toml config support

- src/app.rs: 将 update_hand_signal_histories 改为返回总力作为汇总路径；新增 raw_to_g6/raw_to_g7 与 raw_to_hand_segment_g 索引映射，把 segment 5/6 从兜底 raw_to_gd 拆出，并按 H 版本校准数据更新 g1~g5 的查表数组

Cargo.lock

@@ -1318,8 +1318,11 @@ dependencies = [
  "gltf",
  "image",
  "log",
+ "serde",
  "serialport",
  "tobj",
+ "toml",
+ "winresource",
 ]
 
 [[package]]
@@ -3645,6 +3648,15 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "serde_spanned"
+version = "1.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6662b5879511e06e8999a8a235d848113e942c9124f211511b16466ee2995f26"
+dependencies = [
+ "serde_core",
+]
+
 [[package]]
 name = "serialport"
 version = "4.9.0"
@@ -3989,6 +4001,21 @@ dependencies = [
  "ahash",
 ]
 
+[[package]]
+name = "toml"
+version = "1.1.3+spec-1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "53c96ecdfa941c8fc4fcaed14f99ada8ebed502eef533015095a07e3301d4c3c"
+dependencies = [
+ "indexmap",
+ "serde_core",
+ "serde_spanned",
+ "toml_datetime",
+ "toml_parser",
+ "toml_writer",
+ "winnow",
+]
+
 [[package]]
 name = "toml_datetime"
 version = "1.1.1+spec-1.1.0"
@@ -4019,6 +4046,12 @@ dependencies = [
  "winnow",
 ]
 
+[[package]]
+name = "toml_writer"
+version = "1.1.2+spec-1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7d56353a2a665ad0f41a421187180aab746c8c325620617ad883a99a1cbe66d2"
+
 [[package]]
 name = "tracing"
 version = "0.1.44"
@@ -5017,6 +5050,16 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "winresource"
+version = "0.1.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0986a8b1d586b7d3e4fe3d9ea39fb451ae22869dcea4aa109d287a374d866087"
+dependencies = [
+ "toml",
+ "version_check",
+]
+
 [[package]]
 name = "wit-bindgen"
 version = "0.51.0"

Cargo.toml

@@ -23,11 +23,14 @@ crc = "3.4.0"
 log = "0.4.29"
 tobj = "4.0.4"
 gltf = "1.4.1"
+toml = "1.1.3"
+serde = { version = "1.0.228", features = ["derive"] }
+
 
 [build-dependencies]
 anyhow = "1.0.102"
 fs_extra = "1.3.0"
-
+winresource = "0.1.31"
 
 [[bin]]
 name = "ESkinPlayer"

build.rs

@@ -27,6 +27,14 @@ fn main() -> Result<()> {
         copy_items(&items, &resource_dir, &copy_options)?;
     }
 
+    if std::env::var("CARGO_CFG_TARGET_OS").as_deref() == Ok("windows") {
+        let mut resource = winresource::WindowsResource::new();
+
+        resource.set_icon("res/icon.ico");
+
+        resource.compile().expect("compile windows icon failed");
+    }
+
     println!("cargo:rustc-env=RESOURCE_DIR={}", resource_dir.display());
 
     Ok(())

config.toml

@@ -0,0 +1,59 @@
+[thumb]
+"0.57" = 35694
+"2.57" = 226640
+"3.57" = 319868
+"4.57" = 398021
+"5.57" = 450448
+"6.57" = 510506
+"8.57" = 592075
+"10.57" = 655760
+"15.57" = 771671
+"20.57" = 813967
+
+[index]
+"0.57" = 45490
+"2.57" = 267579
+"3.57" = 352066
+"4.57" = 431681
+"5.57" = 457605
+"6.57" = 550875
+"8.57" = 624327
+"10.57" = 732735
+"15.57" = 883397
+"20.57" = 899338
+
+[middle]
+"0.57" = 51562
+"2.57" = 252840
+"3.57" = 326531
+"4.57" = 386571
+"5.57" = 415819
+"6.57" = 514679
+"8.57" = 631745
+"10.57" = 678945
+"15.57" = 810847
+"20.57" = 900422
+
+[ring]
+"0.57" = 33213
+"2.57" = 220611
+"3.57" = 307383
+"4.57" = 369637
+"5.57" = 430462
+"6.57" = 489659
+"8.57" = 584789
+"10.57" = 664960
+"15.57" = 802749
+"20.57" = 926907
+
+[little]
+"0.57" = 44291
+"2.57" = 216657
+"3.57" = 301950
+"4.57" = 366186
+"5.57" = 384791
+"6.57" = 496521
+"8.57" = 566189
+"10.57" = 701459
+"15.57" = 845608
+"20.57" = 940796

scripts/extract_excel_data.py

@@ -0,0 +1,275 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+提取 展会数据-H版本.xlsx 中每一组数据并按指定格式输出。
+
+数据组织：5 个数据组（1#、3#、7#、8#、10#），由空行分隔。
+每组包含 10 行指标：
+    指标 / 1s 均值 / 240s 输出值 / 240s 均值 / 误差(%) /
+    精度 / b值平均值 / AD值增幅 / AD值漂移 / 增幅/漂移
+每行有 12 个数值列（C~N），与 指标 行的 12 个挡位一一对应。
+
+输出格式（示例）：
+    1#, 115181, 365308, 485911, ...,
+    3#, 116825, 371568, 475160, ...,
+
+用法：
+    python extract_excel_data.py [xlsx_path] [选项]
+        --row LABEL         只输出指定指标行（如 "1s 均值"），可多次指定
+        --skip-indicators V 跳过指定挡位（按 指标 行数值匹配），可多次指定
+        --with-title        在每行首部加上组编号（如 "1#, 115181, ..."）
+        --raw               保留原始数值（不取整）
+        --annotate          在每行末尾附加 "  // 组号 指标名" 注释
+        -o FILE             输出到文件（默认输出到标准输出）
+"""
+
+import argparse
+import os
+import sys
+import openpyxl
+
+# 默认 Excel 文件路径
+DEFAULT_XLSX = os.path.join(
+    os.path.dirname(os.path.abspath(__file__)),
+    "..",
+    "展会数据-H版本.xlsx",
+)
+
+
+def is_blank_row(row_values):
+    """判断是否为空白行（全为 None 或空字符串）。"""
+    for v in row_values:
+        if v is None:
+            continue
+        if isinstance(v, str) and v.strip() == "":
+            continue
+        return False
+    return True
+
+
+def is_group_header(row_values):
+    """判断是否为组标题行（A 列为类似 '1#' '3#' 的编号）。"""
+    first = row_values[0]
+    if first is None:
+        return False
+    return isinstance(first, str) and first.strip().endswith("#")
+
+
+def extract_data_rows(ws):
+    """
+    返回一个列表，每个元素是 (group_name, row_label, [12 个数值])。
+    group_name 为当前组编号；row_label 为 B 列标签；数值列表为 C~N 列。
+    """
+    results = []
+    current_group = None
+
+    for row in ws.iter_rows(min_row=1, max_row=ws.max_row, values_only=True):
+        row = list(row[:14])  # 仅取前 14 列
+        if is_blank_row(row):
+            continue
+
+        if is_group_header(row):
+            current_group = row[0]
+            label = row[1] if len(row) > 1 and row[1] is not None else "指标"
+            values = row[2:]
+            results.append((current_group, label, values))
+            continue
+
+        label = row[1] if len(row) > 1 and row[1] is not None else ""
+        values = row[2:]
+        if current_group is None:
+            continue
+        results.append((current_group, label, values))
+
+    return results
+
+
+def parse_skip_indicators(values):
+    """
+    把命令行传入的 --skip-indicators 值解析为浮点数集合。
+    支持 "0.97" 或 "0.97,1.97" 形式。
+    """
+    out = set()
+    if not values:
+        return out
+    for raw in values:
+        for token in str(raw).split(","):
+            token = token.strip()
+            if not token:
+                continue
+            try:
+                out.add(float(token))
+            except ValueError:
+                print(f"警告：无法解析指标值 '{token}'，已忽略。", file=sys.stderr)
+    return out
+
+
+def indicators_match(a, b, tol=1e-9):
+    """浮点数比较（容忍微小误差）。"""
+    if a is None or b is None:
+        return False
+    try:
+        return abs(float(a) - float(b)) < tol
+    except (TypeError, ValueError):
+        return False
+
+
+def format_value(v, raw=False):
+    """
+    将单元格值格式化为字符串。
+    raw=False: 数值四舍五入到整数（匹配示例样式）。
+    raw=True : 保留原始数值。
+    """
+    if v is None:
+        return "0"
+    if isinstance(v, bool):
+        return "1" if v else "0"
+    if isinstance(v, (int,)):
+        return str(v)
+    if isinstance(v, float):
+        if raw:
+            if v.is_integer():
+                return str(int(v))
+            return f"{v:g}" if abs(v) >= 1e-4 else repr(v)
+        return str(int(round(v)))
+    s = str(v).strip()
+    if s == "":
+        return "0"
+    try:
+        f = float(s)
+        if raw:
+            if f.is_integer():
+                return str(int(f))
+            return f"{f:g}"
+        return str(int(round(f)))
+    except ValueError:
+        return s
+
+
+def format_line(values, raw=False):
+    """把数值列表格式化为 'v1, v2, ..., vn,' 形式。"""
+    return ", ".join(format_value(v, raw=raw) for v in values) + ","
+
+
+def parse_args():
+    p = argparse.ArgumentParser(
+        description="提取展会数据 Excel 中的每一行数据。",
+    )
+    p.add_argument(
+        "xlsx",
+        nargs="?",
+        default=DEFAULT_XLSX,
+        help="Excel 文件路径（默认: 展会数据-H版本.xlsx）",
+    )
+    p.add_argument(
+        "--row",
+        action="append",
+        default=None,
+        metavar="LABEL",
+        help='只输出指定指标行（如 "1s 均值"），可多次指定。'
+             "未指定时输出全部行。",
+    )
+    p.add_argument(
+        "--skip-indicators",
+        action="append",
+        default=None,
+        metavar="V",
+        help="跳过指定挡位（按 指标 行数值匹配）。可多次指定，"
+             "也支持逗号分隔。例: --skip-indicators 0.97 --skip-indicators 1.97",
+    )
+    p.add_argument(
+        "--with-title",
+        action="store_true",
+        help="在每行首部加上组编号（如 \"1#, 115181, 365308, ...\"）",
+    )
+    p.add_argument(
+        "--raw",
+        action="store_true",
+        help="保留原始数值（不取整）",
+    )
+    p.add_argument(
+        "--annotate",
+        action="store_true",
+        help="在每行末尾附加 // 组号 指标名 注释",
+    )
+    p.add_argument(
+        "-o",
+        "--output",
+        default=None,
+        help="输出文件路径（默认输出到标准输出）",
+    )
+    return p.parse_args()
+
+
+def main():
+    args = parse_args()
+    xlsx_path = os.path.abspath(args.xlsx)
+
+    if not os.path.exists(xlsx_path):
+        print(f"错误：找不到文件 {xlsx_path}", file=sys.stderr)
+        return 1
+
+    wb = openpyxl.load_workbook(xlsx_path, data_only=True)
+    ws = wb.active
+
+    rows = extract_data_rows(ws)
+    if not rows:
+        print("未找到任何数据。", file=sys.stderr)
+        return 1
+
+    # ===== 列筛选（先做，依赖 指标 行） =====
+    skip_set = parse_skip_indicators(args.skip_indicators)
+    if skip_set:
+        filtered = []
+        current_indicators = None
+        for group, label, values in rows:
+            if label == "指标":
+                current_indicators = values
+            if current_indicators is None:
+                # 没有任何组提供 指标 行作对照，原样保留
+                filtered.append((group, label, values))
+                continue
+            kept = [
+                v for v, ind in zip(values, current_indicators)
+                if not any(indicators_match(ind, s) for s in skip_set)
+            ]
+            filtered.append((group, label, kept))
+        rows = filtered
+
+    # ===== 行筛选（在列筛选之后） =====
+    if args.row:
+        wanted = {name.strip() for name in args.row}
+        rows = [(g, l, v) for (g, l, v) in rows if l in wanted]
+        if not rows:
+            print(
+                f"未找到匹配的行 {args.row}。可用行名请参考 Excel 文件 B 列。",
+                file=sys.stderr,
+            )
+            return 1
+
+    out_lines = []
+    last_group = None
+    for group, label, values in rows:
+        if last_group is not None and group != last_group:
+            out_lines.append("")  # 组之间插入空行
+        last_group = group
+
+        line = format_line(values, raw=args.raw)
+        if args.with_title:
+            line = f"{group}, {line}"
+        if args.annotate:
+            line = f"{line}  // {group} {label}"
+        out_lines.append(line)
+
+    text = "\n".join(out_lines) + "\n"
+    if args.output:
+        with open(args.output, "w", encoding="utf-8") as f:
+            f.write(text)
+        print(f"已写入 {len(rows)} 行数据到 {args.output}", file=sys.stderr)
+    else:
+        sys.stdout.write(text)
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

src/breakout.rs

@@ -20,6 +20,7 @@ enum BreakoutPhase {
     Idle,
     Running,
     Paused,
+    Won,
     Over,
 }
 
@@ -46,7 +47,6 @@ pub struct BreakoutGame {
     score: u32,
     combo: u32,
     lives: u32,
-    level: u32,
     last_time: Option<f64>,
     previous_pause_gesture: bool,
     pause_locked_until: f64,
@@ -63,7 +63,6 @@ impl Default for BreakoutGame {
             score: 0,
             combo: 0,
             lives: 3,
-            level: 1,
             last_time: None,
             previous_pause_gesture: false,
             pause_locked_until: 0.0,
@@ -150,7 +149,6 @@ impl BreakoutGame {
             status_chip(ui, "分数", self.score.to_string(), ACCENT_GREEN);
             status_chip(ui, "连击", self.combo.to_string(), ACCENT_ORANGE);
             status_chip(ui, "生命", self.lives.to_string(), ACCENT_RED);
-            status_chip(ui, "关卡", self.level.to_string(), ACCENT_BLUE);
         });
 
         ui.add_space(7.0);
@@ -191,12 +189,11 @@ impl BreakoutGame {
         self.score = 0;
         self.combo = 0;
         self.lives = 3;
-        self.level = 1;
         self.rebuild_bricks();
     }
 
     fn start(&mut self) {
-        if self.phase == BreakoutPhase::Over {
+        if self.phase == BreakoutPhase::Over || self.phase == BreakoutPhase::Won {
             self.reset();
         }
         if self.phase != BreakoutPhase::Running {
@@ -219,7 +216,10 @@ impl BreakoutGame {
         let threshold = pressure_pause_threshold();
         let active = top_force >= threshold;
         if active && !self.previous_pause_gesture && now >= self.pause_locked_until {
-            if self.phase == BreakoutPhase::Idle || self.phase == BreakoutPhase::Over {
+            if matches!(
+                self.phase,
+                BreakoutPhase::Idle | BreakoutPhase::Over | BreakoutPhase::Won
+            ) {
                 self.start();
             } else {
                 self.toggle_pause();
@@ -249,11 +249,7 @@ impl BreakoutGame {
     }
 
     fn launch_ball(&mut self) {
-        let direction = if self.level.is_multiple_of(2) {
+        let direction = 0.24;
-            -0.24
-        } else {
-            0.24
-        };
         self.ball_pos = egui::pos2(self.paddle_x, PADDLE_Y - PADDLE_H - BALL_RADIUS);
         self.ball_vel = egui::vec2(direction, -1.0).normalized() * BALL_SPEED;
     }
@@ -328,9 +324,8 @@ impl BreakoutGame {
         }
 
         if self.bricks.iter().all(|brick| !brick.alive) {
-            self.level += 1;
+            self.phase = BreakoutPhase::Won;
-            self.rebuild_bricks();
+            self.ball_vel = egui::Vec2::ZERO;
-            self.launch_ball();
         }
     }
 
@@ -362,6 +357,7 @@ impl BreakoutGame {
             BreakoutPhase::Idle => "待机",
             BreakoutPhase::Running => "运行",
             BreakoutPhase::Paused => "暂停",
+            BreakoutPhase::Won => "过关",
             BreakoutPhase::Over => "结束",
         }
     }
@@ -376,7 +372,7 @@ impl BreakoutGame {
         painter.rect_stroke(
             rect,
             egui::CornerRadius::same(6),
-            egui::Stroke::new(1.0_f32, color_alpha(ONE_DARK_PRO.accent, 110)),
+            egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.accent, 110)),
             egui::StrokeKind::Outside,
         );
 
