feat: customer demo - remove breakout game, numeric matrix, 3D module switcher

- Remove NeonBreakoutArena split panel from CenterStage
- Remove numeric matrix display mode toggle (keep dot matrix only)
- Remove 3D module stage mode switcher from HudPanel
- Remove precision-test config link and related UI state
- Cargo check passes (1 warning: unused import in log.rs)

.gitignore

@@ -25,6 +25,12 @@ vite.config.ts.timestamp-*
 /src-tauri/target/
 /src-tauri/target-codex-check*/
 /src-tauri/gen/schemas/
+/src-tauri/gen/android/app/build/
+/src-tauri/gen/android/buildSrc/build/
+/src-tauri/gen/android/.gradle/
+/src-tauri/gen/android/app/.gradle/
+/src-tauri/gen/android/buildSrc/.gradle/
+/src-tauri/gen/android/build/reports/
 
 /src-tauri/program.log*
 /src-tauri/recording_replay_debug_*.csv

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "eskin-finger-sdk"]
+	path = eskin-finger-sdk
+	url = https://gitea.e-skin.top/yanjie/eskin-finger-sdk.git

src-tauri/.gitignore

@@ -1,7 +1,9 @@
 # Generated by Cargo
 # will have compiled files and executables
 /target/
+/target-*/
 
 # Generated by Tauri
 # will have schema files for capabilities auto-completion
 /gen/schemas
+*log*

src-tauri/Cargo.toml

@@ -15,7 +15,7 @@ name = "tauri_demo_lib"
 crate-type = ["staticlib", "cdylib", "rlib"]
 
 [features]
-default = []
+default = ["multi-dim"]
 devkit = ["dep:tonic", "dep:prost", "dep:prost-types", "dep:async-stream", "dep:dirs"]
 multi-dim = ["dep:ndarray"]
 

src-tauri/gen/android/app/proguard-tauri.pro

@@ -0,0 +1,5 @@
+# THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
+
+-keep class com.lenn.tauri_serial.TauriActivity {
+  public app.tauri.plugin.PluginManager getPluginManager();
+}

src-tauri/gen/android/app/src/main/assets/tauri.conf.json

@@ -0,0 +1 @@
+{"$schema":"https://schema.tauri.app/config/2","productName":"JE-Skin","version":"0.4.0","identifier":"com.lenn.tauri-serial","app":{"windows":[{"label":"main","create":true,"url":"index.html","dragDropEnabled":true,"center":false,"width":1366.0,"height":860.0,"resizable":true,"maximizable":true,"minimizable":true,"closable":true,"title":"JE-Skin","fullscreen":false,"focus":true,"focusable":true,"transparent":false,"maximized":false,"visible":true,"decorations":false,"alwaysOnBottom":false,"alwaysOnTop":false,"visibleOnAllWorkspaces":false,"contentProtected":false,"skipTaskbar":false,"titleBarStyle":"Visible","hiddenTitle":false,"acceptFirstMouse":false,"shadow":true,"incognito":false,"zoomHotkeysEnabled":false,"browserExtensionsEnabled":false,"useHttpsScheme":false,"javascriptDisabled":false,"allowLinkPreview":true,"disableInputAccessoryView":false,"scrollBarStyle":"default"}],"security":{"freezePrototype":false,"dangerousDisableAssetCspModification":false,"assetProtocol":{"scope":[],"enable":false},"pattern":{"use":"brownfield"},"capabilities":[]},"macOSPrivateApi":false,"withGlobalTauri":false,"enableGTKAppId":false},"build":{"devUrl":"http://localhost:1420/","frontendDist":"../build","beforeDevCommand":"npm run dev","beforeBuildCommand":"npm run build","removeUnusedCommands":false,"additionalWatchFolders":[]},"bundle":{"active":true,"targets":"all","createUpdaterArtifacts":true,"icon":["icons/32x32.png","icons/128x128.png","icons/128x128@2x.png","icons/icon.icns","icons/icon.ico"],"resources":["resources/je-skin-devkit-server.exe"],"useLocalToolsDir":false,"windows":{"digestAlgorithm":null,"certificateThumbprint":null,"timestampUrl":null,"tsp":false,"webviewInstallMode":{"type":"downloadBootstrapper","silent":true},"allowDowngrades":true,"wix":null,"nsis":{"template":"nsis/installer.nsi","headerImage":null,"sidebarImage":null,"installerIcon":"icons/icon.ico","installMode":"both","languages":null,"customLanguageFiles":null,"displayLanguageSelector":false,"compression":"lzma","startMenuFolder":null,"installerHooks":null,"minimumWebview2Version":null},"signCommand":null},"linux":{"appimage":{"bundleMediaFramework":false,"files":{}},"deb":{"files":{}},"rpm":{"release":"1","epoch":0,"files":{}}},"macOS":{"files":{},"minimumSystemVersion":"10.13","hardenedRuntime":true,"dmg":{"windowSize":{"width":660,"height":400},"appPosition":{"x":180,"y":170},"applicationFolderPosition":{"x":480,"y":170}}},"iOS":{"minimumSystemVersion":"14.0"},"android":{"minSdkVersion":24,"autoIncrementVersionCode":false}},"plugins":{}}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/Ipc.kt

@@ -0,0 +1,33 @@
+/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
+
+// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-License-Identifier: MIT
+
+@file:Suppress("unused")
+
+package com.lenn.tauri_serial
+
+import android.webkit.*
+
+class Ipc(val webViewClient: RustWebViewClient) {
+    @JavascriptInterface
+    fun postMessage(message: String?) {
+        message?.let {m ->
+            // we're not using WebView::getUrl() here because it needs to be executed on the main thread
+            // and it would slow down the Ipc
+            // so instead we track the current URL on the webview client
+            this.ipc(webViewClient.currentUrl, m)
+        }
+    }
+
+    companion object {
+        init {
+            System.loadLibrary("tauri_demo_lib")
+        }
+    }
+
+    private external fun ipc(url: String, message: String)
+
+    
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/Logger.kt

@@ -0,0 +1,89 @@
+/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
+
+// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-License-Identifier: MIT
+
+@file:Suppress("unused", "MemberVisibilityCanBePrivate")
+
+package com.lenn.tauri_serial
+
+// taken from https://github.com/ionic-team/capacitor/blob/6658bca41e78239347e458175b14ca8bd5c1d6e8/android/capacitor/src/main/java/com/getcapacitor/Logger.java
+
+import android.text.TextUtils
+import android.util.Log
+
+class Logger {
+  companion object {
+    private const val LOG_TAG_CORE = "Tauri"
+
+    fun tags(vararg subtags: String): String {
+      return if (subtags.isNotEmpty()) {
+        LOG_TAG_CORE + "/" + TextUtils.join("/", subtags)
+      } else LOG_TAG_CORE
+    }
+
+    fun verbose(message: String) {
+      verbose(LOG_TAG_CORE, message)
+    }
+
+    private fun verbose(tag: String, message: String) {
+      if (!shouldLog()) {
+        return
+      }
+      Log.v(tag, message)
+    }
+
+    fun debug(message: String) {
+      debug(LOG_TAG_CORE, message)
+    }
+
+    fun debug(tag: String, message: String) {
+      if (!shouldLog()) {
+        return
+      }
+      Log.d(tag, message)
+    }
+
+    fun info(message: String) {
+      info(LOG_TAG_CORE, message)
+    }
+
+    fun info(tag: String, message: String) {
+      if (!shouldLog()) {
+        return
+      }
+      Log.i(tag, message)
+    }
+
+    fun warn(message: String) {
+      warn(LOG_TAG_CORE, message)
+    }
+
+    fun warn(tag: String, message: String) {
+      if (!shouldLog()) {
+        return
+      }
+      Log.w(tag, message)
+    }
+
+    fun error(message: String) {
+      error(LOG_TAG_CORE, message, null)
+    }
+
+    fun error(message: String, e: Throwable?) {
+      error(LOG_TAG_CORE, message, e)
+    }
+
+    fun error(tag: String, message: String, e: Throwable?) {
+      if (!shouldLog()) {
+        return
+      }
+      Log.e(tag, message, e)
+    }
+
+    private fun shouldLog(): Boolean {
+      return BuildConfig.DEBUG
+    }
+  }
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/PermissionHelper.kt

@@ -0,0 +1,117 @@
+/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
+
+// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-License-Identifier: MIT
+
+package com.lenn.tauri_serial
+
+// taken from https://github.com/ionic-team/capacitor/blob/6658bca41e78239347e458175b14ca8bd5c1d6e8/android/capacitor/src/main/java/com/getcapacitor/PermissionHelper.java
+
+import android.content.Context
+import android.content.pm.PackageManager
+import android.os.Build
+import androidx.core.app.ActivityCompat
+import java.util.ArrayList
+
+object PermissionHelper {
+  /**
+   * Checks if a list of given permissions are all granted by the user
+   *
+   * @param permissions Permissions to check.
+   * @return True if all permissions are granted, false if at least one is not.
+   */
+  fun hasPermissions(context: Context?, permissions: Array<String>): Boolean {
+    for (perm in permissions) {
+      if (ActivityCompat.checkSelfPermission(
+          context!!,
+          perm
+        ) != PackageManager.PERMISSION_GRANTED
+      ) {
+        return false
+      }
+    }
+    return true
+  }
+
+  /**
+   * Check whether the given permission has been defined in the AndroidManifest.xml
+   *
+   * @param permission A permission to check.
+   * @return True if the permission has been defined in the Manifest, false if not.
+   */
+  fun hasDefinedPermission(context: Context, permission: String): Boolean {
+    var hasPermission = false
+    val requestedPermissions = getManifestPermissions(context)
+    if (!requestedPermissions.isNullOrEmpty()) {
+      val requestedPermissionsList = listOf(*requestedPermissions)
+      val requestedPermissionsArrayList = ArrayList(requestedPermissionsList)
+      if (requestedPermissionsArrayList.contains(permission)) {
+        hasPermission = true
+      }
+    }
+    return hasPermission
+  }
+
+  /**
+   * Check whether all of the given permissions have been defined in the AndroidManifest.xml
+   * @param context the app context
+   * @param permissions a list of permissions
+   * @return true only if all permissions are defined in the AndroidManifest.xml
+   */
+  fun hasDefinedPermissions(context: Context, permissions: Array<String>): Boolean {
+    for (permission in permissions) {
+      if (!hasDefinedPermission(context, permission)) {
+        return false
+      }
+    }
+    return true
+  }
+
+  /**
+   * Get the permissions defined in AndroidManifest.xml
+   *
+   * @return The permissions defined in AndroidManifest.xml
+   */
+  private fun getManifestPermissions(context: Context): Array<String>? {
+    var requestedPermissions: Array<String>? = null
+    try {
+      val pm = context.packageManager
+      val packageInfo = if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.TIRAMISU) {
+        pm.getPackageInfo(context.packageName, PackageManager.PackageInfoFlags.of(PackageManager.GET_PERMISSIONS.toLong()))
+      } else {
+        @Suppress("DEPRECATION")
+        pm.getPackageInfo(context.packageName, PackageManager.GET_PERMISSIONS)
+      }
+      if (packageInfo != null) {
+        requestedPermissions = packageInfo.requestedPermissions
+      }
+    } catch (_: Exception) {
+    }
+    return requestedPermissions
+  }
+
+  /**
+   * Given a list of permissions, return a new list with the ones not present in AndroidManifest.xml
+   *
+   * @param neededPermissions The permissions needed.
+   * @return The permissions not present in AndroidManifest.xml
+   */
+  fun getUndefinedPermissions(context: Context, neededPermissions: Array<String?>): Array<String?> {
+    val undefinedPermissions = ArrayList<String?>()
+    val requestedPermissions = getManifestPermissions(context)
+    if (!requestedPermissions.isNullOrEmpty()) {
+      val requestedPermissionsList = listOf(*requestedPermissions)
+      val requestedPermissionsArrayList = ArrayList(requestedPermissionsList)
+      for (permission in neededPermissions) {
+        if (!requestedPermissionsArrayList.contains(permission)) {
+          undefinedPermissions.add(permission)
+        }
+      }
+      var undefinedPermissionArray = arrayOfNulls<String>(undefinedPermissions.size)
+      undefinedPermissionArray = undefinedPermissions.toArray(undefinedPermissionArray)
+      return undefinedPermissionArray
+    }
+    return neededPermissions
+  }
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/RustWebChromeClient.kt

