Initial IK mode

Co-authored-by: Cursor <cursoragent@cursor.com>

Assets/ControlLibrary/libc_control.dylib.meta

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Assets/IK.meta

@@ -0,0 +1,8 @@
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Assets/IK/InverseKinematicsController.cs

@@ -0,0 +1,409 @@
+using UnityEngine;
+using System.Collections.Generic;
+using System.Linq;
+
+public class InverseKinematicsController : MonoBehaviour
+{
+    [Header("IK Settings")]
+    public int maxIterations = 10;
+    public float tolerance = 0.1f;
+    public bool constrainAngles = true;
+
+    [Header("Per-Joint Rotation Deadzone")]
+    [Tooltip("For ServoStraightModule joints only: if CCD computes a rotation smaller than this many degrees for a joint, that joint will not be updated this step.")]
+    [Min(0f)]
+    public float minRotationStepDegreesForDcAndStraight = 10f;
+
+    [Header("Drag Sensitivity")]
+    [Tooltip("How much of the user's mouse drag movement is interpreted (1.0 = 100%, 0.2 = 20%)")]
+    [Range(0.01f, 2.0f)]
+    public float dragSensitivity = 0.7f;
+    
+    [Header("Movement Smoothing")]
+    [Range(0.01f, 1f)]
+    public float movementSpeed = 0.3f;
+    public bool useSmoothing = true;
+    
+    [Header("Debug")]
+    public bool drawDebugLines = true;
+    public Color debugLineColor = Color.yellow;
+
+    private List<IKJoint> kinematicChain = new List<IKJoint>();
+    private Vector3 targetPosition;
+    private Vector3 smoothedTargetPosition;
+    private Transform endEffector;
+    private Transform anchorPoint;
+    private Vector3 anchorPosition;
+    private bool isSolving = false;
+
+    public bool BuildKinematicChain(Transform targetModule)
+    {
+        kinematicChain.Clear();
+        endEffector = targetModule;
+
+        Transform root = FindTopologyRoot(targetModule);
+        if (root == null || root.name != "GeneratedTopology")
+        {
+            return false;
+        }
+
+        BuildChainFromTargetToRoot(targetModule, root);
+        kinematicChain.Reverse();
+
+        if (kinematicChain.Count > 0)
+        {
+            Transform firstBase = kinematicChain[0].baseTransform != null ? kinematicChain[0].baseTransform : kinematicChain[0].pivotTransform;
+            Transform foundAnchor = FindAnchorPoint(firstBase);
+            if (foundAnchor != null)
+            {
+                anchorPoint = foundAnchor;
+                anchorPosition = anchorPoint.position;
+            }
+            else
+            {
+                anchorPoint = firstBase;
+                anchorPosition = anchorPoint.position;
+            }
+        }
+        else
+        {
+            Transform foundAnchor = FindAnchorPoint(endEffector);
+            if (foundAnchor != null)
+            {
+                anchorPoint = foundAnchor;
+                anchorPosition = anchorPoint.position;
+            }
+        }
+
+        ResetSmoothing();
+        return kinematicChain.Count > 0;
+    }
+
+    private void BuildChainFromTargetToRoot(Transform targetModule, Transform root)
+    {
+        Transform current = targetModule;
+        bool skippedSelectedModuleJoint = false;
+        while (current != null && current != root)
+        {
+            ServoMotorModule servo = current.GetComponentInParent<ServoMotorModule>();
+            if (servo != null && servo.armPivot != null)
+            {
+                if (!kinematicChain.Any(j => j.servo == servo))
+                {
+                    if (!skippedSelectedModuleJoint)
+                    {
+                        skippedSelectedModuleJoint = true;
+                        current = current.parent;
+                        continue;
+                    }
+                    IKJoint joint = new IKJoint
+                    {
+                        servo = servo,
+                        pivotTransform = servo.armPivot,
+                        baseTransform = servo.transform,
+                        minAngle = 0f,
+                        maxAngle = 180f,
+                        currentAngle = servo.currentAngle
+                    };
+
+                    // Critical: store axis in pivot-local space; compute world axis each iteration.
+                    if (servo is ServoBendModule)
+                    {
+                        joint.localRotationAxis = Vector3.forward;
+                    }
+                    else if (servo is ServoStraightModule)
+                    {
+                        joint.localRotationAxis = Vector3.right;
+                    }
+                    else
+                    {
+                        joint.localRotationAxis = Vector3.up;
+                    }
+
+                    kinematicChain.Add(joint);
+                }
+            }
+
+            current = current.parent;
+        }
+    }
+
+    public bool SolveIK(Vector3 targetPos)
+    {
+        if (kinematicChain.Count == 0)
+        {
+            return false;
+        }
+
+        if (useSmoothing)
+        {
+            if (smoothedTargetPosition == Vector3.zero)
+            {
+                smoothedTargetPosition = endEffector != null ? endEffector.position : targetPos;
+            }
+            smoothedTargetPosition = Vector3.Lerp(smoothedTargetPosition, targetPos, movementSpeed);
+            targetPosition = smoothedTargetPosition;
+        }
+        else
+        {
+            targetPosition = targetPos;
+        }
+        
+        isSolving = true;
+
+        bool success = SolveCCD();
+
+        isSolving = false;
+        return success;
+    }
+
+    private bool SolveCCD()
+    {
+        for (int iteration = 0; iteration < maxIterations; iteration++)
+        {
+            for (int i = kinematicChain.Count - 1; i >= 0; i--)
+            {
+                IKJoint joint = kinematicChain[i];
+                
+                Vector3 endEffectorPos = endEffector.position;
+                
+                Vector3 jointPos = joint.pivotTransform.position;
+                
+                if (i == 0 && anchorPoint != null)
+                {
+                    jointPos = anchorPosition;
+                }
+                
+                Vector3 toEndEffector = endEffectorPos - jointPos;
+                Vector3 toTarget = targetPosition - jointPos;
+                
+                if (toEndEffector.magnitude < 0.001f || toTarget.magnitude < 0.001f)
+                    continue;
+                
+                Vector3 worldAxis = joint.pivotTransform.TransformDirection(joint.localRotationAxis).normalized;
+                float angle = Vector3.SignedAngle(toEndEffector, toTarget, worldAxis);
+
+                float desiredAngle = joint.currentAngle + angle;
+                if (constrainAngles)
+                {
+                    desiredAngle = Mathf.Clamp(desiredAngle, joint.minAngle, joint.maxAngle);
+                }
+
+                float appliedDelta = desiredAngle - joint.currentAngle;
+
+                bool isStraightServo = joint.servo is ServoStraightModule;
+                if (isStraightServo && Mathf.Abs(appliedDelta) < minRotationStepDegreesForDcAndStraight)
+                {
+                    continue;
+                }
+
+                joint.currentAngle = desiredAngle;
+                joint.servo.SetAngle(desiredAngle);
+                
+                endEffectorPos = endEffector.position;
+                
+                if (Vector3.Distance(endEffectorPos, targetPosition) < tolerance)
+                {
+                    return true;
+                }
+            }
+        }
+
+        float finalDistance = Vector3.Distance(endEffector.position, targetPosition);
+        return finalDistance < tolerance * 10f;
+    }
+
+    public void ResetSmoothing()
+    {
+        smoothedTargetPosition = Vector3.zero;
+    }
+    
+    public Transform GetAnchorPoint()
+    {
+        return anchorPoint;
+    }
+    
+    public bool IsAnchorPoint(Transform moduleTransform)
+    {
+        return anchorPoint != null && anchorPoint == moduleTransform;
+    }
+    
+    private Transform FindTopologyRoot(Transform module)
+    {
+        Transform current = module;
+        while (current != null)
+        {
+            if (current.name == "GeneratedTopology")
+            {
+                return current;
+            }
+            current = current.parent;
+        }
+        return null;
+    }
+    
+    private Transform FindAnchorPoint(Transform servoTransform)
+    {
+        Transform topologyRoot = FindTopologyRoot(servoTransform);
+        if (topologyRoot == null)
+        {
+            return servoTransform;
+        }
+        
+        Transform batteryOrHub = FindBatteryOrHub(topologyRoot);
+        if (batteryOrHub != null)
+        {
+            return batteryOrHub;
+        }
+        
+        Transform endModule = FindEndModule(topologyRoot);
+        if (endModule != null)
+        {
+            return endModule;
+        }
+        
+        return servoTransform;
+    }
+    
+    private Transform FindBatteryOrHub(Transform topologyRoot)
+    {
+        foreach (Transform child in topologyRoot)
+        {
+            ModuleBase module = child.GetComponent<ModuleBase>();
+            if (module != null)
+            {
+                BatteryModule battery = child.GetComponent<BatteryModule>();
+                HubModule hub = child.GetComponent<HubModule>();
+                
+                if (battery != null || hub != null)
+                {
+                    return child;
+                }
+            }
+        }
+        return null;
+    }
+    
+    private Transform FindEndModule(Transform topologyRoot)
+    {
+        List<Transform> allModules = new List<Transform>();
+        foreach (Transform child in topologyRoot)
+        {
+            ModuleBase module = child.GetComponent<ModuleBase>();
+            if (module != null)
+            {
+                allModules.Add(child);
+            }
+        }
+        
+        foreach (Transform module in allModules)
+        {
+            int connectionCount = CountConnections(module, allModules);
+            
+            if (connectionCount == 1)
+            {
+                return module;
+            }
+        }
+        
+        return null;
+    }
+    
+    private int CountConnections(Transform module, List<Transform> allModules)
+    {
+        int count = 0;
+        
+        Transform currentParent = module.parent;
+        if (currentParent != null && currentParent.name != "GeneratedTopology")
+        {
+            ModuleBase parentModule = currentParent.GetComponent<ModuleBase>();
+            if (parentModule != null)
+            {
+                count++;
+            }
+            else
+            {
+                Transform checkParent = currentParent.parent;
+                while (checkParent != null && checkParent.name != "GeneratedTopology")
+                {
+                    ModuleBase checkModule = checkParent.GetComponent<ModuleBase>();
+                    if (checkModule != null)
+                    {
+                        count++;
+                        break;
+                    }
+                    checkParent = checkParent.parent;
+                }
+            }
+        }
+        
+        foreach (Transform otherModule in allModules)
+        {
+            if (otherModule == module) continue;
+            
+            Transform checkParent = otherModule.parent;
+            while (checkParent != null && checkParent.name != "GeneratedTopology")
+            {
+                if (checkParent == module)
+                {
+                    count++;
+                    break;
+                }
+                checkParent = checkParent.parent;
+            }
+        }
+        
+        return count;
+    }
+
+    void OnDrawGizmos()
+    {
+        if (!drawDebugLines || kinematicChain.Count == 0)
+            return;
+
+        Gizmos.color = debugLineColor;
+        
+        Vector3 prevPos;
+        if (anchorPoint != null)
+        {
+            prevPos = anchorPosition;
+            Gizmos.color = Color.green;
+            Gizmos.DrawSphere(prevPos, 0.15f);
+            Gizmos.color = debugLineColor;
+        }
+        else
+        {
+            prevPos = kinematicChain[0].pivotTransform.position;
+        }
+        
+        for (int i = 0; i < kinematicChain.Count; i++)
+        {
+            Vector3 currentPos = kinematicChain[i].pivotTransform.position;
+            Gizmos.DrawLine(prevPos, currentPos);
+            Gizmos.DrawSphere(currentPos, 0.1f);
+            prevPos = currentPos;
+        }
+        
+        if (endEffector != null)
+        {
+            Gizmos.DrawLine(prevPos, endEffector.position);
+            Gizmos.DrawSphere(endEffector.position, 0.15f);
+        }
+        
+        Gizmos.color = Color.red;
+        Gizmos.DrawSphere(targetPosition, 0.2f);
+        Gizmos.DrawLine(endEffector != null ? endEffector.position : prevPos, targetPosition);
+    }
+
+    private class IKJoint
+    {
+        public ServoMotorModule servo;
+        public Transform pivotTransform;
+        public Transform baseTransform;
+        public Vector3 localRotationAxis;
+        public float minAngle;
+        public float maxAngle;
+        public float currentAngle;
+    }
+}
+

