mirror of
https://github.com/ruvnet/RuView
synced 2026-07-20 17:03:24 +00:00
ruv
8166d8d822
- Docker default changed from --source simulated to --source auto (auto-detects ESP32 on UDP 5005, falls back to simulation) - Pose derivation now driven by real sensing features: motion_band_power, breathing_band_power, variance, dominant_freq_hz, change_points - Temporal feature extraction: 100-frame circular buffer, Goertzel breathing rate estimation (0.1-0.5 Hz), frame-to-frame L2 motion detection, SNR-based signal quality metric - Signal field driven by subcarrier variance spatial mapping instead of fixed animation circle - UI data source indicators: LIVE/RECONNECTING/SIMULATED banner on sensing tab, estimation mode badge on live demo tab - Setup guide panel explaining ESP32 count requirements for each capability level (1x: presence, 3x: localization, 4x+: full pose) - Tick rate improved from 500ms to 100ms (2fps to 10fps) - Fixed Option<f64> division bug from PR #83 - ADR-035 documents all decisions Closes #86 Co-Authored-By: claude-flow <ruv@ruv.net>
701 lines
30 KiB
TypeScript
701 lines
30 KiB
TypeScript
import { useCallback, useEffect, useRef } from 'react';
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import { StyleSheet, View } from 'react-native';
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import * as THREE from 'three';
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import type { SensingFrame } from '@/types/sensing';
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type Props = {
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onReady: () => void;
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onFps: (fps: number) => void;
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onError: (msg: string) => void;
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frame: SensingFrame | null;
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};
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// COCO skeleton bones
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const BONES: [number, number][] = [
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[0,1],[0,2],[1,3],[2,4],[5,6],[5,7],[7,9],[6,8],[8,10],
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[5,11],[6,12],[11,12],[11,13],[13,15],[12,14],[14,16],
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];
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// Standing pose (meters, Y-up)
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const BASE_POSE: [number, number, number][] = [
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[ 0.00, 1.72, 0.04], // 0 nose
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[-0.03, 1.76, 0.05], // 1 left eye
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[ 0.03, 1.76, 0.05], // 2 right eye
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[-0.08, 1.74,-0.01], // 3 left ear
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[ 0.08, 1.74,-0.01], // 4 right ear
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[-0.20, 1.45, 0.00], // 5 left shoulder
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[ 0.20, 1.45, 0.00], // 6 right shoulder
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[-0.26, 1.12, 0.04], // 7 left elbow
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[ 0.26, 1.12, 0.04], // 8 right elbow
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[-0.28, 0.82, 0.02], // 9 left wrist
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[ 0.28, 0.82, 0.02], // 10 right wrist
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[-0.11, 0.95, 0.00], // 11 left hip
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[ 0.11, 0.95, 0.00], // 12 right hip
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[-0.12, 0.50, 0.02], // 13 left knee
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[ 0.12, 0.50, 0.02], // 14 right knee
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[-0.12, 0.04, 0.00], // 15 left ankle
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[ 0.12, 0.04, 0.00], // 16 right ankle
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];
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// DensePose-style body part colors (24 parts → simplified per-segment)
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const DENSEPOSE_COLORS: Record<string, number> = {
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head: 0xf4a582, // warm skin
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neck: 0xd6604d, // darker warm
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torsoFront: 0x92c5de, // blue-gray
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torsoSide: 0x4393c3, // steel blue
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pelvis: 0x2166ac, // deep blue
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lUpperArm: 0xd73027, // red
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rUpperArm: 0xf46d43, // orange-red
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lForearm: 0xfdae61, // orange
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rForearm: 0xfee090, // light orange
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lHand: 0xffffbf, // pale yellow
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rHand: 0xffffbf,
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lThigh: 0xa6d96a, // green
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rThigh: 0x66bd63, // darker green
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lShin: 0x1a9850, // deep green
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rShin: 0x006837, // forest
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lFoot: 0x762a83, // purple
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rFoot: 0x9970ab, // light purple
