feat(lab): project system obstacles into fisheye

apps/control-station/public/vendor/playcanvas/draco/1.5.7/BUILD_INFO.md

@@ -0,0 +1,8 @@
+# Draco glTF decoder 1.5.7
+
+Vendored from Google's immutable versioned Draco decoder distribution for the
+PlayCanvas `DracoDecoderModule`. Runtime loading remains local to Mission Core.
+
+- `draco_wasm_wrapper_gltf.js`: `8bb2952d2ba7d67e1414f8df819410cb0434a666be53f671fff75f68843d76f6`
+- `draco_decoder_gltf.wasm`: `712db3449ae2041d6e8a224c395bda6cedb49e51322fae38b7db9beb8b381889`
+- Upstream base: `https://www.gstatic.com/draco/versioned/decoders/1.5.7/`

apps/control-station/public/vendor/playcanvas/draco/1.5.7/draco_wasm_wrapper_gltf.js

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+a.asm.vb).apply(null,arguments)},Wc=a._emscripten_enum_draco_EncodedGeometryType_TRIANGULAR_MESH=function(){return(Wc=a._emscripten_enum_draco_EncodedGeometryType_TRIANGULAR_MESH=a.asm.wb).apply(null,arguments)},Xc=a._emscripten_enum_draco_DataType_DT_INVALID=function(){return(Xc=a._emscripten_enum_draco_DataType_DT_INVALID=a.asm.xb).apply(null,arguments)},Yc=a._emscripten_enum_draco_DataType_DT_INT8=function(){return(Yc=a._emscripten_enum_draco_DataType_DT_INT8=a.asm.yb).apply(null,arguments)},Zc=
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+K.prototype=Object.create(v.prototype);K.prototype.constructor=K;K.prototype.__class__=K;K.__cache__={};a.DracoUInt8Array=K;K.prototype.GetValue=K.prototype.GetValue=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return Mb(c,b)};K.prototype.size=K.prototype.size=function(){return Nb(this.ptr)};K.prototype.__destroy__=K.prototype.__destroy__=function(){Ob(this.ptr)};L.prototype=Object.create(v.prototype);L.prototype.constructor=L;L.prototype.__class__=L;L.__cache__={};a.DracoInt16Array=
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+M.prototype.size=M.prototype.size=function(){return Tb(this.ptr)};M.prototype.__destroy__=M.prototype.__destroy__=function(){Ub(this.ptr)};N.prototype=Object.create(v.prototype);N.prototype.constructor=N;N.prototype.__class__=N;N.__cache__={};a.DracoInt32Array=N;N.prototype.GetValue=N.prototype.GetValue=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return Vb(c,b)};N.prototype.size=N.prototype.size=function(){return Wb(this.ptr)};N.prototype.__destroy__=N.prototype.__destroy__=function(){Xb(this.ptr)};
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+typeof c?c.ptr:R(c);d&&"object"===typeof d&&(d=d.ptr);cc(g,b,c,d)};z.prototype.GetDoubleEntry=z.prototype.GetDoubleEntry=function(b,c){var d=this.ptr;r.prepare();b&&"object"===typeof b&&(b=b.ptr);c=c&&"object"===typeof c?c.ptr:R(c);return dc(d,b,c)};z.prototype.GetStringEntry=z.prototype.GetStringEntry=function(b,c){var d=this.ptr;r.prepare();b&&"object"===typeof b&&(b=b.ptr);c=c&&"object"===typeof c?c.ptr:R(c);return p(ec(d,b,c))};z.prototype.NumEntries=z.prototype.NumEntries=function(b){var c=this.ptr;
+b&&"object"===typeof b&&(b=b.ptr);return fc(c,b)};z.prototype.GetEntryName=z.prototype.GetEntryName=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return p(gc(d,b,c))};z.prototype.__destroy__=z.prototype.__destroy__=function(){hc(this.ptr)};m.prototype=Object.create(v.prototype);m.prototype.constructor=m;m.prototype.__class__=m;m.__cache__={};a.Decoder=m;m.prototype.DecodeArrayToPointCloud=m.prototype.DecodeArrayToPointCloud=function(b,c,d){var g=
+this.ptr;r.prepare();"object"==typeof b&&(b=Z(b));c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return B(ic(g,b,c,d),C)};m.prototype.DecodeArrayToMesh=m.prototype.DecodeArrayToMesh=function(b,c,d){var g=this.ptr;r.prepare();"object"==typeof b&&(b=Z(b));c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return B(jc(g,b,c,d),C)};m.prototype.GetAttributeId=m.prototype.GetAttributeId=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&
+(c=c.ptr);return kc(d,b,c)};m.prototype.GetAttributeIdByName=m.prototype.GetAttributeIdByName=function(b,c){var d=this.ptr;r.prepare();b&&"object"===typeof b&&(b=b.ptr);c=c&&"object"===typeof c?c.ptr:R(c);return lc(d,b,c)};m.prototype.GetAttributeIdByMetadataEntry=m.prototype.GetAttributeIdByMetadataEntry=function(b,c,d){var g=this.ptr;r.prepare();b&&"object"===typeof b&&(b=b.ptr);c=c&&"object"===typeof c?c.ptr:R(c);d=d&&"object"===typeof d?d.ptr:R(d);return mc(g,b,c,d)};m.prototype.GetAttribute=
+m.prototype.GetAttribute=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return B(nc(d,b,c),x)};m.prototype.GetAttributeByUniqueId=m.prototype.GetAttributeByUniqueId=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return B(oc(d,b,c),x)};m.prototype.GetMetadata=m.prototype.GetMetadata=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return B(pc(c,b),T)};m.prototype.GetAttributeMetadata=m.prototype.GetAttributeMetadata=
+function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return B(qc(d,b,c),T)};m.prototype.GetFaceFromMesh=m.prototype.GetFaceFromMesh=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!rc(g,b,c,d)};m.prototype.GetTriangleStripsFromMesh=m.prototype.GetTriangleStripsFromMesh=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);
+return sc(d,b,c)};m.prototype.GetTrianglesUInt16Array=m.prototype.GetTrianglesUInt16Array=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!tc(g,b,c,d)};m.prototype.GetTrianglesUInt32Array=m.prototype.GetTrianglesUInt32Array=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!uc(g,b,c,d)};m.prototype.GetAttributeFloat=m.prototype.GetAttributeFloat=
+function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!vc(g,b,c,d)};m.prototype.GetAttributeFloatForAllPoints=m.prototype.GetAttributeFloatForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!wc(g,b,c,d)};m.prototype.GetAttributeIntForAllPoints=m.prototype.GetAttributeIntForAllPoints=function(b,c,d){var g=this.ptr;
+b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!xc(g,b,c,d)};m.prototype.GetAttributeInt8ForAllPoints=m.prototype.GetAttributeInt8ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!yc(g,b,c,d)};m.prototype.GetAttributeUInt8ForAllPoints=m.prototype.GetAttributeUInt8ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=
+b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!zc(g,b,c,d)};m.prototype.GetAttributeInt16ForAllPoints=m.prototype.GetAttributeInt16ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Ac(g,b,c,d)};m.prototype.GetAttributeUInt16ForAllPoints=m.prototype.GetAttributeUInt16ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&
+(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Bc(g,b,c,d)};m.prototype.GetAttributeInt32ForAllPoints=m.prototype.GetAttributeInt32ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);return!!Cc(g,b,c,d)};m.prototype.GetAttributeUInt32ForAllPoints=m.prototype.GetAttributeUInt32ForAllPoints=function(b,c,d){var g=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===
+typeof d&&(d=d.ptr);return!!Dc(g,b,c,d)};m.prototype.GetAttributeDataArrayForAllPoints=m.prototype.GetAttributeDataArrayForAllPoints=function(b,c,d,g,t){var aa=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);d&&"object"===typeof d&&(d=d.ptr);g&&"object"===typeof g&&(g=g.ptr);t&&"object"===typeof t&&(t=t.ptr);return!!Ec(aa,b,c,d,g,t)};m.prototype.SkipAttributeTransform=m.prototype.SkipAttributeTransform=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);Fc(c,
+b)};m.prototype.GetEncodedGeometryType_Deprecated=m.prototype.GetEncodedGeometryType_Deprecated=function(b){var c=this.ptr;b&&"object"===typeof b&&(b=b.ptr);return Gc(c,b)};m.prototype.DecodeBufferToPointCloud=m.prototype.DecodeBufferToPointCloud=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===typeof c&&(c=c.ptr);return B(Hc(d,b,c),C)};m.prototype.DecodeBufferToMesh=m.prototype.DecodeBufferToMesh=function(b,c){var d=this.ptr;b&&"object"===typeof b&&(b=b.ptr);c&&"object"===
+typeof c&&(c=c.ptr);return B(Ic(d,b,c),C)};m.prototype.__destroy__=m.prototype.__destroy__=function(){Jc(this.ptr)};(function(){function b(){a.ATTRIBUTE_INVALID_TRANSFORM=Kc();a.ATTRIBUTE_NO_TRANSFORM=Lc();a.ATTRIBUTE_QUANTIZATION_TRANSFORM=Mc();a.ATTRIBUTE_OCTAHEDRON_TRANSFORM=Nc();a.INVALID=Oc();a.POSITION=Pc();a.NORMAL=Qc();a.COLOR=Rc();a.TEX_COORD=Sc();a.GENERIC=Tc();a.INVALID_GEOMETRY_TYPE=Uc();a.POINT_CLOUD=Vc();a.TRIANGULAR_MESH=Wc();a.DT_INVALID=Xc();a.DT_INT8=Yc();a.DT_UINT8=Zc();a.DT_INT16=
+$c();a.DT_UINT16=ad();a.DT_INT32=bd();a.DT_UINT32=cd();a.DT_INT64=dd();a.DT_UINT64=ed();a.DT_FLOAT32=fd();a.DT_FLOAT64=gd();a.DT_BOOL=hd();a.DT_TYPES_COUNT=id();a.OK=jd();a.DRACO_ERROR=kd();a.IO_ERROR=ld();a.INVALID_PARAMETER=md();a.UNSUPPORTED_VERSION=nd();a.UNKNOWN_VERSION=od()}va?b():oa.unshift(b)})();if("function"===typeof a.onModuleParsed)a.onModuleParsed();a.Decoder.prototype.GetEncodedGeometryType=function(b){if(b.__class__&&b.__class__===a.DecoderBuffer)return a.Decoder.prototype.GetEncodedGeometryType_Deprecated(b);
+if(8>b.byteLength)return a.INVALID_GEOMETRY_TYPE;switch(b[7]){case 0:return a.POINT_CLOUD;case 1:return a.TRIANGULAR_MESH;default:return a.INVALID_GEOMETRY_TYPE}};return n.ready}}();"object"===typeof exports&&"object"===typeof module?module.exports=DracoDecoderModule:"function"===typeof define&&define.amd?define([],function(){return DracoDecoderModule}):"object"===typeof exports&&(exports.DracoDecoderModule=DracoDecoderModule);

apps/control-station/src/components/simulation/PlayCanvasRuntime.ts

@@ -11,16 +11,21 @@ import {
   StandardMaterial,
   Vec2,
   Vec3,
+  WasmModule,
   type ContainerResource,
   type RenderComponent,
   type ScriptType,
 } from "playcanvas";
 import { CameraControls } from "playcanvas/scripts/esm/camera-controls.mjs";
 
