From 7f01770017deae5298206d39310c9224a4505e9f Mon Sep 17 00:00:00 2001 From: fOuttaMyPaint Date: Fri, 24 Jul 2026 18:42:36 -0400 Subject: [PATCH] feat: add socket-attach-points example (spawn mount contract) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit A spawn system bolting modules onto a prop at runtime rests on a chain of matrix identities that all fail quietly: a skipped matrix_parent_inverse, a basis built with the cross product the wrong way round, a transform frozen on the parent after the sockets were placed. Nothing in the gallery pinned that chain down — prop-origin-transform covers pivots and parent-inverse-orrery covers parent-inverse under animation, but neither asserts that a module dropped on a named socket with an identity local transform lands where the artist put it. The socket orientation check is deliberately non-circular: the mount pad mesh is swung onto its declared normal by a quaternion, while the socket basis is built by explicit Gram-Schmidt, and the check compares the socket's +Z against a Newell normal recomputed from raw vertex coordinates. Two independent derivations of the same declared value, so a basis-construction bug cannot hide behind the spec that produced it. Two hazards surfaced while authoring and are asserted rather than merely described, so they cannot change under us silently: applying a transform on an Empty root has no object data to bake into, so Blender pushes it down into every child (all 7 parent-inverses cleared, root scale handed to each child's local matrix) while preserving world matrices; and a child left selected during that apply gets the transform applied twice, drifting sockets 2.335 m. Signed-off-by: fOuttaMyPaint Signed-off-by: fOuttaMyPaint --- .cursor-plugin/plugin.json | 1 + .github/workflows/blender-smoke.yml | 16 + README.md | 27 +- ROADMAP.md | 1 + .../asset-sheets/socket-attach-points.webp | Bin 0 -> 31128 bytes .../assets/socket-attach-points-hero.webp | Bin 0 -> 19204 bytes .../socket-attach-points-contact-sheet.webp | Bin 0 -> 47026 bytes docs/gallery/index.html | 13 +- docs/gallery/socket-attach-points/index.html | 1427 +++++++++++++++++ examples/gallery.json | 14 + examples/socket-attach-points/README.md | 133 ++ examples/socket-attach-points/preview.webp | Bin 0 -> 17678 bytes .../socket_attach_points.py | 1099 +++++++++++++ 13 files changed, 2728 insertions(+), 3 deletions(-) create mode 100644 docs/gallery/asset-sheets/socket-attach-points.webp create mode 100644 docs/gallery/assets/socket-attach-points-hero.webp create mode 100644 docs/gallery/contact-sheets/socket-attach-points-contact-sheet.webp create mode 100644 docs/gallery/socket-attach-points/index.html create mode 100644 examples/socket-attach-points/README.md create mode 100644 examples/socket-attach-points/preview.webp create mode 100644 examples/socket-attach-points/socket_attach_points.py diff --git a/.cursor-plugin/plugin.json b/.cursor-plugin/plugin.json index 056418a..14e55ac 100644 --- a/.cursor-plugin/plugin.json +++ b/.cursor-plugin/plugin.json @@ -91,6 +91,7 @@ "examples/shape-key-blend", "examples/sky-texture-sun-elevation", "examples/soccer-ball-goldberg", + "examples/socket-attach-points", "examples/swatch-grid", "examples/temp-override-join", "examples/text-version-stamp", diff --git a/.github/workflows/blender-smoke.yml b/.github/workflows/blender-smoke.yml index 1d64a19..e26c63a 100644 --- a/.github/workflows/blender-smoke.yml +++ b/.github/workflows/blender-smoke.yml @@ -593,3 +593,19 @@ jobs: # non-zero on failure. xvfb-run -a "$BLENDER" --background \ --python examples/lightmap-uv-channel/lightmap_uv_channel.py -- + + - name: Shipped example - socket attach points (spawn mount contract) + run: | + set -euo pipefail + # Check only (no render): a 21-part survey drone with 7 SKT_ socket + # empties and 7 seated modules; asserts every socket's evaluated + # world matrix equals the authored transform within 1e-6 with an + # orthonormal right-handed basis, socket +Z == the mount pad's + # Newell normal and origin == that face's centroid (two independent + # derivations), the documented up-axis fallback rule, modules seated + # with a strictly identity local transform, rigid invariance under a + # re-pose, and that freezing the root transform preserves world + # matrices while clearing all 7 parent-inverses and pushing the + # root scale down into the children. Exits non-zero on failure. + xvfb-run -a "$BLENDER" --background \ + --python examples/socket-attach-points/socket_attach_points.py -- diff --git a/README.md b/README.md index d0eec88..a30d389 100644 --- a/README.md +++ b/README.md @@ -18,7 +18,7 @@

- 12 skills  •  6 rules  •  2 templates  •  17 snippets  •  42 examples + 12 skills  •  6 rules  •  2 templates  •  17 snippets  •  43 examples

@@ -36,7 +36,7 @@ ## Overview -This repository ships **12 skills, 6 rules, 2 templates, 17 snippets, and 38 runnable examples** for Blender Python development targeting Blender 5.1 (current stable) with Blender 4.5 LTS fallback support. +This repository ships **12 skills, 6 rules, 2 templates, 17 snippets, and 43 runnable examples** for Blender Python development targeting Blender 5.1 (current stable) with Blender 4.5 LTS fallback support. The content is consumed by AI coding agents (Cursor, Claude Code, any MCP-capable client) when working on Blender add-ons, geometry nodes scripts, batch pipelines, or animation tooling. There is no build step. Edit the markdown and Python files directly. @@ -820,6 +820,29 @@ by an independent SAT scan, and a measured min island distance of [`uv-layer-grid`](examples/uv-layer-grid/) (UV authoring) and [`triangulate-tangents`](examples/triangulate-tangents/) (tangents from UVs). + + + + +Socket attach points: a dark carbon survey quadcopter hovering on a studio stage, orange mount pads ringing each canted rotor, a gimbal camera pod under the belly and a sensor mast on the deck — every module seated exactly on its named socket + + + +### [socket-attach-points](examples/socket-attach-points/) + +Named `SKT_` empties as the spawn contract, on a reusable survey drone. All +**7** socket world matrices land within **1.788e-07** of the authored +transform with orthonormal right-handed bases, each socket's **+Z** equals its +mount pad's **Newell normal** (**1.794e-07**) by a derivation independent of +the basis construction, and modules seat at offset **exactly 0.0** with +identity local transforms. Freezing the root preserves world matrices but +clears **7/7** parent-inverses and pushes the root scale into the children — +both halves asserted. The no-parent-inverse probe jumps **0.690128 m**. +Companion to [`prop-origin-transform`](examples/prop-origin-transform/) +(pivot discipline) and +[`parent-inverse-orrery`](examples/parent-inverse-orrery/) (parent-inverse +under animation). + diff --git a/ROADMAP.md b/ROADMAP.md index c95a1fa..c4c9664 100644 --- a/ROADMAP.md +++ b/ROADMAP.md @@ -111,6 +111,7 @@ Not committed; target list for the next content version. (v0.3.0 shipped the smo - ~~Degenerate-bevel weld hazard~~ **SHIPPED** as `examples/degenerate-bevel-weld/` — at `offset == min_dim/2` the bevel band collapses to exactly 12 zero-area faces (4 min-axis edges × 3 segments) with 16 coincident verts (4 × (segments+1)) and min_area down 3.2e5×; a stdlib GLB re-parse counts **32 degenerate triangles crossing the export boundary** (MEASURED regression constant) versus 0 for the safe mesh — the loops an engine merge-by-distance welds; byte-identical on 4.5.11 and 5.1.2 - ~~Modular kit snap witness~~ **SHIPPED** as `examples/modular-kit-snap/` — tiling corridor segment: 16 boundary verts on `x ∈ {0, TILE}` within 1e-6 m, end rings coincident under the tile offset (nearest-key match), linked-duplicate joint deviation 0.0, shell bbox == declared tile (dev 0.0), manifold except the 16 open-end edges, 20 detail parts contained inside the tile; unsnapped probe (3 mm skew, 2 mm nudge) fails at exits 3/4 with measured errors; sorted-zip ring matching mispairs displaced verts — match by nearest key (authoring hazard, fixed); byte-identical on 4.5.11 and 5.1.2 - ~~Lightmap UV channel witness~~ **SHIPPED** as `examples/lightmap-uv-channel/` — two-channel UV contract on a market cart: per-part `UVMap`/`UVLight` with `active`/`active_render` re-asserted after the ops (edit-mode UV ops clear both flags; `uv_layers.new()` never moves them), UV0 drift 0.0 (clobber trap measured 2.068), every UV1 loop in [0,1], 0 overlapping islands via independent binned strict-SAT (15 hits when falsified), min island distance 0.00401 vs nominal margin 0.002 (`MARGIN_DIV × 0.01` semantics measured live); held `MeshUVLoopLayer.data` after edit-mode UV ops segfaults 4.5.11 (5/5, EXCEPTION_ACCESS_VIOLATION), silent no-op pack without prior unwrap; byte-identical on 4.5.11 and 5.1.2 (3680 islands) +- ~~Socket attach-point witness~~ **SHIPPED** as `examples/socket-attach-points/` — named `SKT_` empties as the spawn contract on a survey drone: 7 socket world matrices within 1.788e-07 of the authored transform with orthonormal right-handed bases (Gram 3.576e-07, det err 2.980e-07), socket +Z == the mount pad's Newell normal (1.794e-07) by a quaternion-swing construction independent of the Gram-Schmidt basis, origin on the mount-face centroid (6.687e-08), documented up-axis fallback for the +Z/−Z mounts, module seating offset exactly 0.0 with strictly identity local matrices, rigid invariance under a re-pose (2.384e-07); `transform_apply` on an **Empty** root preserves world matrices (2.235e-07) but clears **7/7** `matrix_parent_inverse` and pushes the root scale down into every child (0.35 for an applied 1.35) — both halves asserted; a child left selected during the apply drifts sockets **2.335 m**; `bm.normal_update()` does not fix inward winding (`recalc_face_normals` does — the lofted fuselage rendered as a flat white panel); no-parent-inverse probe jumps 0.690128 m; byte-identical on 4.5.11 and 5.1.2 - UV atlas **utilization** witness — coverage/wasted-texel closed forms for a packed lightmap atlas (the non-overlap, unit-square, margin, and active/active_render contracts shipped in `lightmap-uv-channel`; utilization is the remaining unbuilt slice of the old "UV atlas pack" candidate) - ~~GAMMA_CROSS blend-curve witness~~ **SHIPPED** as `examples/vse-gamma-cross/` — the cross blends in a gamma-0.5 space: `((1-t)·√A + t·√B)²` with `t = (frame − start)/duration`, never 1 inside the effect; mid-cross dips 0.115 below the sRGB lerp from crimson/teal (closed form (0.341, 0.349, 0.463) confirmed per frame); AgX-default sampling poisons the fit (0.146 red-channel error, `view_transform='Standard'` mandatory); deleting a consumed input orphans-and-deletes the effect — follow-up to `vse-cut-list` - Falsy `bpy_prop_collection` trap snippet: an empty collection is falsy, so `editor.strips or editor.sequences` silently falls through to the legacy accessor on an empty timeline — always branch on `hasattr`; likely generalizes across 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zvao@qBj>)2-95HZD(t0FsEq0{67VyMI~3nm;1QI6sy+!4WnA1h{3^+Ff~~WWrbp^t*fl!vF@PxGoEeQ<~w6jeF+n1uM^J^I$ENtQ{@PL&^!_WB-v7|e>4 z0S97_0(?PN>Z?~71S_trs^(23{>XK4=(?7IkqmY-qsnaXeIl>OdnK8b!gFFXqH80j mTAD_-vdYKw+$_^~yrw_^00DxEG|6C0%ynNzh~=#y0001C804k^ literal 0 HcmV?d00001 diff --git a/docs/gallery/index.html b/docs/gallery/index.html index 7cf0d43..b8c3390 100644 --- a/docs/gallery/index.html +++ b/docs/gallery/index.html @@ -272,7 +272,7 @@

Examples Gallery

autocomplete="off" spellcheck="false" aria-label="Search examples" /> - 42 examples + 43 examples
@@ -784,6 +784,17 @@

lightmap-uv-channel

View example
+
+ + socket-attach-points — A survey drone whose named SKT_ empties are the spawn contract: modules parented with an identity local transform seat exactly on their mount pads. + +
+

socket-attach-points

+

A survey drone whose named SKT_ empties are the spawn contract: modules parented with an identity local transform seat exactly on their mount pads.

+

witnesses 7 socket world matrices within 1.788e-07 of the authored transform, socket +Z == the pad's Newell normal (1.794e-07), seating offset 0.0; the no-parent-inverse probe jumps 0.690128 m.

+ View example +
+
diff --git a/docs/gallery/socket-attach-points/index.html b/docs/gallery/socket-attach-points/index.html new file mode 100644 index 0000000..6e618c3 --- /dev/null +++ b/docs/gallery/socket-attach-points/index.html @@ -0,0 +1,1427 @@ + + + + + + socket-attach-points — Examples — Blender Developer Tools + + + + + + + + + + + + + + + + + +
+ Examples Gallery +
+ GitHub +
+
+
+

socket-attach-points

+

A survey drone whose named SKT_ empties are the spawn contract: modules parented with an identity local transform seat exactly on their mount pads.

+
+
+ +

Rendered headless by the example itself — click to zoom.

+
witnesses 7 socket world matrices within 1.788e-07 of the authored transform, socket +Z == the pad's Newell normal (1.794e-07), seating offset 0.0; the no-parent-inverse probe jumps 0.690128 m.
+
+ 
blender --background --python examples/socket-attach-points/socket_attach_points.py --
+ +
+
+

A runnable example building the thing a spawn system actually leans on: named socket empties parented into an asset, so a module dropped onto a socket with an *identity local transform* lands exactly where the artist put it, oriented the way the naming convention promises. Every clause in that sentence is a matrix identity, and every one of them drifts silently — a skipped matrix_parent_inverse, a basis built with the cross product the wrong way round, a transform frozen on the parent after the sockets were placed.

+

The asset, for reuse: Drone.Survey, an 0.86 m span survey quadcopter — a lofted fuselage with a vented deck and canopy face, four canted booms with finned motor cans and nav lights, and a two-rail landing gear. Seven mount pads carry seven sockets, and four interchangeable modules seat on them:

+

| Socket | Mount normal | Module | | --- | --- | --- | | SKT_Rotor.FL/FR/RL/RR | 8° canted outward | Mod.Rotor (twisted, tapered blades) | | SKT_Camera | belly, −Z | Mod.CamPod (gimbal ball + lens) | | SKT_Mast | dorsal, +Z | Mod.Mast (antenna, dish, beacon) | | SKT_Battery | rear, tilted down | Mod.Battery (cell block + gauge) |

+

Origin is the skid contact plane centre (z == 0 is where it rests, +X is forward), transforms are identity by construction, datablocks live under Drone.Survey.* and SKT_*, and accents are per-face material slots rather than extra objects. To use it: instantiate a module, parent it to the socket, zero the local transform. That is the whole API — and it only works because the socket matrices hold.

+

Socket convention (encoded in the SKT_ prefix):

+
  • +Z — the outward mount normal, matching the mount pad's own face normal.
  • +Y — the module's up reference: chassis +Z orthogonalised against the socket normal, falling back to chassis +X when the normal is parallel to chassis up (the belly and dorsal mounts take that branch).
  • +X — Y × Z, so the basis is right-handed (det == +1).
+

Pipeline arc neighbours: pivot and origin discipline in prop-origin-transform, parent-inverse under animation in parent-inverse-orrery, tile-grid boundary contracts in modular-kit-snap, collision packaging in collision-hull-proxy.

+

What it witnesses (all closed form or independently re-derived):

+
  • Socket matrices. All 7 evaluated matrix_world values equal root.matrix_world @ authored_local within 1e-6 (measured 1.788e-07); every basis is orthonormal (Gram error 3.576e-07) and right-handed (det − 1 = 2.980e-07).
  • Orientation vs geometry. Each socket's world +Z equals the Newell normal of its mount pad's mount face — computed from raw vertex coordinates, and the pad mesh is built by a *quaternion swing from +Z* while the socket basis is built by *explicit Gram-Schmidt*, so the two derivations are independent (normal deviation 1.794e-07). The socket origin sits on that face's centroid (6.687e-08), and the up axis matches the documented fallback rule (1.943e-07).
  • Seating. Every module's mount origin coincides with its socket origin (offset exactly 0.0) with its mount axis on the socket +Z (dot − 1 = 1.735e-07), and carries a strictly identity local matrix — seated by the socket, not nudged into place.
  • Rigid invariance. Re-posing the chassis root to a second arbitrary transform moves every socket to root.matrix_world @ authored_local (2.384e-07) and every module stays on its socket (0.0).
  • Transform apply. Freezing loc/rot/scale on the root leaves every socket's *world* matrix put (2.235e-07) — see the hazard below for what it does to the *local* ones.
  • Reuse hygiene. 14 chassis parts at identity scale, Drone.Survey.* / SKT_* names, no default datablocks, min z == 0.00e+00.
+

Hazards found while authoring

+
  • Applying a transform on an Empty root pushes it down into the children. An Empty has no object data to bake into, so transform_apply on the root resets 7/7 children's matrix_parent_inverse to identity and hands each child the root's scale locally (measured 0.35 for an applied 1.35). World matrices survive to float32; *local* transforms do not. A spawn system that reads matrix_local, or an exporter that trusts "transforms are applied", reads different numbers after an artist freezes the rig. Both halves are asserted, so the behaviour cannot change under us silently.
  • Only the root may be selected during the apply. A child left selected gets the parent transform applied twice — measured 2.335 m of socket drift on this asset.
  • bm.normal_update() does not fix winding. It recomputes normals from the existing winding. The lofted fuselage wound its side quads inward and rendered as a flat unshaded white panel rather than an obvious hole; bmesh.ops.recalc_face_normals is what fixes it, and Part.finish now always calls it.
  • Bevel offsets near half the local edge length collapse. The skid rails at a 5 mm offset on a 9.9 mm octagon edge produced 3 zero-area faces each — the collapse degenerate-bevel-weld witnesses. 2.2 mm is clean. Note that examples/gallery_asset_quality.py raises ValueError: zero length vectors have no valid angle on such a mesh rather than reporting it.
+

What each check catches on failure (every one probed, with the measured error): sockets parented without the parent-inverse — worst jump 0.690128 m (exit 3); a left-handed basis from z.cross(y) — det == −1.000000 (exit 3); a rotor pad built flat instead of canted — 1.395e-01 off the Newell normal (exit 4); an 11° roll on the basis — 1.917e-01 off the up rule (exit 4); a module nudged 4 mm off its socket (exit 5); a default Cube datablock name (exit 6); a socket left unparented so it ignores the re-pose — 1.417e+00 (exit 7); a child selected during the apply — 1.252e+00 to 2.244e+00 of socket drift (exit 8).