@@ -391,6 +387,7 @@ impl BreakoutGame {
 
         if self.phase == BreakoutPhase::Idle
             || self.phase == BreakoutPhase::Paused
+            || self.phase == BreakoutPhase::Won
             || self.phase == BreakoutPhase::Over
         {
             paint_center_overlay(&painter, rect, self.phase);
@@ -407,6 +404,10 @@ pub fn control_from_matrix(raw: &[u32], rows: u32, cols: u32) -> BreakoutControl
     let cols = cols.max(1) as usize;
     let sample_rows = rows.min(2);
     let sample_cols = cols.min(2);
+    let top_gesture_rows = rows.min(1);
+    let top_gesture_cols = (cols / 3).clamp(1, cols);
+    let top_gesture_col_start = (cols - top_gesture_cols) / 2;
+    let top_gesture_col_end = top_gesture_col_start + top_gesture_cols;
     let avg = |row_start: usize, row_end: usize, col_start: usize, col_end: usize| -> f32 {
         let mut sum = 0.0;
         let mut count = 0.0;
@@ -434,7 +435,12 @@ pub fn control_from_matrix(raw: &[u32], rows: u32, cols: u32) -> BreakoutControl
 
     let left_force = tl + bl;
     let right_force = tr + br;
-    let top_force = tl + tr;
+    let top_force = avg(
+        0,
+        top_gesture_rows,
+        top_gesture_col_start,
+        top_gesture_col_end,
+    );
     let span = 1200.0_f32.max((PRESSURE_RANGE_MAX - PRESSURE_RANGE_MIN) * 0.22);
     let raw_axis = ((right_force - left_force) / span).clamp(-1.0, 1.0);
     let axis = if raw_axis.abs() < 0.045 {
@@ -473,7 +479,7 @@ fn circle_hits_rect(center: egui::Pos2, radius: f32, rect: egui::Rect) -> bool {
 fn status_chip(ui: &mut egui::Ui, label: &'static str, value: impl ToString, color: egui::Color32) {
     egui::Frame::new()
         .fill(color_alpha(ONE_DARK_PRO.panel_deep, 190))
-        .stroke(egui::Stroke::new(1.0_f32, color_alpha(color, 92)))
+        .stroke(egui::Stroke::new(1.0, color_alpha(color, 92)))
         .corner_radius(egui::CornerRadius::same(4))
         .inner_margin(egui::Margin::symmetric(8, 4))
         .show(ui, |ui| {
@@ -489,6 +495,7 @@ fn status_color(phase: BreakoutPhase) -> egui::Color32 {
         BreakoutPhase::Idle => ONE_DARK_PRO.text_dim,
         BreakoutPhase::Running => ACCENT_GREEN,
         BreakoutPhase::Paused => ACCENT_ORANGE,
+        BreakoutPhase::Won => ACCENT_GREEN,
         BreakoutPhase::Over => ACCENT_RED,
     }
 }
@@ -518,7 +525,7 @@ fn paint_arena_grid(painter: &egui::Painter, rect: egui::Rect) {
     painter.rect_stroke(
         rect,
         egui::CornerRadius::same(6),
-        egui::Stroke::new(1.0_f32, color_alpha(ONE_DARK_PRO.accent, 70)),
+        egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.accent, 70)),
         egui::StrokeKind::Inside,
     );
 }
@@ -535,7 +542,7 @@ fn paint_brick(painter: &egui::Painter, arena: egui::Rect, brick: &Brick, index:
         painter.rect_stroke(
             rect.expand(4.0 * brick.flash),
             egui::CornerRadius::same(4),
-            egui::Stroke::new(1.4_f32, color_alpha(ONE_DARK_PRO.accent_hot, alpha)),
+            egui::Stroke::new(1.4, color_alpha(ONE_DARK_PRO.accent_hot, alpha)),
             egui::StrokeKind::Outside,
         );
     }
@@ -568,7 +575,7 @@ fn paint_control_meter(painter: &egui::Painter, arena: egui::Rect, control: Brea
     painter.rect_stroke(
         meter,
         egui::CornerRadius::same(4),
-        egui::Stroke::new(1.0_f32, color_alpha(ONE_DARK_PRO.border, 120)),
+        egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.border, 120)),
         egui::StrokeKind::Outside,
     );
     let center_x = meter.center().x;
@@ -577,7 +584,7 @@ fn paint_control_meter(painter: &egui::Painter, arena: egui::Rect, control: Brea
             egui::pos2(center_x, meter.top()),
             egui::pos2(center_x, meter.bottom()),
         ],
-        egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border_soft),
+        egui::Stroke::new(1.0, ONE_DARK_PRO.border_soft),
     );
     let marker_x = center_x + control.axis.clamp(-1.0, 1.0) * meter.width() * 0.45;
     painter.circle_filled(
@@ -611,6 +618,7 @@ fn paint_center_overlay(painter: &egui::Painter, rect: egui::Rect, phase: Breako
     let (title, detail) = match phase {
         BreakoutPhase::Idle => ("按压顶部或点击开始", "左右分区压力控制挡板"),
         BreakoutPhase::Paused => ("已暂停", "再次按压顶部、P 或点击暂停继续"),
+        BreakoutPhase::Won => ("恭喜过关", "按压顶部、点击或空格重新开始"),
         BreakoutPhase::Over => ("游戏结束", "点击或空格重开"),
         BreakoutPhase::Running => ("", ""),
     };

src/config.rs

@@ -0,0 +1,70 @@
+use serde::Deserialize;
+use std::{
+    collections::BTreeMap,
+    fs,
+    path::{Path, PathBuf},
+};
+
+#[derive(Debug, Deserialize)]
+pub struct HandForceConfig {
+    pub thumb: BTreeMap<String, u32>,
+    pub index: BTreeMap<String, u32>,
+    pub middle: BTreeMap<String, u32>,
+    pub ring: BTreeMap<String, u32>,
+    pub little: BTreeMap<String, u32>,
+}
+
+pub fn try_load_hand_force_config() -> Option<HandForceConfig> {
+    let path: PathBuf = std::env::current_exe().ok()?.parent()?.join("config.toml");
+    load_hand_force_config(&path)
+}
+
+fn load_hand_force_config(path: &Path) -> Option<HandForceConfig> {
+    let content = fs::read_to_string(path).ok()?;
+    toml::from_str(&content).ok()
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use std::time::{SystemTime, UNIX_EPOCH};
+
+    #[test]
+    fn loads_hand_force_config_toml() {
+        let path = std::env::temp_dir().join(format!(
+            "eskin-hand-force-config-{}-{}.toml",
+            std::process::id(),
+            SystemTime::now()
+                .duration_since(UNIX_EPOCH)
+                .expect("system clock should be after Unix epoch")
+                .as_nanos()
+        ));
+        fs::write(
+            &path,
+            r#"
+                [thumb]
+                "0.57" = 35694
+                "2.57" = 226640
+
+                [index]
+                "0.57" = 45490
+
+                [middle]
+                "0.57" = 51562
+
+                [ring]
+                "0.57" = 33213
+
+                [little]
+                "0.57" = 44291
+            "#,
+        )
+        .expect("test config should be writable");
+
+        let config = load_hand_force_config(&path).expect("valid TOML should load");
+        fs::remove_file(&path).expect("test config should be removable");
+
+        assert_eq!(config.thumb["2.57"], 226640);
+        assert_eq!(config.index["0.57"], 45490);
+    }
+}

src/connection.rs

@@ -179,7 +179,6 @@ impl Default for ConnectionManager {
 }
 
 /// The blocking device loop that runs on a background thread.
-#[allow(clippy::too_many_arguments)]
 fn run_device_loop(
     port_name: &str,
     rows: u32,

src/force.rs

@@ -1,7 +1,8 @@
 use crate::serial_core::multi_dim_force::PztProcessor;
 
-const FINGER_SAMPLE_COUNT: usize = 84;
+pub const FINGER_SAMPLE_COUNT: usize = 84;
-const MIN_TANGENTIAL_MAGNITUDE: f32 = 0.02;
+pub const HAND_FINGERTIP_COUNT: usize = 5;
+const MIN_TANGENTIAL_MAGNITUDE: f32 = 0.1;
 
 #[derive(Debug, Clone, Copy)]
 pub struct HudSpatialForce {
@@ -11,17 +12,22 @@ pub struct HudSpatialForce {
 
 pub struct ForceEstimatorState {
     pzt_processor: PztProcessor,
+    fingertip_processors: [PztProcessor; HAND_FINGERTIP_COUNT],
 }
 
 impl ForceEstimatorState {
     pub fn new() -> Self {
         Self {
             pzt_processor: PztProcessor::new(),
+            fingertip_processors: std::array::from_fn(|_| PztProcessor::new()),
         }
     }
 
     pub fn reset(&mut self) {
         self.pzt_processor.reset_baseline();
+        self.fingertip_processors
+            .iter_mut()
+            .for_each(PztProcessor::reset_baseline);
     }
 
     pub fn analyze(&mut self, values: &[u32]) -> Option<HudSpatialForce> {
@@ -40,6 +46,49 @@ impl ForceEstimatorState {
                 magnitude: analysis.magnitude,
             })
     }
+
+    pub fn analyze_fingertips(
+        &mut self,
+        values: &[u32],
+    ) -> [Option<HudSpatialForce>; HAND_FINGERTIP_COUNT] {
+        self.analyze_fingertips_masked(values, &[true; HAND_FINGERTIP_COUNT])
+    }
+
+    pub fn analyze_fingertips_masked(
+        &mut self,
+        values: &[u32],
+        enabled: &[bool; HAND_FINGERTIP_COUNT],
+    ) -> [Option<HudSpatialForce>; HAND_FINGERTIP_COUNT] {
+        let mut forces = [None; HAND_FINGERTIP_COUNT];
+
+        for (tip_index, processor) in self.fingertip_processors.iter_mut().enumerate() {
+            if !enabled[tip_index] {
+                continue;
+            }
+
+            let start = tip_index * FINGER_SAMPLE_COUNT;
+            let end = start + FINGER_SAMPLE_COUNT;
+            let Some(segment) = values.get(start..end) else {
+                break;
+            };
+
+            let pzt_values = segment
+                .iter()
+                .map(|value| *value as f32)
+                .collect::<Vec<_>>();
+
+            forces[tip_index] = 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,
+                });
+        }
+
+        forces
+    }
 }
 
 impl Default for ForceEstimatorState {

src/main.rs

@@ -2,6 +2,7 @@
 #![cfg_attr(not(debug_assertions), windows_subsystem = "windows")]
 mod app;
 mod breakout;
+mod config;
 mod connection;
 mod force;
 mod matrix;
@@ -20,12 +21,15 @@ use eframe::egui;
 fn main() -> eframe::Result<()> {
     env_logger::init();
 
+    let window_icon = eframe::icon_data::from_png_bytes(include_bytes!("../res/128x128@2x.png"))
+        .expect("load window icon failed");
     let options = eframe::NativeOptions {
         renderer: eframe::Renderer::Wgpu,
         viewport: egui::ViewportBuilder::default()
             .with_inner_size([1920.0, 1080.0])
             .with_min_inner_size([1280.0, 720.0])
-            .with_decorations(false),
+            .with_decorations(false)
+            .with_icon(window_icon),
         ..Default::default()
     };
 

src/matrix.rs

@@ -1,7 +1,5 @@
 pub const MATRIX_ROWS: u32 = 12;
 pub const MATRIX_COLS: u32 = 7;
-pub const UNFOLDED_SENSOR_COUNT: usize = 104;
-pub const UNFOLDED_SENSOR_SEGMENT_COUNTS: [usize; 10] = [8, 3, 5, 8, 10, 44, 3, 5, 8, 10];
 
 const BASE_MATRIX_SPAN: f32 = 24.0;
 const MATRIX_SPAN_GROWTH: f32 = 0.6;

src/recording.rs

@@ -145,11 +145,11 @@ impl Recorder {
             r.state == RecordingState::Recording || r.state == RecordingState::Paused,
             "nothing to stop"
         );
-        if r.state == RecordingState::Paused
+        if r.state == RecordingState::Paused {
-            && let Some(ps) = r.pause_start.take()
+            if let Some(ps) = r.pause_start.take() {
-        {
                 r.paused_duration_ms += ps.elapsed().as_millis() as u64;
             }
+        }
         r.state = RecordingState::Idle;
         Ok(())
     }
@@ -317,15 +317,16 @@ impl Recorder {
         }
 
         // Set the start instant so duration_ms() reports the imported span
-        if !r.frames.is_empty()
+        if !r.frames.is_empty() {
-            && let Some(last) = r.frames.last()
+            if let Some(last) = r.frames.last() {
-        {
                 // Pretend the recording happened `last.timestamp_ms` ago
                 // so that elapsed_ms() would return that value.
                 // We store a "fake" start by noting the offset.
-            r.start = Some(Instant::now() - std::time::Duration::from_millis(last.timestamp_ms));
+                r.start =
+                    Some(Instant::now() - std::time::Duration::from_millis(last.timestamp_ms));
                 r.paused_duration_ms = 0;
             }
+        }
 
         Ok(())
     }

src/render.rs

@@ -1,5 +1,5 @@
 use crate::{
-    matrix::{MatrixLayout, UNFOLDED_SENSOR_COUNT, build_view_projection, glyph_world_position},
+    matrix::{MatrixLayout, build_view_projection, glyph_world_position},
     model::{AlphaMode, InstanceRaw, ModelVertex, Vertex},
     resources, texture,
 };
@@ -44,122 +44,53 @@ pub struct HandGatewayMode {
 
 const HAND_TIP_MATRICES: [HandTipMatrix; 5] = [
     HandTipMatrix {
-        center_px: [260.0, 490.0],
+        center_px: [263.5, 495.0],
         size_px: [70.0, 120.0],
-        angle_rad: -0.45,
+        angle_rad: -0.40,
     },
     HandTipMatrix {
-        center_px: [360.0, 255.0],
+        center_px: [362.0, 260.0],
         size_px: [70.0, 120.0],
-        angle_rad: -0.05,
+        angle_rad: -0.158,
     },
     HandTipMatrix {
-        center_px: [485.0, 225.0],
+        center_px: [480.5, 228.0],
         size_px: [70.0, 120.0],
-        angle_rad: 0.0,
+        angle_rad: -0.02,
     },
     HandTipMatrix {
-        center_px: [595.0, 260.0],
+        center_px: [594.0, 265.0],
         size_px: [70.0, 120.0],
-        angle_rad: 0.12,
+        angle_rad: 0.10,
     },
     HandTipMatrix {
-        center_px: [705.0, 385.0],
+        center_px: [693.0, 370.0],
         size_px: [70.0, 120.0],
-        angle_rad: 0.28,
+        angle_rad: 0.22,
     },
 ];
 
-const UNFOLDED_CANVAS_SIZE: [f32; 2] = [850.0, 750.0];
+const HAND_PALM_CHIPS: [HandPalmChip; 2] = [
-const UNFOLDED_CELL_SPACING_PX: f32 = 42.0;
-const UNFOLDED_SENSOR_CHIPS: [HandPalmChip; 10] = [
-    // Top cap: 2 rows x 4 columns.
     HandPalmChip {
-        center_px: [425.0, 165.0],
+        center_px: [530.0, 593.0],
-        size_px: [176.0, 88.0],
+        size_px: [258.0, 88.0],
-        angle_rad: 0.0,
+        angle_rad: 0.12,
-        rows: 2,
-        cols: 4,
-        sample_offset: 0,
-    },
-    // Left wing, authored from the outside towards the 11x4 center block.
-    HandPalmChip {
-        center_px: [140.0, 578.0],
-        size_px: [46.0, 132.0],
-        angle_rad: 0.0,
-        rows: 3,
-        cols: 1,
-        sample_offset: 8,
-    },
-    HandPalmChip {
-        center_px: [188.0, 534.0],
-        size_px: [46.0, 220.0],
-        angle_rad: 0.0,
         rows: 5,
-        cols: 1,
+        cols: 14,
-        sample_offset: 11,
     },
     HandPalmChip {
-        center_px: [236.0, 468.0],
+        center_px: [610.0, 778.0],
-        size_px: [46.0, 352.0],
+        size_px: [82.0, 228.0],
-        angle_rad: 0.0,
+        angle_rad: 0.05,
-        rows: 8,
-        cols: 1,
-        sample_offset: 16,
-    },
-    HandPalmChip {
-        center_px: [284.0, 424.0],
-        size_px: [46.0, 440.0],
-        angle_rad: 0.0,
-        rows: 10,
-        cols: 1,
-        sample_offset: 24,
-    },
-    // Center spine: 11 rows x 4 columns.
-    HandPalmChip {
-        center_px: [425.0, 444.0],
-        size_px: [176.0, 484.0],
-        angle_rad: 0.0,
         rows: 11,
         cols: 4,
-        sample_offset: 34,
-    },
-    // Right wing mirrors the left wing. Data remains ordered 3, 5, 8, 10.
-    HandPalmChip {
-        center_px: [710.0, 578.0],
-        size_px: [46.0, 132.0],
-        angle_rad: 0.0,
-        rows: 3,
-        cols: 1,
-        sample_offset: 78,
-    },
-    HandPalmChip {
-        center_px: [662.0, 534.0],
-        size_px: [46.0, 220.0],
-        angle_rad: 0.0,
-        rows: 5,
-        cols: 1,
-        sample_offset: 81,
-    },
-    HandPalmChip {
-        center_px: [614.0, 468.0],
-        size_px: [46.0, 352.0],
-        angle_rad: 0.0,
-        rows: 8,
-        cols: 1,
-        sample_offset: 86,
-    },
-    HandPalmChip {
-        center_px: [566.0, 424.0],
-        size_px: [46.0, 440.0],
-        angle_rad: 0.0,
-        rows: 10,
-        cols: 1,
-        sample_offset: 94,
     },
 ];
 
 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;
+const HAND_TIP_DOT_LOCAL_Y_OFFSET_PX: f32 = 14.0;
 
 // 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.
@@ -170,15 +101,14 @@ struct HandTipMatrix {
     angle_rad: f32,
 }
 
-// One block in the flat 270-degree sensor layout. Coordinates use a dedicated
+// Palm chips follow the hand layout: one horizontal 5x14 matrix and one vertical
-// 850x750 canvas so the unfolded shape stays prominent across window sizes.
+// 11x4 matrix, rendered as dark inset chip tiles on the palm.
 struct HandPalmChip {
     center_px: [f32; 2],
     size_px: [f32; 2],
     angle_rad: f32,
     rows: u32,
     cols: u32,
-    sample_offset: usize,
 }
 
 impl egui_wgpu::CallbackTrait for WgpuBackgroundCallback {
@@ -227,6 +157,7 @@ pub struct BackgroundRenderResources {
     dot_pipeline: wgpu::RenderPipeline,
     hand_membrane_pipeline: wgpu::RenderPipeline,
     hand_dot_pipeline: wgpu::RenderPipeline,
+    hand_palm_chip_pipeline: wgpu::RenderPipeline,
     hand_palm_dot_pipeline: wgpu::RenderPipeline,
     hand_image_bind_group: wgpu::BindGroup,
     hand_image_texture: texture::Texture,
@@ -238,6 +169,8 @@ pub struct BackgroundRenderResources {
     hand_membrane_instances: Vec<GlyphInstance>,
     hand_dot_instance_buffer: wgpu::Buffer,
     hand_dot_instances: Vec<GlyphInstance>,
+    hand_palm_chip_instance_buffer: wgpu::Buffer,
+    hand_palm_chip_instances: Vec<GlyphInstance>,
     hand_palm_dot_instance_buffer: wgpu::Buffer,
     hand_palm_dot_instances: Vec<GlyphInstance>,
     render_options: RenderOptions,
@@ -345,7 +278,10 @@ impl BackgroundRenderResources {
             build_view_projection(1.0, &layout),
             surface_is_srgb,
             render_options,
-            UNFOLDED_CANVAS_SIZE,
+            [
+                hand_image_texture.width as f32,
+                hand_image_texture.height as f32,
+            ],
         );
         let uniform_buffer = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
             label: Some("Pressure Matrix Uniform Buffer"),
@@ -562,6 +498,8 @@ impl BackgroundRenderResources {
             create_hand_membrane_pipeline(device, target_format, &shader, &pipeline_layout);
         let hand_dot_pipeline =
             create_hand_dot_pipeline(device, target_format, &shader, &pipeline_layout);
+        let hand_palm_chip_pipeline =
+            create_hand_palm_chip_pipeline(device, target_format, &shader, &pipeline_layout);
         let hand_palm_dot_pipeline =
             create_hand_palm_dot_pipeline(device, target_format, &shader, &pipeline_layout);
 
@@ -594,12 +532,13 @@ impl BackgroundRenderResources {
         let hand_membrane_instances = build_hand_membrane_instances(
             hand_image_texture.width as f32,
             hand_image_texture.height as f32,
+            &[],
         );
         let hand_membrane_instance_buffer =
             device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
                 label: Some("Hand Fingertip Membrane Instance Buffer"),
                 contents: bytemuck::cast_slice(&hand_membrane_instances),
-                usage: wgpu::BufferUsages::VERTEX,
+                usage: wgpu::BufferUsages::VERTEX | wgpu::BufferUsages::COPY_DST,
             });
         let hand_dot_instances = build_hand_dot_instances(
             rows,
@@ -614,8 +553,23 @@ impl BackgroundRenderResources {
                 contents: bytemuck::cast_slice(&hand_dot_instances),
                 usage: wgpu::BufferUsages::VERTEX | wgpu::BufferUsages::COPY_DST,
             });
-        let hand_palm_dot_instances =
+        let hand_palm_chip_instances = build_hand_palm_chip_instances(
-            build_hand_palm_dot_instances(rows, cols, &[[0.0, 0.0]; PRESSURE_CELL_COUNT]);
+            hand_image_texture.width as f32,
+            hand_image_texture.height as f32,
+        );
+        let hand_palm_chip_instance_buffer =
+            device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
+                label: Some("Hand Palm Chip Instance Buffer"),
+                contents: bytemuck::cast_slice(&hand_palm_chip_instances),
+                usage: wgpu::BufferUsages::VERTEX,
+            });
+        let hand_palm_dot_instances = build_hand_palm_dot_instances(
+            rows,
+            cols,
+            hand_image_texture.width as f32,
+            hand_image_texture.height as f32,
+            &[[0.0, 0.0]; PRESSURE_CELL_COUNT],
+        );
         let hand_palm_dot_instance_buffer =
             device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
                 label: Some("Hand Palm Chip Dot Instance Buffer"),
@@ -637,6 +591,7 @@ impl BackgroundRenderResources {
             dot_pipeline,
             hand_membrane_pipeline,
             hand_dot_pipeline,
+            hand_palm_chip_pipeline,
             hand_palm_dot_pipeline,
             hand_image_bind_group,
             hand_image_texture,
@@ -647,6 +602,8 @@ impl BackgroundRenderResources {
             hand_membrane_instances,
             hand_dot_instance_buffer,
             hand_dot_instances,
+            hand_palm_chip_instance_buffer,
+            hand_palm_chip_instances,
             hand_palm_dot_instance_buffer,
             hand_palm_dot_instances,
             render_options,
@@ -668,7 +625,10 @@ impl BackgroundRenderResources {
             build_view_projection(aspect, &self.layout),
             self.surface_is_srgb,
             self.render_options,
-            UNFOLDED_CANVAS_SIZE,
+            [
+                self.hand_image_texture.width as f32,
+                self.hand_image_texture.height as f32,
+            ],
         );
         queue.write_buffer(
             &self.uniform_buffer,
@@ -695,8 +655,19 @@ impl BackgroundRenderResources {
             hand_pressure
         };
 
-        // Keep legacy fingertip buffers current while both hardware modes share
+        self.hand_membrane_instances = build_hand_membrane_instances(
-        // the same renderer resources.
+            self.hand_image_texture.width as f32,
+            self.hand_image_texture.height as f32,
+            hand_pressure,
+        );
+        queue.write_buffer(
+            &self.hand_membrane_instance_buffer,
+            0,
+            bytemuck::cast_slice(&self.hand_membrane_instances),
+        );
+
+        // 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,
@@ -710,9 +681,15 @@ impl BackgroundRenderResources {
             bytemuck::cast_slice(&self.hand_dot_instances),
         );
 
-        // Rebuild the 104-cell unfolded layout with the latest gateway samples.
+        // Palm chips reuse the same live 12x7 pressure frame, but draw it as
-        self.hand_palm_dot_instances =
+        // embedded micro-pixels inside dark chip tiles.
-            build_hand_palm_dot_instances(self.rows, self.cols, hand_pressure);
+        self.hand_palm_dot_instances = build_hand_palm_dot_instances(
+            self.rows,
+            self.cols,
+            self.hand_image_texture.width as f32,
+            self.hand_image_texture.height as f32,
+            hand_pressure,
+        );
         queue.write_buffer(
             &self.hand_palm_dot_instance_buffer,
             0,
@@ -728,7 +705,12 @@ impl BackgroundRenderResources {
 
         match active_mode {
             ActiveMode::Finger(mode) => self.paint_finger(render_pass, mode),
-            ActiveMode::Hand(mode) => self.paint_hand(render_pass, mode),
+            ActiveMode::Hand(mode) => {
+                render_pass.set_pipeline(&self.hand_image_pipeline);
+                render_pass.set_bind_group(1, &self.hand_image_bind_group, &[]);
+                render_pass.draw(0..6, 0..1);
+                self.paint_hand(render_pass, mode);
+            }
         }
     }
 
@@ -750,7 +732,22 @@ impl BackgroundRenderResources {
     fn paint_hand(&self, render_pass: &mut wgpu::RenderPass<'_>, mode: &HandGatewayMode) {
         let _range = mode.range.clone();
 
-        // Match Finger mode: draw only the 104 independent pressure dots.
+        // First draw the translucent sensor membranes, then draw live pressure beads on their grid.
+        render_pass.set_pipeline(&self.hand_membrane_pipeline);
+        render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
+        render_pass.set_vertex_buffer(1, self.hand_membrane_instance_buffer.slice(..));
+        render_pass.draw(0..6, 0..self.hand_membrane_instances.len() as u32);
+
+        render_pass.set_pipeline(&self.hand_dot_pipeline);
+        render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
+        render_pass.set_vertex_buffer(1, self.hand_dot_instance_buffer.slice(..));
+        render_pass.draw(0..6, 0..self.hand_dot_instances.len() as u32);
+
+        render_pass.set_pipeline(&self.hand_palm_chip_pipeline);
+        render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
+        render_pass.set_vertex_buffer(1, self.hand_palm_chip_instance_buffer.slice(..));
+        render_pass.draw(0..6, 0..self.hand_palm_chip_instances.len() as u32);
+
         render_pass.set_pipeline(&self.hand_palm_dot_pipeline);
         render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
         render_pass.set_vertex_buffer(1, self.hand_palm_dot_instance_buffer.slice(..));
@@ -1088,6 +1085,39 @@ fn create_hand_dot_pipeline(
     })
 }
 
+fn create_hand_palm_chip_pipeline(
+    device: &wgpu::Device,
+    target_format: &wgpu::TextureFormat,
+    shader: &wgpu::ShaderModule,
+    layout: &wgpu::PipelineLayout,
+) -> wgpu::RenderPipeline {
+    device.create_render_pipeline(&wgpu::RenderPipelineDescriptor {
+        label: Some("Hand Palm Embedded Chip Pipeline"),
+        layout: Some(layout),
+        vertex: wgpu::VertexState {
+            module: shader,
+            entry_point: Some("vs_hand_palm_chip"),
+            compilation_options: Default::default(),
+            buffers: &[GlyphVertex::desc(), GlyphInstance::desc()],
+        },
+        fragment: Some(wgpu::FragmentState {
+            module: shader,
+            entry_point: Some("fs_hand_palm_chip"),
+            compilation_options: Default::default(),
+            targets: &[Some(wgpu::ColorTargetState {
+                format: *target_format,
+                blend: Some(wgpu::BlendState::ALPHA_BLENDING),
+                write_mask: wgpu::ColorWrites::ALL,
+            })],
+        }),
+        primitive: wgpu::PrimitiveState::default(),
+        depth_stencil: None,
+        multisample: wgpu::MultisampleState::default(),
+        multiview_mask: None,
+        cache: None,
+    })
+}
+
 fn create_hand_palm_dot_pipeline(
     device: &wgpu::Device,
     target_format: &wgpu::TextureFormat,
@@ -1121,19 +1151,65 @@ fn create_hand_palm_dot_pipeline(
     })
 }
 
-fn build_hand_membrane_instances(image_width: f32, image_height: f32) -> Vec<GlyphInstance> {
+fn build_hand_membrane_instances(
+    image_width: f32,
+    image_height: f32,
+    pressure: &[[f32; 2]],
+) -> Vec<GlyphInstance> {
     HAND_TIP_MATRICES
         .iter()
-        .map(|tip| {
+        .enumerate()
+        .map(|(tip_index, tip)| {
             let uv_x = tip.center_px[0] / image_width.max(1.0);
             let uv_y = tip.center_px[1] / image_height.max(1.0);
-            let membrane_size = [tip.size_px[0] * 1.62, tip.size_px[1] * 1.56];
+            let membrane_size = [tip.size_px[0] * 1.44, tip.size_px[1] * 1.36];
+            let tip_intensity = hand_tip_peak_intensity(pressure, tip_index);
 
             GlyphInstance {
                 // Membrane shaders read xy as hand.png UV.
                 world_position: [uv_x, uv_y, 0.0, 1.0],
-                // Store angle and an oversized source-image pixel size for the floating sensor film.
+                // Store angle, source-image pixel size, and the live fingertip peak intensity.
-                style: [tip.angle_rad, membrane_size[0], membrane_size[1], 0.0],
+                style: [
+                    tip.angle_rad,
+                    membrane_size[0],
+                    membrane_size[1],
+                    tip_intensity,
+                ],
+            }
+        })
+        .collect()
+}
+
+fn hand_tip_peak_intensity(pressure: &[[f32; 2]], tip_index: usize) -> f32 {
+    let start = tip_index * HAND_FINGER_SENSOR_CELLS;
+    let end = start + HAND_FINGER_SENSOR_CELLS;
+
+    pressure
+        .get(start..end)
+        .unwrap_or(&[])
+        .iter()
+        .map(|sample| sample[0])
+        .fold(0.0, f32::max)
+        .clamp(0.0, 1.0)
+}
+
+fn build_hand_palm_chip_instances(image_width: f32, image_height: f32) -> Vec<GlyphInstance> {
+    HAND_PALM_CHIPS
+        .iter()
+        .map(|chip| {
+            let uv_x = chip.center_px[0] / image_width.max(1.0);
+            let uv_y = chip.center_px[1] / image_height.max(1.0);
+
+            GlyphInstance {
+                // Palm chip shaders read xy as hand.png UV.
+                world_position: [uv_x, uv_y, 0.0, 1.0],
+                // Store chip angle, source-image pixel size, and matrix shape for the shader grid.
+                style: [
+                    chip.angle_rad,
+                    chip.size_px[0],
+                    chip.size_px[1],
+                    (chip.rows * 100 + chip.cols) as f32,
+                ],
             }
         })
         .collect()
@@ -1163,7 +1239,8 @@ fn build_hand_dot_instances(
 
                 // 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];
-                let local_y = (row as f32 - rows as f32 / 2.0 + 0.5) / rows as f32 * tip.size_px[1];
+                let local_y = (row as f32 - rows as f32 / 2.0 + 0.5) / rows as f32 * tip.size_px[1]
+                    + HAND_TIP_DOT_LOCAL_Y_OFFSET_PX;
 
                 // Rotate the local matrix so it follows the direction of the finger.
                 let x = tip.center_px[0] + local_x * cos - local_y * sin;
@@ -1186,27 +1263,44 @@ fn build_hand_dot_instances(
 fn build_hand_palm_dot_instances(
     _rows: u32,
     _cols: u32,
+    image_width: f32,
+    image_height: f32,
     pressure: &[[f32; 2]],
 ) -> Vec<GlyphInstance> {
-    let chip_dot_count: usize = UNFOLDED_SENSOR_CHIPS
+    let chip_dot_count: usize = HAND_PALM_CHIPS
         .iter()
         .map(|chip| (chip.rows * chip.cols) as usize)
         .sum();
-    debug_assert_eq!(chip_dot_count, UNFOLDED_SENSOR_COUNT);
     let mut instances = Vec::with_capacity(chip_dot_count);
 
-    for chip in UNFOLDED_SENSOR_CHIPS {
+    for (chip_index, chip) in HAND_PALM_CHIPS.into_iter().enumerate() {
+        let cos = chip.angle_rad.cos();
+        let sin = chip.angle_rad.sin();
+        // Palm films can float slightly beyond the hand artwork, similar to fingertip membranes.
+        let active_size = [chip.size_px[0] * 0.86, chip.size_px[1] * 0.86];
+
         for row in 0..chip.rows {
             for col in 0..chip.cols {
-                let index = (row * chip.cols + col) as usize;
+                let offset = match chip_index {
+                    0 => HAND_PALM_HORIZONTAL_OFFSET,
+                    _ => HAND_PALM_VERTICAL_OFFSET,
+                };
+                let index = hand_palm_pressure_index(chip_index, row, col, chip.rows, chip.cols);
                 let [normalized, display_value] =
-                    sample_pressure_at(pressure, chip.sample_offset + index, index);
+                    sample_pressure_at(pressure, offset + index, index);
-                let [x, y] = unfolded_cell_position(&chip, row, col);
+
+                let local_x =
+                    (col as f32 - chip.cols as f32 / 2.0 + 0.5) / chip.cols as f32 * active_size[0];
+                let local_y =
+                    (row as f32 - chip.rows as f32 / 2.0 + 0.5) / chip.rows as f32 * active_size[1];
+
+                let x = chip.center_px[0] + local_x * cos - local_y * sin;
+                let y = chip.center_px[1] + local_x * sin + local_y * cos;
 
                 instances.push(GlyphInstance {
                     world_position: [
-                        x / UNFOLDED_CANVAS_SIZE[0],
+                        x / image_width.max(1.0),
-                        y / UNFOLDED_CANVAS_SIZE[1],
+                        y / image_height.max(1.0),
                         0.0,
                         1.0,
                     ],
@@ -1219,20 +1313,12 @@ fn build_hand_palm_dot_instances(
     instances
 }
 
