fix skills rules

Geant4's G4EXPATShim creates EXPAT::EXPAT (uppercase) with
IMPORTED_LOCATION set to ${EXPAT_LIBRARY}, which is empty when EXPAT
is found via conda's config-mode package (expat::expat, lowercase).

After find_package(Geant4), patch EXPAT::EXPAT with the real library
path taken from expat::expat IMPORTED_LOCATION_NOCONFIG, falling back
to find_library if needed.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

.agents/rules/context_exclude_vtk.md

@@ -0,0 +1,9 @@
+---
+trigger: manual
+---
+# Context Restriction: No VTK
+When this rule is active, restrict the operational context to libraries excluding the VTK layer.
+- **Exclude Path**: `src/Vtk`
+- **Include Paths**: `src/Core`, `src/Math`, `src/HEP`, `src/Root`, `src/Python`, `src/utils`
+- **Focus**: Tomographic reconstruction algorithms, data structures in `Core`, and physical modeling in `HEP`. 
+- **Constraint**: Avoid referencing `Puppet`, `Viewport`, or any VTK-specific headers unless the user overrides this restriction.

.agents/rules/context_gcompose.md

@@ -0,0 +1,9 @@
+---
+trigger: manual
+---
+# Context Focus: gcompose Application
+When this rule is active, prioritize the `gcompose` GUI application.
+- **Primary Path**: `app/gcompose`
+- **Focus**: `MainPanel`, `ContextPanel`, `PropertiesPanel`, and `ViewportPane`.
+- **Integration**: Wiring of Qt signals/slots between the `uLib` core model and the GUI widgets.
+- **Dependency**: Reference `src/Vtk` and `src/Core` as the underlying framework for the application.

.agents/rules/context_vtk.md

@@ -0,0 +1,9 @@
+---
+trigger: always_on
+---
+# Context Inclusion: VTK
+When this rule is active, include the VTK visualization layer in the operational context.
+- **Priority Path**: `src/Vtk`
+- **Focus**: `Puppet` hierarchy, `Viewport` management, and the synchronization between domain objects and VTK props.
+- **Key Classes**: `vtkViewport`, `vtkQViewport`, `vtkObjectsContext`, and all classes in `src/Vtk/HEP/Geant`.
+- **Logic**: Ensure transformations (TRS) applied to domain objects are correctly mirrored in the visualization layer and vice versa.

.agents/skills/micromamba_build.md

@@ -0,0 +1,39 @@
+# Skill: Build uLib with Micromamba
+
+This skill provides instructions for building the uLib project using the micromamba environment.
+
+## Context
+- **Environment**: micromamba `uLib`
+- **Output Directory**: `build`
+- **CPU Usage**: All available cores
+
+## Instructions
+
+1. **Environment Setup**:
+   Ensure micromamba is properly initialized and the `uLib` environment is active.
+   ```bash
+   export MAMBA_EXE="/home/share/micromamba/bin/micromamba"
+   export MAMBA_ROOT_PREFIX="/home/share/micromamba"
+   eval "$(/home/share/micromamba/bin/micromamba shell hook --shell bash)"
+   micromamba activate uLib
+   ```
+
+2. **Full Rebuild (if needed)**:
+   If the `build` directory does not exist or a full reconfiguration is required:
+   ```bash
+   conan profile detect --force
+   conan install . --output-folder=build --build=missing
+   cmake --preset conan-release
+   ```
+
+3. **Incremental Build**:
+   Run the build command from the root directory, pointing to the `build` folder and using all cores.
+   ```bash
+   cmake --build build -j$(nproc)
+   ```
+
+4. **Specific Target Build**:
+   To build a specific target (e.g., gcompose):
+   ```bash
+   cmake --build build --target gcompose -j$(nproc)
+   ```

.clangd

@@ -1,7 +1,7 @@
 CompileFlags:
   CompilationDatabase: build
   Add: 
-    - -I/home/rigoni/devel/cmt/ulib/src
+    - -I/home/rigoni/devel/cmt/uLib/src
     - -isystem/home/share/micromamba/envs/mutom/include
     - -isystem/home/share/micromamba/envs/mutom/include/eigen3
     - -isystem/home/share/micromamba/envs/mutom/targets/x86_64-linux/include
@@ -27,7 +27,7 @@ Diagnostics:
 
 ---
 If:
-  PathExclude: [/home/rigoni/devel/cmt/ulib/src/.*]
+  PathExclude: [/home/rigoni/devel/cmt/uLib/src/.*]
 Diagnostics:
   Suppress: ["*"]
 

.gitignore

@@ -1,6 +1,7 @@
 CMakeFiles/
-build/
+build*/
 .cache/
+CMakeUserPresets.json
 build_warnings*.log
 final_build.log
 cmake_configure.log
@@ -13,3 +14,9 @@ src/Python/uLib/*.pyd
 src/Python/uLib/*.pyc
 src/Python/uLib/__pycache__
 src/Python/uLib/.nfs*
+test_props.xml
+test_props2.xml
+test_boost.cpp
+.claude/settings.json
+build_output.log
+configure_output.log

.vscode/settings.json

@@ -1,6 +1,6 @@
 {
     "clangd.fallbackFlags": [
-        "-I/home/rigoni/devel/cmt/ulib/src",
+        "-I/home/rigoni/devel/cmt/uLib/src",
         "-isystem/home/share/micromamba/envs/mutom/include",
         "-isystem/home/share/micromamba/envs/mutom/include/eigen3",
         "-isystem/home/share/micromamba/envs/mutom/targets/x86_64-linux/include",
@@ -19,8 +19,7 @@
     "clangd.semanticHighlighting.enable": true,
     "clangd.arguments": [
         "--compile-commands-dir=build",
-        "--query-driver=/home/share/micromamba/envs/mutom/bin/g++,/home/share/micromamba/envs/mutom/bin/gcc,/home/share/micromamba/envs/mutom/bin/nvcc",
+        "--query-driver=/home/share/micromamba/envs/mutom/bin/*",
-        "--suppress-system-warnings",
         "--all-scopes-completion",
         "--completion-style=detailed",
         "--header-insertion=never",

CLAUDE.md

@@ -10,9 +10,9 @@ This file provides guidance to Claude Code (claude.ai/code) when working with co
 export MAMBA_EXE="/home/share/micromamba/bin/micromamba"
 export MAMBA_ROOT_PREFIX="/home/share/micromamba"
 eval "$(/home/share/micromamba/bin/micromamba shell hook --shell bash)"
-micromamba activate mutom
+micromamba activate uLib
 
-# Configure (from repo root, using Conan preset)
+# Configure (from repo root, using Conan preset — uses Ninja + ccache)
 cmake --preset conan-release
 
