Components: occurrences with transforms (instances and Paste New copies), world placement of the model (Session::world_state for display, measure, export), active component authoring frame, move/ground/capture/revert positions, move bodies and sketches between components, rename/delete, migration of older designs
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AS5Tn3xieewUSg3uxrMVdL
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//! Components and occurrences: the design as a tree.
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//!
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//! The root component (id 0) is the design. Every other component lives in a parent component
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//! through one or more occurrences, each with a rigid transform (instances share the component's
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//! contents; a "Paste New" copy is a separate component). A component's sketches, construction
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//! geometry and features are authored in its own frame (its origin); the model is evaluated in
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//! those frames and placed in the world through the occurrence transforms when bodies are
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//! gathered for display, measuring and export (`world_bodies`). Commands take world coordinates
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//! and the engine maps a new feature's geometry into the active component's frame.
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use serde::{Deserialize, Serialize};
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use solvecraft_geom::{Plane, Vec3};
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use crate::{AxisRef, DocError, Document, FeatureKind, PatternKind, PlaneRef, Result};
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/// Column-major 4×4 affine transform (`m[col][row]`).
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pub type Mat = [[f64; 4]; 4];
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pub const IDENTITY: Mat = [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]];
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pub fn mat_mul(a: &Mat, b: &Mat) -> Mat {
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let mut r = [[0.0; 4]; 4];
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for (c, col) in r.iter_mut().enumerate() {
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for (row, cell) in col.iter_mut().enumerate() {
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*cell = (0..4).map(|k| a[k][row] * b[c][k]).sum();
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}
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}
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r
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}
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pub fn apply_point(m: &Mat, p: Vec3) -> Vec3 {
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Vec3::new(
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m[0][0] * p.x + m[1][0] * p.y + m[2][0] * p.z + m[3][0],
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m[0][1] * p.x + m[1][1] * p.y + m[2][1] * p.z + m[3][1],
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m[0][2] * p.x + m[1][2] * p.y + m[2][2] * p.z + m[3][2],
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)
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}
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pub fn apply_vector(m: &Mat, v: Vec3) -> Vec3 {
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Vec3::new(
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m[0][0] * v.x + m[1][0] * v.y + m[2][0] * v.z,
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m[0][1] * v.x + m[1][1] * v.y + m[2][1] * v.z,
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m[0][2] * v.x + m[1][2] * v.y + m[2][2] * v.z,
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)
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}
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pub fn is_identity(m: &Mat) -> bool {
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m.iter().flatten().zip(IDENTITY.iter().flatten()).all(|(a, b)| (a - b).abs() < 1e-12)
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}
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/// Inverse of an affine transform.
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pub fn mat_inverse(m: &Mat) -> Option<Mat> {
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let a = |r: usize, c: usize| m[c][r];
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let det = a(0, 0) * (a(1, 1) * a(2, 2) - a(1, 2) * a(2, 1)) - a(0, 1) * (a(1, 0) * a(2, 2) - a(1, 2) * a(2, 0))
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+ a(0, 2) * (a(1, 0) * a(2, 1) - a(1, 1) * a(2, 0));
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if det.abs() < 1e-14 || !det.is_finite() {
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return None;
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}
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let inv = |r: usize, c: usize| -> f64 {
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// Cofactor of (c, r) / det.
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let (r0, r1) = match c {
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0 => (1, 2),
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1 => (0, 2),
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_ => (0, 1),
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};
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let (c0, c1) = match r {
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0 => (1, 2),
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1 => (0, 2),
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_ => (0, 1),
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};
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let minor = a(r0, c0) * a(r1, c1) - a(r0, c1) * a(r1, c0);
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let sign = if (r + c) % 2 == 0 { 1.0 } else { -1.0 };
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sign * minor / det
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};
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let mut out = IDENTITY;
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for r in 0..3 {
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for c in 0..3 {
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out[c][r] = inv(r, c);
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}
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}
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let t = Vec3::new(m[3][0], m[3][1], m[3][2]);
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let it = apply_vector(&out, t);
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out[3] = [-it.x, -it.y, -it.z, 1.0];
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Some(out)
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}
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/// A rigid transform: rotation by `angle` about `axis` through `origin`, then a translation.
