Consolidate constructions from empty specification

To reduce the potential for inconsistency, we should only have one piece
of code that constructs a `SpecifiedValue` from the empty specification.

.forgejo/setup-trunk/action.yaml

@@ -1,22 +0,0 @@
-# set up the Trunk web build system
-#
-#   https://trunkrs.dev
-#
-# the `curl` call is based on David Tolnay's `rust-toolchain` action
-#
-#   https://github.com/dtolnay/rust-toolchain
-#
-runs:
-  using: "composite"
-  steps:
-    - run: rustup target add wasm32-unknown-unknown
-    
-    # install the Trunk binary to `ci-bin` within the workspace directory, which
-    # is determined by the `github.workspace` label and reflected in the
-    # `GITHUB_WORKSPACE` environment variable. then, make the `trunk` command
-    # available by placing the fully qualified path to `ci-bin` on the
-    # workflow's search path
-    - run: mkdir -p ci-bin
-    - run: curl --output - --proto '=https' --tlsv1.2 --retry 10 --retry-connrefused --location --silent --show-error --fail 'https://github.com/trunk-rs/trunk/releases/download/v0.21.12/trunk-x86_64-unknown-linux-gnu.tar.gz' | tar --gunzip --extract --file -
-      working-directory: ci-bin
-    - run: echo "${{ github.workspace }}/ci-bin" >> $GITHUB_PATH

.forgejo/workflows/continuous-integration.yaml

@@ -1,29 +0,0 @@
-on:
-  pull_request:
-  push:
-    branches: [main]
-jobs:
-  # run the automated tests, reporting success if the tests pass and were built
-  # without warnings. the examples are run as tests, because we've configured
-  # each example target with `test = true` and `harness = false` in Cargo.toml.
-  # Trunk build failures caused by problems outside the Rust source code, like
-  # missing assets, should be caught by `trunk_build_test`
-  test:
-    runs-on: docker
-    container:
-      image: cimg/rust:1.86-node
-    defaults:
-      run:
-        # set the default working directory for each `run` step, relative to the
-        # workspace directory. this default only affects `run` steps (and if we
-        # tried to set the `working-directory` label for any other kind of step,
-        # it wouldn't be recognized anyway)
-        working-directory: app-proto
-    steps:
-      # Check out the repository so that its top-level directory is the
-      # workspace directory (action variable `github.workspace`, environment
-      # variable `$GITHUB_WORKSPACE`):
-      - uses: https://code.forgejo.org/actions/checkout@v4
-      
-      - uses: ./.forgejo/setup-trunk
-      - run: RUSTFLAGS='-D warnings' cargo test

.gitignore

@@ -1,2 +1,8 @@
-ci-bin
+node_modules
+site
+docbuild
+__tests__
+coverage
+dyna3.zip
+tmpproj
 *~

README.md

@@ -25,37 +25,32 @@ The latest prototype is in the folder `app-proto`. It includes both a user inter
 ### Install the prerequisites
 
 1. Install [`rustup`](https://rust-lang.github.io/rustup/): the officially recommended Rust toolchain manager
-   - It's available on Ubuntu as a [Snap](https://snapcraft.io/rustup)
+   * It's available on Ubuntu as a [Snap](https://snapcraft.io/rustup)
 2. Call `rustup default stable` to "download the latest stable release of Rust and set it as your default toolchain"
-   - If you forget, the `rustup` [help system](https://github.com/rust-lang/rustup/blob/d9b3601c3feb2e88cf3f8ca4f7ab4fdad71441fd/src/errors.rs#L109-L112) will remind you
+   * If you forget, the `rustup` [help system](https://github.com/rust-lang/rustup/blob/d9b3601c3feb2e88cf3f8ca4f7ab4fdad71441fd/src/errors.rs#L109-L112) will remind you
 3. Call `rustup target add wasm32-unknown-unknown` to add the [most generic 32-bit WebAssembly target](https://doc.rust-lang.org/nightly/rustc/platform-support/wasm32-unknown-unknown.html)
 4. Call `cargo install wasm-pack` to install the [WebAssembly toolchain](https://rustwasm.github.io/docs/wasm-pack/)
 5. Call `cargo install trunk` to install the [Trunk](https://trunkrs.dev/) web-build tool
 6. Add the `.cargo/bin` folder in your home directory to your executable search path
-   - This lets you call Trunk, and other tools installed by Cargo, without specifying their paths
-   - On POSIX systems, the search path is stored in the `PATH` environment variable
+   * This lets you call Trunk, and other tools installed by Cargo, without specifying their paths
+   * On POSIX systems, the search path is stored in the `PATH` environment variable
 
 ### Play with the prototype
 
-1. From the `app-proto` folder, call `trunk serve --release` to build and serve the prototype
-   - The crates the prototype depends on will be downloaded and served automatically
-   - For a faster build, at the expense of a much slower prototype, you can call `trunk serve` without the `--release` flag
-   - If you want to stay in the top-level folder, you can call `trunk serve --config app-proto [--release]` from there instead.
+1. Go into the `app-proto` folder
+2. Call `trunk serve --release` to build and serve the prototype
+   * *The crates the prototype depends on will be downloaded and served automatically*
+   * *For a faster build, at the expense of a much slower prototype, you can call `trunk serve` without the `--release` flag*
 3. In a web browser, visit one of the URLs listed under the message `INFO 📡 server listening at:`
-   - Touching any file in the `app-proto` folder will make Trunk rebuild and live-reload the prototype
+   * *Touching any file in the `app-proto` folder will make Trunk rebuild and live-reload the prototype*
 4. Press *ctrl+C* in the shell where Trunk is running to stop serving the prototype
 
 ### Run the engine on some example problems
 
-1. Use `sh` to run the script `tools/run-examples.sh`
-   - The script is location-independent, so you can do this from anywhere in the dyna3 repository
-   - The call from the top level of the repository is:
-     
-     ```bash
-     sh tools/run-examples.sh
-     ```
-   - For each example problem, the engine will print the value of the loss function at each optimization step
-   - The first example that prints is the same as the Irisawa hexlet example from the Julia version of the engine prototype. If you go into `engine-proto/gram-test`, launch Julia, and then
+1. Go into the `app-proto` folder
+2. Call `./run-examples`
+   * *For each example problem, the engine will print the value of the loss function at each optimization step*
+   * *The first example that prints is the same as the Irisawa hexlet example from the Julia version of the engine prototype. If you go into `engine-proto/gram-test`, launch Julia, and then*
      
      ```julia
      include("irisawa-hexlet.jl")
@@ -64,24 +59,9 @@ The latest prototype is in the folder `app-proto`. It includes both a user inter
      end
      ```
      
-     you should see that it prints basically the same loss history until the last few steps, when the lower default precision of the Rust engine really starts to show
+     *you should see that it prints basically the same loss history until the last few steps, when the lower default precision of the Rust engine really starts to show*
 
 ### Run the automated tests
 
 1. Go into the `app-proto` folder
 2. Call `cargo test`
-
-### Deploy the prototype
-
-1. From the `app-proto` folder, call `trunk build --release`
-   - Building in [release mode](https://doc.rust-lang.org/cargo/reference/profiles.html#release) produces an executable which is smaller and often much faster, but harder to debug and more time-consuming to build
-   - If you want to stay in the top-level folder, you can call `trunk build --config app-proto --release` from there instead
-2. Use `sh` to run the packaging script `tools/package-for-deployment.sh`.
-   - The script is location-independent, so you can do this from anywhere in the dyna3 repository
-   - The call from the top level of the repository is:
-     ```bash
-     sh tools/package-for-deployment.sh
-     ```
-   - This will overwrite or replace the files in `deploy/dyna3`
-3. Put the contents of `deploy/dyna3` in the folder on your server that the prototype will be served from.
-   - To simplify uploading, you might want to combine these files into an archive called `deploy/dyna3.zip`. Git has been set to ignore this path

app-proto/Cargo.toml

@@ -3,7 +3,6 @@ name = "dyna3"
 version = "0.1.0"
 authors = ["Aaron Fenyes", "Glen Whitney"]
 edition = "2021"
-rust-version = "1.86"
 
 [features]
 default = ["console_error_panic_hook"]
@@ -15,10 +14,9 @@ js-sys = "0.3.70"
 lazy_static = "1.5.0"
 nalgebra = "0.33.0"
 readonly = "0.2.12"
-sycamore = "0.9.1"
-
-# We use Charming to help display engine diagnostics
-charming = { version = "0.5.1", features = ["wasm"] }
+rustc-hash = "2.0.0"
+slab = "0.4.9"
+sycamore = "0.9.0-beta.3"
 
 # The `console_error_panic_hook` crate provides better debugging of panics by
 # logging them with `console.error`. This is great for development, but requires
@@ -49,33 +47,6 @@ features = [
 dyna3 = { path = ".", default-features = false, features = ["dev"] }
 wasm-bindgen-test = "0.3.34"
 
-# turn off spurious warnings about the custom config that Sycamore uses
-#
-#   https://sycamore.dev/book/troubleshooting#unexpected-cfg-condition-name--sycamore-force-ssr
-#
-[lints.rust]
-unexpected_cfgs = { level = "warn", check-cfg = ["cfg(sycamore_force_ssr)"] }
-
 [profile.release]
 opt-level = "s" # optimize for small code size
 debug = true # include debug symbols
-
-[[example]]
-name = "irisawa-hexlet"
-test = true
-harness = false
-
-[[example]]
-name = "kaleidocycle"
-test = true
-harness = false
-
-[[example]]
-name = "point-on-sphere"
-test = true
-harness = false
-
-[[example]]
-name = "three-spheres"
-test = true
-harness = false

app-proto/Trunk.toml

@@ -1,2 +0,0 @@
-[build]
-public_url = "./"

app-proto/examples/common/print.rs

@@ -1,36 +0,0 @@
-#![allow(dead_code)]
-
-use nalgebra::DMatrix;
-
-use dyna3::engine::{Q, DescentHistory, Realization};
-
-pub fn title(title: &str) {
-    println!("─── {title} ───");
-}
-
-pub fn realization_diagnostics(realization: &Realization) {
-    let Realization { result, history } = realization;
-    println!();
-    if let Err(ref message) = result {
-        println!("❌️ {message}");
-    } else {
-        println!("✅️ Target accuracy achieved!");
-    }
-    println!("Steps: {}", history.scaled_loss.len() - 1);
-    println!("Loss: {}", history.scaled_loss.last().unwrap());
-}
-
-pub fn gram_matrix(config: &DMatrix<f64>) {
-    println!("\nCompleted Gram matrix:{}", (config.tr_mul(&*Q) * config).to_string().trim_end());
-}
-
-pub fn config(config: &DMatrix<f64>) {
-    println!("\nConfiguration:{}", config.to_string().trim_end());
-}
-
-pub fn loss_history(history: &DescentHistory) {
-    println!("\nStep │ Loss\n─────┼────────────────────────────────");
-    for (step, scaled_loss) in history.scaled_loss.iter().enumerate() {
-        println!("{:<4} │ {}", step, scaled_loss);
-    }
-}

app-proto/examples/irisawa-hexlet.rs

@@ -1,23 +1,25 @@
-#[path = "common/print.rs"]
-mod print;
-
-use dyna3::engine::{ConfigNeighborhood, examples::realize_irisawa_hexlet};
+use dyna3::engine::{Q, irisawa::realize_irisawa_hexlet};
 
 fn main() {
     const SCALED_TOL: f64 = 1.0e-12;
-    let realization = realize_irisawa_hexlet(SCALED_TOL);
-    print::title("Irisawa hexlet");
-    print::realization_diagnostics(&realization);
-    if let Ok(ConfigNeighborhood { config, .. }) = realization.result {
-        // print the diameters of the chain spheres
+    let (config, _, success, history) = realize_irisawa_hexlet(SCALED_TOL);
+    print!("\nCompleted Gram matrix:{}", config.tr_mul(&*Q) * &config);
+    if success {
+        println!("Target accuracy achieved!");
+    } else {
+        println!("Failed to reach target accuracy");
+    }
+    println!("Steps: {}", history.scaled_loss.len() - 1);
+    println!("Loss: {}", history.scaled_loss.last().unwrap());
+    if success {
         println!("\nChain diameters:");
         println!("  {} sun (given)", 1.0 / config[(3, 3)]);
         for k in 4..9 {
             println!("  {} sun", 1.0 / config[(3, k)]);
         }
-        
-        // print the completed Gram matrix
-        print::gram_matrix(&config);
     }
-    print::loss_history(&realization.history);
+    println!("\nStep │ Loss\n─────┼────────────────────────────────");
+    for (step, scaled_loss) in history.scaled_loss.into_iter().enumerate() {
+        println!("{:<4} │ {}", step, scaled_loss);
+    }
 }

app-proto/examples/kaleidocycle.rs

@@ -1,32 +1,72 @@
-#[path = "common/print.rs"]
-mod print;
-
 use nalgebra::{DMatrix, DVector};
+use std::{array, f64::consts::PI};
 
-use dyna3::engine::{ConfigNeighborhood, examples::realize_kaleidocycle};
+use dyna3::engine::{Q, point, realize_gram, PartialMatrix};
 
 fn main() {
-    const SCALED_TOL: f64 = 1.0e-12;
-    let realization = realize_kaleidocycle(SCALED_TOL);
-    print::title("Kaleidocycle");
-    print::realization_diagnostics(&realization);
-    if let Ok(ConfigNeighborhood { config, nbhd: tangent }) = realization.result {
-        // print the completed Gram matrix and the realized configuration
-        print::gram_matrix(&config);
-        print::config(&config);
-        
-        // find the kaleidocycle's twist motion by projecting onto the tangent
-        // space
-        const N_POINTS: usize = 12;
-        let up = DVector::from_column_slice(&[0.0, 0.0, 1.0, 0.0]);
-        let down = -&up;
-        let twist_motion: DMatrix<_> = (0..N_POINTS).step_by(4).flat_map(
-            |n| [
-                tangent.proj(&up.as_view(), n),
-                tangent.proj(&down.as_view(), n+1),
-            ]
-        ).sum();
-        let normalization = 5.0 / twist_motion[(2, 0)];
-        println!("\nTwist motion:{}", (normalization * twist_motion).to_string().trim_end());
+    // set up a kaleidocycle, made of points with fixed distances between them,
+    // and find its tangent space
+    const N_POINTS: usize = 12;
+    let gram = {
+        let mut gram_to_be = PartialMatrix::new();
+        for block in (0..N_POINTS).step_by(2) {
+            let block_next = (block + 2) % N_POINTS;
+            for j in 0..2 {
+                // diagonal and hinge edges
+                for k in j..2 {
+                    gram_to_be.push_sym(block + j, block + k, if j == k { 0.0 } else { -0.5 });
+                }
+                
+                // non-hinge edges
+                for k in 0..2 {
+                    gram_to_be.push_sym(block + j, block_next + k, -0.625);
+                }
+            }
+        }
+        gram_to_be
+    };
+    let guess = {
+        const N_HINGES: usize = 6;
+        let guess_elts = (0..N_HINGES).step_by(2).flat_map(
+            |n| {
+                let ang_hor = (n as f64) * PI/3.0;
+                let ang_vert = ((n + 1) as f64) * PI/3.0;
+                let x_vert = ang_vert.cos();
+                let y_vert = ang_vert.sin();
+                [
+                    point(0.0, 0.0, 0.0),
+                    point(ang_hor.cos(), ang_hor.sin(), 0.0),
+                    point(x_vert, y_vert, -0.5),
+                    point(x_vert, y_vert, 0.5)
+                ]
+            }
+        ).collect::<Vec<_>>();
+        DMatrix::from_columns(&guess_elts)
+    };
+    let frozen: [_; N_POINTS] = array::from_fn(|k| (3, k));
+    let (config, tangent, success, history) = realize_gram(
+        &gram, guess, &frozen,
+        1.0e-12, 0.5, 0.9, 1.1, 200, 110
+    );
+    print!("Completed Gram matrix:{}", config.tr_mul(&*Q) * &config);
+    print!("Configuration:{}", config);
+    if success {
+        println!("Target accuracy achieved!");
+    } else {
+        println!("Failed to reach target accuracy");
     }
+    println!("Steps: {}", history.scaled_loss.len() - 1);
+    println!("Loss: {}\n", history.scaled_loss.last().unwrap());
+    
+    // find the kaleidocycle's twist motion
+    let up = DVector::from_column_slice(&[0.0, 0.0, 1.0, 0.0]);
+    let down = -&up;
+    let twist_motion: DMatrix<_> = (0..N_POINTS).step_by(4).flat_map(
+        |n| [
+            tangent.proj(&up.as_view(), n),
+            tangent.proj(&down.as_view(), n+1)
+        ]
+    ).sum();
+    let normalization = 5.0 / twist_motion[(2, 0)];
+    print!("Twist motion:{}", normalization * twist_motion);
 }

app-proto/examples/point-on-sphere.rs

@@ -1,33 +1,38 @@
-#[path = "common/print.rs"]
-mod print;
+use nalgebra::DMatrix;
 
-use dyna3::engine::{
-    point,
-    realize_gram,
-    sphere,
-    ConfigNeighborhood,
-    ConstraintProblem,
-};
+use dyna3::engine::{Q, point, realize_gram, sphere, PartialMatrix};
 
 fn main() {
-    let mut problem = ConstraintProblem::from_guess(&[
+    let gram = {
+        let mut gram_to_be = PartialMatrix::new();
+        for j in 0..2 {
+            for k in j..2 {
+                gram_to_be.push_sym(j, k, if (j, k) == (1, 1) { 1.0 } else { 0.0 });
+            }
+        }
+        gram_to_be
+    };
+    let guess = DMatrix::from_columns(&[
         point(0.0, 0.0, 2.0),
         sphere(0.0, 0.0, 0.0, 1.0)
     ]);
-    for j in 0..2 {
-        for k in j..2 {
-            problem.gram.push_sym(j, k, if (j, k) == (1, 1) { 1.0 } else { 0.0 });
-        }
-    }
-    problem.frozen.push(3, 0, problem.guess[(3, 0)]);
-    let realization = realize_gram(
-        &problem, 1.0e-12, 0.5, 0.9, 1.1, 200, 110
+    let frozen = [(3, 0)];
+    println!();
+    let (config, _, success, history) = realize_gram(
+        &gram, guess, &frozen,
+        1.0e-12, 0.5, 0.9, 1.1, 200, 110
     );
-    print::title("Point on a sphere");
-    print::realization_diagnostics(&realization);
-    if let Ok(ConfigNeighborhood { config, .. }) = realization.result {
-        print::gram_matrix(&config);
-        print::config(&config);
+    print!("\nCompleted Gram matrix:{}", config.tr_mul(&*Q) * &config);
+    print!("Configuration:{}", config);
+    if success {
+        println!("Target accuracy achieved!");
+    } else {
+        println!("Failed to reach target accuracy");
+    }
+    println!("Steps: {}", history.scaled_loss.len() - 1);
+    println!("Loss: {}", history.scaled_loss.last().unwrap());
+    println!("\nStep │ Loss\n─────┼────────────────────────────────");
+    for (step, scaled_loss) in history.scaled_loss.into_iter().enumerate() {
+        println!("{:<4} │ {}", step, scaled_loss);
     }
-    print::loss_history(&realization.history);
 }

app-proto/examples/three-spheres.rs

@@ -1,34 +1,40 @@
-#[path = "common/print.rs"]
-mod print;
+use nalgebra::DMatrix;
 