 # Build everything
@@ -40,6 +40,18 @@ conan install . --output-folder=build --build=missing
 cmake --preset conan-release
 ```
 
+### Build acceleration (already configured)
+- **Ninja** generator — used automatically via the conan default profile (`~/.conan2/profiles/default`)
+- **ccache** — enabled via `CMAKE_CXX_COMPILER_LAUNCHER=ccache`; cached rebuilds are nearly instant (~0.3s vs ~25s cold)
+- **Clang 22 + lld** profile available (`~/.conan2/profiles/fast`) but blocked by template overload ambiguities in `src/Core/Archives.h` that need fixing for full compatibility
+
+To reconfigure with the fast profile once Archives.h is fixed:
+```bash
+conan install . --output-folder=build --build=missing --profile=fast
+cmake -B build -G Ninja -DCMAKE_TOOLCHAIN_FILE=build/conan_toolchain.cmake -DCMAKE_BUILD_TYPE=Release
+cmake --build build -j$(nproc)
+```
+
 ## Architecture
 
 **uLib** is a C++ framework for Cosmic Muon Tomography (CMT), structured as layered shared libraries:

CMakeLists.txt

@@ -15,13 +15,22 @@ if(POLICY CMP0167)
     cmake_policy(SET CMP0167 NEW)
 endif()
 
-
 ## -------------------------------------------------------------------------- ##
 
 project(uLib)
 
+# Applica la flag SOLO se il compilatore è GCC
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    add_compile_options(-fno-merge-constants)
+endif()
+
+# Disabilita il warning se il compilatore è Clang (o AppleClang)
+if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wno-ignored-optimization-argument)
+endif()
+
 # CUDA Toolkit seems to be missing locally. Toggle ON if nvcc is made available.
-option(USE_CUDA "Enable CUDA support" ON)
+option(USE_CUDA "Enable CUDA support" OFF)
 if(USE_CUDA)
     set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -allow-unsupported-compiler")
     set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} --expt-relaxed-constexpr")
@@ -38,7 +47,7 @@ endif()
 
 # The version number.
 set(PROJECT_VERSION_MAJOR 0)
-set(PROJECT_VERSION_MINOR 6)
+set(PROJECT_VERSION_MINOR 7)
 set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
 set(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
 
@@ -115,7 +124,7 @@ set(Boost_USE_MULTITHREADED ON)
 set(Boost_USE_STATIC_RUNTIME OFF)
 message(STATUS "CMAKE_PREFIX_PATH is ${CMAKE_PREFIX_PATH}")
 
-find_package(HDF5 REQUIRED CONFIG)
+find_package(HDF5 REQUIRED)
 
 find_package(Boost 1.45.0 COMPONENTS program_options serialization unit_test_framework REQUIRED)
 include_directories(${Boost_INCLUDE_DIRS})
@@ -124,6 +133,8 @@ find_package(Eigen3 CONFIG REQUIRED)
 get_target_property(EIGEN3_INCLUDE_DIRS Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES)
 include_directories(${EIGEN3_INCLUDE_DIRS})
 
+find_package(OpenMP)
+
 find_package(ROOT CONFIG REQUIRED)
 include(${ROOT_USE_FILE})
 
@@ -145,6 +156,8 @@ else()
                                 IOXML
                                 IOXMLParser
                                 ImagingCore
+                                ImagingHybrid
+                                ImagingSources
                                 InteractionStyle
                                 InteractionWidgets
                                 RenderingAnnotation
@@ -169,6 +182,26 @@ if(Geant4_FOUND)
     add_compile_definitions(HAVE_GEANT4)
     set(HAVE_GEANT4 1)
 
+    # Workaround: Geant4's G4EXPATShim creates EXPAT::EXPAT (uppercase) with
+    # IMPORTED_LOCATION "${EXPAT_LIBRARY}", but EXPAT_LIBRARY is empty when using
+    # conda's config-mode expat package (which installs as expat::expat lowercase).
+    # Resolve the actual library path from expat::expat or via find_library.
+    if(TARGET EXPAT::EXPAT)
+        get_target_property(_expat_loc EXPAT::EXPAT IMPORTED_LOCATION)
+        if(NOT _expat_loc OR _expat_loc MATCHES "NOTFOUND|^$")
+            if(TARGET expat::expat)
+                get_target_property(_expat_loc expat::expat IMPORTED_LOCATION_NOCONFIG)
+            endif()
+            if(NOT _expat_loc OR _expat_loc MATCHES "NOTFOUND|^$")
+                find_library(_expat_loc NAMES expat)
+            endif()
+            if(_expat_loc)
+                set_target_properties(EXPAT::EXPAT PROPERTIES IMPORTED_LOCATION "${_expat_loc}")
+            endif()
+        endif()
+        unset(_expat_loc)
+    endif()
+
     # Sanitize Geant4 targets to remove Qt5 dependencies that conflict with VTK/Qt6
     if(TARGET Geant4::G4interfaces)
         set_target_properties(Geant4::G4interfaces PROPERTIES 

CMakePresets.json

@@ -11,6 +11,28 @@
                 "CMAKE_BUILD_TYPE": "Debug",
                 "CMAKE_INSTALL_PREFIX": "${sourceDir}/out/install/${presetName}"
             }
+        },
+        {
+            "name": "fast",
+            "displayName": "Fast build: Ninja + clang + ccache",
+            "description": "Uses Ninja generator, clang/lld compiler, and ccache",
+            "generator": "Ninja",
+            "binaryDir": "${sourceDir}/build",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release",
+                "CMAKE_C_COMPILER": "clang",
+                "CMAKE_CXX_COMPILER": "clang++",
+                "CMAKE_EXE_LINKER_FLAGS": "-fuse-ld=lld",
+                "CMAKE_SHARED_LINKER_FLAGS": "-fuse-ld=lld",
+                "CMAKE_CXX_COMPILER_LAUNCHER": "ccache",
+                "CMAKE_C_COMPILER_LAUNCHER": "ccache"
+            }
+        },
+        {
+            "name": "mutom",
+            "description": "",
+            "displayName": "",
+            "inherits": []
         }
     ]
-}
+}

CMakeUserPresets.json

@@ -1,9 +0,0 @@
-{
-    "version": 4,
-    "vendor": {
-        "conan": {}
-    },
-    "include": [
-        "build/CMakePresets.json"
-    ]
-}

README.md

@@ -30,18 +30,22 @@ You can create and activate the environment using either `micromamba` or `conda`
 **Using Micromamba:**
 ```bash
 micromamba env create -f condaenv.yml
-micromamba activate mutom
+micromamba activate uLib
 ```
 
 **Using Conda:**
 ```bash
 conda env create -f condaenv.yml
-conda activate mutom
+conda activate uLib
 ```
 
 ### Configure and Build
 
-1. **Configure Conan profile (if you haven't yet on your machine):**
+#### Standard build (GCC + Ninja + ccache)
+
+The default conan profile uses **Ninja** as the generator and **ccache** for compiler caching, dramatically speeding up incremental rebuilds.
+
+1. **Configure Conan profile (first time only):**
 ```bash
 conan profile detect
 ```
@@ -51,20 +55,54 @@ conan profile detect
 conan install . --output-folder=build --build=missing
 ```
 
-3. **Configure the project with CMake:**
+3. **Configure with CMake:**
 ```bash
 cmake --preset conan-release
 ```
-*(Alternatively: `cd build && cmake .. -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake -DCMAKE_BUILD_TYPE=Release`)*
 
-4. **Build the project:**
+4. **Build:**
 ```bash
-cmake --build build -j10
+cmake --build build -j$(nproc)
 ```
 
+5. **Clean build (wipe and rebuild everything):**
+```bash
+cmake --build build --clean-first -j$(nproc)
+```
+
+6. **Run tests:**
+```bash
+cmake --build build --target test -j$(nproc)
+# or equivalently:
+ctest --test-dir build --output-on-failure -j$(nproc)
+```
+
+#### LLVM/Clang build (clang + lld + ccache — fastest)
+
+A `fast` conan profile is provided that uses **clang**, **lld** (LLVM linker), and **ccache**. Install them into your environment first:
+
+```bash
+micromamba install -n uLib -y clang clangxx lld -c conda-forge
+```
+
+Then build using the `fast` profile:
+
+```bash
+conan install . --output-folder=build --build=missing --profile=fast
+cmake -B build -G Ninja \
+      -DCMAKE_TOOLCHAIN_FILE=build/conan_toolchain.cmake \
+      -DCMAKE_BUILD_TYPE=Release
+cmake --build build -j$(nproc)
+```
+
+The `fast` profile is defined at `~/.conan2/profiles/fast` and sets:
+- `CMAKE_C_COMPILER=clang` / `CMAKE_CXX_COMPILER=clang++`
+- `CMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld`
+- `CMAKE_CXX_COMPILER_LAUNCHER=ccache`
+
 ### Make python package
 
 ```bash
-micromamba run -n mutom env USE_CUDA=ON poetry install
+micromamba run -n uLib env USE_CUDA=ON poetry install
 ```
 

app/gcompose/src/ContextModel.cpp

@@ -4,6 +4,11 @@
 #include <cxxabi.h>
 #include <functional>
 #include "Core/Object.h"
+#include <QMimeData>
+#include <QDataStream>
+#include <QIODevice>
+#include <vector>
+#include <algorithm>
 
 ContextModel::ContextModel(QObject* parent) 
     : QAbstractItemModel(parent), m_rootContext(nullptr) {}
@@ -11,12 +16,16 @@ ContextModel::ContextModel(QObject* parent)
 ContextModel::~ContextModel() {}
 
 void ContextModel::setContext(uLib::ObjectsContext* context) {
+    m_isReseting = true;
     beginResetModel();
     m_rootContext = context;
     if (m_rootContext) {
         auto refresh = [this]() {
+            if (this->m_isReseting) return;
+            this->m_isReseting = true;
             this->beginResetModel();
             this->endResetModel();
+            this->m_isReseting = false;
         };
 
         uLib::Object::connect(m_rootContext, &uLib::Object::Updated, refresh);
@@ -25,7 +34,6 @@ void ContextModel::setContext(uLib::ObjectsContext* context) {
             refresh();
         });
         uLib::Object::connect(m_rootContext, &uLib::ObjectsContext::ObjectRemoved, [this, refresh](uLib::Object* obj) {
-            // Disconnect would be good here but not strictly required if refresh handles it
             refresh();
         });
 
@@ -35,6 +43,7 @@ void ContextModel::setContext(uLib::ObjectsContext* context) {
         }
     }
     endResetModel();
+    m_isReseting = false;
 }
 
 QModelIndex ContextModel::index(int row, int column, const QModelIndex& parent) const {
@@ -48,8 +57,8 @@ QModelIndex ContextModel::index(int row, int column, const QModelIndex& parent)
         }
     } else {
         uLib::Object* parentObj = static_cast<uLib::Object*>(parent.internalPointer());
-        uLib::ObjectsContext* parentCtx = dynamic_cast<uLib::ObjectsContext*>(parentObj);
+        uLib::ObjectsContext* parentCtx = parentObj->GetChildren();
-        if (parentCtx && row < parentCtx->GetCount()) {
+        if (parentCtx && row < (int)parentCtx->GetCount()) {
             return createIndex(row, column, parentCtx->GetObject(row));
         }
     }
@@ -65,36 +74,37 @@ QModelIndex ContextModel::parent(const QModelIndex& child) const {
     
     // Finding the parent of childObj is O(N) since there is no parent pointer.
     // We just do a recursive search starting from root context.
-    std::function<uLib::ObjectsContext*(uLib::ObjectsContext*, uLib::Object*)> findParent = 
+    std::function<uLib::Object*(uLib::Object*, uLib::Object*)> findParent = 
-        [&findParent](uLib::ObjectsContext* ctx, uLib::Object* target) -> uLib::ObjectsContext* {
+        [&findParent](uLib::Object* current, uLib::Object* target) -> uLib::Object* {
-        for (const auto& obj : ctx->GetObjects()) {
+        uLib::ObjectsContext* ctx = current->GetChildren();
-            if (obj == target) return ctx;
+        if (ctx) {
-            if (auto subCtx = dynamic_cast<uLib::ObjectsContext*>(obj)) {
+            for (const auto& obj : ctx->GetObjects()) {
-                if (auto p = findParent(subCtx, target)) return p;
+                if (obj == target) return current;
+                if (auto p = findParent(obj, target)) return p;
             }
         }
         return nullptr;
     };
 
-    uLib::ObjectsContext* parentCtx = findParent(m_rootContext, childObj);
+    uLib::Object* parentObj = findParent(m_rootContext, childObj);
-    if (!parentCtx || parentCtx == m_rootContext) {
+    if (!parentObj || parentObj == m_rootContext) {
         return QModelIndex(); // Root items have invalid parent index
     }
 