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pub fn rigid(translate: Vec3, origin: Vec3, axis: Vec3, angle: f64) -> Mat {
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let k = axis.normalized().unwrap_or(Vec3::Z);
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let (s, c) = angle.sin_cos();
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let t = 1.0 - c;
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let r = [
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[t * k.x * k.x + c, t * k.x * k.y + s * k.z, t * k.x * k.z - s * k.y],
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[t * k.x * k.y - s * k.z, t * k.y * k.y + c, t * k.y * k.z + s * k.x],
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[t * k.x * k.z + s * k.y, t * k.y * k.z - s * k.x, t * k.z * k.z + c],
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];
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let mut m = IDENTITY;
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for col in 0..3 {
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for row in 0..3 {
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m[col][row] = r[col][row];
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}
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}
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let ro = apply_vector(&m, origin);
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let tr = origin - ro + translate;
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m[3] = [tr.x, tr.y, tr.z, 1.0];
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m
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}
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/// A placement of a component inside a parent component.
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#[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
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pub struct Occurrence {
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pub id: u64,
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pub component: u64,
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/// The component it sits in (0 = the root).
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#[serde(default)]
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pub parent: u64,
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pub name: String,
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#[serde(default = "identity")]
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pub transform: Mat,
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/// Grounded occurrences don't move.
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#[serde(default)]
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pub grounded: bool,
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}
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fn identity() -> Mat {
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IDENTITY
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}
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fn map_plane(m: &Mat, p: &Plane) -> Plane {
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let (o, x, y) = (apply_point(m, p.origin), apply_vector(m, p.x), apply_vector(m, p.y));
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Plane::new(o, x, y).unwrap_or(*p)
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}
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fn map_plane_ref(m: &Mat, p: &mut PlaneRef) {
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match p {
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PlaneRef::Custom { plane } => *plane = map_plane(m, plane),
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PlaneRef::Offset { base, .. } => map_plane_ref(m, base),
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PlaneRef::AtAngle { base, axis_origin, axis_dir, .. } => {
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map_plane_ref(m, base);
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*axis_origin = apply_point(m, *axis_origin);
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*axis_dir = apply_vector(m, *axis_dir);
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}
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// Named origin planes and construction planes are the component's own.
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PlaneRef::Origin { .. } | PlaneRef::Construction { .. } => {}
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}
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}
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impl FeatureKind {
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/// Map the feature's world geometry (points, directions, explicit planes) by `m`.
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pub fn transform_geometry(&mut self, m: &Mat) {
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let pt = |p: &mut Vec3| *p = apply_point(m, *p);
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let dir = |v: &mut Vec3| *v = apply_vector(m, *v);
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match self {
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FeatureKind::Sketch { plane, .. }
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| FeatureKind::ConstructionPlane { plane }
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| FeatureKind::Split { plane, .. }
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| FeatureKind::Mirror { plane, .. } => map_plane_ref(m, plane),
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FeatureKind::Revolve { axis: AxisRef::Line { origin, dir: d }, .. } => {
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pt(origin);
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dir(d);
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}
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FeatureKind::Fillet { edges, .. } | FeatureKind::Chamfer { edges, .. } => edges.iter_mut().for_each(pt),
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FeatureKind::Shell { faces, .. } | FeatureKind::OffsetFace { faces, .. } => faces.iter_mut().for_each(pt),
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FeatureKind::Draft { faces, neutral, pull, .. } => {
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faces.iter_mut().for_each(pt);
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map_plane_ref(m, neutral);
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dir(pull);
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}
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FeatureKind::Box { corner, .. } => pt(corner),
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FeatureKind::Cylinder { base, axis, .. } => {
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pt(base);
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dir(axis);
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}
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FeatureKind::Sphere { center, .. } | FeatureKind::Torus { center, .. } => pt(center),
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FeatureKind::Pattern { pattern: PatternKind::Rectangular { dir1, dir2, .. }, .. } => {
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dir(dir1);
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if let Some(d) = dir2 {
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dir(d);
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}
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}
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FeatureKind::Pattern { pattern: PatternKind::Circular { origin, axis, .. }, .. } => {
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pt(origin);
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dir(axis);
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}
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FeatureKind::Hole { position, direction, .. } => {
