Improve panel layout and per-user installer

.openclaw/settings.json

@@ -1,35 +0,0 @@
-{
-  "hooks": {
-    "pre-exec": [
-      {
-        "matcher": "",
-        "command": "scale gate pre-tool Bash --args-json \"$ARGS\" --session-id \"$SESSION_ID\""
-      },
-      {
-        "matcher": "edit|write",
-        "command": "scale gate pre-tool Edit --args-json \"$ARGS\" --session-id \"$SESSION_ID\""
-      }
-    ],
-    "post-exec": [
-      {
-        "matcher": "edit|write",
-        "command": "scale gate post-tool Edit --args-json \"$ARGS\" --exit-code \"$EXIT_CODE\" --session-id \"$SESSION_ID\""
-      },
-      {
-        "matcher": "",
-        "command": "scale gate post-tool Bash --args-json \"$ARGS\" --exit-code \"$EXIT_CODE\" --session-id \"$SESSION_ID\""
-      }
-    ],
-    "before-stop": [
-      {
-        "matcher": "",
-        "command": "scale gate before-stop --session-id \"$SESSION_ID\""
-      }
-    ]
-  },
-  "permissions": {
-    "allow": [
-      "scale:*"
-    ]
-  }
-}

Cargo.lock

@@ -1304,7 +1304,7 @@ checksum = "dea2df4cf52843e0452895c455a1a2cfbb842a1e7329671acf418fdc53ed4c59"
 
 [[package]]
 name = "eskin-model-player"
-version = "0.5.0"
+version = "5.0.0"
 dependencies = [
  "anyhow",
  "bytemuck",

Cargo.toml

@@ -1,9 +1,14 @@
 [package]
 name = "eskin-model-player"
-version = "0.5.0"
+version = "5.0.0"
 edition = "2024"
+authors = ["JOYSONQUIN"]
+description = "Desktop pressure sensor visualization and playback application."
 build = "build.rs"
 
+[package.metadata.wix]
+eula = false
+
 [dependencies]
 eframe = { version = "0.34.2", features = ["default", "wgpu", "__screenshot"] }
 env_logger = { version = "0.11.10", features = ["auto-color", "humantime"] }
@@ -22,3 +27,8 @@ gltf = "1.4.1"
 [build-dependencies]
 anyhow = "1.0.102"
 fs_extra = "1.3.0"
+
+
+[[bin]]
+name = "ESkinPlayer"
+path = "src/main.rs"

src/app.rs

@@ -1,5 +1,6 @@
 use crate::breakout::{BreakoutGame, control_from_matrix};
 use crate::connection::ConnectionManager;
+use crate::force::{ForceEstimatorState, HudSpatialForce};
 use crate::recording::Recorder;
 use crate::render::{ActiveMode, FingerMode, HandGatewayMode};
 use crate::style::{ONE_DARK_PRO, apply_fonts, apply_theme, layout};
@@ -7,28 +8,28 @@ use crate::ui::SerialMode;
 use crate::{
     matrix::{MATRIX_COLS, MATRIX_ROWS},
     render::{
-        BackgroundRenderResources, PRESSURE_CELL_COUNT, PressureFrame, WgpuBackgroundCallback,
+        BackgroundRenderResources, PRESSURE_CELL_COUNT, PressureFrame, PressureSamples,
+        WgpuBackgroundCallback,
     },
     ui::{
         ConfigPanelState, ConnectPanelState, FloatingPanelState, MatrixConfigState,
-        draw_config_panel, draw_export_panel, draw_matrix_config_panel, draw_stats_panel,
-        panel_restore_item,
+        draw_config_panel, draw_export_panel, draw_hand_force_panels, draw_matrix_config_panel,
+        draw_stats_panel, panel_restore_item,
     },
 };
 use eframe::{egui, egui_wgpu};
 use std::sync::Arc;
 
-const DATA_LOG_EVERY_FRAMES: u64 = 30;
 const SUMMARY_POINTS_PER_SERIES: usize = 42;
-const MIN_DISPLAY_FORCE_N: f32 = 0.1;
-const MAX_DISPLAY_FORCE_N: f32 = 25.6;
+const HAND_FORCE_PANEL_COUNT: usize = 7;
+const HAND_FORCE_SEGMENT_COUNTS: [usize; HAND_FORCE_PANEL_COUNT] = [84, 84, 84, 84, 84, 70, 44];
 
 pub struct EskinDesktopApp {
     connect_panel: FloatingPanelState,
     connect_state: ConnectPanelState,
     connection: Arc<ConnectionManager>,
     pressure_matrix: PressureFrame,
-    data_log_frame: u64,
+    hand_pressure: PressureSamples,
     scene_panel: FloatingPanelState,
     config_panel: FloatingPanelState,
     config_state: ConfigPanelState,
@@ -40,6 +41,9 @@ pub struct EskinDesktopApp {
     matrix_config_panel: FloatingPanelState,
     matrix_config: MatrixConfigState,
     signal_history: Vec<f32>,
+    hand_signal_histories: [Vec<f32>; HAND_FORCE_PANEL_COUNT],
+    force_estimator: ForceEstimatorState,
+    latest_spatial_force: Option<HudSpatialForce>,
     latest_raw_matrix: Vec<u32>,
     latest_matrix_rows: u32,
     latest_matrix_cols: u32,
@@ -77,7 +81,7 @@ impl EskinDesktopApp {
             connect_state: ConnectPanelState::default(),
             connection: Arc::new(ConnectionManager::new()),
             pressure_matrix: [[0.0, 0.0]; PRESSURE_CELL_COUNT],
-            data_log_frame: 0,
+            hand_pressure: Vec::new(),
             scene_panel: FloatingPanelState::new(
                 [layout::LEFT_X, layout::TOP_Y],
                 [layout::LEFT_TAG_X, layout::TOP_Y],
@@ -103,6 +107,9 @@ impl EskinDesktopApp {
             ),
             matrix_config: MatrixConfigState::default(),
             signal_history: Vec::with_capacity(128),
+            hand_signal_histories: std::array::from_fn(|_| Vec::with_capacity(128)),
+            force_estimator: ForceEstimatorState::new(),
+            latest_spatial_force: None,
             latest_raw_matrix: Vec::new(),
             latest_matrix_rows: MATRIX_ROWS,
             latest_matrix_cols: MATRIX_COLS,
@@ -129,9 +136,40 @@ impl EskinDesktopApp {
                 width,
                 height,
                 pressure: self.pressure_matrix,
+                hand_pressure: self.hand_pressure.clone(),
                 active_mode: self.active_mode.clone(),
             },
         ));
+        self.paint_spatial_force_overlay(ui, rect);
+    }
+
+    fn paint_spatial_force_overlay(&self, ui: &egui::Ui, rect: egui::Rect) {
+        let Some(force) = self.latest_spatial_force else {
+            return;
+        };
+
+        let painter = ui.painter();
+        let center = rect.center();
+        let magnitude = force.magnitude.clamp(0.0, 1.8);
+        let length = 34.0 + magnitude * 54.0;
+        let angle = force.angle_deg.to_radians();
+        let direction = egui::vec2(angle.cos(), angle.sin());
+        let end = center + direction * length;
+        let side = egui::vec2(-direction.y, direction.x);
+        let color = egui::Color32::from_rgb(255, 196, 54);
+        let glow = egui::Color32::from_rgba_unmultiplied(255, 196, 54, 58);
+
+        painter.line_segment([center, end], egui::Stroke::new(9.0, glow));
+        painter.line_segment([center, end], egui::Stroke::new(2.4, color));
+        painter.line_segment(
+            [end, end - direction * 14.0 + side * 7.0],
+            egui::Stroke::new(2.4, color),
+        );
+        painter.line_segment(
+            [end, end - direction * 14.0 - side * 7.0],
+            egui::Stroke::new(2.4, color),
+        );
+        painter.circle_filled(center, 4.2, color);
     }
 
     fn draw_workspace(&mut self, ui: &mut egui::Ui) {
@@ -186,34 +224,29 @@ impl EskinDesktopApp {
                 sample.cols,
                 &mut self.pressure_matrix,
             );
+            self.hand_pressure = normalize_pressure_samples(&sample.matrix);
             self.latest_raw_matrix.clear();
             self.latest_raw_matrix.extend_from_slice(&sample.matrix);
             self.latest_matrix_rows = sample.rows;
             self.latest_matrix_cols = sample.cols;
 
-            // Feed data to recorder
-            self.recorder.add_frame(&sample.matrix);
+            self.latest_spatial_force = self.force_estimator.analyze(&sample.matrix);
 
-            // JE-Skin summary logic: sum all cells first, then convert raw summary to force.
+            // Keep JE-Skin's summary path separate from the optional spatial-force vector.
             let raw_total = sample
                 .matrix
                 .iter()
                 .fold(0_u64, |sum, value| sum + *value as u64)
                 .min(u32::MAX as u64) as u32;
-            let force = raw_to_g1(raw_total).min(MAX_DISPLAY_FORCE_N);
-            let force = if force <= MIN_DISPLAY_FORCE_N {
-                0.0
-            } else {
-                force
-            };
+            let force = raw_to_g1(raw_total).min(25.6);
+            let force = if force <= 0.1 { 0.0 } else { force };
             self.signal_history.push(force);
             if self.signal_history.len() > SUMMARY_POINTS_PER_SERIES {
                 self.signal_history.remove(0);
             }
 
-            self.data_log_frame += 1;
-            if self.data_log_frame % DATA_LOG_EVERY_FRAMES == 0 {
-                log_pressure_sample(&sample.matrix, sample.rows, sample.cols);
+            if self.config_state.mode == SerialMode::Hand {
+                update_hand_signal_histories(&mut self.hand_signal_histories, &sample.matrix);
             }
         }
     }
@@ -331,15 +364,34 @@ impl EskinDesktopApp {
 
     fn draw_floating_panels(&mut self, ctx: &egui::Context) {
         // draw_scene_panel(ctx, &mut self.scene_panel);
+        // if self.config_state.mode == SerialMode::Hand && self.stats_panel.visible {
+        //     self.config_panel.visible = false;
+        //     self.export_panel.visible = false;
+        //     self.matrix_config_panel.visible = false;
+        // }
+
         if let Some(next_mode) = draw_config_panel(
             ctx,
             &mut self.config_panel,
             &mut self.config_state,
             &self.connection,
+            &self.recorder,
         ) {
             self.switch_mode(next_mode);
         }
-        draw_stats_panel(ctx, &mut self.stats_panel, &self.signal_history);
+        match self.config_state.mode {
+            SerialMode::Finger => {
+                draw_stats_panel(
+                    ctx,
+                    &mut self.stats_panel,
+                    &self.signal_history,
+                    self.latest_spatial_force,
+                );
+            }
+            SerialMode::Hand => {
+                draw_hand_force_panels(ctx, self.stats_panel.visible, &self.hand_signal_histories);
+            }
+        }
         draw_export_panel(
             ctx,
             &mut self.export_panel,
@@ -382,15 +434,40 @@ impl EskinDesktopApp {
                     panel_restore_item(ui, "配置", &mut self.config_panel);
                     panel_restore_item(ui, "录制", &mut self.export_panel);
                     panel_restore_item(ui, "矩阵", &mut self.matrix_config_panel);
+                    if self.stats_panel.visible {
+                        if ui
+                            .add_sized(
+                                egui::vec2(ui.available_width(), 0.0),
+                                egui::Button::new("隐藏 统计"),
+                            )
+                            .clicked()
+                        {
+                            self.stats_panel.visible = false;
+                            close_menu = true;
+                        }
+                    } else {
                         panel_restore_item(ui, "统计", &mut self.stats_panel);
-                    if ui.button("打砖块").clicked() {
+                    }
+                    if ui
+                        .add_sized(
+                            egui::vec2(ui.available_width(), 0.0),
+                            egui::Button::new("打砖块"),
+                        )
+                        .clicked()
+                    {
                         self.breakout_visible = true;
                         close_menu = true;
                     }
 
                     ui.separator();
 
-                    if ui.button("全部显示").clicked() {
+                    if ui
+                        .add_sized(
+                            egui::vec2(ui.available_width(), 0.0),
+                            egui::Button::new("全部显示"),
+                        )
+                        .clicked()
+                    {
                         self.config_panel.visible = true;
                         self.export_panel.visible = true;
                         self.matrix_config_panel.visible = true;
@@ -416,9 +493,16 @@ impl EskinDesktopApp {
     fn switch_mode(&mut self, next: SerialMode) {
         self.connect_state.mode = next;
         self.config_state.mode = next;
+        self.config_state.baud_rate = next.baud_rate();
         self.connection.disconnect();
         self.pressure_matrix.fill([0.0, 0.0]);
-        self.data_log_frame = 0;
+        self.hand_pressure.clear();
+        self.force_estimator.reset();
+        self.latest_spatial_force = None;
+        self.signal_history.clear();
+        self.hand_signal_histories
+            .iter_mut()
+            .for_each(|history| history.clear());
 
         self.active_mode = match next {
             SerialMode::Finger => ActiveMode::Finger(FingerMode {
@@ -432,21 +516,28 @@ impl EskinDesktopApp {
     }
 }
 
-fn log_pressure_sample(raw: &[u32], rows: u32, cols: u32) {
-    let max = raw.iter().copied().max().unwrap_or(0);
-    let sum: u64 = raw.iter().map(|value| *value as u64).sum();
-    let non_zero = raw.iter().filter(|value| **value != 0).count();
-    let preview = raw
+fn update_hand_signal_histories(
+    histories: &mut [Vec<f32>; HAND_FORCE_PANEL_COUNT],
+    raw_values: &[u32],
+) {
+    let mut offset = 0usize;
+    for (history, sample_count) in histories.iter_mut().zip(HAND_FORCE_SEGMENT_COUNTS) {
+        let raw_total = raw_values
+            .get(offset..offset + sample_count)
+            .unwrap_or(&[])
             .iter()
-        .take(12)
-        .map(u32::to_string)
-        .collect::<Vec<_>>()
-        .join(", ");
+            .fold(0_u64, |sum, value| sum + *value as u64)
+            .min(u32::MAX as u64) as u32;
+        let force = raw_to_g1(raw_total).min(25.6);
+        let force = if force <= 0.1 { 0.0 } else { force };
 