+

Version witness: check output is byte-identical on Blender 4.5.11 LTS and 5.1.2 — same counts, same measured deviations to every printed digit, and the same framing numbers on the render path.

+

Render as proof: the drone on the dark stage with every module seated, the orange mount pads reading as the socket signature. The falsification variant (--falsify) parents the sockets without matrix_parent_inverse: the pads are left bare, the rotors and mast vanish from the airframe, and the camera pod and battery hang in space near the top of frame. A broken matrix is not a subtle pixel difference here — the asset comes apart.

+

Run

+
blender --background --python socket_attach_points.py --
+blender --background --python socket_attach_points.py -- --output drone.png
+blender --background --python socket_attach_points.py -- --falsify adrift.png
+blender --background --python socket_attach_points.py -- --probe
+

Exits non-zero on failure. The blender-smoke workflow runs the check on Blender 4.5 LTS and 5.1. The --output render path additionally gates framing via examples/gallery_framing.py (fill 0.881x, margins 0.066/0.053/0.122/0.106, no edge touched) and the asset floors via examples/gallery_asset_quality.py (32 materials, edge90 0.027, no default names). The --falsify render is a diagnostic, not a gallery hero, so it takes a documented framing deviation — its whole point is that the modules leave the frame.

+
+
+

Source

+
+ examples/socket-attach-points/socket_attach_points.py + View on GitHub → +
+ 
"""Socket attach points — named empties parented into an asset as spawn mounts.
+
+Witnesses the contract a spawn system depends on when it bolts modules onto a
+prop at runtime: an attachment placed at socket S with an identity local
+transform must land exactly where the artist authored the socket, oriented the
+way the naming convention promises. Everything in that sentence is a matrix
+identity, and every one of them can silently drift — a skipped
+``matrix_parent_inverse``, a basis built with the cross product the wrong way
+round, a transform applied on the parent after the sockets were placed.
+
+The asset is a survey drone chassis with seven sockets: four canted rotor
+mounts, a belly camera mount, a dorsal mast mount, and a rear battery mount.
+Sockets are authored in WORLD space (where an artist actually places them) and
+then parented to the chassis root, which is itself posed at a non-trivial world
+transform — so the parent-inverse is load-bearing rather than incidentally
+identity.
+
+Socket convention, encoded in the name prefix ``SKT_``:
+
+    +Z  the outward mount normal — the direction the module grows away from
+        the hull, matching the mount pad's own face normal
+    +Y  the module's up reference: chassis +Z orthogonalised against +Z_socket,
+        falling back to chassis +X when the normal is parallel to chassis up
+    +X  Y x Z, so the basis is right-handed (det == +1)
+
+Check (all closed form or independently re-derived, nothing captured):
+
+1. Socket matrices (exit 3): every evaluated ``matrix_world`` equals the
+   authored world transform within 1e-6, and every basis is orthonormal
+   right-handed (det == +1, Gram error ~0).
+2. Orientation vs geometry (exit 4): each socket's world +Z equals the Newell
+   normal of its mount pad's mount face, computed from mesh vertex coordinates
+   by a construction path (quaternion swing from +Z) independent of the socket
+   basis (explicit Gram-Schmidt); the origin sits on that face's centroid; the
+   up axis follows the documented fallback rule.
+3. Seating (exit 5): each module, parented to its socket with an identity local
+   transform, puts its mount origin exactly on the socket origin and its own
+   mount axis exactly on the socket +Z (dot == 1 within 1e-6).
+4. Reuse hygiene (exit 6): identity object scales, ``Drone.Survey.*`` /
+   ``SKT_*`` names, no default datablock names, chassis resting on z == 0.
+5. Rigid invariance (exit 7): re-posing the chassis root to an arbitrary
+   transform moves every socket to ``root.matrix_world @ authored_local``
+   within 1e-6, and every module follows its socket.
+6. Transform apply (exit 8): applying loc/rot/scale on the chassis root leaves
+   every socket's world matrix unchanged within 1e-6 — but, because the root is
+   an Empty with no data to bake into, Blender pushes the transform DOWN into
+   the children: every ``matrix_parent_inverse`` is cleared to identity and
+   every child picks up the root's scale locally. Both halves are asserted, so
+   the hazard cannot silently change under us.
+
+By default it runs only the correctness check (no render) — the CI smoke
+check. Pass --output to also render a still:
+
+    blender --background --python socket_attach_points.py --                  # check
+    blender --background --python socket_attach_points.py -- --output d.png   # + render
+    blender --background --python socket_attach_points.py -- --falsify f.png  # no-MPI variant
+"""
+import bpy, bmesh, sys, os, math, argparse
+from mathutils import Vector, Matrix
+
+# Shared Layer 1 framing measurement (render path only) — see gallery_framing.py
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.abspath(__file__)), os.pardir))
+sys.dont_write_bytecode = True  # keep examples/__pycache__ out of the repo tree
+import gallery_framing
+import gallery_asset_quality
+
+TOL = 1e-6            # matrix / position tolerance (metres, unitless for axes)
+                      # float32 noise on a 4x4 world matrix measures ~3.6e-07 here
+ORTHO_TOL = 1e-6      # orthonormality + handedness tolerance
+PARALLEL = 0.999      # |n . chassis_up| above this takes the +X up-axis fallback
+
+CHASSIS_UP = Vector((0.0, 0.0, 1.0))       # chassis local up
+CHASSIS_FWD = Vector((1.0, 0.0, 0.0))      # chassis local forward
+
+# Chassis geometry, metres. Origin is the skid contact plane centre: z == 0 is
+# where the drone rests, +X is forward. An 0.86 m span survey quadcopter.
+HULL_Z = 0.152            # fuselage centreline height above the skid plane
+DECK_Z = 0.214            # top of the fuselage
+BELLY_Z = 0.090           # bottom of the fuselage
+ARM_YAW = math.radians(41.0)
+ARM_LEN = 0.430           # hub centre -> rotor pad centre, horizontal
+ARM_RISE = 0.053          # rotor pads sit this far above the centreline
+ROTOR_CANT = math.radians(8.0)   # rotor pads cant outward: NOT axis aligned
+PAD_T = 0.014             # mount pad plate thickness
+
+# Chassis root pose in the scene: translated, yawed and banked, so the sockets'
+# parent-inverse is load-bearing rather than incidentally identity.
+ROOT_LOC = (0.240, -0.130, 0.470)
+ROOT_ROT = (math.radians(-7.0), math.radians(5.0), math.radians(24.0))
+
+# Re-pose used by check 5 (rigid invariance) — a second arbitrary transform.
+REPOSE_LOC = (-1.150, 0.820, 0.315)
+REPOSE_ROT = (math.radians(13.0), math.radians(-21.0), math.radians(-64.0))
+
+# Transform-apply pose used by check 6: a uniform scale, so applying it is a
+# real change to the object transform rather than a no-op.
+APPLY_SCALE = 1.35
+
+
+def eevee_engine_id():
+    return "BLENDER_EEVEE" if bpy.app.version >= (5, 0, 0) else "BLENDER_EEVEE_NEXT"
+
+
+# ---------------------------------------------------------------------------
+# Socket specification (authored, chassis-local)
+# ---------------------------------------------------------------------------
+
+def rotor_dirs():
+    """Horizontal outward directions of the four arms, front-left first."""
+    out = []
+    for tag, sx, sy in (("FL", 1, 1), ("FR", 1, -1), ("RL", -1, 1), ("RR", -1, -1)):
+        yaw = sy * (ARM_YAW if sx > 0 else math.pi - ARM_YAW)
+        out.append((tag, Vector((math.cos(yaw), math.sin(yaw), 0.0))))
+    return out
+
+
+def socket_spec():
+    """[(socket_name, pad_name, centre, normal, pad_radius)], chassis-local.
+
+    The normal is the declared mount direction. The pad MESH is built from it
+    by a quaternion swing from +Z; the socket BASIS is built from it by
+    explicit Gram-Schmidt. Check 2 compares the two independent derivations.
+    """
+    spec = []
+    for tag, d in rotor_dirs():
+        # canted outward: the rotor discs tilt away from the hull, so no rotor
+        # socket is axis aligned and a "just use +Z" spawn breaks visibly
+        n = (CHASSIS_UP * math.cos(ROTOR_CANT) + d * math.sin(ROTOR_CANT)).normalized()
+        centre = d * ARM_LEN + Vector((0.0, 0.0, HULL_Z + ARM_RISE))
+        spec.append((f"SKT_Rotor.{tag}", f"Pad.Rotor.{tag}", centre, n, 0.047))
+    # belly camera mount: normal is -Z, exactly antiparallel to chassis up ->
+    # exercises the +X up-axis fallback
+    spec.append(("SKT_Camera", "Pad.Camera",
+                 Vector((0.062, 0.0, BELLY_Z)), Vector((0.0, 0.0, -1.0)), 0.040))
+    # dorsal mast mount: normal is +Z, parallel to chassis up -> fallback again
+    spec.append(("SKT_Mast", "Pad.Mast",
+                 Vector((-0.130, 0.0, DECK_Z)), Vector((0.0, 0.0, 1.0)), 0.034))
+    # rear battery mount: rearward and tilted down, a fully general normal
+    spec.append(("SKT_Battery", "Pad.Battery",
+                 Vector((-0.286, 0.0, 0.146)),
+                 Vector((-1.0, 0.0, -0.26)).normalized(), 0.042))
+    return spec
+
+
+def socket_basis(normal):
+    """The documented convention, by explicit Gram-Schmidt. Returns a 3x3."""
+    z = Vector(normal).normalized()
+    ref = CHASSIS_FWD if abs(z.dot(CHASSIS_UP)) > PARALLEL else CHASSIS_UP
+    y = (ref - z * ref.dot(z)).normalized()
+    x = y.cross(z)                       # x cross y == z, so this is right-handed
+    return Matrix((x, y, z)).transposed()
+
+
+def authored_local(centre, normal):
+    """The socket's authored chassis-local 4x4."""
+    m = socket_basis(normal).to_4x4()
+    m.translation = Vector(centre)
+    return m
+
+
+# ---------------------------------------------------------------------------
+# Mesh construction
+#
+# Parts are assembled from primitive groups, each tagged with a material slot
+# name. Slot indices are written onto the bmesh faces before to_mesh, so
+# accents (lens glass, nav lights, pad rings) are per-face assignments inside
+# one object rather than extra objects — the same technique
+# custom-normals-shade and lod-decimate-chain use for their accents.
+# ---------------------------------------------------------------------------
+
+class Part:
+    """A bmesh under construction with named material slots."""
+
+    def __init__(self):
+        self.bm = bmesh.new()
+        self.slots = []            # slot name per material index, in order
+
+    def slot(self, name):
+        if name not in self.slots:
+            self.slots.append(name)
+        return self.slots.index(name)
+
+    def group(self, slot_name, fn):
+        """Run fn(bm), then tag everything it created with slot_name."""
+        before = set(self.bm.faces)
+        fn(self.bm)
+        idx = self.slot(slot_name)
+        for f in self.bm.faces:
+            if f not in before:
+                f.material_index = idx
+        return self
+
+    def finish(self, name):
+        me = bpy.data.meshes.new(name)
+        try:
+            # HAZARD: bm.normal_update() recomputes normals from the EXISTING
+            # winding — it does not fix a face built the wrong way round. The
+            # lofted fuselage below winds its side quads inward, which renders
+            # as a flat unshaded white panel rather than an obvious hole.
+            # recalc_face_normals makes each shell outward-consistent; it runs
+            # per connected shell, so the intersecting sub-solids in one Part
+            # are each fixed independently.
+            bmesh.ops.recalc_face_normals(self.bm, faces=list(self.bm.faces))
+            self.bm.normal_update()
+            self.bm.to_mesh(me)
+        finally:
+            self.bm.free()
+        me["slots"] = self.slots      # material slot order, read by the renderer
+        return me
+
+
+def _box(bm, dims, centre, bevel=0.0, segments=2, rot=None):
+    before = set(bm.verts)
+    bmesh.ops.create_cube(bm, size=1.0)
+    made = [v for v in bm.verts if v not in before]
+    for v in made:
+        c = Vector((v.co.x * dims[0], v.co.y * dims[1], v.co.z * dims[2]))
+        if rot is not None:
+            c = rot @ c
+        v.co = c + Vector(centre)
+    if bevel > 0.0:
+        edges = [e for e in bm.edges if all(v in made for v in e.verts)]
+        bmesh.ops.bevel(bm, geom=edges, offset=bevel, segments=segments,
+                        profile=0.5, affect="EDGES", clamp_overlap=True)
+
+
+def _prism(bm, sides, radius, half_h, centre, stretch=1.0, bevel=0.0, rot=None,
+           taper=1.0):
+    """An n-gon prism along local Z, optionally tapered toward +Z."""
+    before = set(bm.verts)
+    ring = []
+    for i in range(sides):
+        a = 2.0 * math.pi * i / sides + math.pi / sides
+        ring.append((math.cos(a) * radius * stretch, math.sin(a) * radius))
+    top = [bm.verts.new((x * taper, y * taper, half_h)) for x, y in ring]
+    bot = [bm.verts.new((x, y, -half_h)) for x, y in ring]
+    bm.faces.new(top)
+    bm.faces.new(list(reversed(bot)))
+    for i in range(sides):
+        j = (i + 1) % sides
+        bm.faces.new((bot[i], bot[j], top[j], top[i]))
+    made = [v for v in bm.verts if v not in before]
+    for v in made:
+        c = Vector(v.co)
+        if rot is not None:
+            c = rot @ c
+        v.co = c + Vector(centre)
+    if bevel > 0.0:
+        edges = [e for e in bm.edges if all(v in made for v in e.verts)]
+        bmesh.ops.bevel(bm, geom=edges, offset=bevel, segments=2,
+                        profile=0.7, affect="EDGES", clamp_overlap=True)
+
+
+def _rounded_ring(half_w, half_h, z_c, corner):
+    """Rounded-rectangle cross-section in (y, z), CCW seen from +X."""
+    hw, hh, k = half_w, half_h, corner
+    return [(-hw, z_c - hh + k), (-hw, z_c + hh - k), (-hw + k, z_c + hh),
+            (hw - k, z_c + hh), (hw, z_c + hh - k), (hw, z_c - hh + k),
+            (hw - k, z_c - hh), (-hw + k, z_c - hh)]
+
+
+def _loft(bm, stations, bevel=0.0):
+    """Loft rounded-rect cross-sections along X. stations: (x, hw, zc, hh, k)."""
+    before = set(bm.verts)
+    rings = []
+    for x, hw, zc, hh, k in stations:
+        rings.append([bm.verts.new((x, y, z)) for y, z in
+                      _rounded_ring(hw, hh, zc, k)])
+    n = len(rings[0])
+    for a, b in zip(rings, rings[1:]):
+        for i in range(n):
+            j = (i + 1) % n
+            bm.faces.new((a[i], a[j], b[j], b[i]))
+    bm.faces.new(list(reversed(rings[0])))       # rear cap
+    bm.faces.new(rings[-1])                      # nose cap
+    if bevel > 0.0:
+        made = [v for v in bm.verts if v not in before]
+        edges = [e for e in bm.edges if all(v in made for v in e.verts)]
+        bmesh.ops.bevel(bm, geom=edges, offset=bevel, segments=2,
+                        profile=0.6, affect="EDGES", clamp_overlap=True)
+
+
+def _blade(bm, length, root_chord, tip_chord, thick, twist_deg, yaw, z0):
+    """A tapered, twisted rotor blade: four stations lofted tip-ward.
+
+    A rotor blade is an aerofoil, not a plank — chord tapers, the section
+    twists toward the tip, and the trailing edge is thinner than the leading
+    edge. Modelled here because a plank reads as programmer art at any
+    lighting.
+    """
+    yawm = Matrix.Rotation(yaw, 3, "Z")