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pt(position);
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dir(direction);
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}
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FeatureKind::Thread { face, .. } => pt(face),
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FeatureKind::Scale { origin, .. } => pt(origin),
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FeatureKind::Move { rotate_axis, .. } => {
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if let Some(a) = rotate_axis {
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dir(a);
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}
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}
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FeatureKind::Revolve { .. }
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| FeatureKind::Extrude { .. }
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| FeatureKind::Combine { .. }
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| FeatureKind::Loft { .. }
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| FeatureKind::Sweep { .. }
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| FeatureKind::BoundingSolid { .. }
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| FeatureKind::Pipe { .. }
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| FeatureKind::Import { .. }
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| FeatureKind::MeshImport { .. } => {}
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}
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}
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}
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impl Document {
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/// The first occurrence of a component (its placement for authoring).
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pub fn occurrence_of(&self, component: u64) -> Option<&crate::Occurrence> {
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self.occurrences.iter().find(|o| o.component == component)
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}
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/// World transform of a component's frame (through its first occurrence and its parents').
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pub fn component_transform(&self, component: u64) -> Mat {
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let mut m = IDENTITY;
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let mut c = component;
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for _ in 0..1000 {
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if c == 0 {
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break;
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}
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let Some(o) = self.occurrence_of(c) else { break };
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m = mat_mul(&o.transform, &m);
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c = o.parent;
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}
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m
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}
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/// Every placement of each component: (component, occurrence path ids, world transform).
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pub fn placements(&self) -> Vec<(u64, Vec<u64>, Mat)> {
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let mut out = vec![(0, Vec::new(), IDENTITY)];
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let mut stack: Vec<(u64, Vec<u64>, Mat)> = vec![(0, Vec::new(), IDENTITY)];
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while let Some((comp, path, m)) = stack.pop() {
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if path.len() > 64 || out.len() > 100_000 {
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break;
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}
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for o in self.occurrences.iter().filter(|o| o.parent == comp) {
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let mut p = path.clone();
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p.push(o.id);
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let w = mat_mul(&m, &o.transform);
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out.push((o.component, p.clone(), w));
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stack.push((o.component, p, w));
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}
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}
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out
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}
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/// Is `a` inside `b` (or `b` itself)?
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pub fn component_within(&self, a: u64, b: u64) -> bool {
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let mut c = a;
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for _ in 0..1000 {
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if c == b {
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return true;
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}
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if c == 0 {
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return false;
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}
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match self.components.iter().find(|x| x.id == c) {
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Some(x) => c = x.parent,
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None => return false,
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}
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}
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false
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}
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/// Add an occurrence of an existing component into `parent`.
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pub fn add_occurrence(&mut self, component: u64, parent: u64, transform: Mat) -> Result<u64> {
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if component == 0 || !self.components.iter().any(|c| c.id == component) {
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return Err(DocError::Unknown(format!("component {component}")));
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}
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if self.component_within(parent, component) {
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return Err(DocError::Invalid("a component can't contain itself".into()));
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}
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if self.occurrences.len() >= 100_000 {
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return Err(DocError::Invalid("too many occurrences".into()));
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}
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let id = self.next_id.max(1);
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self.next_id = id + 1;
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let cname = self.components.iter().find(|c| c.id == component).map(|c| c.name.clone()).unwrap_or_default();
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let k = self.occurrences.iter().filter(|o| o.component == component).count() + 1;
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self.occurrences.push(crate::Occurrence { id, component, parent, name: format!("{cname}:{k}"), transform, grounded: false });
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Ok(id)
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}
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}
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