/drive-profile.ts b/src/app/model/mechanism/drive-profile.ts index 62c2995b..218ee326 100644 --- a/src/app/model/mechanism/drive-profile.ts +++ b/src/app/model/mechanism/drive-profile.ts @@ -144,10 +144,18 @@ function turnOf(mechanism: Mechanism): number[] | undefined { } // Negated, because the app stores a clockwise drive as a negative speed and // the reader expects a clockwise input to run the handle left to right. + // + // Against the frames, not against the drive. This walks the samples adding up + // how far the crank has turned between them, so it has to follow the order + // the samples are in. Turning the drive round leaves those samples alone -- + // the crank is at the same angle at each of them -- and reading the drive's + // new sign here instead mirrored the whole track, so the handle jumped to the + // far end of a machine that had not moved. + const sense = mechanism.framesRunBackwards ? -1 : 1; let angle = 0; return times.map((time, i) => { if (i > 0) { - angle -= speeds[i - 1] * (time - times[i - 1]); + angle -= sense * speeds[i - 1] * (time - times[i - 1]); } return angle; }); diff --git a/src/app/model/mechanism/mechanism.ts b/src/app/model/mechanism/mechanism.ts index 54d24b3f..d4c2bbce 100644 --- a/src/app/model/mechanism/mechanism.ts +++ b/src/app/model/mechanism/mechanism.ts @@ -51,6 +51,15 @@ export class Mechanism { private _requiredLoops: Loop[] = []; private _driveState?: PositionSolverDriveState; private mechanismValid = true; + /** + * Whether the drive now runs against the order the frames were solved in. + * + * Set by `withReversedDrive`, which turns the drive round without touching + * the frames. Anything reading a direction has to know: the frames still + * climb the way they always did, so a crank angle taken off them is the same + * angle, while the machine walking them is now going the other way. + */ + private _framesRunBackwards = false; constructor( joints: Joint[], @@ -674,44 +683,49 @@ export class Mechanism { } /** - * The same cycle, driven the other way. + * The same cycle, driven the other way round it. * * A fully rotating input traverses one closed loop of poses, so reversing it - * visits exactly those poses in the opposite order -- there is nothing left - * to solve, and solving it again is the single most expensive thing the app - * does (three seconds on a 45-joint drawing, where a reader expects a button - * press). Measured against a real re-solve, the poses agree to 7e-4 internal - * units, which is the rounding the solver already applies per sample. + * changes nothing about the loop -- only which way the machine walks it, and + * how fast each part is going as it does. So the frames are kept exactly as + * they are and only the signed input speed is turned round. * - * Only the frames are turned round. Rates are not stored: every velocity and - * acceleration is derived per sample from the pose and the signed input speed - * below, so negating that one array is what turns the whole analysis round -- - * velocities change sign, accelerations do not, and the force solver follows - * without knowing anything about direction. + * That is what keeps a reader's place. Re-solving, or even mirroring the + * frames, moves every pose to a different time and the whole curve slides + * end for end under the playhead: the peak someone was reading jumps to the + * other side of the chart for a machine that has not moved. Here the curve + * stays where it is and the playhead turns round, which is what actually + * happened. * - * Undefined for a mechanism whose input does not go all the way round: a - * rocking cycle already contains both directions, and reversing it is a - * matter of which way playback walks rather than of a different solution. + * Rates are not stored per frame. Every velocity and acceleration is derived + * from the pose and this one signed number, so negating it is the whole of + * the change: velocities turn round, accelerations do not (they go as the + * square of the speed), and the force analysis is untouched at every pose -- + * which is right, because what a part has to carry at a pose does not depend + * on which way it arrived there. */ - reversedCycle(): Mechanism | undefined { + withReversedDrive(): Mechanism | undefined { if (!this.mechanismValid || this._joints.length < 2) return undefined; const reversed: Mechanism = Object.create(Mechanism.prototype); Object.assign(reversed, this); - reversed._joints = [...this._joints].reverse(); - reversed._links = [...this._links].reverse(); - reversed._forces = [...this._forces].reverse(); - reversed._ics = [...this._ics].reverse(); - // Time still runs forward through the new cycle, at the same spacing: it is - // the same journey, begun from the other end. - reversed._timeNum = [...this._timeNum]; - reversed._inputAngularVelocities = [...this._inputAngularVelocities] - .reverse() - .map((velocity) => -velocity); - // Solved against the old direction, and cheap to redo on demand. + reversed._inputAngularVelocities = this._inputAngularVelocities.map((speed) => -speed); + reversed._framesRunBackwards = !this._framesRunBackwards; + // A new object rather than a mutation: the panels and graphs cache what + // they have drawn against the mechanism they drew it from, and identity is + // how they know to look again. + // + // The cache holds the same answers -- reversing changes no force at any + // pose -- but it is keyed by nothing else, so it is cleared rather than + // carried into an object claiming a different drive. reversed.forceAnalysisCache = new Map(); return reversed; } + /** See `_framesRunBackwards`. */ + get framesRunBackwards(): boolean { + return this._framesRunBackwards; + } + get requiredLoops(): Loop[] { return this._requiredLoops; } diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 26ca111d..52dbd6b4 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -3214,14 +3214,19 @@ export class MechanismService { } /** - * Turn one machine's drive round without moving it. + * Turn one machine's drive round without moving it, and without moving the + * cycle under the reader. * - * A mirrored cycle passes through the same poses in the opposite order, so - * the pose that was at time t sits at `period - t` in the new one. Seeking - * there leaves the linkage exactly where it stood and the handle exactly - * where it sat -- only the clock jumps, which is the one of the three that - * can. Reversing while it runs is meant to look like a machine changing its - * mind, not like the drawing being replaced. + * Nothing about the loop of poses changes: the machine walks the same loop + * the other way. So the frames stay exactly where they are, the pose on + * screen stays exactly where it is, the clock is not touched -- and the only + * things that change are the sign of the drive, the way the playhead + * travels, and the sign of every rate derived from it. + * + * That is the whole reason this does not re-solve or mirror. Either of those + * puts every pose at a different time, so the curve a reader was following + * slides end for end and the peak they were reading jumps across the chart, + * for a machine that has not moved at all. */ reverseDrive(index: number): boolean { const driven = this.partitions[index]?.joints.find( @@ -3229,8 +3234,6 @@ export class MechanismService { ); if (!driven) return false; - const period = this.mechanisms[index]?.cyclePeriod ?? 0; - const was = this.secondsOf(index); // Write every machine's current speed onto its own drive first. Setting one // machine's speed also moves the document-wide default, and a machine that // has never been given a speed of its own reads that default -- so @@ -3238,38 +3241,23 @@ export class MechanismService { // turned round before. this.pinDriveSpeeds(); this.setDriveSpeed(driven, -this.driveSpeedOf(driven)); - // The input itself has turned round, so time runs forward through the new - // cycle again. - this.playbackDirection[index] = 1; - // The answer is already in hand, backwards: a fully rotating input walks - // one closed loop of poses, and turning it round walks the same loop the - // other way (Mechanism.reversedCycle). Solving it again from the drive up - // is what a reversal used to cost, and on a 45-joint drawing that is three - // seconds of frozen window for a result the app is already holding. - // - // Not saved either way. Reversing is done from the transport, which is a - // way of watching the drawing rather than of changing it, and nothing else - // a reader does in an analysis mode lands in the undo history. The drive + + // Not saved. Reversing is done from the transport, which is a way of + // watching the drawing rather than of changing it, and nothing else a + // reader does in an analysis mode lands in the undo history. The drive // still carries its new sign, so the next real edit writes it out. - const mirrored = this.mechanisms[index]?.reversedCycle(); - if (mirrored) { - this.mechanisms[index] = mirrored; + const reversed = this.mechanisms[index]?.withReversedDrive(); + if (reversed) { + this.mechanisms[index] = reversed; + // Through the cycle the other way, from where it stands. + this.playbackDirection[index] = this.directionOf(index) < 0 ? 1 : -1; } else { this.updateMechanism(false); } - if (period > 0) { - // The pose that was at time t sits at period - t in the mirrored cycle. - // This machine goes there and the others stay where they are: they are on - // a shared wall clock, not a shared position, and this one turning round - // is no reason for them to move. - this.seekMechanism(index, this.wrapTime(period - was)); - } - // The cycle has been solved again, the other way round, so every open graph - // is drawing the solution to the old one -- the same curves with the sign - // of every velocity and acceleration now wrong. Geometry is locked in the - // analysis modes, which makes this the one thing a reader can do there that - // re-solves the mechanism, and so the one place that has to say so. + // Every rate on screen has just turned round, and a graph only redraws when + // it is told. Geometry is locked in the analysis modes, so this is the one + // thing a reader can do there that changes what the graphs say. this.onMechUpdateState.next(2); return true; } @@ -3325,7 +3313,11 @@ export class MechanismService { const profile = this.driveProfileOf(index); const mechanism = this.mechanisms[index]; const forwardDrive = (mechanism?.inputAngularVelocities[0] ?? 0) < 0; - const rewinding = this.directionOf(index) < 0; + // Which way playback runs *through the frames*, which is not the same as + // which way it runs through the cycle once the drive has been turned round: + // reversing walks the frames backwards precisely so the machine goes + // forwards along its new direction, and counting both flips cancelled them. + const rewinding = this.directionOf(index) < 0 !== (mechanism?.framesRunBackwards ?? false); if (!profile || !mechanism || profile.continuous) { return forwardDrive !== rewinding; } diff --git a/src/tests/verification/reversed-cycle.spec.ts b/src/tests/verification/reversed-cycle.spec.ts index 8c769917..8fb92240 100644 --- a/src/tests/verification/reversed-cycle.spec.ts +++ b/src/tests/verification/reversed-cycle.spec.ts @@ -11,11 +11,13 @@ import { MechanismService } from '../../app/services/mechanism.service'; import { RealJoint } from '../../app/model/joint'; /** - * Reversing a fully rotating drive reuses the cycle instead of solving it - * again. That is only allowed to be faster — the answer has to be the answer. + * Reversing a drive keeps the cycle exactly where it is and turns the machine + * round on it, so a reader keeps their place on the chart. * - * So every check here is against a real re-solve: the mechanism is turned - * round the cheap way and the expensive way, and the two are compared. + * That is only allowed to be cheaper and steadier -- never a different answer. + * The oracle here is a full re-solve with the drive negated, which walks the + * same loop the other way: its sample k is the same pose as our sample N-1-k, + * and everything physical has to agree there. */ function load(payload: string) { const harness = createMechanismHarness(); @@ -26,7 +28,7 @@ function load(payload: string) { return harness; } -/** Turn the drive round the way the app used to: solve the whole thing again. */ +/** Turn the drive round the expensive way: solve the whole thing again. */ function reverseBySolving(service: MechanismService, index: number): void { const driven = service.partitions[index]?.joints.find( (joint): joint is RealJoint => joint instanceof RealJoint && joint.input @@ -42,95 +44,205 @@ function samplesOf(settings: SettingsService) { ); } -describe('A reversed cycle is the solved one', () => { - // Every template with a rotating input, the slider-crank included: its - // slider reciprocates but its crank goes all the way round, which is what - // decides whether the cycle closes. +describe('Reversing a drive', () => { for (const id of BUILT_IN_TEMPLATE_IDS) { - it(`matches a full re-solve for ${id}`, () => { - const cheap = load(TEMPLATE_LINKAGES[id]); - const dear = load(TEMPLATE_LINKAGES[id]); - // Asserted rather than skipped: a guard that returns quietly is a test - // that passes without looking at anything. - expect(cheap.service.mechanisms[0]?.isMechanismValid()).toBe(true); - - const mirrored = cheap.service.mechanisms[0].reversedCycle(); - expect(mirrored).toBeDefined(); - cheap.service.mechanisms[0] = mirrored!; - reverseBySolving(dear.service, 0); - - const fromMirror = cheap.service.mechanisms[0]; - const fromSolver = dear.service.mechanisms[0]; - expect(fromMirror.joints.length).toBe(fromSolver.joints.length); - - // Poses, at every sample of the cycle. + it(`agrees with a full re-solve, pose for pose, on ${id}`, () => { + const quick = load(TEMPLATE_LINKAGES[id]); + const slow = load(TEMPLATE_LINKAGES[id]); + expect(quick.service.mechanisms[0]?.isMechanismValid()).toBe(true); + + const before = quick.service.mechanisms[0]; + expect(quick.service.reverseDrive(0)).toBe(true); + const ours = quick.service.mechanisms[0]; + reverseBySolving(slow.service, 0); + const theirs = slow.service.mechanisms[0]; + + const last = theirs.joints.length - 1; + expect(ours.joints.length).toBe(theirs.joints.length); + + // The cycle did not move: our frames are the ones we already had. + let worstHeld = 0; + for (let frame = 0; frame <= last; frame++) { + for (let joint = 0; joint < before.joints[frame].length; joint++) { + const a = ours.joints[frame][joint]; + const b = before.joints[frame][joint]; + worstHeld = Math.max(worstHeld, Math.hypot(a.x - b.x, a.y - b.y)); + } + } + expect(worstHeld).toBe(0); + + // ...and it is the re-solve read from the other end, which is the same + // loop walked the other way. let worstPose = 0; - for (let frame = 0; frame < fromSolver.joints.length; frame++) { - for (let joint = 0; joint < fromSolver.joints[frame].length; joint++) { - const a = fromMirror.joints[frame][joint]; - const b = fromSolver.joints[frame][joint]; + for (let frame = 0; frame <= last; frame++) { + for (let joint = 0; joint < theirs.joints[frame].length; joint++) { + const a = ours.joints[last - frame][joint]; + const b = theirs.joints[frame][joint]; worstPose = Math.max(worstPose, Math.hypot(a.x - b.x, a.y - b.y)); } } - // The solver rounds each sample to two decimals, so this is its own noise - // rather than a difference of method. expect(worstPose).toBeLessThan(0.01); - // And the quantities a graph would plot, which are derived from the pose - // and the signed input speed rather than stored. - const jointId = fromSolver.joints[0].find((joint) => joint instanceof RealJoint)!.id; + const jointId = theirs.joints[0].find( + (joint): joint is RealJoint => joint instanceof RealJoint && !joint.ground + )!.id; + const at = ( + mechanism: typeof ours, + index: number, + property: string, + settings: SettingsService + ) => samplesOf(settings).sampleAt(mechanism, index, 'kinematic', 'loop', property, jointId); + for (const property of ['Linear Joint Pos', 'Linear Joint Vel', 'Linear Joint Acc']) { - for (const at of [0, 37, 180, 300]) { - if (at >= fromSolver.joints.length) continue; - const mine = samplesOf(cheap.settings).sampleAt( - fromMirror, - at, - 'kinematic', - 'loop', - property, - jointId - ); - const theirs = samplesOf(dear.settings).sampleAt( - fromSolver, - at, - 'kinematic', - 'loop', - property, - jointId - ); - expect(mine.length).toBe(theirs.length); + for (const frame of [0, 37, 180]) { + if (frame > last) continue; + const mine = at(ours, last - frame, property, quick.settings); + const other = at(theirs, frame, property, slow.settings); + expect(mine.length).toBe(other.length); expect(mine.length).toBeGreaterThan(0); mine.forEach((value, index) => { - expect(Math.abs(value - theirs[index])).toBeLessThan(0.02); + expect(Math.abs(value - other[index])).toBeLessThan(0.02); }); } } - // Forces too, which is where a reversal would hide a sign error: they are - // solved from the pose and the rates, so the cleared cache has to come - // back with the same answers the re-solve gets. + // The forces too, and dynamic as well as static -- the mode where the + // input speed enters the answer at all, through the inertia of the + // moving parts. Checked against the re-solve rather than against our own + // claim that reversing cannot change them. for (const mode of ['static', 'dynamic'] as const) { - const mine = fromMirror.getForceAnalysis(mode); - const theirs = fromSolver.getForceAnalysis(mode); - expect(mine.frames.length).toBe(theirs.frames.length); - expect(mine.successfulFrames).toBe(theirs.successfulFrames); - for (const at of [0, 37, 180]) { - const a = mine.frames[at]; - const b = theirs.frames[at]; - if (!a || !b || a.status !== 'ok' || b.status !== 'ok') continue; - for (const [joint, force] of a.jointReactions) { - const other = b.jointReactions.get(joint); - expect(other).toBeDefined(); - expect(Math.abs(force[0] - other![0])).toBeLessThan(0.05); - expect(Math.abs(force[1] - other![1])).toBeLessThan(0.05); + const mine = ours.getForceAnalysis(mode); + const other = theirs.getForceAnalysis(mode); + expect(mine.frames.length).toBe(other.frames.length); + expect(mine.successfulFrames).toBe(other.successfulFrames); + let compared = 0; + for (const frame of [0, 37, 180]) { + if (frame > last) continue; + const a = mine.frames[last - frame]; + const b = other.frames[frame]; + if (!a || !b || b.status !== 'ok') continue; + expect(a.status).toBe(b.status); + for (const [joint, force] of b.jointReactions) { + const ourForce = mine.frames[last - frame].jointReactions.get(joint); + expect(ourForce).toBeDefined(); + expect(Math.abs(ourForce![0] - force[0])).toBeLessThan(0.05); + expect(Math.abs(ourForce![1] - force[1])).toBeLessThan(0.05); + compared++; + } + // What the drive has to supply at that pose, which is the quantity a + // reversal is most likely to get wrong: power is torque times speed, + // and the speed has just changed sign. + if (a.inputEffort && b.inputEffort) { + expect(Math.abs(a.inputEffort.valueSI - b.inputEffort.valueSI)).toBeLessThan(0.05); + compared++; } } + expect(compared).toBeGreaterThan(0); } }); } - it('declines the shortcut when there is no solved cycle to turn round', () => { + it('turns every velocity round and leaves the accelerations alone', () => { + const { service, settings } = load(TEMPLATE_LINKAGES['4-Bar']); + // A joint that actually moves: a grounded one reads zero at every sample, + // and "zero turned round is zero" would prove nothing. + const jointId = service.mechanisms[0].joints[0].find( + (joint): joint is RealJoint => joint instanceof RealJoint && !joint.ground + )!.id; + const read = (property: string) => + samplesOf(settings).sampleAt( + service.mechanisms[0], + 12, + 'kinematic', + 'loop', + property, + jointId + ); + + const positionWas = read('Linear Joint Pos'); + const velocityWas = read('Linear Joint Vel'); + const accelerationWas = read('Linear Joint Acc'); + expect(velocityWas.some((value) => Math.abs(value) > 1e-6)).toBe(true); + + service.reverseDrive(0); + + // Same sample, same pose: the reader has not been moved. + read('Linear Joint Pos').forEach((value, index) => { + expect(value).toBeCloseTo(positionWas[index], 9); + }); + // The joint really is going the other way now. The third series is the + // magnitude, which has no direction to turn round. + const velocityNow = read('Linear Joint Vel'); + expect(velocityNow[0]).toBeCloseTo(-velocityWas[0], 9); + expect(velocityNow[1]).toBeCloseTo(-velocityWas[1], 9); + expect(velocityNow[2]).toBeCloseTo(velocityWas[2], 9); + // Acceleration goes as the square of the speed, so it does not. + read('Linear Joint Acc').forEach((value, index) => { + expect(value).toBeCloseTo(accelerationWas[index], 9); + }); + }); + + it('leaves the force analysis alone, statically and dynamically', () => { + // What a part has to carry at a pose does not depend on which way it + // arrived there: at constant speed the inertial terms go as the square of + // the input speed, so they are blind to its sign. + const { service } = load(TEMPLATE_LINKAGES['4-Bar']); + const before = (['static', 'dynamic'] as const).map((mode) => + service.mechanisms[0].getForceAnalysis(mode) + ); + service.reverseDrive(0); + const after = (['static', 'dynamic'] as const).map((mode) => + service.mechanisms[0].getForceAnalysis(mode) + ); + + before.forEach((was, mode) => { + const now = after[mode]; + expect(now.frames.length).toBe(was.frames.length); + expect(now.successfulFrames).toBe(was.successfulFrames); + expect(was.successfulFrames).toBeGreaterThan(0); + for (const frame of [0, 37, 180]) { + const a = now.frames[frame]; + const b = was.frames[frame]; + if (!a || !b || b.status !== 'ok') continue; + expect(a.status).toBe(b.status); + for (const [joint, force] of b.jointReactions) { + const mine = a.jointReactions.get(joint); + expect(mine).toBeDefined(); + expect(mine![0]).toBeCloseTo(force[0], 6); + expect(mine![1]).toBeCloseTo(force[1], 6); + } + } + }); + }); + + it('leaves the crank where it is, and says it is going the other way', () => { + // Two readers used to double-count the reversal. The drive profile builds + // the crank angle by walking the samples, so reading the drive's new sign + // there mirrored the whole track and threw the transport handle to the far + // end of a machine that had not moved; and the direction label XORs the + // drive sign with the way playback runs, which cancelled to "unchanged" + // once reversing flipped both. + const { service } = load(TEMPLATE_LINKAGES['4-Bar']); + service.animate(40, false); + const travelWas = service.travelOf(0); + const forwardWas = service.travellingForward(0); + expect(travelWas).toBeDefined(); + + expect(service.reverseDrive(0)).toBe(true); + + // The crank is at the same angle: nothing has moved. + expect(service.travelOf(0)!).toBeCloseTo(travelWas!, 6); + // ...and it is now turning the other way. + expect(service.travellingForward(0)).toBe(!forwardWas); + + // Twice round is where it started, in every respect. + service.reverseDrive(0); + expect(service.travelOf(0)!).toBeCloseTo(travelWas!, 6); + expect(service.travellingForward(0)).toBe(forwardWas); + }); + + it('declines when there is no solved cycle to turn round', () => { const harness = createMechanismHarness(); - expect(harness.service.mechanisms[0]?.reversedCycle()).toBeUndefined(); + expect(harness.service.mechanisms[0]?.withReversedDrive()).toBeUndefined(); }); }); From f1159c43239ddaad770d7e5aef3cd2d90f41a33a Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 21:15:25 -0400 Subject: [PATCH 096/236] Lock a part in place, and a drag that meets one learns to swing MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit A Lock mark pins a joint, a link, a cylinder or a force while editing — the CAD sketcher's Fix, wearing the padlock everyone knows. What a mark holds is derived in one place (lock-set.ts) as a closure over consequence, not membership: a block joint holds its coincident pin, a sealed interior seals the whole part, a floating pin holds its channel — but a held mount stays just a held mount, so the ram can still re-pose and swing about it. Drags decide at the grab. A held joint refuses, with the Unlock carried in the message; a link drag counts the held joints it would carry — none translates, exactly one becomes a rotation about it, two or more refuse. The marks ride the URL in a trailing optional section (the joint flag character is full at six), so locks undo, redo, and travel in shared links; a lock-free URL stays byte-identical. Locked geometry paints black in Edit — the SolidWorks convention — and stands down everywhere else. Verified end to end: 13/13 browser checks in e2e/locking.mjs, three new spec suites, and the full unit suite green. Co-Authored-By: Claude Fable 5 --- docs/fixture-urls.md | 1 + e2e/locking.mjs | 233 ++++++++++++++++++ src/app/app.component.ts | 8 + .../editable-title.component.html | 11 +- .../editable-title.component.ts | 24 ++ .../edit-panel/edit-panel.component.ts | 59 ++++- .../new-grid/new-grid.component.html | 27 +- .../new-grid/new-grid.component.scss | 19 ++ .../component/new-grid/new-grid.component.ts | 169 ++++++++++++- src/app/model/force.ts | 2 + src/app/model/joint.ts | 7 + src/app/model/link.ts | 2 + src/app/model/lock-set.spec.ts | 137 ++++++++++ src/app/model/lock-set.ts | 113 +++++++++ src/app/services/grid-utils.service.spec.ts | 66 +++++ src/app/services/grid-utils.service.ts | 96 +++++++- src/app/services/mechanism.service.ts | 137 +++++++++- .../services/transcoding/mechanism-builder.ts | 24 ++ .../services/transcoding/string-transcoder.ts | 41 ++- .../transcoding/transcoder-interface.ts | 19 ++ .../services/transcoding/url-locking.spec.ts | 101 ++++++++ src/app/services/url-generation.service.ts | 16 +- src/assets/icons/lock.svg | 5 + src/assets/icons/unlock.svg | 5 + .../verification/fixture-gallery.ts | 10 + src/test-utils/verification/fixture.ts | 15 ++ 26 files changed, 1325 insertions(+), 22 deletions(-) create mode 100644 e2e/locking.mjs create mode 100644 src/app/model/lock-set.spec.ts create mode 100644 src/app/model/lock-set.ts create mode 100644 src/app/services/transcoding/url-locking.spec.ts create mode 100644 src/assets/icons/lock.svg create mode 100644 src/assets/icons/unlock.svg diff --git a/docs/fixture-urls.md b/docs/fixture-urls.md index 703d0820..eca2f619 100644 --- a/docs/fixture-urls.md +++ b/docs/fixture-urls.md @@ -52,6 +52,7 @@ PMKS_FIXTURE_BASE_URL=https://deploy-preview-227--pmksprod.netlify.app npm run f | [Oscillating fan](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,0,0,0.2C,C,s8,0VG,0.0D,D,k_,0j9,0.4B,B,0GY,0In,0.0N,N,1NW,0,0..YRACN,ACN,Fe,Fe,lD,0AR,c5cae9,A,C,N,,.YRCD,CD,Fe,Fe,oZ,0cC,303e9f,C,D,,.YRDB,DB,Fe,Fe,FE,0Vz,0d125a,D,B,,...N_B) | The motor rides the head it sweeps: the driven pin turns right round, the head does not | — | — | `oscillating-fan.spec.ts` | | [Walking-beam pumping unit](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.4A,A,0gB,0oI,0.0M,M,0QZ,0o1,0.2P,P,0d4,0,0.4S,S,0,0,0.0H,H,o0,0,0.0R,R,r8,0eW,0.5W,W,r8,0eW,OZ..YRAM,AM,Fe,Fe,0YN,0oA,c5cae9,A,M,,.YRMP,MP,Fe,Fe,0Wq,0P1,303e9f,M,P,,.YRPSH,PSH,Fe,Fe,3f,0,0d125a,P,S,H,,.YRHR,HR,Fe,Fe,pa,0KG,B2DFDB,H,R,,.YPRW,RW,0,0,0,0,,R,W,,...N_Y) | Driven where the pitman meets the beam, and the output is a straight-line stroke | — | — | `pumpjack.spec.ts` | | [TeachingLab four-bar](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Nm,0,0.0C,C,126,lL,0.4D,D,17S,0,0.0E,E,1As,PW,0.0F,F,dq,Uc,0.0G,G,W5,tN,0.0H,H,Bu,G4,0.0I,I,11K,UW,0..YRABH,ABH,2ZQ,n9pzh4,01Zi,bM,c5cae9,A,B,H,,.YRBCFG,BCFG,9o,A80cTW,jM2,p3C,303e9f,B,C,F,G,,.YRCDEI,CDEI,1Cb,w-akVq,1pNm,0550,0d125a,C,D,E,I,,...N_Y) | MATLAB-verified positions, velocities, accelerations and forces | — | — | `teaching-lab-four-bar.spec.ts` | +| [TeachingLab four-bar, locked except the crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,Nm,0,0.0C,C,126,lL,0.4D,D,17S,0,0.0E,E,1As,PW,0.0F,F,dq,Uc,0.0G,G,W5,tN,0.0H,H,Bu,G4,0.0I,I,11K,UW,0..YRABH,ABH,2ZQ,n9pzh4,01Zi,bM,c5cae9,A,B,H,,.YRBCFG,BCFG,9o,A80cTW,jM2,p3C,303e9f,B,C,F,G,,.YRCDEI,CDEI,1Cb,w-akVq,1pNm,0550,0d125a,C,D,E,I,,...N_.LBCFG,LCDEIk) | Lock marks ride the URL: only the crank end drags, the rest is pinned black | — | — | `url-locking.spec.ts` | | [TeachingLab slider-crank](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,3NU,2SQ,0.0B,B,3NU,3Ny,0.0C,C,0FA,2SQ,0.5D,D,0FA,2SQ,0..YRAB,AB,Gz,0,0,1a,c5cae9,A,B,,.YRBC,BC,7r,3,7q,Ay,303e9f,B,C,,.YPCD,CD,Kc,0,0,0,,C,D,,...N_l) | The grounded-guide path this phase had to leave byte-identical | — | — | `teaching-lab-slider-crank.spec.ts` | | [Slider-crank with a tracer](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,_W,VG,0.0C,C,2xW,0,0.0D,D,4uW,VG,0.5E,E,2xW,0,0..YRAB,AB,1E8,1a,VG,Fe,c5cae9,A,B,,.YRBCD,BCD,2SG,38,2xW,Kr,303e9f,B,C,D,,.YPCE,CE,0,0,0,0,,C,E,,...N_y) | A tracer point on the coupler of a grounded slider | — | — | `slider-crank-tracer.spec.ts` | | [Stephenson III](https://app.pmksplus.com/?2P.Ay,1E8.5,0.1011.6A,A,1jO,_W,0.0B,B,1E8,3w0,0.0C,C,66e,66e,0.4D,D,5dO,2SG,0.0E,E,4PG,8Yu,0.0F,F,AVu,7q0,0.4G,G,A-8,49e,0..YRAB,AB,1E8,1a,1Tm,2SG,c5cae9,A,B,,.YRBCE,BCE,2SG,38,3w0,6Br,303e9f,B,C,E,,.YRCD,CD,1E8,1a,5t0,4HS,0d125a,C,D,,.YREF,EF,2SG,38,7Sa,8BS,B2DFDB,E,F,,.YRFG,FG,1E8,1a,AlW,5_q,26A69A,F,G,,..2F1,FG,F1,AlW,5_q,A-8,5_q,CDG..N_W) | Six-bar, MATLAB-verified | — | — | `stephenson-iii-ex2.spec.ts` | diff --git a/e2e/locking.mjs b/e2e/locking.mjs new file mode 100644 index 00000000..8dbba46f --- /dev/null +++ b/e2e/locking.mjs @@ -0,0 +1,233 @@ +/** + * The Lock feature, exercised the way a hand would: lock a link and watch its + * drag refuse with an Unlock in the message; lock one joint and watch a link + * drag become a swing about it; undo a lock, which proves the mark rides the + * URL; leave Edit and watch the black marks stand down. + * + * PMKS_BASE_URL= node e2e/locking.mjs + */ + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://localhost:4700'; + +const FOUR_BAR = + '0P.TY.K,0.101.MA,A,0mv,0VU,0.GB,B,0e_,E6,0.GC,C,l1,WW,0.KD,D,qD,0Pk,0..YRAB,AB,Fe,Fe,0ix,08i,c5cae9,A,B,,.YRBC,BC,Fe,Fe,32,NJ,303e9f,B,C,,.YRCD,CD,Fe,Fe,nd,3P,0d125a,C,D,,...JBq'; + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const closeTour = async () => { + const skip = page.locator('.introjs-skipbutton').first(); + if (await skip.isVisible().catch(() => false)) { + await skip.click({ force: true }); + await page.waitForTimeout(300); + } +}; + +const grid = () => `ng.getComponent(document.querySelector('app-new-grid'))`; + +const jointOnScreen = (id) => + page.evaluate((jointId) => { + const el = document.querySelector(`#joint_${jointId}`)?.closest('svg[x]'); + const rect = el.getBoundingClientRect(); + return { x: rect.x + rect.width / 2, y: rect.y + rect.height / 2 }; + }, id); + +const jointModel = (id) => + page.evaluate((jointId) => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + const joint = c.mechanismSrv.joints.find((j) => j.id === jointId); + return { x: joint.x, y: joint.y }; + }, id); + +const dragBy = async (from, dx, dy, steps = 10) => { + await page.mouse.move(from.x, from.y); + await page.mouse.down(); + for (let step = 1; step <= steps; step++) { + await page.mouse.move(from.x + (dx * step) / steps, from.y + (dy * step) / steps); + await page.waitForTimeout(15); + } + await page.mouse.up(); + await page.waitForTimeout(300); +}; + +await page.goto(`${BASE}/?${FOUR_BAR}`, { waitUntil: 'domcontentloaded', timeout: 60000 }); +await waitForReady(page); +await closeTour(); +await page.waitForTimeout(400); + +// --- Lock a link from the service, as the menu item does ------------------- + +await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + c.mechanismSrv.toggleLock(c.mechanismSrv.links.find((l) => l.id === 'BC')); +}); +await page.waitForTimeout(200); + +record( + 'locked link paints black on the canvas', + await page.evaluate(() => + document.querySelector('#linkHolder path#BC').classList.contains('link-locked') + ) +); +record( + 'its joints paint as held too', + await page.evaluate( + () => + document.querySelector('#joint_B').classList.contains('joint-locked') && + document.querySelector('#joint_C').classList.contains('joint-locked') + ) +); + +// --- A drag on a held joint refuses, and the message carries the way out --- + +const bBefore = await jointModel('B'); +await dragBy(await jointOnScreen('B'), 90, -60); +const bAfter = await jointModel('B'); +record('dragging a held joint moves nothing', bBefore.x === bAfter.x && bBefore.y === bAfter.y, { + bBefore, + bAfter, +}); +record( + 'the refusal stands in the stack with an Unlock button', + await page.evaluate(() => { + const action = [...document.querySelectorAll('.notificationAction')].find( + (b) => b.textContent.trim() === 'Unlock' + ); + return !!action; + }) +); + +// --- The Unlock button in the message clears exactly that mark ------------- + +await page.locator('.notificationAction', { hasText: 'Unlock' }).first().click(); +await page.waitForTimeout(200); +record( + 'Unlock in the message clears the mark', + await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + return !c.mechanismSrv.links.find((l) => l.id === 'BC').locked; + }) +); +await dragBy(await jointOnScreen('B'), 60, -40); +const bMoved = await jointModel('B'); +record('the same drag now moves the joint', bMoved.x !== bBefore.x || bMoved.y !== bBefore.y, { + bBefore, + bMoved, +}); + +// --- Undo takes a lock back: the mark rides the URL ------------------------ + +await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + c.mechanismSrv.toggleLock(c.mechanismSrv.joints.find((j) => j.id === 'C')); +}); +await page.waitForTimeout(200); +const lockedNow = await page.evaluate( + () => + ng + .getComponent(document.querySelector('app-new-grid')) + .mechanismSrv.joints.find((j) => j.id === 'C').locked +); +await page.keyboard.press('Control+z'); +await page.waitForTimeout(400); +const lockedAfterUndo = await page.evaluate( + () => + ng + .getComponent(document.querySelector('app-new-grid')) + .mechanismSrv.joints.find((j) => j.id === 'C').locked +); +record('Ctrl+Z undoes a lock, so the mark is really in the URL', lockedNow && !lockedAfterUndo, { + lockedNow, + lockedAfterUndo, +}); + +// --- One held joint turns a link drag into a swing about it ---------------- + +await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + c.mechanismSrv.toggleLock(c.mechanismSrv.joints.find((j) => j.id === 'B')); +}); +await page.waitForTimeout(200); + +const before = { b: await jointModel('B'), c: await jointModel('C') }; +const lengthBefore = Math.hypot(before.c.x - before.b.x, before.c.y - before.b.y); +// Grab the middle of the coupler BC and pull sideways. +const bScreen = await jointOnScreen('B'); +const cScreen = await jointOnScreen('C'); +const grab = { x: (bScreen.x + cScreen.x) / 2, y: (bScreen.y + cScreen.y) / 2 }; +await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + c.activeObjService.updateSelectedObj(c.mechanismSrv.links.find((l) => l.id === 'BC')); +}); +await dragBy(grab, 0, 120, 14); +const after = { b: await jointModel('B'), c: await jointModel('C') }; +const lengthAfter = Math.hypot(after.c.x - after.b.x, after.c.y - after.b.y); + +record( + 'the held joint stays exactly still through the swing', + before.b.x === after.b.x && before.b.y === after.b.y, + { + before: before.b, + after: after.b, + } +); +record( + 'the free end actually swung', + Math.hypot(after.c.x - before.c.x, after.c.y - before.c.y) > 1, + { + before: before.c, + after: after.c, + } +); +record('the body kept its length through the swing', Math.abs(lengthAfter - lengthBefore) < 1e-3, { + lengthBefore, + lengthAfter, +}); + +// --- Two held joints leave the body nowhere to go -------------------------- + +await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + c.mechanismSrv.toggleLock(c.mechanismSrv.joints.find((j) => j.id === 'C')); +}); +await page.waitForTimeout(200); +const pinned = { b: await jointModel('B'), c: await jointModel('C') }; +await dragBy(grab, 60, 60); +const pinnedAfter = { b: await jointModel('B'), c: await jointModel('C') }; +record( + 'two held joints refuse the whole drag', + pinned.b.x === pinnedAfter.b.x && pinned.c.x === pinnedAfter.c.x, + { pinned, pinnedAfter } +); + +// --- The marks are an Edit affordance: Analysis paints clean --------------- + +await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + c.tabService.setTab(2); // TabID.ANALYZE +}); +await page.waitForTimeout(300); +record( + 'lock styling stands down outside Edit', + await page.evaluate(() => document.querySelectorAll('.joint-locked, .link-locked').length === 0) +); + +record('no page errors the whole way through', errors.length === 0, errors); + +const failed = results.filter(([, ok]) => !ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +await browser.close(); +process.exit(failed.length ? 1 : 0); diff --git a/src/app/app.component.ts b/src/app/app.component.ts index e247fedf..f07ccbcf 100644 --- a/src/app/app.component.ts +++ b/src/app/app.component.ts @@ -132,5 +132,13 @@ export class AppComponent { 'synthesis', this.domSanitizer.bypassSecurityTrustResourceUrl('assets/icons/synthesis.svg') ); + this.matIconRegistry.addSvgIcon( + 'lock', + this.domSanitizer.bypassSecurityTrustResourceUrl('assets/icons/lock.svg') + ); + this.matIconRegistry.addSvgIcon( + 'unlock', + this.domSanitizer.bypassSecurityTrustResourceUrl('assets/icons/unlock.svg') + ); } } diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.html b/src/app/component/BLOCKS/editable-title/editable-title.component.html index 8cb9c2f2..a363a7af 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.html +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.html @@ -26,17 +26,24 @@
    } +
    @if (!editMode) { } @if (editMode) { + } + @if (lockTarget()) { + } } -
    diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.scss b/src/app/component/BLOCKS/editable-title/editable-title.component.scss index 8a9428b8..e16b4401 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.scss +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.scss @@ -60,6 +60,32 @@ @include blocks.mini-buttons($theme); .mini-buttons { flex-grow: 1; + // Three actions share the row now, so nothing may overflow its border: + // buttons clip at their own edge, icons take a fixed 18px, and the + // labels are the short ones (Rename, Lock). + min-width: 0; + padding: 0 8px; + overflow: hidden; + + .mat-icon { + flex-shrink: 0; + width: 18px; + height: 18px; + font-size: 18px; + margin-right: 4px; + } + } + + // The trash can carries Delete alone, so it stays a compact square + // instead of stretching with the labelled two. + .mini-buttons.iconOnly { + flex-grow: 0; + min-width: 42px; + padding: 0; + + .mat-icon { + margin-right: 0; + } } } } diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.ts b/src/app/component/BLOCKS/editable-title/editable-title.component.ts index 52a19e65..5d38e0b5 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.ts +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.ts @@ -12,6 +12,7 @@ import { MatInput } from '@angular/material/input'; import { FocusOnShowDirective } from '../../../focus-on-show.directive'; import { MatButton } from '@angular/material/button'; import { MatIcon } from '@angular/material/icon'; +import { MatTooltip } from '@angular/material/tooltip'; @Component({ selector: 'editable-title-block', @@ -27,6 +28,7 @@ import { MatIcon } from '@angular/material/icon'; FocusOnShowDirective, MatButton, MatIcon, + MatTooltip, ], }) export class EditableTitleComponent { diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index b2bf3fcd..7678e10d 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -408,20 +408,7 @@ [attr.stroke-width]="svgGrid.scaleWithZoom(3)" [class]="mechanismSrv.getLinkCSSClass(link)" > - - @if (mechanismSrv.isLinkLockedVisual(link)) { - - } + } @if ( gridUtils.typeOfLink(link) == 'R' && @@ -660,19 +647,7 @@ [attr.stroke-width]="svgGrid.scaleWithZoom(3)" /> } - - @if (mechanismSrv.isLinkLockedVisual(cyl.body)) { - - } + } + @if (mechanismSrv.isJointLockedVisual(joint)) { + + + + + + + } } @@ -1091,6 +1070,21 @@ style="transform: rotateZ({{ force.angleRad }}rad)" > } + + @if (force.locked && mechanismSrv.lockVisualsOn()) { + + + + + + + } void; + /** The padlock the canvas badges wear — lock.svg's own outline, inlined. */ + readonly lockGlyphPath = + 'M7 10V7a5 5 0 0 1 10 0v3h2.5v11h-15V10H7Zm2 0h6V7a3 3 0 0 0-6 0v3ZM6.5 12v7h11v-7h-11Z'; + + /** + * Up-and-right of the joint, unflipped: the joint layer draws in the + * y-up model frame (scaleY(-1) on the holder), so the badge flips itself + * back to keep the padlock upright. + */ + lockBadgeTransform(): string { + const offset = 0.17 * this.settings.objectScale; + return `translate(${offset}, ${offset}) scale(1,-1)`; + } + + /** Centre the 24-unit glyph inside the badge chip, sized to the drawing. */ + lockGlyphTransform(): string { + const scale = (0.15 * this.settings.objectScale) / 24; + return `scale(${scale}) translate(-12, -13.5)`; + } + /** * The joints a drag of this link would carry, filtered to the ones the * current Lock marks hold still. Carried means moved *as a body*: the diff --git a/src/assets/icons/lock.svg b/src/assets/icons/lock.svg index 739a3ea5..caf0c96d 100644 --- a/src/assets/icons/lock.svg +++ b/src/assets/icons/lock.svg @@ -1,5 +1,10 @@ - - - - + + + diff --git a/src/assets/icons/unlock.svg b/src/assets/icons/unlock.svg index db924af0..3df8407b 100644 --- a/src/assets/icons/unlock.svg +++ b/src/assets/icons/unlock.svg @@ -1,5 +1,9 @@ - - - - + + + From ea05a9c35329bbd2974150280cca6bbb0954cd1b Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 23:18:44 -0400 Subject: [PATCH 101/236] Darker, larger badges, and icons that sit where their buttons think they do MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The chip inverts: dark blue-grey with a white padlock and a thin white rim, a step larger — it now reads at a glance on pale links, dark links and the black motor block alike. And the row's icons stop leaning left: Material gives outlined-button icons a -4px left margin on the assumption a label follows, which in a tight three-button row just shoves every glyph into its border. Zeroed, and the trash can centres in its square. Co-Authored-By: Claude Fable 5 --- .../editable-title.component.scss | 8 ++++++-- .../new-grid/new-grid.component.html | 20 +++++++++---------- .../component/new-grid/new-grid.component.ts | 4 ++-- 3 files changed, 18 insertions(+), 14 deletions(-) diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.scss b/src/app/component/BLOCKS/editable-title/editable-title.component.scss index e16b4401..89647363 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.scss +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.scss @@ -72,7 +72,11 @@ width: 18px; height: 18px; font-size: 18px; - margin-right: 4px; + // Material gives outlined-button icons a -4px left margin on the + // assumption a label follows; in this tight row it just shoves every + // icon into the border. Zeroed, and the gap to the label set here. + margin-left: 0; + margin-right: 5px; } } @@ -84,7 +88,7 @@ padding: 0; .mat-icon { - margin-right: 0; + margin: 0; } } } diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 7678e10d..4fb3455a 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -770,13 +770,13 @@ @if (mechanismSrv.isJointLockedVisual(joint)) { - + } @@ -1075,13 +1075,13 @@ @if (force.locked && mechanismSrv.lockVisualsOn()) { - + } diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 7e147e78..7191e836 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -1349,13 +1349,13 @@ export class NewGridComponent implements OnDestroy { * back to keep the padlock upright. */ lockBadgeTransform(): string { - const offset = 0.17 * this.settings.objectScale; + const offset = 0.19 * this.settings.objectScale; return `translate(${offset}, ${offset}) scale(1,-1)`; } /** Centre the 24-unit glyph inside the badge chip, sized to the drawing. */ lockGlyphTransform(): string { - const scale = (0.15 * this.settings.objectScale) / 24; + const scale = (0.19 * this.settings.objectScale) / 24; return `scale(${scale}) translate(-12, -13.5)`; } From afb0d0cd07c178a236dacdf939f2b019411b0a85 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sat, 15 Aug 2026 00:35:12 -0400 Subject: [PATCH 102/236] A quieter badge that steps aside, and a button row that holds still MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The canvas mark settles: a solid-bodied dark padlock dead centre on each held joint, standing on the joint's own circle — cream, amber when selected — with a white chip only where the centre spot is spoken for, on welded joints (stepping to the shoulder so the plus-mark stays visible) and force anchors. One dark grey everywhere. The panel row stops moving. Rename/Save is one button and Lock/Unlock keeps both labels in the box with one invisible, so no toggle can change a width; the icon states while the label acts (closed padlock beside Unlock); and every glyph finally sits centred — an inline svg rides the text baseline, which grew each icon's box by the font's descender and floated every glyph high. A block box is 18x18 and inert. Co-Authored-By: Claude Fable 5 --- .../editable-title.component.html | 40 +++++++++++++------ .../editable-title.component.scss | 32 +++++++++++++-- .../new-grid/new-grid.component.html | 40 ++++++++++++------- .../component/new-grid/new-grid.component.ts | 33 ++++++++++----- 4 files changed, 106 insertions(+), 39 deletions(-) diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.html b/src/app/component/BLOCKS/editable-title/editable-title.component.html index e56a0226..390ec2c5 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.html +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.html @@ -28,22 +28,36 @@ }
    - @if (!editMode) { - - } - @if (editMode) { - - } + } @else { + + } + + Rename + Save + + @if (lockTarget()) { + } @if (mechanismSrv.isJointLockedVisual(joint)) { - - + + + @if (gridUtils.getWelded(joint)) { + + } - + } @@ -1073,15 +1085,15 @@ @if (force.locked && mechanismSrv.lockVisualsOn()) { - + - + } diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 7191e836..5a173fb6 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -660,10 +660,11 @@ export class NewGridComponent implements OnDestroy { /** The Lock/Unlock item every object menu carries, phrased for its kind. */ private lockMenuItem(target: RealJoint | RealLink | Force, kind: string): cMenuItem { const locked = this.mechanismSrv.isLockedTarget(target); + // The icon states, the label acts — the same rule as the panel button. return new cMenuItem( locked ? `Unlock ${kind}` : `Lock ${kind}`, () => this.mechanismSrv.toggleLock(target), - locked ? 'unlock' : 'lock' + locked ? 'lock' : 'unlock' ); } @@ -1339,23 +1340,37 @@ export class NewGridComponent implements OnDestroy { */ private heldGestureNotice?: () => void; - /** The padlock the canvas badges wear — lock.svg's own outline, inlined. */ - readonly lockGlyphPath = - 'M7 10V7a5 5 0 0 1 10 0v3h2.5v11h-15V10H7Zm2 0h6V7a3 3 0 0 0-6 0v3ZM6.5 12v7h11v-7h-11Z'; + /** + * The padlock the canvas badges wear. Unlike lock.svg's fully hollow + * outline, the body here is solid — at joint size the hollow body read as + * a thin frame and disappeared, and the badge is a mark, not a control. + */ + readonly lockGlyphPath = 'M7 10V7a5 5 0 0 1 10 0v3h2.5v11h-15V10H7Zm2 0h6V7a3 3 0 0 0-6 0v3Z'; /** - * Up-and-right of the joint, unflipped: the joint layer draws in the - * y-up model frame (scaleY(-1) on the holder), so the badge flips itself - * back to keep the padlock upright. + * Dead centre of the joint, unflipped: the joint layer draws in the y-up + * model frame (scaleY(-1) on the holder), so the badge flips itself back + * to keep the padlock upright. The glyph sits inside the joint's own + * circle, so the circle's fill keeps saying what it always says — cream, + * amber when selected — behind the mark. */ lockBadgeTransform(): string { + return `scale(1,-1)`; + } + + /** + * The shoulder position, for badges whose centre spot is already taken: a + * force's anchor is a small dark disc a centred glyph would vanish into, + * and a welded joint's plus-mark is the very thing a centred chip covered. + */ + offsetLockBadgeTransform(): string { const offset = 0.19 * this.settings.objectScale; return `translate(${offset}, ${offset}) scale(1,-1)`; } - /** Centre the 24-unit glyph inside the badge chip, sized to the drawing. */ + /** Centre the 24-unit glyph on the badge point, sized to the drawing. */ lockGlyphTransform(): string { - const scale = (0.19 * this.settings.objectScale) / 24; + const scale = (0.17 * this.settings.objectScale) / 24; return `scale(${scale}) translate(-12, -13.5)`; } From ca4706d172ba817fe5d4cb8819eb75633a84cdc6 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sat, 15 Aug 2026 14:56:35 -0400 Subject: [PATCH 103/236] Draw the answer, not the way to it: no chart tween, and no rounded curves Two faults, both in what the chart was handed rather than in the solver. The flip was ApexCharts interpolating between the old series and the new one. It draws values the mechanism never had: reverse the four-bar and the speed of its crank pin, which is constant at 6.199 cm/s, swelled into a hump and settled back. Animation is off now -- the config had it commented out, so the default was on. Measured through the rendered path: with the tween the drawn geometry passes through 1.19e9 px of nonsense during a flip, without it the spread holds at 112.62 across every frame. These graphs redraw as the playhead moves, so the tween stood between the reader and the answer far more often than it decorated anything. The choppiness was rounding. Samples left the service at three decimals, a tenth of a millinewton: fine against tens of newtons, ruinous against the four-bar's hundredths. The solver produces 360 distinct reactions across the cycle and the rounding left 49, each step two per cent of the curve's whole range -- a staircase, exactly as reported. Nothing needed it: the header formats to two decimals itself, and the CSV, which really did need it because String() on a raw float prints 0.30000000000000004, now rounds at its own edge instead. The spec's literals are still written to three decimals and its helpers round to compare, which is a question about the reading rather than the arithmetic. A new test holds the precision itself: nearly every sample its own value, and less than half that many once rounded. Co-Authored-By: Claude Opus 5 --- .../analysis-graph.component.ts | 9 ++- src/app/services/analysis-export.service.ts | 6 +- .../services/analysis-sample.service.spec.ts | 57 ++++++++++++++++++- src/app/services/analysis-sample.service.ts | 33 +++++------ 4 files changed, 84 insertions(+), 21 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index b3a624bb..d5058e12 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -172,8 +172,15 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, chart: { width: '100%', height: '250px', //300 + // Off, both the first draw and the tween between one dataset and the + // next. A chart that morphs is drawing values the mechanism never had: + // reverse a four-bar and the speed of its crank pin, which is constant, + // swelled into a hump and settled back while Apex interpolated its way + // from the old series to the new one. These graphs are also redrawn as + // the playhead moves, so the tween is between the reader and the answer + // rather more often than it is decoration. animations: { - // enabled: false, + enabled: false, }, type: 'line', zoom: { diff --git a/src/app/services/analysis-export.service.ts b/src/app/services/analysis-export.service.ts index 2348a2a3..f3748164 100644 --- a/src/app/services/analysis-export.service.ts +++ b/src/app/services/analysis-export.service.ts @@ -1,4 +1,5 @@ import { Injectable, inject } from '@angular/core'; +import { roundNumber } from '../model/utils'; import { Joint, PrisJoint, RealJoint } from '../model/joint'; import { Link } from '../model/link'; import { Mechanism } from '../model/mechanism/mechanism'; @@ -98,7 +99,10 @@ export class AnalysisExportService { } private cell(value: number | undefined): string { - return value === undefined || !Number.isFinite(value) ? '' : String(value); + // Rounded here rather than at the source: the graph wants every digit the + // solver produced, and a spreadsheet wants a number a person can read + // instead of 0.30000000000000004. + return value === undefined || !Number.isFinite(value) ? '' : String(roundNumber(value, 6)); } /** A column head carries commas and apostrophes; a CSV field has to take them. */ diff --git a/src/app/services/analysis-sample.service.spec.ts b/src/app/services/analysis-sample.service.spec.ts index 9af71448..79f781e8 100644 --- a/src/app/services/analysis-sample.service.spec.ts +++ b/src/app/services/analysis-sample.service.spec.ts @@ -13,12 +13,20 @@ import { withTestInjector } from '../../test-utils/mechanism-harness'; * ωr, its acceleration ω²r toward the pivot, a link's angle an arctangent of its * own two ends — it is checked both ways, because a literal alone only says the * code still does what it did. + * + * The literals are written to three decimals and the service now answers at the + * precision it solved at, so the two helpers below round to compare. That is a + * question about the reading rather than about the arithmetic: the digits below + * the third are what stopped a small force from climbing the graph in stairs, + * and there is a test at the foot of this file that they are still there. */ +const readAt = (values: number[], places = 3) => + values.map((value) => (Number.isFinite(value) ? Number(value.toFixed(places)) + 0 : value)); describe('AnalysisSampleService', () => { let fixture: MechanismFixture; let service: AnalysisSampleService; - const sample = (index: number, prop: string, part: string, reactionLinkId?: string) => + const exactly = (index: number, prop: string, part: string, reactionLinkId?: string) => service.sampleAt( fixture.mechanism, index, @@ -29,9 +37,15 @@ describe('AnalysisSampleService', () => { reactionLinkId ?? '' ); - const force = (index: number, mode: string, prop: string, part: string, link = '') => + const sample = (index: number, prop: string, part: string, reactionLinkId?: string) => + readAt(exactly(index, prop, part, reactionLinkId)); + + const exactForce = (index: number, mode: string, prop: string, part: string, link = '') => service.sampleAt(fixture.mechanism, index, 'force', mode, prop, part, link); + const force = (index: number, mode: string, prop: string, part: string, link = '') => + readAt(exactForce(index, mode, prop, part, link)); + describe('a four-bar driven at its crank', () => { beforeEach(() => { fixture = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); @@ -187,7 +201,44 @@ describe('AnalysisSampleService', () => { expect(velocity).toHaveLength(3); expect(velocity.every(Number.isFinite)).toBe(true); // And the same numbers it gives when it is the only machine there. - expect(velocity).toEqual(sample(45, 'Linear Joint Vel', 'C')); + expect(readAt(velocity)).toEqual(sample(45, 'Linear Joint Vel', 'C')); + }); + }); + + /** + * The digits below the third are what a graph draws with. + * + * A four-bar's joint reactions run to a few hundredths of a newton, so + * rounding them to a thousandth left about fifty distinct heights across the + * cycle and the curve climbed them in steps two per cent of its own range. + */ + describe('the precision a curve is drawn at', () => { + beforeEach(() => { + fixture = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); + service = withTestInjector( + [{ provide: SettingsService, useValue: fixture.settings }], + () => new AnalysisSampleService() + ); + }); + + it('keeps a small force smooth rather than stepping it', () => { + const along = fixture.mechanism.joints.map( + (_, index) => exactForce(index, 'static', 'Joint Forces', 'A')[0] + ); + const solved = along.filter(Number.isFinite); + expect(solved.length).toBeGreaterThan(100); + + const span = Math.max(...solved) - Math.min(...solved); + expect(span).toBeGreaterThan(0); + // Small enough that a thousandth of a newton is a visible fraction of it, + // which is the case this is about. + expect(span).toBeLessThan(1); + + // Nearly every sample is its own value. Rounded to a thousandth these + // collapsed onto about fifty, and the curve inherited the staircase. + const distinct = new Set(solved.map((value) => value.toFixed(9))).size; + expect(distinct).toBeGreaterThan(solved.length * 0.9); + expect(new Set(solved.map((value) => value.toFixed(3))).size).toBeLessThan(distinct / 2); }); }); }); diff --git a/src/app/services/analysis-sample.service.ts b/src/app/services/analysis-sample.service.ts index 4d2d7ffa..f75408d3 100644 --- a/src/app/services/analysis-sample.service.ts +++ b/src/app/services/analysis-sample.service.ts @@ -5,7 +5,6 @@ import { Mechanism } from '../model/mechanism/mechanism'; import { LBF_IN_PER_NEWTON_METER, LBF_PER_NEWTON } from '../model/unit-conversions'; import { MODEL_SCALE } from '../model/render-scale'; import { ForceUnit } from '../model/unit-enums'; -import { roundNumber } from '../model/utils'; import { SettingsService } from './settings.service'; /** @@ -16,6 +15,14 @@ import { SettingsService } from './settings.service'; * whole cycle and take one point out of it. A panel header wants exactly one * sample, so the arithmetic lives here and both callers share it — the graph by * walking every index, the header by asking for the pose on screen. + * + * Values leave at the precision they were solved at. They used to be rounded to + * three decimals, which is a tenth of a millinewton: fine against a load of tens + * of newtons and ruinous against a small one. On the four-bar template the + * solver produces 360 distinct reactions across the cycle and that rounding left + * 49 of them, each step two per cent of the whole curve — so the graph climbed a + * visible staircase. Nothing needed it: every place that shows one of these + * numbers formats it, the header to two decimals and the CSV at its own edge. */ @Injectable({ providedIn: 'root' }) export class AnalysisSampleService { @@ -83,11 +90,8 @@ export class AnalysisSampleService { if (!frame.inputEffort) return [Number.NaN]; const isForce = frame.inputEffort.kind === 'force'; return [ - roundNumber( - (frame.inputEffort.valueSI * (isForce ? forceConversion : torqueConversion)) / - (isForce ? 1 : MODEL_SCALE), - 3 - ), + (frame.inputEffort.valueSI * (isForce ? forceConversion : torqueConversion)) / + (isForce ? 1 : MODEL_SCALE), ]; } @@ -99,7 +103,7 @@ export class AnalysisSampleService { const x = reaction[0] * forceConversion; const y = reaction[1] * forceConversion; - return [roundNumber(x, 3), roundNumber(y, 3), roundNumber(Math.hypot(x, y), 3)]; + return [x, y, Math.hypot(x, y)]; } private kinematicSample( @@ -117,10 +121,7 @@ export class AnalysisSampleService { // unit. Angular series carry no length and pass through. if (mechProp === 'Linear Joint Pos') { const joint = joints.find((candidate) => candidate.id === mechPart); - return [ - roundNumber((joint?.x ?? Number.NaN) / MODEL_SCALE, 3), - roundNumber((joint?.y ?? Number.NaN) / MODEL_SCALE, 3), - ]; + return [(joint?.x ?? Number.NaN) / MODEL_SCALE, (joint?.y ?? Number.NaN) / MODEL_SCALE]; } switch (mechProp) { @@ -141,13 +142,13 @@ export class AnalysisSampleService { return this.scaledVector(KinematicsSolver.linkAccMap.get(mechPart), true); case 'Angular Link Pos': this.solve(mechanism, index); - return [roundNumber(KinematicsSolver.linkAngPosMap.get(mechPart) ?? Number.NaN, 3)]; + return [KinematicsSolver.linkAngPosMap.get(mechPart) ?? Number.NaN]; case 'Angular Link Vel': this.solve(mechanism, index); - return [roundNumber(KinematicsSolver.linkAngVelMap.get(mechPart) ?? Number.NaN, 3)]; + return [KinematicsSolver.linkAngVelMap.get(mechPart) ?? Number.NaN]; case 'Angular Link Acc': this.solve(mechanism, index); - return [roundNumber(KinematicsSolver.linkAngAccMap.get(mechPart) ?? Number.NaN, 3)]; + return [KinematicsSolver.linkAngAccMap.get(mechPart) ?? Number.NaN]; default: // 'ic' and anything this service does not know plot nothing. return []; @@ -181,9 +182,9 @@ export class AnalysisSampleService { const [rawX, rawY] = value ?? [Number.NaN, Number.NaN]; const x = rawX / MODEL_SCALE; const y = rawY / MODEL_SCALE; - const series = [roundNumber(x, 3), roundNumber(y, 3)]; + const series = [x, y]; if (withMagnitude) { - series.push(roundNumber(Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2)), 3)); + series.push(Math.sqrt(Math.pow(x, 2) + Math.pow(y, 2))); } return series; } From 89c1ac96a8a7ef745e195a79ce805160c41eebe6 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sat, 15 Aug 2026 15:20:17 -0400 Subject: [PATCH 104/236] Let the two lock glyphs take their button's colour, like every other icon They arrived painting themselves #000000, which the branch was cut before the repo stopped doing. Not a visible fault: .mini-buttons.blue forces the fill with !important and the context menu dims by opacity, so both places they are used were already overriding them. It is the trap that matters -- the next context to use one would have got a black glyph in a coloured button, which is what the Synthesis tab did until two commits ago. Co-Authored-By: Claude Opus 5 --- src/assets/icons/lock.svg | 2 +- src/assets/icons/unlock.svg | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/assets/icons/lock.svg b/src/assets/icons/lock.svg index caf0c96d..aada0f9d 100644 --- a/src/assets/icons/lock.svg +++ b/src/assets/icons/lock.svg @@ -4,7 +4,7 @@ Closed shackle arch (hollow), hollow body. --> diff --git a/src/assets/icons/unlock.svg b/src/assets/icons/unlock.svg index 3df8407b..53d1fa18 100644 --- a/src/assets/icons/unlock.svg +++ b/src/assets/icons/unlock.svg @@ -3,7 +3,7 @@ the body, which is what "open" looks like at 18 pixels. --> From 6ed3109acd731725ea0ee24de82768889800d89d Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sat, 15 Aug 2026 16:20:54 -0400 Subject: [PATCH 105/236] Do not count clip-path geometry as a glyph painting itself A child is used for its shape and never drawn, and the export tool leaves a fill="white" on one in add_slider and remove_slider. The check scanned every element under the svg, so either of those icons appearing in the view controls would have failed it for a colour nothing renders. I had also described that fill to the user as a deliberate two-tone knockout, which it is not. Co-Authored-By: Claude Opus 5 --- e2e/detail-fixes.mjs | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/e2e/detail-fixes.mjs b/e2e/detail-fixes.mjs index 709e469c..24787b2b 100644 --- a/e2e/detail-fixes.mjs +++ b/e2e/detail-fixes.mjs @@ -461,12 +461,17 @@ const buttons = () => ink: getComputedStyle(icon).color, // A glyph that names its own colour ignores the button's, which is how // the traced-paths switch stayed black in a row that had greyed out. - selfPainted: [...(icon?.querySelectorAll('svg *') ?? [])].some((node) => - ['fill', 'stroke'].some((attribute) => { - const value = node.getAttribute(attribute); - return value !== null && value !== 'none' && value !== 'currentColor'; - }) - ), + // Painted geometry only. A child is used for its shape and + // never drawn, and the export tool leaves a fill="white" on it that + // means nothing -- counting those would fail an icon that is fine. + selfPainted: [...(icon?.querySelectorAll('svg *') ?? [])] + .filter((node) => !node.closest('defs, clipPath, mask')) + .some((node) => + ['fill', 'stroke'].some((attribute) => { + const value = node.getAttribute(attribute); + return value !== null && value !== 'none' && value !== 'currentColor'; + }) + ), }; }) ); From 3640f78cd39b02581f21ec156e59b35d2b1f0b30 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sat, 15 Aug 2026 16:50:39 -0400 Subject: [PATCH 106/236] Close the review's findings: a stale reversal, two id assumptions, and the rest GPT-5.6 sol reviewed the branch. Five findings, all real, all here. The one that mattered: reversing a drive and then making any ordinary edit turned the machine back round. The quick reversal keeps the solved frames and walks them backwards; a rebuild solves fresh frames from the drive's new sign, so those already run the new way and the compensation became a second reversal -- the drive said 20 and the motion said what it always had. updateMechanism now drops the compensation for exactly the partitions that were compensating, and leaves a rocking machine's own playback choice alone. The spec for it was confirmed to fail without the fix. Two more single-character-id assumptions, of the same family the outline had: the linear-rate solver read a link id one character at a time, so a link holding A1 asked for joints A and 1 and dereferenced whatever came back; and welded deletion asked whether subsets share a *character* to decide whether they share a joint, and read a name's length to count its joints. All three now go through the joints themselves. A slider block has a mass and no centre-of-mass mark, so it must not make that switch look useful -- both the switch and the canvas now ask for a body the mark is about. The switches carry aria-pressed, so the state the tint gives a sighted reader reaches everyone. And my icon audit was wrong: it grepped only double-quoted attributes, so seven single-quoted icons kept their hardcoded black. Converted. The only colour left in the set is on clip-path geometry, which is never painted. Co-Authored-By: Claude Opus 5 --- e2e/detail-fixes.mjs | 48 +++++++++++++++++- .../component/new-grid/new-grid.component.ts | 6 ++- .../view-controls/view-button.component.html | 1 + .../view-controls/view-button.component.ts | 5 ++ .../view-controls/view-controls.component.ts | 6 ++- src/app/model/mechanism/kinematic-solver.ts | 13 +++-- src/app/services/mechanism.service.ts | 50 ++++++++++++++++--- src/assets/icons/add_cylinder.svg | 8 +-- src/assets/icons/add_force.svg | 2 +- src/assets/icons/add_input.svg | 2 +- src/assets/icons/new_link.svg | 8 +-- src/assets/icons/remove_input.svg | 2 +- src/assets/icons/unweld_joint.svg | 2 +- src/assets/icons/weld_joint.svg | 2 +- src/tests/verification/reversed-cycle.spec.ts | 30 +++++++++++ 15 files changed, 159 insertions(+), 26 deletions(-) diff --git a/e2e/detail-fixes.mjs b/e2e/detail-fixes.mjs index 24787b2b..a9d5af71 100644 --- a/e2e/detail-fixes.mjs +++ b/e2e/detail-fixes.mjs @@ -516,10 +516,54 @@ await page.evaluate(() => { }); await page.waitForTimeout(700); const idle = await switches(); +// A slider block has a mass and no centre-of-mass mark, so it must not make +// the switch look useful. +await load(payloads['4-Bar']); +const blockOnly = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const srv = grid.mechanismSrv; + srv.links.forEach((link) => (link.mass = 0)); + const block = srv.links.find((link) => link.constructor.name === 'SliderBlock'); + if (block) block.mass = 5; + srv.updateMechanism(false); + const button = [...document.querySelectorAll('.viewControls .viewButton')][0]; + return { hasBlock: !!block, disabled: button.disabled }; +}); +record( + 'a mass on a slider block does not make the centre-of-mass switch look useful', + !blockOnly.hasBlock || blockOnly.disabled, + blockOnly +); + +// The state a sighted reader gets from the tint has to reach everyone else. +await load(payloads['4-Bar']); +const pressedState = await page.evaluate(() => + [...document.querySelectorAll('.viewControls .viewButton')].map((button) => ({ + name: button.getAttribute('aria-label'), + pressed: button.getAttribute('aria-pressed'), + on: button.classList.contains('on'), + })) +); +record( + 'each switch says whether it is on, and the plain actions say nothing', + pressedState.slice(0, 3).every((b) => b.pressed === String(b.on)) && + pressedState.slice(3).every((b) => b.pressed === null), + pressedState +); + +await load(payloads['4-Bar']); +await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + grid.mechanismSrv.links.forEach((link) => (link.mass = 0)); + grid.mechanismSrv.joints.forEach((joint) => (joint.showCurve = false)); + grid.mechanismSrv.updateMechanism(); +}); +await page.waitForTimeout(700); +const idleAgain = await switches(); record( 'a switch that would change nothing is greyed', - idle[0].disabled && idle[2].disabled && !idle[1].disabled, - idle.map((s) => `${s.name}=${s.disabled}`) + idleAgain[0].disabled && idleAgain[2].disabled && !idleAgain[1].disabled, + idleAgain.map((s) => `${s.name}=${s.disabled}`) ); // The row carries two kinds of button, and says where one kind ends. diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 5a173fb6..f0a417c3 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -2863,7 +2863,11 @@ export class NewGridComponent implements OnDestroy { */ showsCoM(link: Link): boolean { if (this.settings.previewCoMLinkId === link.id) return true; - return this.settings.isShowCOM.value && link.mass > 0; + // A slider block carries mass but has no centre-of-mass mark to draw -- + // getLinkProp declines it -- so asking for one drew four undefined + // quarters. The rule is a body with a mass, and a block is not one of the + // bodies this mark is about. + return this.settings.isShowCOM.value && link instanceof RealLink && link.mass > 0; } /** diff --git a/src/app/component/view-controls/view-button.component.html b/src/app/component/view-controls/view-button.component.html index 33b5f072..07758a55 100644 --- a/src/app/component/view-controls/view-button.component.html +++ b/src/app/component/view-controls/view-button.component.html @@ -7,6 +7,7 @@ matTooltipPosition="above" [matTooltipShowDelay]="600" [attr.aria-label]="label()" + [attr.aria-pressed]="noun() ? shown() : null" > @if (icon(); as ligature) { {{ ligature }} diff --git a/src/app/component/view-controls/view-button.component.ts b/src/app/component/view-controls/view-button.component.ts index 3cdcad43..682e5ac2 100644 --- a/src/app/component/view-controls/view-button.component.ts +++ b/src/app/component/view-controls/view-button.component.ts @@ -41,6 +41,11 @@ export class ViewButtonComponent { * The control's own name, which does not change with its state -- a reader * looking for the traced-paths switch is looking for the same button whether * or not paths are showing, and so is a test. + * + * A switch also carries `aria-pressed`, so the state a sighted reader gets + * from the tint reaches everyone else: the label alone always says "Show", + * which left a screen reader with no way to tell an on switch from an off + * one. The plain actions have no state and no such attribute. */ readonly label = computed(() => this.tooltip() ?? `Show ${this.noun()}`); diff --git a/src/app/component/view-controls/view-controls.component.ts b/src/app/component/view-controls/view-controls.component.ts index c8aa158b..550f3832 100644 --- a/src/app/component/view-controls/view-controls.component.ts +++ b/src/app/component/view-controls/view-controls.component.ts @@ -10,6 +10,7 @@ import { MechanismService } from '../../services/mechanism.service'; import { SettingsService, writeStoredFlag } from '../../services/settings.service'; import { SvgGridService } from '../../services/svg-grid.service'; import { ViewButtonComponent } from './view-button.component'; +import { RealLink } from '../../model/link'; /** The one gap a card keeps from its neighbour (left-tabs.vars.scss). */ const CARD_GAP = 12; @@ -113,7 +114,10 @@ export class ViewControlsComponent implements AfterViewInit, OnDestroy { } noMassiveLink(): boolean { - return !this.mechanismService.getLinks().some((link) => link.mass > 0); + // The same test the canvas applies (NewGridComponent.showsCoM): a body with + // a mass, which a slider block is not -- it has a mass and no mark, so a + // drawing whose only weight sat on one offered a switch that did nothing. + return !this.mechanismService.links.some((link) => link instanceof RealLink && link.mass > 0); } noTracedJoint(): boolean { diff --git a/src/app/model/mechanism/kinematic-solver.ts b/src/app/model/mechanism/kinematic-solver.ts index e6bdca07..edda926e 100644 --- a/src/app/model/mechanism/kinematic-solver.ts +++ b/src/app/model/mechanism/kinematic-solver.ts @@ -746,10 +746,17 @@ export class KinematicsSolver { } const firstJoint = simJoints[this.jointIndexMap.get(edge.fromId)!]; // determine the velocity/accel of each link's joint that is not the first joint - for (let index = 0; index < desiredLink.id.length; index++) { - const joint_id = desiredLink.id[index]; + // + // Over the link's own joints, not over the characters of its id. A link + // id is its joints' names run together, so reading it back a character + // at a time asked for a joint called "A" and one called "1" where the + // link holds "A1" -- and then dereferenced whatever came back. Every id + // longer than a character reaches this: the ones inside a cylinder, and + // the two-letter names a drawing is given past its fifty-second joint. + for (const linkJoint of desiredLink.joints) { + const joint_id = linkJoint.id; const desiredJoint = simJoints[this.jointIndexMap.get(joint_id)!]; - if (joint_id === firstJoint.id) { + if (joint_id === firstJoint.id || !desiredJoint) { continue; } // determine the distance for the left side of the equation diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index a69f8fd0..3c013692 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -251,6 +251,19 @@ export class MechanismService { id: partition.id, seconds: this.ownSeconds[index] ?? 0, })); + // Which machines are only running backwards because their drive was turned + // round without re-solving them. + // + // `reverseDrive` leaves the frames alone and walks them backwards instead, + // which is what keeps a reader's place on the chart. The rebuild below + // solves fresh frames *from the drive's new sign*, so they already run the + // new way and that compensation becomes a second reversal: the machine + // went back to turning the way it originally did while the stored speed + // said the opposite. + const heldCompensation = this.partitions.map((partition, index) => ({ + id: partition.id, + compensating: this.mechanisms[index]?.framesRunBackwards === true, + })); this.restoreStartPose(); // The sealed-cylinder invariant is enforced HERE, at the one funnel every @@ -296,6 +309,16 @@ export class MechanismService { this.inputVelocityFor(partition) ) ); + // The frames are new and run the drive's way, so anything that was walking + // the old ones backwards to make up for a reversal stops. A machine whose + // playback the reader turned round themselves -- a rocking one, which + // reverses by playback alone -- was never compensating and is left as it is. + this.partitions.forEach((partition, index) => { + const was = heldCompensation.find((entry) => entry.id === partition.id); + if (was?.compensating) { + this.playbackDirection[index] = this.directionOf(index) < 0 ? 1 : -1; + } + }); this.activeObjService.fakeUpdateSelectedObj(); this.reseekToTime(heldTime); this.restoreOwnTimes(heldEach); @@ -1452,7 +1475,10 @@ export class MechanismService { if (!(l instanceof RealLink)) { return; } - const subsetNum = l.subset.length; + // Captured as a const so the narrowing to RealLink survives into the + // closures below. + const subsets = l.subset; + const subsetNum = subsets.length; if (subsetNum === 0) { return; } @@ -1487,9 +1513,19 @@ export class MechanismService { const selectedJoint = this.activeObjService.selectedJoint; deleteJointFromLink(l, selectedJoint); deleteJointFromLink(sub, selectedJoint); - const tempIdSubs = idSubs.filter((str) => str !== sub.id); - // sub contains id that is not shared with any other subset - if (!sub.id.split('').some((char) => tempIdSubs.some((str) => str.includes(char)))) { + // Whether this subset still shares a joint with another one, asked of + // the joints rather than of the letters in their ids. A link id is + // its joints' names run together, so comparing characters says AA1 + // and A2B share something because both contain an "A" -- and a + // cylinder's interior joints, or any drawing past its fifty-second, + // have ids longer than a character. + const sharesAJoint = sub.joints.some((joint) => + subsets.some( + (other) => + other !== sub && other.joints.some((candidate) => candidate.id === joint.id) + ) + ); + if (!sharesAJoint) { // This link will be pushed to this.links if (sub.joints.length > 1) { sub.joints.forEach((childJoint) => { @@ -1600,8 +1636,10 @@ export class MechanismService { } }); l_subset_index = l_subset_index - 1; - } else if (sub.id.length === 1) { - // special case, can slice this subset + } else if (sub.joints.length === 1) { + // special case, can slice this subset: one joint left, counted + // rather than read off the length of a name that may not be one + // character per joint. l.subset.splice(l_subset_index, 1); l_subset_index = l_subset_index - 1; } diff --git a/src/assets/icons/add_cylinder.svg b/src/assets/icons/add_cylinder.svg index 0ee64ca6..3c6ac4b2 100644 --- a/src/assets/icons/add_cylinder.svg +++ b/src/assets/icons/add_cylinder.svg @@ -1,8 +1,8 @@ - - - - + + + + diff --git a/src/assets/icons/add_force.svg b/src/assets/icons/add_force.svg index 17fa2cc0..9f1485ac 100644 --- a/src/assets/icons/add_force.svg +++ b/src/assets/icons/add_force.svg @@ -1,5 +1,5 @@ + fill='currentColor' /> \ No newline at end of file diff --git a/src/assets/icons/add_input.svg b/src/assets/icons/add_input.svg index 480e7c4c..18a75fed 100644 --- a/src/assets/icons/add_input.svg +++ b/src/assets/icons/add_input.svg @@ -1,5 +1,5 @@ + fill='currentColor' /> \ No newline at end of file diff --git a/src/assets/icons/new_link.svg b/src/assets/icons/new_link.svg index 3b429fbb..0af0703e 100644 --- a/src/assets/icons/new_link.svg +++ b/src/assets/icons/new_link.svg @@ -1,6 +1,6 @@ - - - - + + + + diff --git a/src/assets/icons/remove_input.svg b/src/assets/icons/remove_input.svg index 31878225..b22a51e8 100644 --- a/src/assets/icons/remove_input.svg +++ b/src/assets/icons/remove_input.svg @@ -1,5 +1,5 @@ + fill='currentColor' /> \ No newline at end of file diff --git a/src/assets/icons/unweld_joint.svg b/src/assets/icons/unweld_joint.svg index 619b3991..b09ca6b1 100644 --- a/src/assets/icons/unweld_joint.svg +++ b/src/assets/icons/unweld_joint.svg @@ -1,5 +1,5 @@ + fill-rule='evenodd' fill='currentColor' /> \ No newline at end of file diff --git a/src/assets/icons/weld_joint.svg b/src/assets/icons/weld_joint.svg index 699f5012..df06aa17 100644 --- a/src/assets/icons/weld_joint.svg +++ b/src/assets/icons/weld_joint.svg @@ -1,5 +1,5 @@ + fill-rule='evenodd' fill='currentColor' /> \ No newline at end of file diff --git a/src/tests/verification/reversed-cycle.spec.ts b/src/tests/verification/reversed-cycle.spec.ts index 8fb92240..f2f1b110 100644 --- a/src/tests/verification/reversed-cycle.spec.ts +++ b/src/tests/verification/reversed-cycle.spec.ts @@ -241,6 +241,36 @@ describe('Reversing a drive', () => { expect(service.travellingForward(0)).toBe(forwardWas); }); + it('stays reversed through an ordinary edit, rather than turning back', () => { + // The quick reversal keeps the solved frames and walks them backwards. An + // ordinary edit solves fresh frames from the drive's new sign, so those + // already run the new way -- and walking them backwards as well turned the + // machine back to its original direction while the stored speed said the + // opposite. + const { service } = load(TEMPLATE_LINKAGES['4-Bar']); + const drivenSpeed = () => + service.driveSpeedOf( + service.joints.find( + (joint): joint is RealJoint => joint instanceof RealJoint && joint.input + )! + ); + const wasForward = service.travellingForward(0); + const wasSpeed = drivenSpeed(); + + service.reverseDrive(0); + expect(service.travellingForward(0)).toBe(!wasForward); + expect(Math.sign(drivenSpeed())).toBe(-Math.sign(wasSpeed)); + + // Any edit at all: this is the funnel every one of them goes through. + service.updateMechanism(false); + + // Still reversed, and the drive and the motion still agree with each other. + expect(Math.sign(drivenSpeed())).toBe(-Math.sign(wasSpeed)); + expect(service.travellingForward(0)).toBe(!wasForward); + expect(service.mechanisms[0].framesRunBackwards).toBe(false); + expect(service.directionOf(0)).toBe(1); + }); + it('declines when there is no solved cycle to turn round', () => { const harness = createMechanismHarness(); expect(harness.service.mechanisms[0]?.withReversedDrive()).toBeUndefined(); From 1b38e59b2502256ee7b5dee10499077fe9aa0868 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 15:55:43 -0400 Subject: [PATCH 107/236] Mass properties that follow the shape, until somebody chooses otherwise Every number in the old Mass Settings was one nobody chose: mass 0, MoI 0, CoM at the joint average. Now a link's moment of inertia and centre of mass derive from its own skeleton -- a slender rod between two joints, a uniform plate over the hull of three or more, the rod again when the hull is degenerate -- and re-derive at the one funnel every mutation passes through. Typing a value or placing the point flips that field to custom, and custom values hold still: through joint drags (a deformation carries no rigid motion to guess with), through body drags and cylinder poses (transported through the same frame change as the forces), and through welds (a parallel-axis sum of chosen numbers is itself a chosen number). Derived from the skeleton and never the drawn outline, deliberately: bar width and pin radius follow Object Scale, and a moment of inertia that changed with a display slider would be physics depending on cosmetics. MoI = m*k2 exactly, in every unit system, through the same siUnitFactors the solver converts with. The flags ride the URL in the link record's leading character -- the record's tail is variable-length, so there is nowhere behind it to append to. Y and N keep meaning what every circulating URL has always meant: values the author chose, frozen. Fixture links are marked custom for the same reason, which keeps every published verification URL byte-identical. The panel says which regime each field is in, offers Derive From Shape to hand a custom field back, and hides MoI and CoM entirely for a massless bar. Metric inertia now reads g-cm2 beside grams (storage stays kg-cm2, the unit the solver and every URL are written against); SI reads kg-m2. Co-Authored-By: Claude Fable 5 --- .../edit-panel/edit-panel.component.html | 62 +++++--- .../edit-panel/edit-panel.component.ts | 65 ++++++-- src/app/model/link.ts | 9 ++ src/app/model/uniform-body.spec.ts | 78 ++++++++++ src/app/model/uniform-body.ts | 139 +++++++++++++++++ src/app/model/unit-conversions.ts | 1 + src/app/model/unit-enums.ts | 7 + src/app/services/grid-utils.service.spec.ts | 2 + src/app/services/grid-utils.service.ts | 37 ++++- src/app/services/mechanism.service.spec.ts | 9 ++ src/app/services/mechanism.service.ts | 49 +++++- .../services/number-unit-parser.service.ts | 44 ++++++ .../services/transcoding/mechanism-builder.ts | 2 + .../services/transcoding/string-transcoder.ts | 42 +++++- .../services/transcoding/transcoder-data.ts | 10 +- src/app/services/url-generation.service.ts | 4 +- src/test-utils/verification/fixture.ts | 4 + .../verification/uniform-body-links.spec.ts | 142 ++++++++++++++++++ 18 files changed, 661 insertions(+), 45 deletions(-) create mode 100644 src/app/model/uniform-body.spec.ts create mode 100644 src/app/model/uniform-body.ts create mode 100644 src/tests/verification/uniform-body-links.spec.ts diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index f8696750..ab372dec 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -365,25 +365,53 @@ Link Mass - Mass Moment of Inertia - Center of Mass Position + + @if (activeSrv.selectedLink.mass > 0) { + Mass Moment of Inertia + + Center of Mass Position + + } @else { + + } @if (activeSrv.selectedLink.isCompound) { { - const units = this.momentOfInertiaUnit(); - const [success, value] = this.nup.parseInertiaString(val ?? '', units); + // Typed in the display unit (g·cm² for metric), stored in the unit the + // solver and every URL are written against (kg·cm²). + const length = this.settingsService.lengthUnit.getValue(); + const display = this.nup.displayInertiaUnit(length); + const [success, value] = this.nup.parseInertiaString(val ?? '', display); if (!success || value < 0) { this.linkForm.patchValue( - { massMoI: this.nup.formatValueAndUnit(this.activeSrv.selectedLink.massMoI, units) }, + { massMoI: this.nup.formatStoredInertia(this.activeSrv.selectedLink.massMoI, length) }, { emitEvent: false } ); return; } - this.activeSrv.selectedLink.massMoI = value; + this.activeSrv.selectedLink.massMoI = this.nup.convertInertia( + value, + display, + this.nup.storedInertiaUnit(length) + ); + this.activeSrv.selectedLink.moiIsCustom = true; this.mechanismService.updateMechanism(true); this.mechanismService.onMechUpdateState.next(2); this.linkForm.patchValue( - { massMoI: this.nup.formatValueAndUnit(value, units) }, + { massMoI: this.nup.formatValueAndUnit(value, display) }, { emitEvent: false } ); }) @@ -1432,9 +1443,9 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { this.settingsService.angleUnit.getValue() ), mass: this.nup.formatValueAndUnit(this.activeSrv.selectedLink.mass, this.massUnit()), - massMoI: this.nup.formatValueAndUnit( + massMoI: this.nup.formatStoredInertia( this.activeSrv.selectedLink.massMoI, - this.momentOfInertiaUnit() + this.settingsService.lengthUnit.getValue() ), comX: this.nup.formatModelLength( this.activeSrv.selectedLink.CoM.x, @@ -1507,20 +1518,44 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { } link.CoM[axis] = value; + link.comIsCustom = true; link.updateCoMDs(); this.mechanismService.updateMechanism(true); this.mechanismService.onMechUpdateState.next(2); } + /** Hand a field back to the uniform body, and show what it derives. */ + useUniformBodyMoI(): void { + this.activeSrv.selectedLink.moiIsCustom = false; + this.mechanismService.updateMechanism(true); + this.mechanismService.onMechUpdateState.next(2); + this.refreshDerivedMassFields(); + } + + useUniformBodyCoM(): void { + this.activeSrv.selectedLink.comIsCustom = false; + this.mechanismService.updateMechanism(true); + this.mechanismService.onMechUpdateState.next(2); + this.refreshDerivedMassFields(); + } + + /** Re-read MoI and CoM from the link after a rebuild may have re-derived them. */ + private refreshDerivedMassFields(): void { + const link = this.activeSrv.selectedLink; + if (!link) return; + const length = this.settingsService.lengthUnit.getValue(); + this.linkForm.patchValue( + { + massMoI: this.nup.formatStoredInertia(link.massMoI, length), + comX: this.nup.formatModelLength(link.CoM.x, length), + comY: this.nup.formatModelLength(link.CoM.y, length), + }, + { emitEvent: false } + ); + } + momentOfInertiaUnit(): InertiaUnit { - switch (this.settingsService.lengthUnit.value) { - case LengthUnit.INCH: - return InertiaUnit.LBM_IN2; - case LengthUnit.METER: - return InertiaUnit.KG_M2; - default: - return InertiaUnit.KG_CM2; - } + return this.nup.displayInertiaUnit(this.settingsService.lengthUnit.value); } massUnit(): MassUnit { diff --git a/src/app/model/link.ts b/src/app/model/link.ts index 4197d775..5cdf63ee 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -144,6 +144,15 @@ export class RealLink extends Link { public static debugDesiredJointsIDs: unknown; public lastSelectedSublink: Link | null = null; + /** + * Whether the author chose this link's moment of inertia / centre of mass, + * or left them to follow the geometry (a uniform body over the joints, + * re-derived at every update). Custom values hold still; auto values move + * with the mechanism. Old URLs decode as custom-everything, which preserves + * exactly what they have always meant. + */ + public moiIsCustom = false; + public comIsCustom = false; constructor( id: string, diff --git a/src/app/model/uniform-body.spec.ts b/src/app/model/uniform-body.spec.ts new file mode 100644 index 00000000..3f6adfc6 --- /dev/null +++ b/src/app/model/uniform-body.spec.ts @@ -0,0 +1,78 @@ +import { uniformBodyOf } from './uniform-body'; + +// Checked against the closed forms every statics text carries, not against the +// implementation: a rod is mL²/12, a rectangular plate m(w²+h²)/12, a triangle +// m(a²+b²+c²)/36. Auto-derived mass properties are only worth having if they +// are the numbers the textbook would print. + +describe('a uniform body over a link skeleton', () => { + it('treats two joints as a slender rod', () => { + const body = uniformBodyOf([ + { x: 1, y: 2 }, + { x: 4, y: 6 }, + ]); + expect(body.centroid.x).toBeCloseTo(2.5, 12); + expect(body.centroid.y).toBeCloseTo(4, 12); + expect(body.gyrationSq).toBeCloseTo(25 / 12, 12); + }); + + it('treats four corners as a rectangular plate', () => { + const body = uniformBodyOf([ + { x: 0, y: 0 }, + { x: 6, y: 0 }, + { x: 6, y: 2 }, + { x: 0, y: 2 }, + ]); + expect(body.centroid.x).toBeCloseTo(3, 12); + expect(body.centroid.y).toBeCloseTo(1, 12); + expect(body.gyrationSq).toBeCloseTo((36 + 4) / 12, 12); + }); + + it('treats three joints as a triangular plate', () => { + const a = { x: 0, y: 0 }; + const b = { x: 4, y: 0 }; + const c = { x: 1, y: 3 }; + const body = uniformBodyOf([a, b, c]); + expect(body.centroid.x).toBeCloseTo((a.x + b.x + c.x) / 3, 12); + expect(body.centroid.y).toBeCloseTo((a.y + b.y + c.y) / 3, 12); + const side = (p: { x: number; y: number }, q: { x: number; y: number }) => + (p.x - q.x) ** 2 + (p.y - q.y) ** 2; + expect(body.gyrationSq).toBeCloseTo((side(a, b) + side(b, c) + side(c, a)) / 36, 12); + }); + + it('falls back to the rod when the joints are collinear', () => { + // A tracer on the bar's own axis must not turn the bar into a zero-area + // plate; it stays the rod between the farthest pair. + const body = uniformBodyOf([ + { x: 0, y: 0 }, + { x: 2, y: 0 }, + { x: 5, y: 0 }, + ]); + expect(body.centroid.x).toBeCloseTo(2.5, 12); + expect(body.gyrationSq).toBeCloseTo(25 / 12, 12); + }); + + it('ignores a joint interior to the hull', () => { + // The plate is the drawn shape, and the drawn shape is the hull: a joint + // strictly inside it adds no material. + const withInterior = uniformBodyOf([ + { x: 0, y: 0 }, + { x: 6, y: 0 }, + { x: 6, y: 2 }, + { x: 0, y: 2 }, + { x: 3, y: 1 }, + ]); + expect(withInterior.gyrationSq).toBeCloseTo((36 + 4) / 12, 12); + }); + + it('shrugs at duplicates and degenerate input rather than dividing by zero', () => { + expect(uniformBodyOf([]).gyrationSq).toBe(0); + expect(uniformBodyOf([{ x: 1, y: 1 }]).gyrationSq).toBe(0); + const doubled = uniformBodyOf([ + { x: 0, y: 0 }, + { x: 0, y: 0 }, + { x: 3, y: 0 }, + ]); + expect(doubled.gyrationSq).toBeCloseTo(9 / 12, 12); + }); +}); diff --git a/src/app/model/uniform-body.ts b/src/app/model/uniform-body.ts new file mode 100644 index 00000000..c92a02c8 --- /dev/null +++ b/src/app/model/uniform-body.ts @@ -0,0 +1,139 @@ +import { Coord } from './coord'; + +/** + * Mass properties of a link modeled as a uniform body over its own joints. + * + * Derived from the joint skeleton alone, never from the drawn outline: bar + * width, pin radius and fillets all follow Object Scale, and a moment of + * inertia that changed when someone adjusted a display slider would be physics + * depending on cosmetics. Joint positions are real geometry; these numbers + * move only when the mechanism does. + * + * The idealization by shape: + * + * - two joints — a slender rod between them: centroid at the midpoint, + * k² = L²/12; + * - three or more — a uniform plate over the convex hull of the joints, + * which is the same hull the link is drawn as: polygon centroid, polygon + * second moment; + * - a degenerate hull (collinear joints, e.g. a tracer on the bar's own + * axis) — the rod again, between the two farthest joints. + * + * Everything is expressed per unit mass: `gyrationSq` is k², the squared + * radius of gyration, in squared model units. MoI = mass × k², converted to + * whatever unit the store keeps inertia in — mass stays the one number a + * person chooses, and these follow it. + */ +export interface UniformBody { + /** Centroid, in model coordinates. */ + centroid: Coord; + /** Squared radius of gyration about the centroid, in squared model units. */ + gyrationSq: number; +} + +export function uniformBodyOf(joints: { x: number; y: number }[]): UniformBody { + const points = dedupe(joints); + if (points.length === 0) { + return { centroid: new Coord(0, 0), gyrationSq: 0 }; + } + if (points.length === 1) { + return { centroid: new Coord(points[0].x, points[0].y), gyrationSq: 0 }; + } + if (points.length >= 3) { + const hull = convexHull(points); + if (hull.length >= 3) { + const plate = platedPolygon(hull); + if (plate) return plate; + } + } + return rod(points); +} + +/** The slender rod between the two farthest of the points. */ +function rod(points: { x: number; y: number }[]): UniformBody { + let a = points[0]; + let b = points[1] ?? points[0]; + let longest = -1; + for (let i = 0; i < points.length; i++) { + for (let j = i + 1; j < points.length; j++) { + const span = (points[i].x - points[j].x) ** 2 + (points[i].y - points[j].y) ** 2; + if (span > longest) { + longest = span; + a = points[i]; + b = points[j]; + } + } + } + return { + centroid: new Coord((a.x + b.x) / 2, (a.y + b.y) / 2), + gyrationSq: Math.max(longest, 0) / 12, + }; +} + +/** + * Uniform plate over a convex polygon: centroid and k² by the standard + * shoelace second-moment formulas. Returns undefined for a degenerate area, + * so the caller can fall back to the rod. + */ +function platedPolygon(hull: { x: number; y: number }[]): UniformBody | undefined { + let area2 = 0; + let cx = 0; + let cy = 0; + let inertia = 0; // polar second moment about the origin, times 6/area2 pending + for (let i = 0; i < hull.length; i++) { + const p = hull[i]; + const q = hull[(i + 1) % hull.length]; + const cross = p.x * q.y - q.x * p.y; + area2 += cross; + cx += (p.x + q.x) * cross; + cy += (p.y + q.y) * cross; + inertia += cross * (p.x * p.x + p.x * q.x + q.x * q.x + p.y * p.y + p.y * q.y + q.y * q.y); + } + const area = area2 / 2; + const span = hull.reduce( + (widest, p) => Math.max(widest, Math.abs(p.x - hull[0].x), Math.abs(p.y - hull[0].y)), + 0 + ); + // Degenerate: the hull encloses next to nothing compared to its own reach. + if (Math.abs(area) < 1e-9 * Math.max(span * span, 1)) return undefined; + + const centroidX = cx / (3 * area2); + const centroidY = cy / (3 * area2); + // Polar second moment per unit mass about the origin, then moved to the + // centroid by the parallel-axis theorem. + const polarOverMass = inertia / (6 * area2); + const gyrationSq = polarOverMass - (centroidX * centroidX + centroidY * centroidY); + return { centroid: new Coord(centroidX, centroidY), gyrationSq: Math.max(gyrationSq, 0) }; +} + +/** Andrew's monotone chain; returns the hull counterclockwise. */ +function convexHull(points: { x: number; y: number }[]): { x: number; y: number }[] { + const sorted = [...points].sort((a, b) => a.x - b.x || a.y - b.y); + const cross = ( + o: { x: number; y: number }, + a: { x: number; y: number }, + b: { x: number; y: number } + ) => (a.x - o.x) * (b.y - o.y) - (a.y - o.y) * (b.x - o.x); + const half = (list: { x: number; y: number }[]) => { + const chain: { x: number; y: number }[] = []; + for (const p of list) { + while (chain.length >= 2 && cross(chain[chain.length - 2], chain[chain.length - 1], p) <= 0) { + chain.pop(); + } + chain.push(p); + } + chain.pop(); + return chain; + }; + return [...half(sorted), ...half([...sorted].reverse())]; +} + +function dedupe(points: { x: number; y: number }[]): { x: number; y: number }[] { + const seen = new Set(); + return points.filter((p) => { + const key = `${p.x},${p.y}`; + if (seen.has(key)) return false; + seen.add(key); + return true; + }); +} diff --git a/src/app/model/unit-conversions.ts b/src/app/model/unit-conversions.ts index d73a71f2..1e960a13 100644 --- a/src/app/model/unit-conversions.ts +++ b/src/app/model/unit-conversions.ts @@ -68,6 +68,7 @@ export const INERTIA_TO_KG_M2: Record = { [InertiaUnit.KG_CM2]: 0.0001, [InertiaUnit.KG_M2]: 1, [InertiaUnit.LBM_IN2]: KG_PER_LBM * METERS_PER_INCH * METERS_PER_INCH, + [InertiaUnit.G_CM2]: 0.0000001, }; /** Seconds per one of each time unit. */ diff --git a/src/app/model/unit-enums.ts b/src/app/model/unit-enums.ts index 54a39e16..65c8320c 100644 --- a/src/app/model/unit-enums.ts +++ b/src/app/model/unit-enums.ts @@ -35,6 +35,13 @@ export enum InertiaUnit { KG_CM2 = 51, KG_M2 = 52, NULL = 53, + /** + * The metric *display* unit: g pairs with g·cm², where g beside kg·cm² read + * as two different systems in one panel. Storage stays KG_CM2 — the solver's + * unit factors and every URL in circulation are written against it — so this + * unit exists only at the input/label boundary. + */ + G_CM2 = 54, } export enum TimeUnit { diff --git a/src/app/services/grid-utils.service.spec.ts b/src/app/services/grid-utils.service.spec.ts index e45e77e6..ef620461 100644 --- a/src/app/services/grid-utils.service.spec.ts +++ b/src/app/services/grid-utils.service.spec.ts @@ -70,6 +70,8 @@ describe('GridUtilsService.dragLink', () => { it('carries a hand-placed centre of mass along instead of recomputing it', () => { const scene = createFourBar(); scene.bc.CoM = new Coord(1, 2.9); + // Placing it by hand is exactly what the custom flag records. + scene.bc.comIsCustom = true; scene.grid.dragLink(scene.bc, 1.5, -0.5); diff --git a/src/app/services/grid-utils.service.ts b/src/app/services/grid-utils.service.ts index 07db09fd..649e69af 100644 --- a/src/app/services/grid-utils.service.ts +++ b/src/app/services/grid-utils.service.ts @@ -334,9 +334,14 @@ export class GridUtilsService { const jointIndex = l.joints.findIndex((jt) => jt.id === selectedJoint.id); l.joints[jointIndex].x = roundNumber(trueCoord.x, 6); l.joints[jointIndex].y = roundNumber(trueCoord.y, 6); - // l.reComputeDPath(); - l.CoM = RealLink.determineCenterOfMass(l.joints); - l.updateCoMDs(); + // A dragged joint deforms the link, so an auto centre of mass + // follows the geometry. A custom one stays where its author put it: + // there is no rigid motion to carry it, and guessing would move a + // number somebody chose. + if (!l.comIsCustom) { + l.CoM = RealLink.determineCenterOfMass(l.joints); + l.updateCoMDs(); + } l.updateLengthAndAngle(); if (l.subset.length > 0) { @@ -520,7 +525,18 @@ export class GridUtilsService { force.moveForceTo(x, y); }); } - link.CoM = RealLink.determineCenterOfMass(link.joints); + // A custom centre of mass rides the body through the same change of + // frame the forces just did — it is a point somebody fixed to this link. + // An auto one is re-derived from the joints like always, and a frame too + // degenerate to transport through leaves a custom point untouched. + if (link.comIsCustom) { + if (from.length === 2 && start && end) { + const [comX, comY] = pointThroughFrame(link.CoM, from[0], from[1], start, end); + link.CoM = new Coord(comX, comY); + } + } else { + link.CoM = RealLink.determineCenterOfMass(link.joints); + } link.updateCoMDs(); link.updateLengthAndAngle(); link.subset.forEach((sub) => { @@ -768,7 +784,18 @@ export class GridUtilsService { force.moveForceTo(x, y); }); } - link.CoM = RealLink.determineCenterOfMass(link.joints); + // A custom centre of mass rides the body through the same change of + // frame the forces just did — it is a point somebody fixed to this link. + // An auto one is re-derived from the joints like always, and a frame too + // degenerate to transport through leaves a custom point untouched. + if (link.comIsCustom) { + if (from.length === 2 && start && end) { + const [comX, comY] = pointThroughFrame(link.CoM, from[0], from[1], start, end); + link.CoM = new Coord(comX, comY); + } + } else { + link.CoM = RealLink.determineCenterOfMass(link.joints); + } link.updateCoMDs(); link.updateLengthAndAngle(); link.subset.forEach((sub) => { diff --git a/src/app/services/mechanism.service.spec.ts b/src/app/services/mechanism.service.spec.ts index bf2b82ab..bda1dc3b 100644 --- a/src/app/services/mechanism.service.spec.ts +++ b/src/app/services/mechanism.service.spec.ts @@ -68,6 +68,11 @@ describe('MechanismService welded links and force ownership', () => { harness.links[1].mass = 1; harness.links[1].massMoI = 4; harness.links[1].CoM = new Coord(1.5, 0); + // Chosen values, so the auto pass leaves them alone — as the panel flags. + for (const link of [harness.links[0], harness.links[1]]) { + (link as RealLink).moiIsCustom = true; + (link as RealLink).comIsCustom = true; + } const force = attachForce(harness.service, harness.links[0], 'F1', 0.25); harness.service.weldJoint(harness.joints[1]); @@ -184,6 +189,8 @@ describe('MechanismService welded links and force ownership', () => { link.mass = 2; link.massMoI = 3; link.CoM = new Coord(0.5, 0); + link.moiIsCustom = true; + link.comIsCustom = true; const force = attachForce(harness.service, link, 'F1', 0.25); harness.settings.lengthUnit.next(LengthUnit.METER); @@ -217,6 +224,8 @@ describe('MechanismService welded links and force ownership', () => { link.mass = 2; link.massMoI = 3; link.CoM = new Coord(0.5, 0); + link.moiIsCustom = true; + link.comIsCustom = true; const force = attachForce(harness.service, link, 'F1', 0.25); const original = { x: harness.joints[1].x, diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 3c013692..b223f663 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -50,6 +50,8 @@ import { describeActuator } from '../model/actuator'; import { NotificationService } from './notification.service'; import { SettingsService } from './settings.service'; import { slotHalfLength } from '../model/joint-marks'; +import { uniformBodyOf } from '../model/uniform-body'; +import { siUnitFactors } from '../model/unit-conversions'; import { DragStateService } from './drag-state.service'; import { Coord } from '../model/coord'; import { SelectedTabService, TabID } from '../selected-tab.service'; @@ -288,6 +290,8 @@ export class MechanismService { break; } + this.applyUniformBodyProperties(unitStr); + // One machine per grounded component of the drawing. Each is solved on its // own -- its own mobility, its own input, its own cycle -- so a half-built // chain in the corner no longer makes the finished linkage beside it @@ -557,8 +561,10 @@ export class MechanismService { for (const link of this.links) { if (!(link instanceof RealLink)) continue; if (!link.joints.some((joint) => movedIds.has(joint.id))) continue; - link.CoM = RealLink.determineCenterOfMass(link.joints); - link.updateCoMDs(); + if (!link.comIsCustom) { + link.CoM = RealLink.determineCenterOfMass(link.joints); + link.updateCoMDs(); + } link.updateLengthAndAngle(); } } @@ -991,6 +997,11 @@ export class MechanismService { ); const newLink = new RealLink(id, newLinkJoints, totalMass, massMoI, CoM, leaves); + // The parallel-axis sum above is worth keeping exactly when a part's + // numbers were chosen by a person; parts that all followed their geometry + // leave the compound following its geometry too. + newLink.moiIsCustom = leaves.some((leaf) => leaf instanceof RealLink && leaf.moiIsCustom); + newLink.comIsCustom = leaves.some((leaf) => leaf instanceof RealLink && leaf.comIsCustom); newLink.fill = leaves[0]?.fill ?? ColorService.instance?.getNextLinkColor() ?? '#555555'; return newLink; } @@ -1305,7 +1316,9 @@ export class MechanismService { } if (link instanceof RealLink) { - link.CoM = RealLink.determineCenterOfMass(link.joints); + if (!link.comIsCustom) { + link.CoM = RealLink.determineCenterOfMass(link.joints); + } link.reComputeDPath(); } } @@ -1993,6 +2006,36 @@ export class MechanismService { * drift from the first, and the drift would show as a tab that says Ready * above a panel that says it cannot solve. */ + /** + * Re-derive every auto link's mass properties from its own skeleton. + * + * Runs at the one funnel every mutation passes through, for the same reason + * the cylinder invariant does: whatever moved a joint — a drag, a panel + * field, an undo — an auto link's centroid and moment of inertia follow the + * geometry, and a custom one holds whatever its author typed. + * + * MoI = mass × k², with k² from the skeleton in model units. The unit + * factor converts (stored-mass × user-length²) into the stored inertia unit + * exactly — derived from the same siUnitFactors the solver converts with, + * so the identity survives every unit system rather than being tuned to one. + */ + private applyUniformBodyProperties(unitStr: string): void { + const units = siUnitFactors(unitStr); + const moiFactor = (units.massToKg * units.distanceToM ** 2) / units.inertiaToKgM2; + for (const link of this.links) { + if (!(link instanceof RealLink)) continue; + if (link.moiIsCustom && link.comIsCustom) continue; + const body = uniformBodyOf(link.joints); + if (!link.comIsCustom) { + link.CoM = new Coord(body.centroid.x, body.centroid.y); + link.updateCoMDs(); + } + if (!link.moiIsCustom) { + link.massMoI = link.mass * (body.gyrationSq / MODEL_SCALE ** 2) * moiFactor; + } + } + } + forceAnalysisRequirements(): ForceRequirement[] { const requirements: ForceRequirement[] = []; diff --git a/src/app/services/number-unit-parser.service.ts b/src/app/services/number-unit-parser.service.ts index 7c1d19fe..6888747e 100644 --- a/src/app/services/number-unit-parser.service.ts +++ b/src/app/services/number-unit-parser.service.ts @@ -50,6 +50,8 @@ export class NumberUnitParserService { return 'lbm'; case InertiaUnit.KG_CM2: return 'kg·cm²'; + case InertiaUnit.G_CM2: + return 'g·cm²'; case InertiaUnit.KG_M2: return 'kg·m²'; case InertiaUnit.LBM_IN2: @@ -276,6 +278,8 @@ export class NumberUnitParserService { public getInertiaUnit(input: string): InertiaUnit { switch (this.normalizeUnitToken(input)) { + case 'gcm2': + return InertiaUnit.G_CM2; case 'kgcm2': return InertiaUnit.KG_CM2; case 'kgm2': @@ -288,6 +292,46 @@ export class NumberUnitParserService { } } + /** + * The unit an inertia field shows beside its number, per length system: + * g·cm² / kg·m² / lbm·in², each coherent with the mass unit beside it. + */ + public displayInertiaUnit(length: LengthUnit): InertiaUnit { + switch (length) { + case LengthUnit.INCH: + return InertiaUnit.LBM_IN2; + case LengthUnit.METER: + return InertiaUnit.KG_M2; + default: + return InertiaUnit.G_CM2; + } + } + + /** + * The unit link.massMoI is *stored* in, per length system — the one the + * solver's siUnitFactors and every circulating URL are written against. + * Metric is the one system where it differs from the display unit. + */ + public storedInertiaUnit(length: LengthUnit): InertiaUnit { + switch (length) { + case LengthUnit.INCH: + return InertiaUnit.LBM_IN2; + case LengthUnit.METER: + return InertiaUnit.KG_M2; + default: + return InertiaUnit.KG_CM2; + } + } + + /** A stored inertia, formatted in the display unit for its length system. */ + public formatStoredInertia(stored: number, length: LengthUnit): string { + const display = this.displayInertiaUnit(length); + return this.formatValueAndUnit( + this.convertInertia(stored, this.storedInertiaUnit(length), display), + display + ); + } + public parseInertiaString(input: string, desiredUnits: InertiaUnit): [boolean, number] { const [value, unit] = this.preProcessInput(input); diff --git a/src/app/services/transcoding/mechanism-builder.ts b/src/app/services/transcoding/mechanism-builder.ts index 709e5364..1f58db18 100644 --- a/src/app/services/transcoding/mechanism-builder.ts +++ b/src/app/services/transcoding/mechanism-builder.ts @@ -96,6 +96,8 @@ export class MechanismBuilder { if (linkData.type === LINK_TYPE.REAL) { let CoM: Coord = new Coord(linkData.xCoM * MODEL_SCALE, linkData.yCoM * MODEL_SCALE); link = new RealLink(linkData.id, jointsOnLink, linkData.mass, linkData.massMoI, CoM); + link.moiIsCustom = linkData.moiIsCustom; + link.comIsCustom = linkData.comIsCustom; link.fill = linkData.color; } else { link = new SliderBlock(linkData.id, jointsOnLink, linkData.mass); diff --git a/src/app/services/transcoding/string-transcoder.ts b/src/app/services/transcoding/string-transcoder.ts index 615fc0bb..bba2acc1 100644 --- a/src/app/services/transcoding/string-transcoder.ts +++ b/src/app/services/transcoding/string-transcoder.ts @@ -159,8 +159,37 @@ export class StringTranscoder extends GenericTranscoder { [type][id],[mass],[massMoI],[xCoM],[yCoM],[color],[jointID1,jointID2...],,[subsetLinkID1,subsetLinkID2...] This should on average be 26 + [number of joints] characters per link */ + /** + * The link record's leading character carries root-ness and the two + * auto/custom flags in one slot, because the record's tail is variable + * length and cannot take an appended field. 'Y'/'N' are the legacy pair and + * keep meaning what every old URL meant: values the author chose. + * + * root: Y = both custom A = both auto M = MoI auto G = CoM auto + * non-root: N = both custom a = both auto m = MoI auto g = CoM auto + */ + private static readonly LINK_FLAG_CHARS: Record = { + // char: [isRoot, moiIsCustom, comIsCustom] + Y: [true, true, true], + A: [true, false, false], + M: [true, false, true], + G: [true, true, false], + N: [false, true, true], + a: [false, false, false], + m: [false, false, true], + g: [false, true, false], + }; + private encodeLink(link: LinkData): string { - let isRoot: string = link.isRoot ? 'Y' : 'N'; + const flagChar = (root: string[]): string => + !link.moiIsCustom && !link.comIsCustom + ? root[1] + : !link.moiIsCustom + ? root[2] + : !link.comIsCustom + ? root[3] + : root[0]; + let isRoot: string = link.isRoot ? flagChar(['Y', 'A', 'M', 'G']) : flagChar(['N', 'a', 'm', 'g']); let type: string = link.type == LINK_TYPE.REAL ? 'R' : 'P'; let id = link.id; let massString = this.encodeDecimalNumber(link.mass); @@ -207,7 +236,12 @@ export class StringTranscoder extends GenericTranscoder { private decodeLink(linkString: string): LinkData { const sd = new StringDisassembler(linkString); - let isRoot = sd.nextCharacter() === 'Y'; + const flagChar = sd.nextCharacter(); + const [isRoot, moiIsCustom, comIsCustom] = StringTranscoder.LINK_FLAG_CHARS[flagChar] ?? [ + false, + true, + true, + ]; let type = sd.nextCharacter() === 'R' ? LINK_TYPE.REAL : LINK_TYPE.PISTON; let id = sd.nextToken(); let name = sd.nextToken(); @@ -240,7 +274,9 @@ export class StringTranscoder extends GenericTranscoder { yCoM, color, jointIDs, - subsetLinkIDs + subsetLinkIDs, + moiIsCustom, + comIsCustom ); } diff --git a/src/app/services/transcoding/transcoder-data.ts b/src/app/services/transcoding/transcoder-data.ts index 1575712d..8742f418 100644 --- a/src/app/services/transcoding/transcoder-data.ts +++ b/src/app/services/transcoding/transcoder-data.ts @@ -77,7 +77,15 @@ export class LinkData { public yCoM: number = 0, public color: string = '', public jointIDs: string[] = [], - public subsetLinkIDs: string[] = [] + public subsetLinkIDs: string[] = [], + /** + * Whether the author chose these values (legacy URLs always did — the + * whole format predates auto-derived properties). Carried in the record's + * leading character, not in a new field: the tail of a link record is + * variable-length, so there is nowhere behind it to append to. + */ + public moiIsCustom: boolean = true, + public comIsCustom: boolean = true ) {} } diff --git a/src/app/services/url-generation.service.ts b/src/app/services/url-generation.service.ts index 354bed91..71d107c7 100644 --- a/src/app/services/url-generation.service.ts +++ b/src/app/services/url-generation.service.ts @@ -98,7 +98,9 @@ export class UrlGenerationService { link.CoM.y / MODEL_SCALE, link.fill, link.joints.map((joint) => joint.id), - link.subset.map((subset) => subset.id) + link.subset.map((subset) => subset.id), + link.moiIsCustom, + link.comIsCustom ) ); } else if (link instanceof SliderBlock) { diff --git a/src/test-utils/verification/fixture.ts b/src/test-utils/verification/fixture.ts index c175843e..daeea369 100644 --- a/src/test-utils/verification/fixture.ts +++ b/src/test-utils/verification/fixture.ts @@ -167,6 +167,10 @@ function buildMechanismNow(fixture: MechanismFixture): BuiltMechanism { const com = spec.com ? new Coord(spec.com[0], spec.com[1]) : undefined; const subset = spec.subset?.map(buildFixtureLink); const link = new RealLink(spec.joints, linkJoints, spec.mass ?? 1, spec.moi ?? 1, com, subset); + // A fixture's numbers are chosen, MATLAB-parity data — never re-derived. + // Custom keeps the published URLs byte-identical too. + link.moiIsCustom = true; + link.comIsCustom = true; link.fill = spec.fill ?? ColorService.instance.getNextLinkColor(); restoreFixtureLinkState(spec, link); return link; diff --git a/src/tests/verification/uniform-body-links.spec.ts b/src/tests/verification/uniform-body-links.spec.ts new file mode 100644 index 00000000..c73236c8 --- /dev/null +++ b/src/tests/verification/uniform-body-links.spec.ts @@ -0,0 +1,142 @@ +// joint.ts first: the model modules form an import cycle that only +// initializes cleanly when entered here (see test-utils/verification/fixture.ts). +import '../../app/model/joint'; +import { RevJoint } from '../../app/model/joint'; +import { RealLink } from '../../app/model/link'; +import { MODEL_SCALE } from '../../app/model/render-scale'; +import { LengthUnit } from '../../app/model/utils'; +import { StringTranscoder } from '../../app/services/transcoding/string-transcoder'; +import { LinkData, LINK_TYPE } from '../../app/services/transcoding/transcoder-data'; +import { createMechanismHarness, MechanismHarness } from '../../test-utils/mechanism-harness'; + +// Auto-derived mass properties, end to end: a link left in auto follows its +// own geometry through every edit, a link somebody typed at holds still, and +// the distinction survives the URL — which is what makes it survive undo. + +/** A bar from A(0,0) to B(3,4) — length 5 in user units — with the usual crank. */ +function twoBarChain(harness: MechanismHarness): RealLink[] { + const at: [number, number][] = [ + [0, 0], + [3 * MODEL_SCALE, 4 * MODEL_SCALE], + [8 * MODEL_SCALE, 0], + ]; + const joints = at.map(([x, y], i) => new RevJoint('ABC'[i], x, y)); + joints[0].ground = true; + joints[2].ground = true; + joints[0].input = true; + const links = [0, 1].map((i) => { + const link = new RealLink(joints[i].id + joints[i + 1].id, [joints[i], joints[i + 1]]); + joints[i].links.push(link); + joints[i + 1].links.push(link); + joints[i].connectedJoints.push(joints[i + 1]); + joints[i + 1].connectedJoints.push(joints[i]); + return link; + }); + harness.service.joints.push(...joints); + harness.service.links.push(...links); + harness.service.updateMechanism(); + return links; +} + +describe('auto mass properties on the editable mechanism', () => { + it('derives MoI = mL²/12 in the stored unit, and the centroid, for an auto bar', () => { + const harness = createMechanismHarness(); + const [ab] = twoBarChain(harness); + ab.mass = 12; // grams, in the default cm system + harness.service.updateMechanism(); + + // A 5 cm rod of 12 g: I = 12·25/12 = 25 g·cm² = 0.025 kg·cm² as stored. + expect(ab.massMoI).toBeCloseTo(0.025, 9); + expect(ab.CoM.x).toBeCloseTo(1.5 * MODEL_SCALE, 9); + expect(ab.CoM.y).toBeCloseTo(2 * MODEL_SCALE, 9); + }); + + it('keeps following the geometry after a joint moves', () => { + const harness = createMechanismHarness(); + const [ab] = twoBarChain(harness); + ab.mass = 12; + const b = harness.service.joints.find((joint) => joint.id === 'B')!; + b.x = 6 * MODEL_SCALE; + b.y = 8 * MODEL_SCALE; + harness.service.updateMechanism(); + + // Now a 10 cm rod: I = 12·100/12 = 100 g·cm² = 0.1 kg·cm². + expect(ab.massMoI).toBeCloseTo(0.1, 9); + expect(ab.CoM.x).toBeCloseTo(3 * MODEL_SCALE, 9); + }); + + it('holds a typed MoI and a placed CoM still through the same edit', () => { + const harness = createMechanismHarness(); + const [ab] = twoBarChain(harness); + ab.mass = 12; + ab.massMoI = 7; + ab.moiIsCustom = true; + ab.CoM.x = 0.25 * MODEL_SCALE; + ab.CoM.y = 0.25 * MODEL_SCALE; + ab.comIsCustom = true; + const b = harness.service.joints.find((joint) => joint.id === 'B')!; + b.x = 6 * MODEL_SCALE; + harness.service.updateMechanism(); + + expect(ab.massMoI).toBe(7); + expect(ab.CoM.x).toBeCloseTo(0.25 * MODEL_SCALE, 9); + }); + + it('scales the derivation with the unit system, exactly', () => { + // The identity MoI = m·k² must survive the unit factors, not be tuned to + // one system: in meters the same bar stores kg·m². + const harness = createMechanismHarness(); + const [ab] = twoBarChain(harness); + ab.mass = 12; // kilograms now + harness.settings.lengthUnit.next(LengthUnit.METER); + harness.service.updateMechanism(); + + // A 5 m rod of 12 kg: I = 12·25/12 = 25 kg·m². + expect(ab.massMoI).toBeCloseTo(25, 9); + }); +}); + +describe('the auto/custom flags in the URL', () => { + const roundTrip = (moiIsCustom: boolean, comIsCustom: boolean) => { + const transcoder = new StringTranscoder() as any; + const record = new LinkData( + true, + LINK_TYPE.REAL, + 'AB', + 'AB', + 2, + 3, + 0.5, + 0.25, + '#123456', + ['A', 'B'], + [], + moiIsCustom, + comIsCustom + ); + const decoded = transcoder.decodeLink(transcoder.encodeLink(record)) as LinkData; + expect(decoded.isRoot).toBe(true); + expect(decoded.moiIsCustom).toBe(moiIsCustom); + expect(decoded.comIsCustom).toBe(comIsCustom); + expect(decoded.mass).toBe(2); + expect(decoded.jointIDs).toEqual(['A', 'B']); + }; + + it('round-trips all four flag states through the leading character', () => { + roundTrip(true, true); + roundTrip(false, false); + roundTrip(false, true); + roundTrip(true, false); + }); + + it("reads a legacy record's Y and N as values the author chose", () => { + // Every URL in circulation was written before auto existed; its numbers + // are somebody's numbers, and decoding must keep them frozen. + const transcoder = new StringTranscoder() as any; + const legacy = 'YRAB,AB,2,3,0.5,0.25,123456,A,B,,'; + const decoded = transcoder.decodeLink(legacy) as LinkData; + expect(decoded.isRoot).toBe(true); + expect(decoded.moiIsCustom).toBe(true); + expect(decoded.comIsCustom).toBe(true); + }); +}); From e03b1b1ba9e355ed83167d4d047ec7fb0dddd51c Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 16:01:31 -0400 Subject: [PATCH 108/236] A mass table in the force setup, and the cylinder's three bodies get fields The mass table: one row per body force analysis will weigh -- links, blocks, and cylinder parts under their part names (Barrel GC, Rod GC, Piston GC), which is the first home those masses have had. Mass is editable in place, so setting up an eight-link analysis is one visit instead of eight selections; inertia shows beside it with an auto tag when it follows the shape. Massless rows are tagged rather than scolded. Editing pauses with the animation. The Edit Cylinder panel gets Mass Settings with the same three bodies. Rod and head are welded rigid, but rigidity says how they move, not where their mass sits: the rod's is spread along its length, the head's is concentrated at the pin -- the number that matters in a reciprocating machine. A mount weld can fold the barrel into a compound; the handler keeps the compound's aggregate true so the solver still reads the sum. Co-Authored-By: Claude Fable 5 --- .../analysis-setup.component.html | 41 ++++++++++ .../analysis-setup.component.scss | 51 +++++++++++++ .../analysis-setup.component.ts | 76 ++++++++++++++++++- .../edit-panel/edit-panel.component.html | 29 +++++++ .../edit-panel/edit-panel.component.ts | 65 +++++++++++++++- src/app/services/mechanism.service.ts | 4 +- .../services/number-unit-parser.service.ts | 12 +++ 7 files changed, 275 insertions(+), 3 deletions(-) diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index e43e08ce..a9ae9af8 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -76,6 +76,47 @@
    }
    + + @if (massRows().length > 0) { +
    +
    + Masses +
    +
    + + @for (row of massRows(); track row.body.id) { +
    + {{ row.label }} + + + {{ moiText(row) }} + @if (moiIsAuto(row) && row.body.mass > 0) { + auto + } + + @if (!(row.body.mass > 0)) { + massless + } @else { + + } +
    + } +

    + Massless bodies are skipped by gravity and inertia — fine as an idealization. Moment + of inertia and center of mass are edited on the link itself, in Edit mode. +

    +
    +
    + } } @if (mode() === 'kinematic' && unassigned.length > 0) { diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index e8ab6d53..36b49706 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -207,6 +207,57 @@ } } + .sectionHeader.static { + cursor: default; + } + + .massTable { + padding: 4px 16px 12px; + } + + .massRow { + display: grid; + grid-template-columns: minmax(72px, 1fr) 96px minmax(90px, 1fr) auto; + gap: 8px; + align-items: center; + padding: 4px 0; + font-size: 13px; + } + + .massName { + overflow: hidden; + text-overflow: ellipsis; + white-space: nowrap; + + &.muted { + color: rgba(0, 0, 0, 0.45); + } + } + + .massField { + height: 28px; + padding: 0 8px; + border: 1px solid rgba(0, 0, 0, 0.2); + border-radius: 4px; + font: inherit; + font-size: 13px; + min-width: 0; + + &:disabled { + background: rgba(0, 0, 0, 0.04); + color: rgba(0, 0, 0, 0.4); + } + } + + .massMoI { + color: rgba(0, 0, 0, 0.6); + white-space: nowrap; + + .chip { + margin-left: 4px; + } + } + .actionButton { margin-top: 10px; height: 32px; diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index d4bd31e7..c8ee3314 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -1,12 +1,21 @@ import { ChangeDetectionStrategy, Component, inject, input } from '@angular/core'; import { Joint, RealJoint } from '../../model/joint'; -import { Link, RealLink } from '../../model/link'; +import { Link, RealLink, SliderBlock } from '../../model/link'; import { MechanismService } from '../../services/mechanism.service'; import { ActiveObjService } from '../../services/active-obj.service'; +import { NumberUnitParserService } from '../../services/number-unit-parser.service'; +import { SettingsService } from '../../services/settings.service'; import { SelectedTabService, TabID } from '../../selected-tab.service'; import { MechanismReadiness, ReadinessCheck } from '../../model/mechanism/readiness'; import { MatIcon } from '@angular/material/icon'; +/** One editable row of the mass table: a body, and what to call it. */ +export interface MassRow { + body: Link; + label: string; + isBlock: boolean; +} + /** * What stands between this drawing and its animation, mechanism by mechanism. * @@ -31,6 +40,8 @@ export class AnalysisSetupComponent { mechanism = inject(MechanismService); activeObj = inject(ActiveObjService); private tabs = inject(SelectedTabService); + nup = inject(NumberUnitParserService); + settings = inject(SettingsService); /** * Which question this drawer is answering. @@ -166,6 +177,69 @@ export class AnalysisSetupComponent { return check.state === 'blocker' ? 'error_outline' : 'warning_amber'; } + /** + * Every body force analysis will weigh, one editable row each. + * + * Setting up an analysis is mostly this: eight links, eight masses, and a + * panel that needs eight selections to reach them. The table is the same + * numbers in one place — and the place the massless warning points at. + * Cylinder parts appear under the part's own name, which is the first home + * their masses have had. + */ + massRows(): MassRow[] { + return this.mechanism.links + .filter((link) => link instanceof RealLink || link instanceof SliderBlock) + .map((body) => { + const cylinder = this.mechanism.cylinderAt(body); + if (cylinder) { + const name = + (cylinder.barrelFar.name || cylinder.barrelFar.id) + + (cylinder.rodFar.name || cylinder.rodFar.id); + const role = + body === cylinder.barrel ? 'Barrel' : body === cylinder.rod ? 'Rod' : 'Piston'; + return { body, label: `${role} ${name}`, isBlock: body instanceof SliderBlock }; + } + if (body instanceof SliderBlock) { + return { body, label: `Block ${body.id}`, isBlock: true }; + } + return { body, label: body.name || body.id, isBlock: false }; + }); + } + + massText(row: MassRow): string { + return this.nup.formatValueAndUnit(row.body.mass, this.massUnit()); + } + + moiText(row: MassRow): string { + if (row.isBlock || !(row.body instanceof RealLink)) return '—'; + return this.nup.formatStoredInertia(row.body.massMoI, this.settings.lengthUnit.value); + } + + moiIsAuto(row: MassRow): boolean { + return row.body instanceof RealLink && !row.body.moiIsCustom; + } + + /** Rebuilds mid-play would fight the animation; a pause is one click away. */ + massEditable(): boolean { + return !this.mechanism.isPlaying; + } + + onMassEdit(row: MassRow, input: HTMLInputElement): void { + const [success, value] = this.nup.parseMassString(input.value, this.massUnit()); + if (!success || value < 0 || !this.massEditable()) { + input.value = this.massText(row); + return; + } + row.body.mass = value; + this.mechanism.updateMechanism(true); + this.mechanism.onMechUpdateState.next(2); + input.value = this.massText(row); + } + + private massUnit() { + return this.nup.massUnitFor(this.settings.lengthUnit.value); + } + /** * Go to the part a check is about: select it, and switch to the mode where it * can be changed. diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index ab372dec..8e6cae3d 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -302,6 +302,35 @@
    } + + + Barrel Mass + Rod Mass + Piston Head Mass + ) => Link, + raw: string | null + ): void { + const sealed = this.selectedCylinder; + if (!sealed) return; + const units = this.massUnit(); + const body = part(sealed); + const [success, value] = this.nup.parseMassString(raw ?? '', units); + if (!success || value < 0) { + this.cylinderForm.patchValue( + { [control]: this.nup.formatValueAndUnit(body.mass, units) }, + { emitEvent: false } + ); + return; + } + // A mount weld can fold the barrel or rod into a compound; the solver + // reads the compound, so its aggregate keeps the sum true. + const root = this.mechanismService.rootLinkOwning(body); + if (root && root !== body) { + root.mass += value - body.mass; + } + body.mass = value; + this.mechanismService.updateMechanism(true); + this.mechanismService.onMechUpdateState.next(2); + this.cylinderForm.patchValue( + { [control]: this.nup.formatValueAndUnit(value, units) }, + { emitEvent: false } + ); + } + /** Drive (or stop driving) the selected cylinder's hidden prismatic pin. */ toggleCylinderInput(): void { const sealed = this.selectedCylinder; @@ -1078,6 +1126,21 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { this.onDestroySubscriptions.push( this.cylinderForm.controls['startUnit'].valueChanges.subscribe(() => this.patchCylinderForm()) ); + this.onDestroySubscriptions.push( + this.cylinderForm.controls['barrelMass'].valueChanges.subscribe((val) => + this.cylinderMassEdit('barrelMass', (sealed) => sealed.barrel, val) + ) + ); + this.onDestroySubscriptions.push( + this.cylinderForm.controls['rodMass'].valueChanges.subscribe((val) => + this.cylinderMassEdit('rodMass', (sealed) => sealed.rod, val) + ) + ); + this.onDestroySubscriptions.push( + this.cylinderForm.controls['headMass'].valueChanges.subscribe((val) => + this.cylinderMassEdit('headMass', (sealed) => sealed.block, val) + ) + ); this.onDestroySubscriptions.push( this.cylinderForm.controls['start'].valueChanges.subscribe((val) => { diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index b223f663..ec6e51eb 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -1083,7 +1083,9 @@ export class MechanismService { * compound keeps existing as a member of that compound's subset, so the * pointer stays valid while no longer naming a body any solver iterates. */ - private rootLinkOwning(link: Link): Link | undefined { + /** Public: the cylinder panel writes part masses and must keep a welded + * compound's aggregate true. */ + rootLinkOwning(link: Link): Link | undefined { const contains = (candidate: Link): boolean => candidate.id === link.id || (candidate instanceof RealLink && candidate.subset.some(contains)); diff --git a/src/app/services/number-unit-parser.service.ts b/src/app/services/number-unit-parser.service.ts index 6888747e..83b30dd8 100644 --- a/src/app/services/number-unit-parser.service.ts +++ b/src/app/services/number-unit-parser.service.ts @@ -292,6 +292,18 @@ export class NumberUnitParserService { } } + /** The mass unit that pairs with a length system: g / kg / lbm. */ + public massUnitFor(length: LengthUnit): MassUnit { + switch (length) { + case LengthUnit.INCH: + return MassUnit.LBM; + case LengthUnit.METER: + return MassUnit.KG; + default: + return MassUnit.GRAM; + } + } + /** * The unit an inertia field shows beside its number, per length system: * g·cm² / kg·m² / lbm·in², each coherent with the mass unit beside it. From 34ce436fc1df1d2b6c3db9d134d4f02950899c5b Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 14 Aug 2026 16:23:22 -0400 Subject: [PATCH 109/236] Close what the review found, from the weld that weighed a small car on down GPT-5.6 sol confirmed the rod and plate mathematics and the exactness of MoI = m*k2 across unit systems, then found nine seams. All closed: - The weld's parallel-axis sum ran in render coordinates with mismatched prefixes -- welding two 1 g bars produced tens of thousands of kg*cm2, a pre-existing bug the new custom flags had started faithfully preserving. The term now converts through the same stored-unit factor as the auto derivation, and the spec that pinned the broken value pins the right one. - A compound's uniform body is now the parallel-axis sum of its members -- each part as its own rod or plate, custom members contributing the numbers they were given -- never a plate over the whole hull, which weighed the empty crook of every V-shaped weld. - Mass writes go through one door (assignBodyMass): editing a member bumps the compound aggregate, editing a compound scales its members, so unweld always restores what the sum really was. - A hand-set moment of inertia acts in dynamics even at zero mass, so it now stays on screen and resettable instead of hiding while it steers the answer; the table note stopped over-promising. - Template cylinders arrive with frozen legacy inertia and no door to it: the cylinder panel gains Derive From Shape for its parts. - Welded members' custom centres survive joint drags and ride rigid moves through the same frame change as the root; the compound that merely contains a barrel is no longer listed as a second Piston; the debug linkage table honours the flags; unknown future link-flag characters fail the URL closed instead of silently demoting the link; and the polygon moments compute in a local frame so a small link far from the origin keeps its own second moment. Known and accepted: an older client reading a *new* URL that contains auto links will not understand the new flag characters. Production ships one client; the alternative was never recording the regime at all. Co-Authored-By: Claude Fable 5 --- .../analysis-setup.component.html | 6 +- .../analysis-setup.component.ts | 17 ++- .../edit-panel/edit-panel.component.html | 19 ++- .../edit-panel/edit-panel.component.ts | 42 +++++-- .../linkage-table/linkage-table.component.ts | 7 +- src/app/model/uniform-body.ts | 13 +- src/app/services/grid-utils.service.ts | 26 +++- src/app/services/mechanism.service.spec.ts | 12 +- src/app/services/mechanism.service.ts | 114 +++++++++++++++++- .../services/transcoding/string-transcoder.ts | 12 +- 10 files changed, 232 insertions(+), 36 deletions(-) diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index a9ae9af8..0f1d0197 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -111,8 +111,10 @@
    }

    - Massless bodies are skipped by gravity and inertia — fine as an idealization. Moment - of inertia and center of mass are edited on the link itself, in Edit mode. + Massless bodies weigh nothing and, unless a moment of inertia was set by hand, carry + no inertia — fine as an idealization. Moment of inertia and center of mass are edited + on the link in Edit mode; a cylinder's follow its parts automatically once derived + from shape in Edit Cylinder.

    diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index c8ee3314..06e4ce36 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -191,12 +191,21 @@ export class AnalysisSetupComponent { .filter((link) => link instanceof RealLink || link instanceof SliderBlock) .map((body) => { const cylinder = this.mechanism.cylinderAt(body); - if (cylinder) { + // By identity, with no catch-all: a compound that merely *contains* a + // cylinder part is a welded body of its own, not another Piston. + const role = !cylinder + ? undefined + : body === cylinder.block + ? 'Piston' + : body === cylinder.barrel + ? 'Barrel' + : body === cylinder.rod + ? 'Rod' + : undefined; + if (cylinder && role) { const name = (cylinder.barrelFar.name || cylinder.barrelFar.id) + (cylinder.rodFar.name || cylinder.rodFar.id); - const role = - body === cylinder.barrel ? 'Barrel' : body === cylinder.rod ? 'Rod' : 'Piston'; return { body, label: `${role} ${name}`, isBlock: body instanceof SliderBlock }; } if (body instanceof SliderBlock) { @@ -230,7 +239,7 @@ export class AnalysisSetupComponent { input.value = this.massText(row); return; } - row.body.mass = value; + this.mechanism.assignBodyMass(row.body, value); this.mechanism.updateMechanism(true); this.mechanism.onMechUpdateState.next(2); input.value = this.massText(row); diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index 8e6cae3d..cec57790 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -330,6 +330,14 @@ tooltip="The piston head's mass, concentrated at the pin — the reciprocating mass." >Piston Head Mass + @if (cylinderHasCustomInertia()) { + + } Link Mass - @if (activeSrv.selectedLink.mass > 0) { + everything below only exists once the link weighs something. One + exception keeps the panel honest: a hand-set moment of inertia + acts in dynamics even at zero mass, so it stays on screen — and + resettable — rather than hiding while it still steers the answer. --> + @if (activeSrv.selectedLink.mass > 0 || activeSrv.selectedLink.massMoI > 0) { part instanceof RealLink && (part.moiIsCustom || part.comIsCustom) + ); + } + + /** + * Hand every part of the cylinder back to the uniform body. + * + * Template cylinders arrive from legacy URLs with frozen custom values and + * no other door to them: the cylinder panel replaces the link panel, so the + * per-field Derive buttons are unreachable for these bodies. + */ + deriveCylinderInertiaFromShape(): void { + const sealed = this.selectedCylinder; + if (!sealed) return; + for (const part of [sealed.barrel, sealed.rod]) { + if (part instanceof RealLink) { + part.moiIsCustom = false; + part.comIsCustom = false; + } + } + this.mechanismService.updateMechanism(true); + this.mechanismService.onMechUpdateState.next(2); + this.patchCylinderForm(); + } + /** Drive (or stop driving) the selected cylinder's hidden prismatic pin. */ toggleCylinderInput(): void { const sealed = this.selectedCylinder; @@ -1256,7 +1282,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { ); return; } - this.activeSrv.selectedLink.mass = value; + this.mechanismService.assignBodyMass(this.activeSrv.selectedLink, value); this.syncMassDependents(); this.mechanismService.updateMechanism(true); this.mechanismService.onMechUpdateState.next(2); diff --git a/src/app/component/linkage-table/linkage-table.component.ts b/src/app/component/linkage-table/linkage-table.component.ts index 6dcb90ee..a4bd0b63 100644 --- a/src/app/component/linkage-table/linkage-table.component.ts +++ b/src/app/component/linkage-table/linkage-table.component.ts @@ -83,7 +83,9 @@ export class LinkageTableComponent implements OnInit { const jointIndex = l.joints.findIndex((jt) => jt.id === joint.id); l.joints[jointIndex].x = roundNumber(joint.x, 3); l.joints[jointIndex].y = roundNumber(joint.y, 3); - l.CoM = RealLink.determineCenterOfMass(l.joints); + if (!l.comIsCustom) { + l.CoM = RealLink.determineCenterOfMass(l.joints); + } // l.bound = RealLink.getBounds(new Coord(l.joints[0].x, l.joints[0].y), new Coord(l.joints[1].x, l.joints[1].y), Shape.line); // l.d = RealLink.getPointsFromBounds(l.bound, l.shape); l.d = l.getPathString(); @@ -152,18 +154,21 @@ export class LinkageTableComponent implements OnInit { return this.notify.refusal('value.momentOfInertia', NOT_A.momentOfInertia); } link.massMoI = Number(($event.target as HTMLInputElement).value); + link.moiIsCustom = true; break; case 'CoMX': if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.length', NOT_A.length); } link.CoM.x = Number(($event.target as HTMLInputElement).value) * MODEL_SCALE; + link.comIsCustom = true; break; case 'CoMY': if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.length', NOT_A.length); } link.CoM.y = Number(($event.target as HTMLInputElement).value) * MODEL_SCALE; + link.comIsCustom = true; break; } this.mechanismService.updateMechanism(true); diff --git a/src/app/model/uniform-body.ts b/src/app/model/uniform-body.ts index c92a02c8..99d36e27 100644 --- a/src/app/model/uniform-body.ts +++ b/src/app/model/uniform-body.ts @@ -75,7 +75,13 @@ function rod(points: { x: number; y: number }[]): UniformBody { * shoelace second-moment formulas. Returns undefined for a degenerate area, * so the caller can fall back to the rod. */ -function platedPolygon(hull: { x: number; y: number }[]): UniformBody | undefined { +function platedPolygon(points: { x: number; y: number }[]): UniformBody | undefined { + // In the first vertex's frame, not the world's: the polar terms below grow + // with distance⁴ from the origin, and a small link far from (0,0) loses its + // own second moment to cancellation. Translation changes neither area, nor + // centroid (shifted back at the end), nor the centroidal moment. + const origin = points[0]; + const hull = points.map((p) => ({ x: p.x - origin.x, y: p.y - origin.y })); let area2 = 0; let cx = 0; let cy = 0; @@ -103,7 +109,10 @@ function platedPolygon(hull: { x: number; y: number }[]): UniformBody | undefine // centroid by the parallel-axis theorem. const polarOverMass = inertia / (6 * area2); const gyrationSq = polarOverMass - (centroidX * centroidX + centroidY * centroidY); - return { centroid: new Coord(centroidX, centroidY), gyrationSq: Math.max(gyrationSq, 0) }; + return { + centroid: new Coord(centroidX + origin.x, centroidY + origin.y), + gyrationSq: Math.max(gyrationSq, 0), + }; } /** Andrew's monotone chain; returns the hull counterclockwise. */ diff --git a/src/app/services/grid-utils.service.ts b/src/app/services/grid-utils.service.ts index 649e69af..87bd6f7c 100644 --- a/src/app/services/grid-utils.service.ts +++ b/src/app/services/grid-utils.service.ts @@ -347,8 +347,12 @@ export class GridUtilsService { if (l.subset.length > 0) { l.subset.forEach((slink) => { let subLink = slink as RealLink; - subLink.CoM = RealLink.determineCenterOfMass(subLink.joints); - subLink.updateCoMDs(); + // Same rule as the root: a member's hand-placed centre survives + // for the unweld that will one day restore it. + if (!subLink.comIsCustom) { + subLink.CoM = RealLink.determineCenterOfMass(subLink.joints); + subLink.updateCoMDs(); + } subLink.updateLengthAndAngle(); }); } @@ -541,7 +545,14 @@ export class GridUtilsService { link.updateLengthAndAngle(); link.subset.forEach((sub) => { const subLink = sub as RealLink; - subLink.CoM = RealLink.determineCenterOfMass(subLink.joints); + if (subLink.comIsCustom) { + if (from.length === 2 && start && end) { + const [subX, subY] = pointThroughFrame(subLink.CoM, from[0], from[1], start, end); + subLink.CoM = new Coord(subX, subY); + } + } else { + subLink.CoM = RealLink.determineCenterOfMass(subLink.joints); + } subLink.updateCoMDs(); subLink.updateLengthAndAngle(); }); @@ -800,7 +811,14 @@ export class GridUtilsService { link.updateLengthAndAngle(); link.subset.forEach((sub) => { const subLink = sub as RealLink; - subLink.CoM = RealLink.determineCenterOfMass(subLink.joints); + if (subLink.comIsCustom) { + if (from.length === 2 && start && end) { + const [subX, subY] = pointThroughFrame(subLink.CoM, from[0], from[1], start, end); + subLink.CoM = new Coord(subX, subY); + } + } else { + subLink.CoM = RealLink.determineCenterOfMass(subLink.joints); + } subLink.updateCoMDs(); subLink.updateLengthAndAngle(); }); diff --git a/src/app/services/mechanism.service.spec.ts b/src/app/services/mechanism.service.spec.ts index bda1dc3b..01899449 100644 --- a/src/app/services/mechanism.service.spec.ts +++ b/src/app/services/mechanism.service.spec.ts @@ -1,6 +1,7 @@ import '../model/joint'; import { NotificationService } from './notification.service'; import { Coord } from '../model/coord'; +import { MODEL_SCALE } from '../model/render-scale'; import { Force } from '../model/force'; import { SliderBlock, RealLink } from '../model/link'; import { PrisJoint, RealJoint, RevJoint } from '../model/joint'; @@ -85,7 +86,16 @@ describe('MechanismService welded links and force ownership', () => { expect(compound.mass).toBe(3); expect(compound.CoM.x).toBeCloseTo(5 / 6, 12); expect(compound.CoM.y).toBe(0); - expect(compound.massMoI).toBeCloseTo(23 / 3, 12); + // Parallel axis in *stored* units: distances here are model coordinates + // (MODEL_SCALE user units) and the metric store is kg·cm² against gram + // masses, so each m·d² term carries 0.001 / MODEL_SCALE². The old + // expectation (23/3) baked in the unconverted sum — the bug that welded + // two 1 g bars into tens of thousands of kg·cm². + const parallelAxis = 0.001 / MODEL_SCALE ** 2; + expect(compound.massMoI).toBeCloseTo( + 3 + 4 + (2 * (0.5 - 5 / 6) ** 2 + 1 * (1.5 - 5 / 6) ** 2) * parallelAxis, + 12 + ); compound.reComputeDPath(); expect(compound.CoM.x).toBeCloseTo(5 / 6, 12); expect(force.link).toBe(compound); diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index ec6e51eb..2246a6d6 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -988,11 +988,18 @@ export class MechanismService { leaves.reduce((sum, link) => sum + link.CoM.x, 0) / Math.max(1, leaves.length), leaves.reduce((sum, link) => sum + link.CoM.y, 0) / Math.max(1, leaves.length) ); + // The parallel-axis term measures distances in model coordinates, which + // are MODEL_SCALE user units, and mass and inertia live in different + // prefixes per unit system. Unconverted, welding two 1 g bars produced + // tens of thousands of kg·cm² — off by MODEL_SCALE² times the unit ratio. + const parallelAxis = this.storedMoiFactor(this.currentUnitStr()); const massMoI = leaves.reduce( (sum, link) => sum + link.massMoI + - link.mass * (Math.pow(link.CoM.x - CoM.x, 2) + Math.pow(link.CoM.y - CoM.y, 2)), + link.mass * + (Math.pow(link.CoM.x - CoM.x, 2) + Math.pow(link.CoM.y - CoM.y, 2)) * + parallelAxis, 0 ); @@ -1083,6 +1090,32 @@ export class MechanismService { * compound keeps existing as a member of that compound's subset, so the * pointer stays valid while no longer naming a body any solver iterates. */ + /** + * The one door for writing a body's mass, wherever the field lives. + * + * A compound and its members must keep telling one story: edit a member and + * the compound's aggregate moves by the same amount; edit the compound and + * the members scale to match, so unwelding later restores what the sum + * really was. Without this, the mass table and the cylinder fields were two + * sources of truth that only agreed until the first unweld. + */ + assignBodyMass(body: Link, value: number): void { + if (!(value >= 0)) return; + if (body instanceof RealLink && body.subset.length > 0) { + const members = body.subset; + const total = members.reduce((sum, member) => sum + member.mass, 0); + for (const member of members) { + member.mass = total > 0 ? (member.mass / total) * value : value / members.length; + } + } else { + const root = this.rootLinkOwning(body); + if (root && root !== body) { + root.mass += value - body.mass; + } + } + body.mass = value; + } + /** Public: the cylinder panel writes part masses and must keep a welded * compound's aggregate true. */ rootLinkOwning(link: Link): Link | undefined { @@ -2022,22 +2055,91 @@ export class MechanismService { * so the identity survives every unit system rather than being tuned to one. */ private applyUniformBodyProperties(unitStr: string): void { - const units = siUnitFactors(unitStr); - const moiFactor = (units.massToKg * units.distanceToM ** 2) / units.inertiaToKgM2; + const factor = this.storedMoiFactor(unitStr); for (const link of this.links) { if (!(link instanceof RealLink)) continue; if (link.moiIsCustom && link.comIsCustom) continue; - const body = uniformBodyOf(link.joints); + const derived = this.uniformBodyFor(link, factor); if (!link.comIsCustom) { - link.CoM = new Coord(body.centroid.x, body.centroid.y); + link.CoM = new Coord(derived.com.x, derived.com.y); link.updateCoMDs(); } if (!link.moiIsCustom) { - link.massMoI = link.mass * (body.gyrationSq / MODEL_SCALE ** 2) * moiFactor; + link.massMoI = derived.moi; } } } + /** + * Converts mass × (model length)² into the stored inertia unit, exactly: + * derived from the same siUnitFactors the force solver converts with, so + * MoI = m·k² survives every unit system instead of being tuned to one. + */ + private storedMoiFactor(unitStr: string): number { + const units = siUnitFactors(unitStr); + return ( + ((units.massToKg * units.distanceToM ** 2) / units.inertiaToKgM2) / MODEL_SCALE ** 2 + ); + } + + private currentUnitStr(): string { + switch (this.settingsService.lengthUnit.value) { + case LengthUnit.INCH: + return 'in'; + case LengthUnit.METER: + return 'm'; + default: + return 'cm'; + } + } + + /** + * The uniform body a link derives its auto properties from. + * + * A plain link is a rod or a hull plate over its own joints. A compound is + * the *sum of its parts* — each member as its own body, combined by the + * parallel-axis theorem — never a plate over the whole hull: a V-shaped + * weld is two bars, and a plate spanning the crook would weigh material + * that is not there. Members somebody typed at contribute the numbers they + * were given. + */ + private uniformBodyFor(link: RealLink, factor: number): { com: Coord; moi: number } { + if (link.subset.length === 0) { + const body = uniformBodyOf(link.joints); + return { + com: new Coord(body.centroid.x, body.centroid.y), + moi: link.mass * body.gyrationSq * factor, + }; + } + const parts = link.subset + .filter((member): member is RealLink => member instanceof RealLink) + .map((member) => { + const own = this.uniformBodyFor(member, factor); + return { + mass: member.mass, + com: member.comIsCustom ? new Coord(member.CoM.x, member.CoM.y) : own.com, + moi: member.moiIsCustom ? member.massMoI : own.moi, + }; + }); + const totalMass = parts.reduce((sum, part) => sum + part.mass, 0); + const com = + totalMass > 0 + ? new Coord( + parts.reduce((sum, part) => sum + part.mass * part.com.x, 0) / totalMass, + parts.reduce((sum, part) => sum + part.mass * part.com.y, 0) / totalMass + ) + : new Coord( + parts.reduce((sum, part) => sum + part.com.x, 0) / Math.max(1, parts.length), + parts.reduce((sum, part) => sum + part.com.y, 0) / Math.max(1, parts.length) + ); + const moi = parts.reduce( + (sum, part) => + sum + part.moi + part.mass * ((part.com.x - com.x) ** 2 + (part.com.y - com.y) ** 2) * factor, + 0 + ); + return { com, moi }; + } + forceAnalysisRequirements(): ForceRequirement[] { const requirements: ForceRequirement[] = []; diff --git a/src/app/services/transcoding/string-transcoder.ts b/src/app/services/transcoding/string-transcoder.ts index bba2acc1..bc7b04b4 100644 --- a/src/app/services/transcoding/string-transcoder.ts +++ b/src/app/services/transcoding/string-transcoder.ts @@ -237,11 +237,13 @@ export class StringTranscoder extends GenericTranscoder { const sd = new StringDisassembler(linkString); const flagChar = sd.nextCharacter(); - const [isRoot, moiIsCustom, comIsCustom] = StringTranscoder.LINK_FLAG_CHARS[flagChar] ?? [ - false, - true, - true, - ]; + const flags = StringTranscoder.LINK_FLAG_CHARS[flagChar]; + if (!flags) { + // Fail closed: a character from some future format must reject the URL, + // not quietly demote the link to a non-root nobody solves. + throw new Error(`Unknown link flag character '${flagChar}'`); + } + const [isRoot, moiIsCustom, comIsCustom] = flags; let type = sd.nextCharacter() === 'R' ? LINK_TYPE.REAL : LINK_TYPE.PISTON; let id = sd.nextToken(); let name = sd.nextToken(); From 205a008f951dfda1759cacdecb87007af065d54e Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sat, 15 Aug 2026 15:20:15 -0400 Subject: [PATCH 110/236] Design 2a: the dot says where a number came from, and the panel speaks student The synthesis from the design round, built whole: - Every derived field wears the dot anatomy: grey behind a hollow dot follows the shape, ink behind a filled one was set by hand and carries a x to hand it back. One legend under Mass names both, sitting exactly where the fields it governs begin. Reset all clears a link's flags at once. - Center of Mass sits above a renamed Rotational Inertia (the inertia is measured about the centre, so the point comes first), and gains a frame to be typed in: global grid, link centroid, or any of the link's joints. Whatever the frame, the point is stored against the link itself -- along and across its own axis from the uniform centroid -- so a placed centre now rides the link through drags, turns and deformations instead of going stale in world coordinates. - The mass table edits both columns in Edit mode and is read-only in the analysis modes, as everywhere else in the app; its header offers Switch to Edit mode, and the drawer now survives that switch instead of closing on the reader who just used it. Rejected entries get the app's own refusal snackbar instead of a silent revert. Units live in the column headers, values stand alone. - A weightless body cannot keep a moment of inertia: zeroing the mass zeroes the inertia and returns the field to the shape, at the one funnel every mutation passes through, so the state 'massless but resists turning' is unrepresentable from any door. - Sealed cylinder parts migrate to auto at decode: nothing that shipped ever offered a field for their inertia, so the values in circulating URLs are fixture defaults nobody chose. The cylinder card's promise -- inertia and centres follow each part's own shape -- is enforced by the table too, which no longer offers to type at them. - Requirement rows say Needed or Worth a look out loud; the drawer summary reads 'One blocker, one thing worth a look.'; and a force chart with holes says 'No solution at N of M positions' with Show them, which stands the mechanism at the first such position -- a toggle teaches better in person. Co-Authored-By: Claude Fable 5 --- .../analysis-graph.component.html | 11 ++ .../analysis-graph.component.scss | 26 ++++ .../analysis-graph.component.ts | 28 ++++- .../analysis-setup.component.html | 85 ++++++++----- .../analysis-setup.component.scss | 119 +++++++++++++++--- .../analysis-setup.component.ts | 112 +++++++++++++++-- .../edit-panel/edit-panel.component.html | 113 +++++++++-------- .../edit-panel/edit-panel.component.scss | 104 +++++++++++++++ .../edit-panel/edit-panel.component.ts | 101 +++++++++------ .../linkage-table/linkage-table.component.ts | 12 +- .../right-panel/right-panel.component.ts | 15 ++- src/app/model/link.ts | 51 ++++++++ .../mechanism/cylinder-mass-migration.spec.ts | 34 +++++ src/app/services/mechanism.service.ts | 25 +++- .../services/transcoding/mechanism-builder.ts | 17 +++ .../verification/uniform-body-links.spec.ts | 71 +++++++++++ 16 files changed, 767 insertions(+), 157 deletions(-) create mode 100644 src/app/model/mechanism/cylinder-mass-migration.spec.ts diff --git a/src/app/component/analysis-graph/analysis-graph.component.html b/src/app/component/analysis-graph/analysis-graph.component.html index ad386b50..75a42666 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.html +++ b/src/app/component/analysis-graph/analysis-graph.component.html @@ -1,3 +1,14 @@ +@if (analysisGap; as gap) { +
    + warning_amber + No solution at {{ gap.failed }} of {{ gap.total }} positions + +
    +} @if (analysisDiagnostic) {
    {{ analysisDiagnostic }}
    } @else { diff --git a/src/app/component/analysis-graph/analysis-graph.component.scss b/src/app/component/analysis-graph/analysis-graph.component.scss index f31523bd..a5b9354f 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.scss +++ b/src/app/component/analysis-graph/analysis-graph.component.scss @@ -100,3 +100,29 @@ line-height: 1.4; } } + +.analysis-gap { + display: flex; + align-items: center; + gap: 8px; + margin: 4px 0 8px; + padding: 6px 10px; + border-radius: 6px; + background: #fdf3dd; + color: #7a5600; + font-size: 12.5px; + + .gapIcon { font-size: 16px; width: 16px; height: 16px; } + + .gapShow { + margin-left: auto; + border: none; + background: none; + color: #7a5600; + font: inherit; + font-weight: 600; + cursor: pointer; + padding: 0; + text-decoration: underline; + } +} diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index d5058e12..7b6e710e 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -366,6 +366,20 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, noDataSelected: boolean = false; analysisDiagnostic: string | null = null; + /** + * A hole in an otherwise good force series: how many positions have no + * solution, and where the first one is, so Show Them can take the reader + * there. Those are toggle positions — reactions grow without bound as the + * mechanism approaches them — and standing the mechanism at one teaches + * more than any sentence about it. + */ + analysisGap: { failed: number; total: number; firstSeconds: number; mechIndex: number } | null = + null; + + showGapPosition(): void { + if (!this.analysisGap) return; + this.mechanismService.seekMechanism(this.analysisGap.mechIndex, this.analysisGap.firstSeconds); + } loading: boolean = false; private subscriptions = new Subscription(); @@ -923,10 +937,18 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, // silent gap at a toggle position reads as a plotting bug, when it is // the most physical thing on the chart. const failed = result.frames.length - result.successfulFrames; + const firstFailed = result.frames.find((frame) => frame.status !== 'ok'); + this.analysisGap = + hasFiniteData && failed > 0 && firstFailed + ? { + failed, + total: result.frames.length, + firstSeconds: firstFailed.timeSeconds, + mechIndex: Math.max(this.mechanismService.mechanisms.indexOf(mechanism), 0), + } + : null; this.analysisDiagnostic = hasFiniteData - ? failed > 0 - ? `${failed} of ${result.frames.length} positions have no solution — the chart has a gap there. Those are toggle positions: reactions grow without bound as the mechanism approaches them.` - : null + ? null : (result.diagnostic ?? (mechProp === 'Joint Forces' ? 'This point is internal to one welded body and has no independent joint reaction.' diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index 0f1d0197..6319a4c1 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -63,11 +63,16 @@ @for (requirement of forceRequirements; track requirement.title) { @if (!requirement.met) {
    - {{ - requirement.warning ? 'warning_amber' : 'radio_button_unchecked' + {{ + requirement.warning ? 'warning_amber' : 'error_outline' }}
    -
    {{ requirement.title }}
    +
    + {{ requirement.title }} + {{ + requirement.warning ? 'Worth a look' : 'Needed' + }} +

    {{ requirement.body }}

    @@ -81,41 +86,63 @@
    Masses + @if (!inEditMode()) { + + }
    - +
    + Body + Mass ({{ massUnitLabel() }}) + Rot. inertia ({{ inertiaUnitLabel() }}) + +
    @for (row of massRows(); track row.body.id) {
    - {{ row.label }} - - - {{ moiText(row) }} - @if (moiIsAuto(row) && row.body.mass > 0) { - auto - } + {{ row.label }} + + - @if (!(row.body.mass > 0)) { - massless + @if (row.isBlock) { + — } @else { - + + + + } +
    } -

    - Massless bodies weigh nothing and, unless a moment of inertia was set by hand, carry - no inertia — fine as an idealization. Moment of inertia and center of mass are edited - on the link in Edit mode; a cylinder's follow its parts automatically once derived - from shape in Edit Cylinder. -

    + @if (massEditable()) { +
    + from shape + set by you + +
    +

    + A body left at zero mass is skipped by gravity and inertia. Open a link to place its + center of mass. +

    + } @else { +

    Masses are read-only while forces are being analysed.

    + }
    } diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index 36b49706..472f4ac0 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -217,47 +217,115 @@ .massRow { display: grid; - grid-template-columns: minmax(72px, 1fr) 96px minmax(90px, 1fr) auto; + grid-template-columns: minmax(64px, 1fr) 84px minmax(96px, 1fr) 26px; gap: 8px; align-items: center; - padding: 4px 0; + padding: 3px 0; font-size: 13px; + + &.head { + font-size: 10.5px; + letter-spacing: 0.08em; + text-transform: uppercase; + color: rgba(0, 0, 0, 0.5); + font-weight: 600; + padding-bottom: 6px; + } } + .num { text-align: right; } + .massName { overflow: hidden; text-overflow: ellipsis; white-space: nowrap; + } - &.muted { - color: rgba(0, 0, 0, 0.45); - } + .massMoI { color: rgba(0, 0, 0, 0.6); } + + /* The dot anatomy, shared in spirit with the Edit panel's Mass Settings: + grey behind a hollow dot follows the shape, ink behind a filled one was + typed. */ + .dot { + display: inline-block; + width: 7px; + height: 7px; + border-radius: 50%; + border: 1.5px solid rgba(0, 0, 0, 0.4); + background: transparent; + flex: none; } - .massField { + .dot.filled { background: #3f51b5; border-color: #3f51b5; } + + .dotField { + display: inline-flex; + align-items: center; + gap: 5px; height: 28px; - padding: 0 8px; - border: 1px solid rgba(0, 0, 0, 0.2); + padding: 0 7px; border-radius: 4px; - font: inherit; - font-size: 13px; + background: rgba(0, 0, 0, 0.05); min-width: 0; - &:disabled { - background: rgba(0, 0, 0, 0.04); - color: rgba(0, 0, 0, 0.4); + input { + border: none; + background: none; + font: inherit; + font-size: 13px; + text-align: right; + width: 100%; + min-width: 0; + color: rgba(0, 0, 0, 0.5); + + &:focus { outline: none; } + &:disabled { color: rgba(0, 0, 0, 0.4); } } - } - .massMoI { - color: rgba(0, 0, 0, 0.6); - white-space: nowrap; + &.custom input { color: rgba(0, 0, 0, 0.87); } + } - .chip { - margin-left: 4px; + .dotLegend { + display: flex; + align-items: center; + gap: 6px; + padding: 8px 0 0; + font-size: 11.5px; + color: rgba(0, 0, 0, 0.55); + + .resetAll { + margin-left: auto; + border: none; + background: none; + color: #3f51b5; + font: inherit; + font-weight: 500; + cursor: pointer; + padding: 0; + + &:disabled { color: rgba(0, 0, 0, 0.3); cursor: default; } } } + .rowJump { + border: none; + background: none; + padding: 0; + cursor: pointer; + color: rgba(0, 0, 0, 0.4); + display: inline-flex; + + mat-icon { font-size: 16px; width: 16px; height: 16px; } + &:hover { color: #3f51b5; } + } + + .sectionHeader .actionButton.slim { + margin: 0; + height: 26px; + padding: 0 10px; + font-size: 12px; + } + .actionButton { margin-top: 10px; height: 32px; @@ -275,3 +343,16 @@ } } } + + .checkIcon.blocker { color: #b3261e; } + + .sevTag { + font-size: 10px; + letter-spacing: 0.08em; + text-transform: uppercase; + font-weight: 700; + color: #b3261e; + margin-left: 6px; + + &.warn { color: #9a6a00; } + } diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index 06e4ce36..eb82be5b 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -8,6 +8,8 @@ import { SettingsService } from '../../services/settings.service'; import { SelectedTabService, TabID } from '../../selected-tab.service'; import { MechanismReadiness, ReadinessCheck } from '../../model/mechanism/readiness'; import { MatIcon } from '@angular/material/icon'; +import { NewGridComponent } from '../new-grid/new-grid.component'; +import { NOT_A } from '../../ui-text'; /** One editable row of the mass table: a body, and what to call it. */ export interface MassRow { @@ -99,11 +101,14 @@ export class AnalysisSetupComponent { get summary(): string { if (this.mode() === 'force') { - const outstanding = this.forceOutstanding; - if (outstanding > 0) { - return `${outstanding} ${outstanding === 1 ? 'thing has' : 'things have'} to be set before forces can be solved.`; - } + const blockers = this.forceOutstanding; const warnings = this.forceWarnings; + if (blockers > 0) { + const blockerText = blockers === 1 ? 'One blocker' : `${blockers} blockers`; + return warnings > 0 + ? `${blockerText}, ${warnings === 1 ? 'one thing' : `${warnings} things`} worth a look.` + : `${blockerText} before forces can be solved.`; + } return warnings > 0 ? `Force analysis runs. ${warnings === 1 ? 'One thing below is' : `${warnings} things below are`} worth a look before trusting the numbers.` : 'Force analysis is ready to run.'; @@ -216,26 +221,93 @@ export class AnalysisSetupComponent { } massText(row: MassRow): string { - return this.nup.formatValueAndUnit(row.body.mass, this.massUnit()); + // Value only: the unit lives in the column header, never on the number. + return row.body.mass.toFixed(2); } moiText(row: MassRow): string { if (row.isBlock || !(row.body instanceof RealLink)) return '—'; - return this.nup.formatStoredInertia(row.body.massMoI, this.settings.lengthUnit.value); + const length = this.settings.lengthUnit.value; + return this.nup + .convertInertia( + row.body.massMoI, + this.nup.storedInertiaUnit(length), + this.nup.displayInertiaUnit(length) + ) + .toFixed(2); } moiIsAuto(row: MassRow): boolean { return row.body instanceof RealLink && !row.body.moiIsCustom; } - /** Rebuilds mid-play would fight the animation; a pause is one click away. */ + /** + * Whether this row's inertia can be typed at. A block is a point mass with + * no inertia of its own, and a sealed cylinder's parts always follow their + * own shapes — which is what lets the cylinder card promise exactly that. + */ + moiEditable(row: MassRow): boolean { + if (row.isBlock || !(row.body instanceof RealLink)) return false; + if (!(row.body.mass > 0)) return false; + return !this.mechanism.cylinderAt(row.body); + } + + massUnitLabel(): string { + return this.nup.unitLabel(this.nup.massUnitFor(this.settings.lengthUnit.value)); + } + + inertiaUnitLabel(): string { + return this.nup.unitLabel(this.nup.displayInertiaUnit(this.settings.lengthUnit.value)); + } + + /** + * Editing is an Edit-mode thing, as everywhere else in the app: the + * analysis modes read a solved cycle and hold it still. The header offers + * the mode switch, so the read-only state is one click from the editable + * one — with the drawer staying open across it. + */ massEditable(): boolean { - return !this.mechanism.isPlaying; + return this.tabs.getCurrentTab() === TabID.EDIT && !this.mechanism.isPlaying; + } + + inEditMode(): boolean { + return this.tabs.getCurrentTab() === TabID.EDIT; + } + + switchToEdit(): void { + this.tabs.setTab(TabID.EDIT); + } + + anyBodyIsCustom(): boolean { + return this.mechanism.links.some( + (link) => link instanceof RealLink && (link.moiIsCustom || link.comIsCustom) + ); + } + + resetAllBodies(): void { + if (!this.massEditable()) return; + for (const link of this.mechanism.links) { + if (link instanceof RealLink) { + link.moiIsCustom = false; + link.comIsCustom = false; + link.comOffset = undefined; + } + } + this.mechanism.updateMechanism(true); + this.mechanism.onMechUpdateState.next(2); } onMassEdit(row: MassRow, input: HTMLInputElement): void { - const [success, value] = this.nup.parseMassString(input.value, this.massUnit()); - if (!success || value < 0 || !this.massEditable()) { + if (!this.massEditable()) { + input.value = this.massText(row); + return; + } + const [success, value] = this.nup.parseMassString( + input.value, + this.nup.massUnitFor(this.settings.lengthUnit.value) + ); + if (!success || value < 0) { + NewGridComponent.sendNotification(NOT_A.mass); input.value = this.massText(row); return; } @@ -245,8 +317,24 @@ export class AnalysisSetupComponent { input.value = this.massText(row); } - private massUnit() { - return this.nup.massUnitFor(this.settings.lengthUnit.value); + onInertiaEdit(row: MassRow, input: HTMLInputElement): void { + if (!this.massEditable() || !this.moiEditable(row) || !(row.body instanceof RealLink)) { + input.value = this.moiText(row); + return; + } + const length = this.settings.lengthUnit.value; + const display = this.nup.displayInertiaUnit(length); + const [success, value] = this.nup.parseInertiaString(input.value, display); + if (!success || value < 0) { + NewGridComponent.sendNotification(NOT_A.momentOfInertia); + input.value = this.moiText(row); + return; + } + row.body.massMoI = this.nup.convertInertia(value, display, this.nup.storedInertiaUnit(length)); + row.body.moiIsCustom = true; + this.mechanism.updateMechanism(true); + this.mechanism.onMechUpdateState.next(2); + input.value = this.moiText(row); } /** diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index cec57790..7979dd58 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -402,58 +402,73 @@ Link MassMass
    - - @if (activeSrv.selectedLink.mass > 0 || activeSrv.selectedLink.massMoI > 0) { - Mass Moment of Inertia +
    + from shape + set by you +
    +
    + Center of Mass + +
    +
    + + + X + + @if (activeSrv.selectedLink.comIsCustom) { + + } + + + + Y + + @if (activeSrv.selectedLink.comIsCustom) { + + } + +
    +
    + Rotational Inertia + + + + {{ inertiaUnitLabel() }} + @if (activeSrv.selectedLink.moiIsCustom) { + + } + +
    @if (activeSrv.selectedLink.isCompound) { 0)) { + if (!success || value < 0) NewGridComponent.sendNotification(NOT_A.momentOfInertia); + this.refreshDerivedMassFields(); return; } this.activeSrv.selectedLink.massMoI = this.nup.convertInertia( @@ -1318,10 +1319,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { this.activeSrv.selectedLink.moiIsCustom = true; this.mechanismService.updateMechanism(true); this.mechanismService.onMechUpdateState.next(2); - this.linkForm.patchValue( - { massMoI: this.nup.formatValueAndUnit(value, display) }, - { emitEvent: false } - ); + this.refreshDerivedMassFields(); }) ); @@ -1532,21 +1530,10 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { this.settingsService.angleUnit.getValue() ), mass: this.nup.formatValueAndUnit(this.activeSrv.selectedLink.mass, this.massUnit()), - massMoI: this.nup.formatStoredInertia( - this.activeSrv.selectedLink.massMoI, - this.settingsService.lengthUnit.getValue() - ), - comX: this.nup.formatModelLength( - this.activeSrv.selectedLink.CoM.x, - this.settingsService.lengthUnit.getValue() - ), - comY: this.nup.formatModelLength( - this.activeSrv.selectedLink.CoM.y, - this.settingsService.lengthUnit.getValue() - ), }, { emitEvent: false } ); + this.refreshDerivedMassFields(); this.syncMassDependents(); // A cylinder body reuses the joint form's Input Settings controls // (speed, unit), so they have to be truthful when the body opens. @@ -1586,6 +1573,29 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { ); } + /** + * The frame the Center of Mass fields are typed and read in. Display-side + * only: whatever is chosen, the point is stored against the link itself + * (see RealLink.placeCustomCoM), so the numbers here are a view of it. + */ + comFrame: string = 'centroid'; + + setComFrame(frame: string): void { + this.comFrame = frame; + this.refreshDerivedMassFields(); + } + + /** Where the chosen frame's zero sits, in model coordinates. */ + private comFrameOrigin(link: RealLink): { x: number; y: number } { + if (this.comFrame === 'grid') return { x: 0, y: 0 }; + if (this.comFrame.startsWith('joint:')) { + const id = this.comFrame.slice('joint:'.length); + const joint = link.joints.find((candidate) => candidate.id === id); + if (joint) return { x: joint.x, y: joint.y }; + } + return uniformBodyOf(link.joints).centroid; + } + private updateLinkCenterOfMass(axis: 'x' | 'y', rawValue: string | null): void { const [success, value] = this.nup.parseModelLengthString( rawValue ?? '', @@ -1594,23 +1604,33 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { const link = this.activeSrv.selectedLink; if (!success) { this.notify.refusal('value.length', NOT_A.length); - this.linkForm.patchValue( - { - [axis === 'x' ? 'comX' : 'comY']: this.nup.formatModelLength( - link.CoM[axis], - this.settingsService.lengthUnit.getValue() - ), - }, - { emitEvent: false } - ); + this.refreshDerivedMassFields(); return; } - link.CoM[axis] = value; - link.comIsCustom = true; - link.updateCoMDs(); + const origin = this.comFrameOrigin(link); + const point = { + x: axis === 'x' ? origin.x + value : link.CoM.x, + y: axis === 'y' ? origin.y + value : link.CoM.y, + }; + link.placeCustomCoM(point); this.mechanismService.updateMechanism(true); this.mechanismService.onMechUpdateState.next(2); + this.refreshDerivedMassFields(); + } + + /** Hand both derived fields back to the shape at once. */ + useUniformBody(): void { + this.activeSrv.selectedLink.moiIsCustom = false; + this.activeSrv.selectedLink.comIsCustom = false; + this.activeSrv.selectedLink.comOffset = undefined; + this.mechanismService.updateMechanism(true); + this.mechanismService.onMechUpdateState.next(2); + this.refreshDerivedMassFields(); + } + + inertiaUnitLabel(): string { + return this.nup.unitLabel(this.nup.displayInertiaUnit(this.settingsService.lengthUnit.value)); } /** Hand a field back to the uniform body, and show what it derives. */ @@ -1623,6 +1643,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { useUniformBodyCoM(): void { this.activeSrv.selectedLink.comIsCustom = false; + this.activeSrv.selectedLink.comOffset = undefined; this.mechanismService.updateMechanism(true); this.mechanismService.onMechUpdateState.next(2); this.refreshDerivedMassFields(); @@ -1633,11 +1654,19 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { const link = this.activeSrv.selectedLink; if (!link) return; const length = this.settingsService.lengthUnit.getValue(); + const origin = this.comFrameOrigin(link); + const display = this.nup.displayInertiaUnit(length); + const inertia = this.nup.convertInertia( + link.massMoI, + this.nup.storedInertiaUnit(length), + display + ); this.linkForm.patchValue( { - massMoI: this.nup.formatStoredInertia(link.massMoI, length), - comX: this.nup.formatModelLength(link.CoM.x, length), - comY: this.nup.formatModelLength(link.CoM.y, length), + // Value only: the unit rides the field as a tag, never the number. + massMoI: inertia.toFixed(2), + comX: ((link.CoM.x - origin.x) / MODEL_SCALE).toFixed(2), + comY: ((link.CoM.y - origin.y) / MODEL_SCALE).toFixed(2), }, { emitEvent: false } ); diff --git a/src/app/component/linkage-table/linkage-table.component.ts b/src/app/component/linkage-table/linkage-table.component.ts index a4bd0b63..cc086d51 100644 --- a/src/app/component/linkage-table/linkage-table.component.ts +++ b/src/app/component/linkage-table/linkage-table.component.ts @@ -160,15 +160,19 @@ export class LinkageTableComponent implements OnInit { if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.length', NOT_A.length); } - link.CoM.x = Number(($event.target as HTMLInputElement).value) * MODEL_SCALE; - link.comIsCustom = true; + link.placeCustomCoM({ + x: Number(($event.target as HTMLInputElement).value) * MODEL_SCALE, + y: link.CoM.y, + }); break; case 'CoMY': if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.length', NOT_A.length); } - link.CoM.y = Number(($event.target as HTMLInputElement).value) * MODEL_SCALE; - link.comIsCustom = true; + link.placeCustomCoM({ + x: link.CoM.x, + y: Number(($event.target as HTMLInputElement).value) * MODEL_SCALE, + }); break; } this.mechanismService.updateMechanism(true); diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index 76a5ce85..bcd32b36 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -202,16 +202,23 @@ export class RightPanelComponent implements DoCheck { if (!this.isOpen) { return; } + // The force drawer holds the mass table, whose own header offers "Switch + // to Edit mode" — a switch that must not close the thing that offered it. + // So it survives Edit as well as Force, and only leaves for Synthesis. + const forceDrawerBelongs = tab === TabID.FORCE || tab === TabID.EDIT; const wanted = tab === TabID.FORCE ? RightPanelComponent.FORCE_SETUP_TAB : tab === TabID.ANALYZE ? RightPanelComponent.KINEMATIC_SETUP_TAB : -1; - const showingSetup = - this.openTab === RightPanelComponent.KINEMATIC_SETUP_TAB || - this.openTab === RightPanelComponent.FORCE_SETUP_TAB; - if (showingSetup && this.openTab !== wanted) { + if (this.openTab === RightPanelComponent.FORCE_SETUP_TAB) { + if (!forceDrawerBelongs) { + this.isOpen = false; + } + return; + } + if (this.openTab === RightPanelComponent.KINEMATIC_SETUP_TAB && this.openTab !== wanted) { this.isOpen = false; } } diff --git a/src/app/model/link.ts b/src/app/model/link.ts index 5cdf63ee..4e58f008 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -1,4 +1,5 @@ import { Joint, PrisJoint, RealJoint } from './joint'; +import { uniformBodyOf } from './uniform-body'; import { Coord } from './coord'; import { Force } from './force'; import { degToRad, determineSlope, getAngle, getDistance, radToDeg } from './utils'; @@ -153,6 +154,56 @@ export class RealLink extends Link { */ public moiIsCustom = false; public comIsCustom = false; + /** + * A hand-placed centre of mass, held against the link's own frame: along + * and across the unit direction joints[0]→joints[1], measured from the + * uniform-body centroid. "Stored against the centroid" is what lets a + * placed point ride the link through drags, rotations and deformations — + * a world coordinate goes stale the moment the mechanism moves. The URL + * still carries the global coordinate; this is re-captured at decode. + */ + public comOffset?: { along: number; across: number }; + + /** The link's own frame: origin at the uniform centroid, x̂ along joints[0]→joints[1]. */ + private comFrame(): { origin: Coord; ux: number; uy: number } { + const origin = uniformBodyOf(this.joints).centroid; + const a = this.joints[0]; + const b = this.joints[1]; + const span = a && b ? Math.hypot(b.x - a.x, b.y - a.y) : 0; + // A degenerate frame (one joint, or two on top of each other) falls back + // to the world axes, which at least keeps the offset well-defined. + if (!(span > 1e-9)) return { origin, ux: 1, uy: 0 }; + return { origin, ux: (b.x - a.x) / span, uy: (b.y - a.y) / span }; + } + + /** Place the centre of mass by hand: flags it custom and captures the offset. */ + placeCustomCoM(point: { x: number; y: number }): void { + this.comIsCustom = true; + this._CoM = new Coord(point.x, point.y); + this.captureComOffset(); + this.updateCoMDs(); + } + + /** Re-read the local offset from wherever the CoM currently is. */ + captureComOffset(): void { + const frame = this.comFrame(); + const dx = this._CoM.x - frame.origin.x; + const dy = this._CoM.y - frame.origin.y; + this.comOffset = { + along: dx * frame.ux + dy * frame.uy, + across: -dx * frame.uy + dy * frame.ux, + }; + } + + /** Where the captured offset lands in today's geometry. */ + customCoMFromOffset(): Coord | undefined { + if (!this.comOffset) return undefined; + const frame = this.comFrame(); + return new Coord( + frame.origin.x + this.comOffset.along * frame.ux - this.comOffset.across * frame.uy, + frame.origin.y + this.comOffset.along * frame.uy + this.comOffset.across * frame.ux + ); + } constructor( id: string, diff --git a/src/app/model/mechanism/cylinder-mass-migration.spec.ts b/src/app/model/mechanism/cylinder-mass-migration.spec.ts new file mode 100644 index 00000000..ec399786 --- /dev/null +++ b/src/app/model/mechanism/cylinder-mass-migration.spec.ts @@ -0,0 +1,34 @@ +import { Mechanism } from './mechanism'; +import { TEMPLATE_LINKAGES } from '../../component/MODALS/templates/template-linkages'; +import { buildMechanismFixture } from '../../../tests/fixtures/mechanism-fixtures'; +import { RealLink } from '../link'; +import { sealedCylinderStructures } from '../cylinder'; + +// Imports mirror force-solver.fixture.spec.ts exactly: the model modules form +// a cycle that only initializes cleanly when entered in the order the app +// enters it, and this file's entry point is the fixture builder. +void Mechanism; + +describe('cylinder parts arriving from a URL', () => { + it("migrate to auto: their inertia was never anybody's choice", () => { + // Nothing that shipped ever offered a field for a sealed part's inertia + // or centre — the values in circulating URLs are fixture defaults. The + // decoder hands the parts back to their shapes; masses stay as stored, + // because mass carries no flag and is always somebody's choice. + const { service } = buildMechanismFixture(TEMPLATE_LINKAGES['Cylinder_Boom']); + const sealed = sealedCylinderStructures(service.joints); + expect(sealed.length).toBe(1); + for (const part of [sealed[0].barrel, sealed[0].rod]) { + expect(part instanceof RealLink).toBe(true); + expect((part as RealLink).moiIsCustom).toBe(false); + expect((part as RealLink).comIsCustom).toBe(false); + } + // The ordinary link in the same URL keeps its legacy frozen values. + const boom = service.links.find( + (link: unknown) => + link instanceof RealLink && !sealed.some((cyl) => cyl.barrel === link || cyl.rod === link) + ) as RealLink; + expect(boom.moiIsCustom).toBe(true); + expect(boom.comIsCustom).toBe(true); + }); +}); diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 2246a6d6..2aa104ea 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -1009,6 +1009,7 @@ export class MechanismService { // leave the compound following its geometry too. newLink.moiIsCustom = leaves.some((leaf) => leaf instanceof RealLink && leaf.moiIsCustom); newLink.comIsCustom = leaves.some((leaf) => leaf instanceof RealLink && leaf.comIsCustom); + if (newLink.comIsCustom) newLink.captureComOffset(); newLink.fill = leaves[0]?.fill ?? ColorService.instance?.getNextLinkColor() ?? '#555555'; return newLink; } @@ -2058,6 +2059,28 @@ export class MechanismService { const factor = this.storedMoiFactor(unitStr); for (const link of this.links) { if (!(link instanceof RealLink)) continue; + // A body with no mass has no moment of inertia, full stop: the solver + // applies I·α regardless of mass, so a leftover typed inertia on a + // weightless bar would quietly steer every dynamic answer. Zeroing the + // mass zeroes the inertia and hands the field back to the shape, which + // is also what the panel shows (the field disables and reads 0). + if (!(link.mass > 0) && (link.massMoI !== 0 || link.moiIsCustom)) { + link.massMoI = 0; + link.moiIsCustom = false; + } + if (link.comIsCustom) { + // A placed point rides the link: re-derived from its stored offset + // against the centroid, so drags, turns and deformations carry it. + const placed = link.customCoMFromOffset(); + if (placed) { + link.CoM = placed; + link.updateCoMDs(); + } else { + // Decoded from a URL that only carries the world coordinate: + // capture the offset once, against today's geometry. + link.captureComOffset(); + } + } if (link.moiIsCustom && link.comIsCustom) continue; const derived = this.uniformBodyFor(link, factor); if (!link.comIsCustom) { @@ -2196,7 +2219,7 @@ export class MechanismService { .map((link) => link.name || link.id) .join( ', ' - )} ${massless.length === 1 ? 'weighs' : 'weigh'} nothing, so gravity and inertia pass ${massless.length === 1 ? 'it' : 'them'} by. Fine for an idealized bar — set Link Mass in Mass Settings to include ${massless.length === 1 ? 'it' : 'them'}.`, + )} ${massless.length === 1 ? 'weighs' : 'weigh'} nothing, so gravity and inertia pass ${massless.length === 1 ? 'it' : 'them'} by. Fine for an idealized bar — type a mass in the table below to include ${massless.length === 1 ? 'it' : 'them'}.`, }); // Something has to load the linkage, but weight counts: with gravity on, diff --git a/src/app/services/transcoding/mechanism-builder.ts b/src/app/services/transcoding/mechanism-builder.ts index 1f58db18..707097ff 100644 --- a/src/app/services/transcoding/mechanism-builder.ts +++ b/src/app/services/transcoding/mechanism-builder.ts @@ -3,6 +3,7 @@ import { MechanismService } from '../mechanism.service'; import { Link, SliderBlock, RealLink } from 'src/app/model/link'; import { Force } from 'src/app/model/force'; import { Coord } from 'src/app/model/coord'; +import { sealedCylinderStructures } from 'src/app/model/cylinder'; import { GenericTranscoder } from './transcoder-interface'; import { ForceData, JOINT_TYPE, JointData, LINK_TYPE, LinkData } from './transcoder-data'; import { SettingsService } from '../settings.service'; @@ -280,6 +281,22 @@ export class MechanismBuilder { } }); + // A sealed cylinder's parts always follow their own shapes. Nothing that + // shipped ever let anyone choose their inertia or centres — the values in + // circulating URLs are fixture defaults — so decoding migrates the parts + // to auto rather than freezing numbers nobody picked. Masses stay exactly + // as stored: mass carries no flag and is always somebody's choice. After + // addAdjacentLinksForJoints, which is what wires the joints to their + // links; before it, the structure detector sees no cylinders at all. + for (const sealed of sealedCylinderStructures(joints)) { + for (const part of [sealed.barrel, sealed.rod]) { + if (part instanceof RealLink) { + part.moiIsCustom = false; + part.comIsCustom = false; + } + } + } + // What was selected before this rebuild, re-found among the new objects. // // The URL used to carry the selection, which made it two things it should diff --git a/src/tests/verification/uniform-body-links.spec.ts b/src/tests/verification/uniform-body-links.spec.ts index c73236c8..197922d6 100644 --- a/src/tests/verification/uniform-body-links.spec.ts +++ b/src/tests/verification/uniform-body-links.spec.ts @@ -8,6 +8,7 @@ import { LengthUnit } from '../../app/model/utils'; import { StringTranscoder } from '../../app/services/transcoding/string-transcoder'; import { LinkData, LINK_TYPE } from '../../app/services/transcoding/transcoder-data'; import { createMechanismHarness, MechanismHarness } from '../../test-utils/mechanism-harness'; +import { uniformBodyOf } from '../../app/model/uniform-body'; // Auto-derived mass properties, end to end: a link left in auto follows its // own geometry through every edit, a link somebody typed at holds still, and @@ -96,6 +97,76 @@ describe('auto mass properties on the editable mechanism', () => { }); }); +describe('a placed centre of mass rides the link', () => { + it('keeps its offset through a translation of the whole link', () => { + const harness = createMechanismHarness(); + const [ab] = twoBarChain(harness); + ab.mass = 12; + // Place it 0.5 user units past the midpoint, along the bar. + ab.placeCustomCoM({ x: 1.8 * MODEL_SCALE, y: 2.4 * MODEL_SCALE }); + harness.service.updateMechanism(); + + const a = harness.service.joints.find((joint) => joint.id === 'A')!; + const b = harness.service.joints.find((joint) => joint.id === 'B')!; + a.x += 2 * MODEL_SCALE; + b.x += 2 * MODEL_SCALE; + harness.service.updateMechanism(); + + // Stored against the link, so it moved with it — not left in the world. + expect(ab.CoM.x).toBeCloseTo(3.8 * MODEL_SCALE, 6); + expect(ab.CoM.y).toBeCloseTo(2.4 * MODEL_SCALE, 6); + }); + + it('turns with the link when its direction changes', () => { + const harness = createMechanismHarness(); + const [ab] = twoBarChain(harness); + ab.mass = 12; + // Half a unit off-axis from the centroid of the bar A(0,0)->B(3,4). + const centroid = { x: 1.5 * MODEL_SCALE, y: 2 * MODEL_SCALE }; + ab.placeCustomCoM({ x: centroid.x + 0.4 * MODEL_SCALE, y: centroid.y - 0.3 * MODEL_SCALE }); + harness.service.updateMechanism(); + const before = { along: ab.comOffset!.along, across: ab.comOffset!.across }; + + // Swing B so the bar points somewhere new; the offset decomposition + // against the bar's own frame must be what holds still. + const b = harness.service.joints.find((joint) => joint.id === 'B')!; + b.x = -4 * MODEL_SCALE; + b.y = 3 * MODEL_SCALE; + harness.service.updateMechanism(); + + expect(ab.comOffset!.along).toBeCloseTo(before.along, 6); + expect(ab.comOffset!.across).toBeCloseTo(before.across, 6); + const frameNow = uniformBodyOf(ab.joints).centroid; + const distance = Math.hypot(ab.CoM.x - frameNow.x, ab.CoM.y - frameNow.y); + expect(distance).toBeCloseTo(0.5 * MODEL_SCALE, 6); + }); +}); + +describe('a weightless body cannot keep a moment of inertia', () => { + it('zeroes and re-derives the inertia when the mass goes to zero', () => { + // The solver applies I·α whether or not there is mass, so the state + // "weightless but resists turning" must be unrepresentable — zeroing the + // mass zeroes the inertia and hands the field back to the shape. + const harness = createMechanismHarness(); + const [ab] = twoBarChain(harness); + ab.mass = 12; + ab.massMoI = 7; + ab.moiIsCustom = true; + harness.service.updateMechanism(); + expect(ab.massMoI).toBe(7); + + ab.mass = 0; + harness.service.updateMechanism(); + expect(ab.massMoI).toBe(0); + expect(ab.moiIsCustom).toBe(false); + + // Mass returned: the inertia comes back derived, not as a stale 7. + ab.mass = 12; + harness.service.updateMechanism(); + expect(ab.massMoI).toBeCloseTo(0.025, 9); + }); +}); + describe('the auto/custom flags in the URL', () => { const roundTrip = (moiIsCustom: boolean, comIsCustom: boolean) => { const transcoder = new StringTranscoder() as any; From 2ada1a74c6bbb0b1928cd5675e5f5235b828f0dd Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sat, 15 Aug 2026 15:37:30 -0400 Subject: [PATCH 111/236] Close the review's four: the offset survives units, deletions, and back doors GPT-5.6 sol live-reproduced each of these against the built app: - A unit change rescales every joint and the placed point, but the stored along/across offset is in model lengths too: left stale, the next rebuild threw a custom centre a hundred times as far as its author put it. The conversion now re-reads the offset from the correctly scaled point, and a regression test walks cm to metres. - The offset's frame is now anchored to two *named* joints -- the farthest pair at capture, not whatever sits at positions 0 and 1 -- so deleting or reordering a joint can no longer silently reinterpret the numbers against a different axis. When a named joint leaves the link, the point stays where it was and the offset rebases to the pair the link still has. Choosing the farthest pair also stops a coincident first pair degrading the frame to world axes. - The development linkage table loses its back door: it can no longer re-freeze a sealed cylinder part's inertia that decode just migrated. Known quirk, pre-existing in kind: uniform-body-links.spec now trips the model module-cycle when run with --include in isolation, while the full suite (which is what CI runs) is green -- the same entry-order sensitivity the 'joint.ts first' comments in other specs exist for. Co-Authored-By: Claude Fable 5 --- .../linkage-table/linkage-table.component.ts | 3 + src/app/model/link.ts | 64 ++++++++++++++++--- src/app/services/mechanism.service.ts | 4 ++ .../verification/uniform-body-links.spec.ts | 22 +++++++ 4 files changed, 83 insertions(+), 10 deletions(-) diff --git a/src/app/component/linkage-table/linkage-table.component.ts b/src/app/component/linkage-table/linkage-table.component.ts index cc086d51..6d666d33 100644 --- a/src/app/component/linkage-table/linkage-table.component.ts +++ b/src/app/component/linkage-table/linkage-table.component.ts @@ -153,6 +153,9 @@ export class LinkageTableComponent implements OnInit { if (isNaN(Number(($event.target as HTMLInputElement).value))) { return this.notify.refusal('value.momentOfInertia', NOT_A.momentOfInertia); } + // A sealed cylinder's parts always follow their own shapes — the + // debug table gets no back door to re-freeze them. + if (this.mechanismService.cylinderAt(link)) break; link.massMoI = Number(($event.target as HTMLInputElement).value); link.moiIsCustom = true; break; diff --git a/src/app/model/link.ts b/src/app/model/link.ts index 4e58f008..5143b3cc 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -162,18 +162,53 @@ export class RealLink extends Link { * a world coordinate goes stale the moment the mechanism moves. The URL * still carries the global coordinate; this is re-captured at decode. */ - public comOffset?: { along: number; across: number }; + public comOffset?: { along: number; across: number; frame: [string, string] }; - /** The link's own frame: origin at the uniform centroid, x̂ along joints[0]→joints[1]. */ - private comFrame(): { origin: Coord; ux: number; uy: number } { + /** + * The link's own frame: origin at the uniform centroid, x̂ along the two + * *named* joints — the farthest pair at capture time, so the axis is never + * degenerate by accident and never silently reinterpreted when the joints + * array reorders. `ok` is false when a named joint has left the link, which + * tells the caller to rebase rather than trust a different pair. + */ + private comFrame(pair?: [string, string]): { + origin: Coord; + ux: number; + uy: number; + pair: [string, string]; + ok: boolean; + } { const origin = uniformBodyOf(this.joints).centroid; - const a = this.joints[0]; - const b = this.joints[1]; + let a = pair ? this.joints.find((joint) => joint.id === pair[0]) : undefined; + let b = pair ? this.joints.find((joint) => joint.id === pair[1]) : undefined; + const named = !!(a && b); + if (!named) { + // The farthest pair: the most stable axis the link has. + let longest = -1; + for (let i = 0; i < this.joints.length; i++) { + for (let j = i + 1; j < this.joints.length; j++) { + const span = + (this.joints[i].x - this.joints[j].x) ** 2 + + (this.joints[i].y - this.joints[j].y) ** 2; + if (span > longest) { + longest = span; + a = this.joints[i]; + b = this.joints[j]; + } + } + } + } const span = a && b ? Math.hypot(b.x - a.x, b.y - a.y) : 0; - // A degenerate frame (one joint, or two on top of each other) falls back - // to the world axes, which at least keeps the offset well-defined. - if (!(span > 1e-9)) return { origin, ux: 1, uy: 0 }; - return { origin, ux: (b.x - a.x) / span, uy: (b.y - a.y) / span }; + if (!a || !b || !(span > 1e-9)) { + return { origin, ux: 1, uy: 0, pair: [a?.id ?? '', b?.id ?? ''], ok: named }; + } + return { + origin, + ux: (b.x - a.x) / span, + uy: (b.y - a.y) / span, + pair: [a.id, b.id], + ok: !pair || named, + }; } /** Place the centre of mass by hand: flags it custom and captures the offset. */ @@ -192,13 +227,22 @@ export class RealLink extends Link { this.comOffset = { along: dx * frame.ux + dy * frame.uy, across: -dx * frame.uy + dy * frame.ux, + frame: frame.pair, }; } /** Where the captured offset lands in today's geometry. */ customCoMFromOffset(): Coord | undefined { if (!this.comOffset) return undefined; - const frame = this.comFrame(); + const frame = this.comFrame(this.comOffset.frame); + if (!frame.ok) { + // A frame joint left the link (deleted, merged away). The point itself + // is still where it was, so rebase: keep the CoM, re-anchor the offset + // to the pair the link has now, rather than silently reading the old + // numbers against a different axis. + this.captureComOffset(); + return new Coord(this._CoM.x, this._CoM.y); + } return new Coord( frame.origin.x + this.comOffset.along * frame.ux - this.comOffset.across * frame.uy, frame.origin.y + this.comOffset.along * frame.uy + this.comOffset.across * frame.ux diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 2aa104ea..8da292c6 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -668,6 +668,10 @@ export class MechanismService { link.massMoI *= inertiaScale; link.CoM.x *= lengthScale; link.CoM.y *= lengthScale; + // The stored along/across offset is in model lengths too; re-read it + // from the correctly scaled point, or the next rebuild would derive + // the CoM from a stale offset and throw it lengthScale times as far. + if (link.comIsCustom) link.captureComOffset(); link.subset.forEach(updateLink); link.updateLengthAndAngle(); link.updateCoMDs(); diff --git a/src/tests/verification/uniform-body-links.spec.ts b/src/tests/verification/uniform-body-links.spec.ts index 197922d6..00141b3f 100644 --- a/src/tests/verification/uniform-body-links.spec.ts +++ b/src/tests/verification/uniform-body-links.spec.ts @@ -142,6 +142,28 @@ describe('a placed centre of mass rides the link', () => { }); }); +describe('a placed centre of mass survives a unit change', () => { + it('scales with the geometry instead of reading a stale offset', () => { + // The offset is stored in model lengths; a cm→m conversion rescales the + // joints and the point, and the offset has to be re-read from the scaled + // point — or the next rebuild derives the CoM from stale numbers and + // throws it a hundred times as far as the author put it. + const harness = createMechanismHarness(); + const [ab] = twoBarChain(harness); + ab.mass = 12; + ab.placeCustomCoM({ x: 1.8 * MODEL_SCALE, y: 2.4 * MODEL_SCALE }); + harness.service.updateMechanism(); + + harness.service.updateLinkageUnits(LengthUnit.CM, LengthUnit.METER); + harness.settings.lengthUnit.next(LengthUnit.METER); + harness.service.updateMechanism(); + + // cm→m divides every coordinate by 100; the placed point rides along. + expect(ab.CoM.x).toBeCloseTo((1.8 * MODEL_SCALE) / 100, 6); + expect(ab.CoM.y).toBeCloseTo((2.4 * MODEL_SCALE) / 100, 6); + }); +}); + describe('a weightless body cannot keep a moment of inertia', () => { it('zeroes and re-derives the inertia when the mass goes to zero', () => { // The solver applies I·α whether or not there is mass, so the state From 3c5b0430fcb6ef47942247af13b62bac011ae7bd Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sat, 15 Aug 2026 16:36:33 -0400 Subject: [PATCH 112/236] Visual sweep: one field anatomy, ink where a person typed, room for the arrow The screenshots did not match the mock, and mostly did not match each other: - Mass fields everywhere (link panel, cylinder card, table) now share the field anatomy -- value-only number, unit as a tag on the field -- instead of half the fields baking 'g' into the typable text. Mass reads in ink in the table too: grey is reserved for values that follow the shape, and mass is always somebody's. - The dots slim to 6px with a hairline border, matching the mock's weight; labels take the same grey as the app's other field labels; digits set in tabular figures. - The table's columns are cut to what the drawer actually is (328px, not the 420 the first cut assumed): full part names, a one-line header with its units, and the jump arrows inside the drawer instead of past it. Grid cells get min-width 0 so a field's own content cannot shove its neighbours off the edge. - The wide field floors at its own content, so a tight row wraps its label instead of squeezing the number (or the clear) out of the pill -- the Rotational Inertia field briefly rendered as a dot, a unit, a clear, and no number. - Rejected panel entries get the refusal snackbar, same as the table. Co-Authored-By: Claude Fable 5 --- .../analysis-setup.component.html | 2 +- .../analysis-setup.component.scss | 37 ++++++++---- .../edit-panel/edit-panel.component.html | 56 +++++++++++-------- .../edit-panel/edit-panel.component.scss | 29 +++++++--- .../edit-panel/edit-panel.component.ts | 31 +++++----- 5 files changed, 93 insertions(+), 62 deletions(-) diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index 6319a4c1..3cf37433 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -100,7 +100,7 @@ @for (row of massRows(); track row.body.id) {
    {{ row.label }} - + * { min-width: 0; } + gap: 6px; align-items: center; padding: 3px 0; font-size: 13px; &.head { - font-size: 10.5px; - letter-spacing: 0.08em; + font-size: 9.5px; + letter-spacing: 0.05em; text-transform: uppercase; color: rgba(0, 0, 0, 0.5); font-weight: 600; padding-bottom: 6px; + white-space: nowrap; } } @@ -248,10 +253,10 @@ typed. */ .dot { display: inline-block; - width: 7px; - height: 7px; + width: 6px; + height: 6px; border-radius: 50%; - border: 1.5px solid rgba(0, 0, 0, 0.4); + border: 1px solid rgba(0, 0, 0, 0.38); background: transparent; flex: none; } @@ -261,9 +266,9 @@ .dotField { display: inline-flex; align-items: center; - gap: 5px; - height: 28px; - padding: 0 7px; + gap: 4px; + height: 26px; + padding: 0 6px; border-radius: 4px; background: rgba(0, 0, 0, 0.05); min-width: 0; @@ -272,17 +277,23 @@ border: none; background: none; font: inherit; - font-size: 13px; + font-size: 12.5px; + font-variant-numeric: tabular-nums; text-align: right; width: 100%; min-width: 0; color: rgba(0, 0, 0, 0.5); &:focus { outline: none; } - &:disabled { color: rgba(0, 0, 0, 0.4); } } + /* Mass is always typed, so it always reads in ink — grey is reserved for + values that follow the shape. Disabling greys either kind slightly. */ + &.typed input, &.custom input { color: rgba(0, 0, 0, 0.87); } + &.typed input:disabled, + &.custom input:disabled { color: rgba(0, 0, 0, 0.6); } + input:disabled { color: rgba(0, 0, 0, 0.4); } } .dotLegend { @@ -314,6 +325,8 @@ cursor: pointer; color: rgba(0, 0, 0, 0.4); display: inline-flex; + justify-content: center; + width: 22px; mat-icon { font-size: 16px; width: 16px; height: 16px; } &:hover { color: #3f51b5; } diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index 7979dd58..34dc6997 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -312,24 +312,27 @@ rod's mass is spread along its length while the head's rides the pin — the number that matters in a reciprocating machine. Inertia and centres stay automatic (uniform body per part). --> - Barrel Mass - Rod Mass - Piston Head Mass +
    + Barrel + + + {{ massUnitTag() }} + +
    +
    + Rod + + + {{ massUnitTag() }} + +
    +
    + Piston head + + + {{ massUnitTag() }} + +
    @if (cylinderHasCustomInertia()) { - Mass +
    + Mass + + + {{ massUnitTag() }} + +
    Barrel - + {{ massUnitTag() }}
    Rod - + {{ massUnitTag() }}
    Piston head - + {{ massUnitTag() }}
    +

    Rotational inertia and centers follow each part's own shape.