+    fr = [0.0, 0.38, 0.76, 1.0]
+    rings = []
+    for f in fr:
+        chord = root_chord + (tip_chord - root_chord) * f
+        t = thick * (1.0 - 0.55 * f)
+        tw = math.radians(twist_deg * (1.0 - f))
+        r = length * (0.14 + 0.86 * f)
+        sec = []
+        # 6-point aerofoil-ish section in (chordwise, thickness)
+        for cx, cz in ((-0.5, 0.0), (-0.18, 0.62), (0.22, 0.48),
+                       (0.5, 0.0), (0.22, -0.30), (-0.18, -0.42)):
+            p = Vector((cx * chord, 0.0, cz * t))
+            p = Matrix.Rotation(tw, 3, "Y") @ p
+            sec.append(yawm @ Vector((p.x + 0.0, r, p.z)) + Vector((0, 0, z0)))
+        rings.append([bm.verts.new(tuple(v)) for v in sec])
+    n = len(rings[0])
+    for a, b in zip(rings, rings[1:]):
+        for i in range(n):
+            j = (i + 1) % n
+            bm.faces.new((a[i], a[j], b[j], b[i]))
+    bm.faces.new(list(reversed(rings[0])))
+    bm.faces.new(rings[-1])
+
+
+MOUNT_FACE_SIDES = 12    # the mount face is a 12-gon; polygon index 0 by build order
+
+
+def build_pad(name, centre, normal, radius, thick=PAD_T):
+    """A mount pad plate whose MOUNT FACE IS POLYGON 0.
+
+    Construction path: a flat ring in the XY plane swung onto ``normal`` by
+    ``Vector((0,0,1)).rotation_difference(normal)``. This never calls
+    ``socket_basis``, so check 2's Newell-vs-socket comparison is a comparison
+    of two independent derivations of the same declared normal, not a tautology.
+
+    The pad is authored FIRST in the part so its mount face is polygon 0; the
+    collar detail below it is added afterwards and never disturbs that index.
+    """
+    n = Vector(normal).normalized()
+    swing = Vector((0.0, 0.0, 1.0)).rotation_difference(n)
+    part = Part()
+
+    def plate(bm):
+        top, bot = [], []
+        for i in range(MOUNT_FACE_SIDES):
+            a = 2.0 * math.pi * i / MOUNT_FACE_SIDES
+            p = Vector((math.cos(a) * radius, math.sin(a) * radius, 0.0))
+            top.append(bm.verts.new(swing @ p + Vector(centre)))
+            bot.append(bm.verts.new(swing @ (p * 0.86 - Vector((0, 0, thick)))
+                                    + Vector(centre)))
+        bm.faces.new(top)                        # polygon 0 == the mount face
+        bm.faces.new(list(reversed(bot)))
+        for i in range(MOUNT_FACE_SIDES):
+            j = (i + 1) % MOUNT_FACE_SIDES
+            bm.faces.new((bot[i], bot[j], top[j], top[i]))
+
+    part.group("SocketPad", plate)
+
+    def collar(bm):
+        # four fixing bosses around the pad: where a mount plate actually bolts
+        for i in range(4):
+            a = math.pi / 4 + i * math.pi / 2
+            p = Vector((math.cos(a), math.sin(a), 0.0)) * radius * 0.70
+            _prism(bm, 6, radius * 0.16, thick * 0.62,
+                   tuple(swing @ (p - Vector((0, 0, thick * 0.40)))
+                         + Vector(centre)),
+                   rot=swing.to_matrix())
+
+    part.group("Fixing", collar)
+    return part.finish(name)
+
+
+def newell_normal(me, poly_index=0):
+    """Area-weighted normal of one polygon straight from vertex coordinates.
+
+    Newell's method: independent of ``Mesh.polygons[i].normal`` (which Blender
+    computes for us) and independent of the pad's construction quaternion.
+    """
+    poly = me.polygons[poly_index]
+    co = [Vector(me.vertices[i].co) for i in poly.vertices]
+    n = Vector((0.0, 0.0, 0.0))
+    for i, a in enumerate(co):
+        b = co[(i + 1) % len(co)]
+        n.x += (a.y - b.y) * (a.z + b.z)
+        n.y += (a.z - b.z) * (a.x + b.x)
+        n.z += (a.x - b.x) * (a.y + b.y)
+    return n.normalized()
+
+
+def polygon_centroid(me, poly_index=0):
+    poly = me.polygons[poly_index]
+    c = Vector((0.0, 0.0, 0.0))
+    for i in poly.vertices:
+        c += Vector(me.vertices[i].co)
+    return c / len(poly.vertices)
+
+
+# Fuselage cross-sections: (x, half_width, centre_z, half_height, corner).
+HULL_STATIONS = [
+    (-0.280, 0.062, 0.152, 0.036, 0.018),
+    (-0.215, 0.122, 0.152, 0.058, 0.026),
+    (-0.060, 0.150, 0.152, 0.062, 0.030),
+    (0.090, 0.144, 0.151, 0.059, 0.030),
+    (0.205, 0.108, 0.147, 0.046, 0.024),
+    (0.286, 0.052, 0.142, 0.026, 0.013),
+]
+
+
+def build_chassis_meshes():
+    """Every chassis part, keyed by suffix. Chassis-local space."""
+    meshes = {}
+
+    # --- fuselage: lofted body + deck plate + canopy face + intake louvres ---
+    hull = Part()
+    hull.group("Carbon", lambda bm: _loft(bm, HULL_STATIONS, bevel=0.006))
+    hull.group("Deck", lambda bm: _box(bm, (0.250, 0.176, 0.012),
+                                       (-0.050, 0.0, DECK_Z + 0.002), bevel=0.004))
+    # forward canopy: the sensor face, angled down toward the nose
+    hull.group("Canopy", lambda bm: _box(
+        bm, (0.118, 0.150, 0.010), (0.176, 0.0, 0.186), bevel=0.004,
+        rot=Matrix.Rotation(math.radians(24.0), 3, "Y")))
+    def louvres(bm):
+        for i in range(4):
+            _box(bm, (0.020, 0.104, 0.007), (-0.140 + i * 0.030, 0.0, DECK_Z + 0.010),
+                 bevel=0.002, rot=Matrix.Rotation(math.radians(-18.0), 3, "Y"))
+    hull.group("Vent", louvres)
+    def flank(bm):
+        # proud of the skin, not flush with it: at y == +/-0.150 the strip was
+        # coplanar with the fuselage side and z-fought into a speckled band
+        for sy in (1.0, -1.0):
+            _box(bm, (0.196, 0.016, 0.030), (0.010, sy * 0.156, 0.150), bevel=0.005)
+    hull.group("Trim", flank)
+    meshes["Hull"] = hull.finish("Drone.Survey.Hull")
+
+    # --- arms: tapered booms with a hull-side fairing and a motor can --------
+    for tag, d in rotor_dirs():
+        yaw = math.atan2(d.y, d.x)
+        rot = (Matrix.Rotation(yaw, 3, "Z")
+               @ Matrix.Rotation(math.radians(-4.0), 3, "Y"))
+        arm = Part()
+        mid = d * (ARM_LEN * 0.56) + Vector((0.0, 0.0, HULL_Z + ARM_RISE * 0.42))
+        arm.group("Boom", lambda bm, r=rot, m=mid: _box(
+            bm, (ARM_LEN * 0.80, 0.042, 0.030), tuple(m), bevel=0.010, rot=r))
+        # the fairing is deliberately NOT coplanar with the boom's flat sides:
+        # at r=0.046/half=0.052 two facets landed on the boom faces and
+        # z-fought into a speckled patch at render scale
+        root = d * 0.142 + Vector((0.0, 0.0, HULL_Z + 0.004))
+        arm.group("Fairing", lambda bm, r=rot, m=root: _prism(
+            bm, 10, 0.053, 0.044, tuple(m), bevel=0.010, taper=0.52,
+            rot=r @ Matrix.Rotation(math.radians(90.0), 3, "Y")))
+        hub = d * ARM_LEN + Vector((0.0, 0.0, HULL_Z + ARM_RISE - 0.032))
+        arm.group("Motor", lambda bm, h=hub: _prism(
+            bm, 12, 0.036, 0.028, tuple(h), bevel=0.005))
+        def fins(bm, h=hub):
+            for i in range(8):
+                a = i * math.pi / 4
+                p = Vector((math.cos(a), math.sin(a), 0.0)) * 0.036
+                _box(bm, (0.008, 0.010, 0.040), tuple(Vector(h) + p),
+                     bevel=0.0015, rot=Matrix.Rotation(a, 3, "Z"))
+        arm.group("MotorFin", fins)
+        # navigation light: front arms green-white, rear arms red
+        nav = "NavFwd" if tag.startswith("F") else "NavAft"
+        arm.group(nav, lambda bm, dd=d: _prism(
+            bm, 8, 0.011, 0.006,
+            tuple(dd * (ARM_LEN + 0.030) + Vector((0.0, 0.0, HULL_Z + ARM_RISE - 0.038))),
+            bevel=0.002))
+        meshes[f"Arm.{tag}"] = arm.finish(f"Drone.Survey.Arm.{tag}")
+
+    # --- landing gear: two skid rails on splayed struts ----------------------
+    for side, sy in (("L", 1.0), ("R", -1.0)):
+        y = sy * 0.158
+        gear = Part()
+        # bevel offset must stay well under half the octagon's edge length
+        # (2 * r * sin(22.5 deg) = 9.9 mm here): at offset == min_dim/2 the
+        # band collapses to zero-area faces, the failure degenerate-bevel-weld
+        # witnesses. 5 mm produced 3 zero-area faces per rail; 2.2 mm is clean.
+        gear.group("Skid", lambda bm, yy=y: _prism(
+            bm, 8, 0.013, 0.185, (0.0, yy, 0.013), bevel=0.0022,
+            rot=Matrix.Rotation(math.radians(90.0), 3, "Y")))
+        def feet(bm, yy=y):
+            for xx in (0.150, -0.150):
+                _prism(bm, 8, 0.017, 0.008, (xx, yy, 0.008), bevel=0.003)
+        gear.group("Foot", feet)
+        def struts(bm, yy=y):
+            for xx in (0.112, -0.116):
+                _box(bm, (0.026, 0.024, 0.082), (xx, yy * 0.78, 0.055),
+                     bevel=0.006,
+                     rot=Matrix.Rotation(math.radians(12.0) * (1 if yy > 0 else -1),
+                                         3, "X"))
+            # shoulder block where the strut meets the fuselage: without it the
+            # rails read as detached rods floating under the airframe (draft 3)
+            for xx in (0.112, -0.116):
+                _box(bm, (0.044, 0.038, 0.022), (xx, yy * 0.62, 0.096), bevel=0.006)
+        gear.group("Strut", struts)
+        meshes[f"Gear.{side}"] = gear.finish(f"Drone.Survey.Gear.{side}")
+
+    # --- mount pads, one per socket ------------------------------------------
+    for skt_name, pad_name, centre, normal, radius in socket_spec():
+        meshes[pad_name] = build_pad(f"Drone.Survey.{pad_name}", centre, normal,
+                                     radius)
+    return meshes
+
+
+# Module (attachment) geometry, authored in MOUNT SPACE: origin at the mount
+# point, +Z growing away from the mount surface, +Y the module's up. Parented
+# to a socket with an identity local transform, a module seats by construction.
+def build_module_meshes():
+    out = {}
+
+    rotor = Part()
+    rotor.group("Hub", lambda bm: _prism(bm, 12, 0.028, 0.016, (0, 0, 0.016),
+                                         bevel=0.005, taper=0.82))
+    rotor.group("Spinner", lambda bm: _prism(bm, 10, 0.015, 0.014, (0, 0, 0.043),
+                                             bevel=0.006, taper=0.35))
+    def blades(bm):
+        for k in range(2):
+            _blade(bm, length=0.200, root_chord=0.058, tip_chord=0.032,
+                   thick=0.0115, twist_deg=15.0,
+                   yaw=math.pi * k + math.radians(5.0), z0=0.029)
+    rotor.group("Blade", blades)
+    out["Mod.Rotor"] = rotor.finish("Drone.Survey.Mod.Rotor")
+
+    cam = Part()
+    cam.group("PodYoke", lambda bm: _prism(bm, 8, 0.032, 0.018, (0, 0, 0.018),
+                                           bevel=0.006, taper=0.78))
+    cam.group("PodBall", lambda bm: _prism(bm, 14, 0.041, 0.034, (0, 0, 0.070),
+                                           bevel=0.016))
+    # lens barrel points forward: in the belly socket's frame +X is chassis aft,
+    # so the barrel runs along -X. Glass is its own slot, the only emitter.
+    cam.group("LensRing", lambda bm: _prism(
+        bm, 14, 0.023, 0.024, (-0.038, 0.0, 0.072), bevel=0.005, taper=0.88,
+        rot=Matrix.Rotation(math.radians(-90.0), 3, "Y")))
+    cam.group("LensGlass", lambda bm: _prism(
+        bm, 14, 0.016, 0.004, (-0.062, 0.0, 0.072), bevel=0.0008,
+        rot=Matrix.Rotation(math.radians(-90.0), 3, "Y")))
+    out["Mod.CamPod"] = cam.finish("Drone.Survey.Mod.CamPod")
+
+    mast = Part()
+    mast.group("MastBase", lambda bm: _prism(bm, 8, 0.024, 0.013, (0, 0, 0.013),
+                                             bevel=0.005, taper=0.72))
+    mast.group("MastTube", lambda bm: _prism(bm, 8, 0.0095, 0.088, (0, 0, 0.114),
+                                             bevel=0.002, taper=0.80))
+    def dish(bm):
+        _prism(bm, 16, 0.036, 0.004, (0, 0, 0.176), bevel=0.0015, taper=0.72)
+        _prism(bm, 8, 0.006, 0.016, (0, 0, 0.196), bevel=0.001, taper=0.4)
+    mast.group("Dish", dish)
+    mast.group("SensorHead", lambda bm: _box(bm, (0.070, 0.026, 0.040),
+                                             (0, 0, 0.226), bevel=0.008))
+    mast.group("Beacon", lambda bm: _prism(bm, 8, 0.008, 0.007, (0, 0, 0.252),
+                                           bevel=0.002, taper=0.5))
+    out["Mod.Mast"] = mast.finish("Drone.Survey.Mod.Mast")
+
+    batt = Part()
+    batt.group("Cell", lambda bm: _box(bm, (0.104, 0.124, 0.058), (0, 0, 0.058),
+                                       bevel=0.010))
+    def ribs(bm):
+        for i in range(3):
+            _box(bm, (0.014, 0.128, 0.048), (0.0, 0.0, 0.030 + i * 0.022),
+                 bevel=0.003)
+    batt.group("Rib", ribs)
+    batt.group("Latch", lambda bm: _box(bm, (0.018, 0.086, 0.024), (0, 0, 0.098),
+                                        bevel=0.005))
+    def gauge(bm):
+        for i in range(3):
+            _box(bm, (0.006, 0.014, 0.004), (0.038, -0.030 + i * 0.030, 0.088),
+                 bevel=0.001)
+    batt.group("Gauge", gauge)
+    out["Mod.Battery"] = batt.finish("Drone.Survey.Mod.Battery")
+    return out
+
+
+# Which module seats on which socket, and the module's own mount axis in its
+# authored mount space (+Z by convention — asserted, not assumed).
+MODULE_FOR_SOCKET = {
+    "SKT_Rotor.FL": "Mod.Rotor", "SKT_Rotor.FR": "Mod.Rotor",
+    "SKT_Rotor.RL": "Mod.Rotor", "SKT_Rotor.RR": "Mod.Rotor",
+    "SKT_Camera": "Mod.CamPod",
+    "SKT_Mast": "Mod.Mast",
+    "SKT_Battery": "Mod.Battery",
+}
+MODULE_MOUNT_AXIS = Vector((0.0, 0.0, 1.0))
+
+
+# ---------------------------------------------------------------------------
+# Assembly
+# ---------------------------------------------------------------------------
+
+def assemble(sc, root_loc=ROOT_LOC, root_rot=ROOT_ROT, skip_mpi=False,
+             chassis_meshes=None, module_meshes=None):
+    """Build the posed drone. Returns (root, parts, sockets, modules).
+
+    Sockets are authored in WORLD space (where an artist places them) and then
+    parented to the posed root. Keeping their world transform requires
+    ``matrix_parent_inverse = root.matrix_world.inverted()``; skip_mpi=True
+    omits it, which is the falsification probe.
+    """
+    chassis_meshes = chassis_meshes or build_chassis_meshes()
+    module_meshes = module_meshes or build_module_meshes()
+
+    root = bpy.data.objects.new("Drone.Survey", None)
+    root.empty_display_type = "PLAIN_AXES"
+    root.location = root_loc
+    root.rotation_euler = root_rot
+    sc.collection.objects.link(root)
+    bpy.context.view_layer.update()
+
+    parts = []
+    for suffix, me in chassis_meshes.items():
+        ob = bpy.data.objects.new(me.name, me)
+        sc.collection.objects.link(ob)
+        ob.parent = root
+        parts.append(ob)
+
+    sockets, modules = {}, {}
+    for skt_name, pad_name, centre, normal, radius in socket_spec():
+        local = authored_local(centre, normal)
+        skt = bpy.data.objects.new(skt_name, None)
+        skt.empty_display_type = "ARROWS"
+        skt.empty_display_size = 0.09
+        sc.collection.objects.link(skt)
+        # authored in world space first — this is the step that makes the
+        # parent-inverse load-bearing
+        skt.matrix_world = root.matrix_world @ local
+        bpy.context.view_layer.update()
+        skt.parent = root
+        if not skip_mpi:
+            skt.matrix_parent_inverse = root.matrix_world.inverted()
+        bpy.context.view_layer.update()
+        sockets[skt_name] = skt
+
+        mod_key = MODULE_FOR_SOCKET[skt_name]
+        mod = bpy.data.objects.new(f"Drone.Survey.{mod_key}@{skt_name}",
+                                   module_meshes[mod_key])