-use dyna3::engine::{
-    realize_gram,
-    sphere,
-    ConfigNeighborhood,
-    ConstraintProblem,
-};
+use dyna3::engine::{Q, realize_gram, sphere, PartialMatrix};
 
 fn main() {
-    let mut problem = ConstraintProblem::from_guess({
+    let gram = {
+        let mut gram_to_be = PartialMatrix::new();
+        for j in 0..3 {
+            for k in j..3 {
+                gram_to_be.push_sym(j, k, if j == k { 1.0 } else { -1.0 });
+            }
+        }
+        gram_to_be
+    };
+    let guess = {
         let a: f64 = 0.75_f64.sqrt();
-        &[
+        DMatrix::from_columns(&[
             sphere(1.0, 0.0, 0.0, 1.0),
             sphere(-0.5, a, 0.0, 1.0),
-            sphere(-0.5, -a, 0.0, 1.0),
-        ]
-    });
-    for j in 0..3 {
-        for k in j..3 {
-            problem.gram.push_sym(j, k, if j == k { 1.0 } else { -1.0 });
-        }
-    }
-    let realization = realize_gram(
-        &problem, 1.0e-12, 0.5, 0.9, 1.1, 200, 110
+            sphere(-0.5, -a, 0.0, 1.0)
+        ])
+    };
+    println!();
+    let (config, _, success, history) = realize_gram(
+        &gram, guess, &[],
+        1.0e-12, 0.5, 0.9, 1.1, 200, 110
     );
-    print::title("Three spheres");
-    print::realization_diagnostics(&realization);
-    if let Ok(ConfigNeighborhood { config, .. }) = realization.result {
-        print::gram_matrix(&config);
+    print!("\nCompleted Gram matrix:{}", config.tr_mul(&*Q) * &config);
+    if success {
+        println!("Target accuracy achieved!");
+    } else {
+        println!("Failed to reach target accuracy");
+    }
+    println!("Steps: {}", history.scaled_loss.len() - 1);
+    println!("Loss: {}", history.scaled_loss.last().unwrap());
+    println!("\nStep │ Loss\n─────┼────────────────────────────────");
+    for (step, scaled_loss) in history.scaled_loss.into_iter().enumerate() {
+        println!("{:<4} │ {}", step, scaled_loss);
     }
-    print::loss_history(&realization.history);
 }

app-proto/index.html

@@ -6,12 +6,6 @@
     <link data-trunk rel="css" href="main.css"/>
     <link href="https://fonts.bunny.net/css?family=fira-sans:ital,wght@0,400;1,400&display=swap" rel="stylesheet">
     <link href="https://fonts.bunny.net/css?family=noto-emoji:wght@400&text=%f0%9f%94%97%e2%9a%a0&display=swap" rel="stylesheet">
-    
-    <!--
-      the Charming visualization crate, which we use to show engine diagnostics,
-      depends the ECharts JavaScript package
-    -->
-    <script src="https://cdn.jsdelivr.net/npm/echarts@5.5.1/dist/echarts.min.js"></script>
   </head>
   <body></body>
 </html>

app-proto/main.css

@@ -18,17 +18,6 @@ body {
   font-family: 'Fira Sans', sans-serif;
 }
 
-.invalid {
-  color: var(--text-invalid);
-}
-
-.status {
-  width: 20px;
-  text-align: center;
-  font-family: 'Noto Emoji';
-  font-style: normal;
-}
-
 /* sidebar */
 
 #sidebar {
@@ -53,7 +42,9 @@ body {
 }
 
 #add-remove > button {
+  width: 32px;
   height: 32px;
+  font-size: large;
 }
 
 /* KLUDGE */
@@ -62,9 +53,7 @@ body {
   buttons need to be displayed in an emoji font
 */
 #add-remove > button.emoji {
-  width: 32px;
   font-family: 'Noto Emoji', sans-serif;
-  font-size: large;
 }
 
 /* outline */
@@ -101,10 +90,6 @@ summary > div, .regulator {
   padding-right: 8px;
 }
 
-.element > input {
-  margin-left: 8px;
-}
-
 .element-switch {
   width: 18px;
   padding-left: 2px;
@@ -149,7 +134,6 @@ details[open]:has(li) .element-switch::after {
 }
 
 .regulator-input {
-  margin-right: 4px;
   color: inherit;
   background-color: inherit;
   border: 1px solid var(--border);
@@ -171,56 +155,22 @@ details[open]:has(li) .element-switch::after {
   border-color: var(--border-invalid);
 }
 
+.status {
+  width: 20px;
+  padding-left: 4px;
+  text-align: center;
+  font-family: 'Noto Emoji';
+  font-style: normal;
+}
+
 .regulator-input.invalid + .status::after, details:has(.invalid):not([open]) .status::after {
   content: '⚠';
   color: var(--text-invalid);
 }
 
-/* diagnostics */
-
-#diagnostics {
-  margin: 10px;
-}
-
-#diagnostics-bar {
-  display: flex;
-}
-
-#realization-status {
-  display: flex;
-  flex-grow: 1;
-}
-
-#realization-status .status {
-  margin-right: 4px;
-}
-
-#realization-status :not(.status) {
-  flex-grow: 1;
-}
-
-#realization-status .status::after {
-  content: '✓';
-}
-
-#realization-status.invalid .status::after {
-  content: '⚠';
-}
-
-.diagnostics-panel {
-  margin-top: 10px;
-  min-height: 180px;
-}
-
-.diagnostics-chart {
-  background-color: var(--display-background);
-  border: 1px solid var(--border);
-  border-radius: 8px;
-}
-
 /* display */
 
-#display {
+canvas {
   float: left;
   margin-left: 20px;
   margin-top: 20px;
@@ -229,7 +179,7 @@ details[open]:has(li) .element-switch::after {
   border-radius: 16px;
 }
 
-#display:focus {
+canvas:focus {
   border-color: var(--border-focus-dark);
   outline: none;
 }

app-proto/run-examples

@@ -0,0 +1,12 @@
+#!/bin/sh
+
+# run all Cargo examples, as described here:
+#
+#   Karol Kuczmarski. "Add examples to your Rust libraries"
+#   http://xion.io/post/code/rust-examples.html
+#
+
+cargo run --example irisawa-hexlet
+cargo run --example three-spheres
+cargo run --example point-on-sphere
+cargo run --example kaleidocycle

app-proto/src/add_remove.rs

@@ -0,0 +1,208 @@
+use sycamore::prelude::*;
+use web_sys::{console, wasm_bindgen::JsValue};
+
+use crate::{
+    engine,
+    AppState,
+    assembly::{Assembly, Element}
+};
+
+/* DEBUG */
+// load an example assembly for testing. this code will be removed once we've
+// built a more formal test assembly system
+fn load_gen_assemb(assembly: &Assembly) {
+    let _ = assembly.try_insert_element(
+        Element::new(
+            String::from("gemini_a"),
+            String::from("Castor"),
+            [1.00_f32, 0.25_f32, 0.00_f32],
+            engine::sphere(0.5, 0.5, 0.0, 1.0)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            String::from("gemini_b"),
+            String::from("Pollux"),
+            [0.00_f32, 0.25_f32, 1.00_f32],
+            engine::sphere(-0.5, -0.5, 0.0, 1.0)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            String::from("ursa_major"),
+            String::from("Ursa major"),
+            [0.25_f32, 0.00_f32, 1.00_f32],
+            engine::sphere(-0.5, 0.5, 0.0, 0.75)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            String::from("ursa_minor"),
+            String::from("Ursa minor"),
+            [0.25_f32, 1.00_f32, 0.00_f32],
+            engine::sphere(0.5, -0.5, 0.0, 0.5)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            String::from("moon_deimos"),
+            String::from("Deimos"),
+            [0.75_f32, 0.75_f32, 0.00_f32],
+            engine::sphere(0.0, 0.15, 1.0, 0.25)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            String::from("moon_phobos"),
+            String::from("Phobos"),
+            [0.00_f32, 0.75_f32, 0.50_f32],
+            engine::sphere(0.0, -0.15, -1.0, 0.25)
+        )
+    );
+}
+
+/* DEBUG */
+// load an example assembly for testing. this code will be removed once we've
+// built a more formal test assembly system
+fn load_low_curv_assemb(assembly: &Assembly) {
+    let a = 0.75_f64.sqrt();
+    let _ = assembly.try_insert_element(
+        Element::new(
+            "central".to_string(),
+            "Central".to_string(),
+            [0.75_f32, 0.75_f32, 0.75_f32],
+            engine::sphere(0.0, 0.0, 0.0, 1.0)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            "assemb_plane".to_string(),
+            "Assembly plane".to_string(),
+            [0.75_f32, 0.75_f32, 0.75_f32],
+            engine::sphere_with_offset(0.0, 0.0, 1.0, 0.0, 0.0)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            "side1".to_string(),
+            "Side 1".to_string(),
+            [1.00_f32, 0.00_f32, 0.25_f32],
+            engine::sphere_with_offset(1.0, 0.0, 0.0, 1.0, 0.0)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            "side2".to_string(),
+            "Side 2".to_string(),
+            [0.25_f32, 1.00_f32, 0.00_f32],
+            engine::sphere_with_offset(-0.5, a, 0.0, 1.0, 0.0)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            "side3".to_string(),
+            "Side 3".to_string(),
+            [0.00_f32, 0.25_f32, 1.00_f32],
+            engine::sphere_with_offset(-0.5, -a, 0.0, 1.0, 0.0)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            "corner1".to_string(),
+            "Corner 1".to_string(),
+            [0.75_f32, 0.75_f32, 0.75_f32],
+            engine::sphere(-4.0/3.0, 0.0, 0.0, 1.0/3.0)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            "corner2".to_string(),
+            "Corner 2".to_string(),
+            [0.75_f32, 0.75_f32, 0.75_f32],
+            engine::sphere(2.0/3.0, -4.0/3.0 * a, 0.0, 1.0/3.0)
+        )
+    );
+    let _ = assembly.try_insert_element(
+        Element::new(
+            String::from("corner3"),
+            String::from("Corner 3"),
+            [0.75_f32, 0.75_f32, 0.75_f32],
+            engine::sphere(2.0/3.0, 4.0/3.0 * a, 0.0, 1.0/3.0)
+        )
+    );
+}
+
+#[component]
+pub fn AddRemove() -> View {
+    /* DEBUG */
+    let assembly_name = create_signal("general".to_string());
+    create_effect(move || {
+        // get name of chosen assembly
+        let name = assembly_name.get_clone();
+        console::log_1(
+            &JsValue::from(format!("Showing assembly \"{}\"", name.clone()))
+        );
+        
+        batch(|| {
+            let state = use_context::<AppState>();
+            let assembly = &state.assembly;
+            
+            // clear state
+            assembly.elements.update(|elts| elts.clear());
+            assembly.elements_by_id.update(|elts_by_id| elts_by_id.clear());
+            state.selection.update(|sel| sel.clear());
+            
+            // load assembly
+            match name.as_str() {
+                "general" => load_gen_assemb(assembly),
+                "low-curv" => load_low_curv_assemb(assembly),
+                _ => ()
+            };
+        });
+    });
+    
+    view! {
+        div(id="add-remove") {
+            button(
+                on:click=|_| {
+                    let state = use_context::<AppState>();
+                    state.assembly.insert_new_element();
+                    
+                    /* DEBUG */
+                    // print updated list of elements by identifier
+                    console::log_1(&JsValue::from("elements by identifier:"));
+                    for (id, key) in state.assembly.elements_by_id.get_clone().iter() {
+                        console::log_3(
+                            &JsValue::from(" "),
+                            &JsValue::from(id),
+                            &JsValue::from(*key)
+                        );
+                    }
+                }
+            ) { "+" }
+            button(
+                class="emoji", /* KLUDGE */ // for convenience, we're using an emoji as a temporary icon for this button
+                disabled={
+                    let state = use_context::<AppState>();
+                    state.selection.with(|sel| sel.len() != 2)
+                },
+                on:click=|_| {
+                    let state = use_context::<AppState>();
+                    let subjects = state.selection.with(
+                        |sel| {
+                            let subject_vec: Vec<_> = sel.into_iter().collect();
+                            (subject_vec[0].clone(), subject_vec[1].clone())
+                        }
+                    );
+                    state.assembly.insert_new_regulator(subjects);
+                    state.selection.update(|sel| sel.clear());
+                }
+            ) { "🔗" }
+            select(bind:value=assembly_name) { /* DEBUG */ // example assembly chooser
+                option(value="general") { "General" }
+                option(value="low-curv") { "Low-curvature" }
+                option(value="empty") { "Empty" }
+            }
+        }
+    }
+}

app-proto/src/components.rs

@@ -1,5 +0,0 @@
-pub mod add_remove;
-pub mod diagnostics;
-pub mod display;
-pub mod outline;
-pub mod test_assembly_chooser;

app-proto/src/components/add_remove.rs

@@ -1,69 +0,0 @@
-use std::rc::Rc;
-use sycamore::prelude::*;
-
-use super::test_assembly_chooser::TestAssemblyChooser;
-use crate::{
-    AppState,
-    assembly::{InversiveDistanceRegulator, Point, Sphere},
-};
-
-#[component]
-pub fn AddRemove() -> View {
-    view! {
-        div(id = "add-remove") {
-            button(
-                on:click = |_| {
-                    let state = use_context::<AppState>();
-                    batch(|| {
-                        // this call is batched to avoid redundant realizations.
-                        // it updates the element list and the regulator list,
-                        // which are both tracked by the realization effect
-                        /* TO DO */
-                        // it would make more to do the batching inside
-                        // `insert_element_default`, but that will have to wait
-                        // until Sycamore handles nested batches correctly.
-                        //
-                        //   https://github.com/sycamore-rs/sycamore/issues/802
-                        //
-                        // the nested batch issue is relevant here because the
-                        // assembly loaders in the test assembly chooser use
-                        // `insert_element_default` within larger batches
-                        state.assembly.insert_element_default::<Sphere>();
-                    });
-                }
-            ) { "Add sphere" }
-            button(
-                on:click = |_| {
-                    let state = use_context::<AppState>();
-                    state.assembly.insert_element_default::<Point>();
-                }
-            ) { "Add point" }
-            button(
-                class = "emoji", /* KLUDGE */ // for convenience, we're using an emoji as a temporary icon for this button
-                disabled = {
-                    let state = use_context::<AppState>();
-                    state.selection.with(|sel| sel.len() != 2)
-                },
-                on:click = |_| {
-                    let state = use_context::<AppState>();
-                    let subjects: [_; 2] = state.selection.with(
-                        // the button is only enabled when two elements are
-                        // selected, so we know the cast to a two-element array
-                        // will succeed
-                        |sel| sel
-                            .clone()
-                            .into_iter()
-                            .collect::<Vec<_>>()
-                            .try_into()
-                            .unwrap()
-                    );
-                    state.assembly.insert_regulator(
-                        Rc::new(InversiveDistanceRegulator::new(subjects))
-                    );
-                    state.selection.update(|sel| sel.clear());
-                }
-            ) { "🔗" }
-            TestAssemblyChooser {}
-        }
-    }
-}

app-proto/src/components/diagnostics.rs

@@ -1,256 +0,0 @@
-use charming::{
-    Chart,
-    WasmRenderer,
-    component::{Axis, DataZoom, Grid},
-    element::{AxisType, Symbol},
-    series::{Line, Scatter},
-};
-use sycamore::prelude::*;
-
-use crate::AppState;
-
-#[derive(Clone)]
-struct DiagnosticsState {
-    active_tab: Signal<String>,
-}
-
-impl DiagnosticsState {
-    fn new(initial_tab: String) -> Self {
-        Self { active_tab: create_signal(initial_tab) }
-    }
-}
-
-// a realization status indicator
-#[component]
-fn RealizationStatus() -> View {
-    let state = use_context::<AppState>();
-    let realization_status = state.assembly.realization_status;
-    view! {
-        div(
-            id = "realization-status",
-            class = realization_status.with(
-                |status| match status {
-                    Ok(_) => "",
-                    Err(_) => "invalid",
-                }
-            )
-        ) {
-            div(class = "status")
-            div {
-                (realization_status.with(
-                    |status| match status {
-                        Ok(_) => "Target accuracy achieved".to_string(),
-                        Err(message) => message.clone(),
-                    }
-                ))
-            }
-        }
-    }
-}
-
-fn into_log10_time_point((step, value): (usize, f64)) -> Vec<Option<f64>> {
-    vec![
-        Some(step as f64),
-        if value == 0.0 { None } else { Some(value.abs().log10()) },
-    ]
-}
-
-// the loss history from the last realization
-#[component]
-fn LossHistory() -> View {
-    const CONTAINER_ID: &str = "loss-history";
-    let state = use_context::<AppState>();
-    let renderer = WasmRenderer::new_opt(None, Some(178));
-    
-    on_mount(move || {
-        create_effect(move || {
-            // get the loss history
-            let scaled_loss: Vec<_> = state.assembly.descent_history.with(
-                |history| history.scaled_loss
-                    .iter()
-                    .enumerate()
-                    .map(|(step, &loss)| (step, loss))
-                    .map(into_log10_time_point)
-                    .collect()
-            );
-            
-            // initialize the chart axes
-            let step_axis = Axis::new()
-                .type_(AxisType::Category)
-                .boundary_gap(false);
-            let scaled_loss_axis = Axis::new();
-            
-            // load the chart data. when there's no history, we load the data
-            // point (0, None) to clear the chart. it would feel more natural to
-            // load empty data vectors, but that turns out not to clear the
-            // chart: it instead leads to previous data being re-used
-            let scaled_loss_series = Line::new().data(
-                if scaled_loss.len() > 0 {
-                    scaled_loss
-                } else {
-                    vec![vec![Some(0.0), None::<f64>]]
-                }
-            );
-            let chart = Chart::new()
-                .animation(false)
-                .data_zoom(DataZoom::new().y_axis_index(0).right(40))
-                .x_axis(step_axis)
-                .y_axis(scaled_loss_axis)
-                .grid(Grid::new().top(20).right(80).bottom(30).left(60))
-                .series(scaled_loss_series);
-            renderer.render(CONTAINER_ID, &chart).unwrap();
-        });
-    });
-    
-    view! {
-        div(id = CONTAINER_ID, class = "diagnostics-chart")
-    }
-}
-
-// the spectrum of the Hessian during the last realization
-#[component]
-fn SpectrumHistory() -> View {
-    const CONTAINER_ID: &str = "spectrum-history";
-    let state = use_context::<AppState>();
-    let renderer = WasmRenderer::new(478, 178);
-    
-    on_mount(move || {
-        create_effect(move || {
-            // get the spectrum of the Hessian at each step, split into its
-            // positive, negative, and strictly-zero parts
-            let (
-                hess_eigvals_zero,
-                hess_eigvals_nonzero,
-            ): (Vec<_>, Vec<_>) = state.assembly.descent_history.with(
-                |history| history.hess_eigvals
-                    .iter()
-                    .enumerate()
-                    .map(
-                        |(step, eigvals)| eigvals.iter().map(
-                            move |&val| (step, val)
-                        )
-                    )
-                    .flatten()
-                    .partition(|&(_, val)| val == 0.0)
-            );
-            let zero_level = hess_eigvals_nonzero
-                .iter()
-                .map(|(_, val)| val.abs())
-                .reduce(f64::min)
-                .map(|val| 0.1 * val)
-                .unwrap_or(1.0);
-            let (
-                hess_eigvals_pos,
-                hess_eigvals_neg,
-            ): (Vec<_>, Vec<_>) = hess_eigvals_nonzero
-                .into_iter()
-                .partition(|&(_, val)| val > 0.0);
-            
-            // initialize the chart axes
-            let step_axis = Axis::new()
-                .type_(AxisType::Category)
-                .boundary_gap(false);
-            let eigval_axis = Axis::new();
-            
-            // load the chart data. when there's no history, we load the data
-            // point (0, None) to clear the chart. it would feel more natural to
-            // load empty data vectors, but that turns out not to clear the
-            // chart: it instead leads to previous data being re-used
-            let eigval_series_pos = Scatter::new()
-                .symbol_size(4.5)
-                .data(
-                    if hess_eigvals_pos.len() > 0 {
-                        hess_eigvals_pos
-                            .into_iter()
-                            .map(into_log10_time_point)
-                            .collect()
-                    } else {
-                        vec![vec![Some(0.0), None::<f64>]]
-                    }
-                );
-            let eigval_series_neg = Scatter::new()
-                .symbol(Symbol::Diamond)
-                .symbol_size(6.0)
-                .data(
-                    if hess_eigvals_neg.len() > 0 {
-                        hess_eigvals_neg
-                            .into_iter()
-                            .map(into_log10_time_point)
-                            .collect()
-                    } else {
-                        vec![vec![Some(0.0), None::<f64>]]
-                    }
-                );
-            let eigval_series_zero = Scatter::new()
-                .symbol(Symbol::Triangle)
-                .symbol_size(5.0)
-                .data(
-                    if hess_eigvals_zero.len() > 0 {
-                        hess_eigvals_zero
-                            .into_iter()
-                            .map(|(step, _)| (step, zero_level))
-                            .map(into_log10_time_point)
-                            .collect()
-                    } else {
-                        vec![vec![Some(0.0), None::<f64>]]
-                    }
-                );
-            let chart = Chart::new()
-                .animation(false)
-                .data_zoom(DataZoom::new().y_axis_index(0).right(40))
-                .x_axis(step_axis)
-                .y_axis(eigval_axis)
-                .grid(Grid::new().top(20).right(80).bottom(30).left(60))
-                .series(eigval_series_pos)
-                .series(eigval_series_neg)
-                .series(eigval_series_zero);
-            renderer.render(CONTAINER_ID, &chart).unwrap();
-        });
-    });
-    
-    view! {
-        div(id = CONTAINER_ID, class = "diagnostics-chart")
-    }
-}
-
-#[component(inline_props)]
-fn DiagnosticsPanel(name: &'static str, children: Children) -> View {
-    let diagnostics_state = use_context::<DiagnosticsState>();
-    view! {
-        div(
-            class = "diagnostics-panel",
-            "hidden" = diagnostics_state.active_tab.with(
-                |active_tab| {
-                    if active_tab == name {
-                        None
-                    } else {
-                        Some("")
-                    }
-                }
-            )
-        ) {
-            (children)
-        }
-    }
-}
-
-#[component]
-pub fn Diagnostics() -> View {
-    let diagnostics_state = DiagnosticsState::new("loss".to_string());
-    let active_tab = diagnostics_state.active_tab.clone();
-    provide_context(diagnostics_state);
-    
-    view! {
-        div(id = "diagnostics") {
-            div(id = "diagnostics-bar") {
-                RealizationStatus {}
-                select(bind:value = active_tab) {
-                    option(value = "loss") { "Loss" }
-                    option(value = "spectrum") { "Spectrum" }
-                }
-            }
-            DiagnosticsPanel(name = "loss") { LossHistory {} }
-            DiagnosticsPanel(name = "spectrum") { SpectrumHistory {} }
-        }
-    }
-}

