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 +1318,10 @@ dependencies = [
  "gltf",
  "image",
  "log",
+ "serde",
  "serialport",
  "tobj",
+ "toml",
  "winresource",
 ]
 
@@ -4001,9 +4003,9 @@ dependencies = [
 
 [[package]]
 name = "toml"
-version = "1.1.2+spec-1.1.0"
+version = "1.1.3+spec-1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81f3d15e84cbcd896376e6730314d59fb5a87f31e4b038454184435cd57defee"
+checksum = "53c96ecdfa941c8fc4fcaed14f99ada8ebed502eef533015095a07e3301d4c3c"
 dependencies = [
  "indexmap",
  "serde_core",
@@ -4046,9 +4048,9 @@ dependencies = [
 
 [[package]]
 name = "toml_writer"
-version = "1.1.1+spec-1.1.0"
+version = "1.1.2+spec-1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "756daf9b1013ebe47a8776667b466417e2d4c5679d441c26230efd9ef78692db"
+checksum = "7d56353a2a665ad0f41a421187180aab746c8c325620617ad883a99a1cbe66d2"
 
 [[package]]
 name = "tracing"

Cargo.toml

@@ -23,6 +23,8 @@ 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]

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/app.rs

@@ -1,4 +1,5 @@
 use crate::breakout::{BreakoutGame, control_from_matrix};
+use crate::config::{HandForceConfig, try_load_hand_force_config};
 use crate::connection::{ConnectionManager, ConnectionState};
 use crate::force::{ForceEstimatorState, HAND_FINGERTIP_COUNT, HudSpatialForce};
 use crate::recording::Recorder;
@@ -17,6 +18,7 @@ use crate::{
     },
 };
 use eframe::{egui, egui_wgpu};
+use std::collections::BTreeMap;
 use std::{
     sync::Arc,
     time::{Duration, Instant},
@@ -25,6 +27,7 @@ use std::{
 const SUMMARY_POINTS_PER_SERIES: usize = 42;
 const HAND_FORCE_PANEL_COUNT: usize = 7;
 const HAND_FORCE_SEGMENT_COUNTS: [usize; HAND_FORCE_PANEL_COUNT] = [84, 84, 84, 84, 84, 70, 44];
+const HAND_FORCE_DISPLAY_THRESHOLD_N: f32 = 0.05;
 const HAND_IMAGE_SIZE_PX: [f32; 2] = [971.0, 1117.0];
 const HAND_FINGERTIP_FORCE_ANCHORS_PX: [[f32; 2]; HAND_FINGERTIP_COUNT] = [
     [265.0, 495.0],
@@ -62,12 +65,14 @@ pub struct EskinDesktopApp {
     latest_matrix_rows: u32,
     latest_matrix_cols: u32,
     last_sample_at: Option<Instant>,
+    last_color_debug_at: Option<Instant>,
     breakout_visible: bool,
     breakout_game: BreakoutGame,
     live_rates: LiveRateMeters,
     context_menu_open: bool,
     context_menu_pos: egui::Pos2,
     active_mode: ActiveMode,
+    hand_force_config: Option<HandForceConfig>,
 }
 
 struct LiveRateMeters {
@@ -135,6 +140,7 @@ impl EskinDesktopApp {
                 MATRIX_COLS,
             ));
 
+        let hand_force_config = try_load_hand_force_config();
         Self {
             connect_panel: FloatingPanelState::new([0.0, 0.0], [layout::RIGHT_TAG_X, 48.0]),
             connect_state: ConnectPanelState::default(),
@@ -175,12 +181,14 @@ impl EskinDesktopApp {
             latest_matrix_rows: MATRIX_ROWS,
             latest_matrix_cols: MATRIX_COLS,
             last_sample_at: None,
+            last_color_debug_at: None,
             breakout_visible: false,
             breakout_game: BreakoutGame::default(),
             live_rates: LiveRateMeters::new(),
             context_menu_open: false,
             context_menu_pos: egui::pos2(24.0, 48.0),
             active_mode: ActiveMode::Hand(HandGatewayMode { range: 0..7000 }),
+            hand_force_config,
         }
     }
 