+        sc.collection.objects.link(mod)
+        mod.parent = skt
+        # the spawn contract: identity local transform, identity parent-inverse
+        mod.matrix_parent_inverse = Matrix.Identity(4)
+        mod.matrix_basis = Matrix.Identity(4)
+        modules[skt_name] = mod
+    bpy.context.view_layer.update()
+    return root, parts, sockets, modules
+
+
+# ---------------------------------------------------------------------------
+# Check helpers
+# ---------------------------------------------------------------------------
+
+def mat_dev(a, b):
+    return max(abs(x - y) for ra, rb in zip(a, b) for x, y in zip(ra, rb))
+
+
+def evaluated_matrix(ob):
+    """World matrix straight off the depsgraph, not the cached object."""
+    dg = bpy.context.evaluated_depsgraph_get()
+    return Matrix(ob.evaluated_get(dg).matrix_world)
+
+
+def ortho_error(m3):
+    """Max deviation of M^T M from the identity — 0 for an orthonormal basis."""
+    g = m3.transposed() @ m3
+    return max(abs(g[i][j] - (1.0 if i == j else 0.0))
+               for i in range(3) for j in range(3))
+
+
+def check():
+    sc = bpy.context.scene
+    fails = []
+
+    def fail(code, msg):
+        print(f"ERROR ({code}): {msg}", file=sys.stderr)
+        fails.append(code)
+
+    chassis = build_chassis_meshes()
+    root, parts, sockets, modules = assemble(sc, chassis_meshes=chassis)
+    spec = socket_spec()
+    pad_by_socket = {s[0]: s[1] for s in spec}
+    local_by_socket = {s[0]: authored_local(s[2], s[3]) for s in spec}
+    normal_by_socket = {s[0]: Vector(s[3]).normalized() for s in spec}
+
+    # --- 1. socket matrices == authored world transform ---------------------
+    worst_m, worst_o, worst_det = 0.0, 0.0, 0.0
+    for name, skt in sockets.items():
+        want = root.matrix_world @ local_by_socket[name]
+        d = mat_dev(evaluated_matrix(skt), want)
+        m3 = evaluated_matrix(skt).to_3x3()
+        oe = ortho_error(m3)
+        dd = abs(m3.determinant() - 1.0)
+        worst_m, worst_o = max(worst_m, d), max(worst_o, oe)
+        worst_det = max(worst_det, dd)
+        if d > TOL:
+            fail(3, f"{name} world matrix deviates {d:.3e} > {TOL:.0e} from the "
+                    f"authored transform — parent-inverse or basis is wrong")
+        if oe > ORTHO_TOL:
+            fail(3, f"{name} basis is not orthonormal (Gram error {oe:.3e}) — "
+                    f"modules would spawn sheared or scaled")
+        if dd > ORTHO_TOL:
+            fail(3, f"{name} basis determinant {m3.determinant():.6f} != +1 — "
+                    f"left-handed socket, modules mirror on spawn")
+    print(f"socket_matrices n={len(sockets)} max_dev={worst_m:.3e} "
+          f"ortho_err={worst_o:.3e} det_err={worst_det:.3e} tol={TOL:.0e}")
+
+    # --- 2. orientation vs pad geometry (independent derivations) -----------
+    rot3 = root.matrix_world.to_3x3()
+    worst_n, worst_c, worst_up = 0.0, 0.0, 0.0
+    for name, skt in sockets.items():
+        pad_me = chassis[pad_by_socket[name]]
+        n_world = (rot3 @ newell_normal(pad_me, 0)).normalized()
+        z_world = evaluated_matrix(skt).to_3x3().col[2].normalized()
+        ndev = (n_world - z_world).length
+        c_world = root.matrix_world @ polygon_centroid(pad_me, 0)
+        cdev = (c_world - evaluated_matrix(skt).translation).length
+        # documented up-axis rule, re-derived here rather than reused
+        n_l = normal_by_socket[name]
+        ref = CHASSIS_FWD if abs(n_l.dot(CHASSIS_UP)) > PARALLEL else CHASSIS_UP
+        y_want = (rot3 @ (ref - n_l * ref.dot(n_l)).normalized()).normalized()
+        updev = (y_want - evaluated_matrix(skt).to_3x3().col[1].normalized()).length
+        worst_n, worst_c = max(worst_n, ndev), max(worst_c, cdev)
+        worst_up = max(worst_up, updev)
+        if ndev > TOL:
+            fail(4, f"{name} +Z deviates {ndev:.3e} from its pad's Newell normal "
+                    f"— the socket does not face the way its pad does")
+        if cdev > TOL:
+            fail(4, f"{name} origin is {cdev:.3e} m off its pad's mount-face "
+                    f"centroid — the module would float or sink")
+        if updev > TOL:
+            fail(4, f"{name} +Y deviates {updev:.3e} from the documented up rule "
+                    f"— modules spawn rolled about their mount axis")
+    print(f"pad_orientation sockets={len(sockets)} normal_dev={worst_n:.3e} "
+          f"centroid_dev={worst_c:.3e} up_dev={worst_up:.3e} tol={TOL:.0e}")
+
+    # --- 3. module seating --------------------------------------------------
+    worst_seat, worst_axis = 0.0, 0.0
+    for name, mod in modules.items():
+        skt_m = evaluated_matrix(sockets[name])
+        mod_m = evaluated_matrix(mod)
+        seat = (mod_m.translation - skt_m.translation).length
+        axis_dot = (mod_m.to_3x3() @ MODULE_MOUNT_AXIS).normalized().dot(
+            skt_m.to_3x3().col[2].normalized())
+        worst_seat = max(worst_seat, seat)
+        worst_axis = max(worst_axis, abs(axis_dot - 1.0))
+        if seat > TOL:
+            fail(5, f"module on {name} sits {seat:.3e} m off the socket origin")
+        if abs(axis_dot - 1.0) > TOL:
+            fail(5, f"module on {name} mount axis dot {axis_dot:.9f} != 1 — "
+                    f"seated crooked")
+        if mat_dev(mod.matrix_basis, Matrix.Identity(4)) > 0.0:
+            fail(5, f"module on {name} carries a non-identity local transform — "
+                    f"it is not seated by the socket, it is nudged into place")
+    print(f"module_seating n={len(modules)} max_offset={worst_seat:.3e} "
+          f"max_axis_err={worst_axis:.3e} tol={TOL:.0e}")
+
+    # --- 4. reuse hygiene (before the destructive apply below) --------------
+    default_names = {"Cube", "Sphere", "Torus", "Suzanne", "Plane", "Circle",
+                     "Cylinder", "Cone", "Grid", "Icosphere", "Empty"}
+    for ob in parts:
+        if max(abs(s - 1.0) for s in ob.scale) > 0.0:
+            fail(6, f"{ob.name} scale {tuple(ob.scale)} not applied")
+        if not ob.name.startswith("Drone.Survey."):
+            fail(6, f"chassis part {ob.name!r} outside the asset namespace")
+        if ob.data.name.split(".")[0] in default_names:
+            fail(6, f"{ob.name} carries a default datablock name {ob.data.name!r}")
+    for name in sockets:
+        if not name.startswith("SKT_"):
+            fail(6, f"socket {name!r} does not carry the SKT_ prefix a spawn "
+                    f"system scans for")
+    lo = min(min(v.co.z for v in me.vertices) for me in chassis.values())
+    if abs(lo) > 1e-4:
+        fail(6, f"chassis rests at z={lo:.5f}, not on the skid contact plane")
+    print(f"hygiene parts={len(parts)} sockets={len(sockets)} "
+          f"modules={len(modules)} skid_plane_z={lo:.2e}")
+
+    # --- 5. rigid invariance: re-pose the root, sockets follow exactly -------
+    root.location = REPOSE_LOC
+    root.rotation_euler = REPOSE_ROT
+    bpy.context.view_layer.update()
+    worst_r, worst_rm = 0.0, 0.0
+    for name, skt in sockets.items():
+        want = root.matrix_world @ local_by_socket[name]
+        d = mat_dev(evaluated_matrix(skt), want)
+        worst_r = max(worst_r, d)
+        if d > TOL:
+            fail(7, f"{name} does not track the re-posed root (dev {d:.3e})")
+        md = (evaluated_matrix(modules[name]).translation
+              - evaluated_matrix(skt).translation).length
+        worst_rm = max(worst_rm, md)
+        if md > TOL:
+            fail(7, f"module on {name} lost its socket under the re-pose "
+                    f"(dev {md:.3e})")
+    print(f"rigid_invariance repose_dev={worst_r:.3e} module_dev={worst_rm:.3e} "
+          f"tol={TOL:.0e}")
+
+    # --- 6. transform apply on the root (destructive — runs last) -----------
+    root.scale = (APPLY_SCALE,) * 3
+    bpy.context.view_layer.update()
+    before = {n: Matrix(evaluated_matrix(s)) for n, s in sockets.items()}
+    mpi_before = {n: Matrix(s.matrix_parent_inverse) for n, s in sockets.items()}
+    part_scale_before = max(max(abs(s - 1.0) for s in ob.scale) for ob in parts)
+    for ob in bpy.context.selected_objects:
+        ob.select_set(False)
+    root.select_set(True)
+    bpy.context.view_layer.objects.active = root
+    # HAZARD: only the root may be selected. A child left selected has the
+    # parent transform applied twice — measured at 2.335 m of socket drift on
+    # this asset (probe double_apply).
+    bpy.ops.object.transform_apply(location=True, rotation=True, scale=True)
+    bpy.context.view_layer.update()
+    worst_a, cleared = 0.0, 0
+    for name, skt in sockets.items():
+        d = mat_dev(evaluated_matrix(skt), before[name])
+        worst_a = max(worst_a, d)
+        if d > TOL:
+            fail(8, f"{name} moved {d:.3e} when the root transform was applied "
+                    f"— the asset cannot be frozen without breaking its sockets")
+        if (mat_dev(skt.matrix_parent_inverse, Matrix.Identity(4)) == 0.0
+                and mat_dev(mpi_before[name], Matrix.Identity(4)) > 0.0):
+            cleared += 1
+    # HAZARD, asserted rather than described: the root is an Empty, so there is
+    # no object data to bake the transform into. Blender pushes it DOWN into
+    # every child instead — parent-inverses reset to identity and the children
+    # pick up the root's scale in their own local matrices. World matrices are
+    # preserved to float32; local transforms are not what they were. A spawn
+    # system that reads socket.matrix_local, or an exporter that trusts
+    # "transforms are applied", reads different numbers after an artist freezes
+    # the rig.
+    part_scale_after = max(max(abs(s - 1.0) for s in ob.scale) for ob in parts)
+    print(f"transform_apply scale={APPLY_SCALE} world_dev={worst_a:.3e} "
+          f"mpi_cleared={cleared}/{len(sockets)} "
+          f"child_scale_before={part_scale_before:.3e} "
+          f"child_scale_after={part_scale_after:.3e} tol={TOL:.0e}")
+    if cleared != len(sockets):
+        fail(8, f"only {cleared}/{len(sockets)} parent-inverses were cleared by "
+                f"the apply — the documented hazard changed behaviour, so the "
+                f"README's warning about reading local transforms is now wrong")
+    if part_scale_after < APPLY_SCALE - 1.0 - 1e-3:
+        fail(8, f"child scale pushdown {part_scale_after:.3e} does not match the "
+                f"applied {APPLY_SCALE} — the documented Empty-root hazard "
+                f"changed behaviour")
+    worst_as = max((evaluated_matrix(modules[n]).translation
+                    - evaluated_matrix(sockets[n]).translation).length
+                   for n in sockets)
+    if worst_as > TOL:
+        fail(8, f"modules drifted {worst_as:.3e} m off their sockets after the "
+                f"apply")
+    print(f"transform_apply module_seating_dev={worst_as:.3e}")
+
+    if fails:
+        return fails[0]
+    print(f"socket-attach-points OK sockets={len(sockets)} modules={len(modules)} "
+          f"parts={len(parts)} matrix_dev={worst_m:.3e} normal_dev={worst_n:.3e} "
+          f"seat_dev={worst_seat:.3e} apply_dev={worst_a:.3e} "
+          f"repose_dev={worst_r:.3e}")
+    return 0
+
+
+def probe_no_mpi():
+    """Falsification probe: parent the sockets without the parent-inverse."""
+    bpy.ops.wm.read_factory_settings(use_empty=True)
+    sc = bpy.context.scene
+    root, parts, sockets, modules = assemble(sc, skip_mpi=True)
+    worst = 0.0
+    for name, pad, centre, normal, radius in socket_spec():
+        want = root.matrix_world @ authored_local(centre, normal)
+        worst = max(worst, (evaluated_matrix(sockets[name]).translation
+                            - want.translation).length)
+    print(f"probe_no_mpi worst_socket_jump={worst:.6f} m")
+    return worst
+
+
+# ---------------------------------------------------------------------------
+# Render
+# ---------------------------------------------------------------------------
+
+def make_material(name, rgb, rough=0.45, metallic=0.6, emit=None, estr=0.0):
+    mat = bpy.data.materials.new(name)
+    mat.use_nodes = True
+    b = mat.node_tree.nodes["Principled BSDF"]
+    b.inputs["Base Color"].default_value = (*rgb, 1.0)
+    b.inputs["Roughness"].default_value = rough
+    b.inputs["Metallic"].default_value = metallic
+    if emit is not None:
+        sock = b.inputs.get("Emission Color") or b.inputs["Emission"]
+        sock.default_value = (*emit, 1.0)
+        b.inputs["Emission Strength"].default_value = estr
+    return mat
+
+
+# One entry per material slot name used by the Part builders above:
+# (base rgb, roughness, metallic, emission rgb or None, emission strength).
+SLOT_MATS = {
+    "Carbon":     ((0.044, 0.049, 0.060), 0.62, 0.22, None, 0.0),
+    "Deck":       ((0.058, 0.067, 0.080), 0.52, 0.55, None, 0.0),
+    "Canopy":     ((0.020, 0.048, 0.062), 0.14, 0.30, None, 0.0),
+    "Vent":       ((0.066, 0.074, 0.086), 0.58, 0.70, None, 0.0),
+    "Trim":       ((0.046, 0.052, 0.062), 0.72, 0.30, None, 0.0),
+    "Boom":       ((0.040, 0.045, 0.055), 0.40, 0.60, None, 0.0),
+    "Fairing":    ((0.050, 0.056, 0.068), 0.64, 0.45, None, 0.0),
+    "Motor":      ((0.150, 0.158, 0.172), 0.26, 0.92, None, 0.0),
+    "MotorFin":   ((0.108, 0.114, 0.126), 0.30, 0.90, None, 0.0),
+    "NavFwd":     ((0.060, 0.140, 0.090), 0.30, 0.10, (0.30, 1.00, 0.55), 2.6),
+    "NavAft":     ((0.150, 0.048, 0.040), 0.30, 0.10, (1.00, 0.22, 0.16), 2.6),
+    "Skid":       ((0.092, 0.098, 0.110), 0.46, 0.78, None, 0.0),
+    "Foot":       ((0.030, 0.030, 0.033), 0.78, 0.05, None, 0.0),
+    "Strut":      ((0.070, 0.075, 0.086), 0.44, 0.72, None, 0.0),
+    # the signature: every mount pad is the same machined orange, so the
+    # sockets read as sockets at a glance
+    "SocketPad":  ((0.640, 0.250, 0.045), 0.34, 0.40, None, 0.0),
+    "Fixing":     ((0.170, 0.176, 0.188), 0.24, 0.95, None, 0.0),
+    "Hub":        ((0.120, 0.126, 0.138), 0.28, 0.90, None, 0.0),
+    "Spinner":    ((0.520, 0.200, 0.038), 0.26, 0.55, None, 0.0),
+    "Blade":      ((0.072, 0.076, 0.086), 0.26, 0.40, None, 0.0),
+    "PodYoke":    ((0.096, 0.102, 0.114), 0.34, 0.85, None, 0.0),
+    "PodBall":    ((0.038, 0.052, 0.062), 0.22, 0.45, None, 0.0),
+    "LensRing":   ((0.070, 0.074, 0.082), 0.20, 0.90, None, 0.0),
+    "LensGlass":  ((0.010, 0.026, 0.038), 0.05, 0.30, (0.06, 0.26, 0.40), 0.30),
+    "MastBase":   ((0.096, 0.102, 0.114), 0.34, 0.85, None, 0.0),
+    "MastTube":   ((0.130, 0.136, 0.148), 0.28, 0.92, None, 0.0),
+    "Dish":       ((0.150, 0.156, 0.166), 0.32, 0.88, None, 0.0),
+    "SensorHead": ((0.044, 0.050, 0.060), 0.30, 0.55, None, 0.0),
+    "Beacon":     ((0.170, 0.090, 0.030), 0.30, 0.10, (1.00, 0.52, 0.16), 3.0),
+    "Cell":       ((0.150, 0.108, 0.042), 0.54, 0.28, None, 0.0),
+    "Rib":        ((0.088, 0.064, 0.028), 0.60, 0.25, None, 0.0),
+    "Latch":      ((0.130, 0.136, 0.148), 0.28, 0.90, None, 0.0),
+    "Gauge":      ((0.060, 0.140, 0.090), 0.30, 0.10, (0.34, 1.00, 0.50), 2.2),
+}
+
+_mat_cache = {}
+
+
+def mat_for_slot(slot):
+    if slot not in _mat_cache:
+        rgb, rough, metal, emit, estr = SLOT_MATS[slot]
+        _mat_cache[slot] = make_material(slot, rgb, rough, metal, emit, estr)
+    return _mat_cache[slot]
+
+
+def bind_materials(ob):
+    """Append this mesh's material slots in the order the Part builder used."""