-    println!(
-        "[pressure] {rows}x{cols} cells={} non_zero={non_zero} max={max} sum={sum} first=[{preview}]",
-        raw.len()
-    );
+        history.push(force);
+        if history.len() > SUMMARY_POINTS_PER_SERIES {
+            history.remove(0);
+        }
+
+        offset += sample_count;
+    }
 }
 
 fn raw_to_g1(raw: u32) -> f32 {
@@ -465,7 +556,6 @@ fn raw_to_g1(raw: u32) -> f32 {
         return FORCE_CENTI_N[FORCE_CENTI_N.len() - 1] / 100.0;
     }
 
-    // Keep the same lookup behavior as JE-Skin so both apps report the same force.
     let mut left = 0usize;
     let mut right = RAW.len() - 1;
     while left + 1 < right {
@@ -534,9 +624,6 @@ fn split_viewport_body(rect: egui::Rect) -> egui::Rect {
 }
 
 fn normalize_pressure_sample(raw: &[u32], rows: u32, cols: u32, normalized: &mut PressureFrame) {
-    const RANGE_MIN: f32 = 0.0;
-    const RANGE_MAX: f32 = 7000.0;
-
     normalized.fill([0.0, 0.0]);
 
     let src_cols = cols.max(1);
@@ -548,17 +635,29 @@ fn normalize_pressure_sample(raw: &[u32], rows: u32, cols: u32, normalized: &mut
             let src_index = (row * src_cols + col) as usize;
             let dst_index = (row * MATRIX_COLS + col) as usize;
             if let Some(value) = raw.get(src_index) {
-                let raw_value = *value as f32;
+                normalized[dst_index] = normalize_pressure_value(*value);
+            }
+        }
+    }
+}
+
+fn normalize_pressure_samples(raw: &[u32]) -> PressureSamples {
+    raw.iter().copied().map(normalize_pressure_value).collect()
+}
+
+fn normalize_pressure_value(value: u32) -> [f32; 2] {
+    const RANGE_MIN: f32 = 0.0;
+    const RANGE_MAX: f32 = 7000.0;
+
+    let raw_value = value as f32;
     let mapped = ((raw_value - RANGE_MIN) / (RANGE_MAX - RANGE_MIN)).clamp(0.0, 1.0);
     let display_value = if raw_value <= RANGE_MIN + 4.0 {
         0.0
     } else {
         raw_value.round().min(9999.0)
     };
-                normalized[dst_index] = [mapped, display_value];
-            }
-        }
-    }
+
+    [mapped, display_value]
 }
 
 impl eframe::App for EskinDesktopApp {

src/connection.rs

@@ -4,7 +4,10 @@ use std::time::Duration;
 
 use crossbeam_channel::{self, Receiver, Sender, TryRecvError};
 
-use crate::serial_core::serial::{SerialIoStats, SerialPortReadWrite, run_serial_loop};
+use crate::recording::Recorder;
+use crate::serial_core::serial::{
+    SerialIoStats, SerialPortReadWrite, SerialProtocol, run_serial_loop,
+};
 
 /// Connection state visible to the UI.
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
@@ -28,6 +31,8 @@ struct Session {
     handle: JoinHandle<()>,
     sample_rx: Receiver<Vec<i32>>,
     stats_rx: Receiver<SerialIoStats>,
+    rows: u32,
+    cols: u32,
 }
 
 /// Thread-safe connection manager that the UI and renderer can share.
@@ -72,7 +77,15 @@ impl ConnectionManager {
     }
 
     /// Connect to the given serial port and start streaming in a background thread.
-    pub fn connect(&self, port_name: &str, rows: u32, cols: u32) {
+    pub fn connect(
+        &self,
+        port_name: &str,
+        rows: u32,
+        cols: u32,
+        baud_rate: u32,
+        protocol: SerialProtocol,
+        recorder: Recorder,
+    ) {
         self.disconnect();
         self.set_state(ConnectionState::Connecting);
 
@@ -90,11 +103,14 @@ impl ConnectionManager {
                 &port,
                 rows,
                 cols,
+                baud_rate,
+                protocol,
                 &state,
                 &cancel_rx,
                 &sample_tx,
                 &stats_tx,
                 &latest_sample,
+                recorder,
             );
             if let Err(e) = result {
                 eprintln!("[connection] device loop error: {e}");
@@ -107,6 +123,8 @@ impl ConnectionManager {
             handle,
             sample_rx,
             stats_rx,
+            rows,
+            cols,
         });
     }
 
@@ -135,10 +153,12 @@ impl ConnectionManager {
             loop {
                 match session.sample_rx.try_recv() {
                     Ok(vals) => {
-                        let rows = 12u32;
-                        let cols = 7u32;
                         let matrix = vals.iter().map(|v| (*v).max(0) as u32).collect();
-                        last = Some(PressureSample { matrix, rows, cols });
+                        last = Some(PressureSample {
+                            matrix,
+                            rows: session.rows,
+                            cols: session.cols,
+                        });
                     }
                     Err(TryRecvError::Empty) => break,
                     Err(TryRecvError::Disconnected) => break,
@@ -163,14 +183,17 @@ fn run_device_loop(
     port_name: &str,
     rows: u32,
     cols: u32,
+    baud_rate: u32,
+    protocol: SerialProtocol,
     state: &Arc<Mutex<ConnectionState>>,
     cancel_rx: &Receiver<()>,
     sample_tx: &Sender<Vec<i32>>,
     stats_tx: &Sender<SerialIoStats>,
     latest_sample: &Arc<Mutex<Option<PressureSample>>>,
+    recorder: Recorder,
 ) -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
-    let port = serialport::new(port_name, 921_600)
-        .timeout(Duration::from_millis(100))
+    let port = serialport::new(port_name, baud_rate)
+        .timeout(Duration::from_millis(1))
         .open()?;
 
     *state.lock().unwrap() = ConnectionState::Connected;
@@ -182,9 +205,11 @@ fn run_device_loop(
         &mut rw,
         rows as usize,
         cols as usize,
+        protocol,
         cancel_rx,
         sample_tx,
         Some(stats_tx),
+        Some(&recorder),
     );
 
     if let Ok(mut latest) = latest_sample.lock() {

src/force.rs

@@ -0,0 +1,49 @@
+use crate::serial_core::multi_dim_force::PztProcessor;
+
+const FINGER_SAMPLE_COUNT: usize = 84;
+const MIN_TANGENTIAL_MAGNITUDE: f32 = 0.02;
+
+#[derive(Debug, Clone, Copy)]
+pub struct HudSpatialForce {
+    pub angle_deg: f32,
+    pub magnitude: f32,
+}
+
+pub struct ForceEstimatorState {
+    pzt_processor: PztProcessor,
+}
+
+impl ForceEstimatorState {
+    pub fn new() -> Self {
+        Self {
+            pzt_processor: PztProcessor::new(),
+        }
+    }
+
+    pub fn reset(&mut self) {
+        self.pzt_processor.reset_baseline();
+    }
+
+    pub fn analyze(&mut self, values: &[u32]) -> Option<HudSpatialForce> {
+        if values.len() != FINGER_SAMPLE_COUNT {
+            return None;
+        }
+
+        let pzt_values = values.iter().map(|value| *value as f32).collect::<Vec<_>>();
+
+        self.pzt_processor
+            .get_pzt_analysis(&pzt_values)
+            .ok()
+            .filter(|analysis| analysis.magnitude > MIN_TANGENTIAL_MAGNITUDE)
+            .map(|analysis| HudSpatialForce {
+                angle_deg: analysis.angle_deg,
+                magnitude: analysis.magnitude,
+            })
+    }
+}
+
+impl Default for ForceEstimatorState {
+    fn default() -> Self {
+        Self::new()
+    }
+}

src/main.rs

@@ -1,6 +1,9 @@
+#![allow(dead_code)]
+#![cfg_attr(not(debug_assertions), windows_subsystem = "windows")]
 mod app;
 mod breakout;
 mod connection;
+mod force;
 mod matrix;
 mod model;
 mod recording;

src/render.rs

@@ -13,11 +13,13 @@ use std::ops::Range;
 pub const PRESSURE_CELL_COUNT: usize =
     (crate::matrix::MATRIX_ROWS * crate::matrix::MATRIX_COLS) as usize;
 pub type PressureFrame = [[f32; 2]; PRESSURE_CELL_COUNT];
+pub type PressureSamples = Vec<[f32; 2]>;
 
 pub struct WgpuBackgroundCallback {
     pub width: f32,
     pub height: f32,
     pub pressure: PressureFrame,
+    pub hand_pressure: PressureSamples,
     pub active_mode: ActiveMode,
 }
 
@@ -85,6 +87,10 @@ const HAND_PALM_CHIPS: [HandPalmChip; 2] = [
     },
 ];
 
+const HAND_FINGER_SENSOR_CELLS: usize = 12 * 7;
+const HAND_PALM_HORIZONTAL_OFFSET: usize = HAND_FINGER_SENSOR_CELLS * 5;
+const HAND_PALM_VERTICAL_OFFSET: usize = HAND_PALM_HORIZONTAL_OFFSET + 5 * 14;
+
 // Each entry pins one miniature matrix to a fingertip in hand.png.
 // Coordinates are authored in source-image pixels so they are easy to tune by eye.
 // size_px keeps the same 7:12 aspect as the Finger-mode 7 columns x 12 rows matrix.
@@ -114,7 +120,13 @@ impl egui_wgpu::CallbackTrait for WgpuBackgroundCallback {
         resources: &mut egui_wgpu::CallbackResources,
     ) -> Vec<wgpu::CommandBuffer> {
         let resources: &mut BackgroundRenderResources = resources.get_mut().unwrap();
-        resources.prepare(queue, self.width, self.height, &self.pressure);
+        resources.prepare(
+            queue,
+            self.width,
+            self.height,
+            &self.pressure,
+            &self.hand_pressure,
+        );
         Vec::new()
     }
 
@@ -596,7 +608,14 @@ impl BackgroundRenderResources {
         }
     }
 
-    fn prepare(&mut self, queue: &wgpu::Queue, width: f32, height: f32, pressure: &PressureFrame) {
+    fn prepare(
+        &mut self,
+        queue: &wgpu::Queue,
+        width: f32,
+        height: f32,
+        pressure: &PressureFrame,
+        hand_pressure: &[[f32; 2]],
+    ) {
         let aspect = width / height.max(1.0);
         self.uniform = MatrixUniform::new(
             width,
@@ -628,14 +647,20 @@ impl BackgroundRenderResources {
             bytemuck::cast_slice(&self.glyph_instances),
         );
 
-        // Hand mode uses five UV-anchored fingertip matrices over hand.png.
+        let hand_pressure = if hand_pressure.is_empty() {
+            pressure.as_slice()
+        } else {
+            hand_pressure
+        };
+
+        // Hand mode uses UV-anchored fingertip matrices over hand.png.
         // Rebuild their instance positions here so pressure colors update every frame.
         self.hand_dot_instances = build_hand_dot_instances(
             self.rows,
             self.cols,
             self.hand_image_texture.width as f32,
             self.hand_image_texture.height as f32,
-            pressure,
+            hand_pressure,
         );
         queue.write_buffer(
             &self.hand_dot_instance_buffer,
@@ -650,7 +675,7 @@ impl BackgroundRenderResources {
             self.cols,
             self.hand_image_texture.width as f32,
             self.hand_image_texture.height as f32,
-            pressure,
+            hand_pressure,
         );
         queue.write_buffer(
             &self.hand_palm_dot_instance_buffer,
@@ -1158,19 +1183,22 @@ fn build_hand_dot_instances(
     cols: u32,
     image_width: f32,
     image_height: f32,
-    pressure: &PressureFrame,
+    pressure: &[[f32; 2]],
 ) -> Vec<GlyphInstance> {
     let mut instances = Vec::with_capacity(HAND_TIP_MATRICES.len() * rows as usize * cols as usize);
 
-    for tip in HAND_TIP_MATRICES {
+    for (tip_index, tip) in HAND_TIP_MATRICES.into_iter().enumerate() {
         let cos = tip.angle_rad.cos();
         let sin = tip.angle_rad.sin();
 
         for row in 0..rows {
             for col in 0..cols {
                 let index = (row * cols + col) as usize;
-                let [normalized, display_value] =
-                    pressure.get(index).copied().unwrap_or([0.0, 0.0]);
+                let [normalized, display_value] = sample_pressure_at(
+                    pressure,
+                    tip_index * HAND_FINGER_SENSOR_CELLS + index,
+                    index,
+                );
 
                 // Lay out a rows x cols matrix in fingertip-local pixel space.
                 let local_x = (col as f32 - cols as f32 / 2.0 + 0.5) / cols as f32 * tip.size_px[0];
@@ -1195,11 +1223,11 @@ fn build_hand_dot_instances(
 }
 
 fn build_hand_palm_dot_instances(
-    rows: u32,
-    cols: u32,
+    _rows: u32,
+    _cols: u32,
     image_width: f32,
     image_height: f32,
-    pressure: &PressureFrame,
+    pressure: &[[f32; 2]],
 ) -> Vec<GlyphInstance> {
     let chip_dot_count: usize = HAND_PALM_CHIPS
         .iter()
@@ -1207,7 +1235,7 @@ fn build_hand_palm_dot_instances(
         .sum();
     let mut instances = Vec::with_capacity(chip_dot_count);
 