@@ -0,0 +1,495 @@
+/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
+
+// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-License-Identifier: MIT
+
+@file:Suppress("ObsoleteSdkInt", "RedundantOverride", "QueryPermissionsNeeded", "SimpleDateFormat")
+
+package com.lenn.tauri_serial
+
+// taken from https://github.com/ionic-team/capacitor/blob/6658bca41e78239347e458175b14ca8bd5c1d6e8/android/capacitor/src/main/java/com/getcapacitor/BridgeWebChromeClient.java
+
+import android.Manifest
+import android.app.Activity
+import android.app.AlertDialog
+import android.content.ActivityNotFoundException
+import android.content.DialogInterface
+import android.content.Intent
+import android.net.Uri
+import android.os.Build
+import android.os.Environment
+import android.provider.MediaStore
+import android.view.View
+import android.webkit.*
+import android.widget.EditText
+import androidx.activity.result.ActivityResult
+import androidx.activity.result.ActivityResultCallback
+import androidx.activity.result.ActivityResultLauncher
+import androidx.activity.result.contract.ActivityResultContracts
+import androidx.core.content.FileProvider
+import java.io.File
+import java.io.IOException
+import java.text.SimpleDateFormat
+import java.util.*
+
+class RustWebChromeClient(appActivity: WryActivity) : WebChromeClient() {
+  private interface PermissionListener {
+    fun onPermissionSelect(isGranted: Boolean?)
+  }
+
+  private interface ActivityResultListener {
+    fun onActivityResult(result: ActivityResult?)
+  }
+
+  private val activity: WryActivity
+  private var permissionLauncher: ActivityResultLauncher<Array<String>>
+  private var activityLauncher: ActivityResultLauncher<Intent>
+  private var permissionListener: PermissionListener? = null
+  private var activityListener: ActivityResultListener? = null
+
+  init {
+    activity = appActivity
+    val permissionCallback =
+      ActivityResultCallback { isGranted: Map<String, Boolean> ->
+        if (permissionListener != null) {
+          var granted = true
+          for ((_, value) in isGranted) {
+            if (!value) granted = false
+          }
+          permissionListener!!.onPermissionSelect(granted)
+        }
+      }
+    permissionLauncher =
+      activity.registerForActivityResult(ActivityResultContracts.RequestMultiplePermissions(), permissionCallback)
+    activityLauncher = activity.registerForActivityResult(
+      ActivityResultContracts.StartActivityForResult()
+    ) { result ->
+      if (activityListener != null) {
+        activityListener!!.onActivityResult(result)
+      }
+    }
+  }
+
+  /**
+   * Render web content in `view`.
+   *
+   * Both this method and [.onHideCustomView] are required for
+   * rendering web content in full screen.
+   *
+   * @see [](https://developer.android.com/reference/android/webkit/WebChromeClient.onShowCustomView
+  ) */
+  override fun onShowCustomView(view: View, callback: CustomViewCallback) {
+    callback.onCustomViewHidden()
+    super.onShowCustomView(view, callback)
+  }
+
+  /**
+   * Render web content in the original Web View again.
+   *
+   * Do not remove this method--@see #onShowCustomView(View, CustomViewCallback).
+   */
+  override fun onHideCustomView() {
+    super.onHideCustomView()
+  }
+
+  override fun onPermissionRequest(request: PermissionRequest) {
+    val isRequestPermissionRequired = Build.VERSION.SDK_INT >= Build.VERSION_CODES.M
+    val permissionList: MutableList<String> = ArrayList()
+    if (listOf(*request.resources).contains("android.webkit.resource.VIDEO_CAPTURE")) {
+      permissionList.add(Manifest.permission.CAMERA)
+    }
+    if (listOf(*request.resources).contains("android.webkit.resource.AUDIO_CAPTURE")) {
+      permissionList.add(Manifest.permission.MODIFY_AUDIO_SETTINGS)
+      permissionList.add(Manifest.permission.RECORD_AUDIO)
+    }
+    if (permissionList.isNotEmpty() && isRequestPermissionRequired) {
+      val permissions = permissionList.toTypedArray()
+      permissionListener = object : PermissionListener {
+        override fun onPermissionSelect(isGranted: Boolean?) {
+          if (isGranted == true) {
+            request.grant(request.resources)
+          } else {
+            request.deny()
+          }
+        }
+      }
+      permissionLauncher.launch(permissions)
+    } else {
+      request.grant(request.resources)
+    }
+  }
+
+  /**
+   * Show the browser alert modal
+   * @param view
+   * @param url
+   * @param message
+   * @param result
+   * @return
+   */
+  override fun onJsAlert(view: WebView, url: String, message: String, result: JsResult): Boolean {
+    if (activity.isFinishing) {
+      return true
+    }
+    val builder = AlertDialog.Builder(view.context)
+    builder
+      .setMessage(message)
+      .setPositiveButton(
+        "OK"
+      ) { dialog: DialogInterface, _: Int ->
+        dialog.dismiss()
+        result.confirm()
+      }
+      .setOnCancelListener { dialog: DialogInterface ->
+        dialog.dismiss()
+        result.cancel()
+      }
+    val dialog = builder.create()
+    dialog.show()
+    return true
+  }
+
+  /**
+   * Show the browser confirm modal
+   * @param view
+   * @param url
+   * @param message
+   * @param result
+   * @return
+   */
+  override fun onJsConfirm(view: WebView, url: String, message: String, result: JsResult): Boolean {
+    if (activity.isFinishing) {
+      return true
+    }
+    val builder = AlertDialog.Builder(view.context)
+    builder
+      .setMessage(message)
+      .setPositiveButton(
+        "OK"
+      ) { dialog: DialogInterface, _: Int ->
+        dialog.dismiss()
+        result.confirm()
+      }
+      .setNegativeButton(
+        "Cancel"
+      ) { dialog: DialogInterface, _: Int ->
+        dialog.dismiss()
+        result.cancel()
+      }
+      .setOnCancelListener { dialog: DialogInterface ->
+        dialog.dismiss()
+        result.cancel()
+      }
+    val dialog = builder.create()
+    dialog.show()
+    return true
+  }
+
+  /**
+   * Show the browser prompt modal
+   * @param view
+   * @param url
+   * @param message
+   * @param defaultValue
+   * @param result
+   * @return
+   */
+  override fun onJsPrompt(
+    view: WebView,
+    url: String,
+    message: String,
+    defaultValue: String,
+    result: JsPromptResult
+  ): Boolean {
+    if (activity.isFinishing) {
+      return true
+    }
+    val builder = AlertDialog.Builder(view.context)
+    val input = EditText(view.context)
+    builder
+      .setMessage(message)
+      .setView(input)
+      .setPositiveButton(
+        "OK"
+      ) { dialog: DialogInterface, _: Int ->
+        dialog.dismiss()
+        val inputText1 = input.text.toString().trim { it <= ' ' }
+        result.confirm(inputText1)
+      }
+      .setNegativeButton(
+        "Cancel"
+      ) { dialog: DialogInterface, _: Int ->
+        dialog.dismiss()
+        result.cancel()
+      }
+      .setOnCancelListener { dialog: DialogInterface ->
+        dialog.dismiss()
+        result.cancel()
+      }
+    val dialog = builder.create()
+    dialog.show()
+    return true
+  }
+
+  /**
+   * Handle the browser geolocation permission prompt
+   * @param origin
+   * @param callback
+   */
+  override fun onGeolocationPermissionsShowPrompt(
+    origin: String,
+    callback: GeolocationPermissions.Callback
+  ) {
+    super.onGeolocationPermissionsShowPrompt(origin, callback)
+    Logger.debug("onGeolocationPermissionsShowPrompt: DOING IT HERE FOR ORIGIN: $origin")
+    val geoPermissions =
+      arrayOf(Manifest.permission.ACCESS_COARSE_LOCATION, Manifest.permission.ACCESS_FINE_LOCATION)
+    if (!PermissionHelper.hasPermissions(activity, geoPermissions)) {
+      permissionListener = object : PermissionListener {
+        override fun onPermissionSelect(isGranted: Boolean?) {
+          if (isGranted == true) {
+            callback.invoke(origin, true, false)
+          } else {
+            val coarsePermission =
+              arrayOf(Manifest.permission.ACCESS_COARSE_LOCATION)
+            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.S &&
+              PermissionHelper.hasPermissions(activity, coarsePermission)
+            ) {
+              callback.invoke(origin, true, false)
+            } else {
+              callback.invoke(origin, false, false)
+            }
+          }
+        }
+      }
+      permissionLauncher.launch(geoPermissions)
+    } else {
+      // permission is already granted
+      callback.invoke(origin, true, false)
+      Logger.debug("onGeolocationPermissionsShowPrompt: has required permission")
+    }
+  }
+
+  override fun onShowFileChooser(
+    webView: WebView,
+    filePathCallback: ValueCallback<Array<Uri?>?>,
+    fileChooserParams: FileChooserParams
+  ): Boolean {
+    val acceptTypes = listOf(*fileChooserParams.acceptTypes)
+    val captureEnabled = fileChooserParams.isCaptureEnabled
+    val capturePhoto = captureEnabled && acceptTypes.contains("image/*")
+    val captureVideo = captureEnabled && acceptTypes.contains("video/*")
+    if (capturePhoto || captureVideo) {
+      if (isMediaCaptureSupported) {
+        showMediaCaptureOrFilePicker(filePathCallback, fileChooserParams, captureVideo)
+      } else {
+        permissionListener = object : PermissionListener {
+          override fun onPermissionSelect(isGranted: Boolean?) {
+            if (isGranted == true) {
+              showMediaCaptureOrFilePicker(filePathCallback, fileChooserParams, captureVideo)
+            } else {
+              Logger.warn(Logger.tags("FileChooser"), "Camera permission not granted")
+              filePathCallback.onReceiveValue(null)
+            }
+          }
+        }
+        val camPermission = arrayOf(Manifest.permission.CAMERA)
+        permissionLauncher.launch(camPermission)
+      }
+    } else {
+      showFilePicker(filePathCallback, fileChooserParams)
+    }
+    return true
+  }
+
+  private val isMediaCaptureSupported: Boolean
+    get() {
+      val permissions = arrayOf(Manifest.permission.CAMERA)
+      return PermissionHelper.hasPermissions(activity, permissions) ||
+        !PermissionHelper.hasDefinedPermission(activity, Manifest.permission.CAMERA)
+    }
+
+  private fun showMediaCaptureOrFilePicker(
+    filePathCallback: ValueCallback<Array<Uri?>?>,
+    fileChooserParams: FileChooserParams,
+    isVideo: Boolean
+  ) {
+    val isVideoCaptureSupported = true
+    val shown = if (isVideo && isVideoCaptureSupported) {
+      showVideoCapturePicker(filePathCallback)
+    } else {
+      showImageCapturePicker(filePathCallback)
+    }
+    if (!shown) {
+      Logger.warn(
+        Logger.tags("FileChooser"),
+        "Media capture intent could not be launched. Falling back to default file picker."
+      )
+      showFilePicker(filePathCallback, fileChooserParams)
+    }
+  }
+
+  private fun showImageCapturePicker(filePathCallback: ValueCallback<Array<Uri?>?>): Boolean {
+    val takePictureIntent = Intent(MediaStore.ACTION_IMAGE_CAPTURE)
+    if (takePictureIntent.resolveActivity(activity.packageManager) == null) {
+      return false
+    }
+    val imageFileUri: Uri = try {
+      createImageFileUri()
+    } catch (ex: Exception) {
+      Logger.error("Unable to create temporary media capture file: " + ex.message)
+      return false
+    }
+    takePictureIntent.putExtra(MediaStore.EXTRA_OUTPUT, imageFileUri)
+    activityListener = object : ActivityResultListener {
+      override fun onActivityResult(result: ActivityResult?) {
+        var res: Array<Uri?>? = null
+        if (result?.resultCode == Activity.RESULT_OK) {
+          res = arrayOf(imageFileUri)
+        }
+        filePathCallback.onReceiveValue(res)
+      }
+    }
+    activityLauncher.launch(takePictureIntent)
+    return true
+  }
+
+  private fun showVideoCapturePicker(filePathCallback: ValueCallback<Array<Uri?>?>): Boolean {
+    val takeVideoIntent = Intent(MediaStore.ACTION_VIDEO_CAPTURE)
+    if (takeVideoIntent.resolveActivity(activity.packageManager) == null) {
+      return false
+    }
+    activityListener = object : ActivityResultListener {
+      override fun onActivityResult(result: ActivityResult?) {
+        var res: Array<Uri?>? = null
+        if (result?.resultCode == Activity.RESULT_OK) {
+          res = arrayOf(result.data!!.data)
+        }
+        filePathCallback.onReceiveValue(res)
+      }
+    }
+    activityLauncher.launch(takeVideoIntent)
+    return true
+  }
+
+  private fun showFilePicker(
+    filePathCallback: ValueCallback<Array<Uri?>?>,
+    fileChooserParams: FileChooserParams
+  ) {
+    val intent = fileChooserParams.createIntent()
+    if (fileChooserParams.mode == FileChooserParams.MODE_OPEN_MULTIPLE) {
+      intent.putExtra(Intent.EXTRA_ALLOW_MULTIPLE, true)
+    }
+    if (fileChooserParams.acceptTypes.size > 1 || intent.type!!.startsWith(".")) {
+      val validTypes = getValidTypes(fileChooserParams.acceptTypes)
+      intent.putExtra(Intent.EXTRA_MIME_TYPES, validTypes)
+      if (intent.type!!.startsWith(".")) {
+        intent.type = validTypes[0]
+      }
+    }
+    try {
+      activityListener = object : ActivityResultListener {
+        override fun onActivityResult(result: ActivityResult?) {
+          val res: Array<Uri?>?
+          val resultIntent = result?.data
+          if (result?.resultCode == Activity.RESULT_OK && resultIntent!!.clipData != null) {
+            val numFiles = resultIntent.clipData!!.itemCount
+            res = arrayOfNulls(numFiles)
+            for (i in 0 until numFiles) {
+              res[i] = resultIntent.clipData!!.getItemAt(i).uri
+            }
+          } else {
+            res = FileChooserParams.parseResult(
+              result?.resultCode ?: 0,
+              resultIntent
+            )
+          }
+          filePathCallback.onReceiveValue(res)
+        }
+      }
+      activityLauncher.launch(intent)
+    } catch (e: ActivityNotFoundException) {
+      filePathCallback.onReceiveValue(null)
+    }
+  }
+
+  private fun getValidTypes(currentTypes: Array<String>): Array<String> {
+    val validTypes: MutableList<String> = ArrayList()
+    val mtm = MimeTypeMap.getSingleton()
+    for (mime in currentTypes) {
+      if (mime.startsWith(".")) {
+        val extension = mime.substring(1)
+        val extensionMime = mtm.getMimeTypeFromExtension(extension)
+        if (extensionMime != null && !validTypes.contains(extensionMime)) {
+          validTypes.add(extensionMime)
+        }
+      } else if (!validTypes.contains(mime)) {
+        validTypes.add(mime)
+      }
+    }
+    val validObj: Array<Any> = validTypes.toTypedArray()
+    return Arrays.copyOf(
+      validObj, validObj.size,
+      Array<String>::class.java
+    )
+  }
+
+  override fun onConsoleMessage(consoleMessage: ConsoleMessage): Boolean {
+    val tag: String = Logger.tags("Console")
+    if (consoleMessage.message() != null && isValidMsg(consoleMessage.message())) {
+      val msg = String.format(
+        "File: %s - Line %d - Msg: %s",
+        consoleMessage.sourceId(),
+        consoleMessage.lineNumber(),
+        consoleMessage.message()
+      )
+      val level = consoleMessage.messageLevel().name
+      if ("ERROR".equals(level, ignoreCase = true)) {
+        Logger.error(tag, msg, null)
+      } else if ("WARNING".equals(level, ignoreCase = true)) {
+        Logger.warn(tag, msg)
+      } else if ("TIP".equals(level, ignoreCase = true)) {
+        Logger.debug(tag, msg)
+      } else {
+        Logger.info(tag, msg)
+      }
+    }
+    return true
+  }
+
+  private fun isValidMsg(msg: String): Boolean {
+    return !(msg.contains("%cresult %c") ||
+      msg.contains("%cnative %c") ||
+      msg.equals("[object Object]", ignoreCase = true) ||
+      msg.equals("console.groupEnd", ignoreCase = true))
+  }
+
+  @Throws(IOException::class)
+  private fun createImageFileUri(): Uri {
+    val photoFile = createImageFile(activity)
+    return FileProvider.getUriForFile(
+      activity,
+      activity.packageName.toString() + ".fileprovider",
+      photoFile
+    )
+  }
+
+  @Throws(IOException::class)
+  private fun createImageFile(activity: Activity): File {
+    // Create an image file name
+    val timeStamp = SimpleDateFormat("yyyyMMdd_HHmmss").format(Date())
+    val imageFileName = "JPEG_" + timeStamp + "_"
+    val storageDir = activity.getExternalFilesDir(Environment.DIRECTORY_PICTURES)
+    return File.createTempFile(imageFileName, ".jpg", storageDir)
+  }
+
+  override fun onReceivedTitle(
+      view: WebView,
+      title: String
+  ) {
+    handleReceivedTitle(view, title)
+  }
+
+  private external fun handleReceivedTitle(webview: WebView, title: String)
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/RustWebView.kt

@@ -0,0 +1,101 @@
+/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
+
+// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-License-Identifier: MIT
+
+@file:Suppress("unused", "SetJavaScriptEnabled")
+
+package com.lenn.tauri_serial
+
+import android.annotation.SuppressLint
+import android.webkit.*
+import android.content.Context
+import androidx.webkit.WebViewCompat
+import androidx.webkit.WebViewFeature
+import kotlin.collections.Map
+
+@SuppressLint("RestrictedApi")
+class RustWebView(context: Context, val initScripts: Array<String>, val id: String): WebView(context) {
+    val isDocumentStartScriptEnabled: Boolean
+
+    init {
+        settings.javaScriptEnabled = true
+        settings.domStorageEnabled = true
+        settings.setGeolocationEnabled(true)
+        settings.databaseEnabled = true
+        settings.mediaPlaybackRequiresUserGesture = false
+        settings.javaScriptCanOpenWindowsAutomatically = true
+
+        if (WebViewFeature.isFeatureSupported(WebViewFeature.DOCUMENT_START_SCRIPT)) {
+            isDocumentStartScriptEnabled = true
+            for (script in initScripts) {
+                WebViewCompat.addDocumentStartJavaScript(this, script, setOf("*"));
+            }
+        } else {
+          isDocumentStartScriptEnabled = false
+        }
+
+        
+    }
+
+    fun loadUrlMainThread(url: String) {
+        post {
+          loadUrl(url)
+        }
+    }
+
+    fun loadUrlMainThread(url: String, additionalHttpHeaders: Map<String, String>) {
+        post {
+          loadUrl(url, additionalHttpHeaders)
+        }
+    }
+
+    override fun loadUrl(url: String) {
+        if (!shouldOverride(url)) {
+            super.loadUrl(url);
+        }
+    }
+
+    override fun loadUrl(url: String, additionalHttpHeaders: Map<String, String>) {
+        if (!shouldOverride(url)) {
+            super.loadUrl(url, additionalHttpHeaders);
+        }
+    }
+
+    fun loadHTMLMainThread(html: String) {
+        post {
+          super.loadData(html, "text/html", null)
+        }
+    }
+
+    fun evalScript(id: Int, script: String) {
+        post {
+            super.evaluateJavascript(script) { result ->
+                onEval(id, result)
+            }
+        }
+    }
+
+    fun clearAllBrowsingData() {
+        try {
+            super.getContext().deleteDatabase("webviewCache.db")
+            super.getContext().deleteDatabase("webview.db")
+            super.clearCache(true)
+            super.clearHistory()
+            super.clearFormData()
+        } catch (ex: Exception) {
+            Logger.error("Unable to create temporary media capture file: " + ex.message)
+        }
+    }
+
+    fun getCookies(url: String): String {
+        val cookieManager = CookieManager.getInstance()
+        return cookieManager.getCookie(url)
+    }
+
+    private external fun shouldOverride(url: String): Boolean
+    private external fun onEval(id: Int, result: String)
+
+    
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/RustWebViewClient.kt

@@ -0,0 +1,107 @@
+/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
+
+// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-License-Identifier: MIT
+
+package com.lenn.tauri_serial
+
+import android.net.Uri
+import android.webkit.*
+import android.content.Context
+import android.graphics.Bitmap
+import android.os.Handler
+import android.os.Looper
+import androidx.webkit.WebViewAssetLoader
+
+class RustWebViewClient(context: Context): WebViewClient() {
+    private val interceptedState = mutableMapOf<String, Boolean>()
+    var currentUrl: String = "about:blank"
+    private var lastInterceptedUrl: Uri? = null
+    private var pendingUrlRedirect: String? = null
+
+    private val assetLoader = WebViewAssetLoader.Builder()
+        .setDomain(assetLoaderDomain())
+        .addPathHandler("/", WebViewAssetLoader.AssetsPathHandler(context))
+        .build()
+
+    override fun shouldInterceptRequest(
+        view: WebView,
+        request: WebResourceRequest
+    ): WebResourceResponse? {
+        pendingUrlRedirect?.let {
+            Handler(Looper.getMainLooper()).post {
+              view.loadUrl(it)
+            }
+            pendingUrlRedirect = null
+            return null
+        }
+
+        lastInterceptedUrl = request.url
+        return if (withAssetLoader()) {
+            assetLoader.shouldInterceptRequest(request.url)
+        } else {
+            val rustWebview = view as RustWebView;
+            val response = handleRequest(rustWebview.id, request, rustWebview.isDocumentStartScriptEnabled)
+            interceptedState[request.url.toString()] = response != null
+            return response
+        }
+    }
+
+    override fun shouldOverrideUrlLoading(
+        view: WebView,
+        request: WebResourceRequest
+    ): Boolean {
+        return shouldOverride(request.url.toString())
+    }
+
+    override fun onPageStarted(view: WebView, url: String, favicon: Bitmap?) {
+        currentUrl = url
+        if (interceptedState[url] == false) {
+            val webView = view as RustWebView
+            for (script in webView.initScripts) {
+                view.evaluateJavascript(script, null)
+            }
+        }
+        return onPageLoading(url)
+    }
+
+    override fun onPageFinished(view: WebView, url: String) {
+        onPageLoaded(url)
+    }
+
+    override fun onReceivedError(
+        view: WebView,
+        request: WebResourceRequest,
+        error: WebResourceError
+    ) {
+        // we get a net::ERR_CONNECTION_REFUSED when an external URL redirects to a custom protocol
+        // e.g. oauth flow, because shouldInterceptRequest is not called on redirects
+        // so we must force retry here with loadUrl() to get a chance of the custom protocol to kick in
+        if (error.errorCode == ERROR_CONNECT && request.isForMainFrame && request.url != lastInterceptedUrl) {
+            // prevent the default error page from showing
+            view.stopLoading()
+            // without this initial loadUrl the app is stuck
+            view.loadUrl(request.url.toString())
+            // ensure the URL is actually loaded - for some reason there's a race condition and we need to call loadUrl() again later
+            pendingUrlRedirect = request.url.toString()
+        } else {
+            super.onReceivedError(view, request, error)
+        }
+    }
+
+    companion object {
+        init {
+            System.loadLibrary("tauri_demo_lib")
+        }
+    }
+
+    private external fun assetLoaderDomain(): String
+    private external fun withAssetLoader(): Boolean
+    private external fun handleRequest(webviewId: String, request: WebResourceRequest, isDocumentStartScriptEnabled: Boolean): WebResourceResponse?
+    private external fun shouldOverride(url: String): Boolean
+    private external fun onPageLoading(url: String)
+    private external fun onPageLoaded(url: String)
+
+    
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/TauriActivity.kt