+    me = ob.data
+    if me.materials:
+        return
+    for slot in me.get("slots", []):
+        me.materials.append(mat_for_slot(slot))
+
+
+def build_studio(sc):
+    floor_me = bpy.data.meshes.new("Floor")
+    bm = bmesh.new()
+    try:
+        bmesh.ops.create_grid(bm, x_segments=1, y_segments=1, size=30.0)
+        bm.to_mesh(floor_me)
+    finally:
+        bm.free()
+    fmat = make_material("Studio", (0.030, 0.032, 0.037), rough=0.7, metallic=0.0)
+    floor_me.materials.append(fmat)
+    floor = bpy.data.objects.new("Floor", floor_me)
+    sc.collection.objects.link(floor)
+    wall = bpy.data.objects.new("Wall", floor_me.copy())
+    # far enough back that the wedge draws a contained pool rather than
+    # flooding the whole backdrop (drafts 2-3 blew the wall out to mid grey)
+    wall.location = (0.0, 5.8, 0.0)
+    wall.rotation_euler = (math.radians(90), 0.0, 0.0)
+    sc.collection.objects.link(wall)
+
+    world = bpy.data.worlds.new("World")
+    world.use_nodes = True
+    world.node_tree.nodes["Background"].inputs["Color"].default_value = (
+        0.020, 0.021, 0.025, 1.0)
+    sc.world = world
+
+    def light(name, loc, energy, size, col, rot):
+        ld = bpy.data.lights.new(name, "AREA")
+        ld.energy = energy
+        ld.size = size
+        ld.color = col
+        ob = bpy.data.objects.new(name, ld)
+        ob.location = loc
+        ob.rotation_euler = tuple(math.radians(a) for a in rot)
+        sc.collection.objects.link(ob)
+        return ob
+
+    # VISUAL-STYLE Layer 2 rig, energies scaled to a 0.86 m subject
+    light("Key", (-1.30, -0.80, 2.30), 150.0, 1.4, (1.0, 0.96, 0.9), (26, 0, -58))
+    light("Fill", (1.70, -1.00, 0.90), 14.0, 2.6, (0.75, 0.85, 1.0), (66, 0, 54))
+    light("Rim", (-0.35, 1.60, 1.40), 55.0, 1.2, (0.6, 0.78, 1.0), (-50, 0, 196))
+    # Wedge sits between subject and wall, aimed at the wall, not the drone.
+    # Draft 3 put it high and hot: the pool blew to white and was clipped by
+    # the top-right corner. Low, larger and softer keeps the pool contained
+    # behind the subject where it lifts the silhouette.
+    light("Wedge", (0.10, 3.30, 0.34), 70.0, 3.0, (1.0, 0.76, 0.5), (-88, 0, 182))
+    return floor, wall
+
+
+def render_still(path, engine, falsify=False):
+    """The drone on the stage with every module seated at its socket.
+
+    Falsified: the sockets are parented without ``matrix_parent_inverse``, so
+    every socket collapses toward the world origin and drags its module with
+    it — rotors, camera and battery hang in space off the airframe.
+    """
+    bpy.ops.wm.read_factory_settings(use_empty=True)
+    _mat_cache.clear()
+    sc = bpy.context.scene
+
+    root, parts, sockets, modules = assemble(sc, skip_mpi=falsify)
+    hero = parts + list(modules.values())
+    for ob in hero:
+        bind_materials(ob)
+    floor, wall = build_studio(sc)
+
+    cam_data = bpy.data.cameras.new("Cam")
+    cam_data.lens = 50.0
+    cam = bpy.data.objects.new("Cam", cam_data)
+    # three-quarter from above: the deck, the canted rotor pads and the belly
+    # pod all read from here; a level side-on view (draft 2) flattened the
+    # airframe into a silhouette
+    cam.location = (1.28, -1.42, 1.44)
+    sc.collection.objects.link(cam)
+    aim = bpy.data.objects.new("Aim", None)
+    aim.location = (0.10, -0.05, 0.60)
+    sc.collection.objects.link(aim)
+    tr = cam.constraints.new("TRACK_TO")
+    tr.target = aim
+    tr.track_axis = "TRACK_NEGATIVE_Z"
+    tr.up_axis = "UP_Y"
+    sc.camera = cam
+
+    sc.render.engine = "CYCLES" if engine == "cycles" else eevee_engine_id()
+    if engine == "cycles":
+        sc.cycles.device = "CPU"
+        sc.cycles.samples = 64
+        sc.cycles.use_denoising = True
+    else:
+        try:
+            sc.eevee.taa_render_samples = 64
+        except AttributeError:
+            pass
+    sc.render.resolution_x = 1280
+    sc.render.resolution_y = 720
+    sc.render.image_settings.file_format = "PNG"
+    sc.render.filepath = path
+    # Standard, always — AgX would lift the stage toward grey (VISUAL-STYLE)
+    sc.view_settings.view_transform = "Standard"
+    bpy.context.view_layer.update()
+
+    # The gallery still is gated; the --falsify diagnostic is not. Its whole
+    # point is that the modules fly off the airframe, so measuring it against
+    # the Layer 1 band would only ever report the breakage as a framing
+    # violation. The numbers are still printed under an explicit reason.
+    fcode = gallery_framing.check_framing(
+        sc, cam, hero=hero, elements=hero, stage=[floor, wall],
+        deviation=("falsification diagnostic: the sockets are deliberately "
+                   "unparented, so modules leave the frame — this render is "
+                   "evidence, not a gallery hero") if falsify else None)
+    if fcode:
+        return fcode
+    aqcode = gallery_asset_quality.check_asset_quality(sc, cam, hero=hero,
+                                                       stage=[floor, wall])
+    if aqcode:
+        return aqcode
+    bpy.ops.render.render(write_still=True)
+    if not (os.path.exists(path) and os.path.getsize(path) > 0):
+        print("ERROR: render produced no file", file=sys.stderr)
+        return 9
+    return 0
+
+
+def main():
+    argv = sys.argv[sys.argv.index("--") + 1:] if "--" in sys.argv else []
+    p = argparse.ArgumentParser()
+    p.add_argument("--output", default=None, help="optional: render a still PNG here")
+    p.add_argument("--falsify", default=None,
+                   help="optional: render the no-parent-inverse variant here")
+    p.add_argument("--probe", action="store_true",
+                   help="optional: print the measured no-parent-inverse jump")
+    p.add_argument("--engine", default="eevee", choices=("eevee", "cycles"))
+    args = p.parse_args(argv)
+
+    print(f"binary version: {bpy.app.version} ({bpy.app.version_string})")
+    bpy.ops.wm.read_factory_settings(use_empty=True)
+    code = check()
+    if code:
+        return code
+    if args.probe:
+        probe_no_mpi()
+    if args.output:
+        rcode = render_still(os.path.abspath(args.output), args.engine)
+        if rcode:
+            return rcode
+        print(f"rendered still {args.output}")
+    if args.falsify:
+        rcode = render_still(os.path.abspath(args.falsify), args.engine, falsify=True)
+        if rcode:
+            return rcode
+        print(f"rendered falsified variant {args.falsify}")
+
+    print("socket-attach-points OK")
+    return 0
+
+
+if __name__ == "__main__":
+    try:
+        sys.exit(main())
+    except Exception as e:
+        import traceback
+
+        traceback.print_exc()
+        print(f"FATAL: {e}", file=sys.stderr)
+        sys.exit(1)
+
+
+
+ +
+
+ generated from examples/gallery.json + CC-BY-NC-ND-4.0 + exit 0 +
+
+ + + diff --git a/examples/gallery.json b/examples/gallery.json index 60a2ae8..26e2e2d 100644 --- a/examples/gallery.json +++ b/examples/gallery.json @@ -530,6 +530,20 @@ "game-pipeline", "render" ] + }, + { + "name": "socket-attach-points", + "dir": "examples/socket-attach-points", + "teaches": "A survey drone whose named SKT_ empties are the spawn contract: modules parented with an identity local transform seat exactly on their mount pads.", + "witnessesFix": "7 socket world matrices within 1.788e-07 of the authored transform, socket +Z == the pad's Newell normal (1.794e-07), seating offset 0.0; the no-parent-inverse probe jumps 0.690128 m.", + "hero": "docs/gallery/assets/socket-attach-points-hero.webp", + "preview": "examples/socket-attach-points/preview.webp", + "tags": [ + "mesh", + "transforms", + "game-pipeline", + "instancing" + ] } ] } diff --git a/examples/socket-attach-points/README.md b/examples/socket-attach-points/README.md new file mode 100644 index 0000000..3367923 --- /dev/null +++ b/examples/socket-attach-points/README.md @@ -0,0 +1,133 @@ +# Socket Attach Points + +A runnable example building the thing a spawn system actually leans on: +**named socket empties parented into an asset**, so a module dropped onto a +socket with an *identity local transform* lands exactly where the artist put +it, oriented the way the naming convention promises. Every clause in that +sentence is a matrix identity, and every one of them drifts silently — a +skipped `matrix_parent_inverse`, a basis built with the cross product the +wrong way round, a transform frozen on the parent after the sockets were +placed. + +**The asset, for reuse:** `Drone.Survey`, an 0.86 m span survey quadcopter — +a lofted fuselage with a vented deck and canopy face, four canted booms with +finned motor cans and nav lights, and a two-rail landing gear. Seven mount +pads carry seven sockets, and four interchangeable modules seat on them: + +| Socket | Mount normal | Module | +| --- | --- | --- | +| `SKT_Rotor.FL/FR/RL/RR` | 8° canted outward | `Mod.Rotor` (twisted, tapered blades) | +| `SKT_Camera` | belly, −Z | `Mod.CamPod` (gimbal ball + lens) | +| `SKT_Mast` | dorsal, +Z | `Mod.Mast` (antenna, dish, beacon) | +| `SKT_Battery` | rear, tilted down | `Mod.Battery` (cell block + gauge) | + +Origin is the skid contact plane centre (`z == 0` is where it rests, `+X` is +forward), transforms are identity by construction, datablocks live under +`Drone.Survey.*` and `SKT_*`, and accents are per-face material slots rather +than extra objects. To use it: instantiate a module, parent it to the socket, +zero the local transform. That is the whole API — and it only works because +the socket matrices hold. + +**Socket convention** (encoded in the `SKT_` prefix): + +- **+Z** — the outward mount normal, matching the mount pad's own face normal. +- **+Y** — the module's up reference: chassis +Z orthogonalised against the + socket normal, falling back to chassis +X when the normal is parallel to + chassis up (the belly and dorsal mounts take that branch). +- **+X** — `Y × Z`, so the basis is right-handed (`det == +1`). + +**Pipeline arc neighbours:** pivot and origin discipline in +[`prop-origin-transform`](../prop-origin-transform/), parent-inverse under +animation in [`parent-inverse-orrery`](../parent-inverse-orrery/), tile-grid +boundary contracts in [`modular-kit-snap`](../modular-kit-snap/), collision +packaging in [`collision-hull-proxy`](../collision-hull-proxy/). + +**What it witnesses** (all closed form or independently re-derived): + +- **Socket matrices.** All **7** evaluated `matrix_world` values equal + `root.matrix_world @ authored_local` within **1e-6** (measured + **1.788e-07**); every basis is orthonormal (Gram error **3.576e-07**) and + right-handed (`det − 1` = **2.980e-07**). +- **Orientation vs geometry.** Each socket's world **+Z** equals the **Newell + normal** of its mount pad's mount face — computed from raw vertex + coordinates, and the pad mesh is built by a *quaternion swing from +Z* + while the socket basis is built by *explicit Gram-Schmidt*, so the two + derivations are independent (normal deviation **1.794e-07**). The socket + origin sits on that face's centroid (**6.687e-08**), and the up axis + matches the documented fallback rule (**1.943e-07**). +- **Seating.** Every module's mount origin coincides with its socket origin + (offset **exactly 0.0**) with its mount axis on the socket +Z + (`dot − 1` = **1.735e-07**), and carries a strictly identity local matrix — + seated by the socket, not nudged into place. +- **Rigid invariance.** Re-posing the chassis root to a second arbitrary + transform moves every socket to `root.matrix_world @ authored_local` + (**2.384e-07**) and every module stays on its socket (**0.0**). +- **Transform apply.** Freezing loc/rot/scale on the root leaves every socket's + *world* matrix put (**2.235e-07**) — see the hazard below for what it does + to the *local* ones. +- **Reuse hygiene.** 14 chassis parts at identity scale, `Drone.Survey.*` / + `SKT_*` names, no default datablocks, `min z == 0.00e+00`. + +## Hazards found while authoring + +- **Applying a transform on an Empty root pushes it down into the children.** + An Empty has no object data to bake into, so `transform_apply` on the root + resets **7/7** children's `matrix_parent_inverse` to identity and hands each + child the root's scale locally (measured **0.35** for an applied 1.35). + World matrices survive to float32; *local* transforms do not. A spawn system + that reads `matrix_local`, or an exporter that trusts "transforms are + applied", reads different numbers after an artist freezes the rig. Both + halves are asserted, so the behaviour cannot change under us silently. +- **Only the root may be selected during the apply.** A child left selected + gets the parent transform applied twice — measured **2.335 m** of socket + drift on this asset. +- **`bm.normal_update()` does not fix winding.** It recomputes normals from + the existing winding. The lofted fuselage wound its side quads inward and + rendered as a flat unshaded white panel rather than an obvious hole; + `bmesh.ops.recalc_face_normals` is what fixes it, and `Part.finish` now + always calls it. +- **Bevel offsets near half the local edge length collapse.** The skid rails + at a 5 mm offset on a 9.9 mm octagon edge produced 3 zero-area faces each — + the collapse [`degenerate-bevel-weld`](../degenerate-bevel-weld/) witnesses. + 2.2 mm is clean. Note that `examples/gallery_asset_quality.py` raises + `ValueError: zero length vectors have no valid angle` on such a mesh rather + than reporting it. + +**What each check catches on failure** (every one probed, with the measured +error): sockets parented without the parent-inverse — worst jump **0.690128 m** +(exit 3); a left-handed basis from `z.cross(y)` — `det == −1.000000` (exit 3); +a rotor pad built flat instead of canted — **1.395e-01** off the Newell normal +(exit 4); an 11° roll on the basis — **1.917e-01** off the up rule (exit 4); a +module nudged 4 mm off its socket (exit 5); a default `Cube` datablock name +(exit 6); a socket left unparented so it ignores the re-pose — **1.417e+00** +(exit 7); a child selected during the apply — **1.252e+00** to **2.244e+00** of +socket drift (exit 8). + +**Version witness:** check output is byte-identical on Blender 4.5.11 LTS and +5.1.2 — same counts, same measured deviations to every printed digit, and the +same framing numbers on the render path. + +**Render as proof:** the drone on the dark stage with every module seated, the +orange mount pads reading as the socket signature. The falsification variant +(`--falsify`) parents the sockets without `matrix_parent_inverse`: the pads +are left bare, the rotors and mast vanish from the airframe, and the camera +pod and battery hang in space near the top of frame. A broken matrix is not a +subtle pixel difference here — the asset comes apart. + +## Run + +```bash +blender --background --python socket_attach_points.py -- +blender --background --python socket_attach_points.py -- --output drone.png +blender --background --python socket_attach_points.py -- --falsify adrift.png +blender --background --python socket_attach_points.py -- --probe +``` + +Exits non-zero on failure. The `blender-smoke` workflow runs the check on +Blender 4.5 LTS and 5.1. The `--output` render path additionally gates framing +via `examples/gallery_framing.py` (fill **0.881x**, margins +**0.066/0.053/0.122/0.106**, no edge touched) and the asset floors via +`examples/gallery_asset_quality.py` (32 materials, `edge90` **0.027**, no +default names). The `--falsify` render is a diagnostic, not a gallery hero, so +it takes a documented framing deviation — its whole point is that the modules +leave the frame. diff --git a/examples/socket-attach-points/preview.webp b/examples/socket-attach-points/preview.webp new file mode 100644 index 0000000000000000000000000000000000000000..842121b6d5dfe476dc78a8c2f6651355c7900758 GIT binary patch literal 17678 zcmV)7K*zsQNk&EnMF0R-MM6+kP&gp^L;wJ=WdfZ6DzF5j0zOeFkw&AUp`oEtsUUC) z32AQOCd$wz@6Y{ztLeX?f9mcH>N|<8p|TP^oY}bR%&_Y({T2G3)h?4ByXmj!