feat: add multi-actor PoseCode scene crate

2026-08-03 19:21:42 +00:00 · 2026-07-15 09:53:38 -04:00
parent 82c1b8fdf8
commit 04028acd54
17 changed files with 1849 additions and 2 deletions
@@ -0,0 +1,131 @@
+//! Canonical deterministic PoseCode text serialization.
+
+use std::fmt::Write;
+
+use crate::model::*;
+
+pub fn to_posecode(scene: &Scene) -> String {
+    let mut out = String::new();
+    writeln!(out, "posecode scene \"{}\"", safe_text(&scene.name)).unwrap();
+    writeln!(out, "source {}", source_name(scene.source)).unwrap();
+    for actor in &scene.actors {
+        writeln!(out, "actor {}:", actor.id).unwrap();
+        writeln!(out, "  rig {}", actor.rig).unwrap();
+        writeln!(out, "  pose start = {}", actor.start_pose).unwrap();
+        if let Some(track) = actor.track_id {
+            writeln!(out, "  track {track}").unwrap();
+        }
+        writeln!(out, "  confidence {}", number(actor.confidence)).unwrap();
+        writeln!(
+            out,
+            "  position {} {} {}",
+            number(actor.position.x),
+            number(actor.position.y),
+            number(actor.position.z)
+        )
+        .unwrap();
+    }
+    for phase in &scene.phases {
+        writeln!(
+            out,
+            "step \"{}\" {}s {}:",
+            safe_text(&phase.name),
+            number(phase.duration_ms as f32 / 1000.0),
+            phase.timing.as_str()
+        )
+        .unwrap();
+        for actor in &phase.actors {
+            for joint in &actor.joints {
+                writeln!(
+                    out,
+                    "  {}.{}: {} {} {}",
+                    actor.actor_id,
+                    joint.joint,
+                    joint.action,
+                    number(joint.degrees),
+                    number(joint.confidence)
+                )
+                .unwrap();
+            }
+            if !actor.ground_lock.is_empty() {
+                writeln!(
+                    out,
+                    "  {}.ground-lock: {}",
+                    actor.actor_id,
+                    actor.ground_lock.join(", ")
+                )
+                .unwrap();
+            }
+            if let Some(p) = actor.travel {
+                writeln!(
+                    out,
+                    "  {}.travel: {} {} {}",
+                    actor.actor_id,
+                    number(p.x),
+                    number(p.y),
+                    number(p.z)
+                )
+                .unwrap();
+            }
+        }
+        for contact in &phase.contacts {
+            writeln!(
+                out,
+                "  contact {}.{} {}.{} {}",
+                contact.from.actor_id,
+                contact.from.effector,
+                contact.to.actor_id,
+                contact.to.effector,
+                number(contact.confidence)
+            )
+            .unwrap();
+        }
+    }
+    writeln!(out, "repeat {}", scene.repeat).unwrap();
+    out
+}
+
+fn source_name(source: SceneSource) -> &'static str {
+    match source {
+        SceneSource::Authored => "authored",
+        SceneSource::ObservedWifiCsi => "observed_wifi_csi",
+        SceneSource::Imported => "imported",
+    }
+}
+
+fn safe_text(value: &str) -> String {
+    value
+        .chars()
+        .filter(|c| !c.is_control() && *c != '"')
+        .collect()
+}
+
+fn number(value: f32) -> String {
+    if value == 0.0 {
+        return "0".into();
+    }
+    let mut text = format!("{value:.4}");
+    while text.ends_with('0') {
+        text.pop();
+    }
+    if text.ends_with('.') {
+        text.pop();
+    }
+    text
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::parse_posecode;
+
+    #[test]
+    fn canonical_text_round_trips() {
+        let mut scene = Scene::new("two people");
+        scene.actors.push(Actor::humanoid("p1"));
+        scene.actors.push(Actor::humanoid("p2"));
+        let text = to_posecode(&scene);
+        assert_eq!(parse_posecode(&text).unwrap(), scene);
+        assert_eq!(to_posecode(&parse_posecode(&text).unwrap()), text);
+    }
+}