feat(pose_3d): readout XYZ/RPY editabili (input number, drive il ghost)

web/pose_3d.js

@@ -251,6 +251,21 @@ function quatToRPYdeg(q) {
   return [roll * 180 / Math.PI, pitch * 180 / Math.PI, yaw * 180 / Math.PI];
 }
 
+function rpyDegToQuat(roll, pitch, yaw) {
+  const r = roll * Math.PI / 180;
+  const p = pitch * Math.PI / 180;
+  const y = yaw * Math.PI / 180;
+  const cr = Math.cos(r / 2), sr = Math.sin(r / 2);
+  const cp = Math.cos(p / 2), sp = Math.sin(p / 2);
+  const cy = Math.cos(y / 2), sy = Math.sin(y / 2);
+  // ZYX intrinsic (matches quatToRPYdeg)
+  const qx = sr * cp * cy - cr * sp * sy;
+  const qy = cr * sp * cy + sr * cp * sy;
+  const qz = cr * cp * sy - sr * sp * cy;
+  const qw = cr * cp * cy + sr * sp * sy;
+  return [qx, qy, qz, qw];
+}
+
 // ----- state apply to scene -----
 function updateRealWrists() {
   for (const side of ['right', 'left']) {
@@ -294,21 +309,33 @@ function syncGhostsToTargetOrReal() {
   }
 }
 
+function setInputIfNotFocused(id, value) {
+  const el = $(id);
+  if (!el) return;
+  if (document.activeElement === el) return;  // user is typing, don't stomp
+  el.value = value;
+}
+
 function updateReadout() {
   const side = state.active_side;
   const pose = state.target[side] || state.current[side];
   if (!pose) {
-    $('p3X').textContent = '—';
+    setInputIfNotFocused('p3X', '');
+    setInputIfNotFocused('p3Y', '');
+    setInputIfNotFocused('p3Z', '');
+    setInputIfNotFocused('p3R', '');
+    setInputIfNotFocused('p3P', '');
+    setInputIfNotFocused('p3W', '');
     return;
   }
   const p = pose.position, q = pose.quaternion;
-  $('p3X').textContent = (p[0] * 1000).toFixed(1);
-  $('p3Y').textContent = (p[1] * 1000).toFixed(1);
-  $('p3Z').textContent = (p[2] * 1000).toFixed(1);
+  setInputIfNotFocused('p3X', (p[0] * 1000).toFixed(1));
+  setInputIfNotFocused('p3Y', (p[1] * 1000).toFixed(1));
+  setInputIfNotFocused('p3Z', (p[2] * 1000).toFixed(1));
   const rpy = quatToRPYdeg(q);
-  $('p3R').textContent = rpy[0].toFixed(1);
-  $('p3P').textContent = rpy[1].toFixed(1);
-  $('p3W').textContent = rpy[2].toFixed(1);
+  setInputIfNotFocused('p3R', rpy[0].toFixed(1));
+  setInputIfNotFocused('p3P', rpy[1].toFixed(1));
+  setInputIfNotFocused('p3W', rpy[2].toFixed(1));
   $('p3Status').textContent = state.target[side] ? '● modificata' : '— polso fermo';
   $('p3Status').className = 'p3-status' + (state.target[side] ? ' modified' : '');
 }
@@ -447,6 +474,47 @@ function bindGizmoEvents() {
   });
 }
 
+function readReadoutInputs() {
+  const num = (id, dflt) => {
+    const v = parseFloat($(id).value);
+    return Number.isFinite(v) ? v : dflt;
+  };
+  const side = state.active_side;
+  if (!side) return;
+  // fallback values: current pose if any, else SHOULDER position via arm
+  const fallback = state.current[side] || (state.arms[side] ? {
+    position: [state.arms[side].position.x, state.arms[side].position.y, state.arms[side].position.z],
+    quaternion: [0, 0, 0, 1],
+  } : { position: [0, 0, 0], quaternion: [0, 0, 0, 1] });
+  const x_mm = num('p3X', fallback.position[0] * 1000);
+  const y_mm = num('p3Y', fallback.position[1] * 1000);
+  const z_mm = num('p3Z', fallback.position[2] * 1000);
+  const r_deg = num('p3R', 0);
+  const p_deg = num('p3P', 0);
+  const w_deg = num('p3W', 0);
+  const position = [x_mm / 1000, y_mm / 1000, z_mm / 1000];
+  const quaternion = rpyDegToQuat(r_deg, p_deg, w_deg);
+  state.target[side] = { position, quaternion };
+  // Aggiorna ghost in scena
+  const ghost = state.ghosts[side];
+  if (ghost) {
+    ghost.position.set(position[0], position[1], position[2]);
+    ghost.quaternion.set(quaternion[0], quaternion[1], quaternion[2], quaternion[3]);
+    ghost.visible = true;
+  }
+  // Status
+  $('p3Status').textContent = '● modificata (da input)';
+  $('p3Status').className = 'p3-status modified';
+}
+
+function bindReadoutInputs() {
+  for (const id of ['p3X', 'p3Y', 'p3Z', 'p3R', 'p3P', 'p3W']) {
+    const el = $(id);
+    if (!el) continue;
+    el.addEventListener('change', readReadoutInputs);  // fire on blur / Enter
+  }
+}
+
 // ----- side change listener -----
 function bindSideControls() {
   for (const r of document.querySelectorAll('input[name=p3Side]')) {
@@ -690,6 +758,7 @@ function ensureInit() {
   bindJogAutoApply();
   bindPoseButtons();
   bindUnlockButton();
+  bindReadoutInputs();
   pollState();
   pollTimer = setInterval(pollState, POLL_MS);
 }