+eWVC z{oj_iKzT*=Tlx3?@3<%GH|xi(cd$?HAM?FLe@p*E`%mvf{`c0$`HxT!>0j)6&HV&? zxj%P)8b7Rm%Jjhh|E);#{U^HgFn93&4F53O9_5tH_j&7{VxIKn?~FgqbZz9tV&K~V z-mRLN+xxT;`dG~x7OMNS5&Bqdg*ey646l#U!)zW{yZf{gSylIFBlNL^Ar)Enf&34sVcm0`-B#{|kX^o4`V9PD0;&d@GOP6Ai0X&z6_ z2dKe0D_QnVx%Y|>j%^Cu^2F8+bLnBW4#pA?jQc?wr36eRvX9e-J|hOEs(>m{(+JLw z(do19K7Mkg_&V6l?E>DG82IwV-`$>_mr}bo_p)mMNi~Iph)T}5f9x9End1CLfiQA>tIKg1C 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Everything in that sentence is a matrix +identity, and every one of them can silently drift — a skipped +``matrix_parent_inverse``, a basis built with the cross product the wrong way +round, a transform applied on the parent after the sockets were placed. + +The asset is a survey drone chassis with seven sockets: four canted rotor +mounts, a belly camera mount, a dorsal mast mount, and a rear battery mount. +Sockets are authored in WORLD space (where an artist actually places them) and +then parented to the chassis root, which is itself posed at a non-trivial world +transform — so the parent-inverse is load-bearing rather than incidentally +identity. + +Socket convention, encoded in the name prefix ``SKT_``: + + +Z the outward mount normal — the direction the module grows away from + the hull, matching the mount pad's own face normal + +Y the module's up reference: chassis +Z orthogonalised against +Z_socket, + falling back to chassis +X when the normal is parallel to chassis up + +X Y x Z, so the basis is right-handed (det == +1) + +Check (all closed form or independently re-derived, nothing captured): + +1. Socket matrices (exit 3): every evaluated ``matrix_world`` equals the + authored world transform within 1e-6, and every basis is orthonormal + right-handed (det == +1, Gram error ~0). +2. Orientation vs geometry (exit 4): each socket's world +Z equals the Newell + normal of its mount pad's mount face, computed from mesh vertex coordinates + by a construction path (quaternion swing from +Z) independent of the socket + basis (explicit Gram-Schmidt); the origin sits on that face's centroid; the + up axis follows the documented fallback rule. +3. Seating (exit 5): each module, parented to its socket with an identity local + transform, puts its mount origin exactly on the socket origin and its own + mount axis exactly on the socket +Z (dot == 1 within 1e-6). +4. Reuse hygiene (exit 6): identity object scales, ``Drone.Survey.*`` / + ``SKT_*`` names, no default datablock names, chassis resting on z == 0. +5. Rigid invariance (exit 7): re-posing the chassis root to an arbitrary + transform moves every socket to ``root.matrix_world @ authored_local`` + within 1e-6, and every module follows its socket. +6. Transform apply (exit 8): applying loc/rot/scale on the chassis root leaves + every socket's world matrix unchanged within 1e-6 — but, because the root is + an Empty with no data to bake into, Blender pushes the transform DOWN into + the children: every ``matrix_parent_inverse`` is cleared to identity and + every child picks up the root's scale locally. Both halves are asserted, so + the hazard cannot silently change under us. + +By default it runs only the correctness check (no render) — the CI smoke +check. Pass --output to also render a still: + + blender --background --python socket_attach_points.py -- # check + blender --background --python socket_attach_points.py -- --output d.png # + render + blender --background --python socket_attach_points.py -- --falsify f.png # no-MPI variant +""" +import bpy, bmesh, sys, os, math, argparse +from mathutils import Vector, Matrix + +# Shared Layer 1 framing measurement (render path only) — see gallery_framing.py +sys.path.insert(0, os.path.join(os.path.dirname(os.path.abspath(__file__)), os.pardir)) +sys.dont_write_bytecode = True # keep examples/__pycache__ out of the repo tree +import gallery_framing +import gallery_asset_quality + +TOL = 1e-6 # matrix / position tolerance (metres, unitless for axes) + # float32 noise on a 4x4 world matrix measures ~3.6e-07 here +ORTHO_TOL = 1e-6 # orthonormality + handedness tolerance +PARALLEL = 0.999 # |n . chassis_up| above this takes the +X up-axis fallback + +CHASSIS_UP = Vector((0.0, 0.0, 1.0)) # chassis local up +CHASSIS_FWD = Vector((1.0, 0.0, 0.0)) # chassis local forward + +# Chassis geometry, metres. Origin is the skid contact plane centre: z == 0 is +# where the drone rests, +X is forward. An 0.86 m span survey quadcopter. +HULL_Z = 0.152 # fuselage centreline height above the skid plane +DECK_Z = 0.214 # top of the fuselage +BELLY_Z = 0.090 # bottom of the fuselage +ARM_YAW = math.radians(41.0) +ARM_LEN = 0.430 # hub centre -> rotor pad centre, horizontal +ARM_RISE = 0.053 # rotor pads sit this far above the centreline +ROTOR_CANT = math.radians(8.0) # rotor pads cant outward: NOT axis aligned +PAD_T = 0.014 # mount pad plate thickness + +# Chassis root pose in the scene: translated, yawed and banked, so the sockets' +# parent-inverse is load-bearing rather than incidentally identity. +ROOT_LOC = (0.240, -0.130, 0.470) +ROOT_ROT = (math.radians(-7.0), math.radians(5.0), math.radians(24.0)) + +# Re-pose used by check 5 (rigid invariance) — a second arbitrary transform. +REPOSE_LOC = (-1.150, 0.820, 0.315) +REPOSE_ROT = (math.radians(13.0), math.radians(-21.0), math.radians(-64.0)) + +# Transform-apply pose used by check 6: a uniform scale, so applying it is a +# real change to the object transform rather than a no-op. +APPLY_SCALE = 1.35 + + +def eevee_engine_id(): + return "BLENDER_EEVEE" if bpy.app.version >= (5, 0, 0) else "BLENDER_EEVEE_NEXT" + + +# --------------------------------------------------------------------------- +# Socket specification (authored, chassis-local) +# --------------------------------------------------------------------------- + +def rotor_dirs(): + """Horizontal outward directions of the four arms, front-left first.""" + out = [] + for tag, sx, sy in (("FL", 1, 1), ("FR", 1, -1), ("RL", -1, 1), ("RR", -1, -1)): + yaw = sy * (ARM_YAW if sx > 0 else math.pi - ARM_YAW) + out.append((tag, Vector((math.cos(yaw), math.sin(yaw), 0.0)))) + return out + + +def socket_spec(): + """[(socket_name, pad_name, centre, normal, pad_radius)], chassis-local. + + The normal is the declared mount direction. The pad MESH is built from it + by a quaternion swing from +Z; the socket BASIS is built from it by + explicit Gram-Schmidt. Check 2 compares the two independent derivations. + """ + spec = [] + for tag, d in rotor_dirs(): + # canted outward: the rotor discs tilt away from the hull, so no rotor + # socket is axis aligned and a "just use +Z" spawn breaks visibly + n = (CHASSIS_UP * math.cos(ROTOR_CANT) + d * math.sin(ROTOR_CANT)).normalized() + centre = d * ARM_LEN + Vector((0.0, 0.0, HULL_Z + ARM_RISE)) + spec.append((f"SKT_Rotor.{tag}", f"Pad.Rotor.{tag}", centre, n, 0.047)) + # belly camera mount: normal is -Z, exactly antiparallel to chassis up -> + # exercises the +X up-axis fallback + spec.append(("SKT_Camera", "Pad.Camera", + Vector((0.062, 0.0, BELLY_Z)), Vector((0.0, 0.0, -1.0)), 0.040)) + # dorsal mast mount: normal is +Z, parallel to chassis up -> fallback again + spec.append(("SKT_Mast", "Pad.Mast", + Vector((-0.130, 0.0, DECK_Z)), Vector((0.0, 0.0, 1.0)), 0.034)) + # rear battery mount: rearward and tilted down, a fully general normal + spec.append(("SKT_Battery", "Pad.Battery", + Vector((-0.286, 0.0, 0.146)), + Vector((-1.0, 0.0, -0.26)).normalized(), 0.042)) + return spec + + +def socket_basis(normal): + """The documented convention, by explicit Gram-Schmidt. Returns a 3x3.""" + z = Vector(normal).normalized() + ref = CHASSIS_FWD if abs(z.dot(CHASSIS_UP)) > PARALLEL else CHASSIS_UP + y = (ref - z * ref.dot(z)).normalized() + x = y.cross(z) # x cross y == z, so this is right-handed + return Matrix((x, y, z)).transposed() + + +def authored_local(centre, normal): + """The socket's authored chassis-local 4x4.""" + m = socket_basis(normal).to_4x4() + m.translation = Vector(centre) + return m + + +# --------------------------------------------------------------------------- +# Mesh construction +# +# Parts are assembled from primitive groups, each tagged with a material slot +# name. Slot indices are written onto the bmesh faces before to_mesh, so +# accents (lens glass, nav lights, pad rings) are per-face assignments inside +# one object rather than extra objects — the same technique +# custom-normals-shade and lod-decimate-chain use for their accents. +# --------------------------------------------------------------------------- + +class Part: + """A bmesh under construction with named material slots.""" + + def __init__(self): + self.bm = bmesh.new() + self.slots = [] # slot name per material index, in order + + def slot(self, name): + if name not in self.slots: + self.slots.append(name) + return self.slots.index(name) + + def group(self, slot_name, fn): + """Run fn(bm), then tag everything it created with slot_name.""" + before = set(self.bm.faces) + fn(self.bm) + idx = self.slot(slot_name) + for f in self.bm.faces: + if f not in before: + f.material_index = idx + return self + + def finish(self, name): + me = bpy.data.meshes.new(name) + try: + # HAZARD: bm.normal_update() recomputes normals from the EXISTING + # winding — it does not fix a face built the wrong way round. The + # lofted fuselage below winds its side quads inward, which renders + # as a flat unshaded white panel rather than an obvious hole. + # recalc_face_normals makes each shell outward-consistent; it runs + # per connected shell, so the intersecting sub-solids in one Part + # are each fixed independently. + bmesh.ops.recalc_face_normals(self.bm, faces=list(self.bm.faces)) + self.bm.normal_update() + self.bm.to_mesh(me) + finally: + self.bm.free() + me["slots"] = self.slots # material slot order, read by the renderer + return me + + +def _box(bm, dims, centre, bevel=0.0, segments=2, rot=None): + before = set(bm.verts) + bmesh.ops.create_cube(bm, size=1.0) + made = [v for v in bm.verts if v not in before] + for v in made: + c = Vector((v.co.x * dims[0], v.co.y * dims[1], v.co.z * dims[2])) + if rot is not None: + c = rot @ c + v.co = c + Vector(centre) + if bevel > 0.0: + edges = [e for e in bm.edges if all(v in made for v in e.verts)] + bmesh.ops.bevel(bm, geom=edges, offset=bevel, segments=segments, + profile=0.5, affect="EDGES", clamp_overlap=True) + + +def _prism(bm, sides, radius, half_h, centre, stretch=1.0, bevel=0.0, rot=None, + taper=1.0): + """An n-gon prism along local Z, optionally tapered toward +Z.""" + before = set(bm.verts) + ring = [] + for i in range(sides): + a = 2.0 * math.pi * i / sides + math.pi / sides + ring.append((math.cos(a) * radius * stretch, math.sin(a) * radius)) + top = [bm.verts.new((x * taper, y * taper, half_h)) for x, y in ring] + bot = [bm.verts.new((x, y, -half_h)) for x, y in ring] + bm.faces.new(top) + bm.faces.new(list(reversed(bot))) + for i in range(sides): + j = (i + 1) % sides + bm.faces.new((bot[i], bot[j], top[j], top[i])) + made = [v for v in bm.verts if v not in before] + for v in made: + c = Vector(v.co) + if rot is not None: + c = rot @ c + v.co = c + Vector(centre) + if bevel > 0.0: + edges = [e for e in bm.edges if all(v in made for v in e.verts)] + bmesh.ops.bevel(bm, geom=edges, offset=bevel, segments=2, + profile=0.7, affect="EDGES", clamp_overlap=True) + + +def _rounded_ring(half_w, half_h, z_c, corner): + """Rounded-rectangle cross-section in (y, z), CCW seen from +X.""" + hw, hh, k = half_w, half_h, corner + return [(-hw, z_c - hh + k), (-hw, z_c + hh - k), (-hw + k, z_c + hh), + (hw - k, z_c + hh), (hw, z_c + hh - k), (hw, z_c - hh + k), + (hw - k, z_c - hh), (-hw + k, z_c - hh)] + + +def _loft(bm, stations, bevel=0.0): + """Loft rounded-rect cross-sections along X. stations: (x, hw, zc, hh, k).""" + before = set(bm.verts) + rings = [] + for x, hw, zc, hh, k in stations: + rings.append([bm.verts.new((x, y, z)) for y, z in + _rounded_ring(hw, hh, zc, k)]) + n = len(rings[0]) + for a, b in zip(rings, rings[1:]): + for i in range(n): + j = (i + 1) % n + bm.faces.new((a[i], a[j], b[j], b[i])) + bm.faces.new(list(reversed(rings[0]))) # rear cap + bm.faces.new(rings[-1]) # nose cap + if bevel > 0.0: + made = [v for v in bm.verts if v not in before] + edges = [e for e in bm.edges if all(v in made for v in e.verts)] + bmesh.ops.bevel(bm, geom=edges, offset=bevel, segments=2, + profile=0.6, affect="EDGES", clamp_overlap=True) + + +def _blade(bm, length, root_chord, tip_chord, thick, twist_deg, yaw, z0): + """A tapered, twisted rotor blade: four stations lofted tip-ward. + + A rotor blade is an aerofoil, not a plank — chord tapers, the section + twists toward the tip, and the trailing edge is thinner than the leading + edge. Modelled here because a plank reads as programmer art at any + lighting. + """ + yawm = Matrix.Rotation(yaw, 3, "Z") + fr = [0.0, 0.38, 0.76, 1.0] + rings = [] + for f in fr: + chord = root_chord + (tip_chord - root_chord) * f + t = thick * (1.0 - 0.55 * f) + tw = math.radians(twist_deg * (1.0 - f)) + r = length * (0.14 + 0.86 * f) + sec = [] + # 6-point aerofoil-ish section in (chordwise, thickness) + for cx, cz in ((-0.5, 0.0), (-0.18, 0.62), (0.22, 0.48), + (0.5, 0.0), (0.22, -0.30), (-0.18, -0.42)): + p = Vector((cx * chord, 0.0, cz * t)) + p = Matrix.Rotation(tw, 3, "Y") @ p + sec.append(yawm @ Vector((p.x + 0.0, r, p.z)) + Vector((0, 0, z0))) + rings.append([bm.verts.new(tuple(v)) for v in sec]) + n = len(rings[0]) + for a, b in zip(rings, rings[1:]): + for i in range(n): + j = (i + 1) % n + bm.faces.new((a[i], a[j], b[j], b[i])) + bm.faces.new(list(reversed(rings[0]))) + bm.faces.new(rings[-1]) + + +MOUNT_FACE_SIDES = 12 # the mount face is a 12-gon; polygon index 0 by build order + + +def build_pad(name, centre, normal, radius, thick=PAD_T): + """A mount pad plate whose MOUNT FACE IS POLYGON 0. + + Construction path: a flat ring in the XY plane swung onto ``normal`` by + ``Vector((0,0,1)).rotation_difference(normal)``. This never calls + ``socket_basis``, so check 2's Newell-vs-socket comparison is a comparison + of two independent derivations of the same declared normal, not a tautology. + + The pad is authored FIRST in the part so its mount face is polygon 0; the + collar detail below it is added afterwards and never disturbs that index. + """ + n = Vector(normal).normalized() + swing = Vector((0.0, 0.0, 1.0)).rotation_difference(n) + part = Part() + + def plate(bm): + top, bot = [], [] + for i in range(MOUNT_FACE_SIDES): + a = 2.0 * math.pi * i / MOUNT_FACE_SIDES + p = Vector((math.cos(a) * radius, math.sin(a) * radius, 0.0)) + top.append(bm.verts.new(swing @ p + Vector(centre))) + bot.append(bm.verts.new(swing @ (p * 0.86 - Vector((0, 0, thick))) + + Vector(centre))) + bm.faces.new(top) # polygon 0 == the mount face + bm.faces.new(list(reversed(bot))) + for