@@ -0,0 +1,51 @@
+// Copyright 2019-2024 Tauri Programme within The Commons Conservancy
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-License-Identifier: MIT
+
+/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
+
+package com.lenn.tauri_serial
+
+import android.content.Intent
+import android.content.res.Configuration
+import app.tauri.plugin.PluginManager
+
+abstract class TauriActivity : WryActivity() {
+  var pluginManager: PluginManager = PluginManager(this)
+  override val handleBackNavigation: Boolean = false
+
+  override fun onNewIntent(intent: Intent) {
+    super.onNewIntent(intent)
+    pluginManager.onNewIntent(intent)
+  }
+
+  override fun onResume() {
+    super.onResume()
+    pluginManager.onResume()
+  }
+
+  override fun onPause() {
+    super.onPause()
+    pluginManager.onPause()
+  }
+
+  override fun onRestart() {
+    super.onRestart()
+    pluginManager.onRestart()
+  }
+
+  override fun onStop() {
+    super.onStop()
+    pluginManager.onStop()
+  }
+
+  override fun onDestroy() {
+    super.onDestroy()
+    pluginManager.onDestroy()
+  }
+
+  override fun onConfigurationChanged(newConfig: Configuration) {
+    super.onConfigurationChanged(newConfig)
+    pluginManager.onConfigurationChanged(newConfig)
+  }
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/WryActivity.kt

@@ -0,0 +1,146 @@
+/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
+
+// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
+// SPDX-License-Identifier: Apache-2.0
+// SPDX-License-Identifier: MIT
+
+package com.lenn.tauri_serial
+
+import com.lenn.tauri_serial.RustWebView
+import android.annotation.SuppressLint
+import android.os.Build
+import android.os.Bundle
+import android.webkit.WebView
+import android.view.KeyEvent
+import androidx.activity.OnBackPressedCallback
+import androidx.appcompat.app.AppCompatActivity
+
+abstract class WryActivity : AppCompatActivity() {
+    private lateinit var mWebView: RustWebView
+    open val handleBackNavigation: Boolean = true
+
+    open fun onWebViewCreate(webView: WebView) { }
+
+    fun setWebView(webView: RustWebView) {
+        mWebView = webView
+
+        if (handleBackNavigation) {
+            val callback = object : OnBackPressedCallback(true) {
+                override fun handleOnBackPressed() {
+                    if (this@WryActivity.mWebView.canGoBack()) {
+                        this@WryActivity.mWebView.goBack()
+                    } else {
+                        this.isEnabled = false
+                        this@WryActivity.onBackPressed()
+                        this.isEnabled = true
+                    }
+                }
+            }
+            onBackPressedDispatcher.addCallback(this, callback)
+        }
+
+        onWebViewCreate(webView)
+    }
+
+    val version: String
+        @SuppressLint("WebViewApiAvailability", "ObsoleteSdkInt")
+        get() {
+            // Check getCurrentWebViewPackage() directly if above Android 8
+            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
+                return WebView.getCurrentWebViewPackage()?.versionName ?: ""
+            }
+
+            // Otherwise manually check WebView versions
+            var webViewPackage = "com.google.android.webview"
+            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
+              webViewPackage = "com.android.chrome"
+            }
+            try {
+                @Suppress("DEPRECATION")
+                val info = packageManager.getPackageInfo(webViewPackage, 0)
+                return info.versionName.toString()
+            } catch (ex: Exception) {
+                Logger.warn("Unable to get package info for '$webViewPackage'$ex")
+            }
+
+            try {
+                @Suppress("DEPRECATION")
+                val info = packageManager.getPackageInfo("com.android.webview", 0)
+                return info.versionName.toString()
+            } catch (ex: Exception) {
+                Logger.warn("Unable to get package info for 'com.android.webview'$ex")
+            }
+
+            // Could not detect any webview, return empty string
+            return ""
+        }
+
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        create(this)
+    }
+
+    override fun onStart() {
+        super.onStart()
+        start()
+    }
+
+    override fun onResume() {
+        super.onResume()
+        resume()
+    }
+
+    override fun onPause() {
+        super.onPause()
+        pause()
+    }
+
+    override fun onStop() {
+        super.onStop()
+        stop()
+    }
+
+    override fun onWindowFocusChanged(hasFocus: Boolean) {
+        super.onWindowFocusChanged(hasFocus)
+        focus(hasFocus)
+    }
+
+    override fun onSaveInstanceState(outState: Bundle) {
+        super.onSaveInstanceState(outState)
+        save()
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        destroy()
+        onActivityDestroy()
+    }
+
+    override fun onLowMemory() {
+        super.onLowMemory()
+        memory()
+    }
+
+    fun getAppClass(name: String): Class<*> {
+        return Class.forName(name)
+    }
+
+    companion object {
+        init {
+            System.loadLibrary("tauri_demo_lib")
+        }
+    }
+
+    private external fun create(activity: WryActivity)
+    private external fun start()
+    private external fun resume()
+    private external fun pause()
+    private external fun stop()
+    private external fun save()
+    private external fun destroy()
+    private external fun onActivityDestroy()
+    private external fun memory()
+    private external fun focus(focus: Boolean)
+
+    
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/proguard-wry.pro

@@ -0,0 +1,35 @@
+# THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!!
+
+# Copyright 2020-2023 Tauri Programme within The Commons Conservancy
+# SPDX-License-Identifier: Apache-2.0
+# SPDX-License-Identifier: MIT
+
+-keep class com.lenn.tauri_serial.* {
+  native <methods>;
+}
+
+-keep class com.lenn.tauri_serial.WryActivity {
+  public <init>(...);
+
+  void setWebView(com.lenn.tauri_serial.RustWebView);
+  java.lang.Class getAppClass(...);
+  java.lang.String getVersion();
+}
+
+-keep class com.lenn.tauri_serial.Ipc {
+  public <init>(...);
+
+  @android.webkit.JavascriptInterface public <methods>;
+}
+
+-keep class com.lenn.tauri_serial.RustWebView {
+  public <init>(...);
+
+  void loadUrlMainThread(...);
+  void loadHTMLMainThread(...);
+  void evalScript(...);
+}
+
+-keep class com.lenn.tauri_serial.RustWebChromeClient,com.lenn.tauri_serial.RustWebViewClient {
+  public <init>(...);
+}

src-tauri/gen/android/app/src/main/jniLibs/arm64-v8a/libtauri_demo_lib.so

@@ -0,0 +1 @@
+/home/lenn/Workspace/JE-Skin/src-tauri/target/aarch64-linux-android/release/libtauri_demo_lib.so

src-tauri/gen/android/app/src/main/jniLibs/armeabi-v7a/libtauri_demo_lib.so

@@ -0,0 +1 @@
+/home/lenn/Workspace/JE-Skin/src-tauri/target/armv7-linux-androideabi/release/libtauri_demo_lib.so

src-tauri/gen/android/app/src/main/jniLibs/x86/libtauri_demo_lib.so

@@ -0,0 +1 @@
+/home/lenn/Workspace/JE-Skin/src-tauri/target/i686-linux-android/release/libtauri_demo_lib.so

src-tauri/gen/android/app/src/main/jniLibs/x86_64/libtauri_demo_lib.so

@@ -0,0 +1 @@
+/home/lenn/Workspace/JE-Skin/src-tauri/target/x86_64-linux-android/release/libtauri_demo_lib.so

src-tauri/gen/android/app/tauri.build.gradle.kts

@@ -0,0 +1,6 @@
+// THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
+val implementation by configurations
+dependencies {
+  implementation(project(":tauri-android"))
+  implementation(project(":tauri-plugin-opener"))
+}

src-tauri/gen/android/app/tauri.properties

@@ -0,0 +1,3 @@
+// THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
+tauri.android.versionName=0.4.0
+tauri.android.versionCode=4000

src-tauri/gen/android/tauri.settings.gradle

@@ -0,0 +1,5 @@
+// THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
+include ':tauri-android'
+project(':tauri-android').projectDir = new File("/home/lenn/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/tauri-2.10.3/mobile/android")
+include ':tauri-plugin-opener'
+project(':tauri-plugin-opener').projectDir = new File("/home/lenn/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/tauri-plugin-opener-2.5.3/android")

src-tauri/src/serial_core/codecs/tactile_a.rs

@@ -221,7 +221,7 @@ impl Codec<TactileAFrame> for TactileACodec {
                 req_bytes.push(f.meta.device_addr);
                 req_bytes.push(f.meta.extend_code);
                 req_bytes.push(f.meta.func_code);
-                
+
                 req_bytes.extend_from_slice(f.meta.start_addr.to_le_bytes().as_slice());
                 req_bytes.extend_from_slice((f.meta.except_data_len as u16).to_le_bytes().as_slice());
                 let checksum = calc_crc8_itu(req_bytes.as_slice());
@@ -263,6 +263,7 @@ impl CsvExporter<TactileARepFrame> for TactileACsvExporter {
         }
 
         header.push("dts".to_string());
+        header.push("summary".to_string());
         header
     }
 
@@ -271,8 +272,10 @@ impl CsvExporter<TactileARepFrame> for TactileACsvExporter {
         item: &RecordedFrame<TactileARepFrame>,
     ) -> anyhow::Result<Vec<String>> {
         let packet = TactileADataPacket::try_from(&item.frame)?;
+        let summary: i32 = packet.data.iter().sum();
         let mut row: Vec<String> = packet.data.iter().map(|x| x.to_string()).collect();
         row.push(packet.dts_ms.to_string());
+        row.push(summary.to_string());
         Ok(row)
     }
 }

src-tauri/src/serial_core/model.rs

@@ -13,6 +13,7 @@ pub struct HudPacket {
     pub panels: Vec<HudSignalPanel>,
     pub summary: HudSummary,
     pub pressure_matrix: Option<Vec<f32>>,
+    pub spatial_force: Option<HudSpatialForce>,
 }
 
 #[derive(serde::Serialize, Clone)]
@@ -74,6 +75,14 @@ pub struct HudSignalIcon {
     pub tone: HudTone,
 }
 
+#[derive(serde::Serialize, Clone)]
+#[serde(rename_all = "camelCase")]
+pub struct HudSpatialForce {
+    pub angle_deg: f32,
+    pub magnitude: f32,
+    pub confidence: f32,
+}
+
 struct HudPanelUpdate {
     source_id: String,
     values: Vec<f32>,
@@ -89,6 +98,7 @@ pub struct HudChartState {
     order: Vec<String>,
     summary_points: Vec<f32>,
     pressure_matrix: Option<Vec<f32>>,
+    spatial_force: Option<HudSpatialForce>,
     last_frame_seen: Option<Instant>,
 }
 
@@ -99,6 +109,7 @@ impl HudChartState {
             order: Vec::new(),
             summary_points: Vec::new(),
             pressure_matrix: None,
+            spatial_force: None,
             last_frame_seen: None,
         }
     }
@@ -115,6 +126,10 @@ impl HudChartState {
         self.pressure_matrix = Some(values.iter().map(|value| *value as f32).collect());
     }
 
+    pub fn record_spatial_force(&mut self, spatial_force: Option<HudSpatialForce>) {
+        self.spatial_force = spatial_force;
+    }
+
     pub fn apply_frame(&mut self, frame: &TestFrame, decoded_values: Option<&[i32]>) -> HudPacket {
         let now = Instant::now();
         self.last_frame_seen = Some(now);
@@ -130,9 +145,15 @@ impl HudChartState {
     pub fn prune_stale(&mut self) -> Option<HudPacket> {
         let before = self.panels.len();
         let summary_points_before = self.summary_points.len();
+        let had_pressure_matrix = self.pressure_matrix.is_some();
+        let had_spatial_force = self.spatial_force.is_some();
         self.prune_stale_at(Instant::now());
 
-        if before == self.panels.len() && summary_points_before == self.summary_points.len() {
+        if before == self.panels.len()
+            && summary_points_before == self.summary_points.len()
+            && had_pressure_matrix == self.pressure_matrix.is_some()
+            && had_spatial_force == self.spatial_force.is_some()
+        {
             return None;
         }
 
@@ -187,6 +208,7 @@ impl HudChartState {
         if summary_stale {
             self.summary_points.clear();
             self.pressure_matrix = None;
+            self.spatial_force = None;
             self.last_frame_seen = None;
         }
     }
@@ -205,6 +227,7 @@ impl HudChartState {
             panels,
             summary: build_summary(&self.summary_points),
             pressure_matrix: self.pressure_matrix.clone(),
+            spatial_force: self.spatial_force.clone(),
         }
     }
 

src-tauri/src/serial_core/multi_dim_force.rs

@@ -1,122 +1,527 @@
-use ndarray::Array2;
-
-const TOTAL_PRESSURE_LOW_THRESHOLD: usize = 500;
-const COP_STABILITY_FRAMES_REQUIRED: usize = 5;
 const SENSOR_ROWS: usize = 12;
 const SENSOR_COLS: usize = 7;
+const SENSOR_COUNT: usize = SENSOR_ROWS * SENSOR_COLS;
+
+const CONTACT_ENTER_TOTAL_THRESHOLD: f32 = 520.0;
+const CONTACT_ENTER_PEAK_THRESHOLD: f32 = 50.0;
+const CONTACT_EXIT_TOTAL_THRESHOLD: f32 = 260.0;
+const CONTACT_EXIT_PEAK_THRESHOLD: f32 = 28.0;
+const CONTACT_ENTER_FRAMES_REQUIRED: usize = 2;
+const CONTACT_EXIT_FRAMES_REQUIRED: usize = 8;
+
+const BASELINE_IDLE_ALPHA: f32 = 0.035;
+const BASELINE_BOOTSTRAP_ALPHA: f32 = 1.0;
+const BASELINE_NOISE_FLOOR: f32 = 5.0;
+
+const ACTIVE_CELL_MIN_VALUE: f32 = 18.0;
+const ACTIVE_CELL_PEAK_RATIO: f32 = 0.14;
+const MIN_ACTIVE_CELLS: usize = 3;
+
+const ANCHOR_LERP_ALPHA: f32 = 0.018;
+const VECTOR_SMOOTHING_ALPHA: f32 = 0.16;
+
+const REPORT_MAGNITUDE_ENTER: f32 = 0.12;
+const REPORT_MAGNITUDE_EXIT: f32 = 0.045;
+const REPORT_CONFIDENCE_ENTER: f32 = 0.14;
+const REPORT_CONFIDENCE_EXIT: f32 = 0.06;
+const REPORT_HOLD_FRAMES: usize = 10;
+
+const ASYMMETRY_WEIGHT: f32 = 1.1;
+const DRIFT_WEIGHT: f32 = 0.65;
+const MOTION_WEIGHT: f32 = 0.25;
+
+#[derive(Debug, Clone, Copy)]
+pub struct PztSpatialAnalysis {
+    pub angle_deg: f32,
+    pub magnitude: f32,
+    pub planar_x: f32,
+    pub planar_y: f32,
+    pub confidence: f32,
+    pub contact_active: bool,
+    pub reportable: bool,
+}
 
 pub struct PztProcessor {
-    first_frame: Option<Vec<f32>>,
+    baseline_frame: Option<Vec<f32>>,
-    first_contact_cop_x: Option<f32>,
+    contact_active: bool,
-    first_contact_cop_y: Option<f32>,
+    contact_enter_counter: usize,
-    contact_initialized: bool,
+    contact_exit_counter: usize,
-    total_pressure_low_counter: usize,
+    anchor_cop_x: Option<f32>,
+    anchor_cop_y: Option<f32>,
+    last_cop_x: Option<f32>,
+    last_cop_y: Option<f32>,
+    smoothed_x: f32,
+    smoothed_y: f32,
+    report_active: bool,
+    report_hold_counter: usize,
+    held_report: Option<PztSpatialAnalysis>,
+}
+
+#[derive(Clone, Copy)]
+struct ContactStats {
+    total: f32,
+    peak: f32,
+    active_total: f32,
+    active_cells: usize,
+    min_row: usize,
+    max_row: usize,
+    min_col: usize,
+    max_col: usize,
+    cop_x: f32,
+    cop_y: f32,
+    asymmetry_x: f32,
+    asymmetry_y: f32,
 }
 
 impl PztProcessor {
     pub fn new() -> Self {
         Self {
-            first_frame: None,
+            baseline_frame: None,
-            first_contact_cop_x: None,
+            contact_active: false,
-            first_contact_cop_y: None,
+            contact_enter_counter: 0,
-            contact_initialized: false,
+            contact_exit_counter: 0,
-            total_pressure_low_counter: 0,
+            anchor_cop_x: None,
+            anchor_cop_y: None,
+            last_cop_x: None,
+            last_cop_y: None,
+            smoothed_x: 0.0,
+            smoothed_y: 0.0,
+            report_active: false,
+            report_hold_counter: 0,
+            held_report: None,
         }
     }
 