-    for chip in HAND_PALM_CHIPS {
+    for (chip_index, chip) in HAND_PALM_CHIPS.into_iter().enumerate() {
         let cos = chip.angle_rad.cos();
         let sin = chip.angle_rad.sin();
         // Leave a bevel around the chip so the matrix reads as embedded pixels.
@@ -1215,13 +1243,13 @@ fn build_hand_palm_dot_instances(
 
         for row in 0..chip.rows {
             for col in 0..chip.cols {
-                // Current live data is still the device pressure frame. Sample it by
-                // proportion so the palm's 5x14 and 11x4 layouts get coherent values.
-                let source_row = resample_index(row, chip.rows, rows);
-                let source_col = resample_index(col, chip.cols, cols);
-                let index = (source_row * cols + source_col) as usize;
+                let index = (row * chip.cols + col) as usize;
+                let offset = match chip_index {
+                    0 => HAND_PALM_HORIZONTAL_OFFSET,
+                    _ => HAND_PALM_VERTICAL_OFFSET,
+                };
                 let [normalized, display_value] =
-                    pressure.get(index).copied().unwrap_or([0.0, 0.0]);
+                    sample_pressure_at(pressure, offset + index, index);
 
                 let local_x =
                     (col as f32 - chip.cols as f32 / 2.0 + 0.5) / chip.cols as f32 * active_size[0];
@@ -1247,13 +1275,12 @@ fn build_hand_palm_dot_instances(
     instances
 }
 
-fn resample_index(index: u32, source_count: u32, target_count: u32) -> u32 {
-    if source_count <= 1 || target_count <= 1 {
-        return 0;
-    }
-
-    let mapped = index as f32 / (source_count - 1) as f32 * (target_count - 1) as f32;
-    mapped.round().clamp(0.0, (target_count - 1) as f32) as u32
+fn sample_pressure_at(pressure: &[[f32; 2]], index: usize, fallback_index: usize) -> [f32; 2] {
+    pressure
+        .get(index)
+        .or_else(|| pressure.get(fallback_index))
+        .copied()
+        .unwrap_or([0.0, 0.0])
 }
 
 fn build_glyph_instances(

src/serial_core/codecs/hand_gateway.rs

@@ -0,0 +1,404 @@
+use crate::serial_core::codec::Codec;
+use crate::serial_core::error::CodecError;
+use crate::serial_core::utils::{calc_crc8_itu, elapsed_millis};
+use std::time::Instant;
+
+const FRAME_HEADER: [u8; 2] = [0x55, 0xAA];
+const RESPONSE_DATA_CMD: u8 = 0x81;
+const RESPONSE_DATA_LEGACY_FIXED_LENGTH: usize = 16;
+const RESPONSE_DATA_LEGACY_PREFIX_LENGTH: usize = 19;
+const RESPONSE_DATA_TEMP_FIXED_LENGTH: usize = 20;
+const RESPONSE_DATA_TEMP_PREFIX_LENGTH: usize = 23;
+const MIN_FRAME_LENGTH: usize = 7;
+const DEFAULT_MAX_FRAME_LENGTH: usize = 64 * 1024;
+
+#[derive(Debug, Clone, Copy)]
+struct HandGatewayResponseLayout {
+    fixed_length: usize,
+    prefix_length: usize,
+    timestamp_len: usize,
+    config_offset: usize,
+    valid_config_offset: usize,
+    block_count_offset: usize,
+}
+
+const TEMP_RESPONSE_LAYOUT: HandGatewayResponseLayout = HandGatewayResponseLayout {
+    fixed_length: RESPONSE_DATA_TEMP_FIXED_LENGTH,
+    prefix_length: RESPONSE_DATA_TEMP_PREFIX_LENGTH,
+    timestamp_len: 8,
+    config_offset: 14,
+    valid_config_offset: 18,
+    block_count_offset: 22,
+};
+
+const LEGACY_RESPONSE_LAYOUT: HandGatewayResponseLayout = HandGatewayResponseLayout {
+    fixed_length: RESPONSE_DATA_LEGACY_FIXED_LENGTH,
+    prefix_length: RESPONSE_DATA_LEGACY_PREFIX_LENGTH,
+    timestamp_len: 4,
+    config_offset: 10,
+    valid_config_offset: 14,
+    block_count_offset: 18,
+};
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct HandGatewayNodeConfig {
+    pub config_mask: u32,
+    pub sample_count: usize,
+}
+
+impl HandGatewayNodeConfig {
+    pub const fn new(config_mask: u32, sample_count: usize) -> Self {
+        Self {
+            config_mask,
+            sample_count,
+        }
+    }
+
+    fn payload_len(&self, bytes_per_sample: usize) -> Option<usize> {
+        self.sample_count.checked_mul(bytes_per_sample)
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct HandGatewayConfig {
+    pub protocol_version: u8,
+    pub bytes_per_sample: usize,
+    pub max_frame_length: usize,
+    pub nodes: Vec<HandGatewayNodeConfig>,
+}
+
+impl HandGatewayConfig {
+    pub fn new(nodes: Vec<HandGatewayNodeConfig>) -> Self {
+        Self {
+            protocol_version: 0x01,
+            bytes_per_sample: 2,
+            max_frame_length: DEFAULT_MAX_FRAME_LENGTH,
+            nodes,
+        }
+    }
+
+    fn validate(&self) -> Result<(), CodecError> {
+        if self.bytes_per_sample == 0 || self.max_frame_length < MIN_FRAME_LENGTH {
+            return Err(CodecError::InvalidLength);
+        }
+
+        let mut used_masks = 0u32;
+        for node in &self.nodes {
+            if node.config_mask == 0
+                || node.config_mask.count_ones() != 1
+                || used_masks & node.config_mask != 0
+                || node.payload_len(self.bytes_per_sample).is_none()
+            {
+                return Err(CodecError::InvalidLength);
+            }
+            used_masks |= node.config_mask;
+        }
+
+        Ok(())
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct HandGatewayFrameNode {
+    pub config_mask: u32,
+    pub valid: bool,
+    pub payload: Vec<u8>,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct HandGatewayDataRepFrame {
+    pub timestamp: u64,
+    pub config: u32,
+    pub valid_config: u32,
+    pub block_count: u8,
+    pub raw: Vec<u8>,
+    pub nodes: Vec<HandGatewayFrameNode>,
+    pub dts_ms: u64,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub enum HandGatewayFrame {
+    DataRep(HandGatewayDataRepFrame),
+}
+
+pub struct HandGatewayCodec {
+    buffer: Vec<u8>,
+    config: HandGatewayConfig,
+}
+
+impl HandGatewayCodec {
+    pub fn new(node_sample_counts: &[u16]) -> Self {
+        let nodes = node_sample_counts
+            .iter()
+            .enumerate()
+            .map(|(index, &sample_count)| {
+                HandGatewayNodeConfig::new(
+                    1u32.checked_shl(index as u32).unwrap_or(0),
+                    sample_count as usize,
+                )
+            })
+            .collect();
+
+        Self {
+            buffer: Vec::new(),
+            config: HandGatewayConfig::new(nodes),
+        }
+    }
+
+    pub fn parse_node_payload(data: &[u8]) -> Result<Vec<u16>, CodecError> {
+        if data.len() % 2 != 0 {
+            return Err(CodecError::InvalidLength);
+        }
+
+        Ok(data
+            .chunks_exact(2)
+            .map(|chunk| u16::from_le_bytes([chunk[0], chunk[1]]))
+            .collect())
+    }
+
+    fn retain_possible_header_prefix(&mut self) {
+        if self.buffer.last() == Some(&FRAME_HEADER[0]) {
+            self.buffer.drain(..self.buffer.len() - 1);
+        } else {
+            self.buffer.clear();
+        }
+    }
+
+    fn parse_data_response_with_layout(
+        &self,
+        frame: &[u8],
+        length: u16,
+        session_started_at: Instant,
+        layout: HandGatewayResponseLayout,
+    ) -> Result<HandGatewayFrame, CodecError> {
+        let payload_len = usize::from(length)
+            .checked_sub(layout.fixed_length)
+            .ok_or(CodecError::InvalidLength)?;
+        let payload_end = layout
+            .prefix_length
+            .checked_add(payload_len)
+            .ok_or(CodecError::PayloadTooLarge)?;
+
+        if payload_end + 1 != frame.len() {
+            return Err(CodecError::InvalidLength);
+        }
+
+        let version = frame[5];
+        if version != self.config.protocol_version {
+            return Err(CodecError::InvalidFrameType);
+        }
+
+        let timestamp = match layout.timestamp_len {
+            4 => u32::from_le_bytes(frame[6..10].try_into().unwrap()) as u64,
+            8 => u64::from_le_bytes(frame[6..14].try_into().unwrap()),
+            _ => return Err(CodecError::InvalidLength),
+        };
+        let config = u32::from_le_bytes(
+            frame[layout.config_offset..layout.config_offset + 4]
+                .try_into()
+                .unwrap(),
+        );
+        let valid_config = u32::from_le_bytes(
+            frame[layout.valid_config_offset..layout.valid_config_offset + 4]
+                .try_into()
+                .unwrap(),
+        );
+        let block_count = frame[layout.block_count_offset];
+
+        let active_nodes = self
+            .config
+            .nodes
+            .iter()
+            .filter(|node| config & node.config_mask != 0)
+            .collect::<Vec<_>>();
+
+        if active_nodes.len() != usize::from(block_count) {
+            return Err(CodecError::InvalidLength);
+        }
+
+        let expected_payload_len = active_nodes.iter().try_fold(0usize, |total, node| {
+            let node_len = node
+                .payload_len(self.config.bytes_per_sample)
+                .ok_or(CodecError::PayloadTooLarge)?;
+            total
+                .checked_add(node_len)
+                .ok_or(CodecError::PayloadTooLarge)
+        })?;
+
+        if expected_payload_len != payload_len {
+            return Err(CodecError::InvalidLength);
+        }
+
+        let mut cursor = layout.prefix_length;
+        let mut nodes = Vec::with_capacity(active_nodes.len());
+        for node in active_nodes {
+            let node_len = node
+                .payload_len(self.config.bytes_per_sample)
+                .ok_or(CodecError::PayloadTooLarge)?;
+            let next = cursor + node_len;
+            nodes.push(HandGatewayFrameNode {
+                config_mask: node.config_mask,
+                valid: valid_config & node.config_mask != 0,
+                payload: frame[cursor..next].to_vec(),
+            });
+            cursor = next;
+        }
+
+        Ok(HandGatewayFrame::DataRep(HandGatewayDataRepFrame {
+            timestamp,
+            config,
+            valid_config,
+            block_count,
+            raw: frame.to_vec(),
+            nodes,
+            dts_ms: elapsed_millis(session_started_at),
+        }))
+    }
+
+    fn parse_data_response(
+        &self,
+        frame: &[u8],
+        length: u16,
+        session_started_at: Instant,
+    ) -> Result<HandGatewayFrame, CodecError> {
+        self.parse_data_response_with_layout(
+            frame,
+            length,
+            session_started_at,
+            TEMP_RESPONSE_LAYOUT,
+        )
+        .or_else(|_| {
+            self.parse_data_response_with_layout(
+                frame,
+                length,
+                session_started_at,
+                LEGACY_RESPONSE_LAYOUT,
+            )
+        })
+    }
+}
+
+impl Codec<HandGatewayFrame> for HandGatewayCodec {
+    fn decode(
+        &mut self,
+        input: &[u8],
+        session_started_at: Instant,
+    ) -> Result<Vec<HandGatewayFrame>, CodecError> {
+        self.config.validate()?;
+        self.buffer.extend_from_slice(input);
+        let mut frames = Vec::new();
+
+        loop {
+            let Some(header_pos) = self
+                .buffer
+                .windows(FRAME_HEADER.len())
+                .position(|window| window == FRAME_HEADER)
+            else {
+                self.retain_possible_header_prefix();
+                break;
+            };
+
+            if header_pos > 0 {
+                self.buffer.drain(..header_pos);
+            }
+
+            if self.buffer.len() < 4 {
+                break;
+            }
+
+            let length = u16::from_le_bytes([self.buffer[2], self.buffer[3]]);
+            let frame_len = usize::from(length)
+                .checked_add(4)
+                .ok_or(CodecError::PayloadTooLarge)?;
+
+            if frame_len < MIN_FRAME_LENGTH || frame_len > self.config.max_frame_length {
+                log::debug!("invalid hand gateway frame length: {frame_len}");
+                self.buffer.drain(..1);
+                continue;
+            }
+
+            if self.buffer.len() < frame_len {
+                break;
+            }
+
+            let expected_checksum = calc_crc8_itu(&self.buffer[..frame_len - 1]);
+            let received_checksum = self.buffer[frame_len - 1];
+            if expected_checksum != received_checksum {
+                log::debug!(
+                    "hand gateway checksum mismatch: expected {expected_checksum:02X}, got {received_checksum:02X}"
+                );
+                self.buffer.drain(..1);
+                continue;
+            }
+
+            if self.buffer[4] == RESPONSE_DATA_CMD {
+                match self.parse_data_response(
+                    &self.buffer[..frame_len],
+                    length,
+                    session_started_at,
+                ) {
+                    Ok(frame) => frames.push(frame),
+                    Err(error) => log::debug!("invalid hand gateway data response: {error}"),
+                }
+            }
+
+            self.buffer.drain(..frame_len);
+        }
+
+        Ok(frames)
+    }
+
+    fn encode(&self, frame: &HandGatewayFrame) -> Result<Vec<u8>, CodecError> {
+        let _ = frame;
+        Err(CodecError::InvalidFrameType)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    fn data_response(config: u32, valid_config: u32, payload: &[u8]) -> Vec<u8> {
+        let block_count = config.count_ones() as u8;
+        let length = (RESPONSE_DATA_LEGACY_FIXED_LENGTH + payload.len()) as u16;
+        let mut frame = Vec::new();
+        frame.extend_from_slice(&FRAME_HEADER);
+        frame.extend_from_slice(&length.to_le_bytes());
+        frame.push(RESPONSE_DATA_CMD);
+        frame.push(0x01);
+        frame.extend_from_slice(&0x0102_0304u32.to_le_bytes());
+        frame.extend_from_slice(&config.to_le_bytes());
+        frame.extend_from_slice(&valid_config.to_le_bytes());
+        frame.push(block_count);
+        frame.extend_from_slice(payload);
+        let checksum = calc_crc8_itu(&frame);
+        frame.push(checksum);
+        frame
+    }
+
+    #[test]
+    fn decodes_data_response_frame() {
+        let payload = [0x10, 0x00, 0x34, 0x12, 0x08, 0x00];
+        let bytes = data_response(0b11, 0b01, &payload);
+        let frames = HandGatewayCodec::new(&[2, 1])
+            .decode(&bytes, Instant::now())
+            .unwrap();
+
+        assert_eq!(frames.len(), 1);
+        let HandGatewayFrame::DataRep(frame) = &frames[0];
+        assert_eq!(frame.timestamp, 0x0102_0304);
+        assert_eq!(frame.config, 0b11);
+        assert_eq!(frame.valid_config, 0b01);
+        assert_eq!(frame.block_count, 2);
+        assert_eq!(frame.raw, bytes);
+        assert_eq!(frame.nodes.len(), 2);
+        assert_eq!(
+            HandGatewayCodec::parse_node_payload(&frame.nodes[0].payload).unwrap(),
+            vec![16, 0x1234]
+        );
+        assert_eq!(
+            HandGatewayCodec::parse_node_payload(&frame.nodes[1].payload).unwrap(),
+            vec![8]
+        );
+    }
+}