app-proto/src/components/display.rs

@@ -1,921 +0,0 @@
-use core::array;
-use nalgebra::{DMatrix, DVector, Rotation3, Vector3};
-use std::rc::Rc;
-use sycamore::{prelude::*, motion::create_raf};
-use web_sys::{
-    console,
-    window,
-    KeyboardEvent,
-    MouseEvent,
-    WebGl2RenderingContext,
-    WebGlBuffer,
-    WebGlProgram,
-    WebGlShader,
-    WebGlUniformLocation,
-    wasm_bindgen::{JsCast, JsValue},
-};
-
-use crate::{
-    AppState,
-    assembly::{Element, ElementColor, ElementMotion, Point, Sphere},
-};
-
-// --- color ---
-
-const COLOR_SIZE: usize = 3;
-type ColorWithOpacity = [f32; COLOR_SIZE + 1];
-
-fn combine_channels(color: ElementColor, opacity: f32) -> ColorWithOpacity {
-    let mut color_with_opacity = [0.0; COLOR_SIZE + 1];
-    color_with_opacity[..COLOR_SIZE].copy_from_slice(&color);
-    color_with_opacity[COLOR_SIZE] = opacity;
-    color_with_opacity
-}
-
-// --- scene data ---
-
-struct SceneSpheres {
-    representations: Vec<DVector<f64>>,
-    colors_with_opacity: Vec<ColorWithOpacity>,
-    highlights: Vec<f32>,
-}
-
-impl SceneSpheres {
-    fn new() -> Self {
-        Self {
-            representations: Vec::new(),
-            colors_with_opacity: Vec::new(),
-            highlights: Vec::new(),
-        }
-    }
-    
-    fn len_i32(&self) -> i32 {
-        self.representations.len().try_into().expect("Number of spheres must fit in a 32-bit integer")
-    }
-    
-    fn push(
-        &mut self, representation: DVector<f64>,
-        color: ElementColor, opacity: f32, highlight: f32,
-    ) {
-        self.representations.push(representation);
-        self.colors_with_opacity.push(combine_channels(color, opacity));
-        self.highlights.push(highlight);
-    }
-}
-
-struct ScenePoints {
-    representations: Vec<DVector<f64>>,
-    colors_with_opacity: Vec<ColorWithOpacity>,
-    highlights: Vec<f32>,
-    selections: Vec<f32>,
-}
-
-impl ScenePoints {
-    fn new() -> Self {
-        Self {
-            representations: Vec::new(),
-            colors_with_opacity: Vec::new(),
-            highlights: Vec::new(),
-            selections: Vec::new(),
-        }
-    }
-    
-    fn push(
-        &mut self, representation: DVector<f64>,
-        color: ElementColor, opacity: f32, highlight: f32, selected: bool,
-    ) {
-        self.representations.push(representation);
-        self.colors_with_opacity.push(combine_channels(color, opacity));
-        self.highlights.push(highlight);
-        self.selections.push(if selected { 1.0 } else { 0.0 });
-    }
-}
-
-pub struct Scene {
-    spheres: SceneSpheres,
-    points: ScenePoints,
-}
-
-impl Scene {
-    fn new() -> Self {
-        Self {
-            spheres: SceneSpheres::new(),
-            points: ScenePoints::new(),
-        }
-    }
-}
-
-pub trait DisplayItem {
-    fn show(&self, scene: &mut Scene, selected: bool);
-    
-    // the smallest positive depth, represented as a multiple of `dir`, where
-    // the line generated by `dir` hits the element. returns `None` if the line
-    // misses the element
-    fn cast(
-        &self,
-        dir: Vector3<f64>,
-        assembly_to_world: &DMatrix<f64>,
-        pixel_size: f64,
-    ) -> Option<f64>;
-}
-
-impl DisplayItem for Sphere {
-    fn show(&self, scene: &mut Scene, selected: bool) {
-        /* SCAFFOLDING */
-        const DEFAULT_OPACITY: f32 = 0.5;
-        const GHOST_OPACITY: f32 = 0.2;
-        const HIGHLIGHT: f32 = 0.2;
-        
-        let representation = self.representation.get_clone_untracked();
-        let color = if selected { self.color.map(|channel| 0.2 + 0.8*channel) } else { self.color };
-        let opacity = if self.ghost.get() { GHOST_OPACITY } else { DEFAULT_OPACITY };
-        let highlight = if selected { 1.0 } else { HIGHLIGHT };
-        scene.spheres.push(representation, color, opacity, highlight);
-    }
-    
-    // this method should be kept synchronized with `sphere_cast` in
-    // `spheres.frag`, which does essentially the same thing on the GPU side
-    fn cast(
-        &self,
-        dir: Vector3<f64>,
-        assembly_to_world: &DMatrix<f64>,
-        _pixel_size: f64,
-    ) -> Option<f64> {
-        // if `a/b` is less than this threshold, we approximate
-        // `a*u^2 + b*u + c` by the linear function `b*u + c`
-        const DEG_THRESHOLD: f64 = 1e-9;
-        
-        let rep = self.representation.with_untracked(|rep| assembly_to_world * rep);
-        let a = -rep[3] * dir.norm_squared();
-        let b = rep.rows_range(..3).dot(&dir);
-        let c = -rep[4];
-        
-        let adjust = 4.0*a*c/(b*b);
-        if adjust < 1.0 {
-            // as long as `b` is non-zero, the linear approximation of
-            //
-            //   a*u^2 + b*u + c
-            //
-            // at `u = 0` will reach zero at a finite depth `u_lin`. the root of
-            // the quadratic adjacent to `u_lin` is stored in `lin_root`. if
-            // both roots have the same sign, `lin_root` will be the one closer
-            // to `u = 0`
-            let square_rect_ratio = 1.0 + (1.0 - adjust).sqrt();
-            let lin_root = -(2.0*c)/b / square_rect_ratio;
-            if a.abs() > DEG_THRESHOLD * b.abs() {
-                if lin_root > 0.0 {
-                    Some(lin_root)
-                } else {
-                    let other_root = -b/(2.*a) * square_rect_ratio;
-                    (other_root > 0.0).then_some(other_root)
-                }
-            } else {
-                (lin_root > 0.0).then_some(lin_root)
-            }
-        } else {
-            // the line through `dir` misses the sphere completely
-            None
-        }
-    }
-}
-
-impl DisplayItem for Point {
-    fn show(&self, scene: &mut Scene, selected: bool) {
-        /* SCAFFOLDING */
-        const GHOST_OPACITY: f32 = 0.4;
-        const HIGHLIGHT: f32 = 0.5;
-        
-        let representation = self.representation.get_clone_untracked();
-        let color = if selected { self.color.map(|channel| 0.2 + 0.8*channel) } else { self.color };
-        let opacity = if self.ghost.get() { GHOST_OPACITY } else { 1.0 };
-        let highlight = if selected { 1.0 } else { HIGHLIGHT };
-        scene.points.push(representation, color, opacity, highlight, selected);
-    }
-    
-    /* SCAFFOLDING */
-    fn cast(
-        &self,
-        dir: Vector3<f64>,
-        assembly_to_world: &DMatrix<f64>,
-        pixel_size: f64,
-    ) -> Option<f64> {
-        let rep = self.representation.with_untracked(|rep| assembly_to_world * rep);
-        if rep[2] < 0.0 {
-            // this constant should be kept synchronized with `point.frag`
-            const POINT_RADIUS_PX: f64 = 4.0;
-            
-            // find the radius of the point in screen projection units
-            let point_radius_proj = POINT_RADIUS_PX * pixel_size;
-            
-            // find the squared distance between the screen projections of the
-            // ray and the point
-            let dir_proj = -dir.fixed_rows::<2>(0) / dir[2];
-            let rep_proj = -rep.fixed_rows::<2>(0) / rep[2];
-            let dist_sq = (dir_proj - rep_proj).norm_squared();
-            
-            // if the ray hits the point, return its depth
-            if dist_sq < point_radius_proj * point_radius_proj {
-                Some(rep[2] / dir[2])
-            } else {
-                None
-            }
-        } else {
-            None
-        }
-    }
-}
-
-// --- WebGL utilities ---
-
-fn compile_shader(
-    context: &WebGl2RenderingContext,
-    shader_type: u32,
-    source: &str,
-) -> WebGlShader {
-    let shader = context.create_shader(shader_type).unwrap();
-    context.shader_source(&shader, source);
-    context.compile_shader(&shader);
-    shader
-}
-
-fn set_up_program(
-    context: &WebGl2RenderingContext,
-    vertex_shader_source: &str,
-    fragment_shader_source: &str,
-) -> WebGlProgram {
-    // compile the shaders
-    let vertex_shader = compile_shader(
-        &context,
-        WebGl2RenderingContext::VERTEX_SHADER,
-        vertex_shader_source,
-    );
-    let fragment_shader = compile_shader(
-        &context,
-        WebGl2RenderingContext::FRAGMENT_SHADER,
-        fragment_shader_source,
-    );
-    
-    // create the program and attach the shaders
-    let program = context.create_program().unwrap();
-    context.attach_shader(&program, &vertex_shader);
-    context.attach_shader(&program, &fragment_shader);
-    context.link_program(&program);
-    
-    /* DEBUG */
-    // report whether linking succeeded
-    let link_status = context
-        .get_program_parameter(&program, WebGl2RenderingContext::LINK_STATUS)
-        .as_bool()
-        .unwrap();
-    let link_msg = if link_status {
-        "Linked successfully"
-    } else {
-        "Linking failed"
-    };
-    console::log_1(&JsValue::from(link_msg));
-    
-    program
-}
-
-fn get_uniform_array_locations<const N: usize>(
-    context: &WebGl2RenderingContext,
-    program: &WebGlProgram,
-    var_name: &str,
-    member_name_opt: Option<&str>,
-) -> [Option<WebGlUniformLocation>; N] {
-    array::from_fn(|n| {
-        let name = match member_name_opt {
-            Some(member_name) => format!("{var_name}[{n}].{member_name}"),
-            None => format!("{var_name}[{n}]"),
-        };
-        context.get_uniform_location(&program, name.as_str())
-    })
-}
-
-// bind the given vertex buffer object to the given vertex attribute
-fn bind_to_attribute(
-    context: &WebGl2RenderingContext,
-    attr_index: u32,
-    attr_size: i32,
-    buffer: &Option<WebGlBuffer>,
-) {
-    context.bind_buffer(WebGl2RenderingContext::ARRAY_BUFFER, buffer.as_ref());
-    context.vertex_attrib_pointer_with_i32(
-        attr_index,
-        attr_size,
-        WebGl2RenderingContext::FLOAT,
-        false, // don't normalize
-        0, // zero stride
-        0, // zero offset
-    );
-}
-
-// load the given data into a new vertex buffer object
-fn load_new_buffer(
-    context: &WebGl2RenderingContext,
-    data: &[f32],
-) -> Option<WebGlBuffer> {
-    // create a buffer and bind it to ARRAY_BUFFER
-    let buffer = context.create_buffer();
-    context.bind_buffer(WebGl2RenderingContext::ARRAY_BUFFER, buffer.as_ref());
-    
-    // load the given data into the buffer. this block is unsafe because
-    // `Float32Array::view` creates a raw view into our module's
-    // `WebAssembly.Memory` buffer. allocating more memory will change the
-    // buffer, invalidating the view, so we have to make sure we don't allocate
-    // any memory until the view is dropped. we're okay here because the view is
-    // used as soon as it's created
-    unsafe {
-        context.buffer_data_with_array_buffer_view(
-            WebGl2RenderingContext::ARRAY_BUFFER,
-            &js_sys::Float32Array::view(&data),
-            WebGl2RenderingContext::STATIC_DRAW,
-        );
-    }
-    
-    buffer
-}
-
-fn bind_new_buffer_to_attribute(
-    context: &WebGl2RenderingContext,
-    attr_index: u32,
-    attr_size: i32,
-    data: &[f32],
-) {
-    let buffer = load_new_buffer(context, data);
-    bind_to_attribute(context, attr_index, attr_size, &buffer);
-}
-
-// the direction in camera space that a mouse event is pointing along
-fn event_dir(event: &MouseEvent) -> (Vector3<f64>, f64) {
-    let target: web_sys::Element = event.target().unwrap().unchecked_into();
-    let rect = target.get_bounding_client_rect();
-    let width = rect.width();
-    let height = rect.height();
-    let shortdim = width.min(height);
-    
-    // this constant should be kept synchronized with `spheres.frag` and
-    // `point.vert`
-    const FOCAL_SLOPE: f64 = 0.3;
-    
-    (
-        Vector3::new(
-            FOCAL_SLOPE * (2.0*(f64::from(event.client_x()) - rect.left()) - width) / shortdim,
-            FOCAL_SLOPE * (2.0*(rect.bottom() - f64::from(event.client_y())) - height) / shortdim,
-            -1.0,
-        ),
-        FOCAL_SLOPE * 2.0 / shortdim,
-    )
-}
-
-// --- display component ---
-
-#[component]
-pub fn Display() -> View {
-    let state = use_context::<AppState>();
-    
-    // canvas
-    let display = create_node_ref();
-    
-    // viewpoint
-    let assembly_to_world = create_signal(DMatrix::<f64>::identity(5, 5));
-    
-    // navigation
-    let pitch_up = create_signal(0.0);
-    let pitch_down = create_signal(0.0);
-    let yaw_right = create_signal(0.0);
-    let yaw_left = create_signal(0.0);
-    let roll_ccw = create_signal(0.0);
-    let roll_cw = create_signal(0.0);
-    let zoom_in = create_signal(0.0);
-    let zoom_out = create_signal(0.0);
-    let turntable = create_signal(false); /* BENCHMARKING */
-    
-    // manipulation
-    let translate_neg_x = create_signal(0.0);
-    let translate_pos_x = create_signal(0.0);
-    let translate_neg_y = create_signal(0.0);
-    let translate_pos_y = create_signal(0.0);
-    let translate_neg_z = create_signal(0.0);
-    let translate_pos_z = create_signal(0.0);
-    let shrink_neg = create_signal(0.0);
-    let shrink_pos = create_signal(0.0);
-    
-    // change listener
-    let scene_changed = create_signal(true);
-    create_effect(move || {
-        state.assembly.elements.with(|elts| {
-            for elt in elts {
-                elt.representation().track();
-                elt.ghost().track();
-            }
-        });
-        state.selection.track();
-        scene_changed.set(true);
-    });
-    
-    /* INSTRUMENTS */
-    const SAMPLE_PERIOD: i32 = 60;
-    let mut last_sample_time = 0.0;
-    let mut frames_since_last_sample = 0;
-    let mean_frame_interval = create_signal(0.0);
-    
-    let assembly_for_raf = state.assembly.clone();
-    on_mount(move || {
-        // timing
-        let mut last_time = 0.0;
-        
-        // viewpoint
-        const ROT_SPEED: f64 = 0.4; // in radians per second
-        const ZOOM_SPEED: f64 = 0.15; // multiplicative rate per second
-        const TURNTABLE_SPEED: f64 = 0.1; /* BENCHMARKING */
-        let mut orientation = DMatrix::<f64>::identity(5, 5);
-        let mut rotation = DMatrix::<f64>::identity(5, 5);
-        let mut location_z: f64 = 5.0;
-        
-        // manipulation
-        const TRANSLATION_SPEED: f64 = 0.15; // in length units per second
-        const SHRINKING_SPEED: f64 = 0.15; // in length units per second
-        
-        // display parameters
-        const LAYER_THRESHOLD: i32 = 0; /* DEBUG */
-        const DEBUG_MODE: i32 = 0; /* DEBUG */
-        
-        /* INSTRUMENTS */
-        let performance = window().unwrap().performance().unwrap();
-        
-        // get the display canvas
-        let canvas = display.get().unchecked_into::<web_sys::HtmlCanvasElement>();
-        let ctx = canvas
-            .get_context("webgl2")
-            .unwrap()
-            .unwrap()
-            .dyn_into::<WebGl2RenderingContext>()
-            .unwrap();
-        
-        // disable depth testing
-        ctx.disable(WebGl2RenderingContext::DEPTH_TEST);
-        
-        // set blend mode
-        ctx.enable(WebGl2RenderingContext::BLEND);
-        ctx.blend_func(WebGl2RenderingContext::SRC_ALPHA, WebGl2RenderingContext::ONE_MINUS_SRC_ALPHA);
-        
-        // set up the sphere rendering program
-        let sphere_program = set_up_program(
-            &ctx,
-            include_str!("identity.vert"),
-            include_str!("spheres.frag"),
-        );
-        
-        // set up the point rendering program
-        let point_program = set_up_program(
-            &ctx,
-            include_str!("point.vert"),
-            include_str!("point.frag"),
-        );
-        
-        /* DEBUG */
-        // print the maximum number of vectors that can be passed as
-        // uniforms to a fragment shader. the OpenGL ES 3.0 standard
-        // requires this maximum to be at least 224, as discussed in the
-        // documentation of the GL_MAX_FRAGMENT_UNIFORM_VECTORS parameter
-        // here:
-        //
-        //   https://registry.khronos.org/OpenGL-Refpages/es3.0/html/glGet.xhtml
-        //
-        // there are also other size limits. for example, on Aaron's
-        // machine, the the length of a float or genType array seems to be
-        // capped at 1024 elements
-        console::log_2(
-            &ctx.get_parameter(WebGl2RenderingContext::MAX_FRAGMENT_UNIFORM_VECTORS).unwrap(),
-            &JsValue::from("uniform vectors available"),
-        );
-        
-        // find the sphere program's vertex attribute
-        let viewport_position_attr = ctx.get_attrib_location(&sphere_program, "position") as u32;
-        
-        // find the sphere program's uniforms
-        const SPHERE_MAX: usize = 200;
-        let sphere_cnt_loc = ctx.get_uniform_location(&sphere_program, "sphere_cnt");
-        let sphere_sp_locs = get_uniform_array_locations::<SPHERE_MAX>(
-            &ctx, &sphere_program, "sphere_list", Some("sp")
-        );
-        let sphere_lt_locs = get_uniform_array_locations::<SPHERE_MAX>(
-            &ctx, &sphere_program, "sphere_list", Some("lt")
-        );
-        let sphere_color_locs = get_uniform_array_locations::<SPHERE_MAX>(
-            &ctx, &sphere_program, "color_list", None
-        );
-        let sphere_highlight_locs = get_uniform_array_locations::<SPHERE_MAX>(
-            &ctx, &sphere_program, "highlight_list", None
-        );
-        let resolution_loc = ctx.get_uniform_location(&sphere_program, "resolution");
-        let shortdim_loc = ctx.get_uniform_location(&sphere_program, "shortdim");
-        let layer_threshold_loc = ctx.get_uniform_location(&sphere_program, "layer_threshold");
-        let debug_mode_loc = ctx.get_uniform_location(&sphere_program, "debug_mode");
-        
-        // load the viewport vertex positions into a new vertex buffer object
-        const VERTEX_CNT: usize = 6;
-        let viewport_positions: [f32; 3*VERTEX_CNT] = [
-            // northwest triangle
-            -1.0, -1.0, 0.0,
-            -1.0,  1.0, 0.0,
-             1.0,  1.0, 0.0,
-            // southeast triangle
-            -1.0, -1.0, 0.0,
-             1.0,  1.0, 0.0,
-             1.0, -1.0, 0.0,
-        ];
-        let viewport_position_buffer = load_new_buffer(&ctx, &viewport_positions);
-        
-        // find the point program's vertex attributes
-        let point_position_attr = ctx.get_attrib_location(&point_program, "position") as u32;
-        let point_color_attr = ctx.get_attrib_location(&point_program, "color") as u32;
-        let point_highlight_attr = ctx.get_attrib_location(&point_program, "highlight") as u32;
-        let point_selection_attr = ctx.get_attrib_location(&point_program, "selected") as u32;
-        
-        // set up a repainting routine
-        let (_, start_animation_loop, _) = create_raf(move || {
-            // get the time step
-            let time = performance.now();
-            let time_step = 0.001*(time - last_time);
-            last_time = time;
-            
-            // get the navigation state
-            let pitch_up_val = pitch_up.get();
-            let pitch_down_val = pitch_down.get();
-            let yaw_right_val = yaw_right.get();
-            let yaw_left_val = yaw_left.get();
-            let roll_ccw_val = roll_ccw.get();
-            let roll_cw_val = roll_cw.get();
-            let zoom_in_val = zoom_in.get();
-            let zoom_out_val = zoom_out.get();
-            let turntable_val = turntable.get(); /* BENCHMARKING */
-            
-            // get the manipulation state
-            let translate_neg_x_val = translate_neg_x.get();
-            let translate_pos_x_val = translate_pos_x.get();
-            let translate_neg_y_val = translate_neg_y.get();
-            let translate_pos_y_val = translate_pos_y.get();
-            let translate_neg_z_val = translate_neg_z.get();
-            let translate_pos_z_val = translate_pos_z.get();
-            let shrink_neg_val = shrink_neg.get();
-            let shrink_pos_val = shrink_pos.get();
-            
-            // update the assembly's orientation
-            let ang_vel = {
-                let pitch = pitch_up_val - pitch_down_val;
-                let yaw = yaw_right_val - yaw_left_val;
-                let roll = roll_ccw_val - roll_cw_val;
-                if pitch != 0.0 || yaw != 0.0 || roll != 0.0 {
-                    ROT_SPEED * Vector3::new(-pitch, yaw, roll).normalize()
-                } else {
-                    Vector3::zeros()
-                }
-            } /* BENCHMARKING */ + if turntable_val {
-                Vector3::new(0.0, TURNTABLE_SPEED, 0.0)
-            } else {
-                Vector3::zeros()
-            };
-            let mut rotation_sp = rotation.fixed_view_mut::<3, 3>(0, 0);
-            rotation_sp.copy_from(
-                Rotation3::from_scaled_axis(time_step * ang_vel).matrix()
-            );
-            orientation = &rotation * &orientation;
-            
-            // update the assembly's location
-            let zoom = zoom_out_val - zoom_in_val;
-            location_z *= (time_step * ZOOM_SPEED * zoom).exp();
-            
-            // manipulate the assembly
-            if state.selection.with(|sel| sel.len() == 1) {
-                let sel = state.selection.with(
-                    |sel| sel.into_iter().next().unwrap().clone()
-                );
-                let translate_x = translate_pos_x_val - translate_neg_x_val;
-                let translate_y = translate_pos_y_val - translate_neg_y_val;
-                let translate_z = translate_pos_z_val - translate_neg_z_val;
-                let shrink = shrink_pos_val - shrink_neg_val;
-                let translating =
-                    translate_x != 0.0
-                    || translate_y != 0.0
-                    || translate_z != 0.0;
-                if translating || shrink != 0.0 {
-                    let elt_motion = {
-                        let u = if translating {
-                            TRANSLATION_SPEED * Vector3::new(
-                                translate_x, translate_y, translate_z
-                            ).normalize()
-                        } else {
-                            Vector3::zeros()
-                        };
-                        time_step * DVector::from_column_slice(
-                            &[u[0], u[1], u[2], SHRINKING_SPEED * shrink]
-                        )
-                    };
-                    assembly_for_raf.deform(
-                        vec![
-                            ElementMotion {
-                                element: sel,
-                                velocity: elt_motion.as_view(),
-                            }
-                        ]
-                    );
-                    scene_changed.set(true);
-                }
-            }
-            
-            if scene_changed.get() {
-                const SPACE_DIM: usize = 3;
-                const COLOR_SIZE: usize = 3;
-                
-                /* INSTRUMENTS */
-                // measure mean frame interval
-                frames_since_last_sample += 1;
-                if frames_since_last_sample >= SAMPLE_PERIOD {
-                    mean_frame_interval.set((time - last_sample_time) / (SAMPLE_PERIOD as f64));
-                    last_sample_time = time;
-                    frames_since_last_sample = 0;
-                }
-                
-                // --- get the assembly ---
-                
-                let mut scene = Scene::new();
-                
-                // find the map from assembly space to world space
-                let location = {
-                    let u = -location_z;
-                    DMatrix::from_column_slice(5, 5, &[
-                        1.0, 0.0,   0.0, 0.0, 0.0,
-                        0.0, 1.0,   0.0, 0.0, 0.0,
-                        0.0, 0.0,   1.0, 0.0,   u,
-                        0.0, 0.0, 2.0*u, 1.0, u*u,
-                        0.0, 0.0,   0.0, 0.0, 1.0,
-                    ])
-                };
-                let asm_to_world = &location * &orientation;
-                
-                // set up the scene
-                state.assembly.elements.with_untracked(
-                    |elts| for elt in elts {
-                        let selected = state.selection.with(|sel| sel.contains(elt));
-                        elt.show(&mut scene, selected);
-                    }
-                );
-                let sphere_cnt = scene.spheres.len_i32();
-                
-                // --- draw the spheres ---
-                
-                // use the sphere rendering program
-                ctx.use_program(Some(&sphere_program));
-                
-                // enable the sphere program's vertex attribute
-                ctx.enable_vertex_attrib_array(viewport_position_attr);
-                
-                // write the spheres in world coordinates
-                let sphere_reps_world: Vec<_> = scene.spheres.representations.into_iter().map(
-                    |rep| (&asm_to_world * rep).cast::<f32>()
-                ).collect();
-                
-                // set the resolution
-                let width = canvas.width() as f32;
-                let height = canvas.height() as f32;
-                ctx.uniform2f(resolution_loc.as_ref(), width, height);
-                ctx.uniform1f(shortdim_loc.as_ref(), width.min(height));
-                
-                // pass the scene data
-                ctx.uniform1i(sphere_cnt_loc.as_ref(), sphere_cnt);
-                for n in 0..sphere_reps_world.len() {
-                    let v = &sphere_reps_world[n];
-                    ctx.uniform3fv_with_f32_array(
-                        sphere_sp_locs[n].as_ref(),
-                        v.rows(0, 3).as_slice(),
-                    );
-                    ctx.uniform2fv_with_f32_array(
-                        sphere_lt_locs[n].as_ref(),
-                        v.rows(3, 2).as_slice(),
-                    );
-                    ctx.uniform4fv_with_f32_array(
-                        sphere_color_locs[n].as_ref(),
-                        &scene.spheres.colors_with_opacity[n],
-                    );
-                    ctx.uniform1f(
-                        sphere_highlight_locs[n].as_ref(),
-                        scene.spheres.highlights[n],
-                    );
-                }
-                
-                // pass the display parameters
-                ctx.uniform1i(layer_threshold_loc.as_ref(), LAYER_THRESHOLD);
-                ctx.uniform1i(debug_mode_loc.as_ref(), DEBUG_MODE);
-                
-                // bind the viewport vertex position buffer to the position
-                // attribute in the vertex shader
-                bind_to_attribute(&ctx, viewport_position_attr, SPACE_DIM as i32, &viewport_position_buffer);
-                
-                // draw the scene
-                ctx.draw_arrays(WebGl2RenderingContext::TRIANGLES, 0, VERTEX_CNT as i32);
-                
-                // disable the sphere program's vertex attribute
-                ctx.disable_vertex_attrib_array(viewport_position_attr);
-                
-                // --- draw the points ---
-                
-                if !scene.points.representations.is_empty() {
-                    // use the point rendering program
-                    ctx.use_program(Some(&point_program));
-                    
-                    // enable the point program's vertex attributes
-                    ctx.enable_vertex_attrib_array(point_position_attr);
-                    ctx.enable_vertex_attrib_array(point_color_attr);
-                    ctx.enable_vertex_attrib_array(point_highlight_attr);
-                    ctx.enable_vertex_attrib_array(point_selection_attr);
-                    
-                    // write the points in world coordinates
-                    let asm_to_world_sp = asm_to_world.rows(0, SPACE_DIM);
-                    let point_positions = DMatrix::from_columns(
-                        &scene.points.representations.into_iter().map(
-                            |rep| &asm_to_world_sp * rep
-                        ).collect::<Vec<_>>().as_slice()
-                    ).cast::<f32>();
-                    
-                    // load the point positions and colors into new buffers and
-                    // bind them to the corresponding attributes in the vertex
-                    // shader
-                    bind_new_buffer_to_attribute(&ctx, point_position_attr, SPACE_DIM as i32, point_positions.as_slice());
-                    bind_new_buffer_to_attribute(&ctx, point_color_attr, (COLOR_SIZE + 1) as i32, scene.points.colors_with_opacity.concat().as_slice());
-                    bind_new_buffer_to_attribute(&ctx, point_highlight_attr, 1 as i32, scene.points.highlights.as_slice());
-                    bind_new_buffer_to_attribute(&ctx, point_selection_attr, 1 as i32, scene.points.selections.as_slice());
-                    
-                    // draw the scene
-                    ctx.draw_arrays(WebGl2RenderingContext::POINTS, 0, point_positions.ncols() as i32);
-                    
-                    // disable the point program's vertex attributes
-                    ctx.disable_vertex_attrib_array(point_position_attr);
-                    ctx.disable_vertex_attrib_array(point_color_attr);
-                    ctx.disable_vertex_attrib_array(point_highlight_attr);
-                    ctx.disable_vertex_attrib_array(point_selection_attr);
-                }
-                
-                // --- update the display state ---
-                
-                // update the viewpoint
-                assembly_to_world.set(asm_to_world);
-                
-                // clear the scene change flag
-                scene_changed.set(
-                    pitch_up_val != 0.0
-                    || pitch_down_val != 0.0
-                    || yaw_left_val != 0.0
-                    || yaw_right_val != 0.0
-                    || roll_cw_val != 0.0
-                    || roll_ccw_val != 0.0
-                    || zoom_in_val != 0.0
-                    || zoom_out_val != 0.0
-                    || turntable_val /* BENCHMARKING */
-                );
-            } else {
-                frames_since_last_sample = 0;
-                mean_frame_interval.set(-1.0);
-            }
-        });
-        start_animation_loop();
-    });
-    
-    let set_nav_signal = move |event: &KeyboardEvent, value: f64| {
-        let mut navigating = true;
-        let shift = event.shift_key();
-        match event.key().as_str() {
-            "ArrowUp" if shift => zoom_in.set(value),
-            "ArrowDown" if shift => zoom_out.set(value),
-            "ArrowUp" => pitch_up.set(value),
-            "ArrowDown" => pitch_down.set(value),
-            "ArrowRight" if shift => roll_cw.set(value),
-            "ArrowLeft" if shift => roll_ccw.set(value),
-            "ArrowRight" => yaw_right.set(value),
-            "ArrowLeft" => yaw_left.set(value),
-            _ => navigating = false,
-        };
-        if navigating {
-            scene_changed.set(true);
-            event.prevent_default();
-        }
-    };
-    
-    let set_manip_signal = move |event: &KeyboardEvent, value: f64| {
-        let mut manipulating = true;
-        let shift = event.shift_key();
-        match event.key().as_str() {
-            "d" | "D" => translate_pos_x.set(value),
-            "a" | "A" => translate_neg_x.set(value),
-            "w" | "W" if shift => translate_neg_z.set(value),
-            "s" | "S" if shift => translate_pos_z.set(value),
-            "w" | "W" => translate_pos_y.set(value),
-            "s" | "S" => translate_neg_y.set(value),
-            "]" | "}" => shrink_neg.set(value),
-            "[" | "{" => shrink_pos.set(value),
-            _ => manipulating = false,
-        };
-        if manipulating {
-            event.prevent_default();
-        }
-    };
-    
-    view! {
-        /* TO DO */
-        // switch back to integer-valued parameters when that becomes possible
-        // again
-        canvas(
-            ref = display,
-            id = "display",
-            width = "600",
-            height = "600",
-            tabindex = "0",
-            on:keydown = move |event: KeyboardEvent| {
-                if event.key() == "Shift" {
-                    // swap navigation inputs
-                    roll_cw.set(yaw_right.get());
-                    roll_ccw.set(yaw_left.get());
-                    zoom_in.set(pitch_up.get());
-                    zoom_out.set(pitch_down.get());
-                    yaw_right.set(0.0);
-                    yaw_left.set(0.0);
-                    pitch_up.set(0.0);
-                    pitch_down.set(0.0);
-                    
-                    // swap manipulation inputs
-                    translate_pos_z.set(translate_neg_y.get());
-                    translate_neg_z.set(translate_pos_y.get());
-                    translate_pos_y.set(0.0);
-                    translate_neg_y.set(0.0);
-                } else {
-                    if event.key() == "Enter" { /* BENCHMARKING */
-                        turntable.set_fn(|turn| !turn);
-                        scene_changed.set(true);
-                    }
-                    set_nav_signal(&event, 1.0);
-                    set_manip_signal(&event, 1.0);
-                }
-            },
-            on:keyup = move |event: KeyboardEvent| {
-                if event.key() == "Shift" {
-                    // swap navigation inputs
-                    yaw_right.set(roll_cw.get());
-                    yaw_left.set(roll_ccw.get());
-                    pitch_up.set(zoom_in.get());
-                    pitch_down.set(zoom_out.get());
-                    roll_cw.set(0.0);
-                    roll_ccw.set(0.0);
-                    zoom_in.set(0.0);
-                    zoom_out.set(0.0);
-                    
-                    // swap manipulation inputs
-                    translate_pos_y.set(translate_neg_z.get());
-                    translate_neg_y.set(translate_pos_z.get());
-                    translate_pos_z.set(0.0);
-                    translate_neg_z.set(0.0);
-                } else {
-                    set_nav_signal(&event, 0.0);
-                    set_manip_signal(&event, 0.0);
-                }
-            },
-            on:blur = move |_| {
-                pitch_up.set(0.0);
-                pitch_down.set(0.0);
-                yaw_right.set(0.0);
-                yaw_left.set(0.0);
-                roll_ccw.set(0.0);
-                roll_cw.set(0.0);
-            },
-            on:click = move |event: MouseEvent| {
-                // find the nearest element along the pointer direction
-                let (dir, pixel_size) = event_dir(&event);
-                console::log_1(&JsValue::from(dir.to_string()));
-                let mut clicked: Option<(Rc<dyn Element>, f64)> = None;
-                let tangible_elts = state.assembly.elements
-                    .get_clone_untracked()
-                    .into_iter()
-                    .filter(|elt| !elt.ghost().get());
-                for elt in tangible_elts {
-                    match assembly_to_world.with(|asm_to_world| elt.cast(dir, asm_to_world, pixel_size)) {
-                        Some(depth) => match clicked {
-                            Some((_, best_depth)) => {
-                                if depth < best_depth {
-                                    clicked = Some((elt, depth))
-                                }
-                            },
-                            None => clicked = Some((elt, depth)),
-                        },
-                        None => (),
-                    };
-                }
-                
-                // if we clicked something, select it
-                match clicked {
-                    Some((elt, _)) => state.select(&elt, event.shift_key()),
-                    None => state.selection.update(|sel| sel.clear()),
-                };
-            },
-        )
-    }
-}