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};
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// Body segments: [jointA, jointB, topRadius, botRadius, colorKey]
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const BODY_SEGS: [number, number, number, number, string][] = [
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[5, 6, 0.10, 0.10, 'torsoFront'], // collar
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[5, 11, 0.09, 0.07, 'torsoSide'], // L torso
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[6, 12, 0.09, 0.07, 'torsoSide'], // R torso
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[11, 12, 0.08, 0.08, 'pelvis'], // pelvis
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[5, 7, 0.045,0.040,'lUpperArm'], // L upper arm
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[7, 9, 0.038,0.032,'lForearm'], // L forearm
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[6, 8, 0.045,0.040,'rUpperArm'], // R upper arm
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[8, 10, 0.038,0.032,'rForearm'], // R forearm
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[11, 13, 0.065,0.050,'lThigh'], // L thigh
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[13, 15, 0.048,0.038,'lShin'], // L shin
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[12, 14, 0.065,0.050,'rThigh'], // R thigh
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[14, 16, 0.048,0.038,'rShin'], // R shin
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];
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function makePart(scene: THREE.Scene, rTop: number, rBot: number, color: number, glow: boolean = false): THREE.Mesh {
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const geo = new THREE.CapsuleGeometry((rTop + rBot) / 2, 1, 6, 12);
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const mat = new THREE.MeshPhysicalMaterial({
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color, emissive: color,
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emissiveIntensity: glow ? 0.4 : 0.08,
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transparent: true, opacity: glow ? 0.12 : 0.85,
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roughness: 0.35, metalness: 0.1,
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clearcoat: glow ? 0 : 0.3, clearcoatRoughness: 0.4,
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side: glow ? THREE.BackSide : THREE.FrontSide,
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});
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const m = new THREE.Mesh(geo, mat);
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m.visible = false;
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m.castShadow = !glow;
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scene.add(m);
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return m;
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}
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function positionLimb(mesh: THREE.Mesh, a: THREE.Vector3, b: THREE.Vector3, rTop: number, rBot: number) {
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const mid = new THREE.Vector3().addVectors(a, b).multiplyScalar(0.5);
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mesh.position.copy(mid);
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const len = a.distanceTo(b);
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// CapsuleGeometry height param = 1, so scale Y to actual length
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mesh.scale.set((rTop + rBot) * 10, len, (rTop + rBot) * 10);
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const dir = new THREE.Vector3().subVectors(b, a).normalize();
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const up = new THREE.Vector3(0, 1, 0);
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const quat = new THREE.Quaternion().setFromUnitVectors(up, dir);
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mesh.quaternion.copy(quat);
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}
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function lerp3(out: THREE.Vector3, target: THREE.Vector3, alpha: number) {
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out.x += (target.x - out.x) * alpha;
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out.y += (target.y - out.y) * alpha;
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out.z += (target.z - out.z) * alpha;
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}
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export const GaussianSplatWebViewWeb = ({ onReady, onFps, onError, frame }: Props) => {
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const containerRef = useRef<HTMLDivElement>(null);
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const frameRef = useRef<SensingFrame | null>(null);
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const sceneRef = useRef<any>(null);
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frameRef.current = frame;
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const cleanup = useCallback(() => {
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const s = sceneRef.current;
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if (!s) return;
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cancelAnimationFrame(s.animId);
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s.renderer.dispose();
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s.scene.traverse((obj: any) => {
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if (obj.geometry) obj.geometry.dispose();
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if (obj.material) {