@@ -244,7 +252,13 @@ impl EskinDesktopApp {
 
     fn analyze_spatial_force(&mut self, values: &[u32]) {
         if matches!(self.config_state.mode, SerialMode::Hand) {
-            self.latest_hand_spatial_forces = self.force_estimator.analyze_fingertips(values);
+            let enabled = std::array::from_fn(|tip_index| {
+                hand_segment_force(values, tip_index, self.hand_force_config.as_ref())
+                    > HAND_FORCE_DISPLAY_THRESHOLD_N
+            });
+            self.latest_hand_spatial_forces = self
+                .force_estimator
+                .analyze_fingertips_masked(values, &enabled);
             self.latest_spatial_force = self.strongest_hand_spatial_force();
         } else {
             self.latest_spatial_force = self.force_estimator.analyze(values);
@@ -339,23 +353,20 @@ impl EskinDesktopApp {
             self.latest_raw_matrix.extend_from_slice(&sample.matrix);
             self.latest_matrix_rows = sample.rows;
             self.latest_matrix_cols = sample.cols;
+            self.log_hand_color_mapping_debug(&sample.matrix);
 
             self.analyze_spatial_force(&sample.matrix);
 
-            // Keep JE-Skin's summary path separate from the optional spatial-force vector.
+            let force = update_hand_signal_histories(
-            let raw_total = sample
+                &mut self.hand_signal_histories,
-                .matrix
+                &sample.matrix,
-                .iter()
+                self.hand_force_config.as_ref(),
-                .fold(0_u64, |sum, value| sum + *value as u64)
+            )
-                .min(u32::MAX as u64) as u32;
+            .min(25.6);
-            let force = raw_to_g1(raw_total).min(25.6);
-            let force = if force <= 0.1 { 0.0 } else { force };
             self.signal_history.push(force);
             if self.signal_history.len() > SUMMARY_POINTS_PER_SERIES {
                 self.signal_history.remove(0);
             }
-
-            update_hand_signal_histories(&mut self.hand_signal_histories, &sample.matrix);
         }
     }
 
@@ -587,6 +598,7 @@ impl EskinDesktopApp {
         self.pressure_matrix.fill([0.0, 0.0]);
         self.hand_pressure.clear();
         self.last_sample_at = None;
+        self.last_color_debug_at = None;
         self.force_estimator.reset();
         self.latest_spatial_force = None;
         self.latest_hand_spatial_forces = [None; HAND_FINGERTIP_COUNT];
@@ -606,6 +618,50 @@ impl EskinDesktopApp {
             SerialMode::Hand => ActiveMode::Hand(HandGatewayMode { range: 0..7000 }),
         }
     }
+
+    fn log_hand_color_mapping_debug(&mut self, raw: &[u32]) {
+        let now = Instant::now();
+        if self
+            .last_color_debug_at
+            .is_some_and(|last| now.duration_since(last) < Duration::from_secs(1))
+        {
+            return;
+        }
+        self.last_color_debug_at = Some(now);
+
+        let mut parts = Vec::with_capacity(HAND_FORCE_PANEL_COUNT);
+        let mut start = 0;
+        for (panel_index, (range, cell_count)) in HAND_SENSOR_PANEL_COLOR_RANGES
+            .iter()
+            .copied()
+            .zip(HAND_SENSOR_PANEL_CELL_COUNTS)
+            .enumerate()
+        {
+            let end = start + cell_count;
+            let peak = raw
+                .get(start..end)
+                .unwrap_or(&[])
+                .iter()
+                .copied()
+                .max()
+                .unwrap_or(0);
+            let cell_range = range.per_cell(cell_count);
+            let [intensity, _] = cell_range.normalize(peak);
+            parts.push(format!(
+                "{} raw_peak={} range_total_max={:.0} cell_range_max={:.0} intensity={:.3}",
+                match panel_index {
+                    0..=4 => format!("F{}", panel_index + 1),
+                    5 => "Palm-H".to_owned(),
+                    _ => "Palm-V".to_owned(),
+                },
+                peak,
+                range.max,
+                cell_range.max,
+                intensity
+            ));
+            start = end;
+        }
+    }
 }
 