-    fn subtract_baseline(&mut self, current_frame: &[f32]) -> Vec<f32> {
+    fn reset_tracking_state(&mut self) {
-        if self.first_frame.is_none() {
+        self.contact_active = false;
-            self.first_frame = Some(current_frame.to_vec());
+        self.contact_enter_counter = 0;
+        self.contact_exit_counter = 0;
+        self.anchor_cop_x = None;
+        self.anchor_cop_y = None;
+        self.last_cop_x = None;
+        self.last_cop_y = None;
+        self.smoothed_x = 0.0;
+        self.smoothed_y = 0.0;
+    }
+
+    fn reset_report_state(&mut self) {
+        self.report_active = false;
+        self.report_hold_counter = 0;
+        self.held_report = None;
+    }
+
+    fn update_idle_baseline(&mut self, raw_frame: &[f32], alpha: f32) {
+        match self.baseline_frame.as_mut() {
+            Some(baseline) => {
+                for (base, current) in baseline.iter_mut().zip(raw_frame.iter().copied()) {
+                    *base += (current - *base) * alpha;
+                }
+            }
+            None => {
+                self.baseline_frame = Some(raw_frame.to_vec());
+            }
+        }
+    }
+
+    fn subtract_baseline(&mut self, raw_frame: &[f32]) -> Vec<f32> {
+        if self.baseline_frame.is_none() {
+            self.update_idle_baseline(raw_frame, BASELINE_BOOTSTRAP_ALPHA);
         }
 
-        let baseline = self.first_frame.as_ref().unwrap();
+        let baseline = self
-        current_frame
+            .baseline_frame
+            .as_ref()
+            .expect("baseline should exist after bootstrap");
+
+        raw_frame
             .iter()
             .zip(baseline.iter())
-            .map(|(c, b)| (c - b).max(0.0))
+            .map(|(raw, base)| (raw - base - BASELINE_NOISE_FLOOR).max(0.0))
             .collect()
     }
 
-    fn reset_cop_state(&mut self) {
+    fn pressure_metrics(frame: &[f32]) -> (f32, f32) {
-        self.first_contact_cop_x = None;
+        let total = frame.iter().sum::<f32>();
-        self.first_contact_cop_y = None;
+        let peak = frame.iter().copied().fold(0.0, f32::max);
-        self.contact_initialized = false;
+        (total, peak)
-        self.total_pressure_low_counter = 0;
     }
 
-    fn compute_pressure_direction(&mut self, frame: &[f32]) -> (f32, f32) {
+    fn is_contact_enter_frame(frame: &[f32]) -> bool {
-        let frame2d = Array2::from_shape_vec((SENSOR_ROWS, SENSOR_COLS), frame.to_vec()).unwrap();
+        let (total, peak) = Self::pressure_metrics(frame);
-        let total_pressure: f32 = frame2d.sum();
+        total >= CONTACT_ENTER_TOTAL_THRESHOLD && peak >= CONTACT_ENTER_PEAK_THRESHOLD
-        if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD as f32 {
+    }
-            self.total_pressure_low_counter += 1;
+
-        } else {
+    fn is_contact_exit_frame(frame: &[f32]) -> bool {
-            self.total_pressure_low_counter = 0;
+        let (total, peak) = Self::pressure_metrics(frame);
+        total <= CONTACT_EXIT_TOTAL_THRESHOLD || peak <= CONTACT_EXIT_PEAK_THRESHOLD
+    }
+
+    fn inactive_analysis() -> PztSpatialAnalysis {
+        PztSpatialAnalysis {
+            angle_deg: 0.0,
+            magnitude: 0.0,
+            planar_x: 0.0,
+            planar_y: 0.0,
+            confidence: 0.0,
+            contact_active: false,
+            reportable: false,
+        }
+    }
+
+    fn weak_contact_analysis() -> PztSpatialAnalysis {
+        PztSpatialAnalysis {
+            contact_active: true,
+            ..Self::inactive_analysis()
+        }
+    }
+
+    fn compute_contact_stats(frame: &[f32]) -> Option<ContactStats> {
+        let total = frame.iter().sum::<f32>();
+        if total <= 0.0 {
+            return None;
         }
 
-        if self.total_pressure_low_counter >= COP_STABILITY_FRAMES_REQUIRED {
+        let peak = frame.iter().copied().fold(0.0, f32::max);
-            self.reset_cop_state();
+        if peak <= 0.0 {
-            return (0.0, 0.0);
+            return None;
         }
 
-        if total_pressure == 0.0 {
+        let active_threshold = (peak * ACTIVE_CELL_PEAK_RATIO).max(ACTIVE_CELL_MIN_VALUE);
-            return (0.0, 0.0);
-        }
 
-        let mut sum_x = 0.0;
+        let mut active_total = 0.0;
-        let mut sum_y = 0.0;
+        let mut active_cells = 0usize;
+        let mut weighted_col_sum = 0.0;
+        let mut weighted_row_sum = 0.0;
+        let mut min_row = SENSOR_ROWS;
+        let mut max_row = 0usize;
+        let mut min_col = SENSOR_COLS;
+        let mut max_col = 0usize;
 
-        for r in 0..SENSOR_ROWS {
+        for row in 0..SENSOR_ROWS {
-            for c in 0..SENSOR_COLS {
+            for col in 0..SENSOR_COLS {
-                let val = frame2d[(r, c)];
+                let index = row * SENSOR_COLS + col;
-                sum_x += val * c as f32;
+                let value = frame[index];
-                sum_y += val * r as f32;
+                if value < active_threshold {
+                    continue;
+                }
+
+                active_cells += 1;
+                active_total += value;
+                weighted_col_sum += value * col as f32;
+                weighted_row_sum += value * row as f32;
+                min_row = min_row.min(row);
+                max_row = max_row.max(row);
+                min_col = min_col.min(col);
+                max_col = max_col.max(col);
             }
         }
 
-        let cop_x = sum_x / total_pressure;
+        if active_cells < MIN_ACTIVE_CELLS || active_total <= 0.0 {
-        let cop_y = sum_y / total_pressure;
+            return None;
-
-        if !self.contact_initialized {
-            self.first_contact_cop_x = Some(cop_x);
-            self.first_contact_cop_y = Some(cop_y);
-            self.contact_initialized = true;
-            return (0.0, 0.0);
         }
 
-        let dx = cop_x - self.first_contact_cop_x.unwrap();
+        let cop_x = weighted_col_sum / active_total;
-        let dy = cop_y - self.first_contact_cop_y.unwrap();
+        let cop_y = weighted_row_sum / active_total;
+        let bbox_center_x = (min_col + max_col) as f32 * 0.5;
+        let bbox_center_y = (min_row + max_row) as f32 * 0.5;
+        let half_width = ((max_col - min_col).max(1) as f32) * 0.5;
+        let half_height = ((max_row - min_row).max(1) as f32) * 0.5;
 
-        (dx, dy)
+        let mut asymmetry_x = 0.0;
+        let mut asymmetry_y = 0.0;
+
+        for row in min_row..=max_row {
+            for col in min_col..=max_col {
+                let index = row * SENSOR_COLS + col;
+                let value = frame[index];
+                if value < active_threshold {
+                    continue;
+                }
+
+                asymmetry_x += value * ((col as f32 - bbox_center_x) / half_width);
+                asymmetry_y += value * ((row as f32 - bbox_center_y) / half_height);
+            }
+        }
+
+        Some(ContactStats {
+            total,
+            peak,
+            active_total,
+            active_cells,
+            min_row,
+            max_row,
+            min_col,
+            max_col,
+            cop_x,
+            cop_y,
+            asymmetry_x: asymmetry_x / active_total,
+            asymmetry_y: asymmetry_y / active_total,
+        })
     }
 
     fn compute_vector_angle(x: f32, y: f32) -> (f32, f32) {
-        let epsilon = 1e-8;
+        let magnitude = (x * x + y * y).sqrt();
-        let mag = (x * x + y * y).sqrt();
+        if magnitude <= f32::EPSILON {
-        let mut angle = (y).atan2(x + epsilon).to_degrees();
+            return (0.0, 0.0);
+        }
+
+        let mut angle = y.atan2(x).to_degrees();
         if angle < 0.0 {
             angle += 360.0;
         }
-        (angle, mag)
+
+        (angle, magnitude)
     }
 
-    fn compute_pzt_angle(px: f32, py: f32) -> (f32, f32) {
+    fn update_contact_state(&mut self, raw_frame: &[f32], frame: &[f32]) -> bool {
-        Self::compute_vector_angle(px, -py)
+        if self.contact_active {
+            if Self::is_contact_exit_frame(frame) {
+                self.contact_exit_counter += 1;
+                if self.contact_exit_counter >= CONTACT_EXIT_FRAMES_REQUIRED {
+                    self.update_idle_baseline(raw_frame, BASELINE_IDLE_ALPHA);
+                    self.reset_tracking_state();
+                    self.reset_report_state();
+                    return false;
+                }
+            } else {
+                self.contact_exit_counter = 0;
+            }
+
+            return true;
+        }
+
+        if Self::is_contact_enter_frame(frame) {
+            self.contact_enter_counter += 1;
+            if self.contact_enter_counter >= CONTACT_ENTER_FRAMES_REQUIRED {
+                self.contact_active = true;
+                self.contact_enter_counter = 0;
+                self.contact_exit_counter = 0;
+                return true;
+            }
+
+            return false;
+        }
+
+        self.contact_enter_counter = 0;
+        self.update_idle_baseline(raw_frame, BASELINE_IDLE_ALPHA);
+        false
     }
 
-    pub fn get_pzt_angle(&mut self, adc_data: &[f32]) -> Result<f32, &'static str> {
+    fn store_report(&mut self, mut analysis: PztSpatialAnalysis) -> PztSpatialAnalysis {
-        if adc_data.len() != 84 {
+        analysis.reportable = true;
+        self.report_active = true;
+        self.report_hold_counter = 0;
+        self.held_report = Some(analysis);
+        analysis
+    }
+
+    fn hold_or_drop_report(&mut self) -> PztSpatialAnalysis {
+        if self.report_active && self.report_hold_counter < REPORT_HOLD_FRAMES {
+            self.report_hold_counter += 1;
+            if let Some(mut held) = self.held_report {
+                held.reportable = true;
+                return held;
+            }
+        }
+
+        self.reset_report_state();
+        Self::weak_contact_analysis()
+    }
+
+    fn stabilize_report(&mut self, analysis: PztSpatialAnalysis) -> PztSpatialAnalysis {
+        if !analysis.contact_active {
+            self.reset_report_state();
+            return analysis;
+        }
+
+        let can_enter = analysis.magnitude >= REPORT_MAGNITUDE_ENTER
+            && analysis.confidence >= REPORT_CONFIDENCE_ENTER;
+        let can_stay = analysis.magnitude >= REPORT_MAGNITUDE_EXIT
+            && analysis.confidence >= REPORT_CONFIDENCE_EXIT;
+
+        if self.report_active {
+            if can_stay {
+                return self.store_report(analysis);
+            }
+
+            return self.hold_or_drop_report();
+        }
+
+        if can_enter {
+            return self.store_report(analysis);
+        }
+
+        analysis
+    }
+
+    pub fn get_pzt_analysis(
+        &mut self,
+        adc_data: &[f32],
+    ) -> Result<PztSpatialAnalysis, &'static str> {
+        if adc_data.len() != SENSOR_COUNT {
             return Err("ADC data length must be 84");
         }
 
-        let baseline = self.subtract_baseline(adc_data);
+        let baseline_subtracted = self.subtract_baseline(adc_data);
-        let (dx, dy) = self.compute_pressure_direction(&baseline);
+        if !self.update_contact_state(adc_data, &baseline_subtracted) {
-        let (angle, _) = Self::compute_pzt_angle(dx, dy);
+            return Ok(Self::inactive_analysis());
+        }
 
-        Ok(angle)
+        let Some(stats) = Self::compute_contact_stats(&baseline_subtracted) else {
+            return Ok(self.stabilize_report(Self::weak_contact_analysis()));
+        };
+
+        let Some(anchor_x) = self.anchor_cop_x else {
+            self.anchor_cop_x = Some(stats.cop_x);
+            self.anchor_cop_y = Some(stats.cop_y);
+            self.last_cop_x = Some(stats.cop_x);
+            self.last_cop_y = Some(stats.cop_y);
+
+            return Ok(self.stabilize_report(Self::weak_contact_analysis()));
+        };
+        let anchor_y = self.anchor_cop_y.unwrap_or(stats.cop_y);
+        let last_x = self.last_cop_x.unwrap_or(stats.cop_x);
+        let last_y = self.last_cop_y.unwrap_or(stats.cop_y);
+
+        let drift_x = stats.cop_x - anchor_x;
+        let drift_y = stats.cop_y - anchor_y;
+        let motion_x = stats.cop_x - last_x;
+        let motion_y = stats.cop_y - last_y;
+
+        let combined_x = stats.asymmetry_x * ASYMMETRY_WEIGHT
+            + drift_x * DRIFT_WEIGHT
+            + motion_x * MOTION_WEIGHT;
+        let combined_y = stats.asymmetry_y * ASYMMETRY_WEIGHT
+            + drift_y * DRIFT_WEIGHT
+            + motion_y * MOTION_WEIGHT;
+
+        self.smoothed_x += (combined_x - self.smoothed_x) * VECTOR_SMOOTHING_ALPHA;
+        self.smoothed_y += (combined_y - self.smoothed_y) * VECTOR_SMOOTHING_ALPHA;
+
+        self.anchor_cop_x = Some(anchor_x + drift_x * ANCHOR_LERP_ALPHA);
+        self.anchor_cop_y = Some(anchor_y + drift_y * ANCHOR_LERP_ALPHA);
+        self.last_cop_x = Some(stats.cop_x);
+        self.last_cop_y = Some(stats.cop_y);
+
+        let planar_x = self.smoothed_x;
+        let planar_y = -self.smoothed_y;
+        let (angle_deg, magnitude) = Self::compute_vector_angle(planar_x, planar_y);
+
+        let active_span_rows = (stats.max_row - stats.min_row + 1) as f32 / SENSOR_ROWS as f32;
+        let active_span_cols = (stats.max_col - stats.min_col + 1) as f32 / SENSOR_COLS as f32;
+        let activity = (stats.active_cells as f32 / SENSOR_COUNT as f32).clamp(0.0, 1.0);
+        let span = ((active_span_rows + active_span_cols) * 0.5).clamp(0.0, 1.0);
+        let pressure_ratio = (stats.active_total / stats.total.max(1.0)).clamp(0.0, 1.0);
+        let peak_ratio =
+            (stats.peak / (stats.total / stats.active_cells as f32 + 1.0)).clamp(0.0, 1.0);
+        let confidence =
+            ((activity * 0.35) + (span * 0.2) + (pressure_ratio * 0.3) + (peak_ratio * 0.15))
+                .clamp(0.0, 1.0);
+
+        Ok(self.stabilize_report(PztSpatialAnalysis {
+            angle_deg,
+            magnitude,
+            planar_x,
+            planar_y,
+            confidence,
+            contact_active: true,
+            reportable: false,
+        }))
+    }
+
+    pub fn get_pzt_angle(&mut self, adc_data: &[f32]) -> Result<f32, &'static str> {
+        Ok(self.get_pzt_analysis(adc_data)?.angle_deg)
+    }
+
+    pub fn should_report(analysis: &PztSpatialAnalysis) -> bool {
+        analysis.reportable
     }
 
