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feat: strengthen modeling, configuration, and assembly workflows

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Preserve linked sketch identities through deterministic face projection and resizing. Fix origin-corner picking, persistent inline navigation, appearance editing, configuration styles, component properties, contact sweeps, sheet exports, analytic STEP offsets, and bounded rolling-ball fit accuracy.

Validated with full cargo xtask ci, native workflow screenshots, repeated enclosure replays, and analytic geometry regressions.
This commit is contained in:
bherbruck committed 2026-10-11 00:37:26 -04:00
1 parent 22672585c9
commit d71bdb78ec
54 files changed
+4179 -316
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crates/engine/src/cmd/motion.rs
+49 -16
View File
@@ -12,6 +12,9 @@ use super::joints::{joint_id, occurrence_id, resolve, value};
use crate::params::{bad, bool_, str_, vec3};
use crate::{EngineError, Result, Session};
#[path = "contact_sweep.rs"]
mod contact_sweep;
pub static COMMANDS: &[CommandSpec] = &[
CommandSpec::new("contact.enable_sets", "Enable Contact Sets", enable_sets).at("SOLID", "ASSEMBLE").icon("joint").params(
"enabled?: bool (default true) — driving joints and motion studies stop where bodies in one contact set would pass through each other",
@@ -87,7 +90,11 @@ fn placed(s: &Session) -> Vec<(Vec<u64>, Body)> {
continue;
}
for b in st.bodies.iter().filter(|b| s.doc.body_component(&b.name, b.feature) == comp && !b.body.is_mesh()) {
if let Ok(t) = solvecraft_kernel::transform_matrix(&b.body, m) {
// Moving a body into another component preserves its world placement using an
// offset from its authoring frame. Contact and explode centres must use that
// same offset as display and physical properties.
let frame = s.doc.body_offsets.get(&b.name).map(|offset| solvecraft_doc::mat_mul(&m, offset)).unwrap_or(m);
if let Ok(t) = solvecraft_kernel::transform_matrix(&b.body, frame) {
out.push((path.clone(), t));
}
}
@@ -131,8 +138,11 @@ pub fn collisions(s: &Session) -> Vec<(String, String, f64)> {
/// tested against the other closed mesh: inside by ray parity, and deeper than the tolerance.
fn overlap(a: &Body, b: &Body) -> Option<f64> {
let (ma, mb) = (a.tessellate((a.size() * 1e-3).max(1e-3)).ok()?, b.tessellate((b.size() * 1e-3).max(1e-3)).ok()?);
mesh_overlap(&ma, &mb, 1e-4 * a.size().max(b.size()).max(1.0))
}
fn mesh_overlap(ma: &solvecraft_geom::Mesh, mb: &solvecraft_geom::Mesh, tol: f64) -> Option<f64> {
let (ba, bb) = (ma.bounds(), mb.bounds());
let tol = 1e-4 * a.size().max(b.size()).max(1.0);
if ba.max.x < bb.min.x + tol
|| bb.max.x < ba.min.x + tol
|| ba.max.y < bb.min.y + tol
@@ -142,7 +152,7 @@ fn overlap(a: &Body, b: &Body) -> Option<f64> {
{
return None;
}
let depth = deepest(&ma, &mb, tol).max(deepest(&mb, &ma, tol));
let depth = deepest(ma, mb, tol).max(deepest(mb, ma, tol));
(depth > tol).then_some(depth)
}
@@ -247,9 +257,12 @@ fn closest(p: Vec3, a: Vec3, b: Vec3, c: Vec3) -> Vec3 {
/// Set joint values, stopping short where contact sets would collide: the values are moved
/// from where they are toward `want` as far as they go without a collision.
fn drive_with_contact(s: &mut Session, want: &[(u64, Vec<f64>)]) -> Result<Value> {
let baseline = s.doc.clone();
let start: Vec<(u64, Vec<f64>)> =
want.iter().map(|(id, _)| (*id, s.doc.assembly.joints.iter().find(|j| j.id == *id).map(|j| j.values.clone()).unwrap_or_default())).collect();
let set = |s: &mut Session, t: f64| {
// Trial order must not affect free anchors or linked joint placements.
s.doc = baseline.clone();
let doc = s.doc_mut();
for ((id, a), (_, b)) in start.iter().zip(want) {
if let Some(j) = doc.assembly.joints.iter_mut().find(|j| j.id == *id) {
@@ -260,25 +273,45 @@ fn drive_with_contact(s: &mut Session, want: &[(u64, Vec<f64>)]) -> Result<Value
}
resolve(s)
};
let mut sol = set(s, 1.0);
let cache = if s.doc.assembly.contact_enabled { Some(contact_sweep::ContactGeometry::new(s)?) } else { None };
let sol;
let mut stopped = None;
if s.doc.assembly.contact_enabled
&& let Some(hit) = collisions(s).into_iter().next()
{
// Already colliding where it started: don't search, just report.
if let Some(cache) = cache.filter(|cache| cache.has_pairs()) {
let mut end = s.scratch();
set(&mut end, 1.0);
let samples = cache.samples(s, &end)?;
let mut work = 0;
set(s, 0.0);
if collisions(s).is_empty() {
let (mut lo, mut hi) = (0.0, 1.0);
for _ in 0..14 {
let mid = (lo + hi) / 2.0;
set(s, mid);
if collisions(s).is_empty() { lo = mid } else { hi = mid }
// Keep the existing recovery behaviour: an initially overlapping assembly may move
// out of its invalid placement. Sweeps constrain motions that start collision-free.
if cache.first_hit(s, &mut work)?.is_none() {
let mut lo = 0.0;
let mut bracket = None;
for sample in 1..=samples {
let hi = sample as f64 / samples as f64;
set(s, hi);
if let Some(hit) = cache.first_hit(s, &mut work)? {
bracket = Some((lo, hi, hit));
break;
}
lo = hi;
}
if let Some((mut lo, mut hi, hit)) = bracket {
for _ in 0..14 {
let mid = (lo + hi) / 2.0;
set(s, mid);
if cache.first_hit(s, &mut work)?.is_none() { lo = mid } else { hi = mid }
}
sol = set(s, lo);
stopped = Some(json!({"a": hit.0, "b": hit.1, "fraction": lo}));
} else {
sol = set(s, 1.0);
}
sol = set(s, lo);
stopped = Some(json!({"a": hit.0, "b": hit.1, "fraction": lo}));
} else {
sol = set(s, 1.0);
}
} else {
sol = set(s, 1.0);
}
let values: Vec<Value> = want
.iter()