src/serial_core/codecs/mod.rs

@@ -1 +1,2 @@
+pub mod hand_gateway;
 pub mod tactile_a;

src/serial_core/mod.rs

@@ -2,5 +2,6 @@ pub mod codec;
 pub mod codecs;
 pub mod error;
 pub mod frame;
+pub mod multi_dim_force;
 pub mod serial;
 pub mod utils;

src/serial_core/multi_dim_force.rs

@@ -0,0 +1,234 @@
+const SENSOR_ROWS: usize = 12;
+const SENSOR_COLS: usize = 7;
+const SENSOR_COUNT: usize = SENSOR_ROWS * SENSOR_COLS;
+
+const TOTAL_PRESSURE_LOW_THRESHOLD: f32 = 500.0;
+const COP_STABILITY_FRAMES_REQUIRED: usize = 15;
+
+const POST_INIT_WINDOW_CNT: usize = 100;
+const POST_INIT_STABLE_CNT: usize = 50;
+const POST_INIT_STABLE_THRESH: f32 = 0.1;
+
+#[derive(Debug, Clone, Copy)]
+pub struct PztSpatialAnalysis {
+    pub angle_deg: f32,
+    pub magnitude: f32,
+    pub planar_x: f32,
+    pub planar_y: f32,
+}
+
+pub struct PztProcessor {
+    first_frame: Option<Vec<f32>>,
+
+    first_contact_cop_x: Option<f32>,
+    first_contact_cop_y: Option<f32>,
+    contact_initialized: bool,
+
+    total_pressure_low_counter: usize,
+
+    cop_init_x_buf: Vec<f32>,
+    cop_init_y_buf: Vec<f32>,
+
+    post_init_frame_cnt: usize,
+    post_stable_cnt: usize,
+    post_refined_flag: bool,
+    post_cand_x: Option<f32>,
+    post_cand_y: Option<f32>,
+}
+
+impl PztProcessor {
+    pub fn new() -> Self {
+        Self {
+            first_frame: None,
+            first_contact_cop_x: None,
+            first_contact_cop_y: None,
+            contact_initialized: false,
+            total_pressure_low_counter: 0,
+            cop_init_x_buf: Vec::with_capacity(COP_STABILITY_FRAMES_REQUIRED),
+            cop_init_y_buf: Vec::with_capacity(COP_STABILITY_FRAMES_REQUIRED),
+            post_init_frame_cnt: 0,
+            post_stable_cnt: 0,
+            post_refined_flag: false,
+            post_cand_x: None,
+            post_cand_y: None,
+        }
+    }
+
+    fn subtract_baseline(&mut self, current_frame: &[f32]) -> Vec<f32> {
+        if self.first_frame.is_none() {
+            self.first_frame = Some(current_frame.to_vec());
+        }
+
+        let baseline = self.first_frame.as_ref().unwrap();
+        current_frame
+            .iter()
+            .zip(baseline.iter())
+            .map(|(current, baseline)| (current - baseline).max(0.0))
+            .collect()
+    }
+
+    fn reset_cop_state(&mut self) {
+        self.first_contact_cop_x = None;
+        self.first_contact_cop_y = None;
+        self.contact_initialized = false;
+        self.total_pressure_low_counter = 0;
+        self.cop_init_x_buf.clear();
+        self.cop_init_y_buf.clear();
+        self.post_init_frame_cnt = 0;
+        self.post_stable_cnt = 0;
+        self.post_refined_flag = false;
+        self.post_cand_x = None;
+        self.post_cand_y = None;
+    }
+
+    fn compute_median(sorted: &[f32]) -> f32 {
+        let n = sorted.len();
+        if n == 0 {
+            return 0.0;
+        }
+
+        if n % 2 == 0 {
+            (sorted[n / 2 - 1] + sorted[n / 2]) / 2.0
+        } else {
+            sorted[n / 2]
+        }
+    }
+
+    fn compute_pressure_direction(&mut self, frame: &[f32]) -> (f32, f32) {
+        let total_pressure = frame.iter().sum::<f32>();
+        if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD {
+            self.total_pressure_low_counter += 1;
+        } else {
+            self.total_pressure_low_counter = 0;
+        }
+
+        if self.total_pressure_low_counter >= COP_STABILITY_FRAMES_REQUIRED {
+            self.reset_cop_state();
+            return (0.0, 0.0);
+        }
+
+        if total_pressure == 0.0 {
+            return (0.0, 0.0);
+        }
+
+        let mut sum_x = 0.0;
+        let mut sum_y = 0.0;
+        for row in 0..SENSOR_ROWS {
+            for col in 0..SENSOR_COLS {
+                let value = frame[row * SENSOR_COLS + col];
+                sum_x += value * col as f32;
+                sum_y += value * row as f32;
+            }
+        }
+        let cop_x = sum_x / total_pressure;
+        let cop_y = sum_y / total_pressure;
+
+        if !self.contact_initialized {
+            self.cop_init_x_buf.push(cop_x);
+            self.cop_init_y_buf.push(cop_y);
+
+            if self.cop_init_x_buf.len() >= COP_STABILITY_FRAMES_REQUIRED {
+                let mut xs = self.cop_init_x_buf.clone();
+                xs.sort_by(|a, b| a.partial_cmp(b).unwrap());
+                let mut ys = self.cop_init_y_buf.clone();
+                ys.sort_by(|a, b| a.partial_cmp(b).unwrap());
+
+                self.first_contact_cop_x = Some(Self::compute_median(&xs));
+                self.first_contact_cop_y = Some(Self::compute_median(&ys));
+                self.contact_initialized = true;
+                self.cop_init_x_buf.clear();
+                self.cop_init_y_buf.clear();
+            }
+
+            return (0.0, 0.0);
+        }
+
+        self.post_init_frame_cnt += 1;
+        if !self.post_refined_flag && self.post_init_frame_cnt <= POST_INIT_WINDOW_CNT {
+            if let (Some(cx), Some(cy)) = (self.post_cand_x, self.post_cand_y) {
+                let dist = ((cop_x - cx).powi(2) + (cop_y - cy).powi(2)).sqrt();
+                if dist <= POST_INIT_STABLE_THRESH {
+                    self.post_stable_cnt += 1;
+                } else {
+                    self.post_cand_x = Some(cop_x);
+                    self.post_cand_y = Some(cop_y);
+                    self.post_stable_cnt = 1;
+                }
+            } else {
+                self.post_cand_x = Some(cop_x);
+                self.post_cand_y = Some(cop_y);
+                self.post_stable_cnt = 1;
+            }
+
+            if self.post_stable_cnt >= POST_INIT_STABLE_CNT {
+                self.first_contact_cop_x = self.post_cand_x;
+                self.first_contact_cop_y = self.post_cand_y;
+                self.post_refined_flag = true;
+            }
+        } else {
+            self.post_refined_flag = true;
+        }
+
+        let base_x = self.first_contact_cop_x.unwrap_or(cop_x);
+        let base_y = self.first_contact_cop_y.unwrap_or(cop_y);
+        let delta_x = cop_x - base_x;
+        let delta_y = base_y - cop_y;
+        (delta_x, delta_y)
+    }
+
+    fn compute_vector_angle(x: f32, y: f32) -> (f32, f32) {
+        let epsilon = 1e-8f32;
+        let magnitude = (x * x + y * y).sqrt();
+        let mut angle = y.atan2(x + epsilon).to_degrees();
+        if angle < 0.0 {
+            angle += 360.0;
+        }
+        (angle, magnitude)
+    }
+
+    pub fn get_pzt_analysis(
+        &mut self,
+        adc_data: &[f32],
+    ) -> Result<PztSpatialAnalysis, &'static str> {
+        if adc_data.len() != SENSOR_COUNT {
+            return Err("ADC data length must be 84");
+        }
+
+        let baseline = self.subtract_baseline(adc_data);
+        let (dx, dy) = self.compute_pressure_direction(&baseline);
+
+        let planar_x = dx;
+        let planar_y = -dy;
+        let (angle_deg, magnitude) = Self::compute_vector_angle(planar_x, planar_y);
+
+        Ok(PztSpatialAnalysis {
+            angle_deg,
+            magnitude,
+            planar_x,
+            planar_y,
+        })
+    }
+
+    pub fn get_pzt_angle(&mut self, adc_data: &[f32]) -> Result<f32, &'static str> {
+        Ok(self.get_pzt_analysis(adc_data)?.angle_deg)
+    }
+
+    pub fn reset_baseline(&mut self) {
+        self.first_frame = None;
+        self.reset_cop_state();
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn idle_frame_returns_zero() {
+        let mut processor = PztProcessor::new();
+        let frame = [0.0f32; SENSOR_COUNT];
+        let analysis = processor.get_pzt_analysis(&frame).unwrap();
+        assert_eq!(analysis.magnitude, 0.0);
+        assert_eq!(analysis.angle_deg, 0.0);
+    }
+}

src/serial_core/serial.rs

@@ -1,11 +1,14 @@
+use crate::recording::Recorder;
 use crate::serial_core::codec::Codec;
+use crate::serial_core::codecs::hand_gateway::{HandGatewayCodec, HandGatewayFrame};
 use crate::serial_core::codecs::tactile_a::TactileACodec;
 use crate::serial_core::frame::TactileAFrame;
 use crossbeam_channel::{Receiver, Sender};
 use std::io::{Read, Write};
 use std::time::{Duration, Instant};
 
-const POLL_INTERVAL_MS: u64 = 10;
+const POLL_INTERVAL_MS: u64 = 5;
+const DEFAULT_HAND_GATEWAY_NODE_SAMPLE_COUNTS: &[u16] = &[84, 84, 84, 84, 84, 70, 44];
 
 #[derive(Debug, Default, Clone, Copy, PartialEq, Eq)]
 pub struct SerialIoStats {
@@ -13,15 +16,42 @@ pub struct SerialIoStats {
     pub tx_bytes: u64,
 }
 
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum SerialProtocol {
+    TactileA,
+    HandGateway,
+}
+
 /// Runs the serial polling loop on the calling (background) thread.
 /// Sends decoded pressure matrix data (Vec<i32>) to the output channel.
 pub fn run_serial_loop(
     port: &mut dyn ReadWrite,
     rows: usize,
     cols: usize,
+    protocol: SerialProtocol,
     cancel_rx: &Receiver<()>,
     sample_tx: &Sender<Vec<i32>>,
     stats_tx: Option<&Sender<SerialIoStats>>,
+    recorder: Option<&Recorder>,
+) {
+    match protocol {
+        SerialProtocol::TactileA => {
+            run_tactile_a_loop(port, rows, cols, cancel_rx, sample_tx, stats_tx, recorder)
+        }
+        SerialProtocol::HandGateway => {
+            run_hand_gateway_loop(port, cancel_rx, sample_tx, stats_tx, recorder)
+        }
+    }
+}
+
+fn run_tactile_a_loop(
+    port: &mut dyn ReadWrite,
+    rows: usize,
+    cols: usize,
+    cancel_rx: &Receiver<()>,
+    sample_tx: &Sender<Vec<i32>>,
+    stats_tx: Option<&Sender<SerialIoStats>>,
+    recorder: Option<&Recorder>,
 ) {
     let session_started_at = Instant::now();
     let mut codec = TactileACodec::new(cols, rows);
@@ -65,6 +95,11 @@ pub fn run_serial_loop(
                         for frame in frames {
                             if let TactileAFrame::Rep(rep) = frame {
                                 if let Ok(vals) = TactileACodec::parse_data_frame(&rep.payload) {
+                                    if let Some(recorder) = recorder {
+                                        let pressures: Vec<u32> =
+                                            vals.iter().map(|v| (*v).max(0) as u32).collect();
+                                        recorder.add_frame(&pressures);
+                                    }
                                     let _ = sample_tx.try_send(vals);
                                 }
                             }
@@ -86,6 +121,103 @@ pub fn run_serial_loop(
     }
 }
 
