Motion analysis: scripting handles, depth wording, one hit per member pair a sample

crates/engine/src/cmd/contact_sweep.rs

@@ -228,10 +228,11 @@ impl ContactGeometry {
         Ok(self.hits(s, work, MAX_WORK, false)?.into_iter().next().map(|(a, b, depth)| (a.1, b.1, depth)))
     }
 
-    /// The pairs that pass through each other in `s`, with how deep (every pair, or the first
-    /// found when `all` is false). `work` adds up the cost, refused past `budget`.
+    /// The pairs of set members whose bodies pass through each other in `s`, with how deep the
+    /// first two bodies found go (every pair, or the first found when `all` is false). `work`
+    /// adds up the cost, refused past `budget`.
     pub(super) fn hits(&self, s: &Session, work: &mut usize, budget: usize, all: bool) -> Result<Vec<(Member, Member, f64)>> {
-        let mut out = Vec::new();
+        let mut out: Vec<(Member, Member, f64)> = Vec::new();
         let meshes: Vec<Mesh> = self
             .bodies
             .iter()
@@ -242,6 +243,10 @@ impl ContactGeometry {
             })
             .collect::<Result<_>>()?;
         for (a, b, oa, ob) in &self.pairs {
+            // Members already found colliding need no more of their bodies tested.
+            if out.iter().any(|(x, y, _)| (x.0, y.0) == (oa.0, ob.0) || (x.0, y.0) == (ob.0, oa.0)) {
+                continue;
+            }
             let (Some(ma), Some(mb), Some(ba), Some(bb)) = (meshes.get(*a), meshes.get(*b), self.bodies.get(*a), self.bodies.get(*b)) else {
                 return Err(limit("invalid contact geometry pair"));
             };

crates/engine/src/cmd/motion_analysis.rs

@@ -31,7 +31,8 @@ pub const INTERFERENCE_DOC: &str = "study: id|name; occurrences?: [ids or names]
      default every occurrence), with against?: [ids or names] (then each of `occurrences` is checked only against these, such \
      as an arm against the parts it must miss), or contact_sets?: true (the pairs of the design's contact sets); samples? \
      (2…1000, default the study's steps + 1) → collisions: [{a, b, first_step, last_step, steps: [[from, to]…] (the step ranges where they overlap), \
-     depth_mm (the deepest), deepest_step, volume_mm3 (their overlap there; null when it could not be worked out)}], clear, \
+     depth_mm (how far into each other, the most at deepest_step), volume_mm3 (their overlap there; null when it was not \
+     cheap to work out)}], clear, \
      pairs (checked), samples (taken), truncated (the work budget ran out; checked_to: the last step checked), stopped_at, \
      stopped_by_loop. The study plays as motion.play plays it but contact sets do not stop it, on a copy (the design is not \
      changed). Parts are tested at the samples only: one that passes wholly through another between two samples is missed";

crates/ui-egui/src/dialogs_motion_plot.rs

@@ -163,6 +163,9 @@ fn chart(ui: &mut egui::Ui, xs: &[f64], ys: &[f64], unit: &str, total: u32, now:
             p.text(r.right_top() + vec2(-4.0, 2.0), Align2::RIGHT_TOP, format!("{} {unit}", short(v)), font, t.text);
         }
     }
+    // Where steps 0 and `total` fall, for a scenario or an agent to click between.
+    crate::scenario::publish_handle("motion:chart_start", pos2(x(0.0), plot.center().y));
+    crate::scenario::publish_handle("motion:chart_end", pos2(x(total), plot.center().y));
     let cx = x(now);
     p.line_segment([pos2(cx, r.top()), pos2(cx, r.bottom())], Stroke::new(1.5, t.warning));
     let pos = resp.interact_pointer_pos().filter(|_| resp.clicked() || resp.dragged())?;
@@ -238,7 +241,8 @@ pub fn rows(
         combo(ui, "ms_quantity", &QUANTITIES, &mut a.quantity);
         ui.end_row();
         row_label(ui, "Duration");
-        ui.add(egui::TextEdit::singleline(&mut a.duration).hint_text(crate::i18n::tr("motion.duration_hint")));
+        let r = ui.add(egui::TextEdit::singleline(&mut a.duration).hint_text(crate::i18n::tr("motion.duration_hint")));
+        crate::scenario::publish_handle("dialog:Duration", r.rect.center());
         ui.end_row();
         let params = study.clone().and_then(|st| plot_params(s, what, &st, &a.duration, inputs).map(|p| (st, p)));
         let key = key_of(&params);
@@ -295,7 +299,9 @@ pub fn rows(
         if sets && parts.is_empty() {
             combo(ui, "ms_among", &["All components", "Contact sets"], &mut a.among);
         }
-        if ui.add_enabled(check.is_some(), egui::Button::new(crate::i18n::tr_label("Check collisions"))).clicked()
+        let button = ui.add_enabled(check.is_some(), egui::Button::new(crate::i18n::tr_label("Check collisions")));
+        crate::scenario::publish_handle("motion:check", button.rect.center());
+        if button.clicked()
             && let Some((st, mut p)) = check
         {
             let mut sc = app.session.scratch();
@@ -313,7 +319,7 @@ pub fn rows(
                 if hits.is_empty() {
                     ui.label(RichText::new(crate::i18n::tr("motion.no_collisions")).color(t.text_dim));
                 }
-                for c in &hits {
+                for (i, c) in hits.iter().enumerate() {
                     let steps: Vec<String> = c["steps"]
                         .as_array()
                         .into_iter()
@@ -326,7 +332,9 @@ pub fn rows(
                     let name = |k: &str| c[k].as_str().unwrap_or_default().to_string();
                     let text = crate::i18n::format("motion.collision", &[("a", &name("a")), ("b", &name("b")), ("steps", &steps.join(", "))]);
                     // A click shows where they first collide.
-                    if ui.link(RichText::new(text).color(t.error)).clicked()
+                    let link = ui.link(RichText::new(text).color(t.error));
+                    crate::scenario::publish_handle(&format!("motion:collision:{i}"), link.rect.center());
+                    if link.clicked()
                         && let Some(first) = c["first_step"].as_f64()
                     {
                         (*step, *playing) = (first, false);