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const mats = Array.isArray(obj.material) ? obj.material : [obj.material];
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mats.forEach((m: any) => m.dispose());
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}
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});
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sceneRef.current = null;
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}, []);
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useEffect(() => {
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const container = containerRef.current;
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if (!container) return;
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try {
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const W = () => container.clientWidth || window.innerWidth;
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const H = () => container.clientHeight || window.innerHeight;
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// --- Renderer ---
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const renderer = new THREE.WebGLRenderer({ antialias: true, powerPreference: 'high-performance' });
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renderer.setSize(W(), H());
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renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2));
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renderer.setClearColor(0x080c16);
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renderer.shadowMap.enabled = true;
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renderer.shadowMap.type = THREE.PCFSoftShadowMap;
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renderer.toneMapping = THREE.ACESFilmicToneMapping;
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renderer.toneMappingExposure = 1.1;
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container.appendChild(renderer.domElement);
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const scene = new THREE.Scene();
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scene.background = new THREE.Color(0x080c16);
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scene.fog = new THREE.FogExp2(0x080c16, 0.018);
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const camera = new THREE.PerspectiveCamera(45, W() / H(), 0.1, 200);
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camera.position.set(0, 1.4, 3.5);
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camera.lookAt(0, 0.9, 0);
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// --- Lighting (3-point + rim) ---
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scene.add(new THREE.AmbientLight(0x223344, 0.5));
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const key = new THREE.DirectionalLight(0xddeeff, 1.0);
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key.position.set(2, 5, 3);
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key.castShadow = true;
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key.shadow.mapSize.set(1024, 1024);
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key.shadow.camera.near = 0.5;
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key.shadow.camera.far = 15;
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key.shadow.camera.left = -3;
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key.shadow.camera.right = 3;
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key.shadow.camera.top = 3;
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key.shadow.camera.bottom = -1;
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scene.add(key);
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const rim = new THREE.PointLight(0x32b8c6, 1.5, 12);
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rim.position.set(-1.5, 2.5, -2);
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scene.add(rim);
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const fill = new THREE.PointLight(0x554488, 0.5, 8);
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fill.position.set(1.5, 0.8, 2.5);
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scene.add(fill);
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const under = new THREE.PointLight(0x225566, 0.4, 5);
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under.position.set(0, 0.1, 1);
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scene.add(under);
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// --- Ground ---
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const groundGeo = new THREE.PlaneGeometry(20, 20);
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const groundMat = new THREE.MeshStandardMaterial({
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color: 0x0a0e1a, roughness: 0.9, metalness: 0.1,
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});
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const ground = new THREE.Mesh(groundGeo, groundMat);
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ground.rotation.x = -Math.PI / 2;
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ground.receiveShadow = true;
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scene.add(ground);
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const gridH = new THREE.GridHelper(20, 40, 0x1a3050, 0x0e1826);
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gridH.position.y = 0.002;
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scene.add(gridH);
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// --- Signal field (20x20) ---
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const GS = 20;
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const cellGeo = new THREE.PlaneGeometry(0.38, 0.38);