     pub fn reset_baseline(&mut self) {
-        self.first_frame = None;
+        self.baseline_frame = None;
-        self.reset_cop_state();
+        self.reset_tracking_state();
+        self.reset_report_state();
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::{PztProcessor, SENSOR_COLS, SENSOR_ROWS};
+
+    fn index(row: usize, col: usize) -> usize {
+        row * SENSOR_COLS + col
+    }
+
+    fn make_frame(active: &[(usize, usize, f32)]) -> [f32; SENSOR_ROWS * SENSOR_COLS] {
+        let mut frame = [0.0; SENSOR_ROWS * SENSOR_COLS];
+        for (row, col, value) in active {
+            frame[index(*row, *col)] = *value;
+        }
+        frame
+    }
+
+    #[test]
+    fn idle_frame_does_not_report_contact() {
+        let mut processor = PztProcessor::new();
+        let frame = [0.0; SENSOR_ROWS * SENSOR_COLS];
+        let analysis = processor.get_pzt_analysis(&frame).unwrap();
+        assert!(!analysis.contact_active);
+        assert!(!analysis.reportable);
+        assert_eq!(analysis.magnitude, 0.0);
+    }
+
+    #[test]
+    fn right_heavy_contact_reports_rightward_angle_after_confirmation() {
+        let mut processor = PztProcessor::new();
+        let baseline = [0.0; SENSOR_ROWS * SENSOR_COLS];
+        let contact = make_frame(&[
+            (5, 2, 120.0),
+            (5, 3, 180.0),
+            (5, 4, 280.0),
+            (6, 2, 110.0),
+            (6, 3, 170.0),
+            (6, 4, 260.0),
+            (7, 2, 100.0),
+            (7, 3, 150.0),
+            (7, 4, 240.0),
+        ]);
+
+        let _ = processor.get_pzt_analysis(&baseline).unwrap();
+
+        let mut analysis = processor.get_pzt_analysis(&contact).unwrap();
+        for _ in 0..8 {
+            analysis = processor.get_pzt_analysis(&contact).unwrap();
+        }
+
+        assert!(analysis.contact_active);
+        assert!(analysis.reportable);
+        assert!(analysis.magnitude > 0.0);
+        assert!(analysis.angle_deg <= 45.0 || analysis.angle_deg >= 315.0);
+    }
+
+    #[test]
+    fn report_stays_active_through_short_weak_gap() {
+        let mut processor = PztProcessor::new();
+        let baseline = [0.0; SENSOR_ROWS * SENSOR_COLS];
+        let contact = make_frame(&[
+            (5, 2, 120.0),
+            (5, 3, 180.0),
+            (5, 4, 280.0),
+            (6, 2, 110.0),
+            (6, 3, 170.0),
+            (6, 4, 260.0),
+            (7, 2, 100.0),
+            (7, 3, 150.0),
+            (7, 4, 240.0),
+        ]);
+        let weak = make_frame(&[(5, 3, 55.0), (5, 4, 60.0), (6, 3, 50.0), (6, 4, 58.0)]);
+
+        let _ = processor.get_pzt_analysis(&baseline).unwrap();
+        for _ in 0..10 {
+            let _ = processor.get_pzt_analysis(&contact).unwrap();
+        }
+
+        let analysis = processor.get_pzt_analysis(&weak).unwrap();
+        assert!(analysis.reportable);
     }
 }

src-tauri/src/serial_core/serial.rs

@@ -1,13 +1,13 @@
+#[cfg(feature = "devkit")]
+use crate::devkit::{proto::SensorFrame, DevKitState};
 use crate::serial_core::codec::Codec;
 use crate::serial_core::codecs::tactile_a::TactileACodec;
 use crate::serial_core::frame::{FrameHandler, TactileAFrame, TestFrame};
-use crate::serial_core::model::{HudChartState, HudPacket};
+use crate::serial_core::model::{HudChartState, HudPacket, HudSpatialForce};
 #[cfg(feature = "multi-dim")]
 use crate::serial_core::multi_dim_force::PztProcessor;
 use crate::serial_core::record::Recording;
 use crate::serial_core::record::{FrameTiming, RecordedFrame};
-#[cfg(feature = "devkit")]
-use crate::devkit::{proto::SensorFrame, DevKitState};
 use anyhow::Result;
 use log::debug;
 use std::future::pending;
@@ -15,9 +15,9 @@ use std::future::pending;
 use std::sync::atomic::Ordering;
 use std::sync::{Arc, Mutex};
 use std::time::Instant;
-use tauri::{AppHandle, Emitter};
 #[cfg(feature = "devkit")]
 use tauri::Manager;
+use tauri::{AppHandle, Emitter};
 use tokio::io::{AsyncReadExt, AsyncWriteExt};
 use tokio::time::{self, Duration, MissedTickBehavior};
 use tokio_serial::SerialStream;
@@ -33,6 +33,7 @@ pub enum PollMode<F> {
 struct PendingSubFrame<F> {
     frame: F,
     values: Vec<i32>,
+    spatial_force: Option<HudSpatialForce>,
 }
 
 pub trait SerialFrame: Clone + Send + 'static {
@@ -266,6 +267,7 @@ where
                     let display_values = build_display_values(
                         &mut chart_state,
                         pending.values.as_slice(),
+                        pending.spatial_force,
                     );
 
                     if let Some(packet) = pending
@@ -309,11 +311,22 @@ where
                     drop(record);
 
                     if let Some(vals) = decode_res {
+                        let mut spatial_force = None;
                         #[cfg(feature = "multi-dim")]
                         {
                             let pzt_values = vals.iter().map(|value| *value as f32).collect::<Vec<f32>>();
-                            if let Ok(angle) = pzt_processor.get_pzt_angle(&pzt_values) {
+                            if let Ok(analysis) = pzt_processor.get_pzt_analysis(&pzt_values) {
-                                // debug!("pzt angle: {:.2}", angle);
+                                debug!(
+                                    "spatial force: angle={:.2}°, magnitude={:.2}, dx={:.2}, dy={:.2}",
+                                    analysis.angle_deg, analysis.magnitude, analysis.planar_x, analysis.planar_y
+                                );
+                                if PztProcessor::should_report(&analysis) {
+                                    spatial_force = Some(HudSpatialForce {
+                                        angle_deg: analysis.angle_deg,
+                                        magnitude: analysis.magnitude,
+                                        confidence: analysis.confidence,
+                                    });
+                                }
                             }
                         }
                         #[cfg(feature = "devkit")]
@@ -326,6 +339,7 @@ where
                         pending_sub_frame = Some(PendingSubFrame {
                             frame: frame.clone(),
                             values: vals,
+                            spatial_force,
                         });
                     } else if let Some(packet) = frame.to_hud_packet(&mut chart_state, None) {
                         app.emit("hud_stream", packet)?;
@@ -337,11 +351,16 @@ where
     Ok(())
 }
 
-fn build_display_values(chart_state: &mut HudChartState, values: &[i32]) -> Option<Vec<i32>> {
+fn build_display_values(
+    chart_state: &mut HudChartState,
+    values: &[i32],
+    spatial_force: Option<HudSpatialForce>,
+) -> Option<Vec<i32>> {
     let summary = values.iter().copied().sum::<i32>();
     let force = raw_to_g1(summary as u32);
     chart_state.record_summary(force as f32);
     chart_state.record_pressure_matrix(values);
+    chart_state.record_spatial_force(spatial_force);
     Some(vec![summary])
 }
 

src/lib/components/CenterStage.svelte

@@ -6,17 +6,21 @@
   import { fly } from "svelte/transition";
   import { DEFAULT_PRESSURE_RANGE_MAX, DEFAULT_PRESSURE_RANGE_MIN } from "$lib/config/pressure-range";
   import ConfigPanel from "$lib/components/ConfigPanel.svelte";
+  import ModelStage from "$lib/components/ModelStage.svelte";
   import NeonBreakoutArena from "$lib/components/NeonBreakoutArena.svelte";
   import PressureMatrixViewer from "$lib/components/PressureMatrixViewer.svelte";
   import SignalChart from "$lib/components/SignalChart.svelte";
+  import SpatialForcePanel from "$lib/components/SpatialForcePanel.svelte";
   import SummaryCurve from "$lib/components/SummaryCurve.svelte";
   import type {
     HudColorMapOption,
     HudSignalPanel,
+    HudSpatialForce,
     HudSummary,
     LocaleCode,
     MatrixDisplayMode,
-    PressureColorMapPreset
+    PressureColorMapPreset,
+    StageViewMode
   } from "$lib/types/hud";
 
   export let locale: LocaleCode = "zh-CN";
@@ -24,6 +28,8 @@
   export let rightPanels: HudSignalPanel[] = [];
   export let summary: HudSummary;
   export let pressureMatrix: number[] | null = null;
+  export let spatialForce: HudSpatialForce | null = null;
+  export let devkitSpatialForce: HudSpatialForce | null = null;
   export let showConfigPanel = false;
   export let configPanelTitle = "";
   export let configPanelHint = "";
@@ -41,6 +47,8 @@
   export let rangeMax = DEFAULT_PRESSURE_RANGE_MAX;
   export let colorMapPreset: PressureColorMapPreset = "emerald";
   export let matrixDisplayMode: MatrixDisplayMode = "dots";
+  export let stageViewMode: StageViewMode = "webgl";
+  export let modelUrl = "/models/je-skin-model.glb";
   export let replaySectionLabel = "";
   export let replayPlayLabel = "";
   export let replayPauseLabel = "";
@@ -53,7 +61,6 @@
   export let replayProgress = 0;
   export let replayFileName = "";
   export let replayFrameInfo = "";
-  export let showPrecisionTestPanel = false;
   export let sessionStartedAt: number = Date.now();
 
   let stagePlaneEl: HTMLDivElement | undefined;
@@ -82,8 +89,7 @@
   $: replayToggleButtonText = replayIsPlaying ? replayPauseLabel : replayPlayLabel;
   $: replayProgressPercent = Math.round(Math.min(1, Math.max(0, replayProgress)) * 100);
   $: summaryCurveVisible = summary.points.length > 0 && summary.points.some((value) => Number.isFinite(value) && Math.abs(value) >= 0.0001);
-  $: splitMatrixTitle = locale === "zh-CN" ? "数字矩阵" : "Matrix";
+  $: isModelStage = stageViewMode === "model3d";
-  $: splitMatrixHint = locale === "zh-CN" ? "实时压力数据 / 数字矩阵" : "Live pressure matrix";
 
   function toPxNumber(rawValue: string): number {
     const value = Number.parseFloat(rawValue);
@@ -108,7 +114,7 @@
       return;
     }
 
-    panelZoneTopPx = showPrecisionTestPanel ? 24 : 16;
+    panelZoneTopPx = 16;
 
     const panelZoneBottomPx = panelZoneEl ? toPxNumber(getComputedStyle(panelZoneEl).bottom) : 0;
     const zoneHeight = Math.max(0, stagePlaneEl.clientHeight - panelZoneTopPx - panelZoneBottomPx);
@@ -176,42 +182,11 @@
       bind:this={stagePlaneEl}
       style="--panel-zone-top-dyn: {panelZoneTopPx}px; --rail-scale-left: {leftRailScale}; --rail-scale-right: {rightRailScale};"
     >
-      {#if showPrecisionTestPanel}
+      {#if isModelStage}
-        <div class="split-game-wrap">
+        <div class="canvas-wrap">
-          <section class="split-panel split-matrix-panel">
+          {#key modelUrl}
-            <header class="split-panel-head">
+            <ModelStage {locale} {modelUrl} />
-              <p>{splitMatrixTitle}</p>
+          {/key}
-              <span>{splitMatrixHint}</span>
-            </header>
-            <div class="split-panel-body">
-              {#key `${matrixRows}x${matrixCols}:${colorMapPreset}:split`}
-                <PressureMatrixViewer
-                  {summary}
-                  {pressureMatrix}
-                  {matrixRows}
-                  {matrixCols}
-                  {rangeMin}
-                  {rangeMax}
-                  {colorMapPreset}
-                  {matrixDisplayMode}
-                  {locale}
-                  showStatsPanel={true}
-                />
-              {/key}
-            </div>
-          </section>
-
-          <section class="split-panel split-breakout-panel">
-            <NeonBreakoutArena
-              {locale}
-              {pressureMatrix}
-              {matrixRows}
-              {matrixCols}
-              {rangeMin}
-              {rangeMax}
-              {colorMapPreset}
-            />
-          </section>
         </div>
       {:else}
         <div class="canvas-wrap">
@@ -232,7 +207,7 @@
         </div>
       {/if}
 
-      {#if showConfigPanel && !showPrecisionTestPanel}
+      {#if showConfigPanel && !isModelStage}
         <div class="config-panel-wrap">
           <ConfigPanel
             bind:matrixRows
@@ -254,7 +229,7 @@
         </div>
       {/if}
 
-      {#if !showPrecisionTestPanel}
+      {#if !isModelStage}
         <div class="panel-zone" bind:this={panelZoneEl}>
           <aside class="side-rail left-rail">
             <div class="rail-stack" bind:this={leftStackEl}>
@@ -303,6 +278,42 @@
                 </div>
               {/each}
 
+              <div
+                class="panel-motion-shell"
+                in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
+                out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
+              >
+                <SpatialForcePanel
+                  {spatialForce}
+                  {locale}
+                  side="right"
+                  panelIndex={rightPanels.length}
+                  panelCode="ALG"
+                  panelTitle={locale === "zh-CN" ? "本地切向力" : "Local Tangential"}
+                  badgeLabel={locale === "zh-CN" ? "算法" : "ALGO"}
+                />
+              </div>
+
+              <div
+                class="panel-motion-shell"
+                in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
+                out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
+              >
+                <SpatialForcePanel
+                  spatialForce={devkitSpatialForce}
+                  {locale}
+                  side="right"
+                  panelIndex={rightPanels.length + 1}
+                  panelCode="DKT"
+                  panelTitle={locale === "zh-CN" ? "DevKit 切向力" : "DevKit Tangential"}
+                  badgeLabel="DEVKIT"
+                  badgeTone="lime"
+                  showMetrics={false}
+                  requireMagnitude={false}
+                  compactMetaText={locale === "zh-CN" ? "等待 DevKit 角度流" : "Waiting for DevKit angle"}
+                />
+              </div>
+
               {#if summaryCurveVisible && summarySide === "right"}
                 <div
                   class="panel-motion-shell"
@@ -326,7 +337,7 @@
         </div>
       {/if}
 
-      {#if replayHasData && !showPrecisionTestPanel}
+      {#if replayHasData && !isModelStage}
         <aside class="replay-floating-panel" class:is-left={replaySide === "left"} class:is-right={replaySide === "right"}>
           <div class="replay-panel-head">
             <div class="replay-panel-title-group">
@@ -364,7 +375,7 @@
         </aside>
       {/if}
 
-      {#if !showPrecisionTestPanel}
+      {#if !isModelStage}
         <div class="stage-bottom-overlay">
           <slot />
         </div>

src/lib/components/HudPanel.svelte

@@ -4,8 +4,6 @@
     ConnectionState,
     HudConfigLink,
     HudNoticeTone,
-    LocaleCode,
-    MatrixDisplayMode,
     WindowControlAction
   } from "$lib/types/hud";
 
@@ -31,9 +29,8 @@
   export let configLinksLabel = "";
   export let configLinks: HudConfigLink[] = [];
   export let matrixViewLabel = "";
-  export let matrixViewNumericLabel = "";
   export let matrixViewDotsLabel = "";
-  export let matrixDisplayMode: MatrixDisplayMode = "dots";
+  export let stageViewMode: StageViewMode = "webgl";
   export let connectActionLabel = "";
   export let disconnectActionLabel = "";
   export let exportActionLabel = "";
@@ -56,6 +53,7 @@
     localechange: LocaleCode;
     configlink: string;
     matrixdisplaytoggle: boolean;
+    stagemodechange: StageViewMode;
     portchange: string;
     serialrefresh: void;
     serialconnect: string;
@@ -101,8 +99,8 @@
     dispatch("configlink", linkId);
   }
 
-  function emitMatrixDisplayToggle(): void {
+  function emitStageModeChange(nextMode: StageViewMode): void {
-    dispatch("matrixdisplaytoggle", matrixDisplayMode !== "dots");
+    dispatch("stagemodechange", nextMode);
   }
 
   function emitPortChange(event: Event): void {
@@ -199,24 +197,6 @@
         {/each}
       </section>
 
-      <section class="matrix-switch-wrap" aria-label={matrixViewLabel}>
-        <span class="matrix-switch-label">{matrixViewLabel}</span>
-        <button
-          type="button"
-          class="matrix-switch-btn"
-          class:is-active={matrixDisplayMode === "dots"}
-          role="switch"
-          aria-checked={matrixDisplayMode === "dots"}
-          aria-label={matrixViewDotsLabel}
-          on:click={emitMatrixDisplayToggle}
-        >
-          <span class="matrix-switch-track" aria-hidden="true">
-            <span class="matrix-switch-thumb"></span>
-          </span>
-          <span class="matrix-switch-copy">{matrixDisplayMode === "dots" ? matrixViewDotsLabel : matrixViewNumericLabel}</span>
-        </button>
-      </section>
-
       <section class="state-card" aria-label={connectionLabel}>
         <span class="state-dot" class:ok={connectionTone === "ok"} class:warn={connectionTone === "warn"}></span>
         <span class="state-label">{connectionLabel}</span>
@@ -485,108 +465,6 @@
     background: var(--panel-surface);
   }
 