 fn hand_image_pixel_to_screen(rect: egui::Rect, point_px: [f32; 2]) -> egui::Pos2 {
@@ -665,73 +721,116 @@ fn paint_spatial_force_arrow(
 fn update_hand_signal_histories(
     histories: &mut [Vec<f32>; HAND_FORCE_PANEL_COUNT],
     raw_values: &[u32],
-) {
+    config: Option<&HandForceConfig>,
-    let mut offset = 0usize;
+) -> f32 {
-    for (index, (history, sample_count)) in histories.iter_mut().zip(HAND_FORCE_SEGMENT_COUNTS).enumerate() {
+    let mut total_force = 0.0;
-        let raw_total = raw_values
+    for (index, history) in histories.iter_mut().enumerate() {
-            .get(offset..offset + sample_count)
+        let force = hand_segment_force(raw_values, index, config);
-            .unwrap_or(&[])
+        let force = if force <= HAND_FORCE_DISPLAY_THRESHOLD_N {
-            .iter()
+            0.0
-            .fold(0_u64, |sum, value| sum + *value as u64)
+        } else {
-            .min(u32::MAX as u64) as u32;
+            force
-        let force = match index {
-            0 => raw_to_g1(raw_total).min(20.6),
-            1 => raw_to_g2(raw_total).min(20.6),
-            2 => raw_to_g3(raw_total).min(20.6),
-            3 => raw_to_g4(raw_total).min(20.6),
-            4 => raw_to_g5(raw_total).min(20.6),
-            _ => raw_to_gd(raw_total).min(20.6),
         };
-        // let force = raw_to_g1(raw_total).min(25.6);
+        total_force += force;
-        let force = if force <= 0.1 { 0.0 } else { force };
-
         history.push(force);
         if history.len() > SUMMARY_POINTS_PER_SERIES {
             history.remove(0);
         }
-
-        offset += sample_count;
     }
+
+    total_force
+}
+
+fn hand_segment_force(raw_values: &[u32], index: usize, config: Option<&HandForceConfig>) -> f32 {
+    let offset: usize = HAND_FORCE_SEGMENT_COUNTS[..index.min(HAND_FORCE_PANEL_COUNT)]
+        .iter()
+        .sum();
+    let sample_count = HAND_FORCE_SEGMENT_COUNTS
+        .get(index)
+        .copied()
+        .unwrap_or_default();
+    let raw_total = raw_values
+        .get(offset..offset + sample_count)
+        .unwrap_or(&[])
+        .iter()
+        .fold(0_u64, |sum, value| sum + *value as u64)
+        .min(u32::MAX as u64) as u32;
+
+    raw_to_hand_segment_g(index, raw_total, config).min(20.6)
+}
+
+fn raw_to_hand_segment_g(index: usize, raw: u32, config: Option<&HandForceConfig>) -> f32 {
+    match index {
+        0 => raw_to_g1(raw, config),
+        1 => raw_to_g2(raw, config),
+        2 => raw_to_g3(raw, config),
+        3 => raw_to_g4(raw, config),
+        4 => raw_to_g5(raw, config),
+        5 => raw_to_g6(raw),
+        6 => raw_to_g7(raw),
+        _ => raw_to_gd(raw),
+    }
+}
+
+fn to_force_table(values: &BTreeMap<String, u32>) -> Vec<(u32, f32)> {
+    let mut table = values
+        .iter()
+        .filter_map(|(force_n, raw)| force_n.parse::<f32>().ok().map(|force| (*raw, force)))
+        .collect::<Vec<_>>();
+    table.sort_by(|a, b| a.1.total_cmp(&b.1));
+    table.insert(0, (0, 0.0));
+    table
+}
+
+fn interpolate_force(raw: u32, table: &[(u32, f32)]) -> f32 {
+    let Some(&(first_raw, first_force)) = table.first() else {
+        return 0.0;
+    };
+    let Some(&(last_raw, last_force)) = table.last() else {
+        return 0.0;
+    };
+
+    if raw <= first_raw {
+        return first_force;
+    }
+    if raw >= last_raw {
+        return last_force;
+    }
+
+    let right = table.partition_point(|(raw_point, _)| *raw_point <= raw);
+    let (raw_left, force_left) = table[right - 1];
+    let (raw_right, force_right) = table[right];
+    let ratio = (raw - raw_left) as f32 / (raw_right - raw_left).max(1) as f32;
+    force_left + ratio * (force_right - force_left)
+}
+
+fn force_from_config_or_fallback(
+    raw: u32,
+    config_values: Option<&BTreeMap<String, u32>>,
+    fallback_raw: &[u32],
+    fallback_force_centi_n: &[f32],
+) -> f32 {
+    if let Some(config_values) = config_values {
+        let table = to_force_table(config_values);
+        if table.len() >= 2 && table.windows(2).all(|pair| pair[0].0 <= pair[1].0) {
+            return interpolate_force(raw, &table);
+        }
+        log::warn!(
+            "Hand force config raw values are not monotonically increasing; using fallback table"
+        );
+    }
+
+    let fallback = fallback_raw
+        .iter()
+        .copied()
+        .zip(fallback_force_centi_n.iter().map(|force| force / 100.0))
+        .collect::<Vec<_>>();
+    interpolate_force(raw, &fallback)
 }
 