app-proto/src/components/outline.rs

@@ -1,260 +0,0 @@
-use itertools::Itertools;
-use std::rc::Rc;
-use sycamore::prelude::*;
-use web_sys::{KeyboardEvent, MouseEvent, wasm_bindgen::JsCast};
-
-use crate::{
-    AppState,
-    assembly::{
-        Element,
-        HalfCurvatureRegulator,
-        InversiveDistanceRegulator,
-        Regulator,
-    },
-    specified::SpecifiedValue
-};
-
-// an editable view of a regulator
-#[component(inline_props)]
-fn RegulatorInput(regulator: Rc<dyn Regulator>) -> View {
-    // get the regulator's measurement and set point signals
-    let measurement = regulator.measurement();
-    let set_point = regulator.set_point();
-    
-    // the `valid` signal tracks whether the last entered value is a valid set
-    // point specification
-    let valid = create_signal(true);
-    
-    // the `value` signal holds the current set point specification
-    let value = create_signal(
-        set_point.with_untracked(|set_pt| set_pt.spec.clone())
-    );
-    
-    // this `reset_value` closure resets the input value to the regulator's set
-    // point specification
-    let reset_value = move || {
-        batch(|| {
-            valid.set(true);
-            value.set(set_point.with(|set_pt| set_pt.spec.clone()));
-        })
-    };
-    
-    // reset the input value whenever the regulator's set point specification
-    // is updated
-    create_effect(reset_value);
-    
-    view! {
-        input(
-            r#type = "text",
-            class = move || {
-                if valid.get() {
-                    set_point.with(|set_pt| {
-                        if set_pt.is_present() {
-                            "regulator-input constraint"
-                        } else {
-                            "regulator-input"
-                        }
-                    })
-                } else {
-                    "regulator-input invalid"
-                }
-            },
-            placeholder = measurement.with(|result| result.to_string()),
-            bind:value = value,
-            on:change = move |_| {
-                valid.set(
-                    match SpecifiedValue::try_from(value.get_clone_untracked()) {
-                        Ok(set_pt) => {
-                            set_point.set(set_pt);
-                            true
-                        },
-                        Err(_) => false,
-                    }
-                )
-            },
-            on:keydown = {
-                move |event: KeyboardEvent| {
-                    match event.key().as_str() {
-                        "Escape" => reset_value(),
-                        _ => (),
-                    }
-                }
-            },
-        )
-    }
-}
-
-pub trait OutlineItem {
-    fn outline_item(self: Rc<Self>, element: &Rc<dyn Element>) -> View;
-}
-
-impl OutlineItem for InversiveDistanceRegulator {
-    fn outline_item(self: Rc<Self>, element: &Rc<dyn Element>) -> View {
-        let other_subject_label = if self.subjects[0] == element.clone() {
-            self.subjects[1].label()
-        } else {
-            self.subjects[0].label()
-        }.clone();
-        view! {
-            li(class = "regulator") {
-                div(class = "regulator-label") { (other_subject_label) }
-                div(class = "regulator-type") { "Inversive distance" }
-                RegulatorInput(regulator = self)
-                div(class = "status")
-            }
-        }
-    }
-}
-
-impl OutlineItem for HalfCurvatureRegulator {
-    fn outline_item(self: Rc<Self>, _element: &Rc<dyn Element>) -> View {
-        view! {
-            li(class = "regulator") {
-                div(class = "regulator-label") // for spacing
-                div(class = "regulator-type") { "Half-curvature" }
-                RegulatorInput(regulator = self)
-                div(class = "status")
-            }
-        }
-    }
-}
-
-// a list item that shows an element in an outline view of an assembly
-#[component(inline_props)]
-fn ElementOutlineItem(element: Rc<dyn Element>) -> View {
-    let state = use_context::<AppState>();
-    let class = {
-        let element_for_class = element.clone();
-        state.selection.map(
-            move |sel| if sel.contains(&element_for_class) { "selected" } else { "" }
-        )
-    };
-    let label = element.label().clone();
-    let representation = element.representation().clone();
-    let rep_components = move || {
-        representation.with(
-            |rep| rep.iter().map(
-                |u| {
-                    let u_str = format!("{:.3}", u).replace("-", "\u{2212}");
-                    view! { div { (u_str) } }
-                }
-            ).collect::<Vec<_>>()
-        )
-    };
-    let regulated = element.regulators().map(|regs| regs.len() > 0);
-    let regulator_list = element.regulators().map(
-        |regs| regs
-            .clone()
-            .into_iter()
-            .sorted_by_key(|reg| reg.subjects().len())
-            .collect::<Vec<_>>()
-    );
-    let details_node = create_node_ref();
-    view! {
-        li {
-            details(ref = details_node) {
-                summary(
-                    class = class.get(),
-                    on:keydown = {
-                        let element_for_handler = element.clone();
-                        move |event: KeyboardEvent| {
-                            match event.key().as_str() {
-                                "Enter" => {
-                                    state.select(&element_for_handler, event.shift_key());
-                                    event.prevent_default();
-                                },
-                                "ArrowRight" if regulated.get() => {
-                                    let _ = details_node
-                                        .get()
-                                        .unchecked_into::<web_sys::Element>()
-                                        .set_attribute("open", "");
-                                },
-                                "ArrowLeft" => {
-                                    let _ = details_node
-                                        .get()
-                                        .unchecked_into::<web_sys::Element>()
-                                        .remove_attribute("open");
-                                },
-                                _ => (),
-                            }
-                        }
-                    }
-                ) {
-                    div(
-                        class = "element-switch",
-                        on:click = |event: MouseEvent| event.stop_propagation()
-                    )
-                    div(
-                        class = "element",
-                        on:click = {
-                            let state_for_handler = state.clone();
-                            let element_for_handler = element.clone();
-                            move |event: MouseEvent| {
-                                state_for_handler.select(&element_for_handler, event.shift_key());
-                                event.stop_propagation();
-                                event.prevent_default();
-                            }
-                        }
-                    ) {
-                        div(class = "element-label") { (label) }
-                        div(class = "element-representation") { (rep_components) }
-                        input(
-                            r#type = "checkbox",
-                            bind:checked = element.ghost(),
-                            on:click = |event: MouseEvent| event.stop_propagation()
-                        )
-                    }
-                }
-                ul(class = "regulators") {
-                    Keyed(
-                        list = regulator_list,
-                        view = move |reg| reg.outline_item(&element),
-                        key = |reg| reg.serial()
-                    )
-                }
-            }
-        }
-    }
-}
-
-// a component that lists the elements of the current assembly, showing each
-// element's regulators in a collapsible sub-list. its implementation is based
-// on Kate Morley's HTML + CSS tree views:
-//
-//   https://iamkate.com/code/tree-views/
-//
-#[component]
-pub fn Outline() -> View {
-    let state = use_context::<AppState>();
-    
-    // list the elements alphabetically by ID
-    /* TO DO */
-    // this code is designed to generalize easily to other sort keys. if we only
-    // ever wanted to sort by ID, we could do that more simply using the
-    // `elements_by_id` index
-    let element_list = state.assembly.elements.map(
-        |elts| elts
-            .clone()
-            .into_iter()
-            .sorted_by_key(|elt| elt.id().clone())
-            .collect::<Vec<_>>()
-    );
-    
-    view! {
-        ul(
-            id = "outline",
-            on:click = {
-                let state = use_context::<AppState>();
-                move |_| state.selection.update(|sel| sel.clear())
-            }
-        ) {
-            Keyed(
-                list = element_list,
-                view = |elt| view! {
-                    ElementOutlineItem(element = elt)
-                },
-                key = |elt| elt.serial()
-            )
-        }
-    }
-}

app-proto/src/components/point.frag

@@ -1,19 +0,0 @@
-#version 300 es
-
-precision highp float;
-
-in vec4 point_color;
-in float point_highlight;
-in float total_radius;
-
-out vec4 outColor;
-
-void main() {
-    float r = total_radius * length(2.*gl_PointCoord - vec2(1.));
-    
-    const float POINT_RADIUS = 4.;
-    float border = smoothstep(POINT_RADIUS - 1., POINT_RADIUS, r);
-    float disk = 1. - smoothstep(total_radius - 1., total_radius, r);
-    vec4 color = mix(point_color, vec4(1.), border * point_highlight);
-    outColor = vec4(vec3(1.), disk) * color;
-}

app-proto/src/components/point.vert

@@ -1,24 +0,0 @@
-#version 300 es
-
-in vec4 position;
-in vec4 color;
-in float highlight;
-in float selected;
-
-out vec4 point_color;
-out float point_highlight;
-out float total_radius;
-
-// camera
-const float focal_slope = 0.3;
-
-void main() {
-    total_radius = 5. + 0.5*selected;
-    
-    float depth = -focal_slope * position.z;
-    gl_Position = vec4(position.xy / depth, 0., 1.);
-    gl_PointSize = 2.*total_radius;
-    
-    point_color = color;
-    point_highlight = highlight;
-}