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const cellMat = new THREE.MeshBasicMaterial({ color: 0x32b8c6, transparent: true, opacity: 0.25, side: THREE.DoubleSide });
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const sigGrid = new THREE.InstancedMesh(cellGeo, cellMat, GS * GS);
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sigGrid.rotation.x = -Math.PI / 2; sigGrid.position.y = 0.005;
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const dum = new THREE.Object3D();
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for (let z = 0; z < GS; z++) for (let x = 0; x < GS; x++) {
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dum.position.set((x - GS / 2) * 0.4, (z - GS / 2) * 0.4, 0);
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dum.updateMatrix();
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sigGrid.setMatrixAt(z * GS + x, dum.matrix);
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sigGrid.setColorAt(z * GS + x, new THREE.Color(0x080c16));
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}
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sigGrid.instanceMatrix.needsUpdate = true;
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if (sigGrid.instanceColor) sigGrid.instanceColor.needsUpdate = true;
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scene.add(sigGrid);
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// --- ESP32 nodes ---
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const nodeGeo = new THREE.OctahedronGeometry(0.08, 1);
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const nodeMs: THREE.Mesh[] = [];
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for (let i = 0; i < 8; i++) {
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const mat = new THREE.MeshStandardMaterial({ color: 0x00ff88, emissive: 0x00ff88, emissiveIntensity: 0.7, wireframe: true });
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const m = new THREE.Mesh(nodeGeo, mat); m.visible = false; scene.add(m); nodeMs.push(m);
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}
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// --- Human body: DensePose-colored capsule mesh ---
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// Head: slightly oblate sphere
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const headGeo = new THREE.SphereGeometry(0.105, 20, 16);
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headGeo.scale(1, 1.08, 1);
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const headMat = new THREE.MeshPhysicalMaterial({
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color: DENSEPOSE_COLORS.head, emissive: DENSEPOSE_COLORS.head,
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emissiveIntensity: 0.08, roughness: 0.3, metalness: 0.05,
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clearcoat: 0.4, clearcoatRoughness: 0.3, transparent: true, opacity: 0.9,
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});
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const headM = new THREE.Mesh(headGeo, headMat);
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headM.castShadow = true; headM.visible = false; scene.add(headM);
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// Head glow
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const headGlowGeo = new THREE.SphereGeometry(0.14, 12, 10);
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const headGlowMat = new THREE.MeshBasicMaterial({
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color: DENSEPOSE_COLORS.head, transparent: true, opacity: 0.08, side: THREE.BackSide,
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});
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const headGlowM = new THREE.Mesh(headGlowGeo, headGlowMat);
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headGlowM.visible = false; scene.add(headGlowM);
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// Eyes
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const eyeGeo = new THREE.SphereGeometry(0.015, 8, 6);
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const eyeMat = new THREE.MeshBasicMaterial({ color: 0xeeffff });
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const eyeL = new THREE.Mesh(eyeGeo, eyeMat);
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const eyeR = new THREE.Mesh(eyeGeo, eyeMat.clone());
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eyeL.visible = eyeR.visible = false;
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scene.add(eyeL); scene.add(eyeR);
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// Pupils
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const pupilGeo = new THREE.SphereGeometry(0.008, 6, 4);
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const pupilMat = new THREE.MeshBasicMaterial({ color: 0x112233 });
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const pupilL = new THREE.Mesh(pupilGeo, pupilMat);
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const pupilR = new THREE.Mesh(pupilGeo, pupilMat.clone());
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pupilL.visible = pupilR.visible = false;
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scene.add(pupilL); scene.add(pupilR);
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// Neck
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const neckGeo = new THREE.CapsuleGeometry(0.04, 0.08, 4, 8);
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const neckMat = new THREE.MeshPhysicalMaterial({
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color: DENSEPOSE_COLORS.neck, emissive: DENSEPOSE_COLORS.neck,
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emissiveIntensity: 0.05, roughness: 0.4, transparent: true, opacity: 0.85,