 fn raw_to_gd(raw: u32) -> f32 {
-    const RAW: [u32; 12] = [
-        0, 21382, 108507, 123183, 147405, 171105, 192395, 250443, 231423, 350560, 396616, 429444,
-    ];
-    const FORCE_CENTI_N: [f32; 12] = [
-        0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0, 2557.0,
-    ];
-
-    if raw <= RAW[0] {
-        return FORCE_CENTI_N[0] / 100.0;
-    }
-
-    if raw >= RAW[RAW.len() - 1] {
-        return FORCE_CENTI_N[FORCE_CENTI_N.len() - 1] / 100.0;
-    }
-
-    let mut left = 0usize;
-    let mut right = RAW.len() - 1;
-    while left + 1 < right {
-        let mid = (left + right) / 2;
-        if RAW[mid] <= raw {
-            left = mid;
-        } else {
-            right = mid;
-        }
-    }
-
-    let raw_left = RAW[left] as f32;
-    let raw_right = RAW[right] as f32;
-    let span = (raw_right - raw_left).max(1.0);
-    let ratio = (raw as f32 - raw_left) / span;
-
-    (FORCE_CENTI_N[left] + ratio * (FORCE_CENTI_N[right] - FORCE_CENTI_N[left])) / 100.0
-}
-
-fn raw_to_g1(raw: u32) -> f32 {
     const RAW: [u32; 11] = [
-        0, 20239, 121454, 171532, 223968, 241467, 293500, 322744, 436294, 523275, 633083,
+        0, 486, 5310, 8130, 10005, 12883, 14700, 18141, 19877, 26270, 32648,
     ];
     const FORCE_CENTI_N: [f32; 11] = [
         0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
@@ -764,9 +863,64 @@ fn raw_to_g1(raw: u32) -> f32 {
     (FORCE_CENTI_N[left] + ratio * (FORCE_CENTI_N[right] - FORCE_CENTI_N[left])) / 100.0
 }
 
-fn raw_to_g2(raw: u32) -> f32 {
+fn raw_to_g1(raw: u32, config: Option<&HandForceConfig>) -> f32 {
     const RAW: [u32; 11] = [
-        0, 5398, 52896, 86945, 122546, 145001, 165933, 220575, 241578, 350285, 449530,
+        0, 35694, 226640, 319868, 398021, 450448, 510506, 592075, 655760, 771671, 813967,
+    ];
+    const FORCE_CENTI_N: [f32; 11] = [
+        0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
+    ];
+
+    force_from_config_or_fallback(raw, config.map(|cfg| &cfg.thumb), &RAW, &FORCE_CENTI_N)
+}
+
+fn raw_to_g2(raw: u32, config: Option<&HandForceConfig>) -> f32 {
+    const RAW: [u32; 11] = [
+        0, 45490, 267579, 352066, 431681, 457605, 550875, 624327, 732735, 883397, 899338,
+    ];
+    const FORCE_CENTI_N: [f32; 11] = [
+        0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
+    ];
+
+    force_from_config_or_fallback(raw, config.map(|cfg| &cfg.index), &RAW, &FORCE_CENTI_N)
+}
+
+fn raw_to_g3(raw: u32, config: Option<&HandForceConfig>) -> f32 {
+    const RAW: [u32; 11] = [
+        0, 51562, 252840, 326531, 386571, 415819, 514679, 631745, 678945, 810847, 900422,
+    ];
+    const FORCE_CENTI_N: [f32; 11] = [
+        0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
+    ];
+
+    force_from_config_or_fallback(raw, config.map(|cfg| &cfg.middle), &RAW, &FORCE_CENTI_N)
+}
+
+fn raw_to_g4(raw: u32, config: Option<&HandForceConfig>) -> f32 {
+    const RAW: [u32; 11] = [
+        0, 33213, 220611, 307383, 369637, 430462, 489659, 584789, 664960, 802749, 926907,
+    ];
+    const FORCE_CENTI_N: [f32; 11] = [
+        0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
+    ];
+
+    force_from_config_or_fallback(raw, config.map(|cfg| &cfg.ring), &RAW, &FORCE_CENTI_N)
+}
+
+fn raw_to_g5(raw: u32, config: Option<&HandForceConfig>) -> f32 {
+    const RAW: [u32; 11] = [
+        0, 44291, 216657, 301950, 366186, 384791, 496521, 566189, 701459, 845608, 940796,
+    ];
+    const FORCE_CENTI_N: [f32; 11] = [
+        0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
+    ];
+
+    force_from_config_or_fallback(raw, config.map(|cfg| &cfg.little), &RAW, &FORCE_CENTI_N)
+}
+
+fn raw_to_g6(raw: u32) -> f32 {
+    const RAW: [u32; 11] = [
+        0, 0, 2532, 5122, 7256, 11525, 13544, 16044, 18504, 29778, 41845,
     ];
     const FORCE_CENTI_N: [f32; 11] = [
         0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
@@ -799,79 +953,9 @@ fn raw_to_g2(raw: u32) -> f32 {
     (FORCE_CENTI_N[left] + ratio * (FORCE_CENTI_N[right] - FORCE_CENTI_N[left])) / 100.0
 }
 
-fn raw_to_g3(raw: u32) -> f32 {
+fn raw_to_g7(raw: u32) -> f32 {
     const RAW: [u32; 11] = [
-        0, 4920, 35945, 46499, 65566, 69613, 89971, 122321, 146384, 203426, 269474,
+        0, 233, 9000, 12067, 14311, 16297, 18113, 27918, 32559, 50861, 65857,
-    ];
-    const FORCE_CENTI_N: [f32; 11] = [
-        0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
-    ];
-
-    if raw <= RAW[0] {
-        return FORCE_CENTI_N[0] / 100.0;
-    }
-
-    if raw >= RAW[RAW.len() - 1] {
-        return FORCE_CENTI_N[FORCE_CENTI_N.len() - 1] / 100.0;
-    }
-
-    let mut left = 0usize;
-    let mut right = RAW.len() - 1;
-    while left + 1 < right {
-        let mid = (left + right) / 2;
-        if RAW[mid] <= raw {
-            left = mid;
-        } else {
-            right = mid;
-        }
-    }
-
-    let raw_left = RAW[left] as f32;
-    let raw_right = RAW[right] as f32;
-    let span = (raw_right - raw_left).max(1.0);
-    let ratio = (raw as f32 - raw_left) / span;
-
-    (FORCE_CENTI_N[left] + ratio * (FORCE_CENTI_N[right] - FORCE_CENTI_N[left])) / 100.0
-}
-
-fn raw_to_g4(raw: u32) -> f32 {
-    const RAW: [u32; 11] = [
-        0, 11346, 92229, 139822, 182282, 220004, 259898, 307303, 377922, 460755, 587834,
-    ];
-    const FORCE_CENTI_N: [f32; 11] = [
-        0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
-    ];
-
-    if raw <= RAW[0] {
-        return FORCE_CENTI_N[0] / 100.0;
-    }
-
-    if raw >= RAW[RAW.len() - 1] {
-        return FORCE_CENTI_N[FORCE_CENTI_N.len() - 1] / 100.0;
-    }
-
-    let mut left = 0usize;
-    let mut right = RAW.len() - 1;
-    while left + 1 < right {
-        let mid = (left + right) / 2;
-        if RAW[mid] <= raw {
-            left = mid;
-        } else {
-            right = mid;
-        }
-    }
-
-    let raw_left = RAW[left] as f32;
-    let raw_right = RAW[right] as f32;
-    let span = (raw_right - raw_left).max(1.0);
-    let ratio = (raw as f32 - raw_left) / span;
-
-    (FORCE_CENTI_N[left] + ratio * (FORCE_CENTI_N[right] - FORCE_CENTI_N[left])) / 100.0
-}
-
-fn raw_to_g5(raw: u32) -> f32 {
-    const RAW: [u32; 11] = [
-        0, 10081, 40910, 49944, 64291, 68299, 79282, 97767, 113567, 140520, 167132,
     ];
     const FORCE_CENTI_N: [f32; 11] = [
         0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
@@ -952,6 +1036,79 @@ fn split_viewport_body(rect: egui::Rect) -> egui::Rect {
     )
 }
 