    @if (cylinderHasCustomInertia()) { Date: Sat, 15 Aug 2026 21:27:51 -0400 Subject: [PATCH 114/236] Adapt to the standalone migration underneath The rebase landed on a multi-mech head that had migrated components to standalone/inject()/signals and replaced the static grid notifier with NotificationService. The mass surfaces follow suit: refusals go through notify.refusal with the 'value.*' ids, the setup drawer reads mode() as the signal it now is, and the subtitle block and chart icon join the standalone imports of the panels that render them. Co-Authored-By: Claude Fable 5 --- .../component/analysis-graph/analysis-graph.component.ts | 3 ++- .../component/analysis-setup/analysis-setup.component.ts | 7 ++++--- src/app/component/edit-panel/edit-panel.component.ts | 9 +++++---- 3 files changed, 11 insertions(+), 8 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 7b6e710e..d9a02258 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -1,3 +1,4 @@ +import { MatIcon } from '@angular/material/icon'; import { AfterViewInit, Component, @@ -155,7 +156,7 @@ export function defaultSeriesSelection(count: number, analysis: string): SeriesS ]), ], changeDetection: ChangeDetectionStrategy.Eager, - imports: [AnalysisApexChartComponent], + imports: [AnalysisApexChartComponent, MatIcon], }) export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, OnChanges { private fb = inject(FormBuilder); diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index 7c4f1e89..e2968a8f 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -8,7 +8,7 @@ import { SettingsService } from '../../services/settings.service'; import { SelectedTabService, TabID } from '../../selected-tab.service'; import { MechanismReadiness, ReadinessCheck } from '../../model/mechanism/readiness'; import { MatIcon } from '@angular/material/icon'; -import { NewGridComponent } from '../new-grid/new-grid.component'; +import { NotificationService } from '../../services/notification.service'; import { NOT_A } from '../../ui-text'; /** One editable row of the mass table: a body, and what to call it. */ @@ -44,6 +44,7 @@ export class AnalysisSetupComponent { private tabs = inject(SelectedTabService); nup = inject(NumberUnitParserService); settings = inject(SettingsService); + private notify = inject(NotificationService); /** * Which question this drawer is answering. @@ -312,7 +313,7 @@ export class AnalysisSetupComponent { this.nup.massUnitFor(this.settings.lengthUnit.value) ); if (!success || value < 0) { - NewGridComponent.sendNotification(NOT_A.mass); + this.notify.refusal('value.mass', NOT_A.mass); input.value = this.massText(row); return; } @@ -331,7 +332,7 @@ export class AnalysisSetupComponent { const display = this.nup.displayInertiaUnit(length); const [success, value] = this.nup.parseInertiaString(input.value, display); if (!success || value < 0) { - NewGridComponent.sendNotification(NOT_A.momentOfInertia); + this.notify.refusal('value.inertia', NOT_A.momentOfInertia); input.value = this.moiText(row); return; } diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index 06683403..26960426 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -33,8 +33,8 @@ import { MechanismService } from '../../services/mechanism.service'; import { GridUtilsService } from '../../services/grid-utils.service'; import { Link, RealLink } from '../../model/link'; import { NewGridComponent } from '../new-grid/new-grid.component'; -import { NOT_A } from '../../ui-text'; import { MODEL_SCALE } from '../../model/render-scale'; +import { SubtitleComponent } from '../BLOCKS/subtitle/subtitle.component'; import { uniformBodyOf } from '../../model/uniform-body'; import { cylinderSpanLayoutFrom, @@ -80,6 +80,7 @@ const INPUT_SPEED_UNITS = [ PanelSectionCollapsibleComponent, TitleBlock, MatIcon, + SubtitleComponent, MechanismPanelComponent, PanelSectionComponent, EditableTitleComponent, @@ -657,7 +658,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { const body = part(sealed); const [success, value] = this.nup.parseMassString(raw ?? '', units); if (!success || value < 0) { - NewGridComponent.sendNotification(NOT_A.mass); + this.notify.refusal('value.mass', NOT_A.mass); this.cylinderForm.patchValue({ [control]: body.mass.toFixed(2) }, { emitEvent: false }); return; } @@ -1274,7 +1275,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { const units = this.massUnit(); const [success, value] = this.nup.parseMassString(val ?? '', units); if (!success || value < 0) { - NewGridComponent.sendNotification(NOT_A.mass); + this.notify.refusal('value.mass', NOT_A.mass); this.linkForm.patchValue( { mass: this.activeSrv.selectedLink.mass.toFixed(2) }, { emitEvent: false } @@ -1300,7 +1301,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { const display = this.nup.displayInertiaUnit(length); const [success, value] = this.nup.parseInertiaString(val ?? '', display); if (!success || value < 0 || !(this.activeSrv.selectedLink.mass > 0)) { - if (!success || value < 0) NewGridComponent.sendNotification(NOT_A.momentOfInertia); + if (!success || value < 0) this.notify.refusal('value.inertia', NOT_A.momentOfInertia); this.refreshDerivedMassFields(); return; } From ab135f936ebc6513e5df40f572464267f4bf9ad8 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sat, 15 Aug 2026 22:21:01 -0400 Subject: [PATCH 115/236] Match the revised mock exactly: units typed into the box, like every field The designer's revision makes the rule explicit: fields match the Basic Settings input -- 30px, body-2, value left-aligned, the unit typed into the same box rather than pinned on as grey trim. So every mass and inertia field across the panel, the cylinder card and the table now reads '50.00 g' and '1000.00 g-cm2' as one typable string in one font, parsed back with or without its suffix, exactly like the app's pre-existing fields. With it, the rest of the revision: the state dot moves inside the field's right edge (and the centre-of-mass axis letters step outside); the hairline moves from under the legend -- where it read as underlining a caption -- to under the table header, where the mock draws it; the panel legend compresses to 'shape / yours'; a weightless row mutes as one thing, with disabled 0.00 fields instead of a dash (blocks included, whose zero inertia is a fact, not a missing column); and the zero-mass panel says what the mock says: a weightless body has nothing to place or to turn. Co-Authored-By: Claude Fable 5 --- .../analysis-setup.component.html | 30 ++++++++----------- .../analysis-setup.component.scss | 24 ++++++++++----- .../analysis-setup.component.ts | 26 +++++++++------- .../edit-panel/edit-panel.component.html | 24 +++++++-------- .../edit-panel/edit-panel.component.scss | 20 ++++++++----- .../edit-panel/edit-panel.component.ts | 30 ++++++++++++------- 6 files changed, 89 insertions(+), 65 deletions(-) diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index 0d6c536f..7cd64043 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -93,12 +93,12 @@
    Body - Mass ({{ massUnitLabel() }}) - Rot. inertia ({{ inertiaUnitLabel() }}) + Mass + Rotational inertia
    @for (row of massRows(); track row.body.id) { -
    +
    {{ row.label }} - @if (row.isBlock) { - — - } @else { - - @if (massEditable()) { - - } - - - } + + + @if (massEditable() && !row.isBlock && row.body.mass > 0) { + + } + @if (massEditable()) {
    Rod - {{ massUnitTag() }}
    Piston head - {{ massUnitTag() }}

    Rotational inertia and centers follow each part's own shape.

    @@ -411,7 +408,6 @@ > - {{ massUnitTag() }}
    - from shape - set by you + shape + yours
    + X - - X + @if (activeSrv.selectedLink.comIsCustom) { } + Y - - Y + @if (activeSrv.selectedLink.comIsCustom) { } @@ -470,14 +466,18 @@ [class.custom]="activeSrv.selectedLink.moiIsCustom" [class.off]="!(activeSrv.selectedLink.mass > 0)" > - - {{ inertiaUnitLabel() }} + @if (activeSrv.selectedLink.mass > 0) { + + } @if (activeSrv.selectedLink.moiIsCustom) { }
    + @if (!(activeSrv.selectedLink.mass > 0)) { +

    A weightless body has nothing to place or to turn.

    + } @if (activeSrv.selectedLink.isCompound) { Date: Sat, 15 Aug 2026 22:52:37 -0400 Subject: [PATCH 116/236] The mass fields ARE the app's input fields now, and the legend sits flush The request was simple and right: stop hand-rolling input fields. Every mass and inertia field -- Edit panel, cylinder card, and the whole table -- is now the same input-block / dual-input-block every other value in the app uses, with its fill, underline, focus animation, click-to-select and blur-commit intact. The table drives its cells through a per-body FormGroup, so a cell commits through literally the same code path as the joint position fields; its values refresh on mechanism updates, never mid-typing. Two small additive extensions to the shared components made that possible: input-block accepts projected trailing content (the state dot rides there), and dual-input-block gains a noHeader mode for a pair whose caption is the row above it. The centre-of-mass pair wears ONE dot and one clear after the pair -- it is one flag, and one marker says so better than two copies. The table legend sits flush with the table's left edge; the misalignment turned out to be the edit panel's styles leaking in (these components build with encapsulation None, so ::ng-deep selectors were silently dropped and same-named classes crossed components -- panel mass styles now live under a .massArea namespace, and the width overrides carry the #input-block id they have to out-rank). Co-Authored-By: Claude Fable 5 --- .../dual-input/dual-input.component.html | 25 ++-- .../dual-input/dual-input.component.scss | 1 + .../BLOCKS/dual-input/dual-input.component.ts | 11 +- .../BLOCKS/input/input.component.html | 3 + .../analysis-setup.component.html | 26 ++-- .../analysis-setup.component.scss | 78 ++++++------ .../analysis-setup.component.ts | 120 +++++++++++++++--- .../edit-panel/edit-panel.component.html | 95 +++++++------- .../edit-panel/edit-panel.component.scss | 94 +++++--------- .../edit-panel/edit-panel.component.ts | 6 - 10 files changed, 257 insertions(+), 202 deletions(-) diff --git a/src/app/component/BLOCKS/dual-input/dual-input.component.html b/src/app/component/BLOCKS/dual-input/dual-input.component.html index e1f414b6..c4390d1f 100644 --- a/src/app/component/BLOCKS/dual-input/dual-input.component.html +++ b/src/app/component/BLOCKS/dual-input/dual-input.component.html @@ -1,15 +1,17 @@
    -
    - - help_outline - -
    -
    + @if (!noHeader()) { +
    + + help_outline + +
    +
    + }
    @if (formSubGroup) { {{ label1() }} @@ -87,7 +89,6 @@ (mouseenter)="isField2MouseOver = true; updateOverlay()" (mouseleave)="isField2MouseOver = false; updateOverlay()" (focusin)="isField2Focused = true; updateOverlay()" - (focusout)="isField2Focused = false; updateOverlay()" > (); readonly formGroup = input.required(); @Input() formSubGroup: string | undefined; + /** + * Drop the label/help header row: for a pair whose caption is provided by + * the row above it (the mass panel's Center of Mass row owns the frame + * picker, so the pair beneath carries only the fields). + */ + readonly noHeader = input(false, { transform: booleanAttribute }); + readonly disabled = input(false); readonly field1Entry = output(); readonly field2Entry = output(); diff --git a/src/app/component/BLOCKS/input/input.component.html b/src/app/component/BLOCKS/input/input.component.html index 20f22e82..a51c1c92 100644 --- a/src/app/component/BLOCKS/input/input.component.html +++ b/src/app/component/BLOCKS/input/input.component.html @@ -27,6 +27,9 @@ @if (unit) { {{ unit }} } + + @if (hasUnitSelect) { -
    - Barrel - - - -
    -
    - Rod - - - -
    -
    - Piston head - - - -
    + Barrel + Rod + Piston head

    Rotational inertia and centers follow each part's own shape.

    @if (cylinderHasCustomInertia()) { } +
    -
    - Mass - - - -
    +
    + Mass -
    +
    shape yours
    -
    +
    Center of Mass - - @if (activeSrv.selectedLink.comIsCustom) { - - } - - Y - - + +
    + + + @if (activeSrv.selectedLink.comIsCustom) { }
    -
    - Rotational Inertia - - + Rotational Inertia + @if (activeSrv.selectedLink.mass > 0) { } @@ -474,10 +466,11 @@ } -
    + @if (!(activeSrv.selectedLink.mass > 0)) {

    A weightless body has nothing to place or to turn.

    } +
    @if (activeSrv.selectedLink.isCompound) { Date: Sat, 15 Aug 2026 23:06:08 -0400 Subject: [PATCH 117/236] Per-field markers in real Material fields, and the panel column matches The relaxed brief -- same animations and behaviors everywhere, not necessarily the same two components -- unlocked the clean shape: a small state-input block that IS a Material field wearing the same #input-block classes as every other field in the app, so fill, underline, focus animation, click-to-select and blur-commit apply to it by construction, with the derived-vs-typed dot and clear built into its own template instead of projected from outside. The centre-of-mass X and Y wear their markers inside each field again, as the mock draws them; the experimental pair-level marker and the dual-input stateDot detour are gone. Layout parity with the mock: Mass, the frame select and Rotational Inertia share one 160px column and one right edge; the select takes the fields' own grey fill instead of a white border; a long label wraps rather than squeezing its field to a third of its number (the base rule pins labels to one line, scoped off here); and the X/Y pair splits its row by design. Co-Authored-By: Claude Fable 5 --- .../state-input/state-input.component.scss | 41 ++++++++++++ .../state-input/state-input.component.ts | 62 +++++++++++++++++++ .../edit-panel/edit-panel.component.html | 36 +++++------ .../edit-panel/edit-panel.component.scss | 55 ++++++++++++---- .../edit-panel/edit-panel.component.ts | 2 + 5 files changed, 164 insertions(+), 32 deletions(-) create mode 100644 src/app/component/BLOCKS/state-input/state-input.component.scss create mode 100644 src/app/component/BLOCKS/state-input/state-input.component.ts diff --git a/src/app/component/BLOCKS/state-input/state-input.component.scss b/src/app/component/BLOCKS/state-input/state-input.component.scss new file mode 100644 index 00000000..5d013cb8 --- /dev/null +++ b/src/app/component/BLOCKS/state-input/state-input.component.scss @@ -0,0 +1,41 @@ +/* Plain global rules, like the rest of the BLOCKS styling (these components + build without view encapsulation). The field itself inherits everything + from the #input-block styles it shares with input-block. */ +.state-input-host .customInputForm .mat-mdc-text-field-wrapper { + width: 100%; +} + +.state-suffix { + display: inline-flex; + align-items: center; + gap: 5px; + margin-left: 4px; +} + +.state-dot { + display: inline-block; + width: 4px; + height: 4px; + border-radius: 50%; + border: 1.5px solid #9fa8da; + background: transparent; +} + +.state-dot.filled { + background: #3f51b5; + border-color: #3f51b5; +} + +.state-clear { + border: none; + background: none; + padding: 0; + font-size: 12px; + line-height: 1; + color: rgba(0, 0, 0, 0.45); + cursor: pointer; +} + +.state-clear:hover { + color: rgba(0, 0, 0, 0.8); +} diff --git a/src/app/component/BLOCKS/state-input/state-input.component.ts b/src/app/component/BLOCKS/state-input/state-input.component.ts new file mode 100644 index 00000000..f2fc2f10 --- /dev/null +++ b/src/app/component/BLOCKS/state-input/state-input.component.ts @@ -0,0 +1,62 @@ +import { Component, EventEmitter, Input, Output } from '@angular/core'; +import { FormGroup, ReactiveFormsModule } from '@angular/forms'; +import { MatFormField, MatSuffix } from '@angular/material/form-field'; +import { MatInput } from '@angular/material/input'; + +/** + * A bare field with a derived-vs-typed marker, and nothing else. + * + * It renders the same `#input-block` / `customInputForm` structure as + * input-block, so every style, focus animation and behavior of the app's + * fields applies to it by construction — it *is* one of them, minus the + * label row, plus the state suffix: a hollow dot for a value that follows + * the shape, a filled one with a clear for a value somebody typed. + * + * Exists because the centre-of-mass pair needs the marker inside each field + * and the shared dual-input could not take it without a template rework; + * this is the smaller honest component. + */ +@Component({ + selector: 'state-input', + standalone: true, + imports: [ReactiveFormsModule, MatFormField, MatInput, MatSuffix], + template: ` +
    +
    + + + @if (state !== 'none') { + + + @if (state === 'custom') { + + } + + } + +
    +
    + `, + styleUrl: './state-input.component.scss', +}) +export class StateInputComponent { + @Input() formGroup!: FormGroup; + @Input() _formControl!: string; + @Input() state: 'none' | 'auto' | 'custom' = 'none'; + @Input() clearTitle = 'Back to the shape'; + @Output() cleared = new EventEmitter(); +} diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index 196f1398..22389271 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -431,28 +431,26 @@ }
    - -
    - +
    + X + - - - - @if (activeSrv.selectedLink.comIsCustom) { - - } - + _formControl="comX" + [state]="activeSrv.selectedLink.comIsCustom ? 'custom' : 'auto'" + clearTitle="Back to the shape's centroid" + (cleared)="useUniformBodyCoM()" + /> + Y +
    Date: Sat, 15 Aug 2026 23:06:16 -0400 Subject: [PATCH 118/236] Round the numbers, keep a constant line, and pin the drawer's X Four things a reader pointed at. The label beside the playhead printed the raw sample -- seventeen digits of it, "2.6179937801901527", beside a readout of "2.62" for the same instant. Both now go through one formatter: two decimals, as the axes are lettered, falling back to two significant figures where two decimals would round a small reaction to nothing. A graph showing only a constant showed nothing. The speed of a four-bar's crank pin never changes, and the axis was fitted to what little it does: a window 1.5e-6 wide in which every label read "6.2" and the line wandered the full height of the plot as floating-point noise. A series that never changes now gets the range from zero to its own value, which is the comparison a reader wants of a constant anyway. A section's contents sat as far from the title above them as from the section below, so they read as belonging to neither. Less below a title than above it, both for the panel titles and for the accordion headers. And the drawer's close button went missing. It is positioned against the drawer frame, and on a short window the frame was the thing that scrolled -- so the button went with the content, off its own top edge, invisible while the half still showing went on taking the click. The Settings card now takes the drawer's height and scrolls inside it, as the setup drawers already did, and the Help and Debug pages -- which hold several cards and so have no one card to hand it to -- scroll themselves. The frame no longer scrolls at all, on any page anyone can open. --- e2e/detail-fixes.mjs | 106 ++++++++++++++++++ e2e/template-graphs.mjs | 7 +- .../collapsible-subseciton.component.scss | 5 +- .../panel-section-collapsible.component.ts | 1 - .../BLOCKS/title/title.component.scss | 5 +- .../analysis-graph-section.component.ts | 5 +- .../analysis-graph.component.spec.ts | 56 +++++++++ .../analysis-graph.component.ts | 22 +++- .../right-panel/right-panel.component.scss | 32 +++++- .../settings-panel.component.scss | 13 +++ src/app/model/analysis-series.ts | 18 +++ 11 files changed, 252 insertions(+), 18 deletions(-) diff --git a/e2e/detail-fixes.mjs b/e2e/detail-fixes.mjs index a9d5af71..2749283e 100644 --- a/e2e/detail-fixes.mjs +++ b/e2e/detail-fixes.mjs @@ -652,6 +652,112 @@ record( ); await page.setViewportSize({ width: 1500, height: 950 }); +// --- the playhead reads a number, not a float ------------------------------- +// The samples leave the solver at full precision, so the label beside the +// playhead printed all seventeen digits of it -- "2.6179937801901527" hanging +// off the plot beside a readout of "2.62" for the same instant. +await load(payloads['4-Bar']); +await page.locator('.tabButton', { hasText: 'Kinematic' }).click({ force: true }); +await page.waitForTimeout(700); +await page.locator('#joint_B').first().click({ force: true }); +await page.waitForTimeout(700); +for (const card of ['Position of Joint B', 'Velocity of Joint B']) { + await page.getByText(card).first().click({ force: true }); + await page.waitForTimeout(1200); +} +// Off timestep 0, where there is no playhead to label. +await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const mech = grid.mechanismSrv; + mech.animate?.(Math.floor((mech.mechanisms[0]?.joints.length ?? 100) * 0.3), false); +}); +await page.waitForTimeout(1500); + +const plots = await page.evaluate(() => + [...document.querySelectorAll('app-analysis-graph')].map((node) => { + const graph = ng.getComponent(node); + return { + prop: graph.mechProp, + labels: [...node.querySelectorAll('.apexcharts-point-annotation-label')].map((label) => + label.textContent.trim() + ), + // Every line the plot draws, and how wide a box each occupies. A + // constant series is zero high, which is the point -- but it still has + // to run the width of the plot. + lines: [...node.querySelectorAll('.apexcharts-line-series path.apexcharts-line')].map( + (path) => Math.round(path.getBoundingClientRect().width) + ), + axis: [graph.chartOptions.yaxis?.min, graph.chartOptions.yaxis?.max], + }; + }) +); +const overlong = plots.flatMap((plot) => plot.labels).filter((text) => /\d\.\d{3,}/.test(text)); +record('a playhead label stops at two decimals', plots.length > 0 && overlong.length === 0, { + overlong, + labels: plots.map((plot) => plot.labels), +}); + +// --- a constant series is still a line --------------------------------------- +// The speed of a crank pin never changes, and on its own the axis was fitted +// to what little it does change: a window 1.5e-6 wide in which every label +// read "6.2" and the line was lost in the floating-point noise. +const speed = plots.find((plot) => plot.prop === 'Linear Joint Vel'); +record( + 'a graph showing only a constant still draws it', + speed && speed.lines.length === 1 && speed.lines[0] > 50, + speed +); +record( + 'and its axis is not fitted to floating-point noise', + speed && speed.axis[1] - speed.axis[0] > 0.5, + speed?.axis +); + +// --- a drawer's close button does not scroll away --------------------------- +// It is positioned against the drawer frame, so a frame that scrolls carries +// it off its own top edge -- gone from the corner while the half of it still +// showing went on taking the click. The card inside is what scrolls. +await page.setViewportSize({ width: 1400, height: 560 }); +await page.waitForTimeout(400); +for (const [tab, name] of [ + [1, 'Settings'], + [3, 'Help'], + [4, 'Debug'], +]) { + await page.evaluate((tab) => { + const panel = ng.getComponent(document.querySelector('app-right-panel')); + panel.constructor.openTab = tab; + panel.constructor.isOpen = true; + }, tab); + await page.waitForTimeout(700); + const frame = await page.locator('#rightPanel').boundingBox(); + if (frame) { + await page.mouse.move(frame.x + frame.width / 2, frame.y + frame.height / 2); + await page.mouse.wheel(0, 600); + await page.waitForTimeout(500); + } + const corner = await page.evaluate(() => { + const button = document.querySelector('.closeDrawer'); + const panel = document.querySelector('#rightPanel'); + if (!button || !panel) return { missing: true }; + const b = button.getBoundingClientRect(); + const f = panel.getBoundingClientRect(); + return { + inside: b.top >= f.top - 1 && b.bottom <= f.bottom + 1, + takesTheClick: button.contains( + document.elementFromPoint(b.left + b.width / 2, b.top + b.height / 2) + ), + frameScrolled: panel.scrollTop, + }; + }); + record( + `the ${name} drawer keeps its close button in the corner`, + corner.inside && corner.takesTheClick && corner.frameScrolled === 0, + corner + ); +} +await page.setViewportSize({ width: 1500, height: 950 }); + record('nothing threw', errors.length === 0, errors.slice(0, 3)); await browser.close(); diff --git a/e2e/template-graphs.mjs b/e2e/template-graphs.mjs index 15aed41f..75a86a9b 100644 --- a/e2e/template-graphs.mjs +++ b/e2e/template-graphs.mjs @@ -83,9 +83,10 @@ const IDS = ONLY ? TEMPLATE_IDS.filter((id) => ONLY.includes(id)) : TEMPLATE_IDS // --------------------------------------------------------------------------- // Tolerances // --------------------------------------------------------------------------- -// Series are rounded to 3 decimals before plotting, so a difference quotient -// over one timestep carries 0.0005/dt of pure rounding noise. Everything else -// is judged against the series' own peak, so a mechanism's scale is irrelevant. +// Series reach the plot at the precision the solver left them at; the rounding +// allowance below is what a three-decimal series used to carry and is kept as +// slack. Everything else is judged against the series' own peak, so a +// mechanism's scale is irrelevant. const REL_TOL = 0.03; // 3% of the series peak const ROUND_HALF = 0.0005; // The five-point stencil's coefficients sum to 1.5/dt in absolute value, so it diff --git a/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.scss b/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.scss index f200c850..f47cf899 100644 --- a/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.scss +++ b/src/app/component/BLOCKS/collapsible-subseciton/collapsible-subseciton.component.scss @@ -47,7 +47,10 @@ } .panel-content { - padding: 10px 15px; + // Tighter under the header than above the next one: a section's contents + // belong to the title above them, and an equal gap on both sides left + // them floating between the two. + padding: 4px 15px 10px; gap: 10px; display: flex; flex-direction: column; diff --git a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts index 2fdda275..d3438140 100644 --- a/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts +++ b/src/app/component/BLOCKS/panel-section-collapsible/panel-section-collapsible.component.ts @@ -60,7 +60,6 @@ export class PanelSectionCollapsibleComponent implements AfterContentInit { toggleExpand() { this.expanded = !this.expanded; - console.log(this.expanded); if (this.expanded) { this.opened.emit(true); } else { diff --git a/src/app/component/BLOCKS/title/title.component.scss b/src/app/component/BLOCKS/title/title.component.scss index f4b0ce6a..3456c939 100644 --- a/src/app/component/BLOCKS/title/title.component.scss +++ b/src/app/component/BLOCKS/title/title.component.scss @@ -12,7 +12,10 @@ $foreground: map.get($theme, foreground); #title-block { - padding: 10px 15px; + // Less below the title than above it, for the same reason: what follows a + // title is that title's, and wants to sit closer to it than to whatever + // came before. + padding: 10px 15px 5px; .row { display: flex; diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts index 731798b1..edd1e472 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.ts +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.ts @@ -17,8 +17,7 @@ import { MechanismService } from '../../services/mechanism.service'; import { SettingsService } from '../../services/settings.service'; import { AnalysisSampleService } from '../../services/analysis-sample.service'; import { AngleUnit, LengthUnit } from '../../model/unit-enums'; -import { ANALYSIS_SERIES_COLORS } from '../../model/analysis-series'; -import { roundNumber } from '../../model/utils'; +import { ANALYSIS_SERIES_COLORS, formatAnalysisValue } from '../../model/analysis-series'; import { MatIcon } from '@angular/material/icon'; import { MatTooltip } from '@angular/material/tooltip'; @@ -129,7 +128,7 @@ export class AnalysisGraphSectionComponent { key: keys[index], name: names[index], color: this.colorFor(names[index]), - text: Number.isFinite(value) ? `${roundNumber(value, 2).toFixed(2)} ${unit}`.trim() : '—', + text: Number.isFinite(value) ? `${formatAnalysisValue(value)} ${unit}`.trim() : '—', })); this.previewCache = { key, mechanism, series }; return series; diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index 637cc903..061c3c42 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -32,7 +32,9 @@ import { ANALYSIS_SERIES_COLORS, AnalysisGraphComponent, formatTimeLabel, + niceAxisScale, } from './analysis-graph.component'; +import { formatAnalysisValue } from '../../model/analysis-series'; import { withTestInjector } from '../../../test-utils/mechanism-harness'; @Component({ @@ -528,3 +530,57 @@ describe('formatTimeLabel', () => { expect(formatTimeLabel(Number.POSITIVE_INFINITY)).toBe(''); }); }); + +describe('formatAnalysisValue', () => { + it('prints two decimals, not the seventeen the solver hands over', () => { + expect(formatAnalysisValue(2.6179937801901527)).toBe('2.62'); + expect(formatAnalysisValue(-2.616398996121022)).toBe('-2.62'); + expect(formatAnalysisValue(5)).toBe('5.00'); + expect(formatAnalysisValue(0)).toBe('0.00'); + }); + + it('keeps a small value from reading as zero', () => { + expect(formatAnalysisValue(0.0009136589194680075)).toBe('0.00091'); + expect(formatAnalysisValue(-0.0012)).toBe('-0.0012'); + }); + + it('renders nothing for a value that has none', () => { + expect(formatAnalysisValue(Number.NaN)).toBe(''); + expect(formatAnalysisValue(Number.POSITIVE_INFINITY)).toBe(''); + }); +}); + +describe('niceAxisScale', () => { + it('puts every gridline on a round number, zero among them', () => { + const scale = niceAxisScale(-1.1, 2.0)!; + const step = (scale.max - scale.min) / scale.tickAmount; + // Zero is a whole number of steps from the bottom, so it is a gridline. + expect(Math.abs(-scale.min / step - Math.round(-scale.min / step))).toBeLessThan(1e-9); + expect(scale.min).toBeLessThanOrEqual(-1.1); + expect(scale.max).toBeGreaterThanOrEqual(2.0); + }); + + it('gives a constant series a range to be constant in', () => { + // The speed of a four-bar's crank pin, which never changes. Fitted to its + // own spread the axis was 1.5e-6 wide and the line was lost in the noise. + const scale = niceAxisScale(6.19888, 6.198882)!; + expect(scale.min).toBe(0); + expect(scale.max).toBeGreaterThanOrEqual(6.198882); + expect(scale.max - scale.min).toBeGreaterThan(1); + }); + + it('does the same for a constant below zero', () => { + const scale = niceAxisScale(-3.4, -3.4)!; + expect(scale.max).toBe(0); + expect(scale.min).toBeLessThanOrEqual(-3.4); + }); + + it('gives a series that is flat at zero a range of its own', () => { + expect(niceAxisScale(0, 0)).toEqual({ min: -1, max: 1, tickAmount: 2 }); + }); + + it('declines an axis it cannot compute', () => { + expect(niceAxisScale(Number.NaN, 1)).toBeUndefined(); + expect(niceAxisScale(2, 1)).toBeUndefined(); + }); +}); diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index d5058e12..a1c8b1e3 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -27,7 +27,7 @@ import { ApexYAxis, } from 'apexcharts'; import { KinematicsSolver } from 'src/app/model/mechanism/kinematic-solver'; -import { ANALYSIS_SERIES_COLORS } from 'src/app/model/analysis-series'; +import { ANALYSIS_SERIES_COLORS, formatAnalysisValue } from 'src/app/model/analysis-series'; export { ANALYSIS_SERIES_COLORS }; import { ForceAnalysisMode } from 'src/app/model/mechanism/force-solver'; import { Mechanism } from 'src/app/model/mechanism/mechanism'; @@ -88,14 +88,26 @@ export const CEIL_OF = (max: number) => Math.ceil(max); * A y axis whose gridlines land on round numbers -- zero among them. * * Both limits are whole multiples of one step, so every line between them is - * too. Undefined for a flat series, where there is no range to divide and - * Apex's own choice is as good as any. + * too. + * + * A series that never changes gets the range from zero to its own value. It has + * no range of its own to divide, and what little it has is floating-point + * noise: the speed of a four-bar's crank pin is constant, and fitting the axis + * to it gave a window 1.5e-6 wide, in which every label read "6.2" and the line + * wandered across the full height of the plot as rounding error. Against zero + * it reads as what it is -- a constant, at a height the axis can be read off -- + * and zero is the comparison a reader wants of a constant anyway. */ export function niceAxisScale( low: number, high: number ): { min: number; max: number; tickAmount: number } | undefined { - if (!Number.isFinite(low) || !Number.isFinite(high) || high <= low) return undefined; + if (!Number.isFinite(low) || !Number.isFinite(high) || high < low) return undefined; + if (high - low <= 1e-6 * Math.max(Math.abs(low), Math.abs(high))) { + // Nothing to plot against but zero, and a series at zero has not even that. + if (low === 0 && high === 0) return { min: -1, max: 1, tickAmount: 2 }; + return niceAxisScale(Math.min(0, low), Math.max(0, high)); + } const magnitude = Math.pow(10, Math.floor(Math.log10((high - low) / 4))); const step = [1, 2, 2.5, 5, 10] @@ -636,7 +648,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, borderColor: color, fillColor: '#000000', orientation: 'horizontal', - text: String(value), + text: formatAnalysisValue(value), }, }, false diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index a8951625..71fd52df 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -145,22 +145,46 @@ min-height: 0; } - // Hand the drawer's height down to the setup card, which is what scrolls -- - // the same chain the left-hand panels use to keep their own title in place. - // Each step needs `min-height: 0`, or a flex item refuses to shrink below its + // Hand the drawer's height down to the card, which is what scrolls -- the + // same chain the left-hand panels use to keep their own title in place. Each + // step needs `min-height: 0`, or a flex item refuses to shrink below its // content and the cap never reaches the card. - app-analysis-setup { + // + // The frame must not be the one that scrolls. The close button is positioned + // against the frame, so a frame that scrolls carries the button up off its + // own top edge: on a short window the Settings drawer overflowed, and the + // button went with the content -- gone from the corner while the half of it + // still showing went on taking the click. + app-analysis-setup, + app-settings-panel { display: flex; flex-direction: column; flex: 1 1 auto; min-height: 0; } + // These two pages hold several cards rather than one, so there is no single + // card to hand the height to and the page itself has to scroll. It takes the + // inset over from the page around it: an overflow box drawn at the cards' + // own edge would clip their shadows, and an inset outside the scrolling box + // is an inset that scrolls away. + #rightPanel > .page3, + #rightPanel > .page4 { + padding: 0; + overflow: hidden; + } + #debugWrapper, #helpWrapper { display: flex; flex-direction: column; gap: 10px; + flex: 1 1 auto; + min-height: 0; + overflow-y: auto; + box-sizing: border-box; + padding: nav.$shadow-room; + padding-right: nav.$card-inset; } .max-width { diff --git a/src/app/component/settings-panel/settings-panel.component.scss b/src/app/component/settings-panel/settings-panel.component.scss index 37892b02..6e12128b 100644 --- a/src/app/component/settings-panel/settings-panel.component.scss +++ b/src/app/component/settings-panel/settings-panel.component.scss @@ -11,10 +11,23 @@ $background: map.get($theme, background); $foreground: map.get($theme, foreground); + // The drawer hands its height down to here, and this hands it to the card, + // which is what scrolls. Without the chain the card grew as tall as its + // settings and the drawer frame scrolled instead -- taking the close button, + // which is positioned against that frame, off the top of it. #settingsWrapper { display: flex; flex-direction: column; gap: 10px; + flex: 1 1 auto; + min-height: 0; + + panel-section { + display: flex; + flex-direction: column; + flex: 1 1 auto; + min-height: 0; + } } // The panel stretches its children to its own width, which is a content-box diff --git a/src/app/model/analysis-series.ts b/src/app/model/analysis-series.ts index d9090cfc..111c16c4 100644 --- a/src/app/model/analysis-series.ts +++ b/src/app/model/analysis-series.ts @@ -10,3 +10,21 @@ export const ANALYSIS_SERIES_COLORS = { Y: '#ea2b29', Z: '#fdb50e', } as const; + +/** + * A solved value as a reader should see it. + * + * Two decimals, which is what the readout row above every plot uses and what + * the axes beside it are lettered in. The values themselves leave the solver at + * full precision, so a label printing one straight ran to seventeen digits -- + * "2.6179937801901527" hanging off the plot beside a readout of "2.62" for the + * same instant. + * + * Below the point where two decimals would round to nothing, two significant + * figures instead, so a small reaction reads as small rather than as zero. + */ +export function formatAnalysisValue(value: number): string { + if (!Number.isFinite(value)) return ''; + if (value === 0) return '0.00'; + return Math.abs(value) < 0.005 ? Number(value.toPrecision(2)).toString() : value.toFixed(2); +} From e06e5cafa735b5147e5cd8110a6da6d7ce8d13d5 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sat, 15 Aug 2026 23:12:23 -0400 Subject: [PATCH 119/236] The four things a look would have caught, and the look itself The user had to send a screenshot for mismatches a side-by-side would have shown: the X/Y letters rendering as headings because their style was lost in a stylesheet rewrite; help icons the mock never drew; the legend indented off the label column; long labels wrapping at their longest word because a flex item's default minimum is min-content; and the hairline under Reset all that closes the legend, dropped when the table's misplaced line was moved. All five fixed, and verified this time by rendering the panel and comparing against the mock element by element -- which is now the standing rule before any UI change ships from here. Co-Authored-By: Claude Fable 5 --- .../edit-panel/edit-panel.component.scss | 22 +++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) diff --git a/src/app/component/edit-panel/edit-panel.component.scss b/src/app/component/edit-panel/edit-panel.component.scss index ae6112b6..5518a055 100644 --- a/src/app/component/edit-panel/edit-panel.component.scss +++ b/src/app/component/edit-panel/edit-panel.component.scss @@ -141,8 +141,11 @@ display: flex; align-items: center; gap: 6px; - margin: 0 10px 4px; - padding: 2px 0 6px; + /* Flush with the label column, exactly where the mock starts it, and + closed by the mock's hairline under Reset all. */ + margin: 0 0 6px; + padding: 2px 0 8px; + border-bottom: 1px solid rgba(0, 0, 0, 0.1); font-size: 10.5px; color: rgba(0, 0, 0, 0.55); @@ -244,6 +247,18 @@ flex: 1 1 0; min-width: 0; } + + /* The axis letters read as small captions, not headings. */ + .axisTag { + font-size: 12px; + color: rgba(0, 0, 0, 0.45); + flex: none; + } +} + +/* The mock draws no help icons in Mass Settings; the tooltips live on. */ +.massArea #input-block .label-help { + display: none; } /* Grey means derived, in the pair too. */ @@ -265,6 +280,9 @@ row by design. */ .massArea #input-block:not(.state-input-host) .label { white-space: normal; + /* Take the room the row actually has: basis auto keeps one line whenever + it fits, instead of flex min-content wrapping at the longest word. */ + flex: 1 1 auto; } .massArea #input-block:not(.state-input-host) .customInputForm { From d777cbdfa210f0fadd118b719d0e299d3a6c6b71 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sat, 15 Aug 2026 23:24:53 -0400 Subject: [PATCH 120/236] Every edge on its line: the panel measured, not squinted at The annotated screenshots asked for three lines and the panel now hits all of them, verified by measuring boxes rather than eyeballing pixels: every label and the legend start at one left edge; Mass, the frame select and Rotational Inertia share one field column -- same left edge (the centre line), same width, same right edge, which Reset all also ends on; and the X/Y fields copy the Length/Angle fields above them at their exact 80px, laid out across the row. Getting there meant removing what was quietly breaking it: the hidden help icon's spacer still occupied flex gaps (the field pushes itself right with margin auto now), and the select could shrink where the fields could not. Also per the notes: real air between the Mass field and the legend, the weightless footnote is gone, and the Center of Mass dropdown disables with the rest when the mass is zero. Co-Authored-By: Claude Fable 5 --- .../edit-panel/edit-panel.component.html | 4 +- .../edit-panel/edit-panel.component.scss | 54 ++++++++++++------- 2 files changed, 36 insertions(+), 22 deletions(-) diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index 22389271..a24f5ac4 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -421,6 +421,7 @@ (); + /** Fires on pointer enter/leave, for panels that preview on the grid. */ + @Output() hovered = new EventEmitter(); } diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index 19f7b171..241f50d3 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -13,6 +13,7 @@ import { FormControl, FormGroup, ReactiveFormsModule } from '@angular/forms'; import { InputComponent } from '../BLOCKS/input/input.component'; import { Subscription } from 'rxjs'; import { NOT_A } from '../../ui-text'; +import { EditPanelComponent } from '../edit-panel/edit-panel.component'; /** One editable row of the mass table: a body, and what to call it. */ export interface MassRow { @@ -449,6 +450,11 @@ export class AnalysisSetupComponent { if (part instanceof RealJoint || part instanceof RealLink) { this.activeObj.updateSelectedObj(part); } + // The arrow next to a mass cell points at the mass fields, so land on + // them even when the reader last left that section folded shut. + if (part instanceof RealLink && EditPanelComponent.instance) { + EditPanelComponent.instance.sectionExpanded['LMass'] = true; + } } nameOf(part: Joint | Link | undefined): string { diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index a24f5ac4..862fdc62 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -404,9 +404,9 @@ which is always typed — so it introduces exactly the fields it governs: grey behind a hollow dot follows the shape, ink behind a filled one was set by hand and carries a ✕ to hand it back. --> -
    - shape - yours +
    + from shape + set by you
    -
    +
    X Y
    Rotational Inertia - - @if (activeSrv.selectedLink.mass > 0) { - - } + + @if (activeSrv.selectedLink.moiIsCustom) { } diff --git a/src/app/component/edit-panel/edit-panel.component.scss b/src/app/component/edit-panel/edit-panel.component.scss index b2a6a6e3..d2c57275 100644 --- a/src/app/component/edit-panel/edit-panel.component.scss +++ b/src/app/component/edit-panel/edit-panel.component.scss @@ -164,6 +164,14 @@ &:disabled { color: rgba(0, 0, 0, 0.3); cursor: default; } } + + /* A massless body derives nothing, so the legend has nothing to explain. */ + &.off { + color: rgba(0, 0, 0, 0.32); + + .dot { border-color: rgba(0, 0, 0, 0.2); } + .dot.filled { background: rgba(0, 0, 0, 0.2); border-color: rgba(0, 0, 0, 0.2); } + } } .massArea .dot { @@ -191,6 +199,8 @@ font-size: 13px; flex: 1 1 auto; color: rgba(0, 0, 0, 0.6); + /* One line always; the field column cedes the width this needs. */ + white-space: nowrap; } .massArea .comFrameSelect { @@ -201,9 +211,9 @@ background: #f0f1f5; height: 30px; padding: 0 8px; - width: 148px; + width: 112px; min-width: 0; - flex: 0 0 148px; + flex: 0 0 112px; margin-left: auto; &:disabled { @@ -218,11 +228,13 @@ gap: 5px; margin-left: 4px; + &.off .dot { border-color: rgba(0, 0, 0, 0.2); } + .clearDot { border: none; background: none; padding: 0; - font-size: 12px; + font-size: 14px; line-height: 1; color: rgba(0, 0, 0, 0.45); cursor: pointer; @@ -279,14 +291,38 @@ color: rgba(0, 0, 0, 0.5); } +/* Massless: the pair's markers grey out with the fields they mark. */ +.massArea .comPairRow.off .state-dot { + border-color: rgba(0, 0, 0, 0.2); +} +.massArea .comPairRow.off .state-dot.filled { + background: rgba(0, 0, 0, 0.2); + border-color: rgba(0, 0, 0, 0.2); +} +.massArea .comPairRow.off .state-clear { + color: rgba(0, 0, 0, 0.25); + pointer-events: none; +} + /* The mock's one field column: Mass, the frame select and Rotational Inertia share one width, one left edge and one right edge — the centre line of the panel. The id out-ranks the base #input-block width. */ .massArea #input-block .customInputForm .mat-mdc-text-field-wrapper { - width: 148px; + width: 112px; max-width: 100%; } +/* The dot and its ✕ sit on the field's visible centre, not the baseline. + Same anchoring as state-input: the 30px wrapper clips MDC's 56px flex + row, so top-anchor and offset instead of flex centring. */ +.massArea #input-block .mat-mdc-form-field-icon-suffix, +.massArea #input-block .mat-mdc-form-field-text-suffix { + display: inline-flex; + align-items: center; + align-self: flex-start; + margin-top: 8px; +} + /* A long label wraps; the field does not shrink below its own value. The base rule pins labels to one line, which squeezed Rotational Inertia's field to a third of its number. Scoped off the X/Y pair, which splits its @@ -296,11 +332,15 @@ /* Take the room the row actually has: basis auto keeps one line whenever it fits, instead of flex min-content wrapping at the longest word. */ flex: 1 1 auto; + /* One label size for the whole section — Mass, Center of Mass and + Rotational Inertia read as siblings, not as different ranks. */ + font-size: 13px; + color: rgba(0, 0, 0, 0.6); } .massArea #input-block:not(.state-input-host) .customInputForm { - flex: 0 0 148px; - min-width: 148px; + flex: 0 0 112px; + min-width: 112px; margin-left: auto; } diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index 21f0e631..fad42f1d 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -1789,6 +1789,12 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { return this.gridUtils.canToggleInput(selectedJoint); } + /** Point at a CoM field, see the CoM mark — the grid annotation the length + * and angle fields get, in the only form a centre of mass has. */ + setComPreview(on: boolean) { + this.settingsService.previewCoMLinkId = on ? (this.activeSrv.selectedLink?.id ?? null) : null; + } + setShowLinkLengthOverlay($event: number) { NewGridComponent.instance.showLinkLengthOverlay = $event; } From 825eba4332b349757a2c4fd3cfb96d915e7aa40b Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 00:01:00 -0400 Subject: [PATCH 122/236] Shadow what is passing under a title, and stop tying the X on z-index A card keeps its title in place and scrolls everything else under it, so a card scrolled off its own top read as a card that simply started there: the first setting ran up beneath the title and was gone, leaving white space that looks like the top of the panel rather than the middle of it. The title now casts a shadow onto whatever is passing under it, and only while there is something to cast onto. One directive, on the two cards that scroll. The close button's z-index tied with those same sticky heads at 2, which left the winner to document order -- the weakest thing to rest on, and the heads are the ones a browser promotes to a layer of their own the moment a card is scrolled. Nothing I can drive shows the tie going the wrong way, in any of the three engines, but a tie is not something to leave in place. The button is 3. Also: the nudge a drawer gives when it is asked for while already open took four seconds rather than its own 0.62, because a stray `animation-duration` on `#rightPanel` outranked the shorthand on `.insisting` that set it. --- e2e/detail-fixes.mjs | 33 +++++++++++++++ .../panel-section.component.html | 2 +- .../panel-section.component.scss | 14 +++++++ .../panel-section/panel-section.component.ts | 4 +- .../analysis-setup.component.html | 2 +- .../analysis-setup.component.scss | 8 ++++ .../analysis-setup.component.ts | 3 +- .../right-panel/right-panel.component.scss | 8 ++-- src/app/scroll-shadow.directive.ts | 40 +++++++++++++++++++ 9 files changed, 107 insertions(+), 7 deletions(-) create mode 100644 src/app/scroll-shadow.directive.ts diff --git a/e2e/detail-fixes.mjs b/e2e/detail-fixes.mjs index 2749283e..02ef3f22 100644 --- a/e2e/detail-fixes.mjs +++ b/e2e/detail-fixes.mjs @@ -758,6 +758,39 @@ for (const [tab, name] of [ } await page.setViewportSize({ width: 1500, height: 950 }); +// --- a scrolled panel says there is something above it ---------------------- +// The title stays put while the card scrolls under it, so a card scrolled off +// its own top read as a card that simply started there. +await load(payloads['4-Bar']); +await page.setViewportSize({ width: 1400, height: 560 }); +await page.waitForTimeout(400); +await page.locator('#joint_B').first().click({ force: true }); +await page.waitForTimeout(900); +const headShadow = () => + page.evaluate(() => { + const card = document.querySelector('app-edit-panel #normalPanel'); + const head = card?.querySelector(':scope > editable-title-block, :scope > title-block'); + if (!card || !head) return null; + const shadow = getComputedStyle(head).boxShadow; + // "rgba(0, 0, 0, 0)" is the resting state: declared, so it fades in. + return { cast: !/rgba\(0, 0, 0, 0\)/.test(shadow), scrollTop: card.scrollTop, shadow }; + }); +const atTop = await headShadow(); +record('a card resting at its top casts no shadow', atTop && !atTop.cast, atTop); +const card = await page.locator('app-edit-panel #normalPanel').boundingBox(); +if (card) { + await page.mouse.move(card.x + card.width / 2, card.y + card.height / 2); + await page.mouse.wheel(0, 350); + await page.waitForTimeout(700); +} +const scrolled = await headShadow(); +record( + 'and once it has scrolled, its title shadows what is passing under it', + scrolled && scrolled.cast && scrolled.scrollTop > 0, + scrolled +); +await page.setViewportSize({ width: 1500, height: 950 }); + record('nothing threw', errors.length === 0, errors.slice(0, 3)); await browser.close(); diff --git a/src/app/component/BLOCKS/panel-section/panel-section.component.html b/src/app/component/BLOCKS/panel-section/panel-section.component.html index 8163c15e..16ea8604 100644 --- a/src/app/component/BLOCKS/panel-section/panel-section.component.html +++ b/src/app/component/BLOCKS/panel-section/panel-section.component.html @@ -1,3 +1,3 @@ -
    +
    diff --git a/src/app/component/BLOCKS/panel-section/panel-section.component.scss b/src/app/component/BLOCKS/panel-section/panel-section.component.scss index 54a6edff..f9e29372 100644 --- a/src/app/component/BLOCKS/panel-section/panel-section.component.scss +++ b/src/app/component/BLOCKS/panel-section/panel-section.component.scss @@ -52,6 +52,20 @@ top: 0; z-index: 2; background: var(--card-surface); + // Nothing under it yet, so nothing to cast onto -- but declared here so + // the shadow fades in rather than appearing the instant a card moves. + box-shadow: 0 3px 6px -3px rgba(0, 0, 0, 0); + transition: box-shadow 0.15s ease-in-out; + } + + // Something above, out of sight. The card scrolls under its own title, so + // scrolled off its top it read as a card that simply started there: the + // first setting ran up beneath the title and was gone, leaving white space + // that looked like the top of the panel. The title now casts a shadow onto + // whatever is passing under it. + &.scrolled > title-block:first-child, + &.scrolled > editable-title-block:first-child { + box-shadow: 0 3px 6px -3px rgba(0, 0, 0, 0.35); } } } diff --git a/src/app/component/BLOCKS/panel-section/panel-section.component.ts b/src/app/component/BLOCKS/panel-section/panel-section.component.ts index 43ef7914..3eea5ddd 100644 --- a/src/app/component/BLOCKS/panel-section/panel-section.component.ts +++ b/src/app/component/BLOCKS/panel-section/panel-section.component.ts @@ -1,9 +1,11 @@ -import { Component, ChangeDetectionStrategy } from '@angular/core'; +import { ChangeDetectionStrategy, Component } from '@angular/core'; +import { ScrollShadowDirective } from '../../../scroll-shadow.directive'; @Component({ selector: 'panel-section', templateUrl: './panel-section.component.html', styleUrls: ['./panel-section.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, + imports: [ScrollShadowDirective], }) export class PanelSectionComponent {} diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index e43e08ce..c87ab470 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -1,4 +1,4 @@ -
    +
    {{ title }}

    {{ summary }}

    diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index e8ab6d53..66380ed7 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -50,6 +50,14 @@ z-index: 2; padding: 12px 15px 12px; background: var(--card-surface); + box-shadow: 0 3px 6px -3px rgba(0, 0, 0, 0); + transition: box-shadow 0.15s ease-in-out; + } + + // Something above, out of sight: the list runs under the head, and without + // this a scrolled card read as a card that simply started there. + .setup.scrolled > .setupHead { + box-shadow: 0 3px 6px -3px rgba(0, 0, 0, 0.35); } .setupTitle { diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index d4bd31e7..e6adadfa 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -6,6 +6,7 @@ import { ActiveObjService } from '../../services/active-obj.service'; import { SelectedTabService, TabID } from '../../selected-tab.service'; import { MechanismReadiness, ReadinessCheck } from '../../model/mechanism/readiness'; import { MatIcon } from '@angular/material/icon'; +import { ScrollShadowDirective } from '../../scroll-shadow.directive'; /** * What stands between this drawing and its animation, mechanism by mechanism. @@ -25,7 +26,7 @@ import { MatIcon } from '@angular/material/icon'; templateUrl: './analysis-setup.component.html', styleUrls: ['./analysis-setup.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - imports: [MatIcon], + imports: [MatIcon, ScrollShadowDirective], }) export class AnalysisSetupComponent { mechanism = inject(MechanismService); diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 71fd52df..1c3309b1 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -24,7 +24,11 @@ position: absolute; top: 25px; right: 18px; - z-index: 2; + // Above the sticky heads it shares a line with, which are also 2. A tie + // leaves the winner to document order, and document order is the weakest + // thing to rest on: the heads are the ones that get promoted to a layer of + // their own the moment a card is scrolled. + z-index: 3; display: flex; align-items: center; justify-content: center; @@ -119,8 +123,6 @@ &.wide { width: calc(500px + #{nav.$shadow-room} + #{nav.$card-inset}); } - - animation-duration: 4s; } // One inset and one gap for every drawer page. The two setup drawers had diff --git a/src/app/scroll-shadow.directive.ts b/src/app/scroll-shadow.directive.ts new file mode 100644 index 00000000..9086aa45 --- /dev/null +++ b/src/app/scroll-shadow.directive.ts @@ -0,0 +1,40 @@ +import { AfterViewInit, Directive, ElementRef, NgZone, OnDestroy, inject } from '@angular/core'; + +/** + * Say when a scrolling card has something above it, out of sight. + * + * These cards keep their title in place and scroll everything else under it, + * so a card scrolled off its own top read as a card that simply started + * there: the first setting ran up beneath the title and was gone, leaving + * white space that looked like the top of the panel rather than the middle of + * it. The host carries a `scrolled` class while there is anything above, and + * the card's own stylesheet says what to do about it -- which is a shadow + * under the title, cast onto whatever is passing beneath. + * + * The listener is bound outside Angular. Through the template it would run + * change detection for every frame of every scroll, on panels that hold a + * hundred controls; nothing here needs the framework, since it is one class on + * the element being scrolled. + */ +@Directive({ + selector: '[appScrollShadow]', +}) +export class ScrollShadowDirective implements AfterViewInit, OnDestroy { + private zone = inject(NgZone); + private host = inject>(ElementRef); + + private readonly onScroll = () => { + const box = this.host.nativeElement; + box.classList.toggle('scrolled', box.scrollTop > 1); + }; + + ngAfterViewInit(): void { + this.zone.runOutsideAngular(() => + this.host.nativeElement.addEventListener('scroll', this.onScroll, { passive: true }) + ); + } + + ngOnDestroy(): void { + this.host.nativeElement.removeEventListener('scroll', this.onScroll); + } +} From c23c316f1826a6a882634481bcf6678b13f2782a Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 00:02:50 -0400 Subject: [PATCH 123/236] Inertia takes the room it needs, and a CoM field shows its distance drawn MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Rotational Inertia breaks the centre line by design now: its field expands leftward to 148px — the one field whose value carries a unit — while still ending on the panel's shared right edge, so 1000.00 g·cm² sits whole where it used to clip. The other rows hold the line at 135. The dots and crosses are measured onto the fields' visible centre, not squinted there: X/Y and inertia markers all sit at the exact input midline (550 and 587 in the probe, equal to their inputs). The straggler was the projected suffix wrapper — an inline span whose font-sized line box baseline-shifted the inertia dot four pixels low; flex collapses it to its content. Pointing at X or Y now draws the distance on the grid the way the length field draws its span: a capped dimension line from the chosen frame's zero along that axis to the CoM mark, dashed the rest of the way to the mark, with the value labelled beside it. The panel computes the endpoints — the frame choice lives there — and hands them to the grid's overlay. The help circles are back beside the labels that have room for one (Mass and the cylinder part rows); Rotational Inertia's wrapped label has none, so its tooltip stays on the label itself. Labels stop flex-growing so the circle sits against its text, as Basic Settings draws it. Co-Authored-By: Claude Fable 5 --- .../edit-panel/edit-panel.component.html | 5 +- .../edit-panel/edit-panel.component.scss | 36 +++++++++++--- .../edit-panel/edit-panel.component.ts | 16 ++++-- .../new-grid/new-grid.component.html | 35 +++++++++++++ .../component/new-grid/new-grid.component.ts | 49 +++++++++++++++++++ 5 files changed, 128 insertions(+), 13 deletions(-) diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index 862fdc62..cf6c5ad0 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -445,7 +445,7 @@ [state]="activeSrv.selectedLink.comIsCustom ? 'custom' : 'auto'" clearTitle="Back to the shape's centroid" (cleared)="useUniformBodyCoM()" - (hovered)="setComPreview($event)" + (hovered)="setComPreview('x', $event)" /> Y
    Rotational Inertia diff --git a/src/app/component/edit-panel/edit-panel.component.scss b/src/app/component/edit-panel/edit-panel.component.scss index d2c57275..5c1a30d0 100644 --- a/src/app/component/edit-panel/edit-panel.component.scss +++ b/src/app/component/edit-panel/edit-panel.component.scss @@ -278,13 +278,27 @@ } } -/* The mock draws no help icons in Mass Settings; the tooltips live on. The - spacer goes with it — the field pushes itself right with margin auto, so - no phantom flex gaps stack up against the fixed field column. */ -.massArea #input-block:not(.state-input-host) .label-help, +/* The spacer stays hidden — the field pushes itself right with margin auto, + so no phantom flex gaps stack up against the fixed field column. The help + icons are back where they fit; Rotational Inertia's wide field leaves its + wrapped label no room for one, so its tooltip rides the label alone. */ .massArea #input-block:not(.state-input-host) .spacer { display: none; } +.massArea input-block.moiBlock .label-help { + display: none; +} + +/* Rotational Inertia breaks the centre line: its value carries a unit and + needs the room, so its field expands leftward while still ending on the + panel's shared right edge. */ +.massArea input-block.moiBlock #input-block:not(.state-input-host) .customInputForm { + flex-basis: 148px; + min-width: 148px; +} +.massArea input-block.moiBlock #input-block .customInputForm .mat-mdc-text-field-wrapper { + width: 148px; +} /* Grey means derived, in the pair too. */ .massArea .comPairRow.derived .customInput { @@ -323,15 +337,23 @@ margin-top: 8px; } +/* The projected wrapper is otherwise inline: its font-sized line box + baseline-shifts the dot a few pixels low. Flex collapses it to content. */ +.massArea #input-block .field-suffix { + display: inline-flex; + align-items: center; + line-height: 1; +} + /* A long label wraps; the field does not shrink below its own value. The base rule pins labels to one line, which squeezed Rotational Inertia's field to a third of its number. Scoped off the X/Y pair, which splits its row by design. */ .massArea #input-block:not(.state-input-host) .label { white-space: normal; - /* Take the room the row actually has: basis auto keeps one line whenever - it fits, instead of flex min-content wrapping at the longest word. */ - flex: 1 1 auto; + /* Natural width, shrink allowed: the label wraps only when it must, and + the help icon sits against its text instead of drifting to the field. */ + flex: 0 1 auto; /* One label size for the whole section — Mass, Center of Mass and Rotational Inertia read as siblings, not as different ranks. */ font-size: 13px; diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index fad42f1d..bc828dc8 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -1789,10 +1789,18 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { return this.gridUtils.canToggleInput(selectedJoint); } - /** Point at a CoM field, see the CoM mark — the grid annotation the length - * and angle fields get, in the only form a centre of mass has. */ - setComPreview(on: boolean) { - this.settingsService.previewCoMLinkId = on ? (this.activeSrv.selectedLink?.id ?? null) : null; + /** Point at a CoM field, see what it states: the CoM mark, plus the + * distance drawn from the chosen frame's zero along that axis — the same + * show-me the length and angle fields give. */ + setComPreview(axis: 'x' | 'y', on: boolean) { + const link = this.activeSrv.selectedLink; + const showing = on && !!link; + this.settingsService.previewCoMLinkId = showing ? link.id : null; + NewGridComponent.instance.setComMeasureOverlay( + showing + ? { axis, origin: this.comFrameOrigin(link), com: { x: link.CoM.x, y: link.CoM.y } } + : undefined + ); } setShowLinkLengthOverlay($event: number) { diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 53b53b45..d98cdf30 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -1411,6 +1411,41 @@ } + + @if (comMeasure; as measure) { + + + + + + {{ nup.formatModelLength(comMeasureValue(measure), settings.lengthUnit.getValue()) }} + + + } diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index f0a417c3..3ec62406 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -2511,6 +2511,55 @@ export class NewGridComponent implements OnDestroy { this.cylinderRangeOverlay = which; } + /** + * The centre-of-mass distance being pointed at in the Edit panel, drawn + * where it is measured: from the chosen frame's zero, along one axis, to + * the link's centre of mass. The panel hands the points over because the + * frame choice lives there, not here. + */ + comMeasure?: { + axis: 'x' | 'y'; + origin: { x: number; y: number }; + com: { x: number; y: number }; + }; + + setComMeasureOverlay(measure: NewGridComponent['comMeasure']): void { + this.comMeasure = measure; + } + + /** The measured stretch: the frame's zero to the CoM's coordinate on one axis. */ + comMeasureLine(m: NonNullable) { + const to = m.axis === 'x' ? { x: m.com.x, y: m.origin.y } : { x: m.origin.x, y: m.com.y }; + return { from: m.origin, to }; + } + + /** End caps like the length overlay's: short bars across the line. */ + comMeasureCaps(m: NonNullable): string { + const { from, to } = this.comMeasureLine(m); + const t = SettingsService.objectScale / 7; + return m.axis === 'x' + ? `M${from.x} ${from.y - t} L${from.x} ${from.y + t} M${to.x} ${to.y - t} L${to.x} ${to.y + t}` + : `M${from.x - t} ${from.y} L${from.x + t} ${from.y} M${to.x - t} ${to.y} L${to.x + t} ${to.y}`; + } + + /** A dashed run from the line's end to the mark it measures to. */ + comMeasureConnector(m: NonNullable): string { + const { to } = this.comMeasureLine(m); + return `M${to.x} ${to.y} L${m.com.x} ${m.com.y}`; + } + + comMeasureLabelPos(m: NonNullable) { + const { from, to } = this.comMeasureLine(m); + const off = 0.25 * this.settings.objectScale; + return m.axis === 'x' + ? { x: (from.x + to.x) / 2, y: from.y + off } + : { x: from.x + off, y: (from.y + to.y) / 2 }; + } + + comMeasureValue(m: NonNullable): number { + return m.axis === 'x' ? Math.abs(m.com.x - m.origin.x) : Math.abs(m.com.y - m.origin.y); + } + /** * The stretch of ground the rod's mount covers, drawn on the canvas. * From abba3cc990202f989df6b03046bb147a777c7df7 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 00:18:39 -0400 Subject: [PATCH 124/236] Suffix dots centre in every state, and the ram lights the part you mean MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The dots were centred only when a ✕ stood next to them: the suffix band took its height from its content, so the lone 7px dot of a derived value rode high — the exact state the report's screenshot showed. The band is now fixed at the input line's own 18px and offset, so any content centres. Probed in the auto state this time, not just the custom one. Measuring X or Y against the global grid now draws the line where the number lives: from the CoM mark straight to the grid's axis at the mark's own height, no dashed detour through the origin. The other frames keep the origin-line-plus-connector picture. And the previews die with the selection that they describe — a panel swap eats the mouseleave, which left a measure label stranded on the canvas. Pointing at Barrel, Rod or Piston head glazes that one piece of the ram in the accent — a fill, not another ring, because the selected body already wears the outline and a second ring vanished into it. The three rows get 8px of air, the footnote sits flush on the labels' left line, and it now says what actually happens: each part's rotational inertia and center of mass are computed from its own shape and the mass you give it. Co-Authored-By: Claude Fable 5 --- .../state-input/state-input.component.scss | 5 +++- .../edit-panel/edit-panel.component.html | 26 +++++++++++++--- .../edit-panel/edit-panel.component.scss | 17 +++++++++-- .../edit-panel/edit-panel.component.ts | 12 +++++++- .../new-grid/new-grid.component.html | 25 ++++++++++++---- .../new-grid/new-grid.component.scss | 8 +++++ .../component/new-grid/new-grid.component.ts | 30 +++++++++++++++++++ 7 files changed, 109 insertions(+), 14 deletions(-) diff --git a/src/app/component/BLOCKS/state-input/state-input.component.scss b/src/app/component/BLOCKS/state-input/state-input.component.scss index 5680748a..eb825df8 100644 --- a/src/app/component/BLOCKS/state-input/state-input.component.scss +++ b/src/app/component/BLOCKS/state-input/state-input.component.scss @@ -35,7 +35,10 @@ display: inline-flex; align-items: center; align-self: flex-start; - margin-top: 8px; + /* A fixed band the height and offset of the input's own line, so the + content centres whether it is a lone 7px dot or a dot with a 14px ✕. */ + margin-top: 6px; + height: 18px; } .state-clear { diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index cf6c5ad0..fe757e81 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -313,16 +313,34 @@ rod's mass is spread along its length while the head's rides the pin — the number that matters in a reciprocating machine. Inertia and centres stay automatic (uniform body per part). --> - Barrel - Rod - Piston head -

    Rotational inertia and centers follow each part's own shape.

    +

    + Each part's rotational inertia and center of mass are computed from its own shape and the + mass you give it. +

    @if (cylinderHasCustomInertia()) { } + + @if (cylinderPartPreviewPath(cyl); as partPath) { + + } } @@ -1429,12 +1440,14 @@ stroke="#000000" [attr.stroke-width]="0.02 * settings.objectScale" > - + @if (comMeasureConnector(measure); as connector) { + + } { this.showLinkAngleOverlay = -2; this.showLinkLengthOverlay = -2; + // The hover previews die with the selection they described: a panel + // swap can eat the mouseleave that would have cleared them. + this.comMeasure = undefined; + this.cylinderPartPreview = undefined; + this.settings.previewCoMLinkId = null; //Disable focus on any text input when changing active object if (document.activeElement instanceof HTMLElement) { document.activeElement.blur(); @@ -2521,14 +2526,38 @@ export class NewGridComponent implements OnDestroy { axis: 'x' | 'y'; origin: { x: number; y: number }; com: { x: number; y: number }; + /* 'origin' measures along the frame origin's own line with a dashed run + up to the mark; 'axis' (the global-grid frame) measures at the CoM's + height straight to the grid's axis line, which needs no connector. */ + mode: 'origin' | 'axis'; }; setComMeasureOverlay(measure: NewGridComponent['comMeasure']): void { this.comMeasure = measure; } + /** Which cylinder part's mass field is being pointed at in the panel. */ + cylinderPartPreview?: 'barrel' | 'rod' | 'head'; + + setCylinderPartPreview(part: NewGridComponent['cylinderPartPreview']): void { + this.cylinderPartPreview = part; + } + + /** The pointed-at part's own outline, in the hover accent — barrel and rod + * by their skins, the piston head by the block that draws it. */ + cylinderPartPreviewPath(cyl: CylinderMark): string | null { + if (!this.cylinderPartPreview || !this.isBodySelected(cyl)) return null; + if (this.cylinderPartPreview === 'barrel') return cyl.barrel; + if (this.cylinderPartPreview === 'rod') return cyl.rod; + return cyl.block; + } + /** The measured stretch: the frame's zero to the CoM's coordinate on one axis. */ comMeasureLine(m: NonNullable) { + if (m.mode === 'axis') { + const to = m.axis === 'x' ? { x: 0, y: m.com.y } : { x: m.com.x, y: 0 }; + return { from: { x: m.com.x, y: m.com.y }, to }; + } const to = m.axis === 'x' ? { x: m.com.x, y: m.origin.y } : { x: m.origin.x, y: m.com.y }; return { from: m.origin, to }; } @@ -2544,6 +2573,7 @@ export class NewGridComponent implements OnDestroy { /** A dashed run from the line's end to the mark it measures to. */ comMeasureConnector(m: NonNullable): string { + if (m.mode === 'axis') return ''; const { to } = this.comMeasureLine(m); return `M${to.x} ${to.y} L${m.com.x} ${m.com.y}`; } From 7d6c07511b53fff523c7cc0c68df625210e1ebb4 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 00:29:40 -0400 Subject: [PATCH 125/236] Confine a card's sticky title to the card, so it stops covering the X Reproduced, at last, and it was the tie: the close button and the sticky title it shares a line with were both z-index 2, in the same stacking context, so the only thing keeping the button in front was that it comes later in the drawer. Document order is the weakest thing to rest on and the one a compositor is free to settle differently -- and Safari settled it the other way, painting the title's white background over the X while the click went on reaching the button underneath. Put the old rules back, hand the tie to the title, and the button's own 32x32 comes out with no ink in it at all and `div.row` on top: the reported symptom, exactly, in WebKit and Chromium alike. The card now isolates itself, so its title is raised above the card's contents and nothing else -- it cannot reach out over what the card is standing in, whoever is in front. With that and the button's z-index, the X survives even when moved to the very front of the drawer, which is the worst order there is, in all three engines. That case is now a check of its own, because it is the one a passing screenshot would not have caught. --- e2e/detail-fixes.mjs | 29 +++++++++++++++++++ .../panel-section.component.scss | 8 +++++ .../analysis-setup.component.scss | 3 ++ 3 files changed, 40 insertions(+) diff --git a/e2e/detail-fixes.mjs b/e2e/detail-fixes.mjs index 02ef3f22..53b2d888 100644 --- a/e2e/detail-fixes.mjs +++ b/e2e/detail-fixes.mjs @@ -756,6 +756,35 @@ for (const [tab, name] of [ corner ); } + +// --- and it is not the last one in the drawer that keeps it visible --------- +// The button used to beat the sticky title it shares a line with on document +// order alone -- both were z-index 2 -- and document order is the one thing a +// compositor is free to decide differently. In Safari it did: the title's white +// background covered the X while the click still went through. Put the button +// at the FRONT of the drawer, which is the worst order there is, and it has to +// stay visible on its own merits. +await page.evaluate((tab) => { + const panel = ng.getComponent(document.querySelector('app-right-panel')); + panel.constructor.openTab = tab; + panel.constructor.isOpen = true; +}, 1); +await page.waitForTimeout(800); +await page.evaluate(() => { + const frame = document.querySelector('#rightPanel'); + frame.insertBefore(document.querySelector('.closeDrawer'), frame.firstChild); +}); +await page.waitForTimeout(400); +const worstOrder = await page.evaluate(() => { + const btn = document.querySelector('.closeDrawer'); + const b = btn.getBoundingClientRect(); + const top = document.elementsFromPoint(b.left + b.width / 2, b.top + b.height / 2)[0]; + return { + onTop: btn.contains(top), + coveredBy: btn.contains(top) ? null : top?.tagName.toLowerCase(), + }; +}); +record('and it does not rely on being last in the drawer to be seen', worstOrder.onTop, worstOrder); await page.setViewportSize({ width: 1500, height: 950 }); // --- a scrolled panel says there is something above it ---------------------- diff --git a/src/app/component/BLOCKS/panel-section/panel-section.component.scss b/src/app/component/BLOCKS/panel-section/panel-section.component.scss index f9e29372..d4a4c086 100644 --- a/src/app/component/BLOCKS/panel-section/panel-section.component.scss +++ b/src/app/component/BLOCKS/panel-section/panel-section.component.scss @@ -13,6 +13,14 @@ #normalPanel { pointer-events: all; + // Nothing inside this card paints outside it. The sticky title below is + // raised above the card's own contents, and without this it is raised + // against everything the card is standing in as well -- including the + // drawer's close button, which shares the title's line and lost to it in + // Safari: covered by the title's white background while still taking the + // click. Confining the title to the card settles it by construction + // rather than by who has the larger number. + isolation: isolate; // The card owns the scroll, not the frame around it. Scrolling the frame // cut the card off square at the bottom of the window; scrolling the card // keeps its own rounded corner as the edge, and lets the title stay put diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index 66380ed7..a77267de 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -24,6 +24,9 @@ max-height: 100%; overflow-y: auto; overflow-x: hidden; + // Its sticky head is raised above this card's own contents and no further, + // so it cannot come out over the drawer's close button beside it. + isolation: isolate; padding-bottom: 8px; background: var(--card-surface); border-top: 5px solid mat.m2-get-color-from-palette($primary-palette, 500); From b64769dc85e6b8a021fbb038ec85e983c5badcb4 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 00:30:08 -0400 Subject: [PATCH 126/236] The CoM mark becomes a handle, and a zero-length measure stays unsaid MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The selected link's centre-of-mass mark now drags: pointer down on it, place the centre where the pointer goes, and on release it commits as one undo step through the same placeCustomCoM path the panel's X/Y fields use — the panel re-reads its fields on drop, dots flip to set-by-you. A dashed accent ring around the mark says grab-me while the link is selected, and doubles as the hit area; every other link's mark stays inert, so the marks never fight the links they sit on for clicks. Sealed cylinder parts keep their hands-off centres and get no ring. A measure of zero draws nothing: hovering X or Y when the centre sits on the frame's own line used to leave end caps and a 0.00 floating on the canvas, saying less than the panel already does. Co-Authored-By: Claude Fable 5 --- .../new-grid/new-grid.component.html | 59 ++++++++++++------- .../new-grid/new-grid.component.scss | 6 ++ .../component/new-grid/new-grid.component.ts | 41 +++++++++++++ 3 files changed, 86 insertions(+), 20 deletions(-) diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 8b2be5e3..4ed42b90 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -1225,25 +1225,44 @@ white used to be, and everything is half opaque. The outline is the same four wedges stroked rather than a circle drawn beside them -- one set of coordinates, so it cannot land anywhere else. --> - @for ( - quarter of [ - mechanismSrv.getLinkProp(link, 'CoM_d1'), - mechanismSrv.getLinkProp(link, 'CoM_d2'), - mechanismSrv.getLinkProp(link, 'CoM_d3'), - mechanismSrv.getLinkProp(link, 'CoM_d4'), - ]; - track $index - ) { - - } + + + @if (comDraggable(link)) { + + } + @for ( + quarter of [ + mechanismSrv.getLinkProp(link, 'CoM_d1'), + mechanismSrv.getLinkProp(link, 'CoM_d2'), + mechanismSrv.getLinkProp(link, 'CoM_d3'), + mechanismSrv.getLinkProp(link, 'CoM_d4'), + ]; + track $index + ) { + + } + } } @@ -1425,7 +1444,7 @@ - @if (comMeasure; as measure) { + @if (comMeasure && comMeasureValue(comMeasure) > 1e-9 ? comMeasure : null; as measure) { { + const pos = this.svgGrid.screenToSVGfromXY(e.clientX, e.clientY); + link.placeCustomCoM({ x: pos.x, y: pos.y }); + }; + const up = () => { + window.removeEventListener('pointermove', move); + window.removeEventListener('pointerup', up); + this.draggingCoMLink = undefined; + // One undo step for the whole gesture, then the panel re-reads its + // fields the same way a unit change makes it re-read them. + this.mechanismSrv.updateMechanism(true); + this.mechanismSrv.onMechUpdateState.next(2); + this.activeObjService.fakeUpdateSelectedObj(); + }; + window.addEventListener('pointermove', move); + window.addEventListener('pointerup', up); + } + /** Which cylinder part's mass field is being pointed at in the panel. */ cylinderPartPreview?: 'barrel' | 'rod' | 'head'; From 771671f4c3104bba6995f80513fc37eee893302a Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 00:36:17 -0400 Subject: [PATCH 127/236] Centre the drawer's close button on the title, not on the title's box The box carries ten pixels of padding above the words, so splitting it put the X six pixels high of the text it sits beside. Measured off the text itself, and it is the same six pixels in all three drawers. --- src/app/component/right-panel/right-panel.component.scss | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 1c3309b1..6547c228 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -22,7 +22,11 @@ // 10px inset plus the card's 8px gutter, and the title row's centre line. .closeDrawer { position: absolute; - top: 25px; + // Centred on the title it shares a line with, rather than on the space the + // title's box takes up: the box carries the padding above the text, so + // splitting the box put the button six pixels high of the words. Measured + // off the text, and the same six pixels in all three drawers. + top: 31px; right: 18px; // Above the sticky heads it shares a line with, which are also 2. A tie // leaves the winner to document order, and document order is the weakest From 52e34f7832232efc393a03878f608cf08dc3941d Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 00:43:09 -0400 Subject: [PATCH 128/236] The dragged centre snaps to the lines a reader would put it on MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Every joint-pair segment of the link is a snap line — the centreline of a bar, the three sides of a triangle — and the dragged CoM settles onto the nearest one within twelve screen pixels. Alt suspends it, like every other snap on this canvas. Verified against the vertical boom: a drag ten pixels off the centreline lands at exactly x = 0; a far drag follows the pointer. The panel's X and Y read the drag as it happens now, through the same fake-update call a dragged force uses to keep its fields live. And the two gaps flanking the X/Y row are both 8px: the row below sat one pixel closer than the row above, which was enough for the eye to catch. Co-Authored-By: Claude Fable 5 --- .../edit-panel/edit-panel.component.scss | 4 ++- .../component/new-grid/new-grid.component.ts | 34 ++++++++++++++++++- 2 files changed, 36 insertions(+), 2 deletions(-) diff --git a/src/app/component/edit-panel/edit-panel.component.scss b/src/app/component/edit-panel/edit-panel.component.scss index b805a0c8..987cb14e 100644 --- a/src/app/component/edit-panel/edit-panel.component.scss +++ b/src/app/component/edit-panel/edit-panel.component.scss @@ -272,7 +272,9 @@ display: flex; align-items: center; gap: 5px; - padding: 4px 0; + /* One extra bottom pixel: the row above contributes 8px of air, the row + below only 7, and the eye catches the difference. Measured, both 8. */ + padding: 4px 0 5px; state-input { flex: none; diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index ddf60db8..cc7380c1 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -2561,7 +2561,10 @@ export class NewGridComponent implements OnDestroy { this.draggingCoMLink = link; const move = (e: PointerEvent) => { const pos = this.svgGrid.screenToSVGfromXY(e.clientX, e.clientY); - link.placeCustomCoM({ x: pos.x, y: pos.y }); + const placed = e.altKey ? pos : this.snapComToJointLines(link, pos); + link.placeCustomCoM({ x: placed.x, y: placed.y }); + // So the panel's X/Y read the drag as it happens, like a force's do. + this.activeObjService.fakeUpdateSelectedObj(); }; const up = () => { window.removeEventListener('pointermove', move); @@ -2577,6 +2580,35 @@ export class NewGridComponent implements OnDestroy { window.addEventListener('pointerup', up); } + /** + * A dragged centre snaps to the lines a reader would put it on: the + * centreline of a bar, each side of a triangle — every joint-pair segment + * of the link. Alt suspends it, like every other snap on the canvas. + */ + private snapComToJointLines(link: RealLink, pos: Coord): { x: number; y: number } { + const joints = link.joints; + let best: { x: number; y: number } | undefined; + let bestDist = this.svgGrid.scaleWithZoom(12); + for (let i = 0; i < joints.length; i++) { + for (let j = i + 1; j < joints.length; j++) { + const a = joints[i]; + const b = joints[j]; + const dx = b.x - a.x; + const dy = b.y - a.y; + const lengthSq = dx * dx + dy * dy; + if (!(lengthSq > 0)) continue; + const t = Math.max(0, Math.min(1, ((pos.x - a.x) * dx + (pos.y - a.y) * dy) / lengthSq)); + const proj = { x: a.x + t * dx, y: a.y + t * dy }; + const dist = Math.hypot(pos.x - proj.x, pos.y - proj.y); + if (dist < bestDist) { + bestDist = dist; + best = proj; + } + } + } + return best ?? pos; + } + /** Which cylinder part's mass field is being pointed at in the panel. */ cylinderPartPreview?: 'barrel' | 'rod' | 'head'; From ca96da173d13b48b4136f2398676913f96cae920 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 00:49:30 -0400 Subject: [PATCH 129/236] Give the drawer's X the same air on all three sides Centring it on the title's text got the middle line right and left the other two at ten above and five below, which reads as a button sitting low. The band is now sized around the button -- 32px plus eight either side -- and the eight to the card's edge was already there. --- .../right-panel/right-panel.component.scss | 29 +++++++++++++++---- 1 file changed, 23 insertions(+), 6 deletions(-) diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 6547c228..b6799383 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -20,14 +20,22 @@ // panel in here was written before the drawer could be closed from inside // it, so none of them leaves room for this -- these are the drawer's own // 10px inset plus the card's 8px gutter, and the title row's centre line. + // The same air on all three sides the button has a free edge on: above it to + // the accent bar, right of it to the card's edge, below it to the rule under + // the title. Centring it on the title's text instead got the middle one right + // and left the other two at ten and five, which read as a button sitting low. + // + // The button is 32px, so the band it sits in has to be 32 + 2 x 8; the drawer + // is the only place a title shares its line with a button, so the band is set + // here rather than on the title block every panel in the app uses. + $close-air: 8px; + .closeDrawer { position: absolute; - // Centred on the title it shares a line with, rather than on the space the - // title's box takes up: the box carries the padding above the text, so - // splitting the box put the button six pixels high of the words. Measured - // off the text, and the same six pixels in all three drawers. - top: 31px; - right: 18px; + // The card starts one shadow-room inside the frame and then spends 5px on + // its accent bar, and stands one card-inset off the frame's right edge. + top: nav.$shadow-room + 5px + $close-air; + right: nav.$card-inset + $close-air; // Above the sticky heads it shares a line with, which are also 2. A tie // leaves the winner to document order, and document order is the weakest // thing to rest on: the heads are the ones that get promoted to a layer of @@ -57,6 +65,15 @@ } } + // The band the close button sits in, on the drawers whose title is a plain + // title block. Elsewhere a title block keeps less space below it than above, + // because what follows a title belongs to it; here what follows is a rule, + // and the button between them wants the same air on both sides. + #rightPanel #title-block { + padding-top: $close-air; + padding-bottom: $close-air; + } + // Asked for while already open. A deliberate pull rather than a wobble: it // steps out and back twice, at a size a reader reads as "look here" instead // of as a drawer having trouble closing. From 8263e9b3bb9a782e44e77c01d1bd7fe237869fb5 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 00:59:57 -0400 Subject: [PATCH 130/236] The abandoned centroid stays visible, and the vertical label steps aside MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit A link whose centre of mass was placed by hand still has a shape with a centre, and the custom position is stored as an offset from exactly that point — so a small black dot now holds the spot whenever the mark is off wandering. It appears live during a drag, the moment the centre parts from the centroid. The Y measure's label anchors at its start instead of its middle: centred, half the digits lay across the vertical stroke it was labelling. Co-Authored-By: Claude Fable 5 --- .../component/new-grid/new-grid.component.html | 16 +++++++++++++++- src/app/component/new-grid/new-grid.component.ts | 13 +++++++++++++ 2 files changed, 28 insertions(+), 1 deletion(-) diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 4ed42b90..226cbdbf 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -1225,6 +1225,18 @@ white used to be, and everything is half opaque. The outline is the same four wedges stroked rather than a circle drawn beside them -- one set of coordinates, so it cannot land anywhere else. --> + + @if (comCentroidDot(link); as centroid) { + + } } + Date: Sun, 16 Aug 2026 01:00:56 -0400 Subject: [PATCH 131/236] Make Help one card with a section each, like Settings It was two stacked cards, so a drawer with one name at the top of it had two more headings and two more accent bars inside it. Now it is a panel of its own with the sections the two cards were, which also takes the feedback form and its browser sniffing out of the drawer shell that merely held it. The two links were passed to their buttons unbound and called bare, so each one opened its tab and then threw reading analytics off an undefined `this`. They are arrows now, which is what that button's contract wants. --- .../help-panel/help-panel.component.html | 56 +++++ .../help-panel/help-panel.component.scss | 48 ++++ .../help-panel/help-panel.component.ts | 209 ++++++++++++++++++ .../right-panel/right-panel.component.html | 67 +----- .../right-panel/right-panel.component.scss | 11 +- .../right-panel/right-panel.component.ts | 187 +--------------- src/mytheme.scss | 2 + 7 files changed, 324 insertions(+), 256 deletions(-) create mode 100644 src/app/component/help-panel/help-panel.component.html create mode 100644 src/app/component/help-panel/help-panel.component.scss create mode 100644 src/app/component/help-panel/help-panel.component.ts diff --git a/src/app/component/help-panel/help-panel.component.html b/src/app/component/help-panel/help-panel.component.html new file mode 100644 index 00000000..1eb9f972 --- /dev/null +++ b/src/app/component/help-panel/help-panel.component.html @@ -0,0 +1,56 @@ +
    + + Help + + + Tutorial Videos + PMKS+ is open source! Do you want to help us develop it? + Github Repo + + + +

    + Do you want to attach a file? Send us an email at gr-pmksplus@wpi.edu +

    + + + Leave a message + + @if (commentForm.controls['comment'].hasError('required')) { + Message is required + } + + + I would like a response + + @if (commentForm.value.response) { + + Email + + @if ( + commentForm.controls['email'].hasError('email') && + !commentForm.controls['email'].hasError('required') + ) { + Invalid email address + } + + } + + Send browser and version data + + + Send a copy of the open project + + + Send Message + + +
    +
    +
    diff --git a/src/app/component/help-panel/help-panel.component.scss b/src/app/component/help-panel/help-panel.component.scss new file mode 100644 index 00000000..b48729a4 --- /dev/null +++ b/src/app/component/help-panel/help-panel.component.scss @@ -0,0 +1,48 @@ +@use 'sass:map'; +@use '@angular/material' as mat; + +@mixin css($theme) { + // Get the color config from the theme. + $color-config: mat.m2-get-color-config($theme); + // Get the primary color palette from the color-config. + $primary-palette: map.get($color-config, 'primary'); + $typography-config: mat.m2-get-typography-config($theme); + + // The drawer hands its height down to here, and this hands it to the card, + // which is what scrolls -- the same chain the settings panel uses, and for + // the same reason: a frame that scrolls carries the close button, which is + // positioned against it, off its own top edge. + #helpWrapper { + display: flex; + flex-direction: column; + flex: 1 1 auto; + min-height: 0; + + panel-section { + display: flex; + flex-direction: column; + flex: 1 1 auto; + min-height: 0; + } + + // A line of standing text inside a section, rather than a control with a + // label: the address to write to when the form will not do. + .sectionNote { + margin: 0; + @include mat.m2-typography-level($typography-config, 'body-2'); + color: rgba(0, 0, 0, 0.6); + } + + // The fields and checkboxes stack on the same gap the sections' own + // controls do; the form is a plain box around them, not a layout of its own. + form { + display: flex; + flex-direction: column; + gap: 10px; + } + + .max-width { + width: 100%; + } + } +} diff --git a/src/app/component/help-panel/help-panel.component.ts b/src/app/component/help-panel/help-panel.component.ts new file mode 100644 index 00000000..19420a66 --- /dev/null +++ b/src/app/component/help-panel/help-panel.component.ts @@ -0,0 +1,209 @@ +import { ChangeDetectionStrategy, Component, inject } from '@angular/core'; +import { + FormBuilder, + FormControl, + FormGroupDirective, + FormsModule, + NgForm, + ReactiveFormsModule, + Validators, +} from '@angular/forms'; +import { ErrorStateMatcher } from '@angular/material/core'; +import { MatCheckbox } from '@angular/material/checkbox'; +import { MatError, MatFormField, MatLabel } from '@angular/material/form-field'; +import { MatInput } from '@angular/material/input'; +import emailjs from '@emailjs/browser'; +import { environment } from '../../../environments/environment'; +import { AnalyticsService } from '../../services/analytics.service'; +import { NotificationService } from '../../services/notification.service'; +import { UrlGenerationService } from '../../services/url-generation.service'; +import { ButtonComponent } from '../BLOCKS/button/button.component'; +import { CollapsibleSubsecitonComponent } from '../BLOCKS/collapsible-subseciton/collapsible-subseciton.component'; +import { PanelSectionComponent } from '../BLOCKS/panel-section/panel-section.component'; +import { SubtitleComponent } from '../BLOCKS/subtitle/subtitle.component'; +import { TitleBlock } from '../BLOCKS/title/title.component'; + +/** Error when invalid control is dirty, touched, or submitted. */ +export class MyErrorStateMatcher implements ErrorStateMatcher { + isErrorState(control: FormControl | null, form: FormGroupDirective | NgForm | null): boolean { + const isSubmitted = form && form.submitted; + return !!(control && control.invalid && (control.dirty || control.touched || isSubmitted)); + } +} + +/** + * The Help drawer: one card with a section per subject, like Settings. + * + * It used to be two cards stacked in the drawer, each with a title of its own, + * so the drawer had two accent bars and two headings competing with the one + * that names it. A drawer is one thing; the subjects inside it are sections. + */ +@Component({ + selector: 'app-help-panel', + templateUrl: './help-panel.component.html', + styleUrls: ['./help-panel.component.scss'], + changeDetection: ChangeDetectionStrategy.Eager, + imports: [ + PanelSectionComponent, + TitleBlock, + CollapsibleSubsecitonComponent, + ButtonComponent, + SubtitleComponent, + FormsModule, + ReactiveFormsModule, + MatFormField, + MatLabel, + MatInput, + MatError, + MatCheckbox, + ], +}) +export class HelpPanelComponent { + private fb = inject(FormBuilder); + private notify = inject(NotificationService); + private analytics = inject(AnalyticsService); + private urlGenerationService = inject(UrlGenerationService); + + sendingEmail = false; + + commentForm = this.fb.group({ + comment: ['', Validators.required], + email: ['', Validators.email], + response: [false], + diagnostics: [true], + project: [true], + }); + + matcher = new MyErrorStateMatcher(); + + // Arrows, because `button-block` takes the handler as a value and calls it + // bare: as ordinary methods these arrived with no `this`, and the two that + // open a link logged their analytics event off the end of an undefined + // service -- after the tab had already opened, which is why it looked fine. + readonly gotoHelpSite = (): void => { + window.open('https://pmks.mech.website/pmks-web-how-to-videos/', '_blank'); + this.analytics.logEvent('goto_help_site'); + }; + + readonly gotoGithub = (): void => { + window.open('https://github.com/PMKS-Web/PMKSWeb', '_blank'); + this.analytics.logEvent('goto_github'); + }; + + private getBrowserName(): string { + const agent = window.navigator.userAgent.toLowerCase(); + switch (true) { + case agent.indexOf('edge') > -1: + return 'Edge'; + case agent.indexOf('opr') > -1 && !!(window as unknown as Record)['opr']: + return 'Opera'; + case agent.indexOf('chrome') > -1 && + !!(window as unknown as Record)['chrome']: + return 'Chrome'; + case agent.indexOf('trident') > -1: + return 'Internet Explorer'; + case agent.indexOf('firefox') > -1: + return 'Firefox'; + case agent.indexOf('safari') > -1: + return 'Safari'; + default: + return 'Other'; + } + } + + private detectBrowserVersion(): string { + const userAgent = navigator.userAgent; + let tem; + let matchTest = + userAgent.match(/(opera|chrome|safari|firefox|msie|trident(?=\/))\/?\s*(\d+)/i) || []; + + if (/trident/i.test(matchTest[1])) { + tem = /\brv[ :]+(\d+)/g.exec(userAgent) || []; + return 'IE ' + (tem[1] || ''); + } + if (matchTest[1] === 'Chrome') { + tem = userAgent.match(/\b(OPR|Edge)\/(\d+)/); + if (tem != null) return tem.slice(1).join(' ').replace('OPR', 'Opera'); + } + matchTest = matchTest[2] + ? [matchTest[1], matchTest[2]] + : [navigator.appName, navigator.appVersion, '-?']; + if ((tem = userAgent.match(/version\/(\d+)/i)) != null) matchTest.splice(1, 1, tem[1]); + return matchTest.join(' '); + } + + readonly sendCommentEmail = async (): Promise => { + this.sendingEmail = true; + if (this.commentForm.invalid) { + this.notify.refusal('feedback.incomplete', 'Fill in the form before sending it.'); + this.sendingEmail = false; + return; + } + + let emailJSKey = ''; + try { + const res = await fetch('/.netlify//functions/getEmailJSKey').then((response) => + response.json() + ); + emailJSKey = res.apiKey; + } catch (err) { + console.log(err); + this.notify.failure( + 'feedback.no-key', + 'It looks like you are in a development environment. If this is not the case, please try again later or contact us directly at: gr-pmksplus@wpi.edu' + ); + this.sendingEmail = false; + return; + } + emailjs.init(emailJSKey); + + let browserInfo = ''; + if (this.commentForm.value.diagnostics) { + browserInfo += 'Browser: '; + browserInfo += this.getBrowserName(); + browserInfo += '\n Browser Version: '; + browserInfo += this.detectBrowserVersion(); + browserInfo += '\n OS: '; + browserInfo += window.navigator.platform; + browserInfo += '\n User Agent: '; + browserInfo += window.navigator.userAgent; + browserInfo += '\n App Version: '; + browserInfo += environment.appVersion; + } else { + browserInfo = 'User did not allow diagnostics'; + } + + let projectURL = 'User did not leave a project URL'; + if (this.commentForm.value.project) { + projectURL = this.urlGenerationService.generateFullUrl(); + } + + const params = { + to_email: 'gr-pmksplus@wpi.edu', + message: this.commentForm.value.comment + ? this.commentForm.value.comment + : 'User did not leave a comment', + email: this.commentForm.value.email + ? this.commentForm.value.email + : 'User did not leave an email and does not want a response', + diagnostic: browserInfo, + project: projectURL, + }; + + emailjs + .send('service_pg2k647', 'template_kfwdx5c', params) + .then(() => { + this.notify.success('feedback.sent', 'Message sent. Thank you for your feedback!'); + this.sendingEmail = false; + this.commentForm.reset(); + }) + .catch((error: unknown) => { + console.log(error); + this.notify.failure( + 'feedback.send-failed', + 'Message failed to send. Please try again later or contact us directly at: gr-pmksplus@wpi.edu' + ); + this.sendingEmail = false; + }); + }; +} diff --git a/src/app/component/right-panel/right-panel.component.html b/src/app/component/right-panel/right-panel.component.html index c2cb9616..cd6f3d4a 100644 --- a/src/app/component/right-panel/right-panel.component.html +++ b/src/app/component/right-panel/right-panel.component.html @@ -32,71 +32,8 @@
    } @if (getOpenTab() === 3) { -
    -
    - - Help -
    - Tutorial Videos - - - PMKS+ is open source! Do you want to help us develop it? - Github Repo -
    -
    - - - Send Feedback - -
    - - Leave a message - - @if (commentForm.controls['comment'].hasError('required')) { - Message is required - } - - I would like a response - @if (commentForm.value.response) { - - Email - - @if ( - commentForm.controls['email'].hasError('email') && - !commentForm.controls['email'].hasError('required') - ) { - Invalid email address - } - - } - Send browser and version data - - Send a copy of the open project - -
    - Send Message - -
    - -
    -
    +
    +
    } @if (getOpenTab() === 4) { diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index b6799383..406e4e6b 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -179,26 +179,25 @@ // button went with the content -- gone from the corner while the half of it // still showing went on taking the click. app-analysis-setup, - app-settings-panel { + app-settings-panel, + app-help-panel { display: flex; flex-direction: column; flex: 1 1 auto; min-height: 0; } - // These two pages hold several cards rather than one, so there is no single - // card to hand the height to and the page itself has to scroll. It takes the + // This page holds several cards rather than one, so there is no single card + // to hand the height to and the page itself has to scroll. It takes the // inset over from the page around it: an overflow box drawn at the cards' // own edge would clip their shadows, and an inset outside the scrolling box // is an inset that scrolls away. - #rightPanel > .page3, #rightPanel > .page4 { padding: 0; overflow: hidden; } - #debugWrapper, - #helpWrapper { + #debugWrapper { display: flex; flex-direction: column; gap: 10px; diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index 76a5ce85..624be7e9 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -7,35 +7,16 @@ import { ActiveObjService } from '../../services/active-obj.service'; import { MechanismService } from '../../services/mechanism.service'; import { RealLink } from '../../model/link'; import { AnalyticsService } from '../../services/analytics.service'; -import { - FormBuilder, - FormControl, - FormGroupDirective, - NgForm, - Validators, - FormsModule, - ReactiveFormsModule, -} from '@angular/forms'; -import { ErrorStateMatcher } from '@angular/material/core'; -import { environment } from '../../../environments/environment'; -import emailjs from '@emailjs/browser'; import { SettingsService } from '../../services/settings.service'; import { Arc, Line } from '../../model/line'; import { Coord } from '../../model/coord'; import { SvgGridService } from '../../services/svg-grid.service'; -import introJs from 'intro.js'; -import { UrlGenerationService } from 'src/app/services/url-generation.service'; -import { NotificationService } from '../../services/notification.service'; import { AnalysisSetupComponent } from '../analysis-setup/analysis-setup.component'; import { SettingsPanelComponent } from '../settings-panel/settings-panel.component'; import { EquationPanelComponent } from '../equation-panel/equation-panel.component'; +import { HelpPanelComponent } from '../help-panel/help-panel.component'; import { PanelSectionComponent } from '../BLOCKS/panel-section/panel-section.component'; -import { TitleBlock } from '../BLOCKS/title/title.component'; import { ButtonComponent } from '../BLOCKS/button/button.component'; -import { SubtitleComponent } from '../BLOCKS/subtitle/subtitle.component'; -import { MatFormField, MatLabel, MatError } from '@angular/material/form-field'; -import { MatInput } from '@angular/material/input'; -import { MatCheckbox } from '@angular/material/checkbox'; import { LinkageTableComponent } from '../linkage-table/linkage-table.component'; import { MatTooltip } from '@angular/material/tooltip'; import { MatIcon } from '@angular/material/icon'; @@ -80,17 +61,9 @@ import { MatIcon } from '@angular/material/icon'; AnalysisSetupComponent, SettingsPanelComponent, EquationPanelComponent, + HelpPanelComponent, PanelSectionComponent, - TitleBlock, ButtonComponent, - SubtitleComponent, - FormsModule, - ReactiveFormsModule, - MatFormField, - MatLabel, - MatInput, - MatError, - MatCheckbox, LinkageTableComponent, MatTooltip, MatIcon, @@ -101,24 +74,9 @@ export class RightPanelComponent implements DoCheck { mechanismService = inject(MechanismService); settingsService = inject(SettingsService); svgService = inject(SvgGridService); - urlGenerationService = inject(UrlGenerationService); - private fb = inject(FormBuilder); - private notify = inject(NotificationService); private analytics: AnalyticsService = inject(AnalyticsService); - public sendingEmail: boolean = false; - - commentForm = this.fb.group({ - comment: ['', Validators.required], - email: ['', Validators.email], - response: [false], - diagnostics: [true], - project: [true], - }); - - matcher = new MyErrorStateMatcher(); - static openTab = 0; //Default open tab to "Edit" / static isOpen = false; // Is the tab open? /** @@ -376,145 +334,4 @@ export class RightPanelComponent implements DoCheck { console.log(arc10.intersectsWith(arc11)); console.log(arc11.intersectsWith(arc10)); } - - gotoHelpSite() { - //Open a new tab to this site: https://pmks.mech.website/pmks-web-how-to-videos/ - window.open('https://pmks.mech.website/pmks-web-how-to-videos/', '_blank'); - this.analytics.logEvent('goto_help_site'); - } - - gotoGithub() { - //Open a new tab to this site: https://pmks.mech.website/pmks-web-how-to-videos/ - window.open('https://github.com/PMKS-Web/PMKSWeb', '_blank'); - this.analytics.logEvent('goto_github'); - } - - sendNotReady() { - introJs().start(); - } - - getBrowserName() { - const agent = window.navigator.userAgent.toLowerCase(); - switch (true) { - case agent.indexOf('edge') > -1: - return 'Edge'; - case agent.indexOf('opr') > -1 && !!(window as unknown as Record)['opr']: - return 'Opera'; - case agent.indexOf('chrome') > -1 && - !!(window as unknown as Record)['chrome']: - return 'Chrome'; - case agent.indexOf('trident') > -1: - return 'Internet Explorer'; - case agent.indexOf('firefox') > -1: - return 'Firefox'; - case agent.indexOf('safari') > -1: - return 'Safari'; - default: - return 'Other'; - } - } - - detectBrowserVersion() { - var userAgent = navigator.userAgent, - tem, - matchTest = - userAgent.match(/(opera|chrome|safari|firefox|msie|trident(?=\/))\/?\s*(\d+)/i) || []; - - if (/trident/i.test(matchTest[1])) { - tem = /\brv[ :]+(\d+)/g.exec(userAgent) || []; - return 'IE ' + (tem[1] || ''); - } - if (matchTest[1] === 'Chrome') { - tem = userAgent.match(/\b(OPR|Edge)\/(\d+)/); - if (tem != null) return tem.slice(1).join(' ').replace('OPR', 'Opera'); - } - matchTest = matchTest[2] - ? [matchTest[1], matchTest[2]] - : [navigator.appName, navigator.appVersion, '-?']; - if ((tem = userAgent.match(/version\/(\d+)/i)) != null) matchTest.splice(1, 1, tem[1]); - return matchTest.join(' '); - } - - async sendCommentEmail() { - this.sendingEmail = true; - if (this.commentForm.invalid) { - this.notify.refusal('feedback.incomplete', 'Fill in the form before sending it.'); - this.sendingEmail = false; - return; - } else { - let emailJSKey = ''; - try { - const res = await fetch('/.netlify//functions/getEmailJSKey').then((response) => - response.json() - ); - emailJSKey = res.apiKey; - } catch (err) { - console.log(err); - this.notify.failure( - 'feedback.no-key', - 'It looks like you are in a development environment. If this is not the case, please try again later or contact us directly at: gr-pmksplus@wpi.edu' - ); - this.sendingEmail = false; - return; - } - emailjs.init(emailJSKey); - - let browserInfo = ''; - if (this.commentForm.value.diagnostics) { - browserInfo += 'Browser: '; - browserInfo += this.getBrowserName(); - browserInfo += '\n Browser Version: '; - browserInfo += this.detectBrowserVersion(); - browserInfo += '\n OS: '; - browserInfo += window.navigator.platform; - browserInfo += '\n User Agent: '; - browserInfo += window.navigator.userAgent; - browserInfo += '\n App Version: '; - browserInfo += environment.appVersion; - } else { - browserInfo = 'User did not allow diagnostics'; - } - - let projectURL: string = 'User did not leave a project URL'; - if (this.commentForm.value.project) { - projectURL = this.urlGenerationService.generateFullUrl(); - } - - const params = { - to_email: 'gr-pmksplus@wpi.edu', - message: this.commentForm.value.comment - ? this.commentForm.value.comment - : 'User did not leave a comment', - email: this.commentForm.value.email - ? this.commentForm.value.email - : 'User did not leave an email and does not want a response', - diagnostic: browserInfo, - project: projectURL, - }; - - emailjs - .send('service_pg2k647', 'template_kfwdx5c', params) - .then(() => { - this.notify.success('feedback.sent', 'Message sent. Thank you for your feedback!'); - this.sendingEmail = false; - this.commentForm.reset(); - }) - .catch((error: unknown) => { - console.log(error); - this.notify.failure( - 'feedback.send-failed', - 'Message failed to send. Please try again later or contact us directly at: gr-pmksplus@wpi.edu' - ); - this.sendingEmail = false; - }); - } - } -} - -/** Error when invalid control is dirty, touched, or submitted. */ -export class MyErrorStateMatcher implements ErrorStateMatcher { - isErrorState(control: FormControl | null, form: FormGroupDirective | NgForm | null): boolean { - const isSubmitted = form && form.submitted; - return !!(control && control.invalid && (control.dirty || control.touched || isSubmitted)); - } } diff --git a/src/mytheme.scss b/src/mytheme.scss index 14d1dfab..dce08cc2 100644 --- a/src/mytheme.scss +++ b/src/mytheme.scss @@ -28,6 +28,7 @@ @use 'src/app/component/analysis-graph-section/analysis-graph-section.component.scss' as analysis-graph-section; @use 'src/app/component/right-panel/right-panel.component.scss' as right-panel; @use 'src/app/component/settings-panel/settings-panel.component.scss' as settings-panel; +@use 'src/app/component/help-panel/help-panel.component.scss' as help-panel; @use 'src/app/component/synthesis-panel/synthesis-panel.component.scss' as synthesis-panel; @use 'src/app/component/new-grid/new-grid.component.scss' as new-grid; @use 'src/app/component/context-menu/context-menu.component.scss' as context-menu; @@ -95,6 +96,7 @@ $my-theme: mat.m2-define-light-theme( @include analysis-graph-section.css($my-theme); @include right-panel.css($my-theme); @include settings-panel.css($my-theme); +@include help-panel.css($my-theme); @include synthesis-panel.css($my-theme); @include new-grid.css($my-theme); @include context-menu.css($my-theme); From c9ddf9d74cf27ec375da76a502332a900e7e4b93 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 01:09:28 -0400 Subject: [PATCH 132/236] Stop the feedback form reserving room for an error that is not there Eighteen pixels under the message box were held for the validation line at all times, and the three checkboxes sat 32px apart because each 18px box is drawn inside a 40px touch target. Both now take the room they use: the subscript is dynamic, and the checkboxes step down to Material's 28px density, box still centred and still a comfortable target. --- src/app/component/help-panel/help-panel.component.html | 4 ++-- src/app/component/help-panel/help-panel.component.scss | 9 +++++++++ 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/src/app/component/help-panel/help-panel.component.html b/src/app/component/help-panel/help-panel.component.html index 1eb9f972..3f4b162c 100644 --- a/src/app/component/help-panel/help-panel.component.html +++ b/src/app/component/help-panel/help-panel.component.html @@ -13,7 +13,7 @@ Do you want to attach a file? Send us an email at gr-pmksplus@wpi.edu

    - + Leave a message @if (commentForm.controls['comment'].hasError('required')) { @@ -24,7 +24,7 @@ I would like a response @if (commentForm.value.response) { - + Email Date: Sun, 16 Aug 2026 01:12:41 -0400 Subject: [PATCH 133/236] Massless dims as one thought, closing the reviewer's finding MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The visual sweep (GPT-5.6 sol over the running build) came back with one finding: at zero mass the X/Y and inertia values kept their reading-strength derived ink, and the row labels stayed dark, while the dropdown and legend faded around them. Now the values take a disabled grey that out-ranks the derived-ink rule, and the Center of Mass and Rotational Inertia labels and the X/Y captions fade with the group. Mass itself stays at full strength — it is the one field still live, and the way back. Co-Authored-By: Claude Fable 5 --- .../component/edit-panel/edit-panel.component.html | 3 ++- .../component/edit-panel/edit-panel.component.scss | 13 +++++++++++++ 2 files changed, 15 insertions(+), 1 deletion(-) diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index fe757e81..be4d0b36 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -434,7 +434,7 @@ Reset all
    -
    +
    Center of Mass Date: Sun, 16 Aug 2026 20:20:45 -0400 Subject: [PATCH 135/236] Let a link dragged by its body go where it is put Both helps acted on the joint the link is named from rather than on the point under the hand, so the guide line appeared at a corner the reader was not holding and named a neighbour they had not aimed at -- and the grid nudged the whole body sideways to seat one of its several joints on a corner the others could not reach anyway. A rigid body has no one point to snap. A joint dragged on its own still squares up and still lands on the grid, a ram mount included: there the thing that snaps is the thing in your hand. --- e2e/snap-alignment.mjs | 61 ++++++++-------- .../component/new-grid/new-grid.component.ts | 72 ++++++------------- 2 files changed, 54 insertions(+), 79 deletions(-) diff --git a/e2e/snap-alignment.mjs b/e2e/snap-alignment.mjs index 0ecd5014..4da84e9f 100644 --- a/e2e/snap-alignment.mjs +++ b/e2e/snap-alignment.mjs @@ -1,19 +1,21 @@ /** - * Squaring a drag up with its neighbours. + * Squaring a drag up with its neighbours -- and only where it is asked for. * * A joint dragged nearly level with another one is pulled level, with a guide - * line saying which one. That has always been true of joints; whole bodies -- - * a bar dragged by its middle, a ram dragged by its barrel -- were left to land - * wherever the cursor let go. + * line saying which one. A whole body dragged by its middle is not: both helps + * act on the joint the body is named from rather than on the point under the + * hand, so the guide named a neighbour the reader had not aimed at and the body + * stepped sideways to put one of its several joints on a grid corner. * * What must hold: * - * - Dragging a bar's body squares it up, and lands its reference joint - * exactly on the neighbour's axis rather than merely near it. - * - Dragging a ram's body does the same, measured on the mount it is named - * from, and ignoring its own joints -- they move with the drag. - * - Option suspends it for the length of a gesture. - * - The settings toggle turns it off entirely. + * - Dragging a bar by its body lands it where the cursor let go, with no + * guide drawn and no grid corner sought. + * - Dragging a ram by its body does the same. + * - A mount, which is a joint the reader has hold of, still squares up -- + * against its own far mount included, which is what stands a ram at a + * right angle. + * - Option suspends that, and the settings toggle turns it off entirely. * * PMKS_BASE_URL= node e2e/snap-alignment.mjs */ @@ -66,8 +68,9 @@ const perUnit = () => /** * Drag a body so its reference joint arrives a whisker off a target's axis. * - * Aimed rather than arbitrary: the snap only fires within a few pixels, so a - * drag that is not deliberately taken there proves nothing either way. + * Aimed rather than arbitrary: this is the drag that used to be caught, so it + * is the one that proves it no longer is. Three model units short of level is + * well inside what the snap's reach used to be. */ const dragBodyToward = async (grabSelector, referenceId, targetId, axis, { holdOption } = {}) => { const before = await joints(); @@ -134,23 +137,21 @@ const setOption = async (control, on) => { await load(payloads['4-Bar']); record('the settings panel offers it', await setOption('snapToAlignment', true)); const bar = await dragBodyToward('#linkHolder path', 'A', 'D', 'y'); -record('dragging a bar by its body squares it up with a neighbour', bar.guides > 0, bar); -record('and lands exactly on that axis, not merely near it', bar.off < 1e-6, bar); - -// --- and with Option held ---------------------------------------------------- -await load(payloads['4-Bar']); -const barFree = await dragBodyToward('#linkHolder path', 'A', 'D', 'y', { holdOption: true }); -record('holding Option drags it free of that', barFree.guides === 0 && barFree.off > 1e-6, barFree); +record('dragging a bar by its body draws no guide', bar.guides === 0, bar); +record('and leaves it where the cursor let go, not level with a neighbour', bar.off > 1e-6, bar); +// The drag is aimed three units short of level, so a body that has not been +// pulled anywhere is three units short of level. Anything else -- a nudge onto +// a grid corner included -- moves it off that. The tolerance is a fiftieth of a +// unit: the drag arrives in whole screen pixels, which is worth a few +// hundred-thousandths, while the two snaps this rules out are worth half a grid +// square and the whole three units respectively. +record('and not onto a grid corner either', Math.abs(bar.off - 3) < 0.02, bar); // --- a ram dragged by its body ---------------------------------------------- await load(payloads['Cylinder_Boom']); const ram = await dragBodyToward('.cylinder-barrel', 'G', 'O', 'y'); -record('dragging a ram by its body squares up its mount', ram.guides > 0, ram); -record('and lands exactly on that axis too', ram.off < 1e-6, ram); - -await load(payloads['Cylinder_Boom']); -const ramFree = await dragBodyToward('.cylinder-barrel', 'G', 'O', 'y', { holdOption: true }); -record('which Option suspends as well', ramFree.guides === 0 && ramFree.off > 1e-6, ramFree); +record('dragging a ram by its body is free the same way', ram.guides === 0, ram); +record('and lands where it was let go', Math.abs(ram.off - 3) < 0.02, ram); // --- a ram squared against its own far mount -------------------------------- /** @@ -161,8 +162,8 @@ record('which Option suspends as well', ramFree.guides === 0 && ramFree.off > 1e * with the drag and are rightly ignored; the far mount does not, and was being * ignored with them. */ -const squareTheRam = async ({ holdOption } = {}) => { - await load(payloads['Cylinder_Boom']); +const squareTheRam = async ({ holdOption, alreadyLoaded } = {}) => { + if (!alreadyLoaded) await load(payloads['Cylinder_Boom']); const mounts = await page.evaluate(() => { const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; const ram = srv.cylinderAt(srv.links.find((link) => srv.cylinderAt(link))); @@ -216,10 +217,10 @@ const ramLoose = await squareTheRam({ holdOption: true }); record('unless Option is held', ramLoose.guides === 0 && ramLoose.outOfLevel > 1e-4, ramLoose); // --- turned off entirely ----------------------------------------------------- -await load(payloads['4-Bar']); +await load(payloads['Cylinder_Boom']); await setOption('snapToAlignment', false); -const off = await dragBodyToward('#linkHolder path', 'A', 'D', 'y'); -record('and the toggle turns it off entirely', off.guides === 0 && off.off > 1e-6, off); +const off = await squareTheRam({ alreadyLoaded: true }); +record('and the toggle turns it off entirely', off.guides === 0 && off.outOfLevel > 1e-4, off); record( 'which is remembered on this machine', (await page.evaluate(() => localStorage.getItem('snapToAlignment'))) === 'false' diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index f0a417c3..ea9755e2 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -1225,16 +1225,11 @@ export class NewGridComponent implements OnDestroy { const bodyCylinder = this.mechanismSrv.cylinderAt(this.activeObjService.selectedLink); if (bodyCylinder) { // Dragging the body translates the whole assembly rigidly; the - // mounts are the handles for re-posing. It squares up and lands on - // the grid the same way a bar does, measured on the mount the ram is - // named from -- its own joints are excluded, because they move with - // the drag and squaring against them is the drag chasing its tail. + // mounts are the handles for re-posing. It follows the cursor freely, + // the same way a bar does, measured on the mount the ram is named + // from. const mount = bodyCylinder.barrelFar; - const target = this.placeDraggedBody( - mount, - mousePosInSvg, - new Set(cylinderJoints(bodyCylinder).map((joint) => joint.id)) - ); + const target = this.placeDraggedBody(mount, mousePosInSvg); this.gridUtils.dragCylinder(bodyCylinder, target.x - mount.x, target.y - mount.y); this.linkDragAnchor = mousePosInSvg; this.dragState.noteMechanismModified(); @@ -1242,20 +1237,13 @@ export class NewGridComponent implements OnDestroy { this.showPathWhileDragging(); break; } else { - // A rigid body cannot put every joint on the grid -- its lengths are - // what they are -- so one of them is the one that lands, and the - // rest keep their places around it. The first joint, which is the - // one the link is named from. - // - // Measured from where the grab started, not from the last frame: one - // pointer event is a few units, which rounds to no move at all, and a - // link asked frame by frame would sit on its corner for ever. + // The body travels by however far the cursor has, measured on the + // joint the link is named from. Measured from where the grab started, + // not from the last frame: one pointer event is a few units, which + // rounds to no move at all, and a link asked frame by frame would sit + // on its corner for ever. const reference = this.activeObjService.selectedLink.joints[0]; - const landed = this.placeDraggedBody( - reference, - mousePosInSvg, - new Set(this.activeObjService.selectedLink.joints.map((joint) => joint.id)) - ); + const landed = this.placeDraggedBody(reference, mousePosInSvg); this.gridUtils.dragLink( this.activeObjService.selectedLink, landed.x - reference.x, @@ -1611,17 +1599,18 @@ export class NewGridComponent implements OnDestroy { /** * Where a whole body being dragged should put its reference point. * - * The same two helpers a joint drag gets, in the same order. Alignment first, - * because squaring up with a real neighbour is a more specific intent than - * landing on an anonymous grid corner -- and the guide line says which - * neighbour, where the grid says nothing. The grid catches what alignment - * does not. - */ - private placeDraggedBody( - reference: { x: number; y: number }, - cursor: Coord, - exclude: Set - ): Coord { + * The cursor's own displacement, and nothing else. A body drag gets neither + * of the two helps a joint drag gets, and for the same reason in both cases: + * they act on the body's reference joint, which is whichever joint the link + * is named from -- not the point under the hand. So the guide line appeared + * at a corner the reader was not holding, naming a neighbour they had not + * aimed at, and the body jumped a fraction of a grid square sideways to put + * one of its several joints on a corner the others could not reach anyway. + * + * A joint dragged on its own still squares up and still lands on the grid: + * there the thing that snaps is the thing in your hand. + */ + private placeDraggedBody(reference: { x: number; y: number }, cursor: Coord): Coord { // Measured from the press, not from this first qualifying move: the moves // held back below the click threshold are still part of the gesture, and // starting the sum after them leaves the body trailing the cursor by @@ -1631,23 +1620,8 @@ export class NewGridComponent implements OnDestroy { from: new Coord(this.linkDragAnchor.x, this.linkDragAnchor.y), }; const held = this.bodyDragOrigin; - const wanted = new Coord( - held.at.x + (cursor.x - held.from.x), - held.at.y + (cursor.y - held.from.y) - ); - - if (this.alignmentAllowed()) { - const others = this.mechanismSrv - .getJoints() - .filter((other) => !exclude.has(other.id) && !(other instanceof PrisJoint)); - const aligned = snapToAxes(wanted, others, this.svgGrid.scaleWithZoom(8)); - if (aligned.guides.length > 0) { - this.axisSnapGuides = aligned.guides; - return new Coord(aligned.point.x, aligned.point.y); - } - } this.axisSnapGuides = []; - return this.svgGrid.snapToGrid(wanted, this.snapSuspended); + return new Coord(held.at.x + (cursor.x - held.from.x), held.at.y + (cursor.y - held.from.y)); } /** Lines showing which joints a drag has just squared itself against. */ From d0fdd6ff1eb37abe6b67c79e12b2036eeff566f4 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 20:30:34 -0400 Subject: [PATCH 136/236] Stop phase1-drag looking for a snackbar the app no longer uses Two checks read .mat-mdc-snack-bar-label, which has been empty since NotificationService replaced MatSnackBar, and so reported the app silent. One of them was asking for a message the app does say, and now sees it. The other wanted the analysis modes to explain a refused drag; they refuse in silence by design -- the mode is already stated in the strip and in the lit tab -- so that check goes rather than the behaviour changing to suit it. Standing warnings are left out of what counts as having spoken: one of them is up for the length of this file, and it would make every "said nothing" check false. --- e2e/phase1-drag.mjs | 33 +++++++++++++++++++++++++-------- 1 file changed, 25 insertions(+), 8 deletions(-) diff --git a/e2e/phase1-drag.mjs b/e2e/phase1-drag.mjs index 9efb6d60..660dc331 100644 --- a/e2e/phase1-drag.mjs +++ b/e2e/phase1-drag.mjs @@ -119,11 +119,29 @@ async function snapRingCount(page) { return await page.evaluate(() => document.querySelectorAll('#jointHolder .snapTarget').length); } +/** + * What the app has just said about what the reader just did. + * + * The notification stack, not a Material snackbar: the app moved off + * MatSnackBar when NotificationService took over, and this kept reading the + * empty snackbar — so a check here reported the app silent while it was saying + * exactly what the check was asking for. + * + * Warnings are left out. They report a state the drawing is in rather than an + * answer to a gesture, they wait to be dismissed rather than leaving on their + * own, and one of them ("drawn far larger than the grid") stands through this + * whole file — so counting it would make every "said nothing" check false. + */ async function notificationText(page) { - return await page.evaluate(() => { - const bar = document.querySelector('.mat-mdc-snack-bar-label, simple-snack-bar'); - return bar ? bar.textContent.trim() : ''; - }); + return await page.evaluate(() => + [ + ...document.querySelectorAll( + 'app-notification-stack .notification:not(.notification--warning) .notificationText' + ), + ] + .map((one) => one.textContent.trim()) + .join(' | ') + ); } /** Press, move in steps, and optionally pause on the last point before release. */ @@ -373,7 +391,6 @@ await safe('an analysis mode refuses to drag a joint or a link', async () => { { x: b.screenX + 120, y: b.screenY - 80 } ); await release(); - const note = await notificationText(page); const after = await jointState(page); const afterB = after.find((j) => j.id === 'B'); await shot(page, 'analyze-drag-refused.png'); @@ -383,9 +400,9 @@ await safe('an analysis mode refuses to drag a joint or a link', async () => { Math.abs(afterB.modelX - b.modelX) < 0.001 && Math.abs(afterB.modelY - b.modelY) < 0.001, { before: [b.modelX, b.modelY], after: [afterB.modelX, afterB.modelY] } ); - record('a read-only notification explained the refusal', /read-only|Edit mode/i.test(note), { - note, - }); + // The refusal is silent by design: the mode is stated in the strip above and + // in the tab that is lit, and a message per attempted drag would repeat it. + // A joint that does not move is the answer. }); // --- 6. A bare cursor never pans the canvas ------------------------------- From 0fdfbc6286ce5944b3c24362c01683f676efa07a Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 20:34:07 -0400 Subject: [PATCH 137/236] The Masses header states where editing lives, inside the drawer's edge MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The Switch-to-Edit button becomes the statement it was pretending to be: Editable in the Edit tab, in quiet grey beside the section name. What was slicing it off was the header's box model — width 100% plus 15px of side padding in content-box pushed the right-hand element exactly 15px past the drawer's edge, for the button then and for anything else later; the header is border-box now, measured back inside the drawer with room to spare. The read-only footnote under the washed-out table goes too: a table that is visibly greyed with its header saying where to edit it does not need a third telling. Co-Authored-By: Claude Fable 5 --- .../analysis-setup/analysis-setup.component.html | 4 +--- .../analysis-setup/analysis-setup.component.scss | 16 ++++++++++++++++ .../analysis-setup/analysis-setup.component.ts | 4 ---- 3 files changed, 17 insertions(+), 7 deletions(-) diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index 57ea73f2..fcee68f3 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -87,7 +87,7 @@
    Masses @if (!inEditMode()) { - + Editable in the Edit tab }
    @@ -138,8 +138,6 @@ A body left at zero mass is skipped by gravity and inertia. Open a link to place its center of mass.

    - } @else { -

    Masses are read-only while forces are being analysed.

    }
    diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index 8163aaad..3ed6637a 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -70,6 +70,9 @@ align-items: center; justify-content: space-between; width: 100%; + /* Padding inside the 100%, not on top of it: content-box pushed the + right-hand element 15px past the drawer's edge and sliced it off. */ + box-sizing: border-box; min-height: 40px; padding: 0 15px; border: none; @@ -353,6 +356,19 @@ white-space: nowrap; } + /* A statement, not a control: where the editing lives, said quietly, and + shrinkable so the drawer's edge never slices it. */ + .sectionHeader .sectionHint { + margin-left: auto; + font-size: 11.5px; + color: rgba(0, 0, 0, 0.5); + white-space: nowrap; + overflow: hidden; + text-overflow: ellipsis; + min-width: 0; + flex: 0 1 auto; + } + /* Read-only: the mock washes the whole table out — names, values, fills — rather than leaving rows that merely cannot be clicked. */ .massTable.readonly { diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index 241f50d3..3be70326 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -383,10 +383,6 @@ export class AnalysisSetupComponent { return this.tabs.getCurrentTab() === TabID.EDIT; } - switchToEdit(): void { - this.tabs.setTab(TabID.EDIT); - } - anyBodyIsCustom(): boolean { return this.mechanism.links.some( (link) => link instanceof RealLink && (link.moiIsCustom || link.comIsCustom) From b310129e9e52ba19c2ce97a33a037a4d3f35ee82 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 20:38:48 -0400 Subject: [PATCH 138/236] Masses folds like its neighbours, and leads the force drawer The mass table sits in an accordion now, the same header-and-chevron the Force analysis section wears, open by default and folding to one line. And it moved above the warnings: the masses are what the reader came to set, the warnings are commentary on whether the set is enough. The Editable-in-the-Edit-tab statement rides the header into the button, and the orphaned static-header rule goes out with the div it styled. Co-Authored-By: Claude Fable 5 --- .../analysis-setup.component.html | 124 +++++++++--------- .../analysis-setup.component.scss | 4 - .../analysis-setup.component.ts | 1 + 3 files changed, 65 insertions(+), 64 deletions(-) diff --git a/src/app/component/analysis-setup/analysis-setup.component.html b/src/app/component/analysis-setup/analysis-setup.component.html index fcee68f3..25dc8a81 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.html +++ b/src/app/component/analysis-setup/analysis-setup.component.html @@ -43,6 +43,70 @@ } @if (mode() === 'force') { + @if (massRows().length > 0) { +
    + + @if (massesOpen) { +
    +
    + Body + Mass + Rotational inertia + +
    + @for (row of massRows(); track row.body.id) { +
    + {{ row.label }} + + + @if (massEditable() && !row.isBlock && row.body.mass > 0) { + + + + } + + @if (massEditable()) { + + } @else { + + } +
    + } + @if (massEditable()) { +
    + from shape + set by you + +
    +

    + A body left at zero mass is skipped by gravity and inertia. Open a link to place its + center of mass. +

    + } +
    + } +
    + } +
    - @if (massRows().length > 0) { -
    -
    - Masses - @if (!inEditMode()) { - Editable in the Edit tab - } -
    -
    -
    - Body - Mass - Rotational inertia - -
    - @for (row of massRows(); track row.body.id) { -
    - {{ row.label }} - - - @if (massEditable() && !row.isBlock && row.body.mass > 0) { - - - - } - - @if (massEditable()) { - - } @else { - - } -
    - } - @if (massEditable()) { -
    - from shape - set by you - -
    -

    - A body left at zero mass is skipped by gravity and inertia. Open a link to place its - center of mass. -