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});
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const neckM = new THREE.Mesh(neckGeo, neckMat);
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neckM.castShadow = true; neckM.visible = false; scene.add(neckM);
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// Torso: front plate
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const torsoGeo = new THREE.BoxGeometry(0.34, 0.50, 0.18, 2, 3, 2);
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// Round the torso vertices slightly
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const torsoPos = torsoGeo.attributes.position;
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for (let i = 0; i < torsoPos.count; i++) {
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const x = torsoPos.getX(i), y = torsoPos.getY(i), z = torsoPos.getZ(i);
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const r = Math.sqrt(x * x + z * z);
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if (r > 0.01) {
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const bulge = 1 + 0.15 * Math.cos(y * 3.5); // chest & hip curvature
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torsoPos.setX(i, x * bulge);
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torsoPos.setZ(i, z * bulge);
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}
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}
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torsoGeo.computeVertexNormals();
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const torsoMat = new THREE.MeshPhysicalMaterial({
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color: DENSEPOSE_COLORS.torsoFront, emissive: DENSEPOSE_COLORS.torsoFront,
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emissiveIntensity: 0.06, roughness: 0.35, metalness: 0.05,
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clearcoat: 0.2, transparent: true, opacity: 0.88,
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});
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const torsoM = new THREE.Mesh(torsoGeo, torsoMat);
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torsoM.castShadow = true; torsoM.visible = false; scene.add(torsoM);
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// Torso glow
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const torsoGlowGeo = new THREE.BoxGeometry(0.40, 0.55, 0.24);
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const torsoGlowMat = new THREE.MeshBasicMaterial({
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color: DENSEPOSE_COLORS.torsoFront, transparent: true, opacity: 0.06, side: THREE.BackSide,
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});
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const torsoGlowM = new THREE.Mesh(torsoGlowGeo, torsoGlowMat);
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torsoGlowM.visible = false; scene.add(torsoGlowM);
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// Hands (small boxes)
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const handGeo = new THREE.BoxGeometry(0.05, 0.08, 0.025, 1, 1, 1);
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const handLMat = new THREE.MeshPhysicalMaterial({ color: DENSEPOSE_COLORS.lHand, emissive: DENSEPOSE_COLORS.lHand, emissiveIntensity: 0.1, roughness: 0.3, transparent: true, opacity: 0.85 });
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const handRMat = new THREE.MeshPhysicalMaterial({ color: DENSEPOSE_COLORS.rHand, emissive: DENSEPOSE_COLORS.rHand, emissiveIntensity: 0.1, roughness: 0.3, transparent: true, opacity: 0.85 });
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const handL = new THREE.Mesh(handGeo, handLMat); handL.visible = false; scene.add(handL);
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const handR = new THREE.Mesh(handGeo, handRMat); handR.visible = false; scene.add(handR);
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// Feet (wedge-like boxes)
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const footGeo = new THREE.BoxGeometry(0.06, 0.04, 0.14, 1, 1, 1);
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const footLMat = new THREE.MeshPhysicalMaterial({ color: DENSEPOSE_COLORS.lFoot, emissive: DENSEPOSE_COLORS.lFoot, emissiveIntensity: 0.1, roughness: 0.4, transparent: true, opacity: 0.85 });
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const footRMat = new THREE.MeshPhysicalMaterial({ color: DENSEPOSE_COLORS.rFoot, emissive: DENSEPOSE_COLORS.rFoot, emissiveIntensity: 0.1, roughness: 0.4, transparent: true, opacity: 0.85 });
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const footL = new THREE.Mesh(footGeo, footLMat); footL.visible = false; scene.add(footL);
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const footR = new THREE.Mesh(footGeo, footRMat); footR.visible = false; scene.add(footR);
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// Limb capsules + glow capsules
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const limbMs = BODY_SEGS.map(([,, rT, rB, ck]) => makePart(scene, rT, rB, DENSEPOSE_COLORS[ck]));
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const limbGlowMs = BODY_SEGS.map(([,, rT, rB, ck]) => makePart(scene, rT * 1.6, rB * 1.6, DENSEPOSE_COLORS[ck], true));
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// Joint dots
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const jDotGeo = new THREE.SphereGeometry(0.018, 6, 4);
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const jDots = Array.from({ length: 17 }, () => {
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const mat = new THREE.MeshBasicMaterial({ color: 0x88ddee, transparent: true, opacity: 0.7 });