-import type { SimulationWorldManifest } from "../../core/simulation/projects";
+import type {
+  SimulationTransformAxis,
+  SimulationViewerQuality,
+  SimulationWorldManifest,
+} from "../../core/simulation/projects";
 
 export type SimulationViewMode = "visual" | "collision" | "combined";
-export type SimulationQuality = "low" | "medium" | "high" | "ultra" | "maximum";
+export type SimulationQuality = SimulationViewerQuality;
 export type SimulationLayer = "visual" | "collision";
 export type SimulationCameraAxis = "horizontal" | "vertical";
 
@@ -38,6 +43,27 @@ export const PLAYCANVAS_X_180_TRANSFORM = [
   0, 0, 0, 1,
 ];
 
+export const PLAYCANVAS_Y_180_TRANSFORM = [
+  -1, 0, 0, 0,
+  0, 1, 0, 0,
+  0, 0, -1, 0,
+  0, 0, 0, 1,
+];
+
+export const PLAYCANVAS_Z_180_TRANSFORM = [
+  -1, 0, 0, 0,
+  0, -1, 0, 0,
+  0, 0, 1, 0,
+  0, 0, 0, 1,
+];
+
+export function playCanvasAxisTransform(axis: SimulationTransformAxis, inverted: boolean): number[] {
+  if (!inverted) return PLAYCANVAS_IDENTITY_TRANSFORM;
+  if (axis === "x") return PLAYCANVAS_X_180_TRANSFORM;
+  if (axis === "y") return PLAYCANVAS_Y_180_TRANSFORM;
+  return PLAYCANVAS_Z_180_TRANSFORM;
+}
+
 export interface SimulationRuntime {
   mount(canvas: HTMLCanvasElement): Promise<void>;
   loadWorld(manifest: SimulationWorldManifest): Promise<void>;
@@ -60,6 +86,7 @@ type CameraController = ScriptType & Pick<CameraControls, "reset" | "focus"> & {
 
 const HOME_POSITION = new Vec3(0, 1, 0);
 const HOME_FOCUS = new Vec3(1, 1, 0);
+const DRACO_DECODER_ROOT = "/vendor/playcanvas/draco/1.5.7";
 
 const QUALITY_PROFILES: Record<SimulationQuality, {
   lodBaseDistance: number;
@@ -109,6 +136,7 @@ export class PlayCanvasRuntime implements SimulationRuntime {
     this.disposed = false;
     this.renderAccumulatorMs = 0;
     this.canvas = canvas;
+    configureDracoDecoder();
     canvas.tabIndex = 0;
     canvas.addEventListener("contextmenu", preventContextMenu);
     canvas.addEventListener("pointerdown", focusCanvas, true);
@@ -217,10 +245,14 @@ export class PlayCanvasRuntime implements SimulationRuntime {
   async setViewMode(mode: SimulationViewMode): Promise<void> {
     this.viewMode = mode;
     this.applyViewMode();
+    try {
       if (mode !== "visual" && !this.collisionEntity) {
         await this.ensureCollision();
         this.applyViewMode();
       }
+    } finally {
+      this.canvas?.focus({ preventScroll: true });
+    }
   }
 
   setQuality(quality: SimulationQuality): void {
@@ -444,6 +476,15 @@ function preventContextMenu(event: Event): void {
   event.preventDefault();
 }
 
+function configureDracoDecoder(): void {
+  if (WasmModule.getConfig("DracoDecoderModule")) return;
+  WasmModule.setConfig("DracoDecoderModule", {
+    glueUrl: `${DRACO_DECODER_ROOT}/draco_wasm_wrapper_gltf.js`,
+    wasmUrl: `${DRACO_DECODER_ROOT}/draco_decoder_gltf.wasm`,
+    numWorkers: 2,
+  });
+}
+
 function focusCanvas(event: Event): void {
   (event.currentTarget as HTMLCanvasElement | null)?.focus({ preventScroll: true });
 }

apps/control-station/src/components/simulation/SimulationViewport.tsx

@@ -10,40 +10,101 @@ import {
   Switch,
 } from "@nodedc/ui-react";
 
-import type { SimulationProject } from "../../core/simulation/projects";
 import {
-  PLAYCANVAS_IDENTITY_TRANSFORM,
-  PLAYCANVAS_X_180_TRANSFORM,
+  saveSimulationViewerSettings,
+  type SimulationProject,
+  type SimulationTransformAxis,
+  type SimulationViewerSettings,
+} from "../../core/simulation/projects";
+import {
+  createLatestAsyncCommitter,
+  type LatestAsyncCommitter,
+} from "../../core/runtime/latestAsyncCommitter";
+import {
   PlayCanvasRuntime,
+  playCanvasAxisTransform,
   type SimulationQuality,
   type SimulationViewMode,
 } from "./PlayCanvasRuntime";
 
-export function SimulationViewport({ project }: { project: SimulationProject }) {
+const AXIS_OPTIONS: Array<{ value: SimulationTransformAxis; label: string }> = [
+  { value: "x", label: "X" },
+  { value: "y", label: "Y" },
+  { value: "z", label: "Z" },
+];
+
+export function SimulationViewport({
+  project,
+  onProjectChange,
+}: {
+  project: SimulationProject;
+  onProjectChange?: (project: SimulationProject) => void;
+}) {
   const canvasRef = useRef<HTMLCanvasElement>(null);
   const runtimeRef = useRef<PlayCanvasRuntime | null>(null);
-  const cameraInversionRef = useRef({ horizontal: true, vertical: false });
+  const viewerSettingsRef = useRef(project.viewerSettings);
+  const settingsCommitterRef = useRef<LatestAsyncCommitter<SimulationViewerSettings> | null>(null);
   const settingsId = useId();
   const [state, setState] = useState<"mounting" | "loading" | "ready" | "failed">("mounting");
   const [error, setError] = useState<string | null>(null);
   const [viewMode, setViewMode] = useState<SimulationViewMode>("visual");
-  const [quality, setQuality] = useState<SimulationQuality>("high");
+  const [quality, setQuality] = useState<SimulationQuality>(project.viewerSettings.quality);
   const [collisionState, setCollisionState] = useState<"idle" | "loading" | "ready" | "failed">("idle");
   const [settingsOpen, setSettingsOpen] = useState(false);
-  const [visualInverted, setVisualInverted] = useState(
-    () => isX180Transform(project.worldManifest?.transforms.worldFromVisual),
+  const [visualInverted, setVisualInverted] = useState(project.viewerSettings.visual.inverted);
+  const [visualAxis, setVisualAxis] = useState(project.viewerSettings.visual.axis);
+  const [collisionInverted, setCollisionInverted] = useState(project.viewerSettings.collision.inverted);
+  const [collisionAxis, setCollisionAxis] = useState(project.viewerSettings.collision.axis);
+  const [horizontalInverted, setHorizontalInverted] = useState(
+    project.viewerSettings.camera.invertHorizontal,
   );
-  const [collisionInverted, setCollisionInverted] = useState(
-    () => isX180Transform(project.worldManifest?.transforms.worldFromCollision),
+  const [verticalInverted, setVerticalInverted] = useState(
+    project.viewerSettings.camera.invertVertical,
   );
-  const [horizontalInverted, setHorizontalInverted] = useState(true);
-  const [verticalInverted, setVerticalInverted] = useState(false);
+  const [settingsError, setSettingsError] = useState<string | null>(null);
 
   useEffect(() => {
-    setVisualInverted(isX180Transform(project.worldManifest?.transforms.worldFromVisual));
-    setCollisionInverted(isX180Transform(project.worldManifest?.transforms.worldFromCollision));
+    const settings = project.viewerSettings;
+    viewerSettingsRef.current = settings;
+    setQuality(settings.quality);
+    setVisualInverted(settings.visual.inverted);
+    setVisualAxis(settings.visual.axis);
+    setCollisionInverted(settings.collision.inverted);
+    setCollisionAxis(settings.collision.axis);
+    setHorizontalInverted(settings.camera.invertHorizontal);
+    setVerticalInverted(settings.camera.invertVertical);
+    setSettingsError(null);
     setSettingsOpen(false);
-  }, [project.projectId, project.worldManifest]);
+  }, [project.projectId]);
+
+  useEffect(() => {
+    let active = true;
+    const committer = createLatestAsyncCommitter<SimulationViewerSettings>({
+      async commit(settings) {
+        try {
+          const saved = await saveSimulationViewerSettings(project.projectId, settings);
+          if (active) onProjectChange?.(saved);
+          return true;
+        } catch (caught) {
+          if (active) {
+            setSettingsError(
+              caught instanceof Error ? caught.message : "Не удалось сохранить настройки сцены.",
+            );
+          }
+          return false;
+        }
+      },
+      onSettled({ applied, superseded }) {
+        if (active && applied && !superseded) setSettingsError(null);
+      },
+    });
+    settingsCommitterRef.current = committer;
+    return () => {
+      active = false;
+      committer.dispose();
+      if (settingsCommitterRef.current === committer) settingsCommitterRef.current = null;
+    };
+  }, [onProjectChange, project.projectId]);
 
   useEffect(() => {
     const canvas = canvasRef.current;
@@ -56,10 +117,20 @@ export function SimulationViewport({ project }: { project: SimulationProject })
     setError(null);
     void runtime.mount(canvas).then(async () => {
       if (cancelled) return;
-      runtime.setCameraInversion("horizontal", cameraInversionRef.current.horizontal);
-      runtime.setCameraInversion("vertical", cameraInversionRef.current.vertical);
+      const settings = viewerSettingsRef.current;
+      runtime.setQuality(settings.quality);
+      runtime.setCameraInversion("horizontal", settings.camera.invertHorizontal);
+      runtime.setCameraInversion("vertical", settings.camera.invertVertical);
       setState("loading");
       await runtime.loadWorld(manifest);
+      runtime.setLayerWorldTransform(
+        "visual",
+        playCanvasAxisTransform(settings.visual.axis, settings.visual.inverted),
+      );
+      runtime.setLayerWorldTransform(
+        "collision",
+        playCanvasAxisTransform(settings.collision.axis, settings.collision.inverted),
+      );
       if (!cancelled) setState("ready");
     }).catch((caught: unknown) => {
       if (cancelled) return;
@@ -74,6 +145,10 @@ export function SimulationViewport({ project }: { project: SimulationProject })
   }, [project.projectId, project.worldManifest]);
 