-fn unfolded_cell_position(chip: &HandPalmChip, row: u32, col: u32) -> [f32; 2] {
+fn hand_palm_pressure_index(chip_index: usize, row: u32, col: u32, rows: u32, cols: u32) -> usize {
-    let cos = chip.angle_rad.cos();
+    if chip_index == 0 {
-    let sin = chip.angle_rad.sin();
+        (col * rows + (rows - 1 - row)) as usize
-    // Author every region on the same point grid. Using the last row as the
+    } else {
-    // vertical anchor keeps the stepped wing columns exactly bottom-aligned.
+        (row * cols + col) as usize
-    let bottom_center_y = chip.center_px[1] + chip.size_px[1] * 0.5 - 22.0;
+    }
-    let local_x = (col as f32 - chip.cols as f32 / 2.0 + 0.5) * UNFOLDED_CELL_SPACING_PX;
-    let y_from_bottom = (chip.rows.saturating_sub(row + 1)) as f32 * UNFOLDED_CELL_SPACING_PX;
-    let local_y = -y_from_bottom;
-
-    [
-        chip.center_px[0] + local_x * cos - local_y * sin,
-        bottom_center_y + local_x * sin + local_y * cos,
-    ]
 }
 
 fn sample_pressure_at(pressure: &[[f32; 2]], index: usize, fallback_index: usize) -> [f32; 2] {
@@ -1243,122 +1329,6 @@ fn sample_pressure_at(pressure: &[[f32; 2]], index: usize, fallback_index: usize
         .unwrap_or([0.0, 0.0])
 }
 
-#[cfg(test)]
-mod unfolded_layout_tests {
-    use super::*;
-    use crate::matrix::UNFOLDED_SENSOR_SEGMENT_COUNTS;
-
-    #[test]
-    fn unfolded_layout_has_104_contiguous_samples() {
-        let mut expected_offset = 0usize;
-
-        for chip in UNFOLDED_SENSOR_CHIPS {
-            assert_eq!(chip.sample_offset, expected_offset);
-            expected_offset += (chip.rows * chip.cols) as usize;
-        }
-
-        assert_eq!(expected_offset, UNFOLDED_SENSOR_COUNT);
-    }
-
-    #[test]
-    fn unfolded_layout_matches_requested_shapes() {
-        let shapes = UNFOLDED_SENSOR_CHIPS.map(|chip| (chip.rows, chip.cols));
-        let sample_counts = UNFOLDED_SENSOR_CHIPS.map(|chip| (chip.rows * chip.cols) as usize);
-
-        assert_eq!(
-            shapes,
-            [
-                (2, 4),
-                (3, 1),
-                (5, 1),
-                (8, 1),
-                (10, 1),
-                (11, 4),
-                (3, 1),
-                (5, 1),
-                (8, 1),
-                (10, 1),
-            ]
-        );
-        assert_eq!(sample_counts, UNFOLDED_SENSOR_SEGMENT_COUNTS);
-    }
-
-    #[test]
-    fn unfolded_wings_are_mirrored_around_center() {
-        let center_x = UNFOLDED_SENSOR_CHIPS[5].center_px[0];
-
-        for (left, right) in UNFOLDED_SENSOR_CHIPS[1..5]
-            .iter()
-            .zip(UNFOLDED_SENSOR_CHIPS[6..10].iter())
-        {
-            assert_eq!((left.rows, left.cols), (right.rows, right.cols));
-            assert_eq!(left.center_px[1], right.center_px[1]);
-            assert!(
-                ((center_x - left.center_px[0]) - (right.center_px[0] - center_x)).abs() < 0.01
-            );
-        }
-    }
-
-    #[test]
-    fn unfolded_layout_fits_its_canvas() {
-        for chip in UNFOLDED_SENSOR_CHIPS {
-            let half_width = chip.size_px[0] * 0.5;
-            let half_height = chip.size_px[1] * 0.5;
-
-            assert!(chip.center_px[0] - half_width >= 0.0);
-            assert!(chip.center_px[0] + half_width <= UNFOLDED_CANVAS_SIZE[0]);
-            assert!(chip.center_px[1] - half_height >= 0.0);
-            assert!(chip.center_px[1] + half_height <= UNFOLDED_CANVAS_SIZE[1]);
-        }
-    }
-
-    #[test]
-    fn unfolded_wing_rows_share_one_bottom_baseline() {
-        let wing_indices = [1usize, 2, 3, 4, 6, 7, 8, 9];
-        let expected_y = unfolded_cell_position(
-            &UNFOLDED_SENSOR_CHIPS[wing_indices[0]],
-            UNFOLDED_SENSOR_CHIPS[wing_indices[0]].rows - 1,
-            0,
-        )[1];
-
-        for index in wing_indices {
-            let chip = &UNFOLDED_SENSOR_CHIPS[index];
-            let bottom_y = unfolded_cell_position(chip, chip.rows - 1, 0)[1];
-            assert!((bottom_y - expected_y).abs() < 0.01);
-        }
-    }
-
-    #[test]
-    fn unfolded_wings_are_compact_with_more_space_at_center() {
-        let left_x = UNFOLDED_SENSOR_CHIPS[1..5]
-            .iter()
-            .map(|chip| chip.center_px[0])
-            .collect::<Vec<_>>();
-        let wing_gap = left_x[1] - left_x[0];
-        assert!((wing_gap - 48.0).abs() < 0.01);
-        assert!(
-            left_x
-                .windows(2)
-                .all(|pair| (pair[1] - pair[0] - wing_gap).abs() < 0.01)
-        );
-
-        let center_left_x = unfolded_cell_position(&UNFOLDED_SENSOR_CHIPS[5], 0, 0)[0];
-        let left_inner_x = unfolded_cell_position(&UNFOLDED_SENSOR_CHIPS[4], 0, 0)[0];
-        assert!(center_left_x - left_inner_x > wing_gap);
-    }
-
-    #[test]
-    fn unfolded_top_block_sits_close_to_center_block() {
-        let top = &UNFOLDED_SENSOR_CHIPS[0];
-        let center = &UNFOLDED_SENSOR_CHIPS[5];
-        let top_bottom_y = unfolded_cell_position(top, top.rows - 1, 0)[1];
-        let center_top_y = unfolded_cell_position(center, 0, 0)[1];
-
-        assert!(center_top_y > top_bottom_y);
-        assert!(center_top_y - top_bottom_y < UNFOLDED_CELL_SPACING_PX * 2.0);
-    }
-}
-
 fn build_glyph_instances(
     rows: u32,
     cols: u32,
@@ -1482,3 +1452,24 @@ impl GlyphInstance {
         }
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn hand_palm_horizontal_uses_column_major_pressure_order() {
+        assert_eq!(hand_palm_pressure_index(0, 0, 0, 5, 14), 4);
+        assert_eq!(hand_palm_pressure_index(0, 1, 0, 5, 14), 3);
+        assert_eq!(hand_palm_pressure_index(0, 0, 1, 5, 14), 9);
+        assert_eq!(hand_palm_pressure_index(0, 4, 13, 5, 14), 65);
+    }
+
+    #[test]
+    fn hand_palm_vertical_keeps_row_major_pressure_order() {
+        assert_eq!(hand_palm_pressure_index(1, 0, 0, 11, 4), 0);
+        assert_eq!(hand_palm_pressure_index(1, 0, 1, 11, 4), 1);
+        assert_eq!(hand_palm_pressure_index(1, 1, 0, 11, 4), 4);
+        assert_eq!(hand_palm_pressure_index(1, 10, 3, 11, 4), 43);
+    }
+}

src/resources.rs

@@ -38,8 +38,9 @@ pub fn load_texture(
     device: &wgpu::Device,
     queue: &wgpu::Queue,
 ) -> anyhow::Result<texture::Texture> {
-    let data = load_binary(file_name)?;
+    // let data = load_binary(file_name)?;
-    texture::Texture::from_bytes(device, queue, &data, file_name)
+    let data = include_bytes!("../res/hand.png");
+    texture::Texture::from_bytes(device, queue, data, file_name)
 }
 
 pub fn load_model(
@@ -457,7 +458,6 @@ fn create_color_material(
     ))
 }
 
-#[allow(clippy::too_many_arguments)]
 fn create_material(
     device: &wgpu::Device,
     texture_bind_group_layout: &wgpu::BindGroupLayout,
@@ -703,7 +703,6 @@ fn append_gltf_node_meshes(
     Ok(())
 }
 
-#[allow(clippy::too_many_arguments)]
 fn append_gltf_primitive_mesh(
     mesh_name: &str,
     primitive_index: usize,
@@ -971,7 +970,7 @@ fn rgba_from_chunks(
     read_component: fn(&[u8]) -> u8,
 ) -> anyhow::Result<Vec<u8>> {
     let pixel_width = channels * component_width;
-    if pixel_width == 0 || !pixels.len().is_multiple_of(pixel_width) {
+    if pixel_width == 0 || pixels.len() % pixel_width != 0 {
         bail!("invalid glTF image byte length for {channels} channels");
     }
 

src/serial_core/codecs/hand_gateway.rs

@@ -127,14 +127,14 @@ pub struct HandGatewayCodec {
 }
 
 impl HandGatewayCodec {
-    pub fn new(node_sample_counts: &[usize]) -> Self {
+    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,
+                    sample_count as usize,
                 )
             })
             .collect();
@@ -146,7 +146,7 @@ impl HandGatewayCodec {
     }
 
     pub fn parse_node_payload(data: &[u8]) -> Result<Vec<u16>, CodecError> {
-        if !data.len().is_multiple_of(2) {
+        if data.len() % 2 != 0 {
             return Err(CodecError::InvalidLength);
         }
 

src/serial_core/codecs/tactile_a.rs

@@ -31,7 +31,7 @@ impl TactileACodec {
     }
 
     pub fn parse_data_frame(data: &[u8]) -> Result<Vec<i32>, CodecError> {
-        if !data.len().is_multiple_of(2) {
+        if data.len() % 2 != 0 {
             return Err(CodecError::InvalidLength);
         }
 
@@ -132,7 +132,7 @@ impl Codec<TactileAFrame> for TactileACodec {
             let need_check_data = self.buffer[0..14 + except_data_len].to_vec();
             let payload = self.buffer[14..14 + except_data_len].to_vec();
             let crc8_itu_alg = crc::Crc::<u8>::new(&crc::CRC_8_I_432_1);
-            let checksum = crc8_itu_alg.checksum(need_check_data.as_slice());
+            let checksum = crc8_itu_alg.checksum(&need_check_data.as_slice());
             if self.buffer[frame_length - 1] != checksum {
                 log::debug!(
                     "checksum mismatch: expected {:02X}, got {:02X}, frame_len={}",

src/serial_core/multi_dim_force.rs

@@ -5,7 +5,7 @@ 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_WINDOW_CNT: usize = 50;
 const POST_INIT_STABLE_CNT: usize = 50;
 const POST_INIT_STABLE_THRESH: f32 = 0.1;
 
@@ -87,7 +87,7 @@ impl PztProcessor {
             return 0.0;
         }
 
-        if n.is_multiple_of(2) {
+        if n % 2 == 0 {
             (sorted[n / 2 - 1] + sorted[n / 2]) / 2.0
         } else {
             sorted[n / 2]

src/serial_core/serial.rs

@@ -1,4 +1,3 @@
-use crate::matrix::UNFOLDED_SENSOR_SEGMENT_COUNTS;
 use crate::recording::Recorder;
 use crate::serial_core::codec::Codec;
 use crate::serial_core::codecs::hand_gateway::{HandGatewayCodec, HandGatewayFrame};
@@ -9,14 +8,13 @@ use std::io::{Read, Write};
 use std::time::{Duration, Instant};
 
 const POLL_INTERVAL_MS: u64 = 5;
-// 270-degree flat layout:
+const DEFAULT_HAND_GATEWAY_NODE_SAMPLE_COUNTS: &[u16] = &[84, 84, 84, 84, 84, 70, 44];
-// top 2x4, left 3/5/8/10x1, center 11x4, right 3/5/8/10x1.
-const DEFAULT_HAND_GATEWAY_NODE_SAMPLE_COUNTS: &[usize] = &UNFOLDED_SENSOR_SEGMENT_COUNTS;
 
 #[derive(Debug, Default, Clone, Copy, PartialEq, Eq)]
 pub struct SerialIoStats {
     pub rx_bytes: u64,
     pub tx_bytes: u64,
+    pub rx_frames: u64,
 }
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
@@ -27,7 +25,6 @@ pub enum SerialProtocol {
 
 /// Runs the serial polling loop on the calling (background) thread.
 /// Sends decoded pressure matrix data (Vec<i32>) to the output channel.
-#[allow(clippy::too_many_arguments)]
 pub fn run_serial_loop(
     port: &mut dyn ReadWrite,
     rows: usize,
@@ -77,12 +74,12 @@ fn run_tactile_a_loop(
         }
 
         // Send poll request
-        if let Ok(req_bytes) = codec.encode(&req_frame)
+        if let Ok(req_bytes) = codec.encode(&req_frame) {
-            && port.write_all(&req_bytes).is_ok()
+            if port.write_all(&req_bytes).is_ok() {
-        {
                 io_stats.tx_bytes += req_bytes.len() as u64;
                 publish_stats(stats_tx, io_stats);
             }
+        }
 
         // Read response with poll interval
         let deadline = Instant::now() + poll_interval;
@@ -97,15 +94,17 @@ fn run_tactile_a_loop(
                     publish_stats(stats_tx, io_stats);
                     if let Ok(frames) = codec.decode(&buffer[..n], session_started_at) {
                         for frame in frames {
-                            if let TactileAFrame::Rep(rep) = frame
+                            if let TactileAFrame::Rep(rep) = frame {
-                                && let Ok(vals) = TactileACodec::parse_data_frame(&rep.payload)
+                                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);
+                                    io_stats.rx_frames += 1;
+                                    publish_stats(stats_tx, io_stats);
+                                }
                             }
                         }
                     }
@@ -195,6 +194,8 @@ fn run_hand_gateway_loop(
                                     recorder.add_frame(&pressures);
                                 }
                                 let _ = sample_tx.try_send(vals);
+                                io_stats.rx_frames += 1;
+                                publish_stats(stats_tx, io_stats);
                             }
                         }
                     }

src/style.rs

@@ -61,7 +61,7 @@ pub const METRICS: DesignMetrics = DesignMetrics {
 
 pub mod layout {
     pub const TITLE_BAR_HEIGHT: f32 = 36.0;
-    pub const CONFIG_BAR_HEIGHT: f32 = 48.0;
+    pub const CONFIG_BAR_HEIGHT: f32 = 38.0;
     pub const CENTER_PANEL_TOP: f32 = 48.0;
     pub const LEFT_X: f32 = 24.0;
     pub const RIGHT_X: f32 = 1328.0;
@@ -77,7 +77,7 @@ pub fn apply_theme(ctx: &egui::Context, theme: &AppTheme) {
     visuals.override_text_color = Some(theme.text);
     visuals.panel_fill = theme.bg;
     visuals.window_fill = theme.panel;
-    visuals.window_stroke = egui::Stroke::new(1.0_f32, theme.border);
+    visuals.window_stroke = egui::Stroke::new(1.0, theme.border);
     visuals.extreme_bg_color = theme.panel_deep;
     visuals.faint_bg_color = theme.panel_strong;
     visuals.code_bg_color = theme.panel_deep;
@@ -85,23 +85,23 @@ pub fn apply_theme(ctx: &egui::Context, theme: &AppTheme) {
     visuals.error_fg_color = ACCENT_RED;
 
     visuals.widgets.noninteractive.bg_fill = theme.panel_strong;
-    visuals.widgets.noninteractive.bg_stroke = egui::Stroke::new(1.0_f32, theme.border_soft);
+    visuals.widgets.noninteractive.bg_stroke = egui::Stroke::new(1.0, theme.border_soft);
-    visuals.widgets.noninteractive.fg_stroke = egui::Stroke::new(1.0_f32, theme.text);
+    visuals.widgets.noninteractive.fg_stroke = egui::Stroke::new(1.0, theme.text);
     visuals.widgets.inactive.bg_fill = theme.panel_strong;
-    visuals.widgets.inactive.bg_stroke = egui::Stroke::new(1.0_f32, theme.border_soft);
+    visuals.widgets.inactive.bg_stroke = egui::Stroke::new(1.0, theme.border_soft);
-    visuals.widgets.inactive.fg_stroke = egui::Stroke::new(1.0_f32, theme.text);
+    visuals.widgets.inactive.fg_stroke = egui::Stroke::new(1.0, theme.text);
     visuals.widgets.hovered.bg_fill = egui::Color32::from_rgb(44, 57, 70);
-    visuals.widgets.hovered.bg_stroke = egui::Stroke::new(1.0_f32, theme.accent);
+    visuals.widgets.hovered.bg_stroke = egui::Stroke::new(1.0, theme.accent);
-    visuals.widgets.hovered.fg_stroke = egui::Stroke::new(1.0_f32, egui::Color32::WHITE);
+    visuals.widgets.hovered.fg_stroke = egui::Stroke::new(1.0, egui::Color32::WHITE);
     visuals.widgets.active.bg_fill = theme.accent;
-    visuals.widgets.active.bg_stroke = egui::Stroke::new(1.0_f32, theme.accent_hot);
+    visuals.widgets.active.bg_stroke = egui::Stroke::new(1.0, theme.accent_hot);
-    visuals.widgets.active.fg_stroke = egui::Stroke::new(1.0_f32, egui::Color32::WHITE);
+    visuals.widgets.active.fg_stroke = egui::Stroke::new(1.0, egui::Color32::WHITE);
     visuals.widgets.open.bg_fill = egui::Color32::from_rgb(39, 50, 62);
-    visuals.widgets.open.bg_stroke = egui::Stroke::new(1.0_f32, theme.accent);
+    visuals.widgets.open.bg_stroke = egui::Stroke::new(1.0, theme.accent);
-    visuals.widgets.open.fg_stroke = egui::Stroke::new(1.0_f32, theme.text);
+    visuals.widgets.open.fg_stroke = egui::Stroke::new(1.0, theme.text);
 
     visuals.selection.bg_fill = egui::Color32::from_rgb(35, 123, 140);
-    visuals.selection.stroke = egui::Stroke::new(1.0_f32, egui::Color32::WHITE);
+    visuals.selection.stroke = egui::Stroke::new(1.0, egui::Color32::WHITE);
     visuals.hyperlink_color = theme.accent_hot;
     ctx.set_visuals(visuals);
 
@@ -127,8 +127,8 @@ pub fn apply_fonts(ctx: &egui::Context) {
     let mut fonts = egui::FontDefinitions::default();
 
     fonts.font_data.insert(
-        "MapleMono-NF-CN-Bold".to_owned(),
+        "Hack-Bold".to_owned(),
-        egui::FontData::from_static(include_bytes!("../static/MapleMono-NF-CN-Bold.ttf")).into(),
+        egui::FontData::from_static(include_bytes!("../static/Hack-Bold.ttf")).into(),
     );
 
     let has_yahei = std::fs::read(r"C:\Windows\Fonts\msyh.ttc")
@@ -145,7 +145,7 @@ pub fn apply_fonts(ctx: &egui::Context) {
         .families
         .entry(egui::FontFamily::Proportional)
         .or_default()
-        .insert(0, "MapleMono-NF-CN-Bold".to_owned());
+        .insert(0, "Hack-Bold".to_owned());
     if has_yahei {
         fonts
             .families
@@ -158,7 +158,7 @@ pub fn apply_fonts(ctx: &egui::Context) {
         .families
         .entry(egui::FontFamily::Monospace)
         .or_default()
-        .insert(0, "MapleMono-NF-CN-Bold".to_owned());
+        .insert(0, "Hack-Bold".to_owned());
     if has_yahei {
         fonts
             .families
@@ -174,7 +174,7 @@ pub fn panel_frame(ctx: &egui::Context) -> egui::Frame {
     let style = ctx.global_style();
     egui::Frame::window(&style)
         .fill(ONE_DARK_PRO.panel)
-        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border))
+        .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.border))
         .corner_radius(egui::CornerRadius::same(ONE_DARK_PRO.radius))
         .inner_margin(egui::Margin::same(METRICS.panel_padding))
         .shadow(egui::epaint::Shadow {
@@ -198,7 +198,7 @@ pub fn center_panel_frame() -> egui::Frame {
 pub fn group_frame() -> egui::Frame {
     egui::Frame::new()
         .fill(ONE_DARK_PRO.panel_deep)
-        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border_soft))
+        .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.border_soft))
         .corner_radius(egui::CornerRadius::same(4))
         .inner_margin(egui::Margin::symmetric(
             METRICS.group_padding_x,
@@ -209,7 +209,7 @@ pub fn group_frame() -> egui::Frame {
 pub fn tag_button(label: impl Into<egui::WidgetText>) -> egui::Button<'static> {
     egui::Button::new(label)
         .fill(ONE_DARK_PRO.panel_strong)
-        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border))
+        .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))
 }
@@ -222,7 +222,7 @@ pub fn rich_tag_button(
 
     egui::Button::new(text)
         .fill(ONE_DARK_PRO.panel_strong)
-        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border))
+        .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))
 }
@@ -230,7 +230,7 @@ pub fn rich_tag_button(
 pub fn primary_button(label: impl Into<egui::WidgetText>) -> egui::Button<'static> {
     egui::Button::new(label)
         .fill(ONE_DARK_PRO.accent)
-        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.accent_hot))
+        .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.accent_hot))
         .corner_radius(egui::CornerRadius::same(4))
         .min_size(egui::vec2(112.0, METRICS.button_height))
 }
@@ -239,7 +239,7 @@ pub fn danger_button(label: impl Into<egui::WidgetText>) -> egui::Button<'static
     egui::Button::new(label)
         .fill(ACCENT_RED)
         .stroke(egui::Stroke::new(
-            1.0_f32,
+            1.0,
             egui::Color32::from_rgb(255, 138, 126),
         ))
         .corner_radius(egui::CornerRadius::same(4))
@@ -252,7 +252,7 @@ pub fn accent_button(
 ) -> egui::Button<'static> {
     egui::Button::new(label)
         .fill(fill)
-        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border))
+        .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))
 }
@@ -271,7 +271,7 @@ pub fn mode_button(label: &'static str, selected: bool) -> egui::Button<'static>
 
     egui::Button::new(egui::RichText::new(label).color(egui::Color32::WHITE))
         .fill(fill)
-        .stroke(egui::Stroke::new(1.0_f32, stroke))
+        .stroke(egui::Stroke::new(1.0, stroke))
         .corner_radius(egui::CornerRadius::same(4))
         .min_size(egui::vec2(96.0, METRICS.button_height))
 }
@@ -279,7 +279,7 @@ pub fn mode_button(label: &'static str, selected: bool) -> egui::Button<'static>
 pub fn icon_button<'a>(icon: impl Into<egui::WidgetText>, size: egui::Vec2) -> egui::Button<'a> {
     egui::Button::new(icon)
         .fill(ONE_DARK_PRO.panel_strong)
-        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border))
+        .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.border))
         .corner_radius(egui::CornerRadius::same(4))
         .min_size(size)
 }

src/texture.rs

@@ -187,7 +187,6 @@ impl Texture {
         )
     }
 
-    #[allow(clippy::too_many_arguments)]
     pub fn from_rgba8_with_sampler(
         device: &wgpu::Device,
         queue: &wgpu::Queue,

src/theme.rs

@@ -83,6 +83,53 @@ pub fn apply_theme(ctx: &egui::Context, theme: &AppTheme) {
     ctx.set_global_style(style);
 }
 
+pub fn apply_fonts(ctx: &egui::Context) {
+    let mut fonts = egui::FontDefinitions::default();
+
+    fonts.font_data.insert(
+        "Hack-Bold".to_owned(),
+        egui::FontData::from_static(include_bytes!("../static/Hack-Bold.ttf")).into(),
+    );
+
+    let has_yahei = std::fs::read(r"C:\Windows\Fonts\msyh.ttc")
+        .or_else(|_| std::fs::read(r"C:\Windows\Fonts\msyhbd.ttc"))
+        .map(|font_data| {
+            fonts.font_data.insert(
+                "Microsoft-YaHei".to_owned(),
+                egui::FontData::from_owned(font_data).into(),
+            );
+        })
+        .is_ok();
+
+    fonts
+        .families
+        .entry(egui::FontFamily::Proportional)
+        .or_default()
+        .insert(0, "Hack-Bold".to_owned());
+    if has_yahei {
+        fonts
+            .families
+            .entry(egui::FontFamily::Proportional)
+            .or_default()
+            .push("Microsoft-YaHei".to_owned());
+    }
+
+    fonts
+        .families
+        .entry(egui::FontFamily::Monospace)
+        .or_default()
+        .insert(0, "Hack-Bold".to_owned());
+    if has_yahei {
+        fonts
+            .families
+            .entry(egui::FontFamily::Monospace)
+            .or_default()
+            .push("Microsoft-YaHei".to_owned());
+    }
+
+    ctx.set_fonts(fonts);
+}
+
 pub fn panel_frame(ctx: &egui::Context) -> egui::Frame {
     let style = ctx.global_style();
     egui::Frame::window(&style)

src/ui.rs

@@ -7,9 +7,7 @@ use crate::{
     serial_core::serial::{SerialIoStats, SerialProtocol},
     style::{
         self, ACCENT_BLUE, ACCENT_GREEN, ACCENT_ORANGE, ACCENT_RED, METRICS, ONE_DARK_PRO,
-        dim_text, group_frame,
+        dim_text, group_frame, layout, panel_frame, rich_tag_button, tag_button,
-        layout::{self},
-        panel_frame, rich_tag_button, tag_button,
     },
     utils::serial_enum,
 };
@@ -53,7 +51,6 @@ pub struct ConnectPanelState {
 #[derive(Clone, Copy, PartialEq, Eq)]
 pub enum SerialMode {
     Finger,
-    // Finger3D,
     Hand,
 }
 
@@ -104,13 +101,13 @@ impl Default for ConfigPanelState {
         let port = available_ports
             .first()
             .cloned()
-            .unwrap_or_else(|| "无可用串口".to_owned());
+            .unwrap_or_else(|| "COM3".to_owned());
 
         Self {
-            mode: SerialMode::Finger,
+            mode: SerialMode::Hand,
             port,
             available_ports,
-            baud_rate: 921_600,
+            baud_rate: SerialMode::Hand.baud_rate(),
             data_bits: 8,
             stop_bits: 1,
             parity: Parity::None,
@@ -129,7 +126,7 @@ impl Default for ConnectPanelState {
         let port = serial_enum().unwrap_or_default();
         let selected_port = port.first().cloned().unwrap_or_default();
         Self {
-            mode: SerialMode::Finger,
+            mode: SerialMode::Hand,
             port,
             selected_port,
             duration: 10,
@@ -244,8 +241,8 @@ pub fn draw_connect_panel(
 
                         ui.vertical(|ui| {
                             draw_connect_port_row(ui, config);
-                            // ui.add_space(8.0);
+                            ui.add_space(6.0);
-                            // draw_connect_matrix_row(ui, config);
+                            draw_connect_matrix_row(ui, config);
                         });
                     });
                 });
@@ -300,13 +297,14 @@ fn draw_connect_port_row(ui: &mut egui::Ui, config: &mut ConnectPanelState) {
             ))
             .on_hover_text("刷新串口")
             .clicked()
-            && let Ok(ports) = serial_enum()
         {
+            if let Ok(ports) = serial_enum() {
                 if !ports.contains(&config.selected_port) {
                     config.selected_port = ports.first().cloned().unwrap_or_default();
                 }
                 config.port = ports;
             }
+        }
 
         ui.add_space(METRICS.item_gap);
         ui.label(style::field_label("频率"));
@@ -387,128 +385,67 @@ fn draw_connect_action_row(
     });
 }
 
-#[allow(clippy::too_many_arguments)]
 pub fn draw_config_panel(
     ctx: &egui::Context,
-    panel: &mut FloatingPanelState,
+    _panel: &mut FloatingPanelState,
     config: &mut ConfigPanelState,
     connection: &ConnectionManager,
     recorder: &Recorder,
-    _state: SerialIoStats,
+    _stats: SerialIoStats,
-    _sample_rate_hz: f32,
+    sample_rate_hz: f32,
-    _render_rate_hz: f32,
+    render_rate_hz: f32,
 ) -> Option<SerialMode> {
-    let mut changed_mode = None;
+    let changed_mode = None;
     let conn_state = connection.state();
-    let screen = ctx.content_rect();
-    let bar_rect = egui::Rect::from_min_size(
-        screen.left_top() + egui::vec2(0.0, layout::TITLE_BAR_HEIGHT),
-        egui::vec2(screen.width(), layout::CONFIG_BAR_HEIGHT),
-    );
     config.connected = matches!(
         conn_state,
         ConnectionState::Connected | ConnectionState::Streaming
     );
-    panel.visible = true;
 
-    egui::Area::new(egui::Id::new("config_panel_bar"))
+    let screen = ctx.content_rect();
+    let bar_rect = egui::Rect::from_min_size(
+        egui::pos2(screen.left(), screen.top() + layout::TITLE_BAR_HEIGHT),
+        egui::vec2(screen.width(), layout::CONFIG_BAR_HEIGHT),
+    );
+
+    egui::Area::new(egui::Id::new("config_top_bar"))
         .fixed_pos(bar_rect.min)
         .order(egui::Order::Foreground)
         .show(ctx, |ui| {
             ui.set_min_size(bar_rect.size());
-            ui.set_max_size(bar_rect.size());
+            ui.painter().rect_filled(
-
+                ui.max_rect(),
-            config_bar_frame().show(ui, |ui| {
+                egui::CornerRadius::ZERO,
-                ui.set_min_width(bar_rect.width());
+                ONE_DARK_PRO.panel_deep,
-                ui.set_max_width(bar_rect.width());
+            );
-                ui.spacing_mut().item_spacing = egui::vec2(METRICS.item_gap, 6.0);
+            ui.painter().line_segment(
+                [ui.max_rect().left_top(), ui.max_rect().right_top()],
+                egui::Stroke::new(1.0, ONE_DARK_PRO.border_soft),
+            );
+            ui.painter().line_segment(
+                [ui.max_rect().left_bottom(), ui.max_rect().right_bottom()],
+                egui::Stroke::new(1.0, ONE_DARK_PRO.border_soft),
+            );
 
+            ui.add_space(5.0);
             ui.horizontal(|ui| {
-                    ui.label(style::panel_title("配置面板"));
+                ui.add_space(8.0);
-                    ui.add_space(12.0);
+                ui.spacing_mut().item_spacing = egui::vec2(8.0, 0.0);
+                config.mode = SerialMode::Hand;
+                config.baud_rate = SerialMode::Hand.baud_rate();
 
-                    if let Some(mode) = draw_config_bar_mode(ui, config) {
+                ui.colored_label(dim_text(), "配置面板");
-                        changed_mode = Some(mode);
+                ui.add_space(8.0);
-                    }
-
-                    ui.add_space(12.0);
-                    draw_config_bar_connection(ui, config, connection, recorder, conn_state);
-
-                    // ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
-                    //     draw_conf
-                    // })
-                })
-            })
-        });
-
-    // 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", 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);
-    //     }
-
-    //     // draw_mode_row(ui, config);
-    //     ui.separator();
-    //     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);
-    //     // ui.add_space(8.0);
-    //     draw_mode_body(ui, config, conn_state, stats);
-    // });
-    changed_mode
-}
-
-fn config_bar_frame() -> egui::Frame {
-    egui::Frame::new()
-        .fill(ONE_DARK_PRO.panel_deep)
-        .inner_margin(egui::Margin::symmetric(8, 8))
-}
-
-fn draw_config_bar_mode(ui: &mut egui::Ui, config: &mut ConfigPanelState) -> Option<SerialMode> {
-    let mut changed_to = None;
-    ui.horizontal_wrapped(|ui| {
                 ui.colored_label(dim_text(), "模式");
+                ui.add_sized(
+                    egui::vec2(102.0, 28.0),
+                    style::mode_button("手掌模块", true),
+                );
+
                 ui.add_space(12.0);
-
+                ui.label(style::field_label("端口"));
-        if mode_button(ui, &mut config.mode, SerialMode::Finger, "指尖模块") {
+                egui::ComboBox::from_id_salt("config_top_bar_ports")
-            changed_to = Some(SerialMode::Finger)
+                    .width(180.0)
-        }
-        if mode_button(ui, &mut config.mode, SerialMode::Hand, "270°展开") {
-            changed_to = Some(SerialMode::Hand)
-        }
-        // mode_button(ui, &mut config.mode, SerialMode::Model, "模型");
-
-        // Legacy reconnect controls. Current sensors run fixed 921600 baud without auto-reconnect UI.
-        // ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
-        //     ui.checkbox(&mut config.auto_reconnect, "自动");
-        //     ui.colored_label(dim_text(), "重连");
-        // });
-    });
-
-    changed_to
-}
-
-fn draw_config_bar_connection(
-    ui: &mut egui::Ui,
-    config: &mut ConfigPanelState,
-    connection: &ConnectionManager,
-    recorder: &Recorder,
-    conn_state: ConnectionState,
-) {
-    ui.colored_label(dim_text(), "端口");
-    egui::ComboBox::from_id_salt("config_bar_ports")
-        .selected_text("config_bar_ports")
-        .width(170.0)
                     .selected_text(if config.port.is_empty() {
                         "无可用串口".to_owned()
                     } else {
@@ -522,10 +459,8 @@ fn draw_config_bar_connection(
 
                 if ui
                     .add(style::icon_button(
-            egui::RichText::new("\u{f021}")
+                        egui::RichText::new("⟳").color(ONE_DARK_PRO.text).size(16.0),
-                .color(ONE_DARK_PRO.text)
+                        METRICS.icon_button,
-                .size(16.0),
-            egui::vec2(30.0, METRICS.field_height),
                     ))
                     .on_hover_text("刷新串口")
                     .clicked()
@@ -533,28 +468,24 @@ fn draw_config_bar_connection(
                     refresh_config_ports(config);
                 }
 
-    ui.add_space(4.0);
+                ui.add_space(10.0);
-    ui.colored_label(dim_text(), "波特率");
+                ui.label(style::value_text(format!("波特率  {}", config.baud_rate)));
-    ui.label(style::value_text(config.baud_rate.to_string()));
+                ui.add_space(10.0);
-
-    ui.add_space(4.0);
                 ui.colored_label(dim_text(), "状态");
                 ui.colored_label(
                     connection_status_color(conn_state),
                     connection_status_text(conn_state),
                 );
 
-    ui.add_space(6.0);
+                ui.add_space(8.0);
-
                 let is_connected = matches!(
                     conn_state,
                     ConnectionState::Connected | ConnectionState::Streaming
                 );
-
+                let button_text = if is_connected { "断开" } else { "连接" };
-    let button_text = if is_connected { "\u{f127}" } else { "\u{f0c1}" };
                 if ui
                     .add_sized(
-            egui::vec2(88.0, METRICS.button_height),
+                        egui::vec2(118.0, 28.0),
                         if is_connected {
                             style::danger_button(button_text)
                         } else {
@@ -576,6 +507,96 @@ fn draw_config_bar_connection(
                         );
                     }
                 }
+
+                ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
+                    ui.label(style::value_text(format!("{render_rate_hz:.1} Hz")));
+                    ui.colored_label(dim_text(), "画面刷新率");
+                    ui.add_space(18.0);
+                    ui.label(style::value_text(format!("{sample_rate_hz:.1} Hz")));
+                    ui.colored_label(dim_text(), "采样率");
+                });
+            });
+        });
+
+    changed_mode
+}
+
+pub fn draw_spatial_force_panel(
+    ctx: &egui::Context,
+    force: Option<HudSpatialForce>,
+    force_history: &[f32],
+) {
+    let Some(force) = force else {
+        return;
+    };
+
+    let target_visible = has_recent_resultant_force(force_history);
+    let anim = ctx.animate_bool(egui::Id::new("spatial_force_panel_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 alpha = (anim * 242.0).round() as u8;
+    let panel_width = responsive_panel_width(ctx, 380.0, 260.0);
+    let panel_height = responsive_panel_height(ctx, 340.0, 220.0);
+    let viewport = viewport_panel_rect(ctx);
+    let pos = egui::pos2(
+        viewport.right() - panel_width,
+        viewport.bottom() - panel_height - PANEL_VIEWPORT_MARGIN,
+    );
+
+    egui::Area::new(egui::Id::new("spatial_force_panel"))
+        .fixed_pos(pos)
+        .constrain_to(viewport)
+        .order(egui::Order::Foreground)
+        .show(ctx, |ui| {
+            faded_panel_frame(ctx, alpha).show(ui, |ui| {
+                ui.set_min_width(panel_width);
+                ui.set_max_width(panel_width);
+                ui.set_min_height(panel_height);
+
+                let text_dim = color_alpha(ONE_DARK_PRO.text_dim, alpha);
+                let accent = color_alpha(ACCENT_ORANGE, alpha);
+                let green = color_alpha(ACCENT_GREEN, alpha);
+
+                ui.horizontal(|ui| {
+                    ui.colored_label(accent, "3D FORCE");
+                    ui.label(egui::RichText::new("三维力方向").color(text_dim).size(17.0));
+                    ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
+                        ui.colored_label(
+                            green,
+                            egui::RichText::new("LIVE").color(green).size(12.0),
+                        );
+                    });
+                });
+                ui.separator();
+
+                ui.vertical_centered(|ui| {
+                    let gauge_size = (panel_height - 52.0).min(panel_width - 24.0).max(168.0);
+                    let (rect, _) = ui.allocate_exact_size(
+                        egui::vec2(gauge_size, gauge_size),
+                        egui::Sense::hover(),
+                    );
+                    paint_spatial_force_gauge(ui.painter(), rect, force, alpha);
+                });
+            });
+        });
+}
+
+fn draw_mode_row(ui: &mut egui::Ui, config: &mut ConfigPanelState) -> Option<SerialMode> {
+    config.mode = SerialMode::Hand;
+    config.baud_rate = SerialMode::Hand.baud_rate();
+    ui.horizontal_wrapped(|ui| {
+        ui.colored_label(dim_text(), "Mode");
+        ui.add_space(12.0);
+        ui.label(style::panel_title("Hand Gateway"));
+    });
+    None
 }
 
 fn draw_connection_row(
@@ -590,7 +611,7 @@ fn draw_connection_row(
         ui.horizontal_wrapped(|ui| {
             ui.label(style::field_label("端口"));
             egui::ComboBox::from_id_salt("config_ports")
-                .width(ui.available_width().clamp(104.0, 150.0))
+                .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 {
@@ -742,47 +763,22 @@ fn draw_mode_body(
     config: &mut ConfigPanelState,
     conn_state: ConnectionState,
     stats: SerialIoStats,
+    sample_rate_hz: f32,
+    render_rate_hz: f32,
 ) {
-    group_frame().show(ui, |ui| match config.mode {
+    let _ = (config.mode, conn_state, stats);
-        SerialMode::Finger => {
+    draw_realtime_rate_row(ui, sample_rate_hz, render_rate_hz);
-            // Legacy module-address controls for older devices:
-            // ui.horizontal(|ui| {
-            //     ui.label(style::field_label("模块地址"));
-            //     ui.add_sized(
-            //         egui::vec2(80.0, METRICS.field_height),
-            //         egui::DragValue::new(&mut config.module_addr).range(1..=247),
-            //     );
-            //     ui.add_space(16.0);
-            //     if ui.add(tag_button("读取信息")).clicked() {}
-            //     if ui.add(tag_button("探测")).clicked() {}
-            // });
-            draw_status_bytes_row(ui, conn_state, stats);
 }
-        SerialMode::Hand => {
+
-            // Legacy manual-TX controls for older hand-module debugging:
+fn draw_realtime_rate_row(ui: &mut egui::Ui, sample_rate_hz: f32, render_rate_hz: f32) {
-            // ui.horizontal(|ui| {
+    group_frame().show(ui, |ui| {
-            //     ui.label(style::field_label("发送"));
+        ui.horizontal_wrapped(|ui| {
-            //     ui.add_sized(
+            ui.colored_label(dim_text(), "实时采样率");
-            //         egui::vec2(300.0, METRICS.field_height),
+            ui.label(style::value_text(format!("{sample_rate_hz:.1} Hz")));
-            //         egui::TextEdit::singleline(&mut config.manual_tx),
+            ui.add_space(18.0);
-            //     );
+            ui.colored_label(dim_text(), "画面刷新率");
-            //     if ui.add(tag_button("发送")).clicked() {}
+            ui.label(style::value_text(format!("{render_rate_hz:.1} Hz")));
-            //     if ui.add(tag_button("清空")).clicked() {
+        });
-            //         config.manual_tx.clear();
-            //     }
-            // });
-            draw_status_bytes_row(ui, conn_state, stats);
-        } // SerialMode::Model => {
-          //     ui.horizontal(|ui| {
-          //         ui.label(style::field_label("模型"));
-          //         ui.add_sized(
-          //             egui::vec2(300.0, METRICS.field_height),
-          //             egui::TextEdit::singleline(&mut config.model_path),
-          //         );
-          //         if ui.add(tag_button("加载")).clicked() {}
-          //         if ui.add(tag_button("运行")).clicked() {}
-          //     });
-          // }
     });
 }
 
@@ -850,7 +846,7 @@ pub fn icon_button_sized<'a>(
         ),
     }
     .fill(ONE_DARK_PRO.panel_strong)
-    .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border))
+    .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.border))
     .corner_radius(egui::CornerRadius::same(ONE_DARK_PRO.radius))
     .min_size(size);
 
@@ -961,25 +957,25 @@ pub fn draw_stats_panel(
 const FORCE_CHART_MAX_N: f32 = 25.6;
 const FORCE_CHART_SAMPLE_SECONDS: f32 = 0.1;
 const FORCE_PANEL_ACTIVE_TAIL: usize = 8;
+const FORCE_PANEL_EXIT_DELAY_SECONDS: f64 = 3.0;
 
-const HAND_FORCE_PANEL_MIN_WIDTH: f32 = 220.0;
+const HAND_FORCE_PANEL_MIN_WIDTH: f32 = 160.0;
-const HAND_FORCE_PANEL_MAX_WIDTH: f32 = 500.0;
+const HAND_FORCE_PANEL_MAX_WIDTH: f32 = 560.0;
-const HAND_FORCE_PANEL_MIN_HEIGHT: f32 = 104.0;
+const HAND_FORCE_PANEL_MIN_HEIGHT: f32 = 72.0;
-const HAND_FORCE_PANEL_MAX_HEIGHT: f32 = 190.0;
+const HAND_FORCE_PANEL_MAX_HEIGHT: f32 = 230.0;
-const HAND_FORCE_PANEL_GAP: f32 = 12.0;
+const HAND_FORCE_PANEL_GAP: f32 = 20.0;
 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); 10] = [
+const HAND_FORCE_CENTER_MIN_WIDTH: f32 = 420.0;
-    ("T", "顶部 2×4"),
+const HAND_FORCE_CENTER_MAX_WIDTH: f32 = 820.0;
-    ("L3", "左侧 3×1"),
+const HAND_FORCE_PANEL_TITLES: [(&str, &str); 7] = [
-    ("L5", "左侧 5×1"),
+    ("T1", "拇指"),
-    ("L8", "左侧 8×1"),
+    ("T2", "食指"),
-    ("L10", "左侧 10×1"),
+    ("T3", "中指"),
-    ("C", "中央 11×4"),
+    ("T4", "无名指"),
-    ("R3", "右侧 3×1"),
+    ("T5", "小指"),
-    ("R5", "右侧 5×1"),
+    ("P1", "掌心横区"),
-    ("R8", "右侧 8×1"),
+    ("P2", "掌心纵区"),
-    ("R10", "右侧 10×1"),
 ];
 
 fn has_recent_resultant_force(values: &[f32]) -> bool {
@@ -991,38 +987,37 @@ fn has_recent_resultant_force(values: &[f32]) -> bool {
 }
 
 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 gap = HAND_FORCE_PANEL_GAP.min((screen.height() * 0.024).max(12.0));
-    let side_width = ((screen.width() - side_margin * 4.0) * 0.25).max(0.0);
+    let reserved_center_width = (screen.width() * 0.42)
+        .clamp(HAND_FORCE_CENTER_MIN_WIDTH, HAND_FORCE_CENTER_MAX_WIDTH)
+        .min((screen.width() - side_margin * 2.0).max(0.0));
+    let side_width = ((screen.width() - reserved_center_width - side_margin * 2.0) * 0.5).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 = 5usize;
+    let left_count = 4usize;
     let right_count = HAND_FORCE_PANEL_TITLES.len() - left_count;
-    let available_height =
+    let chrome_height = layout::TITLE_BAR_HEIGHT + layout::CONFIG_BAR_HEIGHT;
-        (screen.height() - layout::TITLE_BAR_HEIGHT - vertical_margin * 2.0).max(0.0);
+    let available_height = (screen.height() - chrome_height - vertical_margin * 2.0).max(0.0);
     let panel_height = ((available_height - (left_count - 1) as f32 * gap) / left_count as f32)
-        .clamp(
+        .max(0.0)
-            HAND_FORCE_PANEL_MIN_HEIGHT.min(available_height),
+        .min(HAND_FORCE_PANEL_MAX_HEIGHT)
-            HAND_FORCE_PANEL_MAX_HEIGHT,
+        .max(HAND_FORCE_PANEL_MIN_HEIGHT.min(available_height / left_count as f32));
-        );
     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 min_top = screen.top() + chrome_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, &(code, title)) in HAND_FORCE_PANEL_TITLES.iter().enumerate() {
+    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 {
@@ -1038,7 +1033,8 @@ pub fn draw_hand_force_panels(ctx: &egui::Context, visible: bool, histories: &[V
             egui::Id::new(format!("hand_force_panel_{index}")),
             egui::pos2(target_x, target_y),
             egui::vec2(panel_width, panel_height),
-            target_visible,
+            index < left_count,
+            visible,
             code,
             title,
             history,
@@ -1046,18 +1042,40 @@ pub fn draw_hand_force_panels(ctx: &egui::Context, visible: bool, histories: &[V
     }
 }
 
-#[allow(clippy::too_many_arguments)]
 fn draw_force_chart_area(
     ctx: &egui::Context,
     id: egui::Id,
     target_pos: egui::Pos2,
     size: egui::Vec2,
+    from_left: bool,
     target_visible: bool,
     code: &'static str,
     title: &'static str,
     values: &[f32],
 ) {
-    let anim = ctx.animate_bool(id.with("enter"), target_visible);
+    let now = ctx.input(|input| input.time);
+    let active = target_visible && has_recent_resultant_force(values);
+    let state_id = id.with("active_state");
+    let mut last_active_at = ctx.data_mut(|data| data.get_temp::<f64>(state_id));
+    if active {
+        last_active_at = Some(now);
+        ctx.data_mut(|data| data.insert_temp(state_id, now));
+    } else if !target_visible {
+        last_active_at = None;
+        ctx.data_mut(|data| data.remove::<f64>(state_id));
+    }
+
+    let target_visible =
+        last_active_at.is_some_and(|active_at| now - active_at <= FORCE_PANEL_EXIT_DELAY_SECONDS);
+    let anim_id = id.with("enter");
+    let anim_seeded_id = id.with("enter_seeded");
+    let anim_seeded = ctx.data_mut(|data| data.get_temp::<bool>(anim_seeded_id).unwrap_or(false));
+    if target_visible && !anim_seeded {
+        ctx.animate_bool(anim_id, false);
+        ctx.data_mut(|data| data.insert_temp(anim_seeded_id, true));
+    }
+
+    let anim = ctx.animate_bool(anim_id, target_visible);
 
     if anim <= 0.01 {
         return;
@@ -1069,20 +1087,27 @@ fn draw_force_chart_area(
     }
 
     let eased = ease_in_out(anim);
-    let hidden_y = ctx.content_rect().bottom() + HAND_FORCE_PANEL_GAP;
+    let hidden_x = if from_left {
-    let y = egui::lerp(hidden_y..=target_pos.y, eased);
+        ctx.content_rect().left() - size.x - HAND_FORCE_PANEL_GAP
+    } else {
+        ctx.content_rect().right() + HAND_FORCE_PANEL_GAP
+    };
+    let x = egui::lerp(hidden_x..=target_pos.x, eased);
 
     egui::Area::new(id)
-        .fixed_pos(egui::pos2(target_pos.x, y))
+        .fixed_pos(egui::pos2(x, target_pos.y))
         .constrain_to(viewport_panel_rect(ctx))
         .order(egui::Order::Foreground)
         .show(ctx, |ui| {
             panel_frame(ctx).show(ui, |ui| {
+                let padding = METRICS.panel_padding as f32;
+                let inner_width = (size.x - padding * 2.0).max(80.0);
+                let inner_height = (size.y - padding * 2.0).max(48.0);
                 ui.spacing_mut().item_spacing = egui::vec2(METRICS.item_gap, 6.0);
-                ui.set_min_width(size.x);
+                ui.set_min_width(inner_width);
-                ui.set_max_width(size.x);
+                ui.set_max_width(inner_width);
-                ui.set_min_height(size.y);
+                ui.set_min_height(inner_height);
-                draw_force_chart_panel_contents(ui, code, title, values, size.y);
+                draw_force_chart_panel_contents(ui, code, title, values, inner_height);
             });
         });
 }
@@ -1105,7 +1130,7 @@ fn draw_force_chart_panel_contents(
     });
 
     ui.add_space(6.0);
-    let chart_height = (content_height - 32.0).max(90.0);
+    let chart_height = (content_height - 32.0).max(36.0);
     paint_resultant_force_chart(ui, values, chart_height);
 }
 
@@ -1113,7 +1138,7 @@ fn paint_resultant_force_chart(ui: &mut egui::Ui, values: &[f32], chart_height:
     const CHART_POINTS: usize = 42;
     const CHART_WINDOW_SECONDS: f32 = CHART_POINTS as f32 * FORCE_CHART_SAMPLE_SECONDS;
 
-    let width = ui.available_width().max(180.0);
+    let width = ui.available_width().max(80.0);
     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);
@@ -1123,7 +1148,7 @@ fn paint_resultant_force_chart(ui: &mut egui::Ui, values: &[f32], chart_height:
     painter.rect_stroke(
         rect,
         radius,
-        egui::Stroke::new(1.0_f32, color_alpha(ONE_DARK_PRO.accent, 95)),
+        egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.accent, 95)),
         egui::StrokeKind::Outside,
     );
 
@@ -1151,9 +1176,7 @@ fn paint_resultant_force_chart(ui: &mut egui::Ui, values: &[f32], chart_height:
         .ctx()
         .animate_bool(egui::Id::new("resultant_force_chart_enter"), true);
     let slide_offset = (1.0 - enter) * -chart_rect.width() * 0.65;
-    let tick_phase = (time / FORCE_CHART_SAMPLE_SECONDS).fract();
+    let plot_rect = chart_rect.translate(egui::vec2(slide_offset, 0.0));
-    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());
@@ -1172,11 +1195,11 @@ fn paint_resultant_force_chart(ui: &mut egui::Ui, values: &[f32], chart_height:
     if points.len() >= 2 {
         plot_painter.add(egui::Shape::line(
             points.clone(),
-            egui::Stroke::new(4.0_f32, color_alpha(ONE_DARK_PRO.accent, 45)),
+            egui::Stroke::new(4.0, color_alpha(ONE_DARK_PRO.accent, 45)),
         ));
         plot_painter.add(egui::Shape::line(
             points.clone(),
-            egui::Stroke::new(1.7_f32, ONE_DARK_PRO.accent),
+            egui::Stroke::new(1.7, ONE_DARK_PRO.accent),
         ));
     }
 
@@ -1186,7 +1209,7 @@ fn paint_resultant_force_chart(ui: &mut egui::Ui, values: &[f32], chart_height:
             last,
             5.0 + pulse * 12.0,
             egui::Stroke::new(
-                1.0_f32,
+                1.0,
                 color_alpha(ACCENT_GREEN, ((1.0 - pulse) * 120.0) as u8),
             ),
         );
@@ -1210,7 +1233,7 @@ fn paint_force_grid(
                 egui::pos2(chart_rect.left(), y),
                 egui::pos2(chart_rect.right(), y),
             ],
-            egui::Stroke::new(1.0_f32, color_alpha(ONE_DARK_PRO.border, 78)),
+            egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.border, 78)),
         );
         painter.text(
             egui::pos2(rect.left() + 8.0, y),
@@ -1228,7 +1251,7 @@ fn paint_force_grid(
                 egui::pos2(x, chart_rect.top()),
                 egui::pos2(x, chart_rect.bottom()),
             ],
-            egui::Stroke::new(1.0_f32, color_alpha(ONE_DARK_PRO.border_soft, 42)),
+            egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.border_soft, 42)),
         );
     }
 
@@ -1280,6 +1303,132 @@ fn color_alpha(color: egui::Color32, alpha: u8) -> egui::Color32 {
     egui::Color32::from_rgba_premultiplied(color.r(), color.g(), color.b(), alpha)
 }
 
+fn faded_panel_frame(ctx: &egui::Context, alpha: u8) -> egui::Frame {
+    let style = ctx.global_style();
+    egui::Frame::window(&style)
+        .fill(color_alpha(ONE_DARK_PRO.panel, alpha))
+        .stroke(egui::Stroke::new(
+            1.0,
+            color_alpha(ONE_DARK_PRO.border, alpha),
+        ))
+        .corner_radius(egui::CornerRadius::same(ONE_DARK_PRO.radius))
+        .inner_margin(egui::Margin::same(METRICS.panel_padding))
+        .shadow(egui::epaint::Shadow {
+            offset: [0, 14],
+            blur: 28,
+            spread: 0,
+            color: egui::Color32::from_black_alpha((alpha as f32 * 0.45) as u8),
+        })
+}
+
+fn paint_spatial_force_gauge(
+    painter: &egui::Painter,
+    rect: egui::Rect,
+    force: HudSpatialForce,
+    alpha: u8,
+) {
+    let center = rect.center();
+    let radius = rect.width().min(rect.height()) * 0.42;
+    let angle = force.angle_deg.to_radians();
+    let direction = egui::vec2(angle.cos(), angle.sin());
+    let magnitude = force.magnitude.clamp(0.0, 1.0);
+    let end = center + direction * (radius * (0.35 + magnitude * 0.65));
+    let side = egui::vec2(-direction.y, direction.x);
+
+    painter.circle_stroke(
+        center,
+        radius,
+        egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.border, alpha)),
+    );
+    painter.circle_stroke(
+        center,
+        radius * 0.55,
+        egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.border_soft, alpha / 2)),
+    );
+    painter.line_segment(
+        [
+            center + egui::vec2(-radius, 0.0),
+            center + egui::vec2(radius, 0.0),
+        ],
+        egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.border_soft, alpha / 3)),
+    );
+    painter.line_segment(
+        [
+            center + egui::vec2(0.0, -radius),
+            center + egui::vec2(0.0, radius),
+        ],
+        egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.border_soft, alpha / 3)),
+    );
+    painter.circle_filled(
+        end,
+        12.0,
+        color_alpha(ACCENT_ORANGE, (alpha as f32 * 0.16) as u8),
+    );
+    painter.line_segment(
+        [center, end],
+        egui::Stroke::new(4.0, color_alpha(ACCENT_ORANGE, alpha)),
+    );
+    painter.line_segment(
+        [end, end - direction * 13.0 + side * 7.0],
+        egui::Stroke::new(3.0, color_alpha(ACCENT_ORANGE, alpha)),
+    );
+    painter.line_segment(
+        [end, end - direction * 13.0 - side * 7.0],
+        egui::Stroke::new(3.0, color_alpha(ACCENT_ORANGE, alpha)),
+    );
+    painter.circle_filled(center, 4.5, color_alpha(ONE_DARK_PRO.text_dim, alpha));
+    painter.circle_filled(end, 5.5, color_alpha(ACCENT_GREEN, alpha));
+    painter.circle_filled(end, 2.2, color_alpha(egui::Color32::WHITE, alpha));
+}
+
+fn draw_pinned_panel(
+    ctx: &egui::Context,
+    _panel: &mut FloatingPanelState,
+    title: &'static str,
+    id: &'static str,
+    preferred_width: f32,
+    min_width: f32,
+    add_contents: impl FnOnce(&mut egui::Ui),
+) {
+    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 viewport = viewport_panel_rect(ctx);
+    let x = (viewport.center().x - panel_width * 0.5).clamp(
+        viewport.left(),
+        (viewport.right() - panel_width).max(viewport.left()),
+    );
+    let y = viewport.top() + layout::TITLE_BAR_HEIGHT + PANEL_VIEWPORT_MARGIN;
+    let pos = egui::pos2(x, y);
+
+    egui::Window::new(title)
+        .id(egui::Id::new(id))
+        .current_pos(pos)
+        .max_width(panel_width)
+        .max_height(max_height)
+        .constrain_to(viewport_panel_rect(ctx))
+        .title_bar(false)
+        .resizable(false)
+        .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| {
+                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);
+                });
+        });
+}
+
 fn draw_floating_panel(
     ctx: &egui::Context,
     panel: &mut FloatingPanelState,
@@ -1337,7 +1486,8 @@ fn draw_floating_panel(
             window_rect = Some(response.response.rect);
         }
 
-        if hide_requested && let Some(rect) = window_rect {
+        if hide_requested {
+            if let Some(rect) = window_rect {
                 let screen = ctx.content_rect();
                 let tag_size = egui::vec2(86.0, 22.0);
 
@@ -1354,6 +1504,7 @@ fn draw_floating_panel(
 
                 panel.tag_pos = egui::pos2(x, y);
             }
+        }
         panel.visible = open && !hide_requested;
     }
     // else {
@@ -1535,11 +1686,11 @@ fn paint_integrated_handle(
         ui.painter().add(egui::Shape::convex_polygon(
             points.clone(),
             fill,
-            egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border),
+            egui::Stroke::new(1.0, ONE_DARK_PRO.border),
         ));
         ui.painter().line_segment(
             [points[2], points[3]],
-            egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border_soft),
+            egui::Stroke::new(1.0, ONE_DARK_PRO.border_soft),
         );
     }
 
@@ -1560,14 +1711,14 @@ fn paint_integrated_handle(
             arrow_center + egui::vec2(-6.0, -2.0 * arrow),
             arrow_center + egui::vec2(0.0, 4.0 * arrow),
         ],
-        egui::Stroke::new(1.7_f32, arrow_color),
+        egui::Stroke::new(1.7, arrow_color),
     );
     ui.painter().line_segment(
         [
             arrow_center + egui::vec2(6.0, -2.0 * arrow),
             arrow_center + egui::vec2(0.0, 4.0 * arrow),
         ],
-        egui::Stroke::new(1.7_f32, arrow_color),
+        egui::Stroke::new(1.7, arrow_color),
     );
 
     if !label.is_empty() {
@@ -1593,8 +1744,8 @@ fn paint_integrated_center_panel(
     handle_on_bottom: bool,
 ) {
     let painter = ui.painter();
-    let stroke = egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border);
+    let stroke = egui::Stroke::new(1.0, ONE_DARK_PRO.border);
-    let accent_stroke = egui::Stroke::new(1.2_f32, ONE_DARK_PRO.border_soft);
+    let accent_stroke = egui::Stroke::new(1.2, ONE_DARK_PRO.border_soft);
     let top = rect.top();
     let left = rect.left();
     let right = rect.right();
@@ -1739,7 +1890,7 @@ pub fn draw_signal_chart(ui: &mut egui::Ui, values: &[f32], label: &str, color:
             })
             .collect();
 
-        painter.add(egui::Shape::line(points, egui::Stroke::new(1.5_f32, color)));
+        painter.add(egui::Shape::line(points, egui::Stroke::new(1.5, color)));
     });
 }
 
@@ -1800,9 +1951,11 @@ pub fn draw_recording_toolbar(ui: &mut egui::Ui, recorder: &Recorder, export_pat
         ui.add_space(4.0);
 
         // Pause/Resume
-        if is_recording && ui.add(tag_button("⏸ 暂停")).clicked() {
+        if is_recording {
+            if ui.add(tag_button("⏸ 暂停")).clicked() {
                 let _ = recorder.pause_recording();
             }
+        }
 
         ui.add_space(8.0);
 

src/utils.rs

@@ -1,3 +1,4 @@
+use anyhow;
 use serialport::available_ports;
 
 pub fn serial_enum() -> anyhow::Result<Vec<String>> {

static/wgsl/shader.wgsl

@@ -63,7 +63,7 @@ fn linear_to_srgb(linear: vec3f) -> vec3f {
 
 fn output_color(linear_rgb: vec3f, alpha: f32) -> vec4f {
     let clamped = clamp(linear_rgb, vec3f(0.0), vec3f(1.0));
-    if (u.color.w > 0.5) {
+    if u.color.w > 0.5 {
         return vec4f(clamped, alpha);
     }
 
@@ -91,21 +91,20 @@ fn range_stop_color(index: u32) -> vec3f {
 fn sample_range_color(value: f32) -> vec3f {
     let t = saturate(value);
 
-    if (t <= 0.33) {
+    if t <= 0.33 {
         let local = smoothstep(0.0, 0.33, t);
         return mix(range_stop_color(0u), range_stop_color(1u), local);
     }
 
-    if (t <= 0.66) {
+    if t <= 0.66 {
         let local = smoothstep(0.33, 0.66, t);
         return mix(range_stop_color(1u), range_stop_color(2u), local);
     }
 
-    let local = smoothstep(0.66, 1.0, t);
+    let local = smoothstep(0.66, 0.92, t);
     return mix(range_stop_color(2u), range_stop_color(3u), local);
 }
 
-
 // background
 struct BackgroundVertexOutput {
     @builtin(position) clip_position: vec4f,
@@ -129,7 +128,6 @@ fn fs_background(@builtin(position) frag_coord: vec4f) -> @location(0) vec4f {
     return output_color(vec3f(0.0, 0.0, 0.0), 1.0);
 }
 
-
 // hand image background
 struct HandImageVertexOutput {
     @builtin(position) clip_position: vec4f,
@@ -167,7 +165,7 @@ fn fs_hand_image(in: HandImageVertexOutput) -> @location(0) vec4f {
     let image_aspect = u.image.x / max(u.image.y, 1.0);
 
     var uv = in.screen_uv;
-    if (viewport_aspect > image_aspect) {
+    if viewport_aspect > image_aspect {
         let image_width = image_aspect / viewport_aspect;
         uv.x = (uv.x - (1.0 - image_width) * 0.5) / image_width;
     } else {
@@ -175,7 +173,7 @@ fn fs_hand_image(in: HandImageVertexOutput) -> @location(0) vec4f {
         uv.y = (uv.y - (1.0 - image_height) * 0.5) / image_height;
     }
 
-    if (uv.x < 0.0 || uv.x > 1.0 || uv.y < 0.0 || uv.y > 1.0) {
+    if uv.x < 0.0 || uv.x > 1.0 || uv.y < 0.0 || uv.y > 1.0 {
         discard;
     }
 
@@ -183,7 +181,6 @@ fn fs_hand_image(in: HandImageVertexOutput) -> @location(0) vec4f {
     return output_color(color.rgb, color.a);
 }
 
-
 // glyph
 struct GlyphVertexInput {
     @location(0) local: vec2f,
@@ -226,45 +223,45 @@ fn digit_segment_on(digit: u32, segment: u32) -> bool {
 
 fn seven_segment_digit_alpha(local: vec2f, digit: u32) -> f32 {
     var alpha = 0.0;
-    if (digit_segment_on(digit, 0u)) {
+    if digit_segment_on(digit, 0u) {
         alpha = max(alpha, rect_alpha(local, vec2f(0.0, 0.70), vec2f(0.38, 0.078)));
     }
-    if (digit_segment_on(digit, 1u)) {
+    if digit_segment_on(digit, 1u) {
         alpha = max(alpha, rect_alpha(local, vec2f(0.39, 0.36), vec2f(0.078, 0.335)));
     }
-    if (digit_segment_on(digit, 2u)) {
+    if digit_segment_on(digit, 2u) {
         alpha = max(alpha, rect_alpha(local, vec2f(0.39, -0.36), vec2f(0.078, 0.335)));
     }
-    if (digit_segment_on(digit, 3u)) {
+    if digit_segment_on(digit, 3u) {
         alpha = max(alpha, rect_alpha(local, vec2f(0.0, -0.70), vec2f(0.38, 0.078)));
     }
-    if (digit_segment_on(digit, 4u)) {
+    if digit_segment_on(digit, 4u) {
         alpha = max(alpha, rect_alpha(local, vec2f(-0.39, -0.36), vec2f(0.078, 0.335)));
     }
-    if (digit_segment_on(digit, 5u)) {
+    if digit_segment_on(digit, 5u) {
         alpha = max(alpha, rect_alpha(local, vec2f(-0.39, 0.36), vec2f(0.078, 0.335)));
     }
-    if (digit_segment_on(digit, 6u)) {
+    if digit_segment_on(digit, 6u) {
         alpha = max(alpha, rect_alpha(local, vec2f(0.0, 0.0), vec2f(0.35, 0.075)));
     }
     return alpha;
 }
 
 fn digit_count(value: u32) -> u32 {
-    if (value >= 1000u) {
+    if value >= 1000u {
         return 4u;
     }
-    if (value >= 100u) {
+    if value >= 100u {
         return 3u;
     }
-    if (value >= 10u) {
+    if value >= 10u {
         return 2u;
     }
     return 1u;
 }
 
 fn digit_at(value: u32, slot: u32, count: u32) -> u32 {
-    if (count == 4u) {
+    if count == 4u {
         switch slot {
             case 0u: { return (value / 1000u) % 10u; }
             case 1u: { return (value / 100u) % 10u; }
@@ -272,14 +269,14 @@ fn digit_at(value: u32, slot: u32, count: u32) -> u32 {
             default: { return value % 10u; }
         }
     }
-    if (count == 3u) {
+    if count == 3u {
         switch slot {
             case 0u: { return (value / 100u) % 10u; }
             case 1u: { return (value / 10u) % 10u; }
             default: { return value % 10u; }
         }
     }
-    if (count == 2u) {
+    if count == 2u {
         return select(value % 10u, (value / 10u) % 10u, slot == 0u);
     }
     return value % 10u;
@@ -294,7 +291,7 @@ fn number_alpha(local: vec2f, display_value: f32) -> f32 {
     var alpha = 0.0;
 
     for (var slot = 0u; slot < 4u; slot = slot + 1u) {
-        if (slot < count) {
+        if slot < count {
             let center_x = start_x + f32(slot) * slot_width;
             let digit_local = vec2f((local.x - center_x) / (slot_width * 0.78), local.y / 0.92);
             let digit = digit_at(value, slot, count);
@@ -335,8 +332,7 @@ struct DotVertexInput {
 
 struct DotInstanceInput {
     @location(1) world_position: vec4f,
-    @location(2) style: vec4f
+    @location(2) style: vec4f}
-}
 
 struct DotVertexOutput {
     @builtin(position) clip_position: vec4f,
@@ -349,14 +345,16 @@ fn circle_alpha(local: vec2f, radius: f32, softness: f32) -> f32 {
     return 1.0 - smoothstep(radius, radius + softness, dist);
 }
 
-// Convert a point authored in sensor-canvas UV space into aspect-fitted clip space.
+// Convert a point authored in hand.png UV space into clip space.
-fn sensor_canvas_uv_to_clip(image_uv: vec2f) -> vec2f {
+// This mirrors fs_hand_image's aspect-fit math, so fingertip dots stay attached
+// to the same image pixels when the app window changes shape.
+fn hand_image_uv_to_clip(image_uv: vec2f) -> vec2f {
     let viewport_aspect = u.viewport.x / max(u.viewport.y, 1.0);
     let image_aspect = u.image.x / max(u.image.y, 1.0);
 
     var screen_uv = image_uv;
 
-    if (viewport_aspect > image_aspect) {
+    if viewport_aspect > image_aspect {
         let image_width = image_aspect / viewport_aspect;
         screen_uv.x = image_uv.x * image_width + (1.0 - image_width) * 0.5;
     } else {
@@ -370,6 +368,7 @@ fn sensor_canvas_uv_to_clip(image_uv: vec2f) -> vec2f {
 struct HandMembraneVertexOutput {
     @builtin(position) clip_position: vec4f,
     @location(0) local: vec2f,
+    @location(1) intensity: f32,
 }
 
 fn rotate_2d(point: vec2f, angle: f32) -> vec2f {
@@ -384,12 +383,15 @@ fn rounded_rect_alpha(local: vec2f, radius: f32, softness: f32) -> f32 {
     return 1.0 - smoothstep(0.0, softness, dist);
 }
 
+fn dot_matrix(uv: vec2f, grid: vec2f, dot_radius: f32, dot_softness: f32) -> f32 {
+    let cell = fract(uv * grid) - vec2f(0.5, 0.5);
+    return 1.0 - smoothstep(dot_radius, dot_radius + dot_softness, length(cell));
+}
+
 fn fingertip_film_alpha(
     local: vec2f,
     half_width: f32,
     cap_center_y: f32,
-    rear_edge_y: f32,
-    rear_bulge: f32,
     softness: f32,
 ) -> f32 {
     // Top/front of the film is a closed round fingertip cap.
@@ -397,14 +399,10 @@ fn fingertip_film_alpha(
     let cap = (1.0 - smoothstep(half_width, half_width + softness, cap_dist))
         * (1.0 - smoothstep(cap_center_y - softness, cap_center_y + softness, local.y));
 
-    // The rear half keeps nearly parallel sides and ends with a shallow arc;
+    // The rear remains open; the carrier quad clips the membrane at its end.
-    // it deliberately does not converge back into another capsule end.
-    let x_norm = clamp(abs(local.x) / max(half_width, 0.001), 0.0, 1.0);
-    let rear_curve_y = rear_edge_y + rear_bulge * (1.0 - x_norm * x_norm);
     let side = 1.0 - smoothstep(half_width, half_width + softness, abs(local.x));
-    let rear = 1.0 - smoothstep(rear_curve_y, rear_curve_y + softness, local.y);
     let body_gate = smoothstep(cap_center_y - softness, cap_center_y + softness, local.y);
-    let body = side * rear * body_gate;
+    let body = side * body_gate;
 
     return max(cap, body);
 }
@@ -418,47 +416,112 @@ fn vs_hand_membrane(vertex: DotVertexInput, instance: DotInstanceInput) -> HandM
     let image_uv = (center_px + rotate_2d(local_px, angle)) / max(u.image.xy, vec2f(1.0, 1.0));
 
     var out: HandMembraneVertexOutput;
-    out.clip_position = vec4f(sensor_canvas_uv_to_clip(image_uv), 0.0, 1.0);
+    out.clip_position = vec4f(hand_image_uv_to_clip(image_uv), 0.0, 1.0);
     out.local = vertex.local;
+    out.intensity = saturate(instance.style.w);
     return out;
 }
 
 @fragment
 fn fs_hand_membrane(in: HandMembraneVertexOutput) -> @location(0) vec4f {
-    // The film shape matches the fingertip: closed round front, parallel rear sides,
+    let p = in.local;
-    // and a shallow rear arc instead of a second capsule end.
+    let live = saturate(in.intensity);
-    let panel = fingertip_film_alpha(in.local, 0.66, -0.38, 0.72, 0.18, 0.045);
+    let response = smoothstep(0.03, 0.96, live);
-    let inner = fingertip_film_alpha(in.local, 0.54, -0.36, 0.64, 0.12, 0.060);
+    let hot = smoothstep(0.72, 0.96, live);
-    let border = clamp(panel - inner * 0.52, 0.0, 1.0);
+    let live_color = sample_range_color(live);
 
-    // Dense mesh: the live 12x7 pressure dots sit over this finer sensor lattice.
+    let halo_shape = fingertip_film_alpha(p, 0.72, -0.20, 0.055);
-    let uv = clamp(in.local * 0.5 + vec2f(0.5, 0.5), vec2f(0.0, 0.0), vec2f(1.0, 1.0));
+    let panel = fingertip_film_alpha(p, 0.66, -0.22, 0.035);
-    let grid = vec2f(18.0, 34.0);
+    let inner = fingertip_film_alpha(p, 0.58, -0.25, 0.045);
-    let cell = uv * grid - vec2f(0.5, 0.5);
+    let clear_inner = fingertip_film_alpha(p, 0.48, -0.24, 0.160);
-    let nearest = abs(fract(cell + vec2f(0.5, 0.5)) - vec2f(0.5, 0.5));
+
-    let grid_line = max(
+    let halo = clamp(halo_shape - panel, 0.0, 1.0);
-        1.0 - smoothstep(0.014, 0.038, nearest.x),
+    let rim = clamp(panel - inner, 0.0, 1.0);
-        1.0 - smoothstep(0.014, 0.038, nearest.y),
+    let edge_fade = pow(clamp(1.0 - clear_inner, 0.0, 1.0), 1.20) * panel;
+
+    // Strong pseudo extrusion / bevel.
+    let depth_offset = vec2f(0.045, 0.055);
+    let back_shape_1 = fingertip_film_alpha(p - depth_offset * 0.55, 0.66, -0.22, 0.045);
+    let back_shape_2 = fingertip_film_alpha(p - depth_offset, 0.66, -0.22, 0.060);
+    let extrusion = clamp(max(back_shape_1, back_shape_2) - panel, 0.0, 1.0);
+
+    let bevel_offset = vec2f(0.028, 0.034);
+    let shifted_down_right = fingertip_film_alpha(p - bevel_offset, 0.66, -0.22, 0.035);
+    let bevel_light = clamp(panel - shifted_down_right, 0.0, 1.0);
+    let shifted_up_left = fingertip_film_alpha(p + bevel_offset, 0.66, -0.22, 0.035);
+    let bevel_dark = clamp(panel - shifted_up_left, 0.0, 1.0);
+
+    let broad_bevel = edge_fade * clamp(0.58 - p.x * 0.20 - p.y * 0.18, 0.0, 1.0);
+
+    // Micro lattice.
+    let uv = clamp(
+        p * vec2f(0.52, 0.46) + vec2f(0.5, 0.46),
+        vec2f(0.0, 0.0),
+        vec2f(1.0, 1.0),
     );
-    let joint = 1.0 - smoothstep(0.070, 0.150, length(nearest * vec2f(1.18, 1.0)));
-    let center_shadow = 1.0 - smoothstep(0.10, 0.76, length(in.local * vec2f(0.92, 0.66)));
 
-    let top_light = smoothstep(-0.52, 0.16, -in.local.y) * 0.20;
+    let grid = vec2f(18.0, 34.0);
-    let side_glow = smoothstep(0.30, 0.70, abs(in.local.x)) * 0.26;
+    let cell_uv = fract(uv * grid) - vec2f(0.5, 0.5);
-    let lift_shadow = smoothstep(0.48, 0.86, in.local.y) * (1.0 - smoothstep(0.50, 0.86, abs(in.local.x))) * 0.13;
+    let dot_dist = length(cell_uv * vec2f(1.0, 1.06));
-    let scan = (0.5 + 0.5 * sin((uv.y * 76.0 + uv.x * 9.0) * 6.28318)) * 0.030;
+    let dot_aa = max(fwidth(dot_dist) * 1.35, 0.006);
+    let dots = (1.0 - smoothstep(0.105 - dot_aa, 0.105 + dot_aa, dot_dist)) * inner;
 
-    let membrane_color = vec3f(0.006, 0.28, 0.38);
+    let sheen_axis = p.x * 0.88 + p.y * 0.22 + 0.16;
-    let line_color = vec3f(0.12, 0.72, 0.88);
+    let sheen = (1.0 - smoothstep(0.018, 0.105, abs(sheen_axis))) * panel;
-    let rim_color = vec3f(0.18, 0.98, 1.0);
+    let shell_sheen = sheen * (0.26 + edge_fade * 0.74);
-    let color = membrane_color * (0.68 + top_light + side_glow + scan)
-        + line_color * (grid_line * 0.20 + joint * 0.42)
-        + rim_color * (border * 0.92 + side_glow * 0.18)
-        - vec3f(0.0, 0.16, 0.24) * center_shadow * 0.30
-        - vec3f(0.0, 0.10, 0.16) * lift_shadow;
-    let alpha = panel * (0.24 + grid_line * 0.10 + joint * 0.23 + border * 0.42);
 
-    return output_color(color, alpha);
+    // Temporary synthetic pressure hotspot. Real hand pressure dots are drawn above this pass.
+    let pressure_center = vec2f(-0.08, -0.12);
+    let pressure_dist = length((p - pressure_center) * vec2f(1.0, 0.74));
+    let pressure = (1.0 - smoothstep(0.05, 0.36, pressure_dist)) * inner;
+    let pressure_hot = (1.0 - smoothstep(0.02, 0.13, pressure_dist)) * inner;
+
+    let glass_base = vec3f(0.006, 0.055, 0.105);
+    let glass_cyan = vec3f(0.025, 0.42, 0.58);
+    let glass_live = mix(glass_cyan, live_color * 0.58, response);
+    let rim_color = mix(vec3f(0.10, 0.88, 1.00), live_color, response);
+    let extrusion_color = vec3f(0.004, 0.080, 0.110);
+    let extrusion_edge_color = mix(vec3f(0.015, 0.30, 0.38), live_color * 0.72, response);
+    let bevel_highlight = mix(vec3f(0.48, 1.00, 1.00), live_color, response * 0.82);
+    let bevel_dark_color = vec3f(0.004, 0.035, 0.060);
+    let dot_color = mix(vec3f(0.08, 0.48, 0.58), live_color, response);
+    let pressure_color = mix(dot_color, live_color, response);
+    let pressure_hot_color = live_color;
+
+    let membrane_color = extrusion_color * extrusion * 0.90
+        + extrusion_edge_color * extrusion * halo_shape * 0.32
+        + glass_base * panel * 0.26
+        + glass_live * edge_fade * 0.46
+        + glass_live * broad_bevel * 0.24
+        + rim_color * rim * 0.88
+        + bevel_highlight * bevel_light * 1.35
+        + bevel_dark_color * bevel_dark * 0.95
+        + bevel_highlight * shell_sheen * 0.28
+        + rim_color * halo * 0.16
+        + dot_color * dots * 0.68
+        + pressure_color * dots * pressure * 0.82
+        + pressure_hot_color * dots * pressure_hot * 0.90;
+
+    let live_wash = live_color * response * (inner * 0.12 + dots * 0.72 + rim * 0.30)
+        + live_color * hot * (inner * 0.08 + dots * 0.22);
+    let color = membrane_color + live_wash;
+
+    let alpha = clamp(
+        extrusion * 0.44
+            + panel * 0.055
+            + edge_fade * 0.30
+            + rim * 0.34
+            + bevel_light * 0.34
+            + bevel_dark * 0.20
+            + shell_sheen * 0.09
+            + halo * 0.045
+            + dots * 0.09
+            + dots * pressure * 0.10,
+        0.0,
+        0.90,
+    ) + response * (dots * 0.07 + rim * 0.035) + hot * dots * 0.04;
+
+    return output_color(color, clamp(alpha, 0.0, 0.96));
 }
 
 @vertex
@@ -468,7 +531,7 @@ fn vs_hand_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVertexO
     let shaped = smoothstep(0.0, 1.0, intensity);
 
     // Hand instances store hand.png UV in world_position.xy instead of 3D world space.
-    let center = sensor_canvas_uv_to_clip(instance.world_position.xy);
+    let center = hand_image_uv_to_clip(instance.world_position.xy);
     // Hand fingertip matrices are much smaller than the full Finger view.
     // Keep each bead below the local cell spacing so the 12x7 matrix remains visibly separated.
     let pixel_size = u.glyph.x * mix(0.22, 0.34, shaped);
@@ -498,14 +561,52 @@ fn fs_hand_dot(in: DotVertexOutput) -> @location(0) vec4f {
     return output_color(color, max(core, halo));
 }
 
+fn chip_pixel_alpha(local: vec2f, half_size: f32, softness: f32) -> f32 {
+    let q = abs(local) - vec2f(half_size, half_size);
+    let dist = length(max(q, vec2f(0.0, 0.0))) + min(max(q.x, q.y), 0.0);
+    return 1.0 - smoothstep(0.0, softness, dist);
+}
+
+struct HandPalmChipVertexOutput {
+    @builtin(position) clip_position: vec4f,
+    @location(0) local: vec2f,
+    @location(1) grid: vec2f,
+}
+
+@vertex
+fn vs_hand_palm_chip(vertex: DotVertexInput, instance: DotInstanceInput) -> HandPalmChipVertexOutput {
+    let center_px = instance.world_position.xy * u.image.xy;
+    let size_px = instance.style.yz;
+    let angle = instance.style.x;
+    let packed_shape = instance.style.w;
+    let shape_rows = floor(packed_shape / 100.0);
+    let shape_cols = max(packed_shape - shape_rows * 100.0, 1.0);
+    let local_px = vertex.local * size_px * 0.5;
+    let image_uv = (center_px + rotate_2d(local_px, angle)) / max(u.image.xy, vec2f(1.0, 1.0));
+
+    var out: HandPalmChipVertexOutput;
+    out.clip_position = vec4f(hand_image_uv_to_clip(image_uv), 0.0, 1.0);
+    out.local = vertex.local;
+    out.grid = vec2f(shape_cols, max(shape_rows, 1.0));
+    return out;
+}
+
+@fragment
+fn fs_hand_palm_chip(in: HandPalmChipVertexOutput) -> @location(0) vec4f {
+    // The live palm-dot pass draws every chip cell, including the idle dots.
+    // Keeping this background pass transparent prevents a second offset dot grid.
+    return output_color(vec3f(0.0, 0.0, 0.0), 0.0);
+}
+
 @vertex
 fn vs_hand_palm_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVertexOutput {
     let intensity = saturate(instance.style.x);
     let shaped = smoothstep(0.0, 1.0, intensity);
 
-    // Use the same on-screen point size as Finger mode.
+    let center = hand_image_uv_to_clip(instance.world_position.xy);
-    let center = sensor_canvas_uv_to_clip(instance.world_position.xy);
+    // Palm boards have more tightly packed cells than the fingertips, so use
-    let pixel_size = u.glyph.x * mix(1.07, 2.23, shaped);
+    // a larger circular mask to keep each sensor visibly readable.
+    let pixel_size = u.glyph.x * mix(0.40, 0.54, shaped);
     let ndc_offset = vertex.local * vec2f(pixel_size / u.viewport.x, pixel_size / u.viewport.y) * 2.0;
 
     var out: DotVertexOutput;
@@ -518,12 +619,16 @@ fn vs_hand_palm_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVe
 @fragment
 fn fs_hand_palm_dot(in: DotVertexOutput) -> @location(0) vec4f {
     let intensity = saturate(in.intensity);
-    let base_color = sample_range_color(intensity);
 
-    let alpha = circle_alpha(in.local, 0.46, 0.045);
+    let core = circle_alpha(in.local, 0.48, 0.07);
-    let color = base_color * mix(0.86, 1.06, intensity);
+    let halo = circle_alpha(in.local, 0.74, 0.14) * (0.10 + intensity * 0.26);
 
-    return output_color(color, alpha);
+    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));
 }
 
 @vertex
@@ -553,7 +658,6 @@ fn fs_dot(in: DotVertexOutput) -> @location(0) vec4f {
     return output_color(color, alpha);
 }
 
-
 // model
 struct ModelVertexInput {
     @location(0) position: vec3f,
@@ -672,11 +776,11 @@ fn aces_tonemap(x: vec3f) -> vec3f {
 
 fn material_normal(in: ModelVertexOutput, front_facing: bool) -> vec3f {
     var n = normalize(in.world_normal);
-    if (!front_facing && material.flags.w > 0.5) {
+    if !front_facing && material.flags.w > 0.5 {
         n = -n;
     }
 
-    if (material.flags.z < 0.5) {
+    if material.flags.z < 0.5 {
         return n;
     }
 
@@ -696,17 +800,17 @@ fn fs_model(in: ModelVertexOutput, @builtin(front_facing) front_facing: bool) ->
     let base_color = base_sample * material.base_color * in.color;
     let alpha_mode = material.emissive_alpha.w;
     var alpha = base_color.a;
-    if (alpha_mode < 0.5) {
+    if alpha_mode < 0.5 {
         alpha = 1.0;
-    } else if (alpha_mode < 1.5) {
+    } else if alpha_mode < 1.5 {
-        if (alpha < material.flags.x) {
+        if alpha < material.flags.x {
             discard;
         }
         alpha = 1.0;
     }
 
     let debug_mode = u32(u.render_options.x + 0.5);
-    if (debug_mode == 1u) {
+    if debug_mode == 1u {
         return output_color(base_color.rgb, alpha);
     }
 
@@ -772,7 +876,7 @@ fn fs_model(in: ModelVertexOutput, @builtin(front_facing) front_facing: bool) ->
     let ambient_strength = 0.08;
     // Temporary neutral linear ambient term until a real IBL/HDR environment is added.
     var ambient = vec3f(0.0);
-    if (u.render_options.y > 0.5) {
+    if u.render_options.y > 0.5 {
         let ambient_diffuse = albedo * (1.0 - metallic) * ambient_color * ambient_strength;
         let ambient_specular = f_ambient * ambient_color * ambient_strength * (1.0 - roughness * 0.55);
         ambient = (ambient_diffuse + ambient_specular) * ao;
@@ -780,7 +884,7 @@ fn fs_model(in: ModelVertexOutput, @builtin(front_facing) front_facing: bool) ->
 
     let exposed_color = (ambient + key + fill + emissive) * max(u.render_options.w, 0.0);
     var color = exposed_color;
-    if (u.render_options.z > 0.5) {
+    if u.render_options.z > 0.5 {
         color = aces_tonemap(exposed_color);
     }