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const m = new THREE.Mesh(jDotGeo, mat); m.visible = false; scene.add(m); return m;
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});
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// Skeleton lines (thin wireframe overlay)
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const skelMat = new THREE.LineBasicMaterial({ color: 0x55ccdd, transparent: true, opacity: 0.25 });
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const skelLines = BONES.map(([a, b]) => {
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const g = new THREE.BufferGeometry().setFromPoints([new THREE.Vector3(), new THREE.Vector3()]);
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const l = new THREE.Line(g, skelMat); l.visible = false; scene.add(l); return { line: l, a, b };
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});
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// Heart ring
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const hrGeo = new THREE.TorusGeometry(0.18, 0.006, 8, 32);
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const hrMat = new THREE.MeshBasicMaterial({ color: 0xff3355, transparent: true, opacity: 0 });
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const hrRing = new THREE.Mesh(hrGeo, hrMat); hrRing.visible = false; scene.add(hrRing);
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// Breathing indicator rings (concentric around chest)
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const brRings = [0.22, 0.28, 0.34].map((r) => {
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const geo = new THREE.TorusGeometry(r, 0.003, 6, 32);
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const mat = new THREE.MeshBasicMaterial({ color: 0x44ddaa, transparent: true, opacity: 0 });
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const m = new THREE.Mesh(geo, mat); m.visible = false; scene.add(m); return m;
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});
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// WiFi pulse rings
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const wifiRings = [1.0, 1.8, 2.6].map((r) => {
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const geo = new THREE.TorusGeometry(r, 0.01, 6, 48);
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const mat = new THREE.MeshBasicMaterial({ color: 0x32b8c6, transparent: true, opacity: 0.15 });
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const m = new THREE.Mesh(geo, mat); m.rotation.x = Math.PI / 2; m.position.y = 0.01; scene.add(m); return m;
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});
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// Particles
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const NP = 400;
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const pGeo = new THREE.BufferGeometry();
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const pA = new Float32Array(NP * 3);
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for (let i = 0; i < NP; i++) {
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pA[i * 3] = (Math.random() - 0.5) * 12;
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pA[i * 3 + 1] = Math.random() * 3.5;
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pA[i * 3 + 2] = (Math.random() - 0.5) * 12;
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}
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pGeo.setAttribute('position', new THREE.BufferAttribute(pA, 3));
|
|
scene.add(new THREE.Points(pGeo, new THREE.PointsMaterial({
|
|
color: 0x3399bb, size: 0.018, transparent: true, opacity: 0.25,
|
|
})));
|
|
|
|
// --- HUD ---
|
|
const hudC = document.createElement('canvas'); hudC.width = 640; hudC.height = 128;
|
|
const hudT = new THREE.CanvasTexture(hudC);
|
|
const hudS = new THREE.Sprite(new THREE.SpriteMaterial({ map: hudT, transparent: true }));
|
|
hudS.scale.set(3.2, 0.64, 1); hudS.position.set(0, 3.2, 0); scene.add(hudS);
|
|
|
|
// --- Smooth keypoints ---
|
|
const smoothKps: THREE.Vector3[] = BASE_POSE.map(([x, y, z]) => new THREE.Vector3(x, y, z));
|
|
const targetKps: THREE.Vector3[] = BASE_POSE.map(([x, y, z]) => new THREE.Vector3(x, y, z));
|
|
const tmpA = new THREE.Vector3();
|
|
const tmpB = new THREE.Vector3();
|
|
const hc = new THREE.Color();
|
|
|
|
// State
|
|
const state: any = {
|
|
renderer, scene, camera, animId: 0,
|
|
camAngle: 0, camR: 3.5, camY: 1.4,
|
|
drag: false, fCount: 0, fpsT: performance.now(),
|
|
prevPresence: false, fadeIn: 0,
|
|
};
|
|
sceneRef.current = state;
|
|
|
|
// Input
|
|
const cvs = renderer.domElement;
|
|
cvs.addEventListener('mousedown', () => { state.drag = true; });
|
|
cvs.addEventListener('mouseup', () => { state.drag = false; });
|
|
cvs.addEventListener('mouseleave', () => { state.drag = false; });
|
|
cvs.addEventListener('mousemove', (e: MouseEvent) => {
|
|
if (state.drag) { state.camAngle += e.movementX * 0.006; state.camY = Math.max(0.2, Math.min(4, state.camY - e.movementY * 0.006)); }
|
|
});
|
|
cvs.addEventListener('wheel', (e: WheelEvent) => {
|
|
state.camR = Math.max(1.5, Math.min(10, state.camR + e.deltaY * 0.003));
|
|
}, { passive: true });
|
|
const onR = () => { camera.aspect = W() / H(); camera.updateProjectionMatrix(); renderer.setSize(W(), H()); };
|
|
window.addEventListener('resize', onR);
|
|
|
|
// --- Animate ---
|
|
const animate = () => {
|
|
state.animId = requestAnimationFrame(animate);
|
|
const t = performance.now() * 0.001;
|
|
const fr = frameRef.current;
|
|
|
|
// Camera
|
|
if (!state.drag) state.camAngle += 0.001;
|
|
camera.position.set(Math.sin(state.camAngle) * state.camR, state.camY, Math.cos(state.camAngle) * state.camR);
|
|
camera.lookAt(0, 0.95, 0);
|
|
|
|
const pres = fr?.classification?.presence ?? false;