-    // Now need to find the row of parentCtx in its own parent Context.
+    // Now need to find the row of parentObj in its own parent Context.
-    uLib::ObjectsContext* grandParentCtx = findParent(m_rootContext, parentCtx);
+    uLib::Object* grandParentObj = findParent(m_rootContext, parentObj);
-    if (!grandParentCtx) grandParentCtx = m_rootContext;
+    uLib::ObjectsContext* grandParentCtx = grandParentObj ? grandParentObj->GetChildren() : m_rootContext;
 
     int row = -1;
     for (size_t i = 0; i < grandParentCtx->GetCount(); ++i) {
-        if (grandParentCtx->GetObject(i) == parentCtx) {
+        if (grandParentCtx->GetObject(i) == parentObj) {
             row = (int)i;
             break;
         }
     }
 
     if (row != -1) {
-        return createIndex(row, 0, parentCtx);
+        return createIndex(row, 0, parentObj);
     }
     return QModelIndex();
 }
@@ -107,8 +117,8 @@ int ContextModel::rowCount(const QModelIndex& parent) const {
     }
 
     uLib::Object* parentObj = static_cast<uLib::Object*>(parent.internalPointer());
-    if (auto parentCtx = dynamic_cast<uLib::ObjectsContext*>(parentObj)) {
+    if (auto parentCtx = parentObj->GetChildren()) {
-        return parentCtx->GetCount();
+        return (int)parentCtx->GetCount();
     }
     return 0; // leaf node
 }
@@ -161,8 +171,98 @@ QVariant ContextModel::headerData(int section, Qt::Orientation orientation, int
 }
 
 Qt::ItemFlags ContextModel::flags(const QModelIndex& index) const {
-    if (!index.isValid()) return Qt::NoItemFlags;
+    if (!index.isValid()) return m_rootContext ? Qt::ItemIsDropEnabled : Qt::NoItemFlags;
-    return Qt::ItemIsEditable | Qt::ItemIsSelectable | Qt::ItemIsEnabled;
+    
+    Qt::ItemFlags f = Qt::ItemIsEditable | Qt::ItemIsSelectable | Qt::ItemIsEnabled | Qt::ItemIsDragEnabled;
+    uLib::Object* obj = static_cast<uLib::Object*>(index.internalPointer());
+    if (dynamic_cast<uLib::ObjectsContext*>(obj)) {
+        f |= Qt::ItemIsDropEnabled;
+    }
+    return f;
+}
+
+Qt::DropActions ContextModel::supportedDropActions() const {
+    return Qt::MoveAction;
+}
+
+QStringList ContextModel::mimeTypes() const {
+    return {"application/x-ulib-object-ptr"};
+}
+
+QMimeData* ContextModel::mimeData(const QModelIndexList& indexes) const {
+    QMimeData* mimeData = new QMimeData();
+    QByteArray encodedData;
+    QDataStream stream(&encodedData, QIODevice::WriteOnly);
+    for (const auto& idx : indexes) {
+        if (idx.isValid() && idx.column() == 0) {
+            void* ptr = idx.internalPointer();
+            stream << reinterpret_cast<qlonglong>(ptr);
+        }
+    }
+    mimeData->setData("application/x-ulib-object-ptr", encodedData);
+    return mimeData;
+}
+
+bool ContextModel::dropMimeData(const QMimeData* data, Qt::DropAction action, int row, int column, const QModelIndex& parent) {
+    if (action != Qt::MoveAction || !data->hasFormat("application/x-ulib-object-ptr")) return false;
+
+    uLib::ObjectsContext* targetCtx = m_rootContext;
+    if (parent.isValid()) {
+        uLib::Object* parentObj = static_cast<uLib::Object*>(parent.internalPointer());
+        targetCtx = dynamic_cast<uLib::ObjectsContext*>(parentObj);
+    }
+    if (!targetCtx) return false;
+
+    QByteArray encodedData = data->data("application/x-ulib-object-ptr");
+    QDataStream stream(&encodedData, QIODevice::ReadOnly);
+    std::vector<uLib::Object*> objectsToMove;
+    while (!stream.atEnd()) {
+        qlonglong ptrVal;
+        stream >> ptrVal;
+        objectsToMove.push_back(reinterpret_cast<uLib::Object*>(ptrVal));
+    }
+
+    if (objectsToMove.empty()) return false;
+
+    // Helper to find and remove from current parent
+    std::function<void(uLib::Object*, uLib::Object*)> findAndRemoveRecursive = 
+        [&findAndRemoveRecursive](uLib::Object* current, uLib::Object* target) {
+        if (auto ctx = current->GetChildren()) {
+            ctx->RemoveObject(target);
+            for (auto* obj : ctx->GetObjects()) {
+                findAndRemoveRecursive(obj, target);
+            }
+        }
+    };
+
+    m_isReseting = true;
+    beginResetModel();
+    for (auto* obj : objectsToMove) {
+        // Don't drop onto itself or its descendants
+        bool invalid = (obj == targetCtx || obj == (uLib::Object*)targetCtx);
+        if (!invalid) {
+             // check if targetCtx is descendant of obj
+             std::function<bool(uLib::Object*, uLib::Object*)> isDescendant = 
+                [&isDescendant](uLib::Object* root, uLib::Object* target) -> bool {
+                 if (auto ctx = root->GetChildren()) {
+                     for (auto* child : ctx->GetObjects()) {
+                         if (child == target) return true;
+                         if (isDescendant(child, target)) return true;
+                     }
+                 }
+                 return false;
+             };
+             if (isDescendant(obj, (uLib::Object*)targetCtx)) invalid = true;
+        }
+        
+        if (!invalid) {
+            findAndRemoveRecursive(m_rootContext, obj);
+            targetCtx->AddObject(obj);
+        }
+    }
+    endResetModel();
+    m_isReseting = false;
+    return true;
 }
 
 bool ContextModel::setData(const QModelIndex& index, const QVariant& value, int role) {

app/gcompose/src/ContextModel.h

@@ -21,8 +21,15 @@ public:
     Qt::ItemFlags flags(const QModelIndex& index) const override;
     bool setData(const QModelIndex& index, const QVariant& value, int role = Qt::EditRole) override;
 
+    // Drag and Drop support
+    Qt::DropActions supportedDropActions() const override;
+    QStringList mimeTypes() const override;
+    QMimeData* mimeData(const QModelIndexList& indexes) const override;
+    bool dropMimeData(const QMimeData* data, Qt::DropAction action, int row, int column, const QModelIndex& parent) override;
+
 private:
     uLib::ObjectsContext* m_rootContext;
+    bool m_isReseting = false;
 };
 
 #endif // CONTEXT_MODEL_H

app/gcompose/src/ContextPanel.cpp

@@ -38,6 +38,10 @@ ContextPanel::ContextPanel(QWidget* parent)
     m_treeView = new QTreeView(this);
     m_treeView->setObjectName("ContextTree");
     m_treeView->setHeaderHidden(false);
+    m_treeView->setDragEnabled(true);
+    m_treeView->setAcceptDrops(true);
+    m_treeView->setDropIndicatorShown(true);
+    m_treeView->setDragDropMode(QAbstractItemView::DragDrop);
     
     m_model = new ContextModel(this);
     m_treeView->setModel(m_model);

app/gcompose/src/PropertyWidgets.cpp

@@ -7,6 +7,11 @@
 #include "Vtk/uLibVtkInterface.h"
 #include "Math/Units.h"
 #include "Math/Dense.h"
+#include <QPushButton>
+#include <QColorDialog>
+#include <QFrame>
+#include <QSlider>
+#include "Settings.h"
 
 namespace uLib {
 namespace Qt {
@@ -15,9 +20,24 @@ PropertyWidgetBase::PropertyWidgetBase(PropertyBase* prop, QWidget* parent)
     : QWidget(parent), m_BaseProperty(prop) {
     m_Layout = new QHBoxLayout(this);
     m_Layout->setContentsMargins(4, 2, 4, 2);
-    m_Label = new QLabel(QString::fromStdString(prop->GetName()), this);
+    
-    m_Label->setMinimumWidth(100);
+    std::string unit = prop->GetUnits();
+    QString labelText = QString::fromStdString(prop->GetName());
+    if (!unit.empty() && unit != "color") {
+        auto dim = Settings::Instance().IdentifyDimension(unit);
+        std::string pref = Settings::Instance().GetPreferredUnit(dim);
+        if (!pref.empty()) {
+            labelText += " [" + QString::fromStdString(pref) + "]";
+        } else {
+            labelText += " [" + QString::fromStdString(unit) + "]";
+        }
+    }
+    
+    m_Label = new QLabel(labelText, this);
+    m_Label->setMinimumWidth(120);
     m_Layout->addWidget(m_Label);
+
+    this->setEnabled(!prop->IsReadOnly());
 }
 PropertyWidgetBase::~PropertyWidgetBase() {
     m_Connection.disconnect();
@@ -31,7 +51,7 @@ double parseWithUnits(const QString& text, double* factorOut, QString* suffixOut
 
     double num = match.captured(1).toDouble();
     QString unit = match.captured(3);
-    double factor = 1.0;
+    double factor = factorOut ? *factorOut : 1.0;
 
     if (!unit.isEmpty()) {
         QString u = unit.startsWith('_') ? unit.mid(1) : unit;
@@ -87,10 +107,6 @@ void UnitLineEdit::onEditingFinished() {
     double factor = m_Factor;
     QString suffix = m_Suffix;
     double parsedVal = parseWithUnits(text(), &factor, &suffix);
-    if (!suffix.isEmpty()) {
-        m_Suffix = suffix;
-        m_Factor = factor;
-    }
     if (m_IsInteger) {
         parsedVal = std::round(parsedVal);
     }
@@ -115,9 +131,6 @@ void UnitLineEdit::updateText() {
             s += ".0";
         }
     }
-    if (!m_Suffix.isEmpty()) {
-        s += " " + m_Suffix;
-    }
     setText(s);
 }
 