app-proto/src/components/test_assembly_chooser.rs

@@ -1,941 +0,0 @@
-use itertools::izip;
-use std::{f64::consts::{FRAC_1_SQRT_2, PI}, rc::Rc};
-use nalgebra::Vector3;
-use sycamore::prelude::*;
-use web_sys::{console, wasm_bindgen::JsValue};
-
-use crate::{
-    AppState,
-    assembly::{
-        Assembly,
-        Element,
-        ElementColor,
-        InversiveDistanceRegulator,
-        Point,
-        Sphere,
-    },
-    engine,
-    engine::DescentHistory,
-    specified::SpecifiedValue,
-};
-
-// --- loaders ---
-
-/* DEBUG */
-// each of these functions loads an example assembly for testing. once we've
-// done more work on saving and loading assemblies, we should come back to this
-// code to see if it can be simplified
-
-fn load_general(assembly: &Assembly) {
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            String::from("gemini_a"),
-            String::from("Castor"),
-            [1.00_f32, 0.25_f32, 0.00_f32],
-            engine::sphere(0.5, 0.5, 0.0, 1.0),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            String::from("gemini_b"),
-            String::from("Pollux"),
-            [0.00_f32, 0.25_f32, 1.00_f32],
-            engine::sphere(-0.5, -0.5, 0.0, 1.0),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            String::from("ursa_major"),
-            String::from("Ursa major"),
-            [0.25_f32, 0.00_f32, 1.00_f32],
-            engine::sphere(-0.5, 0.5, 0.0, 0.75),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            String::from("ursa_minor"),
-            String::from("Ursa minor"),
-            [0.25_f32, 1.00_f32, 0.00_f32],
-            engine::sphere(0.5, -0.5, 0.0, 0.5),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            String::from("moon_deimos"),
-            String::from("Deimos"),
-            [0.75_f32, 0.75_f32, 0.00_f32],
-            engine::sphere(0.0, 0.15, 1.0, 0.25),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            String::from("moon_phobos"),
-            String::from("Phobos"),
-            [0.00_f32, 0.75_f32, 0.50_f32],
-            engine::sphere(0.0, -0.15, -1.0, 0.25),
-        )
-    );
-}
-
-fn load_low_curvature(assembly: &Assembly) {
-    // create the spheres
-    let a = 0.75_f64.sqrt();
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            "central".to_string(),
-            "Central".to_string(),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::sphere(0.0, 0.0, 0.0, 1.0),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            "assemb_plane".to_string(),
-            "Assembly plane".to_string(),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::sphere_with_offset(0.0, 0.0, 1.0, 0.0, 0.0),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            "side1".to_string(),
-            "Side 1".to_string(),
-            [1.00_f32, 0.00_f32, 0.25_f32],
-            engine::sphere_with_offset(1.0, 0.0, 0.0, 1.0, 0.0),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            "side2".to_string(),
-            "Side 2".to_string(),
-            [0.25_f32, 1.00_f32, 0.00_f32],
-            engine::sphere_with_offset(-0.5, a, 0.0, 1.0, 0.0),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            "side3".to_string(),
-            "Side 3".to_string(),
-            [0.00_f32, 0.25_f32, 1.00_f32],
-            engine::sphere_with_offset(-0.5, -a, 0.0, 1.0, 0.0),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            "corner1".to_string(),
-            "Corner 1".to_string(),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::sphere(-4.0/3.0, 0.0, 0.0, 1.0/3.0),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            "corner2".to_string(),
-            "Corner 2".to_string(),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::sphere(2.0/3.0, -4.0/3.0 * a, 0.0, 1.0/3.0),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            String::from("corner3"),
-            String::from("Corner 3"),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::sphere(2.0/3.0, 4.0/3.0 * a, 0.0, 1.0/3.0),
-        )
-    );
-    
-    // impose the desired tangencies and make the sides planar
-    let index_range = 1..=3;
-    let [central, assemb_plane] = ["central", "assemb_plane"].map(
-        |id| assembly.elements_by_id.with_untracked(
-            |elts_by_id| elts_by_id[id].clone()
-        )
-    );
-    let sides = index_range.clone().map(
-        |k| assembly.elements_by_id.with_untracked(
-            |elts_by_id| elts_by_id[&format!("side{k}")].clone()
-        )
-    );
-    let corners = index_range.map(
-        |k| assembly.elements_by_id.with_untracked(
-            |elts_by_id| elts_by_id[&format!("corner{k}")].clone()
-        )
-    );
-    for plane in [assemb_plane.clone()].into_iter().chain(sides.clone()) {
-        // fix the curvature of each plane
-        let curvature = plane.regulators().with_untracked(
-            |regs| regs.first().unwrap().clone()
-        );
-        curvature.set_point().set(SpecifiedValue::try_from("0".to_string()).unwrap());
-    }
-    let all_perpendicular = [central.clone()].into_iter()
-        .chain(sides.clone())
-        .chain(corners.clone());
-    for sphere in all_perpendicular {
-        // make each side and packed sphere perpendicular to the assembly plane
-        let right_angle = InversiveDistanceRegulator::new([sphere, assemb_plane.clone()]);
-        right_angle.set_point.set(SpecifiedValue::try_from("0".to_string()).unwrap());
-        assembly.insert_regulator(Rc::new(right_angle));
-    }
-    for sphere in sides.clone().chain(corners.clone()) {
-        // make each side and corner sphere tangent to the central sphere
-        let tangency = InversiveDistanceRegulator::new([sphere.clone(), central.clone()]);
-        tangency.set_point.set(SpecifiedValue::try_from("-1".to_string()).unwrap());
-        assembly.insert_regulator(Rc::new(tangency));
-    }
-    for (side_index, side) in sides.enumerate() {
-        // make each side tangent to the two adjacent corner spheres
-        for (corner_index, corner) in corners.clone().enumerate() {
-            if side_index != corner_index {
-                let tangency = InversiveDistanceRegulator::new([side.clone(), corner]);
-                tangency.set_point.set(SpecifiedValue::try_from("-1".to_string()).unwrap());
-                assembly.insert_regulator(Rc::new(tangency));
-            }
-        }
-    }
-}
-
-fn load_pointed(assembly: &Assembly) {
-    let _ = assembly.try_insert_element(
-        Point::new(
-            format!("point_front"),
-            format!("Front point"),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::point(0.0, 0.0, FRAC_1_SQRT_2),
-        )
-    );
-    let _ = assembly.try_insert_element(
-        Point::new(
-            format!("point_back"),
-            format!("Back point"),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::point(0.0, 0.0, -FRAC_1_SQRT_2),
-        )
-    );
-    for index_x in 0..=1 {
-        for index_y in 0..=1 {
-            let x = index_x as f64 - 0.5;
-            let y = index_y as f64 - 0.5;
-            
-            let _ = assembly.try_insert_element(
-                Sphere::new(
-                    format!("sphere{index_x}{index_y}"),
-                    format!("Sphere {index_x}{index_y}"),
-                    [0.5*(1.0 + x) as f32, 0.5*(1.0 + y) as f32, 0.5*(1.0 - x*y) as f32],
-                    engine::sphere(x, y, 0.0, 1.0),
-                )
-            );
-            
-            let _ = assembly.try_insert_element(
-                Point::new(
-                    format!("point{index_x}{index_y}"),
-                    format!("Point {index_x}{index_y}"),
-                    [0.5*(1.0 + x) as f32, 0.5*(1.0 + y) as f32, 0.5*(1.0 - x*y) as f32],
-                    engine::point(x, y, 0.0),
-                )
-            );
-        }
-    }
-}
-
-// to finish describing the tridiminished icosahedron, set the inversive
-// distance regulators as follows:
-//   A-A   -0.25
-//   A-B     "
-//   B-C     "
-//   C-C     "
-//   A-C   -0.25 * φ^2 = -0.6545084971874737
-fn load_tridiminished_icosahedron(assembly: &Assembly) {
-    // create the vertices
-    const COLOR_A: ElementColor = [1.00_f32, 0.25_f32, 0.25_f32];
-    const COLOR_B: ElementColor = [0.75_f32, 0.75_f32, 0.75_f32];
-    const COLOR_C: ElementColor = [0.25_f32, 0.50_f32, 1.00_f32];
-    let vertices = [
-        Point::new(
-            "a1".to_string(),
-            "A₁".to_string(),
-            COLOR_A,
-            engine::point(0.25, 0.75, 0.75),
-        ),
-        Point::new(
-            "a2".to_string(),
-            "A₂".to_string(),
-            COLOR_A,
-            engine::point(0.75, 0.25, 0.75),
-        ),
-        Point::new(
-            "a3".to_string(),
-            "A₃".to_string(),
-            COLOR_A,
-            engine::point(0.75, 0.75, 0.25),
-        ),
-        Point::new(
-            "b1".to_string(),
-            "B₁".to_string(),
-            COLOR_B,
-            engine::point(0.75, -0.25, -0.25),
-        ),
-        Point::new(
-            "b2".to_string(),
-            "B₂".to_string(),
-            COLOR_B,
-            engine::point(-0.25, 0.75, -0.25),
-        ),
-        Point::new(
-            "b3".to_string(),
-            "B₃".to_string(),
-            COLOR_B,
-            engine::point(-0.25, -0.25, 0.75),
-        ),
-        Point::new(
-            "c1".to_string(),
-            "C₁".to_string(),
-            COLOR_C,
-            engine::point(0.0, -1.0, -1.0),
-        ),
-        Point::new(
-            "c2".to_string(),
-            "C₂".to_string(),
-            COLOR_C,
-            engine::point(-1.0, 0.0, -1.0),
-        ),
-        Point::new(
-            "c3".to_string(),
-            "C₃".to_string(),
-            COLOR_C,
-            engine::point(-1.0, -1.0, 0.0),
-        ),
-    ];
-    for vertex in vertices {
-        let _ = assembly.try_insert_element(vertex);
-    }
-    
-    // create the faces
-    const COLOR_FACE: ElementColor = [0.75_f32, 0.75_f32, 0.75_f32];
-    let frac_1_sqrt_6 = 1.0 / 6.0_f64.sqrt();
-    let frac_2_sqrt_6 = 2.0 * frac_1_sqrt_6;
-    let faces = [
-        Sphere::new(
-            "face1".to_string(),
-            "Face 1".to_string(),
-            COLOR_FACE,
-            engine::sphere_with_offset(frac_2_sqrt_6, -frac_1_sqrt_6, -frac_1_sqrt_6, -frac_1_sqrt_6, 0.0),
-        ),
-        Sphere::new(
-            "face2".to_string(),
-            "Face 2".to_string(),
-            COLOR_FACE,
-            engine::sphere_with_offset(-frac_1_sqrt_6, frac_2_sqrt_6, -frac_1_sqrt_6, -frac_1_sqrt_6, 0.0),
-        ),
-        Sphere::new(
-            "face3".to_string(),
-            "Face 3".to_string(),
-            COLOR_FACE,
-            engine::sphere_with_offset(-frac_1_sqrt_6, -frac_1_sqrt_6, frac_2_sqrt_6, -frac_1_sqrt_6, 0.0),
-        ),
-    ];
-    for face in faces {
-        face.ghost().set(true);
-        let _ = assembly.try_insert_element(face);
-    }
-    
-    let index_range = 1..=3;
-    for j in index_range.clone() {
-        // make each face planar
-        let face = assembly.elements_by_id.with_untracked(
-            |elts_by_id| elts_by_id[&format!("face{j}")].clone()
-        );
-        let curvature_regulator = face.regulators().with_untracked(
-            |regs| regs.first().unwrap().clone()
-        );
-        curvature_regulator.set_point().set(
-            SpecifiedValue::try_from("0".to_string()).unwrap()
-        );
-        
-        // put each A vertex on the face it belongs to
-        let vertex_a = assembly.elements_by_id.with_untracked(
-            |elts_by_id| elts_by_id[&format!("a{j}")].clone()
-        );
-        let incidence_a = InversiveDistanceRegulator::new([face.clone(), vertex_a.clone()]);
-        incidence_a.set_point.set(SpecifiedValue::try_from("0".to_string()).unwrap());
-        assembly.insert_regulator(Rc::new(incidence_a));
-        
-        // regulate the B-C vertex distances
-        let vertices_bc = ["b", "c"].map(
-            |series| assembly.elements_by_id.with_untracked(
-                |elts_by_id| elts_by_id[&format!("{series}{j}")].clone()
-            )
-        );
-        assembly.insert_regulator(
-            Rc::new(InversiveDistanceRegulator::new(vertices_bc))
-        );
-        
-        // get the pair of indices adjacent to `j`
-        let adjacent_indices = [j % 3 + 1, (j + 1) % 3 + 1];
-        
-        for k in adjacent_indices.clone() {
-            for series in ["b", "c"] {
-                // put each B and C vertex on the faces it belongs to
-                let vertex = assembly.elements_by_id.with_untracked(
-                    |elts_by_id| elts_by_id[&format!("{series}{k}")].clone()
-                );
-                let incidence = InversiveDistanceRegulator::new([face.clone(), vertex.clone()]);
-                incidence.set_point.set(SpecifiedValue::try_from("0".to_string()).unwrap());
-                assembly.insert_regulator(Rc::new(incidence));
-                
-                // regulate the A-B and A-C vertex distances
-                assembly.insert_regulator(
-                    Rc::new(InversiveDistanceRegulator::new([vertex_a.clone(), vertex]))
-                );
-            }
-        }
-        
-        // regulate the A-A and C-C vertex distances
-        let adjacent_pairs = ["a", "c"].map(
-            |series| adjacent_indices.map(
-                |index| assembly.elements_by_id.with_untracked(
-                    |elts_by_id| elts_by_id[&format!("{series}{index}")].clone()
-                )
-            )
-        );
-        for pair in adjacent_pairs {
-            assembly.insert_regulator(
-                Rc::new(InversiveDistanceRegulator::new(pair))
-            );
-        }
-    }
-}
-
-// to finish describing the dodecahedral circle packing, set the inversive
-// distance regulators to -1. some of the regulators have already been set
-fn load_dodecahedral_packing(assembly: &Assembly) {
-    // add the substrate
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            "substrate".to_string(),
-            "Substrate".to_string(),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::sphere(0.0, 0.0, 0.0, 1.0),
-        )
-    );
-    let substrate = assembly.elements_by_id.with_untracked(
-        |elts_by_id| elts_by_id["substrate"].clone()
-    );
-    
-    // fix the substrate's curvature
-    substrate.regulators().with_untracked(
-        |regs| regs.first().unwrap().clone()
-    ).set_point().set(
-        SpecifiedValue::try_from("0.5".to_string()).unwrap()
-    );
-    
-    // add the circles to be packed
-    const COLOR_A: ElementColor = [1.00_f32, 0.25_f32, 0.00_f32];
-    const COLOR_B: ElementColor = [1.00_f32, 0.00_f32, 0.25_f32];
-    const COLOR_C: ElementColor = [0.25_f32, 0.00_f32, 1.00_f32];
-    let phi = 0.5 + 1.25_f64.sqrt(); /* TO DO */ // replace with std::f64::consts::PHI when that gets stabilized
-    let phi_inv = 1.0 / phi;
-    let coord_scale = (phi + 2.0).sqrt();
-    let face_scales = [phi_inv, (13.0 / 12.0) / coord_scale];
-    let face_radii = [phi_inv, 5.0 / 12.0];
-    let mut faces = Vec::<Rc<dyn Element>>::new();
-    let subscripts = ["₀", "₁"];
-    for j in 0..2 {
-        for k in 0..2 {
-            let small_coord = face_scales[k] * (2.0*(j as f64) - 1.0);
-            let big_coord = face_scales[k] * (2.0*(k as f64) - 1.0) * phi;
-            
-            let id_num = format!("{j}{k}");
-            let label_sub = format!("{}{}", subscripts[j], subscripts[k]);
-            
-            // add the A face
-            let id_a = format!("a{id_num}");
-            let _ = assembly.try_insert_element(
-                Sphere::new(
-                    id_a.clone(),
-                    format!("A{label_sub}"),
-                    COLOR_A,
-                    engine::sphere(0.0, small_coord, big_coord, face_radii[k]),
-                )
-            );
-            faces.push(
-                assembly.elements_by_id.with_untracked(
-                    |elts_by_id| elts_by_id[&id_a].clone()
-                )
-            );
-            
-            // add the B face
-            let id_b = format!("b{id_num}");
-            let _ = assembly.try_insert_element(
-                Sphere::new(
-                    id_b.clone(),
-                    format!("B{label_sub}"),
-                    COLOR_B,
-                    engine::sphere(small_coord, big_coord, 0.0, face_radii[k]),
-                )
-            );
-            faces.push(
-                assembly.elements_by_id.with_untracked(
-                    |elts_by_id| elts_by_id[&id_b].clone()
-                )
-            );
-            
-            // add the C face
-            let id_c = format!("c{id_num}");
-            let _ = assembly.try_insert_element(
-                Sphere::new(
-                    id_c.clone(),
-                    format!("C{label_sub}"),
-                    COLOR_C,
-                    engine::sphere(big_coord, 0.0, small_coord, face_radii[k]),
-                )
-            );
-            faces.push(
-                assembly.elements_by_id.with_untracked(
-                    |elts_by_id| elts_by_id[&id_c].clone()
-                )
-            );
-        }
-    }
-    
-    // make each face sphere perpendicular to the substrate
-    for face in faces {
-        let right_angle = InversiveDistanceRegulator::new([face, substrate.clone()]);
-        right_angle.set_point.set(SpecifiedValue::try_from("0".to_string()).unwrap());
-        assembly.insert_regulator(Rc::new(right_angle));
-    }
-    
-    // set up the tangencies that define the packing
-    for [long_edge_plane, short_edge_plane] in [["a", "b"], ["b", "c"], ["c", "a"]] {
-        for k in 0..2 {
-            let long_edge_ids = [
-                format!("{long_edge_plane}{k}0"),
-                format!("{long_edge_plane}{k}1")
-            ];
-            let short_edge_ids = [
-                format!("{short_edge_plane}0{k}"),
-                format!("{short_edge_plane}1{k}")
-            ];
-            let [long_edge, short_edge] = [long_edge_ids, short_edge_ids].map(
-                |edge_ids| edge_ids.map(
-                    |id| assembly.elements_by_id.with_untracked(
-                        |elts_by_id| elts_by_id[&id].clone()
-                    )
-                )
-            );
-            
-            // set up the short-edge tangency
-            let short_tangency = InversiveDistanceRegulator::new(short_edge.clone());
-            if k == 0 {
-                short_tangency.set_point.set(SpecifiedValue::try_from("-1".to_string()).unwrap());
-            }
-            assembly.insert_regulator(Rc::new(short_tangency));
-            
-            // set up the side tangencies
-            for i in 0..2 {
-                for j in 0..2 {
-                    let side_tangency = InversiveDistanceRegulator::new(
-                        [long_edge[i].clone(), short_edge[j].clone()]
-                    );
-                    if i == 0 && k == 0 {
-                        side_tangency.set_point.set(SpecifiedValue::try_from("-1".to_string()).unwrap());
-                    }
-                    assembly.insert_regulator(Rc::new(side_tangency));
-                }
-            }
-        }
-    }
-}
-
-// the initial configuration of this test assembly deliberately violates the
-// constraints, so loading the assembly will trigger a non-trivial realization
-fn load_balanced(assembly: &Assembly) {
-    // create the spheres
-    const R_OUTER: f64 = 10.0;
-    const R_INNER: f64 = 4.0;
-    let spheres = [
-        Sphere::new(
-            "outer".to_string(),
-            "Outer".to_string(),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::sphere(0.0, 0.0, 0.0, R_OUTER),
-        ),
-        Sphere::new(
-            "a".to_string(),
-            "A".to_string(),
-            [1.00_f32, 0.00_f32, 0.25_f32],
-            engine::sphere(0.0, 4.0, 0.0, R_INNER),
-        ),
-        Sphere::new(
-            "b".to_string(),
-            "B".to_string(),
-            [0.00_f32, 0.25_f32, 1.00_f32],
-            engine::sphere(0.0, -4.0, 0.0, R_INNER),
-        ),
-    ];
-    for sphere in spheres {
-        let _ = assembly.try_insert_element(sphere);
-    }
-    
-    // get references to the spheres
-    let [outer, a, b] = ["outer", "a", "b"].map(
-        |id| assembly.elements_by_id.with_untracked(
-            |elts_by_id| elts_by_id[id].clone()
-        )
-    );
-    
-    // fix the diameters of the outer, sun, and moon spheres
-    for (sphere, radius) in [
-        (outer.clone(), R_OUTER),
-        (a.clone(), R_INNER),
-        (b.clone(), R_INNER),
-    ] {
-        let curvature_regulator = sphere.regulators().with_untracked(
-            |regs| regs.first().unwrap().clone()
-        );
-        let curvature = 0.5 / radius;
-        curvature_regulator.set_point().set(
-            SpecifiedValue::try_from(curvature.to_string()).unwrap()
-        );
-    }
-    
-    // set the inversive distances between the spheres. as described above, the
-    // initial configuration deliberately violates these constraints
-    for inner in [a, b] {
-        let tangency = InversiveDistanceRegulator::new([outer.clone(), inner]);
-        tangency.set_point.set(SpecifiedValue::try_from("1".to_string()).unwrap());
-        assembly.insert_regulator(Rc::new(tangency));
-    }
-}
-
-// the initial configuration of this test assembly deliberately violates the
-// constraints, so loading the assembly will trigger a non-trivial realization
-fn load_off_center(assembly: &Assembly) {
-    // create a point almost at the origin and a sphere centered on the origin
-    let _ = assembly.try_insert_element(
-        Point::new(
-            "point".to_string(),
-            "Point".to_string(),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::point(1e-9, 0.0, 0.0),
-        ),
-    );
-    let _ = assembly.try_insert_element(
-        Sphere::new(
-            "sphere".to_string(),
-            "Sphere".to_string(),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::sphere(0.0, 0.0, 0.0, 1.0),
-        ),
-    );
-    
-    // get references to the elements
-    let point_and_sphere = ["point", "sphere"].map(
-        |id| assembly.elements_by_id.with_untracked(
-            |elts_by_id| elts_by_id[id].clone()
-        )
-    );
-    
-    // put the point on the sphere
-    let incidence = InversiveDistanceRegulator::new(point_and_sphere);
-    incidence.set_point.set(SpecifiedValue::try_from("0".to_string()).unwrap());
-    assembly.insert_regulator(Rc::new(incidence));
-}
-
-// setting the inversive distances between the vertices to -2 gives a regular
-// tetrahedron with side length 1, whose insphere and circumsphere have radii
-// sqrt(1/6) and sqrt(3/2), respectively. to measure those radii, set an
-// inversive distance of -1 between the insphere and each face, and then set an
-// inversive distance of 0 between the circumsphere and each vertex
-fn load_radius_ratio(assembly: &Assembly) {
-    let index_range = 1..=4;
-    
-    // create the spheres
-    const GRAY: ElementColor = [0.75_f32, 0.75_f32, 0.75_f32];
-    let spheres = [
-        Sphere::new(
-            "sphere_faces".to_string(),
-            "Insphere".to_string(),
-            GRAY,
-            engine::sphere(0.0, 0.0, 0.0, 0.5),
-        ),
-        Sphere::new(
-            "sphere_vertices".to_string(),
-            "Circumsphere".to_string(),
-            GRAY,
-            engine::sphere(0.0, 0.0, 0.0, 0.25),
-        ),
-    ];
-    for sphere in spheres {
-        let _ = assembly.try_insert_element(sphere);
-    }
-    
-    // create the vertices
-    let vertices = izip!(
-        index_range.clone(),
-        [
-            [1.00_f32, 0.50_f32, 0.75_f32],
-            [1.00_f32, 0.75_f32, 0.50_f32],
-            [1.00_f32, 1.00_f32, 0.50_f32],
-            [0.75_f32, 0.50_f32, 1.00_f32],
-        ].into_iter(),
-        [
-            engine::point(-0.6, -0.8, -0.6),
-            engine::point(-0.6, 0.8, 0.6),
-            engine::point(0.6, -0.8, 0.6),
-            engine::point(0.6, 0.8, -0.6),
-        ].into_iter()
-    ).map(
-        |(k, color, representation)| {
-            Point::new(
-                format!("v{k}"),
-                format!("Vertex {k}"),
-                color,
-                representation,
-            )
-        }
-    );
-    for vertex in vertices {
-        let _ = assembly.try_insert_element(vertex);
-    }
-    
-    // create the faces
-    let base_dir = Vector3::new(1.0, 0.75, 1.0).normalize();
-    let offset = base_dir.dot(&Vector3::new(-0.6, 0.8, 0.6));
-    let faces = izip!(
-        index_range.clone(),
-        [
-            [1.00_f32, 0.00_f32, 0.25_f32],
-            [1.00_f32, 0.25_f32, 0.00_f32],
-            [0.75_f32, 0.75_f32, 0.00_f32],
-            [0.25_f32, 0.00_f32, 1.00_f32],
-        ].into_iter(),
-        [
-            engine::sphere_with_offset(base_dir[0], base_dir[1], base_dir[2], offset, 0.0),
-            engine::sphere_with_offset(base_dir[0], -base_dir[1], -base_dir[2], offset, 0.0),
-            engine::sphere_with_offset(-base_dir[0], base_dir[1], -base_dir[2], offset, 0.0),
-            engine::sphere_with_offset(-base_dir[0], -base_dir[1], base_dir[2], offset, 0.0),
-        ].into_iter()
-    ).map(
-        |(k, color, representation)| {
-            Sphere::new(
-                format!("f{k}"),
-                format!("Face {k}"),
-                color,
-                representation,
-            )
-        }
-    );
-    for face in faces {
-        face.ghost().set(true);
-        let _ = assembly.try_insert_element(face);
-    }
-    
-    // impose the constraints
-    for j in index_range.clone() {
-        let [face_j, vertex_j] = [
-            format!("f{j}"),
-            format!("v{j}"),
-        ].map(
-            |id| assembly.elements_by_id.with_untracked(
-                |elts_by_id| elts_by_id[&id].clone()
-            )
-        );
-        
-        // make the faces planar
-        let curvature_regulator = face_j.regulators().with_untracked(
-            |regs| regs.first().unwrap().clone()
-        );
-        curvature_regulator.set_point().set(
-            SpecifiedValue::try_from("0".to_string()).unwrap()
-        );
-        
-        for k in index_range.clone().filter(|&index| index != j) {
-            let vertex_k = assembly.elements_by_id.with_untracked(
-                |elts_by_id| elts_by_id[&format!("v{k}")].clone()
-            );
-            
-            // fix the distances between the vertices
-            if j < k {
-                let distance_regulator = InversiveDistanceRegulator::new(
-                    [vertex_j.clone(), vertex_k.clone()]
-                );
-                assembly.insert_regulator(Rc::new(distance_regulator));
-            }
-            
-            // put the vertices on the faces
-            let incidence_regulator = InversiveDistanceRegulator::new([face_j.clone(), vertex_k.clone()]);
-            incidence_regulator.set_point.set(SpecifiedValue::try_from("0".to_string()).unwrap());
-            assembly.insert_regulator(Rc::new(incidence_regulator));
-        }
-    }
-}
-
-// to finish setting up the problem, fix the following curvatures:
-//   sun      1
-//   moon     5/3 = 1.666666666666666...
-//   chain1   2
-// a tiny `x` or `z` nudge of the outer sphere reliably prevents realization
-// failures before they happen, or resolves them after they happen. the result
-// depends sensitively on the translation direction, suggesting that realization
-// is failing because the engine is having trouble breaking a symmetry
-// /* TO DO */
-// the engine's performance on this problem is scale-dependent! with the current
-// initial conditions, realization fails for any order of imposing the remaining
-// curvature constraints. scaling everything up by a factor of ten, as done in
-// the original problem, makes realization succeed reliably. one potentially
-// relevant difference is that a lot of the numbers in the current initial
-// conditions are exactly representable as floats, unlike the analogous numbers
-// in the scaled-up problem. the inexact representations might break the
-// symmetry that's getting the engine stuck
-fn load_irisawa_hexlet(assembly: &Assembly) {
-    let index_range = 1..=6;
-    let colors = [
-        [1.00_f32, 0.00_f32, 0.25_f32],
-        [1.00_f32, 0.25_f32, 0.00_f32],
-        [0.75_f32, 0.75_f32, 0.00_f32],
-        [0.25_f32, 1.00_f32, 0.00_f32],
-        [0.00_f32, 0.25_f32, 1.00_f32],
-        [0.25_f32, 0.00_f32, 1.00_f32],
-    ].into_iter();
-    
-    // create the spheres
-    let spheres = [
-        Sphere::new(
-            "outer".to_string(),
-            "Outer".to_string(),
-            [0.5_f32, 0.5_f32, 0.5_f32],
-            engine::sphere(0.0, 0.0, 0.0, 1.5),
-        ),
-        Sphere::new(
-            "sun".to_string(),
-            "Sun".to_string(),
-            [0.75_f32, 0.75_f32, 0.75_f32],
-            engine::sphere(0.0, -0.75, 0.0, 0.75),
-        ),
-        Sphere::new(
-            "moon".to_string(),
-            "Moon".to_string(),
-            [0.25_f32, 0.25_f32, 0.25_f32],
-            engine::sphere(0.0, 0.75, 0.0, 0.75),
-        ),
-    ].into_iter().chain(
-        index_range.clone().zip(colors).map(
-            |(k, color)| {
-                let ang = (k as f64) * PI/3.0;
-                Sphere::new(
-                    format!("chain{k}"),
-                    format!("Chain {k}"),
-                    color,
-                    engine::sphere(1.0 * ang.sin(), 0.0, 1.0 * ang.cos(), 0.5),
-                )
-            }
-        )
-    );
-    for sphere in spheres {
-        let _ = assembly.try_insert_element(sphere);
-    }
-    
-    // put the outer sphere in ghost mode and fix its curvature
-    let outer = assembly.elements_by_id.with_untracked(
-        |elts_by_id| elts_by_id["outer"].clone()
-    );
-    outer.ghost().set(true);
-    let outer_curvature_regulator = outer.regulators().with_untracked(
-        |regs| regs.first().unwrap().clone()
-    );
-    outer_curvature_regulator.set_point().set(
-        SpecifiedValue::try_from((1.0 / 3.0).to_string()).unwrap()
-    );
-    
-    // impose the desired tangencies
-    let [outer, sun, moon] = ["outer", "sun", "moon"].map(
-        |id| assembly.elements_by_id.with_untracked(
-            |elts_by_id| elts_by_id[id].clone()
-        )
-    );
-    let chain = index_range.map(
-        |k| assembly.elements_by_id.with_untracked(
-            |elts_by_id| elts_by_id[&format!("chain{k}")].clone()
-        )
-    );
-    for (chain_sphere, chain_sphere_next) in chain.clone().zip(chain.cycle().skip(1)) {
-        for (other_sphere, inversive_distance) in [
-            (outer.clone(), "1"),
-            (sun.clone(), "-1"),
-            (moon.clone(), "-1"),
-            (chain_sphere_next.clone(), "-1"),
-        ] {
-            let tangency = InversiveDistanceRegulator::new([chain_sphere.clone(), other_sphere]);
-            tangency.set_point.set(SpecifiedValue::try_from(inversive_distance.to_string()).unwrap());
-            assembly.insert_regulator(Rc::new(tangency));
-        }
-    }
-    
-    let outer_sun_tangency = InversiveDistanceRegulator::new([outer.clone(), sun]);
-    outer_sun_tangency.set_point.set(SpecifiedValue::try_from("1".to_string()).unwrap());
-    assembly.insert_regulator(Rc::new(outer_sun_tangency));
-    
-    let outer_moon_tangency = InversiveDistanceRegulator::new([outer.clone(), moon]);
-    outer_moon_tangency.set_point.set(SpecifiedValue::try_from("1".to_string()).unwrap());
-    assembly.insert_regulator(Rc::new(outer_moon_tangency));
-}
-
-// --- chooser ---
-
-/* DEBUG */
-#[component]
-pub fn TestAssemblyChooser() -> View {
-    // create an effect that loads the selected test assembly
-    let assembly_name = create_signal("general".to_string());
-    create_effect(move || {
-        // get name of chosen assembly
-        let name = assembly_name.get_clone();
-        console::log_1(
-            &JsValue::from(format!("Showing assembly \"{}\"", name.clone()))
-        );
-        
-        batch(|| {
-            let state = use_context::<AppState>();
-            let assembly = &state.assembly;
-            
-            // clear state
-            assembly.regulators.update(|regs| regs.clear());
-            assembly.elements.update(|elts| elts.clear());
-            assembly.elements_by_id.update(|elts_by_id| elts_by_id.clear());
-            assembly.descent_history.set(DescentHistory::new());
-            state.selection.update(|sel| sel.clear());
-            
-            // load assembly
-            match name.as_str() {
-                "general" => load_general(assembly),
-                "low-curvature" => load_low_curvature(assembly),
-                "pointed" => load_pointed(assembly),
-                "tridiminished-icosahedron" => load_tridiminished_icosahedron(assembly),
-                "dodecahedral-packing" => load_dodecahedral_packing(assembly),
-                "balanced" => load_balanced(assembly),
-                "off-center" => load_off_center(assembly),
-                "radius-ratio" => load_radius_ratio(assembly),
-                "irisawa-hexlet" => load_irisawa_hexlet(assembly),
-                _ => (),
-            };
-        });
-    });
-    
-    // build the chooser
-    view! {
-        select(bind:value = assembly_name) {
-            option(value = "general") { "General" }
-            option(value = "low-curvature") { "Low-curvature" }
-            option(value = "pointed") { "Pointed" }
-            option(value = "tridiminished-icosahedron") { "Tridiminished icosahedron" }
-            option(value = "dodecahedral-packing") { "Dodecahedral packing" }
-            option(value = "balanced") { "Balanced" }
-            option(value = "off-center") { "Off-center" }
-            option(value = "radius-ratio") { "Radius ratio" }
-            option(value = "irisawa-hexlet") { "Irisawa hexlet" }
-            option(value = "empty") { "Empty" }
-        }
-    }
-}

app-proto/src/display.rs

@@ -0,0 +1,613 @@
+use core::array;
+use nalgebra::{DMatrix, DVector, Rotation3, Vector3};
+use sycamore::{prelude::*, motion::create_raf};
+use web_sys::{
+    console,
+    window,
+    Element,
+    KeyboardEvent,
+    MouseEvent,
+    WebGl2RenderingContext,
+    WebGlProgram,
+    WebGlShader,
+    WebGlUniformLocation,
+    wasm_bindgen::{JsCast, JsValue}
+};
+
+use crate::{AppState, assembly::{ElementKey, ElementMotion}};
+
+fn compile_shader(
+    context: &WebGl2RenderingContext,
+    shader_type: u32,
+    source: &str,
+) -> WebGlShader {
+    let shader = context.create_shader(shader_type).unwrap();
+    context.shader_source(&shader, source);
+    context.compile_shader(&shader);
+    shader
+}
+
+fn get_uniform_array_locations<const N: usize>(
+    context: &WebGl2RenderingContext,
+    program: &WebGlProgram,
+    var_name: &str,
+    member_name_opt: Option<&str>
+) -> [Option<WebGlUniformLocation>; N] {
+    array::from_fn(|n| {
+        let name = match member_name_opt {
+            Some(member_name) => format!("{var_name}[{n}].{member_name}"),
+            None => format!("{var_name}[{n}]")
+        };
+        context.get_uniform_location(&program, name.as_str())
+    })
+}
+
+// load the given data into the vertex input of the given name
+fn bind_vertex_attrib(
+    context: &WebGl2RenderingContext,
+    index: u32,
+    size: i32,
+    data: &[f32]
+) {
+    // create a data buffer and bind it to ARRAY_BUFFER
+    let buffer = context.create_buffer().unwrap();
+    context.bind_buffer(WebGl2RenderingContext::ARRAY_BUFFER, Some(&buffer));
+    
+    // load the given data into the buffer. the function `Float32Array::view`
+    // creates a raw view into our module's `WebAssembly.Memory` buffer.
+    // allocating more memory will change the buffer, invalidating the view.
+    // that means we have to make sure we don't allocate any memory until the
+    // view is dropped
+    unsafe {
+        context.buffer_data_with_array_buffer_view(
+            WebGl2RenderingContext::ARRAY_BUFFER,
+            &js_sys::Float32Array::view(&data),
+            WebGl2RenderingContext::STATIC_DRAW,
+        );
+    }
+    
+    // allow the target attribute to be used
+    context.enable_vertex_attrib_array(index);
+    
+    // take whatever's bound to ARRAY_BUFFER---here, the data buffer created
+    // above---and bind it to the target attribute
+    //
+    //   https://developer.mozilla.org/en-US/docs/Web/API/WebGLRenderingContext/vertexAttribPointer
+    //
+    context.vertex_attrib_pointer_with_i32(
+        index,
+        size,
+        WebGl2RenderingContext::FLOAT,
+        false, // don't normalize
+        0, // zero stride
+        0, // zero offset
+    );
+}
+
+// the direction in camera space that a mouse event is pointing along
+fn event_dir(event: &MouseEvent) -> Vector3<f64> {
+    let target: Element = event.target().unwrap().unchecked_into();
+    let rect = target.get_bounding_client_rect();
+    let width = rect.width();
+    let height = rect.height();
+    let shortdim = width.min(height);
+    
+    // this constant should be kept synchronized with `inversive.frag`
+    const FOCAL_SLOPE: f64 = 0.3;
+    
+    Vector3::new(
+        FOCAL_SLOPE * (2.0*(f64::from(event.client_x()) - rect.left()) - width) / shortdim,
+        FOCAL_SLOPE * (2.0*(rect.bottom() - f64::from(event.client_y())) - height) / shortdim,
+        -1.0
+    )
+}
+
+#[component]
+pub fn Display() -> View {
+    let state = use_context::<AppState>();
+    
+    // canvas
+    let display = create_node_ref();
+    
+    // viewpoint
+    let assembly_to_world = create_signal(DMatrix::<f64>::identity(5, 5));
+    
+    // navigation
+    let pitch_up = create_signal(0.0);
+    let pitch_down = create_signal(0.0);
+    let yaw_right = create_signal(0.0);
+    let yaw_left = create_signal(0.0);
+    let roll_ccw = create_signal(0.0);
+    let roll_cw = create_signal(0.0);
+    let zoom_in = create_signal(0.0);
+    let zoom_out = create_signal(0.0);
+    let turntable = create_signal(false); /* BENCHMARKING */
+    
+    // manipulation
+    let translate_neg_x = create_signal(0.0);
+    let translate_pos_x = create_signal(0.0);
+    let translate_neg_y = create_signal(0.0);
+    let translate_pos_y = create_signal(0.0);
+    let translate_neg_z = create_signal(0.0);
+    let translate_pos_z = create_signal(0.0);
+    let shrink_neg = create_signal(0.0);
+    let shrink_pos = create_signal(0.0);
+    
+    // change listener
+    let scene_changed = create_signal(true);
+    create_effect(move || {
+        state.assembly.elements.with(|elts| {
+            for (_, elt) in elts {
+                elt.representation.track();
+            }
+        });
+        state.selection.track();
+        scene_changed.set(true);
+    });
+    
+    /* INSTRUMENTS */
+    const SAMPLE_PERIOD: i32 = 60;
+    let mut last_sample_time = 0.0;
+    let mut frames_since_last_sample = 0;
+    let mean_frame_interval = create_signal(0.0);
+    
+    let assembly_for_raf = state.assembly.clone();
+    on_mount(move || {
+        // timing
+        let mut last_time = 0.0;
+        
+        // viewpoint
+        const ROT_SPEED: f64 = 0.4; // in radians per second
+        const ZOOM_SPEED: f64 = 0.15; // multiplicative rate per second
+        const TURNTABLE_SPEED: f64 = 0.1; /* BENCHMARKING */
+        let mut orientation = DMatrix::<f64>::identity(5, 5);
+        let mut rotation = DMatrix::<f64>::identity(5, 5);
+        let mut location_z: f64 = 5.0;
+        
+        // manipulation
+        const TRANSLATION_SPEED: f64 = 0.15; // in length units per second
+        const SHRINKING_SPEED: f64 = 0.15; // in length units per second
+        
+        // display parameters
+        const OPACITY: f32 = 0.5; /* SCAFFOLDING */
+        const HIGHLIGHT: f32 = 0.2; /* SCAFFOLDING */
+        const LAYER_THRESHOLD: i32 = 0; /* DEBUG */
+        const DEBUG_MODE: i32 = 0; /* DEBUG */
+        
+        /* INSTRUMENTS */
+        let performance = window().unwrap().performance().unwrap();
+        
+        // get the display canvas
+        let canvas = display.get().unchecked_into::<web_sys::HtmlCanvasElement>();
+        let ctx = canvas
+            .get_context("webgl2")
+            .unwrap()
+            .unwrap()
+            .dyn_into::<WebGl2RenderingContext>()
+            .unwrap();
+        
+        // compile and attach the vertex and fragment shaders
+        let vertex_shader = compile_shader(
+            &ctx,
+            WebGl2RenderingContext::VERTEX_SHADER,
+            include_str!("identity.vert"),
+        );
+        let fragment_shader = compile_shader(
+            &ctx,
+            WebGl2RenderingContext::FRAGMENT_SHADER,
+            include_str!("inversive.frag"),
+        );
+        let program = ctx.create_program().unwrap();
+        ctx.attach_shader(&program, &vertex_shader);
+        ctx.attach_shader(&program, &fragment_shader);
+        ctx.link_program(&program);
+        let link_status = ctx
+            .get_program_parameter(&program, WebGl2RenderingContext::LINK_STATUS)
+            .as_bool()
+            .unwrap();
+        let link_msg = if link_status {
+            "Linked successfully"
+        } else {
+            "Linking failed"
+        };
+        console::log_1(&JsValue::from(link_msg));
+        ctx.use_program(Some(&program));
+        
+        /* DEBUG */
+        // print the maximum number of vectors that can be passed as
+        // uniforms to a fragment shader. the OpenGL ES 3.0 standard
+        // requires this maximum to be at least 224, as discussed in the
+        // documentation of the GL_MAX_FRAGMENT_UNIFORM_VECTORS parameter
+        // here:
+        //
+        //   https://registry.khronos.org/OpenGL-Refpages/es3.0/html/glGet.xhtml
+        //
+        // there are also other size limits. for example, on Aaron's
+        // machine, the the length of a float or genType array seems to be
+        // capped at 1024 elements
+        console::log_2(
+            &ctx.get_parameter(WebGl2RenderingContext::MAX_FRAGMENT_UNIFORM_VECTORS).unwrap(),
+            &JsValue::from("uniform vectors available")
+        );
+        
+        // find indices of vertex attributes and uniforms
+        const SPHERE_MAX: usize = 200;
+        let position_index = ctx.get_attrib_location(&program, "position") as u32;
+        let sphere_cnt_loc = ctx.get_uniform_location(&program, "sphere_cnt");
+        let sphere_sp_locs = get_uniform_array_locations::<SPHERE_MAX>(
+            &ctx, &program, "sphere_list", Some("sp")
+        );
+        let sphere_lt_locs = get_uniform_array_locations::<SPHERE_MAX>(
+            &ctx, &program, "sphere_list", Some("lt")
+        );
+        let color_locs = get_uniform_array_locations::<SPHERE_MAX>(
+            &ctx, &program, "color_list", None
+        );
+        let highlight_locs = get_uniform_array_locations::<SPHERE_MAX>(
+            &ctx, &program, "highlight_list", None
+        );
+        let resolution_loc = ctx.get_uniform_location(&program, "resolution");
+        let shortdim_loc = ctx.get_uniform_location(&program, "shortdim");
+        let opacity_loc = ctx.get_uniform_location(&program, "opacity");
+        let layer_threshold_loc = ctx.get_uniform_location(&program, "layer_threshold");
+        let debug_mode_loc = ctx.get_uniform_location(&program, "debug_mode");
+        
+        // create a vertex array and bind it to the graphics context
+        let vertex_array = ctx.create_vertex_array().unwrap();
+        ctx.bind_vertex_array(Some(&vertex_array));
+        
+        // set the vertex positions
+        const VERTEX_CNT: usize = 6;
+        let positions: [f32; 3*VERTEX_CNT] = [
+            // northwest triangle
+            -1.0, -1.0, 0.0,
+            -1.0,  1.0, 0.0,
+             1.0,  1.0, 0.0,
+            // southeast triangle
+            -1.0, -1.0, 0.0,
+             1.0,  1.0, 0.0,
+             1.0, -1.0, 0.0
+        ];
+        bind_vertex_attrib(&ctx, position_index, 3, &positions);
+        
+        // set up a repainting routine
+        let (_, start_animation_loop, _) = create_raf(move || {
+            // get the time step
+            let time = performance.now();
+            let time_step = 0.001*(time - last_time);
+            last_time = time;
+            
+            // get the navigation state
+            let pitch_up_val = pitch_up.get();
+            let pitch_down_val = pitch_down.get();
+            let yaw_right_val = yaw_right.get();
+            let yaw_left_val = yaw_left.get();
+            let roll_ccw_val = roll_ccw.get();
+            let roll_cw_val = roll_cw.get();
+            let zoom_in_val = zoom_in.get();
+            let zoom_out_val = zoom_out.get();
+            let turntable_val = turntable.get(); /* BENCHMARKING */
+            
+            // get the manipulation state
+            let translate_neg_x_val = translate_neg_x.get();
+            let translate_pos_x_val = translate_pos_x.get();
+            let translate_neg_y_val = translate_neg_y.get();
+            let translate_pos_y_val = translate_pos_y.get();
+            let translate_neg_z_val = translate_neg_z.get();
+            let translate_pos_z_val = translate_pos_z.get();
+            let shrink_neg_val = shrink_neg.get();
+            let shrink_pos_val = shrink_pos.get();
+            
+            // update the assembly's orientation
+            let ang_vel = {
+                let pitch = pitch_up_val - pitch_down_val;
+                let yaw = yaw_right_val - yaw_left_val;
+                let roll = roll_ccw_val - roll_cw_val;
+                if pitch != 0.0 || yaw != 0.0 || roll != 0.0 {
+                    ROT_SPEED * Vector3::new(-pitch, yaw, roll).normalize()
+                } else {
+                    Vector3::zeros()
+                }
+            } /* BENCHMARKING */ + if turntable_val {
+                Vector3::new(0.0, TURNTABLE_SPEED, 0.0)
+            } else {
+                Vector3::zeros()
+            };
+            let mut rotation_sp = rotation.fixed_view_mut::<3, 3>(0, 0);
+            rotation_sp.copy_from(
+                Rotation3::from_scaled_axis(time_step * ang_vel).matrix()
+            );
+            orientation = &rotation * &orientation;
+            
+            // update the assembly's location
+            let zoom = zoom_out_val - zoom_in_val;
+            location_z *= (time_step * ZOOM_SPEED * zoom).exp();
+            
+            // manipulate the assembly
+            if state.selection.with(|sel| sel.len() == 1) {
+                let sel = state.selection.with(
+                    |sel| *sel.into_iter().next().unwrap()
+                );
+                let translate_x = translate_pos_x_val - translate_neg_x_val;
+                let translate_y = translate_pos_y_val - translate_neg_y_val;
+                let translate_z = translate_pos_z_val - translate_neg_z_val;
+                let shrink = shrink_pos_val - shrink_neg_val;
+                let translating =
+                    translate_x != 0.0
+                    || translate_y != 0.0
+                    || translate_z != 0.0;
+                if translating || shrink != 0.0 {
+                    let elt_motion = {
+                        let u = if translating {
+                            TRANSLATION_SPEED * Vector3::new(
+                                translate_x, translate_y, translate_z
+                            ).normalize()
+                        } else {
+                            Vector3::zeros()
+                        };
+                        time_step * DVector::from_column_slice(
+                            &[u[0], u[1], u[2], SHRINKING_SPEED * shrink]
+                        )
+                    };
+                    assembly_for_raf.deform(
+                        vec![
+                            ElementMotion {
+                                key: sel,
+                                velocity: elt_motion.as_view()
+                            }
+                        ]
+                    );
+                    scene_changed.set(true);
+                }
+            }
+            
+            if scene_changed.get() {
+                /* INSTRUMENTS */
+                // measure mean frame interval
+                frames_since_last_sample += 1;
+                if frames_since_last_sample >= SAMPLE_PERIOD {
+                    mean_frame_interval.set((time - last_sample_time) / (SAMPLE_PERIOD as f64));
+                    last_sample_time = time;
+                    frames_since_last_sample = 0;
+                }
+                
+                // find the map from assembly space to world space
+                let location = {
+                    let u = -location_z;
+                    DMatrix::from_column_slice(5, 5, &[
+                        1.0, 0.0,   0.0, 0.0, 0.0,
+                        0.0, 1.0,   0.0, 0.0, 0.0,
+                        0.0, 0.0,   1.0, 0.0,   u,
+                        0.0, 0.0, 2.0*u, 1.0, u*u,
+                        0.0, 0.0,   0.0, 0.0, 1.0
+                    ])
+                };
+                let asm_to_world = &location * &orientation;
+                
+                // get the assembly
+                let (
+                    elt_cnt,
+                    reps_world,
+                    colors,
+                    highlights
+                ) = state.assembly.elements.with(|elts| {
+                    (
+                        // number of elements
+                        elts.len() as i32,
+                        
+                        // representation vectors in world coordinates
+                        elts.iter().map(
+                            |(_, elt)| elt.representation.with(|rep| &asm_to_world * rep)
+                        ).collect::<Vec<_>>(),
+                        
+                        // colors
+                        elts.iter().map(|(key, elt)| {
+                            if state.selection.with(|sel| sel.contains(&key)) {
+                                elt.color.map(|ch| 0.2 + 0.8*ch)
+                            } else {
+                                elt.color
+                            }
+                        }).collect::<Vec<_>>(),
+                        
+                        // highlight levels
+                        elts.iter().map(|(key, _)| {
+                            if state.selection.with(|sel| sel.contains(&key)) {
+                                1.0_f32
+                            } else {
+                                HIGHLIGHT
+                            }
+                        }).collect::<Vec<_>>()
+                    )
+                });
+                
+                // set the resolution
+                let width = canvas.width() as f32;
+                let height = canvas.height() as f32;
+                ctx.uniform2f(resolution_loc.as_ref(), width, height);
+                ctx.uniform1f(shortdim_loc.as_ref(), width.min(height));
+                
+                // pass the assembly
+                ctx.uniform1i(sphere_cnt_loc.as_ref(), elt_cnt);
+                for n in 0..reps_world.len() {
+                    let v = &reps_world[n];
+                    ctx.uniform3f(
+                        sphere_sp_locs[n].as_ref(),
+                        v[0] as f32, v[1] as f32, v[2] as f32
+                    );
+                    ctx.uniform2f(
+                        sphere_lt_locs[n].as_ref(),
+                        v[3] as f32, v[4] as f32
+                    );
+                    ctx.uniform3fv_with_f32_array(
+                        color_locs[n].as_ref(),
+                        &colors[n]
+                    );
+                    ctx.uniform1f(
+                        highlight_locs[n].as_ref(),
+                        highlights[n]
+                    );
+                }
+                
+                // pass the display parameters
+                ctx.uniform1f(opacity_loc.as_ref(), OPACITY);
+                ctx.uniform1i(layer_threshold_loc.as_ref(), LAYER_THRESHOLD);
+                ctx.uniform1i(debug_mode_loc.as_ref(), DEBUG_MODE);
+                
+                // draw the scene
+                ctx.draw_arrays(WebGl2RenderingContext::TRIANGLES, 0, VERTEX_CNT as i32);
+                
+                // update the viewpoint
+                assembly_to_world.set(asm_to_world);
+                
+                // clear the scene change flag
+                scene_changed.set(
+                    pitch_up_val != 0.0
+                    || pitch_down_val != 0.0
+                    || yaw_left_val != 0.0
+                    || yaw_right_val != 0.0
+                    || roll_cw_val != 0.0
+                    || roll_ccw_val != 0.0
+                    || zoom_in_val != 0.0
+                    || zoom_out_val != 0.0
+                    || turntable_val /* BENCHMARKING */
+                );
+            } else {
+                frames_since_last_sample = 0;
+                mean_frame_interval.set(-1.0);
+            }
+        });
+        start_animation_loop();
+    });
+    
+    let set_nav_signal = move |event: &KeyboardEvent, value: f64| {
+        let mut navigating = true;
+        let shift = event.shift_key();
+        match event.key().as_str() {
+            "ArrowUp" if shift => zoom_in.set(value),
+            "ArrowDown" if shift => zoom_out.set(value),
+            "ArrowUp" => pitch_up.set(value),
+            "ArrowDown" => pitch_down.set(value),
+            "ArrowRight" if shift => roll_cw.set(value),
+            "ArrowLeft" if shift => roll_ccw.set(value),
+            "ArrowRight" => yaw_right.set(value),
+            "ArrowLeft" => yaw_left.set(value),
+            _ => navigating = false
+        };
+        if navigating {
+            scene_changed.set(true);
+            event.prevent_default();
+        }
+    };
+    
+    let set_manip_signal = move |event: &KeyboardEvent, value: f64| {
+        let mut manipulating = true;
+        let shift = event.shift_key();
+        match event.key().as_str() {
+            "d" | "D" => translate_pos_x.set(value),
+            "a" | "A" => translate_neg_x.set(value),
+            "w" | "W" if shift => translate_neg_z.set(value),
+            "s" | "S" if shift => translate_pos_z.set(value),
+            "w" | "W" => translate_pos_y.set(value),
+            "s" | "S" => translate_neg_y.set(value),
+            "]" | "}" => shrink_neg.set(value),
+            "[" | "{" => shrink_pos.set(value),
+            _ => manipulating = false
+        };
+        if manipulating {
+            event.prevent_default();
+        }
+    };
+    
+    view! {
+        /* TO DO */
+        // switch back to integer-valued parameters when that becomes possible
+        // again
+        canvas(
+            ref=display,
+            width="600",
+            height="600",
+            tabindex="0",
+            on:keydown=move |event: KeyboardEvent| {
+                if event.key() == "Shift" {
+                    // swap navigation inputs
+                    roll_cw.set(yaw_right.get());
+                    roll_ccw.set(yaw_left.get());
+                    zoom_in.set(pitch_up.get());
+                    zoom_out.set(pitch_down.get());
+                    yaw_right.set(0.0);
+                    yaw_left.set(0.0);
+                    pitch_up.set(0.0);
+                    pitch_down.set(0.0);
+                    
+                    // swap manipulation inputs
+                    translate_pos_z.set(translate_neg_y.get());
+                    translate_neg_z.set(translate_pos_y.get());
+                    translate_pos_y.set(0.0);
+                    translate_neg_y.set(0.0);
+                } else {
+                    if event.key() == "Enter" { /* BENCHMARKING */
+                        turntable.set_fn(|turn| !turn);
+                        scene_changed.set(true);
+                    }
+                    set_nav_signal(&event, 1.0);
+                    set_manip_signal(&event, 1.0);
+                }
+            },
+            on:keyup=move |event: KeyboardEvent| {
+                if event.key() == "Shift" {
+                    // swap navigation inputs
+                    yaw_right.set(roll_cw.get());
+                    yaw_left.set(roll_ccw.get());
+                    pitch_up.set(zoom_in.get());
+                    pitch_down.set(zoom_out.get());
+                    roll_cw.set(0.0);
+                    roll_ccw.set(0.0);
+                    zoom_in.set(0.0);
+                    zoom_out.set(0.0);
+                    
+                    // swap manipulation inputs
+                    translate_pos_y.set(translate_neg_z.get());
+                    translate_neg_y.set(translate_pos_z.get());
+                    translate_pos_z.set(0.0);
+                    translate_neg_z.set(0.0);
+                } else {
+                    set_nav_signal(&event, 0.0);
+                    set_manip_signal(&event, 0.0);
+                }
+            },
+            on:blur=move |_| {
+                pitch_up.set(0.0);
+                pitch_down.set(0.0);
+                yaw_right.set(0.0);
+                yaw_left.set(0.0);
+                roll_ccw.set(0.0);
+                roll_cw.set(0.0);
+            },
+            on:click=move |event: MouseEvent| {
+                // find the nearest element along the pointer direction
+                let dir = event_dir(&event);
+                console::log_1(&JsValue::from(dir.to_string()));
+                let mut clicked: Option<(ElementKey, f64)> = None;
+                for (key, elt) in state.assembly.elements.get_clone_untracked() {
+                    match assembly_to_world.with(|asm_to_world| elt.cast(dir, asm_to_world)) {
+                        Some(depth) => match clicked {
+                            Some((_, best_depth)) => {
+                                if depth < best_depth {
+                                    clicked = Some((key, depth))
+                                }
+                            },
+                            None => clicked = Some((key, depth))
+                        }
+                        None => ()
+                    };
+                }
+                
+                // if we clicked something, select it
+                match clicked {
+                    Some((key, _)) => state.select(key, event.shift_key()),
+                    None => state.selection.update(|sel| sel.clear())
+                };
+            }
+        )
+    }
+}

app-proto/src/inversive.frag

@@ -17,7 +17,7 @@ struct vecInv {
 const int SPHERE_MAX = 200;
 uniform int sphere_cnt;
 uniform vecInv sphere_list[SPHERE_MAX];
-uniform vec4 color_list[SPHERE_MAX];
+uniform vec3 color_list[SPHERE_MAX];
 uniform float highlight_list[SPHERE_MAX];
 
 // view
@@ -25,6 +25,7 @@ uniform vec2 resolution;
 uniform float shortdim;
 
 // controls
+uniform float opacity;
 uniform int layer_threshold;
 uniform bool debug_mode;
 
@@ -68,7 +69,7 @@ struct Fragment {
     vec4 color;
 };
 
-Fragment sphere_shading(vecInv v, vec3 pt, vec4 base_color) {
+Fragment sphere_shading(vecInv v, vec3 pt, vec3 base_color) {
     // the expression for normal needs to be checked. it's supposed to give the
     // negative gradient of the lorentz product between the impact point vector
     // and the sphere vector with respect to the coordinates of the impact
@@ -78,7 +79,7 @@ Fragment sphere_shading(vecInv v, vec3 pt, vec4 base_color) {
     
     float incidence = dot(normal, light_dir);
     float illum = mix(0.4, 1.0, max(incidence, 0.0));
-    return Fragment(pt, normal, vec4(illum * base_color.rgb, base_color.a));
+    return Fragment(pt, normal, vec4(illum * base_color, opacity));
 }
 
 float intersection_dist(Fragment a, Fragment b) {
@@ -191,11 +192,10 @@ void main() {
     vec3 color = vec3(0.);
     int layer = layer_cnt - 1;
     TaggedDepth hit = top_hits[layer];
-    vec4 sphere_color = color_list[hit.id];
     Fragment frag_next = sphere_shading(
         sphere_list[hit.id],
         hit.depth * dir,
-        vec4(hit.dimming * sphere_color.rgb, sphere_color.a)
+        hit.dimming * color_list[hit.id]
     );
     float highlight_next = highlight_list[hit.id];
     --layer;
@@ -206,11 +206,10 @@ void main() {
         
         // shade the next fragment
         hit = top_hits[layer];
-        sphere_color = color_list[hit.id];
         frag_next = sphere_shading(
             sphere_list[hit.id],
             hit.depth * dir,
-            vec4(hit.dimming * sphere_color.rgb, sphere_color.a)
+            hit.dimming * color_list[hit.id]
         );
         highlight_next = highlight_list[hit.id];
         

app-proto/src/main.rs

@@ -1,49 +1,46 @@
+mod add_remove;
 mod assembly;
-mod components;
+mod display;
 mod engine;
+mod outline;
 mod specified;
 
-#[cfg(test)]
-mod tests;
-
-use std::{collections::BTreeSet, rc::Rc};
+use rustc_hash::FxHashSet;
 use sycamore::prelude::*;
 
-use assembly::{Assembly, Element};
-use components::{
-    add_remove::AddRemove,
-    diagnostics::Diagnostics,
-    display::Display,
-    outline::Outline,
-};
+use add_remove::AddRemove;
+use assembly::{Assembly, ElementKey};
+use display::Display;
+use outline::Outline;
 
 #[derive(Clone)]
 struct AppState {
     assembly: Assembly,
-    selection: Signal<BTreeSet<Rc<dyn Element>>>,
+    selection: Signal<FxHashSet<ElementKey>>
 }
 
 impl AppState {
-    fn new() -> Self {
-        Self {
+    fn new() -> AppState {
+        AppState {
             assembly: Assembly::new(),
-            selection: create_signal(BTreeSet::default()),
+            selection: create_signal(FxHashSet::default())
         }
     }
     
-    // in single-selection mode, select the given element. in multiple-selection
-    // mode, toggle whether the given element is selected
-    fn select(&self, element: &Rc<dyn Element>, multi: bool) {
+    // in single-selection mode, select the element with the given key. in
+    // multiple-selection mode, toggle whether the element with the given key
+    // is selected
+    fn select(&self, key: ElementKey, multi: bool) {
         if multi {
             self.selection.update(|sel| {
-                if !sel.remove(element) {
-                    sel.insert(element.clone());
+                if !sel.remove(&key) {
+                    sel.insert(key);
                 }
             });
         } else {
             self.selection.update(|sel| {
                 sel.clear();
-                sel.insert(element.clone());
+                sel.insert(key);
             });
         }
     }
@@ -58,10 +55,9 @@ fn main() {
         provide_context(AppState::new());
         
         view! {
-            div(id = "sidebar") {
+            div(id="sidebar") {
                 AddRemove {}
                 Outline {}
-                Diagnostics {}
             }
             Display {}
         }

app-proto/src/outline.rs

@@ -0,0 +1,235 @@
+use itertools::Itertools;
+use sycamore::prelude::*;
+use web_sys::{
+    KeyboardEvent,
+    MouseEvent,
+    wasm_bindgen::JsCast
+};
+
+use crate::{
+    AppState,
+    assembly,
+    assembly::{ElementKey, Regulator, RegulatorKey},
+    specified::SpecifiedValue
+};
+
+// an editable view of a regulator
+#[component(inline_props)]
+fn RegulatorInput(regulator: Regulator) -> View {
+    let valid = create_signal(true);
+    let value = create_signal(
+        regulator.set_point.with_untracked(|set_pt| set_pt.spec.clone())
+    );
+    
+    // this closure resets the input value to the regulator's set point
+    // specification
+    let reset_value = move || {
+        batch(|| {
+            valid.set(true);
+            value.set(regulator.set_point.with(|set_pt| set_pt.spec.clone()));
+        })
+    };
+    
+    // reset the input value whenever the regulator's set point specification
+    // is updated
+    create_effect(reset_value);
+    
+    view! {
+        input(
+            r#type="text",
+            class=move || {
+                if valid.get() {
+                    regulator.set_point.with(|set_pt| {
+                        if set_pt.is_present() {
+                            "regulator-input constraint"
+                        } else {
+                            "regulator-input"
+                        }
+                    })
+                } else {
+                    "regulator-input invalid"
+                }
+            },
+            placeholder=regulator.measurement.with(|result| result.to_string()),
+            bind:value=value,
+            on:change=move |_| {
+                valid.set(
+                    match SpecifiedValue::try_from(value.get_clone_untracked()) {
+                        Ok(set_pt) => {
+                            regulator.set_point.set(set_pt);
+                            true
+                        }
+                        Err(_) => false
+                    }
+                )
+            },
+            on:keydown={
+                move |event: KeyboardEvent| {
+                    match event.key().as_str() {
+                        "Escape" => reset_value(),
+                        _ => ()
+                    }
+                }
+            }
+        )
+    }
+}
+
+// a list item that shows a regulator in an outline view of an element
+#[component(inline_props)]
+fn RegulatorOutlineItem(regulator_key: RegulatorKey, element_key: ElementKey) -> View {
+    let state = use_context::<AppState>();
+    let assembly = &state.assembly;
+    let regulator = assembly.regulators.with(|regs| regs[regulator_key]);
+    let other_subject = if regulator.subjects.0 == element_key {
+        regulator.subjects.1
+    } else {
+        regulator.subjects.0
+    };
+    let other_subject_label = assembly.elements.with(|elts| elts[other_subject].label.clone());
+    view! {
+        li(class="regulator") {
+            div(class="regulator-label") { (other_subject_label) }
+            div(class="regulator-type") { "Inversive distance" }
+            RegulatorInput(regulator=regulator)
+            div(class="status")
+        }
+    }
+}
+
+// a list item that shows an element in an outline view of an assembly
+#[component(inline_props)]
+fn ElementOutlineItem(key: ElementKey, element: assembly::Element) -> View {
+    let state = use_context::<AppState>();
+    let class = state.selection.map(
+        move |sel| if sel.contains(&key) { "selected" } else { "" }
+    );
+    let label = element.label.clone();
+    let rep_components = move || {
+        element.representation.with(
+            |rep| rep.iter().map(
+                |u| {
+                    let u_str = format!("{:.3}", u).replace("-", "\u{2212}");
+                    view! { div { (u_str) } }
+                }
+            ).collect::<Vec<_>>()
+        )
+    };
+    let regulated = element.regulators.map(|regs| regs.len() > 0);
+    let regulator_list = element.regulators.map(
+        |regs| regs.clone().into_iter().collect()
+    );
+    let details_node = create_node_ref();
+    view! {
+        li {
+            details(ref=details_node) {
+                summary(
+                    class=class.get(),
+                    on:keydown={
+                        move |event: KeyboardEvent| {
+                            match event.key().as_str() {
+                                "Enter" => {
+                                    state.select(key, event.shift_key());
+                                    event.prevent_default();
+                                },
+                                "ArrowRight" if regulated.get() => {
+                                    let _ = details_node
+                                        .get()
+                                        .unchecked_into::<web_sys::Element>()
+                                        .set_attribute("open", "");
+                                },
+                                "ArrowLeft" => {
+                                    let _ = details_node
+                                        .get()
+                                        .unchecked_into::<web_sys::Element>()
+                                        .remove_attribute("open");
+                                },
+                                _ => ()
+                            }
+                        }
+                    }
+                ) {
+                    div(
+                        class="element-switch",
+                        on:click=|event: MouseEvent| event.stop_propagation()
+                    )
+                    div(
+                        class="element",
+                        on:click={
+                            move |event: MouseEvent| {
+                                if event.shift_key() {
+                                    state.selection.update(|sel| {
+                                        if !sel.remove(&key) {
+                                            sel.insert(key);
+                                        }
+                                    });
+                                } else {
+                                    state.selection.update(|sel| {
+                                        sel.clear();
+                                        sel.insert(key);
+                                    });
+                                }
+                                event.stop_propagation();
+                                event.prevent_default();
+                            }
+                        }
+                    ) {
+                        div(class="element-label") { (label) }
+                        div(class="element-representation") { (rep_components) }
+                        div(class="status")
+                    }
+                }
+                ul(class="regulators") {
+                    Keyed(
+                        list=regulator_list,
+                        view=move |reg_key| view! {
+                            RegulatorOutlineItem(
+                                regulator_key=reg_key,
+                                element_key=key
+                            )
+                        },
+                        key=|reg_key| reg_key.clone()
+                    )
+                }
+            }
+        }
+    }
+}
+
+// a component that lists the elements of the current assembly, showing each
+// element's regulators in a collapsible sub-list. its implementation is based
+// on Kate Morley's HTML + CSS tree views:
+//
+//   https://iamkate.com/code/tree-views/
+//
+#[component]
+pub fn Outline() -> View {
+    let state = use_context::<AppState>();
+    
+    // list the elements alphabetically by ID
+    let element_list = state.assembly.elements.map(
+        |elts| elts
+            .clone()
+            .into_iter()
+            .sorted_by_key(|(_, elt)| elt.id.clone())
+            .collect()
+    );
+    
+    view! {
+        ul(
+            id="outline",
+            on:click={
+                let state = use_context::<AppState>();
+                move |_| state.selection.update(|sel| sel.clear())
+            }
+        ) {
+            Keyed(
+                list=element_list,
+                view=|(key, elt)| view! {
+                    ElementOutlineItem(key=key, element=elt)
+                },
+                key=|(_, elt)| elt.serial
+            )
+        }
+    }
+}

app-proto/src/specified.rs

@@ -13,12 +13,12 @@ use std::num::ParseFloatError;
 #[readonly::make]
 pub struct SpecifiedValue {
     pub spec: String,
-    pub value: Option<f64>,
+    pub value: Option<f64>
 }
 
 impl SpecifiedValue {
-    pub fn from_empty_spec() -> Self {
-        Self { spec: String::new(), value: None }
+    pub fn from_empty_spec() -> SpecifiedValue {
+        SpecifiedValue { spec: String::new(), value: None }
     }
     
     pub fn is_present(&self) -> bool {
@@ -34,10 +34,10 @@ impl TryFrom<String> for SpecifiedValue {
     
     fn try_from(spec: String) -> Result<Self, Self::Error> {
         if spec.is_empty() {
-            Ok(Self::from_empty_spec())
+            Ok(SpecifiedValue::from_empty_spec())
         } else {
             spec.parse::<f64>().map(
-                |value| Self { spec, value: Some(value) }
+                |value| SpecifiedValue { spec: spec, value: Some(value) }
             )
         }
     }

app-proto/src/tests.rs

@@ -1,14 +0,0 @@
-use std::process::Command;
-
-// build and bundle the application, reporting success if there are no errors or
-// warnings. to see this test fail while others succeed, try moving `index.html`
-// or one of the assets that it links to
-#[test]
-fn trunk_build_test() {
-    let build_status = Command::new("trunk")
-        .arg("build")
-        .env("RUSTFLAGS", "-D warnings")
-        .status()
-        .expect("Call to Trunk failed");
-    assert!(build_status.success());
-}

deploy/.gitignore

@@ -1,5 +0,0 @@
-/dyna3.zip
-/dyna3/index.html
-/dyna3/dyna3-*.js
-/dyna3/dyna3-*.wasm
-/dyna3/main-*.css

tools/package-for-deployment.sh

@@ -1,16 +0,0 @@
-# set paths. this technique for getting the script location comes from
-# `mklement0` on Stack Overflow
-#
-#   https://stackoverflow.com/a/24114056
-#
-TOOLS=$(dirname -- $0)
-SRC="$TOOLS/../app-proto/dist"
-DEST="$TOOLS/../deploy/dyna3"
-
-# remove the old hash-named files
-[ -e "$DEST"/dyna3-*.js ] && rm "$DEST"/dyna3-*.js
-[ -e "$DEST"/dyna3-*.wasm ] && rm "$DEST"/dyna3-*.wasm
-[ -e "$DEST"/main-*.css ] && rm "$DEST"/main-*.css
-
-# copy the distribution
-cp -r "$SRC/." "$DEST"

tools/run-examples.sh

@@ -1,20 +0,0 @@
-# run all Cargo examples, as described here:
-#
-#   Karol Kuczmarski. "Add examples to your Rust libraries"
-#   http://xion.io/post/code/rust-examples.html
-#
-# you should invoke this script by calling `sh` or another interpreter, rather
-# than calling `souce`, to ensure that the script can find the manifest file for
-# the application prototype
-
-# find the manifest file for the application prototype
-MANIFEST="$(dirname -- $0)/../app-proto/Cargo.toml"
-
-# set up the command that runs each example
-RUN_EXAMPLE="cargo run --manifest-path $MANIFEST --example"
-
-# run the examples
-$RUN_EXAMPLE irisawa-hexlet; echo
-$RUN_EXAMPLE three-spheres; echo
-$RUN_EXAMPLE point-on-sphere; echo
-$RUN_EXAMPLE kaleidocycle