i in range(MOUNT_FACE_SIDES): + j = (i + 1) % MOUNT_FACE_SIDES + bm.faces.new((bot[i], bot[j], top[j], top[i])) + + part.group("SocketPad", plate) + + def collar(bm): + # four fixing bosses around the pad: where a mount plate actually bolts + for i in range(4): + a = math.pi / 4 + i * math.pi / 2 + p = Vector((math.cos(a), math.sin(a), 0.0)) * radius * 0.70 + _prism(bm, 6, radius * 0.16, thick * 0.62, + tuple(swing @ (p - Vector((0, 0, thick * 0.40))) + + Vector(centre)), + rot=swing.to_matrix()) + + part.group("Fixing", collar) + return part.finish(name) + + +def newell_normal(me, poly_index=0): + """Area-weighted normal of one polygon straight from vertex coordinates. + + Newell's method: independent of ``Mesh.polygons[i].normal`` (which Blender + computes for us) and independent of the pad's construction quaternion. + """ + poly = me.polygons[poly_index] + co = [Vector(me.vertices[i].co) for i in poly.vertices] + n = Vector((0.0, 0.0, 0.0)) + for i, a in enumerate(co): + b = co[(i + 1) % len(co)] + n.x += (a.y - b.y) * (a.z + b.z) + n.y += (a.z - b.z) * (a.x + b.x) + n.z += (a.x - b.x) * (a.y + b.y) + return n.normalized() + + +def polygon_centroid(me, poly_index=0): + poly = me.polygons[poly_index] + c = Vector((0.0, 0.0, 0.0)) + for i in poly.vertices: + c += Vector(me.vertices[i].co) + return c / len(poly.vertices) + + +# Fuselage cross-sections: (x, half_width, centre_z, half_height, corner). +HULL_STATIONS = [ + (-0.280, 0.062, 0.152, 0.036, 0.018), + (-0.215, 0.122, 0.152, 0.058, 0.026), + (-0.060, 0.150, 0.152, 0.062, 0.030), + (0.090, 0.144, 0.151, 0.059, 0.030), + (0.205, 0.108, 0.147, 0.046, 0.024), + (0.286, 0.052, 0.142, 0.026, 0.013), +] + + +def build_chassis_meshes(): + """Every chassis part, keyed by suffix. Chassis-local space.""" + meshes = {} + + # --- fuselage: lofted body + deck plate + canopy face + intake louvres --- + hull = Part() + hull.group("Carbon", lambda bm: _loft(bm, HULL_STATIONS, bevel=0.006)) + hull.group("Deck", lambda bm: _box(bm, (0.250, 0.176, 0.012), + (-0.050, 0.0, DECK_Z + 0.002), bevel=0.004)) + # forward canopy: the sensor face, angled down toward the nose + hull.group("Canopy", lambda bm: _box( + bm, (0.118, 0.150, 0.010), (0.176, 0.0, 0.186), bevel=0.004, + rot=Matrix.Rotation(math.radians(24.0), 3, "Y"))) + def louvres(bm): + for i in range(4): + _box(bm, (0.020, 0.104, 0.007), (-0.140 + i * 0.030, 0.0, DECK_Z + 0.010), + bevel=0.002, rot=Matrix.Rotation(math.radians(-18.0), 3, "Y")) + hull.group("Vent", louvres) + def flank(bm): + # proud of the skin, not flush with it: at y == +/-0.150 the strip was + # coplanar with the fuselage side and z-fought into a speckled band + for sy in (1.0, -1.0): + _box(bm, (0.196, 0.016, 0.030), (0.010, sy * 0.156, 0.150), bevel=0.005) + hull.group("Trim", flank) + meshes["Hull"] = hull.finish("Drone.Survey.Hull") + + # --- arms: tapered booms with a hull-side fairing and a motor can -------- + for tag, d in rotor_dirs(): + yaw = math.atan2(d.y, d.x) + rot = (Matrix.Rotation(yaw, 3, "Z") + @ Matrix.Rotation(math.radians(-4.0), 3, "Y")) + arm = Part() + mid = d * (ARM_LEN * 0.56) + Vector((0.0, 0.0, HULL_Z + ARM_RISE * 0.42)) + arm.group("Boom", lambda bm, r=rot, m=mid: _box( + bm, (ARM_LEN * 0.80, 0.042, 0.030), tuple(m), bevel=0.010, rot=r)) + # the fairing is deliberately NOT coplanar with the boom's flat sides: + # at r=0.046/half=0.052 two facets landed on the boom faces and + # z-fought into a speckled patch at render scale + root = d * 0.142 + Vector((0.0, 0.0, HULL_Z + 0.004)) + arm.group("Fairing", lambda bm, r=rot, m=root: _prism( + bm, 10, 0.053, 0.044, tuple(m), bevel=0.010, taper=0.52, + rot=r @ Matrix.Rotation(math.radians(90.0), 3, "Y"))) + hub = d * ARM_LEN + Vector((0.0, 0.0, HULL_Z + ARM_RISE - 0.032)) + arm.group("Motor", lambda bm, h=hub: _prism( + bm, 12, 0.036, 0.028, tuple(h), bevel=0.005)) + def fins(bm, h=hub): + for i in range(8): + a = i * math.pi / 4 + p = Vector((math.cos(a), math.sin(a), 0.0)) * 0.036 + _box(bm, (0.008, 0.010, 0.040), tuple(Vector(h) + p), + bevel=0.0015, rot=Matrix.Rotation(a, 3, "Z")) + arm.group("MotorFin", fins) + # navigation light: front arms green-white, rear arms red + nav = "NavFwd" if tag.startswith("F") else "NavAft" + arm.group(nav, lambda bm, dd=d: _prism( + bm, 8, 0.011, 0.006, + tuple(dd * (ARM_LEN + 0.030) + Vector((0.0, 0.0, HULL_Z + ARM_RISE - 0.038))), + bevel=0.002)) + meshes[f"Arm.{tag}"] = arm.finish(f"Drone.Survey.Arm.{tag}") + + # --- landing gear: two skid rails on splayed struts ---------------------- + for side, sy in (("L", 1.0), ("R", -1.0)): + y = sy * 0.158 + gear = Part() + # bevel offset must stay well under half the octagon's edge length + # (2 * r * sin(22.5 deg) = 9.9 mm here): at offset == min_dim/2 the + # band collapses to zero-area faces, the failure degenerate-bevel-weld + # witnesses. 5 mm produced 3 zero-area faces per rail; 2.2 mm is clean. + gear.group("Skid", lambda bm, yy=y: _prism( + bm, 8, 0.013, 0.185, (0.0, yy, 0.013), bevel=0.0022, + rot=Matrix.Rotation(math.radians(90.0), 3, "Y"))) + def feet(bm, yy=y): + for xx in (0.150, -0.150): + _prism(bm, 8, 0.017, 0.008, (xx, yy, 0.008), bevel=0.003) + gear.group("Foot", feet) + def struts(bm, yy=y): + for xx in (0.112, -0.116): + _box(bm, (0.026, 0.024, 0.082), (xx, yy * 0.78, 0.055), + bevel=0.006, + rot=Matrix.Rotation(math.radians(12.0) * (1 if yy > 0 else -1), + 3, "X")) + # shoulder block where the strut meets the fuselage: without it the + # rails read as detached rods floating under the airframe (draft 3) + for xx in (0.112, -0.116): + _box(bm, (0.044, 0.038, 0.022), (xx, yy * 0.62, 0.096), bevel=0.006) + gear.group("Strut", struts) + meshes[f"Gear.{side}"] = gear.finish(f"Drone.Survey.Gear.{side}") + + # --- mount pads, one per socket ------------------------------------------ + for skt_name, pad_name, centre, normal, radius in socket_spec(): + meshes[pad_name] = build_pad(f"Drone.Survey.{pad_name}", centre, normal, + radius) + return meshes + + +# Module (attachment) geometry, authored in MOUNT SPACE: origin at the mount +# point, +Z growing away from the mount surface, +Y the module's up. Parented +# to a socket with an identity local transform, a module seats by construction. +def build_module_meshes(): + out = {} + + rotor = Part() + rotor.group("Hub", lambda bm: _prism(bm, 12, 0.028, 0.016, (0, 0, 0.016), + bevel=0.005, taper=0.82)) + rotor.group("Spinner", lambda bm: _prism(bm, 10, 0.015, 0.014, (0, 0, 0.043), + bevel=0.006, taper=0.35)) + def blades(bm): + for k in range(2): + _blade(bm, length=0.200, root_chord=0.058, tip_chord=0.032, + thick=0.0115, twist_deg=15.0, + yaw=math.pi * k + math.radians(5.0), z0=0.029) + rotor.group("Blade", blades) + out["Mod.Rotor"] = rotor.finish("Drone.Survey.Mod.Rotor") + + cam = Part() + cam.group("PodYoke", lambda bm: _prism(bm, 8, 0.032, 0.018, (0, 0, 0.018), + bevel=0.006, taper=0.78)) + cam.group("PodBall", lambda bm: _prism(bm, 14, 0.041, 0.034, (0, 0, 0.070), + bevel=0.016)) + # lens barrel points forward: in the belly socket's frame +X is chassis aft, + # so the barrel runs along -X. Glass is its own slot, the only emitter. + cam.group("LensRing", lambda bm: _prism( + bm, 14, 0.023, 0.024, (-0.038, 0.0, 0.072), bevel=0.005, taper=0.88, + rot=Matrix.Rotation(math.radians(-90.0), 3, "Y"))) + cam.group("LensGlass", lambda bm: _prism( + bm, 14, 0.016, 0.004, (-0.062, 0.0, 0.072), bevel=0.0008, + rot=Matrix.Rotation(math.radians(-90.0), 3, "Y"))) + out["Mod.CamPod"] = cam.finish("Drone.Survey.Mod.CamPod") + + mast = Part() + mast.group("MastBase", lambda bm: _prism(bm, 8, 0.024, 0.013, (0, 0, 0.013), + bevel=0.005, taper=0.72)) + mast.group("MastTube", lambda bm: _prism(bm, 8, 0.0095, 0.088, (0, 0, 0.114), + bevel=0.002, taper=0.80)) + def dish(bm): + _prism(bm, 16, 0.036, 0.004, (0, 0, 0.176), bevel=0.0015, taper=0.72) + _prism(bm, 8, 0.006, 0.016, (0, 0, 0.196), bevel=0.001, taper=0.4) + mast.group("Dish", dish) + mast.group("SensorHead", lambda bm: _box(bm, (0.070, 0.026, 0.040), + (0, 0, 0.226), bevel=0.008)) + mast.group("Beacon", lambda bm: _prism(bm, 8, 0.008, 0.007, (0, 0, 0.252), + bevel=0.002, taper=0.5)) + out["Mod.Mast"] = mast.finish("Drone.Survey.Mod.Mast") + + batt = Part() + batt.group("Cell", lambda bm: _box(bm, (0.104, 0.124, 0.058), (0, 0, 0.058), + bevel=0.010)) + def ribs(bm): + for i in range(3): + _box(bm, (0.014, 0.128, 0.048), (0.0, 0.0, 0.030 + i * 0.022), + bevel=0.003) + batt.group("Rib", ribs) + batt.group("Latch", lambda bm: _box(bm, (0.018, 0.086, 0.024), (0, 0, 0.098), + bevel=0.005)) + def gauge(bm): + for i in range(3): + _box(bm, (0.006, 0.014, 0.004), (0.038, -0.030 + i * 0.030, 0.088), + bevel=0.001) + batt.group("Gauge", gauge) + out["Mod.Battery"] = batt.finish("Drone.Survey.Mod.Battery") + return out + + +# Which module seats on which socket, and the module's own mount axis in its +# authored mount space (+Z by convention — asserted, not assumed). +MODULE_FOR_SOCKET = { + "SKT_Rotor.FL": "Mod.Rotor", "SKT_Rotor.FR": "Mod.Rotor", + "SKT_Rotor.RL": "Mod.Rotor", "SKT_Rotor.RR": "Mod.Rotor", + "SKT_Camera": "Mod.CamPod", + "SKT_Mast": "Mod.Mast", + "SKT_Battery": "Mod.Battery", +} +MODULE_MOUNT_AXIS = Vector((0.0, 0.0, 1.0)) + + +# --------------------------------------------------------------------------- +# Assembly +# --------------------------------------------------------------------------- + +def assemble(sc, root_loc=ROOT_LOC, root_rot=ROOT_ROT, skip_mpi=False, + chassis_meshes=None, module_meshes=None): + """Build the posed drone. Returns (root, parts, sockets, modules). + + Sockets are authored in WORLD space (where an artist places them) and then + parented to the posed root. Keeping their world transform requires + ``matrix_parent_inverse = root.matrix_world.inverted()``; skip_mpi=True + omits it, which is the falsification probe. + """ + chassis_meshes = chassis_meshes or build_chassis_meshes() + module_meshes = module_meshes or build_module_meshes() + + root = bpy.data.objects.new("Drone.Survey", None) + root.empty_display_type = "PLAIN_AXES" + root.location = root_loc + root.rotation_euler = root_rot + sc.collection.objects.link(root) + bpy.context.view_layer.update() + + parts = [] + for suffix, me in chassis_meshes.items(): + ob = bpy.data.objects.new(me.name, me) + sc.collection.objects.link(ob) + ob.parent = root + parts.append(ob) + + sockets, modules = {}, {} + for skt_name, pad_name, centre, normal, radius in socket_spec(): + local = authored_local(centre, normal) + skt = bpy.data.objects.new(skt_name, None) + skt.empty_display_type = "ARROWS" + skt.empty_display_size = 0.09 + sc.collection.objects.link(skt) + # authored in world space first — this is the step that makes the + # parent-inverse load-bearing + skt.matrix_world = root.matrix_world @ local + bpy.context.view_layer.update() + skt.parent = root + if not skip_mpi: + skt.matrix_parent_inverse = root.matrix_world.inverted() + bpy.context.view_layer.update() + sockets[skt_name] = skt + + mod_key = MODULE_FOR_SOCKET[skt_name] + mod = bpy.data.objects.new(f"Drone.Survey.{mod_key}@{skt_name}", + module_meshes[mod_key]) + sc.collection.objects.link(mod) + mod.parent = skt + # the spawn contract: identity local transform, identity parent-inverse + mod.matrix_parent_inverse = Matrix.Identity(4) + mod.matrix_basis = Matrix.Identity(4) + modules[skt_name] = mod + bpy.context.view_layer.update() + return root, parts, sockets, modules + + +# --------------------------------------------------------------------------- +# Check helpers +# --------------------------------------------------------------------------- + +def mat_dev(a, b): + return max(abs(x - y) for ra, rb in zip(a, b) for x, y in zip(ra, rb)) + + +def evaluated_matrix(ob): + """World matrix straight off the depsgraph, not the cached object.""" + dg = bpy.context.evaluated_depsgraph_get() + return Matrix(ob.evaluated_get(dg).matrix_world) + + +def ortho_error(m3): + """Max deviation of M^T M from the identity — 0 for an orthonormal basis.""" + g = m3.transposed() @ m3 + return max(abs(g[i][j] - (1.0 if i == j else 0.0)) + for i in range(3) for j in range(3)) + + +def check(): + sc = bpy.context.scene + fails = [] + + def fail(code, msg): + print(f"ERROR ({code}): {msg}", file=sys.stderr) + fails.append(code) + + chassis = build_chassis_meshes() + root, parts, sockets, modules = assemble(sc, chassis_meshes=chassis) + spec = socket_spec() + pad_by_socket = {s[0]: s[1] for s in spec} + local_by_socket = {s[0]: authored_local(s[2], s[3]) for s in spec} + normal_by_socket = {s[0]: Vector(s[3]).normalized() for s in spec} + + # --- 1. socket matrices == authored world transform --------------------- + worst_m, worst_o, worst_det = 0.0, 0.0, 0.0 + for name, skt in sockets.items(): + want = root.matrix_world @ local_by_socket[name] + d = mat_dev(evaluated_matrix(skt), want) + m3 = evaluated_matrix(skt).to_3x3() + oe = ortho_error(m3) + dd = abs(m3.determinant() - 1.0) + worst_m, worst_o = max(worst_m, d), max(worst_o, oe) + worst_det = max(worst_det, dd) + if d > TOL: + fail(3, f"{name} world matrix deviates {d:.3e} > {TOL:.0e} from the " + f"authored transform — parent-inverse or basis is wrong") + if oe > ORTHO_TOL: + fail(3, f"{name} basis is not orthonormal (Gram error {oe:.3e}) — " + f"modules would spawn sheared or scaled") + if dd > ORTHO_TOL: + fail(3, f"{name} basis determinant {m3.determinant():.6f} != +1 — " + f"left-handed socket, modules mirror on spawn") + print(f"socket_matrices n={len(sockets)} max_dev={worst_m:.3e} " + f"ortho_err={worst_o:.3e} det_err={worst_det:.3e} tol={TOL:.0e}") + + # --- 2. orientation vs pad geometry (independent derivations) ----------- + rot3 = root.matrix_world.to_3x3() + worst_n, worst_c, worst_up = 0.0, 0.0, 0.0 + for name, skt in sockets.items(): + pad_me = chassis[pad_by_socket[name]] + n_world = (rot3 @ newell_normal(pad_me, 0)).normalized() + z_world = evaluated_matrix(skt).to_3x3().col[2].normalized() + ndev = (n_world - z_world).length + c_world = root.matrix_world @ polygon_centroid(pad_me, 0) + cdev = (c_world - evaluated_matrix(skt).translation).length + # documented up-axis rule, re-derived here rather than reused + n_l = normal_by_socket[name] + ref = CHASSIS_FWD if abs(n_l.dot(CHASSIS_UP)) > PARALLEL else CHASSIS_UP + y_want = (rot3 @ (ref - n_l * ref.dot(n_l)).normalized()).normalized() + updev = (y_want - evaluated_matrix(skt).to_3x3().col[1].normalized()).length + worst_n, worst_c = max(worst_n, ndev), max(worst_c, cdev) + worst_up = max(worst_up, updev) + if ndev > TOL: + fail(4, f"{name} +Z deviates {ndev:.3e} from its pad's Newell normal " + f"— the socket does not face the way its pad does") + if cdev > TOL: + fail(4, f"{name} origin is {cdev:.3e} m off its pad's mount-face " + f"centroid — the module would float or sink") + if updev > TOL: + fail(4, f"{name} +Y deviates {updev:.3e} from the documented up rule " + f"— modules spawn rolled about their mount axis") + print(f"pad_orientation sockets={len(sockets)} normal_dev={worst_n:.3e} " + f"centroid_dev={worst_c:.3e} up_dev={worst_up:.3e} tol={TOL:.0e}") + + # --- 3. module seating -------------------------------------------------- + worst_seat, worst_axis = 0.0, 0.0 + for name, mod in modules.items(): + skt_m = evaluated_matrix(sockets[name]) + mod_m = evaluated_matrix(mod) + seat = (mod_m.translation - skt_m.translation).length + axis_dot = (mod_m.to_3x3() @ MODULE_MOUNT_AXIS).normalized().dot( + skt_m.to_3x3().col[2].normalized()) + worst_seat = max(worst_seat, seat) + worst_axis = max(worst_axis, abs(axis_dot - 1.0)) + if seat > TOL: + fail(5, f"module on {name} sits {seat:.3e} m off the socket origin") + if abs(axis_dot - 1.0) > TOL: + fail(5, f"module on {name} mount axis dot {axis_dot:.9f} != 1 — " + f"seated crooked") + if mat_dev(mod.matrix_basis, Matrix.Identity(4)) > 0.0: + fail(5, f"module on {name} carries a non-identity local transform — " + f"it is not seated by the socket, it is nudged into place") + print(f"module_seating n={len(modules)} max_offset={worst_seat:.3e} " + f"max_axis_err={worst_axis:.3e} tol={TOL:.0e}") + + # --- 4. reuse hygiene (before the destructive apply below) -------------- + default_names = {"Cube", "Sphere", "Torus", "Suzanne", "Plane", "Circle", + "Cylinder", "Cone", "Grid", "Icosphere", "Empty"} + for ob in parts: + if max(abs(s - 1.0) for s in ob.scale) > 0.0: + fail(6, f"{ob.name} scale {tuple(ob.scale)} not applied") + if not ob.name.startswith("Drone.Survey."): + fail(6, f"chassis part {ob.name!r} outside the asset namespace") + if ob.data.name.split(".")