@@ -129,16 +142,17 @@ void UnitLineEdit::setIntegerOnly(bool integerOnly) {
 DoublePropertyWidget::DoublePropertyWidget(Property<double>* prop, QWidget* parent)
     : PropertyWidgetBase(prop, parent), m_Prop(prop) {
     m_Edit = new UnitLineEdit(this);
-    QString units = QString::fromStdString(prop->GetUnits());
+    std::string unit = prop->GetUnits();
-    if (!units.isEmpty()) {
+    if (!unit.empty()) {
-        double factor = 1.0;
+        auto dim = Settings::Instance().IdentifyDimension(unit);
-        parseWithUnits("1 " + units, &factor);
+        std::string pref = Settings::Instance().GetPreferredUnit(dim);
-        m_Edit->setUnits(units, factor);
+        double factor = Settings::Instance().GetUnitFactor(pref);
+        m_Edit->setUnits(QString::fromStdString(pref), factor);
     }
     m_Edit->setValue(prop->Get());
     m_Layout->addWidget(m_Edit, 1);
     connect(m_Edit, &UnitLineEdit::valueManualChanged, [this](double val){ m_Prop->Set(val); });
-    m_Connection = uLib::Object::connect(m_Prop, &Property<double>::PropertyChanged, [this](){
+    m_Connection = uLib::Object::connect(m_Prop, &Property<double>::Updated, [this](){
         m_Edit->setValue(m_Prop->Get());
     });
 }
@@ -146,16 +160,17 @@ DoublePropertyWidget::DoublePropertyWidget(Property<double>* prop, QWidget* pare
 FloatPropertyWidget::FloatPropertyWidget(Property<float>* prop, QWidget* parent)
     : PropertyWidgetBase(prop, parent), m_Prop(prop) {
     m_Edit = new UnitLineEdit(this);
-    QString units = QString::fromStdString(prop->GetUnits());
+    std::string unit = prop->GetUnits();
-    if (!units.isEmpty()) {
+    if (!unit.empty()) {
-        double factor = 1.0;
+        auto dim = Settings::Instance().IdentifyDimension(unit);
-        parseWithUnits("1 " + units, &factor);
+        std::string pref = Settings::Instance().GetPreferredUnit(dim);
-        m_Edit->setUnits(units, factor);
+        double factor = Settings::Instance().GetUnitFactor(pref);
+        m_Edit->setUnits(QString::fromStdString(pref), factor);
     }
     m_Edit->setValue(prop->Get());
     m_Layout->addWidget(m_Edit, 1);
     connect(m_Edit, &UnitLineEdit::valueManualChanged, [this](double val){ m_Prop->Set((float)val); });
-    m_Connection = uLib::Object::connect(m_Prop, &Property<float>::PropertyChanged, [this](){
+    m_Connection = uLib::Object::connect(m_Prop, &Property<float>::Updated, [this](){
         m_Edit->setValue((double)m_Prop->Get());
     });
 }
@@ -164,16 +179,17 @@ IntPropertyWidget::IntPropertyWidget(Property<int>* prop, QWidget* parent)
     : PropertyWidgetBase(prop, parent), m_Prop(prop) {
     m_Edit = new UnitLineEdit(this);
     m_Edit->setIntegerOnly(true);
-    QString units = QString::fromStdString(prop->GetUnits());
+    std::string unit = prop->GetUnits();
-    if (!units.isEmpty()) {
+    if (!unit.empty()) {
-        double factor = 1.0;
+        auto dim = Settings::Instance().IdentifyDimension(unit);
-        parseWithUnits("1 " + units, &factor);
+        std::string pref = Settings::Instance().GetPreferredUnit(dim);
-        m_Edit->setUnits(units, factor);
+        double factor = Settings::Instance().GetUnitFactor(pref);
+        m_Edit->setUnits(QString::fromStdString(pref), factor);
     }
     m_Edit->setValue(prop->Get());
     m_Layout->addWidget(m_Edit, 1);
     connect(m_Edit, &UnitLineEdit::valueManualChanged, [this](double val){ m_Prop->Set((int)val); });
-    m_Connection = uLib::Object::connect(m_Prop, &Property<int>::PropertyChanged, [this](){
+    m_Connection = uLib::Object::connect(m_Prop, &Property<int>::Updated, [this](){
         m_Edit->setValue((double)m_Prop->Get());
     });
 }
@@ -184,7 +200,7 @@ BoolPropertyWidget::BoolPropertyWidget(Property<bool>* prop, QWidget* parent)
     m_CheckBox->setChecked(prop->Get());
     m_Layout->addWidget(m_CheckBox, 1);
     connect(m_CheckBox, &QCheckBox::toggled, [this](bool val){ if (m_Prop->Get() != val) m_Prop->Set(val); });
-    m_Connection = uLib::Object::connect(m_Prop, &Property<bool>::PropertyChanged, [this](){
+    m_Connection = uLib::Object::connect(m_Prop, &Property<bool>::Updated, [this](){
         if (m_CheckBox->isChecked() != m_Prop->Get()) {
             QSignalBlocker blocker(m_CheckBox);
             m_CheckBox->setChecked(m_Prop->Get());
@@ -193,6 +209,76 @@ BoolPropertyWidget::BoolPropertyWidget(Property<bool>* prop, QWidget* parent)
 }
 BoolPropertyWidget::~BoolPropertyWidget() {}
 
+RangePropertyWidget::RangePropertyWidget(Property<double>* prop, QWidget* parent) 
+    : PropertyWidgetBase(prop, parent), m_Prop(prop) {
+    m_Slider = new QSlider(::Qt::Horizontal, this);
+    m_Slider->setRange(0, 100);
+    m_Slider->setMinimumWidth(80);
+    
+    m_Edit = new UnitLineEdit(this);
+    m_Edit->setFixedWidth(50);
+    
+    m_Layout->addWidget(m_Slider, 1);
+    m_Layout->addWidget(m_Edit, 0);
+
+    connect(m_Slider, &QSlider::valueChanged, this, &RangePropertyWidget::onSliderChanged);
+    connect(m_Edit, &UnitLineEdit::valueManualChanged, [this](double val){ m_Prop->Set(val); });
+    
+    m_Connection = uLib::Object::connect(m_Prop, &Property<double>::Updated, [this](){
+        this->updateUi();
+    });
+    updateUi();
+}
+RangePropertyWidget::~RangePropertyWidget() { m_Connection.disconnect(); }
+
+void RangePropertyWidget::updateUi() {
+    double val = m_Prop->Get();
+    m_Edit->setValue(val);
+    if (m_Prop->GetMax() != m_Prop->GetMin()) {
+        int sliderVal = (int)((val - m_Prop->GetMin()) / (m_Prop->GetMax() - m_Prop->GetMin()) * 100.0);
+        QSignalBlocker blocker(m_Slider);
+        m_Slider->setValue(sliderVal);
+    }
+}
+
+void RangePropertyWidget::onSliderChanged(int val) {
+    double realVal = m_Prop->GetMin() + (val / 100.0) * (m_Prop->GetMax() - m_Prop->GetMin());
+    m_Prop->Set(realVal);
+}
+
+ColorPropertyWidget::ColorPropertyWidget(Property<Vector3d>* prop, QWidget* parent) 
+    : PropertyWidgetBase(prop, parent), m_Prop(prop) {
+    m_Button = new QPushButton(this);
+    m_Button->setFixedWidth(60);
+    this->updateButtonColor();
+    m_Layout->addWidget(m_Button, 0, ::Qt::AlignRight);
+    
+    connect(m_Button, &QPushButton::clicked, this, &ColorPropertyWidget::onClicked);
+    m_Connection = uLib::Object::connect(m_Prop, &Property<Vector3d>::Updated, [this](){
+        this->updateButtonColor();
+    });
+}
+ColorPropertyWidget::~ColorPropertyWidget() {}
+
+void ColorPropertyWidget::updateButtonColor() {
+    Vector3d c = m_Prop->Get();
+    QColor color = QColor::fromRgbF(std::max(0.0, std::min(1.0, c.x())), 
+                                    std::max(0.0, std::min(1.0, c.y())), 
+                                    std::max(0.0, std::min(1.0, c.z())));
+    m_Button->setStyleSheet(QString("background-color: %1; border: 1px solid #555; height: 18px;").arg(color.name()));
+}
+
+void ColorPropertyWidget::onClicked() {
+    Vector3d c = m_Prop->Get();
+    QColor current = QColor::fromRgbF(std::max(0.0, std::min(1.0, c.x())), 
+                                      std::max(0.0, std::min(1.0, c.y())), 
+                                      std::max(0.0, std::min(1.0, c.z())));
+    QColor selected = QColorDialog::getColor(current, this, "Select Color");
+    if (selected.isValid()) {
+        m_Prop->Set(Vector3d(selected.redF(), selected.greenF(), selected.blueF()));
+    }
+}
+
 StringPropertyWidget::StringPropertyWidget(Property<std::string>* prop, QWidget* parent)
     : PropertyWidgetBase(prop, parent), m_Prop(prop) {
     m_LineEdit = new QLineEdit(this);
@@ -202,7 +288,7 @@ StringPropertyWidget::StringPropertyWidget(Property<std::string>* prop, QWidget*
         std::string val = m_LineEdit->text().toStdString();
         if (m_Prop->Get() != val) m_Prop->Set(val);
     });
-    m_Connection = uLib::Object::connect(m_Prop, &Property<std::string>::PropertyChanged, [this](){
+    m_Connection = uLib::Object::connect(m_Prop, &Property<std::string>::Updated, [this](){
         if (m_LineEdit->text().toStdString() != m_Prop->Get()) {
             QSignalBlocker blocker(m_LineEdit);
             m_LineEdit->setText(QString::fromStdString(m_Prop->Get()));
@@ -211,6 +297,26 @@ StringPropertyWidget::StringPropertyWidget(Property<std::string>* prop, QWidget*
 }
 StringPropertyWidget::~StringPropertyWidget() {}
 