-  .matrix-switch-wrap {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.4rem;
-    min-block-size: 2rem;
-    border: 1px solid var(--panel-line);
-    border-radius: 999px;
-    padding: 0.16rem 0.22rem 0.16rem 0.56rem;
-    background: var(--panel-surface);
-  }
-
-  .matrix-switch-label {
-    color: var(--panel-text-dim);
-    font-size: 0.66rem;
-    letter-spacing: 0.08em;
-    text-transform: uppercase;
-    line-height: 1;
-    white-space: nowrap;
-  }
-
-  .matrix-switch-btn {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.42rem;
-    min-block-size: 1.62rem;
-    border: 1px solid rgb(var(--hud-border-rgb) / 0.26);
-    border-radius: 999px;
-    padding: 0.18rem 0.28rem 0.18rem 0.22rem;
-    background: rgb(var(--hud-surface-deep-rgb) / 0.84);
-    color: rgb(var(--hud-text-main-rgb) / 0.92);
-    cursor: pointer;
-    transition:
-      border-color 180ms ease,
-      box-shadow 180ms ease,
-      background-color 180ms ease,
-      color 180ms ease;
-  }
-
-  .matrix-switch-btn:hover {
-    border-color: rgb(var(--hud-cyan-rgb) / 0.4);
-  }
-
-  .matrix-switch-btn.is-active {
-    border-color: rgb(var(--hud-cyan-rgb) / 0.5);
-    background:
-      linear-gradient(180deg, rgb(var(--hud-surface-alt-rgb) / 0.94), rgb(var(--hud-surface-rgb) / 0.9)),
-      radial-gradient(circle at 50% 0, rgb(var(--hud-cyan-rgb) / 0.12), transparent 60%);
-    box-shadow:
-      inset 0 0 0 1px rgb(var(--hud-text-main-rgb) / 0.05),
-      0 0 12px rgb(var(--hud-cyan-rgb) / 0.12);
-  }
-
-  .matrix-switch-track {
-    position: relative;
-    display: inline-flex;
-    align-items: center;
-    inline-size: 2.2rem;
-    block-size: 1.2rem;
-    border-radius: 999px;
-    padding: 0.14rem;
-    background: rgb(var(--hud-surface-rgb) / 0.9);
-    box-shadow: inset 0 0 0 1px rgb(var(--hud-border-rgb) / 0.24);
-    transition:
-      background-color 180ms ease,
-      box-shadow 180ms ease;
-  }
-
-  .matrix-switch-btn.is-active .matrix-switch-track {
-    background: rgb(var(--hud-cyan-rgb) / 0.18);
-    box-shadow: inset 0 0 0 1px rgb(var(--hud-cyan-rgb) / 0.18);
-  }
-
-  .matrix-switch-thumb {
-    inline-size: 0.92rem;
-    block-size: 0.92rem;
-    border-radius: 50%;
-    background: rgb(var(--hud-text-main-rgb) / 0.96);
-    box-shadow:
-      0 1px 4px rgb(0 0 0 / 0.26),
-      0 0 10px rgb(var(--hud-text-main-rgb) / 0.12);
-    transform: translateX(0);
-    transition:
-      transform 180ms ease,
-      background-color 180ms ease,
-      box-shadow 180ms ease;
-  }
-
-  .matrix-switch-btn.is-active .matrix-switch-thumb {
-    transform: translateX(0.96rem);
-    background: rgb(var(--hud-cyan-rgb) / 0.96);
-    box-shadow:
-      0 1px 4px rgb(0 0 0 / 0.26),
-      0 0 12px rgb(var(--hud-cyan-rgb) / 0.22);
-  }
-
-  .matrix-switch-copy {
-    font-size: 0.74rem;
-    letter-spacing: 0.04em;
-    white-space: nowrap;
-    line-height: 1;
-  }
-
   .state-dot {
     inline-size: 0.55rem;
     block-size: 0.55rem;
@@ -1216,4 +1094,4 @@
     }
 
   }
-</style>
+</style>

src/lib/components/ModelStage.svelte

@@ -0,0 +1,469 @@
+<script lang="ts">
+  import { onMount } from "svelte";
+  import * as THREE from "three";
+  import { OrbitControls } from "three/examples/jsm/controls/OrbitControls.js";
+  import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js";
+  import type { GLTF } from "three/examples/jsm/loaders/GLTFLoader.js";
+  import type { LocaleCode } from "$lib/types/hud";
+
+  type ModelLoadState = "loading" | "ready" | "missing" | "error";
+
+  export let locale: LocaleCode = "zh-CN";
+  export let modelUrl = "/models/je-skin-model.glb";
+
+  let rootEl: HTMLDivElement | undefined;
+  let canvasEl: HTMLCanvasElement | undefined;
+  let loadState: ModelLoadState = "loading";
+  let loadProgress = 0;
+  let loadError = "";
+
+  const FLOOR_Y = -1.15;
+  const MODEL_FLOOR_CLEARANCE = 0.035;
+  const MODEL_TARGET_HEIGHT = 8.4;
+  const MODEL_MIN_SCALE = 0.02;
+  const MODEL_MAX_SCALE = 80;
+  const CAMERA_DISTANCE_FACTOR = 1.35;
+  const CAMERA_DISTANCE_MIN = 7.5;
+  const CAMERA_DISTANCE_MAX = 24;
+
+  $: copy =
+    locale === "zh-CN"
+      ? {
+          title: "3D 模型舱",
+          subtitle: "Dark Grid / Future Lab",
+          loading: "正在加载模型",
+          ready: "模型已载入",
+          missing: "等待模型文件",
+          error: "模型加载失败",
+          modelPath: "模型路径",
+          hint: "请使用 glTF 2.0 的 .glb/.gltf；旧版 glTF 1.0 需要先转换"
+        }
+      : {
+          title: "3D Model Bay",
+          subtitle: "Dark Grid / Future Lab",
+          loading: "Loading model",
+          ready: "Model loaded",
+          missing: "Waiting for model file",
+          error: "Model load failed",
+          modelPath: "Model path",
+          hint: "Use glTF 2.0 .glb/.gltf assets; older glTF 1.0 files need conversion first"
+        };
+  $: statusText =
+    loadState === "ready"
+      ? copy.ready
+      : loadState === "missing"
+        ? copy.missing
+        : loadState === "error"
+          ? copy.error
+          : `${copy.loading} ${Math.round(loadProgress)}%`;
+
+  function disposeObject3D(object: THREE.Object3D): void {
+    object.traverse((child) => {
+      const mesh = child as THREE.Mesh;
+      if (mesh.geometry) {
+        mesh.geometry.dispose();
+      }
+
+      const material = mesh.material;
+      if (Array.isArray(material)) {
+        for (const item of material) {
+          item.dispose();
+        }
+      } else if (material) {
+        material.dispose();
+      }
+    });
+  }
+
+  function buildPlaceholderModel(): THREE.Group {
+    const group = new THREE.Group();
+    const cyan = new THREE.Color(0x5ee7ff);
+    const lime = new THREE.Color(0xa6ff7a);
+
+    const platform = new THREE.Mesh(
+      new THREE.CylinderGeometry(5.8, 6.7, 0.36, 96),
+      new THREE.MeshStandardMaterial({
+        color: 0x0c1824,
+        emissive: 0x07131f,
+        metalness: 0.62,
+        roughness: 0.34
+      })
+    );
+    platform.position.y = 0.18;
+    group.add(platform);
+
+    const ringGeometry = new THREE.TorusGeometry(4.35, 0.035, 10, 128);
+    const ringMaterial = new THREE.MeshBasicMaterial({ color: cyan, transparent: true, opacity: 0.78 });
+    for (let index = 0; index < 3; index += 1) {
+      const ring = new THREE.Mesh(ringGeometry, ringMaterial);
+      ring.position.y = 0.52 + index * 0.52;
+      ring.rotation.x = Math.PI / 2;
+      group.add(ring);
+    }
+
+    const coreMaterial = new THREE.MeshStandardMaterial({
+      color: 0x1b2a38,
+      emissive: 0x0a2632,
+      metalness: 0.48,
+      roughness: 0.42,
+      transparent: true,
+      opacity: 0.72
+    });
+    const core = new THREE.Mesh(new THREE.BoxGeometry(2.2, 3.4, 1.1), coreMaterial);
+    core.position.y = 2.4;
+    core.rotation.y = -0.36;
+    group.add(core);
+
+    const sensorMaterial = new THREE.MeshBasicMaterial({ color: lime, transparent: true, opacity: 0.88 });
+    for (let index = 0; index < 7; index += 1) {
+      const bead = new THREE.Mesh(new THREE.SphereGeometry(0.13, 18, 18), sensorMaterial);
+      bead.position.set(-0.72 + index * 0.24, 3.18 + Math.sin(index * 0.72) * 0.18, 0.6);
+      group.add(bead);
+    }
+
+    return group;
+  }
+
+  function clamp(value: number, min: number, max: number): number {
+    return Math.min(max, Math.max(min, value));
+  }
+
+  function normalizeObjectToStage(object: THREE.Object3D): THREE.Box3 {
+    object.updateMatrixWorld(true);
+    let bounds = new THREE.Box3().setFromObject(object);
+    const size = bounds.getSize(new THREE.Vector3());
+    const currentHeight = Math.max(size.y, 0.001);
+    const scale = clamp(MODEL_TARGET_HEIGHT / currentHeight, MODEL_MIN_SCALE, MODEL_MAX_SCALE);
+
+    object.scale.multiplyScalar(scale);
+    object.updateMatrixWorld(true);
+
+    bounds = new THREE.Box3().setFromObject(object);
+    const center = bounds.getCenter(new THREE.Vector3());
+    object.position.x -= center.x;
+    object.position.z -= center.z;
+    object.position.y += FLOOR_Y + MODEL_FLOOR_CLEARANCE - bounds.min.y;
+    object.updateMatrixWorld(true);
+
+    return new THREE.Box3().setFromObject(object);
+  }
+
+  function frameObject(object: THREE.Object3D, camera: THREE.PerspectiveCamera, controls: OrbitControls): void {
+    const bounds = normalizeObjectToStage(object);
+    const size = bounds.getSize(new THREE.Vector3());
+    const maxAxis = Math.max(size.x, size.y, size.z, 1);
+    const distance = clamp(maxAxis * CAMERA_DISTANCE_FACTOR, CAMERA_DISTANCE_MIN, CAMERA_DISTANCE_MAX);
+    const targetY = FLOOR_Y + Math.max(size.y * 0.46, 1.4);
+
+    camera.position.set(distance * 0.48, targetY + distance * 0.24, distance * 0.68);
+    camera.near = Math.max(distance / 80, 0.01);
+    camera.far = distance * 24;
+    camera.updateProjectionMatrix();
+    controls.target.set(0, targetY, 0);
+    controls.minDistance = Math.max(distance * 0.32, 2);
+    controls.maxDistance = Math.max(distance * 2.5, 12);
+    controls.update();
+  }
+
+  onMount(() => {
+    if (!rootEl || !canvasEl) {
+      return;
+    }
+
+    const renderer = new THREE.WebGLRenderer({
+      canvas: canvasEl,
+      antialias: true,
+      alpha: true,
+      powerPreference: "high-performance"
+    });
+    renderer.setPixelRatio(Math.min(window.devicePixelRatio || 1, 2));
+    renderer.setClearColor(0x03070d, 1);
+    renderer.outputColorSpace = THREE.SRGBColorSpace;
+    renderer.toneMapping = THREE.ACESFilmicToneMapping;
+    renderer.toneMappingExposure = 1.08;
+
+    const scene = new THREE.Scene();
+    scene.fog = new THREE.FogExp2(0x03070d, 0.028);
+
+    const camera = new THREE.PerspectiveCamera(38, 1, 0.05, 600);
+    camera.position.set(8, 6, 9);
+
+    const controls = new OrbitControls(camera, canvasEl);
+    controls.enableDamping = true;
+    controls.dampingFactor = 0.08;
+    controls.minDistance = 2.4;
+    controls.maxDistance = 32;
+    controls.target.set(0, FLOOR_Y + 3.2, 0);
+
+    const labGroup = new THREE.Group();
+    scene.add(labGroup);
+
+    const grid = new THREE.GridHelper(42, 42, 0x63e6ff, 0x123047);
+    grid.position.y = FLOOR_Y;
+    const gridMaterial = grid.material;
+    if (Array.isArray(gridMaterial)) {
+      for (const material of gridMaterial) {
+        material.transparent = true;
+        material.opacity = 0.28;
+      }
+    } else {
+      gridMaterial.transparent = true;
+      gridMaterial.opacity = 0.28;
+    }
+    labGroup.add(grid);
+
+    const backGrid = new THREE.GridHelper(42, 42, 0x5ee7ff, 0x0c2436);
+    backGrid.position.set(0, 9.5, -17);
+    backGrid.rotation.x = Math.PI / 2;
+    const backGridMaterial = backGrid.material;
+    if (Array.isArray(backGridMaterial)) {
+      for (const material of backGridMaterial) {
+        material.transparent = true;
+        material.opacity = 0.12;
+      }
+    } else {
+      backGridMaterial.transparent = true;
+      backGridMaterial.opacity = 0.12;
+    }
+    labGroup.add(backGrid);
+
+    const floor = new THREE.Mesh(
+      new THREE.PlaneGeometry(42, 42),
+      new THREE.MeshStandardMaterial({
+        color: 0x050c14,
+        metalness: 0.28,
+        roughness: 0.64,
+        transparent: true,
+        opacity: 0.72
+      })
+    );
+    floor.rotation.x = -Math.PI / 2;
+    floor.position.y = FLOOR_Y - 0.018;
+    labGroup.add(floor);
+
+    const ambient = new THREE.AmbientLight(0x9fb8d0, 0.22);
+    const keyLight = new THREE.DirectionalLight(0x7be7ff, 1.5);
+    keyLight.position.set(8, 12, 8);
+    const rimLight = new THREE.PointLight(0xa6ff7a, 26, 24, 2.1);
+    rimLight.position.set(-4.5, 4.8, -3.6);
+    const sideLight = new THREE.PointLight(0x5c8cff, 15, 28, 1.7);
+    sideLight.position.set(5.8, 3.2, -5.4);
+    scene.add(ambient, keyLight, rimLight, sideLight);
+
+    let activeModel: THREE.Object3D = buildPlaceholderModel();
+    scene.add(activeModel);
+    frameObject(activeModel, camera, controls);
+
+    const loader = new GLTFLoader();
+    loader.load(
+      modelUrl,
+      (gltf: GLTF) => {
+        scene.remove(activeModel);
+        disposeObject3D(activeModel);
+        activeModel = gltf.scene;
+        activeModel.traverse((child) => {
+          const mesh = child as THREE.Mesh;
+          if (mesh.isMesh) {
+            mesh.castShadow = true;
+            mesh.receiveShadow = true;
+          }
+        });
+        scene.add(activeModel);
+        frameObject(activeModel, camera, controls);
+        loadState = "ready";
+        loadProgress = 100;
+      },
+      (event) => {
+        if (event.total > 0) {
+          loadProgress = (event.loaded / event.total) * 100;
+        } else {
+          loadProgress = 12;
+        }
+      },
+      (error) => {
+        const message = error instanceof Error ? error.message : String(error);
+        loadError = message || "Unknown model loader error";
+        loadState = message.toLowerCase().includes("404") ? "missing" : "error";
+        loadProgress = 0;
+      }
+    );
+
+    const resize = () => {
+      if (!rootEl) {
+        return;
+      }
+
+      const width = rootEl.clientWidth;
+      const height = rootEl.clientHeight;
+      if (width <= 0 || height <= 0) {
+        return;
+      }
+
+      renderer.setSize(width, height, false);
+      camera.aspect = width / height;
+      camera.updateProjectionMatrix();
+    };
+
+    resize();
+    const resizeObserver = new ResizeObserver(resize);
+    resizeObserver.observe(rootEl);
+
+    renderer.setAnimationLoop((timestamp) => {
+      const seconds = timestamp / 1000;
+      labGroup.position.y = Math.sin(seconds * 0.75) * 0.015;
+      if (loadState !== "ready") {
+        activeModel.rotation.y = seconds * 0.32;
+      }
+      controls.update();
+      renderer.render(scene, camera);
+    });
+
+    return () => {
+      resizeObserver.disconnect();
+      renderer.setAnimationLoop(null);
+      controls.dispose();
+      disposeObject3D(activeModel);
+      disposeObject3D(labGroup);
+      renderer.dispose();
+    };
+  });
+</script>
+
+<div class="model-stage" bind:this={rootEl}>
+  <canvas class="model-canvas" bind:this={canvasEl} aria-label={copy.title}></canvas>
+  <div class="model-vignette" aria-hidden="true"></div>
+  <div class="model-scanlines" aria-hidden="true"></div>
+
+  <section class="model-hud" aria-label={copy.title}>
+    <p class="model-kicker">{copy.subtitle}</p>
+    <h2>{copy.title}</h2>
+    <div class="model-status-row">
+      <span class="status-light" class:is-ready={loadState === "ready"}></span>
+      <span>{statusText}</span>
+    </div>
+    <p class="model-path">{copy.modelPath}: {modelUrl}</p>
+    <p class="model-hint">{loadError || copy.hint}</p>
+  </section>
+</div>
+
+<style>
+  .model-stage {
+    position: absolute;
+    inset: 0;
+    overflow: hidden;
+    background:
+      radial-gradient(circle at 52% 62%, rgb(94 231 255 / 0.12), transparent 26%),
+      radial-gradient(circle at 24% 18%, rgb(166 255 122 / 0.07), transparent 24%),
+      linear-gradient(180deg, #03070d 0%, #07111b 48%, #02050a 100%);
+  }
+
+  .model-canvas,
+  .model-vignette,
+  .model-scanlines {
+    position: absolute;
+    inset: 0;
+    inline-size: 100%;
+    block-size: 100%;
+  }
+
+  .model-canvas {
+    display: block;
+  }
+
+  .model-vignette,
+  .model-scanlines {
+    pointer-events: none;
+  }
+
+  .model-vignette {
+    background:
+      linear-gradient(90deg, rgb(0 0 0 / 0.36), transparent 22%, transparent 78%, rgb(0 0 0 / 0.34)),
+      radial-gradient(circle at center, transparent 48%, rgb(0 0 0 / 0.58) 100%);
+  }
+
+  .model-scanlines {
+    opacity: 0.32;
+    background:
+      repeating-linear-gradient(180deg, rgb(94 231 255 / 0.045) 0, rgb(94 231 255 / 0.045) 1px, transparent 1px, transparent 4px);
+    mix-blend-mode: screen;
+  }
+
+  .model-hud {
+    position: absolute;
+    top: clamp(1.2rem, 2.8vw, 2.2rem);
+    left: clamp(1.2rem, 2.8vw, 2.4rem);
+    z-index: 2;
+    display: grid;
+    gap: 0.42rem;
+    max-inline-size: min(22rem, 42vw);
+    padding: 0.9rem 1rem 1rem;
+    border: 1px solid rgb(94 231 255 / 0.24);
+    border-radius: 0.7rem;
+    background:
+      linear-gradient(180deg, rgb(8 18 28 / 0.82), rgb(3 9 15 / 0.72)),
+      radial-gradient(circle at 0 0, rgb(94 231 255 / 0.1), transparent 44%);
+    box-shadow:
+      inset 0 1px 0 rgb(255 255 255 / 0.06),
+      0 0 28px rgb(94 231 255 / 0.08);
+    backdrop-filter: blur(10px);
+  }
+
+  .model-kicker,
+  .model-path,
+  .model-hint {
+    margin: 0;
+    color: rgb(198 226 239 / 0.72);
+    font-size: 0.6rem;
+    letter-spacing: 0.1em;
+    text-transform: uppercase;
+    line-height: 1.35;
+  }
+
+  h2 {
+    margin: 0;
+    color: rgb(241 251 255 / 0.96);
+    font-size: clamp(1.15rem, 1.1vw + 0.88rem, 1.72rem);
+    line-height: 1.05;
+    font-weight: 650;
+  }
+
+  .model-status-row {
+    display: inline-flex;
+    align-items: center;
+    gap: 0.44rem;
+    color: rgb(229 249 255 / 0.94);
+    font-size: 0.78rem;
+    letter-spacing: 0.04em;
+  }
+
+  .status-light {
+    inline-size: 0.58rem;
+    block-size: 0.58rem;
+    border-radius: 50%;
+    background: rgb(255 188 92 / 0.95);
+    box-shadow: 0 0 0 2px rgb(255 188 92 / 0.16), 0 0 12px rgb(255 188 92 / 0.18);
+  }
+
+  .status-light.is-ready {
+    background: rgb(166 255 122 / 0.95);
+    box-shadow: 0 0 0 2px rgb(166 255 122 / 0.16), 0 0 14px rgb(166 255 122 / 0.22);
+  }
+
+  .model-path {
+    color: rgb(94 231 255 / 0.78);
+    text-transform: none;
+    word-break: break-word;
+  }
+
+  .model-hint {
+    color: rgb(198 226 239 / 0.66);
+    text-transform: none;
+    letter-spacing: 0.04em;
+  }
+
+  @media (max-width: 960px) {
+    .model-hud {
+      max-inline-size: min(20rem, calc(100% - 2.4rem));
+    }
+  }
+</style>