docs/book/src/guide/assemblies.md

@@ -189,9 +189,10 @@ so they are as smooth as the samples are dense (up to 1000, one per step by defa
 unwrapped, so a joint that turns on past half a turn keeps counting.
 `motion.interference {study, occurrences?, against?, contact_sets?, samples?}` answers each
 colliding pair with its `first_step`, `last_step`, the `steps` ranges where they overlap, how
-deep (`depth_mm`, the deepest at `deepest_step`) and their shared `volume_mm3` there. It plays
-the study as `motion.play` does, but contact sets don't stop it, and parts are tested at the
-samples only: a part that passes right through another between two samples is missed. A check
+far into each other (`depth_mm`, the most at `deepest_step`) and their shared `volume_mm3`
+there (null when it is not cheap to work out). It plays the study as `motion.play` does, but
+contact sets don't stop it, and parts are tested at the samples only: a part that passes right
+through another between two samples is missed. A check
 takes at most 256 bodies; on a large design, list the `occurrences` to check (an arm, with
 `against` the parts it must miss). When the work runs out it says `truncated` and the step it
 `checked_to`.

docs/control-protocol.md

@@ -139,7 +139,7 @@ labels; `prefs:measure_axis_distances` identifies the checkbox.
 | `ui.sketchToScreen` | `points`: `[[x, y]…]` in active-sketch coordinates | their screen points (null when behind the camera) |
 | `ui.dialogInput` | `index` | what clicking an input's Select chip does: picks go to that input |
 | `ui.at` | `world: [x,y,z]` \| `sketch: [x,y]` \| `plane: "XY"` \| `axis: "Z"` \| `dimension: "d1"` (its value text) \| `handle: "arrow"` (a manipulator handle, see `scenario::publish_handle`) | the screen point (a scenario step's target; see `crates/ui-egui/src/scenario.rs`) |
-| `ui.handles` | `prefix?` | the handles drawn last frame, `[{name, x, y}]`: toolbar buttons and drop-down items `toolbar:<command id>` (the button alone: `button:<command id>`; a drop-down row: `dropdown:<command id>`, highlighted `dropdown_hot:<command id>`, its pin `dropdown_pin:<command id>`; Customize Toolbar's check boxes `customize:<command id>`), panel labels `panel:<tab>:<panel>`, browser rows `row:<label>` and fold arrows `fold:<label>`, manipulator handles; signed-axis tips `axis_view:z`, `axis_view:-y`; optional cube facets `navigation_cube:top`, `navigation_cube:top_front_right`, controls `navigation_cube:control:home` (and other actions), plus signed-axis aliases for visible cube faces; Preferences navigator picker `prefs:navigator`, options `prefs:navigator:Signed axes` and `prefs:navigator:Cube` |
+| `ui.handles` | `prefix?` | the handles drawn last frame, `[{name, x, y}]`: toolbar buttons and drop-down items `toolbar:<command id>` (the button alone: `button:<command id>`; a drop-down row: `dropdown:<command id>`, highlighted `dropdown_hot:<command id>`, its pin `dropdown_pin:<command id>`; Customize Toolbar's check boxes `customize:<command id>`), panel labels `panel:<tab>:<panel>`, browser rows `row:<label>` and fold arrows `fold:<label>`, manipulator handles; signed-axis tips `axis_view:z`, `axis_view:-y`; optional cube facets `navigation_cube:top`, `navigation_cube:top_front_right`, controls `navigation_cube:control:home` (and other actions), plus signed-axis aliases for visible cube faces; Preferences navigator picker `prefs:navigator`, options `prefs:navigator:Signed axes` and `prefs:navigator:Cube`; in the Motion Study dialog, where the chart puts its first and last step `motion:chart_start` and `motion:chart_end`, the Check collisions button `motion:check` and each collision found `motion:collision:<n>` |
 | `ui.editFeature` | `feature` (id or name) | what double-clicking a timeline item does: rolls back to it and opens its dialog filled in (sketches open in sketch mode) |
 | `ui.scroll` | `x`, `y`, `delta?` | wheel zoom at the cursor |
 | `ui.key` | `key` (egui key name, `Enter`, `Escape`…), `cmd?`, `shift?` | |