+fn run_hand_gateway_loop(
+    port: &mut dyn ReadWrite,
+    cancel_rx: &Receiver<()>,
+    sample_tx: &Sender<Vec<i32>>,
+    stats_tx: Option<&Sender<SerialIoStats>>,
+    recorder: Option<&Recorder>,
+) {
+    let session_started_at = Instant::now();
+    let mut codec = HandGatewayCodec::new(DEFAULT_HAND_GATEWAY_NODE_SAMPLE_COUNTS);
+    let mut buffer = [0u8; 1024];
+    let poll_interval = Duration::from_millis(POLL_INTERVAL_MS);
+    let mut io_stats = SerialIoStats::default();
+
+    loop {
+        if cancel_rx.try_recv().is_ok() {
+            break;
+        }
+
+        let deadline = Instant::now() + poll_interval;
+        loop {
+            if Instant::now() >= deadline {
+                break;
+            }
+
+            match port.read(&mut buffer) {
+                Ok(n) if n > 0 => {
+                    io_stats.rx_bytes += n as u64;
+                    publish_stats(stats_tx, io_stats);
+                    if let Ok(frames) = codec.decode(&buffer[..n], session_started_at) {
+                        for frame in frames {
+                            let HandGatewayFrame::DataRep(rep) = frame;
+                            // println!(
+                            //     "[hand-packet-raw] bytes={} timestamp_us={} config=0x{:08X} valid_config=0x{:08X} block_count={} payload_bytes={} raw={}",
+                            //     rep.raw.len(),
+                            //     rep.timestamp,
+                            //     rep.config,
+                            //     rep.valid_config,
+                            //     rep.block_count,
+                            //     rep.nodes
+                            //         .iter()
+                            //         .map(|node| node.payload.len())
+                            //         .sum::<usize>(),
+                            //     format_hex_bytes(&rep.raw)
+                            // );
+                            let mut vals = Vec::new();
+                            let mut parse_ok = true;
+                            for node in &rep.nodes {
+                                match HandGatewayCodec::parse_node_payload(&node.payload) {
+                                    Ok(node_values) => {
+                                        vals.extend(node_values.into_iter().map(|raw| {
+                                            let raw = raw as i32;
+                                            if raw < 15 { 0 } else { raw }
+                                        }));
+                                    }
+                                    Err(err) => {
+                                        parse_ok = false;
+                                        eprintln!("[hand-packet-values] parse error: {err}");
+                                        break;
+                                    }
+                                }
+                            }
+
+                            if parse_ok {
+                                // println!("[hand-packet-values] samples={}", vals.len());
+                                if let Some(recorder) = recorder {
+                                    let pressures: Vec<u32> =
+                                        vals.iter().map(|v| (*v).max(0) as u32).collect();
+                                    recorder.add_frame(&pressures);
+                                }
+                                let _ = sample_tx.try_send(vals);
+                            }
+                        }
+                    }
+                }
+                Ok(_) => {
+                    std::thread::sleep(Duration::from_millis(1));
+                }
+                Err(ref e) if e.kind() == std::io::ErrorKind::TimedOut => {
+                    continue;
+                }
+                Err(e) => {
+                    eprintln!("[serial] hand gateway read error: {e}");
+                    return;
+                }
+            }
+        }
+    }
+}
+
+fn format_hex_bytes(bytes: &[u8]) -> String {
+    bytes
+        .iter()
+        .map(|byte| format!("{byte:02X}"))
+        .collect::<Vec<_>>()
+        .join(" ")
+}
+
 fn publish_stats(stats_tx: Option<&Sender<SerialIoStats>>, stats: SerialIoStats) {
     if let Some(tx) = stats_tx {
         let _ = tx.try_send(stats);

src/serial_core/utils.rs

@@ -26,13 +26,17 @@ pub fn calc_crc8_itu(c: &[u8]) -> u8 {
     crc8_itu_alg.checksum(c)
 }
 
+pub fn calc_crc8_itu_xor55(c: &[u8]) -> u8 {
+    calc_crc8_itu(c) ^ 0x55
+}
+
 pub fn elapsed_millis(start_at: Instant) -> u64 {
     start_at.elapsed().as_millis() as u64
 }
 
 #[cfg(test)]
 mod test {
-    use crate::serial_core::utils::{calc_crc8_itu, calc_crc8_smbus};
+    use crate::serial_core::utils::{calc_crc8_itu, calc_crc8_itu_xor55, calc_crc8_smbus};
 
     #[test]
     fn test_crc8_itu() {
@@ -51,4 +55,10 @@ mod test {
         let checksum = calc_crc8_smbus(req_vec.as_slice());
         assert_eq!(checksum, 0x2F);
     }
+
+    #[test]
+    fn test_crc8_itu_xor55() {
+        let req_vec = vec![0x55, 0xAA, 0x07, 0x00, 0x01, 0x01, 0xFF, 0xFF, 0xFF, 0xFF];
+        assert_eq!(calc_crc8_itu_xor55(req_vec.as_slice()), 0xFD);
+    }
 }

src/style.rs

@@ -1,4 +1,4 @@
-use eframe::egui;
+use eframe::egui::{self, Color32};
 
 #[derive(Clone, Copy)]
 pub struct AppTheme {
@@ -29,7 +29,7 @@ pub struct DesignMetrics {
 }
 
 pub const ONE_DARK_PRO: AppTheme = AppTheme {
-    bg: egui::Color32::from_rgb(30, 40, 50),
+    bg: egui::Color32::BLACK,
     panel: egui::Color32::from_rgb(22, 28, 35),
     panel_strong: egui::Color32::from_rgb(34, 43, 54),
     panel_deep: egui::Color32::from_rgb(15, 20, 27),
@@ -213,6 +213,19 @@ pub fn tag_button(label: impl Into<egui::WidgetText>) -> egui::Button<'static> {
         .min_size(egui::vec2(0.0, METRICS.button_height))
 }
 
+pub fn rich_tag_button(
+    label: impl Into<String>,
+    color: impl Into<Color32>,
+) -> egui::Button<'static> {
+    let text = egui::RichText::new(label.into()).color(color);
+
+    egui::Button::new(text)
+        .fill(ONE_DARK_PRO.panel_strong)
+        .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.border))
+        .corner_radius(egui::CornerRadius::same(4))
+        .min_size(egui::vec2(0.0, METRICS.button_height))
+}
+
 pub fn primary_button(label: impl Into<egui::WidgetText>) -> egui::Button<'static> {
     egui::Button::new(label)
         .fill(ONE_DARK_PRO.accent)

src/ui.rs

@@ -2,11 +2,12 @@ use eframe::egui;
 
 use crate::{
     connection::{ConnectionManager, ConnectionState},
+    force::HudSpatialForce,
     recording::Recorder,
-    serial_core::serial::SerialIoStats,
+    serial_core::serial::{SerialIoStats, SerialProtocol},
     style::{
         self, ACCENT_BLUE, ACCENT_GREEN, ACCENT_ORANGE, ACCENT_RED, METRICS, ONE_DARK_PRO,
-        dim_text, group_frame, layout, panel_frame, tag_button,
+        dim_text, group_frame, layout, panel_frame, rich_tag_button, tag_button,
     },
     utils::serial_enum,
 };
@@ -53,6 +54,22 @@ pub enum SerialMode {
     Hand,
 }
 
+impl SerialMode {
+    pub fn baud_rate(self) -> u32 {
+        match self {
+            SerialMode::Finger => 921_600,
+            SerialMode::Hand => 1_152_000,
+        }
+    }
+
+    pub fn protocol(self) -> SerialProtocol {
+        match self {
+            SerialMode::Finger => SerialProtocol::TactileA,
+            SerialMode::Hand => SerialProtocol::HandGateway,
+        }
+    }
+}
+
 #[derive(Clone, Copy, PartialEq, Eq)]
 pub enum Parity {
     None,
@@ -121,8 +138,60 @@ impl Default for ConnectPanelState {
     }
 }
 
+const PANEL_VIEWPORT_MARGIN: f32 = 12.0;
+
+fn viewport_panel_rect(ctx: &egui::Context) -> egui::Rect {
+    ctx.content_rect().shrink(PANEL_VIEWPORT_MARGIN)
+}
+
+fn responsive_panel_width(ctx: &egui::Context, preferred: f32, min_width: f32) -> f32 {
+    let screen = ctx.content_rect();
+    let available = (screen.width() - PANEL_VIEWPORT_MARGIN * 2.0).max(240.0);
+    let side_cap = (screen.width() * 0.44).max(min_width.min(available));
+
+    preferred
+        .min(side_cap)
+        .min(available)
+        .max(min_width.min(available))
+}
+
+fn responsive_panel_height(ctx: &egui::Context, preferred: f32, min_height: f32) -> f32 {
+    let screen = ctx.content_rect();
+    let available = (screen.height() - layout::TITLE_BAR_HEIGHT - PANEL_VIEWPORT_MARGIN * 2.0)
+        .max(min_height.min(screen.height()));
+    let height_cap = (screen.height() * 0.72).max(min_height.min(available));
+
+    preferred
+        .min(height_cap)
+        .min(available)
+        .max(min_height.min(available))
+}
+
+fn responsive_panel_pos(
+    ctx: &egui::Context,
+    preferred: egui::Pos2,
+    panel_width: f32,
+) -> egui::Pos2 {
+    let rect = viewport_panel_rect(ctx);
+    let min_y = rect.top() + layout::TITLE_BAR_HEIGHT + PANEL_VIEWPORT_MARGIN;
+    let max_x = (rect.right() - panel_width).max(rect.left());
+    let preferred_right_side = preferred.x > rect.center().x;
+    let x = if preferred_right_side {
+        max_x
+    } else {
+        preferred.x.clamp(rect.left(), max_x)
+    };
+    let y = preferred.y.clamp(min_y, rect.bottom());
+
+    egui::pos2(x, y)
+}
+
+fn narrow_panel(ui: &egui::Ui) -> bool {
+    ui.available_width() < 420.0
+}
+
 pub fn draw_scene_panel(ctx: &egui::Context, panel: &mut FloatingPanelState) {
-    draw_floating_panel(ctx, panel, "场景", "scene_panel", |ui| {
+    draw_floating_panel(ctx, panel, "场景", "scene_panel", 320.0, 260.0, |ui| {
         ui.horizontal(|ui| {
             ui.colored_label(dim_text(), "视图");
             let _ = ui.selectable_label(true, "簇");
@@ -179,7 +248,7 @@ pub fn draw_connect_panel(
                 });
 
                 ui.add_space(METRICS.row_gap);
-                draw_connect_action_row(ui, conn_state, is_connected, config, connection);
+                draw_connect_action_row(ui, conn_state, is_connected, config, connection, recorder);
 
                 if is_connected {
                     draw_recording_toolbar(ui, recorder, export_path);
@@ -206,7 +275,7 @@ pub fn draw_connect_panel(
 // }
 
 fn draw_connect_port_row(ui: &mut egui::Ui, config: &mut ConnectPanelState) {
-    ui.horizontal(|ui| {
+    ui.horizontal_wrapped(|ui| {
         ui.label(style::field_label("串口"));
         egui::ComboBox::from_id_salt("connect_ports")
             .width(150.0)
@@ -247,7 +316,7 @@ fn draw_connect_port_row(ui: &mut egui::Ui, config: &mut ConnectPanelState) {
 }
 
 fn draw_connect_matrix_row(ui: &mut egui::Ui, config: &mut ConnectPanelState) {
-    ui.horizontal(|ui| {
+    ui.horizontal_wrapped(|ui| {
         ui.checkbox(&mut config.manual, "手动矩阵");
 
         ui.add_enabled_ui(config.manual, |ui| {
@@ -272,8 +341,9 @@ fn draw_connect_action_row(
     is_connected: bool,
     config: &ConnectPanelState,
     connection: &ConnectionManager,
+    recorder: &Recorder,
 ) {
-    ui.horizontal(|ui| {
+    ui.horizontal_wrapped(|ui| {
         let status_text = match conn_state {
             ConnectionState::Disconnected => "未连接",
             ConnectionState::Connecting => "连接中...",
@@ -305,6 +375,9 @@ fn draw_connect_action_row(
                         &config.selected_port,
                         config.rows as u32,
                         config.cols as u32,
+                        config.mode.baud_rate(),
+                        config.mode.protocol(),
+                        recorder.clone(),
                     );
                 }
             }
@@ -317,17 +390,20 @@ pub fn draw_config_panel(
     panel: &mut FloatingPanelState,
     config: &mut ConfigPanelState,
     connection: &ConnectionManager,
+    recorder: &Recorder,
 ) -> Option<SerialMode> {
     let mut changed_mode = None;
     let conn_state = connection.state();
     let stats = connection.stats();
+    let panel_width = responsive_panel_width(ctx, 560.0, 340.0);
     config.connected = matches!(
         conn_state,
         ConnectionState::Connected | ConnectionState::Streaming
     );
 
-    draw_floating_panel(ctx, panel, "配置", "config_panel", |ui| {
-        ui.set_min_width(560.0);
+    draw_floating_panel(ctx, panel, "配置", "config_panel", 560.0, 340.0, |ui| {
+        ui.set_min_width(panel_width);
+        ui.set_max_width(panel_width);
 
         if let Some(mode) = draw_mode_row(ui, config) {
             changed_mode = Some(mode);
@@ -335,7 +411,7 @@ pub fn draw_config_panel(
 
         // draw_mode_row(ui, config);
         ui.separator();
-        draw_connection_row(ui, config, connection, conn_state);
+        draw_connection_row(ui, config, connection, recorder, conn_state);
         ui.add_space(8.0);
         // Legacy serial parameter grid is intentionally kept commented for future hardware:
         // draw_serial_grid(ui, config);
@@ -347,7 +423,7 @@ pub fn draw_config_panel(
 
 fn draw_mode_row(ui: &mut egui::Ui, config: &mut ConfigPanelState) -> Option<SerialMode> {
     let mut changed_to = None;
-    ui.horizontal(|ui| {
+    ui.horizontal_wrapped(|ui| {
         ui.colored_label(dim_text(), "模式");
         ui.add_space(12.0);
 