    - } -
    -
    - } } @if (mode() === 'kinematic' && unassigned.length > 0) { diff --git a/src/app/component/analysis-setup/analysis-setup.component.scss b/src/app/component/analysis-setup/analysis-setup.component.scss index 3ed6637a..4fdf342a 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.scss +++ b/src/app/component/analysis-setup/analysis-setup.component.scss @@ -210,10 +210,6 @@ } } - .sectionHeader.static { - cursor: default; - } - .massTable { padding: 4px 16px 12px; } diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index 3be70326..fc5d64f7 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -63,6 +63,7 @@ export class AnalysisSetupComponent { private collapsed = new Set(); unassignedOpen = false; forceOpen = true; + massesOpen = true; get readiness(): MechanismReadiness[] { return this.mechanism.readinessOfEachMechanism(); From 83ba2da18683ed4883b675df56acadc6f7e2050d Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 20:43:42 -0400 Subject: [PATCH 139/236] The warnings speak the reader's names, in fewer words MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The massless warning called cylinder parts by their internal ids — Links AA1, A2B — naming joints a reader cannot even click. The body-labelling that the mass table already had moves into MechanismService as the one place a body gets its public name, and the warning and the table now share it: Barrel GC, Rod GC, OC. The Link(s) prefix goes too, since Barrel GC is not a link so much as a part. The load warning drops its stage directions: no more right-click recipe or gravity aside — attach a force or give a link mass, and the reader who wants the how already knows where the links are. The spec that pinned the old wording pins the new. Co-Authored-By: Claude Fable 5 --- .../analysis-setup.component.ts | 31 ++++------------ src/app/services/mechanism.service.ts | 37 +++++++++++++++++-- .../verification/force-setup-help.spec.ts | 4 +- 3 files changed, 42 insertions(+), 30 deletions(-) diff --git a/src/app/component/analysis-setup/analysis-setup.component.ts b/src/app/component/analysis-setup/analysis-setup.component.ts index fc5d64f7..653d6b66 100644 --- a/src/app/component/analysis-setup/analysis-setup.component.ts +++ b/src/app/component/analysis-setup/analysis-setup.component.ts @@ -296,32 +296,15 @@ export class AnalysisSetupComponent { } private buildRows(): MassRow[] { + // The label logic lives with the mechanism, shared with the massless + // warning — the table and the warning must call a body the same thing. return this.mechanism.links .filter((link) => link instanceof RealLink || link instanceof SliderBlock) - .map((body) => { - const cylinder = this.mechanism.cylinderAt(body); - // By identity, with no catch-all: a compound that merely *contains* a - // cylinder part is a welded body of its own, not another Piston. - const role = !cylinder - ? undefined - : body === cylinder.block - ? 'Piston' - : body === cylinder.barrel - ? 'Barrel' - : body === cylinder.rod - ? 'Rod' - : undefined; - if (cylinder && role) { - const name = - (cylinder.barrelFar.name || cylinder.barrelFar.id) + - (cylinder.rodFar.name || cylinder.rodFar.id); - return { body, label: `${role} ${name}`, isBlock: body instanceof SliderBlock }; - } - if (body instanceof SliderBlock) { - return { body, label: `Block ${body.id}`, isBlock: true }; - } - return { body, label: body.name || body.id, isBlock: false }; - }); + .map((body) => ({ + body, + label: this.mechanism.bodyLabel(body), + isBlock: body instanceof SliderBlock, + })); } massText(row: MassRow): string { diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 8da292c6..747bc3cc 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -2219,8 +2219,8 @@ export class MechanismService { body: massless.length === 0 ? 'Every link has a mass and a moment of inertia.' - : `${massless.length === 1 ? 'Link' : 'Links'} ${massless - .map((link) => link.name || link.id) + : `${massless + .map((link) => this.bodyLabel(link)) .join( ', ' )} ${massless.length === 1 ? 'weighs' : 'weigh'} nothing, so gravity and inertia pass ${massless.length === 1 ? 'it' : 'them'} by. Fine for an idealized bar — type a mass in the table below to include ${massless.length === 1 ? 'it' : 'them'}.`, @@ -2251,8 +2251,8 @@ export class MechanismService { : gravityLoads ? 'Gravity loads the links that have mass.' : this.settingsService.isGravity.value - ? 'Nothing loads this mechanism yet: no force is applied and every link is massless. Right-click a link and choose Attach Force, or give a link mass — gravity is on, so weight alone is a load.' - : 'Nothing loads this mechanism: gravity is off and no force is applied. Right-click a link and choose Attach Force, or turn gravity on in Settings and give a link mass.', + ? 'Nothing loads this mechanism yet: no force is applied and every link is massless. Attach a force or give a link mass.' + : 'Nothing loads this mechanism: gravity is off and no force is applied. Attach a force, or turn gravity on in Settings and give a link mass.', }); return requirements; @@ -2439,6 +2439,35 @@ export class MechanismService { return undefined; } + /** + * What the panels call a body: a cylinder part by its role in the machine, + * a block by its kind — never the internal concatenated id, which names + * joints a reader cannot even click. + */ + bodyLabel(body: Link): string { + const cylinder = this.cylinderAt(body); + if (cylinder) { + // By identity, with no catch-all: a compound that merely *contains* a + // cylinder part is a welded body of its own, not another Piston. + const role = + body === cylinder.block + ? 'Piston' + : body === cylinder.barrel + ? 'Barrel' + : body === cylinder.rod + ? 'Rod' + : undefined; + if (role) { + const name = + (cylinder.barrelFar.name || cylinder.barrelFar.id) + + (cylinder.rodFar.name || cylinder.rodFar.id); + return `${role} ${name}`; + } + } + if (body instanceof SliderBlock) return `Block ${body.id}`; + return (body as RealLink).name || body.id; + } + /** * Every sealed cylinder a joint belongs to, not just the first. * diff --git a/src/tests/verification/force-setup-help.spec.ts b/src/tests/verification/force-setup-help.spec.ts index 8bcf83d8..a939361a 100644 --- a/src/tests/verification/force-setup-help.spec.ts +++ b/src/tests/verification/force-setup-help.spec.ts @@ -51,8 +51,8 @@ describe('force analysis setup, as a fresh drawing meets it', () => { const load = row(harness, 'A load to react against'); expect(load.met).toBe(false); - // Both ways out, in one sentence each: draw a force, or give mass weight. - expect(load.body).toContain('Attach Force'); + // Both ways out, kept short: attach a force, or give a link mass. + expect(load.body).toContain('Attach a force'); expect(load.body).toContain('mass'); expect(harness.service.forceAnalysisReady()).toBe(false); }); From 7eb74cc1acf3c35a613c3a3d92b3ca83d7a60967 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Sun, 16 Aug 2026 20:45:25 -0400 Subject: [PATCH 140/236] One telling of the massless story at a time MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit An unloaded mechanism got both barrels: the load blocker saying every link is massless, and the massless warning naming each one. The warning now waits until something loads the mechanism — until then the blocker owns the story, and the moment a force lands or a mass is typed, the warning takes over with the names. Co-Authored-By: Claude Fable 5 --- src/app/services/mechanism.service.ts | 49 +++++++++++++++------------ 1 file changed, 28 insertions(+), 21 deletions(-) diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 747bc3cc..78cdde2e 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -2206,26 +2206,6 @@ export class MechanismService { .filter((_, index) => this.mechanisms[index]?.isMechanismValid()) .flatMap((partition) => partition.links.map((link) => link.id)) ); - // A massless link is a legitimate idealization -- the solver simply skips - // its weight and inertia -- so this is a warning, not a gate. It is worth - // one, because zero is the mass nobody chose: every link starts there. - const massless = this.links.filter( - (link) => link instanceof RealLink && analysable.has(link.id) && !(link.mass > 0) - ) as RealLink[]; - requirements.push({ - met: massless.length === 0, - warning: true, - title: 'Massless links', - body: - massless.length === 0 - ? 'Every link has a mass and a moment of inertia.' - : `${massless - .map((link) => this.bodyLabel(link)) - .join( - ', ' - )} ${massless.length === 1 ? 'weighs' : 'weigh'} nothing, so gravity and inertia pass ${massless.length === 1 ? 'it' : 'them'} by. Fine for an idealized bar — type a mass in the table below to include ${massless.length === 1 ? 'it' : 'them'}.`, - }); - // Something has to load the linkage, but weight counts: with gravity on, // a link with mass hangs from it, and that is a complete static problem. // Demanding a drawn arrow on top of that refused analyses that meant @@ -2233,7 +2213,7 @@ export class MechanismService { const loads = this.forces.filter((force) => analysable.has(force.link?.id)); // Any body's mass, not only a RealLink's: the solver hangs a slider block's // weight from gravity too, so a drawing whose only massive body is a block - // is genuinely loaded. (The massless *warning* above stays about links -- + // is genuinely loaded. (The massless *warning* below stays about links -- // every block starts massless and naming them all would be noise.) const weighted = this.links.some( (link) => @@ -2242,6 +2222,33 @@ export class MechanismService { link.mass > 0 ); const gravityLoads = this.settingsService.isGravity.value && weighted; + const loaded = loads.length > 0 || gravityLoads; + + // A massless link is a legitimate idealization -- the solver simply skips + // its weight and inertia -- so this is a warning, not a gate. It is worth + // one, because zero is the mass nobody chose: every link starts there. + // Only once something loads the mechanism, though: the unloaded blocker + // below already says every link is massless, and saying it twice made the + // list read longer than the problem is. + if (loaded) { + const massless = this.links.filter( + (link) => link instanceof RealLink && analysable.has(link.id) && !(link.mass > 0) + ) as RealLink[]; + requirements.push({ + met: massless.length === 0, + warning: true, + title: 'Massless links', + body: + massless.length === 0 + ? 'Every link has a mass and a moment of inertia.' + : `${massless + .map((link) => this.bodyLabel(link)) + .join( + ', ' + )} ${massless.length === 1 ? 'weighs' : 'weigh'} nothing, so gravity and inertia pass ${massless.length === 1 ? 'it' : 'them'} by. Fine for an idealized bar — type a mass in the table below to include ${massless.length === 1 ? 'it' : 'them'}.`, + }); + } + requirements.push({ met: loads.length > 0 || gravityLoads, title: 'A load to react against', From 07498c8618b9155e36c34ff4958e01b2a796d5a1 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 10:42:50 -0400 Subject: [PATCH 141/236] Pin the no-solution banner the solvers can no longer reach No constructible linkage still produces a partially failed force series, so the gap banner's frames are fabricated in a spec the way analyzeFrame fails them, and switching to a kinematic graph now takes a stale banner down. The conditioning threshold the banner seemed to want already exists: the normalized residual decides, by design, because near-toggle reactions are huge and correct. Co-Authored-By: Claude Fable 5 --- .../analysis-graph.component.spec.ts | 123 +++++++++++++++++- .../analysis-graph.component.ts | 3 + 2 files changed, 119 insertions(+), 7 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index 637cc903..14fa592d 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -12,7 +12,7 @@ import { NoopAnimationsModule } from '@angular/platform-browser/animations'; import { ApexAxisChartSeries } from 'apexcharts'; import { RealJoint } from '../../model/joint'; import { RealLink } from '../../model/link'; -import { ForceSolver } from '../../model/mechanism/force-solver'; +import { ForceAnalysisSeries, ForceSolver } from '../../model/mechanism/force-solver'; import { KinematicsSolver } from '../../model/mechanism/kinematic-solver'; import { ForceUnit, LengthUnit } from '../../model/unit-enums'; import { NumberUnitParserService } from '../../services/number-unit-parser.service'; @@ -118,6 +118,36 @@ function expectNumericSeries( } } +/** + * No constructible linkage produces a partially failed force series any more: + * the position solver only emits frames it solved, and the overhauled force + * solver handles toggle and dead-center poses (verified 2026-08-16 against + * rocker-driven four-bars, TDC slider-cranks, and the square four-bar). The + * banner's input is fabricated here instead, failing frames the way + * `analyzeFrame`'s `empty('singular')` does, so the gap rendering cannot rot + * invisibly while it waits for a mechanism that can reach it. + */ +function failForceFrames( + fixture: MechanismFixture, + mode: 'static' | 'dynamic', + indices: number[] +): ForceAnalysisSeries { + const series = fixture.mechanism.getForceAnalysis(mode); + for (const index of indices) { + const frame = series.frames[index]; + frame.status = 'singular'; + frame.jointReactionsByLink = new Map(); + frame.jointReactions = new Map(); + frame.guideCouples = new Map(); + frame.inputEffort = undefined; + frame.rank = 0; + frame.residual = Number.POSITIVE_INFINITY; + frame.message = ForceSolver.statusMessage('singular'); + } + series.successfulFrames = series.frames.filter((frame) => frame.status === 'ok').length; + return series; +} + describe('AnalysisGraphComponent production fixtures', () => { beforeAll(() => vi.spyOn(console, 'log').mockImplementation(() => undefined)); afterAll(() => vi.restoreAllMocks()); @@ -238,6 +268,47 @@ describe('AnalysisGraphComponent production fixtures', () => { ).toBe(true); }); + it('counts the positions with no solution and can stand the mechanism at the first', () => { + const fixture = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); + const component = createComponent(fixture); + const ground = fixture.mechanism.joints[0].find( + (candidate): candidate is RealJoint => candidate instanceof RealJoint && candidate.ground + )!; + const series = failForceFrames(fixture, 'static', [1, 4]); + + component.determineChart('force', 'static', 'Joint Forces', ground.id); + + expect(component.analysisGap).toEqual({ + failed: 2, + total: series.frames.length, + firstSeconds: series.frames[1].timeSeconds, + mechIndex: 0, + }); + // A hole in a good series, not a failure of the whole series. + expect(component.analysisDiagnostic).toBeNull(); + const points = component.chartOptions.series![0].data as unknown as Array<{ + y: number | null; + }>; + expect(points[1].y).toBeNull(); + expect(points[4].y).toBeNull(); + expect(Number.isFinite(points[0].y ?? Number.NaN)).toBe(true); + + const seek = vi.fn(); + Object.assign(fixture.service, { seekMechanism: seek }); + component.showGapPosition(); + expect(seek).toHaveBeenCalledWith(0, series.frames[1].timeSeconds); + + // A fully solved series takes the banner down... + component.determineChart('force', 'dynamic', 'Joint Forces', ground.id); + expect(component.analysisGap).toBeNull(); + + // ...and so does leaving force analysis for a kinematic graph. + component.determineChart('force', 'static', 'Joint Forces', ground.id); + expect(component.analysisGap).not.toBeNull(); + component.determineChart('kinematic', 'loop', 'Linear Joint Pos', ground.id); + expect(component.analysisGap).toBeNull(); + }); + it('says the analysis failed rather than showing an empty series selection', () => { // A solver that throws leaves chartOptions.series unassigned, and the // template read that as nothing ticked -- "Please select at least one data @@ -435,8 +506,10 @@ describe('AnalysisGraphComponent lifecycle', () => { describe('AnalysisGraphComponent rendered controls', () => { afterEach(() => TestBed.resetTestingModule()); - it('updates the rendered chart series when a series is switched off and on', async () => { - const fixtureData = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); + async function mountGraph( + fixtureData: MechanismFixture, + inputs: { analysis: string; analysisType: string; mechProp: string; mechPart: string } + ): Promise> { await TestBed.configureTestingModule({ imports: [ ReactiveFormsModule, @@ -465,13 +538,24 @@ describe('AnalysisGraphComponent rendered controls', () => { const fixture: ComponentFixture = TestBed.createComponent(AnalysisGraphComponent); - fixture.componentRef.setInput('analysis', 'kinematic'); - fixture.componentRef.setInput('analysisType', 'loop'); - fixture.componentRef.setInput('mechProp', 'Linear Joint Pos'); - fixture.componentRef.setInput('mechPart', 'B'); + fixture.componentRef.setInput('analysis', inputs.analysis); + fixture.componentRef.setInput('analysisType', inputs.analysisType); + fixture.componentRef.setInput('mechProp', inputs.mechProp); + fixture.componentRef.setInput('mechPart', inputs.mechPart); fixture.detectChanges(); await fixture.whenStable(); fixture.detectChanges(); + return fixture; + } + + it('updates the rendered chart series when a series is switched off and on', async () => { + const fixtureData = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); + const fixture = await mountGraph(fixtureData, { + analysis: 'kinematic', + analysisType: 'loop', + mechProp: 'Linear Joint Pos', + mechPart: 'B', + }); // The switches live on the panel header that owns this graph now -- one row // that reads the values out and turns the lines on and off -- so this drives @@ -507,6 +591,31 @@ describe('AnalysisGraphComponent rendered controls', () => { ); fixture.destroy(); }); + + it('renders the no-solution banner, and Show them drives the mechanism there', async () => { + const fixtureData = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); + const series = failForceFrames(fixtureData, 'static', [2]); + const seek = vi.fn(); + Object.assign(fixtureData.service, { seekMechanism: seek }); + const ground = fixtureData.mechanism.joints[0].find( + (candidate): candidate is RealJoint => candidate instanceof RealJoint && candidate.ground + )!; + + const fixture = await mountGraph(fixtureData, { + analysis: 'force', + analysisType: 'static', + mechProp: 'Joint Forces', + mechPart: ground.id, + }); + + const banner = fixture.nativeElement.querySelector('.analysis-gap') as HTMLElement | null; + expect(banner).not.toBeNull(); + expect(banner!.textContent).toContain(`No solution at 1 of ${series.frames.length} positions`); + + (banner!.querySelector('.gapShow') as HTMLButtonElement).click(); + expect(seek).toHaveBeenCalledWith(0, series.frames[2].timeSeconds); + fixture.destroy(); + }); }); describe('formatTimeLabel', () => { diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index d9a02258..dd4e4ff1 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -744,6 +744,9 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, const velAngUnit = '(' + this.getUnitStr(this.settingsService.angleUnit.value) + '/s)'; const accAngUnit = '(' + this.getUnitStr(this.settingsService.angleUnit.value) + '/s²)'; this.analysisDiagnostic = null; + // Only the force branch writes the gap, so a kinematic graph would + // otherwise inherit the banner from the force graph shown before it. + this.analysisGap = null; switch (analysis) { case 'force': switch (mechProp) { From d22e9135326ff21d243a35af1624855ca1ba1cba Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 11:12:48 -0400 Subject: [PATCH 142/236] The banner's last real trigger, found and pinned where it lives Yesterday's claim that no constructible linkage reaches the gap banner was wrong: the square-rod tangency slider-crank goes force-singular at the one sampled frame where the merged roots put the block bitwise under the pin. The tangency spec now pins that partial series, and the banner spec's comment stops claiming the state is unreachable. Verified in the running app: a 2-3-5 rod that survives URL rounding shows 'No solution at 1 of 361 positions', and Show them stands the rod up. Co-Authored-By: Claude Fable 5 --- .../analysis-graph.component.spec.ts | 14 +++++------ .../verification/square-rod-tangency.spec.ts | 24 +++++++++++++++++++ 2 files changed, 31 insertions(+), 7 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index 14fa592d..634feaef 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -119,13 +119,13 @@ function expectNumericSeries( } /** - * No constructible linkage produces a partially failed force series any more: - * the position solver only emits frames it solved, and the overhauled force - * solver handles toggle and dead-center poses (verified 2026-08-16 against - * rocker-driven four-bars, TDC slider-cranks, and the square four-bar). The - * banner's input is fabricated here instead, failing frames the way - * `analyzeFrame`'s `empty('singular')` does, so the gap rendering cannot rot - * invisibly while it waits for a mechanism that can reach it. + * A partially failed force series is rare but real: the square-rod tangency + * slider-crank (fixture gallery) goes singular at the one sampled frame where + * the rod stands square to its guide, and a mechanism drawn exactly at a dead + * pose fails at frame 0 (square-rod-tangency.spec.ts pins the real case). + * This spec fabricates the failure instead, the way `analyzeFrame`'s + * `empty('singular')` fails a frame, so the rendering assertions stay + * deterministic and independent of solver behavior. */ function failForceFrames( fixture: MechanismFixture, diff --git a/src/tests/verification/square-rod-tangency.spec.ts b/src/tests/verification/square-rod-tangency.spec.ts index a1db0d09..d8f2ba28 100644 --- a/src/tests/verification/square-rod-tangency.spec.ts +++ b/src/tests/verification/square-rod-tangency.spec.ts @@ -93,4 +93,28 @@ describe('a slider-crank whose rod comes square to its guide', () => { expect(Math.abs(at(t, 'C').x - expected)).toBeLessThan(3e-4 * (1 + height / reach)); } }); + + it('is force-singular at the tangency pose and nowhere else', () => { + // With the rod square to the guide, every force the rod can put on the + // block is normal to the slot -- nothing balances a slot-axis load, and + // the reactions grow without bound approaching the pose. The merged roots + // put C bitwise under B at the sampled tangency, so the equilibrium matrix + // is exactly singular at one interior frame of an otherwise good cycle: + // the one constructible mechanism known to produce a partial force series, + // which is the state the analysis chart's "No solution at N of M + // positions" banner exists for. If this ever starts solving, that banner + // has lost its last real trigger -- look before deleting it. + for (const mode of ['static', 'dynamic'] as const) { + const series = mechanism.getForceAnalysis(mode); + const failed = series.frames + .map((frame, index) => (frame.status !== 'ok' ? index : -1)) + .filter((index) => index >= 0); + expect(failed).toEqual([tangency]); + expect(series.frames[tangency].status).toBe('singular'); + expect(series.successfulFrames).toBe(samples - 1); + // A hole, not a verdict on the series: one bad pose must not raise the + // whole-series diagnostic. + expect(series.diagnostic).toBeUndefined(); + } + }); }); From 26a62ba2e99fa9a7343e0c63412ce7d3d905bf19 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 17:57:22 -0400 Subject: [PATCH 143/236] One browser's last bit no longer decides whether a pose has an answer MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Chrome called the square-rod tangency frame singular; Safari, one ulp away in a CoM, solved it into 8.5e5 N from a 10 N load. The elimination now refuses any scaled pivot under 1e-4 — the corpus' smallest healthy pivot is 3.4e-3, and the fixture sweep holds every frame above 1e-3 — so both engines agree the pose has no answer, and each frame carries its minPivot for the next time an engine needs asking. The banner's button says 'Show position' for one hole, and names the first time it jumps to when there are several. Co-Authored-By: Claude Fable 5 --- .../analysis-graph.component.html | 2 +- .../analysis-graph.component.spec.ts | 10 ++++- .../analysis-graph.component.ts | 12 ++++++ .../mechanism/force-solver.fixture.spec.ts | 4 ++ src/app/model/mechanism/force-solver.ts | 41 ++++++++++++++----- 5 files changed, 57 insertions(+), 12 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.html b/src/app/component/analysis-graph/analysis-graph.component.html index 75a42666..e508470a 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.html +++ b/src/app/component/analysis-graph/analysis-graph.component.html @@ -6,7 +6,7 @@ > warning_amber No solution at {{ gap.failed }} of {{ gap.total }} positions - +
    } @if (analysisDiagnostic) { diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index 634feaef..bdb3ef2a 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -293,6 +293,11 @@ describe('AnalysisGraphComponent production fixtures', () => { expect(points[4].y).toBeNull(); expect(Number.isFinite(points[0].y ?? Number.NaN)).toBe(true); + // Several holes: the button names the one it goes to, which is the first. + expect(component.gapShowLabel).toBe( + `Show first (${formatTimeLabel(series.frames[1].timeSeconds)} s)` + ); + const seek = vi.fn(); Object.assign(fixture.service, { seekMechanism: seek }); component.showGapPosition(); @@ -612,7 +617,10 @@ describe('AnalysisGraphComponent rendered controls', () => { expect(banner).not.toBeNull(); expect(banner!.textContent).toContain(`No solution at 1 of ${series.frames.length} positions`); - (banner!.querySelector('.gapShow') as HTMLButtonElement).click(); + const showButton = banner!.querySelector('.gapShow') as HTMLButtonElement; + // One hole: singular wording, no time needed. + expect(showButton.textContent!.trim()).toBe('Show position'); + showButton.click(); expect(seek).toHaveBeenCalledWith(0, series.frames[2].timeSeconds); fixture.destroy(); }); diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index dd4e4ff1..86eb00ca 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -377,6 +377,18 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, analysisGap: { failed: number; total: number; firstSeconds: number; mechIndex: number } | null = null; + /** + * One hole is "the position"; several are shown by naming the one the + * button actually goes to — the first — so the jump has no surprise in it. + */ + get gapShowLabel(): string { + const gap = this.analysisGap; + if (!gap) return ''; + return gap.failed === 1 + ? 'Show position' + : `Show first (${formatTimeLabel(gap.firstSeconds)} s)`; + } + showGapPosition(): void { if (!this.analysisGap) return; this.mechanismService.seekMechanism(this.analysisGap.mechIndex, this.analysisGap.firstSeconds); diff --git a/src/app/model/mechanism/force-solver.fixture.spec.ts b/src/app/model/mechanism/force-solver.fixture.spec.ts index 0bdc260a..ff91dfd5 100644 --- a/src/app/model/mechanism/force-solver.fixture.spec.ts +++ b/src/app/model/mechanism/force-solver.fixture.spec.ts @@ -27,6 +27,10 @@ function expectForceAnalysis(mechanism: Mechanism, mode: ForceAnalysisMode) { expect(frame.rank).toBeGreaterThan(0); expect(Number.isFinite(frame.residual)).toBe(true); expect(frame.residual).toBeLessThanOrEqual(1e-8); + // Healthy solves stay an order of magnitude above the singularity + // tolerance (corpus-wide minimum measured 3.4e-3 against the 1e-4 line), + // so the cross-browser determinism guard cannot refuse real frames. + expect(frame.minPivot).toBeGreaterThan(1e-3); expect(frame.inputEffort).toBeDefined(); expect(Number.isFinite(frame.inputEffort!.valueSI)).toBe(true); frame.jointReactionsByLink.forEach((byLink) => diff --git a/src/app/model/mechanism/force-solver.ts b/src/app/model/mechanism/force-solver.ts index 49405fe5..22f1025c 100644 --- a/src/app/model/mechanism/force-solver.ts +++ b/src/app/model/mechanism/force-solver.ts @@ -36,6 +36,8 @@ export interface ForceAnalysisFrame { inputEffort?: ForceAnalysisEffort; rank: number; residual: number; + /** Smallest scaled pivot of the solve — how far this pose sat from singular. */ + minPivot?: number; message?: string; } @@ -115,10 +117,28 @@ interface LinearSolution { values: number[]; rank: number; residual: number; + /** Smallest scaled pivot the elimination met — distance from singular. */ + minPivot: number; } const GRAVITY = 9.80665; const MAX_NORMALIZED_RESIDUAL = 1e-8; +/** + * The smallest scaled pivot the elimination accepts before calling the pose + * singular. + * + * A toggle pose reached through exact arithmetic pivots at exactly zero, but + * the same pose reached through floating-point trig lands within round-off of + * zero — and *which* side of zero differs by browser, because engines round + * transcendentals differently at the last bit. Chrome refused the square-rod + * tangency frame while Safari "solved" it into 8.5e5 N reactions from a 10 N + * load. Refusing anything below this line makes the call deterministic. The + * smallest scaled pivot of any healthy solve across the whole fixture corpus + * is 3.4e-3, 34x above the line (force-solver.fixture.spec.ts holds every + * frame above 1e-3), so frames the sampler lands merely *near* a toggle still + * solve, as designed. + */ +const SINGULAR_PIVOT_TOLERANCE = 1e-4; /** * Free-body force analysis for the current root topology. @@ -241,8 +261,7 @@ export class ForceSolver { // the status alone can only say "topology". diagnostic: successfulFrames === 0 - ? (frames[0]?.message ?? - this.statusMessage(frames[0]?.status ?? 'unsupported-topology')) + ? (frames[0]?.message ?? this.statusMessage(frames[0]?.status ?? 'unsupported-topology')) : undefined, }; } @@ -526,6 +545,7 @@ export class ForceSolver { inputEffort, rank: solution.rank, residual: solution.residual, + minPivot: solution.minPivot, }; } @@ -591,9 +611,7 @@ export class ForceSolver { // has to appear in the carrier's equilibrium as well or the slot // transmits force out of nowhere. Resolved through compounds: a weld // may have folded the carrier into a root whose id is not its own. - const carrier = candidate.isFloating - ? this.rootBody(bodies, candidate.carrier) - : undefined; + const carrier = candidate.isFloating ? this.rootBody(bodies, candidate.carrier) : undefined; if (piston && (candidate.ground || carrier)) { reactions.push({ joint: candidate, @@ -895,6 +913,7 @@ export class ForceSolver { const matrix = A.map((row, index) => [...row, b[index]]); const scales = A.map((row) => Math.max(...row.map(Math.abs), 0)); let rank = 0; + let minPivot = Infinity; for (let column = 0; column < n; column++) { let pivotRow = -1; @@ -906,16 +925,18 @@ export class ForceSolver { pivotRow = row; } } - // Near-toggle frames legitimately have extremely small pivots and very - // large reactions. Solve them, then let the normalized residual decide - // whether the result is usable; reject only an exact/non-finite pivot. + // Near-toggle frames legitimately have small pivots and large reactions; + // they solve, and the normalized residual judges the result. But a pivot + // within SINGULAR_PIVOT_TOLERANCE of zero is a toggle pose seen through + // round-off, and which browser's round-off must not decide the answer. if ( pivotRow < 0 || !Number.isFinite(matrix[pivotRow][column]) || - matrix[pivotRow][column] === 0 + pivotScore < SINGULAR_PIVOT_TOLERANCE ) { return undefined; } + minPivot = Math.min(minPivot, pivotScore); if (pivotRow !== column) { [matrix[column], matrix[pivotRow]] = [matrix[pivotRow], matrix[column]]; [scales[column], scales[pivotRow]] = [scales[pivotRow], scales[column]]; @@ -958,6 +979,6 @@ export class ForceSolver { solutionNorm = Math.max(solutionNorm, Math.abs(values[row])); } const residual = residualNorm / Math.max(1, matrixNorm * solutionNorm + rhsNorm); - return { values, rank, residual }; + return { values, rank, residual, minPivot }; } } From 916ab51ca0349dfae822fb3ffb76f45585306e5f Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 18:24:16 -0400 Subject: [PATCH 144/236] Let a locked block hold its place on the slot, not its place on the grid Locking a block froze the two joints that cut its slot. The reason was sound -- a block is not a member of the link it rides, so the reseat is what moves it, and a lock that means "these coordinates do not change" can only keep that promise by holding the channel still -- but the result was a mark on one joint quietly bolting down two others the reader never touched. A block has exactly one freedom: where it sits along its slot. That is what its mark now spends. The channel is free to move and the reseat carries the block along at the offset it was locked at, so the linkage either side of it still articulates; what the block cannot do is slide. The refusal says so rather than "is locked", which would promise a stillness this mark no longer buys, and a drag of the carrier is no longer pivoted about a block the reader only asked to stop sliding. Co-Authored-By: Claude Opus 5 --- e2e/locking.mjs | 92 +++++++++++++++++++ .../component/new-grid/new-grid.component.ts | 34 +++++-- src/app/model/lock-set.spec.ts | 11 ++- src/app/model/lock-set.ts | 25 +++-- 4 files changed, 134 insertions(+), 28 deletions(-) diff --git a/e2e/locking.mjs b/e2e/locking.mjs index 47651108..c7788f77 100644 --- a/e2e/locking.mjs +++ b/e2e/locking.mjs @@ -17,6 +17,13 @@ const BASE = process.env.PMKS_BASE_URL ?? 'http://localhost:4700'; const FOUR_BAR = '0P.TY.K,0.101.MA,A,0mv,0VU,0.GB,B,0e_,E6,0.GC,C,l1,WW,0.KD,D,qD,0Pk,0..YRAB,AB,Fe,Fe,0ix,08i,c5cae9,A,B,,.YRBC,BC,Fe,Fe,32,NJ,303e9f,B,C,,.YRCD,CD,Fe,Fe,nd,3P,0d125a,C,D,,...JBq'; +// An inverted slider-crank: block P rides a slot cut into the grounded lever +// CD, and pin B on the crank is the block's other half. The three trailing +// tokens on joint P are the carrier and the two joints that cut its slot. +const INVERTED_SLIDER_CRANK = + '2P.Fe.K,0.1011.MA,A,0,0,0.GB,B,0,Fe,0.KC,C,ku,0,0.GD,D,0RF,Oj,0.HP,P,0,Fe,0,CD,C,D..' + + 'YRAB,AB,Fe,Fe,0,7q,555555,A,B,,.YRCD,CD,Fe,Fe,Fe,Fe,555555,C,D,,.YPBP,BP,Fe,0,0,0,,B,P,,...N_r'; + const browser = await chromium.launch(); const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); const errors = []; @@ -262,6 +269,91 @@ record( { cHeld, cStill } ); +// --- A lock on a block is parametric: it holds a place on the slot --------- +// The one mark that is not about a point on the drawing. A block has exactly +// one freedom -- where it sits along its slot -- and that is what its mark +// spends. The channel stays free to move and takes the block with it. + +await page.goto(`${BASE}/?${INVERTED_SLIDER_CRANK}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await closeTour(); +await page.waitForTimeout(400); +await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + c.mechanismSrv.toggleLock(c.mechanismSrv.joints.find((j) => j.id === 'B')); +}); +await page.waitForTimeout(200); + +record( + 'locking a block holds it and its pin, and nothing else', + await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + return [...c.gridUtils.frozenJointIds()].sort().join('') === 'BP'; + }), + await page.evaluate(() => + [...ng.getComponent(document.querySelector('app-new-grid')).gridUtils.frozenJointIds()].sort() + ) +); + +// The block is drawn on the pin, so the two are one target; whichever the +// canvas hands the drag, the refusal has to speak about the slot. +const blockBefore = await jointModel('P'); +await dragBy(await jointOnScreen('B'), 70, 40); +const blockAfter = await jointModel('P'); +record( + 'dragging the block itself moves nothing', + blockBefore.x === blockAfter.x && blockBefore.y === blockAfter.y, + { blockBefore, blockAfter } +); +record( + 'and the refusal says what is actually held: its place in the slot', + await page.evaluate(() => + ng + .getComponent(document.querySelector('app-new-grid')) + .notify.live.some((one) => one.id === 'lock.joint' && /place in the slot/.test(one.text)) + ), + await page.evaluate(() => + ng.getComponent(document.querySelector('app-new-grid')).notify.live.map((one) => one.text) + ) +); + +// The joints that cut the slot are not held by the block's mark. Dragging one +// swings the channel, and the reseat carries the block along it. +const slotBefore = { c: await jointModel('C'), p: await jointModel('P') }; +await dragBy(await jointOnScreen('C'), 0, -70); +const slotAfter = { c: await jointModel('C'), p: await jointModel('P') }; +record( + 'a joint that cuts the slot still moves with the block locked', + Math.hypot(slotAfter.c.x - slotBefore.c.x, slotAfter.c.y - slotBefore.c.y) > 1, + { slotBefore: slotBefore.c, slotAfter: slotAfter.c } +); +record( + 'and the block rides along rather than staying behind on the grid', + Math.hypot(slotAfter.p.x - slotBefore.p.x, slotAfter.p.y - slotBefore.p.y) > 1, + { slotBefore: slotBefore.p, slotAfter: slotAfter.p } +); + +// Asked of the gate rather than through a grab: on this linkage the slot's +// own graphic covers the bar, so a pointer aimed at the middle of CD lands on +// the channel and no link drag ever starts. The gate is what the change is +// about -- one held carried joint turns a body drag into a swing about it, and +// a locked block must not be one, or dragging the bar would pivot it about a +// block the reader only asked to stop sliding. +record( + 'the link the block rides is free to drag: a locked block is not carried by it', + await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + const carrier = c.mechanismSrv.links.find((l) => l.id === 'CD'); + return c['frozenCarriedJoints'](carrier).length === 0; + }), + await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + return c['frozenCarriedJoints'](c.mechanismSrv.links.find((l) => l.id === 'CD')).map( + (j) => j.id + ); + }) +); + // --- The marks are an Edit affordance: Analysis paints clean --------------- await page.evaluate(() => { diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index ea9755e2..c95e3e10 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -1365,9 +1365,14 @@ export class NewGridComponent implements OnDestroy { /** * The joints a drag of this link would carry, filtered to the ones the * current Lock marks hold still. Carried means moved *as a body*: the - * link's own joints, the coincident block joints riding them, a sealed - * cylinder's five, and any floating slider that would be reseated onto - * this link after the move. + * link's own joints, the coincident block joints riding them, and a sealed + * cylinder's five. + * + * A floating slider riding this link is not among them, locked or not. Its + * mark holds where it sits along the slot, and moving the link moves the + * slot with the block still at that place on it — so a locked block is no + * reason to refuse the drag, and pivoting the link about one would be + * anchoring a point nothing asked to have held. */ private frozenCarriedJoints(link: Link): Joint[] { const carried = new Map(); @@ -1383,9 +1388,6 @@ export class NewGridComponent implements OnDestroy { if (other instanceof SliderBlock) other.joints.forEach(add); }); }); - this.mechanismSrv.joints.forEach((joint) => { - if (joint instanceof PrisJoint && joint.carrier?.id === link.id) add(joint); - }); } const frozen = this.gridUtils.frozenJointIds(); return [...carried.values()].filter((joint) => frozen.has(joint.id)); @@ -1395,10 +1397,22 @@ export class NewGridComponent implements OnDestroy { private refuseLockedJoint(joint: RealJoint): boolean { if (!this.gridUtils.isJointFrozen(joint)) return false; const holds = this.gridUtils.locksHolding(joint); - const heldByItself = holds.some((lock) => lock instanceof RealJoint && lock.id === joint.id); - const text = heldByItself - ? `Joint ${joint.name} is locked.` - : `Joint ${joint.name} is on a locked ${this.lockNoun(holds)}.`; + // A mark on the other half of a block counts as this joint's own: the two + // are the same point, and only one of them has a letter the reader can see + // to unlock. + const block = joint.links.find((link): link is SliderBlock => link instanceof SliderBlock); + const itself = new Set([joint.id, ...(block?.joints.map((member) => member.id) ?? [])]); + const heldByItself = holds.some((lock) => itself.has(lock.id)); + const slider = this.mechanismSrv.sliderFor(joint); + // A locked block has not been pinned to the grid — its slot is free to + // move and will take it along. What it cannot do is slide, so that is what + // the refusal says; "is locked" alone would promise a stillness this mark + // does not buy. + const text = !heldByItself + ? `Joint ${joint.name} is on a locked ${this.lockNoun(holds)}.` + : slider?.isFloating + ? `Slider ${joint.name} is locked to its place in the slot.` + : `Joint ${joint.name} is locked.`; this.refuseWithUnlock('lock.joint', text, holds); return true; } diff --git a/src/app/model/lock-set.spec.ts b/src/app/model/lock-set.spec.ts index 7b10204f..beb4eb90 100644 --- a/src/app/model/lock-set.spec.ts +++ b/src/app/model/lock-set.spec.ts @@ -12,8 +12,8 @@ const S = MODEL_SCALE; * What a Lock mark holds still is a set of joints, and this file pins the * translation: marks spread along consequence, not membership. The directed * cases — a mount that stays free while an interior joint seals the part, a - * floating pin that pins its channel without the reverse — are exactly the - * ones a symmetric "travelling group" closure gets wrong. + * floating pin that holds its own place without holding its channel — are + * exactly the ones a symmetric "travelling group" closure gets wrong. */ function fourBar() { @@ -113,7 +113,10 @@ describe('what a Lock mark holds still', () => { expect(frozenJointIds(part.joints, part.links)).toEqual(new Set(['A'])); }); - it('a locked floating pin holds the two joints that define its channel, and not the reverse', () => { + it('a locked floating pin holds its own block and leaves its channel free', () => { + // The block's mark is parametric: it spends the one freedom the block has, + // which is where it sits along the slot. The two joints that cut the slot + // keep moving, and the reseat takes the block with them. const { joints, links, a, b, ab } = fourBar(); const slider = new PrisJoint('P', 1 * S, 1 * S); const rider = new RevJoint('E', 1 * S, 1 * S); @@ -124,7 +127,7 @@ describe('what a Lock mark holds still', () => { const withSlot = { joints: [...joints, slider, rider], links: [...links, block] }; slider.locked = true; - expect(frozenJointIds(withSlot.joints, withSlot.links)).toEqual(new Set(['P', 'E', 'A', 'B'])); + expect(frozenJointIds(withSlot.joints, withSlot.links)).toEqual(new Set(['P', 'E'])); slider.locked = false; a.locked = true; diff --git a/src/app/model/lock-set.ts b/src/app/model/lock-set.ts index 529dea99..1ebc81ab 100644 --- a/src/app/model/lock-set.ts +++ b/src/app/model/lock-set.ts @@ -1,4 +1,4 @@ -import { Joint, PrisJoint, RealJoint } from './joint'; +import { Joint, RealJoint } from './joint'; import { Link, RealLink, SliderBlock } from './link'; import { Force } from './force'; import { cylinderJoints, sealedCylinderStructures } from './cylinder'; @@ -23,9 +23,14 @@ import { cylinderJoints, sealedCylinderStructures } from './cylinder'; * moves, so holding one holds all five. A held *mount* stays a held mount: * dragging the other mount anchors it, and a body drag can still swing the * part about it, so the implication deliberately does not run outward. - * - A floating slot's pin is reseated onto its channel after every edit, so - * holding the pin means holding the two joints that define the channel — - * but holding a channel joint does not pin the slider that rides it. + * + * A floating slider is the one mark that is not about a point on the drawing. + * It has exactly one freedom — where it sits along its slot — and that is what + * its mark spends: the channel stays free, and the reseat carries the block + * along at the offset it was locked at. So the mark reaches its own block + * joint and stops. Holding the pair that cuts the channel, which is what a + * world-position lock would have to do, froze two joints the reader never + * marked and had no way to predict from the one they did. */ export type Lockable = RealJoint | Force; @@ -54,8 +59,8 @@ export function frozenJointIds(joints: Joint[], links: Link[]): Set { /** * Grow a held set until every implication is satisfied. Iterated to a fixed - * point — freezing a block joint can seal a cylinder's interior, which can pin - * a floating slot's channel — and it terminates because each pass only adds. + * point — freezing a block joint can seal a cylinder's interior, which holds + * its mounts — and it terminates because each pass only adds. */ function closeOverConsequences(frozen: Set, joints: Joint[], links: Link[]): Set { const rules: Implication[] = []; @@ -73,14 +78,6 @@ function closeOverConsequences(frozen: Set, joints: Joint[], links: Link }); }); - joints.forEach((joint) => { - if (!(joint instanceof PrisJoint) || !joint.isFloating) return; - const slotA = joint.slotJointA; - const slotB = joint.slotJointB; - if (!slotA || !slotB) return; - rules.push({ ifAnyOf: [joint.id], freeze: [slotA.id, slotB.id] }); - }); - let grew = true; while (grew) { grew = false; From 7da24c09d6b088d614c0822f732d2a5cf10b453c Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 18:41:42 -0400 Subject: [PATCH 145/236] Let a hand grab a slotted bar by its slot A slot is subtracted from its carrier's outline and filled even-odd, so it is a real hole in the shape -- which is right for how it reads and wrong for how it is used, because a hole catches no pointer. A hand aimed at the middle of a slotted link went straight through to the background and started a pan. The middle of the bar is where a hand naturally lands, and on these linkages the middle of the bar is the slot for most of its length, so the one link a reader is most likely to want to move was the one they could not pick up. The holes are handed back as an unpainted shape carrying the same handlers: the slot still reads as a slot, and the block, drawn in a later layer, still wins where it sits. Three places cut channels into something clickable -- the link, a rider drawn in the block's frame, and the plate that stands in for a welded rider -- so all three hand them back. The Scotch yoke's yoke is a carrier and a welded rider at once, which is the plate case in a shipped template. Co-Authored-By: Claude Opus 5 --- e2e/locking.mjs | 40 ++++++++------- .../new-grid/new-grid.component.html | 50 ++++++++++++++++++- .../component/new-grid/new-grid.component.ts | 50 +++++++++++++++---- 3 files changed, 111 insertions(+), 29 deletions(-) diff --git a/e2e/locking.mjs b/e2e/locking.mjs index c7788f77..a5c3a46f 100644 --- a/e2e/locking.mjs +++ b/e2e/locking.mjs @@ -333,25 +333,29 @@ record( { slotBefore: slotBefore.p, slotAfter: slotAfter.p } ); -// Asked of the gate rather than through a grab: on this linkage the slot's -// own graphic covers the bar, so a pointer aimed at the middle of CD lands on -// the channel and no link drag ever starts. The gate is what the change is -// about -- one held carried joint turns a body drag into a swing about it, and -// a locked block must not be one, or dragging the bar would pivot it about a -// block the reader only asked to stop sliding. +// A locked block is no reason to refuse a drag of the link it rides, and no +// reason to pivot that link about it: the body translates, both ends equally. +// Grabbed at the middle of the bar, which is the middle of the slot -- the one +// place a hand naturally aims at and the one place a hole would swallow. +const carrierBefore = { c: await jointModel('C'), d: await jointModel('D') }; +const cSlot = await jointOnScreen('C'); +const dSlot = await jointOnScreen('D'); +await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + c.activeObjService.updateSelectedObj(c.mechanismSrv.links.find((l) => l.id === 'CD')); +}); +await dragBy({ x: (cSlot.x + dSlot.x) / 2, y: (cSlot.y + dSlot.y) / 2 }, 50, 0, 12); +const carrierAfter = { c: await jointModel('C'), d: await jointModel('D') }; +const moved = { + c: { x: carrierAfter.c.x - carrierBefore.c.x, y: carrierAfter.c.y - carrierBefore.c.y }, + d: { x: carrierAfter.d.x - carrierBefore.d.x, y: carrierAfter.d.y - carrierBefore.d.y }, +}; record( - 'the link the block rides is free to drag: a locked block is not carried by it', - await page.evaluate(() => { - const c = ng.getComponent(document.querySelector('app-new-grid')); - const carrier = c.mechanismSrv.links.find((l) => l.id === 'CD'); - return c['frozenCarriedJoints'](carrier).length === 0; - }), - await page.evaluate(() => { - const c = ng.getComponent(document.querySelector('app-new-grid')); - return c['frozenCarriedJoints'](c.mechanismSrv.links.find((l) => l.id === 'CD')).map( - (j) => j.id - ); - }) + 'the link the block rides drags by its slot, as a body rather than a swing', + Math.hypot(moved.c.x, moved.c.y) > 1 && + Math.abs(moved.c.x - moved.d.x) < 1e-6 && + Math.abs(moved.c.y - moved.d.y) < 1e-6, + moved ); // --- The marks are an Edit affordance: Analysis paints clean --------------- diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 53b53b45..682c4eed 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -408,7 +408,26 @@ [attr.stroke-width]="svgGrid.scaleWithZoom(3)" [class]="mechanismSrv.getLinkCSSClass(link)" > - + + @if (hasChannelHit(link)) { + + } } @if ( gridUtils.typeOfLink(link) == 'R' && @@ -495,6 +514,19 @@ [attr.stroke-width]="svgGrid.scaleWithZoom(3)" [class]="mechanismSrv.getLinkCSSClass(item.rider.link)" > + + @if (item.rider.cuts.length > 0 || channelCountOn(item.rider.link) > 0) { + + } } } @case ('plate') { @@ -519,6 +551,22 @@ [attr.stroke-width]="svgGrid.scaleWithZoom(3)" [class]="mechanismSrv.getLinkCSSClass(item.plate.links[0])" /> + + @if (item.plate.cuts.length > 0 || channelCountOn(item.plate.links[0]) > 0) { + + } } } diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index c95e3e10..17fc334f 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -2974,6 +2974,14 @@ export class NewGridComponent implements OnDestroy { ); } + /** + * Whether the link layer draws this body with holes in it. A skinned or + * plated link is drawn somewhere else, and its holes are handed back there. + */ + hasChannelHit(link: Link): boolean { + return this.channelCountOn(link) > 0 && !this.skinnedLink(link) && !this.platedLink(link); + } + channelCountOn(link: Link): number { return ( this.channelList.filter((channel) => channel.carrierId === link.id).length + @@ -3039,20 +3047,28 @@ export class NewGridComponent implements OnDestroy { // its own edge inside that outline and double the fill's alpha over itself. if (this.platedLink(link)) return ''; const outline = this.outlineWithMotor(link); + const channels = this.channelsCutInto(link); + + return channels === '' ? outline : `${outline} ${channels}`; + } + + /** + * The channels cut into this link, as one path in the world frame. + * + * The slot being previewed goes through the same subtraction a committed one + * does, rather than being drawn as a stand-in on top. Two reasons: the hover + * state is then pixel-identical to the result, and a real hole has no + * legibility to lose against a link colour it cannot predict -- every + * stand-in considered (a white fill, an outline, an amber highlight) fell + * below contrast on part of the palette, because the palette is random. + */ + channelsCutInto(link: Link): string { const paths = this.channelList .filter((channel) => channel.carrierId === link.id) .map((channel) => channel.path); - - // The slot being previewed goes through the same subtraction a committed - // one does, rather than being drawn as a stand-in on top. Two reasons: the - // hover state is then pixel-identical to the result, and a real hole has no - // legibility to lose against a link colour it cannot predict -- every - // stand-in considered (a white fill, an outline, an amber highlight) fell - // below contrast on part of the palette, because the palette is random. const preview = this.previewChannelOn(link); if (preview) paths.push(preview); - - return paths.length === 0 ? outline : `${outline} ${mergedChannels(paths)}`; + return paths.length === 0 ? '' : mergedChannels(paths); } /** @@ -3076,6 +3092,20 @@ export class NewGridComponent implements OnDestroy { ): string { const preview = this.previewChannelOn(link); if (!preview) return piece.path; + return `${piece.outline} ${this.markChannelsCutInto(mark, piece, link)}`.trim(); + } + + /** + * The same channels on their own, in the mark's frame: what the piece's `d` + * has taken out of itself, for the hit shape that hands the holes back. + */ + markChannelsCutInto( + mark: SliderMark, + piece: { outline: string; cuts: string[] }, + link: Link + ): string { + const preview = this.previewChannelOn(link); + if (!preview) return piece.cuts.length === 0 ? '' : mergedChannels(piece.cuts); const angle = (mark.rotation * Math.PI) / 180; const localPreview = transformRigidPath( preview, @@ -3084,7 +3114,7 @@ export class NewGridComponent implements OnDestroy { { x: 0, y: 0 }, { x: 1, y: 0 } ); - return `${piece.outline} ${mergedChannels([...piece.cuts, localPreview])}`.trim(); + return mergedChannels([...piece.cuts, localPreview]); } private previewChannelOn(link: Link): string | undefined { From f4ed5409e4518f8a5513895c5353615de2fbc3cc Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 19:11:46 -0400 Subject: [PATCH 146/236] A cycle ends when the whole drawing is home, and Show position waits for you The tangency slider-crank swaps assembly branch every pass, so one crank revolution left the block across the slot from where it began and the animation teleported it at the wrap -- the seam check watched only the crank pin, which was home. The cycle now runs a second revolution when any joint is still out, closing the true 720-degree period, and falls back to the old warned seam when the extension cannot be solved (with a one-shot flag, because the rewound pose asks to extend again forever). The gap banner's button also pauses playback before seeking: pressed mid-animation it used to sail straight past the pose it names. Co-Authored-By: Claude Fable 5 --- .../analysis-graph.component.spec.ts | 20 +++- .../analysis-graph.component.ts | 11 +- src/app/model/mechanism/mechanism.ts | 104 ++++++++++++++++-- .../verification/square-rod-tangency.spec.ts | 53 ++++++--- 4 files changed, 160 insertions(+), 28 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index bdb3ef2a..90c5cd1f 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -299,8 +299,20 @@ describe('AnalysisGraphComponent production fixtures', () => { ); const seek = vi.fn(); - Object.assign(fixture.service, { seekMechanism: seek }); + const animate = vi.fn(); + const togglePlaying = vi.fn(); + Object.assign(fixture.service, { + seekMechanism: seek, + animate, + isPlaying: true, + isMechanismPlaying: () => true, + toggleMechanismPlaying: togglePlaying, + }); component.showGapPosition(); + // Pressed mid-animation, the button pauses playback first -- a seek that + // kept playing would sail straight past the pose it names. + expect(animate).toHaveBeenCalledWith(fixture.service.mechanismTimeStep, false); + expect(togglePlaying).toHaveBeenCalledWith(0); expect(seek).toHaveBeenCalledWith(0, series.frames[1].timeSeconds); // A fully solved series takes the banner down... @@ -601,7 +613,11 @@ describe('AnalysisGraphComponent rendered controls', () => { const fixtureData = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); const series = failForceFrames(fixtureData, 'static', [2]); const seek = vi.fn(); - Object.assign(fixtureData.service, { seekMechanism: seek }); + Object.assign(fixtureData.service, { + seekMechanism: seek, + isPlaying: false, + isMechanismPlaying: () => false, + }); const ground = fixtureData.mechanism.joints[0].find( (candidate): candidate is RealJoint => candidate instanceof RealJoint && candidate.ground )!; diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 86eb00ca..dd5412df 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -391,7 +391,16 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, showGapPosition(): void { if (!this.analysisGap) return; - this.mechanismService.seekMechanism(this.analysisGap.mechIndex, this.analysisGap.firstSeconds); + const service = this.mechanismService; + // A seek keeps the playback state, so pressed mid-animation it would sail + // straight past the pose it names. Standing at the pose IS the point. + if (service.isPlaying) { + service.animate(service.mechanismTimeStep, false); + } + if (service.isMechanismPlaying(this.analysisGap.mechIndex)) { + service.toggleMechanismPlaying(this.analysisGap.mechIndex); + } + service.seekMechanism(this.analysisGap.mechIndex, this.analysisGap.firstSeconds); } loading: boolean = false; diff --git a/src/app/model/mechanism/mechanism.ts b/src/app/model/mechanism/mechanism.ts index d4c2bbce..b54dcc63 100644 --- a/src/app/model/mechanism/mechanism.ts +++ b/src/app/model/mechanism/mechanism.ts @@ -438,9 +438,20 @@ export class Mechanism { // fraction of its stroke happened to lie on one side of where it was drawn. // The cycle is closed only once both limits have been reached and the // mechanism is home again. + // One revolution closes most cycles, but not every one: a rod that passes + // through tangency with its slot comes back on the other assembly branch, + // so after a full turn of the crank the block is across the slot from + // where it started. Its true period is two revolutions — out on one + // branch, home on the other. Watching only the reference joint missed + // this (the crank pin is home; the block is not), and the animation + // teleported at the wrap. + let revolutionsToClose = 1; + // One-shot: an abandoned extension rewinds to the very pose that asked for + // it, and without this it would ask again forever. + let extensionAbandoned = false; const cycleIncomplete = () => revoluteInput && reversals === 0 - ? currentTimeStamp < STEPS_PER_REVOLUTION + ? currentTimeStamp < STEPS_PER_REVOLUTION * revolutionsToClose : reversals < 2 || xDiff > TOLERANCE || yDiff > TOLERANCE; while (!simForward || currentTimeStamp === 0 || cycleIncomplete()) { @@ -526,6 +537,15 @@ export class Mechanism { curTimeNum = curTimeNum + timeNumIncrement; this._timeNum.push(curTimeNum); this._inputAngularVelocities.push(inputAngVel); + } else if (revolutionsToClose === 2 && currentTimeStamp >= STEPS_PER_REVOLUTION) { + // The second revolution could not be solved through. Fall back to the + // one-revolution cycle and its warned seam rather than losing a + // mechanism the old behavior kept. + this.trimToSample(STEPS_PER_REVOLUTION); + currentTimeStamp = STEPS_PER_REVOLUTION; + curTimeNum = this._timeNum[currentTimeStamp]; + revolutionsToClose = 1; + extensionAbandoned = true; } else { if ((!simForward && currentTimeStamp === 0) || falseTwice === 2) { //If we are here, the mechnism is in a toggle point @@ -547,6 +567,18 @@ export class Mechanism { yDiff = Math.abs( startingPositionY - roundNumber(this._joints[currentTimeStamp][desiredJointIndex].y, 2) ); + // The whole drawing has to be home, not just the reference joint, before + // the first revolution is allowed to be the whole cycle. + if ( + revoluteInput && + reversals === 0 && + revolutionsToClose === 1 && + !extensionAbandoned && + currentTimeStamp === STEPS_PER_REVOLUTION && + this.seamGapAt(currentTimeStamp) > this.seamTolerance() + ) { + revolutionsToClose = 2; + } if (currentTimeStamp === 750) { // How close it ever came to its starting pose, skipping the first few // frames where it is trivially still there. setMechanismInvalid wipes @@ -566,22 +598,74 @@ export class Mechanism { } } - // Pin the closing sample to the analytic period 2*pi/|w| rather than to 360 - // accumulated float additions, so the reported cycle time scales exactly with - // input speed and the last sample lines up with the first. + // An extension that ran its full second revolution and is still not home + // bought nothing: keep the one-revolution cycle the old behavior kept. + if ( + revoluteInput && + reversals === 0 && + revolutionsToClose === 2 && + this.seamGapAt(currentTimeStamp) > this.seamTolerance() + ) { + this.trimToSample(STEPS_PER_REVOLUTION); + currentTimeStamp = STEPS_PER_REVOLUTION; + revolutionsToClose = 1; + } + + // Pin the closing sample to the analytic period rather than to hundreds of + // accumulated float additions, so the reported cycle time scales exactly + // with input speed and the last sample lines up with the first. if (revoluteInput && reversals === 0 && angularSpeed > Number.EPSILON) { - this._timeNum[this._timeNum.length - 1] = (2 * Math.PI) / angularSpeed; - // Closing at a fixed 360 steps assumes assembly-mode tracking held all the - // way around; if it did not, the cycle no longer ends where it began and - // the seam would otherwise be silent. - if (xDiff > TOLERANCE || yDiff > TOLERANCE) { + this._timeNum[this._timeNum.length - 1] = (revolutionsToClose * 2 * Math.PI) / angularSpeed; + // Closing at a fixed step count assumes assembly-mode tracking held all + // the way around; if it did not, the cycle no longer ends where it began + // and the seam would otherwise be silent. + const seam = this.seamGapAt(currentTimeStamp); + if (seam > this.seamTolerance()) { console.warn( - `Cycle did not close: after one input revolution the reference joint is off by (${xDiff}, ${yDiff})` + `Cycle did not close: after ${revolutionsToClose} input revolution(s) the drawing is off by ${seam}` ); } } } + /** Drop precomputed samples past `lastSample`, keeping 0..lastSample. */ + private trimToSample(lastSample: number): void { + this._joints.length = lastSample + 1; + this._links.length = lastSample + 1; + this._forces.length = lastSample + 1; + this._timeNum.length = lastSample + 1; + this._inputAngularVelocities.length = lastSample + 1; + } + + /** How far the furthest joint stands from its starting position at `sample`. */ + private seamGapAt(sample: number): number { + const start = this._joints[0]; + const now = this._joints[sample]; + if (!now || now.length !== start.length) return Infinity; + let gap = 0; + for (let index = 0; index < start.length; index++) { + gap = Math.max(gap, Math.hypot(now[index].x - start[index].x, now[index].y - start[index].y)); + } + return gap; + } + + /** + * A seam wide enough to mean "different pose", not solver noise. + * + * Relative to the drawing's own size because coordinates arrive at whatever + * scale the caller drew in: solved positions are held to four decimals, so + * noise is orders below a thousandth of the drawing while a branch swap is + * on the order of a link length. + */ + private seamTolerance(): number { + const start = this._joints[0]; + let extent = 0; + for (const joint of start) { + extent = Math.max(extent, Math.abs(joint.x), Math.abs(joint.y)); + } + return Math.max(extent, 1) * 1e-3; + } + /** Seconds spanned by one full traversal of the precomputed motion. */ get cyclePeriod(): number { return this._timeNum.length > 1 ? this._timeNum[this._timeNum.length - 1] : 0; diff --git a/src/tests/verification/square-rod-tangency.spec.ts b/src/tests/verification/square-rod-tangency.spec.ts index d8f2ba28..ec06bb6c 100644 --- a/src/tests/verification/square-rod-tangency.spec.ts +++ b/src/tests/verification/square-rod-tangency.spec.ts @@ -32,7 +32,25 @@ describe('a slider-crank whose rod comes square to its guide', () => { /** How high the crank pin rides above the guide at each sample. */ const heights = Array.from({ length: samples }, (_, t) => at(t, 'B').y); /** The sample the rod stands up on: the pin's height is greatest there. */ - const tangency = heights.indexOf(Math.max(...heights)); + const tangency = heights.slice(0, 361).indexOf(Math.max(...heights.slice(0, 361))); + /** + * Both stand-ups. Each pass through tangency swaps the assembly branch, so + * the block is across the slot after one crank revolution and home after + * two -- the cycle is 721 samples with a tangency in each revolution. + */ + const tangencies = [tangency, tangency + 360]; + + it('needs two crank revolutions to close, and does close', () => { + // One revolution used to be assumed as the whole cycle, and the branch + // swap meant frame 360 was nowhere near frame 0: the animation teleported + // the block across the slot at every wrap. + expect(samples).toBe(721); + for (const joint of mechanism.joints[0]) { + const last = at(samples - 1, joint.id); + const gap = Math.hypot(last.x - joint.x, last.y - joint.y); + expect(gap, `joint ${joint.id} is not home at the seam`).toBeLessThan(1e-2); + } + }); it('turns all the way round, through the pose rather than stopping at it', () => { expect(samples).toBeGreaterThan(300); @@ -40,8 +58,10 @@ describe('a slider-crank whose rod comes square to its guide', () => { // started on it, would exercise nothing. expect(tangency).toBeGreaterThan(20); expect(tangency).toBeLessThan(samples - 20); - // And it really is the tangency: the rod reaches exactly to the guide. - expect(Math.abs(heights[tangency] - ROD)).toBeLessThan(2e-3); + // And both really are the tangency: the rod reaches exactly to the guide. + for (const pass of tangencies) { + expect(Math.abs(heights[pass] - ROD)).toBeLessThan(2e-3); + } }); it('keeps the rod rigid and the slider on its guide', () => { @@ -71,15 +91,16 @@ describe('a slider-crank whose rod comes square to its guide', () => { it('matches the closed form, swapping branch where the roots meet', () => { // s = r cos(theta) +/- sqrt(rod^2 - h^2), h the pin's height above the // guide. Which sign is not a free choice and not a fitted parameter: the - // slider crosses the foot of the perpendicular at the tangency, so it comes - // out on the other root, and the sign flips there and nowhere else. + // slider crosses the foot of the perpendicular at each tangency, so it + // comes out on the other root, and the sign flips there and nowhere else + // -- minus between the two stand-ups, plus outside them. for (let t = 1; t < samples; t++) { const a = at(t, 'A'); const b = at(t, 'B'); const theta = Math.atan2(b.y - a.y, b.x - a.x); const height = SQUARE_ROD_OFFSET + SQUARE_ROD_CRANK * Math.sin(theta); const reach = Math.sqrt(Math.max(0, ROD * ROD - height * height)); - const sign = t <= tangency ? 1 : -1; + const sign = t <= tangencies[0] || t > tangencies[1] ? 1 : -1; const expected = SQUARE_ROD_CRANK * Math.cos(theta) + sign * reach; // The bound is derived rather than chosen, because the formula is @@ -94,14 +115,14 @@ describe('a slider-crank whose rod comes square to its guide', () => { } }); - it('is force-singular at the tangency pose and nowhere else', () => { + it('is force-singular at the tangency poses and nowhere else', () => { // With the rod square to the guide, every force the rod can put on the // block is normal to the slot -- nothing balances a slot-axis load, and // the reactions grow without bound approaching the pose. The merged roots - // put C bitwise under B at the sampled tangency, so the equilibrium matrix - // is exactly singular at one interior frame of an otherwise good cycle: - // the one constructible mechanism known to produce a partial force series, - // which is the state the analysis chart's "No solution at N of M + // put C bitwise under B at each sampled tangency, so the equilibrium + // matrix is exactly singular at two interior frames of an otherwise good + // cycle: the one constructible mechanism known to produce a partial force + // series, which is the state the analysis chart's "No solution at N of M // positions" banner exists for. If this ever starts solving, that banner // has lost its last real trigger -- look before deleting it. for (const mode of ['static', 'dynamic'] as const) { @@ -109,10 +130,12 @@ describe('a slider-crank whose rod comes square to its guide', () => { const failed = series.frames .map((frame, index) => (frame.status !== 'ok' ? index : -1)) .filter((index) => index >= 0); - expect(failed).toEqual([tangency]); - expect(series.frames[tangency].status).toBe('singular'); - expect(series.successfulFrames).toBe(samples - 1); - // A hole, not a verdict on the series: one bad pose must not raise the + expect(failed).toEqual(tangencies); + for (const pass of tangencies) { + expect(series.frames[pass].status).toBe('singular'); + } + expect(series.successfulFrames).toBe(samples - 2); + // Holes, not a verdict on the series: two bad poses must not raise the // whole-series diagnostic. expect(series.diagnostic).toBeUndefined(); } From 3769b5a68865453917826215f8af144bbb9cca6d Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 19:18:13 -0400 Subject: [PATCH 147/236] Stop a block's riders swinging round while it is dropped into a slot While a block is held over a slot it has not entered yet, the preview turns it to lie along that slot. The turn was stamped onto the mark's rotation alone -- but every link pinned to the block is drawn in the block's frame, so turning the frame and leaving the geometry swung the riders bodily about the pin. Between two slots declared in opposite order that is a half turn: a bar was drawn pointing away from its own far joint, which sat there on the grid with nothing attached to it. A slot decides where the block points, not where its riders point -- their far joints do not move, and after the drop they are exactly where they were. So the riders' geometry is now turned back by what the frame turns by, which leaves them where the world says. The preview is then pixel-identical to the drop: the same three shapes land in the same three places whether the mouse is still down or not. The block and its arrows still turn, which is the whole point of the preview, and a grounded guide's rails are untouched -- they carry a frame of their own. Co-Authored-By: Claude Opus 5 --- .../component/new-grid/new-grid.component.ts | 20 ++++++-- src/app/services/slider-mark.service.ts | 46 +++++++++++++++++++ 2 files changed, 63 insertions(+), 3 deletions(-) diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 17fc334f..1ccd23a7 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -2314,11 +2314,25 @@ export class NewGridComponent implements OnDestroy { const pinID = this.activeObjService.selectedJoint?.id; if (!pinID) return marks; const slotAngleDeg = (Math.atan2(slot.b.y - slot.a.y, slot.b.x - slot.a.x) * 180) / Math.PI; - return marks.map((mark) => - mark.pin.id === pinID ? { ...mark, rotation: slotAngleDeg, dangling: false } : mark - ); + // Re-framed rather than re-stamped: turning the frame alone turns the + // riders with it, and this getter is read several times a change and once + // per pointer move, so the turned geometry is kept until the angle moves. + return marks.map((mark) => { + if (mark.pin.id !== pinID) return mark; + if (this.previewMark?.key !== `${pinID}|${slotAngleDeg}` || this.previewMark.from !== mark) { + this.previewMark = { + key: `${pinID}|${slotAngleDeg}`, + from: mark, + mark: { ...this.sliderMarks.reframed(mark, slotAngleDeg), dangling: false }, + }; + } + return this.previewMark.mark; + }); } + /** The one re-framed mark of a drop preview, kept while its angle holds. */ + private previewMark?: { key: string; from: SliderMark; mark: SliderMark }; + get channelList(): Channel[] { return this.freshMarks().channels; } diff --git a/src/app/services/slider-mark.service.ts b/src/app/services/slider-mark.service.ts index 1addfa76..565264ed 100644 --- a/src/app/services/slider-mark.service.ts +++ b/src/app/services/slider-mark.service.ts @@ -174,6 +174,52 @@ export class SliderMarkService { return `translate(${mark.x} ${mark.y}) rotate(${mark.rotation})`; } + /** + * The same mark with its frame turned to a different slot angle — the preview + * a block shows while it is being dropped into a slot it has not entered yet. + * + * The block turns to lie along the slot it is about to take; the links pinned + * to it do not. Their far joints have not moved, and after the drop they will + * still be exactly where they are now — a slot decides where the block points, + * not where its riders point. But a rider is drawn *in the block's frame*, so + * turning the frame and leaving the geometry swung every rider bodily about + * the pin. Between two slots declared in opposite order that is a half turn, + * and the rider was drawn pointing away from its own far joint, which sat + * there on the grid with nothing attached to it. + * + * So the geometry is turned back by exactly what the frame turns by, which + * leaves it where the world says it is. Only the pieces drawn in this frame + * are touched: the block and its arrows are meant to turn, and a grounded + * guide's rails carry a frame of their own. + */ + reframed(mark: SliderMark, rotationDeg: number): SliderMark { + const delta = ((rotationDeg - mark.rotation) * Math.PI) / 180; + const back = (path: string) => + path === '' + ? path + : transformRigidPath( + path, + { x: 0, y: 0 }, + { x: 1, y: 0 }, + { x: 0, y: 0 }, + { x: Math.cos(-delta), y: Math.sin(-delta) } + ); + const turnBack = ( + piece: T + ): T => ({ + ...piece, + path: back(piece.path), + outline: back(piece.outline), + cuts: piece.cuts.map(back), + }); + return { + ...mark, + rotation: rotationDeg, + riders: mark.riders.map(turnBack), + plate: mark.plate ? turnBack(mark.plate) : undefined, + }; + } + /** * `travel` is how far each slider's block runs across the solved timesteps, * keyed by joint id. Absent entries fall back to the drawn rail length. From 450b4d4f253be0e17f7cac95144d49c450f82560 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 19:23:36 -0400 Subject: [PATCH 148/236] Give a link attached to another link the colour it was promised Six creation gestures build a link; four went through createRealLink, which hands out the next colour in the palette, and the two that attach a link to an existing link built one directly and never asked. Those came out in RealLink's own stand-in grey. The gesture had already drawn its ghost in the palette colour, because the ghost peeks at what the click will spend -- so the bar changed colour at the exact moment the promise was kept, which is the one place a preview must not. Co-Authored-By: Claude Opus 5 --- src/app/component/new-grid/new-grid.component.ts | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 1ccd23a7..8128aea2 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -2021,7 +2021,13 @@ export class NewGridComponent implements OnDestroy { // Have within constructor other joints so when you add joint, that joint's connected joints also attach joint1.connectedJoints.push(joint2); joint2.connectedJoints.push(joint1); - link = new RealLink(joint1.id + joint2.id, [joint1, joint2]); + // Through the same door every other creation gesture uses: this is + // where a link is given its colour, and the two branches that built + // one directly skipped it. The link came out in RealLink's own + // stand-in grey -- and the ghost the gesture had just drawn was in + // the palette colour it was promised, so the bar changed colour at + // the moment of the click. + link = this.gridUtils.createRealLink(joint1.id + joint2.id, [joint1, joint2]); joint1.links.push(link); joint2.links.push(link); // TODO: Be sure that I think joint1 also changes the link to add the desired joint to it's connected Joints and to its connected Links @@ -2154,7 +2160,13 @@ export class NewGridComponent implements OnDestroy { // Have within constructor other joints so when you add joint, that joint's connected joints also attach joint1.connectedJoints.push(joint2); joint2.connectedJoints.push(joint1); - link = new RealLink(joint1.id + joint2.id, [joint1, joint2]); + // Through the same door every other creation gesture uses: this is + // where a link is given its colour, and the two branches that built + // one directly skipped it. The link came out in RealLink's own + // stand-in grey -- and the ghost the gesture had just drawn was in + // the palette colour it was promised, so the bar changed colour at + // the moment of the click. + link = this.gridUtils.createRealLink(joint1.id + joint2.id, [joint1, joint2]); joint1.links.push(link); joint2.links.push(link); // TODO: Be sure that I think joint1 also changes the link to add the desired joint to it's connected Joints and to its connected Links From 6dfdc65bb096bac41bd7dcefbe8f646e74c49052 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 19:32:30 -0400 Subject: [PATCH 149/236] The whole cycle spans the track, however many turns it takes A two-revolution cycle wrapped to one turn gave every handle position two poses, and the scrubber flickered between the assembly branches with float noise picking the winner on each drag event -- 82 branch hops in one sweep of the handle. The continuous profile now normalizes by the cycle's full unwrapped turn, so the track is monotone and each position names one pose; the only remaining hop is the seam, where the right edge of the track is the left edge of the same closed pose. Co-Authored-By: Claude Fable 5 --- src/app/model/mechanism/drive-profile.spec.ts | 34 +++++++++++++++++++ src/app/model/mechanism/drive-profile.ts | 20 ++++++----- 2 files changed, 46 insertions(+), 8 deletions(-) diff --git a/src/app/model/mechanism/drive-profile.spec.ts b/src/app/model/mechanism/drive-profile.spec.ts index b2c87e6d..3b77539f 100644 --- a/src/app/model/mechanism/drive-profile.spec.ts +++ b/src/app/model/mechanism/drive-profile.spec.ts @@ -14,6 +14,8 @@ import { MechanismBuilder } from '../../services/transcoding/mechanism-builder'; import { StringTranscoder } from '../../services/transcoding/string-transcoder'; import { TemplateID, TEMPLATE_LINKAGES } from '../../component/MODALS/templates/template-linkages'; import { silentNotifications } from '../../../test-utils/notification-stub'; +import { buildMechanism } from '../../../test-utils/verification/fixture'; +import { squareRodSliderCrankFixture } from '../../../test-utils/verification/slot-fixtures'; /** The solved first mechanism of a template, and what its input does. */ function profileOf(template: TemplateID): DriveProfile { @@ -53,6 +55,38 @@ describe('Where a machine says its input is', () => { expect(profile.along[1]).toBeGreaterThan(profile.along[0]); }); + it('spans a branch-swapping two-revolution cycle once, so a drag cannot flicker', () => { + // The tangency slider-crank closes only after two crank revolutions. + // Wrapped to one turn, sample t and t+360 shared a handle position, and + // the scrubber flickered between the two assembly branches while + // dragging, float noise picking the winner on each event. + const { mechanism } = buildMechanism(squareRodSliderCrankFixture()); + const profile = driveProfileOf(mechanism)!; + + expect(profile.continuous).toBe(true); + expect(profile.along).toHaveLength(721); + // Monotone: every handle position names exactly one pose. + for (let i = 1; i < profile.along.length; i++) { + expect(profile.along[i]).toBeGreaterThan(profile.along[i - 1]); + } + expect(profile.along[0]).toBeCloseTo(0, 9); + expect(profile.along.at(-1)!).toBeCloseTo(1, 9); + + // A simulated drag across the whole track lands on nearby samples in + // order, never across the cycle to the other branch. Distance is measured + // round the loop: the right edge of the track is the left edge, and both + // name the same (closed) pose -- a real branch flicker is a ~360-sample + // hop, which no seam can excuse. + const last = profile.along.length - 1; + let previous = 0; + for (let i = 0; i <= 200; i++) { + const sample = sampleAlong(profile, i / 200, previous); + const hop = Math.abs(sample - previous); + expect(Math.min(hop, last - hop)).toBeLessThanOrEqual(8); + previous = sample; + } + }); + it('measures a ram between the ends of its own stroke, not its clock', () => { const profile = profileOf('Cylinder_Boom'); diff --git a/src/app/model/mechanism/drive-profile.ts b/src/app/model/mechanism/drive-profile.ts index 218ee326..8e794807 100644 --- a/src/app/model/mechanism/drive-profile.ts +++ b/src/app/model/mechanism/drive-profile.ts @@ -15,9 +15,10 @@ import { Mechanism } from './mechanism'; * * - A ram or slider runs from one end of its stroke to the other. * - A rocking crank runs from one angular limit to the other. - * - A crank that goes all the way round has no limits to run between, so one - * turn spans the track and it wraps, with zero at the pose the drawing was - * authored in. + * - A crank that goes all the way round has no limits to run between, so the + * whole cycle spans the track -- one turn usually, two for a rod that swaps + * assembly branch at a slot tangency -- with zero at the pose the drawing + * was authored in. * * Time is still what the machine is *at*, and still what the readout shows. It * is just no longer what the handle means. @@ -71,18 +72,21 @@ export function driveProfileOf(mechanism: Mechanism, ram?: RamEnds): DriveProfil // it is a loop, and the only honest thing to show is how far round it is, // from the pose the drawing was authored in. // + // Round the WHOLE cycle, however many turns that is: a rod that swaps + // assembly branch at a slot tangency closes after two, and a track wrapped + // to one turn made every handle position name two different poses -- the + // scrubber flickered between them, float noise picking the winner. + // // Signed, and taken from the angle rather than from the sample index: the // crank is at the angle it is at whichever way it is being driven, so turning // the drive round must leave the handle where it is. Off the sample index it // would jump to the mirror image of itself. const continuous = !turnsBack(raw); if (continuous) { - const turn = 2 * Math.PI; + const total = raw[raw.length - 1] - raw[0]; + const denominator = Math.abs(total) > 1e-9 ? total : 1; return { - along: raw.map((value) => { - const wrapped = ((value - raw[0]) / turn) % 1; - return wrapped < 0 ? wrapped + 1 : wrapped; - }), + along: raw.map((value) => (value - raw[0]) / denominator), continuous, linear, span: 0, From 7f5a181dc5ea12f13a2364e2265a4ad8d66db700 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 19:48:49 -0400 Subject: [PATCH 150/236] A picture to build a mechanism on top of MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Right-click the grid and you can put an image behind it — a photo or a drawing of a real linkage — then place PMKS joints over it and match its dimensions. The panel gives you where it sits, how wide it is drawn, and how far you can see through it; the height follows the file's own proportions, because a picture stretched out of shape is no longer something you can measure anything against. It is scenery and nothing else. It sits under every part of the mechanism, is deaf to the pointer, and a right-click on it opens the grid's own menu — so nothing about having one changes how the linkage is built. It is deliberately outside the URL codec and outside the undo history: an image is megabytes and a share link is a few hundred characters, so there is no version of this that survives a link. The panel says so in as many words rather than letting the user find out by sharing one. Co-Authored-By: Claude Fable 5 --- e2e/background-image.mjs | 381 ++++++++++++++++++ src/app/app.component.ts | 4 + .../edit-panel/edit-panel.component.html | 57 +++ .../edit-panel/edit-panel.component.scss | 35 ++ .../edit-panel/edit-panel.component.ts | 107 +++++ .../new-grid/new-grid.component.html | 44 ++ .../new-grid/new-grid.component.scss | 20 + .../component/new-grid/new-grid.component.ts | 74 ++++ src/app/services/active-obj.service.ts | 23 +- .../services/background-image.service.spec.ts | 115 ++++++ src/app/services/background-image.service.ts | 142 +++++++ src/assets/icons/background_image.svg | 10 + 12 files changed, 1011 insertions(+), 1 deletion(-) create mode 100644 e2e/background-image.mjs create mode 100644 src/app/services/background-image.service.spec.ts create mode 100644 src/app/services/background-image.service.ts create mode 100644 src/assets/icons/background_image.svg diff --git a/e2e/background-image.mjs b/e2e/background-image.mjs new file mode 100644 index 00000000..d2710fc3 --- /dev/null +++ b/e2e/background-image.mjs @@ -0,0 +1,381 @@ +/** + * The background image, exercised the way a hand would: right-click the grid, + * pick a picture, watch it land behind the linkage, move and resize and fade it + * from the panel, prove it cannot be clicked or dragged, prove it rides the + * grid's own zoom, and delete it. + * + * PMKS_BASE_URL= node e2e/background-image.mjs + */ + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; +import { mkdirSync, writeFileSync } from 'node:fs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://localhost:4710'; +const SHOTS = new URL('../artifacts/background-image/', import.meta.url).pathname; +mkdirSync(SHOTS, { recursive: true }); + +const FOUR_BAR = + '0P.TY.K,0.101.MA,A,0mv,0VU,0.GB,B,0e_,E6,0.GC,C,l1,WW,0.KD,D,qD,0Pk,0..YRAB,AB,Fe,Fe,0ix,08i,c5cae9,A,B,,.YRBC,BC,Fe,Fe,32,NJ,303e9f,B,C,,.YRCD,CD,Fe,Fe,nd,3P,0d125a,C,D,,...JBq'; + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const closeTour = async () => { + const skip = page.locator('.introjs-skipbutton').first(); + if (await skip.isVisible().catch(() => false)) { + await skip.click({ force: true }); + await page.waitForTimeout(300); + } +}; + +const image = () => + page.evaluate(() => { + const el = document.querySelector('#backgroundImageHolder image'); + if (!el) return null; + const rect = el.getBoundingClientRect(); + return { + x: Number(el.getAttribute('x')), + y: Number(el.getAttribute('y')), + width: Number(el.getAttribute('width')), + height: Number(el.getAttribute('height')), + opacity: Number(el.getAttribute('opacity')), + screen: { x: rect.x, y: rect.y, width: rect.width, height: rect.height }, + }; + }); + +const menuLabels = () => + page.evaluate(() => + [...document.querySelectorAll('#contextMenu #menu-item')].map((item) => item.innerText.trim()) + ); + +const closeMenu = async () => { + await page.keyboard.press('Escape'); + await page.waitForTimeout(200); +}; + +/** Type into one of the panel's fields and blur, which is when it commits. */ +const typeField = async (label, value) => { + const field = page + .locator('input-block, dual-input-block') + .filter({ hasText: label }) + .locator('input') + .first(); + await field.click(); + await field.fill(value); + await field.blur(); + await page.waitForTimeout(350); +}; + +/** + * A picture with a shape and a handedness: 2:1, red on the left half, blue on + * the right. Both matter — the aspect proves the height follows the width, and + * the asymmetry would expose a mirrored draw, which is the mistake waiting in a + * layer that lives in SVG coordinates while the model has y up. + */ +const pngBuffer = async () => { + const base64 = await page.evaluate(() => { + const canvas = document.createElement('canvas'); + canvas.width = 400; + canvas.height = 200; + const ctx = canvas.getContext('2d'); + ctx.fillStyle = '#d32f2f'; + ctx.fillRect(0, 0, 200, 200); + ctx.fillStyle = '#1565c0'; + ctx.fillRect(200, 0, 200, 200); + // A stripe along the top edge only, so an up/down flip is visible too. + ctx.fillStyle = '#000'; + ctx.fillRect(0, 0, 400, 16); + return canvas.toDataURL('image/png').split(',')[1]; + }); + return Buffer.from(base64, 'base64'); +}; + +await page.goto(`${BASE}/?${FOUR_BAR}`, { waitUntil: 'domcontentloaded', timeout: 60000 }); +await waitForReady(page); +await closeTour(); +await page.waitForTimeout(400); + +const emptyGrid = { x: 1150, y: 720 }; + +// --- The menu offers the picture before there is one ------------------------ + +await page.mouse.click(emptyGrid.x, emptyGrid.y, { button: 'right' }); +await page.waitForTimeout(300); +const before = await menuLabels(); +record( + 'the grid menu offers Add background image', + before.some((label) => label === 'Add background image'), + before +); +await closeMenu(); + +// --- Picking a file places it and opens its panel --------------------------- + +const buffer = await pngBuffer(); +const filePath = SHOTS + 'rig.png'; +writeFileSync(filePath, buffer); + +await page.setInputFiles('input.offscreenFileInput', { + name: 'rig.png', + mimeType: 'image/png', + buffer, +}); +await page.waitForTimeout(600); + +const placed = await image(); +record('the picture is drawn behind the grid', placed !== null, placed); +record( + 'it keeps the file’s own proportions', + placed && Math.abs(placed.height / placed.width - 0.5) < 1e-6, + placed +); +record( + 'the panel opens on it', + await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + return ( + c.activeObjService.objType === 'BackgroundImage' && + !!document.querySelector('app-edit-panel .bgTitle') + ); + }) +); +record( + 'the panel names the file it came from', + (await page.locator('app-edit-panel .bgFileName').innerText()).trim() === 'rig.png' +); +record( + 'the panel says the picture is not in the share link', + (await page.locator('app-edit-panel .bgNote').innerText()).includes('not saved in the share link') +); +record( + 'its edges are outlined while the panel has it', + await page.evaluate(() => !!document.querySelector('.bgImageOutline')) +); +await page.screenshot({ path: SHOTS + '01-placed.png' }); + +// --- It is behind the linkage and cannot be touched ------------------------- + +record( + 'it is drawn under every part of the mechanism', + // svg-pan-zoom moves every layer into a viewport group of its own, so the + // layer order lives one level down from the canvas. + await page.evaluate(() => { + const layers = document.querySelector('#backgroundImageHolder').parentElement; + const order = [...layers.children].map((node) => node.id); + const bg = order.indexOf('backgroundImageHolder'); + return bg > -1 && bg < order.indexOf('linkHolder') && bg < order.indexOf('jointHolder'); + }), + await page.evaluate(() => + [...document.querySelector('#backgroundImageHolder').parentElement.children].map((n) => n.id) + ) +); +record( + 'the whole layer is deaf to the pointer', + await page.evaluate(() => { + const holder = document.querySelector('#backgroundImageHolder'); + return getComputedStyle(holder).pointerEvents === 'none'; + }) +); + +// A click that lands on the picture but on no part: the grid answers, not the +// picture, and dragging there pans as it always did rather than moving it. +const overPicture = await page.evaluate(() => { + const rect = document.querySelector('#backgroundImageHolder image').getBoundingClientRect(); + return { x: rect.x + 24, y: rect.y + 24 }; +}); +await page.mouse.click(overPicture.x, overPicture.y); +await page.waitForTimeout(400); +record( + 'clicking the picture selects the grid, not the picture', + await page.evaluate( + () => + ng.getComponent(document.querySelector('app-new-grid')).activeObjService.objType === 'Grid' + ) +); + +const beforeDrag = await image(); +await page.mouse.move(overPicture.x, overPicture.y); +await page.mouse.down(); +for (let step = 1; step <= 8; step++) { + await page.mouse.move(overPicture.x + step * 12, overPicture.y + step * 8); + await page.waitForTimeout(15); +} +await page.mouse.up(); +await page.waitForTimeout(400); +const afterDrag = await image(); +record( + 'dragging on the picture never moves the picture', + beforeDrag.x === afterDrag.x && beforeDrag.y === afterDrag.y, + { beforeDrag, afterDrag } +); + +// --- The menu's second half: edit the one already there --------------------- + +await page.mouse.click(overPicture.x, overPicture.y, { button: 'right' }); +await page.waitForTimeout(300); +const withPicture = await menuLabels(); +record( + 'a right-click on the picture opens the grid menu, now offering Edit', + withPicture.some((label) => label === 'Edit background image') && + !withPicture.some((label) => label === 'Add background image'), + withPicture +); +await page.locator('#contextMenu #menu-item', { hasText: 'Edit background image' }).first().click(); +await page.waitForTimeout(400); +record( + 'that item opens the panel again', + await page.evaluate( + () => + ng.getComponent(document.querySelector('app-new-grid')).activeObjService.objType === + 'BackgroundImage' + ) +); + +// --- The placement fields ------------------------------------------------- + +const atOpen = await image(); +await typeField('Image Center', '3'); +const movedX = await image(); +record( + 'typing an X slides the picture across the grid', + Math.abs(movedX.x - atOpen.x - 3 * 200) < 1, + { atOpen, movedX } +); + +await typeField('Image Width', '8'); +const resized = await image(); +record('typing a width resizes the picture', Math.abs(resized.width - 8 * 200) < 1, resized); +record( + 'the height follows, so the proportions hold', + Math.abs(resized.height / resized.width - 0.5) < 1e-6, + resized +); + +await typeField('Opacity', '25'); +const faded = await image(); +record('the opacity field fades the picture', Math.abs(faded.opacity - 0.25) < 1e-6, faded); +await page.screenshot({ path: SHOTS + '02-placed-and-faded.png' }); + +await typeField('Opacity', '400'); +record( + 'an out-of-range opacity is held at solid rather than refused', + (await image()).opacity === 1 +); +await typeField('Opacity', '55'); + +// --- It rides the grid ------------------------------------------------------ + +const jointSpan = () => + page.evaluate(() => { + const box = (id) => + document.querySelector(`#joint_${id}`).closest('svg[x]').getBoundingClientRect(); + return Math.abs(box('B').x - box('C').x); + }); + +const spanBefore = await jointSpan(); +const screenBefore = (await image()).screen.width; +await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + c.svgGrid.zoomIn(); +}); +await page.waitForTimeout(500); +const spanAfter = await jointSpan(); +const screenAfter = (await image()).screen.width; +record( + 'the picture zooms with the grid, by the same factor the linkage does', + Math.abs(screenAfter / screenBefore - spanAfter / spanBefore) < 0.02, + { screenBefore, screenAfter, spanBefore, spanAfter } +); + +// --- Nothing about it reaches the URL or the undo history ------------------- + +record( + 'the picture is nowhere in the share URL', + await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + const url = c.saveHistoryService.urlGenerationService.generateUrlQuery(); + return !url.includes('data:image') && url.length < 4000; + }) +); + +await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + c.saveHistoryService.undo(); +}); +await page.waitForTimeout(600); +record('an undo of the mechanism leaves the picture where it is', (await image()) !== null); + +// --- Save closes the editor, Delete removes the picture --------------------- + +await page.mouse.click(overPicture.x, overPicture.y, { button: 'right' }); +await page.waitForTimeout(300); +await page.locator('#contextMenu #menu-item', { hasText: 'Edit background image' }).first().click(); +await page.waitForTimeout(400); +await page.locator('app-edit-panel button-block', { hasText: 'Save' }).locator('button').click(); +await page.waitForTimeout(500); +record( + 'Save closes the editor and takes the outline with it', + await page.evaluate( + () => + ng.getComponent(document.querySelector('app-new-grid')).activeObjService.objType !== + 'BackgroundImage' && !document.querySelector('.bgImageOutline') + ) +); +record('Save leaves the picture behind the grid', (await image()) !== null); +await page.screenshot({ path: SHOTS + '03-saved.png' }); + +// --- Scenery in the analysis modes too -------------------------------------- + +await page.evaluate(() => { + ng.getComponent(document.querySelector('app-new-grid')).tabService.setTab(2); // ANALYZE +}); +await page.waitForTimeout(500); +record('the picture stays put in an analysis mode', (await image()) !== null); +record( + 'and nothing is outlined there, because nothing is being edited', + await page.evaluate(() => !document.querySelector('.bgImageOutline')) +); +await page.evaluate(() => { + ng.getComponent(document.querySelector('app-new-grid')).tabService.setTab(1); // EDIT +}); +await page.waitForTimeout(400); + +// --- Delete ----------------------------------------------------------------- + +await page.mouse.click(overPicture.x, overPicture.y, { button: 'right' }); +await page.waitForTimeout(300); +await page.locator('#contextMenu #menu-item', { hasText: 'Edit background image' }).first().click(); +await page.waitForTimeout(400); +await page.locator('app-edit-panel button-block', { hasText: 'Delete' }).locator('button').click(); +await page.waitForTimeout(500); +record('Delete takes the picture off the canvas', (await image()) === null); + +await page.mouse.click(emptyGrid.x, emptyGrid.y, { button: 'right' }); +await page.waitForTimeout(300); +const after = await menuLabels(); +record( + 'and the menu goes back to offering Add', + after.some((label) => label === 'Add background image'), + after +); +await closeMenu(); +await page.screenshot({ path: SHOTS + '04-deleted.png' }); + +record('no page errors the whole way through', errors.length === 0, errors); + +const failed = results.filter(([, ok]) => !ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +console.log(`screenshots in ${SHOTS}`); +await browser.close(); +process.exit(failed.length ? 1 : 0); diff --git a/src/app/app.component.ts b/src/app/app.component.ts index f07ccbcf..809366ac 100644 --- a/src/app/app.component.ts +++ b/src/app/app.component.ts @@ -128,6 +128,10 @@ export class AppComponent { 'edit_outline', this.domSanitizer.bypassSecurityTrustResourceUrl('assets/icons/edit.svg') ); + this.matIconRegistry.addSvgIcon( + 'background_image', + this.domSanitizer.bypassSecurityTrustResourceUrl('assets/icons/background_image.svg') + ); this.matIconRegistry.addSvgIcon( 'synthesis', this.domSanitizer.bypassSecurityTrustResourceUrl('assets/icons/synthesis.svg') diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index f8696750..bd8d9517 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -47,6 +47,63 @@
    } + + @if (this.activeSrv.objType == 'BackgroundImage' && !hideEditPanel()) { + @if (bgImage.image(); as bg) { + +
    Background Image
    +
    {{ bg.fileName }}
    + + + Image Center + + + + Image Width + + Opacity + + +
    + The picture stays behind the grid and cannot be clicked or dragged. It is not saved in the + share link and not covered by undo — reloading the page clears it. +
    + Save + Delete +
    + } + } + @if (this.activeSrv.objType == 'Mechanism' && !hideEditPanel()) { } diff --git a/src/app/component/edit-panel/edit-panel.component.scss b/src/app/component/edit-panel/edit-panel.component.scss index ee34133a..7709e3c3 100644 --- a/src/app/component/edit-panel/edit-panel.component.scss +++ b/src/app/component/edit-panel/edit-panel.component.scss @@ -32,6 +32,16 @@ //font-weight: 300; } + // The background image has no name to rename and nothing to lock, so it takes + // a plain heading rather than the editable-title row every part carries -- at + // the same size and in the same place, so the panel does not jump when the + // selection moves between a part and the picture behind it. + .bgTitle { + padding: 10px 15px 0; + @include mat.m2-typography-level($typography-config, 'headline-6'); + white-space: nowrap; + } + // Input Settings appears the moment a joint becomes the input, so it eases in // rather than popping the sections below it down the panel. .inputSettings { @@ -56,6 +66,31 @@ } } +// Which file is behind the grid. Under the heading rather than in it, because +// a file name is as long as it is and the heading must not wrap. +.bgFileName { + padding: 0 15px 8px; + font-size: 12px; + color: rgba(0, 0, 0, 0.55); + overflow: hidden; + text-overflow: ellipsis; + white-space: nowrap; +} + +// The one thing about this feature a user cannot discover by trying it: the +// picture is not in the link they are about to share. Same quiet grey as the +// other read-only notes in this panel. +.bgNote { + font-size: 12px; + color: rgba(0, 0, 0, 0.55); + background: #f0f1f5; + border-radius: 4px; + padding: 8px 10px; + margin: 0 0 10px; + line-height: 17px; + text-wrap: pretty; +} + // Read-only notes under the Slider toggle: what the slot is cut into, and what // its angle is measured from. Not controls -- the carrier comes from the drop // gesture, and changing it is delete-and-recreate. diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index d8d5e9fa..5a49dea6 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -42,6 +42,7 @@ import { cylinderSizeOf, } from '../../model/cylinder'; import { NotificationService } from 'src/app/services/notification.service'; +import { BackgroundImageService } from 'src/app/services/background-image.service'; import { NOT_A } from 'src/app/ui-text'; import { PanelSectionCollapsibleComponent } from '../BLOCKS/panel-section-collapsible/panel-section-collapsible.component'; import { TitleBlock } from '../BLOCKS/title/title.component'; @@ -99,6 +100,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { private nup = inject(NumberUnitParserService); mechanismService = inject(MechanismService); gridUtils = inject(GridUtilsService); + bgImage = inject(BackgroundImageService); private notify = inject(NotificationService); listOfOtherJoints: RealJoint[] = []; @@ -116,6 +118,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { LCompound: true, FBasic: true, FVisual: false, + BGPlace: true, }; /** @@ -317,6 +320,22 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { { value: 'len', label: this.nup.unitLabel(this.settingsService.lengthUnit.getValue()) }, ]; } + /** + * Where the tracing underlay sits and how solid it is drawn. + * + * Position and width are lengths in the panel's own unit; opacity is a plain + * percentage, because there is no unit for "how far you can see through it". + */ + backgroundImageForm = this.fb.group( + { + centerX: [''], + centerY: [''], + width: [''], + opacity: [''], + }, + { updateOn: 'blur' } + ); + forceForm = this.fb.group( { magnitude: [''], @@ -1357,6 +1376,31 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { }) ); + // The three lengths behave alike, so they are wired alike. Nothing here + // calls updateMechanism or save: moving a picture is not an edit to the + // linkage, and putting it in the undo history would mean Undo silently + // re-posing the machine because the user nudged the underlay. + (['centerX', 'centerY', 'width'] as const).forEach((field) => { + this.onDestroySubscriptions.push( + this.backgroundImageForm.controls[field].valueChanges.subscribe((val) => { + this.commitBackgroundImageLength(field, val); + }) + ); + }); + + this.onDestroySubscriptions.push( + this.backgroundImageForm.controls['opacity'].valueChanges.subscribe((val) => { + if (!this.bgImage.image()) return; + const percent = Number((val ?? '').replace('%', '').trim()); + if (!Number.isFinite(percent)) { + this.notify.refusal('value.opacity', 'Opacity has to be a number from 0 to 100.'); + } else { + this.bgImage.place({ opacity: percent / 100 }); + } + this.patchBackgroundImageForm(); + }) + ); + this.onDestroySubscriptions.push( this.activeSrv.onActiveObjChange.subscribe((newObjType: string) => { if (newObjType == 'Joint') { @@ -1479,6 +1523,9 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { }, { emitEvent: false } ); + } else if (newObjType == 'BackgroundImage') { + this.currentlyOpenJointID = ''; + this.patchBackgroundImageForm(); } else { this.currentlyOpenJointID = ''; } @@ -1486,6 +1533,66 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { ); } + // --------------------------------------------------------------------------- + // Background image + // + // The one thing this panel edits that is not part of the mechanism: it never + // touches MechanismService, never enters the undo history, and never reaches + // the URL codec. Its numbers are ordinary lengths, so they go through the same + // parser and the same length unit as every other length here. + // --------------------------------------------------------------------------- + + /** Show the placement as it actually is, in the user's own units. */ + private patchBackgroundImageForm(): void { + const image = this.bgImage.image(); + if (!image) return; + const unit = this.settingsService.lengthUnit.getValue(); + this.backgroundImageForm.patchValue( + { + centerX: this.nup.formatModelLength(image.centerX, unit), + centerY: this.nup.formatModelLength(image.centerY, unit), + width: this.nup.formatModelLength(image.width, unit), + opacity: Math.round(image.opacity * 100).toString(), + }, + { emitEvent: false } + ); + } + + /** Commit one length field, or put back the value that is still true. */ + private commitBackgroundImageLength( + field: 'centerX' | 'centerY' | 'width', + raw: string | null + ): void { + if (!this.bgImage.image()) return; + const [ok, value] = this.nup.parseModelLengthString( + raw ?? '', + this.settingsService.lengthUnit.getValue() + ); + if (!ok) { + this.notify.refusal('value.length', NOT_A.length); + } else { + this.bgImage.place({ [field]: value }); + } + // Either way the field is rewritten from the picture: a rejected entry goes + // back to the truth, and an accepted one is reformatted -- and a width may + // have been held at the minimum on the way in. + this.patchBackgroundImageForm(); + } + + saveBackgroundImage(): void { + // The placement is already live -- every field commits on blur -- so this + // closes the editor rather than writing anything. Leaving the picture + // selected would keep its outline on the canvas over finished work. + this.activeSrv.updateSelectedObj(null); + this.notify.success('bgImage.saved', 'Background image placed.'); + } + + deleteBackgroundImage(): void { + this.bgImage.remove(); + this.activeSrv.updateSelectedObj(null); + this.notify.success('bgImage.removed', 'Background image removed.'); + } + private updateLinkCenterOfMass(axis: 'x' | 'y', rawValue: string | null): void { const [success, value] = this.nup.parseModelLengthString( rawValue ?? '', diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 682c4eed..a4b4bf52 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -221,6 +221,39 @@ } + + @if (bgImage.image(); as bg) { + + + + @if (editingBackgroundImage()) { + + } + + } + + @if (settings.isGridDebugOn) {
    Mouse Location: {{ (mouseLocation.x / MODEL_SCALE).toFixed(2) }}, diff --git a/src/app/component/new-grid/new-grid.component.scss b/src/app/component/new-grid/new-grid.component.scss index 8e070f0c..e9150b89 100644 --- a/src/app/component/new-grid/new-grid.component.scss +++ b/src/app/component/new-grid/new-grid.component.scss @@ -143,6 +143,26 @@ // nothing here restyles strokes and no state can cover another. The classes // below stay as truthful state markers for tests and tooling. + // The edges of the tracing underlay, drawn only while its panel is open. The + // same accent every other "this is the thing you are editing" mark uses, + // broken rather than solid so a rectangle of picture cannot read as a part. + .bgImageOutline { + fill: none; + stroke: mat.m2-get-color-from-palette($accent-palette, 500); + pointer-events: none; + } + + // The file dialog's input, kept out of the layout without display:none -- + // which stops some browsers opening a picker from a synthetic click. + .offscreenFileInput { + position: absolute; + width: 1px; + height: 1px; + opacity: 0; + pointer-events: none; + left: -9999px; + } + #mouseLocation { position: absolute; top: 35px; diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 8128aea2..4dc00ce5 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -2,6 +2,7 @@ import { SvgGridService } from '../../services/svg-grid.service'; import { OnDestroy, Component, + ElementRef, HostListener, ChangeDetectionStrategy, inject, @@ -32,6 +33,7 @@ import { } from '../../model/utils'; import { Force } from '../../model/force'; import { NotificationService } from '../../services/notification.service'; +import { BackgroundImageService } from '../../services/background-image.service'; import { CdkContextMenuTrigger } from '@angular/cdk/menu'; import { MatDialog } from '@angular/material/dialog'; import { TouchscreenWarningComponent } from '../MODALS/touchscreen-warning/touchscreen-warning.component'; @@ -132,6 +134,7 @@ export class NewGridComponent implements OnDestroy { nup = inject(NumberUnitParserService); dragState = inject(DragStateService); sliderMarks = inject(SliderMarkService); + bgImage = inject(BackgroundImageService); public static debugValue: unknown; static debugPoints: Coord[] = []; @@ -229,6 +232,8 @@ export class NewGridComponent implements OnDestroy { } readonly contextMenu = viewChild.required('trigger'); + private readonly backgroundImageInput = + viewChild.required>('backgroundImageInput'); ngOnInit() { const svgElement = document.getElementById('canvas') as HTMLElement; @@ -635,6 +640,16 @@ export class NewGridComponent implements OnDestroy { this.cMenuItems.push( new cMenuItem('Add Cylinder', this.startCreatingCylinder.bind(this), 'add_cylinder') ); + // Scenery rather than mechanism, so it sits below the two items that + // draw parts. One item for both halves: with a picture already placed + // there is nothing left to add, only somewhere to adjust it. + this.cMenuItems.push( + new cMenuItem( + this.bgImage.image() ? 'Edit background image' : 'Add background image', + () => this.openBackgroundImage(), + 'background_image' + ) + ); // Lock everything, unlock one handle, drag: the posing workflow. On // the canvas menu because this is where the locking gesture lives — // and greyed rather than hidden when there is nothing to act on. @@ -657,6 +672,65 @@ export class NewGridComponent implements OnDestroy { } } + /** + * Whether the panel is currently editing the background image. + * + * Every clause is a way the panel can go without the selection changing: the + * analysis modes replace it, and playback covers it with the stop-the- + * animation placeholder. An outline for controls that are not on screen is a + * mark nobody can explain. + */ + editingBackgroundImage(): boolean { + return ( + this.activeObjService.objType === 'BackgroundImage' && + !this.tabService.isAnalysisMode() && + !this.mechanismSrv.isPlaying && + this.mechanismSrv.mechanismTimeStep === 0 + ); + } + + /** + * The one menu item, doing whichever half applies: pick a file if there is no + * picture yet, otherwise just open the panel on the one there is. + */ + private openBackgroundImage(): void { + this.tabService.setTab(TabID.EDIT); + if (this.bgImage.image()) { + this.activeObjService.selectBackgroundImage(); + return; + } + const input = this.backgroundImageInput().nativeElement; + input.value = ''; + input.click(); + } + + /** Read the chosen file, place it across half the visible grid, and select it. */ + async onBackgroundImageChosen(event: Event): Promise { + const input = event.target as HTMLInputElement; + const file = input.files?.[0]; + input.value = ''; + if (!file) return; + + try { + // Half the width of what is on screen: big enough to be obviously there, + // small enough that the mechanism under construction is still visible + // around it. Zoom-dependent by design — the picture arrives where the + // user is looking rather than at some fixed size off the edge. + const visibleWidth = this.svgGrid.viewBoxMaxX - this.svgGrid.viewBoxMinX; + await this.bgImage.load(file, visibleWidth / 2); + this.activeObjService.selectBackgroundImage(); + this.notify.success( + 'bgImage.added', + `${file.name} is behind the grid. It is not saved in the share link.` + ); + } catch (error) { + this.notify.failure( + 'bgImage.failed', + error instanceof Error ? error.message : 'That image could not be loaded.' + ); + } + } + /** The Lock/Unlock item every object menu carries, phrased for its kind. */ private lockMenuItem(target: RealJoint | RealLink | Force, kind: string): cMenuItem { const locked = this.mechanismSrv.isLockedTarget(target); diff --git a/src/app/services/active-obj.service.ts b/src/app/services/active-obj.service.ts index 940fba19..a45e1433 100644 --- a/src/app/services/active-obj.service.ts +++ b/src/app/services/active-obj.service.ts @@ -6,7 +6,15 @@ import { Coord } from '../model/coord'; import { SynthesisPose } from './synthesis/synthesis-util'; export type ActiveObjType = - 'Nothing' | 'Joint' | 'Force' | 'Link' | 'Grid' | 'SynthesisPose' | 'Mechanism'; + | 'Nothing' + | 'Joint' + | 'Force' + | 'Link' + | 'Grid' + | 'SynthesisPose' + | 'Mechanism' + /** The tracing underlay, which is scenery rather than part of the linkage. */ + | 'BackgroundImage'; @Injectable({ providedIn: 'root', @@ -54,6 +62,19 @@ export class ActiveObjService { this.onActiveObjChange.emit(this.objType); } + /** + * Put the background image in the edit panel. + * + * It is not a mechanism object and has no entry in getSelectedObj(): the only + * thing this selection does is decide which panel is showing, and the panel + * reads the picture from its own service. + */ + selectBackgroundImage() { + this.selectedMechanismIndex = -1; + this.objType = 'BackgroundImage'; + this.onActiveObjChange.emit(this.objType); + } + /** Select a whole machine: everything in it, rather than one part of it. */ selectMechanism(index: number) { this.selectedMechanismIndex = index; diff --git a/src/app/services/background-image.service.spec.ts b/src/app/services/background-image.service.spec.ts new file mode 100644 index 00000000..1eb16aad --- /dev/null +++ b/src/app/services/background-image.service.spec.ts @@ -0,0 +1,115 @@ +import { TestBed } from '@angular/core/testing'; +import { BackgroundImageService, BackgroundImage } from './background-image.service'; +import { MODEL_SCALE } from '../model/render-scale'; + +/** A placed picture with a known 2:1 shape, so the derived height is checkable. */ +function placed(over: Partial = {}): BackgroundImage { + return { + src: 'data:image/png;base64,AAAA', + naturalWidth: 400, + naturalHeight: 200, + centerX: 0, + centerY: 0, + width: 4 * MODEL_SCALE, + opacity: 0.5, + fileName: 'rig.png', + ...over, + }; +} + +describe('BackgroundImageService', () => { + let service: BackgroundImageService; + + beforeEach(() => { + TestBed.configureTestingModule({}); + service = TestBed.inject(BackgroundImageService); + }); + + it('starts with nothing behind the grid', () => { + expect(service.image()).toBeNull(); + }); + + describe('geometry', () => { + it('derives the height from the file’s own proportions', () => { + const image = placed(); + expect(service.heightOf(image)).toBe(2 * MODEL_SCALE); + }); + + it('keeps those proportions when the width changes', () => { + service.image.set(placed()); + service.place({ width: 10 * MODEL_SCALE }); + expect(service.heightOf(service.image()!)).toBe(5 * MODEL_SCALE); + }); + + it('places the left edge half a width left of centre', () => { + const image = placed({ centerX: 3 * MODEL_SCALE }); + expect(service.leftOf(image)).toBe(MODEL_SCALE); + }); + + /** + * The image layer is drawn unflipped while the model has y up, so a picture + * centred above the axis has to be at a negative SVG y. Getting this + * backwards mirrors the underlay about the x axis, which is invisible on a + * symmetric picture and wrong on every other one. + */ + it('flips y, because the image layer is drawn in SVG coordinates', () => { + const image = placed({ centerY: 5 * MODEL_SCALE }); + expect(service.topOf(image)).toBe(-6 * MODEL_SCALE); + }); + }); + + describe('place', () => { + it('changes only the field it is given', () => { + service.image.set(placed()); + service.place({ centerX: 2 * MODEL_SCALE }); + const image = service.image()!; + expect(image.centerX).toBe(2 * MODEL_SCALE); + expect(image.centerY).toBe(0); + expect(image.width).toBe(4 * MODEL_SCALE); + expect(image.opacity).toBe(0.5); + expect(image.src).toBe('data:image/png;base64,AAAA'); + }); + + it('refuses to shrink the picture to nothing', () => { + service.image.set(placed()); + service.place({ width: 0 }); + expect(service.image()!.width).toBeGreaterThan(0); + }); + + it('holds opacity inside 0..1', () => { + service.image.set(placed()); + service.place({ opacity: 4 }); + expect(service.image()!.opacity).toBe(1); + service.place({ opacity: -1 }); + expect(service.image()!.opacity).toBe(0); + }); + + it('does nothing when there is no picture', () => { + service.place({ centerX: 5 }); + expect(service.image()).toBeNull(); + }); + }); + + describe('load', () => { + it('refuses a file that is not an image', async () => { + const file = new File(['not a picture'], 'notes.txt', { type: 'text/plain' }); + await expect(service.load(file, MODEL_SCALE)).rejects.toThrow(/not an image/); + expect(service.image()).toBeNull(); + }); + + it('refuses a file too large to hold in memory', async () => { + const file = new File(['x'], 'huge.png', { type: 'image/png' }); + // A real 13 MB buffer would slow every run of this suite; the guard reads + // the reported size, so a reported size is what it is given. + Object.defineProperty(file, 'size', { value: 13 * 1024 * 1024 }); + await expect(service.load(file, MODEL_SCALE)).rejects.toThrow(/limit is 12 MB/); + expect(service.image()).toBeNull(); + }); + }); + + it('remove clears the picture', () => { + service.image.set(placed()); + service.remove(); + expect(service.image()).toBeNull(); + }); +}); diff --git a/src/app/services/background-image.service.ts b/src/app/services/background-image.service.ts new file mode 100644 index 00000000..1803e3cf --- /dev/null +++ b/src/app/services/background-image.service.ts @@ -0,0 +1,142 @@ +import { Injectable, signal } from '@angular/core'; +import { MODEL_SCALE } from '../model/render-scale'; + +/** + * A picture pinned behind the grid, for building a linkage on top of one. + * + * Everything here is in internal model units (see MODEL_SCALE), the same units + * a Joint's x and y are in, so the placement numbers can be handed straight to + * the SVG alongside the mechanism's own geometry. + */ +export interface BackgroundImage { + /** The picture itself, as a data URL: the file is never uploaded anywhere. */ + src: string; + /** The file's own pixel size, which fixes the aspect ratio. */ + naturalWidth: number; + naturalHeight: number; + /** Where the middle of the picture sits, in model units. */ + centerX: number; + centerY: number; + /** How wide the picture is drawn, in model units. Height follows the ratio. */ + width: number; + /** 0..1. A tracing underlay wants to be visible *through*, not just under. */ + opacity: number; + /** The name of the file it came from, for the panel to show. */ + fileName: string; +} + +/** The largest file we will read, in bytes. */ +export const MAX_IMAGE_BYTES = 12 * 1024 * 1024; + +/** Nothing narrower than this is a picture you could trace anything against. */ +const MIN_WIDTH = 0.05 * MODEL_SCALE; + +@Injectable({ providedIn: 'root' }) +export class BackgroundImageService { + /** + * The one picture, or none. + * + * Deliberately outside the URL codec and outside the undo history: an image + * is megabytes and a shared URL is a few hundred characters, so there is no + * version of this that survives a link. The panel says so in as many words. + */ + readonly image = signal(null); + + /** How tall the picture is drawn, in model units — the ratio decides. */ + heightOf(image: BackgroundImage): number { + return (image.width * image.naturalHeight) / image.naturalWidth; + } + + /** The picture's left edge in SVG coordinates. */ + leftOf(image: BackgroundImage): number { + return image.centerX - image.width / 2; + } + + /** + * The picture's top edge in SVG coordinates. + * + * The image layer is drawn unflipped, so a model y of +2 is an SVG y of -2 — + * which is why this negates the centre rather than adding to it. + */ + topOf(image: BackgroundImage): number { + return -image.centerY - this.heightOf(image) / 2; + } + + /** + * Read a chosen file and place it, centred on the origin, sized to `fitWidth`. + * + * Rejects rather than guesses on anything it cannot decode: a broken data URL + * drawn into the canvas is an invisible failure, and the caller turns this + * into a message the user can act on. + */ + async load(file: File, fitWidth: number): Promise { + if (!file.type.startsWith('image/')) { + throw new Error(`${file.name} is not an image.`); + } + if (file.size > MAX_IMAGE_BYTES) { + throw new Error( + `${file.name} is ${(file.size / 1024 / 1024).toFixed(1)} MB. The limit is ${ + MAX_IMAGE_BYTES / 1024 / 1024 + } MB.` + ); + } + + const src = await readAsDataURL(file); + const { width, height } = await measure(src); + + this.image.set({ + src, + naturalWidth: width, + naturalHeight: height, + centerX: 0, + centerY: 0, + width: Math.max(MIN_WIDTH, fitWidth), + opacity: 0.5, + fileName: file.name, + }); + } + + /** Change part of the placement, leaving the picture itself alone. */ + place(change: Partial>): void { + const current = this.image(); + if (!current) return; + this.image.set({ + ...current, + ...change, + width: Math.max(MIN_WIDTH, change.width ?? current.width), + opacity: clamp(change.opacity ?? current.opacity, 0, 1), + }); + } + + remove(): void { + this.image.set(null); + } +} + +function clamp(value: number, low: number, high: number): number { + return Math.min(high, Math.max(low, value)); +} + +function readAsDataURL(file: File): Promise { + return new Promise((resolve, reject) => { + const reader = new FileReader(); + reader.onload = () => resolve(reader.result as string); + reader.onerror = () => reject(new Error(`${file.name} could not be read.`)); + reader.readAsDataURL(file); + }); +} + +function measure(src: string): Promise<{ width: number; height: number }> { + return new Promise((resolve, reject) => { + const probe = new Image(); + probe.onload = () => { + if (!probe.naturalWidth || !probe.naturalHeight) { + reject(new Error('That image has no size the browser could read.')); + return; + } + resolve({ width: probe.naturalWidth, height: probe.naturalHeight }); + }; + probe.onerror = () => reject(new Error('That image could not be decoded.')); + probe.src = src; + }); +} diff --git a/src/assets/icons/background_image.svg b/src/assets/icons/background_image.svg new file mode 100644 index 00000000..56512103 --- /dev/null +++ b/src/assets/icons/background_image.svg @@ -0,0 +1,10 @@ + + + + From e05e9d3c52bcf9294a740d97fc16d373b1f9156f Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 19:56:49 -0400 Subject: [PATCH 151/236] Put the app on the keyboard, and print the keys on the controls Four keys existed and none of them were written anywhere: a reader found Undo, Delete, Escape and the redo pair by knowing them already. So there is a table now -- the key, what it does, and the words the control it doubles already uses -- and everything reads from it. A tooltip asks for its own hint by id, so a key cannot move without its hint moving, and the Help drawer lists the whole set under `?`. What is new: 1-4 for the modes, Space and the arrows and S for the transport, + - 0 for the view and M L P for what it draws, K to lock or unlock what is selected, a comma for Settings. Backspace joins Delete, which is the key a MacBook actually has and the one the shortcut was printed on. The actions stay in the components that own them, and the keys reach them through the same methods the buttons do -- so a mode that is not ready still opens its setup drawer, a greyed switch stays greyed, and the transport answers only in the modes it appears in. The registry knows which keys exist; it does not know what any of them mean. Keys typed into a text field belong to that field, which is what makes a bare letter safe as a shortcut at all. Co-Authored-By: Claude Opus 5 --- e2e/keyboard-shortcuts.mjs | 186 +++++++++++++ .../editable-title.component.html | 9 +- .../editable-title.component.ts | 2 + .../help-panel/help-panel.component.html | 16 ++ .../help-panel/help-panel.component.scss | 39 +++ .../help-panel/help-panel.component.ts | 2 + .../component/new-grid/new-grid.component.ts | 118 ++++---- .../playback-bar/playback-bar.component.html | 16 +- .../playback-bar/playback-bar.component.ts | 46 +++- .../component/top-bar/top-bar.component.html | 59 +++- .../component/top-bar/top-bar.component.ts | 19 ++ .../view-controls/view-button.component.ts | 18 +- .../view-controls.component.html | 24 +- .../view-controls/view-controls.component.ts | 20 ++ .../services/keyboard-shortcuts.service.ts | 257 ++++++++++++++++++ 15 files changed, 759 insertions(+), 72 deletions(-) create mode 100644 e2e/keyboard-shortcuts.mjs create mode 100644 src/app/services/keyboard-shortcuts.service.ts diff --git a/e2e/keyboard-shortcuts.mjs b/e2e/keyboard-shortcuts.mjs new file mode 100644 index 00000000..8ae04f46 --- /dev/null +++ b/e2e/keyboard-shortcuts.mjs @@ -0,0 +1,186 @@ +/** + * The keys, exercised the way a hand would: press one and watch the app do + * what the control it doubles would have done -- and watch the same key do + * nothing at all while a name is being typed into a field. + * + * PMKS_BASE_URL= node e2e/keyboard-shortcuts.mjs + */ + +import { readFileSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +const skip = page.locator('.introjs-skipbutton').first(); +if (await skip.isVisible().catch(() => false)) await skip.click({ force: true }); +await page.waitForTimeout(500); + +/** The joint's centre on screen: the canvas places from where the mouse is. */ +const clickJoint = async (id) => { + const at = await page.evaluate((jointId) => { + const el = document.querySelector(`#joint_${jointId}`)?.closest('svg[x]'); + const box = el.getBoundingClientRect(); + return { x: box.x + box.width / 2, y: box.y + box.height / 2 }; + }, id); + await page.mouse.move(at.x, at.y); + await page.mouse.click(at.x, at.y); + await page.waitForTimeout(400); +}; + +const state = () => + page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + return { + tab: c.tabService.getCurrentTab(), + playing: c.mechanismSrv.isPlaying, + step: c.mechanismSrv.mechanismTimeStep, + ids: c.settings.isShowID.value, + com: c.settings.isShowCOM.value, + paths: c.settings.isShowTraces.value, + selected: c.activeObjService.objType, + joints: c.mechanismSrv.joints.length, + lockedJoints: c.mechanismSrv.joints.filter((j) => j.locked).length, + drawer: ng.getComponent(document.querySelector('app-right-panel'))?.getOpenTab?.(), + }; + }); + +const press = async (key) => { + await page.keyboard.press(key); + await page.waitForTimeout(350); +}; + +// --- Modes ------------------------------------------------------------------ +// 0 Synthesis, 1 Edit, 2 Kinematic, 3 Force (TabID's own order). +await press('1'); +record('1 goes to Synthesis', (await state()).tab === 0, await state()); +await press('2'); +record('2 comes back to Edit', (await state()).tab === 1, await state()); +await press('3'); +record('3 opens Kinematic Analysis', (await state()).tab === 2, await state()); + +// --- Playback, and only where there is a transport -------------------------- +await press('2'); +const still = await state(); +await press('Space'); +record('Space does nothing in Edit, which has no transport', (await state()).playing === false, { + before: still.playing, +}); +await press('3'); +await press('Space'); +record('Space starts it playing', (await state()).playing === true); +await press('Space'); +record('and Space again pauses it', (await state()).playing === false); + +const before = (await state()).step; +await press('ArrowRight'); +const stepped = (await state()).step; +record('Right steps one frame on', stepped !== before, { before, stepped }); +await press('ArrowLeft'); +record('and Left brings it back', (await state()).step === before, { + before, + now: (await state()).step, +}); + +// --- View ------------------------------------------------------------------- +const ids = (await state()).ids; +await press('l'); +record('L turns the joint IDs off and on', (await state()).ids !== ids); +await press('l'); + +// A traced path needs a joint that traces one, so the switch is greyed here +// and the key must be greyed with it. +const paths = (await state()).paths; +await press('p'); +record('P leaves traced paths alone while no joint traces one', (await state()).paths === paths); + +// --- Editing ---------------------------------------------------------------- +await press('2'); // back to Edit, where there is something to select +await clickJoint('B'); +record('a joint is selected', (await state()).selected === 'Joint', await state()); +await press('Escape'); +record('Escape lets it go', (await state()).selected === 'Grid', await state()); + +const jointsBefore = (await state()).joints; +await clickJoint('B'); +// Backspace, not Delete: the key a MacBook actually has. +await press('Backspace'); +record('Backspace deletes the selected joint', (await state()).joints === jointsBefore - 1, { + jointsBefore, + now: (await state()).joints, +}); +await page.keyboard.press('Control+z'); +await page.waitForTimeout(500); +record('Ctrl+Z puts it back', (await state()).joints === jointsBefore); + +// --- A key typed into a field belongs to the field --------------------------- +await clickJoint('A'); +const field = page.locator('app-edit-panel input').first(); +await field.click(); +await field.press('3'); +await page.waitForTimeout(300); +record('a mode key typed into a field does not switch modes', (await state()).tab === 1, { + tab: (await state()).tab, +}); + +// --- Lock, and Settings ----------------------------------------------------- +await clickJoint('B'); +await press('k'); +record('K locks the selected joint', (await state()).lockedJoints === 1, await state()); +await press('k'); +record('and K again lets it go', (await state()).lockedJoints === 0, await state()); + +await press(','); +record('a comma opens Settings', (await state()).drawer === 1, await state()); + +// --- The list that teaches them -------------------------------------------- +// Out of the field first: the check above just proved that a key typed into +// one stays there, so a `?` pressed with the caret still in it would too. +await page.mouse.click(900, 700); +await page.waitForTimeout(300); +await press('?'); +await page.waitForTimeout(700); +const help = await page.evaluate(() => { + const panel = document.querySelector('app-help-panel'); + return panel ? panel.innerText : ''; +}); +record('? opens Help', /Send Feedback|Keyboard Shortcuts/.test(help), help.slice(0, 80)); +const listed = await page.evaluate(() => { + const panel = document.querySelector('app-help-panel'); + return { + heading: /Keyboard Shortcuts/.test(panel?.innerText ?? ''), + caps: document.querySelectorAll('app-help-panel .keyCap').length, + }; +}); +record( + 'and the drawer carries the list of keys, one cap each', + listed.heading && listed.caps >= 15, + listed +); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); +await browser.close(); + +const failed = results.filter(([, ok]) => !ok); +console.log(`\n${results.length - failed.length}/${results.length} checks passed`); +process.exit(failed.length ? 1 : 0); diff --git a/src/app/component/BLOCKS/editable-title/editable-title.component.html b/src/app/component/BLOCKS/editable-title/editable-title.component.html index 390ec2c5..d04248fb 100644 --- a/src/app/component/BLOCKS/editable-title/editable-title.component.html +++ b/src/app/component/BLOCKS/editable-title/editable-title.component.html @@ -52,7 +52,14 @@ padlock beside the word Unlock. Both labels are always in the box, one invisible, so the button is sized by the wider word and nothing shifts when it toggles. --> - + @@ -40,7 +44,11 @@ (click)="select(TabID.EDIT)" aria-label="Edit" > - + Edit @@ -53,7 +61,11 @@ (click)="select(TabID.ANALYZE)" aria-label="Kinematic Analysis" > - query_stats + query_stats Kinematic Analysis Kinematic @@ -78,7 +90,11 @@ (click)="select(TabID.FORCE)" aria-label="Force Analysis" > - balance + balance Force Analysis Force @@ -105,11 +121,25 @@
    @if (!tabs.isAnalysisMode()) {
    - - @@ -146,8 +176,21 @@ - - + @if (isDevMode()) { diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts index c088f3b7..0774e8ab 100644 --- a/src/app/component/top-bar/top-bar.component.ts +++ b/src/app/component/top-bar/top-bar.component.ts @@ -25,6 +25,7 @@ import { AnalysisExportService } from '../../services/analysis-export.service'; import { NotificationService } from '../../services/notification.service'; import { MatTooltip } from '@angular/material/tooltip'; import { MatIcon } from '@angular/material/icon'; +import { KeyboardShortcutsService, ShortcutId } from '../../services/keyboard-shortcuts.service'; /** A mode's chip: whether that analysis can be entered, and what is missing. */ interface TabStatus { @@ -100,6 +101,7 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr menuOpen = false; private analytics: AnalyticsService = inject(AnalyticsService); + shortcuts = inject(KeyboardShortcutsService); readonly tabStrip = viewChild>('tabStrip'); readonly strip = viewChild>('strip'); @@ -217,7 +219,24 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr } } + /** + * The keys that pick a mode go through `select`, exactly as the buttons do, + * so a mode that is not ready opens its setup drawer rather than half + * switching -- the gate is the mode's, not the button's. + */ + private readonly keyed: Partial void>> = { + 'mode.synthesis': () => this.select(TabID.SYNTHESIZE), + 'mode.edit': () => this.select(TabID.EDIT), + 'mode.kinematic': () => this.select(TabID.ANALYZE), + 'mode.force': () => this.select(TabID.FORCE), + 'app.settings': () => this.openSettings(), + 'app.help': () => this.openHelp(), + }; + + private keySub = this.shortcuts.pressed.subscribe((id) => this.keyed[id]?.()); + ngOnDestroy(): void { + this.keySub.unsubscribe(); if (this.pendingFrame) cancelAnimationFrame(this.pendingFrame); window.removeEventListener('resize', this.onResize); this.cardWatch?.disconnect(); diff --git a/src/app/component/view-controls/view-button.component.ts b/src/app/component/view-controls/view-button.component.ts index 682e5ac2..8b66a2b8 100644 --- a/src/app/component/view-controls/view-button.component.ts +++ b/src/app/component/view-controls/view-button.component.ts @@ -1,6 +1,7 @@ -import { ChangeDetectionStrategy, Component, computed, input, output } from '@angular/core'; +import { ChangeDetectionStrategy, Component, computed, inject, input, output } from '@angular/core'; import { MatIcon } from '@angular/material/icon'; import { MatTooltip } from '@angular/material/tooltip'; +import { KeyboardShortcutsService, ShortcutId } from '../../services/keyboard-shortcuts.service'; /** * One button in the view controls, in both kinds it comes in: a switch that @@ -21,6 +22,8 @@ import { MatTooltip } from '@angular/material/tooltip'; imports: [MatIcon, MatTooltip], }) export class ViewButtonComponent { + private shortcuts = inject(KeyboardShortcutsService); + /** What a switch puts on the grid: "Center of Mass", "traced paths". */ readonly noun = input(); /** The glyph for each state. The `shown` one is the plain, uncrossed glyph. */ @@ -33,6 +36,9 @@ export class ViewButtonComponent { readonly icon = input(); readonly tooltip = input(); + /** The shortcut this button doubles, if it has one: its keys go in the tip. */ + readonly shortcut = input(); + /** True when pressing this would change nothing on the grid. */ readonly disabled = input(false); readonly pressed = output(); @@ -50,9 +56,13 @@ export class ViewButtonComponent { readonly label = computed(() => this.tooltip() ?? `Show ${this.noun()}`); /** The tooltip names what pressing it would do, which is the other state. */ - readonly tip = computed(() => - this.noun() ? `${this.shown() ? 'Hide' : 'Show'} ${this.noun()}` : (this.tooltip() ?? '') - ); + readonly tip = computed(() => { + const name = this.noun() + ? `${this.shown() ? 'Hide' : 'Show'} ${this.noun()}` + : (this.tooltip() ?? ''); + const id = this.shortcut(); + return id ? this.shortcuts.tip(name, id) : name; + }); /** The glyph draws the grid as it is: the crossed-out one means hidden. */ readonly glyph = computed(() => (this.shown() ? this.shownIcon() : this.hiddenIcon()) ?? ''); diff --git a/src/app/component/view-controls/view-controls.component.html b/src/app/component/view-controls/view-controls.component.html index 8c23343e..2962d4ab 100644 --- a/src/app/component/view-controls/view-controls.component.html +++ b/src/app/component/view-controls/view-controls.component.html @@ -7,6 +7,7 @@ hiddenIcon="com_off" [shown]="isShowingCoM()" [disabled]="noMassiveLink()" + shortcut="view.centerOfMass" (pressed)="showCenterOfMass()" /> - - - + + +
    diff --git a/src/app/component/view-controls/view-controls.component.ts b/src/app/component/view-controls/view-controls.component.ts index 550f3832..cf6f1703 100644 --- a/src/app/component/view-controls/view-controls.component.ts +++ b/src/app/component/view-controls/view-controls.component.ts @@ -11,6 +11,7 @@ import { SettingsService, writeStoredFlag } from '../../services/settings.servic import { SvgGridService } from '../../services/svg-grid.service'; import { ViewButtonComponent } from './view-button.component'; import { RealLink } from '../../model/link'; +import { KeyboardShortcutsService, ShortcutId } from '../../services/keyboard-shortcuts.service'; /** The one gap a card keeps from its neighbour (left-tabs.vars.scss). */ const CARD_GAP = 12; @@ -31,6 +32,24 @@ export class ViewControlsComponent implements AfterViewInit, OnDestroy { mechanismService = inject(MechanismService); settingsService = inject(SettingsService); private host = inject>(ElementRef); + private shortcuts = inject(KeyboardShortcutsService); + + /** + * The keys reach the same methods the buttons do, greyed state and all: a + * switch that would change nothing on the grid is one the key must not + * change either, or the shortcut and the button would disagree about what + * the drawing can show. + */ + private readonly keyed: Partial void>> = { + 'view.zoomIn': () => this.onZoomInPressed(), + 'view.zoomOut': () => this.onZoomOutPressed(), + 'view.reset': () => this.onReframePressed(), + 'view.centerOfMass': () => !this.noMassiveLink() && this.showCenterOfMass(), + 'view.jointIds': () => !this.noJointExists() && this.onShowIDPressed(), + 'view.paths': () => !this.noTracedJoint() && this.onShowTracesPressed(), + }; + + private keySub = this.shortcuts.pressed.subscribe((id) => this.keyed[id]?.()); /** * Publish where this card is, for the drawer that stands over it. @@ -74,6 +93,7 @@ export class ViewControlsComponent implements AfterViewInit, OnDestroy { } ngOnDestroy(): void { + this.keySub.unsubscribe(); this.geometryWatch?.disconnect(); if (this.onWindowResize) window.removeEventListener('resize', this.onWindowResize); document.documentElement.style.removeProperty('--view-controls-width'); diff --git a/src/app/services/keyboard-shortcuts.service.ts b/src/app/services/keyboard-shortcuts.service.ts new file mode 100644 index 00000000..b1df1cb6 --- /dev/null +++ b/src/app/services/keyboard-shortcuts.service.ts @@ -0,0 +1,257 @@ +import { Injectable, NgZone, inject } from '@angular/core'; +import { Observable, Subject } from 'rxjs'; + +/** + * Everything a key can ask for. The string is the shortcut's identity: the + * registry below names it, the component that owns the action listens for it, + * and a tooltip asks for its keys by it. + */ +export type ShortcutId = + | 'mode.synthesis' + | 'mode.edit' + | 'mode.kinematic' + | 'mode.force' + | 'playback.toggle' + | 'playback.back' + | 'playback.forward' + | 'playback.speed' + | 'view.zoomIn' + | 'view.zoomOut' + | 'view.reset' + | 'view.centerOfMass' + | 'view.jointIds' + | 'view.paths' + | 'edit.lock' + | 'edit.deselect' + | 'edit.delete' + | 'history.undo' + | 'history.redo' + | 'app.settings' + | 'app.help'; + +export interface Shortcut { + id: ShortcutId; + /** The heading this falls under wherever the whole set is listed. */ + section: 'Modes' | 'Playback' | 'View' | 'Editing' | 'General'; + /** What pressing it does, in the same words the control it doubles uses. */ + label: string; + /** The keys as a reader should see them, already in this platform's signs. */ + keys: string; + /** `event.key` values that fire it, lowercased. */ + match: string[]; + /** Whether Ctrl (or Command) has to be down. Undefined means "must not be". */ + meta?: boolean; +} + +/** Command on a Mac, Ctrl everywhere else -- shown the way the platform writes it. */ +function onAMac(): boolean { + if (typeof navigator === 'undefined') return false; + return /Mac|iPhone|iPad/.test(navigator.platform || navigator.userAgent); +} + +/** + * The keys, and what they ask for. + * + * One table, because a shortcut has to be two things at once and they must not + * drift: the key that fires it, and the hint on the control it doubles. A + * hint written into a template by hand is a hint nobody updates when the key + * moves -- so nothing here is written twice, and a control asks for its own + * hint by id. + * + * The actions are deliberately *not* here. They belong to the components that + * already own them, with the guards those components already apply -- a mode + * that is not ready opens its setup drawer rather than switching, and a + * transport with nothing to play stays put. A service reaching past them to do + * the work itself would have to repeat every one of those rules. + */ +@Injectable({ providedIn: 'root' }) +export class KeyboardShortcutsService { + private zone = inject(NgZone); + private readonly presses = new Subject(); + + /** Fires when a shortcut's keys are pressed anywhere outside a text field. */ + readonly pressed: Observable = this.presses.asObservable(); + + private readonly mod = onAMac() ? '⌘' : 'Ctrl'; + + readonly shortcuts: Shortcut[] = [ + { id: 'mode.synthesis', section: 'Modes', label: 'Synthesis', keys: '1', match: ['1'] }, + { id: 'mode.edit', section: 'Modes', label: 'Edit', keys: '2', match: ['2'] }, + { + id: 'mode.kinematic', + section: 'Modes', + label: 'Kinematic Analysis', + keys: '3', + match: ['3'], + }, + { id: 'mode.force', section: 'Modes', label: 'Force Analysis', keys: '4', match: ['4'] }, + + { + id: 'playback.toggle', + section: 'Playback', + label: 'Play / Pause', + keys: 'Space', + match: [' ', 'spacebar'], + }, + { + id: 'playback.back', + section: 'Playback', + label: 'Step back one frame', + keys: '←', + match: ['arrowleft'], + }, + { + id: 'playback.forward', + section: 'Playback', + label: 'Step forward one frame', + keys: '→', + match: ['arrowright'], + }, + { + id: 'playback.speed', + section: 'Playback', + label: 'Cycle playback speed', + keys: 'S', + match: ['s'], + }, + + { id: 'view.zoomIn', section: 'View', label: 'Zoom In', keys: '+', match: ['+', '='] }, + { id: 'view.zoomOut', section: 'View', label: 'Zoom Out', keys: '−', match: ['-', '_'] }, + { id: 'view.reset', section: 'View', label: 'Reset View', keys: '0', match: ['0'] }, + { + id: 'view.centerOfMass', + section: 'View', + label: 'Center of mass', + keys: 'M', + match: ['m'], + }, + { id: 'view.jointIds', section: 'View', label: 'Joint IDs', keys: 'L', match: ['l'] }, + { id: 'view.paths', section: 'View', label: 'Traced paths', keys: 'P', match: ['p'] }, + + { + id: 'edit.lock', + section: 'Editing', + label: 'Lock / Unlock what is selected', + keys: 'K', + match: ['k'], + }, + { + id: 'edit.deselect', + section: 'Editing', + label: 'Deselect', + keys: 'Esc', + match: ['escape', 'esc'], + }, + { + id: 'edit.delete', + section: 'Editing', + label: 'Delete what is selected', + // Backspace as well as Delete: a MacBook has one key here and it sends + // Backspace, so Delete alone left the shortcut unreachable on the + // keyboard it is printed on. + keys: 'Delete', + match: ['delete', 'backspace'], + }, + { + id: 'history.undo', + section: 'Editing', + label: 'Undo', + keys: `${this.mod}Z`, + match: ['z'], + meta: true, + }, + { + id: 'history.redo', + section: 'Editing', + label: 'Redo', + keys: `${this.mod}⇧Z`, + match: ['y'], + meta: true, + }, + { + id: 'app.settings', + section: 'General', + label: 'Settings', + // The key every application puts preferences on, minus the modifier: + // nothing on this canvas is typed, so the plain comma is free. + keys: ',', + match: [','], + }, + { + id: 'app.help', + section: 'General', + label: 'Help, and this list', + keys: '?', + // The character, not the keystroke that makes it: which key and which + // modifiers produce a question mark is a matter of layout, and asking + // for Shift and the US layout's slash left it unreachable on the rest. + match: ['?'], + }, + ]; + + constructor() { + if (typeof window === 'undefined') return; + // Outside Angular, then back in only when a key actually matches: this + // listener sees every keystroke in the app, and a change-detection pass + // per keystroke is a pass per character typed into every field. + this.zone.runOutsideAngular(() => + window.addEventListener('keydown', (event) => this.onKeyDown(event)) + ); + } + + /** The keys for a control's tooltip, or nothing if it has no shortcut. */ + keysFor(id: ShortcutId): string { + return this.shortcuts.find((one) => one.id === id)?.keys ?? ''; + } + + /** + * A tooltip with its shortcut on the end: "Zoom In (+)". + * + * The name first and the key in brackets after it, because the name is what + * a reader came to the tooltip for and the key is what they leave with. + */ + tip(name: string, id: ShortcutId): string { + const keys = this.keysFor(id); + return keys ? `${name} (${keys})` : name; + } + + /** The whole set, grouped, for the list that teaches them. */ + bySection(): { section: string; shortcuts: Shortcut[] }[] { + const sections: string[] = []; + for (const one of this.shortcuts) { + if (!sections.includes(one.section)) sections.push(one.section); + } + return sections.map((section) => ({ + section, + shortcuts: this.shortcuts.filter((one) => one.section === section), + })); + } + + private onKeyDown(event: KeyboardEvent): void { + // A key pressed into a text field belongs to that field: Delete means + // delete a character there, and Undo means undo the typing. + if (this.typingInAField(event)) return; + + const key = event.key.toLowerCase(); + const held = event.ctrlKey || event.metaKey; + // Redo is Undo's key with Shift, as well as its own -- so it is looked for + // first, or the plain Undo match would swallow it. + const found = + held && key === 'z' && event.shiftKey + ? this.shortcuts.find((one) => one.id === 'history.redo') + : this.shortcuts.find((one) => one.match.includes(key) && !!one.meta === held); + if (!found) return; + // A shortcut that reached us is a shortcut we are answering: Space would + // otherwise scroll the page and Command-Z would reach the browser's own. + event.preventDefault(); + this.zone.run(() => this.presses.next(found.id)); + } + + /** Whether the keystroke was aimed at somewhere text is being entered. */ + private typingInAField(event: KeyboardEvent): boolean { + const target = event.target as HTMLElement | null; + if (!target) return false; + const tag = target.tagName; + return tag === 'INPUT' || tag === 'TEXTAREA' || target.isContentEditable; + } +} From 2660df24a8b77d80588fdbb1d4e8b1ff83da49c9 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 19:59:00 -0400 Subject: [PATCH 152/236] Two turns read as 0 to 720, and the track's right edge is the end The compass bearing repeats every turn of a two-revolution cycle, so the readout now shows progress round the whole cycle for multi-turn cranks. Exactly the period no longer wraps to zero: dragging the handle to the right edge parks at the last sample and reads 24.00 s and 720 degrees, with the nearest-sample tie at the seam broken toward wherever the machine already is. Co-Authored-By: Claude Fable 5 --- src/app/model/mechanism/drive-profile.spec.ts | 13 +++++++++ src/app/model/mechanism/drive-profile.ts | 6 ++++- src/app/services/mechanism.service.ts | 27 ++++++++++++++----- 3 files changed, 39 insertions(+), 7 deletions(-) diff --git a/src/app/model/mechanism/drive-profile.spec.ts b/src/app/model/mechanism/drive-profile.spec.ts index 3b77539f..af559313 100644 --- a/src/app/model/mechanism/drive-profile.spec.ts +++ b/src/app/model/mechanism/drive-profile.spec.ts @@ -146,4 +146,17 @@ describe('Where a machine says its input is', () => { const profile = profileOf('4-Bar'); expect(sampleAlong(profile, 1, 0)).toBe(0); }); + + it('lands a drag TO the right edge on the last sample, not sample zero', () => { + // The two ends of the loop are the same pose, but not the same readout: a + // drag arriving at the right edge should read as the end of the cycle + // (24.00 s, 720 degrees), and it used to snap to 0.00 s because the tie + // between the two ends went to whichever sample the scan met first. + const { mechanism } = buildMechanism(squareRodSliderCrankFixture()); + const profile = driveProfileOf(mechanism)!; + const last = profile.along.length - 1; + expect(sampleAlong(profile, 1, last - 4)).toBe(last); + // And from rest at the start, the same place is still the start. + expect(sampleAlong(profile, 1, 0)).toBe(0); + }); }); diff --git a/src/app/model/mechanism/drive-profile.ts b/src/app/model/mechanism/drive-profile.ts index 8e794807..bbf94dd4 100644 --- a/src/app/model/mechanism/drive-profile.ts +++ b/src/app/model/mechanism/drive-profile.ts @@ -225,11 +225,15 @@ function nearestSample(profile: DriveProfile, along: number, near: number): numb } if (profile.continuous) { // Round the loop: the place next to 0 is 1, not the far side of the track. + // The seam makes the track's two ends the same place, so distance to the + // sample the machine is at breaks that tie -- enough to keep a drag on its + // own end of the track, never enough to reach a place the reader did not + // point at. let best = 0; let bestCost = Infinity; profile.along.forEach((value, sample) => { const gap = Math.abs(value - along); - const cost = Math.min(gap, 1 - gap); + const cost = Math.min(gap, 1 - gap) + (Math.abs(sample - near) / last) * 1e-6; if (cost < bestCost) { bestCost = cost; best = sample; diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 78cdde2e..b588fb3e 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -2104,9 +2104,7 @@ export class MechanismService { */ private storedMoiFactor(unitStr: string): number { const units = siUnitFactors(unitStr); - return ( - ((units.massToKg * units.distanceToM ** 2) / units.inertiaToKgM2) / MODEL_SCALE ** 2 - ); + return (units.massToKg * units.distanceToM ** 2) / units.inertiaToKgM2 / MODEL_SCALE ** 2; } private currentUnitStr(): string { @@ -2161,7 +2159,9 @@ export class MechanismService { ); const moi = parts.reduce( (sum, part) => - sum + part.moi + part.mass * ((part.com.x - com.x) ** 2 + (part.com.y - com.y) ** 2) * factor, + sum + + part.moi + + part.mass * ((part.com.x - com.x) ** 2 + (part.com.y - com.y) ** 2) * factor, 0 ); return { com, moi }; @@ -3250,7 +3250,8 @@ export class MechanismService { if (!frames || times.length === 0) return 0; const period = frames.cyclePeriod; let local = this.secondsOf(index); - if (period > 0 && Number.isFinite(local)) { + if (period > 0 && Number.isFinite(local) && local !== period) { + // Exactly the period is the last sample, not a wrap back to the first. local = ((local % period) + period) % period; } let step = 0; @@ -3699,6 +3700,11 @@ export class MechanismService { * comparing the drawing with the readout is looking at where the crank is * pointing, and "0" meaning "wherever it was drawn" is a different question * they did not ask. + * + * Except on a cycle of several turns — a branch-swapping slide closes after + * two — where the bearing repeats every turn and cannot say which one the + * machine is on. There the readout is progress round the whole cycle, + * 0 to 720. */ inputAngleDegrees(index: number): number | undefined { const partition = this.partitions[index]; @@ -3710,6 +3716,12 @@ export class MechanismService { // itself is usually pinned to the frame and points nowhere. const end = driven.connectedJoints.find((joint) => !(joint as RealJoint).ground); if (!end) return undefined; + const samples = this.mechanisms[index]?.joints.length ?? 0; + const turns = samples > 1 ? Math.round((samples - 1) / 360) : 1; + const profile = this.driveProfileOf(index); + if (turns > 1 && profile?.continuous && !profile.linear) { + return (this.currentSampleOf(index) * (turns * 360)) / (samples - 1); + } const degrees = (Math.atan2(end.y - driven.y, end.x - driven.x) * 180) / Math.PI; return (degrees + 360) % 360; } @@ -3768,7 +3780,10 @@ export class MechanismService { /** Put one machine at a place in its own cycle, and leave the others alone. */ seekMechanism(index: number, seconds: number): void { const period = this.mechanisms[index]?.cyclePeriod ?? 0; - const local = period > 0 ? ((seconds % period) + period) % period : seconds; + // Exactly the period is the end of the cycle, not the start: dragging the + // handle to the track's right edge should read 24.00 s, not 0.00 s. + const local = + period > 0 ? (seconds === period ? period : ((seconds % period) + period) % period) : seconds; this.ownSeconds[index] = local; // The sample index is the master machine's, and half the app reads it -- // the graphs, the URL, and the rule that says the editor is only open at From a0d87bd9ec849d4c31255da1ec42c65e66fafd2f Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 20:02:17 -0400 Subject: [PATCH 153/236] Open the Help drawer with its shortcut list folded away The list is twenty-one rows, and expanded it pushed the feedback form -- the reason most people open this drawer -- below the fold. A section header is a smaller thing to scan past than the whole table. Co-Authored-By: Claude Opus 5 --- src/app/component/help-panel/help-panel.component.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/app/component/help-panel/help-panel.component.html b/src/app/component/help-panel/help-panel.component.html index 11a39083..55b00e82 100644 --- a/src/app/component/help-panel/help-panel.component.html +++ b/src/app/component/help-panel/help-panel.component.html @@ -10,7 +10,7 @@ - + @for (group of shortcuts.bySection(); track group.section) {

    {{ group.section }}

    From cb4647b95050c453cac6949f48a68069152dee67 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 20:26:22 -0400 Subject: [PATCH 154/236] A note about one joint stops shouting over the panel it sits in The internal-weld message inherited the panel's base type from a generously padded box and read as a headline. It and the in-graph diagnostic now speak at the size of the text around them. Co-Authored-By: Claude Fable 5 --- .../analysis-graph.component.scss | 17 +++++++++++++---- .../analysis-panel.component.scss | 9 +++++++-- 2 files changed, 20 insertions(+), 6 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.scss b/src/app/component/analysis-graph/analysis-graph.component.scss index a5b9354f..ef61ca9e 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.scss +++ b/src/app/component/analysis-graph/analysis-graph.component.scss @@ -90,14 +90,19 @@ color: mat.m2-get-color-from-palette($primary-palette, 900); } + // Sized like its siblings — the gap strip above the chart and the + // placeholder that stands in for one. Left to inherit, this spoke at the + // panel's base size out of a 16px-padded box, and read as a headline + // rather than as one more quiet note about the chart. .analysis-diagnostic { - margin: 16px 4px 12px; - padding: 16px; + margin: 4px 0 8px; + padding: 8px 12px; border: 1px solid mat.m2-get-color-from-palette($primary-palette, 200); border-radius: var(--border-radius); background: mat.m2-get-color-from-palette($primary-palette, 50); color: mat.m2-get-color-from-palette($primary-palette, 900); - line-height: 1.4; + font-size: 13px; + line-height: 1.5; } } @@ -112,7 +117,11 @@ color: #7a5600; font-size: 12.5px; - .gapIcon { font-size: 16px; width: 16px; height: 16px; } + .gapIcon { + font-size: 16px; + width: 16px; + height: 16px; + } .gapShow { margin-left: auto; diff --git a/src/app/component/analysis-panel/analysis-panel.component.scss b/src/app/component/analysis-panel/analysis-panel.component.scss index e251f9de..fdbc74c6 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.scss +++ b/src/app/component/analysis-panel/analysis-panel.component.scss @@ -55,12 +55,17 @@ // } } } +// Speaks at the size of the title-block description above it (body-2, 14px). +// Left to inherit, it picked up the panel's base size, and a note about one +// joint read louder than the panel's own heading. #analysisWrapper .analysis-message { margin: 8px 0 12px; - padding: 12px; + padding: 10px 12px; border-radius: var(--border-radius); background: #f4f5fb; - line-height: 1.4; + color: rgba(0, 0, 0, 0.7); + font-size: 14px; + line-height: 1.45; } // Names the group of graphs under it. It used to be a subtitle-block nudged From 1957818ee2c656a8fbe7c825b7bb1459fea63b29 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 20:32:39 -0400 Subject: [PATCH 155/236] A joint with nothing to graph gets only the note that says so The Static/In-motion selector and the input-speed summary described graphs that were not on the panel, and the note itself spoke solver ('internal to one welded body', 'independent pin reaction') instead of the app's own plain voice (docs/ui-copy-audit.md): cause first, then the way out. Both panel notes and the in-graph twin are reworded. Co-Authored-By: Claude Fable 5 --- .../analysis-graph.component.spec.ts | 2 +- .../analysis-graph.component.ts | 2 +- .../analysis-panel.component.html | 58 +++++++++++-------- .../analysis-panel.component.spec.ts | 24 ++++++-- .../analysis-panel.component.ts | 22 +++++++ 5 files changed, 76 insertions(+), 32 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index 90c5cd1f..d6e03f3f 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -260,7 +260,7 @@ describe('AnalysisGraphComponent production fixtures', () => { const component = createComponent(fixture); component.determineChart('force', 'static', 'Joint Forces', 'B'); - expect(component.analysisDiagnostic).toContain('internal to one welded body'); + expect(component.analysisDiagnostic).toContain('welded inside one rigid body'); expect( component.chartOptions.series!.every((series) => (series.data as unknown as Array<{ y: number | null }>).every((point) => point.y === null) diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index dd5412df..dababb8a 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -976,7 +976,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, ? null : (result.diagnostic ?? (mechProp === 'Joint Forces' - ? 'This point is internal to one welded body and has no independent joint reaction.' + ? 'This joint is welded inside one rigid body, so no force passes between parts here.' : 'Input effort is unavailable for this mechanism.')); return [[datum_X, datum_Y, datum_Z], categories]; } diff --git a/src/app/component/analysis-panel/analysis-panel.component.html b/src/app/component/analysis-panel/analysis-panel.component.html index 59d03f06..b060438e 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.html +++ b/src/app/component/analysis-panel/analysis-panel.component.html @@ -106,7 +106,7 @@ @if (validMechanisms() && this.activeSrv.objType == 'Joint') { - + {{ modeLabel }} for Joint {{ this.activeSrv.selectedJoint.name }} @if (showKinematic) { @@ -142,20 +142,24 @@ > } @if (showForce) { -
    - Force Analysis Type - -
    + + @if (jointForceHasGraphs) { +
    + Force Analysis Type + +
    + } @if (jointForceRows().length === 0) {
    - Joint {{ this.activeSrv.selectedJoint.name }} is internal to one welded body and has no - independent pin reaction. Select an external or grounded joint to graph a reaction. + Joint {{ this.activeSrv.selectedJoint.name }} is welded inside one rigid body, so no + force passes between parts there. Select a joint where separate parts meet, or a + grounded one.
    } @for (row of jointForceRows(); track row.linkId) { @@ -190,7 +194,7 @@ @if (validMechanisms() && this.activeSrv.objType == 'Link') { - + {{ modeLabel }} for {{ selectedBodyLabel }} @@ -274,19 +278,23 @@ > } @if (showForce) { -
    - Force Analysis Type - -
    + + @if (linkForceHasGraphs) { +
    + Force Analysis Type + +
    + } @if (linkForceRows().length === 0) {
    - {{ selectedBodyLabel }} has no external joint that carries an independent pin reaction. + {{ selectedBodyLabel }} is welded inside one rigid body, so its forces act on that body + as a whole. Select the welded body to see them.
    } @for (row of linkForceRows(); track row.jointId) { diff --git a/src/app/component/analysis-panel/analysis-panel.component.spec.ts b/src/app/component/analysis-panel/analysis-panel.component.spec.ts index d370558f..330b0b42 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.spec.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.spec.ts @@ -28,7 +28,12 @@ async function createPanel(payload: string, selectedId: string, mode: TabID = Ta const tabs = { getCurrentTab: () => mode } as unknown as SelectedTabService; await TestBed.configureTestingModule({ - imports: [ReactiveFormsModule, MatFormFieldModule, NoopAnimationsModule, AnalysisPanelComponent], + imports: [ + ReactiveFormsModule, + MatFormFieldModule, + NoopAnimationsModule, + AnalysisPanelComponent, + ], providers: [ { provide: ActiveObjService, useValue: fixtureData.active }, { provide: MechanismService, useValue: fixtureData.service }, @@ -62,7 +67,11 @@ async function createPanel(payload: string, selectedId: string, mode: TabID = Ta function sectionLabels(fixture: ComponentFixture): string[] { return [...fixture.nativeElement.querySelectorAll('app-analysis-graph-section')].map( (section: Element) => - ((section as unknown as { label?: string }).label ?? section.getAttribute('label') ?? '').trim() + ( + (section as unknown as { label?: string }).label ?? + section.getAttribute('label') ?? + '' + ).trim() ); } @@ -113,13 +122,18 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { fixture.destroy(); }); - it('explains that an internal welded joint has no independent pin reaction', async () => { + it('explains a welded-in joint plainly, and shows nothing else to configure', async () => { const { fixture } = await createPanel(LOOPLESS_WELDED_MECHANISM, 'B', TabID.FORCE); fixture.detectChanges(); expect(fixture.componentInstance.jointForceRows()).toHaveLength(0); - expect(fixture.nativeElement.textContent).toContain('internal to one welded body'); - expect(fixture.nativeElement.textContent).toContain('no independent pin reaction'); + const text = fixture.nativeElement.textContent; + expect(text).toContain('welded inside one rigid body'); + expect(text).toContain('Select a joint where separate parts meet'); + // With no graph to configure, the mode selector and the input-speed + // summary would describe things that are not on the panel. + expect(text).not.toContain('Force Analysis Type'); + expect(text).not.toContain('input speed is set'); fixture.destroy(); }); diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index a393dac2..e500a98b 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -292,6 +292,28 @@ export class AnalysisPanelComponent { return this.cachedRows('joint', this.activeSrv.selectedJoint?.id ?? ''); } + /** In Force mode, does the selected joint have any graph to offer? */ + get jointForceHasGraphs(): boolean { + return this.jointForceRows().length > 0 || !!this.activeSrv.selectedJoint?.input; + } + + /** In Force mode, does the selected link have any graph to offer? */ + get linkForceHasGraphs(): boolean { + return this.linkForceRows().length > 0; + } + + /** + * The heading's description. A part with nothing to graph gets only the + * note that says so — the speed summary and the mode selector describe + * graphs that are not on the panel. + */ + get panelDescription(): string { + const bare = + this.showForce && + (this.activeSrv.objType === 'Joint' ? !this.jointForceHasGraphs : !this.linkForceHasGraphs); + return bare ? '' : `${this.inputSummary} ${this.inputEditHint}`; + } + /** One row per external joint of the selected link. */ linkForceRows(): ForceAnalysisRow[] { const rows = this.cachedRows('link', this.activeSrv.selectedLink?.id ?? ''); From 341efbb2210a5522f4c35e496df31ab8d048dae9 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 20:38:34 -0400 Subject: [PATCH 156/236] Let the picture be placed by hand, and hold it to the grid it sits under MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Corners resize it about the corner opposite, with the file's own proportions locked, and a knob on a stalk turns it — snapping to whole fifteen degrees unless Alt says otherwise, because a photograph is rarely taken square to the mechanism in it. The maths runs in the picture's own frame, so a turned picture still resizes by the corner the hand is holding. Grab the picture anywhere else to slide it. None of it is a mechanism edit: no rebuild, no undo entry, and the panel's numbers follow the drag rather than only leading it. The gesture is split across two layers for a reason each. The picture belongs under the grid's ruling, so the ruling stays readable over an opaque photograph — but a handle under the ruling is a handle the y axis steals the press from, which is exactly where the turn knob sits at the default placement. So the outline and the drag surface ride above the ruling and below the parts, where a press over a link still belongs to the link; and the corners and the knob ride above everything, because a link lying across a corner made it ungrabbable. Also from review: - Undo threw with the panel open. The history holds the selection across a replay and asked getSelectedObj() for its id, which answers for a joint, a link or a force and throws for anything else. It now names those three rather than excluding two, so the next selection kind added does not reopen this. - A change of length unit rescales every stored coordinate in the drawing, and the picture was left behind: a linkage traced in centimetres came back a hundred times too small against its own photograph. Watched on the unit itself, so undo and redo — which cross a unit change by replaying a URL — are carried too. - Fit to zoom framed the photograph instead of the linkage. tempGridDisable is meant to take the scenery out of the measurement, but afterNextRender lands before Angular has acted on it; it went unnoticed while the only thing the flag hid was ruling drawn to the viewport, which never enlarged the box anyway. - A value the picture cannot have is now refused and the field put back, rather than silently clamped. A blank opacity read as zero and faded the picture to nothing while the panel reported 0% as though it had been asked for. Co-Authored-By: Claude Fable 5 --- e2e/background-image.mjs | 381 +++++++++++++++++- .../edit-panel/edit-panel.component.html | 28 +- .../edit-panel/edit-panel.component.scss | 12 +- .../edit-panel/edit-panel.component.ts | 70 +++- .../new-grid/new-grid.component.html | 138 +++++-- .../new-grid/new-grid.component.scss | 21 + .../component/new-grid/new-grid.component.ts | 185 ++++++++- .../services/background-image.service.spec.ts | 88 +++- src/app/services/background-image.service.ts | 73 +++- src/app/services/drag-state.service.ts | 17 +- src/app/services/svg-grid.service.ts | 24 ++ src/app/services/url-processor.service.ts | 7 +- 12 files changed, 978 insertions(+), 66 deletions(-) diff --git a/e2e/background-image.mjs b/e2e/background-image.mjs index d2710fc3..3f89a9e3 100644 --- a/e2e/background-image.mjs +++ b/e2e/background-image.mjs @@ -50,6 +50,10 @@ const image = () => width: Number(el.getAttribute('width')), height: Number(el.getAttribute('height')), opacity: Number(el.getAttribute('opacity')), + rotationDeg: + (ng.getComponent(document.querySelector('app-new-grid')).bgImage.image().rotationRad * + 180) / + Math.PI, screen: { x: rect.x, y: rect.y, width: rect.width, height: rect.height }, }; }); @@ -167,17 +171,53 @@ await page.screenshot({ path: SHOTS + '01-placed.png' }); // --- It is behind the linkage and cannot be touched ------------------------- record( - 'it is drawn under every part of the mechanism', + 'it is drawn inside the grid group, under the ruling on it', + await page.evaluate(() => { + const holder = document.querySelector('#backgroundImageHolder'); + const group = holder.parentElement; + if (group.id !== 'backgroundAndGrid') return false; + // After the white paper, before the first grid line drawn on it. + const kids = [...group.children]; + const line = kids.findIndex((node) => node.tagName === 'line'); + return kids.indexOf(holder) > 0 && (line === -1 || kids.indexOf(holder) < line); + }), + await page.evaluate(() => document.querySelector('#backgroundImageHolder').parentElement.id) +); +record( + 'and the grid group itself is under every part of the mechanism', // svg-pan-zoom moves every layer into a viewport group of its own, so the // layer order lives one level down from the canvas. await page.evaluate(() => { - const layers = document.querySelector('#backgroundImageHolder').parentElement; + const layers = document.querySelector('#backgroundAndGrid').parentElement; const order = [...layers.children].map((node) => node.id); - const bg = order.indexOf('backgroundImageHolder'); + const bg = order.indexOf('backgroundAndGrid'); return bg > -1 && bg < order.indexOf('linkHolder') && bg < order.indexOf('jointHolder'); }), await page.evaluate(() => - [...document.querySelector('#backgroundImageHolder').parentElement.children].map((n) => n.id) + [...document.querySelector('#backgroundAndGrid').parentElement.children].map((n) => n.id) + ) +); +record( + 'its outline and drag surface sit above the ruling and below the parts', + await page.evaluate(() => { + const layers = document.querySelector('#backgroundImageHandles').parentElement; + const order = [...layers.children].map((node) => node.id); + const handles = order.indexOf('backgroundImageHandles'); + return handles > order.indexOf('backgroundAndGrid') && handles < order.indexOf('linkHolder'); + }), + await page.evaluate(() => + [...document.querySelector('#backgroundImageHandles').parentElement.children].map((n) => n.id) + ) +); +record( + 'its corners and turn knob sit above the parts, so a link cannot cover one', + await page.evaluate(() => { + const layers = document.querySelector('#backgroundImageGrips').parentElement; + const order = [...layers.children].map((node) => node.id); + return order.indexOf('backgroundImageGrips') > order.indexOf('jointHolder'); + }), + await page.evaluate(() => + [...document.querySelector('#backgroundImageGrips').parentElement.children].map((n) => n.id) ) ); record( @@ -267,12 +307,233 @@ const faded = await image(); record('the opacity field fades the picture', Math.abs(faded.opacity - 0.25) < 1e-6, faded); await page.screenshot({ path: SHOTS + '02-placed-and-faded.png' }); -await typeField('Opacity', '400'); +// --- Values the picture cannot have are refused, not quietly adjusted ------- +// A number left in the field that is not the number that took effect is the +// panel lying about where the picture is. + +const refusals = [ + [ + 'Opacity', + '400', + 'an opacity over 100 is refused', + () => image().then((i) => i.opacity === 0.25), + ], + [ + 'Opacity', + '', + 'a blank opacity is refused rather than read as zero', + () => image().then((i) => i.opacity === 0.25), + ], + [ + 'Image Width', + '-2', + 'a negative width is refused', + () => image().then((i) => Math.abs(i.width - 8 * 200) < 1), + ], + [ + 'Image Width', + '0', + 'a width the picture cannot have is refused', + () => image().then((i) => Math.abs(i.width - 8 * 200) < 1), + ], +]; +for (const [label, entry, what, stillTrue] of refusals) { + await typeField(label, entry); + const held = await stillTrue(); + const shown = await page + .locator('input-block, dual-input-block') + .filter({ hasText: label }) + .locator('input') + .first() + .inputValue(); + record(`${what}, and the field is put back`, held && shown !== entry, { shown, entry }); +} + +await typeField('Opacity', '55'); + +// --- Moved and resized by hand, while its panel is open --------------------- + +const dragBy = async (from, dx, dy, steps = 10) => { + await page.mouse.move(from.x, from.y); + await page.mouse.down(); + for (let step = 1; step <= steps; step++) { + await page.mouse.move(from.x + (dx * step) / steps, from.y + (dy * step) / steps); + await page.waitForTimeout(15); + } + await page.mouse.up(); + await page.waitForTimeout(300); +}; + +const boxOnScreen = async () => (await image()).screen; + +/** The four corner grips and the turn knob, in screen coordinates. */ +const gripsOnScreen = () => + page.evaluate(() => + [...document.querySelectorAll('#backgroundImageGrips rect.bgImageHandle')].map((node) => { + const box = node.getBoundingClientRect(); + return { x: box.x + box.width / 2, y: box.y + box.height / 2 }; + }) + ); +const knobOnScreen = () => + page.evaluate(() => { + const box = document.querySelector('#backgroundImageGrips circle').getBoundingClientRect(); + return { x: box.x + box.width / 2, y: box.y + box.height / 2 }; + }); + +// Park it small and low on the canvas: every grip has to be inside the viewport +// for a real pointer to reach it, and the checks below grab actual grips rather +// than the picture's own corners. +const park = () => + page.evaluate(() => { + ng.getComponent(document.querySelector('app-new-grid')).bgImage.place({ + centerX: 0, + centerY: -600, + width: 800, + rotationRad: 0, + }); + }); +await park(); +await page.waitForTimeout(300); + +const beforeMove = await image(); +const middle = await boxOnScreen(); +// The drag surface is under the parts on purpose, so a press over a link +// belongs to the link — parked below the linkage, the middle is clear. +await dragBy({ x: middle.x + middle.width / 2, y: middle.y + middle.height / 2 }, 120, 70); +const afterMove = await image(); record( - 'an out-of-range opacity is held at solid rather than refused', - (await image()).opacity === 1 + 'dragging the picture slides it, without changing its size', + Math.abs(afterMove.width - beforeMove.width) < 1e-6 && + Math.abs(afterMove.x - beforeMove.x) > 10 && + Math.abs(afterMove.y - beforeMove.y) > 5, + { beforeMove, afterMove } +); +record( + 'the panel’s own numbers follow the drag', + await page.evaluate(() => { + const shown = [...document.querySelectorAll('app-edit-panel dual-input-block input')] + .slice(0, 2) + .map((input) => parseFloat(input.value)); + const c = ng.getComponent(document.querySelector('app-new-grid')); + const bg = c.bgImage.image(); + return ( + Math.abs(shown[0] - bg.centerX / 200) < 0.02 && Math.abs(shown[1] - bg.centerY / 200) < 0.02 + ); + }) +); +await page.screenshot({ path: SHOTS + '11-dragged.png' }); + +// A corner keeps the opposite corner where it is, and keeps the proportions. +await park(); +await page.waitForTimeout(300); +const beforeResize = await image(); +const corners = await gripsOnScreen(); +await dragBy(corners[3], 140, 0); +const afterResize = await image(); +record('dragging a corner resizes the picture', afterResize.width > beforeResize.width + 10, { + beforeResize, + afterResize, +}); +record( + 'and it keeps the file’s proportions while doing it', + Math.abs(afterResize.height / afterResize.width - 0.5) < 1e-6, + afterResize +); +record( + 'the opposite corner stays exactly where it was', + Math.abs(afterResize.x - beforeResize.x) < 1 && Math.abs(afterResize.y - beforeResize.y) < 1, + { beforeResize, afterResize } +); +await page.screenshot({ path: SHOTS + '12-resized.png' }); + +// Pulled back through its own anchor, the picture shrinks and stays the right +// way round rather than flipping to the other side of the corner it pivots on. +await park(); +await page.waitForTimeout(300); +const beforePull = await image(); +const spread = await gripsOnScreen(); +await dragBy(spread[3], -(spread[3].x - spread[0].x) - 120, -(spread[3].y - spread[0].y) - 120); +const pulled = await image(); +record( + 'a corner pulled back through its anchor shrinks the picture without flipping it', + pulled.width > 0 && pulled.width < beforePull.width, + { beforePull, pulled } +); + +// --- Turned, by the knob and by the field ----------------------------------- + +await park(); +await page.waitForTimeout(300); +const knobAt = knobOnScreen; + +// The knob has to be reachable: it sits at the picture's own top-centre, which +// at the default placement is exactly on the y axis — and an axis line drawn +// over it took the press and panned the canvas instead. +record( + 'the turn knob is the thing under the pointer, not the grid drawn over it', + await page.evaluate( + async (at) => { + const hit = document.elementFromPoint(at.x, at.y); + return hit?.classList.contains('bgImageRotateKnob') ?? false; + }, + await knobAt() + ) +); + +const squareOn = await image(); +await dragBy(await knobAt(), 150, 120); +const turned = await image(); +record( + 'dragging the knob turns the picture, and lands on a whole 15°', + Math.abs(turned.rotationDeg) > 1 && Math.abs(turned.rotationDeg % 15) < 1e-6, + turned +); +record( + 'turning changes nothing but the angle', + Math.abs(turned.width - squareOn.width) < 1e-6 && + Math.abs(turned.x - squareOn.x) < 1e-6 && + Math.abs(turned.y - squareOn.y) < 1e-6, + { squareOn, turned } +); +await page.screenshot({ path: SHOTS + '15-turned.png' }); + +// A turned picture still resizes by the corner the hand is holding: the maths +// runs in the picture's own frame, so the opposite corner stays put on screen. +const beforeTurnedResize = await gripsOnScreen(); +await dragBy(beforeTurnedResize[3], 90, 90); +const afterTurnedResize = await image(); +const anchorNow = (await gripsOnScreen())[0]; +record( + 'a turned picture resizes about its opposite corner, which does not move', + Math.abs(anchorNow.x - beforeTurnedResize[0].x) < 3 && + Math.abs(anchorNow.y - beforeTurnedResize[0].y) < 3, + { was: beforeTurnedResize[0], now: anchorNow } +); +record( + 'and it holds its proportions and its angle through the resize', + Math.abs(afterTurnedResize.height / afterTurnedResize.width - 0.5) < 1e-6 && + Math.abs(afterTurnedResize.rotationDeg - turned.rotationDeg) < 1e-6, + afterTurnedResize +); + +await typeField('Rotation', '30'); +record('typing an angle turns the picture', Math.abs((await image()).rotationDeg - 30) < 0.01); +await typeField('Rotation', 'sideways'); +record( + 'a nonsense angle is refused and the field put back', + Math.abs((await image()).rotationDeg - 30) < 0.01 +); +await typeField('Rotation', '0'); +await typeField('Image Width', '8'); + +// A picture drag is not a mechanism edit, so it must not enter the history. +record( + 'moving and resizing the picture left no undo entries behind', + await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + return !c.saveHistoryService.canUndo(); + }) ); -await typeField('Opacity', '55'); // --- It rides the grid ------------------------------------------------------ @@ -298,6 +559,69 @@ record( { screenBefore, screenAfter, spanBefore, spanAfter } ); +// Fit to zoom frames the LINKAGE. A picture ten times its size counted towards +// the bounding box, and the mechanism came back too small to work on -- 59px of +// joint span against the ~300 a fit gives it with no picture there. A threshold +// rather than an equality: the grid's own hiding races the render, so the exact +// figure moves between the two legitimate answers. +await typeField('Image Width', '100'); +await page.evaluate(() => { + ng.getComponent(document.querySelector('app-new-grid')).svgGrid.scaleToFitLinkage(false); +}); +await page.waitForTimeout(1200); +const spanFitted = await jointSpan(); +record('Fit to zoom frames the linkage, not the scenery behind it', spanFitted > 150, { + spanFitted, +}); +await page.screenshot({ path: SHOTS + '13-fitted.png' }); +await typeField('Image Width', '8'); + +// --- A change of length unit keeps picture and linkage in step -------------- + +const alignment = async () => { + const span = await jointSpan(); + const width = (await image()).screen.width; + return { span, width, ratio: width / span }; +}; +const inCm = await alignment(); + +// Through the settings panel's own path, which is the one a user goes through: +// it rescales the mechanism's stored geometry and compensates the viewport, and +// the picture has to be carried along by the same factor or it is left the +// conversion's worth of wrong size against the very linkage it is under. +const openSettings = async () => { + await page.locator('.topStrip .iconButton').first().click(); + await page.locator('.menuItem', { hasText: 'Settings' }).first().click(); + await page.waitForTimeout(600); +}; +const setLengthUnit = async (value) => { + await openSettings(); + await page.evaluate((unit) => { + const panel = ng.getComponent(document.querySelector('app-settings-panel')); + panel.settingsForm.controls.lengthunit.setValue(unit); + }, value); + await page.waitForTimeout(1200); +}; +await setLengthUnit('2'); // METER +const inMeters = await alignment(); +record( + 'switching cm to m leaves the picture the same size against the linkage', + Math.abs(inMeters.ratio - inCm.ratio) / inCm.ratio < 0.02, + { inCm, inMeters } +); +record( + 'and the panel restates the width in the new unit rather than renaming it', + await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + // Whatever it was in centimetres, it is a hundredth of that in metres. + return c.bgImage.image().width > 0; + }) +); +await page.screenshot({ path: SHOTS + '14-meters.png' }); +await setLengthUnit('1'); // back to CM +await page.locator('.tabButton, .modeTab', { hasText: 'Edit' }).first().click(); +await page.waitForTimeout(600); + // --- Nothing about it reaches the URL or the undo history ------------------- record( @@ -309,16 +633,47 @@ record( }) ); -await page.evaluate(() => { +// A real undoable edit, made with the picture's panel open. `getSelectedObj()` +// answers for a joint, a link or a force and throws for anything else, so a +// deny-list in the history's selection-holding threw on Undo and left the +// mechanism edited with the history index already moved past it. +const undone = await page.evaluate(async () => { const c = ng.getComponent(document.querySelector('app-new-grid')); - c.saveHistoryService.undo(); + const joint = c.mechanismSrv.joints.find((candidate) => !candidate.ground); + const before = joint.x; + joint.x += 60; + // updateMechanism(true) is the save; calling save() too would make one edit + // into two entries, and one Undo would only walk half of it back. + c.mechanismSrv.updateMechanism(true); + c.activeObjService.selectBackgroundImage(); + let threw = null; + try { + c.saveHistoryService.undo(); + } catch (error) { + threw = String(error); + } + return { before, edited: before + 60, id: joint.id, threw }; }); -await page.waitForTimeout(600); +await page.waitForTimeout(700); +record('Undo works with the picture’s panel open', undone.threw === null, undone); +record( + 'and it puts the mechanism back', + await page.evaluate( + (state) => + Math.abs( + ng + .getComponent(document.querySelector('app-new-grid')) + .mechanismSrv.joints.find((j) => j.id === state.id).x - state.before + ) < 1, + undone + ), + undone +); record('an undo of the mechanism leaves the picture where it is', (await image()) !== null); // --- Save closes the editor, Delete removes the picture --------------------- -await page.mouse.click(overPicture.x, overPicture.y, { button: 'right' }); +await page.mouse.click(emptyGrid.x, emptyGrid.y, { button: 'right' }); await page.waitForTimeout(300); await page.locator('#contextMenu #menu-item', { hasText: 'Edit background image' }).first().click(); await page.waitForTimeout(400); @@ -353,7 +708,7 @@ await page.waitForTimeout(400); // --- Delete ----------------------------------------------------------------- -await page.mouse.click(overPicture.x, overPicture.y, { button: 'right' }); +await page.mouse.click(emptyGrid.x, emptyGrid.y, { button: 'right' }); await page.waitForTimeout(300); await page.locator('#contextMenu #menu-item', { hasText: 'Edit background image' }).first().click(); await page.waitForTimeout(400); diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index bd8d9517..c5711959 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -84,6 +84,14 @@ tooltip="How wide the picture is drawn. The height follows, so the picture keeps its proportions." >Image Width + + Rotation + Opacity -
    - The picture stays behind the grid and cannot be clicked or dragged. It is not saved in the - share link and not covered by undo — reloading the page clears it. + +
    + +
    + Background images are not saved in the share link — reloading the page clears this one. +
    + Save + Delete
    - Save - Delete } } diff --git a/src/app/component/edit-panel/edit-panel.component.scss b/src/app/component/edit-panel/edit-panel.component.scss index 7709e3c3..709dea35 100644 --- a/src/app/component/edit-panel/edit-panel.component.scss +++ b/src/app/component/edit-panel/edit-panel.component.scss @@ -77,6 +77,16 @@ white-space: nowrap; } +// The note and the two buttons, given the same horizontal padding and the same +// gap a collapsible subsection gives its fields -- written out flat they ran to +// the panel's own edges and sat flush against each other. +.bgActions { + display: flex; + flex-direction: column; + gap: 10px; + padding: 4px 15px 12px; +} + // The one thing about this feature a user cannot discover by trying it: the // picture is not in the link they are about to share. Same quiet grey as the // other read-only notes in this panel. @@ -86,7 +96,7 @@ background: #f0f1f5; border-radius: 4px; padding: 8px 10px; - margin: 0 0 10px; + margin: 0; line-height: 17px; text-wrap: pretty; } diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index 5a49dea6..8d240870 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -5,6 +5,7 @@ import { OnDestroy, OnInit, ChangeDetectionStrategy, + effect, inject, } from '@angular/core'; import { ActiveObjService } from 'src/app/services/active-obj.service'; @@ -42,7 +43,7 @@ import { cylinderSizeOf, } from '../../model/cylinder'; import { NotificationService } from 'src/app/services/notification.service'; -import { BackgroundImageService } from 'src/app/services/background-image.service'; +import { BackgroundImageService, MIN_WIDTH } from 'src/app/services/background-image.service'; import { NOT_A } from 'src/app/ui-text'; import { PanelSectionCollapsibleComponent } from '../BLOCKS/panel-section-collapsible/panel-section-collapsible.component'; import { TitleBlock } from '../BLOCKS/title/title.component'; @@ -216,6 +217,13 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { constructor() { //Set the instance to this EditPanelComponent.instance = this; + // The picture can now be moved and resized on the canvas as well as typed + // at, so the fields follow it rather than only leading it. Patched without + // emitting, so mirroring a drag cannot loop back into a commit. + effect(() => { + this.bgImage.image(); + this.patchBackgroundImageForm(); + }); } //Instance of this @@ -331,6 +339,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { centerX: [''], centerY: [''], width: [''], + rotation: [''], opacity: [''], }, { updateOn: 'blur' } @@ -1388,12 +1397,38 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { ); }); + this.onDestroySubscriptions.push( + this.backgroundImageForm.controls['rotation'].valueChanges.subscribe((val) => { + if (!this.bgImage.image()) return; + const [ok, value] = this.nup.parseAngleString( + val ?? '', + this.settingsService.angleUnit.getValue() + ); + if (!ok) { + this.notify.refusal('value.angle', NOT_A.angle); + } else { + this.bgImage.place({ + rotationRad: this.nup.convertAngle( + value, + this.settingsService.angleUnit.getValue(), + AngleUnit.RADIAN + ), + }); + } + this.patchBackgroundImageForm(); + }) + ); + this.onDestroySubscriptions.push( this.backgroundImageForm.controls['opacity'].valueChanges.subscribe((val) => { if (!this.bgImage.image()) return; - const percent = Number((val ?? '').replace('%', '').trim()); - if (!Number.isFinite(percent)) { - this.notify.refusal('value.opacity', 'Opacity has to be a number from 0 to 100.'); + const typed = (val ?? '').replace('%', '').trim(); + const percent = Number(typed); + // Emptiness is not zero. Number('') is 0, so a blank field silently + // turned the picture invisible -- and then the panel reported 0% as + // though that had been asked for. + if (typed === '' || !Number.isFinite(percent) || percent < 0 || percent > 100) { + this.notify.refusal('bgImage.opacity', 'Opacity has to be a number from 0 to 100.'); } else { this.bgImage.place({ opacity: percent / 100 }); } @@ -1552,13 +1587,27 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { centerX: this.nup.formatModelLength(image.centerX, unit), centerY: this.nup.formatModelLength(image.centerY, unit), width: this.nup.formatModelLength(image.width, unit), + rotation: this.nup.formatValueAndUnit( + this.nup.convertAngle( + image.rotationRad, + AngleUnit.RADIAN, + this.settingsService.angleUnit.getValue() + ), + this.settingsService.angleUnit.getValue() + ), opacity: Math.round(image.opacity * 100).toString(), }, { emitEvent: false } ); } - /** Commit one length field, or put back the value that is still true. */ + /** + * Commit one length field, or put back the value that is still true. + * + * A width the picture cannot have is refused rather than silently rounded up + * to the minimum: the number left in the field has to be the number that took + * effect, or the panel is lying about where the picture is. + */ private commitBackgroundImageLength( field: 'centerX' | 'centerY' | 'width', raw: string | null @@ -1570,12 +1619,19 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { ); if (!ok) { this.notify.refusal('value.length', NOT_A.length); + } else if (field === 'width' && value < MIN_WIDTH) { + this.notify.refusal( + 'bgImage.width', + `A background image has to be at least ${this.nup.formatModelLength( + MIN_WIDTH, + this.settingsService.lengthUnit.getValue() + )} wide.` + ); } else { this.bgImage.place({ [field]: value }); } // Either way the field is rewritten from the picture: a rejected entry goes - // back to the truth, and an accepted one is reformatted -- and a width may - // have been held at the minimum on the way in. + // back to the truth, and an accepted one is reformatted. this.patchBackgroundImageForm(); } diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index a4b4bf52..455caada 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -102,6 +102,34 @@ fill="white" stroke="#00000000" > + + @if (bgImage.image(); as bg) { + + + + + } @if (settings.isShowMajorGrid.getValue() && settings.isShowMinorGrid.getValue()) { @@ -221,26 +249,23 @@ } - + @if (bgImage.image(); as bg) { - - - - @if (editingBackgroundImage()) { + @if (editingBackgroundImage()) { + + - } - + + + + } } @if (force.locked && mechanismSrv.lockVisualsOn()) { - + } + + @if (bgImage.image(); as bg) { + @if (editingBackgroundImage()) { + + + + + + @for (corner of backgroundImageHandles(); track corner.id) { + + } + + } + } + @for (joint of mechanismSrv.getJoints(); track joint) { - diff --git a/src/app/component/new-grid/new-grid.component.scss b/src/app/component/new-grid/new-grid.component.scss index e9150b89..9fff11bb 100644 --- a/src/app/component/new-grid/new-grid.component.scss +++ b/src/app/component/new-grid/new-grid.component.scss @@ -152,6 +152,27 @@ pointer-events: none; } + // Grab anywhere inside to slide the picture. Invisible, but a target: the + // whole picture moves, not just its edges. + .bgImageMoveSurface { + fill: transparent; + cursor: move; + } + + // The corners and the turn knob. Filled rather than hollow so they read as + // things to take hold of, and white-edged so they stay findable over a dark + // photograph. + .bgImageHandle { + fill: mat.m2-get-color-from-palette($accent-palette, 500); + stroke: #fff; + } + + // What holds the turn knob off the top edge, so it is not read as a corner. + .bgImageRotateStalk { + stroke: mat.m2-get-color-from-palette($accent-palette, 500); + pointer-events: none; + } + // The file dialog's input, kept out of the layout without display:none -- // which stops some browsers opening a picker from a synthetic click. .offscreenFileInput { diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 4dc00ce5..515d65db 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -33,7 +33,7 @@ import { } from '../../model/utils'; import { Force } from '../../model/force'; import { NotificationService } from '../../services/notification.service'; -import { BackgroundImageService } from '../../services/background-image.service'; +import { BackgroundImageService, MIN_WIDTH } from '../../services/background-image.service'; import { CdkContextMenuTrigger } from '@angular/cdk/menu'; import { MatDialog } from '@angular/material/dialog'; import { TouchscreenWarningComponent } from '../MODALS/touchscreen-warning/touchscreen-warning.component'; @@ -111,6 +111,9 @@ export interface SlotStackItem { import introJs from 'intro.js'; import { SvgArrowComponent } from '../svg-arrow/svg-arrow.component'; +/** Which corner of the tracing underlay a resize gesture is holding. */ +type BackgroundImageCorner = 'tl' | 'tr' | 'bl' | 'br'; + @Component({ selector: 'app-new-grid', templateUrl: './new-grid.component.html', @@ -679,16 +682,188 @@ export class NewGridComponent implements OnDestroy { * analysis modes replace it, and playback covers it with the stop-the- * animation placeholder. An outline for controls that are not on screen is a * mark nobody can explain. + * + * The last one is not about the panel at all. `tempGridDisable` is the flag + * "Fit to zoom" sets while it measures the drawing, and an outline the size + * of the picture counts towards that box exactly as the picture would -- the + * fit framed a hundred-centimetre photograph and left the linkage too small + * to work on. */ editingBackgroundImage(): boolean { return ( this.activeObjService.objType === 'BackgroundImage' && !this.tabService.isAnalysisMode() && !this.mechanismSrv.isPlaying && - this.mechanismSrv.mechanismTimeStep === 0 + this.mechanismSrv.mechanismTimeStep === 0 && + !this.settings.tempGridDisable ); } + /** Half a centimetre of screen, whatever the zoom: a grabbable corner. */ + backgroundImageHandleSize(): number { + return this.svgGrid.scaleWithZoom(10); + } + + /** How far above the top edge the turn handle stands, at any zoom. */ + backgroundImageRotateReach(): number { + return this.svgGrid.scaleWithZoom(34); + } + + /** + * The four corners, in SVG coordinates, each with the cursor that says which + * way it pulls. + */ + backgroundImageHandles(): { id: BackgroundImageCorner; x: number; y: number; cursor: string }[] { + const image = this.bgImage.image(); + if (!image) return []; + const left = this.bgImage.leftOf(image); + const top = this.bgImage.topOf(image); + const right = left + image.width; + const bottom = top + this.bgImage.heightOf(image); + return [ + { id: 'tl', x: left, y: top, cursor: 'nwse-resize' }, + { id: 'tr', x: right, y: top, cursor: 'nesw-resize' }, + { id: 'bl', x: left, y: bottom, cursor: 'nesw-resize' }, + { id: 'br', x: right, y: bottom, cursor: 'nwse-resize' }, + ]; + } + + /** + * The gesture in flight on the picture, if there is one. + * + * `stopPropagation` on the press is what keeps svg-pan-zoom out of it — the + * library binds its own handler to the canvas root, so a press that reaches + * it starts a pan under the drag. The state lives here rather than in + * DragStateService's enums because moving scenery is not an edit: it earns no + * rebuild and no undo entry. + */ + private bgDrag?: { + corner?: BackgroundImageCorner; + /** For a move: model-space offset from the pointer to the picture's centre. */ + grabOffset?: Coord; + /** For a resize: the corner that stays where it is, in model coordinates. */ + anchor?: Coord; + /** For a turn: the angle the hand grabbed at, less the picture's own. */ + grabAngleRad?: number; + }; + + startBackgroundImageMove(event: PointerEvent): void { + const image = this.bgImage.image(); + if (!image || !this.editingBackgroundImage()) return; + event.stopPropagation(); + const at = this.svgGrid.screenToSVGfromXY(event.clientX, event.clientY); + this.bgDrag = { grabOffset: new Coord(image.centerX - at.x, image.centerY - at.y) }; + this.dragState.press(); + this.dragState.beginDraggingBackgroundImage(); + } + + /** + * How far along the picture's own axes a corner sits from its centre: +1 to + * the right and up in the picture's frame, whatever the picture is turned to. + */ + private cornerSigns(corner: BackgroundImageCorner): { alongX: number; alongY: number } { + return { + alongX: corner === 'tr' || corner === 'br' ? 1 : -1, + alongY: corner === 'tl' || corner === 'tr' ? 1 : -1, + }; + } + + startBackgroundImageResize(event: PointerEvent, corner: BackgroundImageCorner): void { + const image = this.bgImage.image(); + if (!image || !this.editingBackgroundImage()) return; + event.stopPropagation(); + // The opposite corner is what the drag pivots on, and it is held in world + // coordinates: the resize moves the centre, and the picture may be turned, + // so an anchor remembered in the picture's own frame would not stay put. + const { alongX, alongY } = this.cornerSigns(corner); + const axes = this.backgroundImageAxes(image); + const halfHeight = this.bgImage.heightOf(image) / 2; + this.bgDrag = { + corner, + anchor: new Coord( + image.centerX - alongX * (image.width / 2) * axes.u.x - alongY * halfHeight * axes.v.x, + image.centerY - alongX * (image.width / 2) * axes.u.y - alongY * halfHeight * axes.v.y + ), + }; + this.dragState.press(); + this.dragState.beginDraggingBackgroundImage(); + } + + startBackgroundImageRotate(event: PointerEvent): void { + const image = this.bgImage.image(); + if (!image || !this.editingBackgroundImage()) return; + event.stopPropagation(); + const at = this.svgGrid.screenToSVGfromXY(event.clientX, event.clientY); + // What the hand grabbed at, less what the picture already is: the drag then + // turns the picture with the hand rather than snapping it to the pointer. + this.bgDrag = { + grabAngleRad: Math.atan2(at.y - image.centerY, at.x - image.centerX) - image.rotationRad, + }; + this.dragState.press(); + this.dragState.beginDraggingBackgroundImage(); + } + + /** The picture's own axes in model coordinates: along its width, and up it. */ + private backgroundImageAxes(image: { rotationRad: number }): { u: Coord; v: Coord } { + const cos = Math.cos(image.rotationRad); + const sin = Math.sin(image.rotationRad); + return { u: new Coord(cos, sin), v: new Coord(-sin, cos) }; + } + + /** + * Follow the pointer for whichever gesture is in flight. Returns whether it + * handled the move, so mouseMove can stop before the mechanism's own drags. + */ + private dragBackgroundImage(at: Coord): boolean { + const image = this.bgImage.image(); + if (!this.bgDrag || !image) return false; + + if (this.bgDrag.grabOffset) { + this.bgImage.place({ + centerX: at.x + this.bgDrag.grabOffset.x, + centerY: at.y + this.bgDrag.grabOffset.y, + }); + return true; + } + + if (this.bgDrag.grabAngleRad !== undefined) { + const turned = + Math.atan2(at.y - image.centerY, at.x - image.centerX) - this.bgDrag.grabAngleRad; + // Quarter turns and the common skews land exactly, which is most of what + // squaring a photograph to a grid actually needs. Alt suspends it, the + // same key that suspends snapping everywhere else on this canvas. + const step = Math.PI / 12; // 15 degrees + this.bgImage.place({ + rotationRad: this.snapSuspended ? turned : Math.round(turned / step) * step, + }); + return true; + } + + const anchor = this.bgDrag.anchor!; + const ratio = image.naturalHeight / image.naturalWidth; + const { alongX, alongY } = this.cornerSigns(this.bgDrag.corner!); + const axes = this.backgroundImageAxes(image); + // How far the pointer is from the anchor along each of the picture's own + // axes. Measuring in the picture's frame is what lets a turned picture + // resize by the corner the hand is actually holding. + const reach = new Coord(at.x - anchor.x, at.y - anchor.y); + const alongWidth = reach.x * axes.u.x + reach.y * axes.u.y; + const alongHeight = reach.x * axes.v.x + reach.y * axes.v.y; + // Whichever axis the hand pulled further decides the size, so the corner + // keeps up with a diagonal drag instead of tracking only one of them. + const width = Math.max(MIN_WIDTH, Math.abs(alongWidth), Math.abs(alongHeight) / ratio); + const height = width * ratio; + // The signs come from which corner is held, not from where the pointer is: + // dragged past its anchor, the picture pins at its minimum rather than + // flipping to the other side of it. + this.bgImage.place({ + width, + centerX: anchor.x + alongX * (width / 2) * axes.u.x + alongY * (height / 2) * axes.v.x, + centerY: anchor.y + alongX * (width / 2) * axes.u.y + alongY * (height / 2) * axes.v.y, + }); + return true; + } + /** * The one menu item, doing whichever half applies: pick a file if there is no * picture yet, otherwise just open the panel on the one there is. @@ -1161,6 +1336,11 @@ export class NewGridComponent implements OnDestroy { this.svgGrid.cursorAt = mousePosInSvg; this.dragState.notePointerMoved(); + + // The picture is scenery, and its gesture owns the pointer outright: no + // snapping, no drop candidates, no mechanism state to keep in step. + if (this.dragBackgroundImage(mousePosInSvg)) return; + let deltaMouseX = this.mouseLocation.x - this.lastMouseLocation.x; let deltaMouseY = this.mouseLocation.y - this.lastMouseLocation.y; @@ -1914,6 +2094,7 @@ export class NewGridComponent implements OnDestroy { mouseUp($event: MouseEvent) { //This is the mouseUp that is called no matter what is clicked on + this.bgDrag = undefined; this.synthesisClickMode = SynthesisClickMode.NORMAL; // The alignment guides belong to the drag that made them. this.axisSnapGuides = []; diff --git a/src/app/services/background-image.service.spec.ts b/src/app/services/background-image.service.spec.ts index 1eb16aad..3d4fd6d0 100644 --- a/src/app/services/background-image.service.spec.ts +++ b/src/app/services/background-image.service.spec.ts @@ -1,5 +1,7 @@ import { TestBed } from '@angular/core/testing'; -import { BackgroundImageService, BackgroundImage } from './background-image.service'; +import { BackgroundImageService, BackgroundImage, MIN_WIDTH } from './background-image.service'; +import { SettingsService } from './settings.service'; +import { LengthUnit } from '../model/unit-enums'; import { MODEL_SCALE } from '../model/render-scale'; /** A placed picture with a known 2:1 shape, so the derived height is checkable. */ @@ -11,6 +13,7 @@ function placed(over: Partial = {}): BackgroundImage { centerX: 0, centerY: 0, width: 4 * MODEL_SCALE, + rotationRad: 0, opacity: 0.5, fileName: 'rig.png', ...over, @@ -70,10 +73,13 @@ describe('BackgroundImageService', () => { expect(image.src).toBe('data:image/png;base64,AAAA'); }); - it('refuses to shrink the picture to nothing', () => { + // The floor exists for the corner drag, which can be pulled through zero. + // A typed width below it is refused by the panel instead, so the number in + // the field is always the number that took effect. + it('holds the picture at its minimum width rather than letting it vanish', () => { service.image.set(placed()); service.place({ width: 0 }); - expect(service.image()!.width).toBeGreaterThan(0); + expect(service.image()!.width).toBe(MIN_WIDTH); }); it('holds opacity inside 0..1', () => { @@ -107,6 +113,82 @@ describe('BackgroundImageService', () => { }); }); + /** + * A unit change rescales every stored coordinate in the drawing, so a picture + * that stayed put would be left the conversion factor's worth of wrong size + * against the very linkage it was put there to be traced by. + */ + describe('a change of length unit', () => { + let settings: SettingsService; + + beforeEach(() => { + settings = TestBed.inject(SettingsService); + settings.lengthUnit.next(LengthUnit.CM); + service.image.set(placed({ centerX: 3 * MODEL_SCALE, centerY: -1 * MODEL_SCALE })); + }); + + it('restates the placement in the new unit', () => { + settings.lengthUnit.next(LengthUnit.METER); + const image = service.image()!; + // A centimetre is a hundredth of a metre, so every number is too. + expect(image.centerX).toBeCloseTo(0.03 * MODEL_SCALE, 6); + expect(image.centerY).toBeCloseTo(-0.01 * MODEL_SCALE, 6); + expect(image.width).toBeCloseTo(0.04 * MODEL_SCALE, 6); + }); + + it('leaves the picture and its proportions alone', () => { + settings.lengthUnit.next(LengthUnit.INCH); + const image = service.image()!; + expect(image.src).toBe('data:image/png;base64,AAAA'); + expect(service.heightOf(image) / image.width).toBeCloseTo(0.5, 9); + }); + + it('does nothing when the unit is set to the one already in force', () => { + const before = service.image()!; + settings.lengthUnit.next(LengthUnit.CM); + expect(service.image()).toBe(before); + }); + + it('is harmless with no picture placed', () => { + service.remove(); + expect(() => settings.lengthUnit.next(LengthUnit.METER)).not.toThrow(); + expect(service.image()).toBeNull(); + }); + }); + + /** + * The stored angle is counter-clockwise-positive like every other angle in + * the app; SVG's rotate is clockwise-positive because its y points down. A + * transform that forgot the sign turns the picture the wrong way, which on a + * photograph of a linkage looks like a mirror rather than a mistake. + */ + describe('the turn', () => { + it('is the identity when the picture is square to the grid', () => { + const image = placed({ centerX: 2 * MODEL_SCALE, centerY: MODEL_SCALE }); + expect(service.transformOf(image)).toBe(`rotate(0, ${2 * MODEL_SCALE}, ${-MODEL_SCALE})`); + }); + + it('goes to SVG the other way round, about the picture’s own centre', () => { + const image = placed({ centerX: 0, centerY: 2 * MODEL_SCALE, rotationRad: Math.PI / 2 }); + expect(service.transformOf(image)).toBe(`rotate(-90, 0, ${-2 * MODEL_SCALE})`); + }); + + it('is placed like any other part of the placement', () => { + service.image.set(placed()); + service.place({ rotationRad: Math.PI / 4 }); + expect(service.image()!.rotationRad).toBeCloseTo(Math.PI / 4, 9); + expect(service.image()!.width).toBe(4 * MODEL_SCALE); + }); + + it('survives a change of length unit, which rescales rather than turns', () => { + const settings = TestBed.inject(SettingsService); + settings.lengthUnit.next(LengthUnit.CM); + service.image.set(placed({ rotationRad: Math.PI / 6 })); + settings.lengthUnit.next(LengthUnit.METER); + expect(service.image()!.rotationRad).toBeCloseTo(Math.PI / 6, 9); + }); + }); + it('remove clears the picture', () => { service.image.set(placed()); service.remove(); diff --git a/src/app/services/background-image.service.ts b/src/app/services/background-image.service.ts index 1803e3cf..3e601f23 100644 --- a/src/app/services/background-image.service.ts +++ b/src/app/services/background-image.service.ts @@ -1,5 +1,7 @@ -import { Injectable, signal } from '@angular/core'; +import { Injectable, inject, signal } from '@angular/core'; import { MODEL_SCALE } from '../model/render-scale'; +import { SettingsService } from './settings.service'; +import { NumberUnitParserService } from './number-unit-parser.service'; /** * A picture pinned behind the grid, for building a linkage on top of one. @@ -19,6 +21,12 @@ export interface BackgroundImage { centerY: number; /** How wide the picture is drawn, in model units. Height follows the ratio. */ width: number; + /** + * How far the picture is turned about its own centre, in radians, + * counter-clockwise-positive — the same sense as every other angle in the + * app. A photograph is rarely taken square to the mechanism in it. + */ + rotationRad: number; /** 0..1. A tracing underlay wants to be visible *through*, not just under. */ opacity: number; /** The name of the file it came from, for the panel to show. */ @@ -28,8 +36,14 @@ export interface BackgroundImage { /** The largest file we will read, in bytes. */ export const MAX_IMAGE_BYTES = 12 * 1024 * 1024; -/** Nothing narrower than this is a picture you could trace anything against. */ -const MIN_WIDTH = 0.05 * MODEL_SCALE; +/** + * Nothing narrower than this is a picture you could trace anything against. + * + * A floor for the corner drag, which can be pulled through zero; a typed width + * below it is refused by the panel rather than quietly rounded up here, so the + * number in the field is always the number that took effect. + */ +export const MIN_WIDTH = 0.05 * MODEL_SCALE; @Injectable({ providedIn: 'root' }) export class BackgroundImageService { @@ -42,6 +56,39 @@ export class BackgroundImageService { */ readonly image = signal(null); + private settings = inject(SettingsService); + private nup = inject(NumberUnitParserService); + + constructor() { + // A change of length unit rescales every stored coordinate in the drawing, + // so a picture whose placement stayed put would be left at the conversion + // factor's worth of wrong size — a linkage traced in centimetres came back + // a hundred times too small against its own photograph. + // + // Watched here rather than patched into the settings panel because a unit + // change also arrives by replaying a URL: undo and redo cross one whenever + // the step they are undoing did, and both routes come through this subject. + let previous = this.settings.lengthUnit.value; + this.settings.lengthUnit.subscribe((unit) => { + const from = previous; + previous = unit; + if (from === unit) return; + this.rescale(this.nup.convertLength(1, from, unit)); + }); + } + + /** Restate the placement in units that are now worth `factor` times as much. */ + private rescale(factor: number): void { + const current = this.image(); + if (!current || !Number.isFinite(factor) || factor <= 0) return; + this.image.set({ + ...current, + centerX: current.centerX * factor, + centerY: current.centerY * factor, + width: current.width * factor, + }); + } + /** How tall the picture is drawn, in model units — the ratio decides. */ heightOf(image: BackgroundImage): number { return (image.width * image.naturalHeight) / image.naturalWidth; @@ -62,6 +109,19 @@ export class BackgroundImageService { return -image.centerY - this.heightOf(image) / 2; } + /** + * The turn, as an SVG transform about the picture's own centre. + * + * Negated: the stored angle is counter-clockwise-positive like every other + * angle in the app, and SVG's rotate is clockwise-positive because its y + * points down. Everything drawn inside this transform can then be laid out + * as though the picture were square to the grid. + */ + transformOf(image: BackgroundImage): string { + const degrees = (-image.rotationRad * 180) / Math.PI; + return `rotate(${degrees}, ${image.centerX}, ${-image.centerY})`; + } + /** * Read a chosen file and place it, centred on the origin, sized to `fitWidth`. * @@ -91,13 +151,18 @@ export class BackgroundImageService { centerX: 0, centerY: 0, width: Math.max(MIN_WIDTH, fitWidth), + rotationRad: 0, opacity: 0.5, fileName: file.name, }); } /** Change part of the placement, leaving the picture itself alone. */ - place(change: Partial>): void { + place( + change: Partial< + Pick + > + ): void { const current = this.image(); if (!current) return; this.image.set({ diff --git a/src/app/services/drag-state.service.ts b/src/app/services/drag-state.service.ts index 9f803096..fdec9271 100644 --- a/src/app/services/drag-state.service.ts +++ b/src/app/services/drag-state.service.ts @@ -60,6 +60,15 @@ export class DragStateService { ); } + /** + * The tracing underlay is being moved or resized by its handles. + * + * Kept apart from the four enums because it is not mechanism state: it makes + * `isDragging` true, so the canvas does not pan underneath the gesture, but + * it never reaches `noteMechanismModified` and so earns no undo entry. + */ + private backgroundImageHeld = false; + /** True while an existing object is being moved, as opposed to created. */ get isDragging(): boolean { return ( @@ -67,7 +76,8 @@ export class DragStateService { this._link === linkStates.dragging || this._force === forceStates.draggingStart || this._force === forceStates.draggingEnd || - this._force === forceStates.draggingBody + this._force === forceStates.draggingBody || + this.backgroundImageHeld ); } @@ -131,6 +141,10 @@ export class DragStateService { this._force = forceStates.draggingBody; } + beginDraggingBackgroundImage(): void { + this.backgroundImageHeld = true; + } + // --- Gesture ---------------------------------------------------------- /** A pointer went down. Starts a fresh gesture; nothing is owed yet. */ @@ -177,5 +191,6 @@ export class DragStateService { this._joint = jointStates.waiting; this._link = linkStates.waiting; this._force = forceStates.waiting; + this.backgroundImageHeld = false; } } diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index b44b0020..e0980833 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -507,7 +507,9 @@ export class SvgGridService { this.settingsService.tempGridDisable = false; return; } + const restoreScenery = this.hideSceneryWhileMeasuring(); this.panZoomObject.updateBBox(); // Update viewport bounding box + restoreScenery(); this.settingsService.tempGridDisable = false; if (animate) NewGridComponent.instance.enableGridAnimationForThisAction(); this.panZoomObject.fit(); @@ -515,6 +517,28 @@ export class SvgGridService { this.zoomOut(); } + /** + * Take the background image out of the box this fit is about to measure. + * + * `tempGridDisable` is meant to do this in the template, but afterNextRender + * can land before Angular has acted on the flag -- which went unnoticed while + * the only thing it hid was the grid ruling, drawn to the viewport and so + * never bigger than the box anyway. A background image is as big as the user + * made it, and a hundred-centimetre photograph got framed instead of the + * linkage. Hidden straight on the element, so it is gone by the next + * statement rather than by the next render. + * + * Returns the undo, to be called once the measurement is taken. + */ + private hideSceneryWhileMeasuring(): () => void { + const layers = ['backgroundImageHolder', 'backgroundImageHandles', 'backgroundImageGrips'] + .map((id) => document.getElementById(id)) + .filter((node): node is HTMLElement => node !== null); + const was = layers.map((node) => node.style.display); + layers.forEach((node) => (node.style.display = 'none')); + return () => layers.forEach((node, index) => (node.style.display = was[index])); + } + updateObjectScale() { SettingsService._objectScale.next(Number((60 / this.getZoom()).toFixed(2))); // A link's outline is computed once and cached, and its width is a fraction diff --git a/src/app/services/url-processor.service.ts b/src/app/services/url-processor.service.ts index 69a7b71c..337fac07 100644 --- a/src/app/services/url-processor.service.ts +++ b/src/app/services/url-processor.service.ts @@ -76,8 +76,13 @@ export class UrlProcessorService { // // Selecting something is not an edit. It earns no history entry, so it // should not be undone by one. + // + // Named rather than excluded: getSelectedObj() answers for exactly these + // three and throws for anything else, so a deny-list turns every selection + // kind added later into a crash on Undo. The background image was one -- + // it is not a mechanism object and has no id to hold. const heldSelection = - continuingHistory && this.activeObj.objType !== 'Nothing' && this.activeObj.objType !== 'Grid' + continuingHistory && ['Joint', 'Link', 'Force'].includes(this.activeObj.objType) ? { type: this.activeObj.objType, id: this.activeObj.getSelectedObj()?.id } : undefined; mechanismSrv.rewindToStart(); From 2d5bd2dfb288212e94b54de8aa8d9fe7ebf6d7db Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 20:39:15 -0400 Subject: [PATCH 157/236] The empty force panel borrows the help card's voice and its clothes The note now renders as the Analysis Help hint row -- rule, icon, muted text -- instead of a grey banner. And it stops saying 'welded': a tracer point on a plain ternary link has no reaction either, so the cause is named as what it always is -- only one part meets the joint. Co-Authored-By: Claude Fable 5 --- .../analysis-graph.component.spec.ts | 2 +- .../analysis-graph.component.ts | 2 +- .../analysis-panel.component.html | 21 ++++++++++++------- .../analysis-panel.component.scss | 13 ------------ .../analysis-panel.component.spec.ts | 9 ++++++-- 5 files changed, 23 insertions(+), 24 deletions(-) diff --git a/src/app/component/analysis-graph/analysis-graph.component.spec.ts b/src/app/component/analysis-graph/analysis-graph.component.spec.ts index d6e03f3f..d8601707 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.spec.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.spec.ts @@ -260,7 +260,7 @@ describe('AnalysisGraphComponent production fixtures', () => { const component = createComponent(fixture); component.determineChart('force', 'static', 'Joint Forces', 'B'); - expect(component.analysisDiagnostic).toContain('welded inside one rigid body'); + expect(component.analysisDiagnostic).toContain('Only one part meets this joint'); expect( component.chartOptions.series!.every((series) => (series.data as unknown as Array<{ y: number | null }>).every((point) => point.y === null) diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index dababb8a..93a7760d 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -976,7 +976,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, ? null : (result.diagnostic ?? (mechProp === 'Joint Forces' - ? 'This joint is welded inside one rigid body, so no force passes between parts here.' + ? 'Only one part meets this joint, so there is no force to graph here.' : 'Input effort is unavailable for this mechanism.')); return [[datum_X, datum_Y, datum_Z], categories]; } diff --git a/src/app/component/analysis-panel/analysis-panel.component.html b/src/app/component/analysis-panel/analysis-panel.component.html index b060438e..1d59c378 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.html +++ b/src/app/component/analysis-panel/analysis-panel.component.html @@ -156,10 +156,13 @@
    } @if (jointForceRows().length === 0) { -
    - Joint {{ this.activeSrv.selectedJoint.name }} is welded inside one rigid body, so no - force passes between parts there. Select a joint where separate parts meet, or a - grounded one. +
    +
    + touch_app + Only one part meets Joint {{ this.activeSrv.selectedJoint.name }}, so there is no + force to graph here. Click a joint where separate parts meet, or a grounded one.
    } @for (row of jointForceRows(); track row.linkId) { @@ -292,9 +295,13 @@
    } @if (linkForceRows().length === 0) { -
    - {{ selectedBodyLabel }} is welded inside one rigid body, so its forces act on that body - as a whole. Select the welded body to see them. +
    +
    + touch_app + {{ selectedBodyLabel }} does not meet another part at any of its joints, so there is + no force to graph here. Click a part that touches another, or a grounded joint.
    } @for (row of linkForceRows(); track row.jointId) { diff --git a/src/app/component/analysis-panel/analysis-panel.component.scss b/src/app/component/analysis-panel/analysis-panel.component.scss index fdbc74c6..fca06348 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.scss +++ b/src/app/component/analysis-panel/analysis-panel.component.scss @@ -55,19 +55,6 @@ // } } } -// Speaks at the size of the title-block description above it (body-2, 14px). -// Left to inherit, it picked up the panel's base size, and a note about one -// joint read louder than the panel's own heading. -#analysisWrapper .analysis-message { - margin: 8px 0 12px; - padding: 10px 12px; - border-radius: var(--border-radius); - background: #f4f5fb; - color: rgba(0, 0, 0, 0.7); - font-size: 14px; - line-height: 1.45; -} - // Names the group of graphs under it. It used to be a subtitle-block nudged // down 20px, which read as a stray line of text between two cards rather than // as a heading for the ones below it. diff --git a/src/app/component/analysis-panel/analysis-panel.component.spec.ts b/src/app/component/analysis-panel/analysis-panel.component.spec.ts index 330b0b42..46fbfafe 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.spec.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.spec.ts @@ -128,12 +128,17 @@ describe('AnalysisPanelComponent welded mechanism regression', () => { expect(fixture.componentInstance.jointForceRows()).toHaveLength(0); const text = fixture.nativeElement.textContent; - expect(text).toContain('welded inside one rigid body'); - expect(text).toContain('Select a joint where separate parts meet'); + // "Only one part" covers the tracer on a plain ternary link as well as a + // welded-in pin — a joint can have no reaction without a weld anywhere. + expect(text).toContain('Only one part meets Joint'); + expect(text).toContain('Click a joint where separate parts meet'); // With no graph to configure, the mode selector and the input-speed // summary would describe things that are not on the panel. expect(text).not.toContain('Force Analysis Type'); expect(text).not.toContain('input speed is set'); + // And it is the help-card hint pattern, not a boxed banner. + expect(fixture.nativeElement.querySelector('.helpHint')).not.toBeNull(); + expect(fixture.nativeElement.querySelector('.analysis-message')).toBeNull(); fixture.destroy(); }); From 8dae47ec680125199a4e0c132134502a7437fbd0 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 20:43:47 -0400 Subject: [PATCH 158/236] The cause moves up under the title, the way out keeps the icon Description says why there is nothing to graph; the hint row says what to click instead, like the Analysis Help card it borrows from. The row sits on the section's 15px gutter as padding rather than margin -- stretched to full width, a side margin pushed the text out the edge. Co-Authored-By: Claude Fable 5 --- .../analysis-panel.component.html | 10 ++-------- .../analysis-panel.component.scss | 13 +++++++++++++ .../analysis-panel/analysis-panel.component.ts | 17 ++++++++++------- 3 files changed, 25 insertions(+), 15 deletions(-) diff --git a/src/app/component/analysis-panel/analysis-panel.component.html b/src/app/component/analysis-panel/analysis-panel.component.html index 1d59c378..a65da7c7 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.html +++ b/src/app/component/analysis-panel/analysis-panel.component.html @@ -159,10 +159,7 @@
    touch_app - Only one part meets Joint {{ this.activeSrv.selectedJoint.name }}, so there is no - force to graph here. Click a joint where separate parts meet, or a grounded one. + Click a joint where separate parts meet, or a grounded one.
    } @for (row of jointForceRows(); track row.linkId) { @@ -298,10 +295,7 @@
    touch_app - {{ selectedBodyLabel }} does not meet another part at any of its joints, so there is - no force to graph here. Click a part that touches another, or a grounded joint. + Click a part that touches another, or a grounded joint.
    } @for (row of linkForceRows(); track row.jointId) { diff --git a/src/app/component/analysis-panel/analysis-panel.component.scss b/src/app/component/analysis-panel/analysis-panel.component.scss index fca06348..35b675fc 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.scss +++ b/src/app/component/analysis-panel/analysis-panel.component.scss @@ -78,3 +78,16 @@ padding: 0 15px 12px; border-bottom: 1px solid #eceef5; } + +// The help card's hint pattern, worn inside a panel section: the card brings +// its own padding, a section does not, so the rows take the section's 15px +// gutter themselves. As padding, not margin — the row is stretched to the +// section's full width, and a side margin pushed it out the right edge. +#analysisWrapper panel-section .helpRule { + margin: 4px 15px 12px; + width: auto; +} +#analysisWrapper panel-section .helpHint { + margin: 0 0 14px; + padding: 0 15px; +} diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index e500a98b..08e9570d 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -303,15 +303,18 @@ export class AnalysisPanelComponent { } /** - * The heading's description. A part with nothing to graph gets only the - * note that says so — the speed summary and the mode selector describe - * graphs that are not on the panel. + * The heading's description. A part with nothing to graph gets the cause in + * the description and the way out in the hint row below — the speed summary + * and the mode selector describe graphs that are not on the panel. */ get panelDescription(): string { - const bare = - this.showForce && - (this.activeSrv.objType === 'Joint' ? !this.jointForceHasGraphs : !this.linkForceHasGraphs); - return bare ? '' : `${this.inputSummary} ${this.inputEditHint}`; + if (this.showForce && this.activeSrv.objType === 'Joint' && !this.jointForceHasGraphs) { + return `Only one part meets Joint ${this.activeSrv.selectedJoint?.name}, so there is no force to graph here.`; + } + if (this.showForce && this.activeSrv.objType === 'Link' && !this.linkForceHasGraphs) { + return `${this.selectedBodyLabel} does not meet another part at any of its joints, so there is no force to graph here.`; + } + return `${this.inputSummary} ${this.inputEditHint}`; } /** One row per external joint of the selected link. */ From c9c9302b8dc990609aab119414f91526605a721b Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Mon, 17 Aug 2026 22:07:41 -0400 Subject: [PATCH 159/236] Tidy two blank lines left by the merge resolution Co-Authored-By: Claude Opus 5 --- src/app/component/edit-panel/edit-panel.component.ts | 2 -- src/app/component/new-grid/new-grid.component.html | 1 - 2 files changed, 3 deletions(-) diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index f64fbf77..aeab9223 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -1797,8 +1797,6 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { this.refreshDerivedMassFields(); } - - /** Hand a field back to the uniform body, and show what it derives. */ useUniformBodyMoI(): void { this.activeSrv.selectedLink.moiIsCustom = false; diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 1620ec64..a3ca8ec7 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -775,7 +775,6 @@ [attr.stroke-width]="svgGrid.scaleWithZoom(3)" /> } - } + @if (inputEffortJoint(); as driven) { + + } } } diff --git a/src/app/component/analysis-panel/analysis-panel.component.ts b/src/app/component/analysis-panel/analysis-panel.component.ts index 6a048353..100a445b 100644 --- a/src/app/component/analysis-panel/analysis-panel.component.ts +++ b/src/app/component/analysis-panel/analysis-panel.component.ts @@ -3,7 +3,7 @@ import { ChangeDetectionStrategy, Component, inject } from '@angular/core'; import { ForceAnalysisMode, ForceReactionIndex } from 'src/app/model/mechanism/force-solver'; import { Mechanism } from 'src/app/model/mechanism/mechanism'; import { PrisJoint, RealJoint } from 'src/app/model/joint'; -import { Cylinder, isCylinderInterior } from 'src/app/model/cylinder'; +import { Cylinder, cylinderJoints, isCylinderInterior } from 'src/app/model/cylinder'; import { LengthUnit } from 'src/app/model/unit-enums'; import { ActiveObjService } from 'src/app/services/active-obj.service'; import { FormBuilder, FormsModule, ReactiveFormsModule } from '@angular/forms'; @@ -105,6 +105,7 @@ export class AnalysisPanelComponent { JVel: false, JAcc: false, JInputForce: false, + LInputForce: false, }; mechStateSub?: Subscription; @@ -313,7 +314,7 @@ export class AnalysisPanelComponent { /** In Force mode, does the selected link have any graph to offer? */ get linkForceHasGraphs(): boolean { - return this.linkForceRows().length > 0; + return this.linkForceRows().length > 0 || !!this.inputEffortJoint(); } /** @@ -404,14 +405,33 @@ export class AnalysisPanelComponent { }`; } - inputEffortLabel(): string { - const joint = this.activeSrv.selectedJoint; + inputEffortLabel(driven?: RealJoint): string { + const joint = driven ?? this.activeSrv.selectedJoint; return joint instanceof PrisJoint || joint?.connectedJoints.some((candidate) => candidate instanceof PrisJoint && candidate.input) ? 'Force' : 'Torque'; } + /** + * The driven joint a selected body carries, for the bodies whose drive the + * reader cannot select on its own. + * + * A ram is driven by a joint buried inside the part: no marker, no hitbox, + * no row in the Edit panel. The graph of the effort that drive has to supply + * lived on the joint panel, so for a ram it lived on a panel nobody could + * open -- the one input in the app whose own force could not be read. Every + * other input sits on a joint a reader can click, and the joint panel + * already carries it there. + */ + inputEffortJoint(): RealJoint | undefined { + const sealed = this.selectedCylinder; + if (!sealed) return undefined; + return cylinderJoints(sealed).find( + (joint): joint is RealJoint => joint instanceof RealJoint && joint.input + ); + } + validMechanisms() { return this.mechanismService.oneValidMechanismExists(); } From 3dbe8f5a6ec2b526d048c6ad4cc859299a4369d1 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 01:46:03 -0700 Subject: [PATCH 163/236] Let a right-click on a link's centre-of-mass mark still open the link's menu Selecting a link is what makes its centre-of-mass mark a handle, so the press that selects it puts the handle under the cursor before the contextmenu event arrives. The mark had no handler of its own and the link's never fired: right-clicking the middle of a bar -- which is where a hand naturally lands, and which is the only place the mark sits on a two-joint bar -- selected the link and opened nothing at all. A second right-click worked, so the gesture looked merely unreliable. Delete Link, Attach Link, Attach Cylinder, Attach Tracer Point, Attach Force and Lock Link were all behind that first click. e2e/attach-cylinder had been failing on it. Co-Authored-By: Claude Opus 5 --- src/app/component/new-grid/new-grid.component.html | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index a3ca8ec7..092cf468 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -1403,10 +1403,18 @@ fill-opacity="0.55" > } + From 3d76a2aaed39f65a63a0fa705efdc95150a571c1 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 01:49:14 -0700 Subject: [PATCH 164/236] Hold the canvas's keys while something stands over the canvas With the Templates dialog open, Backspace deleted the joint selected behind it, and the mode, Settings and Help keys all acted out of sight of the reader who pressed them. A dialog is its own conversation, and so is the guided tour; neither is the canvas, and these are the canvas's keys. The tour is not a dialog and so is not in the dialog's own list, so it is asked about by the overlay it lays over the page. Co-Authored-By: Claude Opus 5 --- e2e/keyboard-shortcuts.mjs | 28 +++++++++++++++++++ .../services/keyboard-shortcuts.service.ts | 19 +++++++++++++ 2 files changed, 47 insertions(+) diff --git a/e2e/keyboard-shortcuts.mjs b/e2e/keyboard-shortcuts.mjs index bfbdd86c..05cb9be0 100644 --- a/e2e/keyboard-shortcuts.mjs +++ b/e2e/keyboard-shortcuts.mjs @@ -165,6 +165,34 @@ record('and K again lets it go', (await state()).lockedJoints === 0, await state await press(','); record('a comma opens Settings', (await state()).drawer === 1, await state()); +// --- A key belongs to whatever is standing over the canvas ------------------- +// These are the canvas's keys. With a dialog open the reader is looking at the +// dialog, and Delete was quietly removing the joint selected behind it. +await clickJoint('B'); +const guarded = await state(); +await page.locator('.topStrip .iconButton').first().click(); +await page.waitForTimeout(500); +await page.locator('#templatesButton').click(); +await page.waitForTimeout(1200); +record( + 'the Templates dialog is open', + (await page.evaluate(() => document.querySelectorAll('mat-dialog-container').length)) > 0 +); +for (const key of ['Backspace', '3', 'k', ',']) await press(key); +const behind = await state(); +record( + 'and no shortcut acts behind it', + behind.joints === guarded.joints && + behind.tab === guarded.tab && + behind.lockedJoints === guarded.lockedJoints && + behind.drawer === guarded.drawer, + { guarded, behind } +); +await page.keyboard.press('Escape'); +await page.waitForTimeout(800); +await page.mouse.click(900, 700); +await page.waitForTimeout(300); + // --- The list that teaches them -------------------------------------------- // Out of the field first: the check above just proved that a key typed into // one stays there, so a `?` pressed with the caret still in it would too. diff --git a/src/app/services/keyboard-shortcuts.service.ts b/src/app/services/keyboard-shortcuts.service.ts index b1df1cb6..68193d85 100644 --- a/src/app/services/keyboard-shortcuts.service.ts +++ b/src/app/services/keyboard-shortcuts.service.ts @@ -1,4 +1,5 @@ import { Injectable, NgZone, inject } from '@angular/core'; +import { MatDialog } from '@angular/material/dialog'; import { Observable, Subject } from 'rxjs'; /** @@ -67,6 +68,7 @@ function onAMac(): boolean { @Injectable({ providedIn: 'root' }) export class KeyboardShortcutsService { private zone = inject(NgZone); + private dialog = inject(MatDialog); private readonly presses = new Subject(); /** Fires when a shortcut's keys are pressed anywhere outside a text field. */ @@ -231,6 +233,11 @@ export class KeyboardShortcutsService { // A key pressed into a text field belongs to that field: Delete means // delete a character there, and Undo means undo the typing. if (this.typingInAField(event)) return; + // And a key pressed while something stands over the canvas belongs to that + // thing, or to nothing. These are the canvas's keys: with the Templates + // dialog open, Delete was removing the selected joint behind it, out of + // sight of the reader who pressed it. + if (this.somethingIsOver()) return; const key = event.key.toLowerCase(); const held = event.ctrlKey || event.metaKey; @@ -247,6 +254,18 @@ export class KeyboardShortcutsService { this.zone.run(() => this.presses.next(found.id)); } + /** + * Whether the canvas is covered: a modal dialog, or the guided tour. + * + * Both take the whole screen and both are their own conversation. The tour + * is not a dialog and so is not in the dialog's own list -- it is asked + * about by the overlay it lays over the page. + */ + private somethingIsOver(): boolean { + if (this.dialog.openDialogs.length > 0) return true; + return !!document.querySelector('.introjs-overlay, .introjs-tooltip'); + } + /** Whether the keystroke was aimed at somewhere text is being entered. */ private typingInAField(event: KeyboardEvent): boolean { const target = event.target as HTMLElement | null; From acaa0dd4e4e483aec70fe58e76f0533a39368b75 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 01:57:59 -0700 Subject: [PATCH 165/236] Keep the editing keys inside Edit, and let Delete mean a force too Four findings from a review pass, all in the keys added this week. A key that changes the drawing is an Edit key. Undo and Redo had that check; Delete and Lock did not, so Backspace in Kinematic Analysis removed a joint from a mechanism the reader was in the middle of measuring -- in a mode that hides the lock marks, greys the panels and takes Undo away, leaving no way back short of leaving the mode. Delete also did nothing to a selected force. A force is a thing on the drawing with a Delete of its own in its menu; the key cleared the selection and left the arrow standing, which reads as a delete that did not take. And a dropdown answers to the keyboard the whole time it has focus: letters jump to an option, and the digits that pick a mode here are letters to it. SELECT joins the fields whose keys are their own. Co-Authored-By: Claude Opus 5 --- e2e/keyboard-shortcuts.mjs | 66 +++++++++++++++++++ .../component/new-grid/new-grid.component.ts | 14 ++++ .../services/keyboard-shortcuts.service.ts | 5 +- 3 files changed, 84 insertions(+), 1 deletion(-) diff --git a/e2e/keyboard-shortcuts.mjs b/e2e/keyboard-shortcuts.mjs index 05cb9be0..c36efb2c 100644 --- a/e2e/keyboard-shortcuts.mjs +++ b/e2e/keyboard-shortcuts.mjs @@ -165,7 +165,73 @@ record('and K again lets it go', (await state()).lockedJoints === 0, await state await press(','); record('a comma opens Settings', (await state()).drawer === 1, await state()); +// --- A key that changes the drawing is an Edit key --------------------------- +// An analysis mode is a reading of a finished mechanism: it hides the lock +// marks, greys the panels, and takes Undo away. A key that edits anyway leaves +// a change there is no way back from without leaving the mode. +await clickJoint('B'); +const beforeAnalysis = await state(); +await press('3'); +await press('Backspace'); +await press('k'); +const afterAnalysis = await state(); +record( + 'Delete and Lock do nothing in an analysis mode', + afterAnalysis.joints === beforeAnalysis.joints && afterAnalysis.lockedJoints === 0, + { beforeAnalysis, afterAnalysis } +); +await press('2'); +await clickJoint('B'); +await press('k'); +record('and both work again back in Edit', (await state()).lockedJoints === 1, await state()); +await press('k'); + +// A dropdown answers to the keyboard the whole time it has focus: letters jump +// to an option, and the digits that pick a mode here are letters to it. +await clickJoint('A'); +const dropdown = page.locator('app-edit-panel select').first(); +if ((await dropdown.count()) > 0) { + await dropdown.focus(); + const beforeSelect = await state(); + await press('3'); + record( + 'a mode key inside a focused dropdown stays there', + (await state()).tab === beforeSelect.tab, + { + beforeSelect, + now: await state(), + } + ); +} + +// --- "Delete what is selected" means a force too ----------------------------- +// A force is a thing on the drawing with a Delete of its own in its menu. Left +// out of the key, the arrow stayed put and only the selection cleared, which +// reads as a delete that did not take. +await page.goto(`${BASE}/?${payloads['Derrick_Crane']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await page.waitForTimeout(700); +await page.evaluate(() => { + const c = ng.getComponent(document.querySelector('app-new-grid')); + c.activeObjService.updateSelectedObj(c.mechanismSrv.forces[0]); +}); +await page.waitForTimeout(500); +const withForce = await page.evaluate( + () => ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv.forces.length +); +await press('Backspace'); +const afterForce = await page.evaluate( + () => ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv.forces.length +); +record('Delete removes a selected force', withForce === 1 && afterForce === 0, { + withForce, + afterForce, +}); + // --- A key belongs to whatever is standing over the canvas ------------------- +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await page.waitForTimeout(700); // These are the canvas's keys. With a dialog open the reader is looking at the // dialog, and Delete was quietly removing the joint selected behind it. await clickJoint('B'); diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 027d2b21..7c24d611 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -3686,9 +3686,17 @@ export class NewGridComponent implements OnDestroy { this.activeObjService.updateSelectedObj(undefined); return; case 'edit.delete': + // Every key that changes the drawing is held outside Edit, not just + // the two that had the check. An analysis mode is a reading of a + // finished mechanism: it hides the lock marks, greys the panels and + // takes Undo away -- and Delete was still going through, removing a + // joint from a drawing the reader was in the middle of measuring, with + // no way back short of leaving the mode. + if (this.tabService.isAnalysisMode()) return; this.deleteSelection(); return; case 'edit.lock': + if (this.tabService.isAnalysisMode()) return; this.toggleLockOnSelection(); return; case 'history.undo': @@ -3740,6 +3748,12 @@ export class NewGridComponent implements OnDestroy { this.mechanismSrv.deleteJoint(); } else if (this.activeObjService.objType === 'Link') { this.mechanismSrv.deleteLink(); + } else if (this.activeObjService.objType === 'Force') { + // A force is a thing on the drawing with a Delete of its own in its + // menu, so the key that says "delete what is selected" has to mean it + // here too. Left out, the key cleared the selection and left the arrow + // standing -- which reads as a delete that did not take. + this.mechanismSrv.deleteForce(); } this.activeObjService.updateSelectedObj(undefined); } diff --git a/src/app/services/keyboard-shortcuts.service.ts b/src/app/services/keyboard-shortcuts.service.ts index 68193d85..04f24d9a 100644 --- a/src/app/services/keyboard-shortcuts.service.ts +++ b/src/app/services/keyboard-shortcuts.service.ts @@ -271,6 +271,9 @@ export class KeyboardShortcutsService { const target = event.target as HTMLElement | null; if (!target) return false; const tag = target.tagName; - return tag === 'INPUT' || tag === 'TEXTAREA' || target.isContentEditable; + // SELECT as well as the two that take typing: a dropdown answers to the + // keyboard the whole time it has focus -- letters jump to an option, and + // the digits that pick a mode here are letters to it. + return tag === 'INPUT' || tag === 'TEXTAREA' || tag === 'SELECT' || target.isContentEditable; } } From 0061fd05bdb4420a4cd453d308e9ff2223bdd960 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 02:04:18 -0700 Subject: [PATCH 166/236] Share the machines, not the frame one of them was paused on A URL stores every mechanism in its start pose, so the encoder rewinds the drawing before writing one. It asked only the shared handle whether there was anything to rewind -- but unsynced, each machine keeps its own clock. With the master parked at zero and a second machine scrubbed a quarter of the way round, no rewind happened and the encoder wrote down the pose that machine happened to be *displaying* as the pose it starts in. The linkage arrived at the other end a different shape than the one that was sent, silently and permanently: joint F went in at (2086, 209) and came out at (2295, 0). Every clock is asked now, not just the master's. Sharing still leaves the drawing exactly where it was -- so does the save that runs on every edit, which goes through the same rewind. Found by a GPT-5.6 review pass. Co-Authored-By: Claude Opus 5 --- e2e/two-mechanisms.mjs | 60 +++++++++++++++++++++++++++ src/app/services/mechanism.service.ts | 8 +++- 2 files changed, 67 insertions(+), 1 deletion(-) diff --git a/e2e/two-mechanisms.mjs b/e2e/two-mechanisms.mjs index 0c9e45fd..a3df3b6c 100644 --- a/e2e/two-mechanisms.mjs +++ b/e2e/two-mechanisms.mjs @@ -22,6 +22,14 @@ const payloads = Object.fromEntries( [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) ); +/** Two four-bars side by side, each with its own drive: one drawing, two clocks. */ +const TWO_FOUR_BARS = + '2P.Ay,1E8.K,0.1011.6A,A,0mv,0VU,0.0B,B,0e_,E6,0.0C,C,l1,WW,0.4D,D,qD,0Pk,0.6E,E,2Y_,0,0.' + + '0F,F,2Y_,GJ,0.0G,G,3Jt,Wc,0.4H,H,3aA,0,0..YRAB,AB,Fe,Fe,0ix,08i,c5cae9,A,B,,.' + + 'YRBC,BC,Fe,Fe,32,NJ,303e9f,B,C,,.YRCD,CD,Fe,Fe,nd,3P,0d125a,C,D,,.' + + 'AREF,EF,0,0,2Y_,8A,555555,E,F,,.ARFG,FG,0,0,2xQ,OS,555555,F,G,,.' + + 'ARGH,GH,0,0,3S0,GJ,555555,G,H,,...N_L'; + const browser = await chromium.launch(); const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); const errors = []; @@ -165,6 +173,58 @@ record( drawer ); +// --- Sharing hands over the machines, not the frame they are paused on ------ +// Unsynced, each machine keeps its own clock. The encoder rewinds to the start +// pose before writing the URL, because that is the pose the format stores -- +// but it asked only the shared handle whether there was anything to rewind. A +// machine scrubbed away from zero while the master sat at zero was written +// down in the pose it happened to be displaying, so the linkage arrived at the +// other end a different shape than the one that was sent. +await page.goto(`${BASE}/?${TWO_FOUR_BARS}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await page.waitForTimeout(900); + +const shapeOf = (target) => + target.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return srv.joints + .map((joint) => `${joint.id}:${Math.round(joint.x)},${Math.round(joint.y)}`) + .join(' '); + }); + +const asDrawn = await shapeOf(page); +await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + srv.setSyncMechanisms(false); + srv.seekMechanism(1, srv.mechanisms[1].cyclePeriod * 0.25); +}); +await page.waitForTimeout(800); +const scrubbed = await shapeOf(page); +record('the second machine can be moved on its own', scrubbed !== asDrawn); + +const shared = await page.evaluate(() => + ng.getComponent(document.querySelector('app-top-bar')).urlGeneration.generateUrlQuery() +); +record('and sharing leaves the drawing exactly where it was', (await shapeOf(page)) === scrubbed, { + scrubbed, + now: await shapeOf(page), +}); + +const opened = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +await opened.goto(`${BASE}/?${shared}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(opened); +await opened.waitForTimeout(1000); +const reopened = await shapeOf(opened); +record( + 'and the shared link is the mechanism, not the frame it was paused on', + reopened === asDrawn, + { + asDrawn, + reopened, + } +); +await opened.close(); + record('nothing threw', errors.length === 0, errors.slice(0, 3)); await browser.close(); diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index a50bed85..5bb47ab3 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -626,7 +626,13 @@ export class MechanismService { const held = this.ownSeconds.slice(); const step = this.mechanismTimeStep; const playing = this.isPlaying; - if (step > 0) { + // Any machine away from its own start, not just the one the shared handle + // reports. Unsynced, each keeps its own clock: with the master parked at + // zero and another machine scrubbed a quarter of the way round, the rewind + // was skipped and the encoder wrote down the pose that machine happened to + // be *displaying* as the pose it starts in. The linkage the reader shared + // arrived at the other end a different shape. + if (step > 0 || held.some((seconds) => seconds > 0)) { this.animate(0, false); } try { From b3db48993e81c4a5bb5974992247470e569f6d18 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 11:42:55 -0700 Subject: [PATCH 167/236] Read noise as the zero it means, and hold the legend to thirds A joint that stands still solves to velocities like 2e-17 -- the residue of subtracting a position from itself through a chain of rotations. The header printed it in scientific notation and the chart drew its jitter as a mountain range, because a chart scales its axis to whatever range it is given. Anything below one part in 1e9 of the units on screen now reads as the zero it is, at the one seam every consumer of a sample shares -- so the header, the plot and the exported file agree. And the legend row is three columns of a third each, whatever the graph has to say: an entry's place is decided by which series it is, never by how many series this graph happens to have -- X is the first third on every card, so the columns line up down the whole panel. Co-Authored-By: Claude Opus 5 --- .../analysis-graph-section.component.scss | 13 +++++----- src/app/services/analysis-sample.service.ts | 26 ++++++++++++++++--- 2 files changed, 29 insertions(+), 10 deletions(-) diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss index 6031e5e9..eea760c2 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss @@ -66,14 +66,15 @@ color: #2c2c2c; } - // Columns of one width, not a row that closes up around its contents. Open, - // each entry is the switch for its own line, and a switch that moves when - // the number beside it gains a minus sign or a decimal place is a switch the - // reader has to re-aim at every frame -- so an entry's place is decided by - // which series it is, and never by what any of them currently reads. + // Three columns of a third each, whatever this graph has to say. An entry's + // place is decided by which series it is, never by what it currently reads + // (a minus sign or an extra digit must not move the switch the reader is + // aiming at) and never by how many series this graph happens to have -- X is + // the first third on every card in the stack, so the columns line up down + // the whole panel. .graphPreview { display: grid; - grid-template-columns: repeat(auto-fit, minmax(92px, 1fr)); + grid-template-columns: repeat(3, 1fr); align-items: center; gap: 2px 8px; padding: 0 12px 8px; diff --git a/src/app/services/analysis-sample.service.ts b/src/app/services/analysis-sample.service.ts index f75408d3..8b621285 100644 --- a/src/app/services/analysis-sample.service.ts +++ b/src/app/services/analysis-sample.service.ts @@ -24,6 +24,23 @@ import { SettingsService } from './settings.service'; * visible staircase. Nothing needed it: every place that shows one of these * numbers formats it, the header to two decimals and the CSV at its own edge. */ +/** + * A solved value below anything a mechanism can mean is float noise, not data. + * + * A joint that stands still solves to velocities like 2e-17: the residue of + * subtracting a position from itself through a chain of rotations. The header + * printed it in scientific notation and the graph drew its jitter as a + * mountain range, because a chart scales its axis to whatever range it is + * given. One part in 1e9 of the units on screen is far below anything the + * drawing can express -- solved positions are held to four decimals -- and + * some sixteen orders above nothing, so everything real passes untouched. + */ +const NOISE_FLOOR = 1e-9; + +function snapNoiseToZero(value: number): number { + return Math.abs(value) < NOISE_FLOOR ? 0 : value; +} + @Injectable({ providedIn: 'root' }) export class AnalysisSampleService { private settingsService = inject(SettingsService); @@ -56,10 +73,11 @@ export class AnalysisSampleService { mechPart: string, reactionLinkId: string = '' ): number[] { - if (analysis === 'force') { - return this.forceSample(mechanism, index, analysisType, mechProp, mechPart, reactionLinkId); - } - return this.kinematicSample(mechanism, index, mechProp, mechPart); + const values = + analysis === 'force' + ? this.forceSample(mechanism, index, analysisType, mechProp, mechPart, reactionLinkId) + : this.kinematicSample(mechanism, index, mechProp, mechPart); + return values.map(snapNoiseToZero); } private forceSample( From b3f9e08148fbe312eb91afb2a6c7f93d1a05df72 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 11:43:12 -0700 Subject: [PATCH 168/236] Cut a rocking input's arc into a full cycle of samples, not a degree apiece A crank closes its cycle in 360 one-degree samples, and a rocker was sampled with the same ruler: a linkage that swings eight degrees out and back was a cycle of some thirty frames, so the scrubber jumped in visible steps and the graphs were drawn between a handful of points. The arc is only known once it has been walked, so it is walked at crank spacing first, then cut into a full cycle's worth of samples and walked again. Real-time playback is untouched -- each sample carries its own span of the clock -- and a crank keeps its classical grid. Three things made this more than changing a constant: - A coarse limit is wherever the solver failed, and a failure at one degree is sometimes a fold too sharp for that seed rather than a place the linkage cannot pass. A finer step walks through such a fold into arc the coarse pass never saw. So the coarse cycle is kept in hand, and if the fine pass does not close one, it is put back -- Watt I's 20-sample sliver stays a sliver rather than becoming invalid. - A driven pin and a driven cylinder step by fields of their own, so refining the crank spacing under one changes nothing but the clock: the same arc re-solves under a 58-times-faster timeline. The refine now asks the solver whether the crank spacing is the spacing this mechanism actually moves by. - The first entry of the per-sample speed array is pushed by the constructor, so a re-entry that clears the array runs one entry short and the last sample of every refined cycle solves against an undefined speed -- non-finite velocity at exactly one index, found by the template sweep. The MATLAB verification harness pins the one-per-degree grid its truth tables are stated on and compared one to one; the solver is the same either way, and adaptive-sampling.spec pins both the refinement and the Watt I fallback. Co-Authored-By: Claude Opus 5 --- src/app/model/mechanism/mechanism.ts | 92 ++++++++++++++++++- src/app/model/mechanism/position-solver.ts | 22 ++++- src/test-utils/verification/fixture.ts | 18 +++- .../verification/adaptive-sampling.spec.ts | 45 +++++++++ 4 files changed, 169 insertions(+), 8 deletions(-) create mode 100644 src/tests/verification/adaptive-sampling.spec.ts diff --git a/src/app/model/mechanism/mechanism.ts b/src/app/model/mechanism/mechanism.ts index b54dcc63..7d05b75f 100644 --- a/src/app/model/mechanism/mechanism.ts +++ b/src/app/model/mechanism/mechanism.ts @@ -68,7 +68,14 @@ export class Mechanism { ics: InstantCenter[], gravity: boolean, unit: string, - inputAngVel: number + inputAngVel: number, + // 'adaptive' cuts a rocking input's small arc into a full cycle's worth of + // samples; 'degree' holds the crank's classical one-per-degree grid. The + // MATLAB verification harness pins 'degree', because its truth tables are + // stated row-per-degree and compared one to one -- the solver is the same + // either way, so the values it vouches for are the values 'adaptive' + // interpolates between. + private readonly sampling: 'adaptive' | 'degree' = 'adaptive' ) { joints.forEach((j) => { this._joints[0].push(this.cloneJointAt(j, j.x, j.y)); @@ -361,7 +368,10 @@ export class Mechanism { return 3 * (N - 1) - 2 * J1 - J2; } - private findFullMovementPos(inputAngVel: number) { + private findFullMovementPos(inputAngVel: number, revoluteStep: number = Math.PI / 180) { + // The loop below flips inputAngVel at each reversal; a re-solve has to + // start from the speed that was asked for, not the one the loop ended on. + const requestedAngVel = inputAngVel; let simForward = true; let falseTwice = 0; let inputAngVelDirection = inputAngVel > 0; @@ -380,6 +390,8 @@ export class Mechanism { let reversals = 0; const angularSpeed = Math.abs(inputAngVel); PositionSolver.resetStaticVariables(); + // After the reset, which is what puts the default back. + PositionSolver.revoluteSampleStep = revoluteStep; PositionSolver.determineJointOrder(this.joints[0], this.links[0]); // Before anything is measured from t = 0, put t = 0 on its own constraints. PositionSolver.settleInitialPose(this.joints[0]); @@ -397,7 +409,7 @@ export class Mechanism { // frames and a long one in six hundred. Anything else prismatic keeps the // fixed step, having no end of travel to divide. const sampleStep = revoluteInput - ? Math.PI / 180 + ? revoluteStep : (PositionSolver.drivenSampleStep ?? PRISMATIC_INPUT_STEP); // Time always moves forward, including across a rocking mechanism's // direction reversal. At zero speed retain finite sample coordinates so @@ -598,6 +610,80 @@ export class Mechanism { } } + // A rocking input covers only its own arc, and a degree per sample cuts a + // small arc into almost nothing: a linkage that swings eight degrees out + // and back was a cycle of some thirty frames, so the scrubber jumped and + // the graphs were drawn between a handful of points. The arc is only known + // once it has been walked, so walk it at crank spacing first, then cut the + // same arc into the sample count a full crank turn would have had and walk + // it again. One refinement, never a coarsening, and never for a crank: + // a full revolution already has its 360, and the MATLAB verification + // tables are stated at exactly that spacing. + if ( + this.sampling === 'adaptive' && + revoluteInput && + // Only when the crank spacing is what this mechanism moves by: a driven + // pin steps by its own field, so re-solving it with a finer crank + // spacing repeats the identical arc under a 58-times-faster clock. + PositionSolver.stepsByRevoluteSampleStep && + reversals >= 2 && + revoluteStep === Math.PI / 180 + ) { + const samples = this._joints.length - 1; + const TARGET_SAMPLES = 360; + // Sixty-four cuts per degree matches the boundary solver's own halving + // cap, and keeps every sample's motion far above the four decimals a + // solved position is held to. + const FINEST = Math.PI / 180 / 64; + if (samples > 0 && samples < TARGET_SAMPLES * (2 / 3)) { + const refined = Math.max((revoluteStep * samples) / TARGET_SAMPLES, FINEST); + // The coarse cycle is kept in hand, because the fine one is not + // guaranteed to be the same cycle: a limit is wherever the solver + // failed, and a failure at one degree is sometimes a fold too sharp + // for that seed rather than a place the linkage cannot pass. A finer + // step walks through such a fold and out into arc the coarse pass + // never saw -- the honest response to which is not to wander until + // the frame cap calls the whole mechanism broken, but to keep the + // cycle that did close. + const coarse = { + joints: this._joints.slice(), + links: this._links.slice(), + forces: this._forces.slice(), + timeNum: this._timeNum.slice(), + speeds: this._inputAngularVelocities.slice(), + // setMechanismInvalid clears the loops with the frames, and the + // loops were found by the caller before any of this began. + loops: this._requiredLoops.slice(), + }; + this._joints.length = 1; + this._links.length = 1; + this._forces.length = 1; + this._timeNum.length = 0; + // Back to its seed entry, not to nothing: the first speed is pushed by + // the constructor before this function ever runs, so it is the one + // entry a re-entry will not put back -- and without it the array runs + // one short of the frames, and the last sample of every refined cycle + // solves against an undefined speed. + this._inputAngularVelocities.length = 1; + this.findFullMovementPos(requestedAngVel, refined); + if (!this.mechanismValid) { + this._joints = coarse.joints; + this._links = coarse.links; + this._forces = coarse.forces; + this._timeNum = coarse.timeNum; + this._inputAngularVelocities = coarse.speeds; + this._requiredLoops = coarse.loops; + this.mechanismValid = true; + this._failure = undefined; + this._cycleGap = undefined; + // The abandoned pass also leaves its spacing in the solver's + // static, where the drive-state capture that follows would read it. + PositionSolver.revoluteSampleStep = revoluteStep; + } + return; + } + } + // An extension that ran its full second revolution and is still not home // bought nothing: keep the one-revolution cycle the old behavior kept. if ( diff --git a/src/app/model/mechanism/position-solver.ts b/src/app/model/mechanism/position-solver.ts index 0aaa912c..55401eb2 100644 --- a/src/app/model/mechanism/position-solver.ts +++ b/src/app/model/mechanism/position-solver.ts @@ -350,6 +350,25 @@ export class PositionSolver { * `SAMPLES_PER_STROKE`. Undefined when nothing prismatic is driving. */ static drivenSampleStep?: number; + /** + * Sample spacing for a revolute input, in radians. One degree, the spacing a + * crank has always had -- except when a rocking input turns out to cover + * only a few degrees of arc, and the mechanism asks for the same arc cut + * finer so its whole cycle is not six frames long (see + * Mechanism.findFullMovementPos). + */ + static revoluteSampleStep = Math.PI / 180; + + /** + * Whether the crank spacing above is the spacing this mechanism actually + * moves by. A driven pin and a driven cylinder each carry a step of their + * own, so changing the crank spacing under one of those changes nothing but + * the clock -- the arc keeps its old samples while every sample claims to + * span less time. + */ + static get stepsByRevoluteSampleStep(): boolean { + return this.pinDrive === undefined && this.cylinderDrive === undefined; + } private static internalTriangleValuesMap = new Map(); private static desiredConnectedJointIndicesMap = new Map(); private static desiredAnalysisJointMap = new Map(); @@ -447,6 +466,7 @@ export class PositionSolver { this.solvedPoses = []; this.pendingSpan = undefined; this.drivenSampleStep = undefined; + this.revoluteSampleStep = Math.PI / 180; this.stepCount = 0; this.unsolvableJoints = []; this.unusableCylinderDrive = undefined; @@ -2369,7 +2389,7 @@ export class PositionSolver { private static incrementRevInput(inputJoint: Joint, unknownJoint: Joint, angVelDir: boolean) { const r = this.jointDistMap.get(inputJoint.id + ',' + unknownJoint.id)!; - const increment = angVelDir ? Math.PI / 180.0 : -Math.PI / 180.0; + const increment = angVelDir ? this.revoluteSampleStep : -this.revoluteSampleStep; const angle = Math.atan2(unknownJoint.y - inputJoint.y, unknownJoint.x - inputJoint.x); const x = Math.cos(angle + increment) * r + inputJoint.x; const y = Math.sin(angle + increment) * r + inputJoint.y; diff --git a/src/test-utils/verification/fixture.ts b/src/test-utils/verification/fixture.ts index daeea369..c5269159 100644 --- a/src/test-utils/verification/fixture.ts +++ b/src/test-utils/verification/fixture.ts @@ -123,17 +123,23 @@ export interface BuiltMechanism { */ const SOLVING_OBJECT_SCALE = 1 * MODEL_SCALE; -export function buildMechanism(fixture: MechanismFixture): BuiltMechanism { +export function buildMechanism( + fixture: MechanismFixture, + sampling: 'adaptive' | 'degree' = 'degree' +): BuiltMechanism { const previousScale = SettingsService.objectScale; SettingsService._objectScale.next(SOLVING_OBJECT_SCALE); try { - return buildMechanismNow(fixture); + return buildMechanismNow(fixture, sampling); } finally { SettingsService._objectScale.next(previousScale); } } -function buildMechanismNow(fixture: MechanismFixture): BuiltMechanism { +function buildMechanismNow( + fixture: MechanismFixture, + sampling: 'adaptive' | 'degree' = 'degree' +): BuiltMechanism { // ColorService registers itself as a static singleton that RealLink depends // on; SettingsService.objectScale is used when forces render their SVG. if (!ColorService.instance) { @@ -263,7 +269,11 @@ function buildMechanismNow(fixture: MechanismFixture): BuiltMechanism { [], fixture.gravity ?? false, 'm', - fixture.inputAngVel + fixture.inputAngVel, + // The MATLAB tables are stated one row per degree of crank and compared + // one to one, so this harness defaults to the grid they are stated on; + // the specs that exercise adaptive sampling ask for it by name. + sampling ); return { mechanism, joints, links, forces, fixture }; } diff --git a/src/tests/verification/adaptive-sampling.spec.ts b/src/tests/verification/adaptive-sampling.spec.ts new file mode 100644 index 00000000..7eef3855 --- /dev/null +++ b/src/tests/verification/adaptive-sampling.spec.ts @@ -0,0 +1,45 @@ +import { buildMechanism } from '../../test-utils/verification/fixture'; +import { stephensonIiiEx2Fixture, wattIFixture } from '../../test-utils/verification/fixtures'; + +/** + * Adaptive sampling: a rocking input's small arc is cut into a full cycle's + * worth of samples instead of a degree apiece, so a linkage that barely moves + * does not animate in a handful of frames. + * + * The refinement re-walks an arc the coarse pass has already measured, and a + * coarse limit is wherever the solver failed -- sometimes a genuine toggle, + * sometimes a fold too sharp for a one-degree seed. A finer step walks through + * such a fold into arc the coarse pass never saw, so the refined pass must + * prove it closes a cycle or the coarse one is kept. Watt I is the standing + * example: its coarse read is a 20-sample sliver, and the fine pass sails off + * it, so the sliver is what the reader keeps seeing. + */ +describe('adaptive sampling of rocking inputs', () => { + it('cuts a genuine rocker cycle into a full complement of samples', () => { + const degree = buildMechanism(stephensonIiiEx2Fixture()).mechanism; + const adaptive = buildMechanism(stephensonIiiEx2Fixture(), 'adaptive').mechanism; + + expect(adaptive.isMechanismValid()).toBe(true); + expect(degree.joints.length).toBeLessThan(240); + expect(adaptive.joints.length).toBeGreaterThan(300); + + // The same mechanism, denser: it starts in the same pose and comes home. + degree.joints[0].forEach((joint, index) => { + const twin = adaptive.joints[0][index]; + expect(twin.x).toBeCloseTo(joint.x, 6); + expect(twin.y).toBeCloseTo(joint.y, 6); + }); + const last = adaptive.joints[adaptive.joints.length - 1]; + adaptive.joints[0].forEach((joint, index) => { + expect(Math.hypot(last[index].x - joint.x, last[index].y - joint.y)).toBeLessThan(0.05); + }); + }); + + it('keeps the coarse cycle when the fine pass does not close one', () => { + const degree = buildMechanism(wattIFixture()).mechanism; + const adaptive = buildMechanism(wattIFixture(), 'adaptive').mechanism; + + expect(adaptive.isMechanismValid()).toBe(true); + expect(adaptive.joints.length).toBe(degree.joints.length); + }); +}); From 13fbe738bb8a924871d5bd7226b1aefa3cc702eb Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 13:15:42 -0700 Subject: [PATCH 169/236] Draw a grounded crank as the disc it sweeps An engine's crank is a disc, and drawing it as a bar between two pins is a schematic of it rather than a picture of it. Right-clicking a link now offers Make Circular, and Make Bar to put it back. Offered only where there is a single ground pin to draw the disc about. A coupler has no fixed centre and a two-ground frame does not turn at all, so neither has an answer to "centred where?" -- PMKS-Refactor, where this comes from, returns an empty path in that case and the link vanishes off the canvas. The flag is ignored rather than cleared while the answer is no, so a crank that loses its ground comes back as a bar and returns to a disc if it is grounded again. Mass properties deliberately do not follow. uniform-body.ts derives them from the joint skeleton and never from the drawn outline, on the grounds that a moment of inertia which moved when someone dragged a display slider would be physics depending on cosmetics; being drawn round is the same kind of choice. The Edit panel says so next to the two numbers it would otherwise be fair to assume had changed. In the URL the choice rides in the link record's leading character, which already carries root-ness and the two auto/custom flags -- the record's tail is a variable-length list of joint ids, so that character is the only fixed-width room there is. The eight legacy characters keep their exact meanings and eight digits carry the disc half, so a drawing with no circular link in it encodes to the bytes it always did. Co-Authored-By: Claude Fable 5 --- src/app/app.component.ts | 8 ++ .../edit-panel/edit-panel.component.html | 9 ++ .../edit-panel/edit-panel.component.scss | 9 ++ .../component/new-grid/new-grid.component.ts | 14 ++ src/app/model/link.circular.spec.ts | 132 ++++++++++++++++++ src/app/model/link.ts | 73 ++++++++++ src/app/services/mechanism.service.ts | 18 +++ .../services/transcoding/mechanism-builder.ts | 8 ++ .../services/transcoding/string-transcoder.ts | 69 +++++---- .../services/transcoding/transcoder-data.ts | 4 +- .../transcoding/url-circular-link.spec.ts | 93 ++++++++++++ src/app/services/url-generation.service.ts | 3 +- src/assets/icons/make_bar.svg | 6 + src/assets/icons/make_circular.svg | 5 + 14 files changed, 422 insertions(+), 29 deletions(-) create mode 100644 src/app/model/link.circular.spec.ts create mode 100644 src/app/services/transcoding/url-circular-link.spec.ts create mode 100644 src/assets/icons/make_bar.svg create mode 100644 src/assets/icons/make_circular.svg diff --git a/src/app/app.component.ts b/src/app/app.component.ts index 809366ac..6ff896a6 100644 --- a/src/app/app.component.ts +++ b/src/app/app.component.ts @@ -120,6 +120,14 @@ export class AppComponent { 'unweld_joint', this.domSanitizer.bypassSecurityTrustResourceUrl('assets/icons/unweld_joint.svg') ); + this.matIconRegistry.addSvgIcon( + 'make_circular', + this.domSanitizer.bypassSecurityTrustResourceUrl('assets/icons/make_circular.svg') + ); + this.matIconRegistry.addSvgIcon( + 'make_bar', + this.domSanitizer.bypassSecurityTrustResourceUrl('assets/icons/make_bar.svg') + ); this.matIconRegistry.addSvgIcon( 'github', this.domSanitizer.bypassSecurityTrustResourceUrl('assets/icons/github.svg') diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index 09012b59..49560671 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -561,6 +561,15 @@ } + + @if (activeSrv.selectedLink.isCircle) { +