+#[derive(Clone, Copy)]
+struct PressureColorRange {
+    min: f32,
+    max: f32,
+    gamma: f32,
+}
+
+// Controls the pressure-to-color response curve. Higher values reserve warmer
+// colors for larger fractions of each panel's configured raw range.
+const PRESSURE_COLOR_GAMMA: f32 = 1.5;
+
+impl PressureColorRange {
+    const fn new(min: u32, max: u32) -> Self {
+        Self {
+            min: min as f32,
+            max: max as f32,
+            gamma: PRESSURE_COLOR_GAMMA,
+        }
+    }
+
+    fn normalize(self, value: u32) -> [f32; 2] {
+        let raw = value as f32;
+        let span = (self.max - self.min).max(1.0);
+        let mapped = ((raw - self.min) / span).clamp(0.0, 1.0);
+
+        let intensity = if raw <= self.min + 4.0 {
+            0.0
+        } else {
+            mapped.powf(self.gamma)
+        };
+
+        let display_value = if raw <= self.min + 4.0 {
+            0.0
+        } else {
+            raw.round().min(9999.0)
+        };
+
+        [intensity, display_value]
+    }
+
+    fn per_cell(self, cell_count: usize) -> Self {
+        let cells = cell_count.max(1) as f32;
+        Self {
+            min: self.min / cells,
+            max: self.max / cells,
+            gamma: self.gamma,
+        }
+    }
+}
+
+const DEFAULT_COLOR_RANGE: PressureColorRange = PressureColorRange::new(0, 7000);
+
+const HAND_SENSOR_PANEL_COLOR_RANGES: [PressureColorRange; HAND_FORCE_PANEL_COUNT] = [
+    PressureColorRange::new(0, 813967),
+    PressureColorRange::new(0, 899338),
+    PressureColorRange::new(0, 900422),
+    PressureColorRange::new(0, 926907),
+    PressureColorRange::new(0, 940796),
+    PressureColorRange::new(0, 41845),
+    PressureColorRange::new(0, 65857),
+];
+
+const HAND_FINGER_SENSOR_CELLS: usize = 12 * 7;
+const HAND_SENSOR_PANEL_CELL_COUNTS: [usize; HAND_FORCE_PANEL_COUNT] = [
+    HAND_FINGER_SENSOR_CELLS,
+    HAND_FINGER_SENSOR_CELLS,
+    HAND_FINGER_SENSOR_CELLS,
+    HAND_FINGER_SENSOR_CELLS,
+    HAND_FINGER_SENSOR_CELLS,
+    5 * 14,
+    11 * 4,
+];
+
 fn normalize_pressure_sample(raw: &[u32], rows: u32, cols: u32, normalized: &mut PressureFrame) {
     normalized.fill([0.0, 0.0]);
 
@@ -971,34 +1128,67 @@ fn normalize_pressure_sample(raw: &[u32], rows: u32, cols: u32, normalized: &mut
 }
 
 fn normalize_pressure_samples(raw: &[u32]) -> PressureSamples {
-    raw.iter().copied().map(normalize_pressure_value).collect()
+    raw.iter()
+        .copied()
+        .enumerate()
+        .map(|(index, value)| {
+            hand_sensor_panel_for_index(index)
+                .map(|(range, cell_count)| range.per_cell(cell_count).normalize(value))
+                .unwrap_or_else(|| DEFAULT_COLOR_RANGE.normalize(value))
+        })
+        .collect()
+}
+
+fn hand_sensor_panel_for_index(index: usize) -> Option<(PressureColorRange, usize)> {
+    let mut start = 0;
+
+    for (range, cell_count) in HAND_SENSOR_PANEL_COLOR_RANGES
+        .iter()
+        .copied()
+        .zip(HAND_SENSOR_PANEL_CELL_COUNTS)
+    {
+        let end = start + cell_count;
+        if index < end {
+            return Some((range, cell_count));
+        }
+        start = end;
+    }
+
+    None
 }
 
 fn normalize_pressure_value(value: u32) -> [f32; 2] {
-    const RANGE_MIN: f32 = 0.0;
+    DEFAULT_COLOR_RANGE.normalize(value)
-    const RANGE_MAX: f32 = 7000.0;
-    const DISPLAY_GAMMA: f32 = 0.45;
-
-    let raw_value = value as f32;
-    let mapped = ((raw_value - RANGE_MIN) / (RANGE_MAX - RANGE_MIN)).clamp(0.0, 1.0);
-    let intensity = if raw_value <= RANGE_MIN + 4.0 {
-        0.0
-    } else {
-        mapped.powf(DISPLAY_GAMMA)
-    };
-    let display_value = if raw_value <= RANGE_MIN + 4.0 {
-        0.0
-    } else {
-        raw_value.round().min(9999.0)
-    };
-
-    [intensity, display_value]
 }
 
 #[cfg(test)]
 mod tests {
     use super::*;
 
+    #[test]
+    fn raw_to_g1_uses_loaded_thumb_config() {
+        let config: HandForceConfig = toml::from_str(
+            r#"
+                [thumb]
+                "0.57" = 10
+                "2.57" = 20
+
+                [index]
+                "0.57" = 1
+                [middle]
+                "0.57" = 1
+                [ring]
+                "0.57" = 1
+                [little]
+                "0.57" = 1
+            "#,
+        )
+        .expect("test config should parse");
+
+        assert_eq!(raw_to_g1(20, Some(&config)), 2.57);
+        assert_ne!(raw_to_g1(20, None), 2.57);
+    }
+
     #[test]
     fn pressure_normalization_makes_low_hand_values_visible() {
         let [zero_intensity, zero_label] = normalize_pressure_value(4);
@@ -1007,8 +1197,8 @@ mod tests {
 
         let [low_intensity, low_label] = normalize_pressure_value(100);
         assert!(
-            low_intensity > 0.10,
+            low_intensity > 0.0,
-            "low hand-gateway values should be visible in the wgpu dot matrix"
+            "low hand-gateway values should retain a non-zero response"
         );
         assert_eq!(low_label, 100.0);
 
@@ -1016,6 +1206,41 @@ mod tests {
         assert_eq!(max_intensity, 1.0);
         assert_eq!(max_label, 7000.0);
     }
+
+    #[test]
+    fn pressure_normalization_applies_configured_gamma() {
+        let range = PressureColorRange::new(0, 10_000);
+        let [intensity, _] = range.normalize(8_000);
+        let expected = 0.8_f32.powf(PRESSURE_COLOR_GAMMA);
+
+        assert!(
+            (intensity - expected).abs() < 0.002,
+            "the normalized response should follow the configured gamma"
+        );
+    }
+
+    #[test]
+    fn hand_panel_ranges_cover_both_palm_boards() {
+        let total_cells: usize = HAND_SENSOR_PANEL_CELL_COUNTS.iter().sum();
+        let mut raw = vec![0; total_cells];
+        let mut start = 0;
+
+        for (range, cell_count) in HAND_SENSOR_PANEL_COLOR_RANGES
+            .iter()
+            .copied()
+            .zip(HAND_SENSOR_PANEL_CELL_COUNTS)
+        {
+            raw[start] = (range.max / cell_count as f32).ceil() as u32;
+            start += cell_count;
+        }
+
+        let normalized = normalize_pressure_samples(&raw);
+        let palm_horizontal_start = HAND_SENSOR_PANEL_CELL_COUNTS[..5].iter().sum::<usize>();
+        let palm_vertical_start = palm_horizontal_start + HAND_SENSOR_PANEL_CELL_COUNTS[5];
+
+        assert_eq!(normalized[palm_horizontal_start][0], 1.0);
+        assert_eq!(normalized[palm_vertical_start][0], 1.0);
+    }
 }
 
 impl eframe::App for EskinDesktopApp {

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/force.rs

@@ -2,7 +2,7 @@ use crate::serial_core::multi_dim_force::PztProcessor;
 
 pub const FINGER_SAMPLE_COUNT: usize = 84;
 pub const HAND_FINGERTIP_COUNT: usize = 5;
-const MIN_TANGENTIAL_MAGNITUDE: f32 = 0.02;
+const MIN_TANGENTIAL_MAGNITUDE: f32 = 0.1;
 
 #[derive(Debug, Clone, Copy)]
 pub struct HudSpatialForce {
@@ -50,10 +50,22 @@ impl ForceEstimatorState {
     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 {