@@ -373,21 +449,15 @@ fn draw_connection_row(
     ui: &mut egui::Ui,
     config: &mut ConfigPanelState,
     connection: &ConnectionManager,
+    recorder: &Recorder,
     conn_state: ConnectionState,
 ) {
-    ui.horizontal(|ui| {
-        ui.add(
-            egui::Image::new(egui::include_image!("../static/cpu.png"))
-                .fit_to_exact_size(egui::vec2(72.0, 72.0)),
-        );
-
-        ui.add_space(METRICS.item_gap);
-
-        ui.vertical(|ui| {
-            ui.horizontal(|ui| {
+    let is_narrow = narrow_panel(ui);
+    let draw_port_status = |ui: &mut egui::Ui, config: &mut ConfigPanelState| {
+        ui.horizontal_wrapped(|ui| {
             ui.label(style::field_label("端口"));
             egui::ComboBox::from_id_salt("config_ports")
-                    .width(126.0)
+                .width(ui.available_width().min(150.0).max(104.0))
                 .selected_text(if config.port.is_empty() {
                     "无可用串口".to_owned()
                 } else {
@@ -415,10 +485,9 @@ fn draw_connection_row(
             connection_status_color(conn_state),
             connection_status_text(conn_state),
         );
-        });
-
-        ui.add_space(22.0);
+    };
 
+    let draw_connect_button = |ui: &mut egui::Ui, config: &ConfigPanelState| {
         let is_connected = matches!(
             conn_state,
             ConnectionState::Connected | ConnectionState::Streaming
@@ -435,9 +504,41 @@ fn draw_connection_row(
             if is_connected {
                 connection.disconnect();
             } else if !config.port.is_empty() {
-                connection.connect(&config.port, 12, 7);
+                connection.connect(
+                    &config.port,
+                    12,
+                    7,
+                    config.mode.baud_rate(),
+                    config.mode.protocol(),
+                    recorder.clone(),
+                );
             }
         }
+    };
+
+    if is_narrow {
+        ui.vertical(|ui| {
+            draw_port_status(ui, config);
+            ui.add_space(METRICS.item_gap);
+            draw_connect_button(ui, config);
+        });
+    } else {
+        ui.horizontal(|ui| {
+            ui.add(
+                egui::Image::new(egui::include_image!("../static/cpu.png"))
+                    .fit_to_exact_size(egui::vec2(72.0, 72.0)),
+            );
+
+            ui.add_space(METRICS.item_gap);
+
+            ui.vertical(|ui| {
+                draw_port_status(ui, config);
+            });
+
+            ui.add_space(22.0);
+            draw_connect_button(ui, config);
+        });
+    }
 
     // Legacy reconnect/link-protection indicator:
     // ui.add_space(18.0);
@@ -453,7 +554,6 @@ fn draw_connection_row(
     //         "链路保护 关"
     //     },
     // );
-    });
 }
 
 fn draw_serial_grid(ui: &mut egui::Ui, config: &mut ConfigPanelState) {
@@ -554,7 +654,7 @@ fn draw_mode_body(
 }
 
 fn draw_status_bytes_row(ui: &mut egui::Ui, conn_state: ConnectionState, stats: SerialIoStats) {
-    ui.horizontal(|ui| {
+    ui.horizontal_wrapped(|ui| {
         ui.colored_label(dim_text(), "状态");
         ui.label(connection_status_text(conn_state));
         ui.colored_label(dim_text(), "接收");
@@ -646,7 +746,7 @@ fn baud_combo(ui: &mut egui::Ui, config: &mut ConfigPanelState) {
         .selected_text(config.baud_rate.to_string())
         .show_ui(ui, |ui| {
             for baud_rate in [
-                9_600, 19_200, 38_400, 57_600, 115_200, 230_400, 460_800, 921_600,
+                9_600, 19_200, 38_400, 57_600, 115_200, 230_400, 460_800, 921_600, 1_152_000,
             ] {
                 ui.selectable_value(&mut config.baud_rate, baud_rate, baud_rate.to_string());
             }
@@ -672,59 +772,216 @@ pub fn draw_stats_panel(
     ctx: &egui::Context,
     panel: &mut FloatingPanelState,
     force_history: &[f32],
+    _spatial_force: Option<HudSpatialForce>,
 ) {
-    draw_floating_panel(ctx, panel, "统计", "stats_panel", |ui| {
-        ui.set_min_width(320.0);
-        draw_resultant_force_chart(ui, force_history);
+    const PREFERRED_PANEL_WIDTH: f32 = 380.0;
+    const PREFERRED_PANEL_HEIGHT: f32 = 340.0;
+    const PANEL_OUTSIDE_GAP: f32 = 18.0;
+
+    let force_active = has_recent_resultant_force(force_history);
+    let target_visible = panel.visible && force_active;
+    let anim = ctx.animate_bool(egui::Id::new("stats_panel_force_enter"), target_visible);
+
+    if anim <= 0.01 {
+        return;
+    }
+
+    let target_anim = if target_visible { 1.0 } else { 0.0 };
+    if (anim - target_anim).abs() > 0.001 {
+        ctx.request_repaint();
+    }
+
+    let eased = ease_in_out(anim);
+    let screen = ctx.content_rect();
+    let panel_width = responsive_panel_width(ctx, PREFERRED_PANEL_WIDTH, 260.0);
+    let panel_height = responsive_panel_height(ctx, PREFERRED_PANEL_HEIGHT, 220.0);
+    let viewport = viewport_panel_rect(ctx);
+    let target_pos = egui::pos2(
+        viewport.left(),
+        (viewport.bottom() - panel_height - PANEL_VIEWPORT_MARGIN * 2.0)
+            .max(viewport.top() + layout::TITLE_BAR_HEIGHT + PANEL_VIEWPORT_MARGIN),
+    );
+    let target_x = target_pos.x;
+    let hidden_x = if target_x < screen.center().x {
+        screen.left() - panel_width - PANEL_OUTSIDE_GAP
+    } else {
+        screen.right() + PANEL_OUTSIDE_GAP
+    };
+    let x = egui::lerp(hidden_x..=target_x, eased);
+    let y = target_pos.y;
+
+    egui::Area::new(egui::Id::new("stats_panel"))
+        .fixed_pos(egui::pos2(x, y))
+        .constrain_to(viewport_panel_rect(ctx))
+        .order(egui::Order::Foreground)
+        .show(ctx, |ui| {
+            panel_frame(ctx).show(ui, |ui| {
+                ui.spacing_mut().item_spacing = egui::vec2(METRICS.item_gap, 6.0);
+                ui.set_min_width(panel_width);
+                ui.set_max_width(panel_width);
+                ui.set_min_height(panel_height);
+                draw_force_chart_panel_contents(ui, "RF", "合力", force_history, panel_height);
+            });
         });
 }
 
 const FORCE_CHART_MAX_N: f32 = 25.6;
+const FORCE_CHART_SAMPLE_SECONDS: f32 = 0.1;
+const FORCE_PANEL_ACTIVE_TAIL: usize = 8;
 
-fn draw_resultant_force_chart(ui: &mut egui::Ui, values: &[f32]) {
-    let latest = values.last().copied().unwrap_or(0.0);
-    let max = values.iter().copied().fold(0.0_f32, f32::max);
-    let active_values = values.iter().copied().filter(|value| *value > 0.0);
-    let min = active_values.fold(None, |best: Option<f32>, value| {
-        Some(best.map_or(value, |current| current.min(value)))
+const HAND_FORCE_PANEL_MIN_WIDTH: f32 = 220.0;
+const HAND_FORCE_PANEL_MAX_WIDTH: f32 = 500.0;
+const HAND_FORCE_PANEL_MIN_HEIGHT: f32 = 104.0;
+const HAND_FORCE_PANEL_MAX_HEIGHT: f32 = 190.0;
+const HAND_FORCE_PANEL_GAP: f32 = 12.0;
+const HAND_FORCE_PANEL_SIDE_MARGIN: f32 = 24.0;
+const HAND_FORCE_PANEL_VERTICAL_MARGIN: f32 = 28.0;
+const HAND_FORCE_PANEL_TITLES: [(&str, &str); 7] = [
+    ("T1", "拇指"),
+    ("T2", "食指"),
+    ("T3", "中指"),
+    ("T4", "无名指"),
+    ("T5", "小指"),
+    ("P1", "掌心横区"),
+    ("P2", "掌心纵区"),
+];
+
+fn has_recent_resultant_force(values: &[f32]) -> bool {
+    values
+        .iter()
+        .rev()
+        .take(FORCE_PANEL_ACTIVE_TAIL)
+        .any(|value| *value > 0.0)
+}
+
+pub fn draw_hand_force_panels(ctx: &egui::Context, visible: bool, histories: &[Vec<f32>]) {
+    let hand_active = histories
+        .iter()
+        .any(|history| has_recent_resultant_force(history));
+    let target_visible = visible && hand_active;
+    let screen = ctx.content_rect();
+    let side_margin = HAND_FORCE_PANEL_SIDE_MARGIN.min((screen.width() * 0.025).max(10.0));
+    let vertical_margin = HAND_FORCE_PANEL_VERTICAL_MARGIN.min((screen.height() * 0.04).max(10.0));
+    let gap = HAND_FORCE_PANEL_GAP.min((screen.height() * 0.018).max(6.0));
+    let side_width = ((screen.width() - side_margin * 4.0) * 0.25).max(0.0);
+    let panel_width = side_width
+        .min(HAND_FORCE_PANEL_MAX_WIDTH)
+        .max(HAND_FORCE_PANEL_MIN_WIDTH.min(side_width));
+    let left_x = screen.left() + side_margin;
+    let right_x = screen.right() - side_margin - panel_width;
+    let left_count = 4usize;
+    let right_count = HAND_FORCE_PANEL_TITLES.len() - left_count;
+    let available_height =
+        (screen.height() - layout::TITLE_BAR_HEIGHT - vertical_margin * 2.0).max(0.0);
+    let panel_height = ((available_height - (left_count - 1) as f32 * gap) / left_count as f32)
+        .clamp(
+            HAND_FORCE_PANEL_MIN_HEIGHT.min(available_height),
+            HAND_FORCE_PANEL_MAX_HEIGHT,
+        );
+    let left_height = left_count as f32 * panel_height + (left_count - 1) as f32 * gap;
+    let right_height =
+        right_count as f32 * panel_height + (right_count.saturating_sub(1)) as f32 * gap;
+    let min_top = screen.top() + layout::TITLE_BAR_HEIGHT + vertical_margin;
+    let left_top = (screen.center().y - left_height * 0.5).max(min_top);
+    let right_top = (screen.center().y - right_height * 0.5).max(min_top);
+
+    for index in 0..HAND_FORCE_PANEL_TITLES.len() {
+        let history = histories.get(index).map(Vec::as_slice).unwrap_or(&[]);
+        let (code, title) = HAND_FORCE_PANEL_TITLES[index];
+        let (target_x, target_y) = if index < left_count {
+            (left_x, left_top + index as f32 * (panel_height + gap))
+        } else {
+            let right_index = index - left_count;
+            (
+                right_x,
+                right_top + right_index as f32 * (panel_height + gap),
+            )
+        };
+
+        draw_force_chart_area(
+            ctx,
+            egui::Id::new(format!("hand_force_panel_{index}")),
+            egui::pos2(target_x, target_y),
+            egui::vec2(panel_width, panel_height),
+            target_visible,
+            code,
+            title,
+            history,
+        );
+    }
+}
+
+fn draw_force_chart_area(
+    ctx: &egui::Context,
+    id: egui::Id,
+    target_pos: egui::Pos2,
+    size: egui::Vec2,
+    target_visible: bool,
+    code: &'static str,
+    title: &'static str,
+    values: &[f32],
+) {
+    let anim = ctx.animate_bool(id.with("enter"), target_visible);
+
+    if anim <= 0.01 {
+        return;
+    }
+
+    let target_anim = if target_visible { 1.0 } else { 0.0 };
+    if (anim - target_anim).abs() > 0.001 {
+        ctx.request_repaint();
+    }
+
+    let eased = ease_in_out(anim);
+    let hidden_y = ctx.content_rect().bottom() + HAND_FORCE_PANEL_GAP;
+    let y = egui::lerp(hidden_y..=target_pos.y, eased);
+
+    egui::Area::new(id)
+        .fixed_pos(egui::pos2(target_pos.x, y))
+        .constrain_to(viewport_panel_rect(ctx))
+        .order(egui::Order::Foreground)
+        .show(ctx, |ui| {
+            panel_frame(ctx).show(ui, |ui| {
+                ui.spacing_mut().item_spacing = egui::vec2(METRICS.item_gap, 6.0);
+                ui.set_min_width(size.x);
+                ui.set_max_width(size.x);
+                ui.set_min_height(size.y);
+                draw_force_chart_panel_contents(ui, code, title, values, size.y);
             });
+        });
+}
+
+fn draw_force_chart_panel_contents(
+    ui: &mut egui::Ui,
+    code: &'static str,
+    title: &'static str,
+    values: &[f32],
+    content_height: f32,
+) {
+    let latest = values.last().copied().unwrap_or(0.0);
 
-    group_frame().show(ui, |ui| {
     ui.horizontal(|ui| {
-            ui.colored_label(ACCENT_BLUE, "RF");
-            ui.label(style::panel_title("合力"));
+        ui.colored_label(ACCENT_BLUE, code);
+        ui.label(style::panel_title(title));
         ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
             ui.colored_label(ACCENT_GREEN, format!("{latest:.1} N"));
         });
     });
 
-        ui.add_space(4.0);
-        ui.horizontal(|ui| {
-            force_metric(ui, "峰值", max);
-            ui.separator();
-            force_metric(ui, "低值", min.unwrap_or(0.0));
-            ui.separator();
-            ui.colored_label(dim_text(), format!("{} 点", values.len()));
-        });
-
     ui.add_space(6.0);
-        paint_resultant_force_chart(ui, values);
-    });
+    let chart_height = (content_height - 32.0).max(90.0);
+    paint_resultant_force_chart(ui, values, chart_height);
 }
 
-fn force_metric(ui: &mut egui::Ui, label: &'static str, value: f32) {
-    ui.colored_label(dim_text(), label);
-    ui.label(style::value_text(format!("{value:.1} N")));
-}
-
-fn paint_resultant_force_chart(ui: &mut egui::Ui, values: &[f32]) {
-    const CHART_HEIGHT: f32 = 138.0;
+fn paint_resultant_force_chart(ui: &mut egui::Ui, values: &[f32], chart_height: f32) {
     const CHART_POINTS: usize = 42;
+    const CHART_WINDOW_SECONDS: f32 = CHART_POINTS as f32 * FORCE_CHART_SAMPLE_SECONDS;
 