+class GroupHeaderWidget : public QWidget {
+public:
+    GroupHeaderWidget(const QString& name, QWidget* parent = nullptr) : QWidget(parent) {
+        auto* layout = new QVBoxLayout(this);
+        layout->setContentsMargins(0, 8, 0, 4);
+        auto* line = new QFrame(this);
+        line->setFrameShape(QFrame::HLine);
+        line->setFrameShadow(QFrame::Sunken);
+        line->setStyleSheet("color: #555;");
+        layout->addWidget(line);
+        auto* label = new QLabel(name, this);
+        QFont font = label->font();
+        font.setBold(true);
+        font.setPointSize(font.pointSize() + 1);
+        label->setFont(font);
+        label->setStyleSheet("color: #aaa; text-transform: uppercase;");
+        layout->addWidget(label);
+    }
+};
+
 class EnumPropertyWidget : public PropertyWidgetBase {
     PropertyBase* m_Prop;
     QComboBox* m_Combo;
@@ -230,7 +336,7 @@ public:
                 p->Set(index);
             });
             // Store connection in base m_Connection so it's auto-disconnected on destruction.
-            m_Connection = uLib::Object::connect(p, &Property<int>::PropertyChanged, [this, p](){
+            m_Connection = uLib::Object::connect(p, &Property<int>::Updated, [this, p](){
                 if (m_Combo->currentIndex() != p->Get()) {
                     QSignalBlocker blocker(m_Combo);
                     m_Combo->setCurrentIndex(p->Get());
@@ -305,26 +411,63 @@ void PropertyEditor::setObject(::uLib::Object* obj, bool displayOnly) {
         }
     }
 
+    // Group properties by their group string
+    std::map<std::string, std::vector<::uLib::PropertyBase*>> groupedProps;
+    std::vector<std::string> groupOrder;
+    
     for (auto* prop : *props) {
-        // Priority 1: Check if it provides enum labels
+        std::string group = prop->GetGroup();
-        if (!prop->GetEnumLabels().empty()) {
+        if (groupedProps.find(group) == groupedProps.end()) {
-            m_ContainerLayout->addWidget(new EnumPropertyWidget(prop, m_Container));
+            groupOrder.push_back(group);
-            continue;
+        }
+        groupedProps[group].push_back(prop);
+    }
+
+    for (const auto& groupName : groupOrder) {
+        if (!groupName.empty()) {
+            m_ContainerLayout->addWidget(new GroupHeaderWidget(QString::fromStdString(groupName), m_Container));
         }
 
-        // Priority 2: Standard factory lookup
+        for (auto* prop : groupedProps[groupName]) {
-        auto it = m_Factories.find(prop->GetTypeIndex());
+            QWidget* widget = nullptr;
-        if (it != m_Factories.end()) {
+            
-            QWidget* widget = it->second(prop, m_Container);
+            // Priority 1: Check if it provides enum labels
-            m_ContainerLayout->addWidget(widget);
+            if (!prop->GetEnumLabels().empty()) {
-        } else {
+                widget = new EnumPropertyWidget(prop, m_Container);
-            // Debug info for unknown types
+            } else if (prop->GetUnits() == "color") {
-            std::cout << "PropertyEditor: No factory for " << prop->GetName() 
+                // Color Picker for Vector3d
-                      << " (Type: " << prop->GetTypeName() << ")" << std::endl;
+                if (auto* pvec = dynamic_cast<Property<Vector3d>*>(prop)) {
+                    widget = new ColorPropertyWidget(pvec, m_Container);
+                }
+            } else if (prop->HasRange()) {
+                // Slider for ranged doubles
+                if (auto* pdbl = dynamic_cast<Property<double>*>(prop)) {
+                    widget = new RangePropertyWidget(pdbl, m_Container);
+                } else if (auto* pflt = dynamic_cast<Property<float>*>(prop)) {
+                     // widget = new RangePropertyWidget<float>(pflt, m_Container);
+                }
+            } else {
+                // Priority 2: Standard factory lookup
+                    auto it = m_Factories.find(prop->GetTypeIndex());
+                    if (it != m_Factories.end()) {
+                        widget = it->second(prop, m_Container);
+                    } else {
+                    // Debug info for unknown types
+                    std::cout << "PropertyEditor: No factory for " << prop->GetQualifiedName() 
+                              << " (Type: " << prop->GetTypeName() << ")" << std::endl;
 
-            QWidget* fallback = new PropertyWidgetBase(prop, m_Container);
+                        widget = new PropertyWidgetBase(prop, m_Container);
-            fallback->layout()->addWidget(new QLabel("(Read-only: " + QString::fromStdString(prop->GetValueAsString()) + ")"));
+                    widget->layout()->addWidget(new QLabel("(Read-only: " + QString::fromStdString(prop->GetValueAsString()) + ")"));
-            m_ContainerLayout->addWidget(fallback);
+                    }
+            }
+
+            if (widget) {
+                if (!groupName.empty()) {
+                    // Indent grouped properties
+                    widget->setContentsMargins(16, 0, 0, 0);
+                }
+                m_ContainerLayout->addWidget(widget);
+            }
         }
     }
     m_ContainerLayout->addStretch(1);

app/gcompose/src/PropertyWidgets.h

@@ -2,6 +2,8 @@
 #define PROPERTY_WIDGETS_H
 
 #include <QWidget>
+class QPushButton;
+class QSlider;
 #include <QLabel>
 #include <QHBoxLayout>
 #include <QVBoxLayout>
@@ -16,6 +18,7 @@
 #include "Core/Object.h"
 #include "Core/Signal.h"
 #include "Math/Dense.h"
+#include "Settings.h"
 
 namespace uLib {
 namespace Qt {
@@ -93,19 +96,26 @@ class VectorPropertyWidget : public PropertyWidgetBase {
 public:
     VectorPropertyWidget(Property<VecT>* prop, QWidget* parent = nullptr)
         : PropertyWidgetBase(prop, parent), m_Prop(prop) {
-        QString units = QString::fromStdString(prop->GetUnits());
+        
+        std::string unit = prop->GetUnits();
         double factor = 1.0;
-        if (!units.isEmpty()) {
+        QString prefSuffix;
-            parseWithUnits("1 " + units, &factor);
+        if (!unit.empty()) {
+            auto dim = Settings::Instance().IdentifyDimension(unit);
+            std::string pref = Settings::Instance().GetPreferredUnit(dim);
+            factor = Settings::Instance().GetUnitFactor(pref);
+            prefSuffix = QString::fromStdString(pref);
         }
+
         for (int i = 0; i < Size; ++i) {
             m_Edits[i] = new UnitLineEdit(this);
             if (std::is_integral<typename VecT::Scalar>::value) {
                 m_Edits[i]->setIntegerOnly(true);
             }
-            if (!units.isEmpty()) {
+            if (!prefSuffix.isEmpty()) {
-               m_Edits[i]->setUnits(units, factor);
+               m_Edits[i]->setUnits(prefSuffix, factor);
             }
+            m_Edits[i]->setEnabled(!prop->IsReadOnly());
             m_Layout->addWidget(m_Edits[i], 1);
             
             connect(m_Edits[i], &UnitLineEdit::valueManualChanged, [this, i](double val){
@@ -115,7 +125,7 @@ public:
             });
         }
         updateEdits();
-        m_Connection = uLib::Object::connect(m_Prop, &Property<VecT>::PropertyChanged, [this](){
+        m_Connection = uLib::Object::connect(m_Prop, &Property<VecT>::Updated, [this](){
             updateEdits();
         });
     }
@@ -134,6 +144,20 @@ private:
     UnitLineEdit* m_Edits[Size];
 };
 
+class RangePropertyWidget : public PropertyWidgetBase {
+    Q_OBJECT
+public:
+    RangePropertyWidget(Property<double>* prop, QWidget* parent = nullptr);
+    virtual ~RangePropertyWidget();
+private slots:
+    void onSliderChanged(int val);
+private:
+    void updateUi();
+    Property<double>* m_Prop;
+    QSlider* m_Slider;
+    UnitLineEdit* m_Edit;
+};
+
 class BoolPropertyWidget : public PropertyWidgetBase {
     Q_OBJECT
 public:
@@ -144,6 +168,19 @@ private:
     QCheckBox* m_CheckBox;
 };
 