   const collisionAvailable = project.worldManifest?.collision.available ?? false;
+  const commitViewerSettings = (settings: SimulationViewerSettings) => {
+    viewerSettingsRef.current = settings;
+    settingsCommitterRef.current?.enqueue(settings);
+  };
 
   return (
     <section className="simulation-viewport" aria-label={`Сцена ${project.name}`}>
@@ -99,6 +174,7 @@ export function SimulationViewport({ project }: { project: SimulationProject })
             onChange={(next) => {
               setQuality(next);
               runtimeRef.current?.setQuality(next);
+              commitViewerSettings({ ...viewerSettingsRef.current, quality: next });
             }}
             options={[
               { value: "maximum", label: "Максимум", description: "До 4 млн сплатов · Retina до 2× · 60 FPS" },
@@ -171,6 +247,7 @@ export function SimulationViewport({ project }: { project: SimulationProject })
                     Коррекция слоёв не меняет координаты камеры, навигации и будущей физики.
                   </p>
                   <div className="simulation-viewport__settings-switches">
+                    <div className="simulation-viewport__settings-layer-row">
                       <Switch
                         checked={visualInverted}
                         disabled={state !== "ready"}
@@ -179,10 +256,36 @@ export function SimulationViewport({ project }: { project: SimulationProject })
                           setVisualInverted(checked);
                           runtimeRef.current?.setLayerWorldTransform(
                             "visual",
-                          checked ? PLAYCANVAS_X_180_TRANSFORM : PLAYCANVAS_IDENTITY_TRANSFORM,
+                            playCanvasAxisTransform(visualAxis, checked),
                           );
+                          commitViewerSettings({
+                            ...viewerSettingsRef.current,
+                            visual: { ...viewerSettingsRef.current.visual, inverted: checked },
+                          });
                         }}
                       />
+                      <Select
+                        className="simulation-viewport__axis-select"
+                        label="Ось инверсии визуального слоя"
+                        value={visualAxis}
+                        options={AXIS_OPTIONS}
+                        disabled={state !== "ready"}
+                        minMenuWidth={72}
+                        menuWidth={72}
+                        onChange={(axis) => {
+                          setVisualAxis(axis);
+                          runtimeRef.current?.setLayerWorldTransform(
+                            "visual",
+                            playCanvasAxisTransform(axis, visualInverted),
+                          );
+                          commitViewerSettings({
+                            ...viewerSettingsRef.current,
+                            visual: { ...viewerSettingsRef.current.visual, axis },
+                          });
+                        }}
+                      />
+                    </div>
+                    <div className="simulation-viewport__settings-layer-row">
                       <Switch
                         checked={collisionInverted}
                         disabled={state !== "ready"}
@@ -191,10 +294,35 @@ export function SimulationViewport({ project }: { project: SimulationProject })
                           setCollisionInverted(checked);
                           runtimeRef.current?.setLayerWorldTransform(
                             "collision",
-                          checked ? PLAYCANVAS_X_180_TRANSFORM : PLAYCANVAS_IDENTITY_TRANSFORM,
+                            playCanvasAxisTransform(collisionAxis, checked),
                           );
+                          commitViewerSettings({
+                            ...viewerSettingsRef.current,
+                            collision: { ...viewerSettingsRef.current.collision, inverted: checked },
+                          });
                         }}
                       />
+                      <Select
+                        className="simulation-viewport__axis-select"
+                        label="Ось инверсии collision-слоя"
+                        value={collisionAxis}
+                        options={AXIS_OPTIONS}
+                        disabled={state !== "ready"}
+                        minMenuWidth={72}
+                        menuWidth={72}
+                        onChange={(axis) => {
+                          setCollisionAxis(axis);
+                          runtimeRef.current?.setLayerWorldTransform(
+                            "collision",
+                            playCanvasAxisTransform(axis, collisionInverted),
+                          );
+                          commitViewerSettings({
+                            ...viewerSettingsRef.current,
+                            collision: { ...viewerSettingsRef.current.collision, axis },
+                          });
+                        }}
+                      />
+                    </div>
                   </div>
                 </section>
                 <section className="simulation-viewport__settings-group">
@@ -208,9 +336,12 @@ export function SimulationViewport({ project }: { project: SimulationProject })
                       disabled={state !== "ready"}
                       label="Инверсия управления по горизонтали"
                       onChange={(checked) => {
-                        cameraInversionRef.current.horizontal = checked;
                         setHorizontalInverted(checked);
                         runtimeRef.current?.setCameraInversion("horizontal", checked);
+                        commitViewerSettings({
+                          ...viewerSettingsRef.current,
+                          camera: { ...viewerSettingsRef.current.camera, invertHorizontal: checked },
+                        });
                       }}
                     />
                     <Switch
@@ -218,13 +349,21 @@ export function SimulationViewport({ project }: { project: SimulationProject })
                       disabled={state !== "ready"}
                       label="Инверсия управления по вертикали"
                       onChange={(checked) => {
-                        cameraInversionRef.current.vertical = checked;
                         setVerticalInverted(checked);
                         runtimeRef.current?.setCameraInversion("vertical", checked);
+                        commitViewerSettings({
+                          ...viewerSettingsRef.current,
+                          camera: { ...viewerSettingsRef.current.camera, invertVertical: checked },
+                        });
                       }}
                     />
                   </div>
                 </section>
+                {settingsError ? (
+                  <p className="simulation-viewport__settings-error" role="alert">
+                    Настройки не сохранены: {settingsError}
+                  </p>
+                ) : null}
               </div>
             ) : null}
           </div>
@@ -255,8 +394,3 @@ export function SimulationViewport({ project }: { project: SimulationProject })
     </section>
   );
 }
-
-function isX180Transform(transform: number[] | undefined): boolean {
-  if (!transform || transform.length !== 16) return false;
-  return transform.every((value, index) => value === PLAYCANVAS_X_180_TRANSFORM[index]);
-}

apps/control-station/src/core/laboratory/m4ReplayThreat.ts

@@ -70,6 +70,14 @@ export interface M4ThreatAssessment {
   reasonCodes: readonly string[];
 }
 
+export interface M4ThreatCameraObstacleProjection {
+  bboxXyxy: readonly [number, number, number, number];
+  nearestDepthM: number;
+  projectedCellCount: number;
+  projection: "factory-kb4-occupied-voxel-bounds";
+  authority: "visual-derived";
+}
+
 export interface M4ThreatMetricVisual {
   componentId: string;
   state: "current" | "retained" | "held" | "expired";
@@ -78,6 +86,7 @@ export interface M4ThreatMetricVisual {
   cellCentersBodyXyzM: readonly M4Point3[];
   assessment: M4ThreatAssessment;
   occupancySource: M4OccupancySource;
+  cameraProjection: M4ThreatCameraObstacleProjection | null;
 }
 
 export interface M4ThreatCameraProposal {
@@ -177,6 +186,7 @@ export interface M4ThreatTimeline {
   cameraPointSampleLimit: number;
   worldStateDelivery: "source-paced-latest-wins" | null;
   occupancyProvenanceDelivery: "baseline-versus-additive-component-diff" | null;
+  cameraObstacleProjectionDelivery: "factory-kb4-occupied-voxel-bounds" | null;
   worldStateFrameCount: number;
   supersededFrameCount: number;
   sourceRepresentationId: "registered-map-increment-v1";
@@ -323,6 +333,32 @@ function parseCameraProposal(value: unknown): M4ThreatCameraProposal {
   };
 }
 
+function parseCameraObstacleProjection(value: unknown): M4ThreatCameraObstacleProjection {
+  const item = object(value, "M4.8R3 camera obstacle projection");
+  const bbox = vector(item.bbox_xyxy, 4, "M4.8R3 camera obstacle bbox");
+  if (bbox[2]! < bbox[0]! || bbox[3]! < bbox[1]!) {
+    throw new M4ThreatContractError("M4.8R3 camera obstacle bbox: нарушена геометрия.");
+  }
+  return {
+    bboxXyxy: [bbox[0]!, bbox[1]!, bbox[2]!, bbox[3]!],
+    nearestDepthM: number(item.nearest_depth_m, "M4.8R3 camera obstacle depth"),
+    projectedCellCount: integer(
+      item.projected_cell_count,
+      "M4.8R3 camera obstacle cells",
+    ),
+    projection: exact(
+      item.projection,
+      "factory-kb4-occupied-voxel-bounds",
+      "M4.8R3 camera obstacle projection",
+    ),
+    authority: exact(
+      item.authority,
+      "visual-derived",
+      "M4.8R3 camera obstacle authority",
+    ),
+  };
+}
+
 function parseMetricVisual(value: unknown): M4ThreatMetricVisual {
   const item = object(value, "M4.6 metric visual");
   const state = text(item.state, "M4.6 temporal state");
@@ -347,6 +383,9 @@ function parseMetricVisual(value: unknown): M4ThreatMetricVisual {
     ),
     assessment: parseAssessment(item.assessment),
     occupancySource,
+    cameraProjection: item.camera_projection === undefined
+      ? null
+      : parseCameraObstacleProjection(item.camera_projection),
   };
 }
 
@@ -704,6 +743,13 @@ export async function fetchM4ThreatTimeline(
           "baseline-versus-additive-component-diff",
           "M4.8R3 occupancy provenance",
         ),
+    cameraObstacleProjectionDelivery: payload.camera_obstacle_projection_delivery == null
+      ? null
+      : exact(
+          payload.camera_obstacle_projection_delivery,
+          "factory-kb4-occupied-voxel-bounds",
+          "M4.8R3 camera obstacle projection delivery",
+        ),
     worldStateFrameCount: payload.world_state_frame_count === undefined
       ? frameCount
       : integer(payload.world_state_frame_count, "M4.6 world-state frames"),
@@ -756,16 +802,21 @@ export async function fetchM4ThreatTimelineChunk(
     fetcher = fetch,
     signal,
     endpointRoot = M4_THREAT_TIMELINE_ENDPOINT_ROOT,
+    cameraObstacleProjectionDelivery = null,
   }: {
     fetcher?: LaboratoryFetch;
     signal?: AbortSignal;
     endpointRoot?: string;
+    cameraObstacleProjectionDelivery?: M4ThreatTimeline["cameraObstacleProjectionDelivery"];
   } = {},
 ): Promise<M4ThreatTimelineChunk> {
   const params = new URLSearchParams({
     start: String(startSequence),
     count: String(frameCount),
   });
+  if (cameraObstacleProjectionDelivery !== null) {
+    params.set("obstacle_projection", cameraObstacleProjectionDelivery);
+  }
   const response = await fetcher(
     `${endpointRoot}/${result}/timeline/chunk?${params}`,
     { headers: { Accept: "application/json" }, signal },

apps/control-station/src/core/simulation/projects.ts

@@ -1,4 +1,6 @@
 export type SimulationSceneType = "interior" | "outdoor" | "object";
+export type SimulationTransformAxis = "x" | "y" | "z";
+export type SimulationViewerQuality = "low" | "medium" | "high" | "ultra" | "maximum";
 export type SimulationProjectStatus =
   | "uploading"
   | "queued"
@@ -32,6 +34,14 @@ export interface SimulationWorldManifest {
   };
 }
 
