fixed some bugs with splitting and selecting curve endpoints/handles

curveEditor.js

@@ -215,7 +215,7 @@ export class CurveEditor {
     }
 
     // 
-yToMotorPosition(yCanvas) {
+    yToMotorPosition(yCanvas) {
         const [minOut, maxOut] = this.exportRange; // Output bounds (0 - 4095)
 
         // Transform yCanvas to the original logical space by adjusting for the current offset and scale.
@@ -229,7 +229,7 @@ yToMotorPosition(yCanvas) {
 
         // Calculate the final motor position
         return Math.round(flipped * (maxOut - minOut) + minOut);
-}
+    }
 
 
     // exportRangeToY(value) {
@@ -663,14 +663,27 @@ yToMotorPosition(yCanvas) {
             }
 
             for (let curve of this.curves) {
-                for (let key of ['startPointHandle', 'endPointHandle', 'startPoint', 'endPoint']) {
+  // Pass 1: check handles first
+  for (let key of ['startPointHandle', 'endPointHandle']) {
     const p = curve[key];
     if (Math.hypot(p.x - mouse.x, p.y - mouse.y) < 10 / this.scale) {
       this.dragging = { curve, key };
       return;
     }
   }
+}
+
+// If no handle was hit, then check points
+for (let curve of this.curves) {
+  for (let key of ['startPoint', 'endPoint']) {
+    const p = curve[key];
+    if (Math.hypot(p.x - mouse.x, p.y - mouse.y) < 10 / this.scale) {
+      this.dragging = { curve, key };
+      return;
     }
+  }
+}
+
 
         });
 
@@ -761,27 +774,61 @@ yToMotorPosition(yCanvas) {
         const curves = this.curveSets[motorID];
         if (!curves) return;
 
+        const tolerance = 2; // pixels/frames tolerance for matching existing points
+
         for (let i = 0; i < curves.length; i++) {
             const curve = curves[i];
 
-    // --- if timeX matches an existing startPoint ---
+            // --- check startPoint ---
-    if (Math.abs(curve.startPoint.x - timeX) < 1e-3) {
+            if (Math.abs(curve.startPoint.x - timeX) < tolerance) {
                 if (yPosition !== null) {
+                    // move existing point
                     const yEditor = (yPosition * 800 / 4095);
                     curve.startPoint.y = yEditor;
                     if (curve.startPointHandle) curve.startPointHandle.y = yEditor;
+                } else {
+                    // remove point by merging with previous
+                    if (i > 0) {
+                        const prev = curves[i - 1];
+                        const merged = {
+                            startPoint: prev.startPoint,
+                            startPointHandle: prev.startPointHandle,
+                            endPointHandle: curve.endPointHandle,
+                            endPoint: curve.endPoint
+                        };
+                        curves.splice(i - 1, 2, merged);
+                    } else {
+                        curves.splice(i, 1); // drop if it's the very first
                     }
+                }
+                this.curveSets[motorID] = curves;
                 this.draw();
                 return;
             }
 
-    // --- if timeX matches an existing endPoint ---
+            // --- check endPoint ---
-    if (Math.abs(curve.endPoint.x - timeX) < 1e-3) {
+            if (Math.abs(curve.endPoint.x - timeX) < tolerance) {
                 if (yPosition !== null) {
+                    // move existing point
                     const yEditor = (yPosition * 800 / 4095);
                     curve.endPoint.y = yEditor;
                     if (curve.endPointHandle) curve.endPointHandle.y = yEditor;
+                } else {
+                    // remove point by merging with next
+                    if (i < curves.length - 1) {
+                        const next = curves[i + 1];
+                        const merged = {
+                            startPoint: curve.startPoint,
+                            startPointHandle: curve.startPointHandle,
+                            endPointHandle: next.endPointHandle,
+                            endPoint: next.endPoint
+                        };
+                        curves.splice(i, 2, merged);
+                    } else {
+                        curves.splice(i, 1); // drop if it's the very last
                     }
+                }
+                this.curveSets[motorID] = curves;
                 this.draw();
                 return;
             }
@@ -808,7 +855,6 @@ yToMotorPosition(yCanvas) {
 
                 let [left, right] = this.splitCurve(curve, t);
 
-      // ✅ If yPosition provided, override the split point’s Y
                 if (yPosition !== null) {
                     const yEditor = (yPosition * 800 / 4095);
                     left.endPoint.y = yEditor;
@@ -823,10 +869,7 @@ yToMotorPosition(yCanvas) {
                 return;
             }
         }
-}
+    }
-
-
-
 
 
     adjustAllCurvesToDuration(newTime) {

ros_robot_visualiser/URDFEditor.js

@@ -547,6 +547,8 @@ export class URDFEditor {
       }
       this.selectedJoint = this.hoveredJoint;
       this.selectedJoint.material.emissive.setHex(0x555555); // selection color
+      let motorID = this.findJointAncestor(this.selectedJoint, 0).transmission.motorID;
+      this.curveEditor.selectMotor(motorID);
     }
 
     this.isDragging = true;