|
|
const mot = fr?.classification?.motion_level ?? 'absent';
|
|
const conf = fr?.classification?.confidence ?? 0;
|
|
const mPow = fr?.features?.motion_band_power ?? 0;
|
|
const bPow = fr?.features?.breathing_band_power ?? 0;
|
|
const rssi = fr?.features?.mean_rssi ?? -80;
|
|
|
|
// Fade body in/out (gradual transitions)
|
|
if (pres && conf > 0.2) state.fadeIn = Math.min(1, state.fadeIn + 0.015);
|
|
else state.fadeIn = Math.max(0, state.fadeIn - 0.008);
|
|
const show = state.fadeIn > 0.01;
|
|
const alpha = state.fadeIn;
|
|
|
|
// --- Compute target keypoints ---
|
|
for (let i = 0; i < 17; i++) {
|
|
const [bx, by, bz] = BASE_POSE[i];
|
|
let ax = bx, ay = by, az = bz;
|
|
|
|
if (pres) {
|
|
// Breathing: gentle chest rise/fall
|
|
const bFreq = 0.25 + bPow * 0.5; // ~15 bpm base
|
|
const bAmp = 0.004 + bPow * 0.008;
|
|
const bPhase = Math.sin(t * bFreq * Math.PI * 2);
|
|
if (i >= 5 && i <= 10) { ay += bPhase * bAmp; }
|
|
if (i <= 4) ay += bPhase * bAmp * 0.3;
|
|
|
|
// Very subtle sway
|
|
ax += Math.sin(t * 0.35) * 0.004;
|
|
az += Math.cos(t * 0.25) * 0.002;
|
|
|
|
if (mot === 'active') {
|
|
const ws = 1.8 + mPow * 2;
|
|
const wa = 0.03 + mPow * 0.06;
|
|
const ph = t * ws;
|
|
|
|
// Legs
|
|
if (i === 13) { az += Math.sin(ph) * wa * 0.7; ay -= Math.abs(Math.sin(ph)) * 0.015; }
|
|
if (i === 14) { az += Math.sin(ph + Math.PI) * wa * 0.7; ay -= Math.abs(Math.sin(ph + Math.PI)) * 0.015; }
|
|
if (i === 15) { az += Math.sin(ph - 0.2) * wa * 0.8; }
|
|
if (i === 16) { az += Math.sin(ph + Math.PI - 0.2) * wa * 0.8; }
|
|
|
|
// Arms counter-swing (subtle)
|
|
if (i === 7) az += Math.sin(ph + Math.PI) * wa * 0.35;
|
|
if (i === 8) az += Math.sin(ph) * wa * 0.35;
|
|
if (i === 9) az += Math.sin(ph + Math.PI) * wa * 0.45;
|
|
if (i === 10) az += Math.sin(ph) * wa * 0.45;
|
|
|
|
// Tiny vertical bob
|
|
ay += Math.abs(Math.sin(ph)) * 0.006;
|
|
|
|
} else if (mot === 'present_still') {
|
|
const it = t * 0.25;
|
|
// Very subtle weight shift
|
|
if (i >= 11) ax += Math.sin(it * 0.4) * 0.004;
|
|
// Barely perceptible hand drift
|
|
if (i === 9) { ax += Math.sin(it * 0.8) * 0.005; }
|
|
if (i === 10) { ax += Math.sin(it * 0.6 + 0.5) * 0.005; }
|
|
}
|
|
}
|
|
targetKps[i].set(ax, ay, az);
|
|
}
|
|
|
|
// Smooth interpolation (lower = smoother, less jumpy)
|
|
const lerpA = 0.04;
|
|
for (let i = 0; i < 17; i++) lerp3(smoothKps[i], targetKps[i], lerpA);
|
|
|
|
// --- Head ---
|
|
headM.visible = headGlowM.visible = show;
|
|
if (show) {
|
|
tmpA.copy(smoothKps[0]).add(new THREE.Vector3(0, 0.06, 0));
|
|
headM.position.copy(tmpA);
|
|
headGlowM.position.copy(tmpA);
|
|
(headM.material as THREE.MeshPhysicalMaterial).opacity = alpha * 0.9;
|
|
headGlowMat.opacity = alpha * 0.08;
|
|
}
|
|
|
|
// Eyes + pupils
|
|
eyeL.visible = eyeR.visible = pupilL.visible = pupilR.visible = show;
|
|
if (show) {
|
|
const headPos = headM.position;
|
|
eyeL.position.set(headPos.x - 0.032, headPos.y + 0.01, headPos.z + 0.09);
|
|
eyeR.position.set(headPos.x + 0.032, headPos.y + 0.01, headPos.z + 0.09);
|
|
pupilL.position.set(eyeL.position.x, eyeL.position.y, eyeL.position.z + 0.012);
|
|
pupilR.position.set(eyeR.position.x, eyeR.position.y, eyeR.position.z + 0.012);
|
|
}
|
|
|
|
// Neck
|
|
neckM.visible = show;
|
|
if (show) {
|
|
const neckTop = new THREE.Vector3().copy(smoothKps[0]).add(new THREE.Vector3(0, -0.04, 0));
|
|
const neckBot = tmpA.addVectors(smoothKps[5], smoothKps[6]).multiplyScalar(0.5).add(new THREE.Vector3(0, 0.04, 0));
|
|
neckM.position.addVectors(neckTop, neckBot).multiplyScalar(0.5);
|
|
neckM.scale.y = neckTop.distanceTo(neckBot) * 4;
|
|
(neckM.material as THREE.MeshPhysicalMaterial).opacity = alpha * 0.85;
|
|
}
|
|
|
|
// Torso
|
|
torsoM.visible = torsoGlowM.visible = show;
|
|
if (show) {
|
|
const mSh = tmpA.addVectors(smoothKps[5], smoothKps[6]).multiplyScalar(0.5);
|
|
const mHp = tmpB.addVectors(smoothKps[11], smoothKps[12]).multiplyScalar(0.5);
|
|
const tPos = new THREE.Vector3().addVectors(mSh, mHp).multiplyScalar(0.5);
|
|
torsoM.position.copy(tPos);
|
|
torsoGlowM.position.copy(tPos);
|
|
const bScale = 1 + Math.sin(t * (0.9 + bPow * 4) * Math.PI * 2) * 0.02 * (1 + bPow * 3);
|
|
torsoM.scale.set(1, 1, bScale);
|
|
(torsoM.material as THREE.MeshPhysicalMaterial).opacity = alpha * 0.88;
|
|
torsoGlowMat.opacity = alpha * 0.06;
|
|
}
|
|
|
|
// Hands
|
|
handL.visible = handR.visible = show;
|
|
if (show) {
|
|
handL.position.copy(smoothKps[9]).add(new THREE.Vector3(0, -0.04, 0));
|
|
handR.position.copy(smoothKps[10]).add(new THREE.Vector3(0, -0.04, 0));
|
|
(handL.material as THREE.MeshPhysicalMaterial).opacity = alpha * 0.85;
|
|
(handR.material as THREE.MeshPhysicalMaterial).opacity = alpha * 0.85;
|
|
}
|
|
|
|
// Feet
|
|
footL.visible = footR.visible = show;
|
|
if (show) {
|
|
footL.position.copy(smoothKps[15]).add(new THREE.Vector3(0, 0.02, 0.04));
|
|
footR.position.copy(smoothKps[16]).add(new THREE.Vector3(0, 0.02, 0.04));
|
|
(footL.material as THREE.MeshPhysicalMaterial).opacity = alpha * 0.85;
|
|
(footR.material as THREE.MeshPhysicalMaterial).opacity = alpha * 0.85;
|
|
}
|
|
|
|
// Limb capsules — emissive reacts to motion intensity
|
|
BODY_SEGS.forEach(([ai, bi, rT, rB], idx) => {
|
|
limbMs[idx].visible = limbGlowMs[idx].visible = show;
|
|
if (show) {
|
|
positionLimb(limbMs[idx], smoothKps[ai], smoothKps[bi], rT, rB);
|
|
positionLimb(limbGlowMs[idx], smoothKps[ai], smoothKps[bi], rT * 1.6, rB * 1.6);
|
|
const limbMat = limbMs[idx].material as THREE.MeshPhysicalMaterial;
|
|
limbMat.opacity = alpha * 0.82;
|
|
// Glow brighter with more motion (direct sensor feedback)
|
|
limbMat.emissiveIntensity = 0.06 + mPow * 0.4;
|
|
const glowMat = limbGlowMs[idx].material as THREE.MeshPhysicalMaterial;
|
|
glowMat.opacity = alpha * (0.06 + mPow * 0.15);
|
|
}
|
|
});
|
|
|
|
// Joint dots & skeleton lines
|
|
jDots.forEach((d, i) => { d.visible = show; if (show) d.position.copy(smoothKps[i]); });
|
|
skelLines.forEach(({ line, a, b }) => {
|
|
line.visible = show;
|
|
if (show) {
|
|
const p = line.geometry.attributes.position as THREE.BufferAttribute;
|
|
p.setXYZ(0, smoothKps[a].x, smoothKps[a].y, smoothKps[a].z);
|
|
p.setXYZ(1, smoothKps[b].x, smoothKps[b].y, smoothKps[b].z);
|
|
p.needsUpdate = true;
|
|
}
|
|
});
|
|
|
|
// Heart ring
|
|
const vs = fr?.vital_signs as Record<string, unknown> | undefined;
|
|
const hrBpm = Number(vs?.hr_proxy_bpm ?? vs?.heart_rate_bpm ?? 0);
|
|
hrRing.visible = show && hrBpm > 0;
|
|
if (hrRing.visible) {
|
|
const chst = tmpA.addVectors(smoothKps[5], smoothKps[6]).multiplyScalar(0.5);
|
|
chst.y -= 0.08;
|
|
hrRing.position.copy(chst);
|
|
hrRing.lookAt(camera.position);
|
|
const bp = (t * (hrBpm / 60) * Math.PI * 2) % (Math.PI * 2);
|
|
const beat = Math.pow(Math.max(0, Math.sin(bp)), 10);
|
|
hrMat.opacity = beat * 0.5 * alpha;
|
|
hrRing.scale.setScalar(1 + beat * 0.12);
|
|
}
|
|
|
|
// Breathing rings
|
|
brRings.forEach((ring, ri) => {
|
|
ring.visible = show && bPow > 0.01;
|
|
if (ring.visible) {
|
|
const chst = tmpA.addVectors(smoothKps[5], smoothKps[6]).multiplyScalar(0.5);
|
|
chst.y -= 0.05;
|
|
ring.position.copy(chst);
|
|
ring.lookAt(camera.position);
|
|
const bph = Math.sin(t * (0.9 + bPow * 4) * Math.PI * 2 - ri * 0.5);
|
|
(ring.material as THREE.MeshBasicMaterial).opacity = Math.max(0, bph * 0.2 * alpha);
|
|
ring.scale.setScalar(1 + bph * 0.08);
|
|
}
|
|
});
|
|
|
|
// WiFi pulse rings
|
|
wifiRings.forEach((wr, wi) => {
|
|
const phase = (t * 0.5 + wi * 0.4) % 1;
|
|
wr.scale.setScalar(0.8 + phase * 1.5 + mPow);
|
|
(wr.material as THREE.MeshBasicMaterial).opacity = (1 - phase) * 0.12 * (pres ? 1 : 0.3);
|
|
});
|
|
|
|
// ESP32 nodes
|
|
(fr?.nodes || []).forEach((n, i) => {
|
|
if (i < nodeMs.length) {
|
|
const [px, py, pz] = n.position;
|
|
nodeMs[i].position.set(px * 2, py + 0.12, pz * 2);
|
|
nodeMs[i].visible = true; nodeMs[i].rotation.y = t * 0.4 + i;
|
|
(nodeMs[i].material as THREE.MeshStandardMaterial).emissiveIntensity = 0.5 + Math.sin(t * 3 + i) * 0.3;
|
|
}
|
|
});
|
|
for (let i = (fr?.nodes || []).length; i < nodeMs.length; i++) nodeMs[i].visible = false;
|
|
|
|
// Signal field
|
|
const sf = fr?.signal_field;
|
|
if (sf?.values?.length) {
|
|
const gx = sf.grid_size[0], gz = sf.grid_size[2];
|
|
for (let zi = 0; zi < Math.min(gz, GS); zi++) for (let xi = 0; xi < Math.min(gx, GS); xi++) {
|
|
const v = sf.values[zi * gx + xi] || 0;
|
|
if (v < 0.25) hc.setRGB(0.03, 0.05 + v * 1.8, 0.08 + v * 1.8);
|
|
else if (v < 0.5) hc.setRGB(0.03, 0.2 + (v - 0.25) * 2.4, 0.5 - (v - 0.25) * 1.2);
|
|
else if (v < 0.75) hc.setRGB((v - 0.5) * 4, 0.7 + (v - 0.5) * 0.6, 0.1);
|
|
else hc.setRGB(1, 1 - (v - 0.75) * 3, 0.05);
|
|
sigGrid.setColorAt(zi * GS + xi, hc);
|
|
}
|
|
if (sigGrid.instanceColor) sigGrid.instanceColor.needsUpdate = true;
|
|
}
|
|
|
|
// Lighting follows data
|
|
rim.intensity = 0.8 + Math.abs(rssi + 50) * 0.015;
|
|
|
|
// Particles
|
|
const pp = pGeo.attributes.position as THREE.BufferAttribute;
|
|
for (let i = 0; i < NP; i++) {
|
|
(pp.array as Float32Array)[i * 3 + 1] += Math.sin(t * 0.8 + i * 0.5) * 0.0006 + mPow * 0.001;
|
|
if ((pp.array as Float32Array)[i * 3 + 1] > 3.5) (pp.array as Float32Array)[i * 3 + 1] = 0;
|
|
}
|
|
pp.needsUpdate = true;
|
|
|
|
// HUD
|
|
const ctx = hudC.getContext('2d');
|
|
if (ctx && fr) {
|
|
ctx.clearRect(0, 0, 640, 128);
|
|
ctx.font = 'bold 14px "SF Mono", Menlo, monospace';
|
|
ctx.fillStyle = '#32b8c6';
|
|
ctx.fillText(`WIFI-DENSEPOSE [${(fr.source || '--').toUpperCase()}]`, 12, 20);
|
|
ctx.font = '12px "SF Mono", Menlo, monospace';
|
|
ctx.fillStyle = '#7799aa';
|
|
ctx.fillText(`Nodes: ${(fr.nodes || []).length} RSSI: ${rssi.toFixed(1)} dBm Motion: ${mot} Conf: ${(conf * 100).toFixed(0)}%`, 12, 42);
|
|
if (vs) {
|
|
const br = Number(vs.breathing_bpm ?? vs.breathing_rate_bpm ?? 0);
|
|
if (br > 0 || hrBpm > 0) {
|
|
ctx.fillStyle = '#44ddaa';
|
|
ctx.fillText(`Breathing: ${br.toFixed(1)} bpm Heart: ${hrBpm.toFixed(1)} bpm`, 12, 62);
|
|
}
|
|
}
|
|
if (show) {
|
|
ctx.fillStyle = pres ? (mot === 'active' ? '#ff8844' : '#44bbcc') : '#556677';
|
|
const mBar = Math.min(20, Math.round(mPow * 40));
|
|
const mBarStr = '\u2588'.repeat(mBar) + '\u2591'.repeat(20 - mBar);
|
|
ctx.fillText(`Motion: [${mBarStr}] ${(mPow * 100).toFixed(0)}%`, 12, 82);
|
|
ctx.fillStyle = '#556677';
|
|
ctx.font = '10px "SF Mono", Menlo, monospace';
|
|
ctx.fillText('Pose: procedural (load NN model for limb tracking)', 12, 100);
|
|
}
|
|
hudT.needsUpdate = true;
|
|
}
|
|
|
|
renderer.render(scene, camera);
|
|
|
|
state.fCount++;
|
|
if (performance.now() - state.fpsT >= 1000) {
|
|
onFps(state.fCount); state.fCount = 0; state.fpsT = performance.now();
|
|
}
|
|
};
|
|
|
|
animate();
|
|
onReady();
|
|
|
|
return () => {
|
|
cvs.removeEventListener('mousedown', () => {});
|
|
window.removeEventListener('resize', onR);
|
|
cleanup();
|
|
if (container.contains(renderer.domElement)) container.removeChild(renderer.domElement);
|
|
};
|
|
} catch (err) {
|
|
onError(err instanceof Error ? err.message : 'Failed to initialize 3D renderer');
|
|
}
|
|
// eslint-disable-next-line react-hooks/exhaustive-deps
|
|
}, []);
|
|
|
|
return (
|
|
<View style={styles.container}>
|
|
<div ref={containerRef} style={{ width: '100%', height: '100%', backgroundColor: '#080c16' }} />
|
|
</View>
|
|
);
|
|
};
|
|
|
|
const styles = StyleSheet.create({ container: { flex: 1, backgroundColor: '#080c16' } });
|
|
export default GaussianSplatWebViewWeb;
|