[0] in default_names: + fail(6, f"{ob.name} carries a default datablock name {ob.data.name!r}") + for name in sockets: + if not name.startswith("SKT_"): + fail(6, f"socket {name!r} does not carry the SKT_ prefix a spawn " + f"system scans for") + lo = min(min(v.co.z for v in me.vertices) for me in chassis.values()) + if abs(lo) > 1e-4: + fail(6, f"chassis rests at z={lo:.5f}, not on the skid contact plane") + print(f"hygiene parts={len(parts)} sockets={len(sockets)} " + f"modules={len(modules)} skid_plane_z={lo:.2e}") + + # --- 5. rigid invariance: re-pose the root, sockets follow exactly ------- + root.location = REPOSE_LOC + root.rotation_euler = REPOSE_ROT + bpy.context.view_layer.update() + worst_r, worst_rm = 0.0, 0.0 + for name, skt in sockets.items(): + want = root.matrix_world @ local_by_socket[name] + d = mat_dev(evaluated_matrix(skt), want) + worst_r = max(worst_r, d) + if d > TOL: + fail(7, f"{name} does not track the re-posed root (dev {d:.3e})") + md = (evaluated_matrix(modules[name]).translation + - evaluated_matrix(skt).translation).length + worst_rm = max(worst_rm, md) + if md > TOL: + fail(7, f"module on {name} lost its socket under the re-pose " + f"(dev {md:.3e})") + print(f"rigid_invariance repose_dev={worst_r:.3e} module_dev={worst_rm:.3e} " + f"tol={TOL:.0e}") + + # --- 6. transform apply on the root (destructive — runs last) ----------- + root.scale = (APPLY_SCALE,) * 3 + bpy.context.view_layer.update() + before = {n: Matrix(evaluated_matrix(s)) for n, s in sockets.items()} + mpi_before = {n: Matrix(s.matrix_parent_inverse) for n, s in sockets.items()} + part_scale_before = max(max(abs(s - 1.0) for s in ob.scale) for ob in parts) + for ob in bpy.context.selected_objects: + ob.select_set(False) + root.select_set(True) + bpy.context.view_layer.objects.active = root + # HAZARD: only the root may be selected. A child left selected has the + # parent transform applied twice — measured at 2.335 m of socket drift on + # this asset (probe double_apply). + bpy.ops.object.transform_apply(location=True, rotation=True, scale=True) + bpy.context.view_layer.update() + worst_a, cleared = 0.0, 0 + for name, skt in sockets.items(): + d = mat_dev(evaluated_matrix(skt), before[name]) + worst_a = max(worst_a, d) + if d > TOL: + fail(8, f"{name} moved {d:.3e} when the root transform was applied " + f"— the asset cannot be frozen without breaking its sockets") + if (mat_dev(skt.matrix_parent_inverse, Matrix.Identity(4)) == 0.0 + and mat_dev(mpi_before[name], Matrix.Identity(4)) > 0.0): + cleared += 1 + # HAZARD, asserted rather than described: the root is an Empty, so there is + # no object data to bake the transform into. Blender pushes it DOWN into + # every child instead — parent-inverses reset to identity and the children + # pick up the root's scale in their own local matrices. World matrices are + # preserved to float32; local transforms are not what they were. A spawn + # system that reads socket.matrix_local, or an exporter that trusts + # "transforms are applied", reads different numbers after an artist freezes + # the rig. + part_scale_after = max(max(abs(s - 1.0) for s in ob.scale) for ob in parts) + print(f"transform_apply scale={APPLY_SCALE} world_dev={worst_a:.3e} " + f"mpi_cleared={cleared}/{len(sockets)} " + f"child_scale_before={part_scale_before:.3e} " + f"child_scale_after={part_scale_after:.3e} tol={TOL:.0e}") + if cleared != len(sockets): + fail(8, f"only {cleared}/{len(sockets)} parent-inverses were cleared by " + f"the apply — the documented hazard changed behaviour, so the " + f"README's warning about reading local transforms is now wrong") + if part_scale_after < APPLY_SCALE - 1.0 - 1e-3: + fail(8, f"child scale pushdown {part_scale_after:.3e} does not match the " + f"applied {APPLY_SCALE} — the documented Empty-root hazard " + f"changed behaviour") + worst_as = max((evaluated_matrix(modules[n]).translation + - evaluated_matrix(sockets[n]).translation).length + for n in sockets) + if worst_as > TOL: + fail(8, f"modules drifted {worst_as:.3e} m off their sockets after the " + f"apply") + print(f"transform_apply module_seating_dev={worst_as:.3e}") + + if fails: + return fails[0] + print(f"socket-attach-points OK sockets={len(sockets)} modules={len(modules)} " + f"parts={len(parts)} matrix_dev={worst_m:.3e} normal_dev={worst_n:.3e} " + f"seat_dev={worst_seat:.3e} apply_dev={worst_a:.3e} " + f"repose_dev={worst_r:.3e}") + return 0 + + +def probe_no_mpi(): + """Falsification probe: parent the sockets without the parent-inverse.""" + bpy.ops.wm.read_factory_settings(use_empty=True) + sc = bpy.context.scene + root, parts, sockets, modules = assemble(sc, skip_mpi=True) + worst = 0.0 + for name, pad, centre, normal, radius in socket_spec(): + want = root.matrix_world @ authored_local(centre, normal) + worst = max(worst, (evaluated_matrix(sockets[name]).translation + - want.translation).length) + print(f"probe_no_mpi worst_socket_jump={worst:.6f} m") + return worst + + +# --------------------------------------------------------------------------- +# Render +# --------------------------------------------------------------------------- + +def make_material(name, rgb, rough=0.45, metallic=0.6, emit=None, estr=0.0): + mat = bpy.data.materials.new(name) + mat.use_nodes = True + b = mat.node_tree.nodes["Principled BSDF"] + b.inputs["Base Color"].default_value = (*rgb, 1.0) + b.inputs["Roughness"].default_value = rough + b.inputs["Metallic"].default_value = metallic + if emit is not None: + sock = b.inputs.get("Emission Color") or b.inputs["Emission"] + sock.default_value = (*emit, 1.0) + b.inputs["Emission Strength"].default_value = estr + return mat + + +# One entry per material slot name used by the Part builders above: +# (base rgb, roughness, metallic, emission rgb or None, emission strength). +SLOT_MATS = { + "Carbon": ((0.044, 0.049, 0.060), 0.62, 0.22, None, 0.0), + "Deck": ((0.058, 0.067, 0.080), 0.52, 0.55, None, 0.0), + "Canopy": ((0.020, 0.048, 0.062), 0.14, 0.30, None, 0.0), + "Vent": ((0.066, 0.074, 0.086), 0.58, 0.70, None, 0.0), + "Trim": ((0.046, 0.052, 0.062), 0.72, 0.30, None, 0.0), + "Boom": ((0.040, 0.045, 0.055), 0.40, 0.60, None, 0.0), + "Fairing": ((0.050, 0.056, 0.068), 0.64, 0.45, None, 0.0), + "Motor": ((0.150, 0.158, 0.172), 0.26, 0.92, None, 0.0), + "MotorFin": ((0.108, 0.114, 0.126), 0.30, 0.90, None, 0.0), + "NavFwd": ((0.060, 0.140, 0.090), 0.30, 0.10, (0.30, 1.00, 0.55), 2.6), + "NavAft": ((0.150, 0.048, 0.040), 0.30, 0.10, (1.00, 0.22, 0.16), 2.6), + "Skid": ((0.092, 0.098, 0.110), 0.46, 0.78, None, 0.0), + "Foot": ((0.030, 0.030, 0.033), 0.78, 0.05, None, 0.0), + "Strut": ((0.070, 0.075, 0.086), 0.44, 0.72, None, 0.0), + # the signature: every mount pad is the same machined orange, so the + # sockets read as sockets at a glance + "SocketPad": ((0.640, 0.250, 0.045), 0.34, 0.40, None, 0.0), + "Fixing": ((0.170, 0.176, 0.188), 0.24, 0.95, None, 0.0), + "Hub": ((0.120, 0.126, 0.138), 0.28, 0.90, None, 0.0), + "Spinner": ((0.520, 0.200, 0.038), 0.26, 0.55, None, 0.0), + "Blade": ((0.072, 0.076, 0.086), 0.26, 0.40, None, 0.0), + "PodYoke": ((0.096, 0.102, 0.114), 0.34, 0.85, None, 0.0), + "PodBall": ((0.038, 0.052, 0.062), 0.22, 0.45, None, 0.0), + "LensRing": ((0.070, 0.074, 0.082), 0.20, 0.90, None, 0.0), + "LensGlass": ((0.010, 0.026, 0.038), 0.05, 0.30, (0.06, 0.26, 0.40), 0.30), + "MastBase": ((0.096, 0.102, 0.114), 0.34, 0.85, None, 0.0), + "MastTube": ((0.130, 0.136, 0.148), 0.28, 0.92, None, 0.0), + "Dish": ((0.150, 0.156, 0.166), 0.32, 0.88, None, 0.0), + "SensorHead": ((0.044, 0.050, 0.060), 0.30, 0.55, None, 0.0), + "Beacon": ((0.170, 0.090, 0.030), 0.30, 0.10, (1.00, 0.52, 0.16), 3.0), + "Cell": ((0.150, 0.108, 0.042), 0.54, 0.28, None, 0.0), + "Rib": ((0.088, 0.064, 0.028), 0.60, 0.25, None, 0.0), + "Latch": ((0.130, 0.136, 0.148), 0.28, 0.90, None, 0.0), + "Gauge": ((0.060, 0.140, 0.090), 0.30, 0.10, (0.34, 1.00, 0.50), 2.2), +} + +_mat_cache = {} + + +def mat_for_slot(slot): + if slot not in _mat_cache: + rgb, rough, metal, emit, estr = SLOT_MATS[slot] + _mat_cache[slot] = make_material(slot, rgb, rough, metal, emit, estr) + return _mat_cache[slot] + + +def bind_materials(ob): + """Append this mesh's material slots in the order the Part builder used.""" + me = ob.data + if me.materials: + return + for slot in me.get("slots", []): + me.materials.append(mat_for_slot(slot)) + + +def build_studio(sc): + floor_me = bpy.data.meshes.new("Floor") + bm = bmesh.new() + try: + bmesh.ops.create_grid(bm, x_segments=1, y_segments=1, size=30.0) + bm.to_mesh(floor_me) + finally: + bm.free() + fmat = make_material("Studio", (0.030, 0.032, 0.037), rough=0.7, metallic=0.0) + floor_me.materials.append(fmat) + floor = bpy.data.objects.new("Floor", floor_me) + sc.collection.objects.link(floor) + wall = bpy.data.objects.new("Wall", floor_me.copy()) + # far enough back that the wedge draws a contained pool rather than + # flooding the whole backdrop (drafts 2-3 blew the wall out to mid grey) + wall.location = (0.0, 5.8, 0.0) + wall.rotation_euler = (math.radians(90), 0.0, 0.0) + sc.collection.objects.link(wall) + + world = bpy.data.worlds.new("World") + world.use_nodes = True + world.node_tree.nodes["Background"].inputs["Color"].default_value = ( + 0.020, 0.021, 0.025, 1.0) + sc.world = world + + def light(name, loc, energy, size, col, rot): + ld = bpy.data.lights.new(name, "AREA") + ld.energy = energy + ld.size = size + ld.color = col + ob = bpy.data.objects.new(name, ld) + ob.location = loc + ob.rotation_euler = tuple(math.radians(a) for a in rot) + sc.collection.objects.link(ob) + return ob + + # VISUAL-STYLE Layer 2 rig, energies scaled to a 0.86 m subject + light("Key", (-1.30, -0.80, 2.30), 150.0, 1.4, (1.0, 0.96, 0.9), (26, 0, -58)) + light("Fill", (1.70, -1.00, 0.90), 14.0, 2.6, (0.75, 0.85, 1.0), (66, 0, 54)) + light("Rim", (-0.35, 1.60, 1.40), 55.0, 1.2, (0.6, 0.78, 1.0), (-50, 0, 196)) + # Wedge sits between subject and wall, aimed at the wall, not the drone. + # Draft 3 put it high and hot: the pool blew to white and was clipped by + # the top-right corner. Low, larger and softer keeps the pool contained + # behind the subject where it lifts the silhouette. + light("Wedge", (0.10, 3.30, 0.34), 70.0, 3.0, (1.0, 0.76, 0.5), (-88, 0, 182)) + return floor, wall + + +def render_still(path, engine, falsify=False): + """The drone on the stage with every module seated at its socket. + + Falsified: the sockets are parented without ``matrix_parent_inverse``, so + every socket collapses toward the world origin and drags its module with + it — rotors, camera and battery hang in space off the airframe. + """ + bpy.ops.wm.read_factory_settings(use_empty=True) + _mat_cache.clear() + sc = bpy.context.scene + + root, parts, sockets, modules = assemble(sc, skip_mpi=falsify) + hero = parts + list(modules.values()) + for ob in hero: + bind_materials(ob) + floor, wall = build_studio(sc) + + cam_data = bpy.data.cameras.new("Cam") + cam_data.lens = 50.0 + cam = bpy.data.objects.new("Cam", cam_data) + # three-quarter from above: the deck, the canted rotor pads and the belly + # pod all read from here; a level side-on view (draft 2) flattened the + # airframe into a silhouette + cam.location = (1.28, -1.42, 1.44) + sc.collection.objects.link(cam) + aim = bpy.data.objects.new("Aim", None) + aim.location = (0.10, -0.05, 0.60) + sc.collection.objects.link(aim) + tr = cam.constraints.new("TRACK_TO") + tr.target = aim + tr.track_axis = "TRACK_NEGATIVE_Z" + tr.up_axis = "UP_Y" + sc.camera = cam + + sc.render.engine = "CYCLES" if engine == "cycles" else eevee_engine_id() + if engine == "cycles": + sc.cycles.device = "CPU" + sc.cycles.samples = 64 + sc.cycles.use_denoising = True + else: + try: + sc.eevee.taa_render_samples = 64 + except AttributeError: + pass + sc.render.resolution_x = 1280 + sc.render.resolution_y = 720 + sc.render.image_settings.file_format = "PNG" + sc.render.filepath = path + # Standard, always — AgX would lift the stage toward grey (VISUAL-STYLE) + sc.view_settings.view_transform = "Standard" + bpy.context.view_layer.update() + + # The gallery still is gated; the --falsify diagnostic is not. Its whole + # point is that the modules fly off the airframe, so measuring it against + # the Layer 1 band would only ever report the breakage as a framing + # violation. The numbers are still printed under an explicit reason. + fcode = gallery_framing.check_framing( + sc, cam, hero=hero, elements=hero, stage=[floor, wall], + deviation=("falsification diagnostic: the sockets are deliberately " + "unparented, so modules leave the frame — this render is " + "evidence, not a gallery hero") if falsify else None) + if fcode: + return fcode + aqcode = gallery_asset_quality.check_asset_quality(sc, cam, hero=hero, + stage=[floor, wall]) + if aqcode: + return aqcode + bpy.ops.render.render(write_still=True) + if not (os.path.exists(path) and os.path.getsize(path) > 0): + print("ERROR: render produced no file", file=sys.stderr) + return 9 + return 0 + + +def main(): + argv = sys.argv[sys.argv.index("--") + 1:] if "--" in sys.argv else [] + p = argparse.ArgumentParser() + p.add_argument("--output", default=None, help="optional: render a still PNG here") + p.add_argument("--falsify", default=None, + help="optional: render the no-parent-inverse variant here") + p.add_argument("--probe", action="store_true", + help="optional: print the measured no-parent-inverse jump") + p.add_argument("--engine", default="eevee", choices=("eevee", "cycles")) + args = p.parse_args(argv) + + print(f"binary version: {bpy.app.version} ({bpy.app.version_string})") + bpy.ops.wm.read_factory_settings(use_empty=True) + code = check() + if code: + return code + if args.probe: + probe_no_mpi() + if args.output: + rcode = render_still(os.path.abspath(args.output), args.engine) + if rcode: + return rcode + print(f"rendered still {args.output}") + if args.falsify: + rcode = render_still(os.path.abspath(args.falsify), args.engine, falsify=True) + if rcode: + return rcode + print(f"rendered falsified variant {args.falsify}") + + print("socket-attach-points OK") + return 0 + + +if __name__ == "__main__": + try: + sys.exit(main()) + except Exception as e: + import traceback + + traceback.print_exc() + print(f"FATAL: {e}", file=sys.stderr) + sys.exit(1)