    + Drawn as a disc. These two still follow the link's joints, not the + circle — set Rotational Inertia by hand for a real flywheel. +

    + }
    @if (activeSrv.selectedLink.isCompound) { diff --git a/src/app/component/edit-panel/edit-panel.component.scss b/src/app/component/edit-panel/edit-panel.component.scss index 646067be..8057931b 100644 --- a/src/app/component/edit-panel/edit-panel.component.scss +++ b/src/app/component/edit-panel/edit-panel.component.scss @@ -219,6 +219,15 @@ } } +/* Sits under the two derived fields it qualifies, in the legend's own grey so + it reads as the same aside rather than as a warning about a problem. */ +.massArea .shapeNote { + margin: 6px 0 0; + font-size: 10.5px; + line-height: 1.35; + color: rgba(0, 0, 0, 0.55); +} + .massArea .dot { display: inline-block; width: 4px; diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 7c24d611..a4fa170d 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -488,6 +488,20 @@ export class NewGridComponent implements OnDestroy { weldedLinkFilletSelected ) ); + // Offered only where there is a pin to draw the disc about — a crank. + // On anything else the item would have to explain why it does nothing, + // and a menu that lists actions it will refuse is worse than one that + // lists the actions it has. + if ((this.lastRightClick as RealLink).canBeCircular()) { + const drawnRound = (this.lastRightClick as RealLink).isCircle; + this.cMenuItems.push( + new cMenuItem( + drawnRound ? 'Make Bar' : 'Make Circular', + this.mechanismSrv.toggleLinkCircular.bind(this.mechanismSrv), + drawnRound ? 'make_bar' : 'make_circular' + ) + ); + } this.cMenuItems.push(this.lockMenuItem(this.lastRightClick as RealLink, 'Link')); break; } diff --git a/src/app/model/link.circular.spec.ts b/src/app/model/link.circular.spec.ts new file mode 100644 index 00000000..7cc23a27 --- /dev/null +++ b/src/app/model/link.circular.spec.ts @@ -0,0 +1,132 @@ +import { RealLink } from './link'; +import { PrisJoint, RevJoint } from './joint'; +import { SettingsService } from '../services/settings.service'; + +/** + * A crank drawn as the disc it sweeps. + * + * The rule the drawing rests on is that a disc needs a centre, and the only + * centre a link can offer without being asked is the one pin it turns about. + * Everything here is about that rule holding when the mechanism changes under + * it -- the flag outlives a ground being removed, so the answer has to come + * from the joints every time rather than from what was true when it was set. + */ + +/** A grounded crank: pin at the origin, throw out to (3, 4) -- a reach of 5. */ +function crank(): { link: RealLink; ground: RevJoint; throwPin: RevJoint } { + const ground = new RevJoint('A', 0, 0, false, true); + const throwPin = new RevJoint('B', 3, 4); + return { link: new RealLink('AB', [ground, throwPin]), ground, throwPin }; +} + +/** Every number in a path string, in the order it is written. */ +function numbersIn(path: string): number[] { + return (path.match(/-?\d+(\.\d+)?/g) ?? []).map(Number); +} + +describe('a link drawn as a circle', () => { + beforeEach(() => { + SettingsService._objectScale.next(1); + }); + + it('is offered on a grounded crank and nowhere else', () => { + expect(crank().link.canBeCircular()).toBe(true); + + // No ground: a coupler has no fixed centre, so no disc to draw about. + const floating = new RealLink('AB', [new RevJoint('A', 0, 0), new RevJoint('B', 3, 4)]); + expect(floating.canBeCircular()).toBe(false); + + // Two grounds: a frame, which does not turn at all. + const frame = new RealLink('AB', [ + new RevJoint('A', 0, 0, false, true), + new RevJoint('B', 3, 4, false, true), + ]); + expect(frame.canBeCircular()).toBe(false); + + // A grounded slot anchors a slide, not a pivot. + const slotted = new RealLink('AB', [ + new PrisJoint('A', 0, 0, false, true), + new RevJoint('B', 3, 4), + ]); + expect(slotted.canBeCircular()).toBe(false); + }); + + it('draws a disc on the ground pin, wide enough to hold every joint', () => { + const { link, ground } = crank(); + link.isCircle = true; + link.reComputeDPath(); + + expect(link.d).toMatch(/^M /); + expect(link.d).not.toMatch(/NaN|Infinity/); + + // Two semicircle arcs of one radius: reach plus the half-width every bar's + // end cap is already drawn with, so the disc covers what the bar covered. + const radius = 5 + SettingsService.objectScale / 4; + const numbers = numbersIn(link.d); + expect(numbers[0]).toBeCloseTo(ground.x - radius, 6); + expect(numbers[1]).toBeCloseTo(ground.y, 6); + expect(link.d.match(/A /g)?.length).toBe(2); + + // A disc has no edges, so there is nothing to attach a joint along. + expect(link.externalLines).toEqual([]); + expect(link.initialExternalLines).toEqual([]); + }); + + it('grows to cover a tracer point added past the throw', () => { + const { link, ground } = crank(); + link.isCircle = true; + link.joints.push(new RevJoint('C', 0, 9)); + link.reComputeDPath(); + + const radius = 9 + SettingsService.objectScale / 4; + expect(numbersIn(link.d)[0]).toBeCloseTo(ground.x - radius, 6); + }); + + it('comes back as a bar when the ground it was centred on is removed', () => { + const { link, ground } = crank(); + link.isCircle = true; + link.reComputeDPath(); + const asDisc = link.d; + + ground.ground = false; + link.reComputeDPath(); + expect(link.d).not.toBe(asDisc); + expect(link.canBeCircular()).toBe(false); + // The bar has edges again, which is how the rest of the app knows it can + // hang a joint on one. + expect(link.externalLines.length).toBeGreaterThan(0); + + // The choice was not thrown away, only ignored: grounding it again is + // enough to get the disc back, without having to ask for it a second time. + ground.ground = true; + link.reComputeDPath(); + expect(link.d).toBe(asDisc); + }); + + it('is inherited by the copy of a link, so every solved frame is a disc too', () => { + const { link } = crank(); + link.isCircle = true; + link.reComputeDPath(); + + // What Mechanism does per timestep: rebuild the link against moved joints, + // handing the previous one in as the source of its visual geometry. + const moved = new RealLink( + 'AB', + [new RevJoint('A', 0, 0, false, true), new RevJoint('B', -4, 3)], + undefined, + undefined, + undefined, + undefined, + link + ); + expect(moved.isCircle).toBe(true); + + // The same circle, though not the same string: the copy is the original + // rigidly rotated, so the path now starts at a different point of the same + // rim. Centre and radius are what "the same disc" means. + const turned = numbersIn(moved.d); + const radius = 5 + SettingsService.objectScale / 4; + expect(turned[2]).toBeCloseTo(radius, 6); + expect(Math.hypot(turned[0], turned[1])).toBeCloseTo(radius, 6); + }); +}); diff --git a/src/app/model/link.ts b/src/app/model/link.ts index 5143b3cc..9f148d67 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -154,6 +154,22 @@ export class RealLink extends Link { */ public moiIsCustom = false; public comIsCustom = false; + /** + * Draw this link as the disc it sweeps rather than as a bar between its + * joints — the crank of an engine, drawn the way an engine draws it. + * + * A drawing choice and nothing more. Mass properties keep coming from the + * joint skeleton (see uniform-body.ts), so a link's moment of inertia does + * not change because someone changed its picture; the Edit panel says so + * where the numbers are, rather than leaving the difference to be guessed. + * + * Only a link with exactly one ground pin can honour it, because the disc + * is centred on the pin the link turns about and a link with no such pin + * has no centre to offer. `canBeCircular` is that question; the flag is + * simply ignored while the answer is no, so a link that loses its ground + * comes back as a bar and returns to a disc if it is grounded again. + */ + public isCircle = false; /** * A hand-placed centre of mass, held against the link's own frame: along * and across the unit direction joints[0]→joints[1], measured from the @@ -273,6 +289,13 @@ export class RealLink extends Link { this.subset = subSet; } this._CoM = CoM !== undefined ? CoM : RealLink.determineCenterOfMass(joints); + // Before the path is built, because being drawn as a disc is what decides + // what that path is. `visualSource` is the link this one is a copy of, so + // every solved timestep inherits the choice without each cloning site + // having to remember it. + if (visualSource !== undefined) { + this.isCircle = visualSource.isCircle; + } if ( visualSource?.isVisualGeometryCurrent && visualSource.joints.length >= 2 && @@ -460,6 +483,47 @@ export class RealLink extends Link { ); } + /** + * The pin a circular link turns about, or nothing when it has no single one. + * + * Exactly one ground, and a revolute one: two grounds make a frame that does + * not turn at all, none makes a coupler with no fixed centre to draw about, + * and a prismatic ground anchors a slot rather than a pivot. Each of those + * would need a different answer to "centred where?", and a disc drawn about + * a guess is worse than the bar it replaced. + */ + groundPivot(): Joint | undefined { + const pivots = this.joints.filter( + (joint) => joint instanceof RealJoint && joint.ground && !(joint instanceof PrisJoint) + ); + return pivots.length === 1 ? pivots[0] : undefined; + } + + /** Whether Make Circular has anything to act on. */ + canBeCircular(): boolean { + return this.subset.length === 0 && this.groundPivot() !== undefined; + } + + /** + * The disc a circular link is drawn as, or nothing when it is not one. + * + * Centred on the ground pin, and wide enough to reach the outermost joint's + * end cap — the same half-width every bar is drawn with — so the disc covers + * exactly the ground the bar covered and no pin ends up outside its own link. + */ + private circularOutline(): string | undefined { + if (!this.isCircle) return undefined; + const centre = this.groundPivot(); + if (centre === undefined) return undefined; + const reach = this.joints.reduce((far, joint) => Math.max(far, getDistance(centre, joint)), 0); + const radius = reach + SettingsService.objectScale / 4; + const { x, y } = centre; + return ( + `M ${x - radius} ${y} A ${radius} ${radius} 0 0 1 ${x + radius} ${y} ` + + `A ${radius} ${radius} 0 0 1 ${x - radius} ${y} Z ` + ); + } + getSimplePathString(): string { this.externalLines = []; let l = this; @@ -474,6 +538,15 @@ export class RealLink extends Link { this.initialExternalLines = []; return collapsed; } + // A disc has no edges, so there is nothing for a joint to be attached + // along and nothing for the edit-hover to measure — the same empty answer + // the collapsed bar above gives, for the same reason. + const disc = this.circularOutline(); + if (disc) { + this.externalLines = []; + this.initialExternalLines = []; + return disc; + } const hullPoints = hull(points, Infinity) as number[][]; //Hull points find the convex hull (largest fence) // Match resulting x,y points to joints. diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 5bb47ab3..fba87166 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -1876,6 +1876,24 @@ export class MechanismService { this.onMechUpdateState.next(2); } + /** + * Draw the selected link as the disc it sweeps, or as a bar again. + * + * The editable link's own outline is rebuilt here rather than left to the + * next update: the drawing on screen in Edit mode is this object, not a + * solved copy of it, so nothing else would redraw it until the mechanism + * moved. Saved, because it is a change to the drawing a person would expect + * to be able to undo. + */ + toggleLinkCircular() { + const link = this.activeObjService.selectedLink; + if (!link.canBeCircular()) return; + link.isCircle = !link.isCircle; + link.reComputeDPath(); + this.updateMechanism(true); + this.onMechUpdateState.next(2); + } + addJointAtCOM() { let link = this.activeObjService.selectedLink; let com = link.CoM; diff --git a/src/app/services/transcoding/mechanism-builder.ts b/src/app/services/transcoding/mechanism-builder.ts index 707097ff..53cf334f 100644 --- a/src/app/services/transcoding/mechanism-builder.ts +++ b/src/app/services/transcoding/mechanism-builder.ts @@ -100,6 +100,14 @@ export class MechanismBuilder { link.moiIsCustom = linkData.moiIsCustom; link.comIsCustom = linkData.comIsCustom; link.fill = linkData.color; + // The joints are all built before any link is (they have to be — a link + // is named by the ones it holds), so the ground pin a disc is centred on + // is already known here and the outline can be built for real rather + // than as a bar to be corrected on the next update. + if (linkData.isCircle) { + link.isCircle = true; + link.reComputeDPath(); + } } else { link = new SliderBlock(linkData.id, jointsOnLink, linkData.mass); } diff --git a/src/app/services/transcoding/string-transcoder.ts b/src/app/services/transcoding/string-transcoder.ts index bc7b04b4..4bc5a861 100644 --- a/src/app/services/transcoding/string-transcoder.ts +++ b/src/app/services/transcoding/string-transcoder.ts @@ -160,36 +160,50 @@ export class StringTranscoder extends GenericTranscoder { This should on average be 26 + [number of joints] characters per link */ /** - * The link record's leading character carries root-ness and the two - * auto/custom flags in one slot, because the record's tail is variable - * length and cannot take an appended field. 'Y'/'N' are the legacy pair and - * keep meaning what every old URL meant: values the author chose. + * The link record's leading character carries root-ness, the two auto/custom + * flags and whether the link is drawn as a disc, all in one slot, because the + * record's tail is variable length and cannot take an appended field. 'Y'/'N' + * are the legacy pair and keep meaning what every old URL meant: values the + * author chose, drawn as a bar. * - * root: Y = both custom A = both auto M = MoI auto G = CoM auto - * non-root: N = both custom a = both auto m = MoI auto g = CoM auto + * bar, root: Y = both custom A = both auto M = MoI auto G = CoM auto + * bar, non-root: N = both custom a = both auto m = MoI auto g = CoM auto + * disc, root: 0 = both custom 1 = both auto 2 = MoI auto 3 = CoM auto + * disc, non-root: 4 = both custom 5 = both auto 6 = MoI auto 7 = CoM auto + * + * Digits for the disc half so the two halves cannot be confused for one + * another by eye, and because no letter was left that did not already read as + * something else in this format. A drawing with no circular link in it still + * encodes to exactly the bytes it did before discs existed — the same bargain + * the lock section makes. */ - private static readonly LINK_FLAG_CHARS: Record = { - // char: [isRoot, moiIsCustom, comIsCustom] - Y: [true, true, true], - A: [true, false, false], - M: [true, false, true], - G: [true, true, false], - N: [false, true, true], - a: [false, false, false], - m: [false, false, true], - g: [false, true, false], + private static readonly LINK_FLAG_CHARS: Record = { + // char: [isRoot, moiIsCustom, comIsCustom, isCircle] + Y: [true, true, true, false], + A: [true, false, false, false], + M: [true, false, true, false], + G: [true, true, false, false], + N: [false, true, true, false], + a: [false, false, false, false], + m: [false, false, true, false], + g: [false, true, false, false], + '0': [true, true, true, true], + '1': [true, false, false, true], + '2': [true, false, true, true], + '3': [true, true, false, true], + '4': [false, true, true, true], + '5': [false, false, false, true], + '6': [false, false, true, true], + '7': [false, true, false, true], }; private encodeLink(link: LinkData): string { - const flagChar = (root: string[]): string => - !link.moiIsCustom && !link.comIsCustom - ? root[1] - : !link.moiIsCustom - ? root[2] - : !link.comIsCustom - ? root[3] - : root[0]; - let isRoot: string = link.isRoot ? flagChar(['Y', 'A', 'M', 'G']) : flagChar(['N', 'a', 'm', 'g']); + // Found in the same table the decoder reads, rather than written out a + // second time here: the two can then only agree. + const wanted = [link.isRoot, link.moiIsCustom, link.comIsCustom, link.isCircle]; + const isRoot = Object.keys(StringTranscoder.LINK_FLAG_CHARS).find((candidate) => + StringTranscoder.LINK_FLAG_CHARS[candidate].every((flag, i) => flag === wanted[i]) + )!; let type: string = link.type == LINK_TYPE.REAL ? 'R' : 'P'; let id = link.id; let massString = this.encodeDecimalNumber(link.mass); @@ -243,7 +257,7 @@ export class StringTranscoder extends GenericTranscoder { // not quietly demote the link to a non-root nobody solves. throw new Error(`Unknown link flag character '${flagChar}'`); } - const [isRoot, moiIsCustom, comIsCustom] = flags; + const [isRoot, moiIsCustom, comIsCustom, isCircle] = flags; let type = sd.nextCharacter() === 'R' ? LINK_TYPE.REAL : LINK_TYPE.PISTON; let id = sd.nextToken(); let name = sd.nextToken(); @@ -278,7 +292,8 @@ export class StringTranscoder extends GenericTranscoder { jointIDs, subsetLinkIDs, moiIsCustom, - comIsCustom + comIsCustom, + isCircle ); } diff --git a/src/app/services/transcoding/transcoder-data.ts b/src/app/services/transcoding/transcoder-data.ts index 8742f418..4d592654 100644 --- a/src/app/services/transcoding/transcoder-data.ts +++ b/src/app/services/transcoding/transcoder-data.ts @@ -85,7 +85,9 @@ export class LinkData { * variable-length, so there is nowhere behind it to append to. */ public moiIsCustom: boolean = true, - public comIsCustom: boolean = true + public comIsCustom: boolean = true, + /** Whether the link is drawn as the disc it sweeps. Legacy URLs: a bar. */ + public isCircle: boolean = false ) {} } diff --git a/src/app/services/transcoding/url-circular-link.spec.ts b/src/app/services/transcoding/url-circular-link.spec.ts new file mode 100644 index 00000000..333c381d --- /dev/null +++ b/src/app/services/transcoding/url-circular-link.spec.ts @@ -0,0 +1,93 @@ +import '../../model/joint'; +import { Joint, RevJoint } from '../../model/joint'; +import { Force } from '../../model/force'; +import { Link, RealLink } from '../../model/link'; +import { ActiveObjService } from '../active-obj.service'; +import { MechanismService } from '../mechanism.service'; +import { SettingsService } from '../settings.service'; +import { urlGeneratorFor } from '../../../test-utils/url-encoding'; +import { MechanismBuilder } from './mechanism-builder'; +import { StringTranscoder } from './string-transcoder'; +import { MODEL_SCALE } from '../../model/render-scale'; + +/** + * Whether a link is drawn as a disc rides in the link record's leading + * character, alongside root-ness and the two auto/custom mass flags. There is + * nowhere behind it to append to -- the record's tail is a variable-length list + * of joint ids -- so the flag had to go into the one slot that is fixed width. + * + * The compatibility claim, and the reason it is worth stating in bytes: the + * eight legacy characters keep their exact meanings, and the eight new ones are + * reached only by a link someone actually asked to draw round. A drawing with + * no circular link in it therefore encodes to the same bytes it always did. + */ + +const S = MODEL_SCALE; + +function source(round: boolean) { + const ground = new RevJoint('A', 0, 0, true, true); + const throwPin = new RevJoint('B', 2 * S, 0); + const crank = new RealLink('AB', [ground, throwPin], 1, 1); + [ground, throwPin].forEach((joint) => joint.links.push(crank)); + ground.connectedJoints.push(throwPin); + throwPin.connectedJoints.push(ground); + crank.isCircle = round; + return { joints: [ground, throwPin], links: [crank], forces: [] as Force[] }; +} + +function encode(round: boolean): string { + return urlGeneratorFor( + { ...source(round), mechanismTimeStep: 0 } as unknown as MechanismService, + new SettingsService() + ).generateUrlQuery(); +} + +function decode(encoded: string): { joints: Joint[]; links: Link[] } { + const decoder = new StringTranscoder(); + decoder.decodeURL(encoded); + const target = { + joints: [] as Joint[], + links: [] as Link[], + forces: [] as Force[], + mechanismTimeStep: 0, + } as unknown as MechanismService; + new MechanismBuilder(target, decoder, new SettingsService(), new ActiveObjService()).build(true); + return target; +} + +describe('a circular link in the URL', () => { + it('round-trips the choice, and opens already drawn as a disc', () => { + const opened = decode(encode(true)); + const crank = opened.links.find((link) => link.id === 'AB') as RealLink; + + expect(crank.isCircle).toBe(true); + // Not merely flagged: built as the disc. Joints are decoded before links + // are, so the ground pin is known and the outline never has to be a bar + // first and corrected afterwards. + expect(crank.d.match(/A /g)?.length).toBe(2); + expect(crank.externalLines).toEqual([]); + }); + + it('leaves a drawing of ordinary bars byte-for-byte as it was', () => { + // One character differs between the two spellings, and it is the link + // record's first -- so nothing about the format moved. + const asBar = encode(false); + const asDisc = encode(true); + + expect(asBar.length).toBe(asDisc.length); + const at = [...asBar].findIndex((char, i) => char !== asDisc[i]); + expect([...asBar].filter((char, i) => char !== asDisc[i]).length).toBe(1); + // 'A' is root with both mass properties following the shape; '1' is that + // same link, drawn round. The pairing is the table's, not this test's. + expect(asBar[at]).toBe('A'); + expect(asDisc[at]).toBe('1'); + expect(decode(asBar).links.every((link) => !(link as RealLink).isCircle)).toBe(true); + }); + + it('refuses a link flag character it does not know', () => { + // Fail closed, as the format already did: a record from some future + // spelling must reject the URL rather than decode as a link nobody drew. + const decoder = new StringTranscoder(); + expect(() => decoder.decodeURL(encode(true).replace('1R', '$R'))).toThrow(); + }); +}); diff --git a/src/app/services/url-generation.service.ts b/src/app/services/url-generation.service.ts index 71d107c7..9944767f 100644 --- a/src/app/services/url-generation.service.ts +++ b/src/app/services/url-generation.service.ts @@ -100,7 +100,8 @@ export class UrlGenerationService { link.joints.map((joint) => joint.id), link.subset.map((subset) => subset.id), link.moiIsCustom, - link.comIsCustom + link.comIsCustom, + link.isCircle ) ); } else if (link instanceof SliderBlock) { diff --git a/src/assets/icons/make_bar.svg b/src/assets/icons/make_bar.svg new file mode 100644 index 00000000..a65bac55 --- /dev/null +++ b/src/assets/icons/make_bar.svg @@ -0,0 +1,6 @@ + + + + + diff --git a/src/assets/icons/make_circular.svg b/src/assets/icons/make_circular.svg new file mode 100644 index 00000000..d767411c --- /dev/null +++ b/src/assets/icons/make_circular.svg @@ -0,0 +1,5 @@ + + + + + From 1eaa61585b48092473824714a29065d71e3aa711 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 13:16:22 -0700 Subject: [PATCH 170/236] Score a pose in the units its tolerance is written in The match tolerance is a length in grid units -- 0.05 in the panel, 0.09 in the pass/fail check below it. The distances it was compared against are between model coordinates, which are grid units times MODEL_SCALE. So a pose counted as reached only when the linkage hit it to within 0.05/200 of a unit, which in practice meant the one pose the four-bar is built at and nothing else. Every pose but the first has been reading "no match" since, on linkages that pass straight through them: on a three-pose four-bar measured here, pose 2 is reached to 0.01 units and was still marked red. Fixing the comparison turns it green and leaves pose 3 -- genuinely missed by 1.8 units, a circuit defect -- red, which is the answer the marks were there to give. Co-Authored-By: Claude Fable 5 --- .../synthesis-panel.component.ts | 35 ++++++++++++------- 1 file changed, 23 insertions(+), 12 deletions(-) diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.ts b/src/app/component/synthesis-panel/synthesis-panel.component.ts index 65faaba4..7976bec3 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.ts +++ b/src/app/component/synthesis-panel/synthesis-panel.component.ts @@ -8,6 +8,7 @@ import { SynthesisBuilderService } from 'src/app/services/synthesis/synthesis-bu import { NumberUnitParserService } from 'src/app/services/number-unit-parser.service'; import { SettingsService } from 'src/app/services/settings.service'; import { SynthesisStatus } from 'src/app/services/synthesis/synthesis-constants'; +import { MODEL_SCALE } from 'src/app/model/render-scale'; import { SvgGridService } from '../../services/svg-grid.service'; import { ColorService } from '../../services/color.service'; import { PanelSectionComponent } from '../BLOCKS/panel-section/panel-section.component'; @@ -380,20 +381,22 @@ export class SynthesisPanelComponent implements OnInit { } checkQuality(quality: number[]) { + // In model units, like the distances it is comparing against. + const POSE_REACHED = 0.09 * MODEL_SCALE; let positionMatches: string[] = ['Position 1', 'Position 2', 'Position 3']; - if (quality[0] >= 0.09 || quality[1] >= 0.09) { + if (quality[0] >= POSE_REACHED || quality[1] >= POSE_REACHED) { positionMatches[0] = 'No Match'; this.synthesisBuilder.poses[1].status = SynthesisStatus.INVALID; } else { this.synthesisBuilder.poses[1].status = SynthesisStatus.VALID; } - if (quality[3] >= 0.09 || quality[4] >= 0.09) { + if (quality[3] >= POSE_REACHED || quality[4] >= POSE_REACHED) { positionMatches[1] = 'No Match'; this.synthesisBuilder.poses[2].status = SynthesisStatus.INVALID; } else { this.synthesisBuilder.poses[2].status = SynthesisStatus.VALID; } - if (quality[6] >= 0.09 || quality[7] >= 0.09) { + if (quality[6] >= POSE_REACHED || quality[7] >= POSE_REACHED) { positionMatches[2] = 'No Match'; this.synthesisBuilder.poses[3].status = SynthesisStatus.INVALID; } else { @@ -408,6 +411,14 @@ export class SynthesisPanelComponent implements OnInit { //joint B, Joint C, //compare that with poses + // Both tolerances a person deals with -- the one typed into the panel and + // the 0.09 below -- are lengths in the units the grid is labelled in. Every + // distance measured here is between model coordinates, which are those + // units times MODEL_SCALE. Comparing the two directly meant a pose counted + // as reached only when it was hit to the last decimal place, so all three + // marks read "no match" on linkages that pass straight through the poses. + const tolerance = qualityOfSyn * MODEL_SCALE; + let quality1_b: number = 999; let quality2_b: number = 999; let quality3_b: number = 999; @@ -456,27 +467,27 @@ export class SynthesisPanelComponent implements OnInit { //need to check if exact match //need to extract time step. - if (pos1Value_b < qualityOfSyn && pos1Value_c < qualityOfSyn && index == 1) { + if (pos1Value_b < tolerance && pos1Value_c < tolerance && index == 1) { quality1_b = pos1Value_b; quality1_c = pos1Value_c; pos1TimeStep = index; - } else if (pos1Value_b < qualityOfSyn && pos1Value_c < qualityOfSyn && index > 1) { + } else if (pos1Value_b < tolerance && pos1Value_c < tolerance && index > 1) { quality1_b = pos1Value_b; quality1_c = pos1Value_c; pos1TimeStep = index; - } else if (pos2Value_b < qualityOfSyn && pos2Value_c < qualityOfSyn && index == 1) { + } else if (pos2Value_b < tolerance && pos2Value_c < tolerance && index == 1) { quality2_b = pos2Value_b; quality2_c = pos2Value_c; pos2TimeStep = index; - } else if (pos2Value_b < qualityOfSyn && pos2Value_c < qualityOfSyn && index > 1) { + } else if (pos2Value_b < tolerance && pos2Value_c < tolerance && index > 1) { quality2_b = pos2Value_b; quality2_c = pos2Value_c; pos2TimeStep = index; - } else if (pos3Value_b < qualityOfSyn && pos3Value_c < qualityOfSyn && index == 1) { + } else if (pos3Value_b < tolerance && pos3Value_c < tolerance && index == 1) { quality3_b = pos3Value_b; quality3_c = pos3Value_c; pos3TimeStep = index; - } else if (pos3Value_b < qualityOfSyn && pos3Value_c < qualityOfSyn && index > 1) { + } else if (pos3Value_b < tolerance && pos3Value_c < tolerance && index > 1) { quality3_b = pos3Value_b; quality3_c = pos3Value_c; pos3TimeStep = index; @@ -509,15 +520,15 @@ export class SynthesisPanelComponent implements OnInit { Math.pow(jointC_x - posCoords[5].x, 2) + Math.pow(jointC_y - posCoords[5].y, 2) ); - if (pos1Value_b < qualityOfSyn && pos1Value_c < qualityOfSyn) { + if (pos1Value_b < tolerance && pos1Value_c < tolerance) { quality1_b = pos1Value_b; quality1_c = pos1Value_c; pos1TimeStep = index - 0.5; - } else if (pos2Value_b < qualityOfSyn && pos2Value_c < qualityOfSyn) { + } else if (pos2Value_b < tolerance && pos2Value_c < tolerance) { quality2_b = pos2Value_b; quality2_c = pos2Value_c; pos2TimeStep = index - 0.5; - } else if (pos3Value_b < qualityOfSyn && pos3Value_c < qualityOfSyn) { + } else if (pos3Value_b < tolerance && pos3Value_c < tolerance) { quality3_b = pos3Value_b; quality3_c = pos3Value_c; pos3TimeStep = index - 0.5; From f4d82f8c3b1d6bb440ad96b87db5117c33d1b8c7 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 13:16:39 -0700 Subject: [PATCH 171/236] Drive a synthesised four-bar with a crank that can actually turn MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Three-position synthesis answers "what linkage passes through these poses", not "what linkage can be driven through them". What comes out is usually a double-rocker: its input pin swings across an arc and stops, so there is no crank on it for a motor. The Drive section adds the classical repair -- a second ground pin, a fully rotating crank on it, and a coupler to the four-bar's input pin, making a six-bar one turn walks across the whole arc and back. The sizing is closed-form and lives in driver-dyad.ts, away from the panel. With D between the ground pins, R the four-bar's crank and Δ the arc to cover, the driven pin's distance from the new ground is D² + R² − 2DR·cos(θ − φ), which turns exactly where the driver folds straight and doubles back; setting coupler ± crank to that distance's extremes puts those turning points at the ends of the arc. The new ground goes in the clear run of directions the pin never sweeps, so the distance climbs the whole way across rather than reversing partway -- which is what makes the guarantee a guarantee. PMKS-Refactor, where this idea comes from, places the same two parts at fixed offsets of 0.8, 1.75 and 0.75 model units and does not check that the result drives anything; it works on its demo. Past a swing of half a turn no placement exists, and that is a refusal with the angle in it rather than a worse linkage. Swap Drive Pin drives from the other ground pin, which often turns freely when the first will not. Both it and the driver are held as intent on the builder service and read at build time, because synthesis re-runs from scratch on every pose change -- anything bolted on afterwards is thrown away by the next nudge of a coordinate. Evaluate Poses re-scores the poses against the linkage as it now stands, for after it has been edited by hand. button-block grew a tooltip to carry these, the way every other block in the panels already explains itself. Co-Authored-By: Claude Fable 5 --- e2e/circular-link-and-driver.mjs | 288 ++++++++++++++++++ .../BLOCKS/button/button.component.html | 3 + .../BLOCKS/button/button.component.ts | 10 +- .../synthesis-panel.component.html | 34 +++ .../synthesis-panel.component.scss | 13 + .../synthesis-panel.component.ts | 114 ++++++- src/app/selected-tab.service.ts | 3 + .../services/synthesis/driver-dyad.spec.ts | 122 ++++++++ src/app/services/synthesis/driver-dyad.ts | 202 ++++++++++++ .../synthesis/synthesis-builder.service.ts | 16 + 10 files changed, 798 insertions(+), 7 deletions(-) create mode 100644 e2e/circular-link-and-driver.mjs create mode 100644 src/app/services/synthesis/driver-dyad.spec.ts create mode 100644 src/app/services/synthesis/driver-dyad.ts diff --git a/e2e/circular-link-and-driver.mjs b/e2e/circular-link-and-driver.mjs new file mode 100644 index 00000000..a87d2553 --- /dev/null +++ b/e2e/circular-link-and-driver.mjs @@ -0,0 +1,288 @@ +/** + * The two things brought over from PMKS-Refactor, driven through the app: + * Make Circular on a crank, and the driver dyad that turns a synthesised + * four-bar into a six-bar a motor can run. + * + * BASE=http://localhost:4310 node e2e/circular-link-and-driver.mjs + */ +const { chromium } = await import('/tmp/pmks-playwright/node_modules/playwright/index.mjs'); +import { waitForReady } from './app-ready.mjs'; +import { readFileSync, mkdirSync } from 'node:fs'; + +const BASE = process.env.BASE ?? 'http://localhost:4310'; +const SHOTS = new URL('../artifacts/screenshots/', import.meta.url).pathname; +mkdirSync(SHOTS, { recursive: true }); + +const source = readFileSync( + new URL('../src/app/component/MODALS/templates/template-linkages.ts', import.meta.url).pathname, + 'utf8' +); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const checks = []; +const check = (name, pass, detail = '') => { + checks.push({ name, pass, detail }); + console.log(`${pass ? 'PASS' : 'FAIL'} ${name}${detail ? ` — ${detail}` : ''}`); +}; + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +let stage = 'load'; +const note = (text) => errors.push(`[${stage}] ${text.split('\n')[0].slice(0, 140)}`); +page.on('pageerror', (e) => note(String(e))); +page.on('console', (m) => m.type() === 'error' && note(m.text())); + +const shot = (name) => page.screenshot({ path: `${SHOTS}circdrv-${name}.png` }); + +const dismissTour = async () => { + const skip = page.locator('.introjs-skipbutton').first(); + if (await skip.isVisible().catch(() => false)) await skip.click({ force: true }); + await page.waitForTimeout(400); +}; + +// ---------------------------------------------------------------- circular +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await dismissTour(); + +const linkState = () => + page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const crank = grid.mechanismSrv.links.find((l) => l.canBeCircular?.()); + const box = crank ? document.querySelector(`#linkHolder path#${crank.id}`) : null; + const rect = box?.getBoundingClientRect(); + return { + id: crank?.id, + isCircle: crank?.isCircle, + arcs: (crank?.d.match(/A /g) ?? []).length, + edges: crank?.externalLines.length, + box: rect ? [Math.round(rect.width), Math.round(rect.height)] : null, + url: location.search, + }; + }); + +stage = 'template-loaded'; +const before = await linkState(); +check('a grounded crank is eligible for a disc', !!before.id, `link ${before.id}`); + +// What the right-click menu actually offers, which is the only way anyone +// reaches this feature. +const menuLabels = (linkId) => + page.evaluate((id) => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + grid.setLastRightClick(grid.mechanismSrv.links.find((l) => l.id === id)); + grid.updateContextMenuItems(); + return grid.cMenuItems.map((item) => item.label); + }, linkId); + +const coupler = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const free = grid.mechanismSrv.links.find((l) => !l.canBeCircular()); + return free ? { id: free.id, can: free.canBeCircular() } : null; +}); +check('a coupler is not', coupler !== null && coupler.can === false, `link ${coupler?.id}`); + +const crankMenu = await menuLabels(before.id); +const couplerMenu = await menuLabels(coupler.id); +check( + 'the crank is offered Make Circular', + crankMenu.includes('Make Circular'), + crankMenu.join(', ') +); +check( + 'the coupler is offered nothing of the kind', + !couplerMenu.some((label) => label === 'Make Circular' || label === 'Make Bar'), + couplerMenu.join(', ') +); + +await page.evaluate((id) => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + grid.activeObjService.updateSelectedObj(grid.mechanismSrv.links.find((l) => l.id === id)); + grid.mechanismSrv.toggleLinkCircular(); +}, before.id); +await page.waitForTimeout(500); + +stage = 'made-circular'; +const after = await linkState(); +check( + 'the crank is drawn as a disc', + after.isCircle === true && after.arcs === 2, + `${after.arcs} arcs` +); +check( + 'the disc is as tall as it is wide', + after.box && Math.abs(after.box[0] - after.box[1]) <= 2, + `${after.box}` +); +check('the disc has no edges to hang a joint on', after.edges === 0, `${after.edges} edges`); +check( + 'the disc is bigger than the bar it replaced', + after.box[0] > before.box[0], + `${before.box[0]} → ${after.box[0]}` +); +await shot('1-disc'); + +// The URL has to carry it, and reloading has to bring it back. +const shared = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + return grid.saveHistoryService.urlGenerationService.generateUrlQuery(); +}); +stage = 'share-url'; +if (shared) { + await page.goto(`${BASE}/?${shared}`, { waitUntil: 'domcontentloaded' }); + await waitForReady(page); + await dismissTour(); + const reopened = await linkState(); + check('a shared URL reopens as a disc', reopened.isCircle === true && reopened.arcs === 2); +} else { + check('a shared URL reopens as a disc', false, 'could not reach the url generator'); +} + +// It has to survive being animated: every solved frame is a fresh copy. +await page.evaluate(() => { + const bar = ng.getComponent(document.querySelector('app-playback-bar')); + bar.togglePlay ? bar.togglePlay() : bar.play?.(); +}); +stage = 'animating'; +await page.waitForTimeout(1200); +const running = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const crank = grid.mechanismSrv.links.find((l) => l.isCircle); + return { arcs: (crank?.d.match(/A /g) ?? []).length, d: crank?.d.slice(0, 40) }; +}); +check('it is still a disc while running', running.arcs === 2, running.d); +await shot('2-running'); + +// -------------------------------------------------------------- synthesis +await page.goto(BASE, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await dismissTour(); + +// Synthesis tab, then three poses via the panel's own model. +await page.evaluate(() => { + // TabID.SYNTHESIZE is 0. + ng.getComponent(document.querySelector('app-left-tabs')).tabs.setTab(0); +}); +await page.waitForTimeout(600); +await shot('3-synthesis-tab'); + +stage = 'synthesis-poses'; +const posed = await page.evaluate(() => { + const panel = ng.getComponent(document.querySelector('app-synthesis-panel')); + if (!panel) return { ok: false }; + const b = panel.synthesisBuilder; + [1, 2, 3].forEach((i) => b.isPoseDefined(i) || b.createPose(i)); + const at = [ + [-2, 1, 20], + [0, 2.2, 45], + [2.4, 1.4, 70], + ]; + [1, 2, 3].forEach((i) => { + const [x, y, deg] = at[i - 1]; + b.poses[i].position = new b.poses[i].position.constructor(x * 200, y * 200); + b.poses[i].thetaDegrees = deg; + }); + b.valueChanges.next(true); + return { + ok: true, + links: panel.mechanismSrv.links.length, + joints: panel.mechanismSrv.joints.length, + }; +}); +check( + 'three poses synthesise a four-bar', + posed.ok && posed.links === 3, + `${posed.links} links, ${posed.joints} joints` +); +await page.waitForTimeout(500); +await shot('4-fourbar'); + +const driverState = () => + page.evaluate(() => { + const panel = ng.getComponent(document.querySelector('app-synthesis-panel')); + const m = panel.mechanismSrv; + return { + links: m.links.length, + joints: m.joints.length, + grounds: m.joints.filter((j) => j.ground).length, + inputs: m.joints.filter((j) => j.input).length, + refusal: panel.synthesisBuilder.driverRefusal ?? null, + wanted: panel.synthesisBuilder.driverWanted, + valid: m.mechanisms[0]?.mechanismValid, + frames: m.mechanisms[0]?.joints?.length ?? 0, + }; + }); + +stage = 'four-bar'; +const fourBar = await driverState(); +check( + 'the four-bar is driven from one ground pin', + fourBar.inputs === 1 && fourBar.grounds === 2, + `${fourBar.inputs} input, ${fourBar.grounds} ground` +); + +await page.evaluate(() => + ng.getComponent(document.querySelector('app-synthesis-panel')).toggleDriver() +); +await page.waitForTimeout(900); +stage = 'six-bar'; +const sixBar = await driverState(); +check( + 'adding a driver makes it a six-bar', + sixBar.links === 5 && sixBar.joints === 6 && sixBar.grounds === 3, + `${sixBar.links} links, ${sixBar.joints} joints, ${sixBar.grounds} grounds, refusal=${sixBar.refusal}` +); +check('the drive moved to the new pin', sixBar.inputs === 1, `${sixBar.inputs} inputs`); +check('the six-bar solves', sixBar.valid === true, `valid=${sixBar.valid} frames=${sixBar.frames}`); +check( + 'one full turn of the driver, not a stub of one', + sixBar.frames > 100, + `${sixBar.frames} frames` +); +await shot('5-sixbar'); + +await page.evaluate(() => + ng.getComponent(document.querySelector('app-synthesis-panel')).swapDrivePin() +); +await page.waitForTimeout(900); +stage = 'swap-pin'; +const swapped = await driverState(); +check( + 'swapping the drive pin rebuilds it whole', + swapped.links === 5 && swapped.joints === 6, + `${swapped.links} links, ${swapped.joints} joints, refusal=${swapped.refusal}` +); +await shot('6-swapped'); + +await page.evaluate(() => + ng.getComponent(document.querySelector('app-synthesis-panel')).toggleDriver() +); +await page.waitForTimeout(900); +stage = 'driver-removed'; +const removed = await driverState(); +check( + 'removing the driver leaves the four-bar behind', + removed.links === 3 && removed.joints === 4 && removed.inputs === 1, + `${removed.links} links, ${removed.joints} joints` +); +await shot('7-driver-removed'); + +// One console error predates this branch: setting up three synthesis poses +// draws a path the browser rejects for a frame, and it reproduces identically +// on multi-mechanism-redesign at b3f9e08. Named rather than ignored, so that a +// second copy of it — or any other error — still fails this run. +const KNOWN_BEFORE_THIS_BRANCH = /^\[synthesis-poses\] Error: Invalid SVG path number$/; +const unexpected = errors.filter((e) => !KNOWN_BEFORE_THIS_BRANCH.test(e)); +check( + 'no page errors beyond the one that predates this work', + unexpected.length === 0, + unexpected.slice(0, 6).join('\n ') +); + +await browser.close(); +const failed = checks.filter((c) => !c.pass); +console.log(`\n${checks.length - failed.length}/${checks.length} passed`); +process.exit(failed.length ? 1 : 0); diff --git a/src/app/component/BLOCKS/button/button.component.html b/src/app/component/BLOCKS/button/button.component.html index 65f1d89a..9ef825f4 100644 --- a/src/app/component/BLOCKS/button/button.component.html +++ b/src/app/component/BLOCKS/button/button.component.html @@ -7,6 +7,9 @@ [color]="this.color()" [disabled]="this.disabled()" [class]="this.color()" + [matTooltip]="this.tooltip() ?? ''" + [matTooltipDisabled]="!this.tooltip()" + [matTooltipShowDelay]="1000" > @if (icon && !customIcon) { {{ icon }} diff --git a/src/app/component/BLOCKS/button/button.component.ts b/src/app/component/BLOCKS/button/button.component.ts index acf676b2..a3b20af4 100644 --- a/src/app/component/BLOCKS/button/button.component.ts +++ b/src/app/component/BLOCKS/button/button.component.ts @@ -2,13 +2,14 @@ import { Component, Input, ChangeDetectionStrategy, inject, input } from '@angul import { ActiveObjService } from 'src/app/services/active-obj.service'; import { MatButton } from '@angular/material/button'; import { MatIcon } from '@angular/material/icon'; +import { MatTooltip } from '@angular/material/tooltip'; @Component({ selector: 'button-block', templateUrl: './button.component.html', styleUrls: ['./button.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - imports: [MatButton, MatIcon], + imports: [MatButton, MatIcon, MatTooltip], }) export class ButtonComponent { activeSrv = inject(ActiveObjService); @@ -19,4 +20,11 @@ export class ButtonComponent { @Input() customIcon: string | undefined; readonly disabled = input(false); + /** + * Said on hover, the way every other block in the panels says it. On the + * button itself rather than on a help icon beside it: a button is its own + * label, so there is nothing for the icon to sit next to, and a button that + * needs explaining is exactly the one a person is already pointing at. + */ + readonly tooltip = input(); } diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.html b/src/app/component/synthesis-panel/synthesis-panel.component.html index 94b6efe8..e0d130f1 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.html +++ b/src/app/component/synthesis-panel/synthesis-panel.component.html @@ -69,6 +69,40 @@ + + @if (hasLinkage()) { + Drive + + Swap Drive Pin + + + {{ synthesisBuilder.driverWanted ? 'Remove Driver' : 'Add Driver (Six-Bar)' }} + + @if (synthesisBuilder.driverRefusal) { +

    {{ synthesisBuilder.driverRefusal }}

    + } + + Evaluate Poses + + + } + joint.id === this.synthesisBuilder.synthesisedIds.joints[0] + ); + const solved = built ? this.mechanismSrv.mechanismContaining(built) : undefined; + const poseCoords = [1, 2, 3].flatMap((i) => [ + this.synthesisBuilder.poses[i].posBack, + this.synthesisBuilder.poses[i].posFront, + ]); + this.checkQuality( + solved + ? this.compareTheQualityofSynthesis( + solved.joints, + poseCoords, + Number(this.synthesisForm.value.quality) + ) + : [999, 999, 999, 999, 999, 999, 999, 999, 999] + ); + } + synthesisFunction() { //call synthesis functions @@ -306,12 +359,18 @@ export class SynthesisPanelComponent implements OnInit { // Not A, B, C, D: those letters are taken as soon as there is anything else // on the grid, and two joints with one id is not a mechanism, it is a bug // waiting for the codec to find it. - const [idA, idB, idC, idD] = this.nextFourLetters(); + const [idA, idB, idC, idD, idE, idF] = this.nextLetters(6); + + // Which pin the motor sits on is decided here rather than moved afterwards: + // with a driver on the linkage neither ground pin is the input at all, and + // without one it is whichever the drive-pin choice names. + const far = this.synthesisBuilder.driveOnFarPin; + const drivenDirectly = !this.synthesisBuilder.driverWanted; - let joint1 = new RevJoint(idA, firstPoint.x, firstPoint.y, true, true); + let joint1 = new RevJoint(idA, firstPoint.x, firstPoint.y, drivenDirectly && !far, true); let joint2 = new RevJoint(idB, secondPoint.x, secondPoint.y, false, false); let joint3 = new RevJoint(idC, thirdPoint.x, thirdPoint.y, false, false); - let joint4 = new RevJoint(idD, fourthPoint.x, fourthPoint.y, false, true); + let joint4 = new RevJoint(idD, fourthPoint.x, fourthPoint.y, drivenDirectly && far, true); joint1.connectedJoints.push(joint2); joint2.connectedJoints.push(joint1, joint3); @@ -332,6 +391,49 @@ export class SynthesisPanelComponent implements OnInit { const madeJoints = [joint1, joint2, joint3, joint4]; const madeLinks = [link1, link2, link3]; + + // Built into the linkage, not added to it afterwards, so that one solve + // sees the finished six-bar and the driver survives the next pose change. + this.synthesisBuilder.driverRefusal = undefined; + if (this.synthesisBuilder.driverWanted) { + const pivot = far ? fourthPoint : firstPoint; + const drivenPin = far ? joint3 : joint2; + const drivenAt = far + ? [pose1_coord2, pose2_coord2, pose3_coord2] + : [pose1_coord1, pose2_coord1, pose3_coord1]; + + const sized = driverDyadFor(pivot, drivenAt); + if ('refusal' in sized) { + // The four-bar still stands, and still passes through the poses — it + // is only the motor that could not be fitted. Left drivable by hand so + // the drawing is not made useless by the refusal. + this.synthesisBuilder.driverRefusal = sized.refusal; + (far ? joint4 : joint1).input = true; + } else { + // The two lengths the sizing solved for are the distances between these + // three points, so placing the pins is all it takes to realise them. + const { ground, elbow } = sized.dyad; + const motor = new RevJoint(idE, ground.x, ground.y, true, true); + const knee = new RevJoint(idF, elbow.x, elbow.y, false, false); + + motor.connectedJoints.push(knee); + knee.connectedJoints.push(motor, drivenPin); + drivenPin.connectedJoints.push(knee); + + const driverCrank = new RealLink(idE + idF, [motor, knee]); + driverCrank.fill = this.colorService.getLinkColorFromIndex(2); + const driverCoupler = new RealLink(idF + drivenPin.id, [knee, drivenPin]); + driverCoupler.fill = this.colorService.getLinkColorFromIndex(3); + + motor.links.push(driverCrank); + knee.links.push(driverCrank, driverCoupler); + drivenPin.links.push(driverCoupler); + + madeJoints.push(motor, knee); + madeLinks.push(driverCrank, driverCoupler); + } + } + this.mechanismSrv.mergeToJoints(madeJoints); this.mechanismSrv.mergeToLinks(madeLinks); this.synthesisBuilder.synthesisedIds = { diff --git a/src/app/selected-tab.service.ts b/src/app/selected-tab.service.ts index 7a502edf..adfa216a 100644 --- a/src/app/selected-tab.service.ts +++ b/src/app/selected-tab.service.ts @@ -95,6 +95,9 @@ export class SelectedTabService { // A fresh visit synthesises a new linkage rather than editing the one the // last visit left behind, so nothing here belongs to this one yet. this.synthesis.synthesisedIds = { joints: [], links: [] }; + this.synthesis.driverWanted = false; + this.synthesis.driveOnFarPin = false; + this.synthesis.driverRefusal = undefined; } else if (previousTab === TabID.SYNTHESIZE && this.getCurrentTab() === TabID.EDIT) { // save mechanism state if modified in synthesis tab this.mechanism.save(); diff --git a/src/app/services/synthesis/driver-dyad.spec.ts b/src/app/services/synthesis/driver-dyad.spec.ts new file mode 100644 index 00000000..1044e66f --- /dev/null +++ b/src/app/services/synthesis/driver-dyad.spec.ts @@ -0,0 +1,122 @@ +import { Coord } from 'src/app/model/coord'; +import { driverDyadFor, DriverDyad } from './driver-dyad'; + +/** + * The claim under test is not "a dyad came back" but "the dyad that came back + * drives the thing" — so every case here checks the delivered motion rather + * than the numbers the construction happened to produce. + * + * The driven pin rides a circle about the four-bar's ground pin, so its + * distance from the driver's ground is what the driver has to be able to + * match. A dyad reaches a pin position exactly when that distance lies between + * `coupler − crank` and `coupler + crank`, and it turns around where the + * distance stops climbing. Both are read straight off the geometry below. + */ + +const pivot = new Coord(0, 0); +const RADIUS = 4; + +function pinAt(degrees: number): Coord { + const radians = (degrees * Math.PI) / 180; + return new Coord(RADIUS * Math.cos(radians), RADIUS * Math.sin(radians)); +} + +function unwrap(result: ReturnType): DriverDyad { + if ('refusal' in result) throw new Error(`expected a dyad, got refusal: ${result.refusal}`); + return result.dyad; +} + +/** How far the driven pin sits from the driver's ground, at that crank angle. */ +function reachTo(dyad: DriverDyad, degrees: number): number { + const pin = pinAt(degrees); + return Math.hypot(pin.x - dyad.ground.x, pin.y - dyad.ground.y); +} + +describe('sizing the driver dyad for a synthesised four-bar', () => { + it('reaches every pose, and carries past the outer ones', () => { + const poses = [10, 55, 80]; + const dyad = unwrap(driverDyadFor(pivot, poses.map(pinAt))); + + const shortest = dyad.couplerLength - dyad.crankLength; + const longest = dyad.couplerLength + dyad.crankLength; + for (const pose of poses) { + const reach = reachTo(dyad, pose); + // Strictly inside, not merely within: a pose sitting on a turning point + // is reached at dead centre, where the six-bar has no velocity. + expect(reach).toBeGreaterThan(shortest); + expect(reach).toBeLessThan(longest); + } + }); + + it('turns around outside the poses rather than between them', () => { + // The failure this rules out: a driver whose stroke ends partway along the + // swing, so the four-bar reverses before reaching the last pose. It shows + // up as the reach climbing and then falling again inside the arc. + const dyad = unwrap(driverDyadFor(pivot, [10, 55, 80].map(pinAt))); + + let previous = reachTo(dyad, 10); + for (let degrees = 10.5; degrees <= 80; degrees += 0.5) { + const reach = reachTo(dyad, degrees); + expect(reach).toBeLessThan(previous); + previous = reach; + } + }); + + it('assembles in the pose the linkage is drawn in', () => { + const dyad = unwrap(driverDyadFor(pivot, [10, 55, 80].map(pinAt))); + const first = pinAt(10); + + expect(Math.hypot(dyad.elbow.x - dyad.ground.x, dyad.elbow.y - dyad.ground.y)).toBeCloseTo( + dyad.crankLength, + 6 + ); + expect(Math.hypot(dyad.elbow.x - first.x, dyad.elbow.y - first.y)).toBeCloseTo( + dyad.couplerLength, + 6 + ); + }); + + it('gives the crank a full turn to make, not a swing of its own', () => { + // A dyad only works as a driver if its own crank goes all the way round, + // which needs the crank shorter than the coupler by more than nothing. + const dyad = unwrap(driverDyadFor(pivot, [10, 55, 80].map(pinAt))); + + expect(dyad.crankLength).toBeGreaterThan(0); + expect(dyad.couplerLength).toBeGreaterThan(dyad.crankLength); + const groundGap = Math.hypot(dyad.ground.x - pivot.x, dyad.ground.y - pivot.y); + expect(groundGap).toBeGreaterThan(dyad.crankLength); + }); + + it('handles poses given in any order, and across the wrap at zero', () => { + // The arc is found from the widest empty gap, so neither the order the + // poses arrive in nor where they straddle 0° should matter. + const jumbled = unwrap(driverDyadFor(pivot, [80, 10, 55].map(pinAt))); + const straight = unwrap(driverDyadFor(pivot, [10, 55, 80].map(pinAt))); + expect(jumbled.ground.x).toBeCloseTo(straight.ground.x, 9); + expect(jumbled.ground.y).toBeCloseTo(straight.ground.y, 9); + + const wrapped = unwrap(driverDyadFor(pivot, [350, 20, 5].map(pinAt))); + const shortest = wrapped.couplerLength - wrapped.crankLength; + const longest = wrapped.couplerLength + wrapped.crankLength; + for (const pose of [350, 5, 20]) { + expect(reachTo(wrapped, pose)).toBeGreaterThan(shortest); + expect(reachTo(wrapped, pose)).toBeLessThan(longest); + } + }); + + it('says why when the swing is too wide for any one crank', () => { + // Past half a turn the two turning points cannot both be kept off the arc, + // whatever the placement — so this is a refusal, not a worse answer. + const tooWide = driverDyadFor(pivot, [0, 100, 200].map(pinAt)); + expect('refusal' in tooWide).toBe(true); + if ('refusal' in tooWide) { + expect(tooWide.refusal).toContain('°'); + expect(tooWide.refusal).toContain('swapping which pin drives'); + } + }); + + it('says why when there is no crank to drive', () => { + const collapsed = driverDyadFor(pivot, [new Coord(0, 0), new Coord(0, 0)]); + expect('refusal' in collapsed).toBe(true); + }); +}); diff --git a/src/app/services/synthesis/driver-dyad.ts b/src/app/services/synthesis/driver-dyad.ts new file mode 100644 index 00000000..6b7c80c1 --- /dev/null +++ b/src/app/services/synthesis/driver-dyad.ts @@ -0,0 +1,202 @@ +import { Coord } from 'src/app/model/coord'; + +/** + * Sizing the two-bar driver that turns a synthesised four-bar into a six-bar + * an ordinary motor can run. + * + * Three-position synthesis answers "what linkage passes through these poses", + * not "what linkage can be driven through them". The four-bar it produces is + * usually a double-rocker: its input pin swings across an arc and stops, so + * there is no crank on it to attach a motor to. The classical repair is to + * drive it indirectly — plant a second ground pin, put a fully rotating crank + * on it, and couple that crank to the four-bar's input pin. One turn of the + * new crank then walks the four-bar across its arc and back. + * + * The sizing is closed-form, which is the whole reason to do it this way + * rather than by placing the parts near where they look right. Writing D for + * the distance between the two ground pins, R for the four-bar's input crank, + * and Δ for the arc its pin has to cover, the driven pin's distance from the + * new ground is + * + * d(θ)² = D² + R² − 2·D·R·cos(θ − φ) + * + * which is largest and smallest exactly where the driver folds straight and + * doubles back. Setting + * + * coupler + crank = max d coupler − crank = min d + * + * puts those two turning points precisely at the ends of the arc, so a full + * rotation delivers that swing and no more. Nothing here is fitted or + * searched; if a dyad is reported, it drives the four-bar. + */ + +const TAU = Math.PI * 2; + +/** How far past the outermost poses the driver carries the linkage, as a + * fraction of the arc between them. Poses sitting exactly at the turning + * points would be reached only at dead centre, where the six-bar has no + * velocity and drawing it looks like a stall. */ +const OVERTRAVEL = 0.08; + +/** Beyond this the construction has no room left (see `place`). */ +const WIDEST_SWING = (170 * Math.PI) / 180; + +/** + * How far the new ground pin sits from the four-bar's, in input-crank lengths. + * + * Free in the sense that any placement outside the swept directions delivers + * the swing, so it is chosen for the drawing rather than for the mathematics. + * Closer keeps the machine compact, which matters more than it sounds: three + * position synthesis can put a four-bar's pivots a long way from the poses, the + * driver hangs off one of those pivots, and the result is easily several times + * the size of the region anyone is looking at. It cannot go arbitrarily close — + * `coupler − crank` shrinks with it, and at zero the driver would fold through + * its own ground pin and stall there. At this distance even the widest + * buildable swing leaves that gap at about half the four-bar's crank. + */ +const GROUND_SPACING = 1.5; + +export interface DriverDyad { + /** The new ground pin, which carries the input crank. */ + ground: Coord; + /** The pin between crank and coupler, placed for the pose the drawing is in. */ + elbow: Coord; + crankLength: number; + couplerLength: number; + /** The swing this dyad delivers, in radians — for reporting, not for solving. */ + swing: number; +} + +export type DriverDyadResult = { dyad: DriverDyad } | { refusal: string }; + +/** + * The driver for a four-bar whose input pin visits `drivenPin` positions about + * `pivot`, or the reason there is none. + * + * @param pivot the four-bar's fixed input pin + * @param drivenPin where its moving input pin sits at each pose, the first of + * which is the pose the drawing is currently assembled in + */ +export function driverDyadFor(pivot: Coord, drivenPin: Coord[]): DriverDyadResult { + if (drivenPin.length < 2) { + return { refusal: 'A driver needs at least two poses to know what swing to deliver.' }; + } + + const radius = distance(pivot, drivenPin[0]); + if (!(radius > 0)) { + return { refusal: 'The four-bar has no input crank to drive: its two pins are in one place.' }; + } + + const angles = drivenPin.map((pin) => Math.atan2(pin.y - pivot.y, pin.x - pivot.x)); + const { start, span } = smallestArcContaining(angles); + if (!(span > 0)) { + return { refusal: 'These poses need no motion at the input, so there is nothing to drive.' }; + } + + // Overtravel first, then the ceiling: a swing that only breaches it once the + // margin is added is still buildable, just without the full margin. + const margin = Math.min((span * OVERTRAVEL) / 2, Math.max(0, (WIDEST_SWING - span) / 2)); + const swing = span + 2 * margin; + if (swing >= WIDEST_SWING) { + return { + refusal: + `The input has to swing ${Math.round((span * 180) / Math.PI)}° between these poses, ` + + 'which is more than a single driver crank can deliver. Moving the middle pose closer ' + + 'to the others, or swapping which pin drives, brings it back in reach.', + }; + } + + const from = start - margin; + const to = start + span + margin; + const ground = place(pivot, radius, from, to); + + // The two turning points, by construction the far and near ends of the + // swing — the arc was placed so that d(θ) climbs the whole way between them. + const far = distance(ground, on(pivot, radius, from)); + const near = distance(ground, on(pivot, radius, to)); + const crankLength = (far - near) / 2; + const couplerLength = (far + near) / 2; + if (!(crankLength > 0) || !(couplerLength > crankLength)) { + return { refusal: 'No driver crank fits this swing without passing through its own ground.' }; + } + + // The elbow for the pose actually on the drawing, which is somewhere inside + // the swing rather than at either end, so it has to be intersected for. + const elbow = elbowAt(ground, crankLength, drivenPin[0], couplerLength); + if (elbow === undefined) { + return { refusal: 'The driver cannot be assembled in the pose the linkage is drawn in.' }; + } + + return { dyad: { ground, elbow, crankLength, couplerLength, swing } }; +} + +/** + * Where to plant the new ground pin. + * + * d(θ) rises and falls once per turn, with its turning points on the line + * through the two ground pins. Put that line anywhere the input pin actually + * travels and the pin would reverse mid-swing — the driver would reach an end + * of its stroke partway along, and the four-bar would never see the rest. Both + * ends of the line have to miss the swept arc, and since they are half a turn + * apart, the arc has to be under half a turn for any placement to exist. + * + * Of the placements that work, this takes the middle of the clear run just past + * the arc's end: the furthest from either edge, so rounding cannot land the + * turning point inside the swing. + */ +function place(pivot: Coord, radius: number, from: number, to: number): Coord { + const clearance = Math.PI - (to - from); + const direction = to + clearance / 2; + return new Coord( + pivot.x + GROUND_SPACING * radius * Math.cos(direction), + pivot.y + GROUND_SPACING * radius * Math.sin(direction) + ); +} + +/** + * The elbow pin: `crank` from the ground, `coupler` from the driven pin. + * + * Two such points exist — the driver's two assembly modes, mirrored across the + * line between those pins. They deliver the same motion, so this takes the + * left-hand one and says so, rather than leaving the choice to the sign that + * happens to come out of the square root. + */ +function elbowAt(ground: Coord, crank: number, driven: Coord, coupler: number): Coord | undefined { + const span = distance(ground, driven); + if (span === 0 || span > crank + coupler || span < Math.abs(coupler - crank)) { + return undefined; + } + const along = (span * span + crank * crank - coupler * coupler) / (2 * span); + const across = Math.sqrt(Math.max(0, crank * crank - along * along)); + const ux = (driven.x - ground.x) / span; + const uy = (driven.y - ground.y) / span; + return new Coord(ground.x + along * ux - across * uy, ground.y + along * uy + across * ux); +} + +/** The point at `angle` on the circle of `radius` about `centre`. */ +function on(centre: Coord, radius: number, angle: number): Coord { + return new Coord(centre.x + radius * Math.cos(angle), centre.y + radius * Math.sin(angle)); +} + +function distance(a: Coord, b: Coord): number { + return Math.hypot(b.x - a.x, b.y - a.y); +} + +/** + * The shortest arc holding every angle: found as the complement of the widest + * empty gap between neighbours, which is the one stretch nothing has to cross. + */ +function smallestArcContaining(angles: number[]): { start: number; span: number } { + const sorted = angles.map((angle) => ((angle % TAU) + TAU) % TAU).sort((a, b) => a - b); + let widest = -1; + let after = 0; + for (let i = 0; i < sorted.length; i++) { + const next = sorted[(i + 1) % sorted.length]; + const gap = (((next - sorted[i]) % TAU) + TAU) % TAU; + if (gap > widest) { + widest = gap; + after = (i + 1) % sorted.length; + } + } + return { start: sorted[after], span: TAU - widest }; +} diff --git a/src/app/services/synthesis/synthesis-builder.service.ts b/src/app/services/synthesis/synthesis-builder.service.ts index bea121fb..3fdf1d24 100644 --- a/src/app/services/synthesis/synthesis-builder.service.ts +++ b/src/app/services/synthesis/synthesis-builder.service.ts @@ -38,6 +38,22 @@ export class SynthesisBuilderService { */ public synthesisedIds: { joints: string[]; links: string[] } = { joints: [], links: [] }; + /** + * Whether the linkage should be built with a driver on it, and which of its + * two ground pins the drive belongs to. + * + * Held as intent rather than applied to the drawing, because synthesis re-runs + * from scratch on every change to a pose: a driver bolted on afterwards would + * be thrown away by the next nudge of a coordinate, and a drive pin moved by + * hand would move back. Both are read at build time instead, so they survive + * every rebuild and there is only ever one way the linkage came to be. + */ + public driverWanted: boolean = false; + public driveOnFarPin: boolean = false; + + /** Why the last build could not fit a driver, for the panel to show. */ + public driverRefusal: string | undefined; + _COR: COR; _length: number; // length of the end-effector link _selectedPose: number; // currently selected pose (1-3) From eff9b4c2c87cfca730c1fac28bb79fe379c6d8b3 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 13:22:23 -0700 Subject: [PATCH 172/236] Give every legend entry the hover hitbox, and re-solve the kept coarse cycle Two findings from a GPT-5.6 review of the sampling work, both low, both real. The open card's legend entries wear a hover hitbox -- padding and a negative margin that cancel -- and only the open card's: its columns sat four pixels left of every closed card's. Every entry wears both now, interactive or not, so the thirds line up whether a card is open or shut. And the Watt I fallback pasted the coarse frames back but left the position solver's statics -- the joint map, the motion history, the force anchors -- describing the pose the abandoned fine pass died in. No consumer was caught reading them, which is one accident of ordering away from not being true. The fallback now walks the coarse arc again instead of restoring arrays: twenty-odd samples, deterministic, and the solver ends in exactly the state the coarse pass always left it in. A one-shot flag replaces the step-value guard so the re-solve cannot re-refine. The review also caught the legend suite's "numbers really do change" check starving itself: it watched a static reaction, which can hold one formatted value all the way round the cycle. It watches the crank pin's position now -- moving is what it is for. Co-Authored-By: Claude Opus 5 --- e2e/force-labels-and-legend.mjs | 8 ++++ .../analysis-graph-section.component.scss | 9 ++-- src/app/model/mechanism/mechanism.ts | 47 +++++++++++-------- 3 files changed, 42 insertions(+), 22 deletions(-) diff --git a/e2e/force-labels-and-legend.mjs b/e2e/force-labels-and-legend.mjs index 398660d7..d6a3a28b 100644 --- a/e2e/force-labels-and-legend.mjs +++ b/e2e/force-labels-and-legend.mjs @@ -144,7 +144,15 @@ record('and reads exactly what the buried joint reads', onThePart === onTheJoint }); // --- The legend holds its columns whatever the numbers read ------------------ +// Watched on a kinematic graph, not a force one: a static reaction can hold +// one formatted value all the way round the cycle, which starves the "numbers +// really do change" check of its premise. The position of the crank pin +// cannot hold still -- moving is what it is for. await openForce('Slider_Crank'); +await page.evaluate(() => + ng.getComponent(document.querySelector('app-new-grid')).tabService.setTab(2) +); +await page.waitForTimeout(600); await select('B'); const legendAt = () => page.evaluate(() => { diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss index eea760c2..155db2e1 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss @@ -92,7 +92,12 @@ font-family: inherit; font-size: inherit; color: inherit; - padding: 0; + // The hover hitbox every entry wears, interactive or not: the padding and + // the margin cancel, so the text sits where it would with neither -- but + // only if every entry wears both. Worn only by the open card's switches, + // it shifted their columns four pixels left of the closed cards'. + padding: 1px 4px; + margin: -1px -4px; // Every digit the same width, so the text does not shuffle inside its own // column either. font-variant-numeric: tabular-nums; @@ -105,8 +110,6 @@ // Open, each entry is the switch for its own line. .graphPreview.interactive .previewSeries { cursor: pointer; - padding: 1px 4px; - margin: -1px -4px; border-radius: 4px; &:hover { diff --git a/src/app/model/mechanism/mechanism.ts b/src/app/model/mechanism/mechanism.ts index 7d05b75f..892a4586 100644 --- a/src/app/model/mechanism/mechanism.ts +++ b/src/app/model/mechanism/mechanism.ts @@ -368,6 +368,9 @@ export class Mechanism { return 3 * (N - 1) - 2 * J1 - J2; } + /** One refinement per build, and never again after its fallback re-solve. */ + private refineAttempted = false; + private findFullMovementPos(inputAngVel: number, revoluteStep: number = Math.PI / 180) { // The loop below flips inputAngVel at each reversal; a re-solve has to // start from the speed that was asked for, not the one the loop ended on. @@ -621,13 +624,13 @@ export class Mechanism { // tables are stated at exactly that spacing. if ( this.sampling === 'adaptive' && + !this.refineAttempted && revoluteInput && // Only when the crank spacing is what this mechanism moves by: a driven // pin steps by its own field, so re-solving it with a finer crank // spacing repeats the identical arc under a 58-times-faster clock. PositionSolver.stepsByRevoluteSampleStep && - reversals >= 2 && - revoluteStep === Math.PI / 180 + reversals >= 2 ) { const samples = this._joints.length - 1; const TARGET_SAMPLES = 360; @@ -636,24 +639,25 @@ export class Mechanism { // solved position is held to. const FINEST = Math.PI / 180 / 64; if (samples > 0 && samples < TARGET_SAMPLES * (2 / 3)) { + this.refineAttempted = true; const refined = Math.max((revoluteStep * samples) / TARGET_SAMPLES, FINEST); - // The coarse cycle is kept in hand, because the fine one is not - // guaranteed to be the same cycle: a limit is wherever the solver + // The editable pose and what the caller derived from it, because a + // failed attempt rewinds all the way to here. The fine pass is not + // guaranteed to walk the same cycle: a limit is wherever the solver // failed, and a failure at one degree is sometimes a fold too sharp // for that seed rather than a place the linkage cannot pass. A finer // step walks through such a fold and out into arc the coarse pass // never saw -- the honest response to which is not to wander until // the frame cap calls the whole mechanism broken, but to keep the // cycle that did close. - const coarse = { - joints: this._joints.slice(), - links: this._links.slice(), - forces: this._forces.slice(), - timeNum: this._timeNum.slice(), - speeds: this._inputAngularVelocities.slice(), + const start = { + joints: this._joints[0], + links: this._links[0], + forces: this._forces[0], // setMechanismInvalid clears the loops with the frames, and the // loops were found by the caller before any of this began. loops: this._requiredLoops.slice(), + speed: this._inputAngularVelocities[0], }; this._joints.length = 1; this._links.length = 1; @@ -667,18 +671,23 @@ export class Mechanism { this._inputAngularVelocities.length = 1; this.findFullMovementPos(requestedAngVel, refined); if (!this.mechanismValid) { - this._joints = coarse.joints; - this._links = coarse.links; - this._forces = coarse.forces; - this._timeNum = coarse.timeNum; - this._inputAngularVelocities = coarse.speeds; - this._requiredLoops = coarse.loops; + // Walk the coarse arc again rather than pasting its frames back. + // Restoring arrays alone left the position solver's statics -- the + // joint map, the motion history, the force anchors -- describing the + // pose the abandoned fine pass died in, and everything that runs + // after a build reads those statics. A re-solve of twenty-odd + // samples is cheap, deterministic, and leaves the solver in exactly + // the state the coarse pass always left it in. + this._joints = [start.joints]; + this._links = [start.links]; + this._forces = [start.forces]; + this._timeNum = []; + this._inputAngularVelocities = [start.speed]; + this._requiredLoops = start.loops; this.mechanismValid = true; this._failure = undefined; this._cycleGap = undefined; - // The abandoned pass also leaves its spacing in the solver's - // static, where the drive-state capture that follows would read it. - PositionSolver.revoluteSampleStep = revoluteStep; + this.findFullMovementPos(requestedAngVel); } return; } From fc8b84e15a87f8aaa466f03f1cd9873265579a17 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 14:31:05 -0700 Subject: [PATCH 173/236] Say what a placed centre of mass is held against, and mean it The Center of Mass frame selector was display-side only -- it chose which numbers the two boxes showed, and the point was held against the link itself whatever was picked. It now decides the anchor as well, which is what the control has always looked like it did: Centroid rides the link, as everything did before this; Global grid keeps its place on the drawing, so moving the link out from under the point leaves the point where it was put; a joint follows that pin's position and nothing else, so turning the link about that pin does not move it. Editing only. Once the mechanism runs, the centre of mass is a point of the body and rides it like any other -- the solved timesteps carry it rigidly, as they always did. A centre that stayed at a fixed spot on the drawing while its link swung would not be a point of that link at all, and every force computed from it would be wrong. Measured: with a grid anchor the point still sweeps 5.4 x 4.0 units across the cycle, and still does not move when a joint is dragged at rest. The choice is the link's, so it survives selecting something else, and it rides the URL in the same trailing section the lock marks use -- tagged references to objects the URL already carries, which is exactly what these are. Their tag is 'C', which no lock uses, so the two share one list without either being able to read the other's entries, and a drawing whose centres all ride their own links still encodes to the bytes it always did. Also in this change, both about the Mass panel: Everything below Mass describes how that mass is distributed, so on a massless bar there is nothing for any of it to describe -- gravity and inertia skip the link and the numbers cannot change an answer. They are hidden now rather than shown greyed, which asked the reader to work out that a whole section was inert. The disc note goes with them, for the same reason: with no mass there are no numbers for it to keep anyone from misreading. And Make Circular is offered in Visual Settings, beside Link Color, as well as on the right-click menu. Disabled rather than absent there, with the reason in its tooltip: the panel is describing the link you selected, so the option is worth naming along with why it does not apply. Co-Authored-By: Claude Fable 5 --- .../edit-panel/edit-panel.component.html | 177 ++++++++++-------- .../edit-panel/edit-panel.component.scss | 33 ---- .../edit-panel/edit-panel.component.ts | 27 ++- src/app/model/link.com-anchor.spec.ts | 153 +++++++++++++++ src/app/model/link.ts | 61 ++++++ .../services/transcoding/mechanism-builder.ts | 11 ++ .../services/transcoding/string-transcoder.ts | 51 ++++- .../transcoding/transcoder-interface.ts | 14 ++ .../transcoding/url-com-anchor.spec.ts | 115 ++++++++++++ src/app/services/url-generation.service.ts | 16 ++ 10 files changed, 533 insertions(+), 125 deletions(-) create mode 100644 src/app/model/link.com-anchor.spec.ts create mode 100644 src/app/services/transcoding/url-com-anchor.spec.ts diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index 49560671..0c1784c2 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -475,6 +475,22 @@ (closed)="sectionExpanded['LVisual'] = false" > Link Color + + + {{ activeSrv.selectedLink.isCircle ? 'Make Bar' : 'Make Circular' }} + Mass - -
    - from shape - set by you - -
    -
    - Center of Mass - -
    - -
    - X - - Y - + @if (activeSrv.selectedLink.mass > 0) { + +
    + from shape + set by you + +
    +
    + Center of Mass + +
    + +
    + X + + Y + +
    + -
    - Rotational Inertia - - - @if (activeSrv.selectedLink.moiIsCustom) { - - } - - - - @if (activeSrv.selectedLink.isCircle) { -

    - Drawn as a disc. These two still follow the link's joints, not the - circle — set Rotational Inertia by hand for a real flywheel. -

    + _formControl="massMoI" + class="moiBlock" + tooltip="The mass moment of inertia about the link's center of mass. Derived from the shape as a uniform body until a value is typed." + [class.derived]="!activeSrv.selectedLink.moiIsCustom" + >Rotational Inertia + + + @if (activeSrv.selectedLink.moiIsCustom) { + + } + + + + @if (activeSrv.selectedLink.isCircle) { +

    + Drawn as a disc. These two still follow the link's joints, not the + circle — set Rotational Inertia by hand for a real flywheel. +

    + } }
    diff --git a/src/app/component/edit-panel/edit-panel.component.scss b/src/app/component/edit-panel/edit-panel.component.scss index 8057931b..0033dae3 100644 --- a/src/app/component/edit-panel/edit-panel.component.scss +++ b/src/app/component/edit-panel/edit-panel.component.scss @@ -210,13 +210,6 @@ &:disabled { color: rgba(0, 0, 0, 0.3); cursor: default; } } - /* A massless body derives nothing, so the legend has nothing to explain. */ - &.off { - color: rgba(0, 0, 0, 0.32); - - .dot { border-color: rgba(0, 0, 0, 0.2); } - .dot.filled { background: rgba(0, 0, 0, 0.2); border-color: rgba(0, 0, 0, 0.2); } - } } /* Sits under the two derived fields it qualifies, in the legend's own grey so @@ -282,7 +275,6 @@ gap: 5px; margin-left: 4px; - &.off .dot { border-color: rgba(0, 0, 0, 0.2); } .clearDot { border: none; @@ -371,31 +363,6 @@ color: rgba(0, 0, 0, 0.5); } -/* Massless: values and labels dim with the group. The id out-ranks the - derived-ink rule, which otherwise holds the values at reading strength. */ -.massArea #input-block .customInput:disabled { - color: rgba(0, 0, 0, 0.32); -} -.massArea .dotRow.off .dotRowLabel, -.massArea input-block.off #input-block .label { - color: rgba(0, 0, 0, 0.32); -} -.massArea .comPairRow.off .axisTag { - color: rgba(0, 0, 0, 0.3); -} - -/* Massless: the pair's markers grey out with the fields they mark. */ -.massArea .comPairRow.off .state-dot { - border-color: rgba(0, 0, 0, 0.2); -} -.massArea .comPairRow.off .state-dot.filled { - background: rgba(0, 0, 0, 0.2); - border-color: rgba(0, 0, 0, 0.2); -} -.massArea .comPairRow.off .state-clear { - color: rgba(0, 0, 0, 0.25); - pointer-events: none; -} /* The mock's one field column: Mass, the frame select and Rotational Inertia share one width, one left edge and one right edge — the centre diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index aeab9223..5ee2dd83 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -1661,14 +1661,31 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { } /** - * The frame the Center of Mass fields are typed and read in. Display-side - * only: whatever is chosen, the point is stored against the link itself - * (see RealLink.placeCustomCoM), so the numbers here are a view of it. + * The frame the Center of Mass is both typed in and held against, read off + * the selected link rather than remembered here — it is the link's property, + * so selecting another link shows that link's answer and a reloaded drawing + * shows the one it was saved with. */ - comFrame: string = 'centroid'; + get comFrame(): string { + const anchor = this.activeSrv.selectedLink?.comAnchor ?? 'centroid'; + if (anchor === 'grid' || anchor === 'centroid') return anchor; + return 'joint:' + anchor.joint; + } setComFrame(frame: string): void { - this.comFrame = frame; + const link = this.activeSrv.selectedLink; + if (!link) return; + link.comAnchor = + frame === 'grid' + ? 'grid' + : frame.startsWith('joint:') + ? { joint: frame.slice('joint:'.length) } + : 'centroid'; + // Re-read the offsets against the new anchor before anything moves, so + // choosing a frame re-describes where the point already is instead of + // moving it there. + link.captureComOffset(); + this.mechanismService.updateMechanism(true); this.refreshDerivedMassFields(); } diff --git a/src/app/model/link.com-anchor.spec.ts b/src/app/model/link.com-anchor.spec.ts new file mode 100644 index 00000000..115d4c99 --- /dev/null +++ b/src/app/model/link.com-anchor.spec.ts @@ -0,0 +1,153 @@ +import { RealLink } from './link'; +import { RevJoint } from './joint'; +import { Coord } from './coord'; +import { SettingsService } from '../services/settings.service'; + +/** + * What a hand-placed centre of mass is held against while the mechanism is + * being edited. + * + * The three answers differ only when the link moves, so every test here places + * the point, moves something, and asks where the point went. `customCoMFromOffset` + * is what MechanismService consults on each update, so it stands in for "the + * user dragged something" throughout. + */ + +/** A bar from (0,0) to (10,0), with its centre of mass placed at (4,3). */ +function bar(): { link: RealLink; a: RevJoint; b: RevJoint } { + const a = new RevJoint('A', 0, 0); + const b = new RevJoint('B', 10, 0); + const link = new RealLink('AB', [a, b], 1); + link.placeCustomCoM({ x: 4, y: 3 }); + return { link, a, b }; +} + +/** + * What MechanismService does at the end of every update: resolve the point + * against its anchor and write it back. Without this the link's own CoM is the + * one from before the move, and `captureComOffset` -- which measures from + * wherever the CoM currently is -- would capture a stale point. Every move + * below ends here, because in the app every move does. + */ +function settle(link: RealLink): void { + const placed = link.customCoMFromOffset(); + if (placed) link.CoM = placed; +} + +/** Slide the whole link by (dx, dy), as dragging its body would. */ +function shift(link: RealLink, dx: number, dy: number): void { + link.joints.forEach((joint) => { + joint.x += dx; + joint.y += dy; + }); + settle(link); +} + +/** Turn the link about joint A, which leaves A itself where it is. */ +function turnAboutA(link: RealLink, degrees: number): void { + const [pivot] = link.joints; + const angle = (degrees * Math.PI) / 180; + const origin = new Coord(pivot.x, pivot.y); + link.joints.forEach((joint) => { + const dx = joint.x - origin.x; + const dy = joint.y - origin.y; + joint.x = origin.x + dx * Math.cos(angle) - dy * Math.sin(angle); + joint.y = origin.y + dx * Math.sin(angle) + dy * Math.cos(angle); + }); + settle(link); +} + +describe('what a placed center of mass is held against', () => { + beforeEach(() => { + SettingsService._objectScale.next(1); + }); + + it('rides the link when held against the link, which is the standing default', () => { + const { link } = bar(); + expect(link.comAnchor).toBe('centroid'); + + shift(link, 5, 2); + const moved = link.customCoMFromOffset()!; + expect(moved.x).toBeCloseTo(9, 6); + expect(moved.y).toBeCloseTo(5, 6); + + // And turns with it: the point is a mark on the body. + const { link: second } = bar(); + turnAboutA(second, 90); + const turned = second.customCoMFromOffset()!; + expect(turned.x).toBeCloseTo(-3, 6); + expect(turned.y).toBeCloseTo(4, 6); + }); + + it('stays on the drawing when held against the grid', () => { + const { link } = bar(); + link.comAnchor = 'grid'; + link.captureComOffset(); + + shift(link, 5, 2); + const afterDrag = link.customCoMFromOffset()!; + expect(afterDrag.x).toBeCloseTo(4, 6); + expect(afterDrag.y).toBeCloseTo(3, 6); + + turnAboutA(link, 90); + const afterTurn = link.customCoMFromOffset()!; + expect(afterTurn.x).toBeCloseTo(4, 6); + expect(afterTurn.y).toBeCloseTo(3, 6); + }); + + it('follows one pin, and only that pin, when held against a joint', () => { + const { link, a, b } = bar(); + link.comAnchor = { joint: 'A' }; + link.captureComOffset(); + + // The far pin moving is not that pin moving. + b.x = 40; + settle(link); + const afterFarPin = link.customCoMFromOffset()!; + expect(afterFarPin.x).toBeCloseTo(4, 6); + expect(afterFarPin.y).toBeCloseTo(3, 6); + + // Turning about A does not move A, so it does not move the point either. + turnAboutA(link, 90); + const afterTurn = link.customCoMFromOffset()!; + expect(afterTurn.x).toBeCloseTo(4, 6); + expect(afterTurn.y).toBeCloseTo(3, 6); + + // Moving A carries it, keeping the same offset from the pin. + a.x += 1; + a.y -= 2; + settle(link); + const afterPin = link.customCoMFromOffset()!; + expect(afterPin.x).toBeCloseTo(5, 6); + expect(afterPin.y).toBeCloseTo(1, 6); + }); + + it('re-describes the point where it is rather than moving it, on switching anchor', () => { + const { link } = bar(); + shift(link, 5, 2); + const before = link.customCoMFromOffset()!; + + link.comAnchor = 'grid'; + link.captureComOffset(); + const after = link.customCoMFromOffset()!; + + expect(after.x).toBeCloseTo(before.x, 6); + expect(after.y).toBeCloseTo(before.y, 6); + }); + + it('hands the point back to the link when its pin leaves', () => { + const { link } = bar(); + link.comAnchor = { joint: 'B' }; + link.captureComOffset(); + + // B is deleted or merged away. The point is still where it was put, so it + // stays there and goes back to riding the link -- not to a pin that is no + // longer on it, and not to wherever the missing pin last was. + link.joints = link.joints.filter((joint) => joint.id !== 'B'); + settle(link); + const rescued = link.customCoMFromOffset()!; + expect(rescued.x).toBeCloseTo(4, 6); + expect(rescued.y).toBeCloseTo(3, 6); + expect(link.comAnchor).toBe('centroid'); + }); +}); diff --git a/src/app/model/link.ts b/src/app/model/link.ts index 9f148d67..7f9ddbd4 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -30,6 +30,11 @@ export enum Shape { customShape = 'customShape', } +/** + * What a hand-placed centre of mass is held against. See RealLink.comAnchor. + */ +export type ComAnchor = 'centroid' | 'grid' | { joint: string }; + export interface Bound { b1: Coord; b2: Coord; @@ -180,6 +185,43 @@ export class RealLink extends Link { */ public comOffset?: { along: number; across: number; frame: [string, string] }; + /** + * What a hand-placed centre of mass is held against while the mechanism is + * being edited. + * + * 'centroid' the link itself — the point rides every drag, turn and + * deformation, which is `comOffset` above; + * 'grid' the drawing — the point keeps its world coordinate, so moving + * the link out from under it leaves it where it was put; + * {joint} one pin — the point follows that pin's position and nothing + * else, so turning the link about it does not move it. + * + * Editing only. Once the mechanism runs, the centre of mass is a point of the + * body and rides it like any other: the solved timesteps carry it rigidly + * (Mechanism.transportPoint), which is what makes it a centre of mass at all + * rather than a mark on the page that inertia would be wrong about. + */ + public comAnchor: ComAnchor = 'centroid'; + + /** + * Where the point sits relative to whatever `comAnchor` names, in world axes. + * Unused by the centroid anchor, which has `comOffset` to express the same + * thing in the link's own frame — the difference between the two is the whole + * point, so they cannot share one representation. + */ + public comAnchorOffset?: { dx: number; dy: number }; + + /** The fixed point a non-centroid anchor measures from, if it still exists. */ + private anchorPoint(): Coord | undefined { + // Read once into a local: inside the callback below, `this.comAnchor` is a + // mutable property again and narrowing does not reach it. + const anchor = this.comAnchor; + if (anchor === 'grid') return new Coord(0, 0); + if (anchor === 'centroid') return undefined; + const pin = this.joints.find((joint) => joint.id === anchor.joint); + return pin ? new Coord(pin.x, pin.y) : undefined; + } + /** * The link's own frame: origin at the uniform centroid, x̂ along the two * *named* joints — the farthest pair at capture time, so the axis is never @@ -237,6 +279,9 @@ export class RealLink extends Link { /** Re-read the local offset from wherever the CoM currently is. */ captureComOffset(): void { + // Both are captured every time, whichever anchor is in force: switching + // anchor in the panel must not need the point re-placed, and the anchor a + // link is not currently using is the one it will be using next. const frame = this.comFrame(); const dx = this._CoM.x - frame.origin.x; const dy = this._CoM.y - frame.origin.y; @@ -245,10 +290,26 @@ export class RealLink extends Link { across: -dx * frame.uy + dy * frame.ux, frame: frame.pair, }; + const anchor = this.anchorPoint(); + this.comAnchorOffset = anchor + ? { dx: this._CoM.x - anchor.x, dy: this._CoM.y - anchor.y } + : undefined; } /** Where the captured offset lands in today's geometry. */ customCoMFromOffset(): Coord | undefined { + if (this.comAnchor !== 'centroid') { + const anchor = this.anchorPoint(); + if (anchor && this.comAnchorOffset) { + return new Coord(anchor.x + this.comAnchorOffset.dx, anchor.y + this.comAnchorOffset.dy); + } + // The pin this was held against has left the link. Keep the point where + // it is and hand it back to the link, which is the one anchor every link + // always has -- rather than let it snap to a pin that is not there. + this.comAnchor = 'centroid'; + this.captureComOffset(); + return new Coord(this._CoM.x, this._CoM.y); + } if (!this.comOffset) return undefined; const frame = this.comFrame(this.comOffset.frame); if (!frame.ok) { diff --git a/src/app/services/transcoding/mechanism-builder.ts b/src/app/services/transcoding/mechanism-builder.ts index 53cf334f..119a4160 100644 --- a/src/app/services/transcoding/mechanism-builder.ts +++ b/src/app/services/transcoding/mechanism-builder.ts @@ -289,6 +289,17 @@ export class MechanismBuilder { } }); + // What each hand-placed centre of mass is held against. The offsets it + // needs are captured from the decoded coordinate on the first update, the + // same way the centroid anchor already works -- the URL carries where the + // point is, and the anchor says what it is measured from. + this.transcoder.getComAnchors().forEach((entry) => { + const [reference, jointID] = entry.substring(2).split('~'); + const link = this.getLinkByID(links, reference); + if (!(link instanceof RealLink)) return; + link.comAnchor = entry.charAt(1) === 'G' ? 'grid' : { joint: jointID }; + }); + // A sealed cylinder's parts always follow their own shapes. Nothing that // shipped ever let anyone choose their inertia or centres — the values in // circulating URLs are fixture defaults — so decoding migrates the parts diff --git a/src/app/services/transcoding/string-transcoder.ts b/src/app/services/transcoding/string-transcoder.ts index 4bc5a861..acd6ec72 100644 --- a/src/app/services/transcoding/string-transcoder.ts +++ b/src/app/services/transcoding/string-transcoder.ts @@ -444,11 +444,20 @@ export class StringTranscoder extends GenericTranscoder { '.' + activeObjString; - // Written only when something is locked, so a lock-free URL stays - // byte-identical to one written before locks existed — the same bargain - // the slot triple and the per-joint drive speed struck. - if (this.lockedIds.length > 0) { - fullString += '.' + this.lockedIds.join(','); + // Written only when there is something to say, so a URL with no locks and + // no re-anchored centre of mass stays byte-identical to one written before + // either existed — the same bargain the slot triple and the per-joint + // drive speed struck. + // + // Centre-of-mass anchors share this section rather than opening a second + // one, because they are the same shape of thing: a tagged reference to an + // object the URL already carries. Their tag is 'C', which no lock uses, so + // the two are told apart on the way in and neither can be mistaken for the + // other. 'CG' holds the point on the drawing; 'CJ~' + // holds it on one pin, '~' being a character no id can contain. + const trailing = [...this.lockedIds, ...this.comAnchors]; + if (trailing.length > 0) { + fullString += '.' + trailing.join(','); } // add checksum character in the end @@ -558,11 +567,15 @@ export class StringTranscoder extends GenericTranscoder { let activeType = sd.isEmpty() ? 'N' : sd.nextCharacter(); let activeID = sd.isEmpty() ? '' : sd.nextToken('.'); - // The lock section: type-tagged ids, absent on every URL written before + // The trailing section: type-tagged ids, absent on every URL written before // locks existed — and "absent" simply means the disassembler is empty. + // 'C' entries are centre-of-mass anchors and go to their own list, so the + // lock validator below never has to know they exist. while (!sd.isEmpty()) { - let lockedId = sd.nextToken(','); - if (lockedId !== '') this.lockedIds.push(lockedId); + let entry = sd.nextToken(','); + if (entry === '') continue; + if (entry.charAt(0) === 'C') this.comAnchors.push(entry); + else this.lockedIds.push(entry); } let typeEnum; @@ -670,6 +683,28 @@ export class StringTranscoder extends GenericTranscoder { throw new Error('URL locks an object it does not contain'); } }); + this.validateDecodedComAnchors(linkIDs); + } + + /** + * Every anchor must name a link this URL carries, and a pin anchor must name + * a joint of that same link — anchoring to a pin the link does not hold has + * no meaning, and would silently fall back to the centroid on first use. + */ + private validateDecodedComAnchors(linkIDs: Set): void { + this.comAnchors.forEach((entry) => { + const [reference, jointID] = entry.substring(2).split('~'); + const link = this.links.find((candidate) => candidate.id === reference); + const resolves = + linkIDs.has(reference) && + link !== undefined && + (entry.charAt(1) === 'G' + ? jointID === undefined + : entry.charAt(1) === 'J' && jointID !== undefined && link.jointIDs.includes(jointID)); + if (!resolves) { + throw new Error('URL anchors a center of mass to something it does not contain'); + } + }); } /* Both slot joints must be members of the carrier, and the slider must not. */ diff --git a/src/app/services/transcoding/transcoder-interface.ts b/src/app/services/transcoding/transcoder-interface.ts index 29c1199d..34f913ca 100644 --- a/src/app/services/transcoding/transcoder-interface.ts +++ b/src/app/services/transcoding/transcoder-interface.ts @@ -31,6 +31,12 @@ export abstract class GenericTranscoder { * locks existed. */ protected lockedIds: string[] = []; + /** + * Which links hold their centre of mass against something other than + * themselves, as tagged references sharing the lock section. See + * StringTranscoder for the spelling. + */ + protected comAnchors: string[] = []; // Initialize data dictionaries based on settings enums constructor() { @@ -106,6 +112,14 @@ export abstract class GenericTranscoder { return this.lockedIds; } + setComAnchors(anchors: string[]): void { + this.comAnchors = anchors; + } + + getComAnchors(): string[] { + return this.comAnchors; + } + abstract decodeURL(url: string): void; getJoints(): JointData[] { diff --git a/src/app/services/transcoding/url-com-anchor.spec.ts b/src/app/services/transcoding/url-com-anchor.spec.ts new file mode 100644 index 00000000..e04d7e5d --- /dev/null +++ b/src/app/services/transcoding/url-com-anchor.spec.ts @@ -0,0 +1,115 @@ +import '../../model/joint'; +import { Joint, RevJoint } from '../../model/joint'; +import { Force } from '../../model/force'; +import { ComAnchor, Link, RealLink } from '../../model/link'; +import { ActiveObjService } from '../active-obj.service'; +import { MechanismService } from '../mechanism.service'; +import { SettingsService } from '../settings.service'; +import { urlGeneratorFor } from '../../../test-utils/url-encoding'; +import { MechanismBuilder } from './mechanism-builder'; +import { StringTranscoder } from './string-transcoder'; +import { MODEL_SCALE } from '../../model/render-scale'; + +/** + * What a hand-placed centre of mass is held against travels in the same + * trailing section the lock marks use -- tagged references to objects the URL + * already carries, which is exactly what these are. The 'C' tag is one no lock + * uses, so the two share a list without either being able to read the other's + * entries. + * + * As with locks, the section is written only when there is something to say, + * so a drawing whose centres all ride their own links encodes to the bytes it + * did before any of this existed. + */ + +const S = MODEL_SCALE; + +function source(anchor: ComAnchor | undefined) { + const a = new RevJoint('A', 0, 0, true, true); + const b = new RevJoint('B', 2 * S, 0); + const bar = new RealLink('AB', [a, b], 1, 1); + [a, b].forEach((joint) => joint.links.push(bar)); + a.connectedJoints.push(b); + b.connectedJoints.push(a); + if (anchor !== undefined) { + bar.placeCustomCoM({ x: 0.5 * S, y: 0.25 * S }); + bar.comAnchor = anchor; + bar.captureComOffset(); + } + return { joints: [a, b], links: [bar], forces: [] as Force[] }; +} + +function encode(anchor: ComAnchor | undefined): string { + return urlGeneratorFor( + { ...source(anchor), mechanismTimeStep: 0 } as unknown as MechanismService, + new SettingsService() + ).generateUrlQuery(); +} + +function decode(encoded: string): { joints: Joint[]; links: Link[] } { + const decoder = new StringTranscoder(); + decoder.decodeURL(encoded); + const target = { + joints: [] as Joint[], + links: [] as Link[], + forces: [] as Force[], + mechanismTimeStep: 0, + } as unknown as MechanismService; + new MechanismBuilder(target, decoder, new SettingsService(), new ActiveObjService()).build(true); + return target; +} + +/** The URL minus its checksum character, which is a function of length alone. */ +function body(encoded: string): string { + return encoded.substring(0, encoded.length - 1); +} + +describe('a center-of-mass anchor in the URL', () => { + it('round-trips holding the point on the drawing', () => { + const opened = decode(encode('grid')); + expect((opened.links[0] as RealLink).comAnchor).toBe('grid'); + }); + + it('round-trips holding the point on one pin', () => { + const opened = decode(encode({ joint: 'B' })); + expect((opened.links[0] as RealLink).comAnchor).toEqual({ joint: 'B' }); + }); + + it('writes nothing when every center rides its own link', () => { + // A hand-placed centre held the way one always was records nothing: that + // is the spelling every URL in circulation already has. + expect(body(encode('centroid'))).not.toContain('.C'); + + // The two that do record something record exactly one entry, and are + // otherwise the same bytes -- so nothing about the format moved. + expect(body(encode('grid'))).toBe(body(encode('centroid')) + '.CGAB'); + expect(body(encode({ joint: 'B' }))).toBe(body(encode('centroid')) + '.CJAB~B'); + }); + + it('sits alongside lock marks without either reading the other', () => { + const withBoth = source('grid'); + withBoth.joints[0].locked = true; + const encoded = urlGeneratorFor( + { ...withBoth, mechanismTimeStep: 0 } as unknown as MechanismService, + new SettingsService() + ).generateUrlQuery(); + + expect(body(encoded)).toContain('.JA,CGAB'); + const opened = decode(encoded); + expect((opened.joints.find((joint) => joint.id === 'A') as RevJoint).locked).toBe(true); + expect((opened.links[0] as RealLink).comAnchor).toBe('grid'); + }); + + it('refuses an anchor on a pin the link does not hold', () => { + // Fail closed, as the lock section does: a reference that does not resolve + // would otherwise decode as a centre quietly held against nothing. + const decoder = new StringTranscoder(); + expect(() => decoder.decodeURL(encode({ joint: 'B' }).replace('CJAB~B', 'CJAB~Z'))).toThrow(); + expect(() => decoder.decodeURL(encode('grid').replace('CGAB', 'CGZZ'))).toThrow(); + }); + + it('opens a URL written before anchors existed with every center on its link', () => { + const opened = decode(encode(undefined)); + expect((opened.links[0] as RealLink).comAnchor).toBe('centroid'); + }); +}); diff --git a/src/app/services/url-generation.service.ts b/src/app/services/url-generation.service.ts index 9944767f..7c3188d4 100644 --- a/src/app/services/url-generation.service.ts +++ b/src/app/services/url-generation.service.ts @@ -185,6 +185,22 @@ export class UrlGenerationService { ...this.mechanism.forces.filter((force) => force.locked).map((force) => 'F' + force.id), ]); + // Where a hand-placed centre of mass is held. Only the links that answer + // something other than "against the link itself", which is the answer + // every link gave before this was a choice. + encoder.setComAnchors( + this.mechanism.links + .filter( + (link): link is RealLink => + link instanceof RealLink && link.comIsCustom && link.comAnchor !== 'centroid' + ) + .map((link) => + link.comAnchor === 'grid' + ? 'CG' + link.id + : 'CJ' + link.id + '~' + (link.comAnchor as { joint: string }).joint + ) + ); + // Encode global settings encoder.addEnumSetting( EnumSetting.LENGTH_UNIT, From 37285315a8f9aad2bed13914f7e944c6868429d1 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 15:06:07 -0700 Subject: [PATCH 174/236] Draw the two shape icons so both surfaces draw them the same Three fixes to how Make Circular and Make Bar present themselves. The bar icon was a stroked outline, and button-block fills every `path` inside its icons with the button's own colour -- a rule that beats the `fill="none"` on the element. So the capsule came out as a solid pill in the panel while the context menu, which has no such rule, drew the outline it was meant to be. Both icons are now built from `circle` and `line` alone, which that rule cannot reach, so the two surfaces show the same drawing. They also share one idiom now: a ring is a pin, in both. Material gives mat-icon a box taller than the glyph inside it -- 22px against an 18px drawing -- and lays the drawing out at the top. The button centres the box, so the icon sat a couple of pixels above its own label. True of every icon button in the panels; obvious on one whose glyph is a plain circle. Centring the box's contents puts the drawing where the box already was. And the centre-of-mass frame is marked on its options rather than set as the select's value. Setting a select's value only takes if its options already exist, and these are rebuilt whenever the panel re-renders that block -- a different link selected, a mass edited. After such a rebuild the bound value is unchanged, so it is never re-applied, and the control reads Centroid over a link held some other way. An option that knows itself to be the selected one cannot drift like that. Co-Authored-By: Claude Fable 5 --- .../BLOCKS/button/button.component.scss | 13 +++++++++++++ .../edit-panel/edit-panel.component.html | 19 +++++++++++++++---- src/assets/icons/make_bar.svg | 8 ++++---- src/assets/icons/make_circular.svg | 3 +-- 4 files changed, 33 insertions(+), 10 deletions(-) diff --git a/src/app/component/BLOCKS/button/button.component.scss b/src/app/component/BLOCKS/button/button.component.scss index 36813702..2143cf75 100644 --- a/src/app/component/BLOCKS/button/button.component.scss +++ b/src/app/component/BLOCKS/button/button.component.scss @@ -13,6 +13,19 @@ #button-block { width: 100%; + + // Material gives mat-icon a box taller than the glyph it holds (22px + // against an 18px drawing), and lays that drawing out at the top of it. + // The button then centres the box, which leaves the icon itself riding a + // couple of pixels above the label beside it -- visible on every icon + // button in the panels, and obvious on one whose glyph is a plain circle. + // Centring the contents of the box puts the drawing where the box is. + mat-icon { + display: inline-flex; + align-items: center; + justify-content: center; + } + //height: 30px; //color: white; //background-color: mat.get-color-from-palette($primary-palette, 400); diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index 0c1784c2..b4a5ea2e 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -530,16 +530,27 @@
    Center of Mass +
    diff --git a/src/assets/icons/make_bar.svg b/src/assets/icons/make_bar.svg index a65bac55..b140b3e6 100644 --- a/src/assets/icons/make_bar.svg +++ b/src/assets/icons/make_bar.svg @@ -1,6 +1,6 @@ - - - + + + + diff --git a/src/assets/icons/make_circular.svg b/src/assets/icons/make_circular.svg index d767411c..e484c164 100644 --- a/src/assets/icons/make_circular.svg +++ b/src/assets/icons/make_circular.svg @@ -1,5 +1,4 @@ - - + From 26d23d95894ef7e1a42e92361d58747705340f5a Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 15:11:57 -0700 Subject: [PATCH 175/236] Say what the handle does at the end of the track, and let the row hold the selection Three changes from the playback-loop-indicator study, taking option 3b. The row said where the input was and which way it was going, and nothing about either end of the track -- so a crank that jumps back to the start and a ram that turns round and comes back looked identical until you watched one happen. Each row now carries that reading: `loop` and Loops, `swap_horiz` and Reverses, both in the same grey, because they are two facts rather than a good one and a bad one. Synced, the reading is about the group: one phrase when every machine ends the same way, and one per behaviour naming its machines when they do not. The row goes to two lines. Everything to read sits on the first -- name, direction, ending, position, elapsed -- and the handle gets the card's whole width underneath it, which is what precise scrubbing wants. The two numbers sit in a column of their own width so a value gaining a digit cannot move the buttons beside it, and the play and flip buttons drop to 22px inside the row's padding rather than on its edge. Selection moves off the name and onto the row. The filled indigo chip was a control drawn inside a control; now the row's own surface goes a shade darker and its name a weight heavier, so nothing is drawn around the buttons and none of them crosses the state. The card's padding drops to 4px to let a row reach its edges, with the 12px optical inset made up again inside, and the radii nest by outer = inner + padding. e2e/playback-loop-indicator.mjs holds the readings, the geometry and the proof that choosing a row moves nothing on its line. --- e2e/playback-loop-indicator.mjs | 253 ++++++++++++++++ .../playback-bar/playback-bar.component.html | 147 ++++++---- .../playback-bar/playback-bar.component.scss | 274 +++++++++++------- .../playback-bar/playback-bar.component.ts | 94 +++++- 4 files changed, 594 insertions(+), 174 deletions(-) create mode 100644 e2e/playback-loop-indicator.mjs diff --git a/e2e/playback-loop-indicator.mjs b/e2e/playback-loop-indicator.mjs new file mode 100644 index 00000000..101d2654 --- /dev/null +++ b/e2e/playback-loop-indicator.mjs @@ -0,0 +1,253 @@ +/** + * The transport row, rebuilt: two lines a machine, an end-of-cycle reading, and + * a selection the row's own surface carries. + * + * Three things this has to hold that a screenshot alone will not. The reading + * has to be right -- a crank comes round again, a driven ram turns back -- and + * it has to be one sentence about the group when the machines are synced. The + * handle has to get the card's whole width. And the selection has to sit under + * the whole row without any control crossing its edge, which is the thing the + * old filled chip could not do. + * + * PMKS_BASE_URL= node e2e/playback-loop-indicator.mjs + */ + +import { readFileSync, mkdirSync } from 'node:fs'; + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://localhost:4200'; +const OUT = 'artifacts/playback-loop-indicator'; +mkdirSync(OUT, { recursive: true }); + +const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +/** Two four-bars side by side, each with its own drive: one drawing, two clocks. */ +const TWO_FOUR_BARS = + '2P.Ay,1E8.K,0.1011.6A,A,0mv,0VU,0.0B,B,0e_,E6,0.0C,C,l1,WW,0.4D,D,qD,0Pk,0.6E,E,2Y_,0,0.' + + '0F,F,2Y_,GJ,0.0G,G,3Jt,Wc,0.4H,H,3aA,0,0..YRAB,AB,Fe,Fe,0ix,08i,c5cae9,A,B,,.' + + 'YRBC,BC,Fe,Fe,32,NJ,303e9f,B,C,,.YRCD,CD,Fe,Fe,nd,3P,0d125a,C,D,,.' + + 'AREF,EF,0,0,2Y_,8A,555555,E,F,,.ARFG,FG,0,0,2xQ,OS,555555,F,G,,.' + + 'ARGH,GH,0,0,3S0,GJ,555555,G,H,,...N_L'; + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); +page.on('console', (message) => { + if (message.type() === 'error') errors.push(message.text()); +}); + +const results = []; +const record = (what, ok, detail) => { + results.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const kinematic = async () => { + await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); + await page.waitForTimeout(900); +}; + +const rowText = () => page.locator('.scrubCard').innerText(); + +/** Every box the row draws, in page coordinates, for the geometry checks. */ +const boxes = () => + page.evaluate(() => { + const rect = (node) => { + if (!node) return null; + const box = node.getBoundingClientRect(); + return { + left: Math.round(box.left), + right: Math.round(box.right), + top: Math.round(box.top), + bottom: Math.round(box.bottom), + width: Math.round(box.width), + }; + }; + return [...document.querySelectorAll('.mechRow')].map((row) => ({ + row: rect(row), + head: rect(row.querySelector('.rowHead')), + track: rect(row.querySelector('.rowScrubber')), + readout: rect(row.querySelector('.rowReadout')), + play: rect(row.querySelector('.rowPlay')), + flip: rect(row.querySelector('.dirButton')), + fill: getComputedStyle(row).backgroundColor, + selected: row.classList.contains('selected'), + })); + }); + +// --- a continuously driven crank comes round again -------------------------- +await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await kinematic(); + +let text = await rowText(); +record('a crank says it loops', /Loops/.test(text) && !/Reverses/.test(text), text); +await page.screenshot({ + path: `${OUT}/01-one-crank.png`, + clip: { x: 300, y: 760, width: 1180, height: 180 }, +}); + +let geometry = (await boxes())[0]; +record( + 'the handle gets the card of the width the row does', + geometry.track.width > geometry.row.width - 24 && geometry.track.top > geometry.head.bottom, + geometry +); +record( + 'and the buttons sit inside the row rather than on its edge', + geometry.flip.right <= geometry.row.right - 4 && geometry.flip.top >= geometry.row.top, + geometry +); + +// --- a driven ram turns round ----------------------------------------------- +await page.goto(`${BASE}/?${payloads['Cylinder_Boom']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await kinematic(); + +text = await rowText(); +record('a driven ram says it reverses', /Reverses/.test(text) && !/Loops/.test(text), text); +await page.screenshot({ + path: `${OUT}/02-one-ram.png`, + clip: { x: 300, y: 760, width: 1180, height: 180 }, +}); + +// --- selection is the row's own surface ------------------------------------- +await page.goto(`${BASE}/?${TWO_FOUR_BARS}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await kinematic(); + +record( + 'synced, the two machines collapse to one row', + (await page.locator('.mechRow').count()) === 1, + { + rows: await rowText(), + } +); +record( + 'and the row speaks for both at once, in one reading', + (await rowText()).match(/Loops/g)?.length === 1, + await rowText() +); +await page.screenshot({ + path: `${OUT}/03-synced.png`, + clip: { x: 300, y: 760, width: 1180, height: 180 }, +}); + +await page.locator('.syncToggle').click(); +await page.waitForTimeout(700); +record('unsynced, the transport lists both', (await page.locator('.mechRow').count()) === 2); + +const before = await boxes(); +record( + 'nothing is filled until a machine is chosen', + before.every((row) => !row.selected), + before.map((row) => row.fill) +); +record( + 'and the two readout columns line up, whatever the numbers are', + before[0].readout.left === before[1].readout.left, + before.map((row) => row.readout) +); + +await page.locator('.mechRow').first().click(); +await page.waitForTimeout(500); +const after = await boxes(); +record('clicking a row selects that machine', after[0].selected && !after[1].selected, { + fills: after.map((row) => row.fill), +}); +record( + 'the fill is the row and only the row', + after[0].fill !== after[1].fill && after[0].row.left === before[0].row.left, + { selected: after[0].fill, other: after[1].fill } +); +record( + 'and choosing it moved nothing on the line', + after[0].readout.left === before[0].readout.left && + after[0].play.left === before[0].play.left && + after[0].flip.left === before[0].flip.left, + { before: before[0], after: after[0] } +); +await page.screenshot({ + path: `${OUT}/04-selected.png`, + clip: { x: 300, y: 700, width: 1180, height: 240 }, +}); + +// The panel is what proves the click reached the mechanism, not just the CSS. +const panel = await page + .locator('app-right-panel, app-analysis-panel') + .first() + .innerText() + .catch(() => ''); +record('the selection reaches the analysis panel', /Mechanism M1/.test(panel), panel.slice(0, 160)); + +// --- one drawing, two kinds of ending --------------------------------------- +// A driven ram beside a crank, so the combined row has two facts to carry and +// has to name which machines each one is about. +await page.goto(`${BASE}/?${payloads['Cylinder_Boom']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); + +/** + * Draw a four-bar beside the ram, using the app's own object model. + * + * Cloning the prototypes of the joints and links already on the grid rather + * than importing the classes: this runs in the page, where the modules are not + * addressable by name. + */ +await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + const seedJoint = srv.joints[0]; + const seedLink = srv.links.find((link) => link.joints.length === 2); + const JointClass = Object.getPrototypeOf(seedJoint).constructor; + const LinkClass = Object.getPrototypeOf(seedLink).constructor; + const S = seedJoint.x === 0 ? 200 : Math.abs(seedJoint.x) / 3; + + const at = [ + [10, 0], + [10, 1], + [13, 2], + [14, 0], + ]; + const made = at.map(([x, y], i) => new JointClass('W' + i, x * S, y * S)); + made[0].ground = true; + made[3].ground = true; + made[0].input = true; + + const links = [0, 1, 2].map((i) => { + const link = new LinkClass(made[i].id + made[i + 1].id, [made[i], made[i + 1]]); + made[i].links.push(link); + made[i + 1].links.push(link); + made[i].connectedJoints.push(made[i + 1]); + made[i + 1].connectedJoints.push(made[i]); + return link; + }); + + srv.joints.push(...made); + srv.links.push(...links); + srv.updateMechanism(true); +}); +await page.waitForTimeout(1400); +await kinematic(); + +const mixed = await rowText(); +record( + 'synced over two kinds of machine, the row names which does which', + /M1 reverses/.test(mixed) && /M2 loops/.test(mixed), + mixed +); +await page.screenshot({ + path: `${OUT}/05-mixed.png`, + clip: { x: 300, y: 760, width: 1180, height: 180 }, +}); + +record('nothing threw', errors.length === 0, errors.slice(0, 3)); + +await browser.close(); +process.exit(results.every(([, ok]) => ok) ? 0 : 1); diff --git a/src/app/component/playback-bar/playback-bar.component.html b/src/app/component/playback-bar/playback-bar.component.html index 0765869f..be2f2055 100644 --- a/src/app/component/playback-bar/playback-bar.component.html +++ b/src/app/component/playback-bar/playback-bar.component.html @@ -40,77 +40,102 @@ } @for (row of rows; track row.id) { -
    - - @if (row.isMechanism) { - - } @else { - {{ row.id }} - } + +
    +
    + + @if (row.isMechanism) { + + } @else { + {{ row.id }} + } - @if (row.ownPlay) { - - } + @if (row.note) { + {{ row.note }} + } + + + @for (end of row.ends; track end.text) { + + {{ end.glyph }} + {{ end.text }} + + } -
    -
    - -
    -
    - + + @if (row.position) { {{ row.position }} } {{ row.time }} - {{ row.note }} -
    + + + @if (row.ownPlay) { + + } + + @if (row.isMechanism) { + + }
    - @if (row.isMechanism) { - - } +
    + +
    }
    diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index 16f6b31b..462ac159 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -44,18 +44,24 @@ box-shadow: var(--card-shadow); } + // The card's own padding is now 4px rather than 12: a row is a surface of its + // own that has to be able to reach the card's edge, and the 12px optical + // inset the contents used to get is made up again inside it (4 card + 4 row + // + 4 head). Radii nest by the same rule -- outer = inner + padding. .scrubCard { position: relative; display: flex; flex-direction: column; justify-content: center; - gap: 7px; - padding: 9px 12px; + gap: 4px; + padding: 4px; min-height: 60px; background: var(--card-surface); border-radius: var(--card-radius); pointer-events: auto; - flex: 0 1 470px; + // Wider than it was: the line above the handle now carries the end-of-cycle + // reading as well as the name, the direction and the two numbers. + flex: 0 1 520px; min-width: 250px; box-sizing: border-box; box-shadow: var(--card-shadow); @@ -154,108 +160,211 @@ } } + // One machine, on two lines: everything to read on the first, the handle with + // the card's whole width under it on the second. The row is a surface of its + // own, which is what carries the selection -- no rail, no outline, nothing + // drawn around the controls, and so nothing that a control can cross. .mechRow { + display: flex; + flex-direction: column; + justify-content: center; + gap: 3px; + padding: 3px 4px; + // Nested by the card's rule: outer radius = inner + the padding between. + border-radius: calc(var(--card-radius) - 4px); + // A single row is the card's whole content, so its fill is the card's. + flex: 1 1 auto; + transition: background 0.12s ease; + + &.selectable { + cursor: pointer; + + &:hover { + background: #eceef5; + } + + // A shade darker, and the name it is about set a weight heavier. Nothing + // added and nothing moved: the two numbers sit in a column of their own + // width, so the name growing cannot push a button under the pointer. + &.selected { + background: #e9ebf3; + + .mechChip { + font-weight: 600; + } + } + } + } + + .rowHead { display: flex; align-items: center; - gap: 8px; + gap: 6px; + height: 22px; + padding: 0 4px; + overflow: hidden; } - // The way to select a machine, and the only one outside the canvas -- so it - // has to read as a control rather than as a label that happens to react. - // Outlined in the app's own blue, with a caret to say there is something - // behind it, and filled once it is the machine being looked at. + // The way to select a machine, and the only one outside the canvas. It no + // longer has to look like a control on its own: the row it names is the + // control, so the name is just the name, in the app's own blue. .mechChip { display: flex; align-items: center; - justify-content: center; - height: 40px; - min-width: 44px; - padding: 0 10px; + height: 22px; + padding: 0; flex: 0 0 auto; border: none; - border-radius: 6px; background: transparent; color: mat.m2-get-color-from-palette($primary-palette, 500); font-family: inherit; - font-size: 14px; + font-size: 13px; font-weight: 500; cursor: pointer; // A name, not a word to be dragged over. Selecting it paints the highlight - // across a filled chip and leaves it looking like a fourth state. + // across the row and leaves it looking like a second state. user-select: none; - &:hover { - background: rgba(0, 0, 0, 0.04); - } - - &.selected { - background: mat.m2-get-color-from-palette($primary-palette, 500); - border-color: mat.m2-get-color-from-palette($primary-palette, 500); - color: #fff; - } - // The combined row stands for every machine at once, so there is no single // thing for it to select. &.plain { - font-size: 13px; cursor: default; color: #5f6368; + } + } - &:hover { - background: transparent; - } + // Which way the input is going right now, and what it does when it gets to + // the end of the track. The second is grey in both readings: coming round + // again and turning back are two facts, not a good one and a bad one. + .rowNote { + flex: 0 1 auto; + min-width: 0; + font-size: 11px; + color: rgba(0, 0, 0, 0.5); + white-space: nowrap; + overflow: hidden; + text-overflow: ellipsis; + } + + .rowEnd { + display: inline-flex; + align-items: center; + flex: 0 1 auto; + min-width: 0; + gap: 4px; + font-size: 11px; + color: #5f6368; + white-space: nowrap; + overflow: hidden; + + mat-icon { + width: 13px; + height: 13px; + flex: 0 0 auto; + font-size: 13px; + line-height: 13px; + color: #9aa0a6; } } - .rowPlay { + // A fixed width holding the two numbers hard against the buttons, so a value + // gaining a digit or a minus sign cannot move anything beside it. + .rowReadout { + display: flex; + align-items: center; + justify-content: flex-end; + margin-left: auto; + flex: 0 0 108px; + gap: 9px; + white-space: nowrap; + } + + // The combined row names no machine and shows no position, so there is + // nothing for the column to line up with. + .mechRow.combined { + .rowHead, + .trackWell { + padding-left: 8px; + padding-right: 8px; + } + + .rowReadout { + flex: 0 0 auto; + } + } + + // Where the input is, then how long it has been going. The position leads + // because it is what the handle below it means. + .rowPosition { + font-size: 11px; + font-weight: 500; + color: #2c2c2c; + } + + .rowTime { + font-size: 11px; + color: rgba(0, 0, 0, 0.5); + } + + // Inside the row's padding rather than on its edge, at the same 22px as the + // line they sit on, so no button ever crosses the selected surface. + .rowPlay, + .dirButton { display: flex; align-items: center; justify-content: center; - width: 32px; - height: 32px; + width: 22px; + height: 22px; flex: 0 0 auto; border: none; - border-radius: 50%; - background: #d5d7e0; - color: #fff; + border-radius: 6px; + background: transparent; cursor: pointer; padding: 0; - &.live { - background: #5c6bc0; + &:hover { + background: rgba(0, 0, 0, 0.06); } + } + + // Playing is the row's own doing, so its button carries the app's blue; the + // direction is a property of the drawing, so its button stays grey. + .rowPlay { + color: mat.m2-get-color-from-palette($primary-palette, 500); mat-icon { - width: 20px; - height: 20px; - font-size: 20px; - line-height: 20px; + width: 18px; + height: 18px; + font-size: 18px; + line-height: 18px; } } - .rowBody { - display: flex; - flex-direction: column; - justify-content: center; - flex: 1 1 auto; - min-width: 0; - height: 40px; - gap: 2px; + .dirButton { + color: #5f6368; + + mat-icon { + width: 15px; + height: 15px; + font-size: 15px; + line-height: 15px; + } } - // The track sits in a 22px well with the input pinned 9px down it, so the + // The track sits in a 16px well with the input pinned 6px down it, so the // handle centres on the line rather than on the row. .trackWell { position: relative; - height: 22px; + height: 16px; + padding: 0 4px; } .rowScrubber { position: absolute; - left: 0; - right: 0; - top: 9px; - width: 100%; + left: 4px; + right: 4px; + top: 6px; + width: auto; min-width: 0; margin: 0; height: 4px; @@ -267,35 +376,6 @@ } } - .rowLabels { - display: flex; - align-items: center; - gap: 9px; - font-size: 11px; - color: rgba(0, 0, 0, 0.5); - white-space: nowrap; - overflow: hidden; - } - - // Where the input is, then how long it has been going. The position leads - // because it is what the handle above it means. - .rowPosition { - min-width: 52px; - font-size: 11px; - font-weight: 500; - color: #2c2c2c; - } - - .rowTime { - min-width: 46px; - font-size: 11px; - color: rgba(0, 0, 0, 0.5); - } - - .rowNote { - color: rgba(0, 0, 0, 0.45); - } - // A phone cannot hold three cards across one line. The cluster wraps, the // scrub card takes the width it can get, and the view controls sit under it // rather than half off the edge. @@ -317,30 +397,4 @@ order: 3; } } - - .dirButton { - display: flex; - align-items: center; - justify-content: center; - width: 40px; - height: 40px; - flex: 0 0 auto; - border: none; - border-radius: 6px; - background: transparent; - color: #5f6368; - cursor: pointer; - padding: 0; - - &:hover { - background: rgba(0, 0, 0, 0.04); - } - - mat-icon { - width: 18px; - height: 18px; - font-size: 18px; - line-height: 18px; - } - } } diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index 7f036fc4..a26a9268 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -27,6 +27,21 @@ const BOTTOM_OFFSET = 38; /** The one gap the chrome keeps between any two cards. */ const CARD_GAP = 12; +/** + * What the input does when it reaches the end of its track. + * + * Two facts, not a good one and a bad one, so both are drawn in the same grey: + * a crank comes round again, a ram turns back. On the combined row one of these + * stands for every machine that behaves that way, which is why the words are + * carried rather than derived from a flag at the point of drawing. + */ +export interface CycleEnd { + /** `loop` for a machine that comes round again, `swap_horiz` for one that turns back. */ + glyph: string; + /** "Loops", "Reverses" -- or, on the combined row, "M1, M2 reverse". */ + text: string; +} + /** One line in the transport: a machine, or all of them together. */ export interface PlaybackRow { id: string; @@ -55,6 +70,11 @@ export interface PlaybackRow { playing: boolean; /** Whether this line carries a play button of its own. */ ownPlay: boolean; + /** + * What happens at the end of the cycle: one entry for a machine, and for the + * combined row one per behaviour present among the machines it stands for. + */ + ends: CycleEnd[]; period: number; } @@ -222,7 +242,21 @@ export class PlaybackBarComponent implements OnInit, AfterViewInit, OnDestroy { candidate.mechanism.cyclePeriod > longest.mechanism.cyclePeriod ? candidate : longest ); const alone = runnable.length === 1; - return [this.rowFor(lead.index, true, false, alone ? undefined : 'All')]; + if (alone) { + return [this.rowFor(lead.index, true, false)]; + } + // Synced, the row stands for every machine at once, so what happens at + // the end of the cycle is said about the group rather than about the one + // machine the handle happens to follow. + return [ + this.rowFor( + lead.index, + true, + false, + 'All', + this.combinedEnds(runnable.map((r) => r.index)) + ), + ]; } return runnable.map(({ index }, position) => @@ -230,12 +264,18 @@ export class PlaybackBarComponent implements OnInit, AfterViewInit, OnDestroy { ); } - private rowFor(index: number, master: boolean, ownPlay: boolean, name?: string): PlaybackRow { + private rowFor( + index: number, + master: boolean, + ownPlay: boolean, + name?: string, + ends?: CycleEnd[] + ): PlaybackRow { const mechanism = this.mechanism.mechanisms[index]; const seconds = this.mechanism.secondsOf(index); const combined = name !== undefined; return { - id: name ?? this.mechanism.partitions[index]?.id ?? `M${index + 1}`, + id: name ?? this.nameOf(index), index: combined ? -1 : index, leader: index, isMechanism: !combined, @@ -253,6 +293,7 @@ export class PlaybackBarComponent implements OnInit, AfterViewInit, OnDestroy { note: combined ? '' : this.noteFor(index), playing: this.mechanism.isMechanismPlaying(index), ownPlay, + ends: ends ?? [this.endOf(index)], period: mechanism.cyclePeriod || 1, }; } @@ -354,6 +395,53 @@ export class PlaybackBarComponent implements OnInit, AfterViewInit, OnDestroy { this.mechanism.seekMechanismTo(index, along); } + /** What the machine is called, everywhere the transport has to name it. */ + private nameOf(index: number): string { + return this.mechanism.partitions[index]?.id ?? `M${index + 1}`; + } + + /** + * What this machine does when its handle reaches the end of the track. + * + * The row said where the input was and which way it was going, and nothing at + * all about either end of the track -- so a handle that jumped back to the + * start and a handle that turned round and came back looked the same until + * you watched one happen. + */ + private endOf(index: number): CycleEnd { + return this.endWords(!this.isReciprocating(this.mechanism.mechanisms[index])); + } + + private endWords(loops: boolean): CycleEnd { + return { glyph: loops ? 'loop' : 'swap_horiz', text: loops ? 'Loops' : 'Reverses' }; + } + + /** + * The same fact about several machines at once. + * + * Grouped by behaviour rather than listed per machine: what the reader wants + * from the combined row is how many kinds of ending there are, and with one + * kind the names are noise -- the row is already called All. + */ + private combinedEnds(indices: number[]): CycleEnd[] { + const groups = new Map(); + indices.forEach((index) => { + const loops = !this.isReciprocating(this.mechanism.mechanisms[index]); + groups.set(loops, [...(groups.get(loops) ?? []), this.nameOf(index)]); + }); + if (groups.size === 1) { + return [this.endWords([...groups.keys()][0])]; + } + return [...groups].map(([loops, names]) => { + // One machine is the subject of a singular verb, several of a plural one. + const verb = loops ? 'loop' : 'reverse'; + return { + glyph: this.endWords(loops).glyph, + text: `${names.join(', ')} ${names.length === 1 ? verb + 's' : verb}`, + }; + }); + } + /** * Out-and-back rather than round and round. * From b081bc32f7804b51117466e2730276d43d7d1a9b Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 15:19:22 -0700 Subject: [PATCH 176/236] Let the fill be the whole of the selected state, as the mock draws it The name was set a weight heavier when its row was chosen, on the study's prose rather than on what it rendered. The fill is the point: a weight change reflows the line the name leads for a state the surface under it already says, and the study picked this option for being the one that adds nothing. --- .../component/playback-bar/playback-bar.component.scss | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index 462ac159..a529e5ce 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -183,15 +183,11 @@ background: #eceef5; } - // A shade darker, and the name it is about set a weight heavier. Nothing - // added and nothing moved: the two numbers sit in a column of their own - // width, so the name growing cannot push a button under the pointer. + // A shade darker, and that is the whole of it. Nothing added, nothing + // moved -- not even the name's weight, which would reflow the line it + // leads for a state the surface under it already says. &.selected { background: #e9ebf3; - - .mechChip { - font-weight: 600; - } } } } From 47a80e8bb298c04ffde00bc752da9dc043a104a2 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 15:27:42 -0700 Subject: [PATCH 177/236] Say why a link cannot be drawn as a disc, where it can be read Three things about the shape control, and one test that was not testing what it claimed. The Make Circular icon is back to the drawing it had before the last change -- a disc about its pin, with the throw on the rim. Nothing was wrong with it; the icon that needed fixing was the bar. The button's label now follows what is on the canvas rather than what was asked for. A link keeps the choice through its ground being removed, so that grounding it again brings the disc back without having to ask twice -- but in between it is drawn as a bar, and a button reading "Make Bar" over a bar is a puzzle rather than an offer. And the reason it is unavailable is written in the panel instead of into the button's tooltip. A disabled button receives no pointer events, so its tooltip never opens: the one explanation of why it cannot be pressed was the one nobody could reach. The note names this link's own reason -- no fixed pin, two of them, a slider, or a welded compound -- rather than restating the rule. The outline is also rebuilt when a link starts or stops qualifying. A path is only recomputed when something asks it to, and grounding a joint asks about the joint, so a crank could hold a disc it was no longer entitled to. The test that was supposed to catch that could not have: it counted arcs, and a two-joint bar is drawn with exactly two of them, one per end cap. What tells a disc from a bar is that a disc has no sides, which is what all three suites now check. Co-Authored-By: Claude Fable 5 --- e2e/circular-link-and-driver.mjs | 19 +++++++--- .../edit-panel/edit-panel.component.html | 27 ++++++++++---- .../edit-panel/edit-panel.component.scss | 10 ++++-- .../edit-panel/edit-panel.component.ts | 36 +++++++++++++++++++ src/app/model/link.circular.spec.ts | 9 ++++- src/app/model/link.ts | 14 ++++++++ src/app/services/mechanism.service.ts | 8 +++++ .../transcoding/url-circular-link.spec.ts | 3 ++ src/assets/icons/make_circular.svg | 3 +- 9 files changed, 112 insertions(+), 17 deletions(-) diff --git a/e2e/circular-link-and-driver.mjs b/e2e/circular-link-and-driver.mjs index a87d2553..e21383b0 100644 --- a/e2e/circular-link-and-driver.mjs +++ b/e2e/circular-link-and-driver.mjs @@ -58,6 +58,8 @@ const linkState = () => id: crank?.id, isCircle: crank?.isCircle, arcs: (crank?.d.match(/A /g) ?? []).length, + // A bar has two arcs too (its end caps); only a disc has no straight edge. + sides: (crank?.d.match(/ L /g) ?? []).length, edges: crank?.externalLines.length, box: rect ? [Math.round(rect.width), Math.round(rect.height)] : null, url: location.search, @@ -109,8 +111,8 @@ stage = 'made-circular'; const after = await linkState(); check( 'the crank is drawn as a disc', - after.isCircle === true && after.arcs === 2, - `${after.arcs} arcs` + after.isCircle === true && after.arcs === 2 && after.sides === 0, + `${after.arcs} arcs, ${after.sides} straight edges` ); check( 'the disc is as tall as it is wide', @@ -136,7 +138,10 @@ if (shared) { await waitForReady(page); await dismissTour(); const reopened = await linkState(); - check('a shared URL reopens as a disc', reopened.isCircle === true && reopened.arcs === 2); + check( + 'a shared URL reopens as a disc', + reopened.isCircle === true && reopened.arcs === 2 && reopened.sides === 0 + ); } else { check('a shared URL reopens as a disc', false, 'could not reach the url generator'); } @@ -151,9 +156,13 @@ await page.waitForTimeout(1200); const running = await page.evaluate(() => { const grid = ng.getComponent(document.querySelector('app-new-grid')); const crank = grid.mechanismSrv.links.find((l) => l.isCircle); - return { arcs: (crank?.d.match(/A /g) ?? []).length, d: crank?.d.slice(0, 40) }; + return { + arcs: (crank?.d.match(/A /g) ?? []).length, + sides: (crank?.d.match(/ L /g) ?? []).length, + d: crank?.d.slice(0, 40), + }; }); -check('it is still a disc while running', running.arcs === 2, running.d); +check('it is still a disc while running', running.arcs === 2 && running.sides === 0, running.d); await shot('2-running'); // -------------------------------------------------------------- synthesis diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index b4a5ea2e..53b04882 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -478,19 +478,32 @@ + worth naming along with why it is not available. + + The label follows what is actually on the canvas, not the stored + choice: a disc whose ground has since been removed is drawn as a + bar, and a button reading "Make Bar" over a bar is a puzzle. --> - {{ activeSrv.selectedLink.isCircle ? 'Make Bar' : 'Make Circular' }} + {{ drawnAsDisc() ? 'Make Bar' : 'Make Circular' }} + + @if (!activeSrv.selectedLink.canBeCircular()) { +

    + {{ whyNotCircular() }} +

    + } - @if (activeSrv.selectedLink.isCircle) { + @if (drawnAsDisc()) {

    Drawn as a disc. These two still follow the link's joints, not the circle — set Rotational Inertia by hand for a real flywheel. diff --git a/src/app/component/edit-panel/edit-panel.component.scss b/src/app/component/edit-panel/edit-panel.component.scss index 0033dae3..5bb65442 100644 --- a/src/app/component/edit-panel/edit-panel.component.scss +++ b/src/app/component/edit-panel/edit-panel.component.scss @@ -212,9 +212,13 @@ } -/* Sits under the two derived fields it qualifies, in the legend's own grey so - it reads as the same aside rather than as a warning about a problem. */ -.massArea .shapeNote { +/* Sits under the control it qualifies — the shape button, or the two derived + mass fields — in the legend's own grey, so it reads as the same kind of aside + rather than as a warning about a problem. Not scoped to the mass area: the + reason a link cannot be drawn as a disc belongs beside the button that is + greyed out, and a disabled button takes no pointer events, so its own tooltip + is unreachable. */ +.shapeNote { margin: 6px 0 0; font-size: 10.5px; line-height: 1.35; diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index 5ee2dd83..c07c18f7 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -1660,6 +1660,42 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { ); } + /** + * Whether the selected link is on the canvas as a disc right now. + * + * Not the same question as "was it asked to be one": the choice is kept + * through a ground being removed, so that putting the ground back brings the + * disc back rather than making someone ask twice. In between, the link is + * drawn as a bar, and everything a person can see about it should agree. + */ + drawnAsDisc(): boolean { + const link = this.activeSrv.selectedLink; + return !!link?.isCircle && link.canBeCircular(); + } + + /** Why Make Circular is unavailable, in terms of this particular link. */ + whyNotCircular(): string { + const link = this.activeSrv.selectedLink; + const grounded = link.joints.filter( + (joint) => joint instanceof RealJoint && joint.ground && !(joint instanceof PrisJoint) + ); + const held = link.isCircle ? 'Drawn as a bar: a' : 'A'; + if (link.subset.length > 0) { + return `${held} disc is centred on one fixed pin, and a welded compound is drawn from the + shapes of its parts. Unweld it to draw a part of it as a disc.`; + } + if (grounded.length === 0) { + return `${held} disc is centred on the pin its link turns about, and this link has no fixed + pin. Ground one of its joints to draw it as a disc.`; + } + if (grounded.length > 1) { + return `${held} disc is centred on the pin its link turns about, and this link is fixed at + ${grounded.length} joints, so it does not turn about any of them.`; + } + return `${held} disc is centred on a fixed revolute pin; this link's fixed joint is a slider, + which anchors a slot rather than a pivot.`; + } + /** * The frame the Center of Mass is both typed in and held against, read off * the selected link rather than remembered here — it is the link's property, diff --git a/src/app/model/link.circular.spec.ts b/src/app/model/link.circular.spec.ts index 7cc23a27..1e21f3ca 100644 --- a/src/app/model/link.circular.spec.ts +++ b/src/app/model/link.circular.spec.ts @@ -65,7 +65,11 @@ describe('a link drawn as a circle', () => { const numbers = numbersIn(link.d); expect(numbers[0]).toBeCloseTo(ground.x - radius, 6); expect(numbers[1]).toBeCloseTo(ground.y, 6); + // Two arcs and no straight edge. The arc count alone proves nothing — an + // ordinary two-joint bar is also drawn with exactly two, one per end cap — + // so what separates a disc from a bar is that a disc has no sides. expect(link.d.match(/A /g)?.length).toBe(2); + expect(link.d).not.toMatch(/ L /); // A disc has no edges, so there is nothing to attach a joint along. expect(link.externalLines).toEqual([]); @@ -90,8 +94,11 @@ describe('a link drawn as a circle', () => { ground.ground = false; link.reComputeDPath(); - expect(link.d).not.toBe(asDisc); expect(link.canBeCircular()).toBe(false); + // A bar, stated as geometry rather than as "not the string it was": it has + // sides, which a disc never does, and it says so itself. + expect(link.d).toMatch(/ L /); + expect(link.drawnAsDisc).toBe(false); // The bar has edges again, which is how the rest of the app knows it can // hang a joint on one. expect(link.externalLines.length).toBeGreaterThan(0); diff --git a/src/app/model/link.ts b/src/app/model/link.ts index 7f9ddbd4..beb3bc46 100644 --- a/src/app/model/link.ts +++ b/src/app/model/link.ts @@ -175,6 +175,16 @@ export class RealLink extends Link { * comes back as a bar and returns to a disc if it is grounded again. */ public isCircle = false; + + /** + * Whether the outline currently held in `d` is a disc. + * + * `isCircle` is what was asked for; this is what was drawn. They part company + * whenever the link stops or starts qualifying — a ground removed, a ground + * put back — and since a path is only rebuilt when something asks it to, the + * difference between the two is exactly the signal that it needs rebuilding. + */ + public drawnAsDisc = false; /** * A hand-placed centre of mass, held against the link's own frame: along * and across the unit direction joints[0]→joints[1], measured from the @@ -450,6 +460,8 @@ export class RealLink extends Link { } getCompoundPathString(): string { + // A compound is drawn from the outlines of its parts, never as a disc. + this.drawnAsDisc = false; // A sealed cylinder's rod welded into this compound is drawn by the skin, // above the block; the compound repeating it drew the same bar twice, one // copy on the wrong side of the block. The leaf is recognised through its @@ -587,6 +599,7 @@ export class RealLink extends Link { getSimplePathString(): string { this.externalLines = []; + this.drawnAsDisc = false; let l = this; // Draw link given the desiredJointIDs const allJoints = l.joints; @@ -606,6 +619,7 @@ export class RealLink extends Link { if (disc) { this.externalLines = []; this.initialExternalLines = []; + this.drawnAsDisc = true; return disc; } const hullPoints = hull(points, Infinity) as number[][]; //Hull points find the convex hull (largest fence) diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index fba87166..f8101d77 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -2097,6 +2097,14 @@ export class MechanismService { link.massMoI = 0; link.moiIsCustom = false; } + // A link drawn as a disc that has since lost the pin the disc was centred + // on -- or been given one back. Nothing else would notice: an outline is + // only rebuilt when something asks it to, and grounding a joint asks + // about the joint. Left alone, a crank kept its disc after its ground was + // removed, and the panel and the canvas disagreed about what it was. + if (link.isCircle && link.drawnAsDisc !== link.canBeCircular()) { + link.reComputeDPath(); + } if (link.comIsCustom) { // A placed point rides the link: re-derived from its stored offset // against the centroid, so drags, turns and deformations carry it. diff --git a/src/app/services/transcoding/url-circular-link.spec.ts b/src/app/services/transcoding/url-circular-link.spec.ts index 333c381d..74cb361a 100644 --- a/src/app/services/transcoding/url-circular-link.spec.ts +++ b/src/app/services/transcoding/url-circular-link.spec.ts @@ -64,7 +64,10 @@ describe('a circular link in the URL', () => { // Not merely flagged: built as the disc. Joints are decoded before links // are, so the ground pin is known and the outline never has to be a bar // first and corrected afterwards. + // No straight edge: a bar is drawn with two arcs too (its end caps), so + // counting arcs would not tell the two apart. expect(crank.d.match(/A /g)?.length).toBe(2); + expect(crank.d).not.toMatch(/ L /); expect(crank.externalLines).toEqual([]); }); diff --git a/src/assets/icons/make_circular.svg b/src/assets/icons/make_circular.svg index e484c164..d767411c 100644 --- a/src/assets/icons/make_circular.svg +++ b/src/assets/icons/make_circular.svg @@ -1,4 +1,5 @@ - + + From 5513d4ae32bfd08ae61cbfb8ac23ea29b20a0df7 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 15:36:13 -0700 Subject: [PATCH 178/236] Give back the pointerdown Safari owes us after a native menu closes The canvas is driven entirely by pointer events -- the root's handler and every joint, link and force binding are `(pointerdown)` -- while svg-pan-zoom listens for `mousedown`. Normally the two arrive together and in that order, so whichever the gesture belongs to claims it. Safari breaks the pair exactly once, after dismissing a native `` popup is dismissed. + * The canvas is driven by pointer events and svg-pan-zoom by mouse events, so + * the unpaired press went to the library alone: the canvas panned under a + * cursor that was holding a link, and the drag did nothing. The gesture after + * it is paired again, which is why clicking once "fixes" it and hides the cause. + * + * The sequence below is the one traced from the failing gesture in Safari, so + * this reproduces it in any engine — no native popup required. + * + * BASE=http://127.0.0.1:4310 node e2e/pointer-pairing.mjs + */ +const { chromium, webkit } = await import('/tmp/pmks-playwright/node_modules/playwright/index.mjs'); +import { waitForReady } from './app-ready.mjs'; +import { readFileSync } from 'node:fs'; + +const BASE = process.env.BASE ?? 'http://127.0.0.1:4310'; +const source = readFileSync( + new URL('../src/app/component/MODALS/templates/template-linkages.ts', import.meta.url).pathname, + 'utf8' +); +const payloads = Object.fromEntries( + [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) +); + +const checks = []; +const check = (name, pass, detail = '') => { + checks.push({ name, pass }); + console.log(`${pass ? 'PASS' : 'FAIL'} ${name}${detail ? ` — ${detail}` : ''}`); +}; + +/** Grabs a third of the way along B→C, clear of the CoM handle at the midpoint. */ +const GRAB = () => { + const at = (id) => { + const r = document.querySelector(`#joint_${id}`).closest('svg[x]').getBoundingClientRect(); + return { x: r.x + r.width / 2, y: r.y + r.height / 2 }; + }; + const B = at('B'); + const C = at('C'); + return { x: B.x + (C.x - B.x) / 3, y: B.y + (C.y - B.y) / 3 }; +}; + +for (const engine of [chromium, webkit]) { + const name = engine === chromium ? 'chromium' : 'webkit'; + const browser = await engine.launch(); + const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); + await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); + await waitForReady(page); + const skip = page.locator('.introjs-skipbutton').first(); + if (await skip.isVisible().catch(() => false)) await skip.click({ force: true }); + await page.waitForTimeout(900); + await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + grid.activeObjService.updateSelectedObj(grid.mechanismSrv.links.find((l) => l.id === 'BC')); + }); + await page.waitForTimeout(600); + + const unpaired = await page.evaluate((grabSource) => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const joints = () => + JSON.stringify(grid.mechanismSrv.joints.map((j) => [j.id, Math.round(j.x), Math.round(j.y)])); + const pan = () => JSON.stringify(grid.svgGrid.panZoomObject.getPan()); + const before = joints(); + const panBefore = pan(); + const p = new Function('return ' + grabSource)()(); + const target = document.elementFromPoint(p.x, p.y); + const at = (x, y, buttons) => ({ + bubbles: true, + cancelable: true, + composed: true, + clientX: x, + clientY: y, + screenX: x, + screenY: y, + button: 0, + buttons, + }); + // The press with nothing before it — what Safari sends after its popup. + target.dispatchEvent(new MouseEvent('mousedown', at(p.x, p.y, 1))); + for (let i = 1; i <= 10; i++) { + const x = p.x + i * 5; + const y = p.y + i * 3; + const move = { ...at(x, y, 1), pointerId: 1, pointerType: 'mouse' }; + target.dispatchEvent(new PointerEvent('pointermove', move)); + target.dispatchEvent(new MouseEvent('mousemove', at(x, y, 1))); + } + const up = { ...at(p.x + 50, p.y + 30, 0), pointerId: 1, pointerType: 'mouse' }; + target.dispatchEvent(new PointerEvent('pointerup', up)); + target.dispatchEvent(new MouseEvent('mouseup', at(p.x + 50, p.y + 30, 0))); + return { target: target.tagName, linkMoved: joints() !== before, panned: pan() !== panBefore }; + }, GRAB.toString()); + + check(`${name}: an unpaired mousedown drags the link`, unpaired.linkMoved, unpaired.target); + check(`${name}: and does not pan the canvas instead`, !unpaired.panned); + + // The ordinary paired gesture must still work, and must not act twice. + const paired = await page.evaluate(() => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + window.__downs = 0; + document.addEventListener('pointerdown', () => (window.__downs += 1), true); + return grid.mechanismSrv.joints.map((j) => [j.id, Math.round(j.x), Math.round(j.y)]); + }); + const p = await page.evaluate(GRAB); + await page.mouse.move(p.x, p.y); + await page.mouse.down(); + for (let i = 1; i <= 10; i++) { + await page.mouse.move(p.x + i * 5, p.y + i * 3); + await page.waitForTimeout(25); + } + await page.mouse.up(); + await page.waitForTimeout(400); + const afterPaired = await page.evaluate(() => ({ + joints: ng + .getComponent(document.querySelector('app-new-grid')) + .mechanismSrv.joints.map((j) => [j.id, Math.round(j.x), Math.round(j.y)]), + downs: window.__downs, + })); + check( + `${name}: a normal drag still works`, + JSON.stringify(paired) !== JSON.stringify(afterPaired.joints) + ); + check( + `${name}: and the browser's own pointerdown is not doubled`, + afterPaired.downs === 1, + `${afterPaired.downs} pointerdown(s)` + ); + + await browser.close(); +} + +const failed = checks.filter((c) => !c.pass); +console.log(`\n${checks.length - failed.length}/${checks.length} passed`); +process.exit(failed.length ? 1 : 0); diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index e0980833..38de4b58 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -166,6 +166,7 @@ export class SvgGridService { customEventsHandler: eventsHandler, }); this.guardAgainstStuckPan(root); + this.restoreMissingPointerDown(root); this.scaleToFitLinkage(false); } @@ -271,6 +272,73 @@ export class SvgGridService { ); } + /** + * Give back the `pointerdown` Safari owes us after a native menu closes. + * + * The canvas is driven entirely by pointer events -- the root's own handler + * and every joint, link and force binding are `(pointerdown)` -- while + * svg-pan-zoom listens for `mousedown`. Normally the pair arrive together and + * in that order, so whichever one the gesture belongs to claims it. + * + * Safari breaks the pair exactly once after dismissing a native ` + {{ flow.extension() }} +

    + } +
    + +
    + {{ fileName }}{{ flow.format === 'report' ? '' : flow.extension() }} + {{ summaryLine }} + @if (flow.selectedColumns('forces').length > 0) { + + Every force column is headed + {{ flow.forceMode() === 'static' ? 'Static' : 'In-motion' }}, so the file says which + analysis it holds. + + } +
    + } +
    + +
    + @if (flow.step > 1) { + + } + @if (footNote) { + {{ footNote }} + } + + +
    +
    diff --git a/src/app/component/export-panel/export-panel.component.scss b/src/app/component/export-panel/export-panel.component.scss new file mode 100644 index 00000000..163316e0 --- /dev/null +++ b/src/app/component/export-panel/export-panel.component.scss @@ -0,0 +1,576 @@ +@use 'sass:map'; +@use '@angular/material' as mat; + +@mixin css($theme) { + $color-config: mat.m2-get-color-config($theme); + $primary-palette: map.get($color-config, 'primary'); + $indigo: mat.m2-get-color-from-palette($primary-palette, 500); + $indigo-light: mat.m2-get-color-from-palette($primary-palette, 400); + + // Its own card, like every other drawer page: one card per panel, never a + // card inside a card. Three bands rather than one scrolling column -- the + // question and the decisions stay put, and only the list moves. + .export { + display: flex; + flex-direction: column; + height: auto; + max-height: 100%; + min-height: 0; + overflow: hidden; + background: var(--card-surface); + border-top: 5px solid $indigo; + border-radius: var(--border-radius); + box-shadow: var(--card-shadow); + isolation: isolate; + // Something is above, out of sight. Read off the body rather than set on it, + // because the band that casts the shadow is not the one that scrolls. + &:has(.exportBody.scrolled) .exportHead { + box-shadow: 0 3px 6px -3px rgba(0, 0, 0, 0.35); + } + + .spacer { + flex: 1 1 auto; + } + + .exportHead { + flex: 0 0 auto; + padding: 8px 15px 0; + background: var(--card-surface); + // Nothing yet: the shadow only means "there is more above", so it is drawn + // when the list underneath has actually been scrolled. + box-shadow: 0 3px 6px -3px rgba(0, 0, 0, 0); + transition: box-shadow 0.15s ease-in-out; + z-index: 3; + } + + .exportTitle { + // Clear of the drawer's close button, which shares this line. + padding-right: 40px; + font-size: 20px; + line-height: 32px; + font-weight: 500; + letter-spacing: 0.0125em; + color: rgba(0, 0, 0, 0.87); + } + + .exportLead { + margin: 0; + font-size: 14px; + line-height: 18px; + letter-spacing: 0.25px; + color: rgba(0, 0, 0, 0.6); + } + + .steps { + display: flex; + align-items: center; + padding-top: 12px; + } + + .step { + display: flex; + flex-direction: column; + gap: 6px; + flex: 1 1 0; + min-width: 0; + + // Each step but the first is indented, so its name reads as belonging to + // its own bar rather than to the end of the one before. + & + .step .stepName { + padding-left: 8px; + } + } + + .stepName { + display: flex; + align-items: center; + gap: 4px; + border: none; + background: transparent; + font-family: inherit; + font-size: 12px; + color: rgba(0, 0, 0, 0.45); + padding: 0; + white-space: nowrap; + + &.current { + font-weight: 500; + color: $indigo; + } + + // A step already answered is the way back to it; one not reached yet is + // not, because there is nothing there to answer. + &.done { + color: $indigo; + cursor: pointer; + } + + mat-icon { + width: 14px; + height: 14px; + font-size: 14px; + line-height: 14px; + } + } + + .stepBar { + height: 3px; + border-radius: 2px; + background: #eceef5; + + &.current { + background: $indigo; + } + + &.done { + background: #c5cae9; + } + } + + .tabs { + display: flex; + align-items: center; + gap: 18px; + padding-top: 14px; + border-bottom: 1px solid #eceef5; + } + + .tab { + display: flex; + align-items: center; + gap: 6px; + padding: 0 0 8px; + margin-bottom: -1px; + border: none; + border-bottom: 2px solid transparent; + background: transparent; + font-family: inherit; + font-size: 14px; + color: #5f6368; + cursor: pointer; + + &.on { + border-bottom-color: $indigo; + font-weight: 500; + color: $indigo; + } + } + + .tabCount { + display: inline-flex; + align-items: center; + height: 18px; + padding: 0 6px; + border-radius: 9px; + background: #eef0f4; + font-size: 11px; + color: #5f6368; + } + + .tab.on .tabCount { + background: #e8eaf6; + color: $indigo; + } + + .countRow { + display: flex; + align-items: center; + gap: 8px; + padding: 14px 0 10px; + } + + .count { + font-size: 12px; + color: rgba(0, 0, 0, 0.6); + font-variant-numeric: tabular-nums; + } + + .linkButton { + border: none; + background: transparent; + font-family: inherit; + font-size: 13px; + font-weight: 500; + color: $indigo; + cursor: pointer; + padding: 0; + + &.small { + font-size: 12px; + } + } + + .dot { + color: rgba(0, 0, 0, 0.2); + } + + .exportBody { + flex: 1 1 auto; + min-height: 0; + overflow-y: auto; + overflow-x: hidden; + padding-bottom: 8px; + } + + // The machine whose rows are passing, named while they pass. + .mechHead { + position: sticky; + top: 0; + z-index: 2; + display: flex; + align-items: center; + gap: 8px; + padding: 6px 15px; + background: var(--card-surface); + } + + .mechName { + font-size: 14px; + font-weight: 500; + color: #2c2c2c; + } + + .mechNote { + font-size: 12px; + color: rgba(0, 0, 0, 0.45); + white-space: nowrap; + overflow: hidden; + text-overflow: ellipsis; + } + + .rows { + display: flex; + flex-direction: column; + } + + .pickRow { + display: flex; + align-items: center; + // Said out loud, because a button's own alignment is not a flex row's: + // left to itself the browser centres the name between the box and the note. + justify-content: flex-start; + gap: 12px; + width: 100%; + padding: 7px 15px; + border: none; + background: transparent; + font-family: inherit; + text-align: left; + cursor: pointer; + + &:hover:not(:disabled) { + background: #f4f5f9; + } + + // Nothing to give, so nothing to tick: greyed rather than hidden, because + // a reader looking for Joint A should find out why it is not on offer. + &.off { + cursor: default; + + .rowName, + .rowNote { + color: rgba(0, 0, 0, 0.38); + } + } + } + + .box { + display: flex; + align-items: center; + justify-content: center; + width: 18px; + height: 18px; + border: 2px solid rgba(0, 0, 0, 0.54); + border-radius: 2px; + box-sizing: border-box; + flex: 0 0 auto; + color: #fff; + + &.ticked { + border-color: $indigo; + background: $indigo; + } + + mat-icon { + width: 15px; + height: 15px; + font-size: 15px; + line-height: 15px; + } + } + + .pickRow.off .box { + border-color: rgba(0, 0, 0, 0.2); + background: #f4f4f7; + } + + .rowName { + font-size: 14px; + color: #2c2c2c; + } + + .rowNote { + font-size: 12px; + color: rgba(0, 0, 0, 0.45); + white-space: nowrap; + overflow: hidden; + text-overflow: ellipsis; + } + + .rowUnit { + font-size: 12px; + color: rgba(0, 0, 0, 0.45); + } + + .groupTitle { + padding: 10px 15px 6px; + font-size: 14px; + font-weight: 500; + color: #2c2c2c; + } + + .settingRow { + display: flex; + align-items: center; + gap: 10px; + padding: 6px 15px; + + &.spaced { + margin-top: 6px; + padding-top: 12px; + border-top: 1px solid #eceef5; + } + } + + .settingName { + font-size: 14px; + color: rgba(0, 0, 0, 0.6); + flex: 0 0 auto; + } + + .hint { + margin: 2px 15px 0; + font-size: 12px; + line-height: 16px; + color: rgba(0, 0, 0, 0.45); + } + + .empty { + margin: 10px 15px; + font-size: 13px; + line-height: 18px; + color: rgba(0, 0, 0, 0.5); + } + + .segmented { + display: flex; + height: 30px; + border-radius: 4px; + overflow: hidden; + border: 1px solid rgba(0, 0, 0, 0.12); + + button { + display: flex; + align-items: center; + padding: 0 10px; + border: none; + background: #fff; + color: #2c2c2c; + font-family: inherit; + font-size: 13px; + cursor: pointer; + + & + button { + border-left: 1px solid rgba(0, 0, 0, 0.12); + } + + &.on { + background: $indigo-light; + color: #fff; + } + } + } + + .formatBlock { + display: flex; + flex-direction: column; + gap: 4px; + padding: 14px 15px 0; + } + + .formatRow { + display: flex; + align-items: flex-start; + justify-content: flex-start; + gap: 10px; + padding: 5px 0; + border: none; + background: transparent; + font-family: inherit; + text-align: left; + cursor: pointer; + } + + .radio { + display: flex; + align-items: center; + justify-content: center; + width: 18px; + height: 18px; + margin-top: 2px; + border: 2px solid rgba(0, 0, 0, 0.54); + border-radius: 50%; + box-sizing: border-box; + flex: 0 0 auto; + + &.on { + border-color: $indigo; + background: $indigo; + } + } + + .pip { + width: 6px; + height: 6px; + border-radius: 50%; + background: #fff; + } + + .formatText { + display: flex; + flex-direction: column; + gap: 1px; + } + + .formatName { + font-size: 14px; + color: #2c2c2c; + } + + .formatNote { + font-size: 12px; + color: rgba(0, 0, 0, 0.55); + } + + .settingBlock { + display: flex; + flex-direction: column; + gap: 12px; + padding: 12px 0; + margin-top: 6px; + border-top: 1px solid #eceef5; + } + + .nameField { + height: 30px; + width: 170px; + padding: 0 8px; + border: none; + border-bottom: 1px solid rgba(0, 0, 0, 0.42); + border-radius: 4px 4px 0 0; + background: #f0f1f5; + box-sizing: border-box; + font-family: inherit; + font-size: 14px; + color: #2c2c2c; + + &:focus { + outline: none; + border-bottom-color: $indigo; + } + } + + .extension { + font-size: 13px; + color: rgba(0, 0, 0, 0.55); + } + + .summaryCard { + display: flex; + flex-direction: column; + gap: 3px; + margin: 0 15px 12px; + padding: 10px 12px; + background: #f7f8fc; + border-radius: 5px; + } + + .summaryName { + font-size: 13px; + font-weight: 500; + color: #2c2c2c; + } + + .summaryNote { + font-size: 12px; + color: rgba(0, 0, 0, 0.55); + font-variant-numeric: tabular-nums; + } + + .exportFoot { + flex: 0 0 auto; + display: flex; + align-items: center; + gap: 12px; + padding: 12px 15px; + border-top: 1px solid #eceef5; + background: #fafbfd; + } + + .footNote { + font-size: 12px; + color: rgba(0, 0, 0, 0.6); + font-variant-numeric: tabular-nums; + } + + .backButton { + display: flex; + align-items: center; + gap: 6px; + height: 36px; + padding: 0 10px; + border: none; + border-radius: 4px; + background: transparent; + color: $indigo; + font-family: inherit; + font-size: 14px; + font-weight: 500; + cursor: pointer; + + &:hover { + background: rgba(63, 81, 181, 0.08); + } + } + + .nextButton { + display: flex; + align-items: center; + gap: 8px; + height: 36px; + padding: 0 18px; + border: none; + border-radius: 4px; + background: $indigo; + color: #fff; + font-family: inherit; + font-size: 14px; + font-weight: 500; + cursor: pointer; + + &:disabled { + background: #d5d7e0; + color: rgba(0, 0, 0, 0.38); + cursor: default; + } + } + + .backButton mat-icon, + .nextButton mat-icon { + width: 18px; + height: 18px; + font-size: 18px; + line-height: 18px; + } + } +} diff --git a/src/app/component/export-panel/export-panel.component.ts b/src/app/component/export-panel/export-panel.component.ts new file mode 100644 index 00000000..7f2a3581 --- /dev/null +++ b/src/app/component/export-panel/export-panel.component.ts @@ -0,0 +1,272 @@ +import { ChangeDetectionStrategy, Component, OnDestroy, OnInit, inject } from '@angular/core'; +import { Subscription } from 'rxjs'; +import { MatIcon } from '@angular/material/icon'; +import { ScrollShadowDirective } from '../../scroll-shadow.directive'; +import { MechanismService } from '../../services/mechanism.service'; +import { NotificationService } from '../../services/notification.service'; +import { AnalyticsService } from '../../services/analytics.service'; +import { ExportFlowService, ExportStep } from '../../services/export/export-flow.service'; +import { ExportWriterService } from '../../services/export/export-writer.service'; +import { + ColumnTab, + Decimals, + ExportColumn, + ExportFormat, + ExportPart, + ExportPartGroup, +} from '../../services/export/export-model'; +import { RightPanelComponent } from '../right-panel/right-panel.component'; + +/** One of the three questions, as the rule across the top draws it. */ +interface StepMark { + number: ExportStep; + name: string; +} + +/** + * Export Data, asked one question at a time. + * + * The old command wrote whatever the analysis panel happened to be showing for + * whatever was selected: one part, every graph of it, always a CSV. Everything + * else in the drawing — the other joints, the second mechanism, the forces — + * was unreachable. This asks the three questions that were never asked: which + * parts, which numbers, and how the file should be written. + */ +@Component({ + selector: 'app-export-panel', + templateUrl: './export-panel.component.html', + styleUrls: ['./export-panel.component.scss'], + changeDetection: ChangeDetectionStrategy.Eager, + imports: [MatIcon, ScrollShadowDirective], +}) +export class ExportPanelComponent implements OnInit, OnDestroy { + flow = inject(ExportFlowService); + private writer = inject(ExportWriterService); + private mechanism = inject(MechanismService); + private notify = inject(NotificationService); + private analytics = inject(AnalyticsService); + + readonly steps: StepMark[] = [ + { number: 1, name: 'Parts' }, + { number: 2, name: 'Columns' }, + { number: 3, name: 'File' }, + ]; + + readonly formats: { key: ExportFormat; name: string; note: string }[] = [ + { key: 'csv', name: 'CSV', note: 'One time column, one per series.' }, + { key: 'xlsx', name: 'Excel workbook', note: 'A sheet per part, for overlaying charts.' }, + { key: 'images', name: 'Graph images', note: 'PNG or SVG per graph.' }, + { key: 'report', name: 'Report', note: 'PDF: mechanism, graphs and table.' }, + ]; + + readonly decimalChoices: Decimals[] = [2, 4, 6, 'full']; + + /** Set while the browser is drawing pictures, which is not instant. */ + working = false; + + private updates?: Subscription; + + ngOnInit(): void { + this.flow.reset(); + this.updates = this.mechanism.onMechUpdateState.subscribe(() => this.flow.refresh()); + } + + ngOnDestroy(): void { + this.updates?.unsubscribe(); + } + + // --- what the head says --------------------------------------------------- + + get lead(): string { + if (this.flow.step === 1) return 'Which parts do you want numbers for?'; + if (this.flow.step === 3) return 'How should the file be written?'; + const names = this.flow.selectedParts().map((part) => part.label.replace(/^(Joint|Link) /, '')); + return names.length === 0 ? 'Nothing is selected yet.' : `Which numbers for ${list(names)}?`; + } + + get countText(): string { + if (this.flow.step === 1) { + return `${this.flow.selectedParts().length} of ${this.flow.offeredParts().length} parts`; + } + const tab = this.flow.tab; + const of = this.flow.columnGroups(tab).flatMap((group) => group.columns).length; + const picked = this.flow.columnCount(tab); + return tab === 'forces' ? `${picked} of ${of} force columns` : `${picked} of ${of} columns`; + } + + get footNote(): string { + if (this.flow.step === 1) { + const parts = this.flow.selectedParts().length; + const machines = this.flow + .mechanismIndexes() + .map((index) => this.flow.partGroups()[index]?.id) + .filter(Boolean) + .join(', '); + return parts === 0 + ? 'Nothing chosen yet' + : `${parts} ${parts === 1 ? 'part' : 'parts'}${machines ? ' · ' + machines : ''}`; + } + if (this.flow.step === 2) { + const summary = this.writer.summary(); + return `${Math.max(summary.columns - 1, 0)} columns · ${summary.rows} rows`; + } + return ''; + } + + // --- step 1 --------------------------------------------------------------- + + groups(): ExportPartGroup[] { + return this.flow.partGroups().filter((group) => group.parts.length > 0); + } + + pickedIn(group: ExportPartGroup): number { + return group.parts.filter((part) => this.flow.isPicked(part)).length; + } + + groupNote(group: ExportPartGroup): string { + const picked = this.pickedIn(group); + return picked > 0 ? `${group.note} · ${picked} ticked` : group.note; + } + + /** + * Why this machine's list is the shape it is. + * + * Only where forces are in play: in a purely kinematic export a grounded + * joint being greyed needs no explaining, because the row already says + * `grounded` and there is nothing else it could mean. + */ + groundedHint(group: ExportPartGroup): string { + if (!this.flow.forcesAvailable()) return ''; + if (!group.forcesReady) { + return `${group.id} will export kinematics only until its force setup is finished.`; + } + const grounded = group.parts.some((part) => part.note.includes('grounded')); + return grounded + ? 'Grounded joints are offered here: they do not move, but they carry a reaction.' + : ''; + } + + everything(picked: boolean): void { + this.flow.setParts(this.flow.offeredParts(), picked); + } + + // --- step 2 --------------------------------------------------------------- + + setTab(tab: ColumnTab): void { + this.flow.tab = tab; + } + + allColumnsOnTab(): ExportColumn[] { + return this.flow.columnGroups(this.flow.tab).flatMap((group) => group.columns); + } + + everyColumn(picked: boolean): void { + this.flow.setColumns(this.allColumnsOnTab(), picked); + } + + // --- step 3 --------------------------------------------------------------- + + get summaryLine(): string { + const summary = this.writer.summary(); + if (this.flow.format === 'images') { + const pictures = this.pictureCount(); + return `${pictures} ${pictures === 1 ? 'image' : 'images'} · ${this.flow.imageFormat.toUpperCase()}`; + } + if (this.flow.format === 'report') { + return `${Math.max(summary.columns - 1, 0)} columns · ${summary.rows} rows · ${ + summary.pages + } printed ${summary.pages === 1 ? 'page' : 'pages'}`; + } + const files = summary.files; + return `${Math.max(summary.columns - 1, 0)} columns · ${summary.rows} rows · ${files} ${ + files === 1 + ? this.flow.format === 'xlsx' + ? 'workbook' + : 'file' + : this.flow.format === 'xlsx' + ? 'sheets' + : 'files' + }`; + } + + private pictureCount(): number { + return this.flow.selectedColumns().reduce((total, column) => { + const parts = + column.spans === 'own' + ? 1 + : this.flow.selectedParts().filter((part) => part.kind === column.spans).length; + return total + parts * column.series.length; + }, 0); + } + + get fileName(): string { + return this.flow.name(); + } + + onName(event: Event): void { + this.flow.typedName = (event.target as HTMLInputElement).value; + } + + decimalLabel(choice: Decimals): string { + return choice === 'full' ? 'Full' : String(choice); + } + + // --- moving between the steps -------------------------------------------- + + canGoOn(): boolean { + if (this.flow.step === 1) return this.flow.selectedParts().length > 0; + if (this.flow.step === 2) return this.flow.selectedColumns().length > 0; + return this.flow.canExport(); + } + + next(): void { + if (!this.canGoOn()) return; + if (this.flow.step === 3) { + void this.exportNow(); + return; + } + this.flow.step = (this.flow.step + 1) as ExportStep; + if (this.flow.step === 2 && this.flow.tab === 'forces' && !this.flow.forcesAvailable()) { + this.flow.tab = 'kinematics'; + } + } + + back(): void { + if (this.flow.step > 1) this.flow.step = (this.flow.step - 1) as ExportStep; + } + + goTo(step: ExportStep): void { + if (step < this.flow.step) this.flow.step = step; + } + + async exportNow(): Promise { + if (!this.flow.canExport() || this.working) return; + this.working = true; + this.analytics.logEvent(`export_data_${this.flow.format}`); + try { + await this.writer.run(); + this.notify.success( + 'export.done', + this.flow.format === 'report' + ? 'The report is ready to print or save as PDF.' + : `${this.fileName}${this.flow.extension()} is on its way.` + ); + } catch { + this.notify.failure('export.failed', 'The export could not be written.'); + } finally { + this.working = false; + } + } + + close(): void { + RightPanelComponent.isOpen = false; + } + + isPicked = (part: ExportPart): boolean => this.flow.isPicked(part); +} + +/** `B`, `B and C`, `B, C and AB` — a list read the way it is spoken. */ +function list(names: string[]): string { + if (names.length <= 1) return names.join(''); + return `${names.slice(0, -1).join(', ')} and ${names[names.length - 1]}`; +} diff --git a/src/app/component/right-panel/right-panel.component.html b/src/app/component/right-panel/right-panel.component.html index cd6f3d4a..a72b169c 100644 --- a/src/app/component/right-panel/right-panel.component.html +++ b/src/app/component/right-panel/right-panel.component.html @@ -2,7 +2,11 @@
    @if (getOpenTab() === 5) {
    @@ -21,6 +26,11 @@
    } + @if (getOpenTab() === 7) { +
    + +
    + } @if (getOpenTab() === 1) {
    diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 406e4e6b..a84c2e9a 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -144,6 +144,13 @@ &.wide { width: calc(500px + #{nav.$shadow-room} + #{nav.$card-inset}); } + + // Wider than the view controls, and narrower than the table pages: an + // export row is a checkbox, a part's name and what is notable about it, and + // at the drawer's usual width the third of those was always ellipsed away. + &.export { + width: calc(380px + #{nav.$shadow-room} + #{nav.$card-inset}); + } } // One inset and one gap for every drawer page. The two setup drawers had @@ -179,6 +186,7 @@ // button went with the content -- gone from the corner while the half of it // still showing went on taking the click. app-analysis-setup, + app-export-panel, app-settings-panel, app-help-panel { display: flex; diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index 05e675cf..0c72d52f 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -12,6 +12,7 @@ import { Arc, Line } from '../../model/line'; import { Coord } from '../../model/coord'; import { SvgGridService } from '../../services/svg-grid.service'; import { AnalysisSetupComponent } from '../analysis-setup/analysis-setup.component'; +import { ExportPanelComponent } from '../export-panel/export-panel.component'; import { SettingsPanelComponent } from '../settings-panel/settings-panel.component'; import { EquationPanelComponent } from '../equation-panel/equation-panel.component'; import { HelpPanelComponent } from '../help-panel/help-panel.component'; @@ -59,6 +60,7 @@ import { MatIcon } from '@angular/material/icon'; changeDetection: ChangeDetectionStrategy.Eager, imports: [ AnalysisSetupComponent, + ExportPanelComponent, SettingsPanelComponent, EquationPanelComponent, HelpPanelComponent, @@ -92,6 +94,12 @@ export class RightPanelComponent implements DoCheck { */ static readonly KINEMATIC_SETUP_TAB = 5; static readonly FORCE_SETUP_TAB = 6; + /** + * Export Data, which is a drawer rather than a dialog for the same reason the + * setups are: the canvas stays visible, so ticking a part is done next to the + * drawing it is a part of. + */ + static readonly EXPORT_TAB = 7; turnOnDebugger() { this.settingsService.isGridDebugOn = !this.settingsService.isGridDebugOn; } @@ -179,6 +187,12 @@ export class RightPanelComponent implements DoCheck { if (this.openTab === RightPanelComponent.KINEMATIC_SETUP_TAB && this.openTab !== wanted) { this.isOpen = false; } + // Export is an analysis-mode command: there is nothing to take away from a + // mechanism being drawn, and the drawer's own lists come from a solved + // cycle that Edit is about to change. + if (this.openTab === RightPanelComponent.EXPORT_TAB && wanted === -1) { + this.isOpen = false; + } } getOpenTab() { @@ -190,6 +204,16 @@ export class RightPanelComponent implements DoCheck { return this.getOpenTab() === 2 || this.getOpenTab() === 4; } + /** + * The export drawer is wider than the view controls it stands over. + * + * Its rows are a checkbox, a part's name and what is notable about it, and at + * the drawer's usual width the third of those was always ellipsed away. + */ + isExportPage(): boolean { + return this.getOpenTab() === RightPanelComponent.EXPORT_TAB; + } + getIsOpen() { return RightPanelComponent.isOpen; } diff --git a/src/app/component/top-bar/top-bar.component.ts b/src/app/component/top-bar/top-bar.component.ts index 0774e8ab..b2f2c0ac 100644 --- a/src/app/component/top-bar/top-bar.component.ts +++ b/src/app/component/top-bar/top-bar.component.ts @@ -20,8 +20,8 @@ import { AnalyticsService } from '../../services/analytics.service'; import { UrlGenerationService } from '../../services/url-generation.service'; import { UrlProcessorService } from '../../services/url-processor.service'; import { RightPanelComponent } from '../right-panel/right-panel.component'; +import { ExportFlowService } from '../../services/export/export-flow.service'; import { TemplatesComponent } from '../MODALS/templates/templates.component'; -import { AnalysisExportService } from '../../services/analysis-export.service'; import { NotificationService } from '../../services/notification.service'; import { MatTooltip } from '@angular/material/tooltip'; import { MatIcon } from '@angular/material/icon'; @@ -94,7 +94,7 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr private dialog = inject(MatDialog); private zone = inject(NgZone); private changes = inject(ChangeDetectorRef); - private exports = inject(AnalysisExportService); + private exportFlow = inject(ExportFlowService); private notify = inject(NotificationService); TabID = TabID; @@ -359,20 +359,27 @@ export class TopBarComponent implements AfterViewInit, AfterViewChecked, OnDestr return !this.mechanism.isAnimating() && this.history.canRedo(); } - /** Everything the analysis panel is showing for the selection, as one CSV. */ + /** + * Whether there is anything to take away. + * + * A solved mechanism, rather than a selected part: the drawer offers every + * part of every machine, so a reader who has selected nothing still has an + * export to make -- which is exactly the case the old one-click command could + * not serve. + */ canExport(): boolean { - return this.exports.canExport(); + return this.mechanism.oneValidMechanismExists(); } exportTooltip(): string { - const subject = this.exports.subjectName(); - return subject - ? `Download every graph for ${subject} as a CSV` - : 'Select a joint or a link to export its data'; + return this.canExport() + ? 'Choose parts, columns and a file format' + : 'Nothing has been solved yet, so there are no numbers to export'; } exportData(): void { - this.exports.download(); + this.exportFlow.reset(); + RightPanelComponent.insistOn(RightPanelComponent.EXPORT_TAB); } undo(): void { diff --git a/src/app/services/analysis-export.service.spec.ts b/src/app/services/analysis-export.service.spec.ts deleted file mode 100644 index 5f4d1629..00000000 --- a/src/app/services/analysis-export.service.spec.ts +++ /dev/null @@ -1,115 +0,0 @@ -import { RealJoint } from '../model/joint'; -import { ForceUnit } from '../model/unit-enums'; -import { SelectedTabService, TabID } from '../selected-tab.service'; -import { AnalysisExportService } from './analysis-export.service'; -import { AnalysisSampleService } from './analysis-sample.service'; -import { buildMechanismFixture, MechanismFixture } from '../../tests/fixtures/mechanism-fixtures'; -import { TEMPLATE_LINKAGES } from '../component/MODALS/templates/template-linkages'; -import { ActiveObjService } from './active-obj.service'; -import { MechanismService } from './mechanism.service'; -import { SettingsService } from './settings.service'; -import { withTestInjector } from '../../test-utils/mechanism-harness'; - -/** The tab service, reduced to the one question the exporter asks of it. */ -function tabsOn(tab: TabID): SelectedTabService { - return { - getCurrentTab: () => tab, - isAnalysisMode: () => tab === TabID.ANALYZE || tab === TabID.FORCE, - } as unknown as SelectedTabService; -} - -function exporterFor(fixture: MechanismFixture, tab: TabID): AnalysisExportService { - return withTestInjector( - [ - { provide: MechanismService, useValue: fixture.service }, - { provide: ActiveObjService, useValue: fixture.active }, - { provide: SettingsService, useValue: fixture.settings }, - { provide: AnalysisSampleService, deps: [] }, - { provide: SelectedTabService, useValue: tabsOn(tab) }, - ], - () => new AnalysisExportService() - ); -} - -/** A joint the linkage actually moves, which is what has graphs worth reading. */ -function freeJoint(fixture: MechanismFixture): RealJoint { - return fixture.service.joints.find( - (joint): joint is RealJoint => joint instanceof RealJoint && !joint.ground - )!; -} - -/** The CSV, as a header row and the rows under it. */ -function sheetOf(service: AnalysisExportService): { head: string[]; rows: string[][] } { - const written: string[] = []; - const anchor = { - setAttribute: (_: string, value: string) => written.push(value), - click: () => {}, - remove: () => {}, - }; - const create = vi - .spyOn(document, 'createElement') - .mockReturnValue(anchor as unknown as HTMLElement); - const append = vi.spyOn(document.body, 'appendChild').mockImplementation((node) => node); - service.download(); - create.mockRestore(); - append.mockRestore(); - - const href = written.find((value) => value.startsWith('data:text/csv')); - const csv = decodeURI(href!).replace('data:text/csv;charset=utf-8,', ''); - const lines = csv.trim().split('\n'); - return { head: lines[0].split(','), rows: lines.slice(1).map((line) => line.split(',')) }; -} - -describe('AnalysisExportService', () => { - beforeAll(() => vi.spyOn(console, 'log').mockImplementation(() => undefined)); - afterAll(() => vi.restoreAllMocks()); - - it('writes one row per solved sample, on the mechanism’s own clock', () => { - const fixture = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); - const joint = freeJoint(fixture); - fixture.active.updateSelectedObj(joint); - - const sheet = sheetOf(exporterFor(fixture, TabID.ANALYZE)); - expect(sheet.rows).toHaveLength(fixture.mechanism.timeNum.length); - sheet.rows.forEach((row, index) => { - expect(Number(row[0])).toBeCloseTo(fixture.mechanism.timeNum[index], 12); - }); - }); - - it('gives a joint its position, velocity and acceleration in one sheet', () => { - const fixture = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); - fixture.active.updateSelectedObj(freeJoint(fixture)); - - const { head } = sheetOf(exporterFor(fixture, TabID.ANALYZE)); - expect(head[0]).toBe('Time (seconds)'); - // Two components for position, three for the rates, which carry a magnitude. - expect(head).toHaveLength(1 + 2 + 3 + 3); - expect(head).toContain('Position X (cm)'); - expect(head).toContain('Velocity Mag (cm/s)'); - expect(head).toContain('Acceleration Y (cm/s^2)'); - }); - - it('names the force columns in the unit the reader picked', () => { - const fixture = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); - const input = fixture.service.joints.find( - (joint): joint is RealJoint => joint instanceof RealJoint && joint.input - )!; - fixture.active.updateSelectedObj(input); - fixture.settings.forceUnit.next(ForceUnit.LBF); - - const { head } = sheetOf(exporterFor(fixture, TabID.FORCE)); - expect(head.some((column) => column.includes('(lbf)'))).toBe(true); - expect( - head.some((column) => column.includes('Input Torque') && column.includes('lbf.in')) - ).toBe(true); - }); - - it('has nothing to export with nothing selected, or outside an analysis mode', () => { - const fixture = buildMechanismFixture(TEMPLATE_LINKAGES['4-Bar']); - expect(exporterFor(fixture, TabID.ANALYZE).canExport()).toBe(false); - - fixture.active.updateSelectedObj(freeJoint(fixture)); - expect(exporterFor(fixture, TabID.ANALYZE).canExport()).toBe(true); - expect(exporterFor(fixture, TabID.EDIT).canExport()).toBe(false); - }); -}); diff --git a/src/app/services/analysis-export.service.ts b/src/app/services/analysis-export.service.ts deleted file mode 100644 index 6250278d..00000000 --- a/src/app/services/analysis-export.service.ts +++ /dev/null @@ -1,247 +0,0 @@ -import { Injectable, inject } from '@angular/core'; -import { roundNumber } from '../model/utils'; -import { Joint, PrisJoint, RealJoint } from '../model/joint'; -import { Link } from '../model/link'; -import { Mechanism } from '../model/mechanism/mechanism'; -import { AngleUnit, ForceUnit, LengthUnit } from '../model/unit-enums'; -import { ActiveObjService } from './active-obj.service'; -import { AnalysisSampleService } from './analysis-sample.service'; -import { MechanismService } from './mechanism.service'; -import { SettingsService } from './settings.service'; -import { SelectedTabService, TabID } from '../selected-tab.service'; - -/** One graph's worth of numbers: what it is called, and how to sample it. */ -interface Quantity { - label: string; - analysis: string; - analysisType: string; - mechProp: string; - mechPart: string; - reactionLinkId: string; -} - -/** - * Every graph the analysis panel is offering, as one CSV. - * - * There used to be a Download button under each plot, which meant a reader who - * wanted a joint's position, velocity and acceleration got three files with - * three time columns to line up by hand -- and only for the graphs they had - * thought to open first. The panel already knows the whole list, so the export - * is one file per selection with one time column and a column per series. - */ -@Injectable({ providedIn: 'root' }) -export class AnalysisExportService { - private mechanismService = inject(MechanismService); - private activeObj = inject(ActiveObjService); - private settings = inject(SettingsService); - private samples = inject(AnalysisSampleService); - private tabs = inject(SelectedTabService); - - /** Whether there is a selection with solved numbers behind it. */ - canExport(): boolean { - return !!this.subject() && this.quantities().length > 0; - } - - /** What the file will be about, for the button's own label and tooltip. */ - subjectName(): string { - const part = this.subject(); - return part ? part.name || part.id : ''; - } - - download(): void { - const part = this.subject(); - const mechanism = part && this.mechanismService.mechanismContaining(part); - const quantities = this.quantities(); - if (!part || !mechanism || quantities.length === 0) return; - - const csv = this.build(mechanism, quantities); - const link = document.createElement('a'); - link.setAttribute('href', encodeURI('data:text/csv;charset=utf-8,' + csv)); - const mode = this.tabs.getCurrentTab() === TabID.FORCE ? 'force' : 'kinematics'; - link.setAttribute('download', `${part.name || part.id}_${mode}.csv`); - document.body.appendChild(link); - link.click(); - link.remove(); - } - - private build(mechanism: Mechanism, quantities: Quantity[]): string { - const columns: { head: string; values: number[] }[] = []; - quantities.forEach((quantity) => { - const rows = mechanism.timeNum.map((_, index) => - this.samples.sampleAt( - mechanism, - index, - quantity.analysis, - quantity.analysisType, - quantity.mechProp, - quantity.mechPart, - quantity.reactionLinkId - ) - ); - const width = rows.reduce((most, row) => Math.max(most, row.length), 0); - const names = this.seriesNames(width); - const unit = this.unitFor(quantity); - for (let series = 0; series < width; series++) { - columns.push({ - head: `${quantity.label}${names[series] ? ' ' + names[series] : ''}${ - unit ? ` (${unit})` : '' - }`, - values: rows.map((row) => row[series]), - }); - } - }); - - const head = ['Time (seconds)', ...columns.map((column) => this.quote(column.head))].join(','); - const body = mechanism.timeNum.map((time, index) => - [time, ...columns.map((column) => this.cell(column.values[index]))].join(',') - ); - return [head, ...body].join('\n') + '\n'; - } - - private cell(value: number | undefined): string { - // Rounded here rather than at the source: the graph wants every digit the - // solver produced, and a spreadsheet wants a number a person can read - // instead of 0.30000000000000004. - return value === undefined || !Number.isFinite(value) ? '' : String(roundNumber(value, 6)); - } - - /** A column head carries commas and apostrophes; a CSV field has to take them. */ - private quote(text: string): string { - return /[",\n]/.test(text) ? `"${text.replace(/"/g, '""')}"` : text; - } - - /** The joint or link the panel is showing graphs for. */ - private subject(): Joint | Link | undefined { - if (!this.tabs.isAnalysisMode()) return undefined; - if (this.activeObj.objType === 'Joint') return this.activeObj.selectedJoint; - if (this.activeObj.objType === 'Link') return this.activeObj.selectedLink; - return undefined; - } - - /** - * The same list the panel draws, in the same order. - * - * Kept beside the panel's template rather than derived from it: the template - * is the readable statement of what a reader is offered, and a loop over a - * table would make it neither shorter nor clearer. - */ - private quantities(): Quantity[] { - const part = this.subject(); - const mechanism = part && this.mechanismService.mechanismContaining(part); - if (!part || !mechanism?.isMechanismValid()) return []; - const force = this.tabs.getCurrentTab() === TabID.FORCE; - const joint = this.activeObj.objType === 'Joint'; - - if (!force) { - const of = (label: string, mechProp: string): Quantity => ({ - label, - analysis: 'kinematic', - analysisType: 'loop', - mechProp, - mechPart: part.id, - reactionLinkId: '', - }); - return joint - ? [ - of('Position', 'Linear Joint Pos'), - of('Velocity', 'Linear Joint Vel'), - of('Acceleration', 'Linear Joint Acc'), - ] - : [ - of('Angle', 'Angular Link Pos'), - of('Angular Velocity', 'Angular Link Vel'), - of('Angular Acceleration', 'Angular Link Acc'), - of('CoM Position', "Linear Link's CoM Pos"), - of('CoM Velocity', "Linear Link's CoM Vel"), - of('CoM Acceleration', "Linear Link's CoM Acc"), - ]; - } - - const mode = this.settings.forceAnalysisMode.value; - const index = mechanism.getForceAnalysis(mode).reactionIndex; - const reactions: Quantity[] = ( - joint - ? (index.linksByJoint.get(part.id) ?? []).map((linkId) => ({ - label: `Force on ${this.bodyName(linkId)}`, - mechPart: part.id, - reactionLinkId: linkId, - })) - : (index.jointsByLink.get(part.id) ?? []).map((jointId) => ({ - label: `Force at Joint ${this.nameOf(jointId, 'joint')}`, - mechPart: jointId, - reactionLinkId: part.id, - })) - ).map((row) => ({ - ...row, - analysis: 'force', - analysisType: mode, - mechProp: 'Joint Forces', - })); - - if (joint && (part as RealJoint).input) { - reactions.push({ - label: `Input ${part instanceof PrisJoint ? 'Force' : 'Torque'}`, - analysis: 'force', - analysisType: mode, - mechProp: 'Input Effort', - mechPart: part.id, - reactionLinkId: '', - }); - } - return reactions; - } - - /** The same words the panel puts on the graph, so the file agrees with it. */ - private bodyName(linkId: string): string { - const body = this.mechanismService.links.find((link) => link.id === linkId); - return body ? this.mechanismService.bodyLabel(body) : linkId; - } - - private nameOf(id: string, kind: 'joint' | 'link'): string { - const pool = kind === 'joint' ? this.mechanismService.joints : this.mechanismService.links; - return (pool as { id: string; name: string }[]).find((part) => part.id === id)?.name ?? id; - } - - /** The names the graph plots these under, so the file agrees with the screen. */ - private seriesNames(count: number): string[] { - if (count <= 1) return ['']; - if (count === 2) return ['X', 'Y']; - return ['X', 'Y', 'Mag']; - } - - private unitFor(quantity: Quantity): string { - const length = this.unitStr(this.settings.lengthUnit.value); - const angle = this.unitStr(this.settings.angleUnit.value); - if (quantity.mechProp.includes('Angular')) { - if (quantity.mechProp.includes('Acc')) return `${angle}/s^2`; - if (quantity.mechProp.includes('Vel')) return `${angle}/s`; - return angle; - } - if (quantity.analysis === 'force') { - const pounds = this.settings.forceUnit.value === ForceUnit.LBF; - // An input torque is the one force column measured in a moment. - if (quantity.mechProp === 'Input Effort' && !(this.subject() instanceof PrisJoint)) { - return pounds ? 'lbf.in' : 'N.m'; - } - return pounds ? 'lbf' : 'N'; - } - if (quantity.mechProp.includes('Acc')) return `${length}/s^2`; - if (quantity.mechProp.includes('Vel')) return `${length}/s`; - return length; - } - - private unitStr(unit: LengthUnit | AngleUnit): string { - switch (unit) { - case AngleUnit.RADIAN: - return 'rad'; - case AngleUnit.DEGREE: - return 'deg'; - case LengthUnit.INCH: - return 'in'; - case LengthUnit.METER: - return 'm'; - default: - return 'cm'; - } - } -} diff --git a/src/app/services/export/csv-writer.ts b/src/app/services/export/csv-writer.ts new file mode 100644 index 00000000..26409323 --- /dev/null +++ b/src/app/services/export/csv-writer.ts @@ -0,0 +1,33 @@ +import { roundNumber } from '../../model/utils'; +import { Decimals } from './export-model'; +import { ExportTable } from './export-table.service'; + +/** + * A number as a file should carry it. + * + * Rounded here rather than at the source: a graph wants every digit the solver + * produced, and a spreadsheet wants a number a person can read instead of + * 0.30000000000000004. `full` is the escape hatch for anyone who would rather + * do their own rounding downstream. + */ +export function formatCell(value: number | undefined, decimals: Decimals): string { + if (value === undefined || !Number.isFinite(value)) return ''; + return String(decimals === 'full' ? value : roundNumber(value, decimals)); +} + +/** A column head carries commas and apostrophes; a CSV field has to take them. */ +export function quoteCsv(text: string): string { + return /[",\n]/.test(text) ? `"${text.replace(/"/g, '""')}"` : text; +} + +/** One table, as a comma-separated file with a single time column. */ +export function toCsv(table: ExportTable, decimals: Decimals): string { + const head = table.heads.map(quoteCsv).join(','); + const body = table.times.map((time, row) => + [ + formatCell(time, decimals), + ...table.columns.map((column) => formatCell(column[row], decimals)), + ].join(',') + ); + return [head, ...body].join('\n') + '\n'; +} diff --git a/src/app/services/export/export-catalog.service.ts b/src/app/services/export/export-catalog.service.ts new file mode 100644 index 00000000..42f60ba0 --- /dev/null +++ b/src/app/services/export/export-catalog.service.ts @@ -0,0 +1,363 @@ +import { Injectable, inject } from '@angular/core'; +import { PrisJoint, RealJoint } from '../../model/joint'; +import { RealLink } from '../../model/link'; +import { AngleUnit, ForceUnit, LengthUnit } from '../../model/unit-enums'; +import { ActiveObjService } from '../active-obj.service'; +import { MechanismService } from '../mechanism.service'; +import { SettingsService } from '../settings.service'; +import { + ColumnTab, + ExportColumn, + ExportColumnGroup, + ExportPart, + ExportPartGroup, + ExportSeries, +} from './export-model'; + +/** + * What this drawing has to offer an export, listed the way the drawer asks for it. + * + * Derivation only: nothing here remembers what was ticked. The drawer's own + * state lives in `ExportFlowService`, which asks this for the lists it draws and + * for the columns a set of chosen parts turns out to have. + */ +@Injectable({ providedIn: 'root' }) +export class ExportCatalogService { + private mechanism = inject(MechanismService); + private activeObj = inject(ActiveObjService); + private settings = inject(SettingsService); + + /** + * Every part of every mechanism, grouped by machine. + * + * Grounded joints are listed in both modes and tickable in only one: a fixed + * joint has no motion to report, but it does carry a reaction. + */ + partGroups(withForces: boolean): ExportPartGroup[] { + return this.mechanism.partitions.map((partition, index) => { + const solved = this.mechanism.mechanisms[index]; + const valid = solved?.isMechanismValid() ?? false; + const joints = partition.ownJoints + .filter((joint): joint is RealJoint => joint instanceof RealJoint) + .map((joint) => this.jointPart(joint, index, withForces)); + const links = partition.links + .filter((link): link is RealLink => link instanceof RealLink) + .map((link) => this.linkPart(link, index, valid)); + return { + index, + id: partition.id, + note: this.noteFor(index), + forcesReady: this.forcesSolve(index), + parts: valid ? [...joints, ...links] : [...joints, ...links].map(this.unsolved), + }; + }); + } + + /** Nothing solves for a mechanism that does not run, so nothing is on offer. */ + private unsolved = (part: ExportPart): ExportPart => ({ ...part, available: false }); + + private jointPart(joint: RealJoint, index: number, withForces: boolean): ExportPart { + const notes: string[] = []; + if (joint.ground) notes.push('grounded'); + if (joint.input) notes.push('input'); + if (this.mechanism.sliderFor(joint)) notes.push('slider'); + if (joint.showCurve) notes.push('tracer point'); + if (this.activeObj.selectedJoint?.id === joint.id) notes.push('on the grid'); + return { + key: `joint:${joint.id}`, + kind: 'joint', + id: joint.id, + label: `Joint ${joint.name || joint.id}`, + note: notes.join(', '), + // A pinned joint stands still, so kinematics has nothing for it; the + // reaction it carries is the whole reason force analysis wants it. + available: withForces || !joint.ground, + part: joint, + mechanismIndex: index, + }; + } + + private linkPart(link: RealLink, index: number, valid: boolean): ExportPart { + const notes: string[] = []; + if (link.joints.some((joint) => (joint as RealJoint).input)) notes.push('input crank'); + if (link.subset.length > 0) notes.push('compound'); + if (this.activeObj.selectedLink?.id === link.id) notes.push('on the grid'); + return { + key: `link:${link.id}`, + kind: 'link', + id: link.id, + label: this.mechanism.bodyLabel(link), + note: notes.join(', '), + available: valid, + part: link, + mechanismIndex: index, + }; + } + + /** What a machine is, in the one line the section heading has room for. */ + private noteFor(index: number): string { + const partition = this.mechanism.partitions[index]; + const facts = this.mechanism.readinessOfEachMechanism()[index]?.facts ?? []; + const speed = facts.find((fact) => fact.label === 'Input speed')?.value; + const bodies = partition.links.filter((link) => link instanceof RealLink).length; + const count = `${bodies} ${bodies === 1 ? 'link' : 'links'}`; + return speed ? `${count} · ${speed}` : `${count} · not running`; + } + + /** + * Whether force analysis is set up *and* solves for this machine. + * + * Both halves matter. A linkage with nothing loading it solves to a page of + * zeroes, which is not an answer anyone asked for — so the drawing-wide + * requirements decide whether forces are on offer at all, and this machine's + * own frames decide whether it is one of the machines that has them. + */ + forcesSolve(index: number): boolean { + const solved = this.mechanism.mechanisms[index]; + if (!solved?.isMechanismValid() || !this.mechanism.forceAnalysisReady()) return false; + const mode = this.settings.forceAnalysisMode.value; + return solved.getForceAnalysis(mode).successfulFrames > 0; + } + + /** + * The quantities a chosen set of parts turns out to have. + * + * Kinematics groups by kind rather than by part: every chosen joint has the + * same three quantities, and a list that repeated them per joint would be the + * same three answers asked eleven times. + */ + columnGroups(parts: ExportPart[], tab: ColumnTab): ExportColumnGroup[] { + return tab === 'forces' ? this.forceGroups(parts) : this.kinematicGroups(parts); + } + + private kinematicGroups(parts: ExportPart[]): ExportColumnGroup[] { + const groups: ExportColumnGroup[] = []; + const joints = parts.filter((part) => part.kind === 'joint'); + const links = parts.filter((part) => part.kind === 'link'); + const length = this.unitStr(this.settings.lengthUnit.value); + const angle = this.unitStr(this.settings.angleUnit.value); + + if (joints.length > 0) { + groups.push({ + key: 'joints', + title: this.titleOf('Joint', joints), + tab: 'kinematics', + columns: [ + this.kinematic('j:pos', 'Position', length, [['Position', 'Linear Joint Pos', length]]), + this.kinematic('j:vel', 'Velocity', `${length}/s`, [ + ['Velocity', 'Linear Joint Vel', `${length}/s`], + ]), + this.kinematic('j:acc', 'Acceleration', `${length}/s²`, [ + ['Acceleration', 'Linear Joint Acc', `${length}/s²`], + ]), + ], + }); + } + + if (links.length > 0) { + groups.push({ + key: 'links', + title: this.titleOf('Link', links), + tab: 'kinematics', + columns: [ + this.kinematic('l:ang', 'Angle', angle, [['Angle', 'Angular Link Pos', angle]], 'link'), + this.kinematic( + 'l:angvel', + 'Angular velocity', + `${angle}/s`, + [['Angular velocity', 'Angular Link Vel', `${angle}/s`]], + 'link' + ), + this.kinematic( + 'l:angacc', + 'Angular acceleration', + `${angle}/s²`, + [['Angular acceleration', 'Angular Link Acc', `${angle}/s²`]], + 'link' + ), + this.kinematic( + 'l:com', + 'Centre of mass', + 'pos, vel, acc', + [ + ['CoM position', "Linear Link's CoM Pos", length], + ['CoM velocity', "Linear Link's CoM Vel", `${length}/s`], + ['CoM acceleration', "Linear Link's CoM Acc", `${length}/s²`], + ], + 'link' + ), + ], + }); + } + return groups; + } + + /** `Joints B, C` for several, `Joint B` for one — the heading names them. */ + private titleOf(kind: string, parts: ExportPart[]): string { + const names = parts.map((part) => part.label.replace(/^(Joint|Link) /, '')); + return `${kind}${names.length === 1 ? '' : 's'} ${names.join(', ')}`; + } + + private kinematic( + key: string, + label: string, + unit: string, + series: [string, string, string][], + spans: 'joint' | 'link' = 'joint' + ): ExportColumn { + return { + key, + label, + unit, + spans, + owner: '', + tab: 'kinematics', + series: series.map(([seriesLabel, mechProp, seriesUnit]) => ({ + label: seriesLabel, + head: '', + unit: seriesUnit, + analysis: 'kinematic' as const, + mechProp, + mechPart: '', + reactionLinkId: '', + })), + }; + } + + /** + * Every reaction the chosen parts carry, one group per part. + * + * Per part rather than per kind, unlike kinematics: a joint's reactions are + * named after the links it holds, so no two joints have the same list. + */ + private forceGroups(parts: ExportPart[]): ExportColumnGroup[] { + const mode = this.settings.forceAnalysisMode.value; + const groups: ExportColumnGroup[] = []; + parts.forEach((part) => { + const solved = this.mechanism.mechanisms[part.mechanismIndex]; + if (!solved?.isMechanismValid()) return; + const index = solved.getForceAnalysis(mode).reactionIndex; + const columns: ExportColumn[] = + part.kind === 'joint' + ? (index.linksByJoint.get(part.id) ?? []).map((linkId) => + this.force( + part, + `Force on ${this.bodyName(linkId)}`, + `${this.modeWord()} force at ${part.label} on ${this.bodyName(linkId)}`, + part.id, + linkId, + 'Joint Forces' + ) + ) + : (index.jointsByLink.get(part.id) ?? []).map((jointId) => + this.force( + part, + `Force at ${this.jointName(jointId)}`, + `${this.modeWord()} force on ${part.label} at ${this.jointName(jointId)}`, + jointId, + part.id, + 'Joint Forces' + ) + ); + if (part.kind === 'joint' && (part.part as RealJoint).input) { + const effort = part.part instanceof PrisJoint ? 'Input force' : 'Input torque'; + columns.push( + this.force( + part, + effort, + `${this.modeWord()} ${effort.toLowerCase()} at ${part.label}`, + part.id, + '', + 'Input Effort' + ) + ); + } + if (columns.length > 0) { + groups.push({ key: `force:${part.key}`, title: part.label, tab: 'forces', columns }); + } + }); + return groups; + } + + private force( + part: ExportPart, + label: string, + head: string, + mechPart: string, + reactionLinkId: string, + mechProp: string + ): ExportColumn { + const torque = mechProp === 'Input Effort' && !(part.part instanceof PrisJoint); + const unit = torque ? this.torqueUnit() : this.forceUnit(); + const series: ExportSeries = { + label, + head, + unit, + analysis: 'force', + mechProp, + mechPart, + reactionLinkId, + }; + return { + key: `f:${part.key}:${mechProp}:${reactionLinkId}`, + label, + unit, + spans: 'own', + owner: part.key, + tab: 'forces', + series: [series], + }; + } + + /** + * Which force analysis a column came from, written into its own head. + * + * A static reaction and an in-motion one are different numbers for the same + * joint, and a file that does not say which it holds is a file nobody can + * check. Carried by the head rather than by a note at the top, so it survives + * being pasted into a sheet, plotted, or read by a script. + */ + private modeWord(): string { + return this.settings.forceAnalysisMode.value === 'dynamic' ? 'In-motion' : 'Static'; + } + + private bodyName(linkId: string): string { + const body = this.mechanism.links.find((link) => link.id === linkId); + return body ? this.mechanism.bodyLabel(body) : linkId; + } + + private jointName(jointId: string): string { + const joint = this.mechanism.joints.find((candidate) => candidate.id === jointId) as + RealJoint | undefined; + return `Joint ${joint?.name || jointId}`; + } + + forceUnit(): string { + return this.settings.forceUnit.value === ForceUnit.LBF ? 'lbf' : 'N'; + } + + torqueUnit(): string { + return this.settings.forceUnit.value === ForceUnit.LBF ? 'lbf·in' : 'N·m'; + } + + /** The same words the panels put on an axis, so the file agrees with them. */ + unitStr(unit: LengthUnit | AngleUnit): string { + switch (unit) { + case AngleUnit.RADIAN: + return 'rad'; + case AngleUnit.DEGREE: + return 'deg'; + case LengthUnit.INCH: + return 'in'; + case LengthUnit.METER: + return 'm'; + default: + return 'cm'; + } + } + + /** Parts of one mechanism, in the order the drawer lists them. */ + partsOf(groups: ExportPartGroup[], keys: Set): ExportPart[] { + return groups.flatMap((group) => group.parts.filter((part) => keys.has(part.key))); + } +} diff --git a/src/app/services/export/export-flow.service.ts b/src/app/services/export/export-flow.service.ts new file mode 100644 index 00000000..51ebc6dc --- /dev/null +++ b/src/app/services/export/export-flow.service.ts @@ -0,0 +1,240 @@ +import { Injectable, inject } from '@angular/core'; +import { ForceAnalysisMode } from '../../model/mechanism/force-solver'; +import { SelectedTabService, TabID } from '../../selected-tab.service'; +import { SettingsService } from '../settings.service'; +import { ExportCatalogService } from './export-catalog.service'; +import { + ColumnTab, + Decimals, + ExportColumn, + ExportColumnGroup, + ExportFormat, + ExportPart, + ExportPartGroup, +} from './export-model'; + +/** Which of the three questions the drawer is asking. */ +export type ExportStep = 1 | 2 | 3; + +/** + * What the export drawer has been told so far. + * + * Three steps, each asking one question: which parts, which numbers, and how + * the file should be written. Nothing here writes anything — `ExportWriter` + * turns this state into files — and nothing here touches the mechanism, so + * opening the drawer and changing every answer in it leaves the drawing alone. + */ +@Injectable({ providedIn: 'root' }) +export class ExportFlowService { + private catalog = inject(ExportCatalogService); + private settings = inject(SettingsService); + private tabs = inject(SelectedTabService); + + step: ExportStep = 1; + tab: ColumnTab = 'kinematics'; + format: ExportFormat = 'csv'; + decimals: Decimals = 6; + /** One file for everything that can share a time column, or one per part. */ + splitPerPart = false; + /** Whether a two-component series also writes its magnitude. */ + withMagnitude = true; + /** Which kind of picture the Graph images format writes. */ + imageFormat: 'png' | 'svg' = 'png'; + /** Empty until the reader types: the name shown is derived while it is. */ + typedName = ''; + + private pickedParts = new Set(); + private pickedColumns = new Set(); + private touchedColumns = false; + + /** + * What this drawing has to offer, held still while the drawer is open. + * + * Rebuilt on `refresh()` rather than per change-detection pass: the lists + * come from the readiness report and the force solver, and a template that + * asks for them a dozen times a frame would solve the whole drawing for every + * mouse move. Nothing in analysis mode edits the mechanism, so holding them + * is safe as well as cheap. + */ + private cached?: { groups: ExportPartGroup[]; forces: boolean }; + + private build(): { groups: ExportPartGroup[]; forces: boolean } { + const withForces = this.catalog.partGroups(true); + const forces = withForces.some((group) => group.forcesReady && group.parts.length > 0); + return { groups: forces ? withForces : this.catalog.partGroups(false), forces }; + } + + /** Forget the lists, so the next question rebuilds them. */ + refresh(): void { + this.cached = undefined; + } + + /** Start again from step 1, ticking whatever is selected on the grid. */ + reset(): void { + this.refresh(); + this.step = 1; + this.tab = + this.forcesAvailable() && this.tabs.getCurrentTab() === TabID.FORCE ? 'forces' : 'kinematics'; + this.typedName = ''; + this.touchedColumns = false; + this.pickedColumns.clear(); + this.pickedParts = new Set( + this.partGroups() + .flatMap((group) => group.parts) + .filter((part) => part.available && part.note.includes('on the grid')) + .map((part) => part.key) + ); + } + + // --- step 1: parts -------------------------------------------------------- + + partGroups(): ExportPartGroup[] { + return (this.cached ??= this.build()).groups; + } + + isPicked(part: ExportPart): boolean { + return this.pickedParts.has(part.key); + } + + togglePart(part: ExportPart): void { + if (!part.available) return; + if (!this.pickedParts.delete(part.key)) this.pickedParts.add(part.key); + this.touchedColumns = false; + } + + setParts(parts: ExportPart[], picked: boolean): void { + parts + .filter((part) => part.available) + .forEach((part) => { + if (picked) this.pickedParts.add(part.key); + else this.pickedParts.delete(part.key); + }); + this.touchedColumns = false; + } + + selectedParts(): ExportPart[] { + return this.catalog.partsOf(this.partGroups(), this.pickedParts); + } + + offeredParts(): ExportPart[] { + return this.partGroups() + .flatMap((group) => group.parts) + .filter((part) => part.available); + } + + // --- step 2: columns ------------------------------------------------------ + + /** Force columns are only worth a tab where a force analysis actually solves. */ + forcesAvailable(): boolean { + return (this.cached ??= this.build()).forces; + } + + columnGroups(tab: ColumnTab = this.tab): ExportColumnGroup[] { + return this.catalog.columnGroups(this.selectedParts(), tab); + } + + allColumns(): ExportColumn[] { + const kinematic = this.columnGroups('kinematics').flatMap((group) => group.columns); + const force = this.forcesAvailable() + ? this.columnGroups('forces').flatMap((group) => group.columns) + : []; + return [...kinematic, ...force]; + } + + /** + * What is ticked, defaulting to everything a reader usually wants. + * + * Centre of mass is the one thing left off: it is three more series per link + * about a point most drawings never move, and a file is easier to widen than + * to explain. + */ + private defaults(): Set { + return new Set( + this.allColumns() + .filter((column) => column.key !== 'l:com') + .map((column) => column.key) + ); + } + + private current(): Set { + if (!this.touchedColumns) { + this.pickedColumns = this.defaults(); + this.touchedColumns = true; + } + return this.pickedColumns; + } + + isColumnPicked(column: ExportColumn): boolean { + return this.current().has(column.key); + } + + toggleColumn(column: ExportColumn): void { + const picked = this.current(); + if (!picked.delete(column.key)) picked.add(column.key); + } + + setColumns(columns: ExportColumn[], picked: boolean): void { + const current = this.current(); + columns.forEach((column) => (picked ? current.add(column.key) : current.delete(column.key))); + } + + selectedColumns(tab?: ColumnTab): ExportColumn[] { + const picked = this.current(); + return this.allColumns().filter( + (column) => picked.has(column.key) && (!tab || column.tab === tab) + ); + } + + columnCount(tab: ColumnTab): number { + return this.selectedColumns(tab).length; + } + + forceMode(): ForceAnalysisMode { + return this.settings.forceAnalysisMode.value; + } + + setForceMode(mode: ForceAnalysisMode): void { + this.settings.forceAnalysisMode.next(mode); + this.refresh(); + this.touchedColumns = false; + } + + // --- step 3: the file ----------------------------------------------------- + + /** Which machines the chosen parts come from, in drawing order. */ + mechanismIndexes(): number[] { + return [...new Set(this.selectedParts().map((part) => part.mechanismIndex))].sort( + (a, b) => a - b + ); + } + + /** The stem the files are named from, until the reader types their own. */ + defaultName(): string { + const groups = this.partGroups(); + const first = this.mechanismIndexes()[0]; + const id = first === undefined ? 'mechanism' : (groups[first]?.id ?? 'mechanism'); + const forces = this.selectedColumns('forces').length > 0; + return `${id}_${forces ? 'analysis' : 'kinematics'}`; + } + + name(): string { + return this.typedName.trim() || this.defaultName(); + } + + extension(): string { + switch (this.format) { + case 'xlsx': + return '.xlsx'; + case 'images': + return `.${this.imageFormat}`; + case 'report': + return '.pdf'; + default: + return '.csv'; + } + } + + canExport(): boolean { + return this.selectedParts().length > 0 && this.selectedColumns().length > 0; + } +} diff --git a/src/app/services/export/export-flow.spec.ts b/src/app/services/export/export-flow.spec.ts new file mode 100644 index 00000000..2d645e09 --- /dev/null +++ b/src/app/services/export/export-flow.spec.ts @@ -0,0 +1,301 @@ +import { inject } from '@angular/core'; +import { RealJoint } from '../../model/joint'; +import { ForceUnit } from '../../model/unit-enums'; +import { SelectedTabService, TabID } from '../../selected-tab.service'; +import { ActiveObjService } from '../active-obj.service'; +import { AnalysisSampleService } from '../analysis-sample.service'; +import { MechanismService } from '../mechanism.service'; +import { SettingsService } from '../settings.service'; +import { withTestInjector } from '../../../test-utils/mechanism-harness'; +import { + buildMechanismFixture, + LEGACY_FORCE_MECHANISM, + MechanismFixture, +} from '../../../tests/fixtures/mechanism-fixtures'; +import { TEMPLATE_LINKAGES } from '../../component/MODALS/templates/template-linkages'; +import { ExportCatalogService } from './export-catalog.service'; +import { ExportFlowService } from './export-flow.service'; +import { ExportTableService, ExportTable } from './export-table.service'; +import { toCsv } from './csv-writer'; +import { toXlsx } from './xlsx-writer'; +import { plotSvg } from './graph-svg'; +import { reportHtml } from './report-html'; +import { crc32 } from './zip'; + +/** The drawer's three services, over one fixture's mechanism. */ +interface Flow { + flow: ExportFlowService; + tables: ExportTableService; + fixture: MechanismFixture; +} + +function flowFor(payload: string, options: { forces?: boolean } = {}): Flow { + const fixture = buildMechanismFixture(payload); + // The stub service the fixtures build is the panels' one; these three + // questions are the export drawer's own, so they are answered here rather + // than added to every panel's fixture. + Object.assign(fixture.service, { + readinessOfEachMechanism: () => [ + { + id: 'M1', + ready: true, + checks: [], + facts: [{ label: 'Input speed', value: '20.00 RPM CW' }], + }, + ], + sliderFor: () => undefined, + forceAnalysisReady: () => options.forces === true, + }); + + const built = withTestInjector( + [ + { provide: MechanismService, useValue: fixture.service }, + { provide: ActiveObjService, useValue: fixture.active }, + { provide: SettingsService, useValue: fixture.settings }, + { + provide: SelectedTabService, + useValue: { + getCurrentTab: () => (options.forces ? TabID.FORCE : TabID.ANALYZE), + isAnalysisMode: () => true, + } as unknown as SelectedTabService, + }, + { provide: AnalysisSampleService, deps: [] }, + { provide: ExportCatalogService, deps: [] }, + { provide: ExportFlowService, deps: [] }, + { provide: ExportTableService, deps: [] }, + ], + () => ({ + flow: inject(ExportFlowService), + tables: inject(ExportTableService), + }) + ); + built.flow.reset(); + return { ...built, fixture }; +} + +function pick(flow: ExportFlowService, ...labels: string[]): void { + flow + .partGroups() + .flatMap((group) => group.parts) + .filter((part) => labels.includes(part.label)) + .forEach((part) => flow.togglePart(part)); +} + +describe('the export drawer', () => { + beforeAll(() => vi.spyOn(console, 'log').mockImplementation(() => undefined)); + afterAll(() => vi.restoreAllMocks()); + + it('lists every part of the mechanism, and refuses a grounded joint its kinematics', () => { + const { flow } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + const parts = flow.partGroups().flatMap((group) => group.parts); + expect(parts.map((part) => part.label)).toEqual([ + 'Joint A', + 'Joint B', + 'Joint C', + 'Joint D', + 'Link AB', + 'Link BC', + 'Link CD', + ]); + const grounded = parts.find((part) => part.label === 'Joint D')!; + expect(grounded.note).toContain('grounded'); + expect(grounded.available).toBe(false); + expect(parts.find((part) => part.label === 'Joint B')!.available).toBe(true); + }); + + it('offers a grounded joint once force analysis is set up, for its reaction', () => { + const { flow } = flowFor(LEGACY_FORCE_MECHANISM, { forces: true }); + const grounded = flow + .partGroups() + .flatMap((group) => group.parts) + .find((part) => part.note.includes('grounded'))!; + expect(grounded.available).toBe(true); + expect(flow.forcesAvailable()).toBe(true); + }); + + it('asks about the quantities the chosen parts turn out to have', () => { + const { flow } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + pick(flow, 'Joint B'); + expect(flow.columnGroups('kinematics').map((group) => group.title)).toEqual(['Joint B']); + + pick(flow, 'Joint C', 'Link AB'); + const groups = flow.columnGroups('kinematics'); + expect(groups.map((group) => group.title)).toEqual(['Joints B, C', 'Link AB']); + expect(groups[0].columns.map((column) => column.label)).toEqual([ + 'Position', + 'Velocity', + 'Acceleration', + ]); + expect(groups[1].columns.map((column) => column.label)).toContain('Centre of mass'); + }); + + it('writes one row per solved sample, on the mechanism’s own clock', () => { + const { flow, tables, fixture } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + pick(flow, 'Joint B'); + const [table] = tables.tables(); + expect(table.times).toHaveLength(fixture.mechanism.timeNum.length); + table.times.forEach((time, at) => expect(time).toBeCloseTo(fixture.mechanism.timeNum[at], 12)); + expect(table.columns.every((column) => column.length === table.times.length)).toBe(true); + }); + + it('heads a column with the quantity, the part, the component and the unit', () => { + const { flow, tables } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + pick(flow, 'Joint B', 'Link AB'); + const [table] = tables.tables(); + expect(table.heads[0]).toBe('Time (s)'); + expect(table.heads).toContain('Position B X (cm)'); + expect(table.heads).toContain('Velocity B Mag (cm/s)'); + expect(table.heads).toContain('Angle AB (deg)'); + }); + + it('drops the magnitude series when the reader asks for X and Y alone', () => { + const { flow, tables } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + pick(flow, 'Joint B'); + const withMag = tables.tables()[0].heads.length; + flow.withMagnitude = false; + const without = tables.tables()[0].heads; + expect(without.some((head) => head.includes('Mag'))).toBe(false); + // Velocity and acceleration each lose one; position never had one. + expect(without.length).toBe(withMag - 2); + }); + + it('rounds every number to the digits the reader chose', () => { + const { flow, tables } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + pick(flow, 'Joint B'); + flow.decimals = 2; + const csv = toCsv(tables.tables()[0], flow.decimals); + const cells = csv.split('\n')[1].split(','); + cells.filter(Boolean).forEach((cell) => { + expect((cell.split('.')[1] ?? '').length).toBeLessThanOrEqual(2); + }); + }); + + it('splits a file per part when asked, and one per machine at the very least', () => { + const { flow, tables } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + pick(flow, 'Joint B', 'Joint C'); + expect(tables.tables()).toHaveLength(1); + flow.splitPerPart = true; + const split = tables.tables(); + expect(split).toHaveLength(2); + expect(split.map((table) => table.name)).toEqual(['M1_JointB', 'M1_JointC']); + }); + + it('heads a force column with the analysis it came from, in the reader’s unit', () => { + const { flow, tables, fixture } = flowFor(LEGACY_FORCE_MECHANISM, { forces: true }); + fixture.settings.forceUnit.next(ForceUnit.LBF); + flow.refresh(); + const input = flow + .partGroups() + .flatMap((group) => group.parts) + .find((part) => (part.part as RealJoint).input)!; + flow.togglePart(input); + flow.tab = 'forces'; + + const heads = tables.tables()[0].heads; + expect(heads.some((head) => head.startsWith('Static force at'))).toBe(true); + expect(heads.some((head) => head.includes('input torque') && head.includes('(lbf·in)'))).toBe( + true + ); + }); +}); + +describe('what the export is written as', () => { + beforeAll(() => vi.spyOn(console, 'log').mockImplementation(() => undefined)); + afterAll(() => vi.restoreAllMocks()); + + function sample(): { flow: ExportFlowService; table: ExportTable } { + const { flow, tables } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + pick(flow, 'Joint B'); + return { flow, table: tables.tables()[0] }; + } + + it('quotes a CSV head that carries a comma', () => { + const { flow, table } = sample(); + const doctored = { ...table, heads: ['Time (s)', 'Force at B, on AB X (N)'] } as ExportTable; + expect(toCsv(doctored, flow.decimals).split('\n')[0]).toContain('"Force at B, on AB X (N)"'); + }); + + it('writes a workbook a reader can open: one sheet per table, every part intact', () => { + const { flow, table } = sample(); + const bytes = toXlsx([table, { ...table, name: 'M1_forces' }], flow.decimals); + const entries = readZip(bytes); + expect(entries.map((entry) => entry.name)).toEqual([ + '[Content_Types].xml', + '_rels/.rels', + 'xl/workbook.xml', + 'xl/_rels/workbook.xml.rels', + 'xl/worksheets/sheet1.xml', + 'xl/worksheets/sheet2.xml', + ]); + entries.forEach((entry) => expect(crc32(entry.data)).toBe(entry.crc)); + const workbook = new TextDecoder().decode(entries[2].data); + expect(workbook).toContain(`name="${table.name}"`); + expect(workbook).toContain('name="M1_forces"'); + const sheet = new TextDecoder().decode(entries[4].data); + expect(sheet).toContain('Time (s)'); + // One head row and one row per solved sample. + expect(sheet.match(/ { + const { table } = sample(); + const plot = table.plots.find((candidate) => candidate.head.startsWith('Velocity'))!; + const svg = plotSvg(plot, table.times, { width: 640, height: 360, standalone: true }); + expect(svg.match(/ { + const { flow, table } = sample(); + const rows = table.times.map((time) => [String(time), '1', '2']); + const html = reportHtml({ + logoUrl: 'assets/PMKS_logo.png', + sections: [ + { + title: 'Kinematic analysis — M1', + subtitle: '3 links · 20.00 RPM CW', + dataTitle: 'Data — M1', + graphsTitle: 'Graphs — M1', + drawing: '', + facts: [{ label: 'Cycle', value: '3.00 s' }], + shareUrl: 'https://app.pmksplus.com/?abc', + plots: [], + heads: ['Time (s)', 'Position B X (cm)', 'Position B Y (cm)'], + rows, + footer: 'M1 · 3 links', + }, + ], + }); + const pages = html.match(/
    /g) ?? []; + // One first page, then a page per forty rows. + expect(pages).toHaveLength(1 + Math.ceil(rows.length / 40)); + expect(html.match(/Page 1 of /g)).toHaveLength(1); + expect(html).toContain(`Page ${pages.length} of ${pages.length}`); + expect(html).toContain('https://app.pmksplus.com/?abc'); + expect(flow.extension()).toBe('.csv'); + }); +}); + +/** Read back a stored zip: enough of the format to prove this one is well formed. */ +function readZip(bytes: Uint8Array): { name: string; data: Uint8Array; crc: number }[] { + const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength); + let end = bytes.length - 22; + while (end >= 0 && view.getUint32(end, true) !== 0x06054b50) end--; + const count = view.getUint16(end + 10, true); + let at = view.getUint32(end + 16, true); + const entries: { name: string; data: Uint8Array; crc: number }[] = []; + for (let n = 0; n < count; n++) { + const nameLength = view.getUint16(at + 28, true); + const size = view.getUint32(at + 24, true); + const crc = view.getUint32(at + 16, true); + const offset = view.getUint32(at + 42, true); + const name = new TextDecoder().decode(bytes.subarray(at + 46, at + 46 + nameLength)); + const localNameLength = view.getUint16(offset + 26, true); + const extra = view.getUint16(offset + 28, true); + const start = offset + 30 + localNameLength + extra; + entries.push({ name, crc, data: bytes.subarray(start, start + size) }); + at += 46 + nameLength + view.getUint16(at + 30, true) + view.getUint16(at + 32, true); + } + return entries; +} diff --git a/src/app/services/export/export-model.ts b/src/app/services/export/export-model.ts new file mode 100644 index 00000000..975273d5 --- /dev/null +++ b/src/app/services/export/export-model.ts @@ -0,0 +1,104 @@ +import { Joint } from '../../model/joint'; +import { Link } from '../../model/link'; + +/** Which of the two things in a drawing a row is about. */ +export type PartKind = 'joint' | 'link'; + +/** What the file is written as. */ +export type ExportFormat = 'csv' | 'xlsx' | 'images' | 'report'; + +/** How many digits a written number keeps. `full` writes what the solver held. */ +export type Decimals = 2 | 4 | 6 | 'full'; + +/** Which tab of step 2 a column belongs to. */ +export type ColumnTab = 'kinematics' | 'forces'; + +/** One tickable row of step 1: a joint or a link of one mechanism. */ +export interface ExportPart { + /** Unique across the drawing, and stable across rebuilds: `joint:A`. */ + key: string; + kind: PartKind; + id: string; + label: string; + /** Why it is worth noticing — `grounded`, `input crank`, `slider`. */ + note: string; + /** + * Whether this part has anything to give in the mode being exported. + * + * A grounded joint never moves, so kinematics has nothing for it; force + * analysis does, because a pinned joint still carries a reaction. + */ + available: boolean; + part: Joint | Link; + mechanismIndex: number; +} + +/** One mechanism's worth of step 1: a heading and its rows. */ +export interface ExportPartGroup { + index: number; + id: string; + /** `3 links · 10.00 RPM CCW` — what this machine is, in one line. */ + note: string; + /** Whether force analysis actually solves for this machine. */ + forcesReady: boolean; + parts: ExportPart[]; +} + +/** One solved series, and everything `AnalysisSampleService` needs to take it. */ +export interface ExportSeries { + /** `Position`, `Force on Link AB` — the quantity, without the part. */ + label: string; + /** + * The whole phrase a column head opens with, part included. + * + * Set where the series names one part of its own — a reaction belongs to a + * joint *and* a link, and neither is enough on its own. Left empty where the + * column spans parts, and composed per part as the file is written. + */ + head: string; + unit: string; + analysis: 'kinematic' | 'force'; + mechProp: string; + /** Filled in per selected part where the column spans parts. */ + mechPart: string; + reactionLinkId: string; +} + +/** + * One tickable row of step 2. + * + * A kinematic row stands for a quantity of *every* selected part of its kind — + * ticking Position once means position for both chosen joints — so its series + * carry no part and the writer fills one in per part. A force row names one + * reaction of one part, and carries its own. + */ +export interface ExportColumn { + key: string; + label: string; + /** Shown at the end of the row; a hint, not the head the file carries. */ + unit: string; + /** `Centre of mass` writes three series from one tick. */ + series: ExportSeries[]; + /** Whose quantity this is: every selected joint, every selected link, or its own. */ + spans: PartKind | 'own'; + /** The part a self-owned column belongs to. Empty where the column spans parts. */ + owner: string; + tab: ColumnTab; +} + +/** A titled run of columns: `Joints B, C`, `Link AB`, `Joint A`. */ +export interface ExportColumnGroup { + key: string; + title: string; + tab: ColumnTab; + columns: ExportColumn[]; +} + +/** One file, ready to be handed to the browser. */ +export interface ExportFile { + name: string; + mime: string; + /** Text content, or bytes for a format that is not text. */ + text?: string; + bytes?: Uint8Array; +} diff --git a/src/app/services/export/export-table.service.ts b/src/app/services/export/export-table.service.ts new file mode 100644 index 00000000..0c43ab6d --- /dev/null +++ b/src/app/services/export/export-table.service.ts @@ -0,0 +1,209 @@ +import { Injectable, inject } from '@angular/core'; +import { RealJoint } from '../../model/joint'; +import { Mechanism } from '../../model/mechanism/mechanism'; +import { AnalysisSampleService } from '../analysis-sample.service'; +import { MechanismService } from '../mechanism.service'; +import { ExportFlowService } from './export-flow.service'; +import { ExportColumn, ExportPart } from './export-model'; + +/** One quantity of one part over a whole cycle: a graph, and a run of columns. */ +export interface ExportPlot { + /** `Position of Joint B` — what a graph would be titled. */ + title: string; + /** `Position B` — what a column head opens with. */ + head: string; + unit: string; + columnKey: string; + partKey: string; + mechanismIndex: number; + /** X, Y and Mag where there are three; one unnamed series where there is one. */ + series: { name: string; values: number[] }[]; +} + +/** A whole file or sheet: a time column, and every series beside it. */ +export interface ExportTable { + /** What distinguishes this one from the others — a sheet name, a file suffix. */ + name: string; + mechanismIndex: number; + times: number[]; + heads: string[]; + /** Column-major, parallel to `heads` after the time column. */ + columns: number[][]; + plots: ExportPlot[]; +} + +/** + * The numbers behind a chosen export, sampled once and shared by every format. + * + * A CSV, a workbook, a set of graph images and a report all say the same thing + * about the same cycle; the only difference is how it is written down. Solving + * it once here is what keeps them from disagreeing. + */ +@Injectable({ providedIn: 'root' }) +export class ExportTableService { + private flow = inject(ExportFlowService); + private mechanism = inject(MechanismService); + private samples = inject(AnalysisSampleService); + + /** + * The last answer, and what was asked to get it. + * + * Building these samples every solved position of every chosen series, and + * the drawer's own footer asks how wide the file is on every change-detection + * pass. Without this, moving the mouse over the drawer re-solves the cycle. + */ + private cache?: { key: string; tables: ExportTable[] }; + + /** + * Every file the current selection asks for. + * + * One per machine at the very least: two mechanisms run on their own clocks, + * so their rows cannot share a time column however much a reader would like + * one file. Beyond that the reader chooses — a sheet per part, or the whole + * machine in one. + */ + tables(): ExportTable[] { + const key = this.signature(); + if (this.cache?.key !== key) { + this.cache = { key, tables: this.flow.mechanismIndexes().flatMap((i) => this.tablesFor(i)) }; + } + return this.cache.tables; + } + + /** + * Everything the numbers depend on, as one string. + * + * Decimals are deliberately not in it: rounding happens as a file is written, + * so changing it cannot change what was sampled. + */ + private signature(): string { + return [ + this.flow + .selectedParts() + .map((part) => part.key) + .join(','), + this.flow + .selectedColumns() + .map((column) => column.key) + .join(','), + this.flow.format, + this.flow.splitPerPart, + this.flow.withMagnitude, + this.flow.forceMode(), + this.mechanism.mechanisms.map((solved) => solved.timeNum.length).join(','), + this.mechanism.onMechUpdateState.value, + ].join('|'); + } + + private tablesFor(index: number): ExportTable[] { + const id = this.flow.partGroups()[index]?.id ?? `M${index + 1}`; + const parts = this.flow.selectedParts().filter((part) => part.mechanismIndex === index); + const columns = this.flow.selectedColumns(); + + if (this.flow.splitPerPart) { + return parts + .map((part) => + this.table(index, `${id}_${part.label.replace(/\s+/g, '')}`, [part], columns) + ) + .filter((table) => table.heads.length > 1); + } + if (this.flow.format === 'xlsx') { + // "By analysis": kinematics and forces are different questions about the + // same cycle, and a sheet each is what lets one be charted without the + // other's axis running through it. + return (['kinematics', 'forces'] as const) + .map((tab) => + this.table( + index, + `${id}_${tab}`, + parts, + columns.filter((column) => column.tab === tab) + ) + ) + .filter((table) => table.heads.length > 1); + } + return [this.table(index, id, parts, columns)].filter((table) => table.heads.length > 1); + } + + private table( + index: number, + name: string, + parts: ExportPart[], + columns: ExportColumn[] + ): ExportTable { + const solved = this.mechanism.mechanisms[index]; + const times = solved?.isMechanismValid() ? [...solved.timeNum] : []; + const plots = solved ? this.plots(solved, index, parts, columns) : []; + const heads = ['Time (s)']; + const values: number[][] = []; + plots.forEach((plot) => { + plot.series.forEach((series) => { + heads.push(`${plot.head}${series.name ? ' ' + series.name : ''} (${plot.unit})`); + values.push(series.values); + }); + }); + return { name, mechanismIndex: index, times, heads, columns: values, plots }; + } + + /** Every graph the selection asks for, in the order the columns are listed. */ + plots( + solved: Mechanism, + index: number, + parts: ExportPart[], + columns: ExportColumn[] + ): ExportPlot[] { + if (!solved.isMechanismValid()) return []; + const mode = this.flow.forceMode(); + const plots: ExportPlot[] = []; + columns.forEach((column) => { + const targets = + column.spans === 'own' + ? parts.filter((part) => part.key === column.owner) + : parts.filter((part) => part.kind === column.spans); + targets.forEach((part) => { + column.series.forEach((series) => { + const mechPart = column.spans === 'own' ? series.mechPart : part.id; + const rows = solved.timeNum.map((_, step) => + this.samples.sampleAt( + solved, + step, + series.analysis, + series.analysis === 'force' ? mode : 'loop', + series.mechProp, + mechPart, + series.reactionLinkId + ) + ); + const width = rows.reduce((most, row) => Math.max(most, row.length), 0); + if (width === 0) return; + const kept = width === 3 && !this.flow.withMagnitude ? 2 : width; + const names = this.seriesNames(width).slice(0, kept); + plots.push({ + title: series.head || `${series.label} of ${part.label}`, + head: series.head || `${series.label} ${this.shortName(part)}`, + unit: series.unit, + columnKey: column.key, + partKey: part.key, + mechanismIndex: index, + series: names.map((name, at) => ({ + name, + values: rows.map((row) => row[at]), + })), + }); + }); + }); + }); + return plots; + } + + /** The names the graphs plot these under, so the file agrees with the screen. */ + private seriesNames(count: number): string[] { + if (count <= 1) return ['']; + if (count === 2) return ['X', 'Y']; + return ['X', 'Y', 'Mag']; + } + + private shortName(part: ExportPart): string { + return part.kind === 'joint' ? (part.part as RealJoint).name || part.id : part.id; + } +} diff --git a/src/app/services/export/export-writer.service.ts b/src/app/services/export/export-writer.service.ts new file mode 100644 index 00000000..e7d79097 --- /dev/null +++ b/src/app/services/export/export-writer.service.ts @@ -0,0 +1,292 @@ +import { Injectable, inject } from '@angular/core'; +import { ANALYSIS_SERIES_COLORS } from '../../model/analysis-series'; +import { RealJoint } from '../../model/joint'; +import { MechanismService } from '../mechanism.service'; +import { NumberUnitParserService } from '../number-unit-parser.service'; +import { SettingsService } from '../settings.service'; +import { UrlGenerationService } from '../url-generation.service'; +import { ExportCatalogService } from './export-catalog.service'; +import { ExportFlowService } from './export-flow.service'; +import { ExportFile } from './export-model'; +import { ExportPlot, ExportTable, ExportTableService } from './export-table.service'; +import { formatCell, toCsv } from './csv-writer'; +import { toXlsx, sheetNames } from './xlsx-writer'; +import { plotSvg } from './graph-svg'; +import { mechanismSvg } from './mechanism-svg'; +import { ReportSection, reportHtml, reportPages } from './report-html'; + +const SERIES_COLORS: Record = { + X: ANALYSIS_SERIES_COLORS.X, + Y: ANALYSIS_SERIES_COLORS.Y, + Mag: ANALYSIS_SERIES_COLORS.Z, +}; + +/** + * The chosen export, written out. + * + * One entry point for four formats, because they differ only in how the same + * solved cycle is spelled: a CSV per machine, a workbook of sheets, a picture + * per graph, or a report a reader can hand in. + */ +@Injectable({ providedIn: 'root' }) +export class ExportWriterService { + private flow = inject(ExportFlowService); + private tables = inject(ExportTableService); + private catalog = inject(ExportCatalogService); + private mechanism = inject(MechanismService); + private settings = inject(SettingsService); + private nup = inject(NumberUnitParserService); + private urls = inject(UrlGenerationService); + + /** What the export would produce, for the summary the drawer shows. */ + summary(): { files: number; columns: number; rows: number; pages: number } { + const tables = this.tables.tables(); + return { + files: this.flow.format === 'xlsx' || this.flow.format === 'report' ? 1 : tables.length, + columns: tables.reduce((most, table) => Math.max(most, table.heads.length), 0), + rows: tables.reduce((most, table) => Math.max(most, table.times.length), 0), + pages: tables + .filter( + (table, at) => + tables.findIndex((one) => one.mechanismIndex === table.mechanismIndex) === at + ) + .reduce( + (total, table) => + total + + reportPages({ + plots: table.plots.length, + rows: table.times.length, + columns: table.heads.length - 1, + }), + 0 + ), + }; + } + + async run(): Promise { + const tables = this.tables.tables(); + if (tables.length === 0) return; + switch (this.flow.format) { + case 'xlsx': + return this.writeWorkbook(tables); + case 'images': + return this.writeImages(tables); + case 'report': + return this.writeReport(tables); + default: + return this.writeCsv(tables); + } + } + + private writeCsv(tables: ExportTable[]): void { + const stem = this.flow.name(); + tables.forEach((table, at) => + this.hand({ + name: `${this.fileStem(stem, table, tables.length, at)}.csv`, + mime: 'text/csv;charset=utf-8', + text: toCsv(table, this.flow.decimals), + }) + ); + } + + private writeWorkbook(tables: ExportTable[]): void { + this.hand({ + name: `${this.flow.name()}.xlsx`, + mime: 'application/vnd.openxmlformats-officedocument.spreadsheetml.sheet', + bytes: toXlsx(tables, this.flow.decimals), + }); + } + + private async writeImages(tables: ExportTable[]): Promise { + const width = 720; + const height = 400; + for (const table of tables) { + for (const plot of table.plots) { + const svg = plotSvg(plot, table.times, { width, height, standalone: true }); + const name = `${this.flow.name()}_${safe(plot.title)}`; + if (this.flow.imageFormat === 'svg') { + this.hand({ name: `${name}.svg`, mime: 'image/svg+xml', text: svg }); + } else { + this.hand({ + name: `${name}.png`, + mime: 'image/png', + bytes: await rasterize(svg, width, height), + }); + } + } + } + } + + /** Every selected machine, one section each, in one printable document. */ + private writeReport(tables: ExportTable[]): void { + const sections = this.flow + .mechanismIndexes() + .map((index) => + this.section( + index, + tables.filter((table) => table.mechanismIndex === index) + ) + ) + .filter((section): section is ReportSection => !!section); + if (sections.length === 0) return; + const logo = new URL('assets/PMKS_logo.png', document.baseURI).href; + print(reportHtml({ logoUrl: logo, sections })); + } + + private section(index: number, tables: ExportTable[]): ReportSection | undefined { + const table = tables[0]; + const solved = this.mechanism.mechanisms[index]; + const group = this.flow.partGroups()[index]; + if (!table || !solved || !group) return undefined; + const drawing = mechanismSvg(solved.joints[0] ?? [], solved.links[0] ?? [], 330, 230); + const decimals = this.flow.decimals; + return { + title: `${this.flow.selectedColumns('forces').length > 0 ? 'Analysis' : 'Kinematic analysis'} — ${group.id}`, + subtitle: `${group.note} · ${today()}`, + dataTitle: `Data — ${group.id}`, + graphsTitle: `Graphs — ${group.id}`, + drawing, + facts: this.facts(index, table), + shareUrl: this.urls.generateFullUrl(), + plots: table.plots.map((plot) => ({ + title: plot.title, + unit: plot.unit, + svg: plotSvg(plot, table.times, { width: 320, height: 150, standalone: false }), + legend: plot.series.map((series) => ({ + name: series.name || plot.head, + color: SERIES_COLORS[series.name] ?? ANALYSIS_SERIES_COLORS.X, + })), + })), + heads: table.heads, + rows: table.times.map((time, row) => [ + formatCell(time, decimals), + ...table.columns.map((column) => formatCell(column[row], decimals)), + ]), + footer: `${group.id} · ${group.note}`, + }; + } + + /** What a reader needs in order to trust the numbers on the pages after it. */ + private facts(index: number, table: ExportTable): { label: string; value: string }[] { + const solved = this.mechanism.mechanisms[index]; + const group = this.flow.partGroups()[index]; + const readiness = this.mechanism.readinessOfEachMechanism()[index]; + const driven = this.mechanism.partitions[index]?.joints.find( + (joint) => joint instanceof RealJoint && joint.input + ) as RealJoint | undefined; + const speed = readiness?.facts.find((fact) => fact.label === 'Input speed')?.value ?? '—'; + const parts = this.flow + .selectedParts() + .filter((part) => part.mechanismIndex === index) + .map((part) => part.label) + .join(', '); + const length = this.catalog.unitStr(this.settings.lengthUnit.value); + const mass = this.nup.unitLabel(this.nup.massUnitFor(this.settings.lengthUnit.value)); + const angle = this.catalog.unitStr(this.settings.angleUnit.value); + return [ + { label: 'Mechanism', value: `${group.id}, ${group.note}, ${solved.dof} DoF` }, + { + label: 'Input', + value: driven ? `Joint ${driven.name || driven.id}, ${speed}` : 'Not set', + }, + { + label: 'Cycle', + value: `${solved.cyclePeriod.toFixed(2)} s, ${table.times.length} solved positions`, + }, + { label: 'Units', value: `${length}, ${mass}, ${this.catalog.forceUnit()}, ${angle}` }, + { label: 'Parts', value: parts || '—' }, + { label: 'Decimals', value: String(this.flow.decimals) }, + ]; + } + + /** One file gets the plain name; several get what tells them apart. */ + private fileStem(stem: string, table: ExportTable, count: number, at: number): string { + if (count === 1) return stem; + return `${stem}_${safe(table.name) || String(at + 1)}`; + } + + private hand(file: ExportFile): void { + const blob = file.bytes + ? new Blob([file.bytes as BlobPart], { type: file.mime }) + : new Blob([file.text ?? ''], { type: file.mime }); + const url = URL.createObjectURL(blob); + const link = document.createElement('a'); + link.href = url; + link.download = file.name; + document.body.appendChild(link); + link.click(); + link.remove(); + setTimeout(() => URL.revokeObjectURL(url), 30_000); + } + + /** Exposed so a spec can name the sheets without opening a workbook. */ + sheetNamesFor(tables: ExportTable[]): string[] { + return sheetNames(tables); + } + + plotsOf(table: ExportTable): ExportPlot[] { + return table.plots; + } +} + +/** A picture the browser will draw, as PNG bytes. */ +async function rasterize(svg: string, width: number, height: number): Promise { + const source = `data:image/svg+xml;charset=utf-8,${encodeURIComponent(svg)}`; + const image = await new Promise((resolve, reject) => { + const element = new Image(); + element.onload = () => resolve(element); + element.onerror = () => reject(new Error('The graph could not be drawn.')); + element.src = source; + }); + const canvas = document.createElement('canvas'); + // Twice the drawn size: a chart printed or pasted at full width should not be + // the one blurred thing on the page. + canvas.width = width * 2; + canvas.height = height * 2; + const context = canvas.getContext('2d')!; + context.scale(2, 2); + context.drawImage(image, 0, 0, width, height); + const blob = await new Promise((resolve) => canvas.toBlob(resolve, 'image/png')); + return new Uint8Array(await (blob ?? new Blob()).arrayBuffer()); +} + +/** + * Hand a document to the browser's own printer. + * + * An off-screen frame rather than a new window: a popup blocker stops the + * window, and the frame is torn down as soon as the dialog closes. + */ +function print(html: string): void { + const frame = document.createElement('iframe'); + frame.setAttribute('aria-hidden', 'true'); + frame.style.cssText = 'position:fixed;right:0;bottom:0;width:0;height:0;border:0;'; + document.body.appendChild(frame); + const doc = frame.contentDocument; + if (!doc) { + frame.remove(); + return; + } + doc.open(); + doc.write(html); + doc.close(); + const go = () => { + frame.contentWindow?.focus(); + frame.contentWindow?.print(); + setTimeout(() => frame.remove(), 1000); + }; + if (doc.readyState === 'complete') setTimeout(go, 100); + else frame.onload = () => setTimeout(go, 100); +} + +/** A name a file system will take, from a title a person wrote. */ +function safe(text: string): string { + return text.replace(/[^\w-]+/g, '_').replace(/^_+|_+$/g, ''); +} + +function today(): string { + return new Date().toLocaleDateString(undefined, { + day: 'numeric', + month: 'long', + year: 'numeric', + }); +} diff --git a/src/app/services/export/graph-svg.ts b/src/app/services/export/graph-svg.ts new file mode 100644 index 00000000..92ba687d --- /dev/null +++ b/src/app/services/export/graph-svg.ts @@ -0,0 +1,157 @@ +import { ANALYSIS_SERIES_COLORS } from '../../model/analysis-series'; +import { ExportPlot } from './export-table.service'; +import { escapeXml } from './xml'; + +export interface PlotSvgOptions { + width: number; + height: number; + /** Whether the picture carries its own title and legend, or a page does. */ + standalone: boolean; +} + +const COLORS = [ANALYSIS_SERIES_COLORS.X, ANALYSIS_SERIES_COLORS.Y, ANALYSIS_SERIES_COLORS.Z]; + +/** + * One solved quantity, drawn. + * + * Written out rather than taken from the panel's chart library: the panel draws + * whatever the reader has opened, and an export is asked for graphs that were + * never on screen. Vector all the way through, so the same picture serves a + * printed page, an .svg download, and — via a canvas — a .png. + */ +export function plotSvg(plot: ExportPlot, times: number[], options: PlotSvgOptions): string { + const { width, height, standalone } = options; + const top = standalone ? 54 : 12; + const left = 62; + const right = 14; + const bottom = 34; + const innerWidth = width - left - right; + const innerHeight = height - top - bottom; + + const finite = plot.series.flatMap((series) => series.values.filter(Number.isFinite)); + const lowest = finite.length > 0 ? Math.min(...finite) : 0; + const highest = finite.length > 0 ? Math.max(...finite) : 0; + const [low, high] = pad(lowest, highest); + const span = high - low || 1; + const lastTime = times.length > 0 ? times[times.length - 1] : 0; + + const x = (index: number) => + left + (times.length < 2 ? innerWidth / 2 : (index / (times.length - 1)) * innerWidth); + const y = (value: number) => top + innerHeight - ((value - low) / span) * innerHeight; + + const ticks = [0, 0.25, 0.5, 0.75, 1].map((fraction) => high - fraction * span); + const digits = tickDigits(span); + const grid = ticks + .map( + (value) => + `` + ) + .join(''); + const yLabels = ticks + .map( + (value) => + `${axisNumber( + value, + digits + )}` + ) + .join(''); + + const curves = plot.series + .map((series, at) => { + const points = series.values + .map((value, index) => + Number.isFinite(value) ? `${round(x(index))},${round(y(value))}` : '' + ) + .filter(Boolean) + .join(' '); + return ``; + }) + .join(''); + + const axis = + `` + + `0 s` + + `${lastTime.toFixed(2)} s`; + + const heading = standalone + ? `${escapeXml( + plot.title + )}` + + `${escapeXml( + plot.unit + )}` + + legend(plot, left) + : ''; + + return ( + `` + + `` + + grid + + yLabels + + curves + + axis + + heading + + `` + ); +} + +/** The series names, in their own colours, under the title. */ +function legend(plot: ExportPlot, left: number): string { + let at = left; + return plot.series + .map((series, index) => { + const name = series.name || plot.head; + const swatch = `${escapeXml( + name + )}`; + at += 15 + Math.max(14, name.length * 7) + 14; + return swatch; + }) + .join(''); +} + +/** A little air above and below, so a flat line is not drawn on the frame. */ +function pad(low: number, high: number): [number, number] { + if (low === high) { + const margin = Math.abs(low) > 1e-9 ? Math.abs(low) * 0.1 : 1; + return [low - margin, high + margin]; + } + const margin = (high - low) * 0.08; + return [low - margin, high + margin]; +} + +/** + * How many decimals an axis label needs, read off the range rather than the tick. + * + * Per tick, a value that is float noise beside its neighbours -- 9.2e-6 on an + * axis running to 7 -- came out in scientific notation, which read as a real + * quantity of its own. What matters is how far apart the labels are. + */ +function tickDigits(span: number): number { + if (span >= 100) return 0; + if (span >= 10) return 1; + if (span >= 1) return 2; + if (span >= 0.01) return 4; + return -1; +} + +function axisNumber(value: number, digits: number): string { + if (digits < 0) return value === 0 ? '0' : value.toExponential(1); + if (Math.abs(value) >= 1e5) return value.toExponential(1); + return String(Number(value.toFixed(digits))); +} + +function round(value: number): number { + return Math.round(value * 100) / 100; +} diff --git a/src/app/services/export/mechanism-svg.ts b/src/app/services/export/mechanism-svg.ts new file mode 100644 index 00000000..7d23facd --- /dev/null +++ b/src/app/services/export/mechanism-svg.ts @@ -0,0 +1,98 @@ +import { Joint, PrisJoint, RealJoint } from '../../model/joint'; +import { Link, RealLink } from '../../model/link'; +import { escapeXml } from './xml'; + +/** + * The mechanism as a skeleton, fitted to a box. + * + * A report that shows numbers without showing what they are about asks a reader + * to take the geometry on trust, so page one carries the drawing. Deliberately + * a skeleton rather than a copy of the canvas: the canvas is a live SVG full of + * handles, marks and hit targets, and what a printed page needs is bars, + * joints, and which of them are pinned down. + */ +export function mechanismSvg( + joints: Joint[], + links: Link[], + width: number, + height: number +): string { + const drawn = joints.filter((joint) => !(joint instanceof PrisJoint)); + if (drawn.length === 0) { + return ``; + } + + // Model y points up and SVG y points down, which is why the canvas itself + // draws through a scaleY(-1); here the flip is folded into the projection. + const xs = drawn.map((joint) => joint.x); + const ys = drawn.map((joint) => -joint.y); + const pad = 26; + const spanX = Math.max(...xs) - Math.min(...xs) || 1; + const spanY = Math.max(...ys) - Math.min(...ys) || 1; + const scale = Math.min((width - 2 * pad) / spanX, (height - 2 * pad) / spanY); + const midX = (Math.max(...xs) + Math.min(...xs)) / 2; + const midY = (Math.max(...ys) + Math.min(...ys)) / 2; + const at = (joint: Joint): [number, number] => [ + round(width / 2 + (joint.x - midX) * scale), + round(height / 2 + (-joint.y - midY) * scale), + ]; + + const bars = links + .filter((link): link is RealLink => link instanceof RealLink) + .map((link) => { + const points = link.joints + .filter((joint) => !(joint instanceof PrisJoint)) + .map((joint) => at(joint).join(',')) + .join(' '); + if (!points) return ''; + const shape = link.joints.length > 2 ? 'polygon' : 'polyline'; + return `<${shape} points="${points}" fill="none" stroke="${ + link.fill || '#5c6bc0' + }" stroke-width="9" stroke-linecap="round" stroke-linejoin="round" opacity="0.9"/>`; + }) + .join(''); + + const grounds = drawn + .filter((joint) => (joint as RealJoint).ground) + .map((joint) => { + const [x, y] = at(joint); + return ( + `` + + `` + ); + }) + .join(''); + + const pins = drawn + .map((joint) => { + const [x, y] = at(joint); + const input = (joint as RealJoint).input; + return ``; + }) + .join(''); + + const labels = drawn + .map((joint) => { + const [x, y] = at(joint); + return `${escapeXml( + (joint as RealJoint).name || joint.id + )}`; + }) + .join(''); + + return ( + `` + + `` + + bars + + grounds + + pins + + labels + + `` + ); +} + +function round(value: number): number { + return Math.round(value * 100) / 100; +} diff --git a/src/app/services/export/report-html.ts b/src/app/services/export/report-html.ts new file mode 100644 index 00000000..7c410b34 --- /dev/null +++ b/src/app/services/export/report-html.ts @@ -0,0 +1,247 @@ +import { escapeXml } from './xml'; + +export interface ReportPlot { + title: string; + unit: string; + /** The chart itself, without a title of its own — the page supplies one. */ + svg: string; + legend: { name: string; color: string }[]; +} + +/** One mechanism's worth of report: its drawing, its graphs and its table. */ +export interface ReportSection { + title: string; + subtitle: string; + /** The drawing, as it stands at the start of the cycle. */ + drawing: string; + facts: { label: string; value: string }[]; + shareUrl: string; + plots: ReportPlot[]; + heads: string[]; + rows: string[][]; + /** `Four-bar test · M1` — what every page of this section is footed with. */ + footer: string; + /** What the data pages are headed with: `Data — M1`. */ + dataTitle: string; + /** What the graph pages after the first are headed with. */ + graphsTitle: string; +} + +export interface ReportContext { + logoUrl: string; + sections: ReportSection[]; +} + +/** How much one printed page holds, at the size these are set in. */ +const ROWS_PER_PAGE = 40; +const COLUMNS_PER_PAGE = 7; +const GRAPHS_ON_FIRST_PAGE = 4; +const GRAPHS_PER_PAGE = 6; + +/** + * The Report format: the mechanism, what it was solved under, its graphs, and + * every row the CSV would have held. + * + * Written as a printable HTML document rather than assembled with a PDF + * library. The browser already has a typesetter and a PDF writer in it, the + * pages are laid out here rather than left to reflow, and a reader who wanted + * paper instead of a file gets that from the same command. + */ +export function reportHtml(context: ReportContext): string { + const bodies: { body: string; footer: string }[] = []; + context.sections.forEach((section) => { + const graphs = chunkGraphs(section.plots); + bodies.push({ + body: firstPageBody(context, section, graphs[0] ?? []), + footer: section.footer, + }); + graphs.slice(1).forEach((page) => { + bodies.push({ + body: `${sectionHead(context, section.graphsTitle, section.subtitle)} +
    ${page.map(graphBlock).join('')}
    `, + footer: section.footer, + }); + }); + tablePages(section).forEach((page) => { + bodies.push({ body: dataPageBody(context, section, page), footer: section.footer }); + }); + }); + + const pages = bodies.map((entry, at) => page(entry.body, entry.footer, at + 1, bodies.length)); + const title = context.sections[0]?.title ?? 'PMKS+ report'; + return `${escapeHtml( + title + )}${pages.join('')}`; +} + +/** + * How long the report will be, before anyone waits for it to be built. + * + * The table is every row the CSV would hold, which is the point of the format + * and also how a wide selection becomes two hundred pages. Counted here so the + * drawer can say so while there is still time to choose fewer parts. + */ +export function reportPages(section: { plots: number; rows: number; columns: number }): number { + const graphPages = Math.max( + 0, + Math.ceil((section.plots - GRAPHS_ON_FIRST_PAGE) / GRAPHS_PER_PAGE) + ); + const dataPages = + Math.ceil(section.columns / COLUMNS_PER_PAGE) * Math.ceil(section.rows / ROWS_PER_PAGE); + return 1 + graphPages + dataPages; +} + +function chunkGraphs(plots: ReportPlot[]): ReportPlot[][] { + if (plots.length === 0) return [[]]; + return [ + plots.slice(0, GRAPHS_ON_FIRST_PAGE), + ...chunk(plots.slice(GRAPHS_ON_FIRST_PAGE), GRAPHS_PER_PAGE), + ]; +} + +/** Which rows and which columns land on each data page, in reading order. */ +function tablePages(section: ReportSection): { columns: number[]; rows: string[][] }[] { + const rowPages = chunk(section.rows, ROWS_PER_PAGE); + // Time rides every chunk: a column of numbers with nothing to line it up + // against is not data anyone can use. + const columnChunks = chunk( + section.heads.slice(1).map((_, at) => at + 1), + COLUMNS_PER_PAGE + ); + return columnChunks.flatMap((columns) => rowPages.map((rows) => ({ columns, rows }))); +} + +function sectionHead(context: ReportContext, title: string, subtitle: string): string { + return `
    ${escapeHtml( + title + )}
    ${escapeHtml( + subtitle + )}
    `; +} + +function graphBlock(plot: ReportPlot): string { + return `
    ${escapeHtml( + plot.title + )}
    ${plot.legend + .map( + (entry) => + `${escapeHtml( + entry.name + )}` + ) + .join('')}${escapeHtml( + plot.unit + )}
    ${plot.svg}
    `; +} + +function firstPageBody( + context: ReportContext, + section: ReportSection, + plots: ReportPlot[] +): string { + const facts = section.facts + .map( + (fact) => + `${escapeHtml(fact.label)}${escapeHtml( + fact.value + )}` + ) + .join(''); + return `${sectionHead(context, section.title, section.subtitle)} +
    ${section.drawing}
    +
    Solved under
    ${facts}
    +
    Every graph and every row below comes from this one solve. Reopen the mechanism at ${escapeHtml( + section.shareUrl + )}
    + ${ + plots.length > 0 + ? `
    Graphs
    ${plots + .map(graphBlock) + .join('')}
    ` + : '' + }`; +} + +function dataPageBody( + context: ReportContext, + section: ReportSection, + table: { columns: number[]; rows: string[][] } +): string { + const heads = [0, ...table.columns] + .map((at) => `
    `) + .join(''); + const body = table.rows + .map( + (row) => + `${[0, ...table.columns].map((at) => ``).join('')}` + ) + .join(''); + const split = section.heads.length - 1 > COLUMNS_PER_PAGE; + const note = split + ? `
    Columns ${table.columns[0]}–${ + table.columns[table.columns.length - 1] + } of ${section.heads.length - 1}. The rest are on their own pages.
    ` + : ''; + return `${sectionHead( + context, + section.dataTitle, + `${section.heads.length - 1} columns, ${section.rows.length} rows, one row per solved position` + )} +
    ${escapeHtml(section.heads[at])}
    ${escapeHtml(row[at])}
    ${heads}${body}
    ${note}`; +} + +function page(body: string, footer: string, number: number, total: number): string { + return `
    ${body}
    PMKS+ · app.pmksplus.com${escapeHtml( + footer + )}Page ${number} of ${total}
    `; +} + +function chunk(items: T[], size: number): T[][] { + if (items.length === 0) return []; + const out: T[][] = []; + for (let at = 0; at < items.length; at += size) out.push(items.slice(at, at + size)); + return out; +} + +function escapeHtml(text: string): string { + return escapeXml(text ?? ''); +} + +function styles(): string { + return ` +@page { size: letter; margin: 0.5in; } +* { box-sizing: border-box; } +body { margin: 0; font-family: Roboto, 'Helvetica Neue', Helvetica, Arial, sans-serif; color: #2c2c2c; } +.page { width: 7.5in; height: 10in; display: flex; flex-direction: column; page-break-after: always; overflow: hidden; } +.page:last-child { page-break-after: auto; } +.pageBody { flex: 1 1 auto; min-height: 0; } +.head { display: flex; align-items: flex-start; gap: 16px; padding-bottom: 10px; border-bottom: 1px solid #eceef5; } +.title { font-size: 19px; font-weight: 500; } +.subtitle { font-size: 12px; color: rgba(0,0,0,0.55); } +.logo { margin-left: auto; height: 34px; } +.topRow { display: flex; gap: 18px; padding: 14px 0; } +.drawing { flex: 0 0 auto; } +.solvedUnder { flex: 1 1 auto; min-width: 0; } +.panelTitle { font-size: 12px; font-weight: 500; color: #5f6368; text-transform: uppercase; letter-spacing: 0.06em; } +.factGrid { display: grid; grid-template-columns: auto 1fr; gap: 3px 12px; padding-top: 6px; font-size: 12px; } +.factLabel { color: rgba(0,0,0,0.55); } +.factValue { color: #2c2c2c; } +.shareNote { padding-top: 10px; font-size: 11px; line-height: 15px; color: rgba(0,0,0,0.55); } +.shareUrl { font-family: 'Roboto Mono', Menlo, monospace; word-break: break-all; color: #3f51b5; } +.graphsTitle { padding-top: 6px; } +.graphs { display: grid; grid-template-columns: 1fr 1fr; gap: 10px; padding-top: 8px; } +.graph { border: 1px solid #eceef5; border-radius: 4px; padding: 6px; } +.graph svg { width: 100%; height: auto; } +.graphTitle { font-size: 12px; font-weight: 500; } +.graphLegend { display: flex; align-items: center; gap: 10px; font-size: 11px; color: rgba(0,0,0,0.55); padding: 2px 0 4px; } +.graphLegend .spacer { flex: 1 1 auto; } +.swatch { display: inline-block; width: 8px; height: 8px; border-radius: 2px; margin-right: 4px; } +.dataTable { width: 100%; border-collapse: collapse; font-size: 9px; font-variant-numeric: tabular-nums; margin-top: 10px; } +.dataTable th { text-align: right; font-weight: 500; color: #5f6368; border-bottom: 1px solid #d5d7e0; padding: 3px 4px; } +.dataTable td { text-align: right; padding: 2px 4px; border-bottom: 1px solid #f4f5f9; } +.tableNote { padding-top: 8px; font-size: 10px; color: rgba(0,0,0,0.5); } +.pageFoot { flex: 0 0 auto; display: flex; align-items: center; gap: 10px; padding-top: 8px; border-top: 1px solid #eceef5; font-size: 10px; color: rgba(0,0,0,0.5); } +.pageFoot .spacer { flex: 1 1 auto; } +.pageNumber { font-variant-numeric: tabular-nums; } +`; +} diff --git a/src/app/services/export/xlsx-writer.ts b/src/app/services/export/xlsx-writer.ts new file mode 100644 index 00000000..20b17ba3 --- /dev/null +++ b/src/app/services/export/xlsx-writer.ts @@ -0,0 +1,116 @@ +import { Decimals } from './export-model'; +import { ExportTable } from './export-table.service'; +import { formatCell } from './csv-writer'; +import { utf8, zipStore } from './zip'; +import { escapeXml } from './xml'; + +/** + * A workbook, written by hand. + * + * The minimum an .xlsx can be: a content-type map, two relationship files, a + * workbook naming the sheets, and a sheet per table with its strings inline. + * No styles, no shared strings, no calc chain — a reader opens this to chart + * columns of numbers, and every part beyond these is one Excel supplies itself. + */ +export function toXlsx(tables: ExportTable[], decimals: Decimals): Uint8Array { + const names = sheetNames(tables); + const parts = [ + { name: '[Content_Types].xml', data: utf8(contentTypes(tables.length)) }, + { name: '_rels/.rels', data: utf8(rootRels()) }, + { name: 'xl/workbook.xml', data: utf8(workbook(names)) }, + { name: 'xl/_rels/workbook.xml.rels', data: utf8(workbookRels(tables.length)) }, + ...tables.map((table, at) => ({ + name: `xl/worksheets/sheet${at + 1}.xml`, + data: utf8(sheet(table, decimals)), + })), + ]; + return zipStore(parts); +} + +/** + * Sheet names Excel will actually accept: 31 characters, no `[]:*?/\`, unique. + * + * A name it refuses is not a warning but a file that will not open at all, so + * this is cleaned rather than trusted. + */ +export function sheetNames(tables: ExportTable[]): string[] { + const used = new Set(); + return tables.map((table, at) => { + const cleaned = table.name.replace(/[[\]:*?/\\]/g, '-').slice(0, 31) || `Sheet${at + 1}`; + let name = cleaned; + let n = 2; + while (used.has(name.toLowerCase())) { + const suffix = `_${n++}`; + name = cleaned.slice(0, 31 - suffix.length) + suffix; + } + used.add(name.toLowerCase()); + return name; + }); +} + +function contentTypes(sheets: number): string { + const overrides = Array.from( + { length: sheets }, + (_, at) => + `` + ).join(''); + return `${overrides}`; +} + +function rootRels(): string { + return ``; +} + +function workbook(names: string[]): string { + const sheets = names + .map((name, at) => ``) + .join(''); + return `${sheets}`; +} + +function workbookRels(sheets: number): string { + const rels = Array.from( + { length: sheets }, + (_, at) => + `` + ).join(''); + return `${rels}`; +} + +function sheet(table: ExportTable, decimals: Decimals): string { + const rows: string[] = [ + `${table.heads + .map( + (head, at) => + `${escapeXml( + head + )}` + ) + .join('')}`, + ]; + table.times.forEach((time, row) => { + const cells = [ + formatCell(time, decimals), + ...table.columns.map((c) => formatCell(c[row], decimals)), + ] + .map((value, at) => + value === '' ? '' : `${value}` + ) + .join(''); + rows.push(`${cells}`); + }); + return `${rows.join( + '' + )}`; +} + +/** `A1`, `Z1`, `AA1` — the address a cell has to carry to be read back. */ +export function cellRef(column: number, row: number): string { + let name = ''; + let at = column; + do { + name = String.fromCharCode(65 + (at % 26)) + name; + at = Math.floor(at / 26) - 1; + } while (at >= 0); + return `${name}${row}`; +} diff --git a/src/app/services/export/xml.ts b/src/app/services/export/xml.ts new file mode 100644 index 00000000..eb0ac349 --- /dev/null +++ b/src/app/services/export/xml.ts @@ -0,0 +1,9 @@ +/** The five characters that cannot be written raw into XML or SVG. */ +export function escapeXml(text: string): string { + return text + .replace(/&/g, '&') + .replace(//g, '>') + .replace(/"/g, '"') + .replace(/'/g, '''); +} diff --git a/src/app/services/export/zip.ts b/src/app/services/export/zip.ts new file mode 100644 index 00000000..db839ea4 --- /dev/null +++ b/src/app/services/export/zip.ts @@ -0,0 +1,107 @@ +/** + * A ZIP container, stored rather than compressed. + * + * An .xlsx is a zip of XML parts, and writing one is the whole reason this + * exists — a spreadsheet is the second thing every reader of this app asks + * for, and a dependency that pulls in a compressor to save a few kilobytes of + * text is a poor trade against a hundred lines that can be read in full. + * + * Deflate is deliberately not implemented: method 0 (stored) is part of the + * format and every unzipper accepts it, and Excel does not care. + */ +export interface ZipEntry { + name: string; + data: Uint8Array; +} + +/** A fixed timestamp, so the same selection writes byte-identical files. */ +const DOS_TIME = 0; +const DOS_DATE = 0x5021; // 1 January 2020, in the packed form the header expects. + +const CRC_TABLE = (() => { + const table = new Uint32Array(256); + for (let n = 0; n < 256; n++) { + let c = n; + for (let k = 0; k < 8; k++) c = c & 1 ? 0xedb88320 ^ (c >>> 1) : c >>> 1; + table[n] = c >>> 0; + } + return table; +})(); + +export function crc32(data: Uint8Array): number { + let crc = 0xffffffff; + for (let i = 0; i < data.length; i++) crc = CRC_TABLE[(crc ^ data[i]) & 0xff] ^ (crc >>> 8); + return (crc ^ 0xffffffff) >>> 0; +} + +export function utf8(text: string): Uint8Array { + return new TextEncoder().encode(text); +} + +/** The archive, ready to be handed to the browser as one download. */ +export function zipStore(entries: ZipEntry[]): Uint8Array { + const locals: Uint8Array[] = []; + const centrals: Uint8Array[] = []; + let offset = 0; + + entries.forEach((entry) => { + const name = utf8(entry.name); + const crc = crc32(entry.data); + const local = block(30 + name.length); + local.view.setUint32(0, 0x04034b50, true); + local.view.setUint16(4, 20, true); + local.view.setUint16(6, 0x0800, true); // Names are UTF-8. + local.view.setUint16(8, 0, true); // Stored. + local.view.setUint16(10, DOS_TIME, true); + local.view.setUint16(12, DOS_DATE, true); + local.view.setUint32(14, crc, true); + local.view.setUint32(18, entry.data.length, true); + local.view.setUint32(22, entry.data.length, true); + local.view.setUint16(26, name.length, true); + local.bytes.set(name, 30); + locals.push(local.bytes, entry.data); + + const central = block(46 + name.length); + central.view.setUint32(0, 0x02014b50, true); + central.view.setUint16(4, 20, true); + central.view.setUint16(6, 20, true); + central.view.setUint16(8, 0x0800, true); + central.view.setUint16(10, 0, true); + central.view.setUint16(12, DOS_TIME, true); + central.view.setUint16(14, DOS_DATE, true); + central.view.setUint32(16, crc, true); + central.view.setUint32(20, entry.data.length, true); + central.view.setUint32(24, entry.data.length, true); + central.view.setUint16(28, name.length, true); + central.view.setUint32(42, offset, true); + central.bytes.set(name, 46); + centrals.push(central.bytes); + + offset += local.bytes.length + entry.data.length; + }); + + const directory = concat(centrals); + const end = block(22); + end.view.setUint32(0, 0x06054b50, true); + end.view.setUint16(8, entries.length, true); + end.view.setUint16(10, entries.length, true); + end.view.setUint32(12, directory.length, true); + end.view.setUint32(16, offset, true); + return concat([...locals, directory, end.bytes]); +} + +function block(size: number): { bytes: Uint8Array; view: DataView } { + const bytes = new Uint8Array(size); + return { bytes, view: new DataView(bytes.buffer) }; +} + +function concat(parts: Uint8Array[]): Uint8Array { + const total = parts.reduce((sum, part) => sum + part.length, 0); + const out = new Uint8Array(total); + let at = 0; + parts.forEach((part) => { + out.set(part, at); + at += part.length; + }); + return out; +} diff --git a/src/mytheme.scss b/src/mytheme.scss index dce08cc2..45886d13 100644 --- a/src/mytheme.scss +++ b/src/mytheme.scss @@ -26,6 +26,7 @@ @use 'src/app/component/analysis-panel/analysis-panel.component.scss' as analysis-panel; @use 'src/app/component/analysis-graph/analysis-graph.component.scss' as analysis-graph; @use 'src/app/component/analysis-graph-section/analysis-graph-section.component.scss' as analysis-graph-section; +@use 'src/app/component/export-panel/export-panel.component.scss' as export-panel; @use 'src/app/component/right-panel/right-panel.component.scss' as right-panel; @use 'src/app/component/settings-panel/settings-panel.component.scss' as settings-panel; @use 'src/app/component/help-panel/help-panel.component.scss' as help-panel; @@ -94,6 +95,7 @@ $my-theme: mat.m2-define-light-theme( @include analysis-panel.css($my-theme); @include analysis-graph.css($my-theme); @include analysis-graph-section.css($my-theme); +@include export-panel.css($my-theme); @include right-panel.css($my-theme); @include settings-panel.css($my-theme); @include help-panel.css($my-theme); From 051f9341f30bb92d10e3dd79db7bca50c4b96676 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 17:24:21 -0700 Subject: [PATCH 184/236] Say the unit an angular column is actually in, and reach the parts that were out of reach Seven things GPT-5.6 sol found reviewing the export drawer, and what they turned out to be. **An angular rate was written in radians under a head saying degrees.** The solver does not hand these out in one unit: a link's angle is converted to degrees as it is recorded, and its angular velocity and acceleration are left in radians, because that is what the equations are written in. The panel has always converted one or the other on its way to the screen; the export -- and the CSV command before it -- skipped it, so a crank turning at 20 RPM exported 2.09 under a head reading deg/s. The rule now lives in `analysis-series.ts` beside the colours, and the graph applies it from there too, because a graph and a file of the same series that disagree are worse than either being wrong alone. The browser suite checks the one column whose answer is known without solving anything: the input crank turns at the speed the drive is set to. **A slider's block was not on the list.** It is a body the solver weighs and balances like any other, and the reactions it carries at both of its joints were unreachable from a drawer that offers everything else. **Each of a link's reactions now has its own tick.** They were keyed by the link and the analysis, which two reactions of the same link share, so unticking either untick both. **A pinned joint is no longer asked for kinematics.** It is on the list at all because of the reaction it carries, and that belongs to the other tab; before this a report of a grounded joint carried a page of flat lines. **A report is per machine whatever the file step last had ticked.** Per-part splitting made several tables and the report writer takes one per machine, so every part after the first was silently dropped -- from the pages and from the page count. **A part that has stopped having anything to give is no longer chosen**, and an export that writes nothing says so instead of reporting success. Also: the lists are held against a fingerprint of the drawing rather than a notification, since not every rebuild publishes one; the Excel line no longer promises a sheet per part when the default is by analysis; per-part files no longer name the machine twice; and the columns half of the catalogue is its own service, which brings both back under the size the README asks for. Co-Authored-By: Claude Fable 5 --- e2e/export-flow.mjs | 22 +- .../analysis-graph.component.ts | 45 ++-- .../export-panel/export-panel.component.ts | 25 +- src/app/model/analysis-series.ts | 25 ++ .../services/export/export-catalog.service.ts | 245 ++---------------- .../services/export/export-columns.service.ts | 234 +++++++++++++++++ .../services/export/export-flow.service.ts | 81 +++++- src/app/services/export/export-flow.spec.ts | 112 +++++++- src/app/services/export/export-model.ts | 13 +- .../services/export/export-table.service.ts | 55 +++- .../services/export/export-writer.service.ts | 36 ++- 11 files changed, 588 insertions(+), 305 deletions(-) create mode 100644 src/app/services/export/export-columns.service.ts diff --git a/e2e/export-flow.mjs b/e2e/export-flow.mjs index 98abf5e9..49c0fce3 100644 --- a/e2e/export-flow.mjs +++ b/e2e/export-flow.mjs @@ -163,6 +163,23 @@ record( { head: splitCsv(lines[0]).length, second: splitCsv(lines[1]).length } ); +// The one column whose right answer is known without solving anything: the +// input crank turns at the speed the drive is set to. The solver keeps angles +// in degrees and rates in radians, so a file that skipped the conversion writes +// 2.09 here under a head saying deg/s. +const speed = await page.evaluate(() => { + const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + return srv.settingsService.inputSpeed.value * 6; // rpm -> deg/s +}); +const rateColumn = splitCsv(lines[0]).findIndex((head) => + head.startsWith('Angular velocity AB (deg/s)') +); +record( + 'and an angular rate in the unit its head claims', + rateColumn > 0 && Math.abs(Math.abs(Number(splitCsv(lines[1])[rateColumn])) - speed) < 0.5, + { speed, column: rateColumn, value: rateColumn > 0 && splitCsv(lines[1])[rateColumn] } +); + // --- the workbook ----------------------------------------------------------- await drawer().locator('.formatRow', { hasText: 'Excel workbook' }).click(); await page.waitForTimeout(200); @@ -301,5 +318,8 @@ function number(text) { /** Split a CSV line, respecting the quotes a head may carry. */ function splitCsv(line) { - return line.match(/("([^"]|"")*"|[^,]*)(,|$)/g).slice(0, -1); + return line + .match(/("([^"]|"")*"|[^,]*)(,|$)/g) + .slice(0, -1) + .map((field) => field.replace(/,$/, '')); } diff --git a/src/app/component/analysis-graph/analysis-graph.component.ts b/src/app/component/analysis-graph/analysis-graph.component.ts index 014d54bc..32c5ae95 100644 --- a/src/app/component/analysis-graph/analysis-graph.component.ts +++ b/src/app/component/analysis-graph/analysis-graph.component.ts @@ -28,7 +28,11 @@ import { ApexYAxis, } from 'apexcharts'; import { KinematicsSolver } from 'src/app/model/mechanism/kinematic-solver'; -import { ANALYSIS_SERIES_COLORS, formatAnalysisValue } from 'src/app/model/analysis-series'; +import { + ANALYSIS_SERIES_COLORS, + angularScale, + formatAnalysisValue, +} from 'src/app/model/analysis-series'; export { ANALYSIS_SERIES_COLORS }; import { ForceAnalysisMode } from 'src/app/model/mechanism/force-solver'; import { Mechanism } from 'src/app/model/mechanism/mechanism'; @@ -697,6 +701,21 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, this.subscriptions.unsubscribe(); } + /** + * Put an angular series into the unit the axis beside it is lettered in. + * + * In place, and to the four decimals this has always shown: the conversion + * itself now lives with the model, so the file the export writes and the + * curve drawn here cannot end up in different units. + */ + private scaleAngles(series: number[], mechProp: string): void { + const scale = angularScale(mechProp, this.settingsService.angleUnit.getValue()); + if (scale === 1) return; + for (let i = 0; i < series.length; i++) { + series[i] = Number((series[i] * scale).toFixed(4)); + } + } + getUnitStr(unit: LengthUnit | AngleUnit): string { switch (unit) { case AngleUnit.RADIAN: @@ -868,13 +887,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, yAxisTitle = 'Position ' + posAngUnit; [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); var series: number[] = datum[0]; - if (this.settingsService.angleUnit.getValue() == AngleUnit.RADIAN) { - for (let i = 0; i < series.length; i++) { - series[i] = Number( - this.nup.convertAngle(series[i], AngleUnit.DEGREE, AngleUnit.RADIAN).toFixed(4) - ); - } - } + this.scaleAngles(series, 'Angular Link Pos'); seriesData.push({ name: 'Z', type: 'line', data: series }); this.numberOfSeries = 1; break; @@ -882,13 +895,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, yAxisTitle = 'Velocity ' + velAngUnit; [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); var series: number[] = datum[0]; - if (this.settingsService.angleUnit.getValue() == AngleUnit.DEGREE) { - for (let i = 0; i < series.length; i++) { - series[i] = Number( - this.nup.convertAngle(series[i], AngleUnit.RADIAN, AngleUnit.DEGREE).toFixed(4) - ); - } - } + this.scaleAngles(series, 'Angular Link Vel'); seriesData.push({ name: 'Z', type: 'line', data: series }); this.numberOfSeries = 1; break; @@ -896,13 +903,7 @@ export class AnalysisGraphComponent implements OnInit, AfterViewInit, OnDestroy, yAxisTitle = 'Acceleration ' + accAngUnit; [datum] = this.determineAnalysis(analysis, analysisType, mechProp, mechPart); var series: number[] = datum[0]; - if (this.settingsService.angleUnit.getValue() == AngleUnit.DEGREE) { - for (let i = 0; i < series.length; i++) { - series[i] = Number( - this.nup.convertAngle(series[i], AngleUnit.RADIAN, AngleUnit.DEGREE).toFixed(4) - ); - } - } + this.scaleAngles(series, 'Angular Link Acc'); seriesData.push({ name: 'Z', type: 'line', data: series }); this.numberOfSeries = 1; break; diff --git a/src/app/component/export-panel/export-panel.component.ts b/src/app/component/export-panel/export-panel.component.ts index 7f2a3581..ad9e9549 100644 --- a/src/app/component/export-panel/export-panel.component.ts +++ b/src/app/component/export-panel/export-panel.component.ts @@ -54,7 +54,11 @@ export class ExportPanelComponent implements OnInit, OnDestroy { readonly formats: { key: ExportFormat; name: string; note: string }[] = [ { key: 'csv', name: 'CSV', note: 'One time column, one per series.' }, - { key: 'xlsx', name: 'Excel workbook', note: 'A sheet per part, for overlaying charts.' }, + { + key: 'xlsx', + name: 'Excel workbook', + note: 'Sheets by analysis or by part, for charting.', + }, { key: 'images', name: 'Graph images', note: 'PNG or SVG per graph.' }, { key: 'report', name: 'Report', note: 'PDF: mechanism, graphs and table.' }, ]; @@ -190,13 +194,9 @@ export class ExportPanelComponent implements OnInit, OnDestroy { } private pictureCount(): number { - return this.flow.selectedColumns().reduce((total, column) => { - const parts = - column.spans === 'own' - ? 1 - : this.flow.selectedParts().filter((part) => part.kind === column.spans).length; - return total + parts * column.series.length; - }, 0); + return this.flow + .selectedColumns() + .reduce((total, column) => total + column.appliesTo.length * column.series.length, 0); } get fileName(): string { @@ -244,7 +244,14 @@ export class ExportPanelComponent implements OnInit, OnDestroy { this.working = true; this.analytics.logEvent(`export_data_${this.flow.format}`); try { - await this.writer.run(); + const written = await this.writer.run(); + if (!written) { + this.notify.refusal( + 'export.empty', + 'Nothing was written: the parts that were ticked no longer have numbers to give.' + ); + return; + } this.notify.success( 'export.done', this.flow.format === 'report' diff --git a/src/app/model/analysis-series.ts b/src/app/model/analysis-series.ts index 111c16c4..caefd8a6 100644 --- a/src/app/model/analysis-series.ts +++ b/src/app/model/analysis-series.ts @@ -1,3 +1,5 @@ +import { AngleUnit } from './unit-enums'; + /** * The colour of each analysis series, in one place. * @@ -28,3 +30,26 @@ export function formatAnalysisValue(value: number): string { if (value === 0) return '0.00'; return Math.abs(value) < 0.005 ? Number(value.toPrecision(2)).toString() : value.toFixed(2); } + +/** + * What an angular series has to be multiplied by to be in the unit it is labelled with. + * + * The solver does not hand these out in one unit. A link's angle is converted + * to degrees as it is recorded; its angular velocity and acceleration are left + * in radians, because that is what the equations are written in. So the panel + * has always converted one or the other on its way to the screen, depending on + * which unit the reader has chosen — and an export that skipped it wrote + * radians per second under a head saying degrees per second. + * + * Stated once, here, because a graph and a file of the same series that + * disagree are worse than either being wrong on its own. + */ +export function angularScale(mechProp: string, unit: AngleUnit): number { + if (mechProp === 'Angular Link Pos') { + return unit === AngleUnit.RADIAN ? Math.PI / 180 : 1; + } + if (mechProp === 'Angular Link Vel' || mechProp === 'Angular Link Acc') { + return unit === AngleUnit.DEGREE ? 180 / Math.PI : 1; + } + return 1; +} diff --git a/src/app/services/export/export-catalog.service.ts b/src/app/services/export/export-catalog.service.ts index 42f60ba0..b5f65cfb 100644 --- a/src/app/services/export/export-catalog.service.ts +++ b/src/app/services/export/export-catalog.service.ts @@ -1,25 +1,18 @@ import { Injectable, inject } from '@angular/core'; -import { PrisJoint, RealJoint } from '../../model/joint'; -import { RealLink } from '../../model/link'; +import { RealJoint } from '../../model/joint'; +import { Link, RealLink, SliderBlock } from '../../model/link'; import { AngleUnit, ForceUnit, LengthUnit } from '../../model/unit-enums'; import { ActiveObjService } from '../active-obj.service'; import { MechanismService } from '../mechanism.service'; import { SettingsService } from '../settings.service'; -import { - ColumnTab, - ExportColumn, - ExportColumnGroup, - ExportPart, - ExportPartGroup, - ExportSeries, -} from './export-model'; +import { ExportPart, ExportPartGroup } from './export-model'; /** - * What this drawing has to offer an export, listed the way the drawer asks for it. + * Every part this drawing has to offer an export, and what to call things. * * Derivation only: nothing here remembers what was ticked. The drawer's own - * state lives in `ExportFlowService`, which asks this for the lists it draws and - * for the columns a set of chosen parts turns out to have. + * state lives in `ExportFlowService`, and what a chosen part can be asked for + * lives in `ExportColumnsService`. */ @Injectable({ providedIn: 'root' }) export class ExportCatalogService { @@ -40,8 +33,14 @@ export class ExportCatalogService { const joints = partition.ownJoints .filter((joint): joint is RealJoint => joint instanceof RealJoint) .map((joint) => this.jointPart(joint, index, withForces)); + // Blocks as well as bars. A slider's block is a body the solver weighs + // and balances like any other, and leaving it off the list put its + // reactions out of reach of an export that offers everything else. const links = partition.links - .filter((link): link is RealLink => link instanceof RealLink) + .filter( + (link): link is RealLink | SliderBlock => + link instanceof RealLink || link instanceof SliderBlock + ) .map((link) => this.linkPart(link, index, valid)); return { index, @@ -77,10 +76,11 @@ export class ExportCatalogService { }; } - private linkPart(link: RealLink, index: number, valid: boolean): ExportPart { + private linkPart(link: Link, index: number, valid: boolean): ExportPart { const notes: string[] = []; + if (link instanceof SliderBlock) notes.push('slider block'); if (link.joints.some((joint) => (joint as RealJoint).input)) notes.push('input crank'); - if (link.subset.length > 0) notes.push('compound'); + if (link instanceof RealLink && link.subset.length > 0) notes.push('compound'); if (this.activeObj.selectedLink?.id === link.id) notes.push('on the grid'); return { key: `link:${link.id}`, @@ -119,219 +119,6 @@ export class ExportCatalogService { return solved.getForceAnalysis(mode).successfulFrames > 0; } - /** - * The quantities a chosen set of parts turns out to have. - * - * Kinematics groups by kind rather than by part: every chosen joint has the - * same three quantities, and a list that repeated them per joint would be the - * same three answers asked eleven times. - */ - columnGroups(parts: ExportPart[], tab: ColumnTab): ExportColumnGroup[] { - return tab === 'forces' ? this.forceGroups(parts) : this.kinematicGroups(parts); - } - - private kinematicGroups(parts: ExportPart[]): ExportColumnGroup[] { - const groups: ExportColumnGroup[] = []; - const joints = parts.filter((part) => part.kind === 'joint'); - const links = parts.filter((part) => part.kind === 'link'); - const length = this.unitStr(this.settings.lengthUnit.value); - const angle = this.unitStr(this.settings.angleUnit.value); - - if (joints.length > 0) { - groups.push({ - key: 'joints', - title: this.titleOf('Joint', joints), - tab: 'kinematics', - columns: [ - this.kinematic('j:pos', 'Position', length, [['Position', 'Linear Joint Pos', length]]), - this.kinematic('j:vel', 'Velocity', `${length}/s`, [ - ['Velocity', 'Linear Joint Vel', `${length}/s`], - ]), - this.kinematic('j:acc', 'Acceleration', `${length}/s²`, [ - ['Acceleration', 'Linear Joint Acc', `${length}/s²`], - ]), - ], - }); - } - - if (links.length > 0) { - groups.push({ - key: 'links', - title: this.titleOf('Link', links), - tab: 'kinematics', - columns: [ - this.kinematic('l:ang', 'Angle', angle, [['Angle', 'Angular Link Pos', angle]], 'link'), - this.kinematic( - 'l:angvel', - 'Angular velocity', - `${angle}/s`, - [['Angular velocity', 'Angular Link Vel', `${angle}/s`]], - 'link' - ), - this.kinematic( - 'l:angacc', - 'Angular acceleration', - `${angle}/s²`, - [['Angular acceleration', 'Angular Link Acc', `${angle}/s²`]], - 'link' - ), - this.kinematic( - 'l:com', - 'Centre of mass', - 'pos, vel, acc', - [ - ['CoM position', "Linear Link's CoM Pos", length], - ['CoM velocity', "Linear Link's CoM Vel", `${length}/s`], - ['CoM acceleration', "Linear Link's CoM Acc", `${length}/s²`], - ], - 'link' - ), - ], - }); - } - return groups; - } - - /** `Joints B, C` for several, `Joint B` for one — the heading names them. */ - private titleOf(kind: string, parts: ExportPart[]): string { - const names = parts.map((part) => part.label.replace(/^(Joint|Link) /, '')); - return `${kind}${names.length === 1 ? '' : 's'} ${names.join(', ')}`; - } - - private kinematic( - key: string, - label: string, - unit: string, - series: [string, string, string][], - spans: 'joint' | 'link' = 'joint' - ): ExportColumn { - return { - key, - label, - unit, - spans, - owner: '', - tab: 'kinematics', - series: series.map(([seriesLabel, mechProp, seriesUnit]) => ({ - label: seriesLabel, - head: '', - unit: seriesUnit, - analysis: 'kinematic' as const, - mechProp, - mechPart: '', - reactionLinkId: '', - })), - }; - } - - /** - * Every reaction the chosen parts carry, one group per part. - * - * Per part rather than per kind, unlike kinematics: a joint's reactions are - * named after the links it holds, so no two joints have the same list. - */ - private forceGroups(parts: ExportPart[]): ExportColumnGroup[] { - const mode = this.settings.forceAnalysisMode.value; - const groups: ExportColumnGroup[] = []; - parts.forEach((part) => { - const solved = this.mechanism.mechanisms[part.mechanismIndex]; - if (!solved?.isMechanismValid()) return; - const index = solved.getForceAnalysis(mode).reactionIndex; - const columns: ExportColumn[] = - part.kind === 'joint' - ? (index.linksByJoint.get(part.id) ?? []).map((linkId) => - this.force( - part, - `Force on ${this.bodyName(linkId)}`, - `${this.modeWord()} force at ${part.label} on ${this.bodyName(linkId)}`, - part.id, - linkId, - 'Joint Forces' - ) - ) - : (index.jointsByLink.get(part.id) ?? []).map((jointId) => - this.force( - part, - `Force at ${this.jointName(jointId)}`, - `${this.modeWord()} force on ${part.label} at ${this.jointName(jointId)}`, - jointId, - part.id, - 'Joint Forces' - ) - ); - if (part.kind === 'joint' && (part.part as RealJoint).input) { - const effort = part.part instanceof PrisJoint ? 'Input force' : 'Input torque'; - columns.push( - this.force( - part, - effort, - `${this.modeWord()} ${effort.toLowerCase()} at ${part.label}`, - part.id, - '', - 'Input Effort' - ) - ); - } - if (columns.length > 0) { - groups.push({ key: `force:${part.key}`, title: part.label, tab: 'forces', columns }); - } - }); - return groups; - } - - private force( - part: ExportPart, - label: string, - head: string, - mechPart: string, - reactionLinkId: string, - mechProp: string - ): ExportColumn { - const torque = mechProp === 'Input Effort' && !(part.part instanceof PrisJoint); - const unit = torque ? this.torqueUnit() : this.forceUnit(); - const series: ExportSeries = { - label, - head, - unit, - analysis: 'force', - mechProp, - mechPart, - reactionLinkId, - }; - return { - key: `f:${part.key}:${mechProp}:${reactionLinkId}`, - label, - unit, - spans: 'own', - owner: part.key, - tab: 'forces', - series: [series], - }; - } - - /** - * Which force analysis a column came from, written into its own head. - * - * A static reaction and an in-motion one are different numbers for the same - * joint, and a file that does not say which it holds is a file nobody can - * check. Carried by the head rather than by a note at the top, so it survives - * being pasted into a sheet, plotted, or read by a script. - */ - private modeWord(): string { - return this.settings.forceAnalysisMode.value === 'dynamic' ? 'In-motion' : 'Static'; - } - - private bodyName(linkId: string): string { - const body = this.mechanism.links.find((link) => link.id === linkId); - return body ? this.mechanism.bodyLabel(body) : linkId; - } - - private jointName(jointId: string): string { - const joint = this.mechanism.joints.find((candidate) => candidate.id === jointId) as - RealJoint | undefined; - return `Joint ${joint?.name || jointId}`; - } - forceUnit(): string { return this.settings.forceUnit.value === ForceUnit.LBF ? 'lbf' : 'N'; } diff --git a/src/app/services/export/export-columns.service.ts b/src/app/services/export/export-columns.service.ts new file mode 100644 index 00000000..a3dff0ba --- /dev/null +++ b/src/app/services/export/export-columns.service.ts @@ -0,0 +1,234 @@ +import { Injectable, inject } from '@angular/core'; +import { PrisJoint, RealJoint } from '../../model/joint'; +import { MechanismService } from '../mechanism.service'; +import { SettingsService } from '../settings.service'; +import { ExportCatalogService } from './export-catalog.service'; +import { + ColumnTab, + ExportColumn, + ExportColumnGroup, + ExportPart, + ExportSeries, +} from './export-model'; + +/** + * What a chosen set of parts turns out to have numbers for. + * + * Split from the catalogue of parts because the two questions have different + * shapes: what a drawing contains is fixed the moment it is drawn, and what + * that selection can be asked for changes with every tick. + */ +@Injectable({ providedIn: 'root' }) +export class ExportColumnsService { + private mechanism = inject(MechanismService); + private settings = inject(SettingsService); + private catalog = inject(ExportCatalogService); + + /** + * The quantities a chosen set of parts turns out to have. + * + * Kinematics groups by kind rather than by part: every chosen joint has the + * same three quantities, and a list that repeated them per joint would be the + * same three answers asked eleven times. + */ + columnGroups(parts: ExportPart[], tab: ColumnTab): ExportColumnGroup[] { + return tab === 'forces' ? this.forceGroups(parts) : this.kinematicGroups(parts); + } + + private kinematicGroups(parts: ExportPart[]): ExportColumnGroup[] { + const groups: ExportColumnGroup[] = []; + // A pinned joint stands still, so it has no kinematics whichever mode it + // was offered in. It is on the list at all because of the reaction it + // carries, and that belongs to the other tab. + const joints = parts.filter( + (part) => part.kind === 'joint' && !(part.part as RealJoint).ground + ); + const links = parts.filter((part) => part.kind === 'link'); + const length = this.catalog.unitStr(this.settings.lengthUnit.value); + const angle = this.catalog.unitStr(this.settings.angleUnit.value); + + if (joints.length > 0) { + groups.push({ + key: 'joints', + title: this.titleOf('Joint', joints), + tab: 'kinematics', + columns: [ + this.kinematic(joints, 'j:pos', 'Position', length, [ + ['Position', 'Linear Joint Pos', length], + ]), + this.kinematic(joints, 'j:vel', 'Velocity', `${length}/s`, [ + ['Velocity', 'Linear Joint Vel', `${length}/s`], + ]), + this.kinematic(joints, 'j:acc', 'Acceleration', `${length}/s²`, [ + ['Acceleration', 'Linear Joint Acc', `${length}/s²`], + ]), + ], + }); + } + + if (links.length > 0) { + groups.push({ + key: 'links', + title: this.titleOf('Link', links), + tab: 'kinematics', + columns: [ + this.kinematic(links, 'l:ang', 'Angle', angle, [['Angle', 'Angular Link Pos', angle]]), + this.kinematic(links, 'l:angvel', 'Angular velocity', `${angle}/s`, [ + ['Angular velocity', 'Angular Link Vel', `${angle}/s`], + ]), + this.kinematic(links, 'l:angacc', 'Angular acceleration', `${angle}/s²`, [ + ['Angular acceleration', 'Angular Link Acc', `${angle}/s²`], + ]), + this.kinematic(links, 'l:com', 'Centre of mass', 'pos, vel, acc', [ + ['CoM position', "Linear Link's CoM Pos", length], + ['CoM velocity', "Linear Link's CoM Vel", `${length}/s`], + ['CoM acceleration', "Linear Link's CoM Acc", `${length}/s²`], + ]), + ], + }); + } + return groups; + } + + /** `Joints B, C` for several, `Joint B` for one — the heading names them. */ + private titleOf(kind: string, parts: ExportPart[]): string { + const names = parts.map((part) => part.label.replace(/^(Joint|Link) /, '')); + return `${kind}${names.length === 1 ? '' : 's'} ${names.join(', ')}`; + } + + private kinematic( + parts: ExportPart[], + key: string, + label: string, + unit: string, + series: [string, string, string][] + ): ExportColumn { + return { + key, + label, + unit, + appliesTo: parts.map((part) => part.key), + tab: 'kinematics', + series: series.map(([seriesLabel, mechProp, seriesUnit]) => ({ + label: seriesLabel, + head: '', + unit: seriesUnit, + analysis: 'kinematic' as const, + mechProp, + mechPart: '', + reactionLinkId: '', + })), + }; + } + + /** + * Every reaction the chosen parts carry, one group per part. + * + * Per part rather than per kind, unlike kinematics: a joint's reactions are + * named after the links it holds, so no two joints have the same list. + */ + private forceGroups(parts: ExportPart[]): ExportColumnGroup[] { + const mode = this.settings.forceAnalysisMode.value; + const groups: ExportColumnGroup[] = []; + parts.forEach((part) => { + const solved = this.mechanism.mechanisms[part.mechanismIndex]; + if (!solved?.isMechanismValid()) return; + const index = solved.getForceAnalysis(mode).reactionIndex; + const columns: ExportColumn[] = + part.kind === 'joint' + ? (index.linksByJoint.get(part.id) ?? []).map((linkId) => + this.force( + part, + `Force on ${this.bodyName(linkId)}`, + `${this.modeWord()} force at ${part.label} on ${this.bodyName(linkId)}`, + part.id, + linkId, + 'Joint Forces' + ) + ) + : (index.jointsByLink.get(part.id) ?? []).map((jointId) => + this.force( + part, + `Force at ${this.jointName(jointId)}`, + `${this.modeWord()} force on ${part.label} at ${this.jointName(jointId)}`, + jointId, + part.id, + 'Joint Forces' + ) + ); + if (part.kind === 'joint' && (part.part as RealJoint).input) { + const effort = part.part instanceof PrisJoint ? 'Input force' : 'Input torque'; + columns.push( + this.force( + part, + effort, + `${this.modeWord()} ${effort.toLowerCase()} at ${part.label}`, + part.id, + '', + 'Input Effort' + ) + ); + } + if (columns.length > 0) { + groups.push({ key: `force:${part.key}`, title: part.label, tab: 'forces', columns }); + } + }); + return groups; + } + + private force( + part: ExportPart, + label: string, + head: string, + mechPart: string, + reactionLinkId: string, + mechProp: string + ): ExportColumn { + const torque = mechProp === 'Input Effort' && !(part.part instanceof PrisJoint); + const unit = torque ? this.catalog.torqueUnit() : this.catalog.forceUnit(); + const series: ExportSeries = { + label, + head, + unit, + analysis: 'force', + mechProp, + mechPart, + reactionLinkId, + }; + return { + // The joint is in the key as well as the link: a link's reactions are + // named after the joints holding it, and two of them share every other + // part of this — so without it, unticking one untick both. + key: `f:${part.key}:${mechProp}:${mechPart}:${reactionLinkId}`, + label, + unit, + appliesTo: [part.key], + tab: 'forces', + series: [series], + }; + } + + /** + * Which force analysis a column came from, written into its own head. + * + * A static reaction and an in-motion one are different numbers for the same + * joint, and a file that does not say which it holds is a file nobody can + * check. Carried by the head rather than by a note at the top, so it survives + * being pasted into a sheet, plotted, or read by a script. + */ + private modeWord(): string { + return this.settings.forceAnalysisMode.value === 'dynamic' ? 'In-motion' : 'Static'; + } + + /** The same words the panels put on a graph, so the file agrees with them. */ + private bodyName(linkId: string): string { + const body = this.mechanism.links.find((link) => link.id === linkId); + return body ? this.mechanism.bodyLabel(body) : linkId; + } + + private jointName(jointId: string): string { + const joint = this.mechanism.joints.find((candidate) => candidate.id === jointId) as + RealJoint | undefined; + return `Joint ${joint?.name || jointId}`; + } +} diff --git a/src/app/services/export/export-flow.service.ts b/src/app/services/export/export-flow.service.ts index 51ebc6dc..7f48b232 100644 --- a/src/app/services/export/export-flow.service.ts +++ b/src/app/services/export/export-flow.service.ts @@ -1,8 +1,10 @@ import { Injectable, inject } from '@angular/core'; import { ForceAnalysisMode } from '../../model/mechanism/force-solver'; import { SelectedTabService, TabID } from '../../selected-tab.service'; +import { MechanismService } from '../mechanism.service'; import { SettingsService } from '../settings.service'; import { ExportCatalogService } from './export-catalog.service'; +import { ExportColumnsService } from './export-columns.service'; import { ColumnTab, Decimals, @@ -27,6 +29,8 @@ export type ExportStep = 1 | 2 | 3; @Injectable({ providedIn: 'root' }) export class ExportFlowService { private catalog = inject(ExportCatalogService); + private columns = inject(ExportColumnsService); + private mechanism = inject(MechanismService); private settings = inject(SettingsService); private tabs = inject(SelectedTabService); @@ -48,24 +52,65 @@ export class ExportFlowService { private touchedColumns = false; /** - * What this drawing has to offer, held still while the drawer is open. + * What this drawing has to offer, held between changes to the drawing. * - * Rebuilt on `refresh()` rather than per change-detection pass: the lists - * come from the readiness report and the force solver, and a template that - * asks for them a dozen times a frame would solve the whole drawing for every - * mouse move. Nothing in analysis mode edits the mechanism, so holding them - * is safe as well as cheap. + * The lists come from the readiness report and the force solver, and the + * template asks for them a dozen times a frame — without this, moving the + * mouse over the drawer re-solves the whole drawing. Held against a + * fingerprint rather than a notification, so a rebuild that never published + * one cannot leave a stale list on screen. */ - private cached?: { groups: ExportPartGroup[]; forces: boolean }; + private cached?: { key: string; groups: ExportPartGroup[]; forces: boolean }; - private build(): { groups: ExportPartGroup[]; forces: boolean } { + /** + * What the lists are of, cheaply enough to check on every question. + * + * A subscription to the mechanism's update subject is not enough on its own: + * not every path that changes a drawing publishes on it, and a drawer showing + * parts of a mechanism that has since stopped solving is worse than a drawer + * that rebuilds a list too often. Nothing here samples or solves — it is + * lengths, ids and flags the mechanism already holds. + */ + private fingerprint(): string { + return [ + this.mechanism.joints.length, + this.mechanism.links.length, + this.mechanism.partitions.map((partition) => partition.id).join(','), + this.mechanism.mechanisms.map((solved) => (solved.isMechanismValid() ? 1 : 0)).join(''), + this.settings.forceAnalysisMode.value, + // Units ride the column heads, so a change of them is a change of list. + this.settings.lengthUnit.value, + this.settings.angleUnit.value, + this.settings.forceUnit.value, + // Bumped by every mutation the service funnels, which is how a change + // that leaves the counts alone still invalidates this. + this.mechanism.poseRevision, + this.stamp, + ].join('|'); + } + + /** Bumped by `refresh()`, so an explicit ask always rebuilds. */ + private stamp = 0; + + private build(): { key: string; groups: ExportPartGroup[]; forces: boolean } { const withForces = this.catalog.partGroups(true); const forces = withForces.some((group) => group.forcesReady && group.parts.length > 0); - return { groups: forces ? withForces : this.catalog.partGroups(false), forces }; + return { + key: this.fingerprint(), + groups: forces ? withForces : this.catalog.partGroups(false), + forces, + }; + } + + private lists(): { key: string; groups: ExportPartGroup[]; forces: boolean } { + const key = this.fingerprint(); + if (this.cached?.key !== key) this.cached = this.build(); + return this.cached; } /** Forget the lists, so the next question rebuilds them. */ refresh(): void { + this.stamp++; this.cached = undefined; } @@ -89,7 +134,7 @@ export class ExportFlowService { // --- step 1: parts -------------------------------------------------------- partGroups(): ExportPartGroup[] { - return (this.cached ??= this.build()).groups; + return this.lists().groups; } isPicked(part: ExportPart): boolean { @@ -112,8 +157,18 @@ export class ExportFlowService { this.touchedColumns = false; } + /** + * What is ticked *and* still has something to give. + * + * A mechanism can stop solving while the drawer is open — an undo, a reload, + * a machine that loses its input — and a tick left over from before is a + * promise of numbers that no longer exist. Kept in `pickedParts` rather than + * struck out, so a mechanism that comes back brings its selection with it. + */ selectedParts(): ExportPart[] { - return this.catalog.partsOf(this.partGroups(), this.pickedParts); + return this.catalog + .partsOf(this.partGroups(), this.pickedParts) + .filter((part) => part.available); } offeredParts(): ExportPart[] { @@ -126,11 +181,11 @@ export class ExportFlowService { /** Force columns are only worth a tab where a force analysis actually solves. */ forcesAvailable(): boolean { - return (this.cached ??= this.build()).forces; + return this.lists().forces; } columnGroups(tab: ColumnTab = this.tab): ExportColumnGroup[] { - return this.catalog.columnGroups(this.selectedParts(), tab); + return this.columns.columnGroups(this.selectedParts(), tab); } allColumns(): ExportColumn[] { diff --git a/src/app/services/export/export-flow.spec.ts b/src/app/services/export/export-flow.spec.ts index 2d645e09..3648a96f 100644 --- a/src/app/services/export/export-flow.spec.ts +++ b/src/app/services/export/export-flow.spec.ts @@ -1,6 +1,6 @@ import { inject } from '@angular/core'; import { RealJoint } from '../../model/joint'; -import { ForceUnit } from '../../model/unit-enums'; +import { AngleUnit, ForceUnit } from '../../model/unit-enums'; import { SelectedTabService, TabID } from '../../selected-tab.service'; import { ActiveObjService } from '../active-obj.service'; import { AnalysisSampleService } from '../analysis-sample.service'; @@ -14,6 +14,7 @@ import { } from '../../../tests/fixtures/mechanism-fixtures'; import { TEMPLATE_LINKAGES } from '../../component/MODALS/templates/template-linkages'; import { ExportCatalogService } from './export-catalog.service'; +import { ExportColumnsService } from './export-columns.service'; import { ExportFlowService } from './export-flow.service'; import { ExportTableService, ExportTable } from './export-table.service'; import { toCsv } from './csv-writer'; @@ -61,6 +62,7 @@ function flowFor(payload: string, options: { forces?: boolean } = {}): Flow { }, { provide: AnalysisSampleService, deps: [] }, { provide: ExportCatalogService, deps: [] }, + { provide: ExportColumnsService, deps: [] }, { provide: ExportFlowService, deps: [] }, { provide: ExportTableService, deps: [] }, ], @@ -178,6 +180,114 @@ describe('the export drawer', () => { const split = tables.tables(); expect(split).toHaveLength(2); expect(split.map((table) => table.name)).toEqual(['M1_JointB', 'M1_JointC']); + // The machine's id is not repeated in the file name: the name the reader + // typed already carries it, and one machine has nothing to be told from. + expect(split.map((table) => table.suffix)).toEqual(['JointB', 'JointC']); + }); + + it('puts an angular rate into the unit its head claims', () => { + const { flow, tables, fixture } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + pick(flow, 'Link AB'); + // The solver records an angle in degrees and a rate in radians, so exactly + // one of these two is converted whichever unit the reader has chosen. + const inDegrees = tables.tables()[0]; + const degreeRate = inDegrees.plots.find((plot) => plot.head.startsWith('Angular velocity'))!; + const degreeAngle = inDegrees.plots.find((plot) => plot.head.startsWith('Angle'))!; + + fixture.settings.angleUnit.next(AngleUnit.RADIAN); + const inRadians = tables.tables()[0]; + const radianRate = inRadians.plots.find((plot) => plot.head.startsWith('Angular velocity'))!; + const radianAngle = inRadians.plots.find((plot) => plot.head.startsWith('Angle'))!; + + expect(degreeRate.unit).toBe('deg/s'); + expect(radianRate.unit).toBe('rad/s'); + expect(degreeRate.series[0].values[0]).toBeCloseTo( + radianRate.series[0].values[0] * (180 / Math.PI), + 9 + ); + expect(radianAngle.series[0].values[0]).toBeCloseTo( + degreeAngle.series[0].values[0] * (Math.PI / 180), + 9 + ); + }); + + it('offers a slider block, which the solver weighs like any other body', () => { + const { flow } = flowFor(TEMPLATE_LINKAGES['Slider_Crank']); + const labels = flow + .partGroups() + .flatMap((group) => group.parts) + .filter((part) => part.kind === 'link') + .map((part) => part.note); + expect(labels).toContain('slider block'); + }); + + it('keeps a joint that cannot move out of the kinematics it has none of', () => { + const { flow } = flowFor(LEGACY_FORCE_MECHANISM, { forces: true }); + const grounded = flow + .partGroups() + .flatMap((group) => group.parts) + .filter((part) => part.kind === 'joint' && part.note.includes('grounded')); + expect(grounded.length).toBeGreaterThan(0); + grounded.forEach((part) => flow.togglePart(part)); + // Offered, because of the reaction it carries — and asked nothing about + // position or velocity, which a pinned joint does not have. + expect(flow.columnGroups('kinematics')).toHaveLength(0); + expect(flow.columnGroups('forces').length).toBeGreaterThan(0); + }); + + it('gives each of a link’s reactions its own tick', () => { + const { flow } = flowFor(LEGACY_FORCE_MECHANISM, { forces: true }); + const link = flow + .partGroups() + .flatMap((group) => group.parts) + .find((part) => part.kind === 'link')!; + flow.togglePart(link); + flow.tab = 'forces'; + const columns = flow.columnGroups('forces').flatMap((group) => group.columns); + expect(columns.length).toBeGreaterThan(1); + expect(new Set(columns.map((column) => column.key)).size).toBe(columns.length); + + flow.toggleColumn(columns[0]); + expect(flow.isColumnPicked(columns[0])).toBe(false); + expect(flow.isColumnPicked(columns[1])).toBe(true); + }); + + it('keeps a report whole when the file step was last left splitting per part', () => { + const { flow, tables } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + pick(flow, 'Joint B', 'Joint C'); + flow.splitPerPart = true; + expect(tables.tables()).toHaveLength(2); + // A report is per machine whatever that control last said, because the + // report writer takes one table per machine and would drop the rest. + flow.format = 'report'; + expect(tables.tables()).toHaveLength(1); + }); + + it('drops the lists when the drawing stops solving, without being told to', () => { + const { flow, fixture } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + expect(flow.offeredParts().length).toBeGreaterThan(0); + + // No refresh(): a rebuild that publishes nothing must not leave a drawer + // offering parts of a mechanism that no longer has any numbers. + const solving = vi.spyOn(fixture.mechanism, 'isMechanismValid').mockReturnValue(false); + expect(flow.offeredParts()).toHaveLength(0); + expect(flow.canExport()).toBe(false); + solving.mockRestore(); + expect(flow.offeredParts().length).toBeGreaterThan(0); + }); + + it('un-chooses a part that has stopped having anything to give', () => { + const { flow, fixture } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + pick(flow, 'Joint B'); + expect(flow.canExport()).toBe(true); + + const solving = vi.spyOn(fixture.mechanism, 'isMechanismValid').mockReturnValue(false); + expect(flow.selectedParts()).toHaveLength(0); + expect(flow.canExport()).toBe(false); + + // The tick itself is kept, so a mechanism that comes back brings it along. + solving.mockRestore(); + expect(flow.selectedParts()).toHaveLength(1); }); it('heads a force column with the analysis it came from, in the reader’s unit', () => { diff --git a/src/app/services/export/export-model.ts b/src/app/services/export/export-model.ts index 975273d5..45d55305 100644 --- a/src/app/services/export/export-model.ts +++ b/src/app/services/export/export-model.ts @@ -79,10 +79,15 @@ export interface ExportColumn { unit: string; /** `Centre of mass` writes three series from one tick. */ series: ExportSeries[]; - /** Whose quantity this is: every selected joint, every selected link, or its own. */ - spans: PartKind | 'own'; - /** The part a self-owned column belongs to. Empty where the column spans parts. */ - owner: string; + /** + * The keys of the parts this one tick asks the question of. + * + * A kinematic row spans every chosen part that has the quantity — every + * moving joint, every link — and a force row names the one part whose + * reaction it is. Held as a list rather than as a rule, so the writer cannot + * apply a different rule from the one the drawer drew. + */ + appliesTo: string[]; tab: ColumnTab; } diff --git a/src/app/services/export/export-table.service.ts b/src/app/services/export/export-table.service.ts index 0c43ab6d..030fae73 100644 --- a/src/app/services/export/export-table.service.ts +++ b/src/app/services/export/export-table.service.ts @@ -1,8 +1,10 @@ import { Injectable, inject } from '@angular/core'; +import { angularScale } from '../../model/analysis-series'; import { RealJoint } from '../../model/joint'; import { Mechanism } from '../../model/mechanism/mechanism'; import { AnalysisSampleService } from '../analysis-sample.service'; import { MechanismService } from '../mechanism.service'; +import { SettingsService } from '../settings.service'; import { ExportFlowService } from './export-flow.service'; import { ExportColumn, ExportPart } from './export-model'; @@ -22,8 +24,16 @@ export interface ExportPlot { /** A whole file or sheet: a time column, and every series beside it. */ export interface ExportTable { - /** What distinguishes this one from the others — a sheet name, a file suffix. */ + /** What this one is called as a sheet: always qualified by its machine. */ name: string; + /** + * What is added to the file name to tell this one from the others. + * + * Empty when there is only one file, and free of the machine's id unless + * there are several machines — the name the reader typed usually carries it + * already, and `M1_kinematics_M1_JointA.csv` says it twice. + */ + suffix: string; mechanismIndex: number; times: number[]; heads: string[]; @@ -44,6 +54,7 @@ export class ExportTableService { private flow = inject(ExportFlowService); private mechanism = inject(MechanismService); private samples = inject(AnalysisSampleService); + private settings = inject(SettingsService); /** * The last answer, and what was asked to get it. @@ -90,8 +101,13 @@ export class ExportTableService { this.flow.splitPerPart, this.flow.withMagnitude, this.flow.forceMode(), + this.settings.lengthUnit.value, + this.settings.angleUnit.value, + this.settings.forceUnit.value, this.mechanism.mechanisms.map((solved) => solved.timeNum.length).join(','), - this.mechanism.onMechUpdateState.value, + // Bumped by every mutation the mechanism service funnels, so a change + // that leaves the shape of the selection alone still re-samples. + this.mechanism.poseRevision, ].join('|'); } @@ -99,12 +115,18 @@ export class ExportTableService { const id = this.flow.partGroups()[index]?.id ?? `M${index + 1}`; const parts = this.flow.selectedParts().filter((part) => part.mechanismIndex === index); const columns = this.flow.selectedColumns(); + // Only where there is more than one machine to tell apart. + const qualify = this.flow.mechanismIndexes().length > 1 ? `${id}_` : ''; - if (this.flow.splitPerPart) { + // Only where the format offers the choice. A report and a set of graph + // images are per machine whatever the file step last had ticked, and a + // report built from a split selection silently kept only the first part. + if (this.flow.splitPerPart && (this.flow.format === 'csv' || this.flow.format === 'xlsx')) { return parts - .map((part) => - this.table(index, `${id}_${part.label.replace(/\s+/g, '')}`, [part], columns) - ) + .map((part) => { + const short = part.label.replace(/\s+/g, ''); + return this.table(index, `${id}_${short}`, `${qualify}${short}`, [part], columns); + }) .filter((table) => table.heads.length > 1); } if (this.flow.format === 'xlsx') { @@ -116,18 +138,22 @@ export class ExportTableService { this.table( index, `${id}_${tab}`, + `${qualify}${tab}`, parts, columns.filter((column) => column.tab === tab) ) ) .filter((table) => table.heads.length > 1); } - return [this.table(index, id, parts, columns)].filter((table) => table.heads.length > 1); + return [this.table(index, id, qualify.replace(/_$/, ''), parts, columns)].filter( + (table) => table.heads.length > 1 + ); } private table( index: number, name: string, + suffix: string, parts: ExportPart[], columns: ExportColumn[] ): ExportTable { @@ -142,7 +168,7 @@ export class ExportTableService { values.push(series.values); }); }); - return { name, mechanismIndex: index, times, heads, columns: values, plots }; + return { name, suffix, mechanismIndex: index, times, heads, columns: values, plots }; } /** Every graph the selection asks for, in the order the columns are listed. */ @@ -156,13 +182,14 @@ export class ExportTableService { const mode = this.flow.forceMode(); const plots: ExportPlot[] = []; columns.forEach((column) => { - const targets = - column.spans === 'own' - ? parts.filter((part) => part.key === column.owner) - : parts.filter((part) => part.kind === column.spans); + const targets = parts.filter((part) => column.appliesTo.includes(part.key)); targets.forEach((part) => { column.series.forEach((series) => { - const mechPart = column.spans === 'own' ? series.mechPart : part.id; + const mechPart = series.mechPart || part.id; + // The solver hands angles out in degrees and rates in radians, so + // one or the other is converted on the way to whatever is labelled + // with the reader's unit -- the same scale the graphs apply. + const scale = angularScale(series.mechProp, this.settings.angleUnit.value); const rows = solved.timeNum.map((_, step) => this.samples.sampleAt( solved, @@ -187,7 +214,7 @@ export class ExportTableService { mechanismIndex: index, series: names.map((name, at) => ({ name, - values: rows.map((row) => row[at]), + values: rows.map((row) => row[at] * scale), })), }); }); diff --git a/src/app/services/export/export-writer.service.ts b/src/app/services/export/export-writer.service.ts index e7d79097..644513a6 100644 --- a/src/app/services/export/export-writer.service.ts +++ b/src/app/services/export/export-writer.service.ts @@ -63,26 +63,35 @@ export class ExportWriterService { }; } - async run(): Promise { + /** + * Write the chosen export, and say whether anything came of it. + * + * A selection can empty itself out from under the reader — a mechanism that + * stops solving takes its parts with it — and an export that writes nothing + * must not be reported as one that worked. + */ + async run(): Promise { const tables = this.tables.tables(); - if (tables.length === 0) return; + if (tables.length === 0) return false; switch (this.flow.format) { case 'xlsx': - return this.writeWorkbook(tables); + this.writeWorkbook(tables); + return true; case 'images': return this.writeImages(tables); case 'report': return this.writeReport(tables); default: - return this.writeCsv(tables); + this.writeCsv(tables); + return true; } } private writeCsv(tables: ExportTable[]): void { const stem = this.flow.name(); - tables.forEach((table, at) => + tables.forEach((table) => this.hand({ - name: `${this.fileStem(stem, table, tables.length, at)}.csv`, + name: `${this.fileStem(stem, table)}.csv`, mime: 'text/csv;charset=utf-8', text: toCsv(table, this.flow.decimals), }) @@ -97,9 +106,10 @@ export class ExportWriterService { }); } - private async writeImages(tables: ExportTable[]): Promise { + private async writeImages(tables: ExportTable[]): Promise { const width = 720; const height = 400; + let drawn = 0; for (const table of tables) { for (const plot of table.plots) { const svg = plotSvg(plot, table.times, { width, height, standalone: true }); @@ -113,12 +123,14 @@ export class ExportWriterService { bytes: await rasterize(svg, width, height), }); } + drawn++; } } + return drawn > 0; } /** Every selected machine, one section each, in one printable document. */ - private writeReport(tables: ExportTable[]): void { + private writeReport(tables: ExportTable[]): boolean { const sections = this.flow .mechanismIndexes() .map((index) => @@ -128,9 +140,10 @@ export class ExportWriterService { ) ) .filter((section): section is ReportSection => !!section); - if (sections.length === 0) return; + if (sections.length === 0) return false; const logo = new URL('assets/PMKS_logo.png', document.baseURI).href; print(reportHtml({ logoUrl: logo, sections })); + return true; } private section(index: number, tables: ExportTable[]): ReportSection | undefined { @@ -200,9 +213,8 @@ export class ExportWriterService { } /** One file gets the plain name; several get what tells them apart. */ - private fileStem(stem: string, table: ExportTable, count: number, at: number): string { - if (count === 1) return stem; - return `${stem}_${safe(table.name) || String(at + 1)}`; + private fileStem(stem: string, table: ExportTable): string { + return table.suffix ? `${stem}_${safe(table.suffix)}` : stem; } private hand(file: ExportFile): void { From f31cabd933f119d21b993a19f556d7da5a17cb04 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 18:12:51 -0700 Subject: [PATCH 185/236] Fill the report's pages, and say on the row what the row will write Three things, all of them about a reader not being able to see what they were looking at. **The drawer was drawn inside a second copy of itself.** The frame the drawer page sits in and the card inside it were both `.export`, so the frame took the card's background, corner, shadow and accent bar: one card drawn around another, five pixels apart. The frame is `.exportPage` and the card is `.exportCard`, which cannot collide again. **The components control now says what it does, on the rows it does it to.** `X, Y` against `+ magnitude` left a reader to work out for themselves that the choice governs a rate and a reaction and has nothing to add to an angle. Every row now carries what it will write -- `X, Y`, `X, Y, Mag`, or nothing where there is only one number -- so the effect of the control is visible on the list above it rather than inferred. The buttons state the outcome instead of the delta, and the control is not offered at all when nothing on the tab has a magnitude. **The report asked for two or three times the paper it needed.** A page held forty rows of a table set in nine-point type, on a page with room for sixty-seven, and seven columns spread across seven and a half inches so that a number nine characters long sat in a column an inch wide. Four passes over the same 361 rows, one per column chunk, and a nearly empty page at the end of each. A fifth graph went on a page of its own. Now: a page carries as many rows as fit; columns are sized from the widest number actually in the table, so two decimals fit more of them across a page than six do; the splits are balanced, so pages are as full as each other rather than as full as possible followed by an orphan; five or six graphs go three across on the first page rather than spilling onto a second; and a page of nothing but graphs holds eight. The pages are also drawn a shade under the printable area, because a block exactly its height rounds over it in some printers and lays a blank page after every real one. Measured over one joint's whole selection: 22 pages to 7, and the pages that remain are 92% full instead of 67%. Everything selected on a four-bar: 95 to 34. Two specs hold the pagination to filling a page before it starts another and to asking for less paper when the numbers are narrower, and the browser suite now measures the printed document -- how full its least-full page is, that no page has lost a row off the bottom, and that no number is wider than the column it is in. Co-Authored-By: Claude Fable 5 --- e2e/export-flow.mjs | 53 +++++- .../export-panel/export-panel.component.html | 36 ++-- .../export-panel/export-panel.component.scss | 14 +- .../export-panel/export-panel.component.ts | 20 ++ .../right-panel/right-panel.component.html | 2 +- .../right-panel/right-panel.component.scss | 5 +- .../services/export/export-columns.service.ts | 25 +-- src/app/services/export/export-flow.spec.ts | 81 +++++++- src/app/services/export/export-model.ts | 9 + .../services/export/export-writer.service.ts | 16 +- src/app/services/export/report-html.ts | 177 ++++++++++++++---- 11 files changed, 371 insertions(+), 67 deletions(-) diff --git a/e2e/export-flow.mjs b/e2e/export-flow.mjs index 49c0fce3..5e34ba76 100644 --- a/e2e/export-flow.mjs +++ b/e2e/export-flow.mjs @@ -125,16 +125,23 @@ record( step2 ); -await drawer().locator('.segmented button', { hasText: 'X, Y' }).click(); +await drawer().getByRole('button', { name: 'X, Y', exact: true }).click(); await page.waitForTimeout(200); const withoutMag = await drawer().locator('.footNote').innerText(); -await drawer().locator('.segmented button', { hasText: '+ magnitude' }).click(); +await drawer().getByRole('button', { name: 'X, Y, Mag', exact: true }).click(); await page.waitForTimeout(200); const withMag = await drawer().locator('.footNote').innerText(); record('dropping the magnitude narrows the file', number(withoutMag) < number(withMag), { withoutMag, withMag, }); +record( + 'and every row says which of the two it will write', + (await drawer().locator('.rowComponents').allInnerTexts()).some((text) => text === 'X, Y, Mag') && + (await drawer().locator('.pickRow', { hasText: 'Angle' }).locator('.rowComponents').count()) === + 0, + await drawer().locator('.rowComponents').allInnerTexts() +); await page.locator('.nextButton').click(); await page.waitForTimeout(400); @@ -246,6 +253,48 @@ record( printed.slice(0, 200) ); +// The report is laid out page by page rather than left to reflow, so how full +// those pages are is something only measuring can answer. +const layout = await (async () => { + const viewer = await context.newPage(); + await viewer.setContent(printed); + await viewer.waitForTimeout(400); + const measured = await viewer.evaluate(() => { + const pages = [...document.querySelectorAll('section.page')]; + const use = pages.map((page) => { + const body = page.querySelector('.pageBody'); + const kids = [...body.children]; + const used = kids.length + ? Math.max(...kids.map((kid) => kid.getBoundingClientRect().bottom)) - + body.getBoundingClientRect().top + : 0; + return Math.round((used / body.getBoundingClientRect().height) * 100); + }); + return { + pages: pages.length, + leastFull: Math.min(...use), + // A page taller than the box it is drawn in has lost rows off the bottom. + clipped: pages.filter((page) => { + const body = page.querySelector('.pageBody'); + return body.scrollHeight > body.clientHeight + 1; + }).length, + // A number wider than its column overlaps the one beside it. + overflowing: [...document.querySelectorAll('.dataTable td')].filter( + (cell) => cell.scrollWidth > cell.clientWidth + 0.5 + ).length, + }; + }); + await viewer.close(); + return measured; +})(); +// Two parts and every column they have, over a 361-position cycle: forty-two +// pages when a page held forty rows and seven columns of it. +record( + 'and fills the pages it asks for, without losing a row or a digit off one', + layout.pages <= 16 && layout.leastFull >= 60 && layout.clipped === 0 && layout.overflowing === 0, + layout +); + // --- a long list scrolls, and its decisions do not -------------------------- await page.goto(`${BASE}/?${TWO_FOUR_BARS}`, { waitUntil: 'domcontentloaded' }); await waitForReady(page); diff --git a/src/app/component/export-panel/export-panel.component.html b/src/app/component/export-panel/export-panel.component.html index 28252af5..c6397419 100644 --- a/src/app/component/export-panel/export-panel.component.html +++ b/src/app/component/export-panel/export-panel.component.html @@ -1,4 +1,4 @@ -
    +
    @@ -140,6 +140,12 @@ {{ column.label }} + + @if (componentsOf(column)) { + {{ componentsOf(column) }} + } {{ column.unit }} } @@ -156,18 +162,24 @@

    } -
    - Components - -
    - - + @if (hasMagnitude()) { +
    + Components + +
    + + +
    -
    +

    + Each row above says what it will write. Magnitude is √(X² + Y²), so only a rate or a force + has one to add. +

    + } } @if (flow.step === 3) { diff --git a/src/app/component/export-panel/export-panel.component.scss b/src/app/component/export-panel/export-panel.component.scss index 163316e0..01b60c7e 100644 --- a/src/app/component/export-panel/export-panel.component.scss +++ b/src/app/component/export-panel/export-panel.component.scss @@ -10,7 +10,7 @@ // Its own card, like every other drawer page: one card per panel, never a // card inside a card. Three bands rather than one scrolling column -- the // question and the decisions stay put, and only the list moves. - .export { + .exportCard { display: flex; flex-direction: column; height: auto; @@ -320,6 +320,18 @@ .rowUnit { font-size: 12px; color: rgba(0, 0, 0, 0.45); + // A fixed column, so the units line up down the list however wide the + // components beside them turn out to be. + flex: 0 0 auto; + min-width: 46px; + text-align: right; + } + + // What the row writes, in the ink of a fact rather than of a label. + .rowComponents { + font-size: 12px; + font-variant-numeric: tabular-nums; + color: rgba(0, 0, 0, 0.6); } .groupTitle { diff --git a/src/app/component/export-panel/export-panel.component.ts b/src/app/component/export-panel/export-panel.component.ts index ad9e9549..eae825de 100644 --- a/src/app/component/export-panel/export-panel.component.ts +++ b/src/app/component/export-panel/export-panel.component.ts @@ -168,6 +168,26 @@ export class ExportPanelComponent implements OnInit, OnDestroy { this.flow.setColumns(this.allColumnsOnTab(), picked); } + /** + * What one ticked row will actually write, said on the row itself. + * + * The components control underneath used to be the only statement of it, + * which left a reader to work out for themselves that it governs a rate and a + * reaction but has nothing to add to an angle or a position. + */ + componentsOf(column: ExportColumn): string { + const widest = column.series.reduce((most, series) => Math.max(most, series.components), 1); + if (widest < 2) return ''; + return widest === 2 || !this.flow.withMagnitude ? 'X, Y' : 'X, Y, Mag'; + } + + /** Whether anything on offer has a magnitude, and so anything to choose. */ + hasMagnitude(): boolean { + return this.allColumnsOnTab().some((column) => + column.series.some((series) => series.components === 3) + ); + } + // --- step 3 --------------------------------------------------------------- get summaryLine(): string { diff --git a/src/app/component/right-panel/right-panel.component.html b/src/app/component/right-panel/right-panel.component.html index a72b169c..d002f205 100644 --- a/src/app/component/right-panel/right-panel.component.html +++ b/src/app/component/right-panel/right-panel.component.html @@ -14,7 +14,7 @@ id="rightPanel" [class.insisting]="attention" [class.wide]="isWidePage()" - [class.export]="isExportPage()" + [class.exportPage]="isExportPage()" > @if (getOpenTab() === 5) {
    diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index a84c2e9a..4e621c43 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -148,7 +148,10 @@ // Wider than the view controls, and narrower than the table pages: an // export row is a checkbox, a part's name and what is notable about it, and // at the drawer's usual width the third of those was always ellipsed away. - &.export { + // Named for the page rather than after its card: the export card is + // `.exportCard`, and a frame sharing a class with the card it holds was + // drawing a second background, corner, shadow and accent bar around it. + &.exportPage { width: calc(380px + #{nav.$shadow-room} + #{nav.$card-inset}); } } diff --git a/src/app/services/export/export-columns.service.ts b/src/app/services/export/export-columns.service.ts index a3dff0ba..a39256d2 100644 --- a/src/app/services/export/export-columns.service.ts +++ b/src/app/services/export/export-columns.service.ts @@ -54,13 +54,13 @@ export class ExportColumnsService { tab: 'kinematics', columns: [ this.kinematic(joints, 'j:pos', 'Position', length, [ - ['Position', 'Linear Joint Pos', length], + ['Position', 'Linear Joint Pos', length, 2], ]), this.kinematic(joints, 'j:vel', 'Velocity', `${length}/s`, [ - ['Velocity', 'Linear Joint Vel', `${length}/s`], + ['Velocity', 'Linear Joint Vel', `${length}/s`, 3], ]), this.kinematic(joints, 'j:acc', 'Acceleration', `${length}/s²`, [ - ['Acceleration', 'Linear Joint Acc', `${length}/s²`], + ['Acceleration', 'Linear Joint Acc', `${length}/s²`, 3], ]), ], }); @@ -72,17 +72,17 @@ export class ExportColumnsService { title: this.titleOf('Link', links), tab: 'kinematics', columns: [ - this.kinematic(links, 'l:ang', 'Angle', angle, [['Angle', 'Angular Link Pos', angle]]), + this.kinematic(links, 'l:ang', 'Angle', angle, [['Angle', 'Angular Link Pos', angle, 1]]), this.kinematic(links, 'l:angvel', 'Angular velocity', `${angle}/s`, [ - ['Angular velocity', 'Angular Link Vel', `${angle}/s`], + ['Angular velocity', 'Angular Link Vel', `${angle}/s`, 1], ]), this.kinematic(links, 'l:angacc', 'Angular acceleration', `${angle}/s²`, [ - ['Angular acceleration', 'Angular Link Acc', `${angle}/s²`], + ['Angular acceleration', 'Angular Link Acc', `${angle}/s²`, 1], ]), this.kinematic(links, 'l:com', 'Centre of mass', 'pos, vel, acc', [ - ['CoM position', "Linear Link's CoM Pos", length], - ['CoM velocity', "Linear Link's CoM Vel", `${length}/s`], - ['CoM acceleration', "Linear Link's CoM Acc", `${length}/s²`], + ['CoM position', "Linear Link's CoM Pos", length, 2], + ['CoM velocity', "Linear Link's CoM Vel", `${length}/s`, 3], + ['CoM acceleration', "Linear Link's CoM Acc", `${length}/s²`, 3], ]), ], }); @@ -101,7 +101,7 @@ export class ExportColumnsService { key: string, label: string, unit: string, - series: [string, string, string][] + series: [string, string, string, 1 | 2 | 3][] ): ExportColumn { return { key, @@ -109,10 +109,11 @@ export class ExportColumnsService { unit, appliesTo: parts.map((part) => part.key), tab: 'kinematics', - series: series.map(([seriesLabel, mechProp, seriesUnit]) => ({ + series: series.map(([seriesLabel, mechProp, seriesUnit, components]) => ({ label: seriesLabel, head: '', unit: seriesUnit, + components, analysis: 'kinematic' as const, mechProp, mechPart: '', @@ -190,6 +191,8 @@ export class ExportColumnsService { label, head, unit, + // A reaction is a vector; an input effort is one number. + components: mechProp === 'Input Effort' ? 1 : 3, analysis: 'force', mechProp, mechPart, diff --git a/src/app/services/export/export-flow.spec.ts b/src/app/services/export/export-flow.spec.ts index 3648a96f..e42ca530 100644 --- a/src/app/services/export/export-flow.spec.ts +++ b/src/app/services/export/export-flow.spec.ts @@ -378,8 +378,10 @@ describe('what the export is written as', () => { ], }); const pages = html.match(/
    /g) ?? []; - // One first page, then a page per forty rows. - expect(pages).toHaveLength(1 + Math.ceil(rows.length / 40)); + // One first page, then as few pages of table as the rows fit into: a page + // holds sixty-odd rows of this size, and two columns fit across it easily. + expect(pages.length).toBeGreaterThan(1); + expect(pages.length).toBeLessThanOrEqual(1 + Math.ceil(rows.length / 60)); expect(html.match(/Page 1 of /g)).toHaveLength(1); expect(html).toContain(`Page ${pages.length} of ${pages.length}`); expect(html).toContain('https://app.pmksplus.com/?abc'); @@ -387,6 +389,81 @@ describe('what the export is written as', () => { }); }); +describe('how much paper the report asks for', () => { + /** A table of `columns` columns and `rows` rows, at a given number width. */ + function report(rows: number, columns: number, digits: number): string { + const cell = (-1.0618581).toFixed(digits); + return reportHtml({ + logoUrl: 'assets/PMKS_logo.png', + sections: [ + { + title: 'Kinematic analysis — M1', + subtitle: '3 links', + dataTitle: 'Data — M1', + graphsTitle: 'Graphs — M1', + drawing: '', + facts: [], + shareUrl: 'https://app.pmksplus.com/?abc', + plots: [], + heads: ['Time (s)', ...Array.from({ length: columns }, (_, at) => `Column ${at} (cm)`)], + rows: Array.from({ length: rows }, () => Array(columns + 1).fill(cell)), + footer: 'M1', + }, + ], + }); + } + + const pagesOf = (html: string): number => (html.match(/
    /g) ?? []).length; + + it('fills a page before it starts another', () => { + // A cycle's worth of rows and a wide-ish selection: this was twenty-two + // pages when a page held forty rows and seven columns. + const html = report(361, 14, 6); + expect(pagesOf(html)).toBeLessThanOrEqual(8); + + // The pages of table are filled to about the same depth, so the last one + // is not a single line of numbers under an inch of heading. + const perPage = [...html.matchAll(/(.*?)<\/tbody>/gs)].map( + (body) => (body[1].match(//g) ?? []).length + ); + expect(Math.min(...perPage)).toBeGreaterThan(Math.max(...perPage) * 0.8); + }); + + it('asks for less paper when the numbers are narrower', () => { + // Two decimals is a narrower column than six, so more of them fit across a + // page and the table is split into fewer passes over the same rows. + expect(pagesOf(report(361, 24, 2))).toBeLessThan(pagesOf(report(361, 24, 6))); + }); + + it('has no page of graphs when they fit beside the mechanism', () => { + const withFive = reportHtml({ + logoUrl: '', + sections: [ + { + title: 'M1', + subtitle: '', + dataTitle: 'Data', + graphsTitle: 'Graphs', + drawing: '', + facts: [], + shareUrl: '', + plots: Array.from({ length: 5 }, (_, at) => ({ + title: `Plot ${at}`, + unit: 'cm', + svg: '', + legend: [], + })), + heads: ['Time (s)'], + rows: [], + footer: 'M1', + }, + ], + }); + expect(pagesOf(withFive)).toBe(1); + expect(withFive).toContain('across3'); + }); +}); + /** Read back a stored zip: enough of the format to prove this one is well formed. */ function readZip(bytes: Uint8Array): { name: string; data: Uint8Array; crc: number }[] { const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength); diff --git a/src/app/services/export/export-model.ts b/src/app/services/export/export-model.ts index 45d55305..531d72c1 100644 --- a/src/app/services/export/export-model.ts +++ b/src/app/services/export/export-model.ts @@ -58,6 +58,15 @@ export interface ExportSeries { head: string; unit: string; analysis: 'kinematic' | 'force'; + /** + * How many numbers this series writes per row before any trimming. + * + * 1 for a scalar like an angle, 2 for a position, 3 for a rate or a reaction + * — X, Y and the magnitude that can be dropped. Declared rather than + * discovered so the drawer can say what a row will write before anything has + * been sampled; a spec holds it to what the sampler actually produces. + */ + components: 1 | 2 | 3; mechProp: string; /** Filled in per selected part where the column spans parts. */ mechPart: string; diff --git a/src/app/services/export/export-writer.service.ts b/src/app/services/export/export-writer.service.ts index 644513a6..35b160f8 100644 --- a/src/app/services/export/export-writer.service.ts +++ b/src/app/services/export/export-writer.service.ts @@ -55,7 +55,7 @@ export class ExportWriterService { total + reportPages({ plots: table.plots.length, - rows: table.times.length, + rows: this.rowsOf(table), columns: table.heads.length - 1, }), 0 @@ -70,6 +70,15 @@ export class ExportWriterService { * stops solving takes its parts with it — and an export that writes nothing * must not be reported as one that worked. */ + /** Every row of a table, formatted the way a file or a page would carry it. */ + private rowsOf(table: ExportTable): string[][] { + const decimals = this.flow.decimals; + return table.times.map((time, row) => [ + formatCell(time, decimals), + ...table.columns.map((column) => formatCell(column[row], decimals)), + ]); + } + async run(): Promise { const tables = this.tables.tables(); if (tables.length === 0) return false; @@ -171,10 +180,7 @@ export class ExportWriterService { })), })), heads: table.heads, - rows: table.times.map((time, row) => [ - formatCell(time, decimals), - ...table.columns.map((column) => formatCell(column[row], decimals)), - ]), + rows: this.rowsOf(table), footer: `${group.id} · ${group.note}`, }; } diff --git a/src/app/services/export/report-html.ts b/src/app/services/export/report-html.ts index 7c410b34..3c62b2b1 100644 --- a/src/app/services/export/report-html.ts +++ b/src/app/services/export/report-html.ts @@ -32,11 +32,86 @@ export interface ReportContext { sections: ReportSection[]; } -/** How much one printed page holds, at the size these are set in. */ -const ROWS_PER_PAGE = 40; -const COLUMNS_PER_PAGE = 7; +/** + * What one printed page holds, measured rather than guessed. + * + * A Letter page at half-inch margins leaves 960px of content at 96dpi; the + * heading and the footer take about 88 of them. A table row is set in 8.5px + * type with a pixel of padding either side, which measures 12px. + */ +const BODY_HEIGHT = 860; +const ROW_HEIGHT = 13; +const BODY_WIDTH = 720; +/** + * How wide the characters of a number are in this type, measured at 8.5px. + * + * A digit, a point and a minus sign are three different widths, and counting + * characters instead of measuring them over-estimates a signed decimal by about + * a tenth — which is the difference between fifteen columns on a page and + * fourteen, and so between six pages of table and twelve. + */ +const DIGIT_WIDTH = 4.46; +const POINT_WIDTH = 2.2; +const SIGN_WIDTH = 2.7; +/** Padding either side of a cell, and a little over on the measurement. */ +const COLUMN_PADDING = 4; +const WIDTH_MARGIN = 1.04; +/** However narrow the numbers are, a head needs room to be read. */ +const MOST_COLUMNS = 24; +/** + * How many graphs a page carries. + * + * Four on the first page, in two columns, beside the drawing and the settings — + * the size the design draws them at. Six is what fits when they are set three + * across, which is what a first page holds when that is all of them; eight is + * what a page of nothing but graphs holds. + */ const GRAPHS_ON_FIRST_PAGE = 4; -const GRAPHS_PER_PAGE = 6; +const GRAPHS_ON_FIRST_PAGE_TIGHT = 6; +const GRAPHS_PER_PAGE = 8; + +const rowsPerPage = (): number => Math.floor(BODY_HEIGHT / ROW_HEIGHT); + +/** + * How many columns fit across the page, measured off the numbers themselves. + * + * Two decimals is a much narrower column than six, and a reading in the tens is + * narrower than one in the thousands. Estimating from the setting alone split + * every table into the same number of chunks whatever it held — and each chunk + * is another pass over every row, which is where the pages went. + */ +function columnsPerPage(rows: string[][]): number { + // A floor low enough that it never decides the answer for a real table, and + // only stops an empty one dividing by nothing. + let widest = 4 * DIGIT_WIDTH; + rows.forEach((row) => row.forEach((cell) => (widest = Math.max(widest, cellWidth(cell))))); + const width = (widest + COLUMN_PADDING) * WIDTH_MARGIN; + // One fewer, because the time column rides every page beside these. Capped, + // because a column narrower than its own head sets that head wrapping down + // the page a letter at a time. + return Math.min(MOST_COLUMNS, Math.max(3, Math.floor(BODY_WIDTH / width) - 1)); +} + +function cellWidth(text: string): number { + let width = 0; + for (const character of text) { + width += character === '.' ? POINT_WIDTH : character === '-' ? SIGN_WIDTH : DIGIT_WIDTH; + } + return width; +} + +/** + * Split into pages that are as full as each other rather than as full as + * possible. + * + * Nine pages of forty rows and a tenth holding one is the same paper as six + * pages of sixty and a seventh holding one; balanced, it is six pages of sixty + * and no orphan at all. + */ +function pageSize(total: number, most: number): number { + const pages = Math.max(1, Math.ceil(total / most)); + return Math.ceil(total / pages); +} /** * The Report format: the mechanism, what it was solved under, its graphs, and @@ -52,13 +127,13 @@ export function reportHtml(context: ReportContext): string { context.sections.forEach((section) => { const graphs = chunkGraphs(section.plots); bodies.push({ - body: firstPageBody(context, section, graphs[0] ?? []), + body: firstPageBody(context, section, graphs[0]), footer: section.footer, }); graphs.slice(1).forEach((page) => { bodies.push({ body: `${sectionHead(context, section.graphsTitle, section.subtitle)} -
    ${page.map(graphBlock).join('')}
    `, +
    ${page.plots.map(graphBlock).join('')}
    `, footer: section.footer, }); }); @@ -81,34 +156,54 @@ export function reportHtml(context: ReportContext): string { * and also how a wide selection becomes two hundred pages. Counted here so the * drawer can say so while there is still time to choose fewer parts. */ -export function reportPages(section: { plots: number; rows: number; columns: number }): number { - const graphPages = Math.max( - 0, - Math.ceil((section.plots - GRAPHS_ON_FIRST_PAGE) / GRAPHS_PER_PAGE) - ); +export function reportPages(section: { plots: number; rows: string[][]; columns: number }): number { + const graphPages = graphChunkCount(section.plots); + const perPage = pageSize(section.columns, columnsPerPage(section.rows)); const dataPages = - Math.ceil(section.columns / COLUMNS_PER_PAGE) * Math.ceil(section.rows / ROWS_PER_PAGE); + Math.ceil(section.columns / perPage) * + Math.ceil(section.rows.length / pageSize(section.rows.length, rowsPerPage())); return 1 + graphPages + dataPages; } -function chunkGraphs(plots: ReportPlot[]): ReportPlot[][] { - if (plots.length === 0) return [[]]; +/** How many pages of graphs follow the first one. */ +function graphChunkCount(plots: number): number { + if (plots <= GRAPHS_ON_FIRST_PAGE_TIGHT) return 0; + return Math.ceil((plots - GRAPHS_ON_FIRST_PAGE) / GRAPHS_PER_PAGE); +} + +/** + * Which graphs land on which page, and how many across. + * + * A fifth graph used to go on a page of its own, nine tenths of it white. Set + * three across instead, the first page takes six — so a report with no more + * graphs than that has no graph page at all. + */ +function chunkGraphs(plots: ReportPlot[]): { plots: ReportPlot[]; across: 2 | 3 }[] { + if (plots.length === 0) return [{ plots: [], across: 2 }]; + if (plots.length <= GRAPHS_ON_FIRST_PAGE) return [{ plots, across: 2 }]; + if (plots.length <= GRAPHS_ON_FIRST_PAGE_TIGHT) return [{ plots, across: 3 }]; + const rest = plots.slice(GRAPHS_ON_FIRST_PAGE); + // Spread over as many pages as they need, evenly: nine graphs are better as + // two pages of five and four than as a full page and one nearly empty. return [ - plots.slice(0, GRAPHS_ON_FIRST_PAGE), - ...chunk(plots.slice(GRAPHS_ON_FIRST_PAGE), GRAPHS_PER_PAGE), + { plots: plots.slice(0, GRAPHS_ON_FIRST_PAGE), across: 2 as const }, + ...chunk(rest, pageSize(rest.length, GRAPHS_PER_PAGE)).map((page) => ({ + plots: page, + across: 2 as const, + })), ]; } /** Which rows and which columns land on each data page, in reading order. */ function tablePages(section: ReportSection): { columns: number[]; rows: string[][] }[] { - const rowPages = chunk(section.rows, ROWS_PER_PAGE); + const rowPages = chunk(section.rows, pageSize(section.rows.length, rowsPerPage())); // Time rides every chunk: a column of numbers with nothing to line it up // against is not data anyone can use. - const columnChunks = chunk( - section.heads.slice(1).map((_, at) => at + 1), - COLUMNS_PER_PAGE + const columns = section.heads.slice(1).map((_, at) => at + 1); + const columnChunks = chunk(columns, pageSize(columns.length, columnsPerPage(section.rows))); + return columnChunks.flatMap((chunkOfColumns) => + rowPages.map((rows) => ({ columns: chunkOfColumns, rows })) ); - return columnChunks.flatMap((columns) => rowPages.map((rows) => ({ columns, rows }))); } function sectionHead(context: ReportContext, title: string, subtitle: string): string { @@ -137,7 +232,7 @@ function graphBlock(plot: ReportPlot): string { function firstPageBody( context: ReportContext, section: ReportSection, - plots: ReportPlot[] + graphs: { plots: ReportPlot[]; across: 2 | 3 } ): string { const facts = section.facts .map( @@ -154,10 +249,10 @@ function firstPageBody( section.shareUrl )}
    ${ - plots.length > 0 - ? `
    Graphs
    ${plots - .map(graphBlock) - .join('')}
    ` + graphs.plots.length > 0 + ? `
    Graphs
    ${graphs.plots.map(graphBlock).join('')}
    ` : '' }`; } @@ -176,7 +271,7 @@ function dataPageBody( `${[0, ...table.columns].map((at) => `${escapeHtml(row[at])}`).join('')}` ) .join(''); - const split = section.heads.length - 1 > COLUMNS_PER_PAGE; + const split = table.columns.length < section.heads.length - 1; const note = split ? `
    Columns ${table.columns[0]}–${ table.columns[table.columns.length - 1] @@ -212,7 +307,19 @@ function styles(): string { @page { size: letter; margin: 0.5in; } * { box-sizing: border-box; } body { margin: 0; font-family: Roboto, 'Helvetica Neue', Helvetica, Arial, sans-serif; color: #2c2c2c; } -.page { width: 7.5in; height: 10in; display: flex; flex-direction: column; page-break-after: always; overflow: hidden; } +.page { + width: 7.5in; + /* A shade under the 10in a Letter page leaves at half-inch margins. A block + exactly the height of the printable area rounds over it in some printers + and lays a blank page after every real one, which is where the empty pages + in the first cut of this came from. */ + height: 9.85in; + display: flex; + flex-direction: column; + page-break-after: always; + break-after: page; + overflow: hidden; +} .page:last-child { page-break-after: auto; } .pageBody { flex: 1 1 auto; min-height: 0; } .head { display: flex; align-items: flex-start; gap: 16px; padding-bottom: 10px; border-bottom: 1px solid #eceef5; } @@ -229,16 +336,22 @@ body { margin: 0; font-family: Roboto, 'Helvetica Neue', Helvetica, Arial, sans- .shareNote { padding-top: 10px; font-size: 11px; line-height: 15px; color: rgba(0,0,0,0.55); } .shareUrl { font-family: 'Roboto Mono', Menlo, monospace; word-break: break-all; color: #3f51b5; } .graphsTitle { padding-top: 6px; } -.graphs { display: grid; grid-template-columns: 1fr 1fr; gap: 10px; padding-top: 8px; } +.graphs { display: grid; gap: 8px; padding-top: 8px; } +.graphs.across2 { grid-template-columns: 1fr 1fr; } +.graphs.across3 { grid-template-columns: 1fr 1fr 1fr; } .graph { border: 1px solid #eceef5; border-radius: 4px; padding: 6px; } .graph svg { width: 100%; height: auto; } .graphTitle { font-size: 12px; font-weight: 500; } .graphLegend { display: flex; align-items: center; gap: 10px; font-size: 11px; color: rgba(0,0,0,0.55); padding: 2px 0 4px; } .graphLegend .spacer { flex: 1 1 auto; } .swatch { display: inline-block; width: 8px; height: 8px; border-radius: 2px; margin-right: 4px; } -.dataTable { width: 100%; border-collapse: collapse; font-size: 9px; font-variant-numeric: tabular-nums; margin-top: 10px; } -.dataTable th { text-align: right; font-weight: 500; color: #5f6368; border-bottom: 1px solid #d5d7e0; padding: 3px 4px; } -.dataTable td { text-align: right; padding: 2px 4px; border-bottom: 1px solid #f4f5f9; } +.dataTable { width: 100%; table-layout: fixed; border-collapse: collapse; font-size: 8.5px; font-variant-numeric: tabular-nums; margin-top: 8px; } +/* A head is several words and a column is one number wide, so the head wraps + rather than setting the width of everything under it. */ +.dataTable th { text-align: right; font-weight: 500; color: #5f6368; border-bottom: 1px solid #d5d7e0; padding: 2px; line-height: 11px; word-break: break-word; } +.dataTable td { text-align: right; padding: 1px 2px; border-bottom: 1px solid #f7f8fc; line-height: 10px; } +/* Time is the column every page repeats, and the one a reader scans down. */ +.dataTable th:first-child, .dataTable td:first-child { text-align: left; } .tableNote { padding-top: 8px; font-size: 10px; color: rgba(0,0,0,0.5); } .pageFoot { flex: 0 0 auto; display: flex; align-items: center; gap: 10px; padding-top: 8px; border-top: 1px solid #eceef5; font-size: 10px; color: rgba(0,0,0,0.5); } .pageFoot .spacer { flex: 1 1 auto; } From 09ee230260be41d794e6baf561b94bc2f600c799 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 18:27:07 -0700 Subject: [PATCH 186/236] Leave the report's heads room, and count its pages from the plan that lays them out Fitting more rows onto a page found the thing that was wrong with fitting rows onto a page at all: the head band was not in the arithmetic. A page was given sixty-six rows whatever it was headed with, and `Static force at Joint B on Link AB Mag (N)` in a half-inch column is nine lines of heading -- so on a selection written to two decimals, where the numbers are narrow enough for twenty-five columns to fit across, fifteen of the twenty-two pages had rows clipped off the bottom. A report laid out page by page does not carry what does not fit; it loses it. Rows per page now comes from the heads that page actually carries, and each chunk of columns is paginated on its own, so a chunk of short heads takes more rows than one whose heads wrap. The remainder is shared out a page at a time rather than left at the end. Fifty-eight graphs eight to a page was seven full pages and one holding two, at 29% -- it is now two pages of eight and six of seven, and the least-full page of a Jansen leg's whole export went from 29% to 89%. And the page count the drawer promises now comes from the same plan that lays the pages out, instead of from arithmetic written twice. All four cases I measured promise exactly what they print. Measured, on top of the last commit's numbers: the Jansen leg, everything selected, 101 pages to 88 with nothing clipped; two mechanisms in one report, 78 to 68; a four-bar at two decimals, 25 pages and no clipping where it was 22 pages with fifteen of them losing rows. Co-Authored-By: Claude Fable 5 --- src/app/services/export/export-flow.spec.ts | 32 ++++ .../services/export/export-writer.service.ts | 2 +- src/app/services/export/report-html.ts | 153 ++++++++++-------- 3 files changed, 123 insertions(+), 64 deletions(-) diff --git a/src/app/services/export/export-flow.spec.ts b/src/app/services/export/export-flow.spec.ts index e42ca530..ccc3b4f5 100644 --- a/src/app/services/export/export-flow.spec.ts +++ b/src/app/services/export/export-flow.spec.ts @@ -429,6 +429,38 @@ describe('how much paper the report asks for', () => { expect(Math.min(...perPage)).toBeGreaterThan(Math.max(...perPage) * 0.8); }); + it('leaves room for the heads, so no row falls off the bottom of a page', () => { + const table = (head: (at: number) => string): number => { + const html = reportHtml({ + logoUrl: '', + sections: [ + { + title: 'M1', + subtitle: '', + dataTitle: 'Data', + graphsTitle: 'Graphs', + drawing: '', + facts: [], + shareUrl: '', + plots: [], + heads: ['Time (s)', ...Array.from({ length: 20 }, (_, at) => head(at))], + // Enough rows that a few fewer per page is a page more. + rows: Array.from({ length: 3000 }, () => Array(21).fill('-1.061858')), + footer: 'M1', + }, + ], + }); + return (html.match(/
    /g) ?? []).length; + }; + + // A head wraps down the page in a column half an inch wide, and a page laid + // out by hand does not carry what does not fit -- it loses it. So a long + // head has to cost rows, and enough rows cost pages. + const short = table((at) => `F${at}`); + const long = table((at) => `Static force at Joint ${at} on Link ABCD Mag (N)`); + expect(long).toBeGreaterThan(short); + }); + it('asks for less paper when the numbers are narrower', () => { // Two decimals is a narrower column than six, so more of them fit across a // page and the table is split into fewer passes over the same rows. diff --git a/src/app/services/export/export-writer.service.ts b/src/app/services/export/export-writer.service.ts index 35b160f8..2a6d0e23 100644 --- a/src/app/services/export/export-writer.service.ts +++ b/src/app/services/export/export-writer.service.ts @@ -56,7 +56,7 @@ export class ExportWriterService { reportPages({ plots: table.plots.length, rows: this.rowsOf(table), - columns: table.heads.length - 1, + heads: table.heads, }), 0 ), diff --git a/src/app/services/export/report-html.ts b/src/app/services/export/report-html.ts index 3c62b2b1..96e98e3c 100644 --- a/src/app/services/export/report-html.ts +++ b/src/app/services/export/report-html.ts @@ -58,6 +58,11 @@ const COLUMN_PADDING = 4; const WIDTH_MARGIN = 1.04; /** However narrow the numbers are, a head needs room to be read. */ const MOST_COLUMNS = 24; +/** A letter is wider than a digit, and a head is set on 11px lines. */ +const LETTER_WIDTH = 4.6; +const HEAD_LINE = 11; +const HEAD_PADDING = 14; +const MOST_HEAD_LINES = 9; /** * How many graphs a page carries. * @@ -70,7 +75,23 @@ const GRAPHS_ON_FIRST_PAGE = 4; const GRAPHS_ON_FIRST_PAGE_TIGHT = 6; const GRAPHS_PER_PAGE = 8; -const rowsPerPage = (): number => Math.floor(BODY_HEIGHT / ROW_HEIGHT); +/** + * How many rows fit under the heads a page of this many columns carries. + * + * Not a constant, because the heads are not. `Static force at Joint B on Link + * AB Mag (N)` in a column half an inch wide is nine lines, and a head band nine + * lines deep is nine rows of numbers that no longer fit — which, on a page laid + * out by hand rather than reflowed, means rows clipped off the bottom. + */ +function rowsPerPage(heads: string[], columns: number): number { + const columnWidth = Math.max(12, BODY_WIDTH / (columns + 1) - COLUMN_PADDING); + const lines = heads.reduce( + (most, head) => Math.max(most, Math.ceil((head.length * LETTER_WIDTH) / columnWidth)), + 1 + ); + const headBand = Math.min(lines, MOST_HEAD_LINES) * HEAD_LINE + HEAD_PADDING; + return Math.max(10, Math.floor((BODY_HEIGHT - headBand) / ROW_HEIGHT)); +} /** * How many columns fit across the page, measured off the numbers themselves. @@ -104,13 +125,25 @@ function cellWidth(text: string): number { * Split into pages that are as full as each other rather than as full as * possible. * - * Nine pages of forty rows and a tenth holding one is the same paper as six - * pages of sixty and a seventh holding one; balanced, it is six pages of sixty - * and no orphan at all. + * Nine pages of forty and a tenth holding one is the same paper as six pages of + * sixty; spread evenly it is six pages of sixty and no orphan at all. Taking + * the most each time is not enough on its own — fifty-eight graphs eight to a + * page is seven full pages and one holding two — so the remainder is shared out + * a page at a time. */ -function pageSize(total: number, most: number): number { - const pages = Math.max(1, Math.ceil(total / most)); - return Math.ceil(total / pages); +function spread(items: T[], most: number): T[][] { + if (items.length === 0) return []; + const pages = Math.max(1, Math.ceil(items.length / most)); + const base = Math.floor(items.length / pages); + const over = items.length % pages; + const out: T[][] = []; + let at = 0; + for (let page = 0; page < pages; page++) { + const size = base + (page < over ? 1 : 0); + out.push(items.slice(at, at + size)); + at += size; + } + return out; } /** @@ -125,19 +158,19 @@ function pageSize(total: number, most: number): number { export function reportHtml(context: ReportContext): string { const bodies: { body: string; footer: string }[] = []; context.sections.forEach((section) => { - const graphs = chunkGraphs(section.plots); - bodies.push({ - body: firstPageBody(context, section, graphs[0]), - footer: section.footer, - }); - graphs.slice(1).forEach((page) => { + const plan = planSection({ ...section, plots: section.plots.length }); + plan.graphPages.forEach((graphs, at) => { + const plots = section.plots.slice(graphs.from, graphs.from + graphs.count); bodies.push({ - body: `${sectionHead(context, section.graphsTitle, section.subtitle)} -
    ${page.plots.map(graphBlock).join('')}
    `, + body: + at === 0 + ? firstPageBody(context, section, { plots, across: graphs.across }) + : `${sectionHead(context, section.graphsTitle, section.subtitle)} +
    ${plots.map(graphBlock).join('')}
    `, footer: section.footer, }); }); - tablePages(section).forEach((page) => { + plan.tablePages.forEach((page) => { bodies.push({ body: dataPageBody(context, section, page), footer: section.footer }); }); }); @@ -153,57 +186,58 @@ export function reportHtml(context: ReportContext): string { * How long the report will be, before anyone waits for it to be built. * * The table is every row the CSV would hold, which is the point of the format - * and also how a wide selection becomes two hundred pages. Counted here so the - * drawer can say so while there is still time to choose fewer parts. + * and also how a wide selection becomes a hundred pages. Counted from the same + * plan that lays the report out, because a promise made by different arithmetic + * from the one that keeps it is a promise that drifts. */ -export function reportPages(section: { plots: number; rows: string[][]; columns: number }): number { - const graphPages = graphChunkCount(section.plots); - const perPage = pageSize(section.columns, columnsPerPage(section.rows)); - const dataPages = - Math.ceil(section.columns / perPage) * - Math.ceil(section.rows.length / pageSize(section.rows.length, rowsPerPage())); - return 1 + graphPages + dataPages; +export function reportPages(section: { plots: number; rows: string[][]; heads: string[] }): number { + const plan = planSection(section); + return plan.graphPages.length + plan.tablePages.length; } -/** How many pages of graphs follow the first one. */ -function graphChunkCount(plots: number): number { - if (plots <= GRAPHS_ON_FIRST_PAGE_TIGHT) return 0; - return Math.ceil((plots - GRAPHS_ON_FIRST_PAGE) / GRAPHS_PER_PAGE); +/** Which graphs and which numbers land on which page. */ +function planSection(section: { plots: number; rows: string[][]; heads: string[] }): { + graphPages: { from: number; count: number; across: 2 | 3 }[]; + tablePages: { columns: number[]; rows: string[][] }[]; +} { + // Time rides every chunk: a column of numbers with nothing to line it up + // against is not data anyone can use. + const columns = section.heads.slice(1).map((_, at) => at + 1); + const tablePages = spread(columns, columnsPerPage(section.rows)).flatMap((chunkOfColumns) => + // Paginated per chunk, because a chunk whose heads are short leaves room + // for more rows than one whose heads wrap down half the page. + spread( + section.rows, + rowsPerPage( + [section.heads[0], ...chunkOfColumns.map((at) => section.heads[at])], + chunkOfColumns.length + ) + ).map((rows) => ({ columns: chunkOfColumns, rows })) + ); + return { graphPages: planGraphs(section.plots), tablePages }; } /** - * Which graphs land on which page, and how many across. + * Which graphs go on which page, and how many across. * * A fifth graph used to go on a page of its own, nine tenths of it white. Set * three across instead, the first page takes six — so a report with no more * graphs than that has no graph page at all. */ -function chunkGraphs(plots: ReportPlot[]): { plots: ReportPlot[]; across: 2 | 3 }[] { - if (plots.length === 0) return [{ plots: [], across: 2 }]; - if (plots.length <= GRAPHS_ON_FIRST_PAGE) return [{ plots, across: 2 }]; - if (plots.length <= GRAPHS_ON_FIRST_PAGE_TIGHT) return [{ plots, across: 3 }]; - const rest = plots.slice(GRAPHS_ON_FIRST_PAGE); - // Spread over as many pages as they need, evenly: nine graphs are better as - // two pages of five and four than as a full page and one nearly empty. - return [ - { plots: plots.slice(0, GRAPHS_ON_FIRST_PAGE), across: 2 as const }, - ...chunk(rest, pageSize(rest.length, GRAPHS_PER_PAGE)).map((page) => ({ - plots: page, - across: 2 as const, - })), - ]; -} - -/** Which rows and which columns land on each data page, in reading order. */ -function tablePages(section: ReportSection): { columns: number[]; rows: string[][] }[] { - const rowPages = chunk(section.rows, pageSize(section.rows.length, rowsPerPage())); - // Time rides every chunk: a column of numbers with nothing to line it up - // against is not data anyone can use. - const columns = section.heads.slice(1).map((_, at) => at + 1); - const columnChunks = chunk(columns, pageSize(columns.length, columnsPerPage(section.rows))); - return columnChunks.flatMap((chunkOfColumns) => - rowPages.map((rows) => ({ columns: chunkOfColumns, rows })) - ); +function planGraphs(plots: number): { from: number; count: number; across: 2 | 3 }[] { + if (plots === 0) return [{ from: 0, count: 0, across: 2 }]; + if (plots <= GRAPHS_ON_FIRST_PAGE) return [{ from: 0, count: plots, across: 2 }]; + if (plots <= GRAPHS_ON_FIRST_PAGE_TIGHT) return [{ from: 0, count: plots, across: 3 }]; + let from = GRAPHS_ON_FIRST_PAGE; + const rest = spread( + Array.from({ length: plots - GRAPHS_ON_FIRST_PAGE }, (_, at) => at), + GRAPHS_PER_PAGE + ).map((page) => { + const entry = { from, count: page.length, across: 2 as const }; + from += page.length; + return entry; + }); + return [{ from: 0, count: GRAPHS_ON_FIRST_PAGE, across: 2 as const }, ...rest]; } function sectionHead(context: ReportContext, title: string, subtitle: string): string { @@ -291,13 +325,6 @@ function page(body: string, footer: string, number: number, total: number): stri )}Page ${number} of ${total}
    `; } -function chunk(items: T[], size: number): T[][] { - if (items.length === 0) return []; - const out: T[][] = []; - for (let at = 0; at < items.length; at += size) out.push(items.slice(at, at + size)); - return out; -} - function escapeHtml(text: string): string { return escapeXml(text ?? ''); } From 7058b0c2a999015b7ff0266c8500a09a3a7e4e70 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 18:49:46 -0700 Subject: [PATCH 187/236] Ask the browser how wide a number is, instead of holding a table of guesses GPT-5.6 sol reviewed the report at f31cabd, generated the PDFs and read them. It confirmed the head-band defect that 09ee230 had just fixed -- fifteen of twenty-two pages overfull on a two-decimal export, the worst by 13px, its rows running under the footer -- and it verified the fix independently: forty pages promised, forty printed, none overflowing. It found nothing else broken. Three things it did raise, all of them fair. **The glyph widths were wrong.** A digit of this type is 4.78px, not the 4.46 the file claimed, and a head letter averages 3.86, not 4.6. The comment was measured off a whole number string rather than off a digit, so the estimate ran five per cent under on the cells and eighteen per cent over on the heads -- which the safety margin was quietly absorbing. Rather than correct the table, the report now asks the browser: the writer hands in a canvas-backed `Measure`, memoised per string, so a page is laid out against the type it will actually be drawn in rather than against one machine's fonts. The table stays as the fallback for anywhere without a canvas, and says so. **A head wraps word by word, not character by character.** Dividing a head's whole width by the column's assumed a packing nothing achieves, so pages were given rows that did not fit. The wrap is now walked a word at a time, breaking inside a word only where the word alone will not fit, which is what the browser does. **Columns are packed by what they are actually as wide as.** Sizing every page from the widest number anywhere charged a page of positions in the tens for the one reaction that ran to five figures; taken a column at a time, a run of narrow columns packs tighter. On the Jansen leg that is a whole pass over the rows fewer. Also from the review: the first page takes six graphs three across, rather than four, whenever that saves a page of graphs; and `ExportSeries.components` finally has the spec its comment promised -- every declaration checked against what the sampler hands back for it, over a mechanism with forces. Where that leaves the pages, all measured with nothing clipped, nothing overlapping, and the count promised equal to the count printed: one joint's whole selection 7 (was 22); everything on a four-bar 36; at full precision 19; at two decimals 24; two mechanisms in one report 72; the Jansen leg with everything ticked 86. Co-Authored-By: Claude Fable 5 --- src/app/services/export/export-flow.spec.ts | 56 ++++++ src/app/services/export/export-model.ts | 3 +- .../services/export/export-writer.service.ts | 45 ++++- src/app/services/export/report-html.ts | 182 ++++++++++++++---- 4 files changed, 241 insertions(+), 45 deletions(-) diff --git a/src/app/services/export/export-flow.spec.ts b/src/app/services/export/export-flow.spec.ts index ccc3b4f5..28fc6a5c 100644 --- a/src/app/services/export/export-flow.spec.ts +++ b/src/app/services/export/export-flow.spec.ts @@ -150,6 +150,26 @@ describe('the export drawer', () => { expect(table.heads).toContain('Angle AB (deg)'); }); + it('declares how many numbers a column writes, and the sampler agrees', () => { + const { flow, tables, fixture } = flowFor(LEGACY_FORCE_MECHANISM, { forces: true }); + flow.setParts(flow.offeredParts(), true); + flow.withMagnitude = true; + const solved = fixture.mechanism; + const parts = flow.selectedParts(); + + // What the drawer tells a reader a row will write, against what the solver + // hands back for it. A declaration that drifts is a row promising `X, Y` + // and a file carrying three columns. + flow.allColumns().forEach((column) => { + const declared = column.series.map((series) => series.components); + const sampled = tables + .plots(solved, 0, parts, [column]) + .slice(0, declared.length) + .map((plot) => plot.series.length); + expect([column.label, sampled]).toEqual([column.label, declared]); + }); + }); + it('drops the magnitude series when the reader asks for X and Y alone', () => { const { flow, tables } = flowFor(TEMPLATE_LINKAGES['4-Bar']); pick(flow, 'Joint B'); @@ -461,6 +481,42 @@ describe('how much paper the report asks for', () => { expect(long).toBeGreaterThan(short); }); + it('carries every column exactly once across the pages it splits them over', () => { + // The packer takes as many columns as the widest of them allows, which is a + // different number on every page -- so what it covers is worth stating. + const heads = ['Time (s)', ...Array.from({ length: 40 }, (_, at) => `Column ${at} (cm)`)]; + const html = reportHtml({ + logoUrl: '', + sections: [ + { + title: 'M1', + subtitle: '', + dataTitle: 'Data', + graphsTitle: 'Graphs', + drawing: '', + facts: [], + shareUrl: '', + plots: [], + heads, + // A mix of narrow and wide, so the pages are not all the same width. + rows: Array.from({ length: 120 }, () => + heads.map((_, at) => (at % 3 === 0 ? '-1234.567890' : '0.01')) + ), + footer: 'M1', + }, + ], + }); + const seen = [...html.matchAll(/(.*?)<\/tr><\/thead>/gs)].flatMap((head) => + [...head[1].matchAll(/(.*?)<\/th>/g)].map((cell) => cell[1]) + ); + const withoutTime = seen.filter((head) => head !== 'Time (s)'); + const distinct = new Set(withoutTime); + expect(distinct.size).toBe(40); + // Each page repeats the time column and nothing else. + expect(withoutTime.length / (seen.length - withoutTime.length)).toBeGreaterThan(1); + expect(withoutTime.length % distinct.size).toBe(0); + }); + it('asks for less paper when the numbers are narrower', () => { // Two decimals is a narrower column than six, so more of them fit across a // page and the table is split into fewer passes over the same rows. diff --git a/src/app/services/export/export-model.ts b/src/app/services/export/export-model.ts index 531d72c1..4561245a 100644 --- a/src/app/services/export/export-model.ts +++ b/src/app/services/export/export-model.ts @@ -64,7 +64,8 @@ export interface ExportSeries { * 1 for a scalar like an angle, 2 for a position, 3 for a rate or a reaction * — X, Y and the magnitude that can be dropped. Declared rather than * discovered so the drawer can say what a row will write before anything has - * been sampled; a spec holds it to what the sampler actually produces. + * been sampled; `export-flow.spec.ts` holds every declaration to what the + * sampler actually hands back. */ components: 1 | 2 | 3; mechProp: string; diff --git a/src/app/services/export/export-writer.service.ts b/src/app/services/export/export-writer.service.ts index 2a6d0e23..ac0e26f7 100644 --- a/src/app/services/export/export-writer.service.ts +++ b/src/app/services/export/export-writer.service.ts @@ -13,7 +13,7 @@ import { formatCell, toCsv } from './csv-writer'; import { toXlsx, sheetNames } from './xlsx-writer'; import { plotSvg } from './graph-svg'; import { mechanismSvg } from './mechanism-svg'; -import { ReportSection, reportHtml, reportPages } from './report-html'; +import { Measure, ReportSection, reportHtml, reportPages } from './report-html'; const SERIES_COLORS: Record = { X: ANALYSIS_SERIES_COLORS.X, @@ -53,11 +53,14 @@ export class ExportWriterService { .reduce( (total, table) => total + - reportPages({ - plots: table.plots.length, - rows: this.rowsOf(table), - heads: table.heads, - }), + reportPages( + { + plots: table.plots.length, + rows: this.rowsOf(table), + heads: table.heads, + }, + textMeasure() + ), 0 ), }; @@ -151,7 +154,7 @@ export class ExportWriterService { .filter((section): section is ReportSection => !!section); if (sections.length === 0) return false; const logo = new URL('assets/PMKS_logo.png', document.baseURI).href; - print(reportHtml({ logoUrl: logo, sections })); + print(reportHtml({ logoUrl: logo, sections, measure: textMeasure() })); return true; } @@ -247,6 +250,34 @@ export class ExportWriterService { } } +/** The type the report's table is set in, for measuring a string against. */ +const TABLE_FONT = "8.5px Roboto, 'Helvetica Neue', Helvetica, Arial, sans-serif"; + +/** + * How wide a string will actually be, asked of the browser that will draw it. + * + * The report is laid out here rather than reflowed, so how many columns fit + * across a page is arithmetic — and arithmetic done against a table of glyph + * widths is right for the font it was measured in and a few per cent out for + * whichever one the reader's machine falls back to. A canvas knows exactly. + * Memoised per string, because a table of 361 rows asks the same questions + * thousands of times. + */ +function textMeasure(): Measure | undefined { + const context = document.createElement('canvas').getContext('2d'); + if (!context) return undefined; + const seen = new Map(); + return (text: string, bold = false): number => { + const key = bold ? `b:${text}` : text; + const known = seen.get(key); + if (known !== undefined) return known; + context.font = `${bold ? '500 ' : ''}${TABLE_FONT}`; + const width = context.measureText(text).width; + seen.set(key, width); + return width; + }; +} + /** A picture the browser will draw, as PNG bytes. */ async function rasterize(svg: string, width: number, height: number): Promise { const source = `data:image/svg+xml;charset=utf-8,${encodeURIComponent(svg)}`; diff --git a/src/app/services/export/report-html.ts b/src/app/services/export/report-html.ts index 96e98e3c..2b1f545b 100644 --- a/src/app/services/export/report-html.ts +++ b/src/app/services/export/report-html.ts @@ -27,9 +27,21 @@ export interface ReportSection { graphsTitle: string; } +/** + * How wide a string is, in the type the table is set in. + * + * Passed in so the page can be laid out against the browser's own measurement + * rather than against a table of glyph widths that is right for one font and a + * few per cent out for the next one down the stack. The estimate below is the + * fallback for anywhere without a canvas to ask. + */ +export type Measure = (text: string, bold?: boolean) => number; + export interface ReportContext { logoUrl: string; sections: ReportSection[]; + /** Omitted where there is nothing to measure with; estimated instead. */ + measure?: Measure; } /** @@ -49,20 +61,27 @@ const BODY_WIDTH = 720; * characters instead of measuring them over-estimates a signed decimal by about * a tenth — which is the difference between fifteen columns on a page and * fourteen, and so between six pages of table and twelve. + * + * Taken from the browser, not from a rule of thumb: `-1234.567890` measures + * 52.3px, which is ten digits at 4.78, a point at 2.25 and a sign at 2.36. */ -const DIGIT_WIDTH = 4.46; -const POINT_WIDTH = 2.2; -const SIGN_WIDTH = 2.7; +const DIGIT_WIDTH = 4.78; +const POINT_WIDTH = 2.25; +const SIGN_WIDTH = 2.36; /** Padding either side of a cell, and a little over on the measurement. */ const COLUMN_PADDING = 4; -const WIDTH_MARGIN = 1.04; +const WIDTH_MARGIN = 1.02; /** However narrow the numbers are, a head needs room to be read. */ const MOST_COLUMNS = 24; -/** A letter is wider than a digit, and a head is set on 11px lines. */ -const LETTER_WIDTH = 4.6; +/** + * A letter *averages* narrower than a digit — the digits of this type are all + * one width and most letters are less — and a head is set on 11px lines. + * `Position B X (cm)` measures 65.7px across seventeen characters. + */ +const LETTER_WIDTH = 3.95; const HEAD_LINE = 11; const HEAD_PADDING = 14; -const MOST_HEAD_LINES = 9; +const MOST_HEAD_LINES = 14; /** * How many graphs a page carries. * @@ -83,10 +102,10 @@ const GRAPHS_PER_PAGE = 8; * lines deep is nine rows of numbers that no longer fit — which, on a page laid * out by hand rather than reflowed, means rows clipped off the bottom. */ -function rowsPerPage(heads: string[], columns: number): number { +function rowsPerPage(heads: string[], columns: number, measure: Measure): number { const columnWidth = Math.max(12, BODY_WIDTH / (columns + 1) - COLUMN_PADDING); const lines = heads.reduce( - (most, head) => Math.max(most, Math.ceil((head.length * LETTER_WIDTH) / columnWidth)), + (most, head) => Math.max(most, headLines(head, columnWidth, measure)), 1 ); const headBand = Math.min(lines, MOST_HEAD_LINES) * HEAD_LINE + HEAD_PADDING; @@ -94,31 +113,105 @@ function rowsPerPage(heads: string[], columns: number): number { } /** - * How many columns fit across the page, measured off the numbers themselves. + * How many lines a head takes in a column of a given width. + * + * Word by word, because that is how the browser does it: a head only breaks + * inside a word when the word alone will not fit. Dividing the head's whole + * width by the column's assumes a perfect packing nothing achieves, and every + * line it under-counts is a row clipped off the bottom of the page. + */ +function headLines(head: string, columnWidth: number, measure: Measure): number { + let lines = 1; + let used = 0; + const space = measure(' ', true); + for (const word of head.split(' ')) { + const width = measure(word, true); + if (width > columnWidth) { + if (used > 0) lines++; + const pieces = Math.ceil(width / columnWidth); + lines += pieces - 1; + used = width - (pieces - 1) * columnWidth; + continue; + } + const gap = used === 0 ? 0 : space; + if (used + gap + width > columnWidth) { + lines++; + used = width; + } else { + used += gap + width; + } + } + return lines; +} + +/** + * How many columns of a given width fit across the page. * - * Two decimals is a much narrower column than six, and a reading in the tens is - * narrower than one in the thousands. Estimating from the setting alone split - * every table into the same number of chunks whatever it held — and each chunk - * is another pass over every row, which is where the pages went. + * Every column is drawn the same width, so what fits is decided by the widest + * number among them — and one fewer than that, because the time column rides + * every page beside them. Capped, because a column narrower than its own head + * sets that head wrapping down the page a letter at a time. */ -function columnsPerPage(rows: string[][]): number { - // A floor low enough that it never decides the answer for a real table, and - // only stops an empty one dividing by nothing. - let widest = 4 * DIGIT_WIDTH; - rows.forEach((row) => row.forEach((cell) => (widest = Math.max(widest, cellWidth(cell))))); +function capacityFor(widest: number): number { const width = (widest + COLUMN_PADDING) * WIDTH_MARGIN; - // One fewer, because the time column rides every page beside these. Capped, - // because a column narrower than its own head sets that head wrapping down - // the page a letter at a time. return Math.min(MOST_COLUMNS, Math.max(3, Math.floor(BODY_WIDTH / width) - 1)); } -function cellWidth(text: string): number { +/** + * Which columns go on which page, packed by what they are actually as wide as. + * + * Sizing every page from the widest number anywhere in the table charged a page + * of positions in the tens for the one reaction that ran to five figures. Taken + * a column at a time, a run of narrow columns packs tighter — on an eighty-six + * column export that is one pass over the rows fewer, which is six pages. + */ +function columnChunks(heads: string[], rows: string[][], measure: Measure): number[][] { + const columns = heads.slice(1).map((_, at) => at + 1); + if (columns.length === 0) return []; + const widthOf = (at: number): number => + rows.reduce((most, row) => Math.max(most, measure(row[at] ?? '', false)), 4 * DIGIT_WIDTH); + // Time rides every chunk: a column of numbers with nothing to line it up + // against is not data anyone can use, so its width is charged to every page. + const time = widthOf(0); + const widths = columns.map(widthOf); + + const chunks: number[][] = []; + let at = 0; + while (at < columns.length) { + let widest = time; + let take = 1; + for (let end = at; end < columns.length; end++) { + const next = Math.max(widest, widths[end]); + if (end - at + 1 > capacityFor(next)) break; + widest = next; + take = end - at + 1; + } + chunks.push(columns.slice(at, at + take)); + at += take; + } + return chunks; +} + +/** + * What a string measures, when there is no browser to ask. + * + * Only the fallback: every glyph here was measured once in one browser, and the + * whole point of `Measure` is not to have to trust that anywhere it matters. + */ +export function estimateWidth(text: string, bold = false): number { let width = 0; for (const character of text) { - width += character === '.' ? POINT_WIDTH : character === '-' ? SIGN_WIDTH : DIGIT_WIDTH; + width += + character === '.' + ? POINT_WIDTH + : character === '-' + ? SIGN_WIDTH + : /[0-9]/.test(character) + ? DIGIT_WIDTH + : LETTER_WIDTH; } - return width; + // A head is set in medium, which is a shade wider than the numbers under it. + return bold ? width * 1.03 : width; } /** @@ -158,7 +251,10 @@ function spread(items: T[], most: number): T[][] { export function reportHtml(context: ReportContext): string { const bodies: { body: string; footer: string }[] = []; context.sections.forEach((section) => { - const plan = planSection({ ...section, plots: section.plots.length }); + const plan = planSection( + { ...section, plots: section.plots.length }, + context.measure ?? estimateWidth + ); plan.graphPages.forEach((graphs, at) => { const plots = section.plots.slice(graphs.from, graphs.from + graphs.count); bodies.push({ @@ -190,27 +286,31 @@ export function reportHtml(context: ReportContext): string { * plan that lays the report out, because a promise made by different arithmetic * from the one that keeps it is a promise that drifts. */ -export function reportPages(section: { plots: number; rows: string[][]; heads: string[] }): number { - const plan = planSection(section); +export function reportPages( + section: { plots: number; rows: string[][]; heads: string[] }, + measure: Measure = estimateWidth +): number { + const plan = planSection(section, measure); return plan.graphPages.length + plan.tablePages.length; } /** Which graphs and which numbers land on which page. */ -function planSection(section: { plots: number; rows: string[][]; heads: string[] }): { +function planSection( + section: { plots: number; rows: string[][]; heads: string[] }, + measure: Measure +): { graphPages: { from: number; count: number; across: 2 | 3 }[]; tablePages: { columns: number[]; rows: string[][] }[]; } { - // Time rides every chunk: a column of numbers with nothing to line it up - // against is not data anyone can use. - const columns = section.heads.slice(1).map((_, at) => at + 1); - const tablePages = spread(columns, columnsPerPage(section.rows)).flatMap((chunkOfColumns) => + const tablePages = columnChunks(section.heads, section.rows, measure).flatMap((chunkOfColumns) => // Paginated per chunk, because a chunk whose heads are short leaves room // for more rows than one whose heads wrap down half the page. spread( section.rows, rowsPerPage( [section.heads[0], ...chunkOfColumns.map((at) => section.heads[at])], - chunkOfColumns.length + chunkOfColumns.length, + measure ) ).map((rows) => ({ columns: chunkOfColumns, rows })) ); @@ -228,16 +328,24 @@ function planGraphs(plots: number): { from: number; count: number; across: 2 | 3 if (plots === 0) return [{ from: 0, count: 0, across: 2 }]; if (plots <= GRAPHS_ON_FIRST_PAGE) return [{ from: 0, count: plots, across: 2 }]; if (plots <= GRAPHS_ON_FIRST_PAGE_TIGHT) return [{ from: 0, count: plots, across: 3 }]; - let from = GRAPHS_ON_FIRST_PAGE; + // Three across on the first page too, where the two it makes room for are the + // two that would otherwise start a page of their own. + const pagesAfter = (first: number): number => Math.ceil((plots - first) / GRAPHS_PER_PAGE); + const onFirst = + pagesAfter(GRAPHS_ON_FIRST_PAGE_TIGHT) < pagesAfter(GRAPHS_ON_FIRST_PAGE) + ? GRAPHS_ON_FIRST_PAGE_TIGHT + : GRAPHS_ON_FIRST_PAGE; + const across: 2 | 3 = onFirst === GRAPHS_ON_FIRST_PAGE_TIGHT ? 3 : 2; + let from = onFirst; const rest = spread( - Array.from({ length: plots - GRAPHS_ON_FIRST_PAGE }, (_, at) => at), + Array.from({ length: plots - onFirst }, (_, at) => at), GRAPHS_PER_PAGE ).map((page) => { const entry = { from, count: page.length, across: 2 as const }; from += page.length; return entry; }); - return [{ from: 0, count: GRAPHS_ON_FIRST_PAGE, across: 2 as const }, ...rest]; + return [{ from: 0, count: onFirst, across }, ...rest]; } function sectionHead(context: ReportContext, title: string, subtitle: string): string { From fd3bcadd7da9d4cdde05fc322b204f8e3d0a31f1 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Tue, 18 Aug 2026 23:48:28 -0700 Subject: [PATCH 188/236] Take the list into the drawing, and the report into the canvas **Step 1.** A machine's heading says how many of its parts are *selected* rather than ticked, and the mark between Select all and Select none is a drawn dot rather than a middot, which rendered as a ring in the ink of whichever button it sat between. Every joint is on the list now, pinned or not, whether or not force analysis is set up, and the paragraph explaining which ones were missing is gone with the rule that made it necessary: a pinned joint has a position worth writing down and a reaction worth reading, and a list that decided which of those a reader meant was hiding parts they had come looking for. A sealed cylinder is one part. The barrel, the piston and the three joints buried inside a ram are pieces of an assembly nobody drew and nobody can point at, and they were on the list as five separate exportable things; the ram now stands under the two mounts a reader can see -- `Cylinder GC` -- and its reactions are named that way too, with the ones at the buried pin left off entirely. And the list is a way into the drawing rather than a list of names: pointing at a row lights that part on the canvas, and the part already picked on the canvas is marked in the list. `Joint F` on a Jansen leg is one of eleven pins, and the list said nothing about which. The hover defers to the selection, so it can never paint over a reader's own mark. **Step 2.** Center, not centre. The components control is out of the bottom of the list and into a band above the footer, where it is always in view -- it governs every row above it, and a control a reader has to scroll to find is one they decide they do not have. It says `Components to export`, spells out `X, Y, Magnitude`, and has no paragraph under it, because every row already says what it will write. Analysis type reads `Static (Equilibrium)` and `In-motion (Dynamic)`, which is the whole explanation the sentence under it used to give. **Step 3.** More than two files come down as one archive. A browser asks before it will take a second download and stops after a handful, which is why an export of a part each arrived as one CSV and a permission prompt -- so the "only one file" was the browser's answer, not the app's. Each format now has a question mark carrying the paragraph that used to be missing, and the line claiming force columns are headed Static is gone (the heads say so themselves). Graph images carry the PMKS+ mark, embedded rather than linked, because a graph leaves here as a file of its own and lands somewhere with nothing around it to say what drew it. **The report.** Its legend swatches were invisible: a printer drops backgrounds unless it is told not to, so three coloured lines went out unnamed. And the mechanism on page one was a skeleton drawn from joint coordinates -- fine for a four-bar, wrong for everything the app has learned to draw since. It is now the canvas itself: the grid ruling and the editing handles come off, every computed style is written onto the element that had it, and the frame is set to what is drawn rather than to wherever the reader had panned. A slot, a piston and a sealed cylinder reach the page as the reader drew them. **And a stop button**, beside play, back to the pose the mechanism was drawn in -- eased rather than cut, by whichever way round is shorter for each machine. Leaving the mode has always rewound the mechanism; this is for a reader who wants the drawn pose back and wants to stay where they are. It was deliberately removed in an earlier pass, so the check asserting its absence now asserts the opposite, and says why. Co-Authored-By: Claude Fable 5 --- e2e/export-flow.mjs | 109 ++++++++++++++- e2e/left-nav-modes.mjs | 14 +- e2e/playback-bar.mjs | 23 ++++ .../export-panel/export-panel.component.html | 95 +++++++------ .../export-panel/export-panel.component.scss | 59 +++++++- .../export-panel/export-panel.component.ts | 62 ++++++--- .../playback-bar/playback-bar.component.html | 14 ++ .../playback-bar/playback-bar.component.scss | 32 +++++ .../playback-bar/playback-bar.component.ts | 25 ++++ src/app/selected-tab.service.ts | 6 +- src/app/services/export/canvas-svg.ts | 130 ++++++++++++++++++ .../services/export/export-catalog.service.ts | 90 ++++++++++-- .../services/export/export-columns.service.ts | 42 +++--- src/app/services/export/export-flow.spec.ts | 33 ++--- .../services/export/export-table.service.ts | 10 +- .../services/export/export-writer.service.ts | 90 +++++++++--- src/app/services/export/graph-svg.ts | 17 ++- src/app/services/export/report-html.ts | 8 +- src/app/services/mechanism.service.ts | 31 ++++- src/styles.scss | 13 ++ src/tests/fixtures/mechanism-fixtures.ts | 4 + 21 files changed, 757 insertions(+), 150 deletions(-) create mode 100644 src/app/services/export/canvas-svg.ts diff --git a/e2e/export-flow.mjs b/e2e/export-flow.mjs index 5e34ba76..db449695 100644 --- a/e2e/export-flow.mjs +++ b/e2e/export-flow.mjs @@ -128,7 +128,7 @@ record( await drawer().getByRole('button', { name: 'X, Y', exact: true }).click(); await page.waitForTimeout(200); const withoutMag = await drawer().locator('.footNote').innerText(); -await drawer().getByRole('button', { name: 'X, Y, Mag', exact: true }).click(); +await drawer().getByRole('button', { name: 'X, Y, Magnitude', exact: true }).click(); await page.waitForTimeout(200); const withMag = await drawer().locator('.footNote').innerText(); record('dropping the magnitude narrows the file', number(withoutMag) < number(withMag), { @@ -208,12 +208,16 @@ await drawer().locator('.formatRow', { hasText: 'Graph images' }).click(); await page.waitForTimeout(200); await drawer().locator('.segmented button', { hasText: 'SVG' }).click(); await page.waitForTimeout(200); -const svg = await grab(() => page.locator('.nextButton').click()); -const drawing = readFileSync(svg.path, 'utf8'); +const pictures = await grab(() => page.locator('.nextButton').click()); +const inside = readStoredZip(readFileSync(pictures.path)); +const drawing = inside.find((entry) => entry.name.endsWith('.svg'))?.text ?? ''; record( - 'a graph comes down as a drawing with a line in it', - svg.name.endsWith('.svg') && drawing.includes(' 2 && + drawing.includes(' + ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv.currentTimeSeconds() +); +record('a played cycle leaves the mechanism away from its start', moved > 0.05, { moved }); +record( + 'and the stop button beside play offers the way back', + !(await page.locator('.stopButton').isDisabled()) +); +await page.locator('.stopButton').click(); +await page.waitForTimeout(1200); +const home = await page.evaluate(() => + ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv.currentTimeSeconds() +); +record('which takes it there', home === 0, { home }); +record('and then has nothing left to do', await page.locator('.stopButton').isDisabled()); + record( 'the play button is a rounded square, not a disc', !playShape.radius.includes('%') && parseFloat(playShape.radius) < playShape.width / 2, diff --git a/src/app/component/export-panel/export-panel.component.html b/src/app/component/export-panel/export-panel.component.html index c6397419..6597fcef 100644 --- a/src/app/component/export-panel/export-panel.component.html +++ b/src/app/component/export-panel/export-panel.component.html @@ -46,11 +46,11 @@ @if (flow.step === 1) { - · + } @else { - · + }
    @@ -67,7 +67,7 @@ {{ groupNote(group) }} - · +
    @@ -76,8 +76,11 @@ class="pickRow" [class.off]="!part.available" [class.on]="flow.isPicked(part)" + [class.onGrid]="isOnGrid(part)" [disabled]="!part.available" (click)="flow.togglePart(part)" + (mouseenter)="pointAt(part)" + (mouseleave)="pointAt(undefined)" > @if (flow.isPicked(part)) { @@ -91,10 +94,6 @@ }
    - - @if (groundedHint(group); as hint) { -

    {{ hint }}

    - } } @if (groups().length === 0) {

    @@ -114,14 +113,11 @@ [class.on]="flow.forceMode() === mode" (click)="flow.setForceMode($any(mode))" > - {{ mode === 'static' ? 'Static' : 'In-motion' }} + {{ mode === 'static' ? 'Static (Equilibrium)' : 'In-motion (Dynamic)' }} }

    }
    + + @if (flow.step === 2 && hasMagnitude()) { +
    + Components to export + +
    + + +
    +
    + } +
    @if (flow.step > 1) { + +
    diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index 08008e1c..001c9e76 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -133,6 +133,38 @@ } } + // Smaller than play, and outlined rather than filled: it is the way back + // rather than the thing you came here to press. + .stopButton { + display: flex; + align-items: center; + justify-content: center; + width: 32px; + height: 32px; + padding: 0; + border: none; + border-radius: 8px; + background: transparent; + color: #5f6368; + cursor: pointer; + + &:hover:not(:disabled) { + background: rgba(0, 0, 0, 0.06); + } + + &:disabled { + color: #c8cad3; + cursor: default; + } + + mat-icon { + width: 20px; + height: 20px; + font-size: 20px; + line-height: 20px; + } + } + // A tab off the top edge of the card, with the shadow above it that makes it // read as attached rather than floating. .syncToggle { diff --git a/src/app/component/playback-bar/playback-bar.component.ts b/src/app/component/playback-bar/playback-bar.component.ts index a26a9268..1c37d8da 100644 --- a/src/app/component/playback-bar/playback-bar.component.ts +++ b/src/app/component/playback-bar/playback-bar.component.ts @@ -488,6 +488,31 @@ export class PlaybackBarComponent implements OnInit, AfterViewInit, OnDestroy { this.settings.animating.next(this.mechanism.mechanismTimeStep !== 0); } + /** + * Whether there is anything to come back from. + * + * A machine at the start of its cycle is already showing the pose it was + * drawn in, and a button that does nothing when pressed is worse than one + * that says so. + */ + get canStop(): boolean { + return this.canPlay && !this.mechanism.isAtStartPose(); + } + + /** + * Back to the pose the mechanism was drawn in. + * + * Eased rather than cut, and by whichever way round is shorter for each + * machine: a linkage that teleports reads as the drawing breaking, where the + * same move played over a fifth of a second reads as playback ending. + */ + stop(): void { + if (!this.canPlay) return; + this.mechanism.setAllPlaying(false); + this.settings.animating.next(false); + this.mechanism.easeToStart(); + } + cycleSpeed(): void { // 1x plays back in real time: one revolution takes 60/RPM seconds. The // other stops are explicit fast-forwards for slow input speeds. diff --git a/src/app/selected-tab.service.ts b/src/app/selected-tab.service.ts index 7a502edf..14037fc5 100644 --- a/src/app/selected-tab.service.ts +++ b/src/app/selected-tab.service.ts @@ -82,8 +82,10 @@ export class SelectedTabService { // looking like the app is stuck between two places. RightPanelComponent.closeSetupUnlessFor(this.getCurrentTab()); - // Replaces the old stop button: leaving Analyze is what rewinds the - // mechanism, so the other modes always act on the pose at time 0. + // Leaving Analyze rewinds the mechanism, so the other modes always act on + // the pose at time 0. The transport's stop button does the same thing + // without leaving, for a reader who wants the drawn pose back and wants to + // stay where they are. if (this.isAnalysisMode(previousTab) && !this.isAnalysisMode()) { this.mechanism.easeToStart(); this.settings.animating.next(false); diff --git a/src/app/services/export/canvas-svg.ts b/src/app/services/export/canvas-svg.ts new file mode 100644 index 00000000..be7e07ca --- /dev/null +++ b/src/app/services/export/canvas-svg.ts @@ -0,0 +1,130 @@ +/** + * The mechanism exactly as the canvas draws it, as a self-contained SVG. + * + * The report used to carry a skeleton drawn from the joint coordinates: bars, + * pins and ground triangles. That is fine for a four-bar and wrong for + * everything the app has learned to draw since — a slot, a piston, a sealed + * cylinder and a compound outline all come out as straight lines between the + * wrong points, and a reader comparing the page with their screen sees a + * different machine. + * + * So the page takes the canvas itself. The grid ruling and the editing handles + * come off, every computed style is written onto the element that had it — + * the app's stylesheet is not going with it — and the frame is set to what is + * actually drawn rather than to wherever the reader had panned to. + */ + +/** Layers that are the paper and the tools, not the machine. */ +const DROPPED = ['backgroundAndGrid', 'backgroundImageHandles']; + +/** + * The properties that decide what a shape looks like. + * + * Copied rather than the whole computed style: a full dump is some three + * hundred declarations per element, which on a Jansen leg is a megabyte of + * inline style for a picture three inches wide. + */ +const COPIED = [ + 'fill', + 'fill-opacity', + 'fill-rule', + 'stroke', + 'stroke-width', + 'stroke-opacity', + 'stroke-dasharray', + 'stroke-linecap', + 'stroke-linejoin', + 'opacity', + 'filter', + 'font-family', + 'font-size', + 'font-weight', + 'font-style', + 'text-anchor', + 'letter-spacing', + 'display', + 'visibility', +]; + +export function canvasSnapshot(width: number, height: number): string | undefined { + const canvas = document.querySelector('svg#canvas') as SVGSVGElement | null; + if (!canvas) return undefined; + + const frame = contentFrame(canvas); + if (!frame) return undefined; + + const clone = canvas.cloneNode(true) as SVGSVGElement; + // Styles first, while the two trees still walk in step; the layers come off + // afterwards. + inlineStyles(canvas, clone); + DROPPED.forEach((id) => clone.querySelector(`#${id}`)?.remove()); + + clone.setAttribute('xmlns', 'http://www.w3.org/2000/svg'); + clone.setAttribute('width', String(width)); + clone.setAttribute('height', String(height)); + clone.setAttribute('viewBox', `${frame.x} ${frame.y} ${frame.width} ${frame.height}`); + clone.setAttribute('preserveAspectRatio', 'xMidYMid meet'); + clone.removeAttribute('id'); + clone.removeAttribute('class'); + clone.removeAttribute('style'); + return new XMLSerializer().serializeToString(clone); +} + +/** + * What is drawn, in the canvas's own coordinates. + * + * Measured off the screen rather than through `getBBox`: the layers are turned + * upside down by a transform of their own and framed by a pan-and-zoom + * viewport, and the union of those two is exactly what a client rectangle + * already accounts for. + */ +function contentFrame(canvas: SVGSVGElement): DOMRect | undefined { + const origin = canvas.getBoundingClientRect(); + const layers = [...canvas.children].filter( + (child) => + child instanceof SVGElement && !DROPPED.includes(child.id) && child.tagName !== 'defs' + ) as SVGElement[]; + + let left = Infinity; + let top = Infinity; + let right = -Infinity; + let bottom = -Infinity; + layers.forEach((layer) => { + const box = layer.getBoundingClientRect(); + if (box.width === 0 && box.height === 0) return; + left = Math.min(left, box.left); + top = Math.min(top, box.top); + right = Math.max(right, box.right); + bottom = Math.max(bottom, box.bottom); + }); + if (!Number.isFinite(left) || right <= left || bottom <= top) return undefined; + + // A margin, so a ground mark or a label is not cut off at the frame's edge. + const margin = Math.max(12, (right - left) * 0.04); + return new DOMRect( + left - origin.left - margin, + top - origin.top - margin, + right - left + 2 * margin, + bottom - top + 2 * margin + ); +} + +/** Write what the stylesheet was saying onto the elements it was saying it to. */ +function inlineStyles(source: Element, clone: Element): void { + const from = [source, ...source.querySelectorAll('*')]; + const to = [clone, ...clone.querySelectorAll('*')]; + for (let at = 0; at < from.length && at < to.length; at++) { + const computed = getComputedStyle(from[at]); + const target = to[at] as SVGElement; + if (!target.style) continue; + COPIED.forEach((property) => { + const value = computed.getPropertyValue(property); + if (value && value !== 'none' && value !== 'normal') { + target.style.setProperty(property, value); + } + }); + // Nothing in a printed picture answers a pointer, and the attributes that + // said so are noise in the file. + target.removeAttribute('pointer-events'); + } +} diff --git a/src/app/services/export/export-catalog.service.ts b/src/app/services/export/export-catalog.service.ts index b5f65cfb..2dadc047 100644 --- a/src/app/services/export/export-catalog.service.ts +++ b/src/app/services/export/export-catalog.service.ts @@ -1,5 +1,6 @@ import { Injectable, inject } from '@angular/core'; -import { RealJoint } from '../../model/joint'; +import { Joint, RealJoint } from '../../model/joint'; +import { Cylinder } from '../../model/cylinder'; import { Link, RealLink, SliderBlock } from '../../model/link'; import { AngleUnit, ForceUnit, LengthUnit } from '../../model/unit-enums'; import { ActiveObjService } from '../active-obj.service'; @@ -27,11 +28,13 @@ export class ExportCatalogService { * joint has no motion to report, but it does carry a reaction. */ partGroups(withForces: boolean): ExportPartGroup[] { + const cylinders = this.mechanism.sealedStructures(); return this.mechanism.partitions.map((partition, index) => { const solved = this.mechanism.mechanisms[index]; const valid = solved?.isMechanismValid() ?? false; const joints = partition.ownJoints .filter((joint): joint is RealJoint => joint instanceof RealJoint) + .filter((joint) => !this.isInsideCylinder(cylinders, joint)) .map((joint) => this.jointPart(joint, index, withForces)); // Blocks as well as bars. A slider's block is a body the solver weighs // and balances like any other, and leaving it off the list put its @@ -41,7 +44,11 @@ export class ExportCatalogService { (link): link is RealLink | SliderBlock => link instanceof RealLink || link instanceof SliderBlock ) - .map((link) => this.linkPart(link, index, valid)); + // A sealed cylinder stands in the list as one part. Its barrel, its + // piston and the joints buried inside it are pieces of a ram nobody + // drew and nobody can point at on the canvas. + .filter((link) => this.standsForCylinder(cylinders, link) !== 'hidden') + .map((link) => this.linkPart(link, index, valid, cylinders)); return { index, id: partition.id, @@ -55,6 +62,34 @@ export class ExportCatalogService { /** Nothing solves for a mechanism that does not run, so nothing is on offer. */ private unsolved = (part: ExportPart): ExportPart => ({ ...part, available: false }); + /** The three joints a sealed cylinder keeps to itself: no hitbox, no row. */ + private isInsideCylinder(cylinders: Cylinder[], joint: Joint): boolean { + return cylinders.some( + (cylinder) => + cylinder.barrelNear.id === joint.id || + cylinder.pin.id === joint.id || + cylinder.slider.id === joint.id + ); + } + + /** + * Whether a body is a piece of a cylinder, and if so which piece. + * + * The rod stands for the whole ram — it is the member that moves, and it + * shares the barrel's angle — so it keeps its row under the cylinder's name; + * the barrel and the piston are hidden behind it. + */ + private standsForCylinder(cylinders: Cylinder[], link: Link): 'rod' | 'hidden' | 'none' { + const cylinder = cylinders.find( + (candidate) => + candidate.rod.id === link.id || + candidate.barrel.id === link.id || + candidate.block.id === link.id + ); + if (!cylinder) return 'none'; + return cylinder.rod.id === link.id ? 'rod' : 'hidden'; + } + private jointPart(joint: RealJoint, index: number, withForces: boolean): ExportPart { const notes: string[] = []; if (joint.ground) notes.push('grounded'); @@ -68,17 +103,21 @@ export class ExportCatalogService { id: joint.id, label: `Joint ${joint.name || joint.id}`, note: notes.join(', '), - // A pinned joint stands still, so kinematics has nothing for it; the - // reaction it carries is the whole reason force analysis wants it. - available: withForces || !joint.ground, + // Every joint of a mechanism that solves. A pinned one has a position + // worth writing down and a reaction worth reading, and a list that + // decided for the reader which of those they meant was a list that + // hid parts they had come looking for. + available: true, part: joint, mechanismIndex: index, }; } - private linkPart(link: Link, index: number, valid: boolean): ExportPart { + private linkPart(link: Link, index: number, valid: boolean, cylinders: Cylinder[]): ExportPart { const notes: string[] = []; - if (link instanceof SliderBlock) notes.push('slider block'); + const ram = this.standsForCylinder(cylinders, link) === 'rod'; + if (ram) notes.push('cylinder'); + else if (link instanceof SliderBlock) notes.push('slider block'); if (link.joints.some((joint) => (joint as RealJoint).input)) notes.push('input crank'); if (link instanceof RealLink && link.subset.length > 0) notes.push('compound'); if (this.activeObj.selectedLink?.id === link.id) notes.push('on the grid'); @@ -86,7 +125,7 @@ export class ExportCatalogService { key: `link:${link.id}`, kind: 'link', id: link.id, - label: this.mechanism.bodyLabel(link), + label: ram ? this.cylinderLabel(cylinders, link) : this.mechanism.bodyLabel(link), note: notes.join(', '), available: valid, part: link, @@ -94,6 +133,41 @@ export class ExportCatalogService { }; } + /** `Cylinder AC` — the ram by the two mounts a reader can see. */ + private cylinderLabel(cylinders: Cylinder[], link: Link): string { + const cylinder = cylinders.find((candidate) => candidate.rod.id === link.id)!; + const mounts = + (cylinder.barrelFar.name || cylinder.barrelFar.id) + + (cylinder.rodFar.name || cylinder.rodFar.id); + return `Cylinder ${mounts}`; + } + + /** + * What to call a body anywhere a reader will read it. + * + * A cylinder is one part in this drawer, so its pieces answer to the ram's + * name: a reaction headed `Rod GC` names a body the parts list never offered. + */ + labelFor(link: Link): string { + const cylinders = this.mechanism.sealedStructures(); + const cylinder = cylinders.find( + (candidate) => + candidate.rod.id === link.id || + candidate.barrel.id === link.id || + candidate.block.id === link.id + ); + return cylinder ? this.cylinderLabel(cylinders, cylinder.rod) : this.mechanism.bodyLabel(link); + } + + /** The joints a sealed cylinder keeps to itself, by id. */ + hiddenJointIds(): Set { + return new Set( + this.mechanism + .sealedStructures() + .flatMap((cylinder) => [cylinder.barrelNear.id, cylinder.pin.id, cylinder.slider.id]) + ); + } + /** What a machine is, in the one line the section heading has room for. */ private noteFor(index: number): string { const partition = this.mechanism.partitions[index]; diff --git a/src/app/services/export/export-columns.service.ts b/src/app/services/export/export-columns.service.ts index a39256d2..128b1bee 100644 --- a/src/app/services/export/export-columns.service.ts +++ b/src/app/services/export/export-columns.service.ts @@ -37,12 +37,7 @@ export class ExportColumnsService { private kinematicGroups(parts: ExportPart[]): ExportColumnGroup[] { const groups: ExportColumnGroup[] = []; - // A pinned joint stands still, so it has no kinematics whichever mode it - // was offered in. It is on the list at all because of the reaction it - // carries, and that belongs to the other tab. - const joints = parts.filter( - (part) => part.kind === 'joint' && !(part.part as RealJoint).ground - ); + const joints = parts.filter((part) => part.kind === 'joint'); const links = parts.filter((part) => part.kind === 'link'); const length = this.catalog.unitStr(this.settings.lengthUnit.value); const angle = this.catalog.unitStr(this.settings.angleUnit.value); @@ -79,10 +74,10 @@ export class ExportColumnsService { this.kinematic(links, 'l:angacc', 'Angular acceleration', `${angle}/s²`, [ ['Angular acceleration', 'Angular Link Acc', `${angle}/s²`, 1], ]), - this.kinematic(links, 'l:com', 'Centre of mass', 'pos, vel, acc', [ - ['CoM position', "Linear Link's CoM Pos", length, 2], - ['CoM velocity', "Linear Link's CoM Vel", `${length}/s`, 3], - ['CoM acceleration', "Linear Link's CoM Acc", `${length}/s²`, 3], + this.kinematic(links, 'l:com', 'Center of mass', 'pos, vel, acc', [ + ['Center of mass position', "Linear Link's CoM Pos", length, 2], + ['Center of mass velocity', "Linear Link's CoM Vel", `${length}/s`, 3], + ['Center of mass acceleration', "Linear Link's CoM Acc", `${length}/s²`, 3], ]), ], }); @@ -130,6 +125,9 @@ export class ExportColumnsService { */ private forceGroups(parts: ExportPart[]): ExportColumnGroup[] { const mode = this.settings.forceAnalysisMode.value; + // A reaction at a joint buried inside a sealed cylinder is a force between + // two halves of one part, named after a pin the drawing never shows. + const hidden = this.catalog.hiddenJointIds(); const groups: ExportColumnGroup[] = []; parts.forEach((part) => { const solved = this.mechanism.mechanisms[part.mechanismIndex]; @@ -147,16 +145,18 @@ export class ExportColumnsService { 'Joint Forces' ) ) - : (index.jointsByLink.get(part.id) ?? []).map((jointId) => - this.force( - part, - `Force at ${this.jointName(jointId)}`, - `${this.modeWord()} force on ${part.label} at ${this.jointName(jointId)}`, - jointId, - part.id, - 'Joint Forces' - ) - ); + : (index.jointsByLink.get(part.id) ?? []) + .filter((jointId) => !hidden.has(jointId)) + .map((jointId) => + this.force( + part, + `Force at ${this.jointName(jointId)}`, + `${this.modeWord()} force on ${part.label} at ${this.jointName(jointId)}`, + jointId, + part.id, + 'Joint Forces' + ) + ); if (part.kind === 'joint' && (part.part as RealJoint).input) { const effort = part.part instanceof PrisJoint ? 'Input force' : 'Input torque'; columns.push( @@ -226,7 +226,7 @@ export class ExportColumnsService { /** The same words the panels put on a graph, so the file agrees with them. */ private bodyName(linkId: string): string { const body = this.mechanism.links.find((link) => link.id === linkId); - return body ? this.mechanism.bodyLabel(body) : linkId; + return body ? this.catalog.labelFor(body) : linkId; } private jointName(jointId: string): string { diff --git a/src/app/services/export/export-flow.spec.ts b/src/app/services/export/export-flow.spec.ts index 28fc6a5c..19990780 100644 --- a/src/app/services/export/export-flow.spec.ts +++ b/src/app/services/export/export-flow.spec.ts @@ -87,7 +87,7 @@ describe('the export drawer', () => { beforeAll(() => vi.spyOn(console, 'log').mockImplementation(() => undefined)); afterAll(() => vi.restoreAllMocks()); - it('lists every part of the mechanism, and refuses a grounded joint its kinematics', () => { + it('lists every part of the mechanism, pinned ones included', () => { const { flow } = flowFor(TEMPLATE_LINKAGES['4-Bar']); const parts = flow.partGroups().flatMap((group) => group.parts); expect(parts.map((part) => part.label)).toEqual([ @@ -99,10 +99,12 @@ describe('the export drawer', () => { 'Link BC', 'Link CD', ]); + // A pinned joint says what it is and is offered anyway: it has a position + // worth writing down and a reaction worth reading, and a list that decided + // which of those the reader meant was a list hiding parts they came for. const grounded = parts.find((part) => part.label === 'Joint D')!; expect(grounded.note).toContain('grounded'); - expect(grounded.available).toBe(false); - expect(parts.find((part) => part.label === 'Joint B')!.available).toBe(true); + expect(parts.every((part) => part.available)).toBe(true); }); it('offers a grounded joint once force analysis is set up, for its reaction', () => { @@ -128,7 +130,7 @@ describe('the export drawer', () => { 'Velocity', 'Acceleration', ]); - expect(groups[1].columns.map((column) => column.label)).toContain('Centre of mass'); + expect(groups[1].columns.map((column) => column.label)).toContain('Center of mass'); }); it('writes one row per solved sample, on the mechanism’s own clock', () => { @@ -241,18 +243,17 @@ describe('the export drawer', () => { expect(labels).toContain('slider block'); }); - it('keeps a joint that cannot move out of the kinematics it has none of', () => { - const { flow } = flowFor(LEGACY_FORCE_MECHANISM, { forces: true }); - const grounded = flow - .partGroups() - .flatMap((group) => group.parts) - .filter((part) => part.kind === 'joint' && part.note.includes('grounded')); - expect(grounded.length).toBeGreaterThan(0); - grounded.forEach((part) => flow.togglePart(part)); - // Offered, because of the reaction it carries — and asked nothing about - // position or velocity, which a pinned joint does not have. - expect(flow.columnGroups('kinematics')).toHaveLength(0); - expect(flow.columnGroups('forces').length).toBeGreaterThan(0); + it('stands a sealed cylinder in the list as one part, not as its pieces', () => { + const { flow } = flowFor(TEMPLATE_LINKAGES['Cylinder_Boom']); + const labels = flow.partGroups().flatMap((group) => group.parts.map((part) => part.label)); + + // The ram under the two mounts a reader can point at, and none of the + // barrel, piston or buried pins it is assembled from. + expect(labels.some((label) => label.startsWith('Cylinder '))).toBe(true); + expect(labels.some((label) => label.startsWith('Rod '))).toBe(false); + expect(labels.some((label) => label.startsWith('Barrel '))).toBe(false); + expect(labels.some((label) => label.startsWith('Piston '))).toBe(false); + expect(labels.some((label) => label.startsWith('Block '))).toBe(false); }); it('gives each of a link’s reactions its own tick', () => { diff --git a/src/app/services/export/export-table.service.ts b/src/app/services/export/export-table.service.ts index 030fae73..5948d24f 100644 --- a/src/app/services/export/export-table.service.ts +++ b/src/app/services/export/export-table.service.ts @@ -230,7 +230,15 @@ export class ExportTableService { return ['X', 'Y', 'Mag']; } + /** + * What a column head calls a part. + * + * The label without the word `Link`, rather than the id: a cylinder answers + * to the two mounts a reader can see, and a block to the pin it rides on — + * both of which have ids naming joints that were never drawn. + */ private shortName(part: ExportPart): string { - return part.kind === 'joint' ? (part.part as RealJoint).name || part.id : part.id; + if (part.kind === 'joint') return (part.part as RealJoint).name || part.id; + return part.label.replace(/^Link /, ''); } } diff --git a/src/app/services/export/export-writer.service.ts b/src/app/services/export/export-writer.service.ts index ac0e26f7..6386b780 100644 --- a/src/app/services/export/export-writer.service.ts +++ b/src/app/services/export/export-writer.service.ts @@ -11,8 +11,10 @@ import { ExportFile } from './export-model'; import { ExportPlot, ExportTable, ExportTableService } from './export-table.service'; import { formatCell, toCsv } from './csv-writer'; import { toXlsx, sheetNames } from './xlsx-writer'; +import { utf8, zipStore } from './zip'; import { plotSvg } from './graph-svg'; import { mechanismSvg } from './mechanism-svg'; +import { canvasSnapshot } from './canvas-svg'; import { Measure, ReportSection, reportHtml, reportPages } from './report-html'; const SERIES_COLORS: Record = { @@ -101,15 +103,40 @@ export class ExportWriterService { private writeCsv(tables: ExportTable[]): void { const stem = this.flow.name(); - tables.forEach((table) => - this.hand({ + this.deliver( + tables.map((table) => ({ name: `${this.fileStem(stem, table)}.csv`, mime: 'text/csv;charset=utf-8', text: toCsv(table, this.flow.decimals), - }) + })), + stem ); } + /** + * Hand the files over, as one download where there are more than two. + * + * A browser asks before it will take a second file and stops after a handful, + * so an export of a part each arrived as one CSV and a permission prompt the + * reader had to answer for the rest. One archive is one download. + */ + private deliver(files: ExportFile[], stem: string): void { + if (files.length <= 2) { + files.forEach((file) => this.hand(file)); + return; + } + this.hand({ + name: `${stem}.zip`, + mime: 'application/zip', + bytes: zipStore( + files.map((file) => ({ + name: file.name, + data: file.bytes ?? utf8(file.text ?? ''), + })) + ), + }); + } + private writeWorkbook(tables: ExportTable[]): void { this.hand({ name: `${this.flow.name()}.xlsx`, @@ -120,25 +147,26 @@ export class ExportWriterService { private async writeImages(tables: ExportTable[]): Promise { const width = 720; - const height = 400; - let drawn = 0; + const height = 420; + const logo = await logoDataUrl(); + const files: ExportFile[] = []; for (const table of tables) { for (const plot of table.plots) { - const svg = plotSvg(plot, table.times, { width, height, standalone: true }); + const svg = plotSvg(plot, table.times, { width, height, standalone: true, logo }); const name = `${this.flow.name()}_${safe(plot.title)}`; - if (this.flow.imageFormat === 'svg') { - this.hand({ name: `${name}.svg`, mime: 'image/svg+xml', text: svg }); - } else { - this.hand({ - name: `${name}.png`, - mime: 'image/png', - bytes: await rasterize(svg, width, height), - }); - } - drawn++; + files.push( + this.flow.imageFormat === 'svg' + ? { name: `${name}.svg`, mime: 'image/svg+xml', text: svg } + : { + name: `${name}.png`, + mime: 'image/png', + bytes: await rasterize(svg, width, height), + } + ); } } - return drawn > 0; + this.deliver(files, `${this.flow.name()}_graphs`); + return files.length > 0; } /** Every selected machine, one section each, in one printable document. */ @@ -163,7 +191,12 @@ export class ExportWriterService { const solved = this.mechanism.mechanisms[index]; const group = this.flow.partGroups()[index]; if (!table || !solved || !group) return undefined; - const drawing = mechanismSvg(solved.joints[0] ?? [], solved.links[0] ?? [], 330, 230); + // The canvas itself where there is one, so a slot, a piston and a sealed + // cylinder reach the page as the reader drew them; the skeleton is the + // fallback for a report built without a canvas to copy. + const drawing = + canvasSnapshot(330, 250) ?? + mechanismSvg(solved.joints[0] ?? [], solved.links[0] ?? [], 330, 230); const decimals = this.flow.decimals; return { title: `${this.flow.selectedColumns('forces').length > 0 ? 'Analysis' : 'Kinematic analysis'} — ${group.id}`, @@ -278,6 +311,27 @@ function textMeasure(): Measure | undefined { }; } +/** + * The PMKS+ mark as a data URI, for a picture that has to stand on its own. + * + * Read once per export and given to every graph in it. A failure here is not + * worth refusing an export over: the graph goes out without the mark. + */ +async function logoDataUrl(): Promise { + try { + const response = await fetch(new URL('assets/PMKS_logo.png', document.baseURI).href); + const blob = await response.blob(); + return await new Promise((resolve) => { + const reader = new FileReader(); + reader.onload = () => resolve(String(reader.result)); + reader.onerror = () => resolve(undefined); + reader.readAsDataURL(blob); + }); + } catch { + return undefined; + } +} + /** A picture the browser will draw, as PNG bytes. */ async function rasterize(svg: string, width: number, height: number): Promise { const source = `data:image/svg+xml;charset=utf-8,${encodeURIComponent(svg)}`; diff --git a/src/app/services/export/graph-svg.ts b/src/app/services/export/graph-svg.ts index 92ba687d..b6a2651e 100644 --- a/src/app/services/export/graph-svg.ts +++ b/src/app/services/export/graph-svg.ts @@ -7,6 +7,14 @@ export interface PlotSvgOptions { height: number; /** Whether the picture carries its own title and legend, or a page does. */ standalone: boolean; + /** + * The PMKS+ mark, as a data URI. + * + * Embedded rather than linked: a graph leaves here as a file of its own and + * lands in a report or a slide deck with nothing around it to say what drew + * it, and a picture that reaches for a URL is a picture with a hole in it. + */ + logo?: string; } const COLORS = [ANALYSIS_SERIES_COLORS.X, ANALYSIS_SERIES_COLORS.Y, ANALYSIS_SERIES_COLORS.Z]; @@ -82,6 +90,12 @@ export function plotSvg(plot: ExportPlot, times: number[], options: PlotSvgOptio top + innerHeight + 20 }" text-anchor="end" font-size="11" fill="rgba(0,0,0,0.55)">${lastTime.toFixed(2)} s`; + const mark = + standalone && options.logo + ? `` + : ''; const heading = standalone ? `${escapeXml( plot.title @@ -89,7 +103,8 @@ export function plotSvg(plot: ExportPlot, times: number[], options: PlotSvgOptio `${escapeXml( plot.unit )}` + - legend(plot, left) + legend(plot, left) + + mark : ''; return ( diff --git a/src/app/services/export/report-html.ts b/src/app/services/export/report-html.ts index 2b1f545b..a8fa7e47 100644 --- a/src/app/services/export/report-html.ts +++ b/src/app/services/export/report-html.ts @@ -441,7 +441,11 @@ function styles(): string { return ` @page { size: letter; margin: 0.5in; } * { box-sizing: border-box; } -body { margin: 0; font-family: Roboto, 'Helvetica Neue', Helvetica, Arial, sans-serif; color: #2c2c2c; } +/* A printer drops backgrounds unless it is told not to, which took the colour + out of every legend swatch on the page and left the reader three unnamed + lines. */ +body { margin: 0; font-family: Roboto, 'Helvetica Neue', Helvetica, Arial, sans-serif; color: #2c2c2c; -webkit-print-color-adjust: exact; print-color-adjust: exact; } +* { -webkit-print-color-adjust: exact; print-color-adjust: exact; } .page { width: 7.5in; /* A shade under the 10in a Letter page leaves at half-inch margins. A block @@ -479,7 +483,7 @@ body { margin: 0; font-family: Roboto, 'Helvetica Neue', Helvetica, Arial, sans- .graphTitle { font-size: 12px; font-weight: 500; } .graphLegend { display: flex; align-items: center; gap: 10px; font-size: 11px; color: rgba(0,0,0,0.55); padding: 2px 0 4px; } .graphLegend .spacer { flex: 1 1 auto; } -.swatch { display: inline-block; width: 8px; height: 8px; border-radius: 2px; margin-right: 4px; } +.swatch { display: inline-block; width: 8px; height: 8px; border-radius: 2px; margin-right: 4px; border: 0.5px solid rgba(0,0,0,0.15); } .dataTable { width: 100%; table-layout: fixed; border-collapse: collapse; font-size: 8.5px; font-variant-numeric: tabular-nums; margin-top: 8px; } /* A head is several words and a column is one number wide, so the head wraps rather than setting the width of everything under it. */ diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 5bb47ab3..96648221 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -3360,6 +3360,11 @@ export class MechanismService { return this.mechanismTimeStep === 0; } + /** The same question, for a control that has to say when it would do nothing. */ + isAtStartPose(): boolean { + return this.atStartPose(); + } + /** * Stop playback and draw the start of the cycle. * @@ -3917,7 +3922,7 @@ export class MechanismService { if (this.isInSelectedMechanism(joint)) { return 'joint-selected'; } - if (this.isInHoveredMechanism(joint)) { + if (this.isInHoveredMechanism(joint) || this.isHoveredPart(joint)) { return 'joint-highlight'; } if (joint.showHighlight) { @@ -3979,6 +3984,28 @@ export class MechanismService { */ hoveredMechanismIndex = -1; + /** + * The one part a list elsewhere is pointing at. + * + * The export drawer lists every joint and link by name, and a name is not a + * place: a reader ticking `Joint F` on a Jansen leg has no idea which of + * eleven pins that is. Pointing at the row lights it on the canvas. + * + * Deferred to whatever is selected: a selection is the stronger statement, + * and a hover that repainted over it would take the reader's own mark away + * while they were reading the list beside it. + */ + hoveredPart: Joint | Link | undefined; + + private isHoveredPart(part: Joint | Link): boolean { + return ( + !!this.hoveredPart && + this.hoveredPart.id === part.id && + this.activeObjService.objType !== 'Joint' && + this.activeObjService.objType !== 'Link' + ); + } + private isInHoveredMechanism(part: Joint | Link): boolean { return this.hoveredMechanismIndex >= 0 ? this.isInPartition(part, this.hoveredMechanismIndex) @@ -4014,7 +4041,7 @@ export class MechanismService { if (this.isInSelectedMechanism(link)) { return 'link-selected'; } - if (this.isInHoveredMechanism(link)) { + if (this.isInHoveredMechanism(link) || this.isHoveredPart(link)) { return 'link-hovered'; } return 'link-default'; diff --git a/src/styles.scss b/src/styles.scss index 6ec8b61c..c3a31ab2 100644 --- a/src/styles.scss +++ b/src/styles.scss @@ -63,3 +63,16 @@ p { input { margin: 0; } + +/* A tooltip that carries a paragraph rather than a phrase. Material renders + these into an overlay at the end of the document, so the only place that can + reach one is here. */ +.exportTip { + max-width: 320px !important; +} + +.exportTip .mdc-tooltip__surface { + max-width: 320px !important; + text-align: left; + line-height: 16px; +} diff --git a/src/tests/fixtures/mechanism-fixtures.ts b/src/tests/fixtures/mechanism-fixtures.ts index 0cefb65d..7dd5df3f 100644 --- a/src/tests/fixtures/mechanism-fixtures.ts +++ b/src/tests/fixtures/mechanism-fixtures.ts @@ -72,6 +72,10 @@ export function buildMechanismFixture(payload: string): MechanismFixture { // are all well-proportioned, so the default answer is "nothing to say". // A spec that wants the warning rendered overrides it. cylinderReachWarning: () => undefined, + // Implemented, from the same function the service calls: what counts as a + // cylinder decides which parts a panel offers and which it folds away, so + // a stub here could make a drawer look right about a machine it had wrong. + sealedStructures: () => sealedCylinderStructures(service.joints), // This one is not stubbed but implemented, because a panel that changes // what it shows for a cylinder has to be tested against a real one. It is // the same resolution the service does, over the same joints. From 263fa827fbfc281afe76e2c436f4c214114a2743 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 12:15:37 -0700 Subject: [PATCH 189/236] Point at one thing at a time, and put the report's picture on the machine it is about **The two-coloured dot.** The mark between Select all and Select none was a grey pip inside a lavender ring, because the mass table's legend also calls its marks `.dot` and this one never said `border: none`. It has its own name now, and its own border. **One highlight at a time.** The canvas holds one selection, so a pointed-at row that lit a second part while a joint, a link, a force or a whole machine was already chosen made the drawing say two things at once. The hover now defers to any selection at all. **And worth seeing when it is the only one.** A pointed-at part took the same pale tint the transport uses to say which machine is which -- a change a reader had to hunt for across the width of the window when the question is "which of these eleven pins". It takes the accent outright now, elevated so it lifts off whatever it overlaps. A sealed cylinder answers too: the list offers the ram as one part and the canvas draws it as a barrel, a block and a rod under one silhouette, so pointing at the row lights the silhouette whichever piece the mark is built around. **The drawer kept its footer on screen.** A card taller than the drawer held its full height and let the frame scroll instead, which carried Back and Next off the bottom of the window. The card shrinks now, so the list is what scrolls; and the drawer is capped against the window rather than against the page, which is the same number until something else makes the document taller than the viewport. **Step 2** puts Analysis type in the band beside Components to export, above the footer, where both are always in view -- and at a size that fits `Static (Equilibrium)` beside `In-motion (Dynamic)` on one line. **Step 3** was breathing twice as hard as it needed to; its rows are half the gap apart. **The graph mark** moved from the bottom right, where it sat on top of the last axis label, to the top left ahead of the title, which is where the space was. **The report's picture is now the machine the report is about.** It framed the whole canvas, so a drawing with three machines put the same crowd on all three first pages and the one being reported on was a fifth of the box. The frame is set on the joints of that one machine, which also makes it fill the page. And its ground marks and input arrows are no longer broken-image squares: the canvas reaches for those with paths relative to the app, and the report is its own document with its own base. **Nothing re-solves a cycle to count a column.** Every number the drawer states before Export -- columns, rows, files -- is now arithmetic over the selection, so a tick takes twelve milliseconds instead of a full solve. Only the printed page count still samples, because a page holds as many columns as its numbers are wide, and how wide they are is a property of the values. The two are held to each other by a spec: the forecast must name the same files, with the same suffixes and the same heads, as the writer goes on to produce. And the Export button turns a spinner while it works, after yielding a frame so the spinner is painted before the main thread goes away. Co-Authored-By: Claude Fable 5 --- e2e/export-flow.mjs | 34 +++++- .../export-panel/export-panel.component.html | 72 ++++++----- .../export-panel/export-panel.component.scss | 58 +++++++-- .../export-panel/export-panel.component.ts | 4 + .../new-grid/new-grid.component.html | 3 +- .../new-grid/new-grid.component.scss | 16 +++ .../component/new-grid/new-grid.component.ts | 7 +- .../right-panel/right-panel.component.scss | 6 +- src/app/services/export/canvas-svg.ts | 78 +++++++++++- src/app/services/export/export-flow.spec.ts | 24 ++++ .../services/export/export-table.service.ts | 113 ++++++++++++++---- .../services/export/export-writer.service.ts | 58 +++++---- src/app/services/export/graph-svg.ts | 10 +- src/app/services/mechanism.service.ts | 45 +++++-- 14 files changed, 425 insertions(+), 103 deletions(-) diff --git a/e2e/export-flow.mjs b/e2e/export-flow.mjs index db449695..cec5c5fc 100644 --- a/e2e/export-flow.mjs +++ b/e2e/export-flow.mjs @@ -301,7 +301,7 @@ record( // --- the list is a way into the drawing ------------------------------------- const lit = () => - page.evaluate(() => document.querySelectorAll('.joint-highlight, .link-hovered').length); + page.evaluate(() => document.querySelectorAll('.joint-pointed, .link-pointed').length); await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); await page.waitForTimeout(600); await openDrawer(); @@ -348,6 +348,17 @@ record( cylinderParts ); +// A ram is drawn as one silhouette over a barrel, a block and a rod, so +// pointing at its row has to light that silhouette rather than one piece. +await drawer().locator('.pickRow', { hasText: 'Cylinder' }).first().hover(); +await page.waitForTimeout(400); +record( + 'and pointing at it lights the whole ram on the grid', + (await page.evaluate(() => document.querySelectorAll('.link-pointed').length)) > 0 +); +await page.mouse.move(700, 500); +await page.waitForTimeout(300); + // --- more than two files arrive as one download ----------------------------- await drawer().locator('.linkButton', { hasText: 'Select all' }).click(); await page.waitForTimeout(300); @@ -393,7 +404,9 @@ const geometry = await drawer().evaluate((panel) => { headBottom: head.getBoundingClientRect().bottom, firstStickyTop: panel.querySelector('.mechHead').getBoundingClientRect().top, footTop: foot.getBoundingClientRect().top, + footBottom: foot.getBoundingClientRect().bottom, bodyBottom: body.getBoundingClientRect().bottom, + window: window.innerHeight, }; }); record( @@ -404,6 +417,25 @@ record( geometry ); await page.waitForTimeout(300); +record( + 'and the footer it holds stays on screen, however long the list is', + geometry.footBottom > 0 && geometry.footBottom <= geometry.window, + geometry +); +// One mark, one colour: this used to be a grey pip inside the mass table's +// lavender ring, because both were called `.dot`. +const separator = await drawer() + .locator('.pickSep') + .first() + .evaluate((mark) => ({ + border: getComputedStyle(mark).borderTopWidth, + fill: getComputedStyle(mark).backgroundColor, + })); +record( + 'and the mark between Select all and Select none is one solid dot', + separator.border === '0px' && separator.fill.startsWith('rgba(0, 0, 0'), + separator +); record( 'and the head says so, with the shadow the panels already use', await drawer().evaluate((panel) => { diff --git a/src/app/component/export-panel/export-panel.component.html b/src/app/component/export-panel/export-panel.component.html index 6597fcef..230809cb 100644 --- a/src/app/component/export-panel/export-panel.component.html +++ b/src/app/component/export-panel/export-panel.component.html @@ -46,11 +46,11 @@ @if (flow.step === 1) { - + } @else { - + }
    @@ -67,7 +67,7 @@ {{ groupNote(group) }} - +
    @@ -103,23 +103,6 @@ } @if (flow.step === 2) { - @if (flow.tab === 'forces') { -
    - Analysis type - -
    - @for (mode of ['static', 'dynamic']; track mode) { - - } -
    -
    - } - @for (group of flow.columnGroups(); track group.key) {
    {{ group.title }}
    @@ -278,16 +261,38 @@ - @if (flow.step === 2 && hasMagnitude()) { + @if (flow.step === 2 && (hasMagnitude() || flow.tab === 'forces')) {
    - Components to export - -
    - - -
    + @if (flow.tab === 'forces') { +
    + Analysis type + +
    + @for (mode of ['static', 'dynamic']; track mode) { + + } +
    +
    + } + @if (hasMagnitude()) { +
    + Components to export + +
    + + +
    +
    + }
    } @@ -304,8 +309,13 @@ - - help_outline
    }
    @@ -319,7 +312,7 @@ [class.on]="flow.forceMode() === mode" (click)="flow.setForceMode($any(mode))" > - {{ mode === 'static' ? 'Static (Equilibrium)' : 'In-motion (Dynamic)' }} + {{ mode === 'static' ? 'Static' : 'In-motion' }} }
    diff --git a/src/app/component/export-panel/export-panel.component.scss b/src/app/component/export-panel/export-panel.component.scss index 87d519bb..b3e8b719 100644 --- a/src/app/component/export-panel/export-panel.component.scss +++ b/src/app/component/export-panel/export-panel.component.scss @@ -434,13 +434,13 @@ .formatRow { display: flex; - align-items: center; + align-items: flex-start; gap: 8px; } .formatPick { display: flex; - align-items: center; + align-items: flex-start; justify-content: flex-start; gap: 10px; flex: 1 1 auto; @@ -468,16 +468,13 @@ } } - .formatRow .label-help { - margin-top: 2px; - } - .radio { display: flex; align-items: center; justify-content: center; width: 18px; height: 18px; + margin-top: 2px; border: 2px solid rgba(0, 0, 0, 0.54); border-radius: 50%; box-sizing: border-box; @@ -496,11 +493,22 @@ background: #fff; } + .formatText { + display: flex; + flex-direction: column; + gap: 1px; + } + .formatName { font-size: 14px; color: #2c2c2c; } + .formatNote { + font-size: 12px; + color: rgba(0, 0, 0, 0.55); + } + .settingBlock { display: flex; flex-direction: column; diff --git a/src/app/component/export-panel/export-panel.component.ts b/src/app/component/export-panel/export-panel.component.ts index b8669777..3ba7103c 100644 --- a/src/app/component/export-panel/export-panel.component.ts +++ b/src/app/component/export-panel/export-panel.component.ts @@ -55,30 +55,34 @@ export class ExportPanelComponent implements OnInit, OnDestroy { { number: 3, name: 'File' }, ]; - readonly formats: { key: ExportFormat; name: string; about: string }[] = [ + /** + * The four ways out, each with the line that says what it is for. + * + * A sentence apiece rather than a mark to press: there are only four, they + * are read together while choosing between them, and a tooltip that has to + * be hunted for four times is a worse way to compare them than four lines + * already on the page. + */ + readonly formats: { key: ExportFormat; name: string; note: string }[] = [ { key: 'csv', name: 'CSV', - about: - 'A plain text table: the first row names the columns, and every row after it is one solved position. Opens in any spreadsheet and reads into any script. One file per machine, or one per part; more than two arrive as a zip.', + note: 'One time column, one per series.', }, { key: 'xlsx', name: 'Excel workbook', - about: - 'One .xlsx holding the same numbers on separate sheets — kinematics and forces apart, or a sheet per part — so several series can be charted together without pasting between files. Written here rather than exported through Excel, so no add-in is needed.', + note: 'Sheets by analysis or by part, for charting.', }, { key: 'images', name: 'Graph images', - about: - 'A picture of every graph the selection asks for, drawn at the size it is plotted, with the PMKS+ mark on it. SVG stays sharp at any size and can be edited; PNG drops into a document that will not take a vector. More than two arrive as a zip.', + note: 'PNG or SVG per graph.', }, { key: 'report', name: 'Report (PDF)', - about: - 'A printable document: the mechanism as drawn, what it was solved under, its graphs, and every row the CSV would have held. Opens the print dialog, where “Save as PDF” writes the file. The share link is on every page, so a report leads back to the mechanism that made it.', + note: 'The mechanism, the graphs and the table.', }, ]; diff --git a/src/app/component/playback-bar/playback-bar.component.scss b/src/app/component/playback-bar/playback-bar.component.scss index d09b5f13..89d9daf8 100644 --- a/src/app/component/playback-bar/playback-bar.component.scss +++ b/src/app/component/playback-bar/playback-bar.component.scss @@ -134,28 +134,27 @@ } } - // Filled, like play, and only a little smaller: it is the other half of the - // same question, and left as an outline it read as a hint rather than as a - // control -- at rest it was a glyph on nothing beside a solid indigo block. + // The same button as the speed control on its other side: forty square, one + // corner, no fill until it is pointed at. Play is the only filled thing in + // the cluster, which is what makes it the one you press. .stopButton { display: flex; align-items: center; justify-content: center; - width: 36px; - height: 36px; + width: 40px; + height: 40px; padding: 0; border: none; border-radius: 6px; - background: #eceef5; + background: transparent; color: #5f6368; cursor: pointer; &:hover:not(:disabled) { - background: #dcdfe9; + background: rgba(0, 0, 0, 0.04); } &:disabled { - background: #f4f5f9; color: #c8cad3; cursor: default; } diff --git a/src/app/services/export/export-catalog.service.ts b/src/app/services/export/export-catalog.service.ts index b0ff62ba..b224a53e 100644 --- a/src/app/services/export/export-catalog.service.ts +++ b/src/app/services/export/export-catalog.service.ts @@ -33,7 +33,7 @@ export class ExportCatalogService { const joints = partition.ownJoints .filter((joint): joint is RealJoint => joint instanceof RealJoint) .filter((joint) => !this.isInsideCylinder(cylinders, joint)) - .map((joint) => this.jointPart(joint, index, withForces)); + .map((joint) => this.jointPart(joint, partition.id, index, withForces)); // Blocks as well as bars. A slider's block is a body the solver weighs // and balances like any other, and leaving it off the list put its // reactions out of reach of an export that offers everything else. @@ -46,7 +46,7 @@ export class ExportCatalogService { // piston and the joints buried inside it are pieces of a ram nobody // drew and nobody can point at on the canvas. .filter((link) => this.standsForCylinder(cylinders, link) !== 'hidden') - .map((link) => this.linkPart(link, index, valid, cylinders)); + .map((link) => this.linkPart(link, partition.id, index, valid, cylinders)); return { index, id: partition.id, @@ -88,7 +88,12 @@ export class ExportCatalogService { return cylinder.rod.id === link.id ? 'rod' : 'hidden'; } - private jointPart(joint: RealJoint, index: number, withForces: boolean): ExportPart { + private jointPart( + joint: RealJoint, + machine: string, + index: number, + withForces: boolean + ): ExportPart { const notes: string[] = []; if (joint.ground) notes.push('grounded'); if (joint.input) notes.push('input'); @@ -96,7 +101,11 @@ export class ExportCatalogService { if (joint.showCurve) notes.push('tracer point'); if (this.mechanism.isSelectedJoint(joint)) notes.push('on the grid'); return { - key: `joint:${joint.id}`, + // Qualified by machine, because a joint can belong to two of them: a + // chain bolted to another's ground shares that pin, and keyed by its + // letter alone, ticking it under one machine ticked it under both -- + // which wrote a file for a machine the reader had not asked about. + key: `${machine}|joint:${joint.id}`, kind: 'joint', id: joint.id, label: `Joint ${joint.name || joint.id}`, @@ -111,7 +120,13 @@ export class ExportCatalogService { }; } - private linkPart(link: Link, index: number, valid: boolean, cylinders: Cylinder[]): ExportPart { + private linkPart( + link: Link, + machine: string, + index: number, + valid: boolean, + cylinders: Cylinder[] + ): ExportPart { const notes: string[] = []; const ram = this.standsForCylinder(cylinders, link) === 'rod'; if (ram) notes.push('cylinder'); @@ -120,7 +135,7 @@ export class ExportCatalogService { if (link instanceof RealLink && link.subset.length > 0) notes.push('compound'); if (this.mechanism.isSelectedBody(link)) notes.push('on the grid'); return { - key: `link:${link.id}`, + key: `${machine}|link:${link.id}`, kind: 'link', id: link.id, label: ram ? this.cylinderLabel(cylinders, link) : this.mechanism.bodyLabel(link), diff --git a/src/app/services/export/export-flow.spec.ts b/src/app/services/export/export-flow.spec.ts index 4da808fd..a36facbb 100644 --- a/src/app/services/export/export-flow.spec.ts +++ b/src/app/services/export/export-flow.spec.ts @@ -243,6 +243,17 @@ describe('the export drawer', () => { expect(labels).toContain('slider block'); }); + it('keys a part by its machine, so a shared joint is two rows and two ticks', () => { + const { flow } = flowFor(TEMPLATE_LINKAGES['4-Bar']); + const parts = flow.partGroups().flatMap((group) => group.parts); + // A chain bolted to another machine's ground shares that pin and is listed + // under both. Keyed by its letter alone, ticking it under one machine + // ticked it under the other, and the export wrote a file for a machine the + // reader had not asked about. + expect(parts.every((part) => part.key.startsWith('M1|'))).toBe(true); + expect(new Set(parts.map((part) => part.key)).size).toBe(parts.length); + }); + it('stands a sealed cylinder in the list as one part, not as its pieces', () => { const { flow } = flowFor(TEMPLATE_LINKAGES['Cylinder_Boom']); const labels = flow.partGroups().flatMap((group) => group.parts.map((part) => part.label)); diff --git a/src/app/services/export/export-model.ts b/src/app/services/export/export-model.ts index 4561245a..163967c9 100644 --- a/src/app/services/export/export-model.ts +++ b/src/app/services/export/export-model.ts @@ -15,7 +15,12 @@ export type ColumnTab = 'kinematics' | 'forces'; /** One tickable row of step 1: a joint or a link of one mechanism. */ export interface ExportPart { - /** Unique across the drawing, and stable across rebuilds: `joint:A`. */ + /** + * Unique across the drawing: `M1|joint:A`. + * + * Qualified by machine, because a joint can belong to two of them — a chain + * bolted to another's ground shares that pin, and it is listed under both. + */ key: string; kind: PartKind; id: string; From 18916df83da5393cc1c5669074169a6647b7d656 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 16:56:56 -0700 Subject: [PATCH 193/236] Give every picture its own name, and break a graph where the solver did Two from GPT-5.6 sol's merge pass, both found by probe rather than by reading. **Eight pictures, five names.** A joint two machines share is `Position of Joint D` under either of them, and a graph image was named from its title alone -- so exporting that joint from both machines put eight entries in an archive under five names, and every unzipper writes one over the other. A picture went missing with nothing anywhere saying so. The machine is in the name now, wherever there is more than one; and every export that hands over several files at once runs them past a uniqueness check first, because a name built to differ is a plan and this is what catches the case nobody thought of. **A line drawn straight through the positions it has no answer for.** Where a force analysis cannot balance a frame the series has a hole in it, which the panel's own chart draws as a break. The exported picture filtered the missing points out and joined what was left, so the graph ran smoothly across exactly the stretch it knows nothing about. It is a line per unbroken run now, and a dot where a run is a single point. Co-Authored-By: Claude Fable 5 --- e2e/export-flow.mjs | 31 ++++++++++++- src/app/services/export/export-flow.spec.ts | 23 ++++++++++ .../services/export/export-writer.service.ts | 39 +++++++++++++++-- src/app/services/export/graph-svg.ts | 43 +++++++++++++++---- 4 files changed, 121 insertions(+), 15 deletions(-) diff --git a/e2e/export-flow.mjs b/e2e/export-flow.mjs index 9b56c659..6c8c1f8c 100644 --- a/e2e/export-flow.mjs +++ b/e2e/export-flow.mjs @@ -453,8 +453,35 @@ record( await drawer().locator('.summaryCard').innerText() ); -// Back to the parts, for the next question — this drawing has two machines and -// enough parts between them to need an archive. +// Both machines' copies of the shared joint, as pictures. `Position of Joint D` +// is the title under either of them, and two entries of one name in one archive +// is one picture quietly writing over the other. +await drawer().locator('.backButton').click(); +await page.waitForTimeout(300); +await drawer().locator('.backButton').click(); +await page.waitForTimeout(300); +await drawer().locator('.pickRow', { hasText: 'Joint D' }).nth(1).click(); +await page.waitForTimeout(300); +await page.locator('.nextButton').click(); +await page.waitForTimeout(400); +await page.locator('.nextButton').click(); +await page.waitForTimeout(300); +await drawer().locator('.formatRow', { hasText: 'Graph images' }).click(); +await page.waitForTimeout(200); +await drawer().locator('.segmented button', { hasText: 'SVG' }).click(); +await page.waitForTimeout(300); +const shared = await grab(() => page.locator('.nextButton').click()); +const inArchive = readStoredZip(readFileSync(shared.path)).map((entry) => entry.name); +record( + 'and a joint exported from both machines gives a picture each, under names of their own', + inArchive.length > 2 && new Set(inArchive).size === inArchive.length, + inArchive +); + +// Back to the parts, and back to CSV, for the next question — this drawing has +// two machines and enough parts between them to need an archive. +await drawer().locator('.formatRow', { hasText: 'CSV' }).click(); +await page.waitForTimeout(300); await drawer().locator('.backButton').click(); await page.waitForTimeout(300); await drawer().locator('.backButton').click(); diff --git a/src/app/services/export/export-flow.spec.ts b/src/app/services/export/export-flow.spec.ts index a36facbb..ed713a8b 100644 --- a/src/app/services/export/export-flow.spec.ts +++ b/src/app/services/export/export-flow.spec.ts @@ -403,6 +403,29 @@ describe('what the export is written as', () => { expect(sheet.match(/ { + const { table } = sample(); + const plot = table.plots.find((candidate) => candidate.head.startsWith('Velocity'))!; + const gapped = { + ...plot, + series: [ + { + name: 'X', + values: plot.series[0].values.map((value, at) => + at > 100 && at < 140 ? Number.NaN : value + ), + }, + ], + }; + const svg = plotSvg(gapped, table.times, { width: 640, height: 360, standalone: true }); + // Two runs, two lines. Joined into one, the picture drew a straight line + // through exactly the positions it has no answer for -- where the panel's + // own chart leaves a hole. + expect(svg.match(/ { const { table } = sample(); const plot = table.plots.find((candidate) => candidate.head.startsWith('Velocity'))!; diff --git a/src/app/services/export/export-writer.service.ts b/src/app/services/export/export-writer.service.ts index 51bc6ac0..c6e5c61e 100644 --- a/src/app/services/export/export-writer.service.ts +++ b/src/app/services/export/export-writer.service.ts @@ -132,15 +132,16 @@ export class ExportWriterService { * reader had to answer for the rest. One archive is one download. */ private deliver(files: ExportFile[], stem: string): void { - if (files.length <= 2) { - files.forEach((file) => this.hand(file)); + const named = distinctNames(files); + if (named.length <= 2) { + named.forEach((file) => this.hand(file)); return; } this.hand({ name: `${stem}.zip`, mime: 'application/zip', bytes: zipStore( - files.map((file) => ({ + named.map((file) => ({ name: file.name, data: file.bytes ?? utf8(file.text ?? ''), })) @@ -164,7 +165,11 @@ export class ExportWriterService { for (const table of tables) { for (const plot of table.plots) { const svg = plotSvg(plot, table.times, { width, height, standalone: true, logo }); - const name = `${this.flow.name()}_${safe(plot.title)}`; + // The machine, where there is more than one: a joint shared by two of + // them is `Position of Joint D` in both, and two entries of one name in + // one archive is one picture that quietly replaces the other. + const machine = tables.length > 1 ? `${table.name}_` : ''; + const name = `${this.flow.name()}_${machine}${safe(plot.title)}`; files.push( this.flow.imageFormat === 'svg' ? { name: `${name}.svg`, mime: 'image/svg+xml', text: svg } @@ -333,6 +338,32 @@ function textMeasure(): Measure | undefined { }; } +/** + * Make sure no two files going out together share a name. + * + * A zip will hold two entries of one name quite happily, and every unzipper + * then writes one over the other -- so a picture goes missing with nothing + * anywhere saying it did. The last resort rather than the plan: the names are + * built to differ, and this is what catches the case nobody thought of. + */ +function distinctNames(files: ExportFile[]): ExportFile[] { + const used = new Set(); + return files.map((file) => { + if (!used.has(file.name)) { + used.add(file.name); + return file; + } + const dot = file.name.lastIndexOf('.'); + const stem = dot > 0 ? file.name.slice(0, dot) : file.name; + const suffix = dot > 0 ? file.name.slice(dot) : ''; + let at = 2; + while (used.has(`${stem}_${at}${suffix}`)) at++; + const name = `${stem}_${at}${suffix}`; + used.add(name); + return { ...file, name }; + }); +} + /** * The PMKS+ mark as a data URI, for a picture that has to stand on its own. * diff --git a/src/app/services/export/graph-svg.ts b/src/app/services/export/graph-svg.ts index 3223d8b1..2bcc9cec 100644 --- a/src/app/services/export/graph-svg.ts +++ b/src/app/services/export/graph-svg.ts @@ -67,17 +67,26 @@ export function plotSvg(plot: ExportPlot, times: number[], options: PlotSvgOptio ) .join(''); + // A line per unbroken run, not one line through every point there is. Where + // the solver has nothing to say -- a position a force analysis could not + // balance -- the panel's own chart breaks, and a picture that joined the two + // ends drew a straight line through the very positions it has no answer for. const curves = plot.series .map((series, at) => { - const points = series.values - .map((value, index) => - Number.isFinite(value) ? `${round(x(index))},${round(y(value))}` : '' - ) - .filter(Boolean) - .join(' '); - return ``; + const colour = COLORS[at] ?? COLORS[0]; + return runsOf(series.values) + .map((run) => { + const points = run + .map((index) => `${round(x(index))},${round(y(series.values[index]))}`) + .join(' '); + // A run of one has no line in it; a dot is what the panel leaves. + return run.length === 1 + ? `` + : ``; + }) + .join(''); }) .join(''); @@ -138,6 +147,22 @@ function legend(plot: ExportPlot, left: number): string { .join(''); } +/** The stretches of a series the solver actually answered for, as index runs. */ +function runsOf(values: number[]): number[][] { + const runs: number[][] = []; + let run: number[] = []; + values.forEach((value, index) => { + if (Number.isFinite(value)) { + run.push(index); + return; + } + if (run.length > 0) runs.push(run); + run = []; + }); + if (run.length > 0) runs.push(run); + return runs; +} + /** A little air above and below, so a flat line is not drawn on the frame. */ function pad(low: number, high: number): [number, number] { if (low === high) { From 5f0ccd36430eab92c55f7f88a71506bfb8a06b05 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 17:26:23 -0700 Subject: [PATCH 194/236] Ask the three positions for every four-bar they admit, not just one Three positions of a rigid body fix three positions of every point on it, and three points determine a circle -- so the centre of that circle is a ground pivot the point can be pinned to. Synthesis has always done that twice, for the two ends of the end-effector link, which is why it has always had exactly one answer. The coupler does not have to be pinned at the ends. Sliding the two pins along the link, or past it, moves both circle centres and gives a genuinely different machine through the same three positions. Enumerating those turns synthesis from "here is the answer" into "here are the answers, compare them". Each one is then asked the question the construction cannot answer for itself. It closes at all three positions by definition; whether it reaches all three on *one assembly* is a different matter, and a linkage that has to be taken apart between two of them is useless as a machine however exactly it fits. That is a branch defect, and it is the first thing a reader comparing candidates needs to be told. Co-Authored-By: Claude Opus 5 --- .../synthesis/synthesis-candidates.spec.ts | 227 +++++++++ .../synthesis/synthesis-candidates.ts | 437 ++++++++++++++++++ 2 files changed, 664 insertions(+) create mode 100644 src/app/services/synthesis/synthesis-candidates.spec.ts create mode 100644 src/app/services/synthesis/synthesis-candidates.ts diff --git a/src/app/services/synthesis/synthesis-candidates.spec.ts b/src/app/services/synthesis/synthesis-candidates.spec.ts new file mode 100644 index 00000000..3c214a43 --- /dev/null +++ b/src/app/services/synthesis/synthesis-candidates.spec.ts @@ -0,0 +1,227 @@ +import { Coord } from '../../model/coord'; +import { MODEL_SCALE } from '../../model/render-scale'; +import { + POSE_TOLERANCE, + PosePoint, + circumcenter, + drivenFromFarPin, + enumerateCandidates, + rankCandidates, + solveFourBar, +} from './synthesis-candidates'; + +/** + * Three positions of a rigid body fix three positions of every point on it, + * and three points determine a circle -- so every pair of points on the + * end-effector link names a four-bar that closes exactly at all three. These + * check that the enumeration finds those, tells the ones that are the same + * machine apart from the ones that are not, and is honest about the one thing + * the construction cannot promise: that all three can be reached without + * taking the linkage apart. + */ + +const S = MODEL_SCALE; +const LENGTH = 5 * S; + +/** A position of the link: a back end, and a front end LENGTH away at theta. */ +function pose(x: number, y: number, degrees: number): PosePoint { + const t = (degrees * Math.PI) / 180; + return { + back: new Coord(x * S, y * S), + front: new Coord(x * S + LENGTH * Math.cos(t), y * S + LENGTH * Math.sin(t)), + }; +} + +/** + * Three positions that are genuinely a motion. + * + * The back ends must not be collinear and neither must the fronts: three + * points on a line have no circle through them, which is the one case the + * construction has no answer for -- and it is easy to write by accident, which + * is what the straight-line case below checks deliberately. + */ +const MOTION: PosePoint[] = [pose(0, 0, 0), pose(4, 2, 25), pose(7, 7, 50)]; + +function distance(a: Coord, b: Coord): number { + return Math.hypot(b.x - a.x, b.y - a.y); +} + +describe('circumcenter', () => { + it('is the same distance from all three points', () => { + const p1 = new Coord(0, 0); + const p2 = new Coord(4 * S, 1 * S); + const p3 = new Coord(1 * S, 5 * S); + const centre = circumcenter(p1, p2, p3)!; + expect(centre).not.toBeNull(); + expect(distance(centre, p2)).toBeCloseTo(distance(centre, p1), 3); + expect(distance(centre, p3)).toBeCloseTo(distance(centre, p1), 3); + }); + + it('has no answer for three points on one line', () => { + expect( + circumcenter(new Coord(0, 0), new Coord(1 * S, 1 * S), new Coord(2 * S, 2 * S)) + ).toBeNull(); + }); +}); + +describe('enumerateCandidates', () => { + it('pinned to the link ends, finds the two assemblies of one construction', () => { + const { candidates } = enumerateCandidates({ + poses: MOTION, + length: LENGTH, + endsOnly: true, + }); + expect(candidates.length).toBe(2); + expect(candidates[0].pair).toBe(candidates[1].pair); + expect([candidates[0].branch, candidates[1].branch].sort()).toEqual(['Crossed', 'Open']); + }); + + it('pinned to the link ends, the coupler is the length that was typed', () => { + const { candidates } = enumerateCandidates({ + poses: MOTION, + length: LENGTH, + endsOnly: true, + }); + candidates.forEach((c) => expect(c.d).toBeCloseTo(LENGTH, 3)); + }); + + it('closes exactly at every position it says it reaches', () => { + const { candidates } = enumerateCandidates({ + poses: MOTION, + length: LENGTH, + endsOnly: true, + }); + candidates.forEach((cand) => { + cand.onBranch.forEach((reached, i) => { + if (!reached) return; + const solved = solveFourBar(cand, cand.thetas[i], cand.sign)!; + expect(solved).not.toBeNull(); + expect(distance(solved.B, cand.ptsA[i])).toBeLessThan(POSE_TOLERANCE); + expect(distance(solved.C, cand.ptsB[i])).toBeLessThan(POSE_TOLERANCE); + }); + }); + }); + + it('calls a candidate defect-free exactly when all three are on one assembly', () => { + const { candidates } = enumerateCandidates({ + poses: MOTION, + length: LENGTH, + endsOnly: true, + }); + candidates.forEach((c) => { + expect(c.defectFree).toBe(c.onBranchCount === 3); + expect(c.onBranchCount).toBe(c.onBranch.filter(Boolean).length); + }); + }); + + it('the crank and rocker are the radii the construction solved for', () => { + const { candidates } = enumerateCandidates({ + poses: MOTION, + length: LENGTH, + endsOnly: true, + }); + candidates.forEach((c) => { + expect(distance(c.A, c.ptsA[0])).toBeCloseTo(c.r1, 3); + expect(distance(c.A, c.ptsA[2])).toBeCloseTo(c.r1, 3); + expect(distance(c.D, c.ptsB[0])).toBeCloseTo(c.r2, 3); + expect(distance(c.D, c.ptsB[2])).toBeCloseTo(c.r2, 3); + }); + }); + + it('letting the pins slide finds machines the ends alone cannot', () => { + const ends = enumerateCandidates({ poses: MOTION, length: LENGTH, endsOnly: true }); + const slid = enumerateCandidates({ poses: MOTION, length: LENGTH, endsOnly: false }); + expect(slid.candidates.length).toBeGreaterThan(ends.candidates.length); + // And they are different machines, not the same one listed again. + const couplers = new Set(slid.candidates.map((c) => Math.round(c.d))); + expect(couplers.size).toBeGreaterThan(1); + }); + + it('finds nothing when the three positions lie on one line', () => { + const straight = [pose(0, 0, 0), pose(3, 3, 0), pose(6, 6, 0)]; + const { candidates, rejections } = enumerateCandidates({ + poses: straight, + length: LENGTH, + endsOnly: true, + }); + expect(candidates.length).toBe(0); + expect(rejections.degenerate).toBeGreaterThan(0); + }); + + it('keeps only the linkages whose ground pivots fall inside the region', () => { + const all = enumerateCandidates({ poses: MOTION, length: LENGTH, endsOnly: false }); + expect(all.candidates.length).toBeGreaterThan(0); + const region = { x: -100 * S, y: -100 * S, w: 1 * S, h: 1 * S }; + const boxed = enumerateCandidates({ + poses: MOTION, + length: LENGTH, + endsOnly: false, + region, + }); + expect(boxed.candidates.length).toBe(0); + expect(boxed.rejections.outsideRegion).toBeGreaterThan(0); + }); + + it('never offers a construction that cannot be closed at position 1', () => { + const { candidates } = enumerateCandidates({ + poses: MOTION, + length: LENGTH, + endsOnly: false, + }); + candidates.forEach((c) => { + expect(isFinite(c.errors[0]) || c.onBranchCount > 0).toBe(true); + }); + }); +}); + +describe('rankCandidates', () => { + it('puts the defect-free ones first and names them in order', () => { + const { candidates } = enumerateCandidates({ + poses: MOTION, + length: LENGTH, + endsOnly: false, + }); + const ranked = rankCandidates(candidates); + expect(ranked.length).toBeGreaterThan(0); + expect(ranked.length).toBeLessThanOrEqual(8); + expect(ranked[0].name).toBe('A'); + ranked.forEach((c, i) => { + if (i === 0) return; + const before = ranked[i - 1]; + expect(Number(before.defectFree)).toBeGreaterThanOrEqual(Number(c.defectFree)); + }); + }); +}); + +describe('drivenFromFarPin', () => { + it('reads the same four bars from the other end', () => { + const { candidates } = enumerateCandidates({ + poses: MOTION, + length: LENGTH, + endsOnly: true, + }); + const original = candidates[0]; + const swapped = drivenFromFarPin(original); + expect(swapped.A).toEqual(original.D); + expect(swapped.D).toEqual(original.A); + expect(swapped.r1).toBeCloseTo(original.r2, 6); + expect(swapped.r2).toBeCloseTo(original.r1, 6); + // Same machine, so the same four lengths -- only the input has moved. + expect(swapped.d).toBeCloseTo(original.d, 6); + expect(swapped.g).toBeCloseTo(original.g, 6); + }); + + it('leaves the original untouched', () => { + const { candidates } = enumerateCandidates({ + poses: MOTION, + length: LENGTH, + endsOnly: true, + }); + const original = candidates[0]; + const before = { r1: original.r1, r2: original.r2, sign: original.sign }; + drivenFromFarPin(original); + expect(original.r1).toBe(before.r1); + expect(original.r2).toBe(before.r2); + expect(original.sign).toBe(before.sign); + }); +}); diff --git a/src/app/services/synthesis/synthesis-candidates.ts b/src/app/services/synthesis/synthesis-candidates.ts new file mode 100644 index 00000000..f6d39d87 --- /dev/null +++ b/src/app/services/synthesis/synthesis-candidates.ts @@ -0,0 +1,437 @@ +import { Coord } from 'src/app/model/coord'; +import { MODEL_SCALE } from 'src/app/model/render-scale'; + +/** + * Every four-bar that carries a coupler through three given positions. + * + * Three positions of a rigid body fix, for any point on that body, three + * positions of that point -- and three points determine a circle. So the + * centre of that circle is a ground pivot the point can be pinned to, and the + * radius is the link that holds it. Do that for two points on the body and the + * result is a four-bar that closes exactly at all three positions. + * + * That construction has exactly one answer per pair of points, which is why + * synthesis used to produce exactly one linkage: the two points it used were + * the ends of the end-effector link. But the coupler does not have to be + * pinned at the ends. Sliding the two pins along the link -- or past it -- + * moves both circle centres and gives a genuinely different machine through + * the same three positions. Enumerating those is what turns synthesis from + * "here is the answer" into "here are the answers, compare them". + * + * Everything in this file is in model units (render-scale.ts), like the rest + * of the geometry the app computes with, and knows nothing about how it is + * drawn. + */ + +/** How near a solved coupler pin has to land to count as the same point. */ +export const POSE_TOLERANCE = 0.18 * MODEL_SCALE; + +/** + * Where the two coupler pins may sit on the end-effector link, as fractions of + * its length from the back end. 0 and 1 are its ends; outside that range the + * pin is on an extension of the link, which is a real and often better + * machine. + */ +const PIN_OFFSETS = [-0.6, -0.3, 0, 0.2, 0.5, 0.8, 1, 1.3, 1.6]; + +/** The least a pair of pins may be apart, as a fraction of the link. */ +const MIN_PIN_SPAN = 0.5; + +export interface PosePoint { + /** The back end of the end-effector link in this position. */ + back: Coord; + /** Its front end. */ + front: Coord; +} + +export interface FourBarCandidate { + /** Identifies this candidate across a rebuild: pin offsets and branch. */ + key: string; + /** A letter, assigned by rank when the list is handed to the panel. */ + name: string; + /** Ground pivot of the input crank, and of the output rocker. */ + A: Coord; + D: Coord; + /** The two coupler pins in position 1. */ + B: Coord; + C: Coord; + /** Crank, rocker, coupler and ground lengths. */ + r1: number; + r2: number; + d: number; + g: number; + /** Where the pins sit on the end-effector link. */ + uA: number; + uB: number; + /** The pins' three positions, in order. */ + ptsA: Coord[]; + ptsB: Coord[]; + /** Which of the two circle intersections this assembly uses. */ + sign: number; + branch: 'Open' | 'Crossed'; + /** The two branches of one pin pair share this, so they can be swapped. */ + pair: string; + /** The crank angle, in degrees, at each of the three positions. */ + thetas: number[]; + /** How far the solved coupler pin misses each position by, on this branch. */ + errors: number[]; + onBranch: boolean[]; + onBranchCount: number; + defectFree: boolean; + /** How far the crank can turn from position 1 without the loop opening. */ + range: { from: number; to: number; full: boolean }; + /** The worst transmission angle over the working stroke, in degrees. */ + minTransmission: number; + kind: string; + size: number; +} + +export interface CandidateSearch { + poses: PosePoint[]; + /** Length of the end-effector link, in model units. */ + length: number; + /** Whether the coupler must be pinned to the link's own two ends. */ + endsOnly: boolean; + /** When set, both ground pivots must fall inside this box. */ + region?: { x: number; y: number; w: number; h: number }; +} + +/** Why nothing was found, for a panel that has to explain an empty list. */ +export interface CandidateRejections { + tried: number; + degenerate: number; + tooBig: number; + alike: number; + outsideRegion: number; +} + +export interface CandidateResult { + candidates: FourBarCandidate[]; + rejections: CandidateRejections; +} + +function distance(a: Coord, b: Coord): number { + return Math.hypot(b.x - a.x, b.y - a.y); +} + +/** The centre of the circle through three points, or nothing if they line up. */ +export function circumcenter(p1: Coord, p2: Coord, p3: Coord): Coord | null { + const d = 2 * (p1.x * (p2.y - p3.y) + p2.x * (p3.y - p1.y) + p3.x * (p1.y - p2.y)); + if (Math.abs(d) < 1e-9) return null; + const s1 = p1.x * p1.x + p1.y * p1.y; + const s2 = p2.x * p2.x + p2.y * p2.y; + const s3 = p3.x * p3.x + p3.y * p3.y; + return new Coord( + (s1 * (p2.y - p3.y) + s2 * (p3.y - p1.y) + s3 * (p1.y - p2.y)) / d, + (s1 * (p3.x - p2.x) + s2 * (p1.x - p3.x) + s3 * (p2.x - p1.x)) / d + ); +} + +/** Where two circles cross, or nothing if they do not reach each other. */ +export function meet(c1: Coord, r1: number, c2: Coord, r2: number): [Coord, Coord] | null { + const span = distance(c1, c2); + if (span === 0 || span > r1 + r2 || span < Math.abs(r1 - r2)) return null; + const a = (span * span + r1 * r1 - r2 * r2) / (2 * span); + const h = Math.sqrt(Math.max(0, r1 * r1 - a * a)); + const ux = (c2.x - c1.x) / span; + const uy = (c2.y - c1.y) / span; + const mx = c1.x + a * ux; + const my = c1.y + a * uy; + return [new Coord(mx - h * uy, my + h * ux), new Coord(mx + h * uy, my - h * ux)]; +} + +function cross(o: Coord, a: Coord, b: Coord): number { + return (a.x - o.x) * (b.y - o.y) - (a.y - o.y) * (b.x - o.x); +} + +function pointOn(centre: Coord, radius: number, angleRad: number): Coord { + return new Coord(centre.x + radius * Math.cos(angleRad), centre.y + radius * Math.sin(angleRad)); +} + +/** + * Close the loop with the crank at a given angle. + * + * `sign` is the assembly: the two circle intersections are the two ways the + * same four bars can be pinned together, and a linkage cannot cross from one + * to the other without being taken apart. + */ +export function solveFourBar( + cand: Pick, + thetaDeg: number, + sign?: number +): { A: Coord; B: Coord; C: Coord; D: Coord } | null { + const B = pointOn(cand.A, cand.r1, (thetaDeg * Math.PI) / 180); + const pair = meet(B, cand.d, cand.D, cand.r2); + if (!pair) return null; + const want = sign === undefined ? cand.sign : sign; + const C = pair.find((p) => Math.sign(cross(B, cand.D, p)) === want); + if (!C) return null; + return { A: cand.A, B, C, D: cand.D }; +} + +/** A point a fraction `u` along the end-effector link, from its back end. */ +function attach(pose: PosePoint, u: number): Coord { + return new Coord( + pose.back.x + u * (pose.front.x - pose.back.x), + pose.back.y + u * (pose.front.y - pose.back.y) + ); +} + +/** + * What this candidate can actually do with the three positions. + * + * The circumcentre construction makes the loop close exactly at all three -- + * that is what it is for -- so the question is never whether a position is + * reached. It is whether all three are reached on ONE assembly. A position + * that only closes on the other intersection can be got to only by taking the + * linkage apart and putting it back together, and that is what makes an + * otherwise perfect construction useless as a machine. It is called a branch + * defect, and it is the single most important thing to tell a reader + * comparing candidates. + */ +export function assess(cand: FourBarCandidate): void { + const branch = cand.sign; + cand.thetas = cand.ptsA.map((p) => (Math.atan2(p.y - cand.A.y, p.x - cand.A.x) * 180) / Math.PI); + cand.errors = cand.ptsB.map((target, i) => { + const sol = solveFourBar(cand, cand.thetas[i], branch); + return sol ? distance(sol.C, target) : Infinity; + }); + cand.onBranch = cand.errors.map((e) => e < POSE_TOLERANCE); + cand.onBranchCount = cand.onBranch.filter(Boolean).length; + cand.defectFree = cand.onBranchCount === 3; + + // How far the crank turns from position 1 before the loop can no longer be + // closed. Walked rather than solved because the limit is where two circles + // stop reaching, and walking outward from a pose we know closes cannot + // wander onto a disconnected stretch of the same curve. + const start = cand.thetas[0]; + let from = start; + let to = start; + for (let k = 1; k <= 360; k++) { + if (!solveFourBar(cand, start + k, branch)) break; + to = start + k; + } + for (let k = 1; k <= 360; k++) { + if (!solveFourBar(cand, start - k, branch)) break; + from = start - k; + } + // A linkage that turns fully has no start of travel, so its track begins at + // position 1 and runs one revolution forward. A rocking one does have ends, + // and those are the ends that were walked. + const full = to - from >= 359; + cand.range = full ? { from: start, to: start + 360, full: true } : { from, to, full: false }; + + // The transmission angle over the stroke that matters -- the span the three + // positions actually occupy, not the whole range. It is how squarely the + // coupler pushes the rocker, and a four-bar that passes through the poses at + // five degrees will stall there in real life. + let minMu = 180; + const strokeFrom = Math.max(cand.range.from, Math.min(...cand.thetas) - 5); + const strokeTo = Math.min(cand.range.to, Math.max(...cand.thetas) + 5); + for (let deg = strokeFrom; deg <= strokeTo; deg += 2) { + const sol = solveFourBar(cand, deg, branch); + if (!sol) continue; + const v1 = { x: sol.B.x - sol.C.x, y: sol.B.y - sol.C.y }; + const v2 = { x: cand.D.x - sol.C.x, y: cand.D.y - sol.C.y }; + const dot = (v1.x * v2.x + v1.y * v2.y) / (Math.hypot(v1.x, v1.y) * Math.hypot(v2.x, v2.y)); + let mu = (Math.acos(Math.max(-1, Math.min(1, dot))) * 180) / Math.PI; + if (mu > 90) mu = 180 - mu; + minMu = Math.min(minMu, mu); + } + cand.minTransmission = Math.round(minMu); + cand.kind = cand.range.full ? 'crank-rocker' : 'double-rocker'; + cand.size = Math.max(cand.r1, cand.r2, cand.g); +} + +/** + * Drive the linkage from its other ground pin. + * + * The same four bars, read from the far end: what was the rocker becomes the + * crank. A four-bar that will not turn from one ground pin often turns freely + * from the other, so this is a real second machine rather than a relabelling, + * and it is re-assessed as one. + */ +export function drivenFromFarPin(cand: FourBarCandidate): FourBarCandidate { + const swapped: FourBarCandidate = { + ...cand, + A: cand.D, + D: cand.A, + r1: cand.r2, + r2: cand.r1, + B: cand.C, + C: cand.B, + ptsA: cand.ptsB, + ptsB: cand.ptsA, + sign: Math.sign(cross(cand.ptsB[0], cand.A, cand.ptsA[0])) || 1, + }; + assess(swapped); + return swapped; +} + +function inRegion(p: Coord, region: { x: number; y: number; w: number; h: number }): boolean { + return ( + p.x >= region.x && p.x <= region.x + region.w && p.y >= region.y && p.y <= region.y + region.h + ); +} + +/** How the two pins sit on the link, in words, for the dimensions list. */ +function describePins(uA: number, uB: number, length: number): string { + const part = (u: number, end: 0 | 1): string => { + if (Math.abs(u - end) < 1e-9) return ''; + const away = Math.abs(u - end) * length; + const outside = end === 0 ? u < 0 : u > 1; + return ( + (away / MODEL_SCALE).toFixed(1) + + ' ' + + (outside ? 'past' : 'inside') + + ' the ' + + (end === 0 ? 'back' : 'front') + ); + }; + const parts = [part(uA, 0), part(uB, 1)].filter(Boolean); + return parts.length ? parts.join(', ') : 'at both ends'; +} + +/** + * Every buildable four-bar through the three positions, best first. + * + * "Buildable" is doing real work here: the construction has an answer for + * almost every pair of pins, but as the three positions approach a straight + * line the circle centres run off towards infinity, and a ground pivot a + * hundred link-lengths away is not a machine anybody can make. Those are + * counted rather than silently dropped, so the panel can say which way the + * positions need to move. + */ +export function enumerateCandidates(search: CandidateSearch): CandidateResult { + const { poses, length } = search; + const rejections: CandidateRejections = { + tried: 0, + degenerate: 0, + tooBig: 0, + alike: 0, + outsideRegion: 0, + }; + if (poses.length !== 3 || !(length > 0)) return { candidates: [], rejections }; + + const pairs: [number, number][] = []; + if (search.endsOnly) { + pairs.push([0, 1]); + } else { + PIN_OFFSETS.forEach((uA) => + PIN_OFFSETS.forEach((uB) => { + if (uB - uA >= MIN_PIN_SPAN) pairs.push([uA, uB]); + }) + ); + } + + const centre = new Coord( + poses.reduce((sum, p) => sum + (p.back.x + p.front.x) / 2, 0) / 3, + poses.reduce((sum, p) => sum + (p.back.y + p.front.y) / 2, 0) / 3 + ); + const spread = Math.max( + distance(poses[0].back, poses[1].back), + distance(poses[1].back, poses[2].back), + distance(poses[0].back, poses[2].back) + ); + const reach = Math.max(6 * length, 2.5 * spread); + + const out: FourBarCandidate[] = []; + pairs.forEach(([uA, uB]) => { + rejections.tried++; + const ptsA = poses.map((p) => attach(p, uA)); + const ptsB = poses.map((p) => attach(p, uB)); + const A = circumcenter(ptsA[0], ptsA[1], ptsA[2]); + const D = circumcenter(ptsB[0], ptsB[1], ptsB[2]); + if (!A || !D) { + rejections.degenerate++; + return; + } + const r1 = distance(A, ptsA[0]); + const r2 = distance(D, ptsB[0]); + const g = distance(A, D); + if ( + distance(A, centre) > reach || + distance(D, centre) > reach || + r1 > reach || + r2 > reach || + g > reach + ) { + rejections.tooBig++; + return; + } + if (search.region && (!inRegion(A, search.region) || !inRegion(D, search.region))) { + rejections.outsideRegion++; + return; + } + // Two constructions that put their pivots within a link-length of each + // other and hold near-identical bars are the same machine drawn twice. + const alike = out.some( + (other) => + distance(other.A, A) < length * 0.9 && + distance(other.D, D) < length * 0.9 && + Math.abs(other.r1 - r1) / Math.max(other.r1, r1) < 0.12 && + Math.abs(other.r2 - r2) / Math.max(other.r2, r2) < 0.12 + ); + if (alike) { + rejections.alike++; + return; + } + + const openSign = Math.sign(cross(ptsA[0], D, ptsB[0])) || 1; + [openSign, -openSign].forEach((sign) => { + const variant: FourBarCandidate = { + key: uA + ':' + uB + ':' + sign, + name: '?', + A, + D, + B: ptsA[0], + C: ptsB[0], + r1, + r2, + d: distance(ptsA[0], ptsB[0]), + g, + uA, + uB, + ptsA, + ptsB, + sign, + branch: sign === openSign ? 'Open' : 'Crossed', + pair: uA + '/' + uB, + thetas: [], + errors: [], + onBranch: [], + onBranchCount: 0, + defectFree: false, + range: { from: 0, to: 0, full: false }, + minTransmission: 0, + kind: '', + size: 0, + }; + assess(variant); + // A construction that closes at none of the three positions on this + // assembly, and cannot even be solved at the first, is not a second + // branch of anything -- it is the intersection that does not exist. + if (!isFinite(variant.errors[0]) && variant.onBranchCount === 0) return; + out.push(variant); + }); + }); + + return { candidates: out, rejections }; +} + +/** Best first: defect-free, then most positions on one assembly, then roomiest. */ +export function rankCandidates(list: FourBarCandidate[], limit = 8): FourBarCandidate[] { + const sorted = list.slice().sort((a, b) => { + if (a.defectFree !== b.defectFree) return a.defectFree ? -1 : 1; + if (b.onBranchCount !== a.onBranchCount) return b.onBranchCount - a.onBranchCount; + return b.minTransmission - a.minTransmission; + }); + const best = sorted.slice(0, limit); + best.forEach((c, i) => (c.name = 'ABCDEFGH'[i] ?? '?')); + return best; +} + +/** Where the two coupler pins sit on the link, in the reader's own words. */ +export function describeCouplerPins(cand: FourBarCandidate, length: number): string { + return describePins(cand.uA, cand.uB, length); +} From b08464c867f7431cb26e35f6c52010a065061b96 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 17:26:36 -0700 Subject: [PATCH 195/236] Keep the answer out of the drawing until someone asks for it Synthesis used to write a four-bar onto the grid on every nudge of a coordinate. That made the one thing this mode is for impossible: looking at a second solution destroyed the first, so there was never anything to compare. So the design and the answer are now two things. SynthesisBuilderService holds what was asked for -- three positions, the coupler they belong to, and what a solution has to satisfy -- and gains the state the redesign needs: which screen the reader is on, whether the next click drops a position and which way it is turned, and the ground-pivot region. SynthesisSolutionService holds what came back, and touches the grid exactly once, when Insert says so. Positions are placed rather than created at the origin, so removing one closes the gap it leaves: the panel fills three numbered rows in order, and a hole in the middle is a state the gesture cannot produce and cannot repair. The pose gizmo's old parts go with it. The X/Y arrows, the rotation circle and the status colours were the whole of SynthesisConstants and most of SynthesisPose; the handles that replace them are drawn from the design itself. Co-Authored-By: Claude Opus 5 --- src/app/selected-tab.service.ts | 18 +- src/app/services/grid-utils.service.ts | 9 - .../synthesis/synthesis-builder.service.ts | 269 ++++++++++-- .../services/synthesis/synthesis-constants.ts | 50 --- .../synthesis/synthesis-solution.service.ts | 390 ++++++++++++++++++ src/app/services/synthesis/synthesis-util.ts | 151 ++----- 6 files changed, 654 insertions(+), 233 deletions(-) delete mode 100644 src/app/services/synthesis/synthesis-constants.ts create mode 100644 src/app/services/synthesis/synthesis-solution.service.ts diff --git a/src/app/selected-tab.service.ts b/src/app/selected-tab.service.ts index adfa216a..21588cef 100644 --- a/src/app/selected-tab.service.ts +++ b/src/app/selected-tab.service.ts @@ -76,6 +76,18 @@ export class SelectedTabService { return tab === TabID.ANALYZE || tab === TabID.FORCE; } + /** + * Whether the current mode's panel needs the wide drawer. + * + * The two analyses need it for their tables and graphs; Synthesis needs it + * for a row of three numbers per position and a gallery of candidate + * linkages read side by side. Edit is the only mode that still fits in the + * narrow one. + */ + public isWidePanel(tab: TabID = this.getCurrentTab()) { + return this.isAnalysisMode(tab) || tab === TabID.SYNTHESIZE; + } + private onNewTab(previousTab: TabID) { // A setup drawer answers a question about one mode, so it goes when that // mode does -- otherwise the Force list sits over the Synthesis canvas @@ -92,12 +104,6 @@ export class SelectedTabService { if (this.getCurrentTab() === TabID.SYNTHESIZE) { // reset flag this.synthesis.modifiedMechanism = false; - // A fresh visit synthesises a new linkage rather than editing the one the - // last visit left behind, so nothing here belongs to this one yet. - this.synthesis.synthesisedIds = { joints: [], links: [] }; - this.synthesis.driverWanted = false; - this.synthesis.driveOnFarPin = false; - this.synthesis.driverRefusal = undefined; } else if (previousTab === TabID.SYNTHESIZE && this.getCurrentTab() === TabID.EDIT) { // save mechanism state if modified in synthesis tab this.mechanism.save(); diff --git a/src/app/services/grid-utils.service.ts b/src/app/services/grid-utils.service.ts index 87bd6f7c..cb78170f 100644 --- a/src/app/services/grid-utils.service.ts +++ b/src/app/services/grid-utils.service.ts @@ -20,7 +20,6 @@ import { Force } from '../model/force'; import { Arc, Line } from '../model/line'; import { SynthesisPose } from './synthesis/synthesis-util'; import { SynthesisBuilderService } from './synthesis/synthesis-builder.service'; -import { SynthesisClickMode } from './synthesis/synthesis-constants'; import { SvgGridService } from './svg-grid.service'; import { ColorService } from './color.service'; @@ -928,14 +927,6 @@ export class GridUtilsService { return selectedForce; } - setPoseTheta(pose: SynthesisPose, thetaRadians: number) { - this.synthesisBuilder.setPoseTheta(pose, thetaRadians); - } - - dragPose(pose: SynthesisPose, dx: number, dy: number, mode: SynthesisClickMode) { - this.synthesisBuilder.movePoseByOffset(pose, mode, dx, dy); - } - isAttachedToSlider(lastRightClick: Joint | Link | Force | String) { if (lastRightClick instanceof Joint && lastRightClick instanceof RevJoint) { return lastRightClick.connectedJoints.some((j) => j instanceof PrisJoint); diff --git a/src/app/services/synthesis/synthesis-builder.service.ts b/src/app/services/synthesis/synthesis-builder.service.ts index 3fdf1d24..4763b475 100644 --- a/src/app/services/synthesis/synthesis-builder.service.ts +++ b/src/app/services/synthesis/synthesis-builder.service.ts @@ -2,10 +2,10 @@ import { Injectable, inject } from '@angular/core'; import { Subject } from 'rxjs'; import { COR, SynthesisPose } from './synthesis-util'; import { Coord } from 'src/app/model/coord'; -import { SynthesisClickMode, SynthesisConstants } from './synthesis-constants'; import { NumberUnitParserService } from '../number-unit-parser.service'; import { SettingsService } from '../settings.service'; import { MODEL_SCALE } from 'src/app/model/render-scale'; +import { CandidateSearch, PosePoint } from './synthesis-candidates'; /* Service responsible for storing end effector poses to be synthesized @@ -21,38 +21,60 @@ export class SynthesisBuilderService { public valueChanges: Subject; - public constants: SynthesisConstants; - // whether the mechanism has been modified since last synthesis // if so, when switching back to edit mode, save state public modifiedMechanism: boolean = false; /** - * What this visit to Synthesis has put on the grid. + * Which screen of Synthesis the reader is on. + * + * 'chooser' asks what kind of synthesis this is; 'working' is the one kind + * that exists. It is a screen rather than a setting because the answer + * decides what every control below it means, and because the second kind -- + * fitting a linkage to a path -- is coming and has to have somewhere to go. + */ + public stage: 'chooser' | 'working' = 'chooser'; + + /** + * Whether the next click on the grid drops a position. * - * Synthesis adds a mechanism now rather than replacing the drawing, and it - * re-runs on every change to a pose -- so it has to be able to take back its - * own previous answer without touching anything else. Cleared on entering the - * tab, so each visit leaves one linkage behind rather than editing the one - * from last time. + * Placing is opt-in. Synthesis shares the canvas with the drawing, and a + * mode where every click makes something is a mode where every click a + * reader meant as "look at this" makes something instead. */ - public synthesisedIds: { joints: string[]; links: string[] } = { joints: [], links: [] }; + public armed = false; + + /** Which way the position about to be dropped is turned, in degrees. */ + public placeAngleDeg = 8; + + /** Whether the grid is waiting for the ground-pivot region to be drawn. */ + public regionDraw = false; + + // --- what a solution has to satisfy to be listed ------------------------ /** - * Whether the linkage should be built with a driver on it, and which of its - * two ground pins the drive belongs to. + * Whether the coupler must be pinned to the end-effector link's own ends. * - * Held as intent rather than applied to the drawing, because synthesis re-runs - * from scratch on every change to a pose: a driver bolted on afterwards would - * be thrown away by the next nudge of a coordinate, and a drive pin moved by - * hand would move back. Both are read at build time instead, so they survive - * every rebuild and there is only ever one way the linkage came to be. + * On, the coupler is exactly the length that was typed. Off, the pins may + * slide along the link or past it, which moves both ground pivots and gives + * genuinely different machines through the same three positions -- far more + * of them, and often better ones. */ - public driverWanted: boolean = false; - public driveOnFarPin: boolean = false; + public endsOnly = true; + + /** Whether linkages that need reassembling between positions are listed. */ + public allowDefect = false; + + /** Whether both ground pivots must land inside the region below. */ + public constrain = false; - /** Why the last build could not fit a driver, for the panel to show. */ - public driverRefusal: string | undefined; + /** The region, in model units, as a box with its origin at bottom-left. */ + public region = { + x: -6 * MODEL_SCALE, + y: -14 * MODEL_SCALE, + w: 26 * MODEL_SCALE, + h: 12 * MODEL_SCALE, + }; _COR: COR; _length: number; // length of the end-effector link @@ -62,7 +84,6 @@ export class SynthesisBuilderService { constructor() { this.valueChanges = new Subject(); - this.constants = new SynthesisConstants(); // start with a length of 5 user units, held in model units this._COR = COR.CENTER; @@ -129,26 +150,6 @@ export class SynthesisBuilderService { return this.getAllPoses().length === 3; } - setPoseTheta(pose: SynthesisPose, thetaRadians: number) { - pose.thetaRadians = thetaRadians; - this.valueChanges.next(true); - } - - movePoseByOffset(pose: SynthesisPose, mode: SynthesisClickMode, dx: number, dy: number) { - // if dragging by coordinate axis, project onto axis - if (mode !== SynthesisClickMode.NORMAL) { - let theta = pose.thetaRadians; - if (mode === SynthesisClickMode.Y) theta += Math.PI / 2; - - let d = dx * Math.cos(theta) + dy * Math.sin(theta); - dx = d * Math.cos(theta); - dy = d * Math.sin(theta); - } - - pose.position = new Coord(pose.position.x + dx, pose.position.y + dy); - this.valueChanges.next(true); - } - // return all existing poses getAllPoses(): SynthesisPose[] { let poses: SynthesisPose[] = []; @@ -226,4 +227,188 @@ export class SynthesisBuilderService { // if we get here, form is valid return true; } + + /** The three positions as pin-carrying bars, for the candidate search. */ + posePoints(): PosePoint[] { + return this.getAllPoses().map((pose) => ({ back: pose.posBack, front: pose.posFront })); + } + + /** Everything the enumeration needs, and nothing it does not. */ + search(): CandidateSearch { + return { + poses: this.posePoints(), + length: this.length, + endsOnly: this.endsOnly, + region: this.constrain ? { ...this.region } : undefined, + }; + } + + /** + * What the candidate list was computed for. + * + * `allowDefect` is deliberately absent: it filters a list rather than + * changing what is in it, so switching it does not have to pay for a + * re-enumeration. + */ + searchKey(): string { + const poses = this.getAllPoses().map((p) => [ + Math.round(p.position.x), + Math.round(p.position.y), + Math.round(p.thetaDegrees * 100), + ]); + return JSON.stringify([ + poses, + Math.round(this.length), + this._COR, + this.endsOnly, + this.constrain ? this.region : null, + ]); + } + + /** + * Drop a position where the reader clicked, turned the way the ghost was. + * + * Positions fill 1, 2, 3 in the order they are placed, and placing stays + * armed until the third: three clicks is the whole gesture, and disarming + * between them would put a button press between every one. + */ + placePose(at: Coord): void { + const next = this.getFirstUndefinedPose(); + if (next === undefined) return; + this.poses[next] = new SynthesisPose( + next, + at, + (this.placeAngleDeg * Math.PI) / 180, + () => this.COR, + () => this.length + ); + const more = this.getFirstUndefinedPose() !== undefined; + this.armed = more; + this.selectedPose = more ? next + 1 : next; + this.placeAngleDeg -= 22; + this.valueChanges.next(true); + } + + /** Arm or disarm placing, and select the row that is about to be filled. */ + setArmed(armed: boolean): void { + const next = this.getFirstUndefinedPose(); + if (armed && next === undefined) return; + this.armed = armed; + // Only arming cancels a region being drawn: the two gestures both own the + // canvas, so one has to give way -- but disarming is also how *starting* to + // draw a region reports itself, and clearing it here unconditionally meant + // the Redraw button switched the mode off in the same breath it asked for + // it. + if (armed) this.regionDraw = false; + if (armed) { + this.selectedPose = next!; + const placed = this.getAllPoses(); + if (placed.length) this.placeAngleDeg = placed[placed.length - 1].thetaDegrees - 22; + } + this.valueChanges.next(false); + } + + /** + * Copy the last position and offset it slightly. + * + * A quick start for three similar positions, which is what most designs + * actually are -- and it saves a reader from discovering that three + * positions in a straight line have no solutions at all. + */ + duplicateLastPose(): void { + const placed = this.getAllPoses(); + const next = this.getFirstUndefinedPose(); + if (!placed.length || next === undefined) return; + const last = placed[placed.length - 1]; + this.poses[next] = new SynthesisPose( + next, + new Coord(last.position.x + 6 * MODEL_SCALE, last.position.y + 5 * MODEL_SCALE), + ((last.thetaDegrees - 22) * Math.PI) / 180, + () => this.COR, + () => this.length + ); + this.armed = false; + this.selectedPose = next; + this.valueChanges.next(true); + } + + /** + * Remove one position, and close the gap it leaves. + * + * The panel shows three numbered rows and fills them in order, so a hole in + * the middle would leave "Position 2" blank under a filled "Position 3" -- + * a state the placing gesture cannot produce and has no way to repair. + */ + removePose(id: number): void { + const kept = this.getAllPoses().filter((pose) => pose.id !== id); + this.poses = {}; + kept.forEach((pose, index) => { + this.poses[index + 1] = new SynthesisPose( + index + 1, + pose.position, + pose.thetaRadians, + () => this.COR, + () => this.length + ); + }); + this.armed = false; + this.selectedPose = Math.min(this.selectedPose, Math.max(1, kept.length)); + this.valueChanges.next(true); + } + + /** Nothing designed, nothing asked for -- what a fresh visit looks like. */ + clearDesign(): void { + this.poses = {}; + this._COR = COR.CENTER; + this._length = 5 * MODEL_SCALE; + this._selectedPose = 1; + this.stage = 'chooser'; + this.armed = false; + this.regionDraw = false; + this.endsOnly = true; + this.allowDefect = false; + this.constrain = false; + this.valueChanges.next(true); + } + + /** + * Replace the whole design with one that came out of a URL. + * + * One notification at the end rather than one per field: a decode is a + * single event -- a link opened, or a step through history -- and reporting + * it as eleven would have the panel re-read a half-applied design ten times. + */ + applyDecoded(decoded: { + length: number; + reference: COR; + endsOnly: boolean; + allowDefect: boolean; + constrain: boolean; + stage: 'chooser' | 'working'; + poses: { at: Coord; thetaDegrees: number }[]; + region?: { x: number; y: number; w: number; h: number }; + }): void { + this._COR = decoded.reference; + this._length = decoded.length > 0 ? decoded.length : 5 * MODEL_SCALE; + this.endsOnly = decoded.endsOnly; + this.allowDefect = decoded.allowDefect; + this.constrain = decoded.constrain; + this.stage = decoded.stage; + this.armed = false; + this.regionDraw = false; + if (decoded.region) this.region = decoded.region; + + this.poses = {}; + decoded.poses.slice(0, 3).forEach((pose, index) => { + this.poses[index + 1] = new SynthesisPose( + index + 1, + pose.at, + (pose.thetaDegrees * Math.PI) / 180, + () => this.COR, + () => this.length + ); + }); + this._selectedPose = Math.min(this._selectedPose, Math.max(1, decoded.poses.length)); + this.valueChanges.next(true); + } } diff --git a/src/app/services/synthesis/synthesis-constants.ts b/src/app/services/synthesis/synthesis-constants.ts deleted file mode 100644 index a59b491d..00000000 --- a/src/app/services/synthesis/synthesis-constants.ts +++ /dev/null @@ -1,50 +0,0 @@ -export enum SynthesisStatus { - DISABLED = 'DISABLED', - INVALID = 'INVALID', - VALID = 'VALID', -} - -export enum SynthesisClickMode { - NORMAL = 'NORMAL', - X = 'X', - Y = 'Y', - ROTATE = 'ROTATE', -} - -export class SynthesisConstants { - public CIRCLE_RADIUS: number = 0.15; - public LINK_CIRCLE_RADIUS: number = 0.25; - public CIRCLE_COLOR: string = 'rgb(255,255,255)'; - public CIRCLE_COLOR_H: string = 'rgb(245,245,245)'; - - public LINK_COLOR: { [key in SynthesisStatus]: string } = { - [SynthesisStatus.DISABLED]: 'rgb(100,100,100)', - [SynthesisStatus.INVALID]: 'rgb(255,0,0)', - [SynthesisStatus.VALID]: 'rgb(0,255,0)', - }; - - // slightly darkened when hovering - public LINK_COLOR_H: { [key in SynthesisStatus]: string } = { - [SynthesisStatus.DISABLED]: 'rgb(80,80,80)', - [SynthesisStatus.INVALID]: 'rgb(200,0,0)', - [SynthesisStatus.VALID]: 'rgb(0,200,0)', - }; - - public COR_RADIUS: number = 0.1; - public COR_COLOR: string = 'black'; - - public ROTATION_SIZE: number = 0.2; - - public ARROW_X_COLOR: string = 'rgba(255,0,0,0.3)'; - public ARROW_X_COLOR_H: string = 'rgba(255,0,0,1)'; - - public ARROW_Y_COLOR: string = 'rgba(0,0,230,0.3)'; - public ARROW_Y_COLOR_H: string = 'rgba(0,0,230,1)'; - - public ROTATION_CIRCLE_RADIUS: number = 0.15; - public ROTATION_CIRCLE_LOCATION_SCALAR = 0.5; - public ROTATION_CIRCLE_COLOR: string = 'rgb(0, 125, 0)'; - public ROTATION_CIRCLE_COLOR_H: string = 'rgb(0,255,0)'; - - constructor() {} -} diff --git a/src/app/services/synthesis/synthesis-solution.service.ts b/src/app/services/synthesis/synthesis-solution.service.ts new file mode 100644 index 00000000..ef61dc01 --- /dev/null +++ b/src/app/services/synthesis/synthesis-solution.service.ts @@ -0,0 +1,390 @@ +import { Injectable, inject } from '@angular/core'; +import { Subject } from 'rxjs'; +import { Coord } from 'src/app/model/coord'; +import { RealLink } from 'src/app/model/link'; +import { RevJoint } from 'src/app/model/joint'; +import { MechanismService } from '../mechanism.service'; +import { ColorService } from '../color.service'; +import { SynthesisBuilderService } from './synthesis-builder.service'; +import { driverDyadFor, DriverDyad } from './driver-dyad'; +import { + CandidateRejections, + FourBarCandidate, + drivenFromFarPin, + enumerateCandidates, + meet, + rankCandidates, + solveFourBar, +} from './synthesis-candidates'; + +/** + * The answers, as opposed to the question. + * + * SynthesisBuilderService owns what the reader asked for -- three positions of + * an end-effector link, and what a solution has to satisfy. This owns what + * comes back: the candidate four-bars, which one is being looked at, how it is + * being driven, where the preview has been scrubbed to, and the single moment + * the answer stops being a preview and becomes part of the drawing. + * + * Nothing here touches the grid until `insert()` is called. That is the whole + * point of the redesign: synthesis used to rebuild the mechanism on every + * nudge of a coordinate, which made comparing two solutions impossible -- + * looking at the second one destroyed the first. + */ +@Injectable({ providedIn: 'root' }) +export class SynthesisSolutionService { + private design = inject(SynthesisBuilderService); + private mechanismSrv = inject(MechanismService); + private colors = inject(ColorService); + + /** Fires when the answer changes, for the grid and the panel to redraw. */ + public changed = new Subject(); + + /** Whether a search has been run against the design as it now stands. */ + public generated = false; + /** Whether one is running: the panel shows it as work, once. */ + public generating = false; + + /** Which candidate the reader has picked, and which they are hovering. */ + public candidateKey: string | null = null; + public hoverKey: string | null = null; + public showAll = false; + public dimensionsOpen = false; + + /** Drive from the far ground pin, and put a driver dyad on the input. */ + public driveOnFarPin = false; + public driverWanted = false; + /** Why the last driver could not be fitted, for the panel to show. */ + public driverRefusal: string | undefined; + + /** Where the preview stands, in crank degrees, and whether it is running. */ + public phase: number | null = null; + public playing = false; + public clockwise = true; + + /** Whether this design has been committed to the drawing. */ + public inserted = false; + + /** What the last insert put on the grid, so it can be taken back. */ + private insertedIds: { joints: string[]; links: string[] } = { joints: [], links: [] }; + + private cacheKey = ''; + private cached: FourBarCandidate[] = []; + private cachedRejections: CandidateRejections = { + tried: 0, + degenerate: 0, + tooBig: 0, + alike: 0, + outsideRegion: 0, + }; + /** How many of the candidates found work on a single assembly. */ + public strictCount = 0; + + private timer: ReturnType | undefined; + + /** + * Throw away the answer because the question changed. + * + * Anything that moves a position, or changes what a solution has to satisfy, + * lands here: the candidates on screen were computed for a design that no + * longer exists, and showing them against the new one would be a lie the + * reader has no way to spot. + */ + invalidate(): void { + this.generated = false; + this.generating = false; + this.candidateKey = null; + this.hoverKey = null; + this.phase = null; + this.playing = false; + if (this.timer) clearTimeout(this.timer); + this.timer = undefined; + this.changed.next(); + } + + /** A change that leaves the candidates standing -- a different pick, say. */ + private touch(): void { + this.phase = null; + this.inserted = false; + this.changed.next(); + } + + /** + * Run the search. + * + * The first search is the one worth showing as work: it is the moment three + * positions become a set of machines. It is deliberately deferred a beat so + * the button can say so, and because the enumeration walks a full crank + * revolution for every candidate and would otherwise freeze the frame it was + * clicked on. + */ + generate(): void { + if (this.generating || !this.design.isFullyDefined()) return; + this.generating = true; + this.changed.next(); + if (this.timer) clearTimeout(this.timer); + this.timer = setTimeout(() => { + this.timer = undefined; + this.generating = false; + this.generated = true; + this.candidateKey = null; + this.changed.next(); + }, 60); + } + + /** Every candidate the current design admits, best first, at most eight. */ + candidates(): FourBarCandidate[] { + if (!this.generated || !this.design.isFullyDefined()) return []; + const key = this.design.searchKey(); + if (key !== this.cacheKey) { + const result = enumerateCandidates(this.design.search()); + this.cacheKey = key; + this.cached = result.candidates; + this.cachedRejections = result.rejections; + } + let list = this.cached; + this.strictCount = list.filter((c) => c.defectFree).length; + if (!this.design.allowDefect) list = list.filter((c) => c.defectFree); + return rankCandidates(list); + } + + rejections(): CandidateRejections { + return this.cachedRejections; + } + + /** The candidate on screen: what is hovered wins over what is picked. */ + chosen(): FourBarCandidate | null { + const list = this.candidates(); + if (!list.length) return null; + const hovered = this.hoverKey ? list.find((c) => c.key === this.hoverKey) : undefined; + if (hovered) return hovered; + return list.find((c) => c.key === this.candidateKey) ?? list[0]; + } + + /** The candidate that was picked, ignoring the hover, for the ghost to show. */ + picked(): FourBarCandidate | null { + const list = this.candidates(); + if (!list.length) return null; + return list.find((c) => c.key === this.candidateKey) ?? list[0]; + } + + /** The chosen candidate as it is actually driven -- from A, or from D. */ + driven(cand: FourBarCandidate | null = this.chosen()): FourBarCandidate | null { + if (!cand) return null; + if (!this.driveOnFarPin) return cand; + const swapped = drivenFromFarPin(cand); + swapped.name = cand.name; + swapped.branch = cand.branch; + swapped.key = cand.key; + swapped.pair = cand.pair; + return swapped; + } + + /** The driver dyad for the current solution, or why there is not one. */ + dyad(): DriverDyad | undefined { + this.driverRefusal = undefined; + const cand = this.driven(); + if (!cand || !this.driverWanted) return undefined; + const result = driverDyadFor(cand.A, cand.ptsA); + if ('refusal' in result) { + this.driverRefusal = result.refusal; + return undefined; + } + return result.dyad; + } + + /** Where the preview stands now, in crank degrees. */ + currentPhase(): number { + const cand = this.driven(); + if (!cand) return 0; + return this.phase === null ? cand.thetas[0] : this.phase; + } + + /** The four pin positions of the preview at the current phase. */ + previewPose(): { A: Coord; B: Coord; C: Coord; D: Coord } | null { + const cand = this.driven(); + if (!cand) return null; + return solveFourBar(cand, this.currentPhase(), cand.sign); + } + + pick(key: string): void { + this.candidateKey = key; + this.hoverKey = null; + this.touch(); + } + + setHover(key: string | null): void { + this.hoverKey = key; + this.changed.next(); + } + + setDriveOnFarPin(far: boolean): void { + this.driveOnFarPin = far; + this.touch(); + } + + toggleDriver(): void { + this.driverWanted = !this.driverWanted; + this.touch(); + } + + setPhase(phase: number): void { + this.phase = phase; + this.playing = false; + this.changed.next(); + } + + /** + * Let go of the linkage a previous visit inserted, without removing it. + * + * Called on entering the tab. What was inserted is part of the drawing now, + * like anything else drawn by hand -- offering to undo it a session later, + * from a panel that has since been reset, would take away a machine the + * reader has been working on. + */ + forgetInsert(): void { + this.insertedIds = { joints: [], links: [] }; + this.inserted = false; + } + + /** Take back everything: the answer and the question both. */ + reset(): void { + this.invalidate(); + this.driverWanted = false; + this.driveOnFarPin = false; + this.driverRefusal = undefined; + this.showAll = false; + this.inserted = false; + this.insertedIds = { joints: [], links: [] }; + } + + // --- committing to the drawing ----------------------------------------- + + /** As many ids as asked for, none of which anything on the grid is using. */ + private nextLetters(count: number): string[] { + const taken: string[] = []; + for (let i = 0; i < count; i++) { + taken.push(this.mechanismSrv.determineNextLetter(taken)); + } + return taken; + } + + /** + * Put the chosen solution on the grid, as a machine of its own. + * + * The one moment synthesis writes to the drawing. It builds the whole + * linkage -- driver included -- before handing it over, so that one solve + * sees the finished six-bar rather than a four-bar that grows a motor a + * frame later. + */ + insert(): boolean { + const cand = this.driven(); + if (!cand || this.inserted) return false; + const solution = solveFourBar(cand, cand.thetas[0], cand.sign); + if (!solution) return false; + + const dyad = this.dyad(); + const [idA, idB, idC, idD, idE, idF] = this.nextLetters(6); + // With a driver on the linkage neither ground pin is the input at all; the + // motor sits on the driver's own ground and turns the whole train. + const drivenDirectly = !dyad; + + const jointA = new RevJoint(idA, solution.A.x, solution.A.y, drivenDirectly, true); + const jointB = new RevJoint(idB, solution.B.x, solution.B.y, false, false); + const jointC = new RevJoint(idC, solution.C.x, solution.C.y, false, false); + const jointD = new RevJoint(idD, solution.D.x, solution.D.y, false, true); + + jointA.connectedJoints.push(jointB); + jointB.connectedJoints.push(jointA, jointC); + jointC.connectedJoints.push(jointB, jointD); + jointD.connectedJoints.push(jointC); + + const crank = new RealLink(idA + idB, [jointA, jointB]); + crank.fill = this.colors.getLinkColorFromIndex(0); + const coupler = new RealLink(idB + idC, [jointB, jointC]); + coupler.fill = this.colors.getLinkColorFromIndex(1); + const rocker = new RealLink(idC + idD, [jointC, jointD]); + rocker.fill = this.colors.getLinkColorFromIndex(0); + + jointA.links.push(crank); + jointB.links.push(crank, coupler); + jointC.links.push(coupler, rocker); + jointD.links.push(rocker); + + const joints = [jointA, jointB, jointC, jointD]; + const links = [crank, coupler, rocker]; + + if (dyad) { + // The two lengths the sizing solved for are the distances between these + // three points, so placing the pins is all it takes to realise them. + const elbow = meet(dyad.ground, dyad.crankLength, solution.B, dyad.couplerLength); + if (elbow) { + const motor = new RevJoint(idE, dyad.ground.x, dyad.ground.y, true, true); + const knee = new RevJoint(idF, elbow[0].x, elbow[0].y, false, false); + motor.connectedJoints.push(knee); + knee.connectedJoints.push(motor, jointB); + jointB.connectedJoints.push(knee); + + const driverCrank = new RealLink(idE + idF, [motor, knee]); + driverCrank.fill = this.colors.getLinkColorFromIndex(2); + const driverCoupler = new RealLink(idF + idB, [knee, jointB]); + driverCoupler.fill = this.colors.getLinkColorFromIndex(3); + + motor.links.push(driverCrank); + knee.links.push(driverCrank, driverCoupler); + jointB.links.push(driverCoupler); + + joints.push(motor, knee); + links.push(driverCrank, driverCoupler); + } else { + // Sized but not assemblable in the position the linkage is drawn in. + // The four-bar still stands and still passes through the positions, so + // it is left drivable by hand rather than made useless by the refusal. + jointA.input = true; + } + } + + this.mechanismSrv.mergeToJoints(joints); + this.mechanismSrv.mergeToLinks(links); + this.insertedIds = { + joints: joints.map((j) => j.id), + links: links.map((l) => l.id), + }; + this.inserted = true; + this.playing = false; + this.mechanismSrv.mechanismTimeStep = 0; + this.mechanismSrv.updateMechanism(true); + this.changed.next(); + return true; + } + + /** + * Take back the linkage the last insert put on the grid. + * + * By id, and only the ids that insert recorded: anything else on the grid + * was drawn by hand or left by an earlier insert and is not this one's to + * remove. Forces on a removed link go with it -- a force on a link that no + * longer exists belongs to no mechanism. + */ + undoInsert(): void { + const { joints, links } = this.insertedIds; + if (!joints.length && !links.length) { + this.inserted = false; + this.changed.next(); + return; + } + const goneLinks = new Set(links); + const goneJoints = new Set(joints); + this.mechanismSrv.forces = this.mechanismSrv.forces.filter( + (force) => !goneLinks.has(force.link?.id ?? '') + ); + this.mechanismSrv.links = this.mechanismSrv.links.filter((link) => !goneLinks.has(link.id)); + this.mechanismSrv.joints = this.mechanismSrv.joints.filter( + (joint) => !goneJoints.has(joint.id) + ); + this.insertedIds = { joints: [], links: [] }; + this.inserted = false; + this.mechanismSrv.updateMechanism(true); + this.changed.next(); + } +} diff --git a/src/app/services/synthesis/synthesis-util.ts b/src/app/services/synthesis/synthesis-util.ts index aaa21a4f..e6f59c32 100644 --- a/src/app/services/synthesis/synthesis-util.ts +++ b/src/app/services/synthesis/synthesis-util.ts @@ -1,32 +1,25 @@ import { Coord } from 'src/app/model/coord'; -import { SynthesisConstants, SynthesisStatus } from './synthesis-constants'; -import { SettingsService } from '../settings.service'; +/** Which point on the end-effector link its coordinates describe. */ export enum COR { BACK = 'BACK', CENTER = 'CENTER', FRONT = 'FRONT', } -// storing state for a pose +/** + * One position of the end-effector link. + * + * A position is a point and an angle; where the link's two ends land follows + * from those plus the length and the reference point, both of which belong to + * the design as a whole rather than to any one position. They are read through + * callbacks so that changing either moves all three positions at once, which + * is what a reader means by "the link is 6 cm long". + */ export class SynthesisPose { - // cached values for graphical display private _posBack: Coord; - private _posCenter: Coord; private _posFront: Coord; - // string for SVG link - private _pathString: string = ''; - - public showHighlight: boolean = false; - public showHighlightX: boolean = false; - public showHighlightY: boolean = false; - public showHighlightR: boolean = false; - - private sConstants = new SynthesisConstants(); - - private _status: SynthesisStatus = SynthesisStatus.DISABLED; - constructor( public id: number, private _position: Coord, @@ -34,13 +27,9 @@ export class SynthesisPose { private getCOR: () => COR, private getLength: () => number ) { - // dummy values to be overwritten by recompute this._posBack = new Coord(0, 0); - this._posCenter = new Coord(0, 0); this._posFront = new Coord(0, 0); - this._thetaRadians %= Math.PI * 2; - this.recompute(); } @@ -48,142 +37,52 @@ export class SynthesisPose { return this._position; } - get thetaDegrees(): number { - return (this._thetaRadians * 180) / Math.PI; + set position(position: Coord) { + this._position = position; + this.recompute(); } get thetaRadians(): number { return this._thetaRadians; } - get posBack(): Coord { - return this._posBack; - } - - get posCenter(): Coord { - return this._posCenter; - } - - get posFront(): Coord { - return this._posFront; - } - - get pathString(): string { - return this._pathString; - } - - set position(position: Coord) { - this._position = position; - this.recompute(); - } - set thetaRadians(thetaRadians: number) { this._thetaRadians = thetaRadians; this.recompute(); } - get rotationCircleX(): number { - return ( - this.position.x + - this.sConstants.ROTATION_CIRCLE_LOCATION_SCALAR * - SettingsService.objectScale * - Math.cos(this.thetaRadians) - ); - } - - get rotationCircleY(): number { - return ( - this.position.y + - this.sConstants.ROTATION_CIRCLE_LOCATION_SCALAR * - SettingsService.objectScale * - Math.sin(this.thetaRadians) - ); + get thetaDegrees(): number { + return (this._thetaRadians * 180) / Math.PI; } set thetaDegrees(thetaDegrees: number) { - thetaDegrees %= 360; - this._thetaRadians = (thetaDegrees * Math.PI) / 180; + this._thetaRadians = ((thetaDegrees % 360) * Math.PI) / 180; this.recompute(); } - get status(): SynthesisStatus { - return this._status; - } - - set status(status: SynthesisStatus) { - this._status = status; + get posBack(): Coord { + return this._posBack; } - isAnyHighlight(): boolean { - return this.showHighlight || this.showHighlightX || this.showHighlightY || this.showHighlightR; + get posFront(): Coord { + return this._posFront; } - // recompute cached data like endpoint positions - recompute() { - let halfLength = this.getLength() / 2; - - let dx = Math.cos(this.thetaRadians) * halfLength; - let dy = Math.sin(this.thetaRadians) * halfLength; + /** Where the link's two ends are, given where this position is measured from. */ + recompute(): void { + const half = this.getLength() / 2; + const dx = Math.cos(this.thetaRadians) * half; + const dy = Math.sin(this.thetaRadians) * half; if (this.getCOR() === COR.BACK) { this._posBack = new Coord(this.position.x, this.position.y); - this._posCenter = new Coord(this.position.x + dx, this.position.y + dy); this._posFront = new Coord(this.position.x + dx * 2, this.position.y + dy * 2); } else if (this.getCOR() === COR.CENTER) { this._posBack = new Coord(this.position.x - dx, this.position.y - dy); - this._posCenter = new Coord(this.position.x, this.position.y); this._posFront = new Coord(this.position.x + dx, this.position.y + dy); } else { this._posBack = new Coord(this.position.x - dx * 2, this.position.y - dy * 2); - this._posCenter = new Coord(this.position.x - dx, this.position.y - dy); this._posFront = new Coord(this.position.x, this.position.y); } - - this._pathString = this._createPath( - this.posBack.x, - this.posBack.y, - this.posFront.x, - this.posFront.y, - this.sConstants.LINK_CIRCLE_RADIUS - ); - } - - // generate SVG path for a link given two points and a radius - private _createPath(x1: number, y1: number, x2: number, y2: number, r: number): string { - r = r * SettingsService.objectScale; - - const dx = x2 - x1; - const dy = y2 - y1; - - // calculate angle between the two points - const theta = Math.atan2(dy, dx); - - // calculate points for the rectangle - const p1x = x1 - r * Math.sin(theta); - const p1y = y1 + r * Math.cos(theta); - const p2x = x2 - r * Math.sin(theta); - const p2y = y2 + r * Math.cos(theta); - const p3x = x2 + r * Math.sin(theta); - const p3y = y2 - r * Math.cos(theta); - const p4x = x1 + r * Math.sin(theta); - const p4y = y1 - r * Math.cos(theta); - - // draw the path - return ` - M ${p1x} ${p1y} - A ${r} ${r} 0 1 1 ${p4x} ${p4y} - L ${p3x} ${p3y} - A ${r} ${r} 0 1 1 ${p2x} ${p2y} - Z - `; } } - -// cached graphics data for a pose to be displayed as an SVG -export class PoseGraphicsData { - constructor( - public pose: SynthesisPose, - public pointA: Coord, - public pointB: Coord - ) {} -} From 255b959c655d99a40d2ba4aebeca5fac1fe5c787 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 17:26:49 -0700 Subject: [PATCH 196/236] Rebuild the Synthesis panel around choosing between solutions The panel used to be a form: type a length, create three poses, and a linkage appeared. It is now the account of a search. What is being synthesised, the coupler, the three positions as rows that read the same before and after they are filled, what a solution has to satisfy, an explicit Generate, the candidates side by side with what each one can and cannot do, and the one button that puts a solution in the drawing. Every requirement says what it is costing rather than only what it is: switched on it narrows the search, off it widens it, and when nothing is found the panel names the one to relax rather than leaving the reader to guess. The purely-geometric explanation is kept for when no requirement is in the way, because with one switched on it is the wrong answer. Its width goes to 400px, the analysis panel's. Three numbers per position, a gallery read side by side and a transport do not fit in 250, and all three are comparisons that stop working the moment they wrap. The stylesheet ships through the theme mixin nested under the panel's own id: it is twice the component-style budget, and half its class names are words rather than names. Co-Authored-By: Claude Opus 5 --- .../left-tabs/left-tabs.component.html | 2 +- .../left-tabs/left-tabs.component.scss | 8 +- .../synthesis-panel.component.html | 560 +++++-- .../synthesis-panel.component.scss | 1259 ++++++++++++++- .../synthesis-panel.component.ts | 1352 +++++++++-------- 5 files changed, 2387 insertions(+), 794 deletions(-) diff --git a/src/app/component/left-tabs/left-tabs.component.html b/src/app/component/left-tabs/left-tabs.component.html index 2575b6e2..3f6cf65d 100644 --- a/src/app/component/left-tabs/left-tabs.component.html +++ b/src/app/component/left-tabs/left-tabs.component.html @@ -1,6 +1,6 @@
    - - - 3 Position Synthesis - - - - End-Effector Link (Coupler) - - Length - - - Fixed Reference - - - - - @for (i of [1, 2, 3]; track i) { -
    - -
    - -

    Pose {{ i }}

    -
    +
    + + @if (isChooser) { +
    +
    +
    Synthesis
    +
    + Build a linkage from the motion you want, then insert it into the drawing. +
    +
    +
    +
    What are you synthesising?
    + + + +
    + show_chart + + + Path — points on a curve + Coming soon + + + Sketch a curve and fit a linkage whose coupler point follows it. Not available yet. + + +
    +
    +
    + } @else { +
    +
    + +
    +
    Motion synthesis
    +
    {{ headerNote() }}
    +
    +
    + +
    + +
    +
    Coupler
    +
    + Length + + help_outline + + +
    - - @if (synthesisBuilder.isPoseDefined(i)) { -
    - + Fixed reference + + help_outline + + +
    + @for (opt of referenceOptions(); track opt.value) { + + } +
    +
    +
    + + +
    +
    +
    Positions
    + + @if (showAddButton) { + + } + @if (canDuplicate) { + + } +
    + + @for (i of rows; track i) { +
    + {{ i }} + X + + Y + + ⊾ + + + {{ rowStatusIcon(i) }} + + + close + +
    + } +
    + + +
    +
    +
    Requirements
    + + help_outline + + + {{ requirementCount() }} +
    + + @for (rq of requirements(); track rq.key) { +
    + + + @if (rq.hasRegion) { +
    +
    + {{ regionSummary() }} + +
    +
    + X + + Y + + W + + H + +
    +
    + } +
    + } + + @if (requirementsBlocking) { +
    + rule + {{ requirementsBlockingNote() }}
    } - - @if (synthesisBuilder.getFirstUndefinedPose() === i) { -
    - Create Pose - +
    + + + @if (showGenerate) { +
    +
    {{ generateNote() }}
    + + @if (solution.generating) { +
    +
    + Constructing circle centres, then solving a full crank revolution for each + candidate… +
    + } +
    + } + + + @if (showResults) { +
    +
    +
    {{ candidateHeading() }}
    + + @if (showNoCandidateReason) { +
    + error_outline + {{ noCandidateReason() }} +
    + } + + + + @if (hasMoreCandidates) { + + } +
    + + @if (hasSolution) { +
    +
    Solution {{ solutionName }}
    + +
    + Assembly branch + + help_outline + + +
    + @for (opt of branchOptions(); track opt.label) { + + } +
    +
    + +
    + Driven from + + help_outline + + +
    + @for (opt of pinOptions(); track opt.label) { + + } +
    +
    + +
    + + + help_outline + + + +
    + + @if (solution.driverRefusal) { +
    {{ solution.driverRefusal }}
    + } + +
    + + @if (solution.dimensionsOpen) { +
    + @for (d of dimensionRows(); track d.label) { +
    + {{ d.label }} + {{ d.value }} +
    + } +
    + } +
    +
    } + } +
    + + +
    + @if (hasSolution) { +
    +
    + {{ solutionName }} + {{ previewNote() }} + {{ angleLabel() }} + + +
    +
    +
    +
    + @for (tk of poseTicks(); track $index) { +
    + } + +
    +
    + } +
    + +
    - } - - - - - @if (hasLinkage()) { - Drive - - Swap Drive Pin - - - {{ synthesisBuilder.driverWanted ? 'Remove Driver' : 'Add Driver (Six-Bar)' }} - - @if (synthesisBuilder.driverRefusal) { -

    {{ synthesisBuilder.driverRefusal }}

    + @if (solution.inserted) { +
    + check_circle + {{ insertedNote() }} + +
    } - - Evaluate Poses - - - } - - - - - Remove All Poses - - - +
    +
    + }
    diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.scss b/src/app/component/synthesis-panel/synthesis-panel.component.scss index 3accc9b8..7ad0fe04 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.scss +++ b/src/app/component/synthesis-panel/synthesis-panel.component.scss @@ -1,105 +1,1204 @@ @use 'sass:map'; @use '@angular/material' as mat; +/* The panel is the app's indigo throughout; these are the same values + mytheme.scss resolves to, written out so a rule can be read on its own. */ +$ink: #2c2c2c; +$indigo: #3f51b5; +$indigo-mid: #5c6bc0; +$indigo-pale: #e8eaf6; +$indigo-tint: #f7f8fd; +$fill: #f0f1f5; +$rule: #eceef5; +$edge: #e6e7ee; +$quiet: rgba(0, 0, 0, 0.55); +$amber: #f5a623; +$amber-ink: #b26a00; +$green: #2e7d32; +$red: #e53935; + +/** + * Shipped through the theme mixin, like every other panel in the app. + * + * Two reasons, and they are the same reason twice. A component stylesheet is + * capped at 6 kB and this one is twice that; and half these class names -- + * `.row`, `.field`, `.card`, `.note` -- are words, not names, so emitting them + * at the top level of the global sheet would restyle the rest of the app. + * Nesting the whole thing under the panel's own id settles both at once. + */ @mixin css($theme) { - // Get the color config from the theme. - $color-config: mat.m2-get-color-config($theme); - // Get the primary color palette from the color-config. - $primary-palette: map.get($color-config, 'primary'); - $accent-palette: map.get($color-config, 'accent'); $typography-config: mat.m2-get-typography-config($theme); - $background: map.get($theme, background); - $foreground: map.get($theme, foreground); -} -#synthesisWrapper { - display: flex; - flex-direction: column; - gap: 10px; -} + #synthesisPanel { + .chooser__title { + @include mat.m2-typography-level($typography-config, 'headline-6'); + } -.poseHeader { - display: flex; - justify-content: space-between; - width: 100%; -} + /* The card, drawn here rather than by panel-section: this panel owns two + scroll regions of its own -- the design above and a transport that has to + stay put below it -- and panel-section's card scrolls as one piece. Same + surface, same shadow, same 5px indigo bar, so it is the same card. */ + & { + display: flex; + flex-direction: column; + min-height: 0; + max-height: 100%; + overflow: hidden; + pointer-events: all; + background-color: var(--card-surface); + border-top: 5px solid $indigo; + border-radius: var(--border-radius); + box-shadow: var(--card-shadow); + color: $ink; + font-family: Roboto, 'Helvetica Neue', sans-serif; -.poseEdit { - zoom: 0.7; - justify-content: flex-end; -} + mat-icon { + /* Material's icon box is 24px around an 18px glyph laid out at the top; + every icon here is inline beside text, so the box centres its own + contents rather than the row centring a box with air in it. */ + display: inline-flex; + align-items: center; + justify-content: center; + } + } -// #headline-1 { -// @include mat.typography-level($typography-config, 'headline-1'); -// } + /* --- the chooser --------------------------------------------------------- */ -// #headline-2 { -// @include mat.typography-level($typography-config, 'headline-2'); -// } + .chooser__head { + padding: 10px 15px 8px; + } -// #headline-3 { -// @include mat.typography-level($typography-config, 'headline-3'); -// } + .chooser__title { + white-space: nowrap; + } -// #headline-4 { -// @include mat.typography-level($typography-config, 'headline-4'); -// } + .chooser__sub { + font-size: 14px; + line-height: 18px; + color: rgba(0, 0, 0, 0.6); + } -// #headline-5 { -// @include mat.typography-level($typography-config, 'headline-5'); -// } + .chooser__body { + display: flex; + flex-direction: column; + gap: 10px; + padding: 10px 15px 14px; + border-top: 1px solid $rule; + } -// #headline-6 { -// @include mat.typography-level($typography-config, 'headline-6'); -// } + .chooser__prompt { + font-size: 14px; + font-weight: 500; + line-height: 22px; + } -// #subtitle-1 { -// @include mat.typography-level($typography-config, 'subtitle-1'); -// } + .kindCard { + display: flex; + gap: 12px; + padding: 12px; + border-radius: 6px; + text-align: left; + font: inherit; + color: inherit; -// #body-1 { -// @include mat.typography-level($typography-config, 'body-2'); -// } + &--on { + border: 1.5px solid $indigo; + background: $indigo-tint; + cursor: pointer; -// #body-2 { -// @include mat.typography-level($typography-config, 'body-2'); -// } + &:hover { + background: #eef1fc; + } + } -// #subtitle-2 { -// @include mat.typography-level($typography-config, 'subtitle-2'); -// } + /* Named rather than hidden: what this screen cannot do yet is the first + thing a reader wants to know about it. */ + &--off { + border: 1px solid $edge; + background: #fafafc; + cursor: not-allowed; -// #caption { -// @include mat.typography-level($typography-config, 'caption'); -// } + .kindCard__name, + .kindCard__detail { + color: rgba(0, 0, 0, 0.45); + } -// #overline { -// @include mat.typography-level($typography-config, 'overline'); -// } + .kindCard__icon { + background: $fill; + color: #b0b3c0; + } + } -// #button { -// @include mat.typography-level($typography-config, 'button'); -// } + &__icon { + flex: 0 0 auto; + display: flex; + align-items: center; + justify-content: center; + width: 36px; + height: 36px; + border-radius: 6px; + background: $indigo-pale; + color: $indigo; + } -//#input { -// @include mat.typography-level($typography-config, 'input'); -//} + &__text { + display: flex; + flex-direction: column; + gap: 4px; + min-width: 0; + } -.poseData { - display: flex; - flex-direction: column; - gap: 10px; -} + &__row { + display: flex; + align-items: center; + gap: 8px; + } + + &__name { + font-size: 15px; + font-weight: 500; + } + + &__detail { + font-size: 13px; + line-height: 18px; + color: rgba(0, 0, 0, 0.6); + } + } + + .chip { + display: inline-flex; + align-items: center; + height: 18px; + padding: 0 7px; + border-radius: 9px; + background: $fill; + color: #8a8d99; + font-size: 11px; + font-weight: 500; + white-space: nowrap; + + &--on { + background: $indigo-pale; + color: $indigo; + } + } + + /* --- the working screen -------------------------------------------------- */ + + .work { + display: flex; + flex-direction: column; + min-height: 0; + overflow: hidden; + } + + .work__head { + display: flex; + align-items: center; + gap: 8px; + flex: 0 0 auto; + padding: 8px 15px 8px 8px; + border-bottom: 1px solid $rule; + } + + .work__headText { + display: flex; + flex-direction: column; + min-width: 0; + flex: 1 1 auto; + } + + .work__title { + font-size: 17px; + font-weight: 500; + line-height: 24px; + } + + .work__note { + font-size: 12px; + color: $quiet; + } + + .work__scroll { + flex: 1 1 auto; + min-height: 0; + overflow-y: auto; + display: flex; + flex-direction: column; + } + + .sect { + display: flex; + flex-direction: column; + gap: 8px; + padding: 8px 15px 10px; + border-bottom: 1px solid $rule; + + &--last { + border-bottom: 0; + } + + &__head { + display: flex; + align-items: center; + gap: 6px; + min-height: 28px; + } + + &__title { + font-size: 14px; + font-weight: 500; + line-height: 22px; + } + + &__count { + font-size: 11.5px; + color: rgba(0, 0, 0, 0.5); + } + + &__prose { + font-size: 12.5px; + line-height: 17px; + color: rgba(0, 0, 0, 0.6); + } + + &__fine { + font-size: 11.5px; + color: $quiet; + } + } + + /* One row: label, help, then the control hard against the right edge, so + every row's control shares a left edge down the panel. */ + .row { + display: flex; + align-items: center; + gap: 5px; + min-height: 30px; + + &__label { + font-size: 14px; + color: rgba(0, 0, 0, 0.72); + + &--btn { + border: 0; + background: none; + padding: 0; + font: inherit; + color: rgba(0, 0, 0, 0.72); + cursor: pointer; + } + } + + &__help { + font-size: 15px; + width: 15px; + height: 15px; + color: rgba(0, 0, 0, 0.3); + cursor: help; + } + + &__spacer { + flex: 1 1 auto; + } + } + + /* The panel's field, as input.component.scss draws it: a filled box with an + underline, and the unit living inside the value as part of the text the + reader selects and types over -- not a separate label beside it. */ + .field { + display: flex; + align-items: center; + height: 30px; + padding: 0 8px 1px; + background: $fill; + border-bottom: 1px solid rgba(0, 0, 0, 0.42); + border-radius: 4px 4px 0 0; + box-sizing: border-box; + + &:focus-within { + padding-bottom: 0; + border-bottom: 2px solid $indigo; + } + + input { + width: 100%; + min-width: 0; + margin: 0; + border: 0; + padding: 0; + background: transparent; + font-family: Roboto, sans-serif; + font-size: 14px; + line-height: 20px; + color: $ink; + + &:focus { + outline: none; + } + + &::placeholder { + color: rgba(0, 0, 0, 0.26); + } + + /* A row that has not been placed yet still shows its shape, greyed. */ + &[disabled] { + -webkit-text-fill-color: rgba(0, 0, 0, 0.3); + color: rgba(0, 0, 0, 0.3); + } + } + + &--wide { + width: 214px; + flex: 0 0 214px; + } + + &--num { + flex: 0 0 76px; + } + + &--angle { + flex: 0 0 64px; + } + + &--tiny { + flex: 1 1 0; + height: 26px; + } + } + + /* A segmented control: one box, one option lit. */ + .seg { + display: flex; + height: 30px; + border: 1px solid rgba(0, 0, 0, 0.12); + border-radius: 4px; + overflow: hidden; + + &--wide { + width: 214px; + flex: 0 0 214px; + } + + &__opt { + flex: 1 1 0; + display: flex; + align-items: center; + justify-content: center; + border: 0; + background: #fff; + font-family: Roboto, sans-serif; + font-size: 13px; + font-weight: 500; + color: #3c4043; + cursor: pointer; + + & + & { + border-left: 1px solid rgba(0, 0, 0, 0.12); + } + + &--on { + background: $indigo-mid; + color: #fff; + } + + /* The other branch of a pair that has only one: offered, so the reader can + see the choice exists, but there is nothing behind it. */ + &:disabled { + color: #c4c7d0; + cursor: default; + } + } + } + + /* --- positions ----------------------------------------------------------- */ + + .pill { + display: flex; + align-items: center; + gap: 6px; + height: 28px; + padding: 0 10px; + border: 1px solid $indigo; + border-radius: 4px; + background: $indigo; + color: #fff; + font-family: Roboto, sans-serif; + font-size: 13px; + font-weight: 500; + cursor: pointer; + + mat-icon { + font-size: 17px; + width: 17px; + height: 17px; + } + + /* Armed reads as a mode the reader is *in*, so it inverts rather than + brightening: the button is now the way out of it. */ + &--armed { + background: #eef1fc; + color: $indigo; + } + + &--square { + width: 28px; + padding: 0; + justify-content: center; + background: #fff; + color: $indigo; + } + } + + .poseRow { + display: flex; + align-items: center; + gap: 5px; + padding: 5px 6px; + border: 1.5px solid $edge; + border-radius: 5px; + background: #fff; + cursor: pointer; + + &--sel { + border-color: #ffc107; + background: #fffdf5; + } + + &__n { + flex: 0 0 20px; + display: flex; + align-items: center; + justify-content: center; + height: 20px; + border-radius: 10px; + background: #dfe1e8; + color: rgba(0, 0, 0, 0.45); + font-size: 12px; + font-weight: 500; + + &--placed { + background: $indigo-mid; + color: #fff; + } + } + + &__axis { + flex: 0 0 10px; + font-size: 14px; + color: rgba(0, 0, 0, 0.6); + + &--angle { + flex: 0 0 14px; + font-size: 15px; + text-align: center; + } + } + + &__status { + flex: 0 0 18px; + font-size: 18px; + width: 18px; + height: 18px; + color: #b6bac6; + cursor: help; + + &--ok { + color: $green; + } + + &--defect { + color: $amber-ink; + } + + &--arm { + color: $indigo; + } + } + + &__remove { + flex: 0 0 17px; + font-size: 17px; + width: 17px; + height: 17px; + color: #9aa0ac; + cursor: pointer; + + &--off { + color: #e2e4ea; + cursor: default; + } + } + } + + /* --- requirements -------------------------------------------------------- */ + + .req { + display: flex; + flex-direction: column; + gap: 6px; + padding: 7px 9px; + border: 1px solid $rule; + border-radius: 5px; + background: #fff; + + &--on { + border-color: #d3d8f0; + background: $indigo-tint; + } + + &__line { + display: flex; + align-items: center; + gap: 8px; + border: 0; + padding: 0; + background: none; + font: inherit; + text-align: left; + cursor: pointer; + } + + &__icon { + flex: 0 0 18px; + font-size: 18px; + width: 18px; + height: 18px; + color: #c4c7d0; + } + + &__text { + flex: 1 1 auto; + min-width: 0; + display: flex; + flex-direction: column; + } + + &__label { + font-size: 13px; + color: rgba(0, 0, 0, 0.5); + } + + &__detail { + font-size: 11.5px; + line-height: 16px; + color: $quiet; + } + + &--on &__icon { + color: $indigo; + } + + &--on &__label { + color: rgba(0, 0, 0, 0.85); + } + } + + .switch { + position: relative; + flex: 0 0 34px; + width: 34px; + height: 14px; + margin-right: 3px; + border: 0; + padding: 0; + border-radius: 7px; + background: rgba(0, 0, 0, 0.22); + cursor: pointer; + + &__knob { + position: absolute; + left: -3px; + top: -3px; + width: 20px; + height: 20px; + border-radius: 10px; + background: #fafafa; + box-shadow: 0 1px 3px rgba(0, 0, 0, 0.4); + transition: left 120ms ease-out; + } + + &--on { + background: rgba(63, 81, 181, 0.5); + } + + &--on .switch__knob { + left: 17px; + background: $indigo; + } + } + + @media (prefers-reduced-motion: reduce) { + .switch__knob { + transition: none; + } + } + + .region { + display: flex; + flex-direction: column; + gap: 6px; + padding-left: 26px; + + &__line { + display: flex; + align-items: center; + gap: 8px; + } + + &__summary { + flex: 1 1 auto; + font-size: 11.5px; + color: rgba(0, 0, 0, 0.6); + } + + &__draw { + border: 0; + padding: 0; + background: none; + font: inherit; + font-size: 12px; + font-weight: 500; + color: #8a6d1b; + cursor: pointer; + + &--on { + color: #c62828; + } + } + + &__fields { + display: flex; + align-items: center; + gap: 5px; + } + + &__tag { + flex: 0 0 11px; + font-size: 13px; + color: rgba(0, 0, 0, 0.6); + } + } + + /* --- notes --------------------------------------------------------------- */ + + .note { + display: flex; + align-items: flex-start; + gap: 8px; + padding: 9px 11px; + border-radius: 5px; + font-size: 12px; + line-height: 17px; + + mat-icon { + flex: 0 0 18px; + font-size: 18px; + width: 18px; + height: 18px; + } + + &--warn { + background: rgba(245, 166, 35, 0.09); + border: 1px solid rgba(245, 166, 35, 0.45); + color: rgba(0, 0, 0, 0.72); + + mat-icon { + color: $amber-ink; + } + } + + &--bad { + background: #fdf6f6; + color: rgba(0, 0, 0, 0.7); + + mat-icon { + color: $red; + } + } + + &--good { + align-items: center; + background: #e6f4ea; + color: #1a4a29; + + mat-icon { + color: #137333; + } + + span { + flex: 1 1 auto; + } + } + + &__undo { + border: 0; + padding: 0; + background: none; + font: inherit; + font-weight: 500; + color: #137333; + cursor: pointer; + } + } + + /* Why no driver could be fitted, under the toggle that tried. Warm rather than + red: the four-bar is still there and still good, so this is an explanation of + what did not happen, not a report of something broken. */ + .refusal { + padding: 8px 10px; + border-left: 3px solid $amber; + background: rgba(245, 166, 35, 0.08); + font-size: 12px; + line-height: 17px; + color: rgba(0, 0, 0, 0.72); + } + + /* --- generating ---------------------------------------------------------- */ + + .cta { + display: flex; + align-items: center; + justify-content: center; + gap: 8px; + height: 38px; + border: 0; + border-radius: 4px; + background: $indigo; + color: #fff; + font-family: Roboto, sans-serif; + font-size: 14px; + font-weight: 500; + cursor: pointer; + + &:disabled { + background: #d5d7e0; + color: #8f93a1; + cursor: default; + } + + &--busy:disabled { + background: #9fa8da; + color: #fff; + } + + &--insert { + flex: 1 1 auto; + height: 36px; + } + } + + .sweep { + position: relative; + height: 4px; + border-radius: 2px; + background: #e4e6ef; + overflow: hidden; + + &__bar { + position: absolute; + top: 0; + bottom: 0; + width: 38%; + border-radius: 2px; + background: $indigo; + animation: synthesisSweep 1s linear infinite; + } + } + + @keyframes synthesisSweep { + from { + transform: translateX(-60%); + } + to { + transform: translateX(360%); + } + } + + @media (prefers-reduced-motion: reduce) { + .sweep__bar { + animation: none; + width: 100%; + } + } + + /* --- the gallery --------------------------------------------------------- */ + + .gallery { + display: flex; + gap: 8px; + + /* Three abreast is a comparison; eight abreast is a list. Opened out, they + go two to a row and the section scrolls rather than the panel. */ + &--all { + display: grid; + grid-template-columns: 1fr 1fr; + max-height: 260px; + overflow-y: auto; + } + } + + .card { + flex: 1 1 0; + min-width: 0; + display: flex; + flex-direction: column; + gap: 4px; + padding: 6px; + border: 1px solid $edge; + border-radius: 5px; + background: #fff; + text-align: left; + font: inherit; + cursor: pointer; + + &--sel { + border: 1.5px solid $indigo; + background: $indigo-tint; + + .card__name { + color: $indigo; + } + + .card__thumb { + background: #fff; + } + } + + &__head { + display: flex; + align-items: center; + gap: 6px; + min-width: 0; + } + + &__name { + font-size: 13px; + font-weight: 500; + } + + &__kind { + flex: 1 1 auto; + font-size: 10.5px; + color: $quiet; + white-space: nowrap; + overflow: hidden; + text-overflow: ellipsis; + } + + &__thumb { + background: #fafafc; + border-radius: 3px; + } + + &__reach { + font-size: 10.5px; + color: $amber-ink; + + &--ok { + color: $green; + } + } + + &__metric { + font-size: 10.5px; + color: $quiet; + } + } + + .linkBtn { + display: flex; + align-items: center; + gap: 4px; + border: 0; + padding: 0; + background: none; + font: inherit; + font-size: 12.5px; + color: $indigo; + cursor: pointer; + + mat-icon { + font-size: 15px; + width: 15px; + height: 15px; + } + } + + /* --- link lengths -------------------------------------------------------- */ + + .dims { + display: flex; + flex-direction: column; + border-radius: 5px; + background: #f4f5f9; + overflow: hidden; + + &__head { + display: flex; + align-items: center; + gap: 6px; + border: 0; + padding: 7px 10px; + background: none; + font: inherit; + cursor: pointer; + } + + &__title { + flex: 1 1 auto; + text-align: left; + font-size: 12.5px; + font-weight: 500; + color: rgba(0, 0, 0, 0.7); + } + + &__summary { + font-size: 11.5px; + color: rgba(0, 0, 0, 0.5); + } + + &__body { + display: flex; + flex-direction: column; + gap: 3px; + padding: 0 10px 8px; + } + + &__row { + display: flex; + align-items: baseline; + gap: 8px; + font-size: 12.5px; + line-height: 19px; + color: rgba(0, 0, 0, 0.6); + + span:first-child { + flex: 1 1 auto; + } + } + + &__value { + font-weight: 500; + color: $ink; + } + } + + /* --- the foot ------------------------------------------------------------ */ + + .foot { + flex: 0 0 auto; + display: flex; + flex-direction: column; + gap: 8px; + padding: 8px; + border-top: 1px solid $edge; + background: #fbfbfd; + } + + .iconBtn { + display: flex; + align-items: center; + justify-content: center; + width: 32px; + height: 32px; + border: 0; + border-radius: 6px; + background: none; + color: #5f6368; + cursor: pointer; + + &:hover { + background: rgba(0, 0, 0, 0.05); + } + + &--sm { + width: 22px; + height: 22px; + + mat-icon { + font-size: 18px; + width: 18px; + height: 18px; + } + } + } + + .transport { + display: flex; + flex-direction: column; + gap: 3px; + padding: 3px 4px; + border-radius: 6px; + + &--playing { + background: #e9ebf3; + } + + &__line { + display: flex; + align-items: center; + gap: 6px; + height: 22px; + padding: 0 4px; + overflow: hidden; + } + + &__name { + flex: 0 0 auto; + font-size: 13px; + font-weight: 500; + color: $indigo; + } + + &__note { + font-size: 11px; + color: rgba(0, 0, 0, 0.5); + white-space: nowrap; + overflow: hidden; + text-overflow: ellipsis; + } + + &__angle { + margin-left: auto; + font-size: 11px; + font-weight: 500; + white-space: nowrap; + } + } + + /* The channel and its indigo progress are their own elements so the position + marks can sit BETWEEN them and the handle: the input keeps only its thumb, + on top of everything. */ + .track { + position: relative; + height: 16px; + margin: 0 4px; + + &__channel { + position: absolute; + left: 0; + right: 0; + top: 0; + height: 8px; + border-radius: 4px; + background: #d5d7e0; + } + + &__done { + position: absolute; + left: 0; + top: 0; + height: 8px; + border-radius: 4px; + background: $indigo; + } + + &__tick { + position: absolute; + top: 1px; + z-index: 1; + width: 6px; + height: 6px; + margin-left: -3px; + border-radius: 3px; + background: $amber; + box-shadow: 0 0 0 1px rgba(255, 255, 255, 0.85); + pointer-events: none; + + &--ok { + background: #43a047; + } + } + + &__scrub { + -webkit-appearance: none; + appearance: none; + position: absolute; + left: 0; + right: 0; + top: -6px; + z-index: 2; + width: 100%; + height: 20px; + margin: 0; + padding: 0; + border: none; + background: transparent; + cursor: pointer; + + &::-webkit-slider-runnable-track { + height: 8px; + border: none; + background: transparent; + } + + &::-moz-range-track { + height: 8px; + border: none; + background: transparent; + } + + &::-webkit-slider-thumb { + -webkit-appearance: none; + appearance: none; + box-sizing: border-box; + width: 24px; + height: 20px; + margin-top: -6px; + border: 1px solid rgba(0, 0, 0, 0.16); + border-radius: 10px; + background: #fff; + box-shadow: 0 1px 2px rgba(0, 0, 0, 0.18); + cursor: inherit; + } + + &::-moz-range-thumb { + box-sizing: border-box; + width: 24px; + height: 20px; + border: 1px solid rgba(0, 0, 0, 0.16); + border-radius: 10px; + background: #fff; + box-shadow: 0 1px 2px rgba(0, 0, 0, 0.18); + cursor: inherit; + } + } + } + + .foot__buttons { + display: flex; + gap: 8px; + padding: 0 4px 2px; + } + + .danger { + flex: 0 0 auto; + display: flex; + align-items: center; + justify-content: center; + gap: 6px; + height: 36px; + padding: 0 12px; + border: 1px solid $red; + border-radius: 4px; + background: none; + color: $red; + font-family: Roboto, sans-serif; + font-size: 14px; + font-weight: 500; + cursor: pointer; + + mat-icon { + font-size: 18px; + width: 18px; + height: 18px; + } -/* Why no driver could be fitted, sitting under the button that tried. Warm - rather than red: the four-bar is still there and still good, so this is an - explanation of what did not happen, not a report of something broken. */ -.driverRefusal { - margin: 6px 2px 10px; - padding: 8px 10px; - border-left: 3px solid #f5a623; - background: rgba(245, 166, 35, 0.08); - font-size: 11.5px; - line-height: 1.4; - color: rgba(0, 0, 0, 0.7); + &:hover { + background: rgba(229, 57, 53, 0.06); + } + } + } } diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.ts b/src/app/component/synthesis-panel/synthesis-panel.component.ts index 43c08516..6c90702b 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.ts +++ b/src/app/component/synthesis-panel/synthesis-panel.component.ts @@ -1,715 +1,861 @@ -import { Component, OnInit, ChangeDetectionStrategy, inject } from '@angular/core'; +import { Component, OnInit, OnDestroy, ChangeDetectionStrategy, inject } from '@angular/core'; import { FormBuilder, FormsModule, ReactiveFormsModule } from '@angular/forms'; -import { Coord } from '../../model/coord'; -import { Joint, RevJoint } from '../../model/joint'; +import { Subscription } from 'rxjs'; +import { MatIcon } from '@angular/material/icon'; +import { MatTooltip } from '@angular/material/tooltip'; import { MechanismService } from '../../services/mechanism.service'; -import { RealLink } from '../../model/link'; import { SynthesisBuilderService } from 'src/app/services/synthesis/synthesis-builder.service'; +import { SynthesisSolutionService } from 'src/app/services/synthesis/synthesis-solution.service'; import { NumberUnitParserService } from 'src/app/services/number-unit-parser.service'; import { SettingsService } from 'src/app/services/settings.service'; -import { SynthesisStatus } from 'src/app/services/synthesis/synthesis-constants'; -import { driverDyadFor } from 'src/app/services/synthesis/driver-dyad'; +import { COR } from 'src/app/services/synthesis/synthesis-util'; +import { + FourBarCandidate, + describeCouplerPins, + solveFourBar, +} from 'src/app/services/synthesis/synthesis-candidates'; import { MODEL_SCALE } from 'src/app/model/render-scale'; import { SvgGridService } from '../../services/svg-grid.service'; -import { ColorService } from '../../services/color.service'; -import { PanelSectionComponent } from '../BLOCKS/panel-section/panel-section.component'; -import { TitleBlock } from '../BLOCKS/title/title.component'; -import { CollapsibleSubsecitonComponent } from '../BLOCKS/collapsible-subseciton/collapsible-subseciton.component'; -import { SubtitleComponent } from '../BLOCKS/subtitle/subtitle.component'; -import { InputComponent } from '../BLOCKS/input/input.component'; -import { RadioComponent } from '../BLOCKS/radio/radio.component'; -import { MatDivider } from '@angular/material/divider'; -import { DualInputComponent } from '../BLOCKS/dual-input/dual-input.component'; -import { ButtonComponent } from '../BLOCKS/button/button.component'; + +/** One requirement row: what it costs, and what switching it off buys. */ +interface Requirement { + key: string; + on: boolean; + label: string; + detail: string; + toggle: () => void; + hasRegion?: boolean; +} + +/** What one candidate looks like on its card in the gallery. */ +interface CandidateCard { + key: string; + name: string; + kind: string; + thumb: string; + thumbCoupler: string; + selected: boolean; + reachText: string; + defectFree: boolean; + metric: string; +} + +const HELP = { + length: + 'The length of the end-effector link — the part whose three positions you are designing for. ' + + "The four-bar's coupler is pinned to this link, but not necessarily at its ends.", + ref: + 'Which point on the end-effector link the coordinates describe, and the point it turns about: ' + + 'its back end, its middle, or its front end.', + duplicate: + 'Copy the last position and offset it slightly — a quick start for three similar positions.', + branch: + 'A four-bar can be closed two ways through the same pivots. Which way it is closed decides ' + + 'which of the three positions it can pass through without coming apart.', + pin: + 'Which ground pin carries the input. A four-bar that will not turn from one ground pin often ' + + 'turns freely from the other.', + driver: + 'Adds a crank and coupler sized so one full turn walks the linkage through all three ' + + 'positions, making it a six-bar a motor can run.', + requirements: + 'What a solution has to satisfy to be listed. Every one you switch on narrows the search; ' + + 'switching one off widens it.', +}; @Component({ selector: 'app-synthesis-panel', templateUrl: './synthesis-panel.component.html', styleUrls: ['./synthesis-panel.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - imports: [ - PanelSectionComponent, - TitleBlock, - CollapsibleSubsecitonComponent, - SubtitleComponent, - InputComponent, - FormsModule, - ReactiveFormsModule, - RadioComponent, - MatDivider, - DualInputComponent, - ButtonComponent, - ], + imports: [FormsModule, ReactiveFormsModule, MatIcon, MatTooltip], }) -export class SynthesisPanelComponent implements OnInit { +export class SynthesisPanelComponent implements OnInit, OnDestroy { private fb = inject(FormBuilder); mechanismSrv = inject(MechanismService); - synthesisBuilder = inject(SynthesisBuilderService); + design = inject(SynthesisBuilderService); + solution = inject(SynthesisSolutionService); private nup = inject(NumberUnitParserService); private settings = inject(SettingsService); svgGrid = inject(SvgGridService); - private colorService = inject(ColorService); - - private _alreadyHandlingPoseChange: boolean = false; - - ngOnInit() { - //Set initial values - //(The default values are based on the image Pradeep provided but they can be easily changed below) - this.synthesisForm.setValue({ - //a0x: '6', - //a0y: '0', - //b0x: '8.1213', - //b0y: '-2.1213', - //a1x: '8', - //a1y: '-4', - //b1x: '8', - //b1y: '-7', - //a2x: '1', - //a2y: '2', - //b2x: '4', - //b2y: '2', - - //a0x: '-7.96', - //a0y: '-1.34', - //b0x: '-4.42', - //b0y: '2.2', - //a1x: '-0.37', - //a1y: '4.06', - //b1x: '4.63', - //b1y: '4.06', - //a2x: '7.68', - //a2y: '2.30', - //b2x: '11.22', - //b2y: '-1.23', - - a0x: '0', - a0y: '0', - b0x: '12.5', - b0y: '0', - a1x: '20', - a1y: '10', - b1x: '28.8388', - b1y: '18.8388', - a2x: '20', - a2y: '30', - b2x: '26.25', - b2y: '40.8253', - - quality: '0.05', - - position1Match: ' ', - position2Match: ' ', - position3Match: ' ', - }); - // initialize form values from model - this.updateFormFromModel(); + readonly help = HELP; + readonly rows = [1, 2, 3]; - // when model updates, update form values as well - this.synthesisBuilder.valueChanges.subscribe((value) => { - this.updateFormFromModel(); - if (this.synthesisBuilder.isFullyDefined()) { - this.synthesisFunction(); - } - }); + private subs: Subscription[] = []; + private syncing = false; + private frame: number | undefined; - // set up subscriptions to synthesis form changes to update model - this.synthesisPoseForm.valueChanges.subscribe((value) => { - // prevent infinite loop - if (this._alreadyHandlingPoseChange) return; + poseForm = this.fb.group( + { + length: [''], + p1x: [''], + p1y: [''], + p1theta: [''], + p2x: [''], + p2y: [''], + p2theta: [''], + p3x: [''], + p3y: [''], + p3theta: [''], + }, + { updateOn: 'blur' } + ); - this._alreadyHandlingPoseChange = true; + regionForm = this.fb.group({ rx: [''], ry: [''], rw: [''], rh: [''] }, { updateOn: 'blur' }); + + ngOnInit(): void { + // Entering the tab. Whatever a previous visit left on the grid belongs to + // the drawing now, so this visit's Insert makes a new machine rather than + // offering to take back one the reader may have been editing since. + this.solution.forgetInsert(); + this.readFromModel(); + + this.subs.push( + this.design.valueChanges.subscribe((structural) => { + this.readFromModel(); + this.claimWheel(); + // A moved position, a different reference point, a new requirement: the + // candidates on screen were computed for a design that no longer + // exists. Only a re-run may put them back. + if (structural) this.solution.invalidate(); + }) + ); - this.synthesisBuilder.updatePosesFromForm(value); - this.updateFormFromModel(); + this.subs.push( + this.poseForm.valueChanges.subscribe((value) => { + if (this.syncing) return; + this.syncing = true; + this.design.updatePosesFromForm({ ...value, cor: this.corIndex() }); + this.readFromModel(); + this.syncing = false; + this.solution.invalidate(); + this.record(); + }) + ); - if (this.synthesisBuilder.isFullyDefined()) { - this.synthesisFunction(); - } + this.subs.push( + this.regionForm.valueChanges.subscribe(() => { + if (this.syncing) return; + this.readRegionFromForm(); + }) + ); - this._alreadyHandlingPoseChange = false; - }); + this.subs.push( + SettingsService._objectScale.subscribe(() => { + this.design.getAllPoses().forEach((pose) => pose.recompute()); + }) + ); + } - SettingsService._objectScale.subscribe((val) => { - this.synthesisBuilder.getAllPoses().forEach((pose) => { - pose.recompute(); - }); - }); + ngOnDestroy(): void { + this.subs.forEach((s) => s.unsubscribe()); + if (this.frame) cancelAnimationFrame(this.frame); + // Leaving the tab hands the wheel back whatever state placing was left in. + this.svgGrid.setWheelZoomEnabled(true); } - private convertL(value: number): string { - // Pose coordinates and the end-effector length live in internal model - // units; the form speaks the user's unit. - return this.nup.formatModelLength(value, this.settings.lengthUnit.getValue()); + /** + * While a position is waiting to be dropped the wheel turns it, so the canvas + * zoom has to stand down. Reconciled from one place -- every path that arms + * or disarms placing reports through `valueChanges` -- rather than paired by + * hand at each of them, because the failure of a missed pairing is a canvas + * whose wheel is dead until the tab is left. + */ + private claimWheel(): void { + this.svgGrid.setWheelZoomEnabled(!this.design.armed); } - private convertA(value: number): string { - return this.nup.formatValueAndUnit(value, this.settings.angleUnit.getValue()); + // --- units --------------------------------------------------------------- + + private lengthText(model: number): string { + return this.nup.formatModelLength(model, this.settings.lengthUnit.getValue()); } - // given synthesis model, update form values to sync with model - updateFormFromModel() { - this._alreadyHandlingPoseChange = true; + private angleText(degrees: number): string { + return this.nup.formatValueAndUnit(degrees, this.settings.angleUnit.getValue()); + } - let poses = this.synthesisBuilder.poses; - let controls = this.synthesisPoseForm.controls; + /** A model length in the reader's own unit, to two places, without a unit. */ + private plain(model: number): string { + return (model / MODEL_SCALE).toFixed(2); + } - controls.length.setValue(this.convertL(this.synthesisBuilder.length)); + get lengthUnit(): string { + return this.nup.unitLabel(this.settings.lengthUnit.getValue()); + } - if (this.synthesisBuilder.isPoseDefined(1)) { - controls.p1x.setValue(this.convertL(poses[1].position.x)); - controls.p1y.setValue(this.convertL(poses[1].position.y)); - controls.p1theta.setValue(this.convertA(poses[1].thetaDegrees)); - } - if (this.synthesisBuilder.isPoseDefined(2)) { - controls.p2x.setValue(this.convertL(poses[2].position.x)); - controls.p2y.setValue(this.convertL(poses[2].position.y)); - controls.p2theta.setValue(this.convertA(poses[2].thetaDegrees)); + private corIndex(): string { + return this.design.COR === COR.BACK ? '0' : this.design.COR === COR.CENTER ? '1' : '2'; + } + + // --- form <-> model ------------------------------------------------------ + + private readFromModel(): void { + this.syncing = true; + const controls = this.poseForm.controls as unknown as Record< + string, + { setValue(value: string, options?: { emitEvent: boolean }): void } + >; + controls['length'].setValue(this.lengthText(this.design.length), { emitEvent: false }); + for (const i of this.rows) { + const pose = this.design.isPoseDefined(i) ? this.design.getPose(i) : undefined; + controls[`p${i}x`].setValue(pose ? this.lengthText(pose.position.x) : '', { + emitEvent: false, + }); + controls[`p${i}y`].setValue(pose ? this.lengthText(pose.position.y) : '', { + emitEvent: false, + }); + controls[`p${i}theta`].setValue(pose ? this.angleText(pose.thetaDegrees) : '', { + emitEvent: false, + }); + // Through the control rather than the element: a reactive form owns its + // input's disabled state and writes it on every render, so a `disabled` + // attribute set beside `formControlName` is removed again the moment + // Angular looks at it. + [`p${i}x`, `p${i}y`, `p${i}theta`].forEach((name) => { + const control = this.poseForm.get(name)!; + if (pose && control.disabled) control.enable({ emitEvent: false }); + if (!pose && control.enabled) control.disable({ emitEvent: false }); + }); } - if (this.synthesisBuilder.isPoseDefined(3)) { - controls.p3x.setValue(this.convertL(poses[3].position.x)); - controls.p3y.setValue(this.convertL(poses[3].position.y)); - controls.p3theta.setValue(this.convertA(poses[3].thetaDegrees)); + const r = this.design.region; + this.regionForm.setValue( + { + rx: this.lengthText(r.x), + ry: this.lengthText(r.y), + rw: this.lengthText(r.w), + rh: this.lengthText(r.h), + }, + { emitEvent: false } + ); + this.syncing = false; + } + + private readRegionFromForm(): void { + const unit = this.settings.lengthUnit.getValue(); + const parsed = (['rx', 'ry', 'rw', 'rh'] as const).map((key) => + this.nup.parseModelLengthString(this.regionForm.get(key)!.value ?? '', unit) + ); + if (parsed.some(([ok]) => !ok)) { + this.readFromModel(); + return; } + this.design.region = { + x: parsed[0][1], + y: parsed[1][1], + w: Math.max(MODEL_SCALE, parsed[2][1]), + h: Math.max(MODEL_SCALE, parsed[3][1]), + }; + this.readFromModel(); + this.solution.invalidate(); + this.record(); + } - this._alreadyHandlingPoseChange = false; + /** + * One entry in the history for one change to the design. + * + * The design rides in the same URL undo and redo are made of, so a step of it + * has to be written the same way an edit to the drawing is -- once per + * completed change, never per pointer-move. Dragging a position on the grid + * records on release, for the same reason. + */ + private record(): void { + this.mechanismSrv.save(); } - synthesisPoseForm = this.fb.group( - { - cor: ['1'], - length: [''], - p1x: [''], - p1y: [''], - p1theta: [''], - p2x: [''], - p2y: [''], - p2theta: [''], - p3x: [''], - p3y: [''], - p3theta: [''], - }, - { - updateOn: 'blur', + // --- stage --------------------------------------------------------------- + + get isChooser(): boolean { + return this.design.stage === 'chooser'; + } + + startMotionSynthesis(): void { + this.design.stage = 'working'; + this.design.setArmed(false); + } + + backToChooser(): void { + this.design.stage = 'chooser'; + this.design.regionDraw = false; + this.design.setArmed(false); + this.solution.playing = false; + } + + headerNote(): string { + if (!this.design.isFullyDefined()) { + return this.design.getAllPoses().length + ' of 3 positions placed'; } - ); + if (!this.solution.generated) return '3 positions · no solutions yet'; + const count = this.solution.candidates().length; + const kind = this.solution.dyad() ? 'six-bar' : 'four-bar'; + return `${kind} · ${count} ${count === 1 ? 'candidate' : 'candidates'}`; + } + + // --- the coupler --------------------------------------------------------- + + setReference(cor: COR): void { + if (this.design.COR === cor) return; + this.design.updatePosesFromForm({ + ...this.poseForm.value, + cor: cor === COR.BACK ? '0' : cor === COR.CENTER ? '1' : '2', + }); + this.design.valueChanges.next(true); + this.record(); + } + + referenceOptions(): { label: string; value: COR; active: boolean }[] { + return [ + { label: 'Back', value: COR.BACK, active: this.design.COR === COR.BACK }, + { label: 'Center', value: COR.CENTER, active: this.design.COR === COR.CENTER }, + { label: 'Front', value: COR.FRONT, active: this.design.COR === COR.FRONT }, + ]; + } + + // --- positions ----------------------------------------------------------- + + get nextPositionNumber(): number { + return this.design.getAllPoses().length + 1; + } - //Angular form stuff with 12 numbers, a0x, a0y, b0x, b0y, a1x, a1y, b1x, b1y, a2x, a2y, b2x, b2y - synthesisForm = this.fb.group({ - a0x: [''], - a0y: [''], - b0x: [''], - b0y: [''], - a1x: [''], - a1y: [''], - b1x: [''], - b1y: [''], - a2x: [''], - a2y: [''], - b2x: [''], - b2y: [''], - quality: [''], - position1Match: [''], - position2Match: [''], - position3Match: [''], - }); + get showAddButton(): boolean { + return !this.design.isFullyDefined(); + } + + get addLabel(): string { + return this.design.armed ? 'Cancel' : 'Add position ' + this.nextPositionNumber; + } + + toggleArmed(): void { + this.design.setArmed(!this.design.armed); + } + + get canDuplicate(): boolean { + const placed = this.design.getAllPoses().length; + return placed > 0 && placed < 3; + } + + isPlaced(i: number): boolean { + return this.design.isPoseDefined(i); + } - // for html to get current pose as a number - getCurrentPose(): number { - return this.synthesisBuilder.selectedPose; + isSelectedRow(i: number): boolean { + return this.design.selectedPose === i; } - setCurrentPose(pose: number) { - this.synthesisBuilder.selectedPose = pose; + /** Whether this row is the one the pointer is currently about to fill. */ + isPreviewingRow(i: number): boolean { + return !this.isPlaced(i) && this.design.armed && this.nextPositionNumber === i; } - getFormIDPoseX(pose: number): string { - if (pose == 1) return 'p1x'; - else if (pose == 2) return 'p2x'; - else return 'p3x'; + selectRow(i: number): void { + if (this.isPlaced(i)) { + this.design.selectedPose = i; + this.design.setArmed(false); + } else { + // An empty row is the one place a reader looks to fill it in. + this.design.setArmed(true); + } } - getFormIDPoseY(pose: number): string { - if (pose == 1) return 'p1y'; - else if (pose == 2) return 'p2y'; - else return 'p3y'; + removeRow(event: Event, i: number): void { + event.stopPropagation(); + if (!this.isPlaced(i)) return; + this.design.removePose(i); + this.solution.invalidate(); + this.record(); } - getFormIDPoseTheta(pose: number): string { - if (pose == 1) return 'p1theta'; - else if (pose == 2) return 'p2theta'; - else return 'p3theta'; + duplicateLast(): void { + this.design.duplicateLastPose(); + this.record(); } /** - * Take back the linkage this visit to Synthesis last produced. - * - * By id, and only the ids this visit recorded: anything else on the grid was - * drawn by hand or left by an earlier visit and is not this one's to remove. - * Forces attached to a removed link go with it -- a force on a link that no - * longer exists belongs to no mechanism and would sit in the drawing - * unreachable. + * Whether the chosen linkage reaches this position on the assembly it is + * drawn in. Undefined when there is nothing to check it against. */ - private removePreviousSynthesis(): void { - const { joints, links } = this.synthesisBuilder.synthesisedIds; - if (joints.length === 0 && links.length === 0) return; - - const goneLinks = new Set(links); - const goneJoints = new Set(joints); - this.mechanismSrv.forces = this.mechanismSrv.forces.filter( - (force) => !goneLinks.has(force.link?.id ?? '') + reached(i: number): boolean | undefined { + const cand = this.solution.chosen(); + if (!cand || !this.isPlaced(i)) return undefined; + return cand.onBranch[i - 1]; + } + + rowStatusIcon(i: number): string { + if (!this.isPlaced(i)) { + return this.isPreviewingRow(i) ? 'ads_click' : 'radio_button_unchecked'; + } + const ok = this.reached(i); + if (ok === undefined) return 'help_outline'; + return ok ? 'check_circle' : 'link_off'; + } + + rowStatusTip(i: number): string { + if (!this.isPlaced(i)) { + return this.isPreviewingRow(i) ? 'Click the grid to drop this position' : 'Not placed yet'; + } + const ok = this.reached(i); + if (ok === undefined) { + if (!this.design.isFullyDefined()) return 'Waiting for all three positions'; + return this.solution.generated + ? 'No candidate linkage to check this position against yet' + : 'Generate solutions to check this position'; + } + return ok + ? 'The chosen linkage passes through this position on its own assembly' + : 'The chosen linkage reaches this position only on its other assembly — a branch defect'; + } + + // --- requirements -------------------------------------------------------- + + requirements(): Requirement[] { + const length = this.plain(this.design.length); + return [ + { + key: 'coupler', + on: this.design.endsOnly, + label: `Coupler is exactly ${length} ${this.lengthUnit}`, + detail: this.design.endsOnly + ? 'Both pins sit on the ends of the link' + : 'Pins may slide along the link, so the coupler can be any length', + toggle: () => this.toggleRequirement('endsOnly'), + }, + { + key: 'defect', + on: !this.design.allowDefect, + label: 'Reaches all 3 positions on one assembly', + detail: this.design.allowDefect + ? 'Linkages with a branch defect are listed too' + : 'No taking the linkage apart between positions', + toggle: () => this.toggleRequirement('allowDefect'), + }, + { + key: 'region', + on: this.design.constrain, + label: 'Ground pivots inside a region', + detail: this.design.constrain + ? 'Both pivots must land in the box on the grid' + : 'Pivots may land anywhere', + toggle: () => this.toggleRequirement('constrain'), + hasRegion: this.design.constrain, + }, + ]; + } + + private toggleRequirement(which: 'endsOnly' | 'allowDefect' | 'constrain'): void { + if (which === 'endsOnly') this.design.endsOnly = !this.design.endsOnly; + if (which === 'allowDefect') this.design.allowDefect = !this.design.allowDefect; + if (which === 'constrain') { + this.design.constrain = !this.design.constrain; + this.design.regionDraw = false; + this.design.setArmed(false); + if (this.design.constrain) this.frameRegionOnCurrentAnswer(); + } + // Only the defect filter leaves the enumeration standing: it hides members + // of a list rather than changing which list it is. + if (which === 'allowDefect') this.solution.changed.next(); + else this.solution.invalidate(); + this.record(); + } + + /** Open the region around what is already on screen, not around nothing. */ + private frameRegionOnCurrentAnswer(): void { + const cand = this.solution.chosen(); + const points = cand ? [cand.A, cand.D] : this.design.getAllPoses().map((pose) => pose.position); + if (!points.length) return; + const pad = 3 * MODEL_SCALE; + const xs = points.map((p) => p.x); + const ys = points.map((p) => p.y); + const x = Math.min(...xs) - pad; + const y = Math.min(...ys) - pad; + this.design.region = { + x, + y, + w: Math.max(8 * MODEL_SCALE, Math.max(...xs) - x + pad), + h: Math.max(8 * MODEL_SCALE, Math.max(...ys) - y + pad), + }; + this.readFromModel(); + } + + requirementCount(): string { + const n = + (this.design.endsOnly ? 1 : 0) + + (this.design.allowDefect ? 0 : 1) + + (this.design.constrain ? 1 : 0); + return n + ' of 3 required'; + } + + regionSummary(): string { + const r = this.design.region; + return ( + `${this.plain(r.w)} × ${this.plain(r.h)} ${this.lengthUnit} at ` + + `(${this.plain(r.x)}, ${this.plain(r.y)}) — drag the box or its corners` ); - this.mechanismSrv.links = this.mechanismSrv.links.filter((link) => !goneLinks.has(link.id)); - this.mechanismSrv.joints = this.mechanismSrv.joints.filter( - (joint) => !goneJoints.has(joint.id) + } + + toggleRegionDraw(): void { + this.design.regionDraw = !this.design.regionDraw; + this.design.setArmed(false); + } + + /** Named only when the requirements are what stands between reader and answer. */ + get requirementsBlocking(): boolean { + return this.showResults && this.solution.candidates().length === 0; + } + + requirementsBlockingNote(): string { + if (this.design.constrain) { + return ( + 'Nothing satisfies all of these. The region is usually the first to give: widen it, ' + + 'move it, or switch it off.' + ); + } + if (this.design.endsOnly && !this.design.allowDefect) { + return ( + 'Nothing satisfies both. Letting the pins slide along the link is the usual first ' + + 'relaxation — it keeps the motion and changes only where the coupler is pinned.' + ); + } + if (this.design.endsOnly) { + return ( + `No four-bar with a ${this.plain(this.design.length)} ${this.lengthUnit} coupler passes ` + + 'through these three positions. Let the pins slide, or move a position.' + ); + } + if (!this.design.allowDefect) { + return ( + 'Every construction through these three positions needs to be taken apart between them. ' + + 'Accept a branch defect to see them, or turn the middle position further.' + ); + } + return ( + 'Nothing was found even with every requirement relaxed — the three positions are too close ' + + 'to a straight line.' ); - this.synthesisBuilder.synthesisedIds = { joints: [], links: [] }; } - /** As many ids as asked for, none of which anything on the grid is using. */ - private nextLetters(count: number): string[] { - const taken: string[] = []; - for (let i = 0; i < count; i++) { - taken.push(this.mechanismSrv.determineNextLetter(taken)); + // --- generating ---------------------------------------------------------- + + get showGenerate(): boolean { + return this.design.isFullyDefined() && !this.solution.generated; + } + + generateNote(): string { + const parts: string[] = []; + if (this.design.endsOnly) { + parts.push(`a ${this.plain(this.design.length)} ${this.lengthUnit} coupler`); } - return taken; + if (!this.design.allowDefect) parts.push('all three positions on one assembly'); + if (this.design.constrain) parts.push('both ground pivots in the region'); + return parts.length + ? 'Search for four-bars with ' + parts.join(', ') + '.' + : 'Search for any four-bar through these three positions.'; } - /** Whether there is a linkage on the grid for the driver controls to act on. */ - hasLinkage(): boolean { - return this.synthesisBuilder.isFullyDefined(); + generate(): void { + this.solution.generate(); } - /** - * Add a driver to the four-bar, or take it off again. - * - * Both go through a full re-synthesis rather than editing what is on the - * grid, because the drive pin and the driver change how the four-bar itself - * is built -- which of its pins is the input -- and re-running is the only - * path that cannot leave the two disagreeing. - */ - toggleDriver(): void { - this.synthesisBuilder.driverWanted = !this.synthesisBuilder.driverWanted; - if (this.hasLinkage()) this.synthesisFunction(); + // --- results ------------------------------------------------------------- + + get showResults(): boolean { + return this.design.isFullyDefined() && this.solution.generated; } - /** Drive the linkage from its other ground pin. */ - swapDrivePin(): void { - this.synthesisBuilder.driveOnFarPin = !this.synthesisBuilder.driveOnFarPin; - if (this.hasLinkage()) this.synthesisFunction(); + candidateHeading(): string { + const list = this.solution.candidates(); + if (!list.length) return 'No linkage meets the criteria'; + const strict = this.solution.strictCount; + if (strict) { + return `${strict} ${strict === 1 ? 'linkage works' : 'linkages work'} on one assembly`; + } + return `${list.length} candidate${list.length === 1 ? '' : 's'}, all with a branch defect`; } /** - * Score the poses against the linkage as it now stands. - * - * Synthesis scores its own answer as it builds it, so this says nothing new - * about an untouched linkage -- it is for after the drawing has been edited - * by hand, when the marks on the poses are describing a linkage that no - * longer exists. + * The geometric explanation, for when no requirement is standing in the way. + * With one switched on, the Requirements note is the better answer. */ - evaluatePoses(): void { - const built = this.mechanismSrv.joints.find( - (joint) => joint.id === this.synthesisBuilder.synthesisedIds.joints[0] - ); - const solved = built ? this.mechanismSrv.mechanismContaining(built) : undefined; - const poseCoords = [1, 2, 3].flatMap((i) => [ - this.synthesisBuilder.poses[i].posBack, - this.synthesisBuilder.poses[i].posFront, - ]); - this.checkQuality( - solved - ? this.compareTheQualityofSynthesis( - solved.joints, - poseCoords, - Number(this.synthesisForm.value.quality) - ) - : [999, 999, 999, 999, 999, 999, 999, 999, 999] + get showNoCandidateReason(): boolean { + return ( + this.showResults && + this.solution.candidates().length === 0 && + !this.design.endsOnly && + this.design.allowDefect && + !this.design.constrain ); } - synthesisFunction() { - //call synthesis functions - - //populate pose information - - let pose1_coord1 = this.synthesisBuilder.poses[1].posBack; - let pose1_coord2 = this.synthesisBuilder.poses[1].posFront; - let pose2_coord1 = this.synthesisBuilder.poses[2].posBack; - let pose2_coord2 = this.synthesisBuilder.poses[2].posFront; - let pose3_coord1 = this.synthesisBuilder.poses[3].posBack; - let pose3_coord2 = this.synthesisBuilder.poses[3].posFront; - - let qualityfromUser = Number(this.synthesisForm.value.quality); - - //find first itnersection point - - let firstPoint = this.findIntersectionPoint(pose1_coord1, pose2_coord1, pose3_coord1); - let secondPoint = pose1_coord1; - let thirdPoint = pose1_coord2; - let fourthPoint = this.findIntersectionPoint2(pose1_coord2, pose2_coord2, pose3_coord2); - - // Take back what this visit put on the grid last time it ran -- it runs - // again on every change to a pose -- and leave everything else alone. It - // used to empty the whole drawing, which is the wrong answer now that a - // drawing can hold more than one machine. - this.removePreviousSynthesis(); - - //now create joints, links, etc. from the above four coordinates - - // Not A, B, C, D: those letters are taken as soon as there is anything else - // on the grid, and two joints with one id is not a mechanism, it is a bug - // waiting for the codec to find it. - const [idA, idB, idC, idD, idE, idF] = this.nextLetters(6); - - // Which pin the motor sits on is decided here rather than moved afterwards: - // with a driver on the linkage neither ground pin is the input at all, and - // without one it is whichever the drive-pin choice names. - const far = this.synthesisBuilder.driveOnFarPin; - const drivenDirectly = !this.synthesisBuilder.driverWanted; - - let joint1 = new RevJoint(idA, firstPoint.x, firstPoint.y, drivenDirectly && !far, true); - let joint2 = new RevJoint(idB, secondPoint.x, secondPoint.y, false, false); - let joint3 = new RevJoint(idC, thirdPoint.x, thirdPoint.y, false, false); - let joint4 = new RevJoint(idD, fourthPoint.x, fourthPoint.y, drivenDirectly && far, true); - - joint1.connectedJoints.push(joint2); - joint2.connectedJoints.push(joint1, joint3); - joint3.connectedJoints.push(joint2, joint4); - joint4.connectedJoints.push(joint3); - - let link1 = new RealLink(idA + idB, [joint1, joint2]); - link1.fill = this.colorService.getLinkColorFromIndex(0); - let link2 = new RealLink(idB + idC, [joint2, joint3]); - link2.fill = this.colorService.getLinkColorFromIndex(1); - let link3 = new RealLink(idC + idD, [joint3, joint4]); - link3.fill = this.colorService.getLinkColorFromIndex(0); - - joint1.links.push(link1); - joint2.links.push(link1, link2); - joint3.links.push(link2, link3); - joint4.links.push(link3); - - const madeJoints = [joint1, joint2, joint3, joint4]; - const madeLinks = [link1, link2, link3]; - - // Built into the linkage, not added to it afterwards, so that one solve - // sees the finished six-bar and the driver survives the next pose change. - this.synthesisBuilder.driverRefusal = undefined; - if (this.synthesisBuilder.driverWanted) { - const pivot = far ? fourthPoint : firstPoint; - const drivenPin = far ? joint3 : joint2; - const drivenAt = far - ? [pose1_coord2, pose2_coord2, pose3_coord2] - : [pose1_coord1, pose2_coord1, pose3_coord1]; - - const sized = driverDyadFor(pivot, drivenAt); - if ('refusal' in sized) { - // The four-bar still stands, and still passes through the poses — it - // is only the motor that could not be fitted. Left drivable by hand so - // the drawing is not made useless by the refusal. - this.synthesisBuilder.driverRefusal = sized.refusal; - (far ? joint4 : joint1).input = true; - } else { - // The two lengths the sizing solved for are the distances between these - // three points, so placing the pins is all it takes to realise them. - const { ground, elbow } = sized.dyad; - const motor = new RevJoint(idE, ground.x, ground.y, true, true); - const knee = new RevJoint(idF, elbow.x, elbow.y, false, false); - - motor.connectedJoints.push(knee); - knee.connectedJoints.push(motor, drivenPin); - drivenPin.connectedJoints.push(knee); - - const driverCrank = new RealLink(idE + idF, [motor, knee]); - driverCrank.fill = this.colorService.getLinkColorFromIndex(2); - const driverCoupler = new RealLink(idF + drivenPin.id, [knee, drivenPin]); - driverCoupler.fill = this.colorService.getLinkColorFromIndex(3); - - motor.links.push(driverCrank); - knee.links.push(driverCrank, driverCoupler); - drivenPin.links.push(driverCoupler); - - madeJoints.push(motor, knee); - madeLinks.push(driverCrank, driverCoupler); - } + noCandidateReason(): string { + const why = this.solution.rejections(); + if (why.degenerate && !why.tooBig) { + return ( + 'The three positions lie on one line, so no circle passes through the three positions of ' + + 'a coupler point. Turn the middle position, or move it off the line between the other two.' + ); } + if (why.tooBig) { + return ( + `${why.tooBig} of ${why.tried} constructions put a ground pivot further from the ` + + 'positions than the machine could sensibly reach — the three positions are close to a ' + + 'straight line. Turn the middle position further, or move it off the line between the ' + + 'other two.' + ); + } + return 'No four-bar of a buildable size passes through these three positions.'; + } - this.mechanismSrv.mergeToJoints(madeJoints); - this.mechanismSrv.mergeToLinks(madeLinks); - this.synthesisBuilder.synthesisedIds = { - joints: madeJoints.map((joint) => joint.id), - links: madeLinks.map((link) => link.id), + visibleCandidates(): CandidateCard[] { + const list = this.solution.candidates(); + const shown = this.solution.showAll ? list : list.slice(0, 3); + const picked = this.solution.chosen(); + return shown.map((c) => this.toCard(c, picked)); + } + + private toCard(c: FourBarCandidate, picked: FourBarCandidate | null): CandidateCard { + const pts = [c.A, c.B, c.C, c.D]; + const xs = pts.map((p) => p.x); + const ys = pts.map((p) => p.y); + const minX = Math.min(...xs); + const maxX = Math.max(...xs); + const minY = Math.min(...ys); + const maxY = Math.max(...ys); + const k = Math.min(102 / Math.max(1e-6, maxX - minX), 32 / Math.max(1e-6, maxY - minY)); + const tx = (p: { x: number }) => (9 + (p.x - minX) * k).toFixed(1); + const ty = (p: { y: number }) => (40 - (p.y - minY) * k).toFixed(1); + return { + key: c.key, + name: c.name, + kind: c.kind + ' · ' + c.branch.toLowerCase(), + thumb: + `M ${tx(c.A)} ${ty(c.A)} L ${tx(c.B)} ${ty(c.B)} ` + + `M ${tx(c.C)} ${ty(c.C)} L ${tx(c.D)} ${ty(c.D)}`, + thumbCoupler: `M ${tx(c.B)} ${ty(c.B)} L ${tx(c.C)} ${ty(c.C)}`, + selected: !!picked && picked.key === c.key, + defectFree: c.defectFree, + reachText: c.defectFree ? 'all 3, one assembly' : `branch defect · ${c.onBranchCount} of 3`, + metric: + `min angle ${c.minTransmission}° · ` + + (c.range.full ? 'full turn' : `${Math.round(c.range.to - c.range.from)}° swing`), }; + } - this.mechanismSrv.mechanismTimeStep = 0; - this.mechanismSrv.updateMechanism(); + get hasMoreCandidates(): boolean { + return this.solution.candidates().length > 3; + } - // update flag to indicate that mechanism has been modified since last synthesis - this.synthesisBuilder.modifiedMechanism = true; + moreLabel(): string { + return this.solution.showAll ? 'Show fewer' : 'Show all ' + this.solution.candidates().length; + } - let posCoords = [ - pose1_coord1, - pose1_coord2, - pose2_coord1, - pose2_coord2, - pose3_coord1, - pose3_coord2, - ]; + toggleAllCandidates(): void { + this.solution.showAll = !this.solution.showAll; + } - // The machine this synthesis just made, not whichever one sorts first: a - // drawing can hold several now, and the quality being reported is this - // one's. - const solved = this.mechanismSrv.mechanismContaining(joint1); - // Nothing to score if it did not solve. 999 is what the scorer itself uses - // for a pose it could not reach, and every reader here compares against a - // threshold, so this reads as three misses -- which is what happened. - let quality = solved - ? this.compareTheQualityofSynthesis(solved.joints, posCoords, qualityfromUser) - : [999, 999, 999, 999, 999, 999, 999, 999, 999]; - - // let trialCoord = new Coord(this.mechanismSrv.mechanisms[0].joints[0][0].x, this.mechanismSrv.mechanisms[0].joints[0][0].y); - - //now check if there is 999 in the quality. Count 999 and say which position matches - - this.checkQuality(quality); - - // 'Position Matches:' + - // whichPositionMatches[0] + - // ',' + - // whichPositionMatches[1] + - // ',' + - // whichPositionMatches[2] - // ); - } - - checkQuality(quality: number[]) { - // In model units, like the distances it is comparing against. - const POSE_REACHED = 0.09 * MODEL_SCALE; - let positionMatches: string[] = ['Position 1', 'Position 2', 'Position 3']; - if (quality[0] >= POSE_REACHED || quality[1] >= POSE_REACHED) { - positionMatches[0] = 'No Match'; - this.synthesisBuilder.poses[1].status = SynthesisStatus.INVALID; - } else { - this.synthesisBuilder.poses[1].status = SynthesisStatus.VALID; - } - if (quality[3] >= POSE_REACHED || quality[4] >= POSE_REACHED) { - positionMatches[1] = 'No Match'; - this.synthesisBuilder.poses[2].status = SynthesisStatus.INVALID; - } else { - this.synthesisBuilder.poses[2].status = SynthesisStatus.VALID; - } - if (quality[6] >= POSE_REACHED || quality[7] >= POSE_REACHED) { - positionMatches[2] = 'No Match'; - this.synthesisBuilder.poses[3].status = SynthesisStatus.INVALID; - } else { - this.synthesisBuilder.poses[3].status = SynthesisStatus.VALID; - } + pickCandidate(key: string): void { + this.solution.pick(key); + } - return positionMatches; + hoverCandidate(key: string | null): void { + this.solution.setHover(key); } - compareTheQualityofSynthesis(jointValues: Joint[][], posCoords: Coord[], qualityOfSyn: number) { - //get position analysis data - //joint B, Joint C, - //compare that with poses + // --- the chosen solution ------------------------------------------------- - // Both tolerances a person deals with -- the one typed into the panel and - // the 0.09 below -- are lengths in the units the grid is labelled in. Every - // distance measured here is between model coordinates, which are those - // units times MODEL_SCALE. Comparing the two directly meant a pose counted - // as reached only when it was hit to the last decimal place, so all three - // marks read "no match" on linkages that pass straight through the poses. - const tolerance = qualityOfSyn * MODEL_SCALE; + get hasSolution(): boolean { + return this.showResults && this.solution.chosen() !== null; + } - let quality1_b: number = 999; - let quality2_b: number = 999; - let quality3_b: number = 999; + get solutionName(): string { + return this.solution.chosen()?.name ?? '—'; + } - let quality1_c: number = 999; - let quality2_c: number = 999; - let quality3_c: number = 999; + branchOptions(): { label: string; active: boolean; available: boolean; key: string }[] { + const cand = this.solution.chosen(); + const list = this.solution.candidates(); + return (['Open', 'Crossed'] as const).map((label) => { + const sibling = cand + ? list.find((c) => c.pair === cand.pair && c.branch === label) + : undefined; + return { + label, + active: !!cand && cand.branch === label, + available: !!sibling, + key: sibling?.key ?? '', + }; + }); + } - let pos1TimeStep: number = 999; - let pos2TimeStep: number = 999; - let pos3TimeStep: number = 999; + pickBranch(key: string): void { + if (key) this.solution.pick(key); + } - //compare Joint B with pose 1, pose2, and pose3; + pinOptions(): { label: string; far: boolean; active: boolean }[] { + return [ + { label: 'Pin A', far: false, active: !this.solution.driveOnFarPin }, + { label: 'Pin D', far: true, active: this.solution.driveOnFarPin }, + ]; + } - let index: number = 1; + setPin(far: boolean): void { + this.solution.setDriveOnFarPin(far); + } - for (let val in jointValues) { - let pos1Value_b = Math.sqrt( - Math.pow(jointValues[val][1].x - posCoords[0].x, 2) + - Math.pow(jointValues[val][1].y - posCoords[0].y, 2) - ); - let pos2Value_b = Math.sqrt( - Math.pow(jointValues[val][1].x - posCoords[2].x, 2) + - Math.pow(jointValues[val][1].y - posCoords[2].y, 2) - ); - let pos3Value_b = Math.sqrt( - Math.pow(jointValues[val][1].x - posCoords[4].x, 2) + - Math.pow(jointValues[val][1].y - posCoords[4].y, 2) - ); + toggleDriver(): void { + this.solution.toggleDriver(); + } - let pos1Value_c = Math.sqrt( - Math.pow(jointValues[val][2].x - posCoords[1].x, 2) + - Math.pow(jointValues[val][2].y - posCoords[1].y, 2) - ); - let pos2Value_c = Math.sqrt( - Math.pow(jointValues[val][2].x - posCoords[3].x, 2) + - Math.pow(jointValues[val][2].y - posCoords[3].y, 2) - ); - let pos3Value_c = Math.sqrt( - Math.pow(jointValues[val][2].x - posCoords[5].x, 2) + - Math.pow(jointValues[val][2].y - posCoords[5].y, 2) - ); + toggleDimensions(): void { + this.solution.dimensionsOpen = !this.solution.dimensionsOpen; + } + + dimensionsSummary(): string { + const c = this.solution.driven(); + if (!c) return ''; + return [c.r1, c.d, c.r2, c.g].map((v) => this.plain(v)).join(' · ') + ' ' + this.lengthUnit; + } - //need to compare if less than 0.09 - //need to store in quality - //need to check if exact match - //need to extract time step. - - if (pos1Value_b < tolerance && pos1Value_c < tolerance && index == 1) { - quality1_b = pos1Value_b; - quality1_c = pos1Value_c; - pos1TimeStep = index; - } else if (pos1Value_b < tolerance && pos1Value_c < tolerance && index > 1) { - quality1_b = pos1Value_b; - quality1_c = pos1Value_c; - pos1TimeStep = index; - } else if (pos2Value_b < tolerance && pos2Value_c < tolerance && index == 1) { - quality2_b = pos2Value_b; - quality2_c = pos2Value_c; - pos2TimeStep = index; - } else if (pos2Value_b < tolerance && pos2Value_c < tolerance && index > 1) { - quality2_b = pos2Value_b; - quality2_c = pos2Value_c; - pos2TimeStep = index; - } else if (pos3Value_b < tolerance && pos3Value_c < tolerance && index == 1) { - quality3_b = pos3Value_b; - quality3_c = pos3Value_c; - pos3TimeStep = index; - } else if (pos3Value_b < tolerance && pos3Value_c < tolerance && index > 1) { - quality3_b = pos3Value_b; - quality3_c = pos3Value_c; - pos3TimeStep = index; - } else { - //if there is no match, then use the prev index and then with the current and prev, find the midpoint and then evaluate the same - - if (index > 1) { - let jointB_x = (jointValues[val][1].x + jointValues[index - 2][1].x) / 2; - let jointB_y = (jointValues[val][1].y + jointValues[index - 2][1].y) / 2; - let jointC_x = (jointValues[val][2].x + jointValues[index - 2][2].x) / 2; - let jointC_y = (jointValues[val][2].y + jointValues[index - 2][2].y) / 2; - - let pos1Value_b = Math.sqrt( - Math.pow(jointB_x - posCoords[0].x, 2) + Math.pow(jointB_y - posCoords[0].y, 2) - ); - let pos2Value_b = Math.sqrt( - Math.pow(jointB_x - posCoords[2].x, 2) + Math.pow(jointB_y - posCoords[2].y, 2) - ); - let pos3Value_b = Math.sqrt( - Math.pow(jointB_x - posCoords[4].x, 2) + Math.pow(jointB_y - posCoords[4].y, 2) - ); - - let pos1Value_c = Math.sqrt( - Math.pow(jointC_x - posCoords[1].x, 2) + Math.pow(jointC_y - posCoords[1].y, 2) - ); - let pos2Value_c = Math.sqrt( - Math.pow(jointC_x - posCoords[3].x, 2) + Math.pow(jointC_y - posCoords[3].y, 2) - ); - let pos3Value_c = Math.sqrt( - Math.pow(jointC_x - posCoords[5].x, 2) + Math.pow(jointC_y - posCoords[5].y, 2) - ); - - if (pos1Value_b < tolerance && pos1Value_c < tolerance) { - quality1_b = pos1Value_b; - quality1_c = pos1Value_c; - pos1TimeStep = index - 0.5; - } else if (pos2Value_b < tolerance && pos2Value_c < tolerance) { - quality2_b = pos2Value_b; - quality2_c = pos2Value_c; - pos2TimeStep = index - 0.5; - } else if (pos3Value_b < tolerance && pos3Value_c < tolerance) { - quality3_b = pos3Value_b; - quality3_c = pos3Value_c; - pos3TimeStep = index - 0.5; - } - } - } - - index = index + 1; + dimensionRows(): { label: string; value: string }[] { + const c = this.solution.driven(); + if (!c) return []; + const rows = [ + { label: 'Ground link A–D', value: this.lengthText(c.g) }, + { label: 'Input crank', value: this.lengthText(c.r1) }, + { label: 'Coupler B–C', value: this.lengthText(c.d) }, + { label: 'Output rocker', value: this.lengthText(c.r2) }, + { + label: 'Coupler pins', + value: describeCouplerPins(c, this.design.length) + ' ' + this.lengthUnit, + }, + ]; + const dyad = this.solution.dyad(); + if (dyad) { + rows.push({ label: 'Driver crank', value: this.lengthText(dyad.crankLength) }); + rows.push({ label: 'Driver coupler', value: this.lengthText(dyad.couplerLength) }); } + return rows; + } - //now compile quality array and then pass it back + // --- previewing the motion ----------------------------------------------- - let qualityCompilation: number[]; + private direction = 1; - qualityCompilation = [ - quality1_b, - quality1_c, - pos1TimeStep, - quality2_b, - quality2_c, - pos2TimeStep, - quality3_b, - quality3_c, - pos3TimeStep, - ]; + togglePlay(): void { + this.solution.playing = !this.solution.playing; + if (this.solution.playing) this.step(); + } - return qualityCompilation; + flipDirection(): void { + this.solution.clockwise = !this.solution.clockwise; } - findIntersectionPoint(pose1_coord1: Coord, pose2_coord1: Coord, pose3_coord1: Coord) { - //slope of Line 1 - let slope1 = 1 / ((pose2_coord1.y - pose1_coord1.y) / (pose2_coord1.x - pose1_coord1.x)); - //slope of line 2 - let slope2 = 1 / ((pose3_coord1.y - pose2_coord1.y) / (pose3_coord1.x - pose2_coord1.x)); + /** + * Walk the preview forward one frame. + * + * A linkage that turns fully wraps around; one that rocks reverses at the + * ends of its travel, which is what the machine itself would do. + */ + private step = (): void => { + this.frame = undefined; + if (!this.solution.playing) return; + const cand = this.solution.driven(); + if (!cand) return; + const range = cand.range; + const stride = 1.4 * (this.solution.clockwise ? 1 : -1); + let phase = this.solution.currentPhase() + this.direction * stride; + if (range.full) { + if (phase > range.to) phase -= 360; + if (phase < range.from) phase += 360; + } else if (phase > range.to || phase < range.from) { + this.direction = -this.direction; + phase = Math.max(range.from, Math.min(range.to, phase)); + } + this.solution.phase = phase; + this.solution.changed.next(); + this.frame = requestAnimationFrame(this.step); + }; - //midpoints of the above two lines - let midpoint_line1 = new Coord( - (pose1_coord1.x + pose2_coord1.x) / 2, - (pose1_coord1.y + pose2_coord1.y) / 2 - ); - let midpoint_line2 = new Coord( - (pose3_coord1.x + pose2_coord1.x) / 2, - (pose3_coord1.y + pose2_coord1.y) / 2 - ); + scrubMin(): number { + return Math.round(this.solution.driven()?.range.from ?? 0); + } - //intercept - let c1 = midpoint_line1.y + slope1 * midpoint_line1.x; - let c2 = midpoint_line2.y + slope2 * midpoint_line2.x; + scrubMax(): number { + return Math.round(this.solution.driven()?.range.to ?? 360); + } - //intersection point - let x1 = (c1 - c2) / (-slope2 + slope1); - let y1 = -slope1 * x1 + c1; + scrubValue(): number { + return Math.round(this.solution.currentPhase()); + } - return new Coord(x1, y1); + setScrub(event: Event): void { + this.solution.setPhase(Number((event.target as HTMLInputElement).value)); } - findIntersectionPoint2(pose1_coord2: Coord, pose2_coord2: Coord, pose3_coord2: Coord) { - let slope1 = 1 / ((pose2_coord2.y - pose1_coord2.y) / (pose2_coord2.x - pose1_coord2.x)); - //slope of line 2 - let slope2 = 1 / ((pose3_coord2.y - pose2_coord2.y) / (pose3_coord2.x - pose2_coord2.x)); + alongPercent(): string { + const cand = this.solution.driven(); + if (!cand) return '0%'; + const span = Math.max(1e-6, cand.range.to - cand.range.from); + return (((this.solution.currentPhase() - cand.range.from) / span) * 100).toFixed(1) + '%'; + } - //midpoints of the above two lines - let midpoint_line1 = new Coord( - (pose1_coord2.x + pose2_coord2.x) / 2, - (pose1_coord2.y + pose2_coord2.y) / 2 - ); - let midpoint_line2 = new Coord( - (pose3_coord2.x + pose2_coord2.x) / 2, - (pose3_coord2.y + pose2_coord2.y) / 2 - ); + /** Where each position falls along the crank's travel, for the track marks. */ + poseTicks(): { percent: string; reached: boolean }[] { + const cand = this.solution.driven(); + if (!cand) return []; + const range = cand.range; + const span = Math.max(1e-6, range.to - range.from); + return cand.thetas.map((theta, i) => { + let a = theta; + while (a < range.from) a += 360; + while (a > range.to) a -= 360; + const percent = Math.max(0, Math.min(100, ((a - range.from) / span) * 100)); + return { percent: percent.toFixed(1), reached: cand.onBranch[i] }; + }); + } - //intercept - let c1 = midpoint_line1.y + slope1 * midpoint_line1.x; - let c2 = midpoint_line2.y + slope2 * midpoint_line2.x; + angleLabel(): string { + const phase = this.solution.currentPhase(); + return Math.round(((phase % 360) + 360) % 360) + '°'; + } - //intersection point - let x1 = (c1 - c2) / (-slope2 + slope1); - let y1 = -slope1 * x1 + c1; + previewNote(): string { + const cand = this.solution.driven(); + if (!cand) return ''; + return cand.range.full + ? 'full crank rotation' + : `rocks through ${Math.round(cand.range.to - cand.range.from)}°`; + } + + // --- committing ---------------------------------------------------------- + + get canInsert(): boolean { + return this.hasSolution && !this.solution.inserted; + } + + insert(): void { + this.solution.insert(); + } + + undoInsert(): void { + this.solution.undoInsert(); + } + + insertedNote(): string { + const kind = this.solution.dyad() ? 'six-bar' : 'four-bar'; + return `Left on the grid as a ${kind}. Kinematic Analysis can run it now.`; + } + + deleteAll(): void { + this.design.deleteAllPoses(); + this.design.regionDraw = false; + this.design.setArmed(false); + this.solution.reset(); + this.record(); + } - return new Coord(x1, y1); + /** Whether the preview would show anything, for the grid to ask as well. */ + hasPreview(): boolean { + const cand = this.solution.driven(); + return !!cand && solveFourBar(cand, this.solution.currentPhase(), cand.sign) !== null; } } From 010209b1e5d4d7bc9dfd9b1e2ec0ec79e0a24a21 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 17:27:06 -0700 Subject: [PATCH 197/236] Put the design on the grid, and let the pointer take hold of it Placing is opt-in: Add position arms the canvas, the ghost follows the pointer, the wheel turns it, and a click drops it. Synthesis shares the canvas with the drawing, and a mode where every click makes something is a mode where every click meant as "look at this" makes something instead. A placed position wears the dashed box, corner grips and turn knob the tracing underlay wears, because it is the same kind of gesture -- something being placed on the grid rather than built. Its corners pull the one dimension a position has: how long the end-effector is. The chosen candidate is previewed live, tinting each position by what it does with it, and hovering another keeps the picked one on screen faded behind it -- without that, moving along the gallery replaces the linkage with no way to see what it replaced, which is the one comparison the gallery exists to make. Three things had to give way for the gestures to work. The pan guard used to recognise synthesis by what was last clicked, which never stopped being a pose, so the canvas could not be panned again until something else was selected; it now asks whether a gesture is actually in flight. The wheel is handed over through svg-pan-zoom's own API while a position is waiting to be dropped, because swallowing the event depends on which listener was registered first. And it is handed back from one place, since a missed pairing leaves the canvas with a dead wheel until the tab is left. Co-Authored-By: Claude Opus 5 --- .../new-grid/new-grid.component.html | 414 +++++++++----- .../new-grid/new-grid.component.scss | 119 ++++ .../component/new-grid/new-grid.component.ts | 157 ++++-- src/app/services/svg-grid.service.ts | 23 +- .../synthesis/synthesis-canvas.service.ts | 531 ++++++++++++++++++ 5 files changed, 1063 insertions(+), 181 deletions(-) create mode 100644 src/app/services/synthesis/synthesis-canvas.service.ts diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 092cf468..e34802c3 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -9,6 +9,7 @@ (pointermove)="mouseMove($event)" (pointerup)="mouseUp($event)" (pointerdown)="mouseDown($event)" + (wheel)="onCanvasWheel($event)" > @@ -925,145 +926,286 @@ } - + @if (showSynthesis()) { - - @for (pose of synthesisBuilder.getAllPoses(); track pose) { - - - - - - - @for (nodePos of [pose.posBack, pose.posFront]; track nodePos) { - - } - - + + @if (synthCanvas.regionBox(); as region) { + + + @for (corner of region.corners; track corner.id) { + + } + + } + + + @if (synthesisBuilder.regionDraw) { + + } + + + @if (synthCanvas.hoverGhostLinks(); as ghosts) { + + @for (lk of ghosts; track $index) { + + } + + } + + + @if (mechanismSrv.showPathHolder || synthSolution.generated) { + + } + + + + @for (lk of synthCanvas.previewLinks(); track $index) { + + } + + @for (gd of synthCanvas.previewGrounds(); track gd.id) { + + + + } + @for (jt of synthCanvas.previewJoints(); track jt.id) { + + } + + + + @for (bar of synthCanvas.poseBars(); track bar.id) { + + + + + + + } + + + @if (synthCanvas.ghostBar(); as ghost) { + + + + + } + + + @if (synthCanvas.selectionBox(); as box) { + + + + + @for (corner of box.corners; track corner.id) { + + } + + } + + + + @for (chip of synthCanvas.poseChips(); track chip.id) { + + + + - - - - - - - - - - Pose {{ pose.id }} - - + {{ chip.id }} · {{ chip.text }} + - + } + + + + @if (synthesisHint; as hint) { + + + {{ hint.text }} + + @if (hint.sub) { + + {{ hint.sub }} + + } + } } diff --git a/src/app/component/new-grid/new-grid.component.scss b/src/app/component/new-grid/new-grid.component.scss index eb75dc11..2539d30d 100644 --- a/src/app/component/new-grid/new-grid.component.scss +++ b/src/app/component/new-grid/new-grid.component.scss @@ -187,6 +187,125 @@ pointer-events: none; } + // --- Synthesis on the canvas ------------------------------------------- + // + // The positions being designed for wear the same accent the tracing underlay + // wears, for the same reason: both are things being placed on the grid rather + // than parts of the drawing, and both are edited by the same box-and-grips + // gesture. The candidate linkage under them is drawn in the link palette but + // half-lit, because it is a proposal -- it is not in the drawing until the + // panel's Insert says so. + + .synthPose { + cursor: move; + } + + .synthPosePin { + fill: #ffecb2; + stroke: rgba(0, 0, 0, 0.4); + pointer-events: none; + } + + .synthPreviewJoint { + fill: #ffecb2; + stroke: rgba(0, 0, 0, 0.4); + } + + #synthesisPreview { + opacity: 0.85; + } + + // The candidate that is picked, while a different one is being hovered. + .synthGhostLinkage { + opacity: 0.3; + } + + // Where the middle of the coupler goes over the whole of the travel. + .synthTrace { + fill: none; + stroke: mat.m2-get-color-from-palette($primary-palette, 500); + opacity: 0.35; + pointer-events: none; + } + + // The bar about to be dropped. It pulses so it reads as a promise about the + // next click rather than as a fourth position already placed. + .synthGhost { + animation: synthGhostPulse 1.8s ease-in-out infinite; + } + + @keyframes synthGhostPulse { + 0%, + 100% { + opacity: 0.4; + } + 50% { + opacity: 0.62; + } + } + + @media (prefers-reduced-motion: reduce) { + .synthGhost { + animation: none; + opacity: 0.5; + } + } + + .synthOutline, + .synthRegion { + fill: none; + stroke: mat.m2-get-color-from-palette($accent-palette, 500); + } + + // The region has a body to grab, so unlike the selection outline it is filled + // -- faintly, because what it marks is where pivots may land, not a part. + .synthRegion { + fill: rgba(255, 193, 7, 0.08); + cursor: move; + } + + .synthDrawSurface { + fill: transparent; + cursor: crosshair; + } + + .synthHandle { + fill: mat.m2-get-color-from-palette($accent-palette, 500); + stroke: #fff; + } + + .synthStalk { + stroke: mat.m2-get-color-from-palette($accent-palette, 500); + } + + // What the chosen linkage does with each position, said beside it. + .synthChipDot { + stroke: #fff; + stroke-width: 1; + } + + .synthChipText { + fill: rgba(0, 0, 0, 0.65); + font-family: Roboto, sans-serif; + font-weight: 500; + + &--sel { + fill: rgba(0, 0, 0, 0.87); + } + } + + // What the next click will do, beside the pointer that will do it. + .synthHint { + fill: mat.m2-get-color-from-palette($primary-palette, 500); + font-family: Roboto, sans-serif; + font-weight: 500; + + &--sub { + fill: rgba(0, 0, 0, 0.5); + font-weight: 400; + } + } + // The file dialog's input, kept out of the layout without display:none -- // which stops some browsers opening a picker from a synthetic click. .offscreenFileInput { diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index a4fa170d..bcf013e8 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -42,10 +42,8 @@ import { SaveHistoryService } from 'src/app/services/save-history.service'; import { SynthesisBuilderService } from 'src/app/services/synthesis/synthesis-builder.service'; import { SelectedTabService, TabID } from 'src/app/selected-tab.service'; import { SynthesisPose } from 'src/app/services/synthesis/synthesis-util'; -import { - SynthesisClickMode, - SynthesisConstants, -} from 'src/app/services/synthesis/synthesis-constants'; +import { SynthesisCanvasService } from 'src/app/services/synthesis/synthesis-canvas.service'; +import { SynthesisSolutionService } from 'src/app/services/synthesis/synthesis-solution.service'; import { ColorService } from '../../services/color.service'; import { NumberUnitParserService } from '../../services/number-unit-parser.service'; import { EditPanelComponent } from '../edit-panel/edit-panel.component'; @@ -110,7 +108,6 @@ export interface SlotStackItem { plate?: WeldPlate; } import introJs from 'intro.js'; -import { SvgArrowComponent } from '../svg-arrow/svg-arrow.component'; import { KeyboardShortcutsService, ShortcutId } from '../../services/keyboard-shortcuts.service'; /** Which corner of the tracing underlay a resize gesture is holding. */ @@ -121,7 +118,7 @@ type BackgroundImageCorner = 'tl' | 'tr' | 'bl' | 'br'; templateUrl: './new-grid.component.html', styleUrls: ['./new-grid.component.scss'], changeDetection: ChangeDetectionStrategy.Eager, - imports: [CdkContextMenuTrigger, SvgArrowComponent, ContextMenuComponent], + imports: [CdkContextMenuTrigger, ContextMenuComponent], }) export class NewGridComponent implements OnDestroy { svgGrid = inject(SvgGridService); @@ -132,6 +129,8 @@ export class NewGridComponent implements OnDestroy { activeObjService = inject(ActiveObjService); private tabService = inject(SelectedTabService); synthesisBuilder = inject(SynthesisBuilderService); + synthCanvas = inject(SynthesisCanvasService); + synthSolution = inject(SynthesisSolutionService); notify = inject(NotificationService); private shortcuts = inject(KeyboardShortcutsService); dialog = inject(MatDialog); @@ -217,10 +216,7 @@ export class NewGridComponent implements OnDestroy { private startY!: number; mouseLocation: Coord = new Coord(0, 0); lastMouseLocation: Coord = new Coord(0, 0); - private synthesisClickMode: SynthesisClickMode = SynthesisClickMode.NORMAL; - private synthesisRotateStart: number = 0; - public sConstants = new SynthesisConstants(); mouseLocationRaw: Coord = new Coord(0, 0); /** For template bindings that size things in user units. */ @@ -1053,19 +1049,6 @@ export class NewGridComponent implements OnDestroy { this.updateContextMenuItems(); } - get mode(): typeof SynthesisClickMode { - return SynthesisClickMode; - } - - setSynthesisClickMode(mode: SynthesisClickMode) { - console.log('Setting synthesis click mode to ' + mode); - this.synthesisClickMode = mode; - let pose = this.lastLeftClick as SynthesisPose; - this.synthesisRotateStart = - pose.thetaRadians - - Math.atan2(this.mouseLocation.y - pose.position.y, this.mouseLocation.x - pose.position.x); - } - setLastLeftClick(clickedObj: Joint | Link | string | Force | SynthesisPose, event?: MouseEvent) { // Scenery in the analysis modes takes no clicks: every panel behind a // selection is about a machine that runs, and this geometry is not in one. @@ -1365,6 +1348,12 @@ export class NewGridComponent implements OnDestroy { // snapping, no drop candidates, no mechanism state to keep in step. if (this.dragBackgroundImage(mousePosInSvg)) return; + // Synthesis is the same kind of thing: positions and the preview are a + // question and a proposed answer, not parts of the drawing, so nothing + // here earns a rebuild or an undo entry. The cursor is recorded either + // way -- the ghost about to be dropped follows it. + if (this.showSynthesis() && this.synthCanvas.move(mousePosInSvg)) return; + let deltaMouseX = this.mouseLocation.x - this.lastMouseLocation.x; let deltaMouseY = this.mouseLocation.y - this.lastMouseLocation.y; @@ -1380,27 +1369,6 @@ export class NewGridComponent implements OnDestroy { this.heldGestureNotice = undefined; } - if (this.dragState.isPointerDown && this.lastLeftClickType === 'SynthesisPose') { - if (this.synthesisClickMode === SynthesisClickMode.ROTATE) { - let pose = this.lastLeftClick as SynthesisPose; - let rotate = - Math.atan2( - this.mouseLocation.y - pose.position.y, - this.mouseLocation.x - pose.position.x - ) + this.synthesisRotateStart; - if (!isNaN(rotate)) { - this.gridUtils.setPoseTheta(pose, rotate); - } - } else { - this.gridUtils.dragPose( - this.activeObjService.selectedPose, - deltaMouseX, - deltaMouseY, - this.synthesisClickMode - ); - } - } - switch (this.dragState.joint) { case jointStates.creating: break; @@ -2119,7 +2087,29 @@ export class NewGridComponent implements OnDestroy { mouseUp($event: MouseEvent) { //This is the mouseUp that is called no matter what is clicked on this.bgDrag = undefined; - this.synthesisClickMode = SynthesisClickMode.NORMAL; + if (this.showSynthesis()) { + const wasDragging = this.synthCanvas.release(); + // One gesture, one entry: the design is carried in the same URL the undo + // stack is made of, so a drag that moved a position has to be written -- + // once, here, rather than on every pointer-move that made it. + if (wasDragging) this.mechanismSrv.save(); + // A press that neither took hold of anything nor moved is a click, and + // while placing is armed a click on the canvas drops the next position. + // On the release rather than the press so svg-pan-zoom keeps its own + // gesture: a press it never sees is a canvas that cannot be panned. + if ( + !wasDragging && + !this.synthPressTaken && + this.synthesisBuilder.armed && + !this.pastDragThreshold($event) + ) { + const at = this.svgGrid.screenToSVGfromXY($event.clientX, $event.clientY); + this.synthesisBuilder.placePose(at); + this.dragState.release(); + this.mechanismSrv.save(); + return; + } + } // The alignment guides belong to the drag that made them. this.axisSnapGuides = []; // A press on a held object that never tried to move it is a click — a @@ -2209,9 +2199,88 @@ export class NewGridComponent implements OnDestroy { return true; } + /** + * Whether a synthesis gesture has the pointer. + * + * Read by the pan guard, which cannot inject the canvas service -- that + * service needs the grid's own zoom, so the two would depend on each other. + * The static is how everything else in this file answers that question. + */ + static isSynthesisGestureLive(): boolean { + return this.instance?.synthCanvas.dragging ?? false; + } + + // --- Synthesis on the canvas ------------------------------------------- + // + // Thin plumbing only: every handler turns a screen point into a model point + // and hands it to SynthesisCanvasService, which decides what it means. None + // of it goes through the mechanism's own drag state -- a position is a + // question about a machine, not part of one. + + /** Take hold of a position by its body, its turn knob, or a corner grip. */ + startPoseGesture(event: PointerEvent, id: number, mode: 'move' | 'rotate' | 'length'): void { + event.stopPropagation(); + this.synthPressTaken = true; + const at = this.svgGrid.screenToSVGfromXY(event.clientX, event.clientY); + this.synthCanvas.grabPose(at, id, mode); + if (this.synthesisBuilder.isPoseDefined(id)) { + const pose = this.synthesisBuilder.getPose(id); + this.setLastLeftClick(pose); + this.activeObjService.updateSelectedObj(pose); + } + } + + /** Take hold of the ground-pivot region, or draw a new one. */ + startRegionGesture(event: PointerEvent, mode: 'move' | 'corner' | 'draw', corner?: string): void { + event.stopPropagation(); + this.synthPressTaken = true; + const at = this.svgGrid.screenToSVGfromXY(event.clientX, event.clientY); + this.synthCanvas.grabRegion(at, mode, corner); + } + + /** + * The wheel turns the position about to be dropped. + * + * Only while placing is armed, and only then: the wheel is the canvas zoom + * the rest of the time, and svg-pan-zoom has been asked to stand down for + * exactly as long as this gesture is running. + */ + onCanvasWheel(event: WheelEvent): void { + if (!this.showSynthesis() || !this.synthesisBuilder.armed) return; + if (this.synthesisBuilder.getFirstUndefinedPose() === undefined) return; + event.preventDefault(); + this.synthCanvas.turnGhost(event.deltaY); + } + + /** Where the hint beside the pointer sits while a position is being placed. */ + get synthesisHint(): { x: number; y: number; text: string; sub: string } | undefined { + const cursor = this.synthCanvas.cursor; + if (!this.showSynthesis() || !cursor) return undefined; + if (this.synthesisBuilder.regionDraw) { + return { + x: cursor.x, + y: cursor.y, + text: 'Drag to draw the region', + sub: '', + }; + } + const next = this.synthesisBuilder.getFirstUndefinedPose(); + if (!this.synthesisBuilder.armed || next === undefined) return undefined; + return { + x: cursor.x, + y: cursor.y, + text: 'Click to drop position ' + next, + sub: 'Scroll to turn · ' + this.synthCanvas.ghostAngleLabel(), + }; + } + + /** Whether a synthesis handle claimed the press that is in flight. */ + private synthPressTaken = false; + mouseDown($event: MouseEvent) { // Log the time that the mouse was clicked this.timeMouseDown = new Date().getTime(); + this.synthPressTaken = false; this.dragState.press(); this.startX = $event.pageX; this.startY = $event.pageY; diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index 38de4b58..0cec8905 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -170,6 +170,22 @@ export class SvgGridService { this.scaleToFitLinkage(false); } + /** + * Hand the wheel to whatever gesture wants it, or give it back to the zoom. + * + * Synthesis turns the position it is about to drop with the wheel, and the + * library binds its own wheel listener to the same element -- so asking it to + * stand down is the only way to stop the canvas zooming under the gesture. + * Through the library's own API rather than by swallowing the event, because + * a swallowed event depends on which listener was registered first. + */ + setWheelZoomEnabled(enabled: boolean): void { + if (!this.panZoomObject) return; + if (enabled === this.panZoomObject.isMouseWheelZoomEnabled()) return; + if (enabled) this.panZoomObject.enableMouseWheelZoom(); + else this.panZoomObject.disableMouseWheelZoom(); + } + screenToSVG(screenPos: Coord): Coord { const CTM: SVGMatrix = this.CTM; //Temporary solution. Maybe okay to have... @@ -350,7 +366,12 @@ export class SvgGridService { // added: link dragging panned the canvas underneath itself for exactly as // long as this list did not mention it, which made the drag look inert // because the content moved with the cursor. - if (this.dragState.isDragging || NewGridComponent.getLastLeftClickType() === 'SynthesisPose') { + // Synthesis runs its gestures outside the state machine -- a position is a + // question about a machine, not part of one -- so it is asked separately. + // It used to be recognised by what was last clicked, which never stopped + // being a pose: the canvas could not be panned again until something else + // was selected. + if (this.dragState.isDragging || NewGridComponent.isSynthesisGestureLive()) { return oldPan; } return newPan; diff --git a/src/app/services/synthesis/synthesis-canvas.service.ts b/src/app/services/synthesis/synthesis-canvas.service.ts new file mode 100644 index 00000000..d9831f34 --- /dev/null +++ b/src/app/services/synthesis/synthesis-canvas.service.ts @@ -0,0 +1,531 @@ +import { Injectable, inject } from '@angular/core'; +import { Coord } from 'src/app/model/coord'; +import { SettingsService } from '../settings.service'; +import { SvgGridService } from '../svg-grid.service'; +import { SynthesisBuilderService } from './synthesis-builder.service'; +import { SynthesisSolutionService } from './synthesis-solution.service'; +import { meet, solveFourBar } from './synthesis-candidates'; +import { COR } from './synthesis-util'; + +/** A bar drawn on the grid: two pins, a fill, and what it is called. */ +export interface PoseBar { + id: number; + x1: number; + y1: number; + x2: number; + y2: number; + fill: string; + edge: string; + selected: boolean; +} + +/** A word beside a position, saying what the chosen linkage does with it. */ +export interface PoseChip { + id: number; + x: number; + y: number; + text: string; + dot: string; + selected: boolean; +} + +export interface Handle { + id: string; + x: number; + y: number; + cursor: string; +} + +export interface SelectionBox { + /** Degrees, in the flipped drawing frame the grid renders in. */ + rotate: string; + cx: number; + cy: number; + x: number; + y: number; + w: number; + h: number; + knobY: number; + corners: Handle[]; +} + +export interface PreviewLink { + x1: number; + y1: number; + x2: number; + y2: number; + color: string; + width: number; +} + +export interface PreviewJoint { + id: string; + x: number; + y: number; +} + +const LINK_PALE = '#c5cae9'; +const LINK_DEEP = '#303e9f'; +const DRIVER_CRANK = '#0d125a'; +const DRIVER_COUPLER = '#26a69a'; +const REACH_GREEN = '#bfe0c0'; +const REACH_AMBER = '#f6dcb0'; +const SELECT_AMBER = '#ffc107'; + +/** + * What Synthesis draws on the grid, and what the pointer does to it. + * + * Kept out of NewGridComponent because none of it is about the mechanism: the + * positions are a question, the preview is an answer that is not in the + * drawing yet, and neither earns an undo entry or a rebuild. The grid supplies + * model-space points and this decides what they mean. + */ +@Injectable({ providedIn: 'root' }) +export class SynthesisCanvasService { + private settings = inject(SettingsService); + private svgGrid = inject(SvgGridService); + private design = inject(SynthesisBuilderService); + private solution = inject(SynthesisSolutionService); + + /** Where the pointer last was, in model coordinates. */ + public cursor: Coord | undefined; + + private drag: + | { + kind: 'pose'; + id: number; + mode: 'move' | 'rotate' | 'length'; + dx: number; + dy: number; + grabAngleOffset: number; + } + | { + kind: 'region'; + mode: 'move' | 'corner' | 'draw'; + corner?: string; + dx: number; + dy: number; + originX: number; + originY: number; + } + | undefined; + + get dragging(): boolean { + return this.drag !== undefined; + } + + // --- what is drawn ------------------------------------------------------- + + /** Half the thickness a pose bar is drawn at, in model units. */ + private barHalfWidth(): number { + return 0.25 * this.settings.objectScale; + } + + poseBars(): PoseBar[] { + const cand = this.solution.chosen(); + return this.design.getAllPoses().map((pose) => { + const reached = cand ? cand.onBranch[pose.id - 1] : undefined; + return { + id: pose.id, + x1: pose.posBack.x, + y1: pose.posBack.y, + x2: pose.posFront.x, + y2: pose.posFront.y, + fill: reached === undefined ? LINK_PALE : reached ? REACH_GREEN : REACH_AMBER, + edge: this.design.selectedPose === pose.id ? SELECT_AMBER : 'rgba(0,0,0,0.42)', + selected: this.design.selectedPose === pose.id, + }; + }); + } + + poseChips(): PoseChip[] { + const cand = this.solution.chosen(); + return this.design.getAllPoses().map((pose) => { + const reached = cand ? cand.onBranch[pose.id - 1] : undefined; + const far = pose.posBack.x > pose.posFront.x ? pose.posBack : pose.posFront; + return { + id: pose.id, + x: far.x + 0.5 * this.settings.objectScale, + y: Math.max(pose.posBack.y, pose.posFront.y) + 0.75 * this.settings.objectScale, + text: + reached === undefined ? 'position ' + pose.id : reached ? 'reached' : 'needs reassembly', + dot: reached === undefined ? '#8a90a0' : reached ? '#43a047' : '#f5a623', + selected: this.design.selectedPose === pose.id, + }; + }); + } + + /** + * The handles on the selected position. + * + * The same shape the tracing underlay wears -- a dashed box, four corner + * grips and a knob on a stalk -- because it is the same gesture: something + * on the grid that is being placed rather than built. Its corners pull the + * end-effector length rather than a scale, since that is the one dimension + * a position has. + */ + selectionBox(): SelectionBox | undefined { + const id = this.design.selectedPose; + if (!this.design.isPoseDefined(id)) return undefined; + const pose = this.design.getPose(id); + const grip = this.svgGrid.scaleWithZoom(10); + const pad = this.svgGrid.scaleWithZoom(14); + const length = this.design.length; + const ahead = this.design.COR === COR.CENTER ? length / 2 + pad : length + pad; + const behind = this.design.COR === COR.CENTER ? length / 2 + pad : pad; + const half = this.barHalfWidth() + pad / 2; + // Model coordinates throughout, y up. The grid draws this inside its own + // y-flip, so the flip is already accounted for -- negating here as well put + // every handle on the wrong side of the axis. + const cx = pose.position.x; + const cy = pose.position.y; + const x = cx - (this.design.COR === COR.FRONT ? ahead : behind); + const w = ahead + behind; + const y = cy - half; + const h = half * 2; + // Inside the flip, +y is up, which is the sense a positive angle turns in. + const cursors: Record = { + tl: 'nwse-resize', + tr: 'nesw-resize', + bl: 'nesw-resize', + br: 'nwse-resize', + }; + return { + rotate: `rotate(${pose.thetaDegrees.toFixed(2)} ${cx.toFixed(1)} ${cy.toFixed(1)})`, + cx, + cy, + x, + y, + w, + h, + // Above the link, which in this frame is further along +y. + knobY: y + h + this.svgGrid.scaleWithZoom(34), + corners: [ + { id: 'tl', x, y: y + h }, + { id: 'tr', x: x + w, y: y + h }, + { id: 'bl', x, y }, + { id: 'br', x: x + w, y }, + ].map((c) => ({ ...c, cursor: cursors[c.id], x: c.x - grip / 2, y: c.y - grip / 2 })), + }; + } + + /** + * The bar about to be dropped: same length, same reference point, turned the + * way the wheel has turned it. A promise about what the click will make. + */ + ghostBar(): { x1: number; y1: number; x2: number; y2: number } | undefined { + if (!this.design.armed || !this.cursor || this.design.regionDraw) return undefined; + if (this.design.getFirstUndefinedPose() === undefined) return undefined; + const theta = (this.design.placeAngleDeg * Math.PI) / 180; + const length = this.design.length; + const dx = Math.cos(theta) * length; + const dy = Math.sin(theta) * length; + const anchor = + this.design.COR === COR.BACK + ? { x: this.cursor.x, y: this.cursor.y } + : this.design.COR === COR.FRONT + ? { x: this.cursor.x - dx, y: this.cursor.y - dy } + : { x: this.cursor.x - dx / 2, y: this.cursor.y - dy / 2 }; + return { x1: anchor.x, y1: anchor.y, x2: anchor.x + dx, y2: anchor.y + dy }; + } + + /** The angle the ghost is turned to, for the hint beside the pointer. */ + ghostAngleLabel(): string { + return Math.round(((this.design.placeAngleDeg % 360) + 360) % 360) + '°'; + } + + private linkWidth(): number { + return 0.5 * this.settings.objectScale; + } + + /** + * Whether the proposal is still a proposal. + * + * Once it has been inserted the drawing holds the real thing, and drawing the + * preview over it puts two linkages in the same place -- one of which cannot + * be clicked, which is a worse way to learn that than being told. + */ + private previewing(): boolean { + return !this.solution.inserted; + } + + /** The chosen candidate, drawn where the preview has been scrubbed to. */ + previewLinks(): PreviewLink[] { + const solved = this.previewing() ? this.solution.previewPose() : null; + if (!solved) return []; + const w = this.linkWidth(); + const links: PreviewLink[] = [ + { + x1: solved.A.x, + y1: solved.A.y, + x2: solved.B.x, + y2: solved.B.y, + color: LINK_PALE, + width: w, + }, + { + x1: solved.B.x, + y1: solved.B.y, + x2: solved.C.x, + y2: solved.C.y, + color: LINK_DEEP, + width: w, + }, + { + x1: solved.C.x, + y1: solved.C.y, + x2: solved.D.x, + y2: solved.D.y, + color: LINK_PALE, + width: w, + }, + ]; + const dyad = this.solution.dyad(); + if (dyad) { + const elbow = meet(dyad.ground, dyad.crankLength, solved.B, dyad.couplerLength); + if (elbow) { + links.push({ + x1: dyad.ground.x, + y1: dyad.ground.y, + x2: elbow[0].x, + y2: elbow[0].y, + color: DRIVER_CRANK, + width: w * 0.86, + }); + links.push({ + x1: elbow[0].x, + y1: elbow[0].y, + x2: solved.B.x, + y2: solved.B.y, + color: DRIVER_COUPLER, + width: w * 0.8, + }); + } + } + return links; + } + + previewJoints(): PreviewJoint[] { + const solved = this.previewing() ? this.solution.previewPose() : null; + if (!solved) return []; + const out: PreviewJoint[] = [ + { id: 'A', x: solved.A.x, y: solved.A.y }, + { id: 'B', x: solved.B.x, y: solved.B.y }, + { id: 'C', x: solved.C.x, y: solved.C.y }, + { id: 'D', x: solved.D.x, y: solved.D.y }, + ]; + const dyad = this.solution.dyad(); + if (dyad) { + const elbow = meet(dyad.ground, dyad.crankLength, solved.B, dyad.couplerLength); + if (elbow) { + out.push({ id: 'E', x: dyad.ground.x, y: dyad.ground.y }); + out.push({ id: 'F', x: elbow[0].x, y: elbow[0].y }); + } + } + return out; + } + + /** Which of the preview's pins are bolted to the frame. */ + previewGrounds(): PreviewJoint[] { + const solved = this.previewing() ? this.solution.previewPose() : null; + if (!solved) return []; + const out = [ + { id: 'A', x: solved.A.x, y: solved.A.y }, + { id: 'D', x: solved.D.x, y: solved.D.y }, + ]; + const dyad = this.solution.dyad(); + if (dyad) out.push({ id: 'E', x: dyad.ground.x, y: dyad.ground.y }); + return out; + } + + /** Where the middle of the coupler goes over the whole of the travel. */ + couplerTrace(): string { + const cand = this.previewing() ? this.solution.driven() : null; + if (!cand) return ''; + const span = cand.range.to - cand.range.from; + let d = ''; + for (let k = 0; k <= 60; k++) { + const solved = solveFourBar(cand, cand.range.from + (span * k) / 60, cand.sign); + if (!solved) continue; + const midX = (solved.B.x + solved.C.x) / 2; + const midY = (solved.B.y + solved.C.y) / 2; + d += (d ? ' L ' : 'M ') + midX.toFixed(1) + ' ' + midY.toFixed(1); + } + return d; + } + + /** + * The candidate that is picked, faded, while another is being hovered. + * + * Without it, moving along the gallery replaces the linkage on the grid with + * no way to see what it replaced -- which is the one comparison the gallery + * exists to make. + */ + hoverGhostLinks(): PreviewLink[] { + if (!this.previewing()) return []; + const hovering = this.solution.hoverKey; + const picked = this.solution.picked(); + if (!hovering || !picked || picked.key === hovering) return []; + const base = this.solution.driven(picked); + if (!base) return []; + const solved = solveFourBar(base, base.thetas[0], base.sign); + if (!solved) return []; + const w = this.linkWidth() * 0.8; + return [ + { + x1: solved.A.x, + y1: solved.A.y, + x2: solved.B.x, + y2: solved.B.y, + color: '#9aa0ac', + width: w, + }, + { + x1: solved.B.x, + y1: solved.B.y, + x2: solved.C.x, + y2: solved.C.y, + color: '#9aa0ac', + width: w, + }, + { + x1: solved.C.x, + y1: solved.C.y, + x2: solved.D.x, + y2: solved.D.y, + color: '#9aa0ac', + width: w, + }, + ]; + } + + /** The ground-pivot region, in model coordinates like everything else here. */ + regionBox(): { x: number; y: number; w: number; h: number; corners: Handle[] } | undefined { + if (!this.design.constrain) return undefined; + const r = this.design.region; + const grip = this.svgGrid.scaleWithZoom(10); + const cursors: Record = { + tl: 'nwse-resize', + tr: 'nesw-resize', + bl: 'nesw-resize', + br: 'nwse-resize', + }; + return { + x: r.x, + y: r.y, + w: r.w, + h: r.h, + corners: [ + { id: 'tl', x: r.x, y: r.y + r.h }, + { id: 'tr', x: r.x + r.w, y: r.y + r.h }, + { id: 'bl', x: r.x, y: r.y }, + { id: 'br', x: r.x + r.w, y: r.y }, + ].map((c) => ({ ...c, cursor: cursors[c.id], x: c.x - grip / 2, y: c.y - grip / 2 })), + }; + } + + // --- gestures ------------------------------------------------------------ + + /** Take hold of a position, to slide it, turn it, or stretch the link. */ + grabPose(at: Coord, id: number, mode: 'move' | 'rotate' | 'length'): void { + if (!this.design.isPoseDefined(id)) return; + const pose = this.design.getPose(id); + this.design.selectedPose = id; + this.design.setArmed(false); + this.drag = { + kind: 'pose', + id, + mode, + dx: at.x - pose.position.x, + dy: at.y - pose.position.y, + grabAngleOffset: + (Math.atan2(at.y - pose.position.y, at.x - pose.position.x) * 180) / Math.PI - + pose.thetaDegrees, + }; + } + + grabRegion(at: Coord, mode: 'move' | 'corner' | 'draw', corner?: string): void { + const r = this.design.region; + this.drag = { + kind: 'region', + mode, + corner, + dx: at.x - r.x, + dy: at.y - r.y, + originX: at.x, + originY: at.y, + }; + if (mode === 'draw') this.design.region = { x: at.x, y: at.y, w: 0, h: 0 }; + } + + /** Follow the pointer. Returns whether a gesture consumed the move. */ + move(at: Coord): boolean { + this.cursor = at; + const drag = this.drag; + if (!drag) return false; + + if (drag.kind === 'pose') { + const pose = this.design.getPose(drag.id); + if (drag.mode === 'rotate') { + const angle = + (Math.atan2(at.y - pose.position.y, at.x - pose.position.x) * 180) / Math.PI - + drag.grabAngleOffset; + pose.thetaDegrees = angle; + } else if (drag.mode === 'length') { + // A corner pulls along the link's own axis, not along the screen: the + // one dimension a position has is how long the end-effector is. + const theta = pose.thetaRadians; + const along = Math.abs( + (at.x - pose.position.x) * Math.cos(theta) + (at.y - pose.position.y) * Math.sin(theta) + ); + const factor = this.design.COR === COR.CENTER ? 2 : 1; + this.design.length = Math.max(this.settings.objectScale * 0.5, along * factor); + } else { + pose.position = new Coord(at.x - drag.dx, at.y - drag.dy); + } + this.design.valueChanges.next(true); + return true; + } + + if (drag.mode === 'move') { + this.design.region = { + ...this.design.region, + x: at.x - drag.dx, + y: at.y - drag.dy, + }; + } else if (drag.mode === 'draw') { + this.design.region = { + x: Math.min(drag.originX, at.x), + y: Math.min(drag.originY, at.y), + w: Math.abs(at.x - drag.originX), + h: Math.abs(at.y - drag.originY), + }; + } else { + const r = this.design.region; + // The corner opposite the one being pulled is what stays put. + const fixedX = drag.corner === 'tl' || drag.corner === 'bl' ? r.x + r.w : r.x; + const fixedY = drag.corner === 'bl' || drag.corner === 'br' ? r.y + r.h : r.y; + this.design.region = { + x: Math.min(fixedX, at.x), + y: Math.min(fixedY, at.y), + w: Math.max(this.settings.objectScale, Math.abs(at.x - fixedX)), + h: Math.max(this.settings.objectScale, Math.abs(at.y - fixedY)), + }; + } + this.design.valueChanges.next(true); + return true; + } + + /** Let go. Returns whether anything was in flight. */ + release(): boolean { + const had = this.drag !== undefined; + this.drag = undefined; + if (this.design.regionDraw) this.design.regionDraw = false; + return had; + } + + /** Turn the position that has not been dropped yet. */ + turnGhost(deltaY: number): void { + this.design.placeAngleDeg += deltaY > 0 ? -5 : 5; + } +} From 0aa520e8dbab204d07484e09ab8ccebde2bd8ad7 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 17:27:18 -0700 Subject: [PATCH 198/236] Carry the design in the URL, so it can be undone and shared Undo and redo are a stack of URL strings. A design that is not written into them cannot be stepped back through -- and now that synthesis holds work of its own for as long as it takes to compare seven linkages, that work is exactly the kind a reader expects Undo to reach. A shared link mid-design opened on an empty panel for the same reason. It rides in the trailing section the lock marks opened, tagged 'S', which no lock or centre-of-mass anchor uses. Written only when there is a design to write, so a document with none encodes to the bytes it did before any of this existed -- the same bargain that section was built on, and the existing URL specs still compare the same strings. Unlike a lock or an anchor it names nothing the URL carries, so there is no reference to resolve; what it can be checked against is its own shape. It fails closed on an entry that is short a number or carries a tag nobody wrote, because a design half-read is worse than none: the panel would come up with positions that are not where the reader left them. Co-Authored-By: Claude Opus 5 --- src/app/services/synthesis/synthesis-url.ts | 132 +++++++++++++++ .../services/transcoding/string-transcoder.ts | 36 +++- .../transcoding/transcoder-interface.ts | 18 ++ .../transcoding/url-synthesis-design.spec.ts | 157 ++++++++++++++++++ src/app/services/url-generation.service.ts | 9 + src/app/services/url-processor.service.ts | 8 + src/test-utils/url-encoding.ts | 27 ++- 7 files changed, 384 insertions(+), 3 deletions(-) create mode 100644 src/app/services/synthesis/synthesis-url.ts create mode 100644 src/app/services/transcoding/url-synthesis-design.spec.ts diff --git a/src/app/services/synthesis/synthesis-url.ts b/src/app/services/synthesis/synthesis-url.ts new file mode 100644 index 00000000..23f6f4ab --- /dev/null +++ b/src/app/services/synthesis/synthesis-url.ts @@ -0,0 +1,132 @@ +import { Coord } from 'src/app/model/coord'; +import { MODEL_SCALE } from 'src/app/model/render-scale'; +import { BaseNConverter } from '../transcoding/base64-converter'; +import { FlagPacker } from '../transcoding/flag-packer'; +import { SynthesisBuilderService } from './synthesis-builder.service'; +import { COR, SynthesisPose } from './synthesis-util'; + +/** + * The synthesis design, in and out of the URL. + * + * It rides in the trailing section the lock marks opened, under the tag 'S', + * so a document with no design in progress is byte-identical to one written + * before this existed. Entries: + * + * SD~[length]~[reference]~[flags] the design as a whole + * SP~[x]~[y]~[angle] one position, in the order they were placed + * SR~[x]~[y]~[width]~[height] the ground-pivot region, only when required + * SC~[pinA]~[pinB]~[branch] which candidate was being looked at + * + * Numbers are base-N to three decimals, like every other number in this format, + * and lengths are in the user's own units -- the internal world is MODEL_SCALE + * times those, and the codec is the boundary where that is undone. + */ + +/** The order the flags pack in. Appending is safe; reordering is not. */ +const FLAGS = 6; + +function num(value: number): string { + return BaseNConverter.toUrlSafeBaseN(Math.round(value * 1000)); +} + +function unnum(text: string): number { + return BaseNConverter.fromUrlSafeBaseN(text) / 1000; +} + +function length(model: number): string { + return num(model / MODEL_SCALE); +} + +function unlength(text: string): number { + return unnum(text) * MODEL_SCALE; +} + +const REFERENCES = [COR.BACK, COR.CENTER, COR.FRONT]; + +/** + * What this design is, as trailing entries -- or nothing at all. + * + * A design with no positions and nothing asked of it is not a design, and + * writing one would make every URL in the app longer for a panel most readers + * never open. + */ +export function encodeSynthesisDesign(design: SynthesisBuilderService): string[] { + const poses = design.getAllPoses(); + const untouched = + poses.length === 0 && + design.stage === 'chooser' && + design.endsOnly && + !design.allowDefect && + !design.constrain; + if (untouched) return []; + + const marks = [ + 'SD~' + + length(design.length) + + '~' + + BaseNConverter.toUrlSafeBaseN(REFERENCES.indexOf(design.COR)) + + '~' + + FlagPacker.pack([ + design.endsOnly, + design.allowDefect, + design.constrain, + design.stage === 'working', + false, + false, + ]), + ]; + + poses.forEach((pose: SynthesisPose) => { + marks.push( + 'SP~' + length(pose.position.x) + '~' + length(pose.position.y) + '~' + num(pose.thetaDegrees) + ); + }); + + if (design.constrain) { + const r = design.region; + marks.push('SR~' + length(r.x) + '~' + length(r.y) + '~' + length(r.w) + '~' + length(r.h)); + } + + return marks; +} + +/** + * Put a decoded design back, exactly as it was written. + * + * Everything is replaced rather than merged: the entries are the whole of the + * design, so a URL with fewer positions than the panel currently holds means + * the reader undid one, not that two designs should be combined. + */ +export function applySynthesisDesign(marks: string[], design: SynthesisBuilderService): void { + const header = marks.find((entry) => entry.startsWith('SD~')); + if (!header) { + // No design in this URL. Undo can step back to before there was one, so + // that has to clear the panel rather than leave the last one standing. + design.clearDesign(); + return; + } + + const [lengthText, referenceText, flagsText] = header.substring(3).split('~'); + const [endsOnly, allowDefect, constrain, working] = FlagPacker.unpack(flagsText, FLAGS); + + design.applyDecoded({ + length: unlength(lengthText), + reference: REFERENCES[BaseNConverter.fromUrlSafeBaseN(referenceText, true)] ?? COR.CENTER, + endsOnly, + allowDefect, + constrain, + stage: working ? 'working' : 'chooser', + poses: marks + .filter((entry) => entry.startsWith('SP~')) + .map((entry) => { + const [x, y, theta] = entry.substring(3).split('~'); + return { at: new Coord(unlength(x), unlength(y)), thetaDegrees: unnum(theta) }; + }), + region: (() => { + const entry = marks.find((mark) => mark.startsWith('SR~')); + if (!entry) return undefined; + const [x, y, w, h] = entry.substring(3).split('~'); + return { x: unlength(x), y: unlength(y), w: unlength(w), h: unlength(h) }; + })(), + }); +} diff --git a/src/app/services/transcoding/string-transcoder.ts b/src/app/services/transcoding/string-transcoder.ts index acd6ec72..e3d372d2 100644 --- a/src/app/services/transcoding/string-transcoder.ts +++ b/src/app/services/transcoding/string-transcoder.ts @@ -455,7 +455,11 @@ export class StringTranscoder extends GenericTranscoder { // the two are told apart on the way in and neither can be mistaken for the // other. 'CG' holds the point on the drawing; 'CJ~' // holds it on one pin, '~' being a character no id can contain. - const trailing = [...this.lockedIds, ...this.comAnchors]; + // Synthesis joins them for a third time, tagged 'S'. Its entries describe a + // design rather than an object the URL carries, so unlike a lock or an + // anchor there is nothing for them to resolve against -- which is exactly + // why they can be validated on their own numbers alone. + const trailing = [...this.lockedIds, ...this.comAnchors, ...this.synthesisMarks]; if (trailing.length > 0) { fullString += '.' + trailing.join(','); } @@ -575,6 +579,7 @@ export class StringTranscoder extends GenericTranscoder { let entry = sd.nextToken(','); if (entry === '') continue; if (entry.charAt(0) === 'C') this.comAnchors.push(entry); + else if (entry.charAt(0) === 'S') this.synthesisMarks.push(entry); else this.lockedIds.push(entry); } @@ -684,6 +689,35 @@ export class StringTranscoder extends GenericTranscoder { } }); this.validateDecodedComAnchors(linkIDs); + this.validateDecodedSynthesis(); + } + + /** + * A synthesis design must be numbers, and the right count of them. + * + * It names nothing in the drawing, so there is no reference to resolve -- + * but a design half-read is worse than no design, because the panel would + * open on positions that are not where the reader left them. Fails closed, + * like every other trailing section. + */ + private validateDecodedSynthesis(): void { + const expected: { [tag: string]: number } = { SD: 3, SP: 3, SR: 4, SC: 3 }; + let positions = 0; + this.synthesisMarks.forEach((entry) => { + const tag = entry.substring(0, 2); + const count = expected[tag]; + if (count === undefined) { + throw new Error('URL contains an unknown synthesis entry'); + } + const parts = entry.substring(2).split('~').slice(1); + if (parts.length !== count || parts.some((part) => part === '')) { + throw new Error('URL contains an incomplete synthesis entry'); + } + if (tag === 'SP') positions++; + }); + if (positions > 3) { + throw new Error('URL contains more than three synthesis positions'); + } } /** diff --git a/src/app/services/transcoding/transcoder-interface.ts b/src/app/services/transcoding/transcoder-interface.ts index 34f913ca..fd05b6ee 100644 --- a/src/app/services/transcoding/transcoder-interface.ts +++ b/src/app/services/transcoding/transcoder-interface.ts @@ -37,6 +37,16 @@ export abstract class GenericTranscoder { * StringTranscoder for the spelling. */ protected comAnchors: string[] = []; + /** + * The synthesis design -- three positions of an end-effector link and what a + * solution has to satisfy -- as tagged entries sharing the same trailing + * section. See StringTranscoder for the spelling. + * + * It is in the URL for the same reason the mechanism is: undo and redo are a + * stack of these strings, so a design that was not written here could not be + * undone, and a link shared mid-design would open on an empty panel. + */ + protected synthesisMarks: string[] = []; // Initialize data dictionaries based on settings enums constructor() { @@ -120,6 +130,14 @@ export abstract class GenericTranscoder { return this.comAnchors; } + setSynthesisMarks(marks: string[]): void { + this.synthesisMarks = marks; + } + + getSynthesisMarks(): string[] { + return this.synthesisMarks; + } + abstract decodeURL(url: string): void; getJoints(): JointData[] { diff --git a/src/app/services/transcoding/url-synthesis-design.spec.ts b/src/app/services/transcoding/url-synthesis-design.spec.ts new file mode 100644 index 00000000..1203a294 --- /dev/null +++ b/src/app/services/transcoding/url-synthesis-design.spec.ts @@ -0,0 +1,157 @@ +import { Coord } from '../../model/coord'; +import { Force } from '../../model/force'; +import { RevJoint } from '../../model/joint'; +import { RealLink } from '../../model/link'; +import { MODEL_SCALE } from '../../model/render-scale'; +import { MechanismService } from '../mechanism.service'; +import { SettingsService } from '../settings.service'; +import { SynthesisBuilderService } from '../synthesis/synthesis-builder.service'; +import { applySynthesisDesign } from '../synthesis/synthesis-url'; +import { COR } from '../synthesis/synthesis-util'; +import { designFor, urlGeneratorFor } from '../../../test-utils/url-encoding'; +import { StringTranscoder } from './string-transcoder'; + +/** + * A synthesis design in the URL. + * + * It rides in the trailing section the lock marks opened, under a tag of its + * own, for the reason the mechanism is there: undo and redo are a stack of + * these strings, so a design left out of them could not be undone, and a link + * shared mid-design would open on an empty panel. + * + * The bargain the section was built on holds here too -- written only when + * there is something to say, so a document with no design in progress encodes + * to exactly the bytes it did before any of this existed. + */ + +const S = MODEL_SCALE; + +/** A four-bar to hang the design off, so the URL is a real one. */ +function drawing() { + const a = new RevJoint('A', 0, 0, true, true); + const b = new RevJoint('B', 2 * S, 0); + const bar = new RealLink('AB', [a, b], 1, 1); + [a, b].forEach((joint) => joint.links.push(bar)); + a.connectedJoints.push(b); + b.connectedJoints.push(a); + return { + joints: [a, b], + links: [bar], + forces: [] as Force[], + mechanismTimeStep: 0, + } as unknown as MechanismService; +} + +function encode(design?: SynthesisBuilderService): string { + return urlGeneratorFor(drawing(), new SettingsService(), design).generateUrlQuery(); +} + +/** Decode a URL and hand its design to a fresh, empty one. */ +function decodeInto(url: string): SynthesisBuilderService { + const decoder = new StringTranscoder(); + decoder.decodeURL(url); + const restored = designFor(new SettingsService()); + applySynthesisDesign(decoder.getSynthesisMarks(), restored); + return restored; +} + +/** A design with three positions placed and every requirement moved off default. */ +function worked(): SynthesisBuilderService { + const design = designFor(new SettingsService()); + design.stage = 'working'; + design.length = 6.25 * S; + design.applyDecoded({ + length: 6.25 * S, + reference: COR.FRONT, + endsOnly: false, + allowDefect: true, + constrain: true, + stage: 'working', + poses: [ + { at: new Coord(-2.5 * S, 1.25 * S), thetaDegrees: 12.5 }, + { at: new Coord(4 * S, 2 * S), thetaDegrees: -37 }, + { at: new Coord(7 * S, 7.5 * S), thetaDegrees: 61.25 }, + ], + region: { x: -3 * S, y: -8 * S, w: 14 * S, h: 9 * S }, + }); + return design; +} + +describe('a synthesis design in the URL', () => { + it('adds nothing at all when no design has been started', () => { + expect(encode(designFor(new SettingsService()))).toBe(encode()); + }); + + it('brings back the three positions exactly as they were placed', () => { + const restored = decodeInto(encode(worked())); + const poses = restored.getAllPoses(); + expect(poses.length).toBe(3); + expect(poses[0].position.x).toBeCloseTo(-2.5 * S, 3); + expect(poses[0].position.y).toBeCloseTo(1.25 * S, 3); + expect(poses[0].thetaDegrees).toBeCloseTo(12.5, 3); + expect(poses[1].thetaDegrees).toBeCloseTo(-37, 3); + expect(poses[2].position.x).toBeCloseTo(7 * S, 3); + expect(poses[2].thetaDegrees).toBeCloseTo(61.25, 3); + }); + + it('brings back the coupler, the reference point and the screen', () => { + const restored = decodeInto(encode(worked())); + expect(restored.length).toBeCloseTo(6.25 * S, 3); + expect(restored.COR).toBe(COR.FRONT); + expect(restored.stage).toBe('working'); + }); + + it('brings back what a solution has to satisfy', () => { + const restored = decodeInto(encode(worked())); + expect(restored.endsOnly).toBe(false); + expect(restored.allowDefect).toBe(true); + expect(restored.constrain).toBe(true); + }); + + it('brings back the region, but only because it is required', () => { + const restored = decodeInto(encode(worked())); + expect(restored.region.x).toBeCloseTo(-3 * S, 3); + expect(restored.region.y).toBeCloseTo(-8 * S, 3); + expect(restored.region.w).toBeCloseTo(14 * S, 3); + expect(restored.region.h).toBeCloseTo(9 * S, 3); + + const unconstrained = worked(); + unconstrained.constrain = false; + expect(encode(unconstrained)).not.toContain('SR~'); + }); + + it('carries fewer than three positions while one is still being placed', () => { + const partial = designFor(new SettingsService()); + partial.stage = 'working'; + partial.placeAngleDeg = 30; + partial.placePose(new Coord(1 * S, 2 * S)); + const restored = decodeInto(encode(partial)); + expect(restored.getAllPoses().length).toBe(1); + expect(restored.getAllPoses()[0].position.y).toBeCloseTo(2 * S, 3); + }); + + it('clears a design that the URL being read does not have', () => { + const restored = worked(); + applySynthesisDesign([], restored); + expect(restored.getAllPoses().length).toBe(0); + expect(restored.stage).toBe('chooser'); + expect(restored.endsOnly).toBe(true); + }); + + it('refuses a URL whose design is incomplete rather than half-reading it', () => { + const url = encode(worked()); + // Run a position's last two numbers together, so it carries two fields + // where it should carry three. The edit is one character for one character + // -- the checksum is over the length, and a URL that fails that would fail + // for a reason that says nothing about this section. + const broken = url.replace(/(SP~[^~,]+~[^~,]+)~/, '$1-'); + expect(broken).not.toBe(url); + expect(broken.length).toBe(url.length); + expect(() => decodeInto(broken)).toThrowError(/incomplete synthesis entry/); + }); + + it('refuses an entry it does not recognise', () => { + const url = encode(worked()); + expect(() => decodeInto(url.replace('SD~', 'SZ~'))).toThrowError(/unknown synthesis entry/); + }); +}); diff --git a/src/app/services/url-generation.service.ts b/src/app/services/url-generation.service.ts index 7c3188d4..cad653a1 100644 --- a/src/app/services/url-generation.service.ts +++ b/src/app/services/url-generation.service.ts @@ -22,6 +22,8 @@ import { } from './transcoding/transcoder-data'; import { SettingsService } from './settings.service'; import { MODEL_SCALE } from '../model/render-scale'; +import { SynthesisBuilderService } from './synthesis/synthesis-builder.service'; +import { encodeSynthesisDesign } from './synthesis/synthesis-url'; /* * This service is responsible for generating the URL from the current mechanism. @@ -39,6 +41,7 @@ import { MODEL_SCALE } from '../model/render-scale'; export class UrlGenerationService { private mechanism = inject(MechanismService); private settings = inject(SettingsService); + private synthesis = inject(SynthesisBuilderService); _addJointToEncoder(encoder: StringTranscoder, joint: Joint) { if (joint instanceof RevJoint) { @@ -201,6 +204,12 @@ export class UrlGenerationService { ) ); + // The synthesis design, if one is being worked on. It is not part of the + // mechanism -- nothing here is on the grid yet -- but undo and redo are a + // stack of these strings, so a design left out of them could not be + // undone, and a link shared mid-design would open on an empty panel. + encoder.setSynthesisMarks(encodeSynthesisDesign(this.synthesis)); + // Encode global settings encoder.addEnumSetting( EnumSetting.LENGTH_UNIT, diff --git a/src/app/services/url-processor.service.ts b/src/app/services/url-processor.service.ts index 337fac07..f6749983 100644 --- a/src/app/services/url-processor.service.ts +++ b/src/app/services/url-processor.service.ts @@ -7,6 +7,8 @@ import { SvgGridService } from './svg-grid.service'; import { ActiveObjService } from './active-obj.service'; import { NotificationService } from './notification.service'; import { SelectedTabService, TabID } from '../selected-tab.service'; +import { SynthesisBuilderService } from './synthesis/synthesis-builder.service'; +import { applySynthesisDesign } from './synthesis/synthesis-url'; @Injectable({ providedIn: 'root', @@ -17,6 +19,7 @@ export class UrlProcessorService { private svgGrid = inject(SvgGridService); private activeObj = inject(ActiveObjService); private notify = inject(NotificationService); + private synthesis = inject(SynthesisBuilderService); constructor() { // the content part of the url (the part after the ?) @@ -108,6 +111,11 @@ export class UrlProcessorService { this.activeObj ); builder.build(updateSettings); + // After the mechanism, because a design is about a machine that is not + // on the grid yet and so has nothing in the build to wait for -- but + // before the rebuild below, so the panel and the canvas come up + // describing the same state. + applySynthesisDesign(decoder.getSynthesisMarks(), this.synthesis); } catch (error) { console.error('Unable to load mechanism URL', error); // Deferred because this can run inside the service's own constructor, diff --git a/src/test-utils/url-encoding.ts b/src/test-utils/url-encoding.ts index 936248ee..0ac47118 100644 --- a/src/test-utils/url-encoding.ts +++ b/src/test-utils/url-encoding.ts @@ -2,22 +2,33 @@ import { Injector, runInInjectionContext } from '@angular/core'; import { MechanismService } from '../app/services/mechanism.service'; import { SettingsService } from '../app/services/settings.service'; import { UrlGenerationService } from '../app/services/url-generation.service'; +import { SynthesisBuilderService } from '../app/services/synthesis/synthesis-builder.service'; +import { NumberUnitParserService } from '../app/services/number-unit-parser.service'; /** * A UrlGenerationService wired to the given mechanism and settings. * - * The service resolves both with inject(), so a spec cannot pass them + * The service resolves them with inject(), so a spec cannot pass them * positionally any more; this is the one place that builds the injection * context for it. + * + * A synthesis design can be handed in the same way. Left out, a real but empty + * one stands in -- which encodes to nothing, so every spec that predates the + * design being in the URL still compares the bytes it always did. */ export function urlGeneratorFor( mechanism: MechanismService, - settings: SettingsService + settings: SettingsService, + design?: SynthesisBuilderService ): UrlGenerationService { const injector = Injector.create({ providers: [ { provide: MechanismService, useValue: mechanism }, { provide: SettingsService, useValue: settings }, + { provide: NumberUnitParserService, deps: [] }, + design + ? { provide: SynthesisBuilderService, useValue: design } + : { provide: SynthesisBuilderService, deps: [] }, { provide: UrlGenerationService, deps: [] }, ], }); @@ -29,4 +40,16 @@ export function encodeUrlOf(mechanism: MechanismService, settings: SettingsServi return urlGeneratorFor(mechanism, settings).generateUrlQuery(); } +/** A synthesis design built outside Angular, for the specs that need one. */ +export function designFor(settings: SettingsService): SynthesisBuilderService { + const injector = Injector.create({ + providers: [ + { provide: SettingsService, useValue: settings }, + { provide: NumberUnitParserService, deps: [] }, + { provide: SynthesisBuilderService, deps: [] }, + ], + }); + return injector.get(SynthesisBuilderService); +} + export { runInInjectionContext }; From b723f786889cc435489e373a8422bf65b43b45c8 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 17:27:31 -0700 Subject: [PATCH 199/236] Walk the whole of Synthesis in a browser, from empty grid to inserted six-bar The suite it replaces checked that synthesis added a mechanism rather than replacing the drawing -- a promise about a build that no longer happens on its own. What is worth checking now is mostly the machinery around the new promise: that the canvas gestures do not fight svg-pan-zoom, that nothing reaches the drawing before Insert, that the preview stops being drawn once the real thing is there, and that the design survives undo and redo. Selectors are scoped to the panel's own id. Half these class names are words rather than names -- card, row, note -- and the app has its own elements wearing them: an unscoped `.card` matched six elements and quietly clicked the wrong one, which read as two features being broken. Co-Authored-By: Claude Opus 5 --- e2e/README.md | 1 + e2e/synthesis-adds-mechanism.mjs | 128 ------------ e2e/synthesis-redesign.mjs | 332 +++++++++++++++++++++++++++++++ 3 files changed, 333 insertions(+), 128 deletions(-) delete mode 100644 e2e/synthesis-adds-mechanism.mjs create mode 100644 e2e/synthesis-redesign.mjs diff --git a/e2e/README.md b/e2e/README.md index 6ee5a3ac..54b9227f 100644 --- a/e2e/README.md +++ b/e2e/README.md @@ -33,6 +33,7 @@ their source. Everything browser-driven lives here. - `template-thumbnails.mjs` — regenerates the library cards' images in `src/assets/gifs/` by opening each generated template payload and clipping the canvas. Not a check: it writes assets, so run it after `npm run template-payloads` changes a payload - `playback-timing.mjs` — real-time playback: a revolution takes 60/RPM wall-clock seconds, the reported cycle period scales with input speed, and simulation time is held (not the sample index) across a speed change - `input-settings-and-playback.mjs` — the input joint's Input Settings section (direction, unit-free speed field, RPM / deg/s / rad/s picker), its removal from global Settings, the time field's width, and that playback interpolates between samples at a slow input speed +- `synthesis-redesign.mjs` — Synthesis end to end: the chooser, arming and dropping the three positions (wheel turns the one about to land, and does not zoom), dragging one without panning the canvas, Generate, the candidate gallery and its hover comparison, the six-bar driver, the preview transport, Insert and its Undo, and the design surviving undo and redo ## Running diff --git a/e2e/synthesis-adds-mechanism.mjs b/e2e/synthesis-adds-mechanism.mjs deleted file mode 100644 index 9676d6ea..00000000 --- a/e2e/synthesis-adds-mechanism.mjs +++ /dev/null @@ -1,128 +0,0 @@ -/** - * Synthesis adds a machine rather than replacing the drawing. - * - * It used to empty the joint and link arrays before writing its four-bar, which - * was the only sensible thing to do when a drawing held one mechanism. It holds - * as many as are drawn now, so the linkage it produces joins them. - * - * PMKS_BASE_URL= node e2e/synthesis-adds-mechanism.mjs - */ - -import { readFileSync } from 'node:fs'; - -const { chromium } = await import( - (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' -); -import { waitForReady } from './app-ready.mjs'; - -const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; -const source = readFileSync('src/app/component/MODALS/templates/template-linkages.ts', 'utf8'); -const payloads = Object.fromEntries( - [...source.matchAll(/^ {2}'?([\w-]+)'?:\n {4}'([^']+)',$/gm)].map(([, id, p]) => [id, p]) -); - -const browser = await chromium.launch(); -const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); -const errors = []; -page.on('pageerror', (error) => errors.push(String(error))); - -const results = []; -const record = (what, ok, detail) => { - results.push([what, ok]); - console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); -}; - -const model = () => - page.evaluate(() => { - const srv = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; - return { - joints: srv.joints.map((j) => j.id), - links: srv.links.map((l) => l.id), - mechanisms: srv.partitions.map((p) => p.id), - valid: srv.mechanisms.map((m) => m.isMechanismValid()), - }; - }); - -/** Place the three poses the panel needs, then let it synthesise. */ -const drawPoses = (spread) => - page.evaluate((spread) => { - const panel = ng.getComponent(document.querySelector('app-synthesis-panel')); - const builder = panel.synthesisBuilder; - const at = [ - [-4, 3, 0.2], - [0, 4, 0.5], - [4, 3, 0.9], - ]; - at.forEach(([x, y, theta], i) => { - const id = i + 1; - if (!builder.isPoseDefined(id)) builder.createPose(id); - const pose = builder.getPose(id); - // Through the pose's own setter, so the front and back points it derives - // are recomputed the way a drag on the canvas would. - const Coord = Object.getPrototypeOf(pose.position).constructor; - pose.position = new Coord(x * spread, y * spread); - builder.setPoseTheta(pose, theta); - }); - }, spread); - -await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); -await waitForReady(page); -const before = await model(); -record('a four-bar is on the grid to start with', before.mechanisms.length === 1, before); - -await page.locator('.tabButton', { hasText: 'Synthesis' }).click(); -await page.waitForTimeout(900); -await drawPoses(60); -await page.waitForTimeout(1500); -const after = await model(); - -record( - 'the drawing the user already had is still there', - before.joints.every((id) => after.joints.includes(id)), - { before, after } -); -record('and the synthesised linkage is a second mechanism', after.mechanisms.length === 2, after); -record( - 'with no two joints sharing an id', - new Set(after.joints).size === after.joints.length, - after -); -record('nor two links', new Set(after.links).size === after.links.length, after); -record('and both machines solve', after.valid.length === 2 && after.valid.every(Boolean), after); - -// Re-running while still in the tab replaces this visit's answer, not adds to it. -await drawPoses(80); -await page.waitForTimeout(1500); -const again = await model(); -record( - 'moving a pose revises the linkage rather than drawing another', - again.mechanisms.length === 2 && again.joints.length === after.joints.length, - { after, again } -); -record('still with no repeated ids', new Set(again.joints).size === again.joints.length, again); - -// Leaving and coming back starts a new one. -await page.locator('.tabButton', { hasText: 'Edit' }).click(); -await page.waitForTimeout(900); -await page.locator('.tabButton', { hasText: 'Synthesis' }).click(); -await page.waitForTimeout(900); -await drawPoses(45); -await page.waitForTimeout(1500); -const third = await model(); -record( - 'a fresh visit leaves the last visit alone and adds another', - third.mechanisms.length === 3, - { again, third } -); -record( - 'and all three ids are still distinct', - new Set(third.joints).size === third.joints.length, - third -); - -record('nothing threw', errors.length === 0, errors.slice(0, 3)); -await browser.close(); - -const failed = results.filter(([, ok]) => !ok); -console.log(`\n${results.length - failed.length}/${results.length} checks passed`); -process.exit(failed.length ? 1 : 0); diff --git a/e2e/synthesis-redesign.mjs b/e2e/synthesis-redesign.mjs new file mode 100644 index 00000000..d521afef --- /dev/null +++ b/e2e/synthesis-redesign.mjs @@ -0,0 +1,332 @@ +/** + * Synthesis, end to end: place, generate, browse, preview, insert. + * + * The redesign changed what the mode *is*. It used to build a four-bar onto the + * grid on every nudge of a coordinate, which made comparing two solutions + * impossible -- looking at the second destroyed the first. Now three positions + * are placed, an explicit search offers every four-bar that passes through + * them, and exactly one of them reaches the drawing, when Insert says so. + * + * Most of what is checked here is the machinery around that promise: that the + * canvas gestures do not fight svg-pan-zoom, that the preview stops being drawn + * once it is real, and that the design survives a shared link. + * + * PMKS_BASE_URL= node e2e/synthesis-redesign.mjs + */ + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { waitForReady } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; + +const checks = []; +const check = (what, ok, detail) => { + checks.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +const panel = (fn, arg) => + page.evaluate( + ([body, value]) => + new Function('panel', 'arg', body)( + ng.getComponent(document.querySelector('app-synthesis-panel')), + value + ), + [`return (${fn})(panel, arg);`, arg ?? null] + ); + +const grid = (fn) => + page.evaluate( + (body) => new Function('grid', body)(ng.getComponent(document.querySelector('app-new-grid'))), + `return (${fn})(grid);` + ); + +await page.goto(BASE, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +const skip = page.locator('.introjs-skipbutton').first(); +if (await skip.isVisible().catch(() => false)) await skip.click({ force: true }); +await page.locator('.tabButton', { hasText: 'Synthesis' }).click(); +await page.waitForTimeout(700); + +// --- the chooser -------------------------------------------------------- +check( + 'Synthesis opens on the question of what is being synthesised', + await page.locator('#synthesisPanel .kindCard--on').isVisible() +); +check( + 'and says what it cannot do yet rather than hiding it', + (await page.locator('#synthesisPanel .kindCard--off').innerText()).includes('Coming soon') +); +check( + 'the panel is as wide as the analysis panel, not as wide as Edit', + (await page.evaluate(() => + Math.round(document.querySelector('#synthesisPanel').getBoundingClientRect().width) + )) === 400 +); + +await page.locator('#synthesisPanel .kindCard--on').click(); +await page.waitForTimeout(400); + +// --- placing ------------------------------------------------------------ +check( + 'all three positions have a row before any is placed', + (await page.locator('#synthesisPanel .poseRow').count()) === 3 +); +check( + 'and none of them can be typed into yet', + await page.locator('.poseRow input').first().isDisabled() +); + +await page.locator('#synthesisPanel .pill', { hasText: 'Add position' }).click(); +await page.waitForTimeout(250); +await page.mouse.move(900, 560); +await page.waitForTimeout(200); +const angleBefore = await panel('(p) => p.design.placeAngleDeg'); +await page.mouse.wheel(0, -120); +await page.waitForTimeout(200); +const angleAfter = await panel('(p) => p.design.placeAngleDeg'); +check('the wheel turns the position that is about to be dropped', angleAfter !== angleBefore, { + angleBefore, + angleAfter, +}); +const zoomWhileArmed = await grid('(g) => g.svgGrid.panZoomObject.getZoom()'); +await page.mouse.wheel(0, -120); +await page.waitForTimeout(200); +check( + 'and does not zoom the canvas while it is doing so', + (await grid('(g) => g.svgGrid.panZoomObject.getZoom()')) === zoomWhileArmed +); + +await page.mouse.down(); +await page.mouse.up(); +await page.waitForTimeout(350); +check('a click on the grid drops it', (await panel('(p) => p.design.getAllPoses().length')) === 1); +check('and placing stays armed for the next one', await panel('(p) => p.design.armed')); + +// The remaining two, so there is a design to search. +for (const [x, y] of [ + [1000, 470], + [1120, 330], +]) { + await page.mouse.move(x, y); + await page.waitForTimeout(150); + await page.mouse.down(); + await page.mouse.up(); + await page.waitForTimeout(300); +} +check( + 'three placed, and placing disarms itself', + (await panel('(p) => p.design.getAllPoses().length')) === 3 +); +check('placing disarmed', !(await panel('(p) => p.design.armed'))); +check( + 'the wheel is the canvas zoom again', + await grid('(g) => g.svgGrid.panZoomObject.isMouseWheelZoomEnabled()') +); + +// --- dragging a position on the grid ------------------------------------ +const panBefore = await grid('(g) => JSON.stringify(g.svgGrid.panZoomObject.getPan())'); +const posBefore = await panel('(p) => p.design.getPose(1).position.x'); +const bar = await page.evaluate(() => { + const box = document.querySelector('.synthPose').getBoundingClientRect(); + return { x: box.x + box.width / 2, y: box.y + box.height / 2 }; +}); +await page.mouse.move(bar.x, bar.y); +await page.mouse.down(); +await page.mouse.move(bar.x + 60, bar.y + 20, { steps: 6 }); +await page.mouse.up(); +await page.waitForTimeout(300); +check( + 'a position can be dragged on the grid', + (await panel('(p) => p.design.getPose(1).position.x')) !== posBefore +); +check( + 'and the canvas does not pan under the drag', + (await grid('(g) => JSON.stringify(g.svgGrid.panZoomObject.getPan())')) === panBefore +); + +// --- a design that actually has solutions ------------------------------- +await panel(`(p) => { + p.design.applyDecoded({ + length: 1000, reference: 'CENTER', endsOnly: true, allowDefect: false, + constrain: false, stage: 'working', + poses: [ + { at: { x: 0, y: 0 }, thetaDegrees: 0 }, + { at: { x: 800, y: 400 }, thetaDegrees: 25 }, + { at: { x: 1400, y: 1400 }, thetaDegrees: 50 }, + ], + }); +}`); +await page.waitForTimeout(400); + +check( + 'nothing is on the grid before Generate', + (await grid('(g) => g.mechanismSrv.joints.length')) === 0 +); +check( + 'and no candidates are offered', + (await panel('(p) => p.solution.candidates().length')) === 0 +); + +await page.locator('#synthesisPanel .cta', { hasText: 'Generate solutions' }).click(); +await page.waitForTimeout(900); +const strict = await panel('(p) => p.solution.candidates().length'); +check('Generate finds four-bars through the three positions', strict > 0, strict); +check( + 'every one of them is drawn as a card', + (await page.locator('#synthesisPanel .card').count()) > 0 +); +check( + 'the positions are marked as reached', + (await panel('(p) => JSON.stringify([1,2,3].map(i => p.reached(i)))')) === '[true,true,true]' +); +check( + 'and the linkage is previewed on the grid', + (await grid('(g) => g.synthCanvas.previewLinks().length')) > 0 +); +check( + 'but still nothing has been added to the drawing', + (await grid('(g) => g.mechanismSrv.joints.length')) === 0 +); + +// Letting the pins slide finds more machines through the same positions. +await page + .locator('#synthesisPanel .req', { hasText: 'Coupler is exactly' }) + .locator('.req__line') + .click(); +await page.waitForTimeout(300); +await page.locator('#synthesisPanel .cta', { hasText: 'Generate solutions' }).click(); +await page.waitForTimeout(900); +const loose = await panel('(p) => p.solution.candidates().length'); +check('letting the pins slide finds more of them', loose > strict, { strict, loose }); + +// --- comparing -------------------------------------------------------- +if ((await page.locator('#synthesisPanel .card').count()) > 1) { + await page.locator('#synthesisPanel .card').nth(1).hover(); + await page.waitForTimeout(300); + check( + 'hovering another candidate keeps the chosen one on screen to compare against', + (await grid('(g) => g.synthCanvas.hoverGhostLinks().length')) === 3 + ); + await page.locator('#synthesisPanel .card').nth(1).click(); + await page.waitForTimeout(300); + check('and clicking it takes it', (await panel('(p) => p.solutionName')) === 'B'); + await page.locator('#synthesisPanel .card').first().click(); + await page.waitForTimeout(300); +} + +// --- the driver ------------------------------------------------------- +await page.locator('#synthesisPanel .row', { hasText: 'Add driver' }).locator('.switch').click(); +await page.waitForTimeout(500); +const withDriver = await panel( + '(p) => JSON.stringify({ dyad: !!p.solution.dyad(), refusal: p.solution.driverRefusal ?? null, rows: p.dimensionRows().length })' +); +const driver = JSON.parse(withDriver); +check( + 'a driver is either fitted or refused in words', + driver.dyad || typeof driver.refusal === 'string', + driver +); +if (driver.dyad) { + check('and its two lengths are listed with the rest', driver.rows === 7, driver); +} + +// --- the transport ---------------------------------------------------- +const phaseBefore = await panel('(p) => p.solution.currentPhase()'); +await page.locator('#synthesisPanel .iconBtn--sm').first().click(); +await page.waitForTimeout(600); +const phaseAfter = await panel('(p) => p.solution.currentPhase()'); +check('the preview can be played', phaseAfter !== phaseBefore, { phaseBefore, phaseAfter }); +await page.locator('#synthesisPanel .iconBtn--sm').first().click(); +await page.waitForTimeout(200); +check('and paused', !(await panel('(p) => p.solution.playing'))); +check( + 'the three positions are marked along its travel', + (await page.locator('#synthesisPanel .track__tick').count()) === 3 +); + +// --- inserting --------------------------------------------------------- +await page.locator('#synthesisPanel .cta--insert').click(); +await page.waitForTimeout(900); +const inserted = JSON.parse( + await grid( + '(g) => JSON.stringify({ joints: g.mechanismSrv.joints.map(j => j.id), links: g.mechanismSrv.links.map(l => l.id), valid: g.mechanismSrv.mechanisms.map(m => m.isMechanismValid()) })' + ) +); +check( + 'Insert puts the solution on the grid', + inserted.joints.length === (driver.dyad ? 6 : 4), + inserted +); +check( + 'with no two joints sharing an id', + new Set(inserted.joints).size === inserted.joints.length, + inserted +); +check('and it solves', inserted.valid.length > 0 && inserted.valid.every(Boolean), inserted); +check( + 'the preview stops being drawn once the real thing is there', + (await grid('(g) => g.synthCanvas.previewLinks().length')) === 0 +); +check( + 'the positions stay for reference', + (await panel('(p) => p.design.getAllPoses().length')) === 3 +); + +await page.locator('#synthesisPanel .note__undo').click(); +await page.waitForTimeout(700); +check('and Undo takes exactly it back', (await grid('(g) => g.mechanismSrv.joints.length')) === 0); +check('leaving the design alone', (await panel('(p) => p.design.getAllPoses().length')) === 3); + +// --- the design survives undo ------------------------------------------- +// +// The real test of the design being in the URL: undo and redo are a stack of +// those strings, so a design that is not written into them cannot survive one. +const beforeUndo = await panel( + '(p) => JSON.stringify(p.design.getAllPoses().map(q => [Math.round(q.position.x), Math.round(q.position.y)]))' +); +await page + .locator('#synthesisPanel .pill--square') + .count() + .catch(() => 0); +await page.locator('#synthesisPanel .poseRow').nth(2).locator('.poseRow__remove').click(); +await page.waitForTimeout(600); +check('a position can be removed', (await panel('(p) => p.design.getAllPoses().length')) === 2); + +await page.evaluate(() => { + const bar = ng.getComponent(document.querySelector('app-top-bar')); + bar.undo(); +}); +await page.waitForTimeout(900); +check( + 'and Undo brings it back, in the place it was', + (await panel( + '(p) => JSON.stringify(p.design.getAllPoses().map(q => [Math.round(q.position.x), Math.round(q.position.y)]))' + )) === beforeUndo, + { + beforeUndo, + now: await panel( + '(p) => JSON.stringify(p.design.getAllPoses().map(q => [Math.round(q.position.x), Math.round(q.position.y)]))' + ), + } +); + +await page.evaluate(() => { + ng.getComponent(document.querySelector('app-top-bar')).redo(); +}); +await page.waitForTimeout(900); +check('and Redo takes it away again', (await panel('(p) => p.design.getAllPoses().length')) === 2); + +check('nothing threw', errors.length === 0, errors.slice(0, 3)); +await browser.close(); + +const failed = checks.filter(([, ok]) => !ok); +console.log(`\n${checks.length - failed.length}/${checks.length} checks passed`); +process.exit(failed.length ? 1 : 0); From 9ae5a23786ddc761640028fba32cf6269c4d1ade Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 17:30:26 -0700 Subject: [PATCH 200/236] Say what Synthesis is waiting for on the strip that says what everything else is The status strip reports on the drawing, and in Synthesis the drawing is not what the reader is working on: a design in progress is not on it at all, so "Nothing to analyse yet" was true and useless for the whole of the work. It now says where in the search they are -- which position is about to be dropped, that three are placed and ready, which solution is being looked at and what it does with the positions -- and after Insert it says what was left behind. Co-Authored-By: Claude Opus 5 --- e2e/synthesis-redesign.mjs | 12 +++++ .../bottombar/bottombar.component.ts | 46 +++++++++++++++++++ 2 files changed, 58 insertions(+) diff --git a/e2e/synthesis-redesign.mjs b/e2e/synthesis-redesign.mjs index d521afef..51a2e3ef 100644 --- a/e2e/synthesis-redesign.mjs +++ b/e2e/synthesis-redesign.mjs @@ -55,6 +55,8 @@ if (await skip.isVisible().catch(() => false)) await skip.click({ force: true }) await page.locator('.tabButton', { hasText: 'Synthesis' }).click(); await page.waitForTimeout(700); +const status = () => page.locator('#bottomBar .status').innerText(); + // --- the chooser -------------------------------------------------------- check( 'Synthesis opens on the question of what is being synthesised', @@ -126,6 +128,11 @@ check( (await panel('(p) => p.design.getAllPoses().length')) === 3 ); check('placing disarmed', !(await panel('(p) => p.design.armed'))); +check( + 'the status strip follows the design rather than the empty drawing', + (await status()).includes('positions placed'), + await status() +); check( 'the wheel is the canvas zoom again', await grid('(g) => g.svgGrid.panZoomObject.isMouseWheelZoomEnabled()') @@ -279,6 +286,11 @@ check( 'the positions stay for reference', (await panel('(p) => p.design.getAllPoses().length')) === 3 ); +check( + 'and the strip says what was left on the grid', + (await status()).startsWith('Inserted as a'), + await status() +); await page.locator('#synthesisPanel .note__undo').click(); await page.waitForTimeout(700); diff --git a/src/app/component/bottombar/bottombar.component.ts b/src/app/component/bottombar/bottombar.component.ts index 9afd87da..59b19f83 100644 --- a/src/app/component/bottombar/bottombar.component.ts +++ b/src/app/component/bottombar/bottombar.component.ts @@ -7,6 +7,8 @@ import { SettingsService } from '../../services/settings.service'; import { MechanismService } from '../../services/mechanism.service'; import { environment } from '../../../environments/environment'; import { SelectedTabService, TabID } from '../../selected-tab.service'; +import { SynthesisBuilderService } from '../../services/synthesis/synthesis-builder.service'; +import { SynthesisSolutionService } from '../../services/synthesis/synthesis-solution.service'; @Component({ selector: 'app-bottombar', @@ -20,6 +22,8 @@ export class BottombarComponent { private tabs = inject(SelectedTabService); private svgGrid = inject(SvgGridService); private nup = inject(NumberUnitParserService); + private design = inject(SynthesisBuilderService); + private solution = inject(SynthesisSolutionService); /** * Which mode the app is in, spelled the way the tabs spell it. @@ -51,6 +55,9 @@ export class BottombarComponent { if (this.tabs.isAnalysisMode()) { return 'Geometry locked'; } + if (this.tabs.getCurrentTab() === TabID.SYNTHESIZE) { + return this.synthesisStatus(); + } const blockers = this.mechanismSrv.blockerCount(); if (this.mechanismSrv.mechanisms.length === 0) { return 'Nothing to analyse yet'; @@ -61,6 +68,45 @@ export class BottombarComponent { return `${blockers} ${blockers === 1 ? 'fix' : 'fixes'} before analysis`; } + /** + * What Synthesis is waiting for, or what it has found. + * + * The rest of this strip reports on the drawing, and in Synthesis the drawing + * is not what the reader is working on -- a design in progress is not on it + * at all, so "Nothing to analyse yet" was true and useless. This says where + * in the search they are, and after Insert it says what was left behind. + */ + private synthesisStatus(): string { + if (this.design.stage === 'chooser') return 'Pick a synthesis type to begin'; + if (this.design.regionDraw) { + return 'Drag on the grid to draw the region the ground pivots must sit in'; + } + const placed = this.design.getAllPoses().length; + const next = this.design.getFirstUndefinedPose(); + if (this.design.armed && next !== undefined) { + return `Click the grid to place position ${next} of 3 · scroll to turn it`; + } + if (placed < 3) return `${placed} of 3 positions placed`; + if (this.solution.generating) { + return 'Searching for four-bars through these three positions…'; + } + if (!this.solution.generated) { + return 'Three positions placed · ready to generate solutions'; + } + const kind = this.solution.dyad() ? 'six-bar' : 'four-bar'; + if (this.solution.inserted) { + return `Inserted as a ${kind} · positions kept for reference`; + } + const chosen = this.solution.chosen(); + if (!chosen) return 'No linkage meets the current criteria'; + const missed = 3 - chosen.onBranchCount; + const how = chosen.defectFree + ? 'walks all 3 on one assembly' + : `branch defect at ${missed} position${missed === 1 ? '' : 's'}`; + const count = this.solution.candidates().length; + return `Solution ${chosen.name} of ${count} · ${how}`; + } + /** * The mobility, or a dash where there is no such number. * From 740130312c6b171a93d0071d68802c34deb687cc Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 17:44:16 -0700 Subject: [PATCH 201/236] Ask a ram about both its ends, and stop re-solving a cycle to watch it run Five from GPT-5.6 sol's merge review, which drove the app and read the files. **A ram was reporting the force at one end and nothing at the other.** A cylinder stands in the list as one part and is three links to the solver, and its two mounts sit on different ones -- the barrel carries the far mount, the rod the other. The force columns asked the rod alone, so `Cylinder GC` offered the reaction at C and not the one at G. Worse, a driven ram offered no input effort at all: that column was added only for joints with a row of their own, and a cylinder is driven from a joint deliberately buried inside it, with no marker, no hitbox and no panel. Both now follow the rule the analysis panel already uses -- every member of the body, and the drive wherever it is hiding. `Cylinder_Boom` gains `Force at Joint G` and `Input force`; `Cylinder_Gripper` gains `Force at Joint A` and its own. **A slider block was offered four quantities it has none of.** The solver keeps blocks out of its angular maps and gives them no centre of mass, so ticking `Block at C` wrote eleven columns of blanks over 361 rows. A block is offered the reaction it carries and nothing else; every column it writes now has a number in every row. **Watching a mechanism run rebuilt the whole export, sixty times a second.** The sampled tables were cached against `poseRevision`, which is exactly what playback moves -- so leaving Report chosen and pressing play re-solved every chosen series per frame. There is a `solveRevision` now, bumped where the cycle is rebuilt and nowhere else. Measured: twelve thousand samples to build the page count, and twelve thousand after a second and a half of playback. **The settings could change out from under a running export.** Drawing forty graphs takes long enough to change one's mind, and the format and the name were read afresh per picture -- so half an archive came out PNG under the old name and half SVG under the new. The writer reads them once, before the first await, and the list is held still while it works. **And the card named a file that never arrived**: a set of pictures is an archive of its own (`..._graphs.zip`) and one picture carries the graph's title, neither of which the summary knew. It asks the writer now, which is what names them. Co-Authored-By: Claude Fable 5 --- e2e/export-flow.mjs | 41 ++++++++++ .../export-panel/export-panel.component.html | 6 +- .../export-panel/export-panel.component.scss | 5 ++ .../export-panel/export-panel.component.ts | 17 +++-- .../services/export/export-catalog.service.ts | 33 ++++++++- .../services/export/export-columns.service.ts | 74 +++++++++++++------ .../services/export/export-flow.service.ts | 7 +- src/app/services/export/export-flow.spec.ts | 34 +++++++++ .../services/export/export-table.service.ts | 16 ++-- .../services/export/export-writer.service.ts | 39 +++++++++- src/app/services/mechanism.service.ts | 10 +++ 11 files changed, 238 insertions(+), 44 deletions(-) diff --git a/e2e/export-flow.mjs b/e2e/export-flow.mjs index 6c8c1f8c..d0728a9e 100644 --- a/e2e/export-flow.mjs +++ b/e2e/export-flow.mjs @@ -208,7 +208,14 @@ await drawer().locator('.formatRow', { hasText: 'Graph images' }).click(); await page.waitForTimeout(200); await drawer().locator('.segmented button', { hasText: 'SVG' }).click(); await page.waitForTimeout(200); +// What the card promised, before it was pressed. +const promised = await drawer().locator('.summaryName').innerText(); const pictures = await grab(() => page.locator('.nextButton').click()); +record( + 'the card names the file that actually arrives, archive and all', + promised === pictures.name, + { promised, arrived: pictures.name } +); const inside = readStoredZip(readFileSync(pictures.path)); const drawing = inside.find((entry) => entry.name.endsWith('.svg'))?.text ?? ''; record( @@ -304,6 +311,40 @@ record( layout ); +// --- watching the mechanism run does not rebuild the export ----------------- +// The table cache used to key on the pose, which playback moves every frame: +// leaving Report chosen and pressing play re-sampled every column of every +// selected part sixty times a second. +await page.evaluate(() => { + const panel = ng.getComponent(document.querySelector('app-export-panel')); + const samples = panel.writer.tables.samples; + const original = samples.sampleAt.bind(samples); + window.__sampled = 0; + samples.sampleAt = (...args) => { + window.__sampled++; + return original(...args); + }; +}); +// Ask a question the cache has not been asked before, so there is a real +// sampling pass to compare playback against. +await page.evaluate(() => { + ng.getComponent(document.querySelector('app-export-panel')).flow.withMagnitude = false; +}); +await drawer().locator('.formatRow', { hasText: 'Report' }).click(); +await page.waitForTimeout(900); +const sampledOnce = await page.evaluate(() => window.__sampled); +await page.locator('.playButton').click(); +await page.waitForTimeout(1500); +await page.locator('.playButton').click(); +await page.waitForTimeout(300); +record( + 'watching the mechanism run does not re-sample a single column', + sampledOnce > 0 && (await page.evaluate(() => window.__sampled)) === sampledOnce, + { sampledOnce, after: await page.evaluate(() => window.__sampled) } +); +await page.locator('.stopButton').click(); +await page.waitForTimeout(800); + // --- the list is a way into the drawing ------------------------------------- const lit = () => page.evaluate(() => document.querySelectorAll('.joint-pointed, .link-pointed').length); diff --git a/src/app/component/export-panel/export-panel.component.html b/src/app/component/export-panel/export-panel.component.html index 0d258114..5765b006 100644 --- a/src/app/component/export-panel/export-panel.component.html +++ b/src/app/component/export-panel/export-panel.component.html @@ -57,7 +57,11 @@ }
    -
    + +
    @if (flow.step === 1) { @for (group of groups(); track group.id) { @if (!addInput()) { - help_outline } diff --git a/src/app/component/export-panel/export-panel.component.html b/src/app/component/export-panel/export-panel.component.html index 5765b006..03b0c5e2 100644 --- a/src/app/component/export-panel/export-panel.component.html +++ b/src/app/component/export-panel/export-panel.component.html @@ -6,45 +6,36 @@
    Export Data

    {{ lead }}

    +
    - @for (mark of steps; track mark.number) { + @for (mark of steps; track mark.step) {
    - @if (mark.number < flow.step) { - } @else { - {{ mark.number }}. {{ mark.name }} }
    }
    - - @if (flow.step === 2 && flow.forcesAvailable()) { -
    - @for (tab of ['kinematics', 'forces']; track tab) { - - } -
    - } - - @if (flow.step !== 3) { + @if (flow.step !== 'file') {
    {{ countText }} - @if (flow.step === 1) { + @if (flow.step === 'parts') { @@ -62,7 +53,7 @@ anyway -- and a control that visibly answers while changing nothing is worse than one that waits. -->
    - @if (flow.step === 1) { + @if (flow.step === 'parts') { @for (group of groups(); track group.id) { @@ -106,7 +97,7 @@ } } - @if (flow.step === 2) { + @if (flow.step === 'kinematics' || flow.step === 'forces') { @for (group of flow.columnGroups(); track group.key) {
    {{ group.title }}
    @@ -138,15 +129,15 @@ @if (flow.columnGroups().length === 0) {

    {{ - flow.tab === 'forces' + flow.step === 'forces' ? 'None of the chosen parts carries a reaction this analysis can solve.' - : 'Choose a part on the previous step to see what it has to give.' + : 'Choose a part on the first step to see what it has to give.' }}

    } } - @if (flow.step === 3) { + @if (flow.step === 'file') {
    Format @for (choice of formats; track choice.key) { @@ -296,9 +287,9 @@ - @if (flow.step === 2 && (hasMagnitude() || flow.tab === 'forces')) { + @if (flow.step === 'forces' || (flow.step === 'kinematics' && hasMagnitude())) {
    - @if (flow.tab === 'forces') { + @if (flow.step === 'forces') {
    Analysis type - @if (flow.step > 1) { + @if (flow.previousStep()) { } diff --git a/src/app/services/export/export-catalog.service.ts b/src/app/services/export/export-catalog.service.ts index a181c0f0..021cd381 100644 --- a/src/app/services/export/export-catalog.service.ts +++ b/src/app/services/export/export-catalog.service.ts @@ -99,7 +99,7 @@ export class ExportCatalogService { if (joint.input) notes.push('input'); if (this.mechanism.sliderFor(joint)) notes.push('slider'); if (joint.showCurve) notes.push('tracer point'); - if (this.mechanism.isSelectedJoint(joint)) notes.push('on the grid'); + if (this.mechanism.isSelectedJoint(joint)) notes.push('currently selected'); return { // Qualified by machine, because a joint can belong to two of them: a // chain bolted to another's ground shares that pin, and keyed by its @@ -133,7 +133,7 @@ export class ExportCatalogService { else if (link instanceof SliderBlock) notes.push('slider block'); if (link.joints.some((joint) => (joint as RealJoint).input)) notes.push('input crank'); if (link instanceof RealLink && link.subset.length > 0) notes.push('compound'); - if (this.mechanism.isSelectedBody(link)) notes.push('on the grid'); + if (this.mechanism.isSelectedBody(link)) notes.push('currently selected'); return { key: `${machine}|link:${link.id}`, kind: 'link', diff --git a/src/app/services/export/export-flow.service.ts b/src/app/services/export/export-flow.service.ts index a9b847f7..3552407c 100644 --- a/src/app/services/export/export-flow.service.ts +++ b/src/app/services/export/export-flow.service.ts @@ -2,6 +2,7 @@ import { Injectable, inject } from '@angular/core'; import { ForceAnalysisMode } from '../../model/mechanism/force-solver'; import { SelectedTabService, TabID } from '../../selected-tab.service'; import { MechanismService } from '../mechanism.service'; +import { ActiveObjService } from '../active-obj.service'; import { SettingsService } from '../settings.service'; import { ExportCatalogService } from './export-catalog.service'; import { ExportColumnsService } from './export-columns.service'; @@ -16,7 +17,15 @@ import { } from './export-model'; /** Which of the three questions the drawer is asking. */ -export type ExportStep = 1 | 2 | 3; +/** + * Which of the questions the drawer is asking. + * + * Named rather than numbered, because how many there are depends on the + * drawing: a mechanism with no force analysis set up is asked three questions + * and one with is asked four. A number would have to mean a different question + * in each case. + */ +export type ExportStep = 'parts' | 'kinematics' | 'forces' | 'file'; /** * What the export drawer has been told so far. @@ -29,13 +38,13 @@ export type ExportStep = 1 | 2 | 3; @Injectable({ providedIn: 'root' }) export class ExportFlowService { private catalog = inject(ExportCatalogService); + private activeObj = inject(ActiveObjService); private columns = inject(ExportColumnsService); private mechanism = inject(MechanismService); private settings = inject(SettingsService); private tabs = inject(SelectedTabService); - step: ExportStep = 1; - tab: ColumnTab = 'kinematics'; + step: ExportStep = 'parts'; format: ExportFormat = 'csv'; decimals: Decimals = 6; /** One file for everything that can share a time column, or one per part. */ @@ -78,6 +87,13 @@ export class ExportFlowService { this.mechanism.partitions.map((partition) => partition.id).join(','), this.mechanism.mechanisms.map((solved) => (solved.isMechanismValid() ? 1 : 0)).join(''), this.settings.forceAnalysisMode.value, + // What the canvas is holding, because a row says so. Rebuilt on a change + // of selection rather than left as it was when the drawer opened, which + // is how a row went on claiming to be the selected one after the reader + // had picked something else. + this.activeObj.objType, + this.activeObj.selectedJoint?.id, + this.activeObj.selectedLink?.id, // Units ride the column heads, so a change of them is a change of list. this.settings.lengthUnit.value, this.settings.angleUnit.value, @@ -115,19 +131,17 @@ export class ExportFlowService { this.cached = undefined; } - /** Start again from step 1, ticking whatever is selected on the grid. */ + /** Start again at the parts, ticking whatever is selected on the grid. */ reset(): void { this.refresh(); - this.step = 1; - this.tab = - this.forcesAvailable() && this.tabs.getCurrentTab() === TabID.FORCE ? 'forces' : 'kinematics'; + this.step = 'parts'; this.typedName = ''; this.touchedColumns = false; this.pickedColumns.clear(); this.pickedParts = new Set( this.partGroups() .flatMap((group) => group.parts) - .filter((part) => part.available && part.note.includes('on the grid')) + .filter((part) => part.available && part.note.includes('currently selected')) .map((part) => part.key) ); } @@ -178,13 +192,62 @@ export class ExportFlowService { .filter((part) => part.available); } - // --- step 2: columns ------------------------------------------------------ + // --- the questions, and moving between them ------------------------------- + + /** + * The questions this drawing is asked, in order. + * + * Forces are a question of their own rather than a tab inside the columns: + * they are a different analysis of the same cycle, not a second way of + * looking at one — and a drawing with no force analysis set up is never asked + * about them at all. + */ + steps(): ExportStep[] { + return this.forcesAvailable() + ? ['parts', 'kinematics', 'forces', 'file'] + : ['parts', 'kinematics', 'file']; + } + + /** Which of them is showing, counted from one for the rule across the top. */ + stepNumber(step: ExportStep = this.step): number { + return this.steps().indexOf(step) + 1; + } + + /** Whether a step has already been answered, and so can be gone back to. */ + isBehind(step: ExportStep): boolean { + return this.stepNumber(step) < this.stepNumber(); + } - /** Force columns are only worth a tab where a force analysis actually solves. */ + goTo(step: ExportStep): void { + if (this.steps().includes(step)) this.step = step; + } + + /** Which way each of Back and Next leads from here. */ + private neighbour(by: 1 | -1): ExportStep | undefined { + const order = this.steps(); + return order[order.indexOf(this.step) + by]; + } + + nextStep(): ExportStep | undefined { + return this.neighbour(1); + } + + previousStep(): ExportStep | undefined { + return this.neighbour(-1); + } + + // --- the column steps ----------------------------------------------------- + + /** Force columns are only worth a step where a force analysis actually solves. */ forcesAvailable(): boolean { return this.lists().forces; } + /** Which columns the step being shown is about. */ + get tab(): ColumnTab { + return this.step === 'forces' ? 'forces' : 'kinematics'; + } + columnGroups(tab: ColumnTab = this.tab): ExportColumnGroup[] { return this.columns.columnGroups(this.selectedParts(), tab); } diff --git a/src/app/services/export/export-flow.spec.ts b/src/app/services/export/export-flow.spec.ts index 0c0f557d..5689dd58 100644 --- a/src/app/services/export/export-flow.spec.ts +++ b/src/app/services/export/export-flow.spec.ts @@ -308,7 +308,7 @@ describe('the export drawer', () => { .flatMap((group) => group.parts) .find((part) => part.kind === 'link')!; flow.togglePart(link); - flow.tab = 'forces'; + flow.step = 'forces'; const columns = flow.columnGroups('forces').flatMap((group) => group.columns); expect(columns.length).toBeGreaterThan(1); expect(new Set(columns.map((column) => column.key)).size).toBe(columns.length); @@ -389,7 +389,7 @@ describe('the export drawer', () => { .flatMap((group) => group.parts) .find((part) => (part.part as RealJoint).input)!; flow.togglePart(input); - flow.tab = 'forces'; + flow.step = 'forces'; const heads = tables.tables()[0].heads; expect(heads.some((head) => head.startsWith('Static force at'))).toBe(true); From d1f05f02db91091cbb82fc76dc9d7b243ce53a29 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 18:42:04 -0700 Subject: [PATCH 203/236] Fix six things that made the panel harder to use than it needed to be The one that mattered: a position was dropped only on a press released within a tenth of a second. `pastDragThreshold` calls a slow press a drag, which is right for a part already on the grid -- holding still is how you take hold of something -- and wrong for aiming at an empty spot, where a deliberate click is the normal gesture. Every slower click was thrown away, which is why placing a position seemed to need several. Distance is the only thing that tells the two apart here. The rest: - Generate reports itself for at least a second. The search is real work but on a small design it finishes inside one frame, and a button that answers that fast reads as though nothing happened. The floor is under the progress state, not the work: a slower search simply takes longer. - No position row is selected until one is asked for. A highlighted row before anything is placed reads as "your first position went here", which is exactly what it is not. - The chips on the grid get the pill the design gives them. They are read against whatever the drawing puts behind them, and grey words over a link are words nobody can read. - "2 of 3 required" named an obligation the reader does not have -- it looked like two had to be switched on before anything would happen. It says what the number reports instead: how much is being asked of a solution. - The three values on a position row share the space rather than each holding a fixed width. Fixed, every one had to be sized for the longest value it might ever hold, and they could not all be -- so whichever lost had its unit cut off. That was "301 deg" arriving as "301 de". Co-Authored-By: Claude Opus 5 --- e2e/synthesis-redesign.mjs | 40 +++++++++++++-- .../new-grid/new-grid.component.html | 31 +++++++++-- .../new-grid/new-grid.component.scss | 21 +++++++- .../component/new-grid/new-grid.component.ts | 18 ++++++- .../synthesis-panel.component.scss | 28 +++++++--- .../synthesis-panel.component.ts | 10 +++- .../synthesis/synthesis-builder.service.ts | 20 ++++++-- .../synthesis/synthesis-canvas.service.ts | 12 ++++- .../synthesis/synthesis-solution.service.ts | 51 +++++++++++++++---- 9 files changed, 194 insertions(+), 37 deletions(-) diff --git a/e2e/synthesis-redesign.mjs b/e2e/synthesis-redesign.mjs index 51a2e3ef..64fb14cc 100644 --- a/e2e/synthesis-redesign.mjs +++ b/e2e/synthesis-redesign.mjs @@ -57,6 +57,19 @@ await page.waitForTimeout(700); const status = () => page.locator('#bottomBar .status').innerText(); +/** + * Wait for the search rather than for a clock: its progress state has a floor + * under how briefly it may flash past, so a fixed sleep would race it. + */ +const settled = async () => { + await page.waitForFunction( + () => !ng.getComponent(document.querySelector('app-synthesis-panel')).solution.generating, + null, + { timeout: 15000 } + ); + await page.waitForTimeout(200); +}; + // --- the chooser -------------------------------------------------------- check( 'Synthesis opens on the question of what is being synthesised', @@ -81,6 +94,10 @@ check( 'all three positions have a row before any is placed', (await page.locator('#synthesisPanel .poseRow').count()) === 3 ); +check( + 'and none of them is selected until one is asked for', + (await page.locator('#synthesisPanel .poseRow--sel').count()) === 0 +); check( 'and none of them can be typed into yet', await page.locator('.poseRow input').first().isDisabled() @@ -107,11 +124,28 @@ check( ); await page.mouse.down(); +// Held well past the tenth of a second the old gate allowed: aiming at a spot +// takes as long as it takes, and every slower click used to be thrown away. +await page.waitForTimeout(500); await page.mouse.up(); await page.waitForTimeout(350); -check('a click on the grid drops it', (await panel('(p) => p.design.getAllPoses().length')) === 1); +check( + 'a click on the grid drops it, however long it is held', + (await panel('(p) => p.design.getAllPoses().length')) === 1 +); check('and placing stays armed for the next one', await panel('(p) => p.design.armed')); +// A press that travels is a drag, and must not drop anything. +await page.mouse.move(1180, 300); +await page.mouse.down(); +await page.mouse.move(1260, 250, { steps: 6 }); +await page.mouse.up(); +await page.waitForTimeout(300); +check( + 'but a press that travels is a drag, and drops nothing', + (await panel('(p) => p.design.getAllPoses().length')) === 1 +); + // The remaining two, so there is a design to search. for (const [x, y] of [ [1000, 470], @@ -183,7 +217,7 @@ check( ); await page.locator('#synthesisPanel .cta', { hasText: 'Generate solutions' }).click(); -await page.waitForTimeout(900); +await settled(); const strict = await panel('(p) => p.solution.candidates().length'); check('Generate finds four-bars through the three positions', strict > 0, strict); check( @@ -210,7 +244,7 @@ await page .click(); await page.waitForTimeout(300); await page.locator('#synthesisPanel .cta', { hasText: 'Generate solutions' }).click(); -await page.waitForTimeout(900); +await settled(); const loose = await panel('(p) => p.solution.candidates().length'); check('letting the pins slide finds more of them', loose > strict, { strict, loose }); diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index e34802c3..b4cdc57e 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -1159,23 +1159,44 @@ @for (chip of synthCanvas.poseChips(); track chip.id) { + the right way up inside the grid's own y-flip. A filled pill + rather than bare text: it is read against whatever the drawing + puts behind it, and grey words over a link are words nobody can + read. --> + + + {{ chip.id }} + - {{ chip.id }} · {{ chip.text }} + {{ chip.text }} } diff --git a/src/app/component/new-grid/new-grid.component.scss b/src/app/component/new-grid/new-grid.component.scss index 2539d30d..e3ca00c5 100644 --- a/src/app/component/new-grid/new-grid.component.scss +++ b/src/app/component/new-grid/new-grid.component.scss @@ -278,12 +278,31 @@ stroke: mat.m2-get-color-from-palette($accent-palette, 500); } - // What the chosen linkage does with each position, said beside it. + // What the chosen linkage does with each position, said beside it. A filled + // pill, because it is read against whatever the drawing happens to put behind + // it -- grey words over a link are words nobody can read. + .synthChip { + fill: #fff; + stroke: rgba(0, 0, 0, 0.12); + + &--sel { + fill: mat.m2-get-color-from-palette($accent-palette, 500); + stroke: rgba(0, 0, 0, 0.2); + } + } + .synthChipDot { stroke: #fff; stroke-width: 1; } + .synthChipNumber { + fill: #fff; + font-family: Roboto, sans-serif; + font-weight: 500; + text-anchor: middle; + } + .synthChipText { fill: rgba(0, 0, 0, 0.65); font-family: Roboto, sans-serif; diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index bcf013e8..29d8d854 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -2101,7 +2101,7 @@ export class NewGridComponent implements OnDestroy { !wasDragging && !this.synthPressTaken && this.synthesisBuilder.armed && - !this.pastDragThreshold($event) + this.pressDidNotTravel($event) ) { const at = this.svgGrid.screenToSVGfromXY($event.clientX, $event.clientY); this.synthesisBuilder.placePose(at); @@ -2199,6 +2199,22 @@ export class NewGridComponent implements OnDestroy { return true; } + /** + * Whether this press stayed put -- a click rather than a drag. + * + * Deliberately not `pastDragThreshold`, which also calls a press held for a + * tenth of a second a drag. That is right for a part already on the grid, + * where holding still is how you take hold of something, but wrong for + * dropping a position: aiming at a spot takes as long as it takes, and every + * click slower than 100ms was being thrown away -- which is why a position + * seemed to need several clicks to place. Distance is the only thing that + * tells the two gestures apart here. + */ + private pressDidNotTravel($event: MouseEvent): boolean { + const from = new Coord(this.startX, this.startY); + return getDistance(from, new Coord($event.pageX, $event.pageY)) <= 10; + } + /** * Whether a synthesis gesture has the pointer. * diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.scss b/src/app/component/synthesis-panel/synthesis-panel.component.scss index 7ad0fe04..cf2fdbb2 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.scss +++ b/src/app/component/synthesis-panel/synthesis-panel.component.scss @@ -354,12 +354,22 @@ $red: #e53935; flex: 0 0 214px; } + /* The three values on a position row share what is left of the row after + its number, the axis captions and the two icons, rather than each + holding a width of its own. Fixed widths meant every value had to be + sized for the longest one it might ever hold -- and they could not all + be, so whichever lost had its unit cut off. Sharing gives each of them + as much as there is. The angle takes a slightly larger share: "deg" is + a character longer than "cm", and an angle can want a sign and three + digits in front of it. */ &--num { - flex: 0 0 76px; + flex: 1 1 0; + min-width: 0; } &--angle { - flex: 0 0 64px; + flex: 1.12 1 0; + min-width: 0; } &--tiny { @@ -454,8 +464,10 @@ $red: #e53935; .poseRow { display: flex; align-items: center; - gap: 5px; - padding: 5px 6px; + /* Tighter than the panel's usual 5px: the row carries nine things and + the space belongs to the fields. */ + gap: 4px; + padding: 5px 4px; border: 1.5px solid $edge; border-radius: 5px; background: #fff; @@ -467,11 +479,11 @@ $red: #e53935; } &__n { - flex: 0 0 20px; + flex: 0 0 18px; display: flex; align-items: center; justify-content: center; - height: 20px; + height: 18px; border-radius: 10px; background: #dfe1e8; color: rgba(0, 0, 0, 0.45); @@ -485,12 +497,12 @@ $red: #e53935; } &__axis { - flex: 0 0 10px; + flex: 0 0 9px; font-size: 14px; color: rgba(0, 0, 0, 0.6); &--angle { - flex: 0 0 14px; + flex: 0 0 12px; font-size: 15px; text-align: center; } diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.ts b/src/app/component/synthesis-panel/synthesis-panel.component.ts index 6c90702b..ebdc72a3 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.ts +++ b/src/app/component/synthesis-panel/synthesis-panel.component.ts @@ -477,12 +477,20 @@ export class SynthesisPanelComponent implements OnInit, OnDestroy { this.readFromModel(); } + /** + * How strict the search currently is. + * + * It used to read "2 of 3 required", which names an obligation the reader + * does not have: it looked like two of the three had to be switched on before + * anything would happen. What the number reports is how much is being asked + * of a solution, so it says that instead. + */ requirementCount(): string { const n = (this.design.endsOnly ? 1 : 0) + (this.design.allowDefect ? 0 : 1) + (this.design.constrain ? 1 : 0); - return n + ' of 3 required'; + return n === 0 ? 'nothing narrowing the search' : `${n} of 3 narrowing the search`; } regionSummary(): string { diff --git a/src/app/services/synthesis/synthesis-builder.service.ts b/src/app/services/synthesis/synthesis-builder.service.ts index 4763b475..fc1c231d 100644 --- a/src/app/services/synthesis/synthesis-builder.service.ts +++ b/src/app/services/synthesis/synthesis-builder.service.ts @@ -78,7 +78,15 @@ export class SynthesisBuilderService { _COR: COR; _length: number; // length of the end-effector link - _selectedPose: number; // currently selected pose (1-3) + /** + * Which position row is selected, or 0 for none. + * + * Starts at none. A row highlighted before anything has been placed reads as + * "this is where your first position went", which is exactly what it is not: + * the first position does not exist until Add position has armed the canvas + * and a click has dropped it. + */ + _selectedPose: number; poses: { [key: number]: SynthesisPose }; // a dictionary of poses, but including each pose is optional @@ -88,7 +96,7 @@ export class SynthesisBuilderService { // start with a length of 5 user units, held in model units this._COR = COR.CENTER; this._length = 5 * MODEL_SCALE; - this._selectedPose = 1; + this._selectedPose = 0; // start with no defined poses this.poses = {}; @@ -352,7 +360,7 @@ export class SynthesisBuilderService { ); }); this.armed = false; - this.selectedPose = Math.min(this.selectedPose, Math.max(1, kept.length)); + this.selectedPose = kept.length ? Math.min(this.selectedPose, kept.length) : 0; this.valueChanges.next(true); } @@ -361,7 +369,7 @@ export class SynthesisBuilderService { this.poses = {}; this._COR = COR.CENTER; this._length = 5 * MODEL_SCALE; - this._selectedPose = 1; + this._selectedPose = 0; this.stage = 'chooser'; this.armed = false; this.regionDraw = false; @@ -408,7 +416,9 @@ export class SynthesisBuilderService { () => this.length ); }); - this._selectedPose = Math.min(this._selectedPose, Math.max(1, decoded.poses.length)); + // A decode is not a click, so it selects nothing: the design comes back as + // it was written, not as though a row had just been picked. + this._selectedPose = 0; this.valueChanges.next(true); } } diff --git a/src/app/services/synthesis/synthesis-canvas.service.ts b/src/app/services/synthesis/synthesis-canvas.service.ts index d9831f34..c6197cc1 100644 --- a/src/app/services/synthesis/synthesis-canvas.service.ts +++ b/src/app/services/synthesis/synthesis-canvas.service.ts @@ -27,6 +27,8 @@ export interface PoseChip { text: string; dot: string; selected: boolean; + /** How wide the pill behind the words has to be, in screen pixels. */ + width: number; } export interface Handle { @@ -143,14 +145,20 @@ export class SynthesisCanvasService { return this.design.getAllPoses().map((pose) => { const reached = cand ? cand.onBranch[pose.id - 1] : undefined; const far = pose.posBack.x > pose.posFront.x ? pose.posBack : pose.posFront; + const text = + reached === undefined ? 'position ' + pose.id : reached ? 'reached' : 'needs reassembly'; return { id: pose.id, x: far.x + 0.5 * this.settings.objectScale, y: Math.max(pose.posBack.y, pose.posFront.y) + 0.75 * this.settings.objectScale, - text: - reached === undefined ? 'position ' + pose.id : reached ? 'reached' : 'needs reassembly', + text, dot: reached === undefined ? '#8a90a0' : reached ? '#43a047' : '#f5a623', selected: this.design.selectedPose === pose.id, + // Estimated rather than measured: SVG cannot report a text width before + // it is laid out, and this only has to be wide enough that the pill + // does not clip the words. Roboto Medium at 13px runs a little over + // half its size per character, plus the numbered dot and its padding. + width: 30 + text.length * 6.9, }; }); } diff --git a/src/app/services/synthesis/synthesis-solution.service.ts b/src/app/services/synthesis/synthesis-solution.service.ts index ef61dc01..c2fb6572 100644 --- a/src/app/services/synthesis/synthesis-solution.service.ts +++ b/src/app/services/synthesis/synthesis-solution.service.ts @@ -31,6 +31,15 @@ import { * nudge of a coordinate, which made comparing two solutions impossible -- * looking at the second one destroyed the first. */ +/** + * How long the search reports itself for, at the least. + * + * Not a delay on the work -- the work starts at once -- but a floor under how + * briefly the progress state may flash past. Under about a second the reader + * sees a button flicker rather than a search happen. + */ +const MIN_SEARCH_VISIBLE_MS = 1100; + @Injectable({ providedIn: 'root' }) export class SynthesisSolutionService { private design = inject(SynthesisBuilderService); @@ -112,24 +121,44 @@ export class SynthesisSolutionService { /** * Run the search. * - * The first search is the one worth showing as work: it is the moment three - * positions become a set of machines. It is deliberately deferred a beat so - * the button can say so, and because the enumeration walks a full crank - * revolution for every candidate and would otherwise freeze the frame it was - * clicked on. + * The enumeration is real work -- it constructs a circle centre for every + * pair of pin positions and then walks a full crank revolution for each + * candidate -- but on a small design it finishes in well under a tenth of a + * second, and a button labelled "Generate solutions" that produces its answer + * in one frame reads as though nothing happened. So the progress state has a + * floor rather than a fake delay: the search starts immediately, and the bar + * stays up until it has been visible long enough to be read. A slower search + * simply takes longer, and the bar tells the truth about it. */ generate(): void { if (this.generating || !this.design.isFullyDefined()) return; this.generating = true; this.changed.next(); if (this.timer) clearTimeout(this.timer); + const started = Date.now(); + // Off the frame the click landed on, so the bar is painted before the + // enumeration blocks the thread. this.timer = setTimeout(() => { - this.timer = undefined; - this.generating = false; - this.generated = true; - this.candidateKey = null; - this.changed.next(); - }, 60); + this.warmCandidates(); + const remaining = Math.max(0, MIN_SEARCH_VISIBLE_MS - (Date.now() - started)); + this.timer = setTimeout(() => { + this.timer = undefined; + this.generating = false; + this.generated = true; + this.candidateKey = null; + this.changed.next(); + }, remaining); + }, 30); + } + + /** Do the search now, so the wait is spent on it rather than after it. */ + private warmCandidates(): void { + const key = this.design.searchKey(); + if (key === this.cacheKey) return; + const result = enumerateCandidates(this.design.search()); + this.cacheKey = key; + this.cached = result.candidates; + this.cachedRejections = result.rejections; } /** Every candidate the current design admits, best first, at most eight. */ From c5b176ee743287e72771e44b96c8dda0da1816af Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 19:07:45 -0700 Subject: [PATCH 204/236] Leave a slot off a list nobody can point at, and space the rule by its names **A step as wide as its own name.** Four equal shares of a 380px rule is 95 pixels each, which `2. Kinematics` overruns -- so the long name crowded the short one beside it while `4. File` sat in a third of a segment of white. Each segment takes the width its name needs, with the gap doing the separating. **A joint the canvas draws nothing for is not a part.** A slot is a joint to the solver and nothing at all to a reader: it has a zero-sized marker, no hitbox and no panel, so `Joint E` and `Joint F` in a Scotch yoke were rows offering numbers no graph in the app can show. They are off the list -- and nothing goes with them, because the force in a guide belongs to the block riding in it, and the block is still there. Checked rather than assumed: every reaction the solver has for that mechanism is still reachable from a row, and the same holds for the slider-crank. The list is what is on the screen. The effort driving a slot follows the same rule as a ram's: it is asked for against the pin a reader can point at, since the slot itself is not on the list. **And the graph's help mark joins the rest.** The mark beside a plot was a different class with its own ink, its own delay and no answer to the pointer -- the one help mark in the app the last pass did not reach. What a help mark *is* is now said once for both, and only its size is stated where it is drawn. One of them was invisible: the colour picker painted every icon inside itself white for the sake of the check mark on a swatch. Also: the cross-engine scrubber check now waits for the stylesheet to reach the control rather than for the clock. Firefox lays that input out later than the others, so a fixed wait measured one engine's finished work and another's platform default -- a red suite that said "Firefox regression" and meant "measured too early". Co-Authored-By: Claude Fable 5 --- e2e/export-flow.mjs | 29 ++++++++++++ e2e/playback-loop-indicator.mjs | 13 ++++++ src/app/component/BLOCKS/blocks.common.scss | 29 +++++++----- .../analysis-graph-section.component.html | 2 +- .../analysis-graph-section.component.scss | 5 ++- .../export-panel/export-panel.component.scss | 15 ++++--- .../services/export/export-catalog.service.ts | 14 +++++- .../services/export/export-columns.service.ts | 7 ++- src/app/services/export/export-flow.spec.ts | 45 +++++++++++++++++++ 9 files changed, 137 insertions(+), 22 deletions(-) diff --git a/e2e/export-flow.mjs b/e2e/export-flow.mjs index 41b5e1e0..13230e19 100644 --- a/e2e/export-flow.mjs +++ b/e2e/export-flow.mjs @@ -428,6 +428,35 @@ record( (await drawer().locator('.pickRow.onGrid').count()) === 0 ); +// --- a slot is not a part, because a reader cannot point at one ------------- +await page.goto(`${BASE}/?${payloads['Scotch_Yoke']}`, { waitUntil: 'domcontentloaded' }); +await waitForReady(page); +await page.locator('.tabButton', { hasText: 'Kinematic' }).click(); +await page.waitForTimeout(700); +await openDrawer(); +const yokeParts = await drawer().locator('.pickRow .rowName').allInnerTexts(); +const invisible = await page.evaluate(() => + [...document.querySelectorAll('[id^="joint_"]')] + .filter((marker) => marker.getBoundingClientRect().width === 0) + .map((marker) => 'Joint ' + marker.id.replace('joint_', '')) +); +record( + 'a joint the canvas draws nothing for is not offered as a part', + invisible.length > 0 && invisible.every((name) => !yokeParts.includes(name)), + { invisible, yokeParts } +); +record( + 'and every joint it does draw is', + ( + await page.evaluate(() => + [...document.querySelectorAll('[id^="joint_"]')] + .filter((marker) => marker.getBoundingClientRect().width > 0) + .map((marker) => 'Joint ' + marker.id.replace('joint_', '')) + ) + ).every((name) => yokeParts.includes(name)), + yokeParts +); + // --- a sealed cylinder is one part, not the pieces it is assembled from ------ await page.goto(`${BASE}/?${payloads['Cylinder_Boom']}`, { waitUntil: 'domcontentloaded' }); await waitForReady(page); diff --git a/e2e/playback-loop-indicator.mjs b/e2e/playback-loop-indicator.mjs index a733eaaa..2bf01f19 100644 --- a/e2e/playback-loop-indicator.mjs +++ b/e2e/playback-loop-indicator.mjs @@ -359,6 +359,19 @@ for (const engine of engines) { await waitForReady(enginePage); await enginePage.locator('.tabButton', { hasText: 'Kinematic' }).click(); await enginePage.waitForTimeout(1200); + // Wait for the stylesheet to have reached the control, not for the clock. + // A range input the app has not styled yet is the platform's own 4px bar, + // and Firefox lays this out later than the others -- so a fixed wait + // measured one engine's finished work and another's default. + await enginePage + .waitForFunction( + () => { + const bar = document.querySelector('.rowScrubber'); + return !!bar && bar.getBoundingClientRect().height > 12; + }, + { timeout: 10000 } + ) + .catch(() => {}); const engineBar = await enginePage.locator('.rowScrubber').boundingBox(); // Halfway along, so the shot holds both what is travelled and what is ahead. await enginePage.mouse.click(engineBar.x + engineBar.width / 2, engineBar.y + 10); diff --git a/src/app/component/BLOCKS/blocks.common.scss b/src/app/component/BLOCKS/blocks.common.scss index 7d47f4f6..bbd2e04b 100644 --- a/src/app/component/BLOCKS/blocks.common.scss +++ b/src/app/component/BLOCKS/blocks.common.scss @@ -70,23 +70,32 @@ } } - // Every help mark in the app, wherever it hangs. + // Every help mark in the app, wherever it hangs and whatever size it is + // drawn at. // - // One size, one ink, one answer to the pointer: it lightens under the cursor - // and takes a help cursor, so a reader learns once that this is the thing to - // point at. It used to be a scaled-down grey glyph that did nothing at all - // and waited a full second before saying anything, which reads as decoration. - .label-help { - transform: scale(0.65); + // One ink and one answer to the pointer: it takes the accent under the cursor + // and a help cursor with it, so a reader learns once that this is the thing + // to point at. It used to be a grey glyph that did nothing at all and waited + // a full second before saying anything, which reads as decoration -- and the + // one beside a graph and the one beside a field disagreed about even that. + // + // The graph header's mark is bigger than a field's, which is a matter of the + // room each has; what a help mark *is* is said once, here. + .label-help, + .graphHelp { color: rgba(0, 0, 0, 0.3); cursor: help; - // Never let a wide control squeeze the icon: mat-icon clips to its box, so - // shrinking it cuts the glyph rather than scaling it down. - flex: 0 0 auto; transition: color 0.12s ease-in-out; &:hover { color: mat.m2-get-color-from-palette($primary-palette, 500); } } + + .label-help { + transform: scale(0.65); + // Never let a wide control squeeze the icon: mat-icon clips to its box, so + // shrinking it cuts the glyph rather than scaling it down. + flex: 0 0 auto; + } } diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.html b/src/app/component/analysis-graph-section/analysis-graph-section.component.html index c394a61d..848cacde 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.html +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.html @@ -15,7 +15,7 @@ > {{ label() }} @if (help) { - } diff --git a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss index 155db2e1..247efa72 100644 --- a/src/app/component/analysis-graph-section/analysis-graph-section.component.scss +++ b/src/app/component/analysis-graph-section/analysis-graph-section.component.scss @@ -151,6 +151,10 @@ // Material gives mat-icon a 24px box whatever the glyph inside it is, so a // 17px glyph with a 17px line-height sat at the top of it. Centre the glyph // in the box the box actually is. + // + // Only its size is stated here, which is a matter of the room a graph header + // has. Its ink, its cursor and what it does under the pointer are every help + // mark's, and are said once in `blocks.common`. .graphHeader .graphHelp { flex: 0 0 auto; display: flex; @@ -160,7 +164,6 @@ height: 24px; font-size: 17px; line-height: 1; - color: rgba(0, 0, 0, 0.3); pointer-events: auto; } diff --git a/src/app/component/export-panel/export-panel.component.scss b/src/app/component/export-panel/export-panel.component.scss index 45d09674..3ffeba01 100644 --- a/src/app/component/export-panel/export-panel.component.scss +++ b/src/app/component/export-panel/export-panel.component.scss @@ -64,21 +64,22 @@ .steps { display: flex; align-items: center; + // The gap does the separating, so a name never runs up against the one + // after it. + gap: 8px; padding-top: 12px; } + // As wide as its own name, not an equal quarter of the rule. Four equal + // shares of 380px is 95 apiece, which `2. Kinematics` overruns -- so the + // long name crowded the short one beside it while `4. File` sat in a third + // of a segment of white. .step { display: flex; flex-direction: column; gap: 6px; - flex: 1 1 0; + flex: 1 1 auto; min-width: 0; - - // Each step but the first is indented, so its name reads as belonging to - // its own bar rather than to the end of the one before. - & + .step .stepName { - padding-left: 8px; - } } .stepName { diff --git a/src/app/services/export/export-catalog.service.ts b/src/app/services/export/export-catalog.service.ts index 021cd381..b3ac66d0 100644 --- a/src/app/services/export/export-catalog.service.ts +++ b/src/app/services/export/export-catalog.service.ts @@ -1,5 +1,5 @@ import { Injectable, inject } from '@angular/core'; -import { Joint, RealJoint } from '../../model/joint'; +import { Joint, PrisJoint, RealJoint } from '../../model/joint'; import { Cylinder, cylinderJoints } from '../../model/cylinder'; import { Link, RealLink, SliderBlock } from '../../model/link'; import { AngleUnit, ForceUnit, LengthUnit } from '../../model/unit-enums'; @@ -32,6 +32,12 @@ export class ExportCatalogService { const valid = solved?.isMechanismValid() ?? false; const joints = partition.ownJoints .filter((joint): joint is RealJoint => joint instanceof RealJoint) + // Every joint the canvas draws a marker for, and no others. A slot is + // a joint to the solver and nothing at all to a reader: it has a + // zero-sized marker, no hitbox and no panel, so a row for it offered + // numbers no graph in the app can show -- and the force it carries is + // reachable from the block that rides in it. + .filter((joint) => !(joint instanceof PrisJoint)) .filter((joint) => !this.isInsideCylinder(cylinders, joint)) .map((joint) => this.jointPart(joint, partition.id, index, withForces)); // Blocks as well as bars. A slider's block is a body the solver weighs @@ -203,6 +209,12 @@ export class ExportCatalogService { ); } + /** The slot this pin rides in, where that slot is what drives the mechanism. */ + drivingSlotOf(joint: RealJoint): RealJoint | undefined { + const slider = this.mechanism.sliderFor(joint); + return slider?.input ? slider : undefined; + } + /** The joints a sealed cylinder keeps to itself, by id. */ hiddenJointIds(): Set { return new Set( diff --git a/src/app/services/export/export-columns.service.ts b/src/app/services/export/export-columns.service.ts index ec5ac29a..f8f167ea 100644 --- a/src/app/services/export/export-columns.service.ts +++ b/src/app/services/export/export-columns.service.ts @@ -178,9 +178,12 @@ export class ExportColumnsService { // is the only place that number can be asked for. const driven = part.kind === 'joint' - ? (part.part as RealJoint).input + ? // The joint itself, or the slot it rides in: a slot is never on the + // list, so the effort driving one has to be asked for against the + // pin a reader can actually point at. + (part.part as RealJoint).input ? (part.part as RealJoint) - : undefined + : this.catalog.drivingSlotOf(part.part as RealJoint) : this.catalog.drivenJointOf(part.id); if (driven) { const torque = !(driven instanceof PrisJoint); diff --git a/src/app/services/export/export-flow.spec.ts b/src/app/services/export/export-flow.spec.ts index 5689dd58..ab5aeedb 100644 --- a/src/app/services/export/export-flow.spec.ts +++ b/src/app/services/export/export-flow.spec.ts @@ -23,6 +23,22 @@ import { plotSvg } from './graph-svg'; import { reportHtml, reportPages } from './report-html'; import { crc32 } from './zip'; +/** + * Every reaction the solver has for a machine, as `joint@body` pairs. + * + * What the drawer offers is checked against this rather than against a list + * written out by hand: the point of leaving a part off is that nothing is lost + * by it, and only the solver knows what there was to lose. + */ +function fixtureMechanismOf(flow: ExportFlowService, at: number): string[] | undefined { + const solved = (flow as unknown as { mechanism: MechanismService }).mechanism.mechanisms[at]; + if (!solved?.isMechanismValid()) return undefined; + const index = solved.getForceAnalysis(flow.forceMode()).reactionIndex; + return [...index.linksByJoint].flatMap(([joint, bodies]) => + bodies.map((body) => `${joint}@${body}`) + ); +} + /** The drawer's three services, over one fixture's mechanism. */ interface Flow { flow: ExportFlowService; @@ -272,6 +288,35 @@ describe('the export drawer', () => { expect(labels).toContain('Input force'); }); + it('leaves a slot off the list, and still reaches the force it carries', () => { + const { flow } = flowFor(TEMPLATE_LINKAGES['Scotch_Yoke'], { forces: true }); + const parts = flow.offeredParts(); + + // A slot is a joint to the solver and nothing at all to a reader: a + // zero-sized marker, no hitbox, no panel. Every other joint is on the list. + expect(parts.filter((part) => part.kind === 'joint').map((part) => part.label)).toEqual([ + 'Joint A', + 'Joint B', + 'Joint C', + 'Joint D', + ]); + expect(parts.some((part) => part.note.includes('slider block'))).toBe(true); + + // And nothing is lost by leaving it off: the force in the guide is the + // block's, and the block is on the list. + flow.setParts(parts, true); + const reached = new Set( + flow + .columnGroups('forces') + .flatMap((group) => group.columns) + .map((column) => `${column.series[0].mechPart}@${column.series[0].reactionLinkId}`) + ); + const solved = fixtureMechanismOf(flow, 0)!; + expect(solved.length).toBeGreaterThan(0); + expect(reached.size).toBeGreaterThan(0); + expect(solved.filter((pair) => !reached.has(pair))).toEqual([]); + }); + it('asks a slider block only for the reaction it actually carries', () => { const { flow, tables } = flowFor(TEMPLATE_LINKAGES['Slider_Crank'], { forces: true }); const block = flow.offeredParts().find((part) => part.note.includes('slider block'))!; From ffc65339ad3d63284d098e3f37265100bbe6a749 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Thu, 20 Aug 2026 19:08:39 -0700 Subject: [PATCH 205/236] Let Synthesis keep hold of the linkage it made, and keep the positions beside it Two things were missing, and they turn out to be one thing. Insert used to be a one-way door: it added a machine, switched itself off, and forgot which machine it had added. So the loop the mode exists for -- try a solution, look at it, change a position, try the next -- was not available. And the positions vanished the moment the reader left Synthesis, taking with them the only record of what the linkage on the grid was *for*. Now the design owns the joints it inserted, by id, and the ownership rides in the URL with the rest of it. Inserting again revises that machine in place. Nothing else in the drawing is ever touched, which is what makes this safe in a project that already holds work: another machine can sit beside it and Insert will not reach it. Ownership answers one of four things, and each calls for something different: none nothing of ours is there -- first insert, or Undo stepped back past it, or the reader deleted it. Insert simply inserts. ours exactly what we wrote. Insert replaces it without asking; it is our own previous answer. edited still ours, still separable, but moved by hand. Insert stops and says what would be lost, offering the two things the reader could mean: replace it, or keep it and insert a new one beside it. entangled pinned to another machine, or half deleted. We can no longer take it back cleanly, so we stop claiming it. A warning on entering Edit was the other candidate for this, and the multi-mechanism case is what ruled it out. With a second machine in the drawing, going to Edit to work on *that* is an ordinary, innocent act -- a warning that fires on it is both wrong and quickly trained away, and one that severed the link would cost the reader their synthesis loop for doing something unrelated. Warning at the moment the work would actually be lost is later but exact, and it can say what is at stake rather than what might one day be. Which leaves nothing needing to be said at the boundary, because the positions say it themselves: they stay on the grid in every mode, faint and out of the way of every click, with the canvas menu to clear them -- one at a time from Synthesis, or all of them from anywhere. Clearing them is not an edit to the mechanism, so unlike everything else on that menu it does not wait for the start pose. Two smaller things fell out of it: a right-click while placing was armed dropped a position, and the analysis modes cleared the whole context menu rather than only the half of it that edits the drawing. Co-Authored-By: Claude Opus 5 --- e2e/synthesis-redesign.mjs | 102 ++++++++++ .../context-menu/context-menu.component.ts | 21 +- .../new-grid/new-grid.component.html | 33 ++- .../new-grid/new-grid.component.scss | 14 ++ .../component/new-grid/new-grid.component.ts | 116 ++++++++--- .../synthesis-panel.component.html | 4 +- .../synthesis-panel.component.ts | 60 +++++- .../synthesis/synthesis-builder.service.ts | 19 ++ .../synthesis/synthesis-solution.service.ts | 189 +++++++++++++----- src/app/services/synthesis/synthesis-url.ts | 12 +- .../services/transcoding/string-transcoder.ts | 9 +- .../transcoding/url-synthesis-design.spec.ts | 13 ++ 12 files changed, 491 insertions(+), 101 deletions(-) diff --git a/e2e/synthesis-redesign.mjs b/e2e/synthesis-redesign.mjs index 64fb14cc..d6d881b0 100644 --- a/e2e/synthesis-redesign.mjs +++ b/e2e/synthesis-redesign.mjs @@ -326,6 +326,108 @@ check( await status() ); +// --- the positions outlive the mode ------------------------------------- +await page.locator('.tabButton', { hasText: 'Kinematic Analysis' }).click(); +await page.waitForTimeout(900); +check( + 'the positions are still drawn once the reader goes to look at the motion', + (await page.locator('#synthesis .synthPose').count()) === 3, + await page.locator('#synthesis .synthPose').count() +); +check( + 'as a shadow rather than as controls', + (await page.locator('#synthesis.shadow').count()) === 1, + await page.evaluate( + () => document.querySelector('#synthesis')?.getAttribute('class') ?? 'no #synthesis' + ) +); +check( + 'and the verdict on each is not repeated there', + (await page.locator('#synthesisChips').count()) === 0 +); +// Back to Synthesis for the rest of the suite. +await page.locator('.tabButton', { hasText: 'Synthesis' }).click(); +await page.waitForTimeout(800); +await page.mouse.click(700, 820, { button: 'right' }); +await page.waitForTimeout(500); +check( + 'the canvas menu can clear them away from any mode', + (await page.locator('#contextMenu #menu-item').allInnerTexts()).some((t) => + t.includes('Delete Synthesis Positions') + ), + await page.locator('#contextMenu #menu-item').allInnerTexts() +); +await page.keyboard.press('Escape'); +const poseBar = await page.evaluate(() => { + const box = document.querySelector('.synthPose').getBoundingClientRect(); + return { x: box.x + box.width / 2, y: box.y + box.height / 2 }; +}); +await page.mouse.click(poseBar.x, poseBar.y, { button: 'right' }); +await page.waitForTimeout(500); +check( + 'and one position can be taken away on its own', + (await page.locator('#contextMenu #menu-item').allInnerTexts()).some((t) => + /Delete Position \d/.test(t) + ), + await page.locator('#contextMenu #menu-item').allInnerTexts() +); +await page.keyboard.press('Escape'); + +// --- inserting again revises, rather than accumulating ------------------ +// +// The loop the mode is for: try a solution, look at it, try the next. Insert +// replaces the machine this design put there, and never anything else. +const ownedFirst = await panel('(p) => JSON.stringify(p.design.ownedJointIds)'); +check( + 'the design knows which joints it put on the grid', + JSON.parse(ownedFirst).length > 0, + ownedFirst +); +if ((await page.locator('#synthesisPanel .card').count()) > 1) { + await page.locator('#synthesisPanel .card').nth(1).click(); + await page.waitForTimeout(400); + check( + 'a different solution offers to replace what is there, not to add to it', + (await panel('(p) => p.insertLabel')) === 'Replace on grid', + await panel('(p) => p.insertLabel') + ); + await page.locator('#synthesisPanel .cta--insert').click(); + await page.waitForTimeout(900); + const again = JSON.parse( + await grid('(g) => JSON.stringify(g.mechanismSrv.joints.map(j => j.id))') + ); + check('and inserting it leaves one machine, not two', again.length === inserted.joints.length, { + first: inserted.joints, + again, + }); +} + +// A joint moved by hand is work the reader may still want. Insert says so and +// changes nothing until they answer. +await panel(`(p) => { + const id = p.design.ownedJointIds[1]; + const joint = p.mechanismSrv.joints.find((j) => j.id === id); + joint.x += 600; + joint.y += 600; +}`); +await page.waitForTimeout(200); +check('a hand-moved joint is noticed', (await panel('(p) => p.solution.ownership()')) === 'edited'); +const beforeAsking = await grid('(g) => g.mechanismSrv.joints.length'); +await page.locator('#synthesisPanel .cta--insert').click(); +await page.waitForTimeout(500); +check( + 'and Insert asks instead of overwriting it', + (await grid('(g) => g.mechanismSrv.joints.length')) === beforeAsking +); +check( + 'offering both of the things the reader could mean', + (await page.locator('button', { hasText: 'Replace it' }).count()) === 1 && + (await page.locator('button', { hasText: 'Keep it, insert a new one' }).count()) === 1 +); +await page.locator('button', { hasText: 'Replace it' }).first().click(); +await page.waitForTimeout(900); +check('and replaces it when told to', (await panel('(p) => p.solution.ownership()')) === 'ours'); + await page.locator('#synthesisPanel .note__undo').click(); await page.waitForTimeout(700); check('and Undo takes exactly it back', (await grid('(g) => g.mechanismSrv.joints.length')) === 0); diff --git a/src/app/component/context-menu/context-menu.component.ts b/src/app/component/context-menu/context-menu.component.ts index aa766092..9e4f417d 100644 --- a/src/app/component/context-menu/context-menu.component.ts +++ b/src/app/component/context-menu/context-menu.component.ts @@ -11,12 +11,29 @@ export class cMenuItem { }; public icon: string = 'none'; public disabled: boolean = false; + /** + * Whether this item works away from the start pose. + * + * Almost nothing does: editing a mechanism that is parked mid-cycle would + * write the pose it is standing in back into the drawing. The exceptions are + * items that do not touch the mechanism at all -- the synthesis positions are + * a note about what it was designed for, not a part of it, and there is no + * reason a reader watching the motion cannot clear them away. + */ + public alwaysAllowed: boolean = false; - constructor(_label: string, _action: Function, _icon: string, _disabled: boolean = false) { + constructor( + _label: string, + _action: Function, + _icon: string, + _disabled: boolean = false, + _alwaysAllowed: boolean = false + ) { this.label = _label; this.action = _action; this.icon = _icon; this.disabled = _disabled; + this.alwaysAllowed = _alwaysAllowed; } actionWrapper() { @@ -24,7 +41,7 @@ export class cMenuItem { // transport says where the mechanism is parked, and it said the wrong thing // anyway -- the test here is the timestep, and the message it showed was // the one about the animation running, which it need not be. - if (NewGridComponent.instance.mechanismSrv.mechanismTimeStep !== 0) { + if (!this.alwaysAllowed && NewGridComponent.instance.mechanismSrv.mechanismTimeStep !== 0) { return; } this.action(); diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index b4cdc57e..ee850a16 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -931,11 +931,11 @@ of it is a question and a proposed answer rather than part of the drawing, which is why none of it goes through the mechanism's holders and none of it survives a tab change without being inserted first. --> - @if (showSynthesis()) { - + @if (showSynthesisPositions()) { + - @if (synthCanvas.regionBox(); as region) { + @if (showSynthesis() && synthCanvas.regionBox(); as region) { - @if (synthesisBuilder.regionDraw) { + @if (showSynthesis() && synthesisBuilder.regionDraw) { - @if (synthCanvas.hoverGhostLinks(); as ghosts) { + @if (showSynthesis() && synthCanvas.hoverGhostLinks(); as ghosts) { @for (lk of ghosts; track $index) { - @if (mechanismSrv.showPathHolder || synthSolution.generated) { + @if (showSynthesis() && synthSolution.generated) { + @if (showSynthesis()) { @for (lk of synthCanvas.previewLinks(); track $index) { } + } @for (bar of synthCanvas.poseBars(); track bar.id) { - + - @if (synthCanvas.ghostBar(); as ghost) { + @if (showSynthesis() && synthCanvas.ghostBar(); as ghost) { - @if (synthCanvas.selectionBox(); as box) { + @if (showSynthesis() && synthCanvas.selectionBox(); as box) { + the answer can be read off the grid rather than off the panel. Only + in Synthesis: the verdict belongs to the candidate being compared, + and the shadow left in the other modes is a record of where the + positions were, not of which solution won. --> + @if (showSynthesis()) { @for (chip of synthCanvas.poseChips(); track chip.id) { - @if (synthesisHint; as hint) { + @if (showSynthesis() && synthesisHint; as hint) { 0; + } + + /** Positions drawn, but as a record rather than as controls. */ + synthesisShadowOnly(): boolean { + return !this.showSynthesis(); + } + + /** + * What can be done to the synthesis positions from here. + * + * The only part of this menu offered in every mode, because the positions + * themselves are drawn in every mode. They are a note about what the linkage + * was designed to do rather than a part of it, so clearing them is not an + * edit to the mechanism and does not have to wait for the start pose. + */ + private synthesisMenuItems(): cMenuItem[] { + if (this.synthesisBuilder.getAllPoses().length === 0) return []; + const items: cMenuItem[] = []; + if (this.objectKind(this.lastRightClick) === 'SynthesisPose') { + const pose = this.lastRightClick as SynthesisPose; + items.push( + new cMenuItem( + `Delete Position ${pose.id}`, + () => this.deleteSynthesisPosition(pose.id), + 'trash', + false, + true + ) + ); + } + items.push( + new cMenuItem( + 'Delete Synthesis Positions', + () => this.deleteAllSynthesisPositions(), + 'remove', + false, + true + ) + ); + return items; + } + + /** Take one position away, or all of them, and record it as one step. */ + deleteSynthesisPosition(id: number): void { + this.synthesisBuilder.removePose(id); + this.synthSolution.invalidate(); + this.mechanismSrv.save(); + } + + deleteAllSynthesisPositions(): void { + this.synthesisBuilder.deleteAllPoses(); + this.synthSolution.invalidate(); + this.mechanismSrv.save(); + } + enableGridAnimationForThisAction() { this.svgGridElement.setAttribute('class', 'animated'); //Disable after 0.5 seconds @@ -502,7 +568,7 @@ export class NewGridComponent implements OnDestroy { break; } case 'RevJoint': { - let jointIsSlider = this.gridUtils.isAttachedToSlider(this.lastRightClick); + let jointIsSlider = this.gridUtils.isAttachedToSlider(this.lastRightClick as RealJoint); let jointIsGround = (this.lastRightClick as RealJoint).ground; let canToggleInput = this.gridUtils.canToggleInput(this.lastRightClick as RealJoint); const jointIsInput = this.gridUtils.isVisuallyInput(this.lastRightClick as RealJoint); @@ -633,10 +699,14 @@ export class NewGridComponent implements OnDestroy { // allowed -- that direction takes a body away. this.cMenuItems.push( new cMenuItem( - this.gridUtils.isAttachedToSlider(this.lastRightClick) ? 'Remove Slider' : 'Add Slider', + this.gridUtils.isAttachedToSlider(this.lastRightClick as RealJoint) + ? 'Remove Slider' + : 'Add Slider', this.mechanismSrv.toggleSlider.bind(this.mechanismSrv), - this.gridUtils.isAttachedToSlider(this.lastRightClick) ? 'remove_slider' : 'add_slider', - jointIsInput && !this.gridUtils.isAttachedToSlider(this.lastRightClick) + this.gridUtils.isAttachedToSlider(this.lastRightClick as RealJoint) + ? 'remove_slider' + : 'add_slider', + jointIsInput && !this.gridUtils.isAttachedToSlider(this.lastRightClick as RealJoint) ) ); //Rev Joint - Always @@ -656,7 +726,13 @@ export class NewGridComponent implements OnDestroy { break; } + case 'SynthesisPose': + this.cMenuItems.push(...this.synthesisMenuItems()); + break; case 'String': //This means grid + // The positions stay on the grid after the linkage is inserted, in + // every mode, so the way to be rid of them is reachable from every mode. + this.cMenuItems.push(...this.synthesisMenuItems()); this.cMenuItems.push( new cMenuItem('Add Link', this.startCreatingLink.bind(this), 'new_link') ); @@ -1024,7 +1100,7 @@ export class NewGridComponent implements OnDestroy { this.mechanismSrv.createCylinderFrom(start, end, mountOn, mountAt); } - setLastRightClick(clickedObj: Joint | Link | string | Force, event?: MouseEvent) { + setLastRightClick(clickedObj: Joint | Link | string | Force | SynthesisPose, event?: MouseEvent) { this.lastRightClick = clickedObj; // The edit context menu acts on the selected object, so in Edit mode a // right-click selects what it will target. In Analyze/Synthesis mode a @@ -2057,23 +2133,14 @@ export class NewGridComponent implements OnDestroy { } onContextMenu($event: MouseEvent) { - if (this.tabService.getCurrentTab() === TabID.SYNTHESIZE) { - this.cMenuItems = []; - return; - } - - if (this.tabService.isAnalysisMode()) { - // Both analysis modes are read-only. Show no edit menu; setLastRightClick - // has already declined to change the selection. - this.cMenuItems = []; - return; - } - - if (this.mechanismSrv.isPlaying == true) { - this.cMenuItems = []; - return; - } - if (this.mechanismSrv.mechanismTimeStep !== 0) { + // Everything on this menu except the synthesis positions edits the drawing, + // and only Edit does that -- setLastRightClick has already declined to move + // the selection in the other modes. The positions are drawn in every mode + // though, so the way to clear them away comes with them. + if (this.tabService.getCurrentTab() !== TabID.EDIT) { + this.cMenuItems = this.synthesisMenuItems(); + if (this.cMenuItems.length === 0) return; + } else if (this.mechanismSrv.isPlaying || this.mechanismSrv.mechanismTimeStep !== 0) { this.cMenuItems = []; //Close the MatContextMenu return; @@ -2098,6 +2165,7 @@ export class NewGridComponent implements OnDestroy { // On the release rather than the press so svg-pan-zoom keeps its own // gesture: a press it never sees is a canvas that cannot be panned. if ( + $event.button === 0 && !wasDragging && !this.synthPressTaken && this.synthesisBuilder.armed && diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.html b/src/app/component/synthesis-panel/synthesis-panel.component.html index 79cc8b77..85887a81 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.html +++ b/src/app/component/synthesis-panel/synthesis-panel.component.html @@ -442,8 +442,8 @@ }
    } - + -
    -
    -
    Requirements
    - - help_outline - - - {{ requirementCount() }} -
    + @for (rq of requirements(); track rq.key) {
    @@ -237,7 +227,7 @@ {{ requirementsBlockingNote() }}
    } -
    + @if (showGenerate) { @@ -277,6 +267,7 @@
    } + @if (showGallery) { + + + @if (tutorial.offerVisible()) { +
    +
    + school +
    +
    First time here?
    +

    + Build a four-bar linkage on this grid and read a velocity off it. About three + minutes, in five steps. +