+export interface SimulationViewerSettings {
+  schemaVersion: "missioncore.simulation-viewer-settings/v1";
+  quality: SimulationViewerQuality;
+  visual: { inverted: boolean; axis: SimulationTransformAxis };
+  collision: { inverted: boolean; axis: SimulationTransformAxis };
+  camera: { invertHorizontal: boolean; invertVertical: boolean };
+}
+
 export interface SimulationProject {
   schemaVersion: "missioncore.simulation-project/v1";
   projectId: string;
@@ -60,6 +70,7 @@ export interface SimulationProject {
     byteLength: number;
   }>;
   worldManifest: SimulationWorldManifest | null;
+  viewerSettings: SimulationViewerSettings;
   error: string | null;
   createdAtUtc: string;
   updatedAtUtc: string;
@@ -223,6 +234,30 @@ export async function updateSimulationProject(
   return parseProject(await jsonResponse(response));
 }
 
+export async function saveSimulationViewerSettings(
+  projectId: string,
+  settings: SimulationViewerSettings,
+): Promise<SimulationProject> {
+  const response = await fetch(
+    `${API_ROOT}/${encodeURIComponent(projectId)}/viewer-settings`,
+    {
+      method: "PUT",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({
+        schema_version: settings.schemaVersion,
+        quality: settings.quality,
+        visual: settings.visual,
+        collision: settings.collision,
+        camera: {
+          invert_horizontal: settings.camera.invertHorizontal,
+          invert_vertical: settings.camera.invertVertical,
+        },
+      }),
+    },
+  );
+  return parseProject(await jsonResponse(response));
+}
+
 export async function retrySimulationProject(projectId: string): Promise<SimulationProject> {
   const response = await fetch(`${API_ROOT}/${encodeURIComponent(projectId)}/build`, {
     method: "POST",
@@ -251,7 +286,7 @@ function parseProject(value: unknown): SimulationProject {
   const record = objectValue(value, "simulation project");
   exactKeys(record, [
     "schema_version", "project_id", "name", "scene_type", "status", "source", "provider",
-    "artifacts", "world_manifest", "error", "created_at_utc", "updated_at_utc",
+    "artifacts", "world_manifest", "viewer_settings", "error", "created_at_utc", "updated_at_utc",
   ], "simulation project");
   if (record.schema_version !== "missioncore.simulation-project/v1") {
     throw new Error("Проект симуляции вернул неподдерживаемую версию.");
@@ -301,12 +336,47 @@ function parseProject(value: unknown): SimulationProject {
       };
     }),
     worldManifest: record.world_manifest === null ? null : parseWorldManifest(record.world_manifest),
+    viewerSettings: parseViewerSettings(record.viewer_settings),
     error: nullableString(record.error, "project error"),
     createdAtUtc: stringValue(record.created_at_utc, "created at"),
     updatedAtUtc: stringValue(record.updated_at_utc, "updated at"),
   };
 }
 
+function parseViewerSettings(value: unknown): SimulationViewerSettings {
+  const record = objectValue(value, "viewer settings");
+  exactKeys(record, ["schema_version", "quality", "visual", "collision", "camera"], "viewer settings");
+  if (record.schema_version !== "missioncore.simulation-viewer-settings/v1") {
+    throw new Error("Настройки сцены вернули неподдерживаемую версию.");
+  }
+  const visual = parseLayerViewerSettings(record.visual, "visual settings");
+  const collision = parseLayerViewerSettings(record.collision, "collision settings");
+  const camera = objectValue(record.camera, "camera settings");
+  exactKeys(camera, ["invert_horizontal", "invert_vertical"], "camera settings");
+  return {
+    schemaVersion: "missioncore.simulation-viewer-settings/v1",
+    quality: qualityValue(record.quality),
+    visual,
+    collision,
+    camera: {
+      invertHorizontal: booleanValue(camera.invert_horizontal, "horizontal camera inversion"),
+      invertVertical: booleanValue(camera.invert_vertical, "vertical camera inversion"),
+    },
+  };
+}
+
+function parseLayerViewerSettings(
+  value: unknown,
+  label: string,
+): { inverted: boolean; axis: SimulationTransformAxis } {
+  const record = objectValue(value, label);
+  exactKeys(record, ["inverted", "axis"], label);
+  return {
+    inverted: booleanValue(record.inverted, `${label} inversion`),
+    axis: axisValue(record.axis),
+  };
+}
+
 function parseWorldManifest(value: unknown): SimulationWorldManifest {
   const record = objectValue(value, "world manifest");
   const visual = objectValue(record.visual, "visual manifest");
@@ -396,6 +466,18 @@ function sceneTypeValue(value: unknown): SimulationSceneType {
   return invalid("scene type");
 }
 
+function axisValue(value: unknown): SimulationTransformAxis {
+  if (value === "x" || value === "y" || value === "z") return value;
+  return invalid("transform axis");
+}
+
+function qualityValue(value: unknown): SimulationViewerQuality {
+  if (["low", "medium", "high", "ultra", "maximum"].includes(String(value))) {
+    return value as SimulationViewerQuality;
+  }
+  return invalid("viewer quality");
+}
+
 function statusValue(value: unknown): SimulationProjectStatus {
   if (["uploading", "queued", "processing", "importing", "ready", "failed"].includes(String(value))) {
     return value as SimulationProjectStatus;

apps/control-station/src/styles/simulation.css

@@ -440,6 +440,25 @@
   gap: 0.55rem;
 }
 
+.simulation-viewport__settings-layer-row {
+  display: grid;
+  grid-template-columns: minmax(0, 1fr) 4.5rem;
+  align-items: center;
+  gap: 0.55rem;
+}
+
+.simulation-viewport__axis-select {
+  width: 4.5rem;
+  min-width: 0;
+}
+
+.simulation-viewport__settings-error {
+  border-radius: 0.65rem;
+  background: rgb(var(--nodedc-danger-rgb) / 0.08);
+  color: var(--nodedc-danger) !important;
+  padding: 0.55rem 0.65rem;
+}
+
 .simulation-viewport__toolbar-balance {
   min-width: 0;
 }

apps/control-station/src/workspaces/laboratory/M4ReplayThreatVisual.tsx

@@ -47,6 +47,7 @@ import {
   useM4ThreatTimelineMetadata,
 } from "./useM4ThreatTimeline";
 import { useE47SemanticTimelineFrame } from "./useE47SemanticTimeline";
+import { buildM4StaticObstacleBoxes } from "./m4StaticObstacleBoxes";
 
 type M4ThreatMediaMode = "video" | "camera";
 type M4ThreatMediaSelection = M4ThreatMediaMode | "none";
@@ -132,6 +133,7 @@ export function M4ReplayThreatVisual({
   const [showMediaSemantic, setShowMediaSemantic] = useState(true);
   const [showSpatialSemantic, setShowSpatialSemantic] = useState(true);
   const [showMediaPoints, setShowMediaPoints] = useState(false);
+  const [showStaticObstacles, setShowStaticObstacles] = useState(true);
   const [splitPrimarySize, setSplitPrimarySize] = useState(50);
   const [splitOrientation, setSplitOrientation] = useState<SplitPaneOrientation>(() => (
     typeof window !== "undefined" && window.matchMedia("(max-width: 900px)").matches
@@ -287,9 +289,26 @@ export function M4ReplayThreatVisual({
         };
       });
   }, [frame, metadata.timeline, reviewAnchors, showReviewAnchorBoxes]);
+  const staticObstacleBoxes = useMemo<readonly RecordedEvidenceBox[]>(() => {
+    const timeline = metadata.timeline;
+    if (
+      !frame
+      || !timeline?.cameraObstacleProjectionDelivery
+      || !showStaticObstacles
+    ) return [];
+    return buildM4StaticObstacleBoxes(
+      frame.metricObstacles,
+      timeline.imageWidth,
+      timeline.imageHeight,
+    );
+  }, [frame, metadata.timeline, showStaticObstacles]);
   const activeBoxes = useMemo(
-    () => [...boxes(frame?.cameraProposals ?? []), ...reviewAnchorBoxes],
-    [frame, reviewAnchorBoxes],
+    () => [
+      ...boxes(frame?.cameraProposals ?? []),
+      ...staticObstacleBoxes,
+      ...reviewAnchorBoxes,
+    ],
+    [frame, reviewAnchorBoxes, staticObstacleBoxes],
   );
   const semanticClasses = useMemo<readonly RecordedEvidenceSemanticClass[]>(
     () => semantic?.taxonomy.map((item) => ({
@@ -359,7 +378,8 @@ export function M4ReplayThreatVisual({
     (item) => item.state === "retained",
   ) ?? [];
   const lowStepObstacles = spatialFrame?.metricObstacles.filter(
-    (item) => item.occupancySource !== "baseline",
+    (item) => item.occupancySource !== "baseline"
+      && (item.state === "current" || item.state === "retained"),
   ) ?? [];
   const nearest = spatialFrame?.metricObstacles
     .map((item) => item.assessment.closestApproachM)
@@ -456,7 +476,9 @@ export function M4ReplayThreatVisual({
     </div>
   );
 