src/lib/components/SpatialForcePanel.svelte

@@ -0,0 +1,523 @@
+<script lang="ts">
+  import type { HudSpatialForce } from "$lib/types/hud";
+
+  export let spatialForce: HudSpatialForce | null = null;
+  export let side: "left" | "right" = "right";
+  export let panelIndex = 0;
+  export let locale: "zh-CN" | "en-US" = "zh-CN";
+  export let panelCode = "TAN";
+  export let panelTitle = "";
+  export let badgeLabel = "";
+  export let badgeTone: "cyan" | "lime" | "orange" = "cyan";
+  export let showMetrics = true;
+  export let requireMagnitude = true;
+  export let compactMetaText = "";
+
+  function formatValue(value: number | null, digits = 1): string {
+    if (value === null || !Number.isFinite(value)) {
+      return "--";
+    }
+
+    return value.toFixed(digits);
+  }
+
+  function normalizeAngle(value: number): number {
+    return ((value % 360) + 360) % 360;
+  }
+
+  function shortestAngleDelta(from: number, to: number): number {
+    const delta = ((to - from + 540) % 360) - 180;
+    return delta === -180 ? 180 : delta;
+  }
+
+  const jumpAngleThresholdDeg = 72;
+
+  let visualAngleDeg = 0;
+  let previousRawAngleDeg: number | null = null;
+  let snapVector = false;
+  let snapResetFrame: number | null = null;
+
+  function setSnapVector(): void {
+    snapVector = true;
+
+    if (typeof window === "undefined") {
+      return;
+    }
+
+    if (snapResetFrame !== null) {
+      window.cancelAnimationFrame(snapResetFrame);
+    }
+
+    snapResetFrame = window.requestAnimationFrame(() => {
+      snapVector = false;
+      snapResetFrame = null;
+    });
+  }
+
+  function updateVisualAngle(rawAngleDeg: number, active: boolean): void {
+    if (!active) {
+      previousRawAngleDeg = null;
+      visualAngleDeg = 0;
+      return;
+    }
+
+    if (previousRawAngleDeg === null) {
+      previousRawAngleDeg = rawAngleDeg;
+      visualAngleDeg = rawAngleDeg;
+      return;
+    }
+
+    const delta = shortestAngleDelta(previousRawAngleDeg, rawAngleDeg);
+    if (Math.abs(delta) < 0.001) {
+      return;
+    }
+
+    if (Math.abs(delta) >= jumpAngleThresholdDeg) {
+      setSnapVector();
+    }
+
+    visualAngleDeg += delta;
+    previousRawAngleDeg = rawAngleDeg;
+  }
+
+  $: i18n =
+    locale === "zh-CN"
+      ? {
+          title: "切向力方向",
+          waiting: "等待数据",
+          angle: "ANGLE",
+          heading: "方向角",
+          strength: "强度",
+          confidence: "置信度"
+        }
+      : {
+          title: "Tangential Direction",
+          waiting: "Waiting",
+          angle: "ANGLE",
+          heading: "Heading",
+          strength: "Strength",
+          confidence: "Confidence"
+        };
+  $: resolvedTitle = panelTitle || i18n.title;
+  $: resolvedBadgeLabel = badgeLabel || i18n.angle;
+  $: resolvedCompactMetaText =
+    compactMetaText || (locale === "zh-CN" ? "仅使用角度流" : "Angle stream only");
+
+  $: hasData =
+    spatialForce !== null &&
+    Number.isFinite(spatialForce.angleDeg) &&
+    (!requireMagnitude || Number.isFinite(spatialForce.magnitude));
+  $: angleDeg = hasData ? normalizeAngle(spatialForce?.angleDeg ?? 0) : 0;
+  $: updateVisualAngle(angleDeg, hasData);
+  $: magnitude = hasData ? spatialForce?.magnitude ?? 0 : null;
+  $: confidence = hasData ? (spatialForce?.confidence ?? 0) * 100 : null;
+</script>
+
+<article
+  class="signal-panel spatial-panel side-{side}"
+  class:is-empty={!hasData}
+  aria-hidden={false}
+  style="--panel-index: {panelIndex};"
+>
+  <header class="panel-head">
+    <div class="head-text">
+      <p class="panel-code">{panelCode}</p>
+      <p class="panel-title">{resolvedTitle}</p>
+    </div>
+
+    <div class="icon-layer" aria-hidden="true">
+      <span class={`icon-chip tone-${badgeTone}`}>{resolvedBadgeLabel}</span>
+    </div>
+  </header>
+
+  <div class="panel-body">
+    <div class="compass-stage">
+      <div class="compass-core">
+        <div class="compass-ring compass-ring-outer"></div>
+        <div class="compass-ring compass-ring-inner"></div>
+        <div class="compass-axis axis-horizontal"></div>
+        <div class="compass-axis axis-vertical"></div>
+        {#if hasData}
+          <div
+            class="compass-vector"
+            class:is-snap={snapVector}
+            style="transform: translateY(-50%) rotate({-visualAngleDeg}deg);"
+          >
+            <span class="vector-shaft"></span>
+            <span class="vector-head"></span>
+          </div>
+        {/if}
+        <div class="compass-center"></div>
+        <span class="compass-label label-top">90</span>
+        <span class="compass-label label-right">0</span>
+        <span class="compass-label label-bottom">270</span>
+        <span class="compass-label label-left">180</span>
+      </div>
+
+      {#if !hasData}
+        <div class="empty-state">
+          <span>{i18n.waiting}</span>
+        </div>
+      {/if}
+    </div>
+
+    <div class="angle-stage">
+      <p class="angle-label">{i18n.heading}</p>
+      {#if showMetrics}
+        <p class="angle-meta">{i18n.strength}: {formatValue(magnitude, 2)}</p>
+        <p class="angle-meta">{i18n.confidence}: {hasData ? `${formatValue(confidence, 0)}%` : "--"}</p>
+      {:else}
+        <p class="angle-meta">{resolvedCompactMetaText}</p>
+        <p class="angle-meta">{hasData ? (locale === "zh-CN" ? "实时对比中" : "Live comparison") : "--"}</p>
+      {/if}
+    </div>
+  </div>
+</article>
+
+<style>
+  .signal-panel {
+    --offset-x: 12%;
+    --enter-ms: 1800ms;
+    --fade-ms: 1000ms;
+    overflow: hidden;
+    inline-size: min(100%, clamp(34rem, 44vw, 44rem));
+    justify-self: start;
+    display: grid;
+    grid-template-rows: auto 1fr;
+    gap: 0.68rem;
+    padding: 0.88rem 0.96rem 1rem;
+    border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.42);
+    border-radius: 0.92rem;
+    background:
+      linear-gradient(160deg, rgb(var(--hud-surface-alt-rgb) / 0.76) 0%, rgb(var(--hud-surface-rgb) / 0.62) 48%, rgb(var(--hud-surface-deep-rgb) / 0.76) 100%),
+      radial-gradient(circle at 12% 0, rgb(var(--hud-glow-rgb) / 0.1), transparent 40%);
+    box-shadow:
+      inset 0 0 0 1px rgb(var(--hud-border-strong-rgb) / 0.08),
+      inset 0 -24px 32px rgb(0 0 0 / 0.48),
+      0 0 14px rgb(var(--hud-glow-rgb) / 0.14);
+    opacity: 1;
+    transform: translateX(0) scale(1) rotate(0);
+    transition:
+      opacity var(--fade-ms) cubic-bezier(0.18, 0.88, 0.3, 1),
+      transform var(--enter-ms) cubic-bezier(0.2, 0.9, 0.28, 1),
+      border-color 460ms ease,
+      filter 760ms ease;
+    transition-delay: calc(var(--panel-index) * 140ms);
+  }
+
+  .signal-panel.side-left {
+    --offset-x: -132%;
+  }
+
+  .signal-panel.side-right {
+    --offset-x: 132%;
+    justify-self: end;
+  }
+
+  .spatial-panel.is-empty {
+    opacity: 0.82;
+  }
+
+  .panel-head {
+    display: flex;
+    justify-content: space-between;
+    align-items: flex-start;
+    gap: 0.4rem;
+    margin-block-end: 0;
+  }
+
+  .head-text {
+    min-width: 0;
+  }
+
+  .panel-code {
+    margin: 0;
+    font-size: 0.63rem;
+    color: rgb(var(--hud-text-dim-rgb) / 0.88);
+    letter-spacing: 0.12em;
+    text-transform: uppercase;
+  }
+
+  .panel-title {
+    margin: 0.12rem 0 0;
+    font-size: 1.08rem;
+    color: rgb(var(--hud-text-main-rgb) / 0.96);
+    letter-spacing: 0.05em;
+  }
+
+  .icon-layer {
+    display: flex;
+    flex-wrap: wrap;
+    align-items: center;
+    justify-content: flex-end;
+    gap: 0.26rem;
+  }
+
+  .icon-chip {
+    border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.44);
+    border-radius: 999px;
+    padding: 0.08rem 0.36rem;
+    font-size: 0.58rem;
+    letter-spacing: 0.08em;
+    color: rgb(var(--hud-text-main-rgb) / 0.94);
+    background: rgb(var(--hud-surface-rgb) / 0.66);
+  }
+
+  .icon-chip.tone-cyan {
+    border-color: rgb(var(--hud-cyan-rgb) / 0.54);
+  }
+
+  .icon-chip.tone-lime {
+    border-color: rgb(var(--hud-lime-rgb) / 0.54);
+  }
+
+  .icon-chip.tone-orange {
+    border-color: rgb(var(--hud-orange-rgb) / 0.54);
+  }
+
+  .panel-body {
+    display: grid;
+    grid-template-columns: minmax(0, 1.1fr) minmax(10rem, 0.9fr);
+    gap: 0.72rem;
+    block-size: clamp(12rem, 15.5vw, 15rem);
+    min-block-size: clamp(12rem, 15.5vw, 15rem);
+  }
+
+  .compass-stage {
+    position: relative;
+    min-block-size: 0;
+    overflow: hidden;
+    border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.32);
+    border-radius: 0.62rem;
+    background:
+      linear-gradient(180deg, rgb(var(--hud-surface-alt-rgb) / 0.68), rgb(var(--hud-surface-deep-rgb) / 0.78)),
+      radial-gradient(circle at 50% 0, rgb(var(--hud-glow-rgb) / 0.09), transparent 45%);
+    display: grid;
+    place-items: center;
+  }
+
+  .compass-core {
+    position: relative;
+    inline-size: min(72%, 13rem);
+    aspect-ratio: 1;
+  }
+
+  .compass-ring,
+  .compass-axis,
+  .compass-center,
+  .compass-vector {
+    position: absolute;
+    top: 50%;
+    left: 50%;
+  }
+
+  .compass-ring {
+    border-radius: 50%;
+    transform: translate(-50%, -50%);
+  }
+
+  .compass-ring-outer {
+    inline-size: 100%;
+    block-size: 100%;
+    border: 1px solid rgb(var(--hud-cyan-rgb) / 0.28);
+    box-shadow: 0 0 18px rgb(var(--hud-glow-rgb) / 0.08);
+  }
+
+  .compass-ring-inner {
+    inline-size: 62%;
+    block-size: 62%;
+    border: 1px dashed rgb(var(--hud-border-strong-rgb) / 0.3);
+  }
+
+  .compass-axis {
+    background: rgb(var(--hud-border-strong-rgb) / 0.18);
+    transform: translate(-50%, -50%);
+  }
+
+  .axis-horizontal {
+    inline-size: 86%;
+    block-size: 1px;
+  }
+
+  .axis-vertical {
+    inline-size: 1px;
+    block-size: 86%;
+  }
+
+  .compass-vector {
+    inline-size: 42%;
+    block-size: 0.9rem;
+    transform-origin: 0 50%;
+    transition: transform 220ms ease;
+  }
+
+  .compass-vector.is-snap {
+    transition-duration: 0ms;
+  }
+
+  .vector-shaft {
+    position: absolute;
+    top: 50%;
+    left: 0;
+    right: 0.7rem;
+    block-size: 2px;
+    transform: translateY(-50%);
+    border-radius: 999px;
+    background: linear-gradient(90deg, rgb(var(--hud-cyan-rgb) / 0.18), rgb(var(--hud-cyan-rgb) / 0.96));
+    box-shadow: 0 0 14px rgb(var(--hud-cyan-rgb) / 0.2);
+  }
+
+  .vector-head {
+    position: absolute;
+    top: 50%;
+    right: 0;
+    inline-size: 0;
+    block-size: 0;
+    transform: translateY(-50%);
+    border-top: 0.36rem solid transparent;
+    border-bottom: 0.36rem solid transparent;
+    border-left: 0.7rem solid rgb(var(--hud-lime-rgb) / 0.96);
+    filter: drop-shadow(0 0 8px rgb(var(--hud-lime-rgb) / 0.24));
+  }
+
+  .compass-center {
+    inline-size: 0.56rem;
+    block-size: 0.56rem;
+    transform: translate(-50%, -50%);
+    border-radius: 50%;
+    background: rgb(var(--hud-text-main-rgb) / 0.92);
+    box-shadow: 0 0 10px rgb(var(--hud-text-main-rgb) / 0.12);
+  }
+
+  .compass-label {
+    position: absolute;
+    font-size: 0.58rem;
+    color: rgb(var(--hud-text-dim-rgb) / 0.8);
+    letter-spacing: 0.08em;
+  }
+
+  .label-top {
+    top: -0.9rem;
+    left: 50%;
+    transform: translateX(-50%);
+  }
+
+  .label-right {
+    top: 50%;
+    right: -1rem;
+    transform: translateY(-50%);
+  }
+
+  .label-bottom {
+    bottom: -0.9rem;
+    left: 50%;
+    transform: translateX(-50%);
+  }
+
+  .label-left {
+    top: 50%;
+    left: -1.35rem;
+    transform: translateY(-50%);
+  }
+
+  .empty-state {
+    position: absolute;
+    inset: 0;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    color: rgb(var(--hud-text-dim-rgb) / 0.76);
+    font-size: 0.66rem;
+    letter-spacing: 0.08em;
+    text-transform: uppercase;
+    background: linear-gradient(180deg, rgb(var(--hud-surface-deep-rgb) / 0.06), rgb(var(--hud-surface-deep-rgb) / 0.18));
+  }
+
+  .angle-stage {
+    border: 1px solid rgb(var(--hud-border-rgb) / 0.26);
+    border-radius: 0.62rem;
+    padding: 0.9rem 0.85rem;
+    block-size: 100%;
+    min-block-size: 0;
+    overflow: hidden;
+    background:
+      linear-gradient(180deg, rgb(var(--hud-surface-rgb) / 0.72), rgb(var(--hud-surface-deep-rgb) / 0.84)),
+      radial-gradient(circle at 50% 0, rgb(var(--hud-glow-rgb) / 0.05), transparent 58%);
+    display: grid;
+    grid-template-rows: auto auto auto;
+    align-content: center;
+    justify-items: start;
+    gap: 0.36rem;
+  }
+
+  .angle-label {
+    margin: 0;
+    color: rgb(var(--hud-text-dim-rgb) / 0.82);
+    font-size: 0.68rem;
+    letter-spacing: 0.08em;
+    text-transform: uppercase;
+  }
+
+  .angle-meta {
+    margin: 0;
+    inline-size: 10rem;
+    min-block-size: 1rem;
+    white-space: nowrap;
+    overflow: hidden;
+    text-overflow: ellipsis;
+    color: rgb(var(--hud-text-dim-rgb) / 0.84);
+    font-size: 0.68rem;
+    font-variant-numeric: tabular-nums;
+    letter-spacing: 0.05em;
+  }
+
+  @media (max-width: 1180px) {
+    .signal-panel {
+      inline-size: min(100%, clamp(28rem, 40vw, 38rem));
+    }
+  }
+
+  @media (max-height: 900px) {
+    .signal-panel {
+      inline-size: min(100%, clamp(28rem, 38vw, 36rem));
+      padding: 0.7rem 0.76rem 0.8rem;
+    }
+  }
+
+  @media (max-height: 760px) {
+    .signal-panel {
+      inline-size: min(100%, clamp(24rem, 34vw, 30rem));
+      padding: 0.62rem 0.68rem 0.72rem;
+      gap: 0.48rem;
+    }
+
+    .panel-body {
+      block-size: clamp(9rem, 10vw, 10.8rem);
+      min-block-size: clamp(9rem, 10vw, 10.8rem);
+    }
+  }
+
+  @media (max-height: 680px) {
+    .signal-panel {
+      inline-size: min(100%, clamp(20rem, 28vw, 26rem));
+      padding: 0.52rem 0.58rem 0.6rem;
+      gap: 0.36rem;
+    }
+  }
+
+  @media (max-width: 900px) {
+    .signal-panel {
+      inline-size: 100%;
+    }
+
+    .panel-body {
+      grid-template-columns: 1fr;
+      block-size: auto;
+      min-block-size: auto;
+    }
+
+    .compass-core {
+      inline-size: min(58vw, 12rem);
+    }
+  }
+</style>