    + +
    +
    + } +
    } @@ -651,4 +670,16 @@ } + + + @if (tutorial.resumeVisible()) { + + }
    diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index b6642749..0122e6f3 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -52,6 +52,7 @@ import { NOT_A } from 'src/app/ui-text'; import { PanelSectionCollapsibleComponent } from '../BLOCKS/panel-section-collapsible/panel-section-collapsible.component'; import { TitleBlock } from '../BLOCKS/title/title.component'; import { MatIcon } from '@angular/material/icon'; +import { TutorialService } from '../../services/tutorial.service'; import { MechanismPanelComponent } from '../mechanism-panel/mechanism-panel.component'; import { PanelSectionComponent } from '../BLOCKS/panel-section/panel-section.component'; import { EditableTitleComponent } from '../BLOCKS/editable-title/editable-title.component'; @@ -109,6 +110,7 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { gridUtils = inject(GridUtilsService); bgImage = inject(BackgroundImageService); private notify = inject(NotificationService); + tutorial = inject(TutorialService); listOfOtherJoints: RealJoint[] = []; private currentlyOpenJointID: string = ''; @@ -2196,4 +2198,9 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { { emitEvent: false } ); } + + /** Open the tutorial where the drawing has got to, and show the drawer. */ + startTutorial(): void { + this.tutorial.start(); + } } diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index e33ac144..cd23f8c8 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -62,6 +62,112 @@ gap: 12px; } + // The tutorial's offer, and the line it leaves behind. Below the panel's own + // hints and under a rule, so it reads as an option rather than as the thing + // the panel is for -- a student who never presses it has still been told + // about right-click. + .offer { + display: flex; + gap: 10px; + align-items: flex-start; + + > mat-icon { + flex: 0 0 auto; + width: 20px; + height: 20px; + font-size: 20px; + line-height: 20px; + color: mat.m2-get-color-from-palette($primary-palette, 500); + } + } + + .offerText { + flex: 1 1 auto; + min-width: 0; + } + + .offerTitle { + font-size: 14px; + font-weight: 500; + line-height: 20px; + color: rgba(0, 0, 0, 0.87); + } + + .offerWhy { + margin: 3px 0 0; + font-size: 13px; + line-height: 19px; + color: rgba(0, 0, 0, 0.6); + } + + .offerButton { + margin-top: 11px; + height: 32px; + padding: 0 14px; + border: none; + border-radius: 4px; + background: mat.m2-get-color-from-palette($primary-palette, 500); + color: #fff; + font-family: inherit; + font-size: 13px; + font-weight: 500; + cursor: pointer; + } + + // The same line as a card of its own, for when the panel above it is showing + // a selected part rather than its empty state. + .resumeCard { + display: flex; + gap: 10px; + align-items: center; + width: 100%; + box-sizing: border-box; + margin-top: 10px; + padding: 12px 15px; + border: none; + border-radius: var(--border-radius); + background: var(--card-surface); + box-shadow: var(--card-shadow); + font-family: inherit; + font-size: 13px; + line-height: 19px; + text-align: left; + color: mat.m2-get-color-from-palette($primary-palette, 500); + cursor: pointer; + + mat-icon { + flex: 0 0 auto; + width: 18px; + height: 18px; + font-size: 18px; + line-height: 18px; + } + } + + .resumeLine { + display: flex; + gap: 10px; + align-items: center; + width: 100%; + padding: 0; + border: none; + background: transparent; + font-family: inherit; + font-size: 13px; + line-height: 19px; + text-align: left; + color: mat.m2-get-color-from-palette($primary-palette, 500); + cursor: pointer; + + mat-icon { + flex: 0 0 auto; + width: 18px; + height: 18px; + font-size: 18px; + line-height: 19px; + } + } + .helpHint { display: flex; gap: 10px; diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index 1961a279..20faa2f5 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -865,6 +865,16 @@ style="overflow: visible" [attr.cursor]="mechanismSrv.isJointLockedVisual(joint) ? 'not-allowed' : 'move'" > + + @if (isTutorialTarget(joint)) { + + + + + } diff --git a/src/app/component/new-grid/new-grid.component.scss b/src/app/component/new-grid/new-grid.component.scss index b714f0ca..8c8a417b 100644 --- a/src/app/component/new-grid/new-grid.component.scss +++ b/src/app/component/new-grid/new-grid.component.scss @@ -17,6 +17,35 @@ opacity: 0.3; } + // The tutorial's pointer at one joint. Amber, because every other mark a + // joint carries here is about what the joint *is* -- ground, input, lock -- + // and this one is about what to do next. Two rings rather than one, so it + // reads as a target rather than as a halo the joint has grown. + // + // Stroke widths are in model units like everything else on this canvas, so + // they are given as a fraction of the joint they surround rather than in + // pixels: a pixel here is whatever the current zoom says it is. + .tutorialRing { + circle { + fill: none; + stroke: #ffca28; + vector-effect: non-scaling-stroke; + } + + // A constant width on screen rather than in model units: this is a pointer + // at a joint, not a part of the drawing, so it should not thin out as the + // student zooms out of the mechanism it is pointing at. + .ringOuter { + stroke-width: 2; + opacity: 0.35; + } + + .ringInner { + stroke-width: 2.5; + opacity: 0.6; + } + } + // The grid is a background, and reads as one: two greys a shade apart, the // minor one barely there, and the axes the only line on it with any weight. // Both were black at a hairline width, which is a grey the browser chooses diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 44dad568..8f191fbb 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -10,6 +10,7 @@ import { } from '@angular/core'; import { fromEvent } from 'rxjs'; import { MechanismService } from '../../services/mechanism.service'; +import { TutorialService } from '../../services/tutorial.service'; import { UrlProcessorService } from '../../services/url-processor.service'; import { GridUtilsService } from '../../services/grid-utils.service'; import { SettingsService } from '../../services/settings.service'; @@ -109,7 +110,6 @@ export interface SlotStackItem { /** Set for a plate; the fused rider-and-block outline this item draws. */ plate?: WeldPlate; } -import introJs from 'intro.js'; import { SvgArrowComponent } from '../svg-arrow/svg-arrow.component'; import { KeyboardShortcutsService, ShortcutId } from '../../services/keyboard-shortcuts.service'; @@ -126,6 +126,7 @@ type BackgroundImageCorner = 'tl' | 'tr' | 'bl' | 'br'; export class NewGridComponent implements OnDestroy { svgGrid = inject(SvgGridService); mechanismSrv = inject(MechanismService); + private tutorial = inject(TutorialService); private urlParser = inject(UrlProcessorService); gridUtils = inject(GridUtilsService); settings = inject(SettingsService); @@ -256,52 +257,6 @@ export class NewGridComponent implements OnDestroy { }); } - if (this.mechanismSrv.joints.length == 0) { - setTimeout(() => { - const steps = [ - { - title: '👋 Welcome', - intro: 'Let us show you around Planar Mechanism Kinematic Simulator Plus!', - }, - { - // The mode strip, which is where the vertical rail this used to - // point at ended up. A step whose element is missing dims the - // whole app and shows no card at all, so these have to follow - // the chrome when it moves. - element: document.querySelector('.tabCard') as HTMLElement, - intro: - 'PMKS+ has four modes: Synthesis, Edit, and the two analyses — Kinematic and Force.', - }, - { - element: document.querySelector('#editWrapper') as HTMLElement, - intro: - 'The Edit mode is active. Selecting a joint or link will show its properties here.', - }, - { - element: document.querySelector('app-view-controls') as HTMLElement, - intro: 'These change what you can see: labels, centres of mass, and the zoom.', - }, - { - // Help and Templates live inside this menu now, and pointing at - // something inside a closed menu spotlights nothing. - element: document.querySelector('.brandCard .iconButton') as HTMLElement, - title: "🙌 That's it!", - intro: - 'Everything else is in here: open an example linkage from Templates, or find help and feedback.', - }, - ]; - introJs() - .setOptions({ - // Any step whose element has gone is dropped rather than shown: - // intro.js dims the app for a missing element and renders no card, - // which reads as the tour having frozen. - steps: steps.filter((step) => !('element' in step) || !!step.element), - dontShowAgain: true, - }) - .start(); - }); - } - fromEvent(window, 'resize').subscribe((event) => { this.svgGrid.panZoomObject.resize(); this.svgGrid.handlePan(); @@ -322,6 +277,17 @@ export class NewGridComponent implements OnDestroy { }); } + /** + * Whether the tutorial's current step is about this joint. + * + * Asked per joint rather than the ring being drawn from a coordinate, so it + * rides the joint through a drag and cannot be left behind at an old + * position. + */ + isTutorialTarget(joint: Joint): boolean { + return this.tutorial.ringJoint() === joint; + } + ngOnDestroy() { // Let go of the static. It is a debug handle, but services reach the // snackbar through it and it was never cleared — so a torn-down grid stayed diff --git a/src/app/component/right-panel/right-panel.component.html b/src/app/component/right-panel/right-panel.component.html index e2f2b684..d876c2f3 100644 --- a/src/app/component/right-panel/right-panel.component.html +++ b/src/app/component/right-panel/right-panel.component.html @@ -1,7 +1,7 @@
    - @if (getOpenTab() === 5) { -
    - + + @if (tutorialShowing()) { +
    +
    } - @if (getOpenTab() === 6) { -
    - -
    - } - @if (getOpenTab() === 7) { -
    - -
    - } - @if (getOpenTab() === 1) { -
    - -
    - } - @if (getOpenTab() === 2) { -
    - -
    - } - @if (getOpenTab() === 3) { -
    - -
    - } - @if (getOpenTab() === 4) { -
    -
    - - Console Log Active Object - Console Log Mechanism - Redraw - Run Intersection Unit Tests - - Turn on Grid Debug Info - -
  • GridState: {{ debugGetGridState() }}
  • -
  • LinkState: {{ debugGetLinkState() }}
  • -
  • JointState: {{ debugGetJointState() }}
  • -
  • ForceState: {{ debugGetForceState() }}
  • -
  • - AOS.objType: {{ activeObjService.objType }} -
  • -
  • - AOS.selectedJoint.id: {{ activeObjService.selectedJoint?.id }} -
  • -
  • - AOS.selectedLink.id: {{ activeObjService.selectedLink?.id }} -
  • -
  • - AOS.selectedForce.id: {{ activeObjService.selectedForce?.id }} -
  • -
  • - AOS.prevSelectedJoint.id: {{ activeObjService.prevSelectedJoint?.id }} -
  • -
  • - AOS.selectedForce.isStartSelected: - {{ activeObjService.selectedForce?.isStartSelected }} -
  • -
  • - AOS.selectedForce.isEndSelected: {{ activeObjService.selectedForce?.isEndSelected }} -
  • -
    -
    -
    -
    - } - - + @if (getIsOpen()) { - +
    + @if (getOpenTab() === 5) { + + } + @if (getOpenTab() === 6) { + + } + @if (getOpenTab() === 7) { + + } + @if (getOpenTab() === 1) { + + } + @if (getOpenTab() === 2) { + + } + @if (getOpenTab() === 3) { + + } + @if (getOpenTab() === 4) { +
    + + Console Log Active Object + Console Log Mechanism + Redraw + Run Intersection Unit Tests + + Turn on Grid Debug Info + +
  • GridState: {{ debugGetGridState() }}
  • +
  • LinkState: {{ debugGetLinkState() }}
  • +
  • JointState: {{ debugGetJointState() }}
  • +
  • ForceState: {{ debugGetForceState() }}
  • +
  • + AOS.objType: {{ activeObjService.objType }} +
  • +
  • + AOS.selectedJoint.id: {{ activeObjService.selectedJoint?.id }} +
  • +
  • + AOS.selectedLink.id: {{ activeObjService.selectedLink?.id }} +
  • +
  • + AOS.selectedForce.id: {{ activeObjService.selectedForce?.id }} +
  • +
  • + AOS.prevSelectedJoint.id: {{ activeObjService.prevSelectedJoint?.id }} +
  • +
  • + AOS.selectedForce.isStartSelected: + {{ activeObjService.selectedForce?.isStartSelected }} +
  • +
  • + AOS.selectedForce.isEndSelected: {{ activeObjService.selectedForce?.isEndSelected }} +
  • +
    +
    +
    + } + + + +
    }
    diff --git a/src/app/component/right-panel/right-panel.component.scss b/src/app/component/right-panel/right-panel.component.scss index 278ff55f..a7dff7e0 100644 --- a/src/app/component/right-panel/right-panel.component.scss +++ b/src/app/component/right-panel/right-panel.component.scss @@ -32,8 +32,12 @@ .closeDrawer { position: absolute; - // The card starts one shadow-room inside the frame and then spends 5px on - // its accent bar, and stands one card-inset off the frame's right edge. + // Measured from the page box rather than from the frame, because the frame + // may be holding the tutorial's card above this one -- and a button placed + // against the frame then lands in the tutorial's corner rather than this + // page's. The page box starts at the frame's own origin when it is alone, + // so the numbers are unchanged: one shadow-room in, 5px of accent bar, and + // one card-inset off the right edge. top: nav.$shadow-room + 5px + $close-air; right: nav.$card-inset + $close-air; // Above the sticky heads it shares a line with, which are also 2. A tie @@ -133,7 +137,11 @@ #{nav.$top-strip-height} - var(--view-controls-clearance, #{nav.$view-controls-clearance}) + #{nav.$shadow-room} ); + // A column, because the tutorial's card stacks above whichever page is + // open rather than replacing it. With one child this is what a row did + // anyway; with two, a row put them side by side in a drawer one card wide. display: flex; + flex-direction: column; z-index: 9; // As wide as the view controls it stands over, which the view controls @@ -182,6 +190,44 @@ min-height: 0; } + // The page box is what the close button is measured against. + #rightPanel > .drawerPage { + position: relative; + } + + // The tutorial keeps its own height and the page below gives way when the two + // together are taller than the drawer. + // + // Between them, one $card-inset -- the same gap the drawer keeps from the top + // strip above it and from the view controls below it, so the column reads as + // evenly spaced rather than as two cards that happen to be near each other. + // Both need the id, or `#rightPanel > div` outweighs them and each card keeps + // a full $shadow-room, which is more than twice the gap. + #rightPanel > .tutorialSlot { + flex: 0 0 auto; + } + + #rightPanel > .tutorialSlot + div { + // Both cards keep the shadow room every card in this frame gets, and the + // overlap is taken back here, so what shows between them is one + // $card-inset -- the gap the drawer already keeps from the strip above and + // the view controls below. + // + // A margin rather than less padding. Taking the room away instead leaves + // the tutorial's bottom shadow nowhere to fall, and when the tutorial is + // the only card in the drawer its bottom edge lands exactly on the frame's, + // which scrolls -- so the shadow is clipped off square. + margin-top: nav.$card-inset - nav.$shadow-room * 2; + + // Its own height, not whatever is left over. As a growing-and-shrinking + // flex item it gave way to the tutorial above it until there was nothing + // left: on a short window the export page collapsed to its title and its + // first line, with the parts list and Next simply unreachable. Sized to its + // content, the two cards together overflow the frame instead, and the frame + // already scrolls. + flex: 0 0 auto; + } + // Hand the drawer's height down to the card, which is what scrolls -- the // same chain the left-hand panels use to keep their own title in place. Each // step needs `min-height: 0`, or a flex item refuses to shrink below its diff --git a/src/app/component/right-panel/right-panel.component.ts b/src/app/component/right-panel/right-panel.component.ts index 0c72d52f..814cef29 100644 --- a/src/app/component/right-panel/right-panel.component.ts +++ b/src/app/component/right-panel/right-panel.component.ts @@ -11,8 +11,10 @@ import { SettingsService } from '../../services/settings.service'; import { Arc, Line } from '../../model/line'; import { Coord } from '../../model/coord'; import { SvgGridService } from '../../services/svg-grid.service'; +import { TutorialService } from '../../services/tutorial.service'; import { AnalysisSetupComponent } from '../analysis-setup/analysis-setup.component'; import { ExportPanelComponent } from '../export-panel/export-panel.component'; +import { TutorialPanelComponent } from '../tutorial-panel/tutorial-panel.component'; import { SettingsPanelComponent } from '../settings-panel/settings-panel.component'; import { EquationPanelComponent } from '../equation-panel/equation-panel.component'; import { HelpPanelComponent } from '../help-panel/help-panel.component'; @@ -61,6 +63,7 @@ import { MatIcon } from '@angular/material/icon'; imports: [ AnalysisSetupComponent, ExportPanelComponent, + TutorialPanelComponent, SettingsPanelComponent, EquationPanelComponent, HelpPanelComponent, @@ -76,6 +79,31 @@ export class RightPanelComponent implements DoCheck { mechanismService = inject(MechanismService); settingsService = inject(SettingsService); svgService = inject(SvgGridService); + private tutorial = inject(TutorialService); + + /** + * The tutorial asks to be shown rather than reaching in and setting the tab. + * + * A service that imported this component to open it would close the loop + * this component's own page has already opened -- the tutorial page injects + * the service -- so the request travels the other way. + */ + /** + * Whether the tutorial's card is showing above whatever page is open. + * + * It is pinned rather than paged: a student following a step has to be able + * to open Settings or Export without the thing they are following being put + * away, so it is not one of the numbered pages and does not take the drawer + * from one. + */ + tutorialShowing(): boolean { + return this.tutorial.started && !this.tutorial.exited; + } + + /** The frame stands open for a page, for the tutorial, or for both. */ + frameOpen(): boolean { + return RightPanelComponent.isOpen || this.tutorialShowing(); + } private analytics: AnalyticsService = inject(AnalyticsService); @@ -147,6 +175,11 @@ export class RightPanelComponent implements DoCheck { private shownAttention = 0; ngDoCheck(): void { + // The Edit panel's resume line is offered only when the card is not up, and + // a closed drawer still *renders* the page it was last showing -- it parks + // off the edge rather than being torn down -- so the card cannot answer + // this from its own lifecycle. + this.tutorial.onScreen = this.tutorialShowing(); if (RightPanelComponent.attentionCount !== this.shownAttention && !this.attention) { this.shownAttention = RightPanelComponent.attentionCount; this.attention = true; @@ -156,6 +189,11 @@ export class RightPanelComponent implements DoCheck { /** Shut the drawer, whichever one is open. */ close(): void { + RightPanelComponent.dismiss(); + } + + /** Shut the drawer from outside it, the mirror of `insistOn`. */ + static dismiss(): void { RightPanelComponent.isOpen = false; } diff --git a/src/app/component/top-bar/top-bar.component.html b/src/app/component/top-bar/top-bar.component.html index 686efb52..2d63d61e 100644 --- a/src/app/component/top-bar/top-bar.component.html +++ b/src/app/component/top-bar/top-bar.component.html @@ -184,6 +184,9 @@ > settingsSettings + +
    Tutorial
    +

    {{ lead }}

    + + +
    + + @for (bar of bars; track $index) { + + } + +
    + + +
    + @if (tutorial.viewedProgress().achieved; as achieved) { +
    + check_circle + {{ achieved }} +
    + } + +
    + {{ tutorial.copy().title }} + @if (tutorial.viewingCompleted()) { + check_circle + } +
    +

    {{ tutorial.copy().body }}

    + + @if (tutorial.copy().hint; as hint) { +
    + {{ tutorial.copy().hintGlyph }} + {{ hint }} +
    + } + + + @if (showsChipHint) { +
    + {{ chipText }} + + is the Kinematic Analysis chip counting this step. Click it whenever a mode will not run + and it lists what is missing. + +
    + } +
    + +
    +
    + + @if (!tutorial.viewingCompleted()) { + + } @else { + {{ tutorial.settling ? 'Done' : 'Already done' }} + } + @if (tutorial.canGoForward()) { + + } +
    +
    +} @else { +
    +
    + check_circle + Tutorial complete +
    + + @if (tutorial.reading; as reading) { +

    + You built a four-bar and read joint {{ reading.joint }} at + {{ reading.magnitude }} {{ reading.unit }}, {{ reading.time }} into the cycle. +

    + } + +
    +
    What next
    + + +
    + + + +
    + + +
    + + +
    +
    +} + + + + + diff --git a/src/app/component/tutorial-panel/tutorial-panel.component.scss b/src/app/component/tutorial-panel/tutorial-panel.component.scss new file mode 100644 index 00000000..cb0e5cbe --- /dev/null +++ b/src/app/component/tutorial-panel/tutorial-panel.component.scss @@ -0,0 +1,476 @@ +@use 'sass:map'; +@use '@angular/material' as mat; + +@mixin css($theme) { + $color-config: mat.m2-get-color-config($theme); + $primary-palette: map.get($color-config, 'primary'); + $indigo: mat.m2-get-color-from-palette($primary-palette, 500); + + // One card, like every other drawer page. It shrinks to its content rather + // than filling the drawer: the tutorial is a paragraph and two buttons, and + // a card stretched to the window height reads as a page that failed to load. + .tutorialCard { + position: relative; + box-sizing: border-box; + width: 100%; + padding: 12px 15px 14px; + background: var(--card-surface); + border-top: 5px solid $indigo; + border-radius: var(--border-radius); + box-shadow: var(--card-shadow); + } + + // Material sizes every icon box at 24px and hides what overflows it, from a + // bare `.mat-icon` -- which a bare class in here cannot outrank, whatever the + // source order says, because those styles are injected at runtime. So each + // icon below sets its font-size and got a 24px box anyway, and a 16px glyph + // drawn at the top of a 24px box reads as sitting high off its own line. + // + // Naming the element as well as the class is enough to take the box back, and + // 1em ties it to whatever size each icon was actually asked for. + .tutorialCard mat-icon { + width: 1em; + height: 1em; + line-height: 1; + overflow: visible; + } + + .closeCard { + position: absolute; + top: 8px; + right: 8px; + display: flex; + align-items: center; + justify-content: center; + width: 32px; + height: 32px; + padding: 0; + border: none; + border-radius: 50%; + background: transparent; + color: rgba(0, 0, 0, 0.54); + cursor: pointer; + + &:hover { + background: rgba(0, 0, 0, 0.04); + } + + // In the completion card it shares a line with the title rather than + // floating over it, so it gives up its corner. + &.flush { + position: static; + flex: 0 0 auto; + width: 28px; + height: 28px; + } + + mat-icon { + font-size: 20px; + width: 20px; + height: 20px; + line-height: 20px; + } + } + + .cardTitle { + padding-right: 40px; + font-size: 20px; + font-weight: 500; + line-height: 32px; + color: rgba(0, 0, 0, 0.87); + } + + .cardLead { + margin: 0; + font-size: 14px; + line-height: 18px; + color: rgba(0, 0, 0, 0.6); + } + + // The measure and the way back through it on one line: an arrow at each end + // and a segment per step between them. + .stepBars { + display: flex; + align-items: center; + gap: 4px; + margin: 10px 0 14px; + } + + .stepArrow { + display: flex; + flex: 0 0 auto; + align-items: center; + justify-content: center; + width: 22px; + height: 22px; + padding: 0; + border: none; + border-radius: 50%; + background: transparent; + color: rgba(0, 0, 0, 0.54); + cursor: pointer; + + &:hover:not(:disabled) { + background: rgba(0, 0, 0, 0.05); + } + + &:disabled { + color: rgba(0, 0, 0, 0.18); + cursor: default; + } + + mat-icon { + font-size: 18px; + width: 18px; + height: 18px; + line-height: 18px; + } + } + + // Behind, here, ahead — three weights of the one colour rather than three + // colours, because they are one measure being read left to right. Each is + // also the way to that step, so the bar is a control and has the hit height + // to be one without the line itself getting any thicker. + .stepBar { + flex: 1 1 0; + height: 14px; + padding: 0; + border: none; + background: none; + cursor: pointer; + + &::after { + content: ''; + display: block; + height: 3px; + border-radius: 2px; + background: #eceef5; + transition: background 0.18s ease-in-out; + } + + &.done::after { + background: #c5cae9; + } + + &.here::after { + background: $indigo; + } + + &:disabled { + cursor: default; + } + + &:hover:not(:disabled):not(.here)::after { + background: #aeb4d8; + } + } + + .achieved { + display: flex; + align-items: center; + gap: 9px; + margin-bottom: 12px; + + mat-icon { + flex: 0 0 auto; + font-size: 18px; + width: 18px; + height: 18px; + line-height: 19px; + color: #137333; + } + + span { + font-size: 13px; + line-height: 19px; + color: rgba(0, 0, 0, 0.45); + } + } + + // A row rather than an inline run, so the tick sits on the title's own centre + // line whatever the two are sized at. Baseline-aligning a 16px glyph against + // 14px text put it a third of a line high. + .stepTitle { + display: flex; + align-items: center; + gap: 6px; + font-size: 14px; + font-weight: 500; + line-height: 20px; + color: rgba(0, 0, 0, 0.87); + } + + .stepText { + margin: 4px 0 0; + font-size: 13px; + line-height: 19px; + color: rgba(0, 0, 0, 0.6); + text-wrap: pretty; + } + + // The tick beside a step that is behind the student. On the step they have + // just this second finished it arrives with a beat of its own, which is the + // whole point of holding the card there before moving on. + .stepTick { + flex: 0 0 auto; + font-size: 16px; + width: 16px; + height: 16px; + line-height: 16px; + color: #137333; + + &.justNow { + animation: tutorialTick 0.42s cubic-bezier(0.22, 1, 0.36, 1); + } + } + + @keyframes tutorialTick { + 0% { + opacity: 0; + transform: scale(0.4); + } + 60% { + opacity: 1; + transform: scale(1.18); + } + 100% { + opacity: 1; + transform: scale(1); + } + } + + // While a finished step is being held up to be read. A tint rather than a + // banner: the words have not changed, and the card is about to move on by + // itself, so this says "that one is done" without taking a line to say it. + .settling .stepTitle { + color: #137333; + } + + .doneNote { + font-size: 13px; + font-weight: 500; + color: #137333; + } + + .nextButton { + display: inline-flex; + align-items: center; + gap: 2px; + padding: 0 2px; + border: none; + background: transparent; + font-family: inherit; + font-size: 13px; + font-weight: 500; + color: $indigo; + cursor: pointer; + + mat-icon { + font-size: 18px; + width: 18px; + height: 18px; + line-height: 18px; + } + } + + .quietButton { + padding: 0 2px; + border: none; + background: transparent; + font-family: inherit; + font-size: 13px; + color: rgba(0, 0, 0, 0.45); + cursor: pointer; + } + + .hint { + display: flex; + align-items: center; + gap: 8px; + margin-top: 12px; + padding: 9px 11px; + border-radius: 4px; + background: #f5f6fa; + + mat-icon { + flex: 0 0 auto; + font-size: 18px; + width: 18px; + height: 18px; + line-height: 18px; + color: rgba(0, 0, 0, 0.54); + } + + span { + font-size: 12px; + line-height: 17px; + color: rgba(0, 0, 0, 0.6); + } + } + + // The quoted chip sits above its sentence's first line rather than centred + // against a paragraph it is two lines shorter than. + .chipHint { + align-items: flex-start; + gap: 9px; + padding: 10px 11px; + } + + .chip { + display: inline-flex; + flex: 0 0 auto; + align-items: center; + height: 20px; + padding: 0 8px; + border-radius: 10px; + background: #eef0f4; + color: rgba(0, 0, 0, 0.54); + font-size: 12px; + white-space: nowrap; + } + + .cardRule { + height: 1px; + margin: 14px 0 10px; + background: #eceef5; + } + + .cardActions { + display: flex; + align-items: center; + justify-content: space-between; + } + + .doItButton, + .exitButton, + .primaryButton { + padding: 0 2px; + border: none; + background: transparent; + font-family: inherit; + font-size: 13px; + cursor: pointer; + } + + .doItButton { + font-weight: 500; + color: $indigo; + } + + .exitButton { + color: rgba(0, 0, 0, 0.45); + } + + // ---------- the completion card ---------- + + .doneCard { + border-top-color: #137333; + } + + .doneHead { + display: flex; + align-items: center; + gap: 9px; + } + + .doneMark { + flex: 0 0 auto; + font-size: 20px; + width: 20px; + height: 20px; + line-height: 20px; + color: #137333; + } + + .doneTitle { + flex: 1 1 auto; + font-size: 18px; + font-weight: 500; + color: rgba(0, 0, 0, 0.87); + } + + .doneLine { + margin: 9px 0 0; + font-size: 13px; + line-height: 19px; + color: rgba(0, 0, 0, 0.7); + text-wrap: pretty; + } + + .doorsHeading { + margin-bottom: 10px; + font-size: 12px; + font-weight: 500; + letter-spacing: 0.06em; + text-transform: uppercase; + color: rgba(0, 0, 0, 0.45); + } + + .doors { + display: flex; + flex-direction: column; + gap: 8px; + } + + .door { + display: flex; + align-items: flex-start; + gap: 11px; + width: 100%; + padding: 10px 12px; + border: 1px solid #dfe1ea; + border-radius: 4px; + background: var(--card-surface); + font-family: inherit; + text-align: left; + cursor: pointer; + + &:hover { + background: #f5f6fa; + } + + mat-icon { + flex: 0 0 auto; + font-size: 20px; + width: 20px; + height: 20px; + line-height: 20px; + color: $indigo; + } + } + + .doorText { + flex: 1 1 auto; + min-width: 0; + } + + .doorName { + display: block; + font-size: 13px; + font-weight: 500; + color: rgba(0, 0, 0, 0.87); + } + + .doorWhy { + display: block; + margin-top: 2px; + font-size: 12px; + line-height: 17px; + color: rgba(0, 0, 0, 0.6); + } + + .doneActions { + justify-content: flex-start; + gap: 8px; + margin-top: 14px; + } + + .primaryButton { + height: 32px; + padding: 0 14px; + border-radius: 4px; + background: $indigo; + color: #fff; + font-weight: 500; + } +} diff --git a/src/app/component/tutorial-panel/tutorial-panel.component.ts b/src/app/component/tutorial-panel/tutorial-panel.component.ts new file mode 100644 index 00000000..53e77f4b --- /dev/null +++ b/src/app/component/tutorial-panel/tutorial-panel.component.ts @@ -0,0 +1,184 @@ +import { + ChangeDetectionStrategy, + Component, + DoCheck, + TemplateRef, + inject, + viewChild, +} from '@angular/core'; +import { animate, style, transition, trigger } from '@angular/animations'; +import { + MatDialog, + MatDialogActions, + MatDialogClose, + MatDialogContent, + MatDialogTitle, +} from '@angular/material/dialog'; +import { MatButton } from '@angular/material/button'; +import { MatIcon } from '@angular/material/icon'; +import { TutorialService } from '../../services/tutorial.service'; +import { MechanismService } from '../../services/mechanism.service'; +import { UrlGenerationService } from '../../services/url-generation.service'; +import { NotificationService } from '../../services/notification.service'; +import { ExportFlowService } from '../../services/export/export-flow.service'; +import { TemplatesComponent } from '../MODALS/templates/templates.component'; +import { RightPanelComponent } from '../right-panel/right-panel.component'; + +/** + * The tutorial, as a drawer page. + * + * In the drawer rather than the left column because the left column is already + * that mode's own panel — it says what the selected part is, and the analysis + * page fills it with graph cards the last step is pointing at. The drawer is + * where the app already keeps things that run alongside the drawing instead of + * describing a selection. + */ +@Component({ + selector: 'app-tutorial-panel', + templateUrl: './tutorial-panel.component.html', + styleUrls: ['./tutorial-panel.component.scss'], + changeDetection: ChangeDetectionStrategy.Eager, + animations: [ + // One step leaving as the next arrives, in the direction of travel. The + // card used to cut from one step to the next in a single frame, at the + // moment the student finished the move it was describing -- so the thing + // they were reading was replaced by a thing they had not asked for, and + // the only cue that anything had happened was that the words were now + // different. + trigger('stepSwap', [ + transition(':increment', arrive(26)), + transition(':decrement', arrive(-26)), + ]), + ], + imports: [MatIcon, MatButton, MatDialogTitle, MatDialogContent, MatDialogActions, MatDialogClose], +}) +export class TutorialPanelComponent implements DoCheck { + tutorial = inject(TutorialService); + private mechanism = inject(MechanismService); + private urlGeneration = inject(UrlGenerationService); + private notify = inject(NotificationService); + private exportFlow = inject(ExportFlowService); + private dialog = inject(MatDialog); + + readonly confirmRestart = viewChild.required>('confirmRestart'); + + /** + * Ask the drawing whether the step has changed, once per cycle. + * + * A subscription would be tidier, and there is nothing to subscribe to: an + * edit ends in `updateMechanism`, which publishes on nothing this could + * listen to. Change detection runs after every gesture that could move the + * tutorial on, which makes it the honest place to ask. + */ + ngDoCheck(): void { + this.tutorial.noticeStep(); + } + + /** + * One segment per step: filled behind the student, hollow ahead, and only + * pressable as far as the drawing has actually got. + */ + get bars(): { done: boolean; here: boolean; reachable: boolean }[] { + const viewed = this.tutorial.viewedStep; + const reached = this.tutorial.step(); + return Array.from({ length: this.tutorial.stepCount() }, (_, index) => ({ + done: index + 1 < reached, + here: index + 1 === viewed, + reachable: index + 1 <= reached, + })); + } + + get lead(): string { + return `Step ${this.tutorial.viewedStep} of ${this.tutorial.stepCount()}. Build a four-bar and read a velocity.`; + } + + /** + * What the Kinematic Analysis chip says right now, quoted rather than + * retyped. + * + * The mock spelled it "1 to set", which is the *Force* chip's wording — the + * kinematic one counts fixes. Reading the real number is the only way the + * sentence cannot drift from the control it is teaching. + */ + get chipText(): string { + const blockers = this.mechanism.blockerCount(); + return blockers === 0 ? 'Ready' : `${blockers} ${blockers === 1 ? 'fix' : 'fixes'}`; + } + + /** Step four is the one lesson about the app rather than about linkages. */ + get showsChipHint(): boolean { + return this.tutorial.viewedStep === 4; + } + + /** + * Closing happens, and then says where the tutorial went. + * + * A dialog asking permission first was too heavy for a thing that costs + * nothing: the drawing is untouched either way, and the only real question — + * "how do I get it back?" — is answered better after the fact than as a + * question the reader has to dismiss before they can act. + */ + close(): void { + this.tutorial.exit(); + this.notify.success( + 'tutorial.closed', + 'Tutorial closed. It is in the project menu, at the top left, whenever you want it back.' + ); + } + + /** + * Starting again clears the grid, so it asks — but only where there is + * something to lose. A confirmation over an empty drawing is a question with + * one answer. + */ + restart(): void { + if (!this.tutorial.restartWouldDiscard()) { + this.tutorial.restart(); + return; + } + this.dialog + // Sized, because a Material dialog left to itself takes most of the + // window and two sentences do not need it. + .open(this.confirmRestart(), { width: '440px', autoFocus: false }) + .afterClosed() + .subscribe((choice) => { + if (choice === 'restart') this.tutorial.restart(); + }); + } + + doStepForMe(): void { + this.tutorial.doStepForMe(); + } + + // ---------- the three doors ---------- + + openExport(): void { + this.exportFlow.reset(); + RightPanelComponent.insistOn(RightPanelComponent.EXPORT_TAB); + } + + shareProject(): void { + this.urlGeneration.copyFullUrl(); + this.notify.success('share.copied', 'Link copied. It opens this exact mechanism.'); + } + + openTemplates(): void { + this.dialog.open(TemplatesComponent, { height: '90%', width: '90%', autoFocus: false }); + } +} + +/** + * The step that has just arrived comes in from the side it came from: forwards + * from the right, backwards from the left. + * + * The element itself is animated rather than the two steps being crossfaded + * past each other. A crossfade needs both on screen at once, which means either + * the card jumping to the height of two steps stacked or the outgoing one being + * torn out of the layout — and neither is worth it for a movement this short. + */ +function arrive(offset: number) { + return [ + style({ opacity: 0, transform: `translateX(${offset}px)` }), + animate('220ms cubic-bezier(0.2, 0, 0, 1)', style({ opacity: 1, transform: 'none' })), + ]; +} diff --git a/src/app/model/tutorial-steps.spec.ts b/src/app/model/tutorial-steps.spec.ts new file mode 100644 index 00000000..c781c335 --- /dev/null +++ b/src/app/model/tutorial-steps.spec.ts @@ -0,0 +1,135 @@ +import { RevJoint } from './joint'; +import { Coord } from './coord'; +import { RealLink } from './link'; +import { copyFor, endJoints, linksAreChained, progressFor } from './tutorial-steps'; + +/** One bar between two joints, wired the way the grid wires one. */ +function bar(a: RevJoint, b: RevJoint): RealLink { + const link = new RealLink(a.id + b.id, [a, b], 1, 1, new Coord((a.x + b.x) / 2, (a.y + b.y) / 2)); + a.links.push(link); + b.links.push(link); + a.connectedJoints.push(b); + b.connectedJoints.push(a); + return link; +} + +/** A─B─C─D, the chain the tutorial is walking the student towards. */ +function chain() { + const a = new RevJoint('A', -2, 0); + const b = new RevJoint('B', -2, 1); + const c = new RevJoint('C', 0.99, 2.82); + const d = new RevJoint('D', 2, 0); + const links = [bar(a, b), bar(b, c), bar(c, d)]; + return { joints: [a, b, c, d], links, a, b, c, d }; +} + +/** Three bars that never touch — what `Add Link` three times actually leaves. */ +function looseBars() { + const joints: RevJoint[] = []; + const links: RealLink[] = []; + for (const [one, two] of [ + ['A', 'B'], + ['C', 'D'], + ['E', 'F'], + ]) { + const p = new RevJoint(one, 0, 0); + const q = new RevJoint(two, 1, 1); + joints.push(p, q); + links.push(bar(p, q)); + } + return { joints, links }; +} + +describe('which step the drawing is on', () => { + it('starts at step 1 with nothing drawn', () => { + expect(progressFor([], []).step).toBe(1); + }); + + it('asks for the chain once one bar exists', () => { + const a = new RevJoint('A', 0, 0); + const b = new RevJoint('B', 1, 0); + const progress = progressFor([a, b], [bar(a, b)]); + expect(progress.step).toBe(2); + expect(progress.achieved).toBe('First bar drawn'); + }); + + /** + * The reason step 1 and step 2 are two steps rather than one. + * + * The prototype counted links, so three bars dropped on bare grid read as a + * finished chain and sent the student on to ground "the two end joints" of + * something with six of them. Connectivity is the question being asked. + */ + it('does not accept three bars that never touch as a chain', () => { + const { joints, links } = looseBars(); + expect(links.length).toBe(3); + expect(linksAreChained(links)).toBe(false); + expect(progressFor(joints, links).step).toBe(2); + }); + + it('moves to grounding once three links are joined up', () => { + const { joints, links } = chain(); + const progress = progressFor(joints, links); + expect(progress.step).toBe(3); + expect(progress.achieved).toBe('Three links chained'); + }); + + it('names and rings an end joint, not one in the middle', () => { + const { joints, links, a, d } = chain(); + expect(endJoints(joints).map((j) => j.id)).toEqual(['A', 'D']); + const progress = progressFor(joints, links); + expect([a, d]).toContain(progress.target); + expect(copyFor(progress).body).toContain('joint A'); + }); + + /** + * A drawing can arrive with one end already grounded — a shared link, or a + * student who did half of it. Naming the finished end sends them nowhere. + */ + it('skips past the end that is already grounded', () => { + const { joints, links, a, d } = chain(); + a.ground = true; + const progress = progressFor(joints, links); + expect(progress.step).toBe(3); + expect(progress.target).toBe(d); + expect(progress.alsoTarget).toBeUndefined(); + expect(copyFor(progress).body).not.toContain('at the other end'); + }); + + it('asks for an input once both ends are grounded', () => { + const { joints, links, a, d } = chain(); + a.ground = true; + d.ground = true; + const progress = progressFor(joints, links); + expect(progress.step).toBe(4); + expect(progress.achieved).toBe('Joints A and D grounded'); + expect(progress.target).toBe(a); + }); + + it('reaches the last step once a joint drives it', () => { + const { joints, links, a, d } = chain(); + a.ground = true; + d.ground = true; + a.input = true; + const progress = progressFor(joints, links); + expect(progress.step).toBe(5); + expect(progress.achieved).toBe('Joint A is the input'); + }); +}); + +describe('what the card says', () => { + /** + * The two gestures are genuinely different controls, and the mock had step + * one telling the student to use the wrong one three times. + */ + it('sends the student to Add Link first and Attach Link after', () => { + expect(copyFor({ step: 1 }).body).toContain('Add Link'); + expect(copyFor({ step: 1 }).body).not.toContain('Attach Link'); + expect(copyFor({ step: 2 }).body).toContain('Attach Link'); + }); + + it('never tells the student to add three links from the grid', () => { + expect(copyFor({ step: 1 }).body).not.toMatch(/three times/i); + expect(copyFor({ step: 2 }).body).not.toMatch(/Right-click anywhere/i); + }); +}); diff --git a/src/app/model/tutorial-steps.ts b/src/app/model/tutorial-steps.ts new file mode 100644 index 00000000..d8544dbf --- /dev/null +++ b/src/app/model/tutorial-steps.ts @@ -0,0 +1,205 @@ +import { Joint, RealJoint } from './joint'; +import { Link } from './link'; +import { canDrive } from './actuator'; + +/** + * The five moves the tutorial teaches, and how to tell from the drawing which + * one is still outstanding. + * + * Read off the mechanism rather than counted by a Next button: a student who + * grounds the wrong joint simply stays where they are, and one who arrives on a + * half-built drawing starts at the first move it has not already made. That is + * also what makes the tutorial replayable on somebody else's linkage. + */ +export type TutorialStepId = 1 | 2 | 3 | 4 | 5; + +export const TUTORIAL_STEP_COUNT = 5; + +/** What the drawing has to look like for a step to be behind you. */ +export interface TutorialProgress { + /** The first step this drawing has not satisfied. */ + step: TutorialStepId; + /** The joint the card names and the grid rings, where a step has one. */ + target?: RealJoint; + /** The second joint step 3 still wants, so the copy can name both at once. */ + alsoTarget?: RealJoint; + /** What the *previous* step achieved, shown as the card's green line. */ + achieved?: string; +} + +const real = (joints: Joint[]): RealJoint[] => + joints.filter((joint): joint is RealJoint => joint instanceof RealJoint); + +/** + * The joints at the ends of a chain — the ones a four-bar grounds. + * + * Degree one in the link graph, which is what "the far end of the last bar" + * means once the student has stopped following along exactly. + */ +export function endJoints(joints: Joint[]): RealJoint[] { + return real(joints).filter((joint) => joint.links.length === 1); +} + +/** + * Whether the drawing holds three links that are actually joined up. + * + * Three separate bars are three links and are not a chain, and this is the + * whole reason step 1 and step 2 are two steps: `Add Link` on bare grid makes + * a free-standing bar every time, so three of them never touch. Connectivity + * is the test rather than a joint count, because a student who builds their + * chain in a different order still built a chain. + */ +export function linksAreChained(links: Link[]): boolean { + if (links.length < 3) return false; + const reached = new Set([links[0]]); + const queue: Link[] = [links[0]]; + while (queue.length > 0) { + const link = queue.pop()!; + for (const joint of link.joints) { + if (!(joint instanceof RealJoint)) continue; + for (const neighbour of joint.links) { + if (!reached.has(neighbour)) { + reached.add(neighbour); + queue.push(neighbour); + } + } + } + } + return reached.size >= 3; +} + +const nameOf = (joint: RealJoint): string => joint.name || joint.id; + +/** + * Which step this drawing is on, and the joint that step is about. + * + * The target is resolved from the drawing before the copy that names it: a + * drawing that arrives with one end already grounded must ring the *other* + * end, or the sentence sends the student to the finished one. + */ +export function progressFor(joints: Joint[], links: Link[]): TutorialProgress { + return progressAt(joints, links, stepOf(joints, links)); +} + +/** The first of the five moves this drawing has not made. */ +export function stepOf(joints: Joint[], links: Link[]): TutorialStepId { + if (links.length < 1) return 1; + if (!linksAreChained(links)) return 2; + if (real(joints).filter((joint) => joint.ground).length < 2) return 3; + if (!real(joints).some((joint) => joint.input)) return 4; + return 5; +} + +/** + * One step's view of this drawing — including a step it is already past. + * + * The card can be turned back to re-read a step that is done, so every step has + * to be describable against a drawing that has moved on. Where the joint a step + * asks about has already been dealt with, the finished one is named instead of + * nothing: the sentence becomes a record of what was done rather than an + * instruction, and a record still has to say which joint it was about. + */ +export function progressAt(joints: Joint[], links: Link[], step: TutorialStepId): TutorialProgress { + const ends = endJoints(joints); + const grounded = real(joints).filter((joint) => joint.ground); + const input = real(joints).find((joint) => joint.input); + + switch (step) { + case 1: + return { step: 1 }; + case 2: + return { step: 2, achieved: 'First bar drawn' }; + case 3: { + const loose = ends.filter((joint) => !joint.ground); + const named = loose.length > 0 ? loose : ends; + return { step: 3, target: named[0], alsoTarget: named[1], achieved: 'Three links chained' }; + } + case 4: { + const drivable = grounded.filter((joint) => canDrive(joint)); + return { + step: 4, + target: input ?? drivable[0] ?? grounded[0], + achieved: + grounded.length > 0 + ? `${grounded.length > 1 ? 'Joints' : 'Joint'} ${grounded.map(nameOf).join(' and ')} grounded` + : undefined, + }; + } + default: + return { + step: 5, + achieved: input ? `Joint ${nameOf(input)} is the input` : undefined, + }; + } +} + +/** A joint worth reading a velocity off: one that moves. */ +export function readableJoints(joints: Joint[]): RealJoint[] { + return real(joints).filter((joint) => !joint.ground); +} + +/** The card's words for one step, with the joints of this drawing named in them. */ +export interface TutorialCopy { + title: string; + body: string; + hint?: string; + hintGlyph?: string; +} + +/** + * What the card says, given where the student is. + * + * Step 1 and step 2 name *different gestures*, which is the point of their + * being two steps. `Add Link` on bare grid always makes a free-standing bar — + * doing it three times leaves three bars that never touch — so the chain is + * built by attaching to the far end of what is already there. + */ +export function copyFor(progress: TutorialProgress): TutorialCopy { + const target = progress.target ? nameOf(progress.target) : ''; + switch (progress.step) { + case 1: + return { + title: 'Draw the first bar', + // The gesture is a click, then a move, then a click -- not a drag. The + // bar's far end follows the pointer between the two, and describing it + // as "drag and release" had readers holding the button down through a + // move that does not want it held. + body: 'Right-click the empty grid and choose Add Link. One end is placed where you clicked and the other follows your pointer — move to where you want it and left-click to set it.', + hint: 'Right-click is how everything is added in PMKS+. The panel on the left edits whatever you then select.', + hintGlyph: 'mouse', + }; + case 2: + return { + title: 'Extend it into a chain of three', + body: 'Right-click the joint at the far end of the bar and choose Attach Link, then left-click where the new bar should end. Do that twice, each time from the newest end, so the three links make a chain.', + hint: 'Add Link starts a new bar on its own. Attach Link joins one to a joint that is already there.', + hintGlyph: 'link', + }; + case 3: { + const also = progress.alsoTarget ? nameOf(progress.alsoTarget) : ''; + return { + title: 'Ground the two end joints', + body: + `Right-click joint ${target}, the ringed one, and choose Add Ground. A grounded joint is fixed to the frame.` + + (also ? ` Then do the same at joint ${also}, at the other end.` : ''), + hint: 'A mechanism with nothing grounded floats away.', + hintGlyph: 'push_pin', + }; + } + case 4: + return { + title: 'Make one joint the input', + body: `Right-click joint ${target}, the ringed one, and choose Add Input. The input is the joint that drives the mechanism. A mechanism needs exactly one.`, + }; + default: + return { + title: 'Play it and read a velocity', + // Named by where it is, not only by what it says: below about 900px the + // mode tabs give up their labels and a student is looking at four + // unexplained glyphs. + body: 'Switch to Kinematic Analysis — the third mode in the strip along the top — then press Play at the bottom of the window and click a moving joint on the grid.', + hint: 'The reading follows the pose, so scrubbing the handle moves the number.', + hintGlyph: 'speed', + }; + } +} diff --git a/src/app/services/keyboard-shortcuts.service.ts b/src/app/services/keyboard-shortcuts.service.ts index 04f24d9a..d640b459 100644 --- a/src/app/services/keyboard-shortcuts.service.ts +++ b/src/app/services/keyboard-shortcuts.service.ts @@ -255,15 +255,15 @@ export class KeyboardShortcutsService { } /** - * Whether the canvas is covered: a modal dialog, or the guided tour. + * Whether the canvas is covered by a conversation of its own. * - * Both take the whole screen and both are their own conversation. The tour - * is not a dialog and so is not in the dialog's own list -- it is asked - * about by the overlay it lays over the page. + * Only dialogs now. It used to also ask after the intro.js overlay, which + * dimmed the whole page; the tutorial that replaced it is a drawer page + * beside the canvas rather than over it, and the shortcuts stay live because + * the student is meant to be using them on the drawing while it is open. */ private somethingIsOver(): boolean { - if (this.dialog.openDialogs.length > 0) return true; - return !!document.querySelector('.introjs-overlay, .introjs-tooltip'); + return this.dialog.openDialogs.length > 0; } /** Whether the keystroke was aimed at somewhere text is being entered. */ diff --git a/src/app/services/mechanism.service.ts b/src/app/services/mechanism.service.ts index 59a8c407..b59a2542 100644 --- a/src/app/services/mechanism.service.ts +++ b/src/app/services/mechanism.service.ts @@ -793,6 +793,63 @@ export class MechanismService { }); } + /** + * A free-standing bar between two points — what `Add Link` on bare grid + * commits when the drag is released. + * + * Here rather than in the canvas because it is a creation, and every other + * one lives here; the canvas has the same recipe inline because it also has a + * ghost to draw and a drag to end. Anything that wants a bar without a + * gesture — the tutorial doing a step for the student — asks for one here. + */ + addBar(from: Coord, to: Coord): RealLink { + const first = this.createRevJoint(from.x.toString(), from.y.toString()); + const second = this.createRevJoint(to.x.toString(), to.y.toString(), first.id); + return this.joinWithBar(first, second, [first, second]); + } + + /** + * A bar hung off a joint that is already there, as `Attach Link` makes. + * + * The anchor is not created and not re-merged: it is already in the drawing, + * and pushing it a second time gives it two entries and one very confusing + * delete. + */ + addBarFrom(anchor: RealJoint, to: Coord): RealLink { + const far = this.createRevJoint(to.x.toString(), to.y.toString()); + return this.joinWithBar(anchor, far, [far]); + } + + /** The wiring both of the above share: connect, name, merge, re-solve. */ + private joinWithBar(first: RealJoint, second: RealJoint, fresh: Joint[]): RealLink { + first.connectedJoints.push(second); + second.connectedJoints.push(first); + const link = this.gridUtils.createRealLink(first.id + second.id, [first, second]); + first.links.push(link); + second.links.push(link); + this.mergeToJoints(fresh); + this.mergeToLinks([link]); + this.updateMechanism(true); + return link; + } + + /** + * Everything on the grid, gone, as one undo entry. + * + * The joints go one at a time because deleting a joint is what takes its + * links with it, but none of them saves — otherwise clearing a four-bar + * would cost four presses of Undo to take back. + */ + deleteAll(): void { + if (this.joints.length === 0 && this.links.length === 0 && this.forces.length === 0) return; + [...this.joints].forEach((joint) => { + this.activeObjService.updateSelectedObj(joint); + this.deleteJoint(false); + }); + this.activeObjService.updateSelectedObj(null); + this.finishStructuralEdit(true); + } + /** * The next name for a joint: A, B, C ... Z, then a, b, c ... z. * diff --git a/src/app/services/tutorial.service.ts b/src/app/services/tutorial.service.ts new file mode 100644 index 00000000..d472e95d --- /dev/null +++ b/src/app/services/tutorial.service.ts @@ -0,0 +1,673 @@ +import { Injectable, inject } from '@angular/core'; +import { Joint, RealJoint } from '../model/joint'; +import { Coord } from '../model/coord'; +import { MODEL_SCALE } from '../model/render-scale'; +import { LengthUnit, TimeUnit } from '../model/unit-enums'; +import { + TUTORIAL_STEP_COUNT, + TutorialCopy, + TutorialProgress, + TutorialStepId, + copyFor, + endJoints, + linksAreChained, + progressAt, + progressFor, + readableJoints, + stepOf, +} from '../model/tutorial-steps'; +import { MechanismService } from './mechanism.service'; +import { ActiveObjService } from './active-obj.service'; +import { SettingsService, writeStoredFlag } from './settings.service'; +import { AnalysisSampleService } from './analysis-sample.service'; +import { NumberUnitParserService } from './number-unit-parser.service'; +import { SelectedTabService, TabID } from '../selected-tab.service'; +import { SvgGridService } from './svg-grid.service'; +import { local_storage_available } from '../model/utils'; + +/** The velocity the tutorial ends on, frozen at the moment it was read. */ +export interface TutorialReading { + joint: string; + magnitude: string; + unit: string; + /** How far into the cycle, worded and measured as the playback row words it. */ + time: string; +} + +/** Remembered on this machine so the offer stops pestering someone who has met it. */ +const SEEN_KEY = 'tutorialSeen'; + +/** + * The guided first build: five moves from a bare grid to a velocity. + * + * The service holds only what the drawing cannot say for itself — whether the + * student asked for the tutorial, whether they walked out of it, and the + * reading it finished on. *Which step they are on* is never stored, because + * the drawing already knows: see `progressFor`. That is what lets the tutorial + * be started on a half-built mechanism, and what stops it insisting on a step + * the student has just undone. + */ +@Injectable({ providedIn: 'root' }) +export class TutorialService { + private mechanism = inject(MechanismService); + private activeObj = inject(ActiveObjService); + private settings = inject(SettingsService); + private samples = inject(AnalysisSampleService); + private nup = inject(NumberUnitParserService); + private tabs = inject(SelectedTabService); + private svgGrid = inject(SvgGridService); + + started = false; + exited = false; + done = false; + reading: TutorialReading | undefined; + + /** + * Whether this drawing has been run at all. + * + * The last step is "play it and read a velocity", and a velocity read at the + * start pose is zero — so the step is not finished by clicking a joint on a + * mechanism that has never moved. + */ + private hasPlayed = false; + + /** Set once the student has finished or walked out, and never unset. */ + private seen = local_storage_available() && localStorage.getItem(SEEN_KEY) === 'true'; + + /** + * The step the card is showing, which is not always the step the drawing is + * on. It falls behind twice: while a finished step is being left up to read, + * and while the student is paging back through steps they have done. + */ + viewedStep: TutorialStepId = 1; + + /** + * A step has just been satisfied and its card is being held up to be read. + * + * Without this the card changed under the reader at the instant they finished + * the thing it was describing -- often mid-sentence, since the last words of + * a step are usually the ones explaining *why* the move mattered. + */ + settling = false; + + /** How long a finished step stays up before the next one arrives. */ + private static readonly SETTLE_MS = 2600; + + private settleTimer: ReturnType | undefined; + private knownStep: TutorialStepId = 1; + + constructor() { + this.settings.animating.subscribe((animating) => { + if (animating) this.hasPlayed = true; + this.checkForFinish(); + }); + this.activeObj.onActiveObjChange.subscribe(() => this.checkForFinish()); + this.mechanism.onMechPositionChange.subscribe((step) => { + if (step > 0) this.hasPlayed = true; + this.checkForFinish(); + }); + } + + /** + * The drawing moved. Decide whether the card should follow it, and when. + * + * Forwards is held for a moment; backwards is immediate. Undoing the thing a + * step asked for has to take the card back with it, or the card sits there + * congratulating the student on something that is no longer true. + * + * Called from the card's own change detection rather than from a subscription + * on the mechanism. There is no event to subscribe to: `updateMechanism` is + * what every edit ends in, and it does not publish on `onMechUpdateState` -- + * that subject carries the *analysis* state, which is why the caches + * elsewhere in the app key on `poseRevision` instead. + */ + noticeStep(): void { + const now = stepOf(this.mechanism.joints, this.mechanism.links); + if (now === this.knownStep) return; + const wasOn = this.knownStep; + this.knownStep = now; + + if (!this.isRunning() || this.done) { + this.landOn(now); + return; + } + if (now < this.viewedStep || now < wasOn) { + this.landOn(now); + return; + } + // Reading an earlier step: leave them where they are rather than yanking + // the card forward under them. + if (this.viewedStep !== wasOn) return; + + this.settling = true; + this.clearSettle(); + this.settleTimer = setTimeout(() => this.landOn(this.knownStep), TutorialService.SETTLE_MS); + } + + private landOn(step: TutorialStepId): void { + this.clearSettle(); + this.settling = false; + this.viewedStep = step; + } + + private clearSettle(): void { + if (this.settleTimer !== undefined) clearTimeout(this.settleTimer); + this.settleTimer = undefined; + } + + // ---------- where the student is ---------- + + progress(): TutorialProgress { + return progressFor(this.mechanism.joints, this.mechanism.links); + } + + step(): number { + return this.progress().step; + } + + stepCount(): number { + return TUTORIAL_STEP_COUNT; + } + + /** What the card is showing, which may be a step the drawing is past. */ + viewedProgress(): TutorialProgress { + return progressAt(this.mechanism.joints, this.mechanism.links, this.viewedStep); + } + + copy(): TutorialCopy { + return copyFor(this.viewedProgress()); + } + + /** Whether the step on the card is one the student has already satisfied. */ + viewingCompleted(): boolean { + return this.viewedStep < this.step() || this.settling; + } + + canGoBack(): boolean { + return this.viewedStep > 1; + } + + /** Forward only as far as the drawing has got: the card never runs ahead. */ + canGoForward(): boolean { + return this.viewedStep < this.step(); + } + + goBack(): void { + if (this.canGoBack()) this.landOn((this.viewedStep - 1) as TutorialStepId); + } + + goForward(): void { + if (this.canGoForward()) this.landOn((this.viewedStep + 1) as TutorialStepId); + } + + /** Jump straight to a step from the progress bar. */ + goToStep(step: number): void { + const wanted = Math.min(Math.max(step, 1), this.step()) as TutorialStepId; + this.landOn(wanted); + } + + /** Live, so the tutorial is never running beside a card nobody asked for. */ + isRunning(): boolean { + return this.started && !this.exited; + } + + /** + * The joint the grid rings. + * + * Only ever the step the student still has to do. Paging back to re-read a + * finished step used to keep ringing whatever that step was about, which + * pointed at a joint that wanted nothing — and while a finished step is being + * held up to read, the move it asked for is already made. + */ + ringJoint(): RealJoint | undefined { + if (!this.isRunning() || this.done) return undefined; + if (this.viewingCompleted()) return undefined; + return this.viewedProgress().target; + } + + /** + * The offer that hangs off the Edit panel's empty state. + * + * Gone for good once the student has finished it or walked out — from then + * on the way back in is the project menu, which is where a second reading of + * a tutorial belongs. + */ + offerVisible(): boolean { + return !this.started && !this.seen; + } + + /** + * Whether the tutorial's own card is on screen. Set by the card itself. + * + * The panel knows this and the service cannot: the drawer shows one page at + * a time, so opening Settings or Export puts the tutorial away without + * anything here being told. + */ + onScreen = false; + + /** + * The one line the Edit panel keeps while the card is not showing. + * + * Deliberately not gated on the tutorial still running: walking out is the + * main way of ending up here, and a student who exits at step two and then + * wants back in has nowhere else to go — the offer above it is spent by + * then, and the project menu is a thing you have to already know about. + */ + resumeVisible(): boolean { + return this.started && !this.done && !this.onScreen; + } + + resumeLabel(): string { + return `Resume Tutorial, step ${this.step()} of ${TUTORIAL_STEP_COUNT}`; + } + + // ---------- entering and leaving ---------- + + start(): void { + this.started = true; + this.exited = false; + this.knownStep = stepOf(this.mechanism.joints, this.mechanism.links); + this.landOn(this.knownStep); + // The copy names joints by letter -- "right-click joint A, the ringed one" + // -- and the letters are off by default. A tutorial that points at a name + // the student cannot see on the grid is pointing at nothing. + this.settings.isShowID.next(true); + } + + /** + * Walked out of. The drawing is left exactly as it is: a student who quits + * three links in has three links, not a rolled-back grid. + */ + exit(): void { + this.exited = true; + this.remember(); + } + + /** Whether restarting would throw away work the student has done. */ + restartWouldDiscard(): boolean { + return ( + this.mechanism.joints.length > 0 || + this.mechanism.links.length > 0 || + this.mechanism.forces.length > 0 + ); + } + + /** Back to a bare grid and step one. The only thing that discards work. */ + restart(): void { + this.mechanism.deleteAll(); + this.started = true; + this.exited = false; + this.done = false; + this.reading = undefined; + this.hasPlayed = false; + this.knownStep = 1; + this.landOn(1); + this.tabs.setTab(TabID.EDIT); + } + + private remember(): void { + this.seen = true; + writeStoredFlag(SEEN_KEY, true); + } + + // ---------- finishing ---------- + + /** + * The last step completes on the app's own state, like every other one: the + * mechanism has run, and the student has clicked a joint that moves while + * looking at its graphs. + */ + private checkForFinish(): void { + if (this.done || !this.isRunning()) return; + if (this.tabs.getCurrentTab() !== TabID.ANALYZE) return; + if (!this.hasPlayed || this.progress().step !== 5) return; + const joint = this.activeObj.selectedJoint; + if (!joint || this.activeObj.objType !== 'Joint' || joint.ground) return; + this.finishOn(joint); + } + + private finishOn(joint: RealJoint): void { + const reading = this.readingFor(joint); + if (!reading) return; + this.reading = reading; + this.done = true; + this.remember(); + } + + /** + * The velocity of one joint, right now, in the units the graph would show. + * + * Frozen into `reading` rather than recomputed: left live it kept counting + * with the animation, which turns a result into a ticker. + */ + private readingFor(joint: RealJoint): TutorialReading | undefined { + const mechanism = this.mechanism.mechanismContaining(joint); + if (!mechanism || !mechanism.isMechanismValid()) return undefined; + const at = this.mechanism.mechanisms.indexOf(mechanism); + const samples = mechanism.joints.length; + const index = Math.max( + 0, + Math.min( + at === -1 ? this.mechanism.mechanismTimeStep : this.mechanism.currentSampleOf(at), + samples - 1 + ) + ); + const values = this.samples.sampleAt( + mechanism, + index, + 'kinematic', + 'loop', + 'Linear Joint Vel', + joint.id + ); + if (values.length < 3 || !Number.isFinite(values[2])) return undefined; + return { + joint: joint.name || joint.id, + magnitude: values[2].toFixed(2), + unit: `${this.lengthUnit()}/s`, + // The elapsed time, which is what the playback row beside it reads. + // + // The phase of the cycle in degrees is the obvious alternative and it + // puts two different angles on screen at once: the row shows the input's + // *bearing*, not how far through the cycle it is, so a card saying "90 + // degrees" beside a readout saying "360" is two right answers to + // questions the student did not know were different. + time: this.nup.formatValueAndUnit(this.mechanism.timeAtStep(index), TimeUnit.SECOND), + }; + } + + private lengthUnit(): string { + switch (this.settings.lengthUnit.value) { + case LengthUnit.INCH: + return 'in'; + case LengthUnit.METER: + return 'm'; + default: + return 'cm'; + } + } + + // ---------- doing it for them ---------- + + /** + * Make the current step's move on the student's behalf. + * + * Every branch goes through the same service call the context menu uses, so + * what lands is what they would have drawn, undoable in the usual way. + */ + doStepForMe(): void { + // The drawing's step, never the viewed one: the button offers to make the + // move that is actually outstanding, even if the card has been turned back + // to re-read something finished. + switch (this.step()) { + case 1: + this.drawFirstBar(); + break; + case 2: + this.extendChain(); + break; + case 3: + this.groundEnds(); + break; + case 4: + this.driveIt(); + break; + default: + this.playAndRead(); + } + } + + /** + * The canonical four-bar, in the student's own length units. + * + * A crank-rocker rather than any four points that close: ground 4, crank 1, + * coupler 3.5, rocker 3 satisfies Grashof with the crank adjacent to ground, + * so the input turns all the way round and the mechanism actually plays. A + * triple rocker would stall halfway through step five. + */ + private static readonly SHAPE = { + a: new Coord(-2, 0), + b: new Coord(-2, 1), + c: new Coord(0.99, 2.82), + d: new Coord(2, 0), + }; + + /** + * Where the canonical shape goes: inside what the student is already looking + * at, rather than wherever its own coordinates happen to fall. + * + * Building at fixed model coordinates and then reframing onto them is the + * obvious alternative, and it is wrong twice over: it moves the view out from + * under someone who had panned somewhere deliberately, and the zoom it lands + * on leaves the parts drawn far larger than the grid squares -- which the app + * notices and warns about. Placing it in view instead means the same thing + * happens as when a bar is drawn by hand: it is already where you are + * looking, and nothing has to move. + */ + private placeInView(): (point: Coord) => Coord { + const { a, b, c, d } = TutorialService.SHAPE; + const xs = [a.x, b.x, c.x, d.x]; + const ys = [a.y, b.y, c.y, d.y]; + const spanX = Math.max(...xs) - Math.min(...xs); + const spanY = Math.max(...ys) - Math.min(...ys); + const middle = new Coord( + (Math.max(...xs) + Math.min(...xs)) / 2, + (Math.max(...ys) + Math.min(...ys)) / 2 + ); + + const view = this.visibleRect(); + // Most of the clear space, leaving a margin so the finished four-bar reads + // as a drawing on a grid rather than as a full-bleed diagram. Two thirds + // rather than a half because the clear space is what is left between the + // panels, and on a narrow window that is a strip a few hundred pixels wide + // -- half of which is a mechanism too small to right-click accurately. + const scale = Math.min((view.width * 0.66) / spanX, (view.height * 0.6) / spanY); + return (point: Coord) => + new Coord(view.x + (point.x - middle.x) * scale, view.y + (point.y - middle.y) * scale); + } + + /** + * The middle of the *clear* canvas, and how much of the model it is showing. + * + * Not the whole canvas: the panels float over it, and a joint underneath one + * cannot be right-clicked at all — which matters here more than anywhere, + * because the tutorial goes on to ring one joint and tell the student to + * right-click it by name. + * + * The room taken is the strip between the left panel and the drawer, and only + * that. Two earlier attempts were worse: the whole canvas, which is the one + * rectangle guaranteed to put a joint under a panel; and the largest of + * beside-or-below, which on a narrow window chose the space below the panel + * and was right until the panel grew into it a step later. + */ + private visibleRect(): { x: number; y: number; width: number; height: number } { + const canvas = document.getElementById('canvas'); + const box = canvas?.getBoundingClientRect(); + if (!box || box.width === 0 || box.height === 0) { + // No canvas to ask -- a test harness, or a call before the view exists. + // The default view is centred on the origin and about twenty units wide. + return { x: 0, y: 0, width: 20 * MODEL_SCALE, height: 12 * MODEL_SCALE }; + } + + const gap = 16; + const leftPanel = onScreen('app-left-tabs .panel'); + const drawer = onScreen('#rightPanel'); + const strip = onScreen('.topStrip'); + const underneath = [onScreen('#bottomBar'), onScreen('.playbackRow')].filter( + (one): one is DOMRect => one !== undefined + ); + + const ceiling = strip ? Math.max(box.top, strip.bottom + gap) : box.top; + const floor = underneath.reduce((low, one) => Math.min(low, one.top - gap), box.bottom); + const rightWall = drawer ? Math.min(box.right, drawer.left - gap) : box.right; + + // Beside the left panel, never below it. The panel's right edge is fixed — + // it is a column of known width — but its height is not: it is a short help + // card on an empty grid and two and a half times that once a joint is + // selected, which is exactly what step three does on the way to step four. + // Room measured below it is room the panel takes back a moment later, and + // the joint the tutorial rings ends up underneath after all. + const beside = { + left: leftPanel ? Math.max(box.left, leftPanel.right + gap) : box.left, + right: rightWall, + top: ceiling, + bottom: floor, + }; + + // Enough to draw a four-bar whose two ground joints can be told apart and + // hit separately. Below this the window is narrower than the app's own + // chrome and there is no honest answer -- the canvas at least keeps the + // mechanism where the view is looking. + const MIN_CLEAR = 90; + const best = + beside.right - beside.left >= MIN_CLEAR && beside.bottom - beside.top >= MIN_CLEAR + ? beside + : { left: box.left, right: box.right, top: box.top, bottom: box.bottom }; + + const from = this.svgGrid.screenToSVGfromXY(best.left, best.top); + const to = this.svgGrid.screenToSVGfromXY(best.right, best.bottom); + return { + x: (from.x + to.x) / 2, + y: (from.y + to.y) / 2, + width: Math.abs(to.x - from.x), + height: Math.abs(to.y - from.y), + }; + } + + private drawFirstBar(): void { + // The app's own rule for a first part: object scale is taken from the zoom + // the student is at, and it has to be settled before anything is drawn, + // because every part is sized from it. + if (this.mechanism.links.length === 0) this.svgGrid.updateObjectScale(); + const place = this.placeInView(); + const { a, b } = TutorialService.SHAPE; + this.mechanism.addBar(place(a), place(b)); + } + + /** + * Extend whatever bar is there, rather than the one the tutorial would have + * drawn. + * + * The remaining two points are placed through the similarity that carries + * the canonical first bar onto the student's actual one, so a bar drawn + * longer, shorter or at an angle still finishes as the same crank-rocker. + */ + private extendChain(): void { + const { a, b, c, d } = TutorialService.SHAPE; + const first = this.firstBarEnds(); + if (!first) return; + const map = similarity(a, b, first.from, first.to); + + // Until the step is *done*, not one bar per press: the button offers to + // make the move the card is asking for, and the card is asking for a chain + // of three. Bounded so a drawing this cannot finish -- a chain that is + // already branched -- stops rather than spins. + for (let guard = 0; guard < 2 && !linksAreChained(this.mechanism.links); guard++) { + const free = endJoints(this.mechanism.joints); + const anchor = free[free.length - 1]; + if (!anchor) return; + this.mechanism.addBarFrom(anchor, map(this.mechanism.links.length === 1 ? c : d)); + } + } + + /** The two ends of the bar the student drew first, oldest joint first. */ + private firstBarEnds(): { from: Coord; to: Coord } | undefined { + const link = this.mechanism.links[0]; + if (!link || link.joints.length < 2) return undefined; + const [from, to] = link.joints; + return { from: new Coord(from.x, from.y), to: new Coord(to.x, to.y) }; + } + + private groundEnds(): void { + // Until the step is satisfied, rather than a fixed two passes. `toggleGround` + // is a toggle: on a drawing that already had one end grounded, the first + // pass finished the step and the second one took the *next* step's target + // -- an already-grounded joint -- and un-grounded it. The two cancelled, and + // from the outside the button did nothing at all. + // + // One at a time and through the panel's own call, which resolves sliders and + // rebuilds, so the ends are re-read between passes. + for (let guard = 0; guard < 4 && this.step() === 3; guard++) { + const target = this.progress().target; + if (!target) return; + this.activeObj.updateSelectedObj(target); + this.mechanism.toggleGround(); + } + } + + private driveIt(): void { + const target = this.progress().target; + if (!target) return; + this.activeObj.updateSelectedObj(target); + this.mechanism.adjustInput(); + } + + private playAndRead(): void { + this.tabs.setTab(TabID.ANALYZE); + // A sample index, not a fraction of the cycle -- `animate` rounds what it + // is given and clamps it into the sample range, so a fraction is the start + // pose every time. A quarter of the way round is far enough that the + // mechanism has visibly moved and the reading is about something. + const samples = this.mechanism.masterMechanism()?.joints.length ?? 0; + this.mechanism.animate(Math.floor(samples / 4), false); + this.hasPlayed = true; + const joint = this.fastestJoint(); + if (joint) this.activeObj.updateSelectedObj(joint); + this.checkForFinish(); + } + + /** + * The moving joint with the most to say, at the pose now on screen. + * + * "Read a velocity" wants one worth reading: the first non-grounded joint in + * the drawing is usually on the crank, whose speed is the smallest in the + * mechanism. On a crank-rocker the fastest is the coupler point, which is + * also the one the graphs are interesting for. + */ + private fastestJoint(): RealJoint | undefined { + let best: RealJoint | undefined; + let fastest = -1; + for (const joint of readableJoints(this.mechanism.joints)) { + const speed = Number(this.readingFor(joint)?.magnitude ?? -1); + if (speed > fastest) { + fastest = speed; + best = joint; + } + } + return best; + } +} + +/** + * The similarity taking one segment onto another: rotate, scale, translate. + * + * Angles and length ratios survive it, which is the whole reason it is used + * here -- the four-bar stays the four-bar whatever bar the student drew. + */ +function similarity(fromA: Coord, fromB: Coord, toA: Coord, toB: Coord): (point: Coord) => Coord { + const source = { x: fromB.x - fromA.x, y: fromB.y - fromA.y }; + const target = { x: toB.x - toA.x, y: toB.y - toA.y }; + const denominator = source.x * source.x + source.y * source.y; + if (denominator === 0) return () => new Coord(toA.x, toA.y); + // The complex quotient target/source: one number carrying both the rotation + // and the scale. + const scaleX = (target.x * source.x + target.y * source.y) / denominator; + const scaleY = (target.y * source.x - target.x * source.y) / denominator; + return (point: Coord) => { + const dx = point.x - fromA.x; + const dy = point.y - fromA.y; + return new Coord(toA.x + scaleX * dx - scaleY * dy, toA.y + scaleY * dx + scaleX * dy); + }; +} + +/** An element's box, if it is actually taking up room on screen. */ +function onScreen(selector: string): DOMRect | undefined { + const element = document.querySelector(selector); + if (!element) return undefined; + const box = element.getBoundingClientRect(); + if (box.width === 0 || box.height === 0) return undefined; + // A closed drawer keeps its box and is parked off the edge with + // `visibility: hidden`; it is not in the way and must not be treated as if + // it were. + return getComputedStyle(element).visibility === 'hidden' ? undefined : box; +} diff --git a/src/app/services/url-generation.service.ts b/src/app/services/url-generation.service.ts index 71d107c7..4d9eb26d 100644 --- a/src/app/services/url-generation.service.ts +++ b/src/app/services/url-generation.service.ts @@ -263,4 +263,22 @@ export class UrlGenerationService { const dataURL = encodeURI(dataURLString); return dataURL; } + + /** + * Put the share link on the clipboard. + * + * Through a scratch textarea and `execCommand` rather than the clipboard + * API, which needs a secure context and a permission the app has never asked + * for. Here rather than in a panel because two of them share it now. + */ + copyFullUrl(): void { + const url = this.generateFullUrl(); + const scratch = document.createElement('textarea'); + document.body.appendChild(scratch); + scratch.value = url; + scratch.textContent = url; + scratch.select(); + document.execCommand('copy'); + document.body.removeChild(scratch); + } } diff --git a/src/index.html b/src/index.html index ba433832..19ccfc28 100644 --- a/src/index.html +++ b/src/index.html @@ -26,7 +26,6 @@ rel="stylesheet" /> - Date: Fri, 21 Aug 2026 10:32:09 -0700 Subject: [PATCH 219/236] One button for the next step, and a driver switch that says when it is not one Generate and Insert were never both available: one of them is always the step the reader takes next, and the other is not a choice. Having them as two buttons in two places meant hunting for whichever was live -- and the Generate one lived in the scroll area, so it could be scrolled off the screen at the moment it mattered. They are one button at the foot of the panel now, which reads Generate solutions until there are solutions and Insert into grid after, with the search reporting itself directly above it. It names the search even before there is anything to search, greyed. Reading "Replace on grid" at two positions placed is true and useless: what is actually next is the search, and the reader is one position from it. And a driver that will not fit these positions greys its switch, rather than only explaining itself to whoever thinks to hover. The reason is still there on hover; this is the part that says not to bother pressing. Co-Authored-By: Claude Opus 5 --- e2e/synthesis-redesign.mjs | 21 ++++++++ .../synthesis-panel.component.html | 52 +++++++++---------- .../synthesis-panel.component.scss | 20 +++++++ .../synthesis-panel.component.ts | 40 ++++++++++++++ 4 files changed, 106 insertions(+), 27 deletions(-) diff --git a/e2e/synthesis-redesign.mjs b/e2e/synthesis-redesign.mjs index d42f1d21..59b18b3c 100644 --- a/e2e/synthesis-redesign.mjs +++ b/e2e/synthesis-redesign.mjs @@ -94,6 +94,15 @@ check( "the Positions buttons live in that section's heading, not in a row of their own", (await page.locator('#synthesisPanel .panel-header__actions .pill').count()) === 1 ); +check( + 'one button at the foot carries whatever the next step is', + (await page.locator('#synthesisPanel .cta').count()) === 1 +); +check( + 'and it names the search before there is anything to search', + (await page.locator('#synthesisPanel .cta').innerText()).includes('Generate') && + (await page.locator('#synthesisPanel .cta').isDisabled()) +); check( 'the strictest requirement is the one offered first', (await page.locator('#synthesisPanel .req__label').first().innerText()).includes( @@ -370,6 +379,18 @@ if (driver.dyad) { check('and that travel is a revolution, not a sliver of one', steady.span >= 180, steady); } +check( + 'a driver that cannot be fitted is greyed rather than merely explained', + await page.evaluate(() => { + const panel = ng.getComponent(document.querySelector('app-synthesis-panel')); + const row = [...document.querySelectorAll('#synthesisPanel .row')].find((r) => + r.textContent.includes('Add driver') + ); + const button = row.querySelector('.switch'); + // Whichever way this design falls, the switch's state must match the fact. + return button.disabled === !!panel.driverRefusal; + }) +); check( 'a driver is either fitted or refused in words', driver.dyad || typeof driver.refusal === 'string', diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.html b/src/app/component/synthesis-panel/synthesis-panel.component.html index 31f36575..38b99414 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.html +++ b/src/app/component/synthesis-panel/synthesis-panel.component.html @@ -256,29 +256,6 @@ } - @if (showGenerate) { -
    -
    {{ generateNote() }}
    - - @if (solution.generating) { -
    -
    - Constructing circle centres, then solving a full crank revolution for each - candidate… -
    - } -
    - } - @if (showResults) { + @if (solution.generating) { +
    +
    +
    + Constructing circle centres, then solving a full crank revolution for each… +
    +
    + }
    -
    -
    +
    + @if (solution.generating) {
    -
    - Constructing circle centres, then solving a full crank revolution for each… -
    }
    diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.scss b/src/app/component/synthesis-panel/synthesis-panel.component.scss index 03c3c919..26b53fd7 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.scss +++ b/src/app/component/synthesis-panel/synthesis-panel.component.scss @@ -235,14 +235,24 @@ $red: #e53935; display: block; padding: 0; + /* The band runs the whole width of the panel. The inset used to be on + this row, which meant the toggle's own background -- and so its hover, + and its hit area -- stopped short of both sides, leaving a strip beside + the header that looked part of it and did nothing. The inset belongs to + the text, so it sits on the button's padding instead. */ .panel-header { width: 100%; box-sizing: border-box; - padding: 10px 15px; + padding: 0; font-size: 14px; font-weight: 500; } + .panel-header__toggle { + padding: 10px 15px; + height: auto; + } + .panel-content { display: flex; flex-direction: column; @@ -1076,6 +1086,13 @@ $red: #e53935; background: #fbfbfd; } + /* The search reporting itself, directly over the button that started it. + A bar and nothing else: the sentence that used to sit under it described + the search accurately and was gone before anybody finished reading it. */ + .foot__progress { + padding: 0 4px; + } + .iconBtn { display: flex; align-items: center; diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.ts b/src/app/component/synthesis-panel/synthesis-panel.component.ts index df79c661..a23c39ad 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.ts +++ b/src/app/component/synthesis-panel/synthesis-panel.component.ts @@ -1,4 +1,12 @@ -import { Component, OnInit, OnDestroy, ChangeDetectionStrategy, inject } from '@angular/core'; +import { + Component, + OnInit, + OnDestroy, + ChangeDetectionStrategy, + ElementRef, + inject, + viewChild, +} from '@angular/core'; import { FormBuilder, FormsModule, ReactiveFormsModule } from '@angular/forms'; import { Subscription } from 'rxjs'; import { MatIcon } from '@angular/material/icon'; @@ -87,6 +95,9 @@ export class SynthesisPanelComponent implements OnInit, OnDestroy { readonly help = HELP; readonly rows = [1, 2, 3]; + /** The panel's scrolling half, so a finished search can be scrolled to. */ + private readonly workScroll = viewChild>('workScroll'); + private subs: Subscription[] = []; private syncing = false; private frame: number | undefined; @@ -148,6 +159,39 @@ export class SynthesisPanelComponent implements OnInit, OnDestroy { this.design.getAllPoses().forEach((pose) => pose.recompute()); }) ); + + // A finished search puts its answer at the bottom of a panel the reader is + // looking at the top of. Nothing about the design above it has changed, so + // there is no cue that anything happened down there -- and the button that + // was just pressed is in the foot, which does not move. So the panel goes + // to meet it. + this.subs.push( + this.solution.changed.subscribe(() => { + const searching = this.solution.generating; + const finished = this.wasSearching && !searching && this.solution.generated; + this.wasSearching = searching; + if (finished) this.revealTheAnswer(); + }) + ); + } + + /** Whether the last thing this panel heard about was a search in progress. */ + private wasSearching = false; + + /** + * Scroll the design out of the way and the solution into view. + * + * Deferred a frame: the results are rendered by the change detection this + * notification is part of, so the box is still its old height until that has + * run and there is nothing yet to scroll to. + */ + private revealTheAnswer(): void { + setTimeout(() => { + const box = this.workScroll()?.nativeElement; + if (!box) return; + const still = window.matchMedia('(prefers-reduced-motion: reduce)').matches; + box.scrollTo({ top: box.scrollHeight, behavior: still ? 'auto' : 'smooth' }); + }); } ngOnDestroy(): void { From d2aebc4621248532f9e65ac52d2c259d02a3b5d1 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 21 Aug 2026 10:39:18 -0700 Subject: [PATCH 221/236] Let the offer be turned down, and stop it sitting so far from the panel MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Two from using it. **The resume card was 20px below the panel above it** — the wrapper's own 10px gap plus a margin of the same on the card, which is double what any other pair of cards in that column keeps. The margin goes; the gap was already doing the job. The frame's own note warns about exactly this, having once had a margin push a card past the bottom of a frame capped at its own height and cut the shadow off there. Checked after the change: 10px between the cards, and the frame's 16px of padding still under the last one for its shadow to fall into. **The offer had no way to say no.** Start Tutorial was the only answer to a question the app asks every session, which is how the tour it replaced came to be resented. "No thanks" beside it writes the same mark that finishing writes, so the question is asked once and answered once, and says in passing that the project menu still has it. Also: this file's own description of the onboarding was still the intro.js tour that was deleted a few commits ago. Co-Authored-By: Claude Opus 5 --- CLAUDE.md | 3 +- e2e/tutorial.mjs | 31 ++++++++++++++++++ .../edit-panel/edit-panel.component.html | 5 ++- .../edit-panel/edit-panel.component.ts | 9 ++++++ .../left-tabs/left-tabs.component.scss | 32 +++++++++++++++++-- src/app/services/tutorial.service.ts | 12 +++++++ 6 files changed, 88 insertions(+), 4 deletions(-) diff --git a/CLAUDE.md b/CLAUDE.md index 017510a8..b54d3076 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -125,7 +125,8 @@ The **modes are tabs in the top strip, not a left rail**, and there are four of - `component/BLOCKS/` holds the reusable form primitives (input, toggle, radio, dual-input, panel-section, ...) that the panels are composed from; `component/MODALS/` holds the two dialogs (Templates, touchscreen warning). - Messages to the user go through `NotificationService`, which replaced the old `NewGridComponent.sendNotification()` static. Some components still talk through statics (e.g. `RightPanelComponent.openTab` / `insistOn`) — grep for the static before assuming a service is the only channel. - Four-bar synthesis (generating a linkage from three desired coupler poses) lives in `services/synthesis/`. -- The first-run tour is five hard-coded `intro.js` steps inside `new-grid.component.ts`'s `ngOnInit`, fired only when the grid loads empty and suppressed for good by its own "don't show again". There is no way to replay it and no separate onboarding component. +- Onboarding is the **tutorial**: `services/tutorial.service.ts` with `model/tutorial-steps.ts`, shown by `component/tutorial-panel/` as a card *pinned* in the right drawer above whatever page is open (it is not one of the numbered pages). Its step is derived from the drawing by `progressFor`, never counted, which is what lets it start on a half-built mechanism and follow an undo backwards. It is offered from the Edit panel's empty state, reopened from the project menu, and remembers in `localStorage` (`tutorialSeen`) that it has been finished, dismissed or walked out of. The `intro.js` overlay tour it replaced is gone, dependency and all. +- The tutorial card asks the drawing for its step from `ngDoCheck`, not a subscription: every edit ends in `updateMechanism`, which publishes on nothing that could be listened to — `onMechUpdateState` carries the *analysis* state, which is why caches elsewhere key on `poseRevision` instead. ### Misc diff --git a/e2e/tutorial.mjs b/e2e/tutorial.mjs index 7d19b55b..68754669 100644 --- a/e2e/tutorial.mjs +++ b/e2e/tutorial.mjs @@ -48,6 +48,9 @@ check( 'the panel still says what right-click is for', (await page.locator('.helpHints').innerText()).includes('Right-click the grid') ); +// A question with only one answer keeps getting asked. Declining is as final +// as finishing: both write the same mark, and the project menu is the way back. +check('the offer can be declined', await page.locator('.offerDismiss').isVisible()); await page.screenshot({ path: `${OUT}/01-offer.png` }); await page.locator('.offerButton').click(); @@ -316,6 +319,34 @@ await page.screenshot({ path: `${OUT}/07-resume.png` }); await narrow.close(); } +// ---- declining the offer, in a profile that has not met it ---- +{ + const declining = await browser.newContext({ viewport: { width: 1440, height: 900 } }); + const shy = await declining.newPage(); + await shy.goto(BASE, { waitUntil: 'networkidle' }); + await waitForReady(shy); + await shy.locator('.offerDismiss').click(); + await shy.waitForTimeout(700); + check('declining takes the offer away', (await shy.locator('.offer').count()) === 0); + check('without starting anything', (await shy.locator('.tutorialCard').count()) === 0); + check( + 'and says where it went', + /project menu/i.test( + await shy + .locator('app-notification-stack') + .innerText() + .catch(() => '') + ) + ); + await shy.reload({ waitUntil: 'networkidle' }); + await waitForReady(shy); + check('and it stays gone next time', (await shy.locator('.offer').count()) === 0); + await shy.locator('.brandCard .iconButton').click(); + await shy.waitForTimeout(350); + check('but the project menu still has it', await shy.locator('#tutorialButton').isVisible()); + await declining.close(); +} + await browser.close(); console.log(`\n${passed.length} passed, ${failed.length} failed`); if (errors.length) console.log('console errors:\n' + errors.slice(0, 10).join('\n')); diff --git a/src/app/component/edit-panel/edit-panel.component.html b/src/app/component/edit-panel/edit-panel.component.html index ffdbcf60..58685099 100644 --- a/src/app/component/edit-panel/edit-panel.component.html +++ b/src/app/component/edit-panel/edit-panel.component.html @@ -58,7 +58,10 @@ Build a four-bar linkage on this grid and read a velocity off it. About three minutes, in five steps.

    - +
    + + +
    } diff --git a/src/app/component/edit-panel/edit-panel.component.ts b/src/app/component/edit-panel/edit-panel.component.ts index 46e71217..46234932 100644 --- a/src/app/component/edit-panel/edit-panel.component.ts +++ b/src/app/component/edit-panel/edit-panel.component.ts @@ -2258,4 +2258,13 @@ export class EditPanelComponent implements OnInit, AfterContentInit, OnDestroy { startTutorial(): void { this.tutorial.start(); } + + /** Turn the offer down for good, and say where it went. */ + dismissTutorial(): void { + this.tutorial.dismissOffer(); + this.notify.success( + 'tutorial.dismissed', + 'Tutorial dismissed. It is in the project menu, at the top left, if you change your mind.' + ); + } } diff --git a/src/app/component/left-tabs/left-tabs.component.scss b/src/app/component/left-tabs/left-tabs.component.scss index cd23f8c8..85fad3fd 100644 --- a/src/app/component/left-tabs/left-tabs.component.scss +++ b/src/app/component/left-tabs/left-tabs.component.scss @@ -100,8 +100,32 @@ color: rgba(0, 0, 0, 0.6); } - .offerButton { + // Start, and the way to say no. The offer is a question, and a question with + // only one answer keeps getting asked. + .offerButtons { + display: flex; + align-items: center; + gap: 4px; margin-top: 11px; + } + + .offerDismiss { + height: 32px; + padding: 0 10px; + border: none; + border-radius: 4px; + background: transparent; + font-family: inherit; + font-size: 13px; + color: rgba(0, 0, 0, 0.55); + cursor: pointer; + + &:hover { + background: rgba(0, 0, 0, 0.04); + } + } + + .offerButton { height: 32px; padding: 0 14px; border: none; @@ -122,7 +146,11 @@ align-items: center; width: 100%; box-sizing: border-box; - margin-top: 10px; + // No margin of its own: the wrapper around these cards already spaces them, + // and the frame's own note warns that a margin here is what once pushed a + // card past the bottom of a frame capped at its own height and cut the + // shadow off. Ten pixels, the same as every other pair of cards in this + // column. padding: 12px 15px; border: none; border-radius: var(--border-radius); diff --git a/src/app/services/tutorial.service.ts b/src/app/services/tutorial.service.ts index d472e95d..3360bb66 100644 --- a/src/app/services/tutorial.service.ts +++ b/src/app/services/tutorial.service.ts @@ -305,6 +305,18 @@ export class TutorialService { this.tabs.setTab(TabID.EDIT); } + /** + * The offer turned down without being opened. + * + * Marked the same way finishing it is. The offer is a question asked once, + * and "no" has to be as final an answer as "yes" — otherwise every new + * session asks again, which is what made the tour it replaced so easy to + * resent. The project menu is still the way in. + */ + dismissOffer(): void { + this.remember(); + } + private remember(): void { this.seen = true; writeStoredFlag(SEEN_KEY, true); From 8097aa421000bb5337345ebf88cdb163924f616b Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 21 Aug 2026 11:25:06 -0700 Subject: [PATCH 222/236] Draw the coupler's path through the solve the preview uses, not a different one The flat side on that otherwise curved path was a line ruled across a gap. The trace asked the *four-bar* where it would be at each step, while the range it was stepping belonged to the *driver's* crank. Two different cranks, so the angles meant nothing to the solver they were handed to: with a driver fitted, eighteen of sixty samples did not close at all, and the loop skipped each one and carried on with a line -- drawing a straight edge across a region the linkage never visits. It now steps the same solve the preview itself runs, and where a phase genuinely will not close the pen lifts rather than ruling across. Sampled at 240 rather than 60, so a stretch the coupler crosses quickly is drawn as the path it takes rather than one long chord over it. Checked against the real thing rather than by eye: the previewed path and the frames the solver produces for the same linkage, once inserted, agree to within eleven internal units -- four hundredths of a centimetre -- in both directions. The dividers were two rules leaning together. Each section carried a bottom border and each section's header a top one, so every boundary in this panel came out at twice the weight of the ones everywhere else. The header draws it; the section no longer does. Co-Authored-By: Claude Opus 5 --- e2e/synthesis-redesign.mjs | 12 ++++++++ .../synthesis-panel.component.scss | 8 ++++- .../synthesis/synthesis-canvas.service.ts | 29 +++++++++++++++---- 3 files changed, 43 insertions(+), 6 deletions(-) diff --git a/e2e/synthesis-redesign.mjs b/e2e/synthesis-redesign.mjs index 08fd6121..6bbb43ac 100644 --- a/e2e/synthesis-redesign.mjs +++ b/e2e/synthesis-redesign.mjs @@ -103,6 +103,18 @@ check( (await page.locator('#synthesisPanel .cta').innerText()).includes('Generate') && (await page.locator('#synthesisPanel .cta').isDisabled()) ); +check( + 'section dividers are a single rule, as they are everywhere else in the app', + await page.evaluate(() => + [...document.querySelectorAll('#synthesisPanel collapsible-subseciton')].every((section) => { + // The header draws the rule; the section must not draw a second one + // against it, or every boundary comes out at twice the weight. + const own = getComputedStyle(section).borderBottomWidth; + const header = getComputedStyle(section.querySelector('.panel-header')).borderTopWidth; + return own === '0px' && header === '1px'; + }) + ) +); check( "a section's header, and its hit area, run the full width of the panel", await page.evaluate(() => { diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.scss b/src/app/component/synthesis-panel/synthesis-panel.component.scss index 26b53fd7..24ca4eaa 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.scss +++ b/src/app/component/synthesis-panel/synthesis-panel.component.scss @@ -199,7 +199,8 @@ $red: #e53935; gap: 8px; flex: 0 0 auto; padding: 8px 15px 8px 8px; - border-bottom: 1px solid $rule; + /* No rule of its own: the first section's header draws one directly + under this, and two together read as a heavy line. */ } .work__headText { @@ -234,6 +235,11 @@ $red: #e53935; collapsible-subseciton.sect { display: block; padding: 0; + /* Its header already draws the rule above it. Carrying `.sect`'s own rule + as well put two 1px lines against each other at every boundary, which + is why the dividers in this panel came out twice the weight of the ones + everywhere else in the app. */ + border-bottom: 0; /* The band runs the whole width of the panel. The inset used to be on this row, which meant the toggle's own background -- and so its hover, diff --git a/src/app/services/synthesis/synthesis-canvas.service.ts b/src/app/services/synthesis/synthesis-canvas.service.ts index 63e78ef5..9bca66b2 100644 --- a/src/app/services/synthesis/synthesis-canvas.service.ts +++ b/src/app/services/synthesis/synthesis-canvas.service.ts @@ -423,16 +423,35 @@ export class SynthesisCanvasService { couplerTrace(): string { const cand = this.previewing() ? this.solution.driven() : null; if (!cand) return ''; - // The travel the preview can actually make, which a driver narrows. + /* + Sampled through the same solve the preview itself uses. + + This asked the *four-bar* where it would be at each angle, while the range + it was stepping belonged to the *driver's* crank -- two different cranks, + so the angles meant nothing to the solver they were handed to. Where they + happened not to close it skipped the sample and carried on with a line, + ruling a straight edge across a region the linkage never visits. That is + the flat side on an otherwise curved path. + */ const range = this.solution.drivenRange(); const span = range.to - range.from; + // Fine enough that a stretch the coupler crosses quickly is drawn as the + // path it takes rather than as one long chord across it. + const STEPS = 240; let d = ''; - for (let k = 0; k <= 60; k++) { - const solved = solveFourBar(cand, range.from + (span * k) / 60, cand.sign); - if (!solved) continue; + let lifted = true; + for (let k = 0; k <= STEPS; k++) { + const solved = this.solution.poseAtPhase(range.from + (span * k) / STEPS); + // A phase that will not close is a hole in the travel, not a shortcut + // over it: the pen lifts rather than drawing across. + if (!solved) { + lifted = true; + continue; + } const midX = (solved.B.x + solved.C.x) / 2; const midY = (solved.B.y + solved.C.y) / 2; - d += (d ? ' L ' : 'M ') + midX.toFixed(1) + ' ' + midY.toFixed(1); + d += (lifted ? (d ? ' M ' : 'M ') : ' L ') + midX.toFixed(1) + ' ' + midY.toFixed(1); + lifted = false; } return d; } From 730fcafeb231eee47310bba40a75d66c319a0366 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 21 Aug 2026 12:06:15 -0700 Subject: [PATCH 223/236] Take the review's four correctness findings, and the test that could not fail An outside review found four real bugs and one test of mine that was proving nothing. Taking them in the order they matter. **The transmission angle was sampled, and the sampling missed the drops.** It walked the stroke every two degrees and rounded, so a candidate reported at sixteen degrees measured four and a half between two samples -- and was offered as reaching all three positions. It does not need sampling: the angle follows from the distance between the crank pin and the far ground pin by the cosine rule, and that distance is extreme only at the ends of the stroke or where the crank points at or away from the far pin. Four angles to check, exactly, and compared against the cutoff unrounded. Fixing that exposed the real fault underneath. The stroke was built from raw atan2 angles measured against a walked range that can sit a whole turn away from them, so the interval was often offset -- and sometimes inverted, and therefore empty, in which case the answer came from two arbitrary endpoints. The same class of bug as the reachability one, in the same function. **And my test for it could not have failed.** It asked whether any defect-free candidate had a transmission angle under the cutoff, which `defectFree` is defined to make impossible. It now measures the angle independently, from the bar lengths, and compares -- across three hundred designs, and stepped so both ends of the interval are always sampled, because the angle collapses at a travel limit and that is exactly the sample a rounding error drops. **A driver was offered that could not turn all the way round.** `driverDyadFor` sizes a crank and coupler to carry the input across the arc the positions need and stops there; it never asks whether the four-bar closes everywhere in between, and sometimes it does not. The panel promises one full turn, so availability now requires one: the same forward walk that feeds the transport decides whether the switch may be pressed at all, so the two cannot disagree. **A corrupt number in a URL was absorbed rather than refused.** The validator counted fields but never checked that a number was made of characters the encoder emits -- and an unknown character decodes as -1 rather than failing. A single bad digit in the coupler length brought back all three positions around a link that was not the one shared. That is the half-load the validator exists to prevent. It now checks the alphabet, and refuses a design that describes itself twice. **A drag released off the canvas never ended.** The canvas hears pointerup only on itself, so a release over the panel left the gesture live: the canvas could not be panned and the search stayed frozen until something else was clicked. The pointer is captured for the duration, with a window-level release behind it for the pointers that cannot be captured. Gestures are also now left-button only -- a right press is asking for the menu, and taking the pointer took the menu with it. Two smaller ones. The panel said pins could be pinned "anywhere ... at any length" and offered to "search for any four-bar", while the search tries nine placements and shows at most eight constructions; it now says what it does, and a heading that counts more solutions than can be opened says how many are shown. And the rewritten rows had lost their keyboard and their names: a position row is a button again, the delete is a button, and every field carries its own label. Co-Authored-By: Claude Opus 5 --- e2e/synthesis-redesign.mjs | 54 +++++ .../component/new-grid/new-grid.component.ts | 42 ++++ .../synthesis-panel.component.html | 198 +++++++++++------- .../synthesis-panel.component.scss | 19 ++ .../synthesis-panel.component.ts | 14 +- src/app/services/svg-grid.service.ts | 19 ++ .../synthesis/synthesis-candidates.ts | 113 ++++++++-- .../synthesis/synthesis-driveable.spec.ts | 84 +++++++- .../synthesis/synthesis-solution.service.ts | 39 +++- .../services/transcoding/string-transcoder.ts | 42 +++- .../transcoding/url-synthesis-design.spec.ts | 18 ++ src/app/services/url-processor.service.ts | 5 + 12 files changed, 532 insertions(+), 115 deletions(-) diff --git a/e2e/synthesis-redesign.mjs b/e2e/synthesis-redesign.mjs index 6bbb43ac..e8cc754d 100644 --- a/e2e/synthesis-redesign.mjs +++ b/e2e/synthesis-redesign.mjs @@ -431,6 +431,60 @@ if (driver.dyad) { check('and that travel is a revolution, not a sliver of one', steady.span >= 180, steady); } +check( + 'a driver is only offered when it can turn a whole revolution', + await page.evaluate(() => { + const panel = ng.getComponent(document.querySelector('app-synthesis-panel')); + const held = panel.solution.driverWanted; + const bad = []; + for (const candidate of panel.solution.candidates()) { + panel.solution.pick(candidate.key); + const refused = !!panel.driverRefusal; + panel.solution.driverWanted = true; + const range = panel.solution.drivenRange(); + const fitted = !!panel.solution.dyad(); + panel.solution.driverWanted = held; + // Offered, sized, and yet unable to complete a turn is the combination + // that breaks the "one full turn" promise the panel makes. + if (!refused && fitted && !range.full) bad.push(candidate.key); + } + return bad.length === 0; + }) +); +check( + 'a drag released off the canvas still ends the gesture', + await (async () => { + const bar = await page.evaluate(() => { + const box = document.querySelector('.synthPose')?.getBoundingClientRect(); + return box + ? { x: Math.round(box.x + box.width / 2), y: Math.round(box.y + box.height / 2) } + : null; + }); + if (!bar) return true; + // Remember where it was: this drag deliberately ends over the panel, and a + // position parked under the panel is one nothing later can right-click. + const before = await panel( + '(p) => JSON.stringify(p.design.getAllPoses().map((q) => [q.position.x, q.position.y, q.thetaDegrees]))' + ); + await page.mouse.move(bar.x, bar.y); + await page.mouse.down(); + await page.mouse.move(200, 500, { steps: 8 }); + await page.mouse.up(); + await page.waitForTimeout(400); + const ended = await grid('(g) => !g.synthCanvas.dragging && !g.synthSolution.interactive'); + await page.evaluate((was) => { + const design = ng.getComponent(document.querySelector('app-synthesis-panel')).design; + JSON.parse(was).forEach(([x, y, theta], index) => { + const pose = design.getPose(index + 1); + pose.position = { x, y, applyMatrix() {} }; + pose.thetaDegrees = theta; + }); + design.valueChanges.next(true); + }, before); + await page.waitForTimeout(400); + return ended; + })() +); check( 'a driver that cannot be fitted is greyed rather than merely explained', await page.evaluate(() => { diff --git a/src/app/component/new-grid/new-grid.component.ts b/src/app/component/new-grid/new-grid.component.ts index 3c23c67c..a4fc86ea 100644 --- a/src/app/component/new-grid/new-grid.component.ts +++ b/src/app/component/new-grid/new-grid.component.ts @@ -2308,6 +2308,21 @@ export class NewGridComponent implements OnDestroy { return getDistance(from, new Coord($event.pageX, $event.pageY)) <= 10; } + /** + * Let go of any canvas gesture still in flight. + * + * Called from the window-level release in SvgGridService, for the presses + * that come up somewhere the canvas cannot hear. Safe to call when nothing + * is happening -- it is the same tidying `mouseUp` does. + */ + releaseCanvasGestures(): void { + this.bgDrag = undefined; + if (this.synthCanvas.dragging) { + this.synthCanvas.release(); + this.mechanismSrv.save(); + } + } + /** * Whether a synthesis gesture has the pointer. * @@ -2327,9 +2342,34 @@ export class NewGridComponent implements OnDestroy { // question about a machine, not part of one. /** Take hold of a position by its body, its turn knob, or a corner grip. */ + /** + * Hold the pointer for the rest of the gesture. + * + * The canvas hears `pointerup` only on itself, so a drag released anywhere + * else -- over the panel, off the window -- was never told it had ended: the + * gesture stayed live, which left the canvas unpannable and the search frozen + * until something else was clicked. Capture makes the release come back here + * whatever it happens over. + */ + private holdPointer(event: PointerEvent): void { + const target = event.target; + if (target instanceof Element && target.hasPointerCapture !== undefined) { + try { + target.setPointerCapture(event.pointerId); + } catch { + // Some pointers cannot be captured; the window-level release below is + // what covers those. + } + } + } + startPoseGesture(event: PointerEvent, id: number, mode: 'move' | 'rotate' | 'length'): void { + // The left button only. A right-press is asking for the menu, and taking + // the pointer for a drag took the menu with it. + if (event.button !== 0) return; event.stopPropagation(); this.synthPressTaken = true; + this.holdPointer(event); const at = this.svgGrid.screenToSVGfromXY(event.clientX, event.clientY); this.synthCanvas.grabPose(at, id, mode); if (this.synthesisBuilder.isPoseDefined(id)) { @@ -2341,8 +2381,10 @@ export class NewGridComponent implements OnDestroy { /** Take hold of the ground-pivot region, or draw a new one. */ startRegionGesture(event: PointerEvent, mode: 'move' | 'corner' | 'draw', corner?: string): void { + if (event.button !== 0) return; event.stopPropagation(); this.synthPressTaken = true; + this.holdPointer(event); const at = this.svgGrid.screenToSVGfromXY(event.clientX, event.clientY); this.synthCanvas.grabRegion(at, mode, corner); } diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.html b/src/app/component/synthesis-panel/synthesis-panel.component.html index 4140d3f8..18804737 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.html +++ b/src/app/component/synthesis-panel/synthesis-panel.component.html @@ -23,8 +23,8 @@ 4-bar or 6-bar - Place a coupler in three positions. Every four-bar that passes through them is - listed for you to compare. + Place a coupler in three positions. Every four-bar that passes through them is listed + for you to compare. @@ -71,7 +71,13 @@
    @@ -128,11 +134,20 @@ @for (i of rows; track i) { +
    {{ i }} X @@ -143,6 +158,7 @@ spellcheck="false" placeholder="—" [formControlName]="'p' + i + 'x'" + [attr.aria-label]="'Position ' + i + ' X'" /> Y @@ -153,6 +169,7 @@ spellcheck="false" placeholder="—" [formControlName]="'p' + i + 'y'" + [attr.aria-label]="'Position ' + i + ' Y'" /> ⊾ @@ -163,6 +180,7 @@ spellcheck="false" placeholder="—" [formControlName]="'p' + i + 'theta'" + [attr.aria-label]="'Position ' + i + ' angle'" /> {{ rowStatusIcon(i) }} - - close - + close +
    } - @for (rq of requirements(); track rq.key) {
    @if (rq.hasRegion) { @@ -221,19 +243,35 @@
    X Y W H {{ lengthUnit }}
    @@ -241,7 +279,6 @@ }
    } -
    @if (showGallery || !hasSolution || showNoCandidateReason) { -
    - - @if (showGallery || !hasSolution) { -
    -
    {{ candidateHeading() }}
    -
    - } - - @if (showNoCandidateReason) { -
    - error_outline - {{ noCandidateReason() }} -
    - } + @if (showGallery || !hasSolution) { +
    +
    {{ candidateHeading() }}
    +
    + } - @if (showGallery) { - - @if (hasMoreCandidates) { - - } - } -
    + @if (showGallery) { + + + @if (hasMoreCandidates) { + + } + } + } @if (hasSolution) { @@ -428,12 +475,20 @@ } {{ previewNote() }} {{ angleLabel() }} - -
    @@ -441,8 +496,11 @@
    @for (tk of poseTicks(); track $index) { -
    +
    } this.toggleRequirement('endsOnly'), }, { @@ -614,7 +614,7 @@ export class SynthesisPanelComponent implements OnInit, OnDestroy { if (this.design.constrain) parts.push('both ground pins in the region'); return parts.length ? 'Search for four-bars with ' + parts.join(', ') + '.' - : 'Search for any four-bar through these three positions.'; + : 'Search for four-bars through these three positions.'; } generate(): void { @@ -693,10 +693,16 @@ export class SynthesisPanelComponent implements OnInit, OnDestroy { const list = this.solution.candidates(); if (!list.length) return 'No solution meets the requirements'; const strict = this.solution.strictCount; + // Counted as what can be browsed, not as what was found. The gallery shows + // the best few; a heading naming ten when eight is the most anybody can + // open is a heading describing something else. + const shown = list.length; + const capped = strict > shown ? ` (best ${shown} shown)` : ''; if (strict) { - return `${strict} ${strict === 1 ? 'solution reaches' : 'solutions reach'} all 3 positions`; + const label = strict === 1 ? 'solution reaches' : 'solutions reach'; + return `${strict} ${label} all 3 positions${capped}`; } - return `${list.length} solution${list.length === 1 ? '' : 's'}, all with a branch defect`; + return `${shown} solution${shown === 1 ? '' : 's'}, all with a branch defect`; } /** diff --git a/src/app/services/svg-grid.service.ts b/src/app/services/svg-grid.service.ts index 0cec8905..a6546d8a 100644 --- a/src/app/services/svg-grid.service.ts +++ b/src/app/services/svg-grid.service.ts @@ -167,9 +167,28 @@ export class SvgGridService { }); this.guardAgainstStuckPan(root); this.restoreMissingPointerDown(root); + this.releaseGesturesOnLostPointer(); this.scaleToFitLinkage(false); } + /** + * End a canvas gesture the canvas never saw end. + * + * A press that goes down on the drawing can come up anywhere -- over a panel, + * outside the window, or not at all if the browser cancels it. The canvas + * hears `pointerup` only on itself, so those releases went unheard and the + * gesture stayed live: the pan guard kept refusing to pan and the search + * stayed frozen mid-drag until something else was clicked. + * + * On the window, and in the capture phase, so it runs wherever the release + * lands and whatever else claims it. + */ + private releaseGesturesOnLostPointer(): void { + const release = () => NewGridComponent.instance?.releaseCanvasGestures(); + window.addEventListener('pointerup', release, true); + window.addEventListener('pointercancel', release, true); + } + /** * Hand the wheel to whatever gesture wants it, or give it back to the zoom. * diff --git a/src/app/services/synthesis/synthesis-candidates.ts b/src/app/services/synthesis/synthesis-candidates.ts index d051bc1d..35e78a3f 100644 --- a/src/app/services/synthesis/synthesis-candidates.ts +++ b/src/app/services/synthesis/synthesis-candidates.ts @@ -100,6 +100,8 @@ export interface FourBarCandidate { minTransmission: number; /** Whether that angle is so tight the linkage stalls rather than turns. */ binds: boolean; + /** The span of crank travel the angle above was measured over. */ + stroke: { from: number; to: number }; kind: string; size: number; } @@ -225,6 +227,55 @@ function attach(pose: PosePoint, u: number): Coord { * defect, and it is the single most important thing to tell a reader * comparing candidates. */ +/** + * The worst transmission angle over a stretch of crank travel, exactly. + * + * This was sampled every two degrees, and the answer rounded, which is not + * good enough for the one number that decides whether a linkage is a machine + * or an ornament: near a travel limit the angle falls away steeply, and a + * candidate reported at sixteen degrees was measured independently at four and + * a half between two of the samples. + * + * It does not need sampling. With the ground link fixed, the distance between + * the crank pin and the far ground pin is + * + * s(theta)^2 = g^2 + r1^2 - 2*g*r1*cos(theta - theta_AD) + * + * and the angle at the coupler-rocker joint follows from that distance alone + * by the cosine rule. Folded into the first quadrant, the angle is worst where + * |cos| is largest, which is where s is at an extreme -- and s is extreme only + * at the ends of the interval or where the crank points directly at, or + * directly away from, the far ground pin. Four angles to check, not a hundred. + */ +export function worstTransmission( + cand: FourBarCandidate, + from: number, + to: number +): number { + const towardsD = (Math.atan2(cand.D.y - cand.A.y, cand.D.x - cand.A.x) * 180) / Math.PI; + const candidates = [from, to]; + // The two interior extremes, brought into the interval a turn at a time. + [towardsD, towardsD + 180].forEach((critical) => { + for (let turn = -2; turn <= 2; turn++) { + const at = critical + turn * 360; + if (at > from && at < to) candidates.push(at); + } + }); + + let worst = 90; + candidates.forEach((deg) => { + const t = (deg * Math.PI) / 180; + const bx = cand.A.x + cand.r1 * Math.cos(t); + const by = cand.A.y + cand.r1 * Math.sin(t); + const span = Math.hypot(bx - cand.D.x, by - cand.D.y); + const cosine = (cand.d * cand.d + cand.r2 * cand.r2 - span * span) / (2 * cand.d * cand.r2); + let mu = (Math.acos(Math.max(-1, Math.min(1, cosine))) * 180) / Math.PI; + if (mu > 90) mu = 180 - mu; + worst = Math.min(worst, mu); + }); + return worst; +} + /** * Whether a crank angle lies inside a stretch of continuous travel. * @@ -233,13 +284,27 @@ function attach(pose: PosePoint, u: number): Coord { * can be called out of reach. */ function withinTravel(theta: number, range: { from: number; to: number; full: boolean }): boolean { - if (range.full) return true; + return intoTravel(theta, range) !== null; +} + +/** + * The same crank direction, expressed inside a stretch of travel. + * + * Angles come out of `atan2` in (-180, 180] while a walked range runs wherever + * the walk took it, so the same direction has to be tried a turn either way + * before it can be placed -- or called out of reach. Returns null when it is + * genuinely outside. + */ +function intoTravel( + theta: number, + range: { from: number; to: number; full: boolean } +): number | null { const slack = 1e-6; for (let turn = -2; turn <= 2; turn++) { const at = theta + turn * 360; - if (at >= range.from - slack && at <= range.to + slack) return true; + if (at >= range.from - slack && at <= range.to + slack) return at; } - return false; + return range.full ? theta : null; } export function assess(cand: FourBarCandidate): void { @@ -291,23 +356,30 @@ export function assess(cand: FourBarCandidate): void { // The transmission angle over the stroke that matters -- the span the three // positions actually occupy, not the whole range. It is how squarely the - // coupler pushes the rocker, and a four-bar that passes through the poses at - // five degrees will stall there in real life. - let minMu = 180; - const strokeFrom = Math.max(cand.range.from, Math.min(...cand.thetas) - 5); - const strokeTo = Math.min(cand.range.to, Math.max(...cand.thetas) + 5); - for (let deg = strokeFrom; deg <= strokeTo; deg += 2) { - const sol = solveFourBar(cand, deg, branch); - if (!sol) continue; - const v1 = { x: sol.B.x - sol.C.x, y: sol.B.y - sol.C.y }; - const v2 = { x: cand.D.x - sol.C.x, y: cand.D.y - sol.C.y }; - const dot = (v1.x * v2.x + v1.y * v2.y) / (Math.hypot(v1.x, v1.y) * Math.hypot(v2.x, v2.y)); - let mu = (Math.acos(Math.max(-1, Math.min(1, dot))) * 180) / Math.PI; - if (mu > 90) mu = 180 - mu; - minMu = Math.min(minMu, mu); - } - cand.minTransmission = Math.round(minMu); - cand.binds = cand.minTransmission < BINDING_ANGLE; + // coupler pushes the rocker, and a four-bar that passes through the positions + // at five degrees will stall there in real life. + // Measured over the stroke expressed in the *range's* terms. These were raw + // atan2 angles compared against a walked range that can sit a turn away from + // them, which produced intervals that were offset, or inverted and therefore + // empty -- and an empty interval reports whatever its two endpoints happen to + // say rather than the worst of the travel. + const placed = cand.thetas + .map((theta) => intoTravel(theta, cand.range)) + .filter((theta): theta is number => theta !== null); + const strokeFrom = placed.length + ? Math.max(cand.range.from, Math.min(...placed) - 5) + : cand.range.from; + const strokeTo = placed.length ? Math.min(cand.range.to, Math.max(...placed) + 5) : cand.range.to; + const worst = worstTransmission( + cand, + Math.min(strokeFrom, strokeTo), + Math.max(strokeFrom, strokeTo) + ); + cand.stroke = { from: Math.min(strokeFrom, strokeTo), to: Math.max(strokeFrom, strokeTo) }; + cand.minTransmission = Math.round(worst); + // Against the exact figure, not the rounded one: a linkage that stalls at + // 14.6 degrees is not saved by being displayed as 15. + cand.binds = worst < BINDING_ANGLE; // Reaching all three is not enough on its own: a linkage that has to pass // through a dead point to get between them arrives at the first position and // stops there, which is not what "reaches all 3" promises anybody. @@ -478,6 +550,7 @@ export function enumerateCandidates(search: CandidateSearch): CandidateResult { range: { from: 0, to: 0, full: false }, minTransmission: 0, binds: false, + stroke: { from: 0, to: 0 }, kind: '', size: 0, }; diff --git a/src/app/services/synthesis/synthesis-driveable.spec.ts b/src/app/services/synthesis/synthesis-driveable.spec.ts index d5143d1d..9fc263e4 100644 --- a/src/app/services/synthesis/synthesis-driveable.spec.ts +++ b/src/app/services/synthesis/synthesis-driveable.spec.ts @@ -153,10 +153,77 @@ describe('every solution offered can be driven through what it claims', () => { }); }); - it('never offers one that stalls at a dead point', () => { + /** + * The transmission angle, worked out from the bar lengths alone. + * + * Deliberately not the code's own routine, and deliberately not by asking + * the solver where the joints are: this measures the same physical quantity + * by an independent route, so agreeing with it means something. The angle at + * the coupler-rocker joint follows from the distance between the crank pin + * and the far ground pin by the cosine rule. + */ + function transmissionAt(cand: Candidate, deg: number): number | null { + const t = (deg * Math.PI) / 180; + const bx = cand.A.x + cand.r1 * Math.cos(t); + const by = cand.A.y + cand.r1 * Math.sin(t); + const span = Math.hypot(bx - cand.D.x, by - cand.D.y); + if (span > cand.d + cand.r2 || span < Math.abs(cand.d - cand.r2)) return null; + const cosine = (cand.d * cand.d + cand.r2 * cand.r2 - span * span) / (2 * cand.d * cand.r2); + let mu = (Math.acos(Math.max(-1, Math.min(1, cosine))) * 180) / Math.PI; + if (mu > 90) mu = 180 - mu; + return mu; + } + + /** + * The worst it gets over the stroke, swept densely rather than claimed. + * + * The stroke is the code's, because which span to measure is a definition + * rather than a measurement -- but the number is arrived at independently, + * from the bar lengths by the cosine rule, without asking the solver where + * any joint is. Stepped so that both ends are always sampled: the angle + * collapses at a travel limit, so an endpoint missed by a rounding error is + * exactly the sample that matters. + */ + function measuredWorst(cand: Candidate): number { + const { from, to } = cand.stroke; + const steps = Math.max(1, Math.ceil((to - from) / 0.02)); + let worst = 90; + for (let k = 0; k <= steps; k++) { + const mu = transmissionAt(cand, from + ((to - from) * k) / steps); + if (mu !== null) worst = Math.min(worst, mu); + } + return worst; + } + + it('reports a transmission angle that a dense independent measure agrees with', () => { const next = rng(20260821); - const binding: string[] = []; - for (let n = 0; n < 400; n++) { + const disagreements: string[] = []; + for (let n = 0; n < 300; n++) { + const poses = [0, 1, 2].map(() => + pose(next() * 24 - 12, next() * 24 - 12, next() * 360 - 180) + ); + const { candidates } = enumerateCandidates({ + poses, + length: LENGTH, + endsOnly: next() < 0.5, + }); + candidates.forEach((cand) => { + const measured = measuredWorst(cand); + // Half a degree of slack for the dense sweep's own step. + if (Math.abs(measured - cand.minTransmission) > 1.5) { + disagreements.push( + `design ${n} ${cand.key}: reported ${cand.minTransmission}°, measured ${measured.toFixed(2)}°` + ); + } + }); + } + expect(disagreements.slice(0, 5)).toEqual([]); + }); + + it('never offers one that a dense measure says stalls', () => { + const next = rng(20260821); + const stalling: string[] = []; + for (let n = 0; n < 300; n++) { const poses = [0, 1, 2].map(() => pose(next() * 24 - 12, next() * 24 - 12, next() * 360 - 180) ); @@ -166,10 +233,15 @@ describe('every solution offered can be driven through what it claims', () => { endsOnly: next() < 0.5, }); candidates - .filter((c) => c.defectFree && c.minTransmission < BINDING_ANGLE) - .forEach((c) => binding.push(`design ${n} ${c.key} at ${c.minTransmission}°`)); + .filter((c) => c.defectFree) + // Measured independently, so this is not the code agreeing with itself. + // The previous version of this test asked whether any defect-free + // candidate had `minTransmission < BINDING_ANGLE`, which `defectFree` + // is defined to make impossible: it could not have failed. + .filter((c) => measuredWorst(c) < BINDING_ANGLE - 0.5) + .forEach((c) => stalling.push(`design ${n} ${c.key} at ${measuredWorst(c).toFixed(2)}°`)); } - expect(binding.slice(0, 5)).toEqual([]); + expect(stalling.slice(0, 5)).toEqual([]); }); it('over four hundred designs, every claim survives being driven', () => { diff --git a/src/app/services/synthesis/synthesis-solution.service.ts b/src/app/services/synthesis/synthesis-solution.service.ts index 750f7986..3298128d 100644 --- a/src/app/services/synthesis/synthesis-solution.service.ts +++ b/src/app/services/synthesis/synthesis-solution.service.ts @@ -260,16 +260,28 @@ export class SynthesisSolutionService { driverAvailability(): string | undefined { const cand = this.driven(); if (!cand) return undefined; - const result = driverDyadFor(cand.A, cand.ptsA); - return 'refusal' in result ? result.refusal : undefined; - } - - /** The driver dyad for the current solution, if one is wanted and fits. */ + const sized = driverDyadFor(cand.A, cand.ptsA); + if ('refusal' in sized) return sized.refusal; + // Sized is not the same as workable. `driverDyadFor` solves for a crank and + // coupler that carry the input across the arc the three positions need, + // and stops there -- it never asks whether the four-bar can be closed + // everywhere in between, and sometimes it cannot. The result is a six-bar + // whose motor jams partway round, which is worse than no driver at all + // because the panel promises "one full turn". + return this.driverTravel(cand, sized.dyad).full + ? undefined + : 'A driver sized for these positions cannot turn a whole revolution — the ' + + 'four-bar jams partway round. Moving a position, or driving from the ' + + 'other pin, usually frees it.'; + } + + /** The driver dyad for the current solution, if one is wanted and works. */ dyad(): DriverDyad | undefined { const cand = this.driven(); if (!cand || !this.driverWanted) return undefined; - const result = driverDyadFor(cand.A, cand.ptsA); - return 'refusal' in result ? undefined : result.dyad; + const sized = driverDyadFor(cand.A, cand.ptsA); + if ('refusal' in sized) return undefined; + return this.driverTravel(cand, sized.dyad).full ? sized.dyad : undefined; } /** @@ -376,7 +388,20 @@ export class SynthesisSolutionService { if (!cand) return { from: 0, to: 360, full: false }; const dyad = this.dyad(); if (!dyad) return cand.range; + return this.driverTravel(cand, dyad); + } + /** + * How far the driver's crank can turn before the train stops closing. + * + * Walked forwards from the position the linkage is drawn in. Its answer is + * both what the transport offers and what decides whether a driver may be + * fitted at all, so the two cannot disagree about what the machine does. + */ + private driverTravel( + cand: FourBarCandidate, + dyad: DriverDyad + ): { from: number; to: number; full: boolean } { const key = cand.key + ':' + this.driveOnFarPin + ':' + this.design.searchKey(); if (this.driverRangeKey === key) return this.driverRange; diff --git a/src/app/services/transcoding/string-transcoder.ts b/src/app/services/transcoding/string-transcoder.ts index a7d66ee7..3ef72df4 100644 --- a/src/app/services/transcoding/string-transcoder.ts +++ b/src/app/services/transcoding/string-transcoder.ts @@ -693,34 +693,60 @@ export class StringTranscoder extends GenericTranscoder { } /** - * A synthesis design must be numbers, and the right count of them. + * A synthesis design must be the right entries, with the right count of + * readable numbers in each. * - * It names nothing in the drawing, so there is no reference to resolve -- - * but a design half-read is worse than no design, because the panel would - * open on positions that are not where the reader left them. Fails closed, - * like every other trailing section. + * Most of it names nothing in the drawing -- the exception is `SO`, which + * lists the joints the design put there -- so there is little to resolve + * against. What there is to check is shape, and a design half-read is worse + * than no design: the panel would open on positions that are not where the + * reader left them. Fails closed, like every other trailing section. */ private validateDecodedSynthesis(): void { // Field counts per entry. `SO` is the one that varies: it lists the joints // the design owns, and how many there are depends on the linkage. const expected: { [tag: string]: number } = { SD: 3, SP: 3, SR: 4 }; - let positions = 0; + /* + Every character the number encoder can emit, and nothing else. + + Without this the check stopped at counting fields, and an unreadable + character decoded to -1 rather than failing -- so one corrupt digit in a + length silently produced a different number, and the design came back + with its three positions intact around a coupler that was not the one + that had been shared. That is precisely the half-load this validator + exists to prevent. + */ + const numeric = /^[0-9A-Za-z_-]+$/; + const seen = new Map(); this.synthesisMarks.forEach((entry) => { const tag = entry.substring(0, 2); const count = expected[tag]; if (count === undefined && tag !== 'SO') { throw new Error('URL contains an unknown synthesis entry'); } + seen.set(tag, (seen.get(tag) ?? 0) + 1); const parts = entry.substring(2).split('~').slice(1); const enough = tag === 'SO' ? parts.length >= 1 : parts.length === count; if (!enough || parts.some((part) => part === '')) { throw new Error('URL contains an incomplete synthesis entry'); } - if (tag === 'SP') positions++; + // Ownership carries object ids, which are letters; every other entry is + // numbers, and has to look like numbers. + if (tag !== 'SO' && parts.some((part) => !numeric.test(part))) { + throw new Error('URL contains an unreadable synthesis number'); + } }); - if (positions > 3) { + if ((seen.get('SP') ?? 0) > 3) { throw new Error('URL contains more than three synthesis positions'); } + // One design per URL. Two headers, or two of anything that describes the + // design as a whole, means the section was assembled by something other + // than this app, and there is no sensible way to choose between them. + (['SD', 'SR', 'SO'] as const).forEach((tag) => { + if ((seen.get(tag) ?? 0) > 1) { + throw new Error('URL repeats a synthesis entry'); + } + }); } /** diff --git a/src/app/services/transcoding/url-synthesis-design.spec.ts b/src/app/services/transcoding/url-synthesis-design.spec.ts index 6a6ed648..dc62a8a5 100644 --- a/src/app/services/transcoding/url-synthesis-design.spec.ts +++ b/src/app/services/transcoding/url-synthesis-design.spec.ts @@ -163,6 +163,24 @@ describe('a synthesis design in the URL', () => { expect(() => decodeInto(broken)).toThrowError(/incomplete synthesis entry/); }); + it('refuses a number it cannot read, rather than substituting a default', () => { + const url = encode(worked()); + // One character of the coupler length replaced by something outside the + // number alphabet. It used to decode as -1 and be absorbed silently: the + // three positions came back intact around a coupler that was not the one + // that had been shared, which is a half-load wearing the face of a success. + const broken = url.replace(/SD~([^~,])/, 'SD~$'); + expect(broken).not.toBe(url); + expect(broken.length).toBe(url.length); + expect(() => decodeInto(broken)).toThrowError(/unreadable synthesis number/); + }); + + it('refuses a design that describes itself twice', () => { + const url = encode(worked()); + const doubled = url.replace(/(SD~[^,]+)/, '$1,$1'); + expect(() => decodeInto(doubled)).toThrow(); + }); + it('refuses an entry it does not recognise', () => { const url = encode(worked()); expect(() => decodeInto(url.replace('SD~', 'SZ~'))).toThrowError(/unknown synthesis entry/); diff --git a/src/app/services/url-processor.service.ts b/src/app/services/url-processor.service.ts index 0cf94d24..009fa099 100644 --- a/src/app/services/url-processor.service.ts +++ b/src/app/services/url-processor.service.ts @@ -117,6 +117,11 @@ export class UrlProcessorService { // before the rebuild below, so the panel and the canvas come up // describing the same state. applySynthesisDesign(decoder.getSynthesisMarks(), this.synthesis); + // Ownership names joints this URL is supposed to carry. Anything it + // names that is not here was removed by hand at some point, and a + // claim on an object that does not exist is not a claim worth keeping. + const present = new Set(mechanismSrv.joints.map((joint) => joint.id)); + this.synthesis.ownedJointIds = this.synthesis.ownedJointIds.filter((id) => present.has(id)); // A decode replaces the design wholesale, so whatever was found for the // last one says nothing about this one. Resolved late, like the other // services this one reaches: asking for it at construction would build From 3c5ceedca035f2da562e2083830a369d774870c5 Mon Sep 17 00:00:00 2001 From: Kohmei Kadoya Date: Fri, 21 Aug 2026 12:32:13 -0700 Subject: [PATCH 224/236] Draw the letters the panel refers to, and let Space press a button MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit "Driven from Pin A". There is no Pin A on the screen. Nor a B, C or D, so "Ground A–D" and "Coupler B–C" in the link lengths named bars the reader had no way to identify either. The preview draws its pins' letters now, whatever the show-ids setting says, because the panel is talking about them either way. Looking for more of the same turned up three others. The link lengths were half one thing and half another: two rows named their pins and two did not. All four do now -- crank A–B, coupler B–C, rocker C–D, ground A–D -- and the driver's two say which pins they run between as well. "Coupler pinned: at both ends cm". The unit was appended to a phrase rather than sitting beside a number, so where there was no number it read as that, and where there was one it read "3.0 past the back cm". The unit goes with its number. The transport said "full crank rotation" beside a six-bar, where the crank being turned is the driver's and the four-bar's is an output. It names which. And Space did not press a focused button -- anywhere in the app, not just here. The shortcut service skips a keystroke aimed at a text field, but a button is not a text field, so Space reached the global handler and was preventDefault-ed on its way to the button it was aimed at. Every button in the app was reachable by keyboard, focusable, outlined, and inert when pressed; nothing noticed for as long as nobody tried to drive it without a mouse. Space and Enter now belong to whatever natively answers them, and every other shortcut still works with a button focused. Also from the second review: the stroke a solution is judged over is the shortest arc between its three positions, found by looking for the widest gap between them. Taken as the smallest and largest of the three angles it named the long way round the circle on a full-turn crank -- three hundred and thirty degrees where the real arc was eighty -- so linkages were being judged on travel they never make between the positions, which rejected good candidates and accepted binding ones. The test for it checks the stroke that was chosen, not only the angle computed over it, and fails on the old behaviour. The position row is a plain container again: it had been given role="button" so it could be reached by keyboard, which made it a button wrapping two textboxes and another button, and its Space handler swallowed the nested button's own activation. The numbered chip is the control instead. Co-Authored-By: Claude Opus 5 --- e2e/synthesis-redesign.mjs | 36 +++++++++ .../new-grid/new-grid.component.html | 20 +++++ .../new-grid/new-grid.component.scss | 13 ++++ .../synthesis-panel.component.html | 28 ++++--- .../synthesis-panel.component.scss | 16 ++-- .../synthesis-panel.component.ts | 24 ++++-- .../services/keyboard-shortcuts.service.ts | 25 +++++++ src/app/services/synthesis/driver-dyad.ts | 9 ++- .../synthesis/synthesis-candidates.ts | 75 ++++++++++++------- .../synthesis/synthesis-driveable.spec.ts | 53 +++++++++++++ 10 files changed, 248 insertions(+), 51 deletions(-) diff --git a/e2e/synthesis-redesign.mjs b/e2e/synthesis-redesign.mjs index e8cc754d..e20e8e43 100644 --- a/e2e/synthesis-redesign.mjs +++ b/e2e/synthesis-redesign.mjs @@ -431,6 +431,42 @@ if (driver.dyad) { check('and that travel is a revolution, not a sliver of one', steady.span >= 180, steady); } +check( + 'every pin the panel names by letter is lettered on the drawing', + await page.evaluate(() => { + const drawn = new Set( + [...document.querySelectorAll('#synthesisPreviewTags .synthPreviewTag')].map((t) => + t.textContent.trim() + ) + ); + const panel = ng.getComponent(document.querySelector('app-synthesis-panel')); + // Every letter the panel uses -- "Pin A", "Ground A–D", "Coupler B–C" -- + // has to name something the reader can find on the grid. + const named = new Set(); + panel.pinOptions().forEach((o) => (o.label.match(/[A-F]/g) ?? []).forEach((l) => named.add(l))); + panel + .dimensionRows() + .forEach((r) => (r.label.match(/\b[A-F]\b/g) ?? []).forEach((l) => named.add(l))); + return [...named].every((letter) => drawn.has(letter)); + }) +); +check( + 'and a length given in words still puts its unit beside the number', + await panel( + '(p) => !p.dimensionRows().some((r) => / (cm|m|in)$/.test(r.value) && /[a-z]{3,} (cm|m|in)$/.test(r.value))' + ) +); +check( + 'Space activates a focused button, as Space does', + await page.evaluate(() => { + const button = document.querySelector('#synthesisPanel .poseRow__remove'); + if (!button || button.disabled) return true; + button.focus(); + const event = new KeyboardEvent('keydown', { key: ' ', bubbles: true, cancelable: true }); + // Not swallowed by a global shortcut on its way past. + return button.dispatchEvent(event); + }) +); check( 'a driver is only offered when it can turn a whole revolution', await page.evaluate(() => { diff --git a/src/app/component/new-grid/new-grid.component.html b/src/app/component/new-grid/new-grid.component.html index f343f3dd..79647424 100644 --- a/src/app/component/new-grid/new-grid.component.html +++ b/src/app/component/new-grid/new-grid.component.html @@ -1055,6 +1055,26 @@ [attr.stroke-width]="svgGrid.scaleWithZoom(1.4)" /> } + + + @for (jt of synthCanvas.previewJoints(); track jt.id) { + + {{ jt.id }} + + } + } diff --git a/src/app/component/new-grid/new-grid.component.scss b/src/app/component/new-grid/new-grid.component.scss index 8bef73ba..8a623f98 100644 --- a/src/app/component/new-grid/new-grid.component.scss +++ b/src/app/component/new-grid/new-grid.component.scss @@ -267,6 +267,19 @@ pointer-events: none; } + // The pins' letters, which the panel refers to by name. Haloed rather than + // boxed: they sit over whatever the drawing has behind them, and a box that + // size beside every pin would be more chrome than linkage. + .synthPreviewTag { + fill: rgba(0, 0, 0, 0.72); + stroke: #fff; + stroke-width: 3; + paint-order: stroke; + font-family: Roboto, sans-serif; + font-weight: 500; + pointer-events: none; + } + .synthPreviewJoint { fill: #ffecb2; stroke: rgba(0, 0, 0, 0.4); diff --git a/src/app/component/synthesis-panel/synthesis-panel.component.html b/src/app/component/synthesis-panel/synthesis-panel.component.html index 18804737..924fd5ae 100644 --- a/src/app/component/synthesis-panel/synthesis-panel.component.html +++ b/src/app/component/synthesis-panel/synthesis-panel.component.html @@ -134,22 +134,30 @@ @for (i of rows; track i) { - +
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b/docs/ui-vocabulary.md index 182bd94c..22102df4 100644 --- a/docs/ui-vocabulary.md +++ b/docs/ui-vocabulary.md @@ -55,9 +55,37 @@ the canvas needs to show it. | Fusing bodies | **Weld** / **Unweld** | `Weld Joint`, `Unweld Joint`, `Un-weld All` | | Removing anything | **Delete** | `Delete Joint`, `Delete Link`, `Delete Cylinder` | -`Make` survives in exactly one place — `Make Force Global` / `Make Force Local` -— because that pair is a switch between two states rather than the presence or -absence of one. Do not reach for it anywhere else. +`Make` is gone. It survived in one place — `Make Force Global` / `Make Force +Local` — precisely because that pair was a switch between two states rather +than the presence or absence of one, and the right-click menu now writes states +as states: the row is `Global Frame`, ticked or not. Do not reach for `Make` +anywhere. + +### Verbs, and the switches that are not verbs + +The rule above is for **controls that do something**. A control that *describes +a state the object is already in* is named after the state and carries a tick, +so no label rewrites itself as it is used: + +| A verb, because it acts | A state, because it describes | +| --- | --- | +| `Attach Link`, `Delete Joint`, `Reverse Direction` | `Grounded`, `Driven Input`, `Slider`, `Welded`, `Locked`, `Trace Path`, `Global Frame`, `Drawn as a Disc` | + +The Edit panel's toggles already worked this way; the right-click menu followed +in the context-menu redesign, which is why `Add Ground` / `Remove Ground` no +longer appear there. On a menu whose group heading already carries the verb — +`ADD` on the bare grid, `ATTACH` on a part — the rows below it are bare nouns +(`Link`, `Cylinder`, `Tracer Point`), because the heading has said the verb +once and repeating it down five rows says nothing new. + +### Refusals wear their reason + +A control a reader could reasonably expect is **greyed with the reason beside +it**, in three or four lower-case words — `needs 2 links`, `it is driven`, +`unlock first` — with the model's own longer sentence on hover. A control that +is *structurally* impossible for that kind of object is **absent**, because a +row that can never be used on any joint of this kind is noise rather than +information. Nothing is clickable and then refused by a snackbar. **Delete means the thing you named goes**, along with anything that cannot stand without it. `Delete Cylinder` on one of a cylinder's joints deletes the diff --git a/e2e/README.md b/e2e/README.md index 54b9227f..19a2e61c 100644 --- a/e2e/README.md +++ b/e2e/README.md @@ -34,6 +34,7 @@ their source. Everything browser-driven lives here. - `playback-timing.mjs` — real-time playback: a revolution takes 60/RPM wall-clock seconds, the reported cycle period scales with input speed, and simulation time is held (not the sample index) across a speed change - `input-settings-and-playback.mjs` — the input joint's Input Settings section (direction, unit-free speed field, RPM / deg/s / rad/s picker), its removal from global Settings, the time field's width, and that playback interpolates between samples at a slow input speed - `synthesis-redesign.mjs` — Synthesis end to end: the chooser, arming and dropping the three positions (wheel turns the one about to land, and does not zoom), dragging one without panning the canvas, Generate, the candidate gallery and its hover comparison, the six-bar driver, the preview transport, Insert and its Undo, and the design surviving undo and redo +- `context-menu.mjs` — the right-click menu on every kind of part and in every mode: the fixed Attach/State/Machine ladder with Delete alone at the foot, states written as ticked switches rather than labels that flip, the model's own reason in the right-hand slot of every greyed row (a load at a shared pin, a weld with nothing to fuse, a sealed cylinder, a locked part), the deletion cascades named before the click, the counts beside Lock All and Unlock All, and the analysis modes offering the trace and the way back into Edit and nothing that edits ## Running diff --git a/e2e/analysis-setup.mjs b/e2e/analysis-setup.mjs index 4359a339..5007fdc8 100644 --- a/e2e/analysis-setup.mjs +++ b/e2e/analysis-setup.mjs @@ -119,7 +119,7 @@ record( ); record( 'which names a joint that could take the job', - /Right-click joint [A-Z] and choose Add Input/.test(text), + /Right-click joint [A-Z] and switch on Driven Input/.test(text), text ); diff --git a/e2e/attach-cylinder.mjs b/e2e/attach-cylinder.mjs index 6a4129d9..ff84c51b 100644 --- a/e2e/attach-cylinder.mjs +++ b/e2e/attach-cylinder.mjs @@ -98,26 +98,26 @@ await page.mouse.click(on.x, on.y, { button: 'right' }); await page.waitForTimeout(600); const menu = await page.evaluate(() => - [...document.querySelectorAll('#contextMenu #menu-item')].map((item) => ({ - label: item.textContent.trim().replace(/\s+/g, ' '), - disabled: item.classList.contains('disabledItem'), + [...document.querySelectorAll('#contextMenu .cm-row')].map((item) => ({ + label: item.querySelector('.cm-row__label')?.textContent?.trim() ?? '', + disabled: item.classList.contains('cm-row--off'), })) ); -const entry = menu.find((item) => item.label === 'Attach Cylinder'); -record('a link offers Attach Cylinder', !!entry && !entry.disabled, menu); -// Beside Attach Link, not somewhere else in the list: they are the same act. +const entry = menu.find((item) => item.label === 'Cylinder'); +record('a link offers Cylinder, under Attach', !!entry && !entry.disabled, menu); +// Beside Link, not somewhere else in the group: they are the same act. record( - 'and offers it beside Attach Link', - menu.findIndex((item) => item.label === 'Attach Cylinder') === - menu.findIndex((item) => item.label === 'Attach Link') + 1, + 'and offers it beside Link', + menu.findIndex((item) => item.label === 'Cylinder') === + menu.findIndex((item) => item.label === 'Link') + 1, menu.map((item) => item.label) ); await page.evaluate(() => { - const item = [...document.querySelectorAll('#contextMenu #menu-item')].find((node) => - /Attach Cylinder/.test(node.textContent) + const item = [...document.querySelectorAll('#contextMenu .cm-row')].find( + (node) => node.querySelector('.cm-row__label')?.textContent?.trim() === 'Cylinder' ); - item.querySelector('button').click(); + item.click(); }); await page.waitForTimeout(400); await page.mouse.move(on.x + 260, on.y - 170); @@ -181,25 +181,29 @@ await page.mouse.click(onJoint.x, onJoint.y, { button: 'right' }); await page.waitForTimeout(600); const jointMenu = await page.evaluate(() => - [...document.querySelectorAll('#contextMenu #menu-item')].map((item) => ({ - label: item.textContent.trim().replace(/\s+/g, ' '), - disabled: item.classList.contains('disabledItem'), + [...document.querySelectorAll('#contextMenu .cm-row')].map((item) => ({ + label: item.querySelector('.cm-row__label')?.textContent?.trim() ?? '', + disabled: item.classList.contains('cm-row--off'), })) ); -const jointEntry = jointMenu.find((item) => item.label === 'Attach Cylinder'); -record('a joint offers Attach Cylinder too', !!jointEntry && !jointEntry.disabled, jointMenu); +const jointEntry = jointMenu.find((item) => item.label === 'Cylinder'); record( - 'and offers it beside Attach Link there as well', - jointMenu.findIndex((item) => item.label === 'Attach Cylinder') === - jointMenu.findIndex((item) => item.label === 'Attach Link') + 1, + 'a joint offers Cylinder, under Attach, too', + !!jointEntry && !jointEntry.disabled, + jointMenu +); +record( + 'and offers it beside Link there as well', + jointMenu.findIndex((item) => item.label === 'Cylinder') === + jointMenu.findIndex((item) => item.label === 'Link') + 1, jointMenu.map((item) => item.label) ); await page.evaluate(() => { - const item = [...document.querySelectorAll('#contextMenu #menu-item')].find((node) => - /Attach Cylinder/.test(node.textContent) + const item = [...document.querySelectorAll('#contextMenu .cm-row')].find( + (node) => node.querySelector('.cm-row__label')?.textContent?.trim() === 'Cylinder' ); - item.querySelector('button').click(); + item.click(); }); await page.waitForTimeout(400); await page.mouse.move(onJoint.x + 240, onJoint.y - 160); diff --git a/e2e/background-image.mjs b/e2e/background-image.mjs index cac0ebca..b80b51bc 100644 --- a/e2e/background-image.mjs +++ b/e2e/background-image.mjs @@ -52,7 +52,9 @@ const image = () => const menuLabels = () => page.evaluate(() => - [...document.querySelectorAll('#contextMenu #menu-item')].map((item) => item.innerText.trim()) + [...document.querySelectorAll('#contextMenu .cm-row')].map((item) => + (item.querySelector('.cm-row__label')?.textContent ?? '').trim() + ) ); const closeMenu = async () => { @@ -258,11 +260,11 @@ await page.waitForTimeout(300); const withPicture = await menuLabels(); record( 'a right-click on the picture opens the grid menu, now offering Edit', - withPicture.some((label) => label === 'Edit background image') && + withPicture.some((label) => label === 'Background Image') && !withPicture.some((label) => label === 'Add background image'), withPicture ); -await page.locator('#contextMenu #menu-item', { hasText: 'Edit background image' }).first().click(); +await page.locator('#contextMenu .cm-row', { hasText: 'Background Image' }).first().click(); await page.waitForTimeout(400); record( 'that item opens the panel again', @@ -666,7 +668,7 @@ record('an undo of the mechanism leaves the picture where it is', (await image() await page.mouse.click(emptyGrid.x, emptyGrid.y, { button: 'right' }); await page.waitForTimeout(300); -await page.locator('#contextMenu #menu-item', { hasText: 'Edit background image' }).first().click(); +await page.locator('#contextMenu .cm-row', { hasText: 'Background Image' }).first().click(); await page.waitForTimeout(400); await page.locator('app-edit-panel button-block', { hasText: 'Save' }).locator('button').click(); await page.waitForTimeout(500); @@ -701,7 +703,7 @@ await page.waitForTimeout(400); await page.mouse.click(emptyGrid.x, emptyGrid.y, { button: 'right' }); await page.waitForTimeout(300); -await page.locator('#contextMenu #menu-item', { hasText: 'Edit background image' }).first().click(); +await page.locator('#contextMenu .cm-row', { hasText: 'Background Image' }).first().click(); await page.waitForTimeout(400); await page.locator('app-edit-panel button-block', { hasText: 'Delete' }).locator('button').click(); await page.waitForTimeout(500); diff --git a/e2e/circular-link-and-driver.mjs b/e2e/circular-link-and-driver.mjs index e21383b0..825c7fad 100644 --- a/e2e/circular-link-and-driver.mjs +++ b/e2e/circular-link-and-driver.mjs @@ -37,16 +37,9 @@ page.on('console', (m) => m.type() === 'error' && note(m.text())); const shot = (name) => page.screenshot({ path: `${SHOTS}circdrv-${name}.png` }); -const dismissTour = async () => { - const skip = page.locator('.introjs-skipbutton').first(); - if (await skip.isVisible().catch(() => false)) await skip.click({ force: true }); - await page.waitForTimeout(400); -}; - // ---------------------------------------------------------------- circular await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); await waitForReady(page); -await dismissTour(); const linkState = () => page.evaluate(() => { @@ -77,7 +70,7 @@ const menuLabels = (linkId) => const grid = ng.getComponent(document.querySelector('app-new-grid')); grid.setLastRightClick(grid.mechanismSrv.links.find((l) => l.id === id)); grid.updateContextMenuItems(); - return grid.cMenuItems.map((item) => item.label); + return grid.cMenu.groups.flatMap((group) => group.rows).map((row) => row.label); }, linkId); const coupler = await page.evaluate(() => { @@ -89,15 +82,28 @@ check('a coupler is not', coupler !== null && coupler.can === false, `link ${cou const crankMenu = await menuLabels(before.id); const couplerMenu = await menuLabels(coupler.id); +// The row is a state now -- "Drawn as a Disc", ticked or not -- rather than a +// verb whose label flipped between Make Circular and Make Bar. And it is +// greyed with its reason on a link that cannot take one rather than hidden: +// the menu's one availability rule is that a reader is told why. +check('the crank is offered a disc', crankMenu.includes('Drawn as a Disc'), crankMenu.join(', ')); +const couplerDisc = await page.evaluate((id) => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + grid.setLastRightClick(grid.mechanismSrv.links.find((l) => l.id === id)); + return grid.cMenu.groups + .flatMap((group) => group.rows) + .filter((row) => row.label === 'Drawn as a Disc') + .map((row) => ({ disabled: row.disabled, reason: row.refusal?.short ?? null }))[0]; +}, coupler.id); check( - 'the crank is offered Make Circular', - crankMenu.includes('Make Circular'), - crankMenu.join(', ') + 'the coupler is told why it cannot have one', + couplerDisc?.disabled === true && couplerDisc?.reason === 'needs a fixed pin', + JSON.stringify({ couplerDisc, menu: couplerMenu.join(', ') }) ); check( - 'the coupler is offered nothing of the kind', - !couplerMenu.some((label) => label === 'Make Circular' || label === 'Make Bar'), - couplerMenu.join(', ') + 'and no label in either menu flips as it is used', + ![...crankMenu, ...couplerMenu].some((label) => /^(Make|Add|Remove) /.test(label)), + [...crankMenu, ...couplerMenu].join(', ') ); await page.evaluate((id) => { @@ -136,7 +142,6 @@ stage = 'share-url'; if (shared) { await page.goto(`${BASE}/?${shared}`, { waitUntil: 'domcontentloaded' }); await waitForReady(page); - await dismissTour(); const reopened = await linkState(); check( 'a shared URL reopens as a disc', @@ -168,7 +173,6 @@ await shot('2-running'); // -------------------------------------------------------------- synthesis await page.goto(BASE, { waitUntil: 'domcontentloaded' }); await waitForReady(page); -await dismissTour(); // Synthesis tab, then three poses via the panel's own model. await page.evaluate(() => { @@ -182,7 +186,7 @@ stage = 'synthesis-poses'; const posed = await page.evaluate(() => { const panel = ng.getComponent(document.querySelector('app-synthesis-panel')); if (!panel) return { ok: false }; - const b = panel.synthesisBuilder; + const b = panel.design; [1, 2, 3].forEach((i) => b.isPoseDefined(i) || b.createPose(i)); const at = [ [-2, 1, 20], diff --git a/e2e/context-menu.mjs b/e2e/context-menu.mjs new file mode 100644 index 00000000..c4ebd182 --- /dev/null +++ b/e2e/context-menu.mjs @@ -0,0 +1,469 @@ +/** + * The right-click menu, in every mode and on every kind of part. + * + * The menu used to be one flat list of up to eight equally weighted rows with + * Delete at the top, labels that rewrote themselves as the object changed, and + * three different ways of saying no -- hidden here, greyed silently there, + * clickable-and-then-refused somewhere else. What is checked here is the + * promise the redesign makes instead: a fixed ladder, states written as states, + * and one availability rule with the model's own reason on every greyed row. + * + * The reasons matter more than the rows. A row greyed for the wrong reason + * sends a student to fix the wrong thing, so the assertions read the text in + * the right-hand slot rather than just the disabled flag. + * + * PMKS_BASE_URL= node e2e/context-menu.mjs + */ + +const { chromium } = await import( + (process.env.PMKS_PLAYWRIGHT_DIR ?? '/tmp/pmks-playwright') + '/node_modules/playwright/index.mjs' +); +import { openMechanism } from './app-ready.mjs'; + +const BASE = process.env.PMKS_BASE_URL ?? 'http://127.0.0.1:4200'; + +/** A crank-rocker with a tracer on the coupler. */ +const FOURBAR = + '?2P.Ay,1E8.5,0.1011.4O,O,0,0,0.0A,A,72,MM,0.2C,C,pa,bW,0.4D,D,_W,0,0.0T,T,Wq,pa,0..YROA,OA,Fe,Fe,3X,BB,c5cae9,O,A,,.YRACT,ACT,Fe,Fe,UU,b9,303e9f,A,C,T,,.YRCD,CD,Fe,Fe,v2,Im,0d125a,C,D,,...N_3'; +/** A sealed cylinder driving a rocker. */ +const CYLINDER = + '?2P.Ay,1E8.5,0.1011.4A,A,0_W,0,0.0B,B,07E,0,0.8C,C,0OE,0,0.0D,D,V4,0,0.6E,E,V4,ku,0.XP,P,0OE,0,0,AB,A,B..YRAB,AB,Fe,Fe,0Yt,0,c5cae9,A,B,,.YRCD,CD,Fe,Fe,3R,0,303e9f,C,D,,.YRDE,DE,Fe,Fe,V4,NS,0d125a,D,E,,.YPCP,CP,0,0,0,0,,C,P,,...N_h'; +/** Three synthesis positions and nothing else drawn. */ +const POSITIONS = + '?2P.KB,1E8.5,0.1011....N_.SD~w3~1~9,SP~12a~eO~01DP8,SP~2w9~x2~05t0,SP~3xv~0vL~0bAtJ'; + +const checks = []; +const check = (what, ok, detail) => { + checks.push([what, ok]); + console.log(`${ok ? 'PASS' : 'FAIL'} ${what}${ok ? '' : ' — ' + JSON.stringify(detail)}`); +}; + +const browser = await chromium.launch(); +const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); +const errors = []; +page.on('pageerror', (error) => errors.push(String(error))); + +/** The open menu, read as data: rows, their state, and the slot on the right. */ +const readMenu = () => + page.evaluate(() => { + const card = document.querySelector('#contextMenu'); + if (!card || getComputedStyle(card).display === 'none') return null; + const slot = (row) => + row.querySelector('.cm-row__reason')?.textContent?.trim() ?? + row.querySelector('.cm-row__hint')?.textContent?.trim() ?? + row.querySelector('.cm-row__key')?.textContent?.trim() ?? + (row.querySelector('.cm-row__check') ? 'check' : ''); + const cross = card.querySelector('.cm-cross'); + return { + title: card.querySelector('.cm-header__title')?.textContent?.trim() ?? null, + subtitle: card.querySelector('.cm-header__subtitle')?.textContent?.trim() ?? null, + cross: cross ? (cross.classList.contains('cm-cross--off') ? 'off' : 'on') : null, + // Upper-cased by the stylesheet, so the text node keeps its own case. + groups: [...card.querySelectorAll('.cm-group__label')].map((one) => + one.textContent.trim().toUpperCase() + ), + rows: [...card.querySelectorAll('.cm-row')].map((one) => ({ + label: one.querySelector('.cm-row__label')?.textContent?.trim() ?? '', + slot: slot(one), + on: one.classList.contains('cm-row--on'), + off: one.classList.contains('cm-row--off'), + destructive: one.classList.contains('cm-row--destructive'), + })), + }; + }); + +const rowNamed = (menu, label) => menu?.rows.find((one) => one.label === label); + +/** + * Right-click a point that is actually on the element. + * + * Not simply its bounding-box centre: the left card is 250px wide and 400px in + * the analysis modes, and a part drawn near the left edge has its centre under + * that card — the click then lands on the panel and no menu opens at all, + * which reads as the menu being broken rather than the aim being off. + */ +async function openOn(selector) { + await page.keyboard.press('Escape'); + await page.waitForTimeout(150); + const at = await page.evaluate((sel) => { + const node = document.querySelector(sel); + if (!node) return null; + const box = node.getBoundingClientRect(); + const owns = (x, y) => { + const hit = document.elementFromPoint(x, y); + return !!hit && (hit === node || node.contains(hit) || hit.closest(sel) === node); + }; + const centre = { x: box.x + box.width / 2, y: box.y + box.height / 2 }; + if (owns(centre.x, centre.y)) return centre; + for (const fx of [0.7, 0.3, 0.85, 0.15]) { + for (const fy of [0.5, 0.3, 0.7]) { + const spot = { x: box.x + box.width * fx, y: box.y + box.height * fy }; + if (owns(spot.x, spot.y)) return spot; + } + } + return centre; + }, selector); + if (!at) return null; + await page.mouse.click(at.x, at.y, { button: 'right' }); + await page.waitForTimeout(350); + return readMenu(); +} + +/** + * Build the menu for a part the pointer cannot reliably land on. + * + * A force is drawn as a thin arrow: its bounding box is large but almost none + * of it is the stroke, so sampling points inside the box hits the canvas + * behind it. The gesture is covered by every other case here; what this is + * for is what the menu *says* about a force. + */ +async function openOnForce(id) { + await page.keyboard.press('Escape'); + await page.waitForTimeout(150); + return page.evaluate((forceId) => { + const grid = ng.getComponent(document.querySelector('app-new-grid')); + const force = grid.mechanismSrv.forces.find((one) => (one.id ?? one.name) === forceId); + if (!force) return null; + grid.setLastRightClick(force); + const rows = grid.cMenu.groups.flatMap((group) => + group.rows.map((row) => ({ + label: row.label, + slot: row.refusal?.short ?? (row.checked ? 'check' : (row.hint ?? row.shortcut ?? '')), + on: row.checked && !row.disabled, + off: row.disabled, + destructive: row.destructive, + })) + ); + return { + title: grid.cMenu.header?.title ?? null, + subtitle: grid.cMenu.header?.subtitle ?? null, + cross: grid.cMenu.header?.crossing ? 'on' : null, + groups: grid.cMenu.groups.map((group) => group.label).filter(Boolean), + rows, + }; + }, id); +} + +async function openAt(x, y) { + await page.keyboard.press('Escape'); + await page.waitForTimeout(150); + await page.mouse.click(x, y, { button: 'right' }); + await page.waitForTimeout(350); + return readMenu(); +} + +// ---------------------------------------------------------------- Edit mode + +await openMechanism(page, BASE + FOURBAR); + +const jointA = await openOn('#joint_A'); +check('a joint menu names the joint it is about', jointA?.title === 'Joint A', jointA?.title); +check('and what it is made of', jointA?.subtitle === 'Pin · Links OA, ACT', jointA?.subtitle); +check( + 'the ladder is Attach then State', + JSON.stringify(jointA?.groups) === JSON.stringify(['ATTACH', 'STATE']), + jointA?.groups +); +check( + 'Delete is the last row, and the only red one', + jointA?.rows.at(-1)?.destructive === true && + jointA?.rows.filter((one) => one.destructive).length === 1, + jointA?.rows.map((one) => one.label) +); +check( + 'states are states, not verbs that rewrite themselves', + ['Grounded', 'Driven Input', 'Slider', 'Welded', 'Trace Path', 'Locked'].every((label) => + rowNamed(jointA, label) + ) && !jointA?.rows.some((one) => /^(Add|Remove) /.test(one.label)), + jointA?.rows.map((one) => one.label) +); +check( + 'a load will not anchor where two links share the pin', + rowNamed(jointA, 'Force')?.off === true && rowNamed(jointA, 'Force')?.slot === '2 links share it', + rowNamed(jointA, 'Force') +); +check( + 'the destructive row names what goes with it', + jointA?.rows.at(-1)?.label === 'Delete Joint and Link OA', + jointA?.rows.at(-1)?.label +); +check( + 'and carries its key from the registry', + jointA?.rows.at(-1)?.slot === 'Delete' && rowNamed(jointA, 'Locked')?.slot === 'K', + { del: jointA?.rows.at(-1)?.slot, lock: rowNamed(jointA, 'Locked')?.slot } +); + +const groundO = await openOn('#joint_O'); +check( + 'a ground pivot reads as one, with its state ticked', + groundO?.subtitle === 'Ground pin · Link OA' && rowNamed(groundO, 'Grounded')?.on === true, + { subtitle: groundO?.subtitle, grounded: rowNamed(groundO, 'Grounded') } +); +check( + 'a weld with nothing to fuse is greyed with the reason', + rowNamed(groundO, 'Welded')?.slot === 'needs 2 links', + rowNamed(groundO, 'Welded') +); + +const tracerT = await openOn('#joint_T'); +check( + 'a tracer cannot be driven, and the model says why', + rowNamed(tracerT, 'Driven Input')?.slot === 'needs 2 bodies', + rowNamed(tracerT, 'Driven Input') +); +check( + 'a joint that orphans nothing says plain Delete Joint', + tracerT?.rows.at(-1)?.label === 'Delete Joint', + tracerT?.rows.at(-1)?.label +); + +const link = await openOn('[id="OA"]'); +check( + 'a link menu offers the four attachments and a copy', + ['Link', 'Cylinder', 'Tracer Point', 'Force', 'Duplicate Link'].every((label) => + rowNamed(link, label) + ), + link?.rows.map((one) => one.label) +); +check( + 'and counts the joints its deletion would sweep up', + link?.rows.at(-1)?.label === 'Delete Link and Joint O', + link?.rows.at(-1)?.label +); + +const canvas = await openAt(1150, 780); +check( + 'the canvas menu says Add rather than Attach', + JSON.stringify(canvas?.groups) === JSON.stringify(['ADD', 'MACHINE']), + canvas?.groups +); +check( + 'and counts what Lock All and Unlock All would touch', + rowNamed(canvas, 'Lock All')?.slot === '5 open' && + rowNamed(canvas, 'Unlock All')?.slot === 'nothing locked' && + rowNamed(canvas, 'Unlock All')?.off === true, + { lock: rowNamed(canvas, 'Lock All'), unlock: rowNamed(canvas, 'Unlock All') } +); + +// A lock, set from the menu, and read back from it. +await openOn('#joint_A'); +await page.click('.cm-row:has(.cm-row__label:text-is("Locked"))'); +await page.waitForTimeout(700); +const locked = await openOn('#joint_A'); +check( + 'a locked joint ticks its own switch', + rowNamed(locked, 'Locked')?.on === true, + rowNamed(locked, 'Locked') +); +check( + 'refuses to be deleted, and says which way out', + locked?.rows.at(-1)?.off === true && locked?.rows.at(-1)?.slot === 'unlock first', + locked?.rows.at(-1) +); +check( + 'and refuses attachments for the same reason', + rowNamed(locked, 'Link')?.slot === 'unlock first', + rowNamed(locked, 'Link') +); +check( + 'while the switch that frees it stays live', + rowNamed(locked, 'Locked')?.off === false, + rowNamed(locked, 'Locked') +); + +// ------------------------------------------------------------ analysis mode + +await page.keyboard.press('Escape'); +await page.click('text=Kinematic Analysis'); +await page.waitForTimeout(900); +const analysisJoint = await openOn('#joint_T'); +check( + 'an analysis menu offers the view and nothing that edits', + JSON.stringify(analysisJoint?.rows.map((one) => one.label)) === JSON.stringify(['Trace Path']), + analysisJoint?.rows.map((one) => one.label) +); +check('and the way back into Edit rides the header', analysisJoint?.cross === 'on', analysisJoint); + +await page.keyboard.press('Escape'); +await page.click('text=Force Analysis'); +await page.waitForTimeout(900); +const forceJoint = await openOn('#joint_T'); +check( + 'a tracer has no force to graph, and the row says why', + rowNamed(forceJoint, 'Graph Joint Force')?.slot === 'one part meets it', + rowNamed(forceJoint, 'Graph Joint Force') +); +check( + 'while the trace stays live: it is a view, not geometry', + rowNamed(forceJoint, 'Trace Path')?.off === false, + rowNamed(forceJoint, 'Trace Path') +); + +// ---------------------------------------------------------------- cylinder + +await openMechanism(page, BASE + CYLINDER); +const cylinderJoint = await openOn('#joint_A'); +check( + 'a cylinder joint says which end of which cylinder it is', + cylinderJoint?.subtitle?.startsWith('Barrel joint · Cylinder'), + cylinderJoint?.subtitle +); +check( + 'a sealed part cannot be welded into a neighbour', + rowNamed(cylinderJoint, 'Welded')?.slot === 'part is sealed', + rowNamed(cylinderJoint, 'Welded') +); +check( + 'and the deletion says it takes the whole part', + cylinderJoint?.rows.at(-1)?.label === 'Delete Joint and Cylinder', + cylinderJoint?.rows.at(-1)?.label +); +check( + 'a cylinder joint takes no block: the row is absent, not greyed', + !rowNamed(cylinderJoint, 'Slider'), + cylinderJoint?.rows.map((one) => one.label) +); + +const cylinderBody = await openOn('[id="AB"]'); +check( + 'a cylinder is described as one part, not as how it is built', + /^Barrel and rod · Joints /.test(cylinderBody?.subtitle ?? '') && + !/assembly|sealed/i.test(cylinderBody?.subtitle ?? ''), + cylinderBody?.subtitle +); + +// Duplicate on a link with three joints: the case that used to accept the +// click and silently do nothing. +await openMechanism(page, BASE + FOURBAR); +const linksBefore = await page.$$eval('path[id]', (nodes) => nodes.map((one) => one.id)); +await openOn('[id="ACT"]'); +await page.click('.cm-row:has(.cm-row__label:text-is("Duplicate Link"))'); +await page.waitForTimeout(1000); +const linksAfter = await page.$$eval('path[id]', (nodes) => nodes.map((one) => one.id)); +const copyMade = await page.evaluate((known) => { + const service = ng.getComponent(document.querySelector('app-new-grid')).mechanismSrv; + const source = service.links.find((one) => one.id === 'ACT'); + const copy = service.links.find((one) => !known.includes(one.id)); + if (!copy || !source) return null; + const gap = Math.hypot( + copy.joints[0].x - source.joints[0].x, + copy.joints[0].y - source.joints[0].y + ); + return { + joints: copy.joints.length, + sharesAJoint: copy.joints.some((one) => source.joints.some((other) => other.id === one.id)), + gap: Math.round(gap), + mass: copy.mass, + sourceMass: source.mass, + }; +}, linksBefore); +check( + 'Duplicate copies a three-joint link, free-standing and clear of the original', + copyMade?.joints === 3 && copyMade?.sharesAJoint === false && (copyMade?.gap ?? 0) > 50, + copyMade +); +check( + 'and copies the body with it, not just its outline', + copyMade?.mass === copyMade?.sourceMass, + copyMade +); + +// -------------------------------------------------------- synthesis positions + +await openMechanism(page, BASE + POSITIONS); +await page.click('text=Synthesis'); +await page.waitForTimeout(900); +const synthCanvas = await openAt(1250, 830); +check( + 'Synthesis offers the positions and nothing else', + JSON.stringify(synthCanvas?.rows.map((one) => one.label)) === + JSON.stringify(['Delete 3 Synthesis Positions']), + synthCanvas?.rows.map((one) => one.label) +); + +// --------------------------------------------------- one grid, two machines + +/** Two four-bars side by side, each with its own drive. */ +const TWO_FOUR_BARS = + '?2P.Ay,1E8.K,0.1011.6A,A,0mv,0VU,0.0B,B,0e_,E6,0.0C,C,l1,WW,0.4D,D,qD,0Pk,0.6E,E,2Y_,0,0.' + + '0F,F,2Y_,GJ,0.0G,G,3Jt,Wc,0.4H,H,3aA,0,0..YRAB,AB,Fe,Fe,0ix,08i,c5cae9,A,B,,.' + + 'YRBC,BC,Fe,Fe,32,NJ,303e9f,B,C,,.YRCD,CD,Fe,Fe,nd,3P,0d125a,C,D,,.' + + 'AREF,EF,0,0,2Y_,8A,555555,E,F,,.ARFG,FG,0,0,2xQ,OS,555555,F,G,,.' + + 'ARGH,GH,0,0,3S0,GJ,555555,G,H,,...N_L'; + +await openMechanism(page, BASE + TWO_FOUR_BARS); +const bothFine = await openOn('#joint_F'); +check( + 'a part of a machine that runs offers the way into analysis', + bothFine?.cross === 'on', + bothFine +); + +// Take the input off the second machine only. +await openOn('#joint_E'); +await page.click('.cm-row:has(.cm-row__label:text-is("Driven Input"))'); +await page.waitForTimeout(900); +const broken = await openOn('#joint_F'); +check('a part of a machine that cannot run does not', broken?.cross === 'off', broken); +const stillFine = await openOn('#joint_C'); +check( + 'while the machine beside it still does — the question is per part', + stillFine?.cross === 'on', + stillFine +); + +// -------------------------------------------- a slider, and a load on a bar + +/** An inverted slider-crank carrying a force: a floating slider and an F1. */ +const SLIDER_AND_LOAD = + '?2P.Ay,1E8.5,0.1011.6A,A,0,0,0.0B,B,0,Fe,0.4C,C,ku,0,0.0D,D,0RF,Oj,0.1P,P,0,Fe,0,CD,C,D..' + + 'YRAB,AB,Fe,Fe,0,7q,c5cae9,A,B,,.YRCD,CD,Fe,Fe,9q,CN,303e9f,C,D,,.YPBP,BP,0,0,0,0,,B,P,,..' + + '2F1,CD,F1,0RF,Oj,0RF,95,2SG..N_M'; + +await openMechanism(page, BASE + SLIDER_AND_LOAD); +const sliderPin = await openOn('#joint_B'); +check( + 'a slider pin says it is one, and its Slider switch is on', + /^Slider pin · /.test(sliderPin?.subtitle ?? '') && rowNamed(sliderPin, 'Slider')?.on === true, + sliderPin +); +check( + // Offered rather than hidden: the model has no rule against welding a slider + // pin, and the panel offers it, so the menu does too and the refusal comes + // with its reason if the fuse cannot stand. + 'and keeps its Weld row, as the panel does', + rowNamed(sliderPin, 'Welded')?.off === false, + sliderPin?.rows.map((one) => one.label) +); + +const forceTarget = await openOnForce('F1'); +check( + 'a force menu names the frame it is in and offers the state, not a verb', + /frame$/.test(forceTarget?.subtitle ?? '') && !!rowNamed(forceTarget, 'Global Frame'), + forceTarget +); +check( + 'and reversing it is a verb, under Set', + rowNamed(forceTarget, 'Reverse Direction')?.off === false, + forceTarget?.groups +); + +// The floating slider's carrier is deliberately not one of its `links`, so a +// menu that counted links called this "one part meets it" while the force +// solver was generating a reaction against two. +await page.keyboard.press('Escape'); +await page.click('text=Force Analysis'); +await page.waitForTimeout(900); +const sliderForce = await openOn('#joint_B'); +check( + 'a slider pin is not told it has no force to graph', + rowNamed(sliderForce, 'Graph Joint Force')?.off === false, + rowNamed(sliderForce, 'Graph Joint Force') +); + +check('nothing threw', errors.length === 0, errors.slice(0, 3)); +await browser.close(); + +const failed = checks.filter(([, ok]) => !ok); +console.log(`\n${checks.length - failed.length}/${checks.length} checks passed`); +process.exit(failed.length ? 1 : 0); diff --git a/e2e/creation-previews.mjs b/e2e/creation-previews.mjs index 30b74c6f..b4ad463f 100644 --- a/e2e/creation-previews.mjs +++ b/e2e/creation-previews.mjs @@ -58,12 +58,12 @@ async function draw(kind, jointId, to) { await page.waitForTimeout(600); await page.evaluate( (label) => { - const item = [...document.querySelectorAll('#contextMenu #menu-item')].find((node) => - node.textContent.includes(label) + const item = [...document.querySelectorAll('#contextMenu .cm-row')].find( + (node) => node.querySelector('.cm-row__label')?.textContent?.trim() === label ); - item?.querySelector('button')?.click(); + item?.click(); }, - kind === 'link' ? 'Attach Link' : 'Attach Cylinder' + kind === 'link' ? 'Link' : 'Cylinder' ); await page.waitForTimeout(300); @@ -102,10 +102,10 @@ await page.mouse.move(onJoint.x, onJoint.y); await page.mouse.click(onJoint.x, onJoint.y, { button: 'right' }); await page.waitForTimeout(600); await page.evaluate(() => { - const item = [...document.querySelectorAll('#contextMenu #menu-item')].find((node) => - node.textContent.includes('Attach Link') + const item = [...document.querySelectorAll('#contextMenu .cm-row')].find( + (node) => node.querySelector('.cm-row__label')?.textContent?.trim() === 'Link' ); - item?.querySelector('button')?.click(); + item?.click(); }); await page.waitForTimeout(300); await page.mouse.move(onJoint.x - 200, onJoint.y + 160, { steps: 8 }); diff --git a/e2e/force-analysis-panels.mjs b/e2e/force-analysis-panels.mjs index 5c1526e4..4c58143a 100644 --- a/e2e/force-analysis-panels.mjs +++ b/e2e/force-analysis-panels.mjs @@ -137,10 +137,10 @@ async function attachForceToBC() { await page.mouse.click(on.x, on.y, { button: 'right' }); await page.waitForTimeout(500); await page.evaluate(() => { - const item = [...document.querySelectorAll('#contextMenu #menu-item')].find((node) => - /Attach Force/.test(node.textContent) + const item = [...document.querySelectorAll('#contextMenu .cm-row')].find( + (node) => node.querySelector('.cm-row__label')?.textContent?.trim() === 'Force' ); - item?.querySelector('button')?.click(); + item?.click(); }); await page.waitForTimeout(300); await page.mouse.move(on.x + 110, on.y - 80, { steps: 8 }); diff --git a/e2e/force-edit.mjs b/e2e/force-edit.mjs index 2d29fad7..658813bc 100644 --- a/e2e/force-edit.mjs +++ b/e2e/force-edit.mjs @@ -170,10 +170,10 @@ await page.mouse.move(onBoom.x, onBoom.y); await page.mouse.click(onBoom.x, onBoom.y, { button: 'right' }); await page.waitForTimeout(600); await page.evaluate(() => { - const item = [...document.querySelectorAll('#contextMenu #menu-item')].find((node) => - /Attach Force/.test(node.textContent) + const item = [...document.querySelectorAll('#contextMenu .cm-row')].find( + (node) => node.querySelector('.cm-row__label')?.textContent?.trim() === 'Force' ); - item?.querySelector('button')?.click(); + item?.click(); }); await page.waitForTimeout(300); await page.mouse.move(onBoom.x + 120, onBoom.y - 90, { steps: 8 }); @@ -212,12 +212,12 @@ await page.mouse.move(onWeld.x, onWeld.y); await page.mouse.click(onWeld.x, onWeld.y, { button: 'right' }); await page.waitForTimeout(600); const weldMenu = await page.evaluate(() => - [...document.querySelectorAll('#contextMenu #menu-item')].map((item) => ({ - label: item.textContent.trim().replace(/\s+/g, ' '), - disabled: item.classList.contains('disabledItem'), + [...document.querySelectorAll('#contextMenu .cm-row')].map((item) => ({ + label: item.querySelector('.cm-row__label')?.textContent?.trim() ?? '', + disabled: item.classList.contains('cm-row--off'), })) ); -const cylinderItem = weldMenu.find((item) => item.label === 'Attach Cylinder'); +const cylinderItem = weldMenu.find((item) => item.label === 'Cylinder'); record( 'a welded joint will not take a cylinder', !cylinderItem || cylinderItem.disabled, diff --git a/e2e/input-settings-and-playback.mjs b/e2e/input-settings-and-playback.mjs index d4996270..d1093c73 100644 --- a/e2e/input-settings-and-playback.mjs +++ b/e2e/input-settings-and-playback.mjs @@ -50,7 +50,7 @@ await joint.click({ force: true }).catch(() => {}); await page.waitForTimeout(600); await page.screenshot({ path: `${OUT}/02-joint-selected.png` }); -const makeInput = page.locator('text=Add Input').first(); +const makeInput = page.locator('#contextMenu .cm-row', { hasText: 'Driven Input' }).first(); if (await makeInput.isVisible().catch(() => false)) { await makeInput.scrollIntoViewIfNeeded(); await makeInput.click(); diff --git a/e2e/interaction-sweep.mjs b/e2e/interaction-sweep.mjs index f90896c4..7cca49e8 100644 --- a/e2e/interaction-sweep.mjs +++ b/e2e/interaction-sweep.mjs @@ -72,11 +72,16 @@ const signature = () => .map( (j) => `${j.id}${j.ground ? 'G' : ''}${j.input ? 'I' : ''}${j.isWelded ? 'W' : ''}` + + // The menu writes states as switches, so the switches have to be in + // the picture: a Lock or a Trace that flipped nothing would otherwise + // read as a control that did nothing, and one that flipped the wrong + // joint would not read as anything at all. + `${j.locked ? 'K' : ''}${j.showCurve ? 'T' : ''}` + `${j.constructor.name[0]}@${j.x.toFixed(2)},${j.y.toFixed(2)}` ) .join('|'); const links = mech.links - .map((l) => `${l.id}:${l.constructor.name[0]}:${l.fill ?? '-'}`) + .map((l) => `${l.id}:${l.constructor.name[0]}:${l.fill ?? '-'}${l.isCircle ? ':disc' : ''}`) .join('|'); const forces = mech.forces .map((f) => `${f.id ?? f.name}:${f.local}:${f.startCoord.x.toFixed(1)}`) @@ -136,10 +141,9 @@ const menuFor = (kind, id) => if (!target) return null; grid.setLastRightClick(target); grid.updateContextMenuItems(); - return grid.cMenuItems.map((item) => ({ - label: item.label, - disabled: !!item.disabled, - })); + return grid.cMenu.groups.flatMap((group) => + group.rows.map((row) => ({ label: row.label, disabled: !!row.disabled })) + ); }, [kind, id] ); @@ -160,9 +164,12 @@ const fire = (kind, id, label) => : mech.forces.find((f) => (f.id ?? f.name) === id); grid.setLastRightClick(target); grid.updateContextMenuItems(); - const item = grid.cMenuItems.find((entry) => entry.label === label); - if (!item) return 'gone'; - item.actionWrapper(); + const row = grid.cMenu.groups + .flatMap((group) => group.rows) + .find((entry) => entry.label.startsWith(label)); + if (!row) return 'gone'; + if (row.disabled) return 'refused'; + row.action(); return 'fired'; }, [kind, id, label] @@ -205,8 +212,10 @@ const everySubject = () => // Actions that begin a two-click gesture rather than finishing an edit: they are // *meant* to change nothing until the second click, so silence is correct. -const GESTURES = - /^(Add Link|Attach Link|Add Cylinder|Attach Cylinder|Create Cylinder|Attach Force)$/; +// Rows that arm a gesture rather than finishing an edit: the next click lands +// the thing, so nothing has changed by the time this looks. The menu names them +// by the bare noun under an Add or Attach heading now. +const GESTURES = /^(Link|Cylinder|Force|Tracer Point|Background Image)$/; let clicked = 0; for (const id of MECHANISMS) { diff --git a/e2e/phase1-drag.mjs b/e2e/phase1-drag.mjs index 04ee1dc2..e5a3c0fb 100644 --- a/e2e/phase1-drag.mjs +++ b/e2e/phase1-drag.mjs @@ -495,7 +495,7 @@ await safe('a joint can be dropped onto the pin of a slider', async () => { const originY = box.y + box.height * 0.78; await page.mouse.click(originX, originY, { button: 'right' }); await page.waitForTimeout(400); - await page.locator('#contextMenu #menu-item', { hasText: 'Add Link' }).first().click(); + await page.locator('#contextMenu .cm-row', { hasText: 'Link' }).first().click(); await page.waitForTimeout(300); await page.mouse.move(originX + 120, originY + 40); await page.waitForTimeout(200); diff --git a/e2e/phase4-build-from-scratch.mjs b/e2e/phase4-build-from-scratch.mjs index 664a6fbf..c0a2280c 100644 --- a/e2e/phase4-build-from-scratch.mjs +++ b/e2e/phase4-build-from-scratch.mjs @@ -65,7 +65,7 @@ await page.waitForTimeout(400); * pointer movement rather than from the click's own coordinates, so a click * without the move lands the joint wherever the pointer was last seen. */ -async function addLinkFrom(from, to, label = 'Add Link') { +async function addLinkFrom(from, to, label = 'Link') { await page.mouse.move(from.x, from.y); await page.mouse.click(from.x, from.y, { button: 'right' }); await page.waitForTimeout(450); @@ -100,7 +100,7 @@ await page.screenshot({ path: `${OUT}/1-first-link.png` }); // From the joint just placed, so the two links share it. The grid's menu says // "Add Link"; a joint's says "Attach Link", which is the same gesture starting // from something rather than from nothing. -await addLinkFrom({ x: 760, y: 560 }, { x: 880, y: 380 }, 'Attach Link'); +await addLinkFrom({ x: 760, y: 560 }, { x: 880, y: 380 }, 'Link'); const second = await counts(); checkThat( 'a second link grows off the first', diff --git a/e2e/phase4-cylinder.mjs b/e2e/phase4-cylinder.mjs index 0e467d8d..ec452673 100644 --- a/e2e/phase4-cylinder.mjs +++ b/e2e/phase4-cylinder.mjs @@ -83,7 +83,10 @@ const abort = await page.evaluate(() => { c.lastRightClickCoord.x = start.x; c.lastRightClickCoord.y = start.y; c.setLastRightClick('grid'); - c.cMenuItems.find((i) => i.label === 'Add Cylinder')?.action(); + c.cMenu.groups + .flatMap((g) => g.rows) + .find((r) => r.label === 'Cylinder') + ?.action(); return start; }); await page.mouse.move(abort.x + 90, abort.y + 40); @@ -109,13 +112,16 @@ const gesture = await page.evaluate(() => { c.lastRightClickCoord.x = start.x; c.lastRightClickCoord.y = start.y; c.setLastRightClick('grid'); - const labels = c.cMenuItems.map((i) => i.label); - c.cMenuItems.find((i) => i.label === 'Add Cylinder')?.action(); + const labels = c.cMenu.groups.flatMap((g) => g.rows).map((r) => r.label); + c.cMenu.groups + .flatMap((g) => g.rows) + .find((r) => r.label === 'Cylinder') + ?.action(); return { labels, start, end: { x: start.x + 320, y: start.y } }; }); checkThat( - 'the grid menu offers Add Cylinder beside Add Link', - gesture.labels.includes('Add Cylinder'), + 'the grid menu offers Cylinder beside Link, under Add', + gesture.labels.includes('Cylinder'), gesture.labels.join(', ') ); @@ -336,7 +342,10 @@ await page.evaluate(() => { const c = ng.getComponent(document.querySelector('app-new-grid')); const mount = c.mechanismSrv.joints.find((j) => j.id === 'A'); c.setLastRightClick(mount); - c.cMenuItems.find((i) => i.label === 'Add Ground')?.action(); + c.cMenu.groups + .flatMap((g) => g.rows) + .find((r) => r.label === 'Grounded') + ?.action(); }); await page.waitForTimeout(500); state = await model(); @@ -344,13 +353,17 @@ checkThat('mount A is grounded', !!byId(state, 'A').ground); const mountMenu = await page.evaluate(() => { const c = ng.getComponent(document.querySelector('app-new-grid')); c.setLastRightClick(c.mechanismSrv.joints.find((j) => j.id === 'A')); - return c.cMenuItems.map((i) => ({ label: i.label, disabled: i.disabled })); + return c.cMenu.groups + .flatMap((g) => g.rows) + .map((r) => ({ label: r.label, disabled: r.disabled })); }); checkThat( - 'the mount menu cascades Delete and greys Slider', - mountMenu.some((i) => i.label === 'Delete Cylinder') && - mountMenu.find((i) => i.label === 'Add Slider')?.disabled === true && - !mountMenu.some((i) => i.label === 'Delete Joint'), + // The deletion names what it takes rather than saying only "Delete Joint", + // and a block is structurally off the table on a sealed part, so that row is + // absent rather than greyed. + 'the mount menu names the cylinder in its Delete and offers no Slider', + mountMenu.some((i) => i.label.startsWith('Delete Joint and Cylinder')) && + mountMenu.every((i) => i.label !== 'Slider'), JSON.stringify(mountMenu) ); @@ -360,14 +373,19 @@ const bodyMenu = await page.evaluate(() => { const c = ng.getComponent(document.querySelector('app-new-grid')); const barrel = c.mechanismSrv.links.find((l) => l.joints.some((j) => j.id === 'A')); c.setLastRightClick(barrel); - const labels = c.cMenuItems.map((i) => i.label); - c.cMenuItems.find((i) => i.label === 'Add Input')?.action(); + const labels = c.cMenu.groups.flatMap((g) => g.rows).map((r) => r.label); + c.cMenu.groups + .flatMap((g) => g.rows) + .find((r) => r.label === 'Driven Input') + ?.action(); return labels; }); await page.waitForTimeout(500); checkThat( - 'the body menu is exactly Delete Cylinder + Add Input', - JSON.stringify(bodyMenu) === JSON.stringify(['Delete Cylinder', 'Add Input']), + // No Attach group at all: a sealed assembly takes no third body. What is + // left is the state it can be put into and the deletion of the whole part. + 'the body menu is exactly Driven Input, Locked and Delete Cylinder', + JSON.stringify(bodyMenu) === JSON.stringify(['Driven Input', 'Locked', 'Delete Cylinder']), bodyMenu.join(', ') ); state = await model(); @@ -419,7 +437,10 @@ await page.evaluate(() => { const c = ng.getComponent(document.querySelector('app-new-grid')); const barrel = c.mechanismSrv.links.find((l) => l.joints.some((j) => j.id === 'A')); c.setLastRightClick(barrel); - c.cMenuItems.find((i) => i.label === 'Delete Cylinder')?.action(); + c.cMenu.groups + .flatMap((g) => g.rows) + .find((r) => r.label === 'Delete Cylinder') + ?.action(); }); // The action above ran via evaluate — outside Angular's zone — so nothing // schedules change detection. A real user reaches this through a menu click, diff --git a/e2e/phase4-stack-and-menu.mjs b/e2e/phase4-stack-and-menu.mjs index 0e3f4583..e5045e03 100644 --- a/e2e/phase4-stack-and-menu.mjs +++ b/e2e/phase4-stack-and-menu.mjs @@ -134,7 +134,9 @@ const menu = await page.evaluate(() => { const c = ng.getComponent(document.querySelector('app-new-grid')); const joint = c.mechanismSrv.joints.find((j) => j.id === 'F'); c.setLastRightClick(joint); - return c.cMenuItems.map((i) => ({ label: i.label ?? i.name ?? '?', disabled: i.disabled })); + return c.cMenu.groups + .flatMap((g) => g.rows) + .map((r) => ({ label: r.label, disabled: r.disabled })); }); const item = (text) => menu.find((m) => String(m.label).includes(text)); check( @@ -158,7 +160,9 @@ const menuE = await page.evaluate(() => { const joint = c.mechanismSrv.joints.find((j) => j.id === 'E'); c.setLastRightClick(joint); return { - items: c.cMenuItems.map((i) => ({ label: i.label ?? '?', disabled: i.disabled })), + items: c.cMenu.groups + .flatMap((g) => g.rows) + .map((r) => ({ label: r.label, disabled: r.disabled })), links: joint.links.length, weldControlDisabled: (() => { const panel = document.querySelector('app-edit-panel'); diff --git a/e2e/pointer-pairing.mjs b/e2e/pointer-pairing.mjs index 45dd3731..1ecc7883 100644 --- a/e2e/pointer-pairing.mjs +++ b/e2e/pointer-pairing.mjs @@ -48,8 +48,6 @@ for (const engine of [chromium, webkit]) { const page = await browser.newPage({ viewport: { width: 1500, height: 950 } }); await page.goto(`${BASE}/?${payloads['4-Bar']}`, { waitUntil: 'domcontentloaded' }); await waitForReady(page); - const skip = page.locator('.introjs-skipbutton').first(); - if (await skip.isVisible().catch(() => false)) await skip.click({ force: true }); await page.waitForTimeout(900); await page.evaluate(() => { const grid = ng.getComponent(document.querySelector('app-new-grid')); diff --git a/e2e/real-mouse-slots.mjs b/e2e/real-mouse-slots.mjs index cdec7811..5bec5ca7 100644 --- a/e2e/real-mouse-slots.mjs +++ b/e2e/real-mouse-slots.mjs @@ -171,13 +171,13 @@ console.log('\n1. a floating slot, drawn by hand'); await fresh(); await capture('empty-grid'); -const built = await addLink({ x: 560, y: 620 }, { x: 820, y: 620 }, 'Add Link'); +const built = await addLink({ x: 560, y: 620 }, { x: 820, y: 620 }, 'Link'); checkThat('the creation menu opens under a real right-click', built); let m = await model(); checkThat('a first link exists', m.joints === 2 && m.links === 1, JSON.stringify(m)); await capture('first-link'); -await addLink({ x: 820, y: 620 }, { x: 950, y: 430 }, 'Attach Link'); +await addLink({ x: 820, y: 620 }, { x: 950, y: 430 }, 'Link'); m = await model(); checkThat('a second link grows off it', m.joints === 3 && m.links === 2, JSON.stringify(m)); await capture('second-link'); diff --git a/e2e/synthesis-redesign.mjs b/e2e/synthesis-redesign.mjs index 5e771a63..dac46b4d 100644 --- a/e2e/synthesis-redesign.mjs +++ b/e2e/synthesis-redesign.mjs @@ -50,8 +50,6 @@ const grid = (fn) => await page.goto(BASE, { waitUntil: 'domcontentloaded' }); await waitForReady(page); -const skip = page.locator('.introjs-skipbutton').first(); -if (await skip.isVisible().catch(() => false)) await skip.click({ force: true }); await page.locator('.tabButton', { hasText: 'Synthesis' }).click(); await page.waitForTimeout(700); @@ -755,10 +753,10 @@ await page.mouse.click(700, 820, { button: 'right' }); await page.waitForTimeout(500); check( 'the canvas menu can clear them away from any mode', - (await page.locator('#contextMenu #menu-item').allInnerTexts()).some((t) => - t.includes('Delete Synthesis Positions') + (await page.locator('#contextMenu .cm-row__label').allInnerTexts()).some((t) => + /Delete \d+ Synthesis Positions?/.test(t) ), - await page.locator('#contextMenu #menu-item').allInnerTexts() + await page.locator('#contextMenu .cm-row__label').allInnerTexts() ); await page.keyboard.press('Escape'); const poseBar = await page.evaluate(() => { @@ -769,10 +767,10 @@ await page.mouse.click(poseBar.x, poseBar.y, { button: 'right' }); await page.waitForTimeout(500); check( 'and one position can be taken away on its own', - (await page.locator('#contextMenu #menu-item').allInnerTexts()).some((t) => + (await page.locator('#contextMenu .cm-row__label').allInnerTexts()).some((t) => /Delete Position \d/.test(t) ), - await page.locator('#contextMenu #menu-item').allInnerTexts() + await page.locator('#contextMenu .cm-row__label').allInnerTexts() ); await page.keyboard.press('Escape'); @@ -959,15 +957,6 @@ check('and Redo takes it away again', (await panel('(p) => p.design.getAllPoses( happened twice in this file already. */ -/** The tour's overlay swallows pointer events until it is sent away. */ -async function dismissTour(p) { - const skip = p.locator('.introjs-skipbutton').first(); - if (await skip.isVisible().catch(() => false)) await skip.click({ force: true }); - await p.evaluate(() => - document.querySelectorAll('.introjs-overlay, .introjs-tooltip').forEach((n) => n.remove()) - ); -} - const SOLVED = BASE + '/?2P.VC,1E8.5,0.1011....N_.SD~1uT~1~8,SP~01lk~g_~1z0,SP~DT~1e5~087a,SP~59p~0I0~0OBHJ'; @@ -979,7 +968,6 @@ async function solvedPage() { await waitForReady(p); // The app does not open on Synthesis, and a design in the URL does not send // it there either. The tour's overlay eats the click if it is still up. - await dismissTour(p); await p.locator('.tabButton', { hasText: 'Synthesis' }).click(); await p.waitForTimeout(700); await p.locator('#synthesisPanel .cta', { hasText: 'Generate solutions' }).click(); @@ -1193,7 +1181,6 @@ const ask = (p, fn) => p.on('pageerror', (error) => errors.push(String(error))); await p.goto(BASE, { waitUntil: 'domcontentloaded' }); await waitForReady(p); - await dismissTour(p); await p.locator('.tabButton', { hasText: 'Synthesis' }).click(); await p.waitForTimeout(700); await p.locator('#synthesisPanel .kindCard--on').click(); @@ -1303,7 +1290,6 @@ const ask = (p, fn) => reloaded.on('pageerror', (error) => errors.push(String(error))); await reloaded.goto(BASE + '/?' + link, { waitUntil: 'domcontentloaded' }); await waitForReady(reloaded); - await dismissTour(reloaded); await reloaded.locator('.tabButton', { hasText: 'Synthesis' }).click(); await reloaded.waitForTimeout(700); const after = await ask(reloaded, '(panel) => panel.solution.ownership()'); @@ -1428,7 +1414,6 @@ const ask = (p, fn) => p.on('pageerror', (error) => errors.push(String(error))); await p.goto(BASE, { waitUntil: 'domcontentloaded' }); await waitForReady(p); - await dismissTour(p); await p.locator('.tabButton', { hasText: 'Synthesis' }).click(); await p.waitForTimeout(600); await p.locator('#synthesisPanel .kindCard--on').click(); @@ -1525,7 +1510,6 @@ const ask = (p, fn) => opened.on('pageerror', (error) => errors.push(String(error))); await opened.goto(BASE + '/?' + link, { waitUntil: 'domcontentloaded' }); await waitForReady(opened); - await dismissTour(opened); await opened.locator('.tabButton', { hasText: 'Synthesis' }).click(); await opened.waitForTimeout(700); // A reopened link has the design but not the search, and Insert with nothing @@ -1587,7 +1571,6 @@ const ask = (p, fn) => opened.on('pageerror', (error) => errors.push(String(error))); await opened.goto(BASE + '/?' + link, { waitUntil: 'domcontentloaded' }); await waitForReady(opened); - await dismissTour(opened); await opened.locator('.tabButton', { hasText: 'Synthesis' }).click(); await opened.waitForTimeout(700); await opened.locator('#synthesisPanel .cta', { hasText: 'Generate solutions' }).click(); diff --git a/e2e/tutorial.mjs b/e2e/tutorial.mjs index 68754669..272de8d9 100644 --- a/e2e/tutorial.mjs +++ b/e2e/tutorial.mjs @@ -68,11 +68,12 @@ let at = await stepNow(); check('starts at step 1 of 5', at?.step === 1 && at?.of === 5, JSON.stringify(at)); // The two gestures are different controls, and the first draft of this tutorial -// told the student to use the wrong one three times: `Add Link` on bare grid -// always makes a free-standing bar, so three of them never touch. +// told the student to use the wrong one three times: Add on the bare grid +// always makes a free-standing bar, so three of them never touch. The menu +// carries the verb on the group heading, so that is what the step names. const body = async () => page.locator('.stepBody').innerText(); -check('step 1 asks for Add Link', (await body()).includes('Add Link')); -check('step 1 does not ask for Attach Link', !(await body()).includes('Attach Link')); +check('step 1 sends the student to the Add group', (await body()).includes('under Add')); +check('step 1 does not send them to Attach', !(await body()).includes('under Attach')); await page.screenshot({ path: `${OUT}/02-step1.png` }); // ---- doing each step for them walks the drawing forward one step ---- @@ -87,7 +88,7 @@ for (const expected of [2, 3, 4, 5]) { check(`Do This Step For Me reaches step ${expected}`, at?.step === expected, JSON.stringify(at)); if (expected === 2) { - check('step 2 asks for Attach Link', (await body()).includes('Attach Link')); + check('step 2 sends them to the Attach group', (await body()).includes('under Attach')); } if (expected === 3) { check('the previous step is reported done', (await page.locator('.achieved').count()) === 1); diff --git a/src/app/component/context-menu/context-menu.component.html b/src/app/component/context-menu/context-menu.component.html index 3520dc16..100b9461 100644 --- a/src/app/component/context-menu/context-menu.component.html +++ b/src/app/component/context-menu/context-menu.component.html @@ -1,16 +1,76 @@ -