-  const mediaLayerControls = semantic || metadata.timeline?.cameraPointDelivery ? (
+  const mediaLayerControls = semantic
+    || metadata.timeline?.cameraPointDelivery
+    || metadata.timeline?.cameraObstacleProjectionDelivery ? (
     <div
       className="m4-replay-threat-visual__pane-layer-controls"
       role="group"
@@ -485,6 +507,18 @@ export function M4ReplayThreatVisual({
           POINTS
         </Button>
       ) : null}
+      {metadata.timeline?.cameraObstacleProjectionDelivery ? (
+        <Button
+          size="compact"
+          shape="pill"
+          variant={showStaticObstacles ? "primary" : "secondary"}
+          aria-pressed={showStaticObstacles}
+          title="Автоматические рамки занятых LiDAR-компонентов · без ручной разметки"
+          onClick={() => setShowStaticObstacles((visible) => !visible)}
+        >
+          OBSTACLES
+        </Button>
+      ) : null}
     </div>
   ) : null;
 

apps/control-station/src/workspaces/laboratory/m4StaticObstacleBoxes.ts

@@ -0,0 +1,80 @@
+import type { RecordedEvidenceBox } from "../../components/laboratory/RecordedEvidenceVideoScene";
+import type { M4ThreatMetricVisual } from "../../core/laboratory/m4ReplayThreat";
+
+const MINIMUM_BOX_SIZE_PX = 12;
+
+function shortComponentId(componentId: string): string {
+  const finalSegment = componentId.split(/[-_]/).pop();
+  return finalSegment && /^\d+$/.test(finalSegment)
+    ? finalSegment
+    : componentId.slice(-6).toUpperCase();
+}
+
+function clamp(value: number, minimum: number, maximum: number): number {
+  return Math.min(maximum, Math.max(minimum, value));
+}
+
+function visibleBox(
+  box: readonly [number, number, number, number],
+  imageWidth: number,
+  imageHeight: number,
+): readonly [number, number, number, number] | null {
+  const [sourceLeft, sourceTop, sourceRight, sourceBottom] = box;
+  if (
+    sourceRight < 0
+    || sourceBottom < 0
+    || sourceLeft >= imageWidth
+    || sourceTop >= imageHeight
+  ) return null;
+  const centerX = (sourceLeft + sourceRight) / 2;
+  const centerY = (sourceTop + sourceBottom) / 2;
+  const halfWidth = Math.max((sourceRight - sourceLeft) / 2, MINIMUM_BOX_SIZE_PX / 2);
+  const halfHeight = Math.max((sourceBottom - sourceTop) / 2, MINIMUM_BOX_SIZE_PX / 2);
+  const left = clamp(centerX - halfWidth, 0, imageWidth - 1);
+  const top = clamp(centerY - halfHeight, 0, imageHeight - 1);
+  const right = clamp(centerX + halfWidth, left + 1, imageWidth);
+  const bottom = clamp(centerY + halfHeight, top + 1, imageHeight);
+  return [left, top, right, bottom];
+}
+
+function tone(obstacle: M4ThreatMetricVisual): RecordedEvidenceBox["tone"] {
+  if (obstacle.assessment.decision === "threat") return "danger";
+  if (obstacle.assessment.decision === "not-threat") return "success";
+  return "warning";
+}
+
+/**
+ * Build camera evidence from the same world-state components shown in 3D.
+ * No image detector or manual review extent participates in these boxes.
+ */
+export function buildM4StaticObstacleBoxes(
+  obstacles: readonly M4ThreatMetricVisual[],
+  imageWidth: number,
+  imageHeight: number,
+): readonly RecordedEvidenceBox[] {
+  const result: RecordedEvidenceBox[] = [];
+  for (const obstacle of obstacles) {
+    if (
+      obstacle.occupancySource === "baseline"
+      || (obstacle.state !== "current" && obstacle.state !== "retained")
+      || obstacle.cameraProjection === null
+    ) continue;
+    const projection = obstacle.cameraProjection;
+    const boxXyxy = visibleBox(projection.bboxXyxy, imageWidth, imageHeight);
+    if (!boxXyxy) continue;
+    const depth = projection.nearestDepthM.toLocaleString("ru-RU", {
+      maximumFractionDigits: 1,
+    });
+    result.push({
+      boxXyxy,
+      label: `OBS #${shortComponentId(obstacle.componentId)} · ${depth} м`,
+      tone: tone(obstacle),
+      dashed: false,
+    });
+  }
+  return result.sort((left, right) => {
+    const leftArea = (left.boxXyxy[2] - left.boxXyxy[0]) * (left.boxXyxy[3] - left.boxXyxy[1]);
+    const rightArea = (right.boxXyxy[2] - right.boxXyxy[0]) * (right.boxXyxy[3] - right.boxXyxy[1]);
+    return rightArea - leftArea;
+  });
+}

apps/control-station/src/workspaces/laboratory/useM4ThreatTimeline.ts

@@ -130,6 +130,7 @@ export function useM4ThreatTimelineFrame({
       void fetchM4ThreatTimelineChunk(resultId, start, chunkSize, {
         signal: controller.signal,
         endpointRoot,
+        cameraObstacleProjectionDelivery: timeline.cameraObstacleProjectionDelivery,
       })
         .then((chunk) => {
           if (controller.signal.aborted) return;

apps/control-station/src/workspaces/simulation/SimulationWorkspace.tsx

@@ -78,6 +78,12 @@ export function SimulationWorkspace() {
     setEditing(null);
   };
 
+  const acceptViewerProject = useCallback((project: SimulationProject) => {
+    setProjects((current) => current.map((item) => (
+      item.projectId === project.projectId ? project : item
+    )));
+  }, []);
+
   const confirmDelete = async () => {
     if (!deleting) return;
     await deleteSimulationProject(deleting.projectId);
@@ -122,7 +128,10 @@ export function SimulationWorkspace() {
           </StatusBadge>
         </header>
         {selected.status === "ready" && selected.worldManifest ? (
-          <SimulationViewport project={selected} />
+          <SimulationViewport
+            project={selected}
+            onProjectChange={acceptViewerProject}
+          />
         ) : (
           <GlassSurface className="simulation-workspace__processing" padding="lg">
             {selected.status === "failed" ? <Icon name="alert" size={20} /> : <ActivityIndicator label="Сборка мира" />}

apps/control-station/test/m4ReplayThreat.test.mjs

@@ -17,6 +17,7 @@ let synchronizeRecordedEvidencePlayback;
 let m4ThreatChunkWindowStarts;
 let cancelM4ThreatChunkRequestsOutsideWindow;
 let buildM4LocalSurface;
+let buildM4StaticObstacleBoxes;
 
 const resultId = `m4-threat-replay-${"a".repeat(64)}`;
 
@@ -50,6 +51,9 @@ before(async () => {
   ({ buildM4LocalSurface } = await server.ssrLoadModule(
     "/src/core/laboratory/m4LocalSurface.ts",
   ));
+  ({ buildM4StaticObstacleBoxes } = await server.ssrLoadModule(
+    "/src/workspaces/laboratory/m4StaticObstacleBoxes.ts",
+  ));
 });
 
 after(async () => {
@@ -365,6 +369,8 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
         camera_point_window_seconds: 2,
         camera_point_sample_limit: 20000,
         world_state_delivery: "source-paced-latest-wins",
+        occupancy_provenance_delivery: "baseline-versus-additive-component-diff",
+        camera_obstacle_projection_delivery: "factory-kb4-occupied-voxel-bounds",
         world_state_frame_count: 4481,
         superseded_frame_count: 8,
         local_surface_visualization: {
@@ -392,9 +398,14 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
   assert.equal(timeline.cameraPointWindowSeconds, 2);
   assert.equal(timeline.worldStateFrameCount, 4481);
   assert.equal(timeline.supersededFrameCount, 8);
+  assert.equal(
+    timeline.cameraObstacleProjectionDelivery,
+    "factory-kb4-occupied-voxel-bounds",
+  );
 
   const chunk = await fetchM4ThreatTimelineChunk(replayResultId, 1, 1, {
     endpointRoot,
+    cameraObstacleProjectionDelivery: timeline.cameraObstacleProjectionDelivery,
     fetcher: async (input) => {
       requested = String(input);
       return new Response(JSON.stringify({
@@ -411,6 +422,30 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
           camera_projected_point_count: 1,
           camera_projected_sample_count: 1,
           camera_projection: "factory-kb4-exact",
+          metric_obstacles: [{
+            component_id: "temporal-1855-7",
+            state: "current",
+            motion: "stationary",
+            centroid_body_xyz_m: [2.4, 0.1, 0.3],
+            cell_centers_body_xyz_m: [[2.4, 0.1, 0.3]],
+            occupancy_source: "additive-low-step",
+            camera_projection: {
+              bbox_xyxy: [390.5, 280.25, 408.75, 318.5],
+              nearest_depth_m: 2.3,
+              projected_cell_count: 1,
+              projection: "factory-kb4-occupied-voxel-bounds",
+              authority: "visual-derived",
+            },
+            assessment: {
+              component_id: "temporal-1855-7",
+              decision: "threat",
+              corridor_intersection: "intersects",
+              relative_speed_mps: null,
+              closest_approach_m: 0.2,
+              ttc_seconds: null,
+              reason_codes: ["current-corridor-intersection"],
+            },
+          }],
           camera_url: `${endpointRoot}/${replayResultId}/timeline/frames/1/camera`,
         })],
         authority: "replay-simulated",
@@ -418,10 +453,18 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
     },
   });
   assert.match(requested, new RegExp(`^${endpointRoot}/${replayResultId}/timeline/chunk`));
+  assert.match(
+    requested,
+    /obstacle_projection=factory-kb4-occupied-voxel-bounds/,
+  );
   assert.equal(chunk.frames[0].worldStateAvailable, false);
   assert.equal(chunk.frames[0].terminalOutcome, "superseded");
   assert.deepEqual(chunk.frames[0].cameraProjectedPointsXyd[0], [100.5, 200.25, 3.75]);
   assert.equal(chunk.frames[0].cameraProjection, "factory-kb4-exact");
+  assert.deepEqual(
+    chunk.frames[0].metricObstacles[0].cameraProjection.bboxXyxy,
+    [390.5, 280.25, 408.75, 318.5],
+  );
 
   const overlay = await fetchM4ThreatCameraPointOverlay(replayResultId, 1, {
     endpointRoot,
@@ -453,6 +496,43 @@ test("M4.8S timeline binds factory-KB4 camera points through its exact endpoint"
   assert.equal(overlay.projection, "factory-kb4-causal-registered-accumulation");
 });
 
+test("M4.8R3 turns active low-step components into native fisheye obstacle boxes", () => {
+  const obstacle = {
+    componentId: "temporal-1855-7",
+    state: "current",
+    motion: "stationary",
+    centroidBodyXyzM: [2.4, 0.1, 0.3],
+    cellCentersBodyXyzM: [[2.4, 0.1, 0.3]],
+    occupancySource: "additive-low-step",
+    cameraProjection: {
+      bboxXyxy: [398, 298, 402, 302],
+      nearestDepthM: 2.3,
+      projectedCellCount: 1,
+      projection: "factory-kb4-occupied-voxel-bounds",
+      authority: "visual-derived",
+    },
+    assessment: {
+      componentId: "temporal-1855-7",
+      decision: "threat",
+      corridorIntersection: "intersects",
+      relativeSpeedMps: null,
+      closestApproachM: 0.2,
+      ttcSeconds: null,
+      reasonCodes: ["current-corridor-intersection"],
+    },
+  };
+  const boxes = buildM4StaticObstacleBoxes([
+    obstacle,
+    { ...obstacle, componentId: "baseline", occupancySource: "baseline" },
+    { ...obstacle, componentId: "held", state: "held" },
+  ], 800, 600);
+  assert.equal(boxes.length, 1);
+  assert.deepEqual(boxes[0].boxXyxy, [394, 294, 406, 306]);
+  assert.equal(boxes[0].label, "OBS #7 · 2,3 м");
+  assert.equal(boxes[0].tone, "danger");
+  assert.equal(boxes[0].dashed, false);
+});
+
 test("M4.6 local SLAM surface reprojects registered increments into the active body frame", () => {
   const frames = [
     timelineFrame(0, 10, {
@@ -603,6 +683,9 @@ test("M4.6 viewer keeps media and spatial panes on one playback clock", async ()
   assert.match(visual, /label: "3D"/);
   assert.match(visual, /label: "PLAN"/);
   assert.match(visual, />\s*POINTS\s*</);
+  assert.match(visual, />\s*OBSTACLES\s*</);
+  assert.match(visual, /useState\(true\);[\s\S]*setShowStaticObstacles/);
+  assert.match(visual, /buildM4StaticObstacleBoxes/);
   assert.match(visual, /pointCloudOverlay=/);
   assert.match(visual, /mediaMode/);
   assert.match(visual, /spatialMode/);

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

@@ -81,6 +81,10 @@ test("PlayCanvas owns the realtime scene graph without an iframe or React entity
   assert.match(runtime, /applyWorldTransform/);
   assert.match(runtime, /setLayerWorldTransform/);
   assert.match(runtime, /PLAYCANVAS_X_180_TRANSFORM/);
+  assert.match(runtime, /PLAYCANVAS_Y_180_TRANSFORM/);
+  assert.match(runtime, /PLAYCANVAS_Z_180_TRANSFORM/);
+  assert.match(runtime, /DracoDecoderModule/);
+  assert.match(runtime, /draco_decoder_gltf\.wasm/);
   assert.match(runtime, /ensureCollision/);
   assert.match(runtime, /app\.root\.addChild/);
   assert.match(runtime, /dispose\(\)/);
@@ -88,11 +92,15 @@ test("PlayCanvas owns the realtime scene graph without an iframe or React entity
   assert.match(viewport, /Collision недоступен/);
   assert.match(viewport, /Для этой сборки collision GLB не был запрошен/);
   assert.match(viewport, /<Select[\s\S]*Качество Gaussian-сцены/);
-  assert.match(viewport, /useState<SimulationQuality>\("high"\)/);
+  assert.match(viewport, /useState<SimulationQuality>\(project\.viewerSettings\.quality\)/);
   assert.match(viewport, /runtimeRef\.current\?\.home\(\)/);
   assert.match(viewport, /Настройки сцены/);
   assert.match(viewport, /Инверсия визуального слоя/);
   assert.match(viewport, /Инверсия collision-слоя/);
   assert.match(viewport, /Инверсия управления по горизонтали/);
   assert.match(viewport, /Инверсия управления по вертикали/);
+  assert.match(viewport, /Ось инверсии визуального слоя/);
+  assert.match(viewport, /Ось инверсии collision-слоя/);
+  assert.match(viewport, /saveSimulationViewerSettings/);
+  assert.match(viewport, /onProjectChange\?\.\(saved\)/);
 });

docs/20_SIMULATION_WORLD_SURFACE_BRIEF.md

@@ -57,7 +57,8 @@ Mission Core backend
 DC Gaussian Pipeline
   ├─ TUS bundle or archive admission
   ├─ secure ZIP/RAR/7z normalization
-  └─ SplatTransform build on Worker 006
+  ├─ native Vulkan SplatTransform build on Worker 006
+  └─ bounded collision simplification + mandatory Draco publication
 ```
 
 The browser never receives the Worker token. Mission Core does not embed archive-format behavior
@@ -70,10 +71,22 @@ Mission Core pins the direct `playcanvas` package. `PlayCanvasRuntime` owns one
 camera controls, GSplat asset lifecycle and later physical/debug entities. React owns no per-frame
 entity state. A new world is data and does not require a new frontend build.
 
-The first Worker 006 provider is CPU-only and therefore does not advertise collision outputs. The
-UI disables collision/combined modes and states this explicitly; it does not synthesize a proxy.
-The manifest already keeps visual and collision URLs and their independent world transforms so the
-GPU collision build can be admitted without changing the project surface.
+Worker 006 runs the portable API in its own read-only Docker composition and delegates only the
+SplatTransform GPU command through a confined filesystem spool to the pinned native Vulkan runtime
+on the RTX 4090. It does not install into or share the Python, CUDA, Triton or computer-vision
+environments on the host.
+
+Collision publication is deliberately two-stage. SplatTransform generates smooth collision and
+SVO query data at a scene-type voxel size (`0.2 m` outdoors, `0.1 m` indoors/objects). The isolated
+pipeline container then bounds the debug/physics mesh to a default 250,000-triangle target and
+always writes `KHR_draco_mesh_compression` before the artifact digest is sealed. Simplification
+controls decoded geometry cost; Draco controls transfer and stored bytes and is never treated as a
+replacement for a physics mesh budget. The browser loads the result through a pinned local Draco
+WASM decoder with no external decoder request.
+
+Visual and collision layers retain independent X/Y/Z correction settings, while PlayCanvas world,
+camera, navigation and future physics stay in the canonical Y-up coordinate system. Quality, both
+layer transforms and camera-axis inversion are persisted atomically in each project's metadata.
 
 Primary implementation references:
 
@@ -92,8 +105,9 @@ Primary implementation references:
 - encrypted, linked, traversing, duplicate and over-limit archive entries fail closed;
 - project status is durable and reflects provider state without fabricated percentages;
 - ready artifacts are imported digest-bound and served from Mission Core same-origin URLs;
+- every published collision GLB is simplified to the configured budget and requires Draco;
 - edit changes project metadata; delete removes both the Mission Core project and terminal provider
   job;
 - a ready project mounts direct PlayCanvas Engine and loads Streamed SOG with preview fallback;
-- visual, collision and combined remain distinct runtime modes even when collision is not yet
-  available on the CPU provider.
+- visual, collision and combined remain distinct runtime modes, and collision is loaded lazily;
+- viewer quality, layer-axis correction and camera inversion survive navigation and reload.

src/k1link/perception/m48s_replay_timeline.py

@@ -19,7 +19,11 @@ import numpy as np
 from .geometry import RecordedGeometryStore
 from .geometry_math import project_map_points_kb4
 from .recorded_source import RECORDED_REPRESENTATION_ID
-from .spatial_evidence import project_metric_obstacles_to_body, sample_points_in_body_frame
+from .spatial_evidence import (
+    project_metric_obstacles_to_body,
+    project_metric_obstacles_to_camera,
+    sample_points_in_body_frame,
+)
 from .threat import (
     DEFAULT_REPLAY_THREAT_PROFILE_PATH,
     RecordedReplayBodyFrameResolver,
@@ -183,6 +187,11 @@ class M48sReplayTimeline:
                 if self.frame_diff_path is not None
                 else None
             ),
+            "camera_obstacle_projection_delivery": (
+                "factory-kb4-occupied-voxel-bounds"
+                if self.frame_diff_path is not None
+                else None
+            ),
             "world_state_frame_count": len(self.index.offsets_by_sequence),
             "superseded_frame_count": sum(
                 value == "superseded" for value in self.outcomes.values()
@@ -383,6 +392,7 @@ class M48sReplayTimeline:
                 )
 
         metric_visuals: list[dict[str, object]] = []
+        metric_rows: list[dict[str, object]] = []
         camera_proposals: list[dict[str, object]] = []
         assessments: list[dict[str, object]] = []
         if row is not None:
@@ -401,7 +411,6 @@ class M48sReplayTimeline:
                 _text(item.get("component_id"), "assessment component"): item
                 for item in assessments
             }
-            metric_rows: list[dict[str, object]] = []
             for obstacle in (
                 *_objects(obstacle_map.get("occupied"), "occupied obstacles"),
                 *_objects(obstacle_map.get("unknown"), "unknown obstacles"),
@@ -427,11 +436,26 @@ class M48sReplayTimeline:
                     occupied_voxel_size_m=self.profile.corridor.occupied_voxel_size_m,
                 )
                 provenance = self._component_provenance(sequence)
-                for visual in metric_visuals:
-                    visual["occupancy_source"] = provenance.get(
-                        str(visual["component_id"]),
-                        "baseline",
+                camera_projections = (
+                    {}
+                    if frame is None or not provenance
+                    else project_metric_obstacles_to_camera(
+                        metric_rows,
+                        position_map_xyz=frame.sensor_position_map,
+                        orientation_map_from_lidar_xyzw=frame.sensor_orientation_xyzw,
+                        profile=frame.projection,
+                        occupied_voxel_size_m=(
+                            self.profile.corridor.occupied_voxel_size_m
+                        ),
+                        component_ids=set(provenance),
                     )
+                )
+                for visual in metric_visuals:
+                    component_id = str(visual["component_id"])
+                    visual["occupancy_source"] = provenance.get(component_id, "baseline")
+                    projection = camera_projections.get(component_id)
+                    if projection is not None:
+                        visual["camera_projection"] = projection
             associated = set(_strings(row.get("associated_proposal_ids"), "associated ids"))
             for proposal in _objects(row.get("detector_proposals"), "detector proposals"):
                 proposal_id = _text(proposal.get("proposal_id"), "proposal id")

src/k1link/perception/spatial_evidence.py

@@ -8,6 +8,7 @@ from collections.abc import Mapping, Sequence
 import numpy as np
 import numpy.typing as npt
 
+from .geometry_math import Kb4ProjectionProfile, project_map_points_kb4
 from .threat import ReplayBodyFrame
 
 FloatArray = npt.NDArray[np.float64]
@@ -86,6 +87,96 @@ def project_metric_obstacles_to_body(
     return visuals
 
 
+def project_metric_obstacles_to_camera(
+    metric_rows: Sequence[Mapping[str, object]],
+    *,
+    position_map_xyz: npt.ArrayLike,
+    orientation_map_from_lidar_xyzw: npt.ArrayLike,
+    profile: Kb4ProjectionProfile,
+    occupied_voxel_size_m: float,
+    component_ids: set[str] | None = None,
+) -> dict[str, dict[str, object]]:
+    """Project ledger-owned occupied voxel bounds into the native KB4 frame.
+
+    This is a visualization projection of already accepted world-state
+    components.  It neither reclusters geometry nor changes threat authority.
+    """
+
+    if not math.isfinite(occupied_voxel_size_m) or occupied_voxel_size_m <= 0:
+        raise SpatialEvidenceProjectionError("occupied voxel size is invalid")
+    points: list[tuple[float, float, float]] = []
+    point_owners: list[tuple[str, int]] = []
+    for row in metric_rows:
+        component_id = row.get("component_id")
+        cells = row.get("cells")
+        if (
+            not isinstance(component_id, str)
+            or not component_id
+            or (component_ids is not None and component_id not in component_ids)
+            or not isinstance(cells, list)
+        ):
+            continue
+        for cell_index, raw_cell in enumerate(cells):
+            if not isinstance(raw_cell, dict):
+                raise SpatialEvidenceProjectionError("occupied cell is invalid")
+            indices = (
+                _signed_integer(raw_cell.get("x"), "cell x"),
+                _signed_integer(raw_cell.get("y"), "cell y"),
+                _signed_integer(raw_cell.get("z"), "cell z"),
+            )
+            bounds = tuple(
+                (index * occupied_voxel_size_m, (index + 1) * occupied_voxel_size_m)
+                for index in indices
+            )
+            for x in bounds[0]:
+                for y in bounds[1]:
+                    for z in bounds[2]:
+                        points.append((x, y, z))
+                        point_owners.append((component_id, cell_index))
+    if not points:
+        return {}
+    projected = project_map_points_kb4(
+        points,
+        position_map_xyz=position_map_xyz,
+        orientation_map_from_lidar_xyzw=orientation_map_from_lidar_xyzw,
+        profile=profile,
+    )
+    grouped_pixels: dict[str, list[npt.NDArray[np.float64]]] = {}
+    grouped_depths: dict[str, list[float]] = {}
+    grouped_cells: dict[str, set[int]] = {}
+    for pixel, depth, source_index in zip(
+        projected.pixels_xy,
+        projected.depths_m,
+        projected.source_indices,
+        strict=True,
+    ):
+        component_id, cell_index = point_owners[int(source_index)]
+        grouped_pixels.setdefault(component_id, []).append(pixel)
+        grouped_depths.setdefault(component_id, []).append(float(depth))
+        grouped_cells.setdefault(component_id, set()).add(cell_index)
+    result: dict[str, dict[str, object]] = {}
+    for component_id, pixel_values in grouped_pixels.items():
+        pixels = np.asarray(pixel_values, dtype=np.float64)
+        depths = np.asarray(grouped_depths[component_id], dtype=np.float64)
+        if pixels.size == 0 or depths.size == 0:
+            continue
+        minimum = np.min(pixels, axis=0)
+        maximum = np.max(pixels, axis=0)
+        result[component_id] = {
+            "bbox_xyxy": [
+                round(float(minimum[0]), 3),
+                round(float(minimum[1]), 3),
+                round(float(maximum[0]), 3),
+                round(float(maximum[1]), 3),
+            ],
+            "nearest_depth_m": round(float(np.min(depths)), 6),
+            "projected_cell_count": len(grouped_cells[component_id]),
+            "projection": "factory-kb4-occupied-voxel-bounds",
+            "authority": "visual-derived",
+        }
+    return result
+
+
 def _finite_vector3(value: Sequence[object], label: str) -> tuple[float, float, float]:
     if len(value) != 3:
         raise SpatialEvidenceProjectionError(f"{label} is invalid")
@@ -113,6 +204,7 @@ def _signed_integer(value: object, label: str) -> int:
 
 __all__ = [
     "SpatialEvidenceProjectionError",
+    "project_metric_obstacles_to_camera",
     "project_metric_obstacles_to_body",
     "sample_points_in_body_frame",
 ]

src/k1link/service_watchdog.py

@@ -28,10 +28,18 @@ class MissionCoreWatchdogError(RuntimeError):
 
 @dataclass(frozen=True, slots=True)
 class MissionCoreWatchdogPolicy:
-    startup_grace_seconds: float = 45.0
+    # Cold startup on the 18 GB control laptop includes validating the durable
+    # recorded-evidence catalog and can exceed two minutes under storage load.
+    # This applies only before the first probe; steady-state failures retain the
+    # much tighter bounded policy below.
+    startup_grace_seconds: float = 300.0
     probe_interval_seconds: float = 2.0
-    probe_timeout_seconds: float = 1.0
-    consecutive_failure_limit: int = 3
+    # Source hashing and resumable multi-gigabyte uploads can briefly delay the
+    # synchronous readiness projection without making the service unhealthy.
+    # Six bounded five-second probes still fail closed, but do not turn normal
+    # storage pressure into a restart loop that discards upload progress.
+    probe_timeout_seconds: float = 5.0
+    consecutive_failure_limit: int = 6
     graceful_shutdown_seconds: float = 12.0
 
     def __post_init__(self) -> None:
@@ -149,7 +157,7 @@ class MissionCoreSelfWatchdog:
         journal: MissionCoreWatchdogJournal | None = None,
     ) -> None:
         self.policy = policy or MissionCoreWatchdogPolicy()
-        self.probe = probe or _mission_core_health_probe(
+        self.probe = probe or _mission_core_liveness_probe(
             self.policy.probe_timeout_seconds
         )
         self.request_shutdown = request_shutdown or _process_group_signal(signal.SIGTERM)
@@ -224,7 +232,7 @@ def watchdog_enabled(environ: Mapping[str, str] = os.environ) -> bool:
     return environ.get(WATCHDOG_ENV) == WATCHDOG_ENABLED_VALUE
 
 
-def _mission_core_health_probe(timeout_seconds: float) -> Probe:
+def _mission_core_liveness_probe(timeout_seconds: float) -> Probe:
     def probe() -> bool:
         connection = http.client.HTTPConnection(
             "127.0.0.1",
@@ -232,7 +240,7 @@ def _mission_core_health_probe(timeout_seconds: float) -> Probe:
             timeout=timeout_seconds,
         )
         try:
-            connection.request("GET", "/api/health", headers={"Connection": "close"})
+            connection.request("GET", "/api/liveness", headers={"Connection": "close"})
             response = connection.getresponse()
             payload = response.read(64 * 1024 + 1)
         except (OSError, TimeoutError, http.client.HTTPException):
@@ -248,7 +256,7 @@ def _mission_core_health_probe(timeout_seconds: float) -> Probe:
         return bool(
             isinstance(document, dict)
             and document.get("ok") is True
-            and document.get("status") == "ok"
+            and document.get("status") == "alive"
             and document.get("service") == MISSION_CORE_SERVICE_ID
         )
 

src/k1link/simulation/projects.py

@@ -26,6 +26,7 @@ from k1link.simulation.gaussian_pipeline_gateway import (
 
 PROJECT_SCHEMA: Final = "missioncore.simulation-project/v1"
 WORLD_MANIFEST_SCHEMA: Final = "missioncore.simulation-world-manifest/v1"
+VIEWER_SETTINGS_SCHEMA: Final = "missioncore.simulation-viewer-settings/v1"