src/lib/types/hud.ts

@@ -3,6 +3,7 @@ export type LocaleCode = "zh-CN" | "en-US";
 export type WindowControlAction = "minimize" | "toggle-maximize" | "close";
 
 export type ConnectionState = "online" | "connecting" | "offline";
+export type StageViewMode = "webgl" | "model3d";
 
 export type StageStatusTone = "ok" | "warn" | "idle";
 export type HudNoticeTone = "ok" | "warn" | "info";
@@ -40,11 +41,18 @@ export interface HudSignalPanel {
   max: number | null;
 }
 
+export interface HudSpatialForce {
+  angleDeg: number;
+  magnitude: number;
+  confidence: number;
+}
+
 export interface HudPacket {
   ts: number;
   panels: HudSignalPanel[];
   summary: HudSummary;
   pressureMatrix: number[] | null;
+  spatialForce: HudSpatialForce | null;
 }
 
 export interface HudSummary {
@@ -86,6 +94,9 @@ export interface HudCopy {
   matrixViewLabel: string;
   matrixViewNumericLabel: string;
   matrixViewDotsLabel: string;
+  stageModeLabel: string;
+  stageModeWebglLabel: string;
+  stageModeModelLabel: string;
   resetConfigLabel: string;
   applyLiveHint: string;
   runtimeReady: string;

src/routes/+page.svelte

@@ -22,17 +22,18 @@
     HudConfigLink,
     HudNoticeTone,
     HudPacket,
+    HudSpatialForce,
     PressureColorMapPreset,
     HudSignalPanel,
     HudSignalSeries,
     HudSummary,
     LocaleCode,
-    MatrixDisplayMode,
     SerialConnectResult,
     SerialExportResult,
     SerialRecordStateResult,
     SerialImportResult,
     SignalTone,
+    StageViewMode,
     WindowControlAction
   } from "$lib/types/hud";
 
@@ -44,6 +45,13 @@
     dtsMs: number;
   }
 
+  interface DevKitPztAngleEvent {
+    seq: number;
+    timestampMs: number;
+    dtsMs: number;
+    angle: number;
+  }
+
   const copyByLocale: Record<LocaleCode, HudCopy> = {
     "zh-CN": {
       appName: "JE-Skin",
@@ -60,8 +68,10 @@
       rangeMaxLabel: "最大值",
       colorMapLabel: "映射颜色",
       matrixViewLabel: "矩阵模式",
-      matrixViewNumericLabel: "数字矩阵",
       matrixViewDotsLabel: "点矩阵",
+      stageModeLabel: "渲染模式",
+      stageModeWebglLabel: "WebGL",
+      stageModeModelLabel: "3D 模型",
       resetConfigLabel: "恢复默认",
       applyLiveHint: "实时生效 / 矩阵尺寸变更将重建 viewer",
       runtimeReady: "WEBGL2 READY",
@@ -119,8 +129,10 @@
       rangeMaxLabel: "Max",
       colorMapLabel: "Color Map",
       matrixViewLabel: "Matrix Mode",
-      matrixViewNumericLabel: "Numeric",
       matrixViewDotsLabel: "Dots",
+      stageModeLabel: "Render Mode",
+      stageModeWebglLabel: "WebGL",
+      stageModeModelLabel: "3D Model",
       resetConfigLabel: "Reset",
       applyLiveHint: "Live apply / size changes recreate the viewer",
       runtimeReady: "WEBGL2 READY",
@@ -216,17 +228,18 @@
   let isWindowMaximized = false;
   let activeConfigLinkId = "stream-on";
   let isConfigPanelOpen = false;
-  let isPrecisionTestOpen = false;
   let hasSignalData = false;
   let signalPanels: HudSignalPanel[] = buildInactivePanels();
   let summary: HudSummary = buildEmptySummary();
   let pressureMatrix: number[] | null = null;
+  let spatialForce: HudSpatialForce | null = null;
+  let devkitSpatialForce: HudSpatialForce | null = null;
   let matrixRows = 12;
   let matrixCols = 7;
   let rangeMin = DEFAULT_PRESSURE_RANGE_MIN;
   let rangeMax = DEFAULT_PRESSURE_RANGE_MAX;
   let colorMapPreset: PressureColorMapPreset = "emerald";
-  let matrixDisplayMode: MatrixDisplayMode = "dots";
+  let stageViewMode: StageViewMode = "webgl";
   let replayFrames: ReplayFrame[] = [];
   let replayCurrentIndex = 0;
   let replayHasDisplayedFrame = false;
@@ -260,6 +273,7 @@
     rowsKept: number;
   } | null = null;
   let devkitStatusTimer: number | null = null;
+  let devkitSpatialForceClearTimer: number | null = null;
   let sessionStartedAt: number = Date.now();
 
   $: uiCopy = copyByLocale[locale];
@@ -267,7 +281,6 @@
     locale,
     activeConfigLinkId,
     isConfigPanelOpen,
-    isPrecisionTestOpen,
     devkitEnabled,
     isDevKitConfigOpen
   );
@@ -287,6 +300,31 @@
     return typeof window !== "undefined" && "__TAURI_INTERNALS__" in window;
   }
 
+  function clearDevkitSpatialForce(): void {
+    devkitSpatialForce = null;
+    if (devkitSpatialForceClearTimer != null && typeof window !== "undefined") {
+      window.clearTimeout(devkitSpatialForceClearTimer);
+      devkitSpatialForceClearTimer = null;
+    }
+    hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+  }
+
+  function scheduleDevkitSpatialForceClear(): void {
+    if (typeof window === "undefined") {
+      return;
+    }
+
+    if (devkitSpatialForceClearTimer != null) {
+      window.clearTimeout(devkitSpatialForceClearTimer);
+    }
+
+    devkitSpatialForceClearTimer = window.setTimeout(() => {
+      devkitSpatialForce = null;
+      devkitSpatialForceClearTimer = null;
+      hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+    }, 420);
+  }
+
   function clamp(value: number, min: number, max: number): number {
     return Math.min(max, Math.max(min, value));
   }
@@ -709,6 +747,8 @@
 
   function resetReplayVisualState(): void {
     pressureMatrix = buildZeroMatrix();
+    spatialForce = null;
+    clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
     summary = buildEmptySummary();
     hasSignalData = false;
@@ -744,6 +784,8 @@
     replayHasDisplayedFrame = true;
     replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1;
     pressureMatrix = frameValuesToMatrix(replayFrames[safeIndex].values);
+    spatialForce = null;
+    clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
     summary = buildReplaySummaryAt(safeIndex);
     hasSignalData = true;
@@ -998,7 +1040,12 @@
       summary = packet.summary;
     }
     pressureMatrix = packet.pressureMatrix;
-    hasSignalData = signalPanels.length > 0 || packet.summary.points.length > 0;
+    spatialForce = packet.spatialForce ?? null;
+    hasSignalData =
+      signalPanels.length > 0 ||
+      packet.summary.points.length > 0 ||
+      spatialForce !== null ||
+      devkitSpatialForce !== null;
   }
 
   function clearHudPanels(): void {
@@ -1006,17 +1053,19 @@
     signalPanels = buildInactivePanels();
     summary = buildEmptySummary();
     pressureMatrix = null;
+    spatialForce = null;
+    clearDevkitSpatialForce();
   }
 
   function startMockFeed(push: (packet: HudPacket) => void): () => void {
     let panels = buildInactivePanels();
     let summaryValue = buildSummary(createSummaryPoints(randomBetween(480, 1440)));
-    push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null });
+    push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null, spatialForce: null });
 
     const timerId = window.setInterval(() => {
       summaryValue = evolveSummary(summaryValue);
 
-      push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null });
+      push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null, spatialForce: null });
     }, signalRenderTickMs);
 
     return () => {
@@ -1034,7 +1083,6 @@
     currentLocale: LocaleCode,
     activeId: string,
     isSettingsOpen: boolean,
-    isPrecisionOpen: boolean,
     isDevKitEnabled: boolean,
     isDevKitOpen: boolean
   ): HudConfigLink[] {
@@ -1043,13 +1091,11 @@
         ? {
             streamOn: "打开",
             streamOff: "关闭",
-            precisionTest: "游戏",
             settings: "参数"
           }
         : {
             streamOn: "Open",
             streamOff: "Close",
-            precisionTest: "Game",
             settings: "Setup"
           };
     const devkitLabel = currentLocale === "zh-CN" ? "开发工具" : "DevKit";
@@ -1067,12 +1113,6 @@
         tone: "orange",
         active: activeId === "stream-off"
       },
-      {
-        id: "precision-test",
-        label: labels.precisionTest,
-        tone: "lime",
-        active: isPrecisionOpen
-      },
       {
         id: "settings",
         label: labels.settings,
@@ -1643,28 +1683,19 @@
   }
 
   function handleConfigLink(event: CustomEvent<string>): void {
-    if (event.detail === "precision-test") {
-      isPrecisionTestOpen = !isPrecisionTestOpen;
-      isConfigPanelOpen = false;
-      isDevKitConfigOpen = false;
-      return;
-    }
-
     if (event.detail === "settings") {
-      isPrecisionTestOpen = false;
+      stageViewMode = "webgl";
       isConfigPanelOpen = !isConfigPanelOpen;
       isDevKitConfigOpen = false;
       return;
     }
 
     if (event.detail === "devkit") {
-      isPrecisionTestOpen = false;
       isConfigPanelOpen = false;
       isDevKitConfigOpen = !isDevKitConfigOpen;
       return;
     }
 
-    isPrecisionTestOpen = false;
     isConfigPanelOpen = false;
     isDevKitConfigOpen = false;
     activeConfigLinkId = event.detail;
@@ -1739,8 +1770,11 @@
     }
   }
 
-  function handleMatrixDisplayToggle(event: CustomEvent<boolean>): void {
+  function handleStageModeChange(event: CustomEvent<StageViewMode>): void {
-    matrixDisplayMode = event.detail ? "dots" : "numeric";
+    stageViewMode = event.detail;
+    if (stageViewMode === "model3d") {
+      isConfigPanelOpen = false;
+    }
   }
 
   onMount(() => {
@@ -1770,12 +1804,25 @@
         .catch((error) => {
           console.error("Failed to listen for hud_stream:", error);
         });
-      void listen<{ seq: number; timestampMs: number; dtsMs: number; angle: number }>(
+      void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
-        "devkit_pzt_angle",
+        const angleDeg = Number(event.payload.angle);
-        (event) => {
+        if (!Number.isFinite(angleDeg)) {
-          console.log("[devkit_pzt_angle]", event.payload);
+          clearDevkitSpatialForce();
+          return;
         }
-      )
+
+        devkitSpatialForce = {
+          angleDeg,
+          magnitude: 0,
+          confidence: 0
+        };
+        scheduleDevkitSpatialForceClear();
+        hasSignalData =
+          signalPanels.length > 0 ||
+          summary.points.length > 0 ||
+          spatialForce !== null ||
+          devkitSpatialForce !== null;
+      })
         .then((unlisten) => {
           if (disposed) {
             unlisten();
@@ -1794,6 +1841,7 @@
     return () => {
       disposed = true;
       pauseReplayPlayback();
+      clearDevkitSpatialForce();
       stopMockFeed?.();
       unlistenHudStream?.();
       unlistenDevkitPztAngle?.();
@@ -1835,9 +1883,8 @@
       configLinksLabel={uiCopy.configLinksLabel}
       refreshPortsLabel={uiCopy.refreshPortsLabel}
       matrixViewLabel={uiCopy.matrixViewLabel}
-      matrixViewNumericLabel={uiCopy.matrixViewNumericLabel}
       matrixViewDotsLabel={uiCopy.matrixViewDotsLabel}
-      {matrixDisplayMode}
+      {stageViewMode}
       connectActionLabel={uiCopy.connectActionLabel}
       disconnectActionLabel={uiCopy.disconnectActionLabel}
       exportActionLabel={uiCopy.exportActionLabel}
@@ -1859,7 +1906,7 @@
       on:localechange={handleLocaleChange}
       on:portchange={handlePortChange}
       on:configlink={handleConfigLink}
-      on:matrixdisplaytoggle={handleMatrixDisplayToggle}
+      on:stagemodechange={handleStageModeChange}
       on:serialrefresh={handleSerialRefresh}
       on:serialconnect={handleSerialConnect}
       on:serialexport={handleSerialExportRequest}
@@ -1879,7 +1926,7 @@
       bind:rangeMin
       bind:rangeMax
       bind:colorMapPreset
-      bind:matrixDisplayMode
+      {stageViewMode}
       configPanelTitle={uiCopy.configPanelTitle}
       configPanelHint={uiCopy.configPanelHint}
       matrixSizeLabel={uiCopy.matrixSizeLabel}
@@ -1906,8 +1953,9 @@
       leftPanels={leftSignalPanels}
       rightPanels={rightSignalPanels}
       {pressureMatrix}
+      {spatialForce}
+      {devkitSpatialForce}
       showConfigPanel={isConfigPanelOpen}
-      showPrecisionTestPanel={isPrecisionTestOpen}
       {summary}
       on:replaytoggle={handleReplayToggle}
       on:replaystop={handleReplayStop}
@@ -1916,7 +1964,7 @@
       on:replayclose={handleReplayClose}
       on:configclose={() => (isConfigPanelOpen = false)}
     >
-      {#if !isPrecisionTestOpen}
+      {#if stageViewMode === "webgl"}
         <section class="range-scale" aria-label="Signal Range">
           <p class="range-label">{locale === "zh-CN" ? "范围" : "Range"}</p>
           <div class="range-track">

static/models/README.md

@@ -0,0 +1,14 @@
+# 3D model assets
+
+Put the first pipeline model here:
+
+- Preferred: `static/models/je-skin-model.glb`
+- Format: glTF 2.0 `.glb`
+- Also supported after changing `modelUrl`: glTF 2.0 `.gltf` with its `.bin` and texture files in the same folder
+- Not supported directly: older glTF 1.0 assets. Convert them to glTF 2.0 first.
+
+Runtime URL used by the app:
+
+```text
+/models/je-skin-model.glb
+```