Assets/IK/InverseKinematicsController.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
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Assets/IK/ModulePositionController.cs

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+using UnityEngine;
+using UnityEngine.EventSystems;
+using UnityEngine.UI;
+using System.Collections.Generic;
+
+public class ModulePositionController : MonoBehaviour
+{
+    [Header("References")]
+    public Camera mainCamera;
+    public InverseKinematicsController ikController;
+    public LayerMask moduleLayer = -1; // All layers by default
+    
+    [Header("Position Control Settings")]
+    public float positionStepSize = 0.1f; // How much to move per button click
+    public float positionChangeThreshold = 0.01f; // Minimum position change to trigger IK solve
+    
+    [Header("Visual Feedback")]
+    public Color selectedColor = new Color(0f, 0.8f, 1f, 1f); // Cyan color
+
+    [Header("Selected Module Transparency (IK View)")]
+    [Tooltip("If enabled, the currently selected module becomes transparent in IK view.")]
+    public bool makeSelectedModuleTransparent = true;
+    [Range(0.05f, 1f)]
+    public float selectedModuleAlpha = 0.25f;
+    
+    [Header("UI References")]
+    public Button xPlusButton;
+    public Button xMinusButton;
+    public Button yPlusButton;
+    public Button yMinusButton;
+    public Button zPlusButton;
+    public Button zMinusButton;
+    
+    [Header("Gizmo")]
+    public PositionControlGizmo gizmo;
+    
+    [HideInInspector] public ModuleBase selectedModule;
+    private Vector3 targetPosition;
+    private Vector3 lastSuccessfulPosition;
+    private bool[] axisLimitReached = new bool[3];
+    private int[] axisLimitDirection = new int[3];
+    private bool gizmoWasClicked = false;
+
+    // Critical: modules are parented; apply transparency only to renderers owned by the selected module.
+    private readonly Dictionary<Renderer, Material[]> _originalSharedMaterialsByRenderer = new();
+    private readonly List<Renderer> _transparentRenderers = new();
+    
+    void Start()
+    {
+        if (mainCamera == null)
+        {
+            mainCamera = Camera.main;
+            if (mainCamera == null)
+            {
+                mainCamera = FindObjectOfType<Camera>();
+            }
+        }
+        
+        if (ikController == null)
+        {
+            ikController = GetComponentInParent<InverseKinematicsController>();
+            if (ikController == null)
+            {
+                ikController = FindObjectOfType<InverseKinematicsController>();
+            }
+        }
+        
+        if (gizmo == null)
+        {
+            gizmo = GetComponentInChildren<PositionControlGizmo>();
+            if (gizmo == null)
+            {
+                gizmo = FindObjectOfType<PositionControlGizmo>();
+            }
+            if (gizmo != null && gizmo.positionController == null)
+            {
+                gizmo.positionController = this;
+            }
+        }
+        
+        SetupUIButtons();
+    }
+    
+    void SetupUIButtons()
+    {
+        if (xPlusButton != null) xPlusButton.onClick.RemoveAllListeners();
+        if (xMinusButton != null) xMinusButton.onClick.RemoveAllListeners();
+        if (yPlusButton != null) yPlusButton.onClick.RemoveAllListeners();
+        if (yMinusButton != null) yMinusButton.onClick.RemoveAllListeners();
+        if (zPlusButton != null) zPlusButton.onClick.RemoveAllListeners();
+        if (zMinusButton != null) zMinusButton.onClick.RemoveAllListeners();
+        
+        if (xPlusButton != null)
+        {
+            xPlusButton.onClick.AddListener(() => AdjustPositionAxis(0, 1));
+        }
+        
+        if (xMinusButton != null)
+        {
+            xMinusButton.onClick.AddListener(() => AdjustPositionAxis(0, -1));
+        }
+        
+        if (yPlusButton != null)
+        {
+            yPlusButton.onClick.AddListener(() => AdjustPositionAxis(1, 1));
+        }
+        
+        if (yMinusButton != null)
+        {
+            yMinusButton.onClick.AddListener(() => AdjustPositionAxis(1, -1));
+        }
+        
+        if (zPlusButton != null)
+        {
+            zPlusButton.onClick.AddListener(() => AdjustPositionAxis(2, 1));
+        }
+        
+        if (zMinusButton != null)
+        {
+            zMinusButton.onClick.AddListener(() => AdjustPositionAxis(2, -1));
+        }
+    }
+    
+    public void AdjustPositionAxis(int axis, int sign)
+    {
+        if (selectedModule == null)
+        {
+            return;
+        }
+        
+        if (ikController == null)
+        {
+            return;
+        }
+        
+        Vector3 currentActualPosition = selectedModule.transform.position;
+        
+        // Critical: preserve user intent on the other axes when adjusting only one axis.
+        float targetOtherAxisX = targetPosition.x;
+        float targetOtherAxisY = targetPosition.y;
+        float targetOtherAxisZ = targetPosition.z;
+        
+        Vector3 positionBeforeIK = currentActualPosition;
+        
+        Vector3 newTargetPosition = targetPosition;
+        
+        switch (axis)
+        {
+            case 0: // X axis
+                newTargetPosition.x += sign * positionStepSize;
+                break;
+            case 1: // Y axis
+                newTargetPosition.y += sign * positionStepSize;
+                break;
+            case 2: // Z axis
+                newTargetPosition.z += sign * positionStepSize;
+                break;
+        }
+        
+        float currentAxisValue = 0f;
+        float newAxisValue = 0f;
+        switch (axis)
+        {
+            case 0:
+                currentAxisValue = positionBeforeIK.x;
+                newAxisValue = newTargetPosition.x;
+                break;
+            case 1:
+                currentAxisValue = positionBeforeIK.y;
+                newAxisValue = newTargetPosition.y;
+                break;
+            case 2:
+                currentAxisValue = positionBeforeIK.z;
+                newAxisValue = newTargetPosition.z;
+                break;
+        }
+        
+        targetPosition = newTargetPosition;
+        
+        if (ikController != null)
+        {
+            ikController.ResetSmoothing();
+        }
+        
+        bool success = false;
+        if (ikController != null)
+        {
+            success = ikController.SolveIK(targetPosition);
+        }
+        
+        Vector3 positionAfterIK = selectedModule.transform.position;
+        
+        float axisMovement = 0f;
+        float axisValueBefore = 0f;
+        float axisValueAfter = 0f;
+        
+        switch (axis)
+        {
+            case 0: // X axis
+                axisValueBefore = positionBeforeIK.x;
+                axisValueAfter = positionAfterIK.x;
+                axisMovement = Mathf.Abs(axisValueAfter - axisValueBefore);
+                break;
+            case 1: // Y axis
+                axisValueBefore = positionBeforeIK.y;
+                axisValueAfter = positionAfterIK.y;
+                axisMovement = Mathf.Abs(axisValueAfter - axisValueBefore);
+                break;
+            case 2: // Z axis
+                axisValueBefore = positionBeforeIK.z;
+                axisValueAfter = positionAfterIK.z;
+                axisMovement = Mathf.Abs(axisValueAfter - axisValueBefore);
+                break;
+        }
+        
+        bool movementInCorrectDirection = false;
+        switch (axis)
+        {
+            case 0: // X axis
+                movementInCorrectDirection = (sign > 0 && axisValueAfter > axisValueBefore) || (sign < 0 && axisValueAfter < axisValueBefore);
+                break;
+            case 1: // Y axis
+                movementInCorrectDirection = (sign > 0 && axisValueAfter > axisValueBefore) || (sign < 0 && axisValueAfter < axisValueBefore);
+                break;
+            case 2: // Z axis
+                movementInCorrectDirection = (sign > 0 && axisValueAfter > axisValueBefore) || (sign < 0 && axisValueAfter < axisValueBefore);
+                break;
+        }
+        
+        // Critical: prevent target drift when constraints move opposite the user's intent.
+        bool shouldUpdateTarget = (success || axisMovement >= positionChangeThreshold) && movementInCorrectDirection;
+        Vector3 updatedTargetPosition = targetPosition;
+        
+        if (shouldUpdateTarget)
+        {
+            updatedTargetPosition = targetPosition;
+            
+            switch (axis)
+            {
+                case 0:
+                    updatedTargetPosition.x = positionAfterIK.x;
+                    updatedTargetPosition.y = targetOtherAxisY;
+                    updatedTargetPosition.z = targetOtherAxisZ;
+                    break;
+                case 1:
+                    updatedTargetPosition.x = targetOtherAxisX;
+                    updatedTargetPosition.y = positionAfterIK.y;
+                    updatedTargetPosition.z = targetOtherAxisZ;
+                    break;
+                case 2:
+                    updatedTargetPosition.x = targetOtherAxisX;
+                    updatedTargetPosition.y = targetOtherAxisY;
+                    updatedTargetPosition.z = positionAfterIK.z;
+                    break;
+            }
+            
+            targetPosition = updatedTargetPosition;
+        }
+        else
+        {
+            switch (axis)
+            {
+                case 0:
+                    targetPosition.x = targetOtherAxisX;
+                    break;
+                case 1:
+                    targetPosition.y = targetOtherAxisY;
+                    break;
+                case 2:
+                    targetPosition.z = targetOtherAxisZ;