-    let width = ui.available_width().max(280.0);
-    let (rect, _) = ui.allocate_exact_size(egui::vec2(width, CHART_HEIGHT), egui::Sense::hover());
+    let width = ui.available_width().max(180.0);
+    let (rect, _) = ui.allocate_exact_size(egui::vec2(width, chart_height), egui::Sense::hover());
     let painter = ui.painter_at(rect);
     let radius = egui::CornerRadius::same(5);
+    let time = ui.ctx().input(|input| input.time) as f32;
 
     painter.rect_filled(rect, radius, egui::Color32::from_rgb(10, 18, 22));
     painter.rect_stroke(
@@ -739,7 +996,7 @@ fn paint_resultant_force_chart(ui: &mut egui::Ui, values: &[f32]) {
         rect.right_bottom() - egui::vec2(10.0, 24.0),
     );
 
-    paint_force_grid(&painter, rect, chart_rect);
+    paint_force_grid(&painter, rect, chart_rect, time, CHART_WINDOW_SECONDS);
 
     if values.is_empty() {
         painter.text(
@@ -754,12 +1011,13 @@ fn paint_resultant_force_chart(ui: &mut egui::Ui, values: &[f32]) {
 
     ui.ctx().request_repaint();
 
-    let time = ui.ctx().input(|input| input.time) as f32;
     let enter = ui
         .ctx()
         .animate_bool(egui::Id::new("resultant_force_chart_enter"), true);
     let slide_offset = (1.0 - enter) * -chart_rect.width() * 0.65;
-    let plot_rect = chart_rect.translate(egui::vec2(slide_offset, 0.0));
+    let tick_phase = (time / FORCE_CHART_SAMPLE_SECONDS).fract();
+    let scroll_offset = -tick_phase * chart_rect.width() / CHART_POINTS.max(1) as f32;
+    let plot_rect = chart_rect.translate(egui::vec2(slide_offset + scroll_offset, 0.0));
 
     let mut points = Vec::with_capacity(values.len());
     let start_slot = CHART_POINTS.saturating_sub(values.len());
@@ -773,7 +1031,6 @@ fn paint_resultant_force_chart(ui: &mut egui::Ui, values: &[f32]) {
     }
 
     let plot_painter = painter.with_clip_rect(chart_rect.expand2(egui::vec2(1.0, 1.0)));
-    paint_force_sweep(&plot_painter, chart_rect, time);
     paint_force_area(&plot_painter, &points, plot_rect);
 
     if points.len() >= 2 {
@@ -802,7 +1059,13 @@ fn paint_resultant_force_chart(ui: &mut egui::Ui, values: &[f32]) {
     }
 }
 
-fn paint_force_grid(painter: &egui::Painter, rect: egui::Rect, chart_rect: egui::Rect) {
+fn paint_force_grid(
+    painter: &egui::Painter,
+    rect: egui::Rect,
+    chart_rect: egui::Rect,
+    time: f32,
+    window_seconds: f32,
+) {
     for tick in [25.0, 20.0, 15.0, 10.0, 5.0, 0.0] {
         let normalized = (tick / FORCE_CHART_MAX_N).clamp(0.0, 1.0);
         let y = chart_rect.bottom() - normalized * chart_rect.height();
@@ -833,42 +1096,25 @@ fn paint_force_grid(painter: &egui::Painter, rect: egui::Rect, chart_rect: egui:
         );
     }
 
+    let start_time = (time - window_seconds).max(0.0);
+    for index in 0..=5 {
+        let fraction = index as f32 / 5.0;
+        let x = chart_rect.left() + fraction * chart_rect.width();
+        let label_time = start_time + fraction * (time - start_time);
+        let align = match index {
+            0 => egui::Align2::LEFT_CENTER,
+            5 => egui::Align2::RIGHT_CENTER,
+            _ => egui::Align2::CENTER_CENTER,
+        };
+
         painter.text(
-        egui::pos2(chart_rect.left(), rect.bottom() - 11.0),
-        egui::Align2::LEFT_CENTER,
-        "-4.2s",
+            egui::pos2(x, rect.bottom() - 11.0),
+            align,
+            format!("{label_time:.1}s"),
             egui::FontId::monospace(9.0),
             ONE_DARK_PRO.text_subtle,
         );
-    painter.text(
-        egui::pos2(chart_rect.right(), rect.bottom() - 11.0),
-        egui::Align2::RIGHT_CENTER,
-        "now",
-        egui::FontId::monospace(9.0),
-        ONE_DARK_PRO.text_subtle,
-    );
-}
-
-fn paint_force_sweep(painter: &egui::Painter, chart_rect: egui::Rect, time: f32) {
-    let sweep = (time * 0.55).fract();
-    let x = chart_rect.left() + sweep * chart_rect.width();
-    let sweep_rect = egui::Rect::from_min_max(
-        egui::pos2(x - 8.0, chart_rect.top()),
-        egui::pos2(x + 8.0, chart_rect.bottom()),
-    );
-
-    painter.rect_filled(
-        sweep_rect,
-        egui::CornerRadius::ZERO,
-        color_alpha(ONE_DARK_PRO.accent, 20),
-    );
-    painter.line_segment(
-        [
-            egui::pos2(x, chart_rect.top()),
-            egui::pos2(x, chart_rect.bottom()),
-        ],
-        egui::Stroke::new(1.0, color_alpha(ACCENT_GREEN, 95)),
-    );
+    }
 }
 
 fn paint_force_area(painter: &egui::Painter, points: &[egui::Pos2], plot_rect: egui::Rect) {
@@ -903,32 +1149,53 @@ fn draw_floating_panel(
     panel: &mut FloatingPanelState,
     title: &'static str,
     id: &'static str,
+    preferred_width: f32,
+    min_width: f32,
     add_contents: impl FnOnce(&mut egui::Ui),
 ) {
     if panel.visible {
         let mut open = true;
         let mut hide_requested = false;
         let mut window_rect = None;
+        let panel_width = responsive_panel_width(ctx, preferred_width, min_width);
+        let max_height = responsive_panel_height(ctx, ctx.content_rect().height(), 180.0);
+        let default_pos = responsive_panel_pos(ctx, panel.default_pos, panel_width);
 
         let window_response = egui::Window::new(title)
             .id(egui::Id::new(id))
             .open(&mut open)
-            .default_pos(panel.default_pos)
+            .default_pos(default_pos)
+            .max_width(panel_width)
+            .max_height(max_height)
+            .constrain_to(viewport_panel_rect(ctx))
             .title_bar(false)
             .resizable(true)
             .frame(panel_frame(ctx))
             .show(ctx, |ui| {
                 ui.spacing_mut().item_spacing = egui::vec2(METRICS.item_gap, 6.0);
+                ui.set_min_width(panel_width);
+                ui.set_max_width(panel_width);
                 ui.horizontal(|ui| {
-                    if ui.add(tag_button("隐藏")).clicked() {
+                    if ui
+                        .add(rich_tag_button("隐藏", style::ONE_DARK_PRO.text_dim))
+                        .clicked()
+                    {
                         hide_requested = true;
                     }
                     ui.add_space(6.0);
                     ui.label(style::panel_title(title));
                 });
                 ui.separator();
+                let content_max_height = (max_height - 60.0).max(120.0);
+                egui::ScrollArea::vertical()
+                    .max_height(content_max_height)
+                    .auto_shrink([false, true])
+                    .show(ui, |ui| {
+                        ui.set_min_width(panel_width);
+                        ui.set_max_width(panel_width);
                         add_contents(ui);
                     });
+            });
 
         if let Some(response) = window_response {
             window_rect = Some(response.response.rect);
@@ -982,9 +1249,10 @@ fn draw_center_floating_panel(
     collapsed_label: &'static str,
     add_contents: impl FnOnce(&mut egui::Ui),
 ) {
-    const PANEL_WIDTH: f32 = 520.0;
+    const PREFERRED_PANEL_WIDTH: f32 = 520.0;
     const SLIDE_DISTANCE: f32 = 18.0;
 
+    let panel_width = responsive_panel_width(ctx, PREFERRED_PANEL_WIDTH, 320.0);
     let anim = advance_center_panel_anim(ctx, panel);
     let eased = ease_in_out(anim);
 
@@ -1016,8 +1284,8 @@ fn draw_center_floating_panel(
         )
         .order(egui::Order::Tooltip)
         .show(ctx, |ui| {
-            let response = center_panel_shell(ui, PANEL_WIDTH, |ui| {
-                ui.set_width(PANEL_WIDTH);
+            let response = center_panel_shell(ui, panel_width, |ui| {
+                ui.set_width(panel_width);
                 add_contents(ui);
                 ui.add_space(6.0);
                 let handle_rect = allocate_center_panel_handle(ui);
@@ -1350,7 +1618,7 @@ pub fn draw_recording_toolbar(ui: &mut egui::Ui, recorder: &Recorder, export_pat
     let duration_ms = recorder.duration_ms();
 
     ui.separator();
-    ui.horizontal(|ui| {
+    ui.horizontal_wrapped(|ui| {
         ui.colored_label(ACCENT_RED, "● REC");
         ui.colored_label(
             ONE_DARK_PRO.text,
@@ -1358,7 +1626,7 @@ pub fn draw_recording_toolbar(ui: &mut egui::Ui, recorder: &Recorder, export_pat
         );
     });
 
-    ui.horizontal(|ui| {
+    ui.horizontal_wrapped(|ui| {
         // Full recording
         let rec_btn = if is_recording {
             tag_button("⏹ 停止")
@@ -1444,6 +1712,15 @@ pub fn draw_recording_toolbar(ui: &mut egui::Ui, recorder: &Recorder, export_pat
     });
 
     // Export path
+    if narrow_panel(ui) {
+        ui.vertical(|ui| {
+            ui.colored_label(dim_text(), "导出路径");
+            ui.add_sized(
+                egui::vec2(ui.available_width().max(180.0), METRICS.field_height),
+                egui::TextEdit::singleline(export_path).hint_text("eskin_export_*.csv"),
+            );
+        });
+    } else {
         ui.horizontal(|ui| {
             ui.colored_label(dim_text(), "导出路径");
             ui.add_sized(
@@ -1454,6 +1731,7 @@ pub fn draw_recording_toolbar(ui: &mut egui::Ui, recorder: &Recorder, export_pat
                 egui::TextEdit::singleline(export_path).hint_text("eskin_export_*.csv"),
             );
         });
+    }
 }
 
 // ── Export Panel (floating) ────────────────────────────────────────────
@@ -1465,10 +1743,20 @@ pub fn draw_export_panel(
     recorder: &Recorder,
     export_path: &mut String,
 ) {
-    draw_floating_panel(ctx, panel, "录制导出", "export_panel", |ui| {
-        ui.set_min_width(300.0);
+    let panel_width = responsive_panel_width(ctx, 340.0, 280.0);
+    draw_floating_panel(
+        ctx,
+        panel,
+        "录制导出",
+        "export_panel",
+        340.0,
+        280.0,
+        |ui| {
+            ui.set_min_width(panel_width);
+            ui.set_max_width(panel_width);
             draw_recording_toolbar(ui, recorder, export_path);
-    });
+        },
+    );
 }
 
 // ── Matrix Config Panel ────────────────────────────────────────────────
@@ -1497,10 +1785,19 @@ pub fn draw_matrix_config_panel(
     panel: &mut FloatingPanelState,
     config: &mut MatrixConfigState,
 ) {
-    draw_floating_panel(ctx, panel, "矩阵配置", "matrix_config_panel", |ui| {
-        ui.set_min_width(280.0);
+    let panel_width = responsive_panel_width(ctx, 380.0, 280.0);
+    draw_floating_panel(
+        ctx,
+        panel,
+        "矩阵配置",
+        "matrix_config_panel",
+        380.0,
+        280.0,
+        |ui| {
+            ui.set_min_width(panel_width);
+            ui.set_max_width(panel_width);
 
-        ui.horizontal(|ui| {
+            ui.horizontal_wrapped(|ui| {
                 ui.label(style::field_label("矩阵尺寸"));
                 ui.add_space(METRICS.item_gap);
                 ui.label(style::value_text("行"));
@@ -1517,7 +1814,7 @@ pub fn draw_matrix_config_panel(
 
             ui.add_space(METRICS.item_gap);
 
-        ui.horizontal(|ui| {
+            ui.horizontal_wrapped(|ui| {
                 ui.label(style::field_label("预设"));
                 for (r, c, name) in &[
                     (12, 7, "12×7"),
@@ -1526,7 +1823,10 @@ pub fn draw_matrix_config_panel(
                     (48, 24, "48×24"),
                     (64, 32, "64×32"),
                 ] {
-                if ui.add(tag_button(*name)).clicked() {
+                    if ui
+                        .add(rich_tag_button(*name, style::ONE_DARK_PRO.text_dim))
+                        .clicked()
+                    {
                         config.rows = *r;
                         config.cols = *c;
                     }
@@ -1535,7 +1835,7 @@ pub fn draw_matrix_config_panel(
 
             ui.add_space(METRICS.item_gap);
 
-        ui.horizontal(|ui| {
+            ui.horizontal_wrapped(|ui| {
                 ui.label(style::field_label("色域范围"));
                 ui.add_space(METRICS.item_gap);
                 ui.label(style::value_text("最小"));
@@ -1556,16 +1856,26 @@ pub fn draw_matrix_config_panel(
 
             ui.add_space(METRICS.row_gap);
 
-        if ui.add(tag_button("重置默认")).clicked() {
+            if ui
+                .add(rich_tag_button("重置默认", style::ONE_DARK_PRO.text_dim))
+                .clicked()
+            {
                 *config = MatrixConfigState::default();
             }
-    });
+        },
+    );
 }
 
 pub fn panel_restore_item(ui: &mut egui::Ui, title: &'static str, panel: &mut FloatingPanelState) {
+    let button_size = egui::vec2(ui.available_width(), 0.0);
     if panel.visible {
-        ui.add_enabled(false, egui::Button::new(format!("{title} 已显示")));
-    } else if ui.button(format!("显示 {title}")).clicked() {
+        ui.add_enabled_ui(false, |ui| {
+            ui.add_sized(button_size, egui::Button::new(format!("{title} 已显示")));
+        });
+    } else if ui
+        .add_sized(button_size, egui::Button::new(format!("显示 {title}")))
+        .clicked()
+    {
         panel.visible = true;
         ui.close();
     }

static/wgsl/shader.wgsl

@@ -126,15 +126,7 @@ fn vs_background(@builtin(vertex_index) vertex_index: u32) -> BackgroundVertexOu
 
 @fragment
 fn fs_background(@builtin(position) frag_coord: vec4f) -> @location(0) vec4f {
-    let pixel = frag_coord.xy;
-    let viewport = u.viewport.xy;
-    let uv = pixel / max(viewport, vec2f(1.0, 1.0));
-    var color = mix(vec3f(0.018, 0.019, 0.022), vec3f(0.038, 0.040, 0.046), 1.0 - uv.y);
-    let vignette = smoothstep(0.18, 0.92, length((uv - vec2f(0.52, 0.48)) * vec2f(viewport.x / viewport.y, 1.0)));
-    color *= 1.0 - vignette * 0.22;
-    color += vec3f(0.010, 0.010, 0.012) * (1.0 - smoothstep(0.0, 0.85, abs(uv.y - 0.50)));
-
-    return output_color(color, 1.0);
+    return output_color(vec3f(0.0, 0.0, 0.0), 1.0);
 }
 
 
@@ -497,13 +489,13 @@ fn fs_hand_dot(in: DotVertexOutput) -> @location(0) vec4f {
 
     // Use a compact bead so the response feels like it lives on the membrane mesh.
     let core = circle_alpha(in.local, 0.48, 0.07);
-    let halo = circle_alpha(in.local, 0.74, 0.14) * 0.12;
+    let halo = circle_alpha(in.local, 0.74, 0.14) * (0.10 + intensity * 0.26);
 
-    // Keep the fingertip matrix visually close to JE-Skin's cyan model dots,
-    // while still letting pressure brighten the bead a little.
-    let cyan = vec3f(0.34, 0.86, 1.0);
-    let hot = sample_range_color(intensity);
-    let color = mix(cyan, hot, 0.22) * mix(0.82, 1.16, intensity);
+    // Match Finger mode's pressure gradient so each hand region remains readable.
+    let idle = vec3f(0.060, 0.250, 0.320);
+    let gradient = sample_range_color(intensity);
+    let color = mix(idle, gradient, smoothstep(0.0, 0.18, intensity))
+        * mix(0.78, 1.18, intensity);
 
     return output_color(color, max(core, halo));
 }
@@ -590,13 +582,13 @@ fn vs_hand_palm_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVe
 fn fs_hand_palm_dot(in: DotVertexOutput) -> @location(0) vec4f {
     let intensity = saturate(in.intensity);
     let pixel = chip_pixel_alpha(in.local, 0.52, 0.070);
-    let glow = circle_alpha(in.local, 0.95, 0.22) * intensity * 0.30;
+    let glow = circle_alpha(in.local, 0.95, 0.22) * intensity * 0.36;
 
     let cold = vec3f(0.070, 0.340, 0.360);
-    let active_color = mix(vec3f(0.110, 0.620, 0.420), vec3f(0.460, 1.000, 0.210), smoothstep(0.08, 1.0, intensity));
-    let color = mix(cold, active_color, smoothstep(0.02, 0.72, intensity))
-        * (0.54 + intensity * 1.10)
-        + vec3f(0.28, 1.0, 0.36) * glow * 0.90;
+    let gradient = sample_range_color(intensity);
+    let color = mix(cold, gradient, smoothstep(0.0, 0.20, intensity))
+        * (0.58 + intensity * 1.04)
+        + gradient * glow * 0.72;
 
     let alpha = max(pixel * (0.20 + intensity * 0.76), glow);
     return output_color(color, alpha);

wix/main.wxs

@@ -0,0 +1,254 @@
+<?xml version='1.0' encoding='windows-1252'?>
+<!--
+  Copyright (C) 2017 Christopher R. Field.
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+  http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<!--
+  The "cargo wix" subcommand provides a variety of predefined variables available
+  for customization of this template. The values for each variable are set at
+  installer creation time. The following variables are available:
+
+  TargetTriple      = The rustc target triple name.
+  TargetEnv         = The rustc target environment. This is typically either
+                      "msvc" or "gnu" depending on the toolchain downloaded and
+                      installed.
+  TargetVendor      = The rustc target vendor. This is typically "pc", but Rust
+                      does support other vendors, like "uwp".
+  CargoTargetBinDir = The complete path to the directory containing the
+                      binaries (exes) to include. The default would be
+                      "target\release\". If an explicit rustc target triple is
+                      used, i.e. cross-compiling, then the default path would
+                      be "target\<CARGO_TARGET>\<CARGO_PROFILE>",
+                      where "<CARGO_TARGET>" is replaced with the "CargoTarget"
+                      variable value and "<CARGO_PROFILE>" is replaced with the
+                      value from the "CargoProfile" variable. This can also
+                      be overridden manually with the "target-bin-dir" flag.
+  CargoTargetDir    = The path to the directory for the build artifacts, i.e.
+                      "target".
+  CargoProfile      = The cargo profile used to build the binaries
+                      (usually "debug" or "release").
+  Version           = The version for the installer. The default is the
+                      "Major.Minor.Fix" semantic versioning number of the Rust
+                      package.
+-->
+
+<!--
+  Please do not remove these pre-processor If-Else blocks. These are used with
+  the `cargo wix` subcommand to automatically determine the installation
+  destination for 32-bit versus 64-bit installers. Removal of these lines will
+  cause installation errors.
+-->
+<?if $(sys.BUILDARCH) = x64 or $(sys.BUILDARCH) = arm64 ?>
+    <?define PlatformProgramFilesFolder = "ProgramFiles64Folder" ?>
+<?else ?>
+    <?define PlatformProgramFilesFolder = "ProgramFilesFolder" ?>
+<?endif ?>
+
+<Wix xmlns='http://schemas.microsoft.com/wix/2006/wi'>
+
+    <Product
+        Id='*'
+        Name='eskin-model-player'
+        UpgradeCode='7CEF316B-BE23-4533-B4B2-87D06D2230B5'
+        Manufacturer='JOYSONQUIN'
+        Language='1033'
+        Codepage='1252'
+        Version='$(var.Version)'>
+
+        <Package Id='*'
+            Keywords='Installer'
+            Description='Desktop pressure sensor visualization and playback application.'
+            Manufacturer='JOYSONQUIN'
+            InstallerVersion='450'
+            Languages='1033'
+            Compressed='yes'
+            InstallScope='perUser'
+            InstallPrivileges='limited'
+            SummaryCodepage='1252'
+            />
+
+        <MajorUpgrade
+            Schedule='afterInstallInitialize'
+            DowngradeErrorMessage='A newer version of [ProductName] is already installed. Setup will now exit.'/>
+
+        <Media Id='1' Cabinet='media1.cab' EmbedCab='yes' DiskPrompt='CD-ROM #1'/>
+        <Property Id='DiskPrompt' Value='eskin-model-player Installation'/>
+
+        <Directory Id='TARGETDIR' Name='SourceDir'>
+            <Directory Id='LocalAppDataFolder'>
+                <Directory Id='APPLICATIONFOLDER' Name='eskin-model-player'>
+                    
+                    <!--
+                      Enabling the license sidecar file in the installer is a four step process:
+
+                      1. Uncomment the `Component` tag and its contents.
+                      2. Change the value for the `Source` attribute in the `File` tag to a path
+                         to the file that should be included as the license sidecar file. The path
+                         can, and probably should be, relative to this file.
+                      3. Change the value for the `Name` attribute in the `File` tag to the
+                         desired name for the file when it is installed alongside the `bin` folder
+                         in the installation directory. This can be omitted if the desired name is
+                         the same as the file name.
+                      4. Uncomment the `ComponentRef` tag with the Id attribute value of "License"
+                         further down in this file.
+                    -->
+                    <!--
+                    <Component Id='License' Guid='*'>
+                        <File Id='LicenseFile' Name='ChangeMe' DiskId='1' Source='C:\Path\To\File' KeyPath='yes'/>
+                    </Component>
+                    -->
+
+                    <Directory Id='Bin' Name='bin'>
+                        <Component Id='Path' Guid='FD230ABD-75B9-47D4-870B-CF2EA72B76BE'>
+                            <RegistryValue
+                                Root='HKCU'
+                                Key='Software\JOYSONQUIN\eskin-model-player'
+                                Name='PathComponent'
+                                Type='integer'
+                                Value='1'
+                                KeyPath='yes'/>
+                            <RemoveFolder Id='RemoveBinFolder' Directory='Bin' On='uninstall'/>
+                            <RemoveFolder Id='RemoveApplicationFolder' Directory='APPLICATIONFOLDER' On='uninstall'/>
+                            <Environment
+                                Id='PATH'
+                                Name='PATH'
+                                Value='[Bin]'
+                                Permanent='no'
+                                Part='last'
+                                Action='set'
+                                System='no'/>
+                        </Component>
+                        <Component Id='binary0' Guid='302CAFB5-6951-426B-BC5A-988C351A2CF2'>
+                            <RegistryValue
+                                Root='HKCU'
+                                Key='Software\JOYSONQUIN\eskin-model-player'
+                                Name='BinaryComponent'
+                                Type='integer'
+                                Value='1'
+                                KeyPath='yes'/>
+                            <File
+                                Id='exe0'
+                                Name='ESkinPlayer.exe'
+                                DiskId='1'
+                                Source='$(var.CargoTargetBinDir)\ESkinPlayer.exe'/>
+                        </Component>
+                    </Directory>
+                </Directory>
+            </Directory>
+        </Directory>
+
+        <Feature
+            Id='Binaries'
+            Title='Application'
+            Description='Installs all binaries and the license.'
+            Level='1'
+            ConfigurableDirectory='APPLICATIONFOLDER'
+            AllowAdvertise='no'
+            Display='expand'
+            Absent='disallow'>
+            
+            <!--
+              Uncomment the following `ComponentRef` tag to add the license
+              sidecar file to the installer.
+            -->
+            <!--<ComponentRef Id='License'/>-->
+
+            <ComponentRef Id='binary0'/>
+
+            <Feature
+                Id='Environment'
+                Title='PATH Environment Variable'
+                Description='Add the install location of the [ProductName] executable to the PATH system environment variable. This allows the [ProductName] executable to be called from any location.'
+                Level='1'
+                Absent='allow'>
+                <ComponentRef Id='Path'/>
+            </Feature>
+        </Feature>
+
+        <SetProperty Id='ARPINSTALLLOCATION' Value='[APPLICATIONFOLDER]' After='CostFinalize'/>
+
+        
+        <!--
+          Uncomment the following `Icon` and `Property` tags to change the product icon.
+
+          The product icon is the graphic that appears in the Add/Remove
+          Programs control panel for the application.
+        -->
+        <!--<Icon Id='ProductICO' SourceFile='wix\Product.ico'/>-->
+        <!--<Property Id='ARPPRODUCTICON' Value='ProductICO' />-->
+
+        
+        <!--
+          Adding a URL to Add/Remove Programs control panel listing for the
+          application is a two step process:
+
+          1. Uncomment the following `Property` tag with the "ARPHELPLINK" Id
+             attribute value.
+          2. Change the value for `Value` attribute of the following
+             `Property` tag to a valid URL.
+        -->
+        <!--<Property Id='ARPHELPLINK' Value='ChangeMe'/>-->
+
+        <UI>
+            <UIRef Id='WixUI_FeatureTree'/>
+            
+            <!--
+              Enabling the EULA dialog in the installer is a three step process:
+
+                1. Comment out or remove the two `Publish` tags that follow the
+                   `WixVariable` tag.
+                2. Uncomment the `<WixVariable Id='WixUILicenseRtf' Value='Path\to\Eula.rft'>` tag further down
+                3. Replace the `Value` attribute of the `WixVariable` tag with
+                   the path to a RTF file that will be used as the EULA and
+                   displayed in the license agreement dialog.
+            -->
+            <Publish Dialog='WelcomeDlg' Control='Next' Event='NewDialog' Value='CustomizeDlg' Order='99'>1</Publish>
+            <Publish Dialog='CustomizeDlg' Control='Back' Event='NewDialog' Value='WelcomeDlg' Order='99'>1</Publish>
+
+        </UI>
+
+        
+        <!--
+          Enabling the EULA dialog in the installer requires uncommenting
+          the following `WixUILicenseRTF` tag and changing the `Value`
+          attribute.
+        -->
+        <!-- <WixVariable Id='WixUILicenseRtf' Value='Relative\Path\to\Eula.rtf'/> -->
+
+        
+        <!--
+          Uncomment the next `WixVariable` tag to customize the installer's
+          Graphical User Interface (GUI) and add a custom banner image across
+          the top of each screen. See the WiX Toolset documentation for details
+          about customization.
+
+          The banner BMP dimensions are 493 x 58 pixels.
+        -->
+        <!--<WixVariable Id='WixUIBannerBmp' Value='wix\Banner.bmp'/>-->
+
+        
+        <!--
+          Uncomment the next `WixVariable` tag to customize the installer's
+          Graphical User Interface (GUI) and add a custom image to the first
+          dialog, or screen. See the WiX Toolset documentation for details about
+          customization.
+
+          The dialog BMP dimensions are 493 x 312 pixels.
+        -->
+        <!--<WixVariable Id='WixUIDialogBmp' Value='wix\Dialog.bmp'/>-->
+
+    </Product>
+
+</Wix>