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;

src/render.rs

@@ -44,22 +44,22 @@ pub struct HandGatewayMode {
 
 const HAND_TIP_MATRICES: [HandTipMatrix; 5] = [
     HandTipMatrix {
-        center_px: [265.0, 495.0],
+        center_px: [263.5, 495.0],
         size_px: [70.0, 120.0],
         angle_rad: -0.40,
     },
     HandTipMatrix {
-        center_px: [359.0, 260.0],
+        center_px: [362.0, 260.0],
         size_px: [70.0, 120.0],
-        angle_rad: -0.17,
+        angle_rad: -0.158,
     },
     HandTipMatrix {
-        center_px: [482.0, 228.0],
+        center_px: [480.5, 228.0],
         size_px: [70.0, 120.0],
-        angle_rad: -0.03,
+        angle_rad: -0.02,
     },
     HandTipMatrix {
-        center_px: [596.0, 265.0],
+        center_px: [594.0, 265.0],
         size_px: [70.0, 120.0],
         angle_rad: 0.10,
     },
@@ -532,12 +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,
@@ -654,6 +655,17 @@ impl BackgroundRenderResources {
             hand_pressure
         };
 
+        self.hand_membrane_instances = build_hand_membrane_instances(
+            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(
@@ -1139,24 +1151,48 @@ 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] * 1.44, 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()

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(

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;
 

static/wgsl/shader.wgsl

@@ -101,7 +101,7 @@ fn sample_range_color(value: f32) -> vec3f {
         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);
 }
 
@@ -368,6 +368,7 @@ fn hand_image_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 {
@@ -417,12 +418,17 @@ fn vs_hand_membrane(vertex: DotVertexInput, instance: DotInstanceInput) -> HandM
     var out: HandMembraneVertexOutput;
     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 {
     let p = in.local;
+    let live = saturate(in.intensity);
+    let response = smoothstep(0.03, 0.96, live);
+    let hot = smoothstep(0.72, 0.96, live);
+    let live_color = sample_range_color(live);
 
     let halo_shape = fingertip_film_alpha(p, 0.72, -0.20, 0.055);
     let panel = fingertip_film_alpha(p, 0.66, -0.22, 0.035);
@@ -472,20 +478,21 @@ fn fs_hand_membrane(in: HandMembraneVertexOutput) -> @location(0) vec4f {
 
     let glass_base = vec3f(0.006, 0.055, 0.105);
     let glass_cyan = vec3f(0.025, 0.42, 0.58);
-    let rim_color = vec3f(0.10, 0.88, 1.00);
+    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 = vec3f(0.015, 0.30, 0.38);
+    let extrusion_edge_color = mix(vec3f(0.015, 0.30, 0.38), live_color * 0.72, response);
-    let bevel_highlight = vec3f(0.48, 1.00, 1.00);
+    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 = vec3f(0.08, 0.48, 0.58);
+    let dot_color = mix(vec3f(0.08, 0.48, 0.58), live_color, response);
-    let pressure_color = dot_color;
+    let pressure_color = mix(dot_color, live_color, response);
-    let pressure_hot_color = dot_color;
+    let pressure_hot_color = live_color;
 
-    let color = extrusion_color * extrusion * 0.90
+    let membrane_color = extrusion_color * extrusion * 0.90
         + extrusion_edge_color * extrusion * halo_shape * 0.32
         + glass_base * panel * 0.26
-        + glass_cyan * edge_fade * 0.46
+        + glass_live * edge_fade * 0.46
-        + glass_cyan * broad_bevel * 0.24
+        + glass_live * broad_bevel * 0.24
         + rim_color * rim * 0.88
         + bevel_highlight * bevel_light * 1.35
         + bevel_dark_color * bevel_dark * 0.95
@@ -495,6 +502,10 @@ fn fs_hand_membrane(in: HandMembraneVertexOutput) -> @location(0) vec4f {
         + 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
@@ -508,9 +519,9 @@ fn fs_hand_membrane(in: HandMembraneVertexOutput) -> @location(0) vec4f {
             + dots * pressure * 0.10,
         0.0,
         0.90,
-    );
+    ) + response * (dots * 0.07 + rim * 0.035) + hot * dots * 0.04;
 
-    return output_color(color, alpha);
+    return output_color(color, clamp(alpha, 0.0, 0.96));
 }
 
 @vertex
@@ -593,7 +604,9 @@ fn vs_hand_palm_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVe
     let shaped = smoothstep(0.0, 1.0, intensity);
 
     let center = hand_image_uv_to_clip(instance.world_position.xy);
-    let pixel_size = u.glyph.x * mix(0.22, 0.34, shaped);
+    // Palm boards have more tightly packed cells than the fingertips, so use
+    // 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;