+                    break;
+            }
+            updatedTargetPosition = targetPosition;
+            
+            if (axisMovement >= positionChangeThreshold && !movementInCorrectDirection)
+            {
+                if (ikController != null)
+                {
+                    ikController.ResetSmoothing();
+                }
+            }
+        }
+        
+        lastSuccessfulPosition = positionAfterIK;
+        axisLimitReached[axis] = false;
+        axisLimitDirection[axis] = 0;
+        
+    }
+    
+    void LateUpdate()
+    {
+        HandleSelection();
+    }
+    
+    void HandleSelection()
+    {
+        if (EventSystem.current != null && EventSystem.current.IsPointerOverGameObject())
+            return;
+        
+        if (Input.GetMouseButtonDown(0))
+        {
+            gizmoWasClicked = false;
+            
+            if (gizmo != null && gizmo.enabled && gizmo.WasGizmoClicked())
+            {
+                gizmoWasClicked = true;
+                return; // Don't process selection/deselection when gizmo arrow is clicked
+            }
+            
+            if (gizmoWasClicked)
+            {
+                return;
+            }
+            
+            if (mainCamera == null)
+            {
+                mainCamera = Camera.main;
+                if (mainCamera == null)
+                {
+                    mainCamera = FindObjectOfType<Camera>();
+                }
+                if (mainCamera == null)
+                {
+                    return;
+                }
+            }
+            
+            Ray ray = mainCamera.ScreenPointToRay(Input.mousePosition);
+            RaycastHit hit;
+            
+            if (Physics.Raycast(ray, out hit, Mathf.Infinity, moduleLayer))
+            {
+                ModuleBase hitModule = hit.collider.GetComponentInParent<ModuleBase>();
+                
+                if (hitModule != null && IsPartOfGeneratedTopology(hitModule.transform))
+                {
+                    SelectModule(hitModule);
+                }
+                else
+                {
+                    DeselectModule();
+                }
+            }
+            else
+            {
+                if (!gizmoWasClicked)
+                {
+                DeselectModule();
+            }
+        }
+        }
+    }
+    
+    public void OnGizmoClicked()
+    {
+        gizmoWasClicked = true;
+    }
+    
+    void SelectModule(ModuleBase module)
+    {
+        if (selectedModule != null && selectedModule != module)
+        {
+            DeselectModule();
+        }
+        
+        ServoMotorModule.selectedModule = null;
+        ObjectSelector.selectedObject = null;
+        
+        selectedModule = module;
+        targetPosition = selectedModule.transform.position;
+        lastSuccessfulPosition = selectedModule.transform.position;
+        axisLimitReached[0] = false;
+        axisLimitReached[1] = false;
+        axisLimitReached[2] = false;
+        axisLimitDirection[0] = 0;
+        axisLimitDirection[1] = 0;
+        axisLimitDirection[2] = 0;
+        
+        ServoMotorModule servoModule = module.GetComponent<ServoMotorModule>();
+        if (servoModule != null)
+        {
+            ServoMotorModule.selectedModule = servoModule;
+        }
+        else
+        {
+            ObjectSelector.selectedObject = module.gameObject;
+        }
+        
+        if (gizmo != null)
+        {
+            gizmo.enabled = true;
+            gizmo.RefreshGizmoVisibility();
+        }
+        
+        if (ikController != null)
+        {
+            bool chainBuilt = ikController.BuildKinematicChain(selectedModule.transform);
+            
+            if (chainBuilt)
+            {
+                if (ikController.IsAnchorPoint(selectedModule.transform))
+                {
+                    DeselectModule();
+                    return;
+                }
+            }
+            
+            ikController.ResetSmoothing();
+        }
+
+        if (makeSelectedModuleTransparent)
+        {
+            ApplyTransparencyToSelectedModule();
+        }
+    }
+    
+    public void DeselectModule()
+    {
+        RestoreTransparency();
+
+        if (selectedModule != null)
+        {
+            ServoMotorModule.selectedModule = null;
+            ObjectSelector.selectedObject = null;
+        }
+        
+        selectedModule = null;
+        
+        if (gizmo != null)
+        {
+            gizmo.enabled = false;
+            gizmo.RefreshGizmoVisibility();
+        }
+    }
+
+    private void ApplyTransparencyToSelectedModule()
+    {
+        RestoreTransparency();
+
+        if (selectedModule == null) return;
+
+        // Critical: don't descend into other ModuleBase subtrees (child modules).
+        foreach (var r in GetRenderersOwnedByModule(selectedModule))
+        {
+            if (!_originalSharedMaterialsByRenderer.ContainsKey(r))
+            {
+                _originalSharedMaterialsByRenderer[r] = r.sharedMaterials;
+            }
+
+            Material[] mats = r.materials;
+            for (int i = 0; i < mats.Length; i++)
+            {
+                var m = mats[i];
+                if (m == null) continue;
+                ConfigureMaterialForTransparency(m, selectedModuleAlpha);
+            }
+
+            _transparentRenderers.Add(r);
+        }
+    }
+
+    private static IEnumerable<Renderer> GetRenderersOwnedByModule(ModuleBase rootModule)
+    {
+        if (rootModule == null) yield break;
+
+        Transform root = rootModule.transform;
+        var stack = new Stack<Transform>();
+        stack.Push(root);
+
+        while (stack.Count > 0)
+        {
+            Transform t = stack.Pop();
+            if (t == null) continue;
+
+            if (t != root)
+            {
+                ModuleBase other = t.GetComponent<ModuleBase>();
+                if (other != null && other != rootModule)
+                    continue;
+            }
+
+            foreach (var r in t.GetComponents<Renderer>())
+            {
+                if (r != null)
+                    yield return r;
+            }
+
+            for (int i = 0; i < t.childCount; i++)
+            {
+                stack.Push(t.GetChild(i));
+            }
+        }
+    }
+
+    private static void ConfigureMaterialForTransparency(Material m, float alpha)
+    {
+        alpha = Mathf.Clamp01(alpha);
+
+        if (m.HasProperty("_Surface"))
+        {
+            m.SetFloat("_Surface", 1f);
+
+            if (m.HasProperty("_Blend")) m.SetFloat("_Blend", 0f);
+            if (m.HasProperty("_AlphaClip")) m.SetFloat("_AlphaClip", 0f);
+
+            m.EnableKeyword("_SURFACE_TYPE_TRANSPARENT");
+            m.DisableKeyword("_SURFACE_TYPE_OPAQUE");
+
+            m.SetOverrideTag("RenderType", "Transparent");
+            if (m.HasProperty("_SrcBlend")) m.SetFloat("_SrcBlend", (float)UnityEngine.Rendering.BlendMode.SrcAlpha);
+            if (m.HasProperty("_DstBlend")) m.SetFloat("_DstBlend", (float)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha);
+            if (m.HasProperty("_ZWrite")) m.SetFloat("_ZWrite", 0f);
+            m.renderQueue = (int)UnityEngine.Rendering.RenderQueue.Transparent;
+        }
+        else if (m.HasProperty("_Mode"))
+        {
+            m.SetFloat("_Mode", 3f);
+            m.SetOverrideTag("RenderType", "Transparent");
+            if (m.HasProperty("_SrcBlend")) m.SetFloat("_SrcBlend", (float)UnityEngine.Rendering.BlendMode.SrcAlpha);
+            if (m.HasProperty("_DstBlend")) m.SetFloat("_DstBlend", (float)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha);
+            if (m.HasProperty("_ZWrite")) m.SetFloat("_ZWrite", 0f);
+            m.DisableKeyword("_ALPHATEST_ON");
+            m.EnableKeyword("_ALPHABLEND_ON");
+            m.DisableKeyword("_ALPHAPREMULTIPLY_ON");
+            m.renderQueue = (int)UnityEngine.Rendering.RenderQueue.Transparent;
+        }
+        else
+        {
+            m.SetOverrideTag("RenderType", "Transparent");
+            if (m.HasProperty("_SrcBlend")) m.SetFloat("_SrcBlend", (float)UnityEngine.Rendering.BlendMode.SrcAlpha);
+            if (m.HasProperty("_DstBlend")) m.SetFloat("_DstBlend", (float)UnityEngine.Rendering.BlendMode.OneMinusSrcAlpha);
+            if (m.HasProperty("_ZWrite")) m.SetFloat("_ZWrite", 0f);
+            m.renderQueue = (int)UnityEngine.Rendering.RenderQueue.Transparent;
+        }
+
+        if (m.HasProperty("_BaseColor"))
+        {
+            Color c = m.GetColor("_BaseColor");
+            c.a = alpha;
+            m.SetColor("_BaseColor", c);
+        }
+        if (m.HasProperty("_Color"))
+        {
+            Color c = m.GetColor("_Color");
+            c.a = alpha;
+            m.SetColor("_Color", c);
+        }
+    }
+
+    private void RestoreTransparency()
+    {
+        if (_transparentRenderers.Count == 0 && _originalSharedMaterialsByRenderer.Count == 0) return;
+
+        foreach (var r in _transparentRenderers)
+        {
+            if (r == null) continue;
+            if (_originalSharedMaterialsByRenderer.TryGetValue(r, out var shared))
+            {
+                r.sharedMaterials = shared;
+            }
+        }
+
+        _transparentRenderers.Clear();
+        _originalSharedMaterialsByRenderer.Clear();
+    }
+    
+    bool IsPartOfGeneratedTopology(Transform moduleTransform)
+    {
+        Transform current = moduleTransform;
+        while (current != null)
+        {
+            if (current.name == "GeneratedTopology")
+            {
+                return true;
+            }
+            current = current.parent;
+        }
+        return false;
+    }
+    
+    void OnDisable()
+    {
+        DeselectModule();
+    }
+}

Assets/IK/ModulePositionController.cs.meta

@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d35bf7a5ed4da4d708a643ace1b67073
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/IK/PositionControlGizmo.cs

@@ -0,0 +1,854 @@
+using UnityEngine;
+using UnityEngine.EventSystems;
+using UnityEngine.UI;
+using TMPro;
+public class PositionControlGizmo : MonoBehaviour
+{
+    [Header("Gizmo Settings")]
+    public float arrowLength = 1.0f;
+    public float arrowHeadSize = 0.25f;
+    public float lineWidth = 0.04f;
+    public float clickableRadius = 0.5f;
+    public float screenSpaceClickThreshold = 30f;
+    
+    [Header("Colors")]
+    public Color xAxisColor = Color.red;
+    public Color yAxisColor = Color.green;
+    public Color zAxisColor = Color.blue;
+    public Color hoverColor = Color.yellow;
+    public Color selectedColor = new Color(1f, 1f, 0f, 0.8f);
+    
+    [Header("References")]
+    public Camera mainCamera;
+    public ModulePositionController positionController;
+
+    [Header("Placement")]
+    [Tooltip("If enabled, the gizmo is drawn at the selected module's visual center (renderer/collider bounds center), rather than transform.position.")]
+    public bool centerOnModuleBounds = true;
+    [Tooltip("World-space offset added to gizmo origin.")]
+    public Vector3 gizmoWorldOffset = Vector3.zero;
+    
+    private ModuleBase targetModule;
+    private int hoveredAxis = -1;
+    private int previousHoveredAxis = -1;
+    private int selectedAxis = -1;
+    private Color[] previousColors = new Color[3];
+    private bool isDragging = false;
+    private bool gizmoWasClickedThisFrame = false;
+    
+    private Vector3 axisDragStartGizmoOrigin;
+    private Vector3 axisDragStartModulePosition;
+    private Vector2 axisDragStartMousePosition;
+    [Header("Axis Drag Settings")]
+    public float axisDragSensitivity = 0.01f;
+    
+    public bool WasGizmoClicked()
+    {
+        return gizmoWasClickedThisFrame;
+    }
+    
+    public void RefreshGizmoVisibility()
+    {
+        UpdateGizmoVisibility();
+    }
+    
+    private LineRenderer xAxisLine;
+    private LineRenderer yAxisLine;
+    private LineRenderer zAxisLine;
+    private GameObject gizmoContainer;
+
+    private Transform xAxisHead;
+    private Transform yAxisHead;
+    private Transform zAxisHead;
+    private static Mesh _coneMesh;
+    
+    void Start()
+    {
+        if (mainCamera == null)
+        {
+            mainCamera = Camera.main;
+            if (mainCamera == null)
+            {
+                mainCamera = FindObjectOfType<Camera>();
+            }
+        }
+        
+        if (positionController == null)
+        {
+            positionController = GetComponentInParent<ModulePositionController>();
+            if (positionController == null)
+            {
+                positionController = FindObjectOfType<ModulePositionController>();
+            }
+            if (positionController != null && positionController.gizmo == null)
+            {
+                positionController.gizmo = this;
+            }
+        }
+        
+        previousColors[0] = xAxisColor;
+        previousColors[1] = yAxisColor;
+        previousColors[2] = zAxisColor;
+        
+        FindGizmoLines();
+    }
+    
+    void FindGizmoLines()
+    {
+        if (gizmoContainer != null)
+        {
+            return;
+        }
+        
+        Transform existingContainer = this.transform.Find("PositionControlGizmo");
+        if (existingContainer != null)
+        {
+            gizmoContainer = existingContainer.gameObject;
+        }
+        else
+        {
+            gizmoContainer = new GameObject("PositionControlGizmo");
+            gizmoContainer.transform.SetParent(this.transform);
+            gizmoContainer.transform.localPosition = Vector3.zero;
+            gizmoContainer.transform.localRotation = Quaternion.identity;
+            gizmoContainer.transform.localScale = Vector3.one;
+        }
+        
+        Transform xAxisTransform = gizmoContainer.transform.Find("XAxis");
+        if (xAxisTransform == null)
+        {
+            GameObject xAxisObj = new GameObject("XAxis");
+            xAxisObj.transform.SetParent(gizmoContainer.transform);
+            xAxisObj.transform.localPosition = Vector3.zero;
+            xAxisObj.transform.localRotation = Quaternion.identity;
+            xAxisObj.transform.localScale = Vector3.one;
+            xAxisLine = xAxisObj.AddComponent<LineRenderer>();
+            SetupLineRenderer(xAxisLine, xAxisColor);
+        }
+        else
+        {
+            xAxisLine = xAxisTransform.GetComponent<LineRenderer>();
+            if (xAxisLine == null)
+            {
+                xAxisLine = xAxisTransform.gameObject.AddComponent<LineRenderer>();
+                SetupLineRenderer(xAxisLine, xAxisColor);
+            }
+            else
+            {
+                SetupLineRenderer(xAxisLine, xAxisColor);
+            }
+        }
+        
+        Transform yAxisTransform = gizmoContainer.transform.Find("YAxis");
+        if (yAxisTransform == null)
+        {
+            GameObject yAxisObj = new GameObject("YAxis");
+            yAxisObj.transform.SetParent(gizmoContainer.transform);
+            yAxisObj.transform.localPosition = Vector3.zero;
+            yAxisObj.transform.localRotation = Quaternion.identity;
+            yAxisObj.transform.localScale = Vector3.one;
+            yAxisLine = yAxisObj.AddComponent<LineRenderer>();
+            SetupLineRenderer(yAxisLine, yAxisColor);
+        }
+        else
+        {
+            yAxisLine = yAxisTransform.GetComponent<LineRenderer>();
+            if (yAxisLine == null)
+            {
+                yAxisLine = yAxisTransform.gameObject.AddComponent<LineRenderer>();
+                SetupLineRenderer(yAxisLine, yAxisColor);
+            }
+            else
+            {
+                SetupLineRenderer(yAxisLine, yAxisColor);
+            }
+        }
+        
+        Transform zAxisTransform = gizmoContainer.transform.Find("ZAxis");
+        if (zAxisTransform == null)
+        {
+            GameObject zAxisObj = new GameObject("ZAxis");
+            zAxisObj.transform.SetParent(gizmoContainer.transform);
+            zAxisObj.transform.localPosition = Vector3.zero;
+            zAxisObj.transform.localRotation = Quaternion.identity;
+            zAxisObj.transform.localScale = Vector3.one;
+            zAxisLine = zAxisObj.AddComponent<LineRenderer>();
+            SetupLineRenderer(zAxisLine, zAxisColor);
+        }
+        else
+        {
+            zAxisLine = zAxisTransform.GetComponent<LineRenderer>();
+            if (zAxisLine == null)
+            {
+                zAxisLine = zAxisTransform.gameObject.AddComponent<LineRenderer>();
+                SetupLineRenderer(zAxisLine, zAxisColor);
+            }
+            else
+            {
+                SetupLineRenderer(zAxisLine, zAxisColor);
+            }
+        }
+
+        xAxisHead = EnsureArrowHead(xAxisLine != null ? xAxisLine.transform : null, "Head");
+        yAxisHead = EnsureArrowHead(yAxisLine != null ? yAxisLine.transform : null, "Head");
+        zAxisHead = EnsureArrowHead(zAxisLine != null ? zAxisLine.transform : null, "Head");
+        
+        gizmoContainer.SetActive(false);
+    }
+
+    private Transform EnsureArrowHead(Transform axisTransform, string name)
+    {
+        if (axisTransform == null) return null;
+
+        Transform head = axisTransform.Find(name);
+        if (head == null)
+        {
+            var go = new GameObject(name);
+            go.transform.SetParent(axisTransform, false);
+            head = go.transform;
+        }
+
+        var mf = head.GetComponent<MeshFilter>();
+        if (mf == null) mf = head.gameObject.AddComponent<MeshFilter>();
+
+        var mr = head.GetComponent<MeshRenderer>();
+        if (mr == null) mr = head.gameObject.AddComponent<MeshRenderer>();
+
+        if (_coneMesh == null)
+        {
+            _coneMesh = CreateConeMesh(18);
+        }
+        mf.sharedMesh = _coneMesh;
+
+        if (axisTransform.TryGetComponent<LineRenderer>(out var lr) && lr.material != null)
+        {
+            mr.sharedMaterial = lr.material;
+        }
+        else
+        {
+            var mat = new Material(Shader.Find("Unlit/Color"));
+            mat.color = Color.white;
+            mr.sharedMaterial = mat;
+        }
+
+        mr.shadowCastingMode = UnityEngine.Rendering.ShadowCastingMode.Off;
+        mr.receiveShadows = false;
+
+        return head;
+    }
+
+    private static Mesh CreateConeMesh(int segments)
+    {
+        segments = Mathf.Clamp(segments, 6, 64);
+
+        var mesh = new Mesh();
+        mesh.name = "PositionControlGizmo_Cone";
+
+        int vertCount = segments + 2; // base ring + base center + tip
+        Vector3[] v = new Vector3[vertCount];
+        Vector3[] n = new Vector3[vertCount];
+        Vector2[] uv = new Vector2[vertCount];
+
+        int baseCenter = segments;
+        int tip = segments + 1;
+
+        float radius = 0.5f;
+        for (int i = 0; i < segments; i++)
+        {
+            float a = (i / (float)segments) * Mathf.PI * 2f;
+            float x = Mathf.Cos(a) * radius;
+            float y = Mathf.Sin(a) * radius;
+            v[i] = new Vector3(x, y, 0f);
+            n[i] = (new Vector3(x, y, radius)).normalized; // approximate
+            uv[i] = new Vector2(i / (float)segments, 0f);
+        }
+
+        v[baseCenter] = new Vector3(0f, 0f, 0f);
+        n[baseCenter] = Vector3.back;
+        uv[baseCenter] = new Vector2(0.5f, 0f);
+
+        v[tip] = new Vector3(0f, 0f, 1f);
+        n[tip] = Vector3.forward;
+        uv[tip] = new Vector2(0.5f, 1f);
+
+        int[] tris = new int[segments * 6];
+        int t = 0;
+        for (int i = 0; i < segments; i++)
+        {
+            int next = (i + 1) % segments;
+
+            tris[t++] = i;
+            tris[t++] = next;
+            tris[t++] = tip;
+
+            tris[t++] = next;
+            tris[t++] = i;
+            tris[t++] = baseCenter;
+        }
+
+        mesh.vertices = v;
+        mesh.normals = n;
+        mesh.uv = uv;
+        mesh.triangles = tris;
+        mesh.RecalculateBounds();
+        return mesh;
+    }
+    
+    void OnEnable()
+    {
+        UpdateGizmoVisibility();
+    }
+    
+    void UpdateGizmoVisibility()
+    {
+        if (gizmoContainer != null)
+        {
+            if (positionController != null)
+            {
+                targetModule = positionController.selectedModule;
+            }
+            
+            bool shouldShow = targetModule != null && this.enabled;
+            
+            if (shouldShow)
+            {
+                gizmoContainer.SetActive(true);
+            }
+            else
+            {
+                gizmoContainer.SetActive(false);
+            }
+            
+            if (!shouldShow)
+            {
+                hoveredAxis = -1;
+                selectedAxis = -1;
+                isDragging = false;
+            }
+        }
+        else
+        {
+            FindGizmoLines();
+        }
+    }
+    
+    void SetupLineRenderer(LineRenderer lr, Color color)
+    {
+        Shader unlitShader = Shader.Find("Unlit/Color");
+        Material gizmoMaterial;
+        
+        if (unlitShader != null)
+        {
+            gizmoMaterial = new Material(unlitShader);
+            gizmoMaterial.color = color;
+            gizmoMaterial.SetInt("_ZTest", (int)UnityEngine.Rendering.CompareFunction.Always);
+            gizmoMaterial.SetInt("_ZWrite", 0);
+        }
+        else
+        {
+            gizmoMaterial = new Material(Shader.Find("Sprites/Default"));
+            gizmoMaterial.color = color;
+        }
+        
+        lr.material = gizmoMaterial;
+        lr.startColor = color;
+        lr.endColor = color;
+        lr.startWidth = lineWidth;
+        lr.endWidth = lineWidth;
+        lr.positionCount = 2;
+        lr.useWorldSpace = true;
+        lr.shadowCastingMode = UnityEngine.Rendering.ShadowCastingMode.Off;
+        lr.receiveShadows = false;
+        
+        lr.sortingOrder = 1000;
+    }
+    
+    void UpdateGizmoVisualization()
+    {
+        if (targetModule == null)
+        {
+            return;
+        }
+        
+        if (gizmoContainer == null)
+        {
+            FindGizmoLines();
+            if (gizmoContainer == null)
+            {
+                return;
+            }
+        }
+        
+        if (xAxisLine == null || yAxisLine == null || zAxisLine == null)
+        {
+            FindGizmoLines();
+            if (xAxisLine == null || yAxisLine == null || zAxisLine == null)
+            {
+                return;
+            }
+        }
+        
+        Vector3 gizmoOrigin = GetGizmoOrigin();
+        
+        Color xColor = GetAxisColor(0);
+        if (previousColors[0] != xColor)
+        {
+            previousColors[0] = xColor;
+        }
+        UpdateAxisLine(xAxisLine, gizmoOrigin, GetAxisDirection(0), arrowLength, xColor);
+        UpdateAxisHead(xAxisHead, gizmoOrigin, GetAxisDirection(0), arrowLength, arrowHeadSize, xColor);
+        
+        Color yColor = GetAxisColor(1);
+        if (previousColors[1] != yColor)
+        {
+            previousColors[1] = yColor;
+        }
+        UpdateAxisLine(yAxisLine, gizmoOrigin, GetAxisDirection(1), arrowLength, yColor);
+        UpdateAxisHead(yAxisHead, gizmoOrigin, GetAxisDirection(1), arrowLength, arrowHeadSize, yColor);
+        
+        Color zColor = GetAxisColor(2);
+        if (previousColors[2] != zColor)
+        {
+            previousColors[2] = zColor;
+        }
+        UpdateAxisLine(zAxisLine, gizmoOrigin, GetAxisDirection(2), arrowLength, zColor);
+        UpdateAxisHead(zAxisHead, gizmoOrigin, GetAxisDirection(2), arrowLength, arrowHeadSize, zColor);
+    }
+
+    void UpdateAxisHead(Transform head, Vector3 start, Vector3 direction, float length, float headSize, Color color)
+    {
+        if (head == null) return;
+
+        Vector3 dir = direction.normalized;
+        Vector3 end = start + dir * length;
+
+        head.position = end;
+        head.rotation = Quaternion.LookRotation(dir, Vector3.up);
+        head.localScale = new Vector3(headSize, headSize, headSize);
+
+        // Update head material color (shared with line renderer in most cases)
+        var mr = head.GetComponent<MeshRenderer>();
+        if (mr != null && mr.sharedMaterial != null)
+        {
+            if (mr.sharedMaterial.HasProperty("_Color"))
+                mr.sharedMaterial.SetColor("_Color", color);
+            mr.sharedMaterial.color = color;
+        }
+    }
+    
+    void UpdateAxisLine(LineRenderer lr, Vector3 start, Vector3 direction, float length, Color color)
+    {
+        if (lr == null)
+        {
+            return;
+        }
+        
+        // Ensure LineRenderer is enabled
+        if (!lr.enabled)
+        {
+            lr.enabled = true;
+        }
+        
+        
+        Vector3 end = start + direction.normalized * length;
+        lr.SetPosition(0, start);
+        lr.SetPosition(1, end);
+        lr.startColor = color;
+        lr.endColor = color;
+        
+        // Also update material color (important for Unlit/Color shader)
+        if (lr.material != null)
+        {
+            lr.material.color = color;
+            // Also set _Color property explicitly (some shaders use this)
+            if (lr.material.HasProperty("_Color"))
+            {
+                lr.material.SetColor("_Color", color);
+            }
+        }
+    }
+    
+    void Update()
+    {
+        if (positionController != null)
+        {
+            targetModule = positionController.selectedModule;
+        }
+        
+        UpdateGizmoVisibility();
+        
+        if (targetModule != null)
+        {
+            HandleGizmoInteraction();
+            
+            UpdateGizmoVisualization();
+        }
+        else
+        {
+            hoveredAxis = -1;
+            selectedAxis = -1;
+            isDragging = false;
+        }
+    }
+    
+    void HandleGizmoInteraction()
+    {
+        if (targetModule == null || mainCamera == null)
+        {
+            hoveredAxis = -1;
+            return;
+        }
+        
+        if (EventSystem.current != null && EventSystem.current.IsPointerOverGameObject())
+        {
+            hoveredAxis = -1;
+            return;
+        }
+        
+        Vector3 gizmoOrigin = GetGizmoOrigin();
+        Vector2 mouseScreenPos = Input.mousePosition;
+        
+        float closestDistance = float.MaxValue;
+        int closestAxis = -1;
+        
+        for (int axis = 0; axis < 3; axis++)
+        {
+            Vector3 axisDirection = GetAxisDirection(axis);
+            Vector3 axisStart = gizmoOrigin;
+            Vector3 axisEnd = gizmoOrigin + axisDirection * arrowLength;
+            
+            Vector3 screenStart3D = mainCamera.WorldToScreenPoint(axisStart);
+            Vector3 screenEnd3D = mainCamera.WorldToScreenPoint(axisEnd);
+            
+            if (screenStart3D.z < 0 || screenEnd3D.z < 0)
+                continue;
+            
+            Vector2 screenStart = new Vector2(screenStart3D.x, screenStart3D.y);
+            Vector2 screenEnd = new Vector2(screenEnd3D.x, screenEnd3D.y);
+            
+            Vector2 closestPointOnLine = ClosestPointOnScreenLine(screenStart, screenEnd, mouseScreenPos);
+            float screenDistance = Vector2.Distance(mouseScreenPos, closestPointOnLine);
+            
+            float distanceToStart = Vector2.Distance(mouseScreenPos, screenStart);
+            float minDistance = Mathf.Min(screenDistance, distanceToStart);
+            
+            if (minDistance < screenSpaceClickThreshold && minDistance < closestDistance)
+            {
+                closestDistance = minDistance;
+                closestAxis = axis;
+            }
+        }
+        
+        int oldHoveredAxis = hoveredAxis;
+        hoveredAxis = closestAxis;
+        
+        if (hoveredAxis != oldHoveredAxis)
+        {
+            // no-op (hover state tracking only)
+        }
+        
+        gizmoWasClickedThisFrame = false;
+        
+        HandleAxisBasedInteraction();
+    }
+    
+    void HandleAxisBasedInteraction()
+    {
+        if (EventSystem.current != null && EventSystem.current.IsPointerOverGameObject())
+        {
+            hoveredAxis = -1;
+            return;
+        }
+        
+        Vector3 gizmoOrigin = GetGizmoOrigin();
+        Vector2 mouseScreenPos = Input.mousePosition;
+        
+        if (Input.GetMouseButtonDown(0))
+        {
+            if (hoveredAxis >= 0)
+            {
+                selectedAxis = hoveredAxis;
+                isDragging = true;
+                axisDragStartGizmoOrigin = gizmoOrigin; // Store starting gizmo origin
+                axisDragStartModulePosition = targetModule.transform.position; // Store module pivot position for IK targets
+                axisDragStartMousePosition = mouseScreenPos; // Store starting mouse position
+                gizmoWasClickedThisFrame = true; // Mark that gizmo was clicked
+                
+                if (positionController != null)
+                {
+                    positionController.OnGizmoClicked();
+                }
+            }
+        }
+        else if (isDragging && selectedAxis >= 0 && Input.GetMouseButton(0))
+        {
+            ProcessUnityStyleAxisDrag();
+        }
+        else if (Input.GetMouseButtonUp(0))
+        {
+            if (isDragging)
+            {
+                isDragging = false;
+                selectedAxis = -1;
+            }
+        }
+    }
+    
+    void ProcessUnityStyleAxisDrag()
+    {
+        if (targetModule == null || mainCamera == null || positionController == null) return;
+        
+        Vector2 currentMousePos = Input.mousePosition;
+        Vector2 mouseDelta = currentMousePos - axisDragStartMousePosition;
+        
+        float minMouseMovement = 2f; // Minimum pixels of movement required
+        if (mouseDelta.magnitude < minMouseMovement)
+        {
+            return; // User just clicked without dragging - no movement
+        }
+        
+        Vector3 axisDirection = GetAxisDirection(selectedAxis);
+        Vector3 gizmoOrigin = axisDragStartGizmoOrigin; // Use gizmo origin as reference for screen-space projection
+        
+        Vector2 screenAxis = (Vector2)mainCamera.WorldToScreenPoint(gizmoOrigin + axisDirection) -
+                            (Vector2)mainCamera.WorldToScreenPoint(gizmoOrigin);
+        screenAxis.Normalize();
+        
+        float movementAlongAxis = Vector2.Dot(mouseDelta, screenAxis);
+        
+        float worldMovement = movementAlongAxis * axisDragSensitivity;
+        
+        if (positionController != null && positionController.ikController != null)
+        {
+            worldMovement *= positionController.ikController.dragSensitivity;
+        }
+        
+        // IMPORTANT: keep IK target based on module pivot (transform.position), not the visual gizmo origin.
+        Vector3 currentPosition = targetModule.transform.position;
+        Vector3 targetPosition = axisDragStartModulePosition + axisDirection * worldMovement;
+        
+        float minMovementThreshold = 0.03f; // Minimum 3cm movement required
+        float distanceToTarget = Vector3.Distance(targetPosition, currentPosition);
+
+        if (distanceToTarget < minMovementThreshold)
+        {
+            return;
+        }
+
+        Vector3 intendedMovement = targetPosition - currentPosition;
+        float intendedAxisMovement = Vector3.Dot(intendedMovement, axisDirection);
+        float minAxisMovement = 0.02f; // Minimum 2cm movement along the selected axis
+
+        if (Mathf.Abs(intendedAxisMovement) < minAxisMovement)
+        {
+            return;
+        }
+
+        if (positionController.ikController != null)
+        {
+            bool success = positionController.ikController.SolveIK(targetPosition);
+            
+            if (success)
+            {
+                Vector3 actualPosition = targetModule.transform.position;
+                Vector3 actualMovement = actualPosition - axisDragStartModulePosition;
+                float actualAxisMovement = Vector3.Dot(actualMovement, axisDirection);
+                float actualMovementDistance = actualMovement.magnitude;
+
+                if (actualMovementDistance >= minMovementThreshold && Mathf.Abs(actualAxisMovement) >= minAxisMovement)
+                {
+                    if (Mathf.Sign(actualAxisMovement) == Mathf.Sign(intendedAxisMovement))
+                    {
+                        axisDragStartModulePosition = actualPosition;
+                        axisDragStartGizmoOrigin = GetGizmoOrigin();
+                        axisDragStartMousePosition = currentMousePos;
+                    }
+                }
+            }
+        }
+    }
+
+    Vector3 GetGizmoOrigin()
+    {
+        if (targetModule == null) return Vector3.zero;
+
+        Vector3 origin = targetModule.transform.position;
+        if (!centerOnModuleBounds)
+            return origin + gizmoWorldOffset;
+
+        bool hasBounds = false;
+        Bounds b = default;
+
+        foreach (var r in GetRenderersOwnedByModule(targetModule))
+        {
+            if (r == null) continue;
+            if (!hasBounds)
+            {
+                b = r.bounds;
+                hasBounds = true;
+            }
+            else
+            {
+                b.Encapsulate(r.bounds);
+            }
+        }
+
+        if (!hasBounds)
+        {
+            foreach (var c in GetCollidersOwnedByModule(targetModule))
+            {
+                if (c == null) continue;
+                if (!hasBounds)
+                {
+                    b = c.bounds;
+                    hasBounds = true;
+                }
+                else
+                {
+                    b.Encapsulate(c.bounds);
+                }
+            }
+        }
+
+        origin = hasBounds ? b.center : origin;
+        return origin + gizmoWorldOffset;
+    }
+
+    static System.Collections.Generic.IEnumerable<Renderer> GetRenderersOwnedByModule(ModuleBase rootModule)
+    {
+        if (rootModule == null) yield break;
+        Transform root = rootModule.transform;
+
+        var stack = new System.Collections.Generic.Stack<Transform>();
+        stack.Push(root);
+
+        while (stack.Count > 0)
+        {
+            Transform t = stack.Pop();
+            if (t == null) continue;
+
+            if (t != root)
+            {
+                ModuleBase other = t.GetComponent<ModuleBase>();
+                if (other != null && other != rootModule)
+                    continue;
+            }
+
+            foreach (var r in t.GetComponents<Renderer>())
+                if (r != null) yield return r;
+
+            for (int i = 0; i < t.childCount; i++)
+                stack.Push(t.GetChild(i));
+        }
+    }
+
+    static System.Collections.Generic.IEnumerable<Collider> GetCollidersOwnedByModule(ModuleBase rootModule)
+    {
+        if (rootModule == null) yield break;
+        Transform root = rootModule.transform;
+
+        var stack = new System.Collections.Generic.Stack<Transform>();
+        stack.Push(root);
+
+        while (stack.Count > 0)
+        {
+            Transform t = stack.Pop();
+            if (t == null) continue;
+
+            if (t != root)
+            {
+                ModuleBase other = t.GetComponent<ModuleBase>();
+                if (other != null && other != rootModule)
+                    continue;
+            }
+
+            foreach (var c in t.GetComponents<Collider>())
+                if (c != null) yield return c;
+
+            for (int i = 0; i < t.childCount; i++)
+                stack.Push(t.GetChild(i));
+        }
+    }
+    
+    Vector2 ClosestPointOnScreenLine(Vector2 lineStart, Vector2 lineEnd, Vector2 point)
+    {
+        Vector2 line = lineEnd - lineStart;
+        float lineLength = line.magnitude;
+        
+        if (lineLength < 0.001f)
+            return lineStart;
+        
+        line.Normalize();
+        Vector2 pointToStart = point - lineStart;
+        float projectionLength = Vector2.Dot(pointToStart, line);
+        projectionLength = Mathf.Clamp(projectionLength, 0f, lineLength);
+        
+        return lineStart + line * projectionLength;
+    }
+    
+    void AdjustPosition(int axis, int sign)
+    {
+        if (positionController != null)
+        {
+            positionController.AdjustPositionAxis(axis, sign);
+        }
+    }
+    
+    Vector3 GetAxisDirection(int axis)
+    {
+        switch (axis)
+        {
+            case 0: return Vector3.right;   // X axis (world space - always points right)
+            case 1: return Vector3.up;      // Y axis (world space - always points up)
+            case 2: return Vector3.forward; // Z axis (world space - always points forward)
+            default: return Vector3.zero;
+        }
+    }
+    
+    Color GetAxisColor(int axis)
+    {
+        if (axis == selectedAxis) return selectedColor;
+        if (axis == hoveredAxis) return hoverColor;
+        
+        switch (axis)
+        {
+            case 0: return xAxisColor;
+            case 1: return yAxisColor;
+            case 2: return zAxisColor;
+            default: return Color.white;
+        }
+    }
+    
+    Vector3 ClosestPointOnLineSegment(Vector3 lineStart, Vector3 lineEnd, Vector3 point)
+    {
+        Vector3 line = lineEnd - lineStart;
+        float lineLength = line.magnitude;
+        line.Normalize();
+        
+        Vector3 pointToStart = point - lineStart;
+        float projectionLength = Vector3.Dot(pointToStart, line);
+        projectionLength = Mathf.Clamp(projectionLength, 0f, lineLength);
+        
+        return lineStart + line * projectionLength;
+    }
+    
+    Vector3 ClosestPointOnRay(Ray ray, Vector3 point)
+    {
+        Vector3 rayToPoint = point - ray.origin;
+        float projectionLength = Vector3.Dot(rayToPoint, ray.direction);
+        projectionLength = Mathf.Max(0f, projectionLength); // Don't go backwards
+        
+        return ray.origin + ray.direction * projectionLength;
+    }
+    
+    void OnDestroy()
+    {
+        // Don't destroy gizmo container - it's part of the scene hierarchy, not created at runtime
+        // Just clear the reference
+        gizmoContainer = null;
+        xAxisLine = null;
+        yAxisLine = null;
+        zAxisLine = null;
+    }
+}
+

Assets/IK/PositionControlGizmo.cs.meta

@@ -0,0 +1,11 @@
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+guid: 7b174028420e641e388cafa6d51ffcf5
+MonoImporter:
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Assets/ModuleSelector.cs

@@ -5,10 +5,31 @@ public class ModuleSelector : MonoBehaviour
 {
     public Camera mainCamera;
     public UserCameraControl cameraController; 
+    
+    [Header("Selection Camera Focus")]
+    [Tooltip("If enabled, selecting a module will rotate the camera to look at it.")]
+    public bool focusCameraOnSelection = true;
+
+    [Tooltip("When this view is active, camera focus-on-selection is suppressed (used for IK view). If not set, will auto-resolve Views/InverseKinematicsView.")]
+    public GameObject inverseKinematicsViewRoot;
 
     [System.NonSerialized]
     public ModuleBase prevModule;
 
+    void Awake()
+    {
+        // Auto-resolve the IK view root if not wired in the inspector.
+        if (inverseKinematicsViewRoot == null)
+        {
+            Transform views = GameObject.Find("Views")?.transform;
+            inverseKinematicsViewRoot =
+                views != null ? views.Find("InverseKinematicsView")?.gameObject : null;
+
+            if (inverseKinematicsViewRoot == null)
+                inverseKinematicsViewRoot = GameObject.Find("InverseKinematicsView");
+        }
+    }
+
     void Update()
     {
         if (Input.GetMouseButtonDown(0))
@@ -34,7 +55,8 @@ public class ModuleSelector : MonoBehaviour
                     ServoMotorModule.selectedModule = servo;
 
                     // tell camera to look at module
-                    if (cameraController != null)
+                    bool ikViewActive = inverseKinematicsViewRoot != null && inverseKinematicsViewRoot.activeInHierarchy;
+                    if (focusCameraOnSelection && !ikViewActive && cameraController != null)
                         cameraController.LookAtTarget(module.transform);
                 }
             }

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