+class ColorPropertyWidget : public PropertyWidgetBase {
+    Q_OBJECT
+public:
+    ColorPropertyWidget(Property<Vector3d>* prop, QWidget* parent = nullptr);
+    virtual ~ColorPropertyWidget();
+private slots:
+    void onClicked();
+private:
+    void updateButtonColor();
+    Property<Vector3d>* m_Prop;
+    QPushButton* m_Button;
+};
+
 class StringPropertyWidget : public PropertyWidgetBase {
     Q_OBJECT
 public:

app/gcompose/src/Settings.h

@@ -0,0 +1,75 @@
+#ifndef GCOMPOSE_SETTINGS_H
+#define GCOMPOSE_SETTINGS_H
+
+#include <string>
+#include <map>
+#include "Math/Units.h"
+
+namespace uLib {
+namespace Qt {
+
+class Settings {
+public:
+    static Settings& Instance() {
+        static Settings instance;
+        return instance;
+    }
+
+    enum Dimension {
+        Length,
+        Angle,
+        Energy,
+        Time,
+        Dimensionless
+    };
+
+    void SetPreferredUnit(Dimension dim, const std::string& unit) {
+        m_PreferredUnits[dim] = unit;
+    }
+
+    std::string GetPreferredUnit(Dimension dim) const {
+        auto it = m_PreferredUnits.find(dim);
+        if (it != m_PreferredUnits.end()) return it->second;
+        
+        switch(dim) {
+            case Length: return "mm";
+            case Angle: return "deg";
+            case Energy: return "MeV";
+            case Time: return "ns";
+            default: return "";
+        }
+    }
+
+    double GetUnitFactor(const std::string& unit) const {
+        if (unit == "m") return CLHEP::meter;
+        if (unit == "cm") return CLHEP::centimeter;
+        if (unit == "mm") return CLHEP::millimeter;
+        if (unit == "um") return CLHEP::micrometer;
+        if (unit == "deg") return CLHEP::degree;
+        if (unit == "rad") return CLHEP::radian;
+        if (unit == "ns") return CLHEP::nanosecond;
+        if (unit == "s") return CLHEP::second;
+        if (unit == "ms") return CLHEP::millisecond;
+        if (unit == "MeV") return CLHEP::megaelectronvolt;
+        if (unit == "GeV") return CLHEP::gigaelectronvolt;
+        if (unit == "eV") return CLHEP::electronvolt;
+        return 1.0;
+    }
+
+    Dimension IdentifyDimension(const std::string& unit) const {
+        if (unit == "m" || unit == "cm" || unit == "mm" || unit == "um" || unit == "nm") return Length;
+        if (unit == "deg" || unit == "rad") return Angle;
+        if (unit == "MeV" || unit == "GeV" || unit == "eV" || unit == "keV" || unit == "TeV") return Energy;
+        if (unit == "ns" || unit == "s" || unit == "ms" || unit == "us") return Time;
+        return Dimensionless;
+    }
+
+private:
+    Settings() {}
+    std::map<Dimension, std::string> m_PreferredUnits;
+};
+
+} // namespace Qt
+} // namespace uLib
+
+#endif

app/gcompose/src/ViewportPane.cpp

@@ -46,23 +46,25 @@ ViewportPane::ViewportPane(QWidget* parent) : QWidget(parent), m_viewport(nullpt
 
     m_layout->addWidget(m_titleBar);
 
-    // Main horizontal container for viewport and display panel
+    // Main area with splitter for viewport and display panel
-    QWidget* mainArea = new QWidget(this);
+    m_areaSplitter = new QSplitter(Qt::Horizontal, this);
-    QHBoxLayout* hLayout = new QHBoxLayout(mainArea);
+    m_areaSplitter->setObjectName("ViewportAreaSplitter");
-    hLayout->setContentsMargins(0, 0, 0, 0);
+    m_layout->addWidget(m_areaSplitter, 1);
-    hLayout->setSpacing(0);
-    m_layout->addWidget(mainArea);
 
     // Viewport will be added here via setViewport
-    m_viewport = new uLib::Vtk::QViewport(mainArea);
+    m_viewport = new uLib::Vtk::QViewport(m_areaSplitter);
-    hLayout->addWidget(m_viewport);
+    m_areaSplitter->addWidget(m_viewport);
 
     // Display Panel (Overlay/Slide-out)
-    m_displayPanel = new QFrame(mainArea);
+    m_displayPanel = new QFrame(m_areaSplitter);
     m_displayPanel->setObjectName("DisplayPropertiesPanel");
-    m_displayPanel->setFixedWidth(250);
+    m_displayPanel->setMinimumWidth(150);
     m_displayPanel->hide();
     
+    m_areaSplitter->addWidget(m_displayPanel);
+    m_areaSplitter->setStretchFactor(0, 1);
+    m_areaSplitter->setStretchFactor(1, 0);
+    
     QVBoxLayout* panelLayout = new QVBoxLayout(m_displayPanel);
     panelLayout->setContentsMargins(5, 5, 5, 5);
     
@@ -72,8 +74,6 @@ ViewportPane::ViewportPane(QWidget* parent) : QWidget(parent), m_viewport(nullpt
 
     m_displayEditor = new uLib::Qt::PropertyEditor(m_displayPanel);
     panelLayout->addWidget(m_displayEditor);
-    
-    hLayout->addWidget(m_displayPanel);
 
     connect(m_toggleBtn, &QPushButton::toggled, this, &ViewportPane::toggleDisplayPanel);
     connect(m_titleBar, &QWidget::customContextMenuRequested, this, &ViewportPane::showContextMenu);
@@ -85,7 +85,15 @@ ViewportPane::ViewportPane(QWidget* parent) : QWidget(parent), m_viewport(nullpt
 ViewportPane::~ViewportPane() {}
 
 void ViewportPane::toggleDisplayPanel() {
-    m_displayPanel->setVisible(m_toggleBtn->isChecked());
+    bool visible = m_toggleBtn->isChecked();
+    m_displayPanel->setVisible(visible);
+    if (visible && m_areaSplitter->sizes().value(1, 0) == 0) {
+        QList<int> sizes = m_areaSplitter->sizes();
+        int total = sizes[0] + sizes[1];
+        sizes[1] = 250;
+        sizes[0] = total - 250;
+        m_areaSplitter->setSizes(sizes);
+    }
 }
 
 void ViewportPane::setObject(uLib::Object* obj) {
@@ -107,15 +115,14 @@ void ViewportPane::setObject(uLib::Object* obj) {
 
 void ViewportPane::setViewport(QWidget* viewport, const QString& title) {
     if (m_viewport) {
-        m_viewport->parentWidget()->layout()->removeWidget(m_viewport);
         delete m_viewport;
     }
     m_viewport = viewport;
     m_titleLabel->setText(title);
 
     m_viewport->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
-    auto* mainAreaLayout = static_cast<QHBoxLayout*>(m_displayPanel->parentWidget()->layout());
+    m_areaSplitter->insertWidget(0, m_viewport);
-    mainAreaLayout->insertWidget(0, m_viewport);
+    m_areaSplitter->setStretchFactor(0, 1);
 }
 
 void ViewportPane::addVtkViewport() {

app/gcompose/src/ViewportPane.h

@@ -10,6 +10,7 @@ namespace uLib {
     namespace Qt { class PropertyEditor; }
 }
 
+class QSplitter;
 class QVBoxLayout;
 class QLabel;
 
@@ -39,6 +40,7 @@ private:
     QVBoxLayout* m_layout;
     QWidget* m_titleBar;
     QLabel* m_titleLabel;
+    QSplitter* m_areaSplitter;
     QWidget* m_viewport;
 
     // Display Properties Overlay

conanfile.txt

@@ -1,6 +1,6 @@
 [requires]
 eigen/3.4.0
-boost/1.83.0
+boost/1.86.0
 # pybind11/3.0.2
 hdf5/1.14.3
 

condaenv.yml

@@ -1,4 +1,4 @@
-name: mutom
+name: uLib
 channels:
   - conda-forge
 dependencies:
@@ -7,4 +7,13 @@ dependencies:
   - cmake
   - conan
   - root
-  - vtk
+  - vtk=9.4 # VTK 9.4
+  - pybind11
+#  - boost=1.86.0 # requested by VTK 9.4
+  - ninja
+  - clang
+  - clangxx
+  - lld
+  - ccache
+  - OpenMP
+  - Geant4

docs/archives.md

@@ -0,0 +1,84 @@
+# Serialization and Archives Internals
+
+This document explains the internal design of the `uLib` serialization system, which is built on top of **Boost.Serialization**. It provides custom archive implementations for various formats (XML, Text, Logging) and introduces **Human Readable Pairs (HRP)** for metadata-rich serialization.
+
+---
+
+## Architecture Overview
+
+The `uLib` archive system extends the standard `boost::archive` templates to add domain-specific features. The main components are:
+
+1.  **Custom Interface Layer**: Extends the default Boost archive API with additional operators and utilities.
+2.  **Specialized Archive Implementations**: Specialized classes for XML, Text, and Logging.
+3.  **HRP Support**: First-class support for `hrp` (Human Readable Pair) wrappers, which carry units, ranges, and descriptions.
+4.  **Static Registration System**: Macros and explicit instantiations to handle polymorphic types and compilation isolation.
+
+---
+
+## Custom Interface Layer
+
+All `uLib` archives use a custom interface defined in `Archives.h` via `uLib_interface_iarchive` and `uLib_interface_oarchive`. These templates add several key features:
+
+| Feature | Operator/Method | Description |
+|---|---|---|
+| **Mapping Operator** | `operator==` | Aliased to `operator&` (Boost's standard mapping operator). |
+| **Trace Operator** | `operator!=` | Used for trace/debug output of strings during serialization. |
+| **Type Registration** | `register_type<T>()` | Registers a class type with the archive's internal serializer map. |
+| **Standard IO** | `operator<<` / `operator>>` | Standard redirect for saving and loading. |
+
+These interfaces are applied to the archives using template specialization of `boost::archive::detail::interface_iarchive` and `interface_oarchive`.
+
+---
+
+## Archive Variants
+
+### XML Archives (`xml_iarchive`, `xml_oarchive`)
+These inherit from `boost::archive::xml_iarchive_impl` and `xml_oarchive_impl`. 
+- **Internals**: They override `load_override` and `save_override` to handle `boost::serialization::hrp<T>` specifically. 
+- **XML Mapping**: When saving an `hrp`, it uses `save_start(name)` and `save_end(name)` to wrap the value in a named XML tag.
+
+### Text Archives (`text_iarchive`, `text_oarchive`)
+Standard text-based archives used for compact serialization. They use `StringReader` to consume decorative text markers during loading.
+
+### Human Readable Text (`hrt_iarchive`, `hrt_oarchive`)
+These are "naked" text archives that suppress most of Boost's internal metadata (object IDs, class IDs, versions).
+- **Goal**: Produce text output that is easy for humans to read and edit.
+- **Internals**: All overrides for Boost internal types (like `object_id_type`, `version_type`, etc.) are implemented as no-ops.
+
+### Log Archive (`log_archive`)
+An XML-based output archive specifically for debug logging.
+- **Internals**: It forces every object into a Name-Value Pair (NVP) even if not provided by the user, and strips all technical metadata to keep the logs clean.
+
+---
+
+## HRP (Human Readable Pair) Integration
+
+`hrp` is a core `uLib` wrapper (defined in `Serializable.h`) that extends Boost's `nvp`:
+
+```cpp
+// Example of HRP usage
+ar & HRP2("Energy", m_energy, "MeV").range(0, 100);
+```
+
+### Internal Handling in Archives
+Archives in `Archives.h` provide specific `save_override`/`load_override` for `hrp<T>`:
+- **XML**: Maps the `name()` to an XML tag.
+- **HRT**: Formats as `name: value [units]\n`.
+- **Log**: Converts it to a standard Boost `nvp` for consistent XML logging.
+
+---
+
+## Registration and Polymorphism
+
+### Registration Macro
+The `ULIB_SERIALIZATION_REGISTER_ARCHIVE(Archive)` macro is crucial for polymorphic serialization. It instantiates the necessary template machinery to link the custom `Archive` type with any `Serializable` class exported via `BOOST_CLASS_EXPORT`.
+
+### Explicit Instantiation
+To reduce compilation times and provide a single point of failure for link-time issues, `uLib` uses explicit instantiations in `src/Core/Archives.cpp`. This file includes the `.ipp` implementation files from Boost and instantiates the `archive_serializer_map` and implementation classes for all `uLib` archive types.
+
+---
+
+## Utility: StringReader
+The `StringReader` utility is used internally by text-based archives to parse and skip literals. For example:
+- When loading a string literal from a text archive, `StringReader` consumes whitespace and ensures the stream matches the expected string, failing if there is a mismatch.
+- This is vital for maintaining the structure of human-readable formats.

docs/geant_integration.md

@@ -0,0 +1,11 @@
+# Geant integration
+
+Geant4 integration in uLib is done through the `HEP/Geant` module.
+The module represets a set of wrapper for geant objects that are also deriving from uLib::Object so they can be used in the uLib::Object tree and visualized with the uLib::Vtk module and driven py properties.
+
+# Geant Solid integration
+
+Geant solid in uLib is represented by the `uLib::Geant::Solid` class and mainly BoxSolid and TessellatedSolid. The solids in Geant does not have the possibility to set properties on the fly so we need to create a new solid every time we want to change the properties of a solid. This is done by creating a new `uLib::Geant::Solid` object and setting the properties of the new solid. The new solid is then added to the `uLib::Geant::Solid` object as a child. The old solid is then removed from the `uLib::Geant::Solid` object as a child. The old solid is then deleted. However id some of the properties can be set then the library will drive the change in the solid update.
+
+The idea is to have a mapping of solid properties that can be used in uLib for Qt representation or vtk representation. then when the property is changed the signaling will update the property in uLib and then the solid will be updated. If the Geant property can be applied to the G4 object underneath then the update will apply the change, in case it is not possible to apply the change to the G4 object underneath then the G4 element will be recreated. 
+In any case a updated singal is emitted and the related element that use that solid is updated ( for instance the scene ).

docs/update_properties.md

@@ -0,0 +1,94 @@
+
+# Properties and the vtk-gui representation
+
+This is the rationale behind the connection between TRS properties and Puppet Transformation.
+
+The properties from model get propoagated via Object signalling system (the Update signal) to the vtkRepresentation and to the Qt widgets so that the overall transformation of the model reflects into a modification of its representation in vtk and in the gui. 
+
+In addition the properties need to be adjusted also from vtk, for example if user uses handlerwidget to change the transformation this is eventually applied to Puppet and Puppet should propagate the transformation change to the vtk representation object (for instance vtkContainerBox) and the latter eventually propagates the change into the model.
+
+the Puppet or the vtk representation wrapper ( vtkContainerBox for instance is the wrapper od ContainerBox ) should not directly show the transformation of the handlerwidget but it should show the transformation of the model once applied so we are always seeing the actual aspect of the model reflected to the vtk representation and not the other way around.
+
+So in syntesis the model is the master and the vtk representation and the gui are the slaves of any modification, but the vtkHandlerWidget is able to apply a transform that should be applied to the model and then the model should propagate the transformation change to the vtk representation and to the gui.
+
+## The Puppet
+
+The puppet is the proxy of the spatial placement of objects in the scene. Puppets should have an internal ContainerBox that is shown in the scene around the content to be able to pick Puppet from vtkViewport using the handler widget. The HandlerWidget moves the Puppet ContainerBox (the red Highlight element whe selected) to reflect the handler current transformation, but the transformation is propagated to the derived Puppet classes like vtkContainerBox. 
+
+The vtkHandlerWidget should handle the transformation of the puppet internal ContainerBox. The changes of the ContainerBox will be propagated to the derived classes and eventually to the model. 
+
+
+
+
+
+
+## ACTIVATE PROPERTIES
+
+ULIB_ACTIVATE_PROPERTIES must run after all member initialization, with the vtable pointing to the most-derived type. This is why it has to be in each constructor — in C++, virtual dispatch only works correctly after a class's vtable is installed, which happens at the start of each level's constructor body.
+
+### Option 1 — End-of-class macro (no constructor boilerplate)
+Declare a private member activator as the last member of the class. Its constructor runs after all other members, and at that point the vtable is already Derived's:
+
+
+// In Property.h, add alongside ULIB_ACTIVATE_PROPERTIES:
+#define ULIB_DECLARE_PROPERTIES(SelfType) \
+private: \
+    struct _PropActivator { \
+        _PropActivator(SelfType* self) { \
+            uLib::Archive::property_register_archive ar(self); \
+            ar & *self; \
+        } \
+    } _prop_activator{this};
+Usage in ContainerBox.h — place it just before the closing brace:
+
+
+class ContainerBox : public TRS {
+public:
+    // ... all constructors, no more ULIB_ACTIVATE_PROPERTIES(*this)
+
+    ULIB_DECLARE_PROPERTIES(ContainerBox)  // ← replaces all 3 constructor calls
+};
+Tradeoff: Works perfectly for single-level classes. For hierarchies where multiple levels use the macro, RegisterDynamicProperty must deduplicate by name (skip if already registered). Requires one line per class in the class body, but zero lines in constructors.
+
+### Option 2 — Lazy init via virtual InitProperties() in Object
+Modify Object to call a virtual hook on first GetProperties():
+
+
+// In Object.h:
+class Object {
+protected:
+    virtual void InitProperties() {}   // override in derived
+public:
+    const std::vector<PropertyBase*>& GetProperties() const {
+        if (!m_propertiesInitialized) {
+            const_cast<Object*>(this)->m_propertiesInitialized = true;
+            const_cast<Object*>(this)->InitProperties();
+        }
+        return m_properties;
+    }
+};
+Then a CRTP base handles the rest without any macro:
+
+
+template<typename Derived>
+class PropertyObject : public Object {
+protected:
+    void InitProperties() override {
+        uLib::Archive::property_register_archive ar(this);
+        ar & *static_cast<Derived*>(this);
+    }
+};
+Usage — just change the base class:
+
+
+class ContainerBox : public PropertyObject<ContainerBox>, public TRS { ... };
+// Nothing else needed — properties activated on first GetProperties() call
+Tradeoff: Most "automatic" — pure inheritance, no constructor or class-body macros. But requires modifying Object (adding m_propertiesInitialized flag + virtual hook), and lazy init means properties aren't available until first access. Also doesn't work well with multiple inheritance (which TRS likely involves).
+
+Option 3 — CRTP doesn't work from the base constructor
+Just to be explicit: a CRTP base that calls ULIB_ACTIVATE_PROPERTIES in its own constructor won't work, because when PropertyObject<Derived>'s constructor runs, the vtable is PropertyObject<Derived>'s — Derived::serialize() hasn't been installed yet. So ar & *self calls Object::serialize() (a no-op).
+
+Recommendation
+Option 1 is the least invasive and safest. Add deduplication to RegisterDynamicProperty in Object.cpp to guard against re-registration when hierarchies stack activators, then replace every ULIB_ACTIVATE_PROPERTIES(*this) in constructors with a single ULIB_DECLARE_PROPERTIES(ClassName) at the end of the class body.
+
+Option 2 is cleaner to use but requires changing the Object interface and has the lazy-init semantic change — only worth it if you want zero-touch activation across the entire framework.

src/Core/Archives.h

@@ -28,6 +28,8 @@
 
 #include <boost/archive/detail/basic_pointer_iserializer.hpp>
 #include <boost/archive/detail/basic_pointer_oserializer.hpp>
+#include <boost/archive/text_oarchive.hpp>
+#include <cstring>
 #include <iostream>
 
 #include <boost/archive/text_iarchive.hpp>
@@ -59,6 +61,8 @@ class xml_iarchive;
 class xml_oarchive;
 class text_iarchive;
 class text_oarchive;
+class hrt_iarchive;
+class hrt_oarchive;
 class log_archive;
 
 } // namespace Archive
@@ -76,6 +80,9 @@ template <class ArchiveImplementation> class polymorphic_iarchive_route;
 namespace boost {
 namespace serialization {
 template <typename T> struct hrp;
+template <typename T> struct hrp_val;
+template <typename T> struct hrp_enum;
+template <typename T> struct hrp_enum_val;
 }
 } // namespace boost
 
@@ -150,7 +157,7 @@ public:
   Archive *This() { return static_cast<Archive *>(this); }
 
   template <class T>
-  const basic_pointer_iserializer *register_type(T * = NULL) {
+  const basic_pointer_iserializer *register_type(T * = nullptr) {
     const basic_pointer_iserializer &bpis = boost::serialization::singleton<
         pointer_iserializer<Archive, T>>::get_const_instance();
     this->This()->register_basic_serializer(bpis.get_basic_serializer());
@@ -161,15 +168,69 @@ public:
     return *this->This();
   }
 
+  template <class T>
+  Archive &operator>>(const boost::serialization::nvp<T> &t) {
+    this->This()->load_override(t);
+    return *this->This();
+  }
+
+  template <class T>
+  Archive &operator>>(const boost::serialization::hrp<T> &t) {
+    this->This()->load_override(const_cast<boost::serialization::hrp<T> &>(t));
+    return *this->This();
+  }
+
+  template <class T>
+  Archive &operator>>(const boost::serialization::hrp_val<T> &t) {
+    this->This()->load_override(const_cast<boost::serialization::hrp_val<T> &>(t));
+    return *this->This();
+  }
+
+  template <class T>
+  Archive &operator>>(const boost::serialization::hrp_enum<T> &t) {
+    this->This()->load_override(const_cast<boost::serialization::hrp_enum<T> &>(t));
+    return *this->This();
+  }
+
+  template <class T>
+  Archive &operator>>(const boost::serialization::hrp_enum_val<T> &t) {
+    this->This()->load_override(const_cast<boost::serialization::hrp_enum_val<T> &>(t));
+    return *this->This();
+  }
+
   // the & operator
   template <class T> Archive &operator&(T &t) { return *(this->This()) >> t; }
 
+  template <class T>
+  Archive &operator&(const boost::serialization::nvp<T> &t) {
+    return *(this->This()) >> t;
+  }
+
+  template <class T>
+  Archive &operator&(const boost::serialization::hrp<T> &t) {
+    return *(this->This()) >> t;
+  }
+
+  template <class T>
+  Archive &operator&(const boost::serialization::hrp_val<T> &t) {
+    return *(this->This()) >> t;
+  }
+
+  template <class T>
+  Archive &operator&(const boost::serialization::hrp_enum<T> &t) {
+    return *(this->This()) >> t;
+  }
+
+  template <class T>
+  Archive &operator&(const boost::serialization::hrp_enum_val<T> &t) {
+    return *(this->This()) >> t;
+  }
+
   // the == operator
   template <class T> Archive &operator==(T &t) { return this->operator&(t); }
 
   // the != operator for human readable access
   template <class T> Archive &operator!=(T &t) {
-    std::cerr << std::flush << "cauch string: " << t << "\n"; // REMOVE THIS !
     return *this->This();
   }
 };
@@ -191,7 +252,7 @@ public:
   Archive *This() { return static_cast<Archive *>(this); }
 
   template <class T>
-  const basic_pointer_oserializer *register_type(const T * = NULL) {
+  const basic_pointer_oserializer *register_type(const T * = nullptr) {
     const basic_pointer_oserializer &bpos = boost::serialization::singleton<
         pointer_oserializer<Archive, T>>::get_const_instance();
     this->This()->register_basic_serializer(bpos.get_basic_serializer());
@@ -204,18 +265,67 @@ public:
     this->This()->save_override(t);
     return *this->This();
   }
+
+  template <class T> Archive &operator<<(const boost::serialization::hrp<T> &t) {
+    this->This()->save_override(t);
+    return *this->This();
+  }
+
+  template <class T> Archive &operator<<(const boost::serialization::hrp_val<T> &t) {
+    this->This()->save_override(t);
+    return *this->This();
+  }
+
+  template <class T> Archive &operator<<(const boost::serialization::hrp_enum<T> &t) {
+    this->This()->save_override(t);
+    return *this->This();
+  }
+
+  template <class T> Archive &operator<<(const boost::serialization::hrp_enum_val<T> &t) {
+    this->This()->save_override(t);
+    return *this->This();
+  }
+
+  template <class T> Archive &operator<<(const boost::serialization::nvp<T> &t) {
+    this->This()->save_override(t);
+    return *this->This();
+  }
  
   // the & operator
   template <class T> Archive &operator&(const T &t) {
     return *this->This() << t;
   }
 
+  template <class T>
+  Archive &operator&(const boost::serialization::hrp<T> &t) {
+    return *this->This() << t;
+  }
+
+  template <class T>
+  Archive &operator&(const boost::serialization::hrp_val<T> &t) {
+    return *this->This() << t;
+  }
+
+  template <class T>
+  Archive &operator&(const boost::serialization::hrp_enum<T> &t) {
+    return *this->This() << t;
+  }
+
+  template <class T>
+  Archive &operator&(const boost::serialization::hrp_enum_val<T> &t) {
+    return *this->This() << t;
+  }
+
+  template <class T>
+  Archive &operator&(const boost::serialization::nvp<T> &t) {
+    return *this->This() << t;
+  }
+
   // the == operator
   template <class T> Archive &operator==(T &t) { return this->operator&(t); }
 
   // the != operator for human readable access
   template <class T> Archive &operator!=(T &t) {
-    std::cerr << std::flush << "cauch string: " << t << "\n"; // REMOVE THIS !
     return *this->This();
   }
 };
@@ -240,23 +350,22 @@ template <>
 class interface_oarchive<uLib::Archive::text_oarchive>
     : public uLib_interface_oarchive<uLib::Archive::text_oarchive> {};
 
+template <>
+class interface_iarchive<uLib::Archive::hrt_iarchive>
+    : public uLib_interface_iarchive<uLib::Archive::hrt_iarchive> {};
+
+template <>
+class interface_oarchive<uLib::Archive::hrt_oarchive>
+    : public uLib_interface_oarchive<uLib::Archive::hrt_oarchive> {};
+
+template <>
+class interface_iarchive<uLib::Archive::log_archive>
+    : public uLib_interface_iarchive<uLib::Archive::log_archive> {};
+
 template <>
 class interface_oarchive<uLib::Archive::log_archive>
     : public uLib_interface_oarchive<uLib::Archive::log_archive> {};
 
-//// Veritical repetition macro // FINIRE !!!!!!!!!!!!!!!!!!!!!!!!!
-// #define _DECL_INTERFACE_ARCHIVE_V(vz,vn,vdata)           \
-//     template <class TypeSeq>                             \
-//     struct inherit_nofold<TypeSeq,BOOST_PP_INC(vn)> :    \
-//     BOOST_PP_REPEAT(BOOST_PP_INC(vn),_INERIT_NOFOLD_H,~) \
-//     {};
-
-//// Multiple size declaration //
-// BOOST_PP_REPEAT(ULIB_CFG_MPL_INERIT_NOFOLD_MAXSIZE,_INERIT_NOFOLD_V,~)
-
-// #undef  _INERIT_NOFOLD_H
-// #undef  _INERIT_NOFOLD_V
-
 } // namespace detail
 } // namespace archive
 } // namespace boost
@@ -275,36 +384,6 @@ class interface_oarchive<uLib::Archive::log_archive>
 namespace boost {
 namespace archive {
 
-// template<class Archive>
-// inline void load_const_override(Archive & ar, const char *t ){
-//     typedef typename mpl::identity<detail::load_non_pointer_type<Archive>
-//     >::type typex; typex::invoke(ar, t);
-// }
-
-// template<class Archive, class T>
-// inline void load(Archive & ar, T &t){
-//     // if this assertion trips. It means we're trying to load a
-//     // const object with a compiler that doesn't have correct
-//     // funtion template ordering.  On other compilers, this is
-//     // handled below.
-//     //    detail::check_const_loading< T >();
-//     typedef
-//         BOOST_DEDUCED_TYPENAME mpl::eval_if<is_pointer< T >,
-//             mpl::identity<detail::load_pointer_type<Archive> >
-//         ,//else
-//         BOOST_DEDUCED_TYPENAME mpl::eval_if<is_array< T >,
-//             mpl::identity<detail::load_array_type<Archive> >
-//         ,//else
-//         BOOST_DEDUCED_TYPENAME mpl::eval_if<is_enum< T >,
-//             mpl::identity<detail::load_enum_type<Archive> >
-//         ,//else
-//             mpl::identity<detail::load_non_pointer_type<Archive> >
-//         >
-//         >
-//         >::type typex;
-//     typex::invoke(ar, t);
-// }
-
 } // namespace archive
 } // namespace boost
 
@@ -312,42 +391,38 @@ namespace uLib {
 
 namespace Archive {
 
-////////////////////////////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////////////////////////////
-// POLYMORPHIC //
-
-// class polymorphic_iarchive :
-//         public boost::archive::polymorphic_iarchive {
-
-// public:
-//     void load_override(const char *t, BOOST_PFTO int)
-//     {
-//         boost::archive::load_const_override(* this->This(),
-//         const_cast<char*>(t));
-//     }
-
-//};
 
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 // XML //
 
+// ULIB_SERIALIZATION_VERSION should be get from the build system
+#ifndef ULIB_SERIALIZATION_VERSION
+#define ULIB_SERIALIZATION_VERSION "0.0"
+#endif
+
 class xml_iarchive : public boost::archive::xml_iarchive_impl<xml_iarchive> {
   typedef xml_iarchive Archive;
   typedef boost::archive::xml_iarchive_impl<Archive> base;
 
+  unsigned int m_flags;
+
   // give serialization implementation access to this class
   friend class boost::archive::detail::interface_iarchive<Archive>;
   friend class boost::archive::basic_xml_iarchive<Archive>;
   friend class boost::archive::load_access;
-
 public:
   xml_iarchive(std::istream &is, unsigned int flags = 0)
-      : xml_iarchive_impl<xml_iarchive>(is, flags) {}
+      : boost::archive::xml_iarchive_impl<xml_iarchive>(
-
+            is, flags | boost::archive::no_header), m_flags(flags) {
-  using basic_xml_iarchive::load_override;
+    if (0 == (flags & boost::archive::no_header)) {
+      std::string line;
+      std::getline(is, line); // <?xml ... ?>
+      std::getline(is, line); // <!DOCTYPE ...>
+      std::getline(is, line); // <ulib_serialization ...>
+    }
+  }
 
   // Anything not an attribute should be a name value pair as nvp or hