fix(viewer): keep recorded follow locked to rig

apps/control-station/scripts/patch-rerun-web-viewer.mjs

@@ -23,8 +23,8 @@ const vendorRuntime = [
     packagePath: resolve(packageRoot, "re_viewer_bg.wasm"),
     vendorPath: resolve(vendorRoot, "re_viewer_bg.nodedc.wasm"),
     publishedSha256: "3fe7aab8ea6bb0fd03c3ef694932943411ee174029e398c539c390beb0824d35",
-    previousNodedcSha256: "38d19bac06b7c3b8e549489469cf7c4a24f319ec953849e4656b5827a6c105bb",
-    nodedcSha256: "e85dbad1569431620d4fabb18c1dbddd3a26d071eec1bb88a036fa755bc921da",
+    previousNodedcSha256: "e85dbad1569431620d4fabb18c1dbddd3a26d071eec1bb88a036fa755bc921da",
+    nodedcSha256: "6aca9da47ad561d2046ad0c7c0b8a7f653f023a77132c5c6304789320db512c2",
   },
   {
     label: "wasm JavaScript glue",

apps/control-station/src/workspaces/Workspaces.tsx

@@ -631,7 +631,7 @@ function SpatialWorkspace({
               variant={followRecordedTrajectory ? "primary" : "secondary"}
               icon={<Icon name="target" />}
               aria-pressed={followRecordedTrajectory}
-              title="Привязать orbital-пивот к текущему положению рига"
+              title="Удерживать orbital-пивот на риге до повторного нажатия"
               onClick={() => setFollowRecordedTrajectory((current) => !current)}
             >
               Следовать

apps/control-station/test/rerunWebViewerVendor.test.mjs

@@ -17,7 +17,7 @@ test("NODE.DC Rerun runtime is the audited 0.34.1 spatial camera build", () => {
   const manifest = JSON.parse(readFileSync(resolve(packageRoot, "package.json"), "utf8"));
   assert.equal(manifest.version, "0.34.1");
 
-  const expectedWasm = "e85dbad1569431620d4fabb18c1dbddd3a26d071eec1bb88a036fa755bc921da";
+  const expectedWasm = "6aca9da47ad561d2046ad0c7c0b8a7f653f023a77132c5c6304789320db512c2";
   const expectedGlue = "0f7b76c9f24cbd8437021b5d37499894aeadc586183e422ebc82ef556d7b8339";
 
   assert.equal(sha256(resolve(vendorRoot, "re_viewer_bg.nodedc.wasm")), expectedWasm);
@@ -55,7 +55,7 @@ test("custom Rerun WASM initializes and grows its externref table", () => {
   runtime.deinit();
 });
 
-test("source patch carries pointer navigation, camera continuity, and geometry tests", () => {
+test("source patch carries pointer navigation, persistent follow, and geometry tests", () => {
   const patch = readFileSync(resolve(vendorRoot, "NODEDC_ZOOM_TO_CURSOR.patch"), "utf8");
 
   assert.match(patch, /fn pointer_ray_direction/);
@@ -69,5 +69,7 @@ test("source patch carries pointer navigation, camera continuity, and geometry t
   assert.match(patch, /minimum_orbital_navigation_speed/);
   assert.match(patch, /orbital_rotation_keeps_selected_anchor_on_the_same_view_ray/);
   assert.match(patch, /orbital_navigation_speed_floor_tracks_scene_scale/);
+  assert.match(patch, /NODEDC_PERSISTENT_ORBIT_TRACKING_ENTITY/);
+  assert.match(patch, /nodedc_rig_orbit_tracking_is_persistent/);
   assert.match(patch, /previous_picking_result/);
 });

apps/control-station/vendor/rerun-web-viewer-0.34.1/BUILD_INFO.md

@@ -13,6 +13,9 @@ This directory contains the audited Mission Core camera-controller override for
   silently ignoring the wheel or moving by imperceptible millimeters;
 - orbital navigation has a scene-scale speed floor, so WASD and post-limit
   dolly remain useful at the minimum radius;
+- Mission Core's explicit `/world/sensor_pose` orbital follow keeps the current
+  eye radius and orientation when enabled, remains attached through manual
+  orbit and zoom, and releases only when the operator toggles follow off;
 - first-person movement, panning and Rerun's zoom-out cap are unchanged.
 
 ## Source identity
@@ -57,13 +60,13 @@ generated `re_viewer.js` is transformed with
 
 | Artifact | SHA-256 |
 | --- | --- |
-| `re_viewer_bg.nodedc.wasm` | `e85dbad1569431620d4fabb18c1dbddd3a26d071eec1bb88a036fa755bc921da` |
+| `re_viewer_bg.nodedc.wasm` | `6aca9da47ad561d2046ad0c7c0b8a7f653f023a77132c5c6304789320db512c2` |
 | raw generated `re_viewer.js` | `cc196a93c5be972c801d46be4dc9934f7f042eb62941f0aa0678f1c8416c6874` |
 | `re_viewer.nodedc.js` | `0f7b76c9f24cbd8437021b5d37499894aeadc586183e422ebc82ef556d7b8339` |
 
-The focused Rust suite completed with `7 passed, 0 failed`, including the
+The focused Rust suite completed with `8 passed, 0 failed`, including the
 orbit-to-dolly boundary, pointer-anchored rotation and scene-scale speed-floor
-cases. A Node `initSync`
+cases, plus persistent rig-orbit tracking. A Node `initSync`
 smoke test completed successfully, including the `externref` table-growth step.
 The Mission Core Node suite also checks both artifact hashes and verifies that
 every `wasm.*` reference in the JavaScript glue exists in the paired WASM

apps/control-station/vendor/rerun-web-viewer-0.34.1/NODEDC_ZOOM_TO_CURSOR.patch

@@ -1,25 +1,39 @@
 diff --git a/crates/viewer/re_view_spatial/src/eye.rs b/crates/viewer/re_view_spatial/src/eye.rs
-index e59b311..7159aab 100644
+index e59b311..77ac8d7 100644
 --- a/crates/viewer/re_view_spatial/src/eye.rs
 +++ b/crates/viewer/re_view_spatial/src/eye.rs
 @@ -207,0 +208,3 @@ pub struct EyeState {
 +    /// World-space point selected when the current orbital drag started.
 +    orbit_drag_anchor: Option<Vec3>,
 +
-@@ -434 +437 @@ impl EyeController {
+@@ -245,0 +249,13 @@ pub(crate) struct EyeController {
++/// NODE.DC's operator follow mode is explicitly toggled outside the embedded
++/// viewer. Unlike Rerun's transient entity tracking, manual orbit/zoom must
++/// therefore keep this rig pivot attached until the operator toggles it off.
++const NODEDC_PERSISTENT_ORBIT_TRACKING_ENTITY: &str = "/world/sensor_pose";
++
++fn keeps_orbital_tracking_after_interaction(
++    kind: Eye3DKind,
++    tracking_entity: &EntityPath,
++) -> bool {
++    kind == Eye3DKind::Orbital
++        && tracking_entity == &EntityPath::from(NODEDC_PERSISTENT_ORBIT_TRACKING_ENTITY)
++}
++
+@@ -434 +450 @@ impl EyeController {
 -        let mut rot = self.rotation();
 +        let rot = self.rotation_after_delta(delta);
-@@ -435,0 +439,2 @@ impl EyeController {
+@@ -435,0 +452,2 @@ impl EyeController {
 +        self.apply_rotation_and_radius(rot, radius);
 +    }
-@@ -436,0 +442,2 @@ impl EyeController {
+@@ -436,0 +455,2 @@ impl EyeController {
 +    fn rotation_after_delta(&self, delta: egui::Vec2) -> Quat {
 +        let mut rot = self.rotation();
-@@ -452 +459,2 @@ impl EyeController {
+@@ -452 +472,2 @@ impl EyeController {
 -        rot = rot.normalize();
 +        rot.normalize()
 +    }
-@@ -454 +462,13 @@ impl EyeController {
+@@ -454 +475,13 @@ impl EyeController {
 -        self.apply_rotation_and_radius(rot, radius);
 +    /// Rotate around the point selected under the pointer without moving that
 +    /// point on screen.
@@ -34,7 +48,7 @@ index e59b311..7159aab 100644
 +    fn rotate_around_anchor(&mut self, delta: egui::Vec2, anchor: Vec3) {
 +        let sensitivity = 0.004;
 +        self.rotate_radians_around_anchor(sensitivity * delta, anchor);
-@@ -491 +511,10 @@ impl EyeController {
+@@ -491 +524,10 @@ impl EyeController {
 -    fn handle_drag(&mut self, response: &egui::Response, drag_threshold: f32) {
 +    fn handle_drag(
 +        &mut self,
@@ -46,7 +60,7 @@ index e59b311..7159aab 100644
 +        if !response.dragged_by(ROTATE3D_BUTTON) {
 +            eye_state.orbit_drag_anchor = None;
 +        }
-@@ -503 +532,15 @@ impl EyeController {
+@@ -503 +545,15 @@ impl EyeController {
 -                self.rotate(response.drag_delta());
 +                if self.kind == Eye3DKind::Orbital {
 +                    let anchor = *eye_state.orbit_drag_anchor.get_or_insert_with(|| {
@@ -63,7 +77,7 @@ index e59b311..7159aab 100644
 +                } else {
 +                    self.rotate(response.drag_delta());
 +                }
-@@ -514,0 +558,86 @@ impl EyeController {
+@@ -514,0 +571,86 @@ impl EyeController {
 +    /// Returns the world-space ray under the pointer.
 +    ///
 +    /// Keeping this calculation local to the eye controller lets orbital zoom use the pointer
@@ -150,16 +164,16 @@ index e59b311..7159aab 100644
 +        self.did_interact = true;
 +    }
 +
-@@ -516 +645,2 @@ impl EyeController {
+@@ -516 +658,2 @@ impl EyeController {
 -    fn handle_zoom(&mut self, egui_ctx: &egui::Context, scene_bounding_box: &macaw::BoundingBox) {
 +    fn handle_zoom(&mut self, response: &egui::Response, scene_bounding_box: &macaw::BoundingBox) {
 +        let egui_ctx = &response.ctx;
-@@ -531,2 +660,0 @@ impl EyeController {
+@@ -531,2 +673,0 @@ impl EyeController {
 -                let radius = self.pos.distance(self.look_target);
 -
-@@ -534,0 +663 @@ impl EyeController {
+@@ -534,0 +676 @@ impl EyeController {
 +                let radius = self.radius();
-@@ -536,11 +665,2 @@ impl EyeController {
+@@ -536,11 +678,2 @@ impl EyeController {
 -                let new_radius = (radius / zoom_factor).clamp(Self::MIN_ORBIT_DISTANCE, max_radius);
 -
 -                // The user may be scrolling to move the camera closer, but are not realizing
@@ -173,21 +187,21 @@ index e59b311..7159aab 100644
 -                }
 +                let pointer = response.ctx.pointer_latest_pos();
 +                self.zoom_orbit_towards_pointer(zoom_factor, max_radius, response.rect, pointer);
-@@ -669,0 +790 @@ impl EyeController {
+@@ -669,0 +803 @@ impl EyeController {
 +        pointer_space_position: Option<Vec3>,
-@@ -671,0 +793,5 @@ impl EyeController {
+@@ -671,0 +806,5 @@ impl EyeController {
 +        if self.kind == Eye3DKind::Orbital {
 +            self.speed = self
 +                .speed
 +                .max(minimum_orbital_navigation_speed(scene_bounding_box) as f64);
 +        }
-@@ -687 +813 @@ impl EyeController {
+@@ -687 +826 @@ impl EyeController {
 -        self.handle_drag(response, drag_threshold);
 +        self.handle_drag(eye_state, response, drag_threshold, pointer_space_position);
-@@ -690 +816 @@ impl EyeController {
+@@ -690 +829 @@ impl EyeController {
 -            self.handle_zoom(&response.ctx, scene_bounding_box);
 +            self.handle_zoom(response, scene_bounding_box);
-@@ -728,0 +855,18 @@ fn max_orbital_radius(scene_bounding_box: &macaw::BoundingBox) -> f32 {
+@@ -728,0 +868,18 @@ fn max_orbital_radius(scene_bounding_box: &macaw::BoundingBox) -> f32 {
 +/// Lower bound for free-flight and post-limit zoom speed in orbital mode.
 +///
 +/// The default orbital speed is the current orbit radius. Close to the near
@@ -206,15 +220,27 @@ index e59b311..7159aab 100644
 +    (scene_diagonal * SCENE_DIAGONAL_FACTOR).max(FALLBACK)
 +}
 +
-@@ -773,0 +918 @@ impl EyeState {
+@@ -773,0 +931 @@ impl EyeState {
 +        pointer_space_position: Option<Vec3>,
-@@ -816,0 +962 @@ impl EyeState {
+@@ -816,0 +975 @@ impl EyeState {
 +            pointer_space_position,
-@@ -1189,0 +1336 @@ impl EyeState {
+@@ -891,0 +1051,2 @@ impl EyeState {
++            let persistent_orbit_tracking =
++                keeps_orbital_tracking_after_interaction(eye_controller.kind, &tracking_entity);
+@@ -946 +1107 @@ impl EyeState {
+-                    if new_tracking {
++                    if new_tracking && !persistent_orbit_tracking {
+@@ -998 +1159,4 @@ impl EyeState {
+-                if eye_controller.did_interact && did_eye_orbit_center_change {
++                if eye_controller.did_interact
++                    && did_eye_orbit_center_change
++                    && !persistent_orbit_tracking
++                {
+@@ -1189,0 +1354 @@ impl EyeState {
 +        pointer_space_position: Option<Vec3>,
-@@ -1203,0 +1351 @@ impl EyeState {
+@@ -1203,0 +1369 @@ impl EyeState {
 +            pointer_space_position,
-@@ -1251,0 +1400,126 @@ impl EyeState {
+@@ -1251,0 +1418,145 @@ impl EyeState {
 +
 +#[cfg(test)]
 +mod tests {
@@ -340,6 +366,25 @@ index e59b311..7159aab 100644
 +            0.25
 +        );
 +    }
++
++    #[test]
++    fn nodedc_rig_orbit_tracking_is_persistent() {
++        let rig = EntityPath::from(NODEDC_PERSISTENT_ORBIT_TRACKING_ENTITY);
++        let other = EntityPath::from("/world/another_entity");
++
++        assert!(keeps_orbital_tracking_after_interaction(
++            Eye3DKind::Orbital,
++            &rig
++        ));
++        assert!(!keeps_orbital_tracking_after_interaction(
++            Eye3DKind::FirstPerson,
++            &rig
++        ));
++        assert!(!keeps_orbital_tracking_after_interaction(
++            Eye3DKind::Orbital,
++            &other
++        ));
++    }
 +}
 diff --git a/crates/viewer/re_view_spatial/src/ui_3d.rs b/crates/viewer/re_view_spatial/src/ui_3d.rs
 index 56257a8..07498ab 100644