 PROJECT_ID_PATTERN: Final = re.compile(r"^sim-[a-f0-9]{32}$")
 SOURCE_FILE_ID_PATTERN: Final = re.compile(r"^src-[0-9]{5}-[a-f0-9]{8}$")
 PROVIDER_JOB_ID_PATTERN: Final = re.compile(r"^gsp-[0-9]{14}-[a-f0-9]{8}$")
@@ -142,6 +143,7 @@ class SimulationProjectStore:
             },
             "artifacts": [],
             "world_manifest": None,
+            "viewer_settings": _default_viewer_settings(),
             "error": None,
             "created_at_utc": now,
             "updated_at_utc": now,
@@ -189,6 +191,19 @@ class SimulationProjectStore:
             self._write(document)
             return document
 
+    def update_viewer_settings(
+        self,
+        project_id: str,
+        settings: dict[str, Any],
+    ) -> dict[str, Any]:
+        normalized = _viewer_settings(settings)
+        with self._lock:
+            document = self._read(project_id)
+            document["viewer_settings"] = normalized
+            document["updated_at_utc"] = utc_now_iso()
+            self._write(document)
+            return document
+
     def upload_state(self, project_id: str, file_id: str) -> tuple[int, int]:
         with self._lock:
             document = self._read(project_id)
@@ -239,7 +254,7 @@ class SimulationProjectStore:
     def begin_build(self, project_id: str) -> dict[str, Any]:
         with self._lock:
             document = self._read(project_id)
-            if document["status"] not in {"uploading", "failed"}:
+            if document["status"] not in {"uploading", "failed", "ready"}:
                 raise SimulationProjectConflictError("simulation project cannot start a build")
             if any(
                 int(item["uploaded_bytes"]) != int(item["byte_length"])
@@ -371,6 +386,7 @@ class SimulationProjectStore:
             or document.get("project_id") != project_id
         ):
             raise SimulationProjectError("persisted simulation project identity is invalid")
+        document.setdefault("viewer_settings", _default_viewer_settings())
         return document
 
     def _write(self, document: dict[str, Any]) -> None:
@@ -421,7 +437,7 @@ class SimulationProjectService:
 
     def begin_build(self, project_id: str) -> dict[str, Any]:
         project = self.store.get(project_id)
-        if project.get("status") == "failed":
+        if project.get("status") in {"failed", "ready"}:
             job_id = project["provider"].get("job_id")
             if isinstance(job_id, str):
                 provider = self.provider_factory()
@@ -616,7 +632,7 @@ def _world_manifest(project_id: str, artifacts: list[dict[str, Any]]) -> dict[st
         },
         "transforms": {
             "world_from_visual": [1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1],
-            "world_from_collision": [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1],
+            "world_from_collision": [-1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1],
         },
     }
 
@@ -628,11 +644,66 @@ def _collision_profile(scene_type: str) -> dict[str, Any]:
         "seed_position": [0, 1, 0],
         "capsule_height": 1.6,
         "capsule_radius": 0.2,
-        "voxel_size": 0.05,
+        "voxel_size": 0.2 if scene_type == "outdoor" else 0.1,
         "mesh_shape": "smooth",
     }
 
 
+def _default_viewer_settings() -> dict[str, Any]:
+    return {
+        "schema_version": VIEWER_SETTINGS_SCHEMA,
+        "quality": "high",
+        "visual": {"inverted": True, "axis": "x"},
+        "collision": {"inverted": True, "axis": "y"},
+        "camera": {
+            "invert_horizontal": True,
+            "invert_vertical": False,
+        },
+    }
+
+
+def _viewer_settings(value: object) -> dict[str, Any]:
+    if not isinstance(value, dict) or set(value) != {
+        "schema_version", "quality", "visual", "collision", "camera"
+    }:
+        raise SimulationProjectError("simulation viewer settings contract is invalid")
+    if value.get("schema_version") != VIEWER_SETTINGS_SCHEMA:
+        raise SimulationProjectError("simulation viewer settings version is unsupported")
+    quality = value.get("quality")
+    if quality not in {"low", "medium", "high", "ultra", "maximum"}:
+        raise SimulationProjectError("simulation viewer quality is invalid")
+
+    def layer(name: str) -> dict[str, Any]:
+        raw = value.get(name)
+        if not isinstance(raw, dict) or set(raw) != {"inverted", "axis"}:
+            raise SimulationProjectError(f"simulation {name} transform is invalid")
+        inverted = raw.get("inverted")
+        axis = raw.get("axis")
+        if not isinstance(inverted, bool) or axis not in {"x", "y", "z"}:
+            raise SimulationProjectError(f"simulation {name} transform is invalid")
+        return {"inverted": inverted, "axis": axis}
+
+    camera = value.get("camera")
+    if not isinstance(camera, dict) or set(camera) != {
+        "invert_horizontal", "invert_vertical"
+    }:
+        raise SimulationProjectError("simulation camera settings are invalid")
+    horizontal = camera.get("invert_horizontal")
+    vertical = camera.get("invert_vertical")
+    if not isinstance(horizontal, bool) or not isinstance(vertical, bool):
+        raise SimulationProjectError("simulation camera settings are invalid")
+    return {
+        "schema_version": VIEWER_SETTINGS_SCHEMA,
+        "quality": quality,
+        "visual": layer("visual"),
+        "collision": layer("collision"),
+        "camera": {
+            "invert_horizontal": horizontal,
+            "invert_vertical": vertical,
+        },
+    }
+
+
 def _project_name(value: str) -> str:
     normalized = " ".join(value.split())
     if not 1 <= len(normalized) <= 120:

src/k1link/web/app.py

@@ -528,6 +528,17 @@ async def request_validation_error_handler(
     return JSONResponse(status_code=422, content={"detail": INVALID_REQUEST_DETAIL})
 
 
+@app.get("/api/liveness")
+async def liveness() -> dict[str, object]:
+    """Prove only that the canonical event loop is responsive."""
+
+    return {
+        "ok": True,
+        "status": "alive",
+        "service": "mission-core-control-plane",
+    }
+
+
 @app.get("/api/health")
 def health() -> dict[str, Any]:
     return build_runtime_readiness(

src/k1link/web/simulation_projects_api.py

@@ -12,6 +12,7 @@ from k1link.simulation.gaussian_pipeline_gateway import GaussianPipelineGatewayE
 from k1link.simulation.projects import (
     MAX_UPLOAD_CHUNK_BYTES,
     PROJECT_SCHEMA,
+    VIEWER_SETTINGS_SCHEMA,
     SimulationProjectConflictError,
     SimulationProjectError,
     SimulationProjectNotFoundError,
@@ -45,6 +46,30 @@ class SimulationProjectUpdate(BaseModel):
     scene_type: Literal["interior", "outdoor", "object"]
 
 
+class SimulationLayerViewerSettings(BaseModel):
+    model_config = ConfigDict(extra="forbid", frozen=True)
+
+    inverted: bool
+    axis: Literal["x", "y", "z"]
+
+
+class SimulationCameraViewerSettings(BaseModel):
+    model_config = ConfigDict(extra="forbid", frozen=True)
+
+    invert_horizontal: bool
+    invert_vertical: bool
+
+
+class SimulationViewerSettings(BaseModel):
+    model_config = ConfigDict(extra="forbid", frozen=True)
+
+    schema_version: Literal["missioncore.simulation-viewer-settings/v1"] = VIEWER_SETTINGS_SCHEMA
+    quality: Literal["low", "medium", "high", "ultra", "maximum"]
+    visual: SimulationLayerViewerSettings
+    collision: SimulationLayerViewerSettings
+    camera: SimulationCameraViewerSettings
+
+
 class SimulationProjectDocument(BaseModel):
     model_config = ConfigDict(extra="forbid")
 
@@ -57,6 +82,7 @@ class SimulationProjectDocument(BaseModel):
     provider: dict[str, Any]
     artifacts: list[dict[str, Any]]
     world_manifest: dict[str, Any] | None
+    viewer_settings: SimulationViewerSettings
     error: str | None
     created_at_utc: str
     updated_at_utc: str
@@ -117,6 +143,21 @@ def build_simulation_projects_router(
         except SimulationProjectError as exc:
             raise HTTPException(status_code=400, detail=str(exc)) from exc
 
+    @router.put(
+        "/projects/{project_id}/viewer-settings",
+        response_model=SimulationProjectDocument,
+    )
+    def update_viewer_settings(
+        project_id: str,
+        request: SimulationViewerSettings,
+    ) -> dict[str, Any]:
+        try:
+            return store.update_viewer_settings(project_id, request.model_dump())
+        except SimulationProjectNotFoundError as exc:
+            raise HTTPException(status_code=404, detail="Проект симуляции не найден.") from exc
+        except SimulationProjectError as exc:
+            raise HTTPException(status_code=400, detail=str(exc)) from exc
+
     @router.head("/projects/{project_id}/source/{file_id}")
     def source_upload_state(project_id: str, file_id: str) -> Response:
         try:

tests/test_simulation_projects.py

@@ -201,7 +201,7 @@ def test_service_materializes_world_manifest_and_deletes_both_copies(tmp_path: P
         1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1,
     ]
     assert ready["world_manifest"]["transforms"]["world_from_collision"] == [
-        1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1,
+        -1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1,
     ]
     assert provider.upload_calls == 1
     assert provider.submit_calls == 1
@@ -216,7 +216,7 @@ def test_service_materializes_world_manifest_and_deletes_both_copies(tmp_path: P
         "seed_position": [0, 1, 0],
         "capsule_height": 1.6,
         "capsule_radius": 0.2,
-        "voxel_size": 0.05,
+        "voxel_size": 0.1,
         "mesh_shape": "smooth",
     }
     service.delete(project["project_id"])
@@ -281,6 +281,41 @@ def test_failed_project_retries_from_retained_source_and_releases_old_job(tmp_pa
     assert queued["source"]["uploaded_byte_length"] == queued["source"]["total_byte_length"]
 
 
+def test_ready_project_rebuilds_from_retained_source_and_preserves_viewer_settings(
+    tmp_path: Path,
+) -> None:
+    store = SimulationProjectStore(tmp_path)
+    project = store.create(
+        name="Rebuild scene",
+        scene_type="outdoor",
+        source_kind="folder",
+        files=_folder_files(),
+    )
+    _upload_all(store, project)
+    store.begin_build(project["project_id"])
+    provider = _ReadyProvider()
+    service = SimulationProjectService(
+        store,
+        provider_factory=lambda: provider,
+    )  # type: ignore[arg-type]
+    service.process(project["project_id"])
+    settings = {
+        "schema_version": "missioncore.simulation-viewer-settings/v1",
+        "quality": "medium",
+        "visual": {"inverted": True, "axis": "z"},
+        "collision": {"inverted": True, "axis": "y"},
+        "camera": {"invert_horizontal": False, "invert_vertical": True},
+    }
+    store.update_viewer_settings(project["project_id"], settings)
+
+    queued = service.begin_build(project["project_id"])
+
+    assert provider.deleted == ["gsp-20260826000000-deadbeef"]
+    assert queued["status"] == "queued"
+    assert queued["viewer_settings"] == settings
+    assert queued["source"]["uploaded_byte_length"] == queued["source"]["total_byte_length"]
+
+
 def test_api_exposes_same_origin_resumable_upload_contract(tmp_path: Path) -> None:
     store = SimulationProjectStore(tmp_path)
     service = SimulationProjectService(store, provider_factory=lambda: None)
@@ -296,6 +331,13 @@ def test_api_exposes_same_origin_resumable_upload_contract(tmp_path: Path) -> No
     })
     assert created.status_code == 201
     project = created.json()
+    assert project["viewer_settings"] == {
+        "schema_version": "missioncore.simulation-viewer-settings/v1",
+        "quality": "high",
+        "visual": {"inverted": True, "axis": "x"},
+        "collision": {"inverted": True, "axis": "y"},
+        "camera": {"invert_horizontal": True, "invert_vertical": False},
+    }
     source_file = project["source"]["files"][0]
     upload_url = (
         f"/api/v1/simulation-worlds/projects/{project['project_id']}"
@@ -311,3 +353,21 @@ def test_api_exposes_same_origin_resumable_upload_contract(tmp_path: Path) -> No
     assert second.status_code == 204
     catalog = client.get("/api/v1/simulation-worlds/projects").json()
     assert catalog["projects"][0]["project_id"] == project["project_id"]
+
+    settings = {
+        "schema_version": "missioncore.simulation-viewer-settings/v1",
+        "quality": "medium",
+        "visual": {"inverted": True, "axis": "z"},
+        "collision": {"inverted": False, "axis": "x"},
+        "camera": {"invert_horizontal": False, "invert_vertical": True},
+    }
+    saved = client.put(
+        f"/api/v1/simulation-worlds/projects/{project['project_id']}/viewer-settings",
+        json=settings,
+    )
+    assert saved.status_code == 200
+    assert saved.json()["viewer_settings"] == settings
+    persisted = client.get(
+        f"/api/v1/simulation-worlds/projects/{project['project_id']}"
+    ).json()
+    assert persisted["viewer_settings"] == settings

tests/test_spatial_evidence.py

@@ -0,0 +1,49 @@
+from __future__ import annotations
+
+import numpy as np
+import pytest
+
+from k1link.perception.geometry_math import Kb4ProjectionProfile
+from k1link.perception.spatial_evidence import project_metric_obstacles_to_camera
+
+
+def _identity_profile() -> Kb4ProjectionProfile:
+    transform = np.eye(4, dtype=np.float64)
+    transform.setflags(write=False)
+    return Kb4ProjectionProfile(
+        width=800,
+        height=600,
+        intrinsic_fx_fy_cx_cy=(100.0, 100.0, 400.0, 300.0),
+        distortion_kb4=(0.0, 0.0, 0.0, 0.0),
+        t_camera_from_lidar=transform,
+    )
+
+
+def test_metric_obstacle_projection_uses_native_kb4_voxel_bounds() -> None:
+    projections = project_metric_obstacles_to_camera(
+        [
+            {
+                "component_id": "static-a",
+                "cells": [{"x": -1, "y": -1, "z": 2}],
+            },
+            {
+                "component_id": "baseline-b",
+                "cells": [{"x": 1, "y": 1, "z": 2}],
+            },
+        ],
+        position_map_xyz=(0.0, 0.0, 0.0),
+        orientation_map_from_lidar_xyzw=(0.0, 0.0, 0.0, 1.0),
+        profile=_identity_profile(),
+        occupied_voxel_size_m=1.0,
+        component_ids={"static-a"},
+    )
+
+    assert set(projections) == {"static-a"}
+    projection = projections["static-a"]
+    assert projection["projection"] == "factory-kb4-occupied-voxel-bounds"
+    assert projection["authority"] == "visual-derived"
+    assert projection["projected_cell_count"] == 1
+    assert projection["nearest_depth_m"] == pytest.approx(2.0)
+    left, top, right, bottom = projection["bbox_xyxy"]
+    assert left < right == pytest.approx(400.0)
+    assert top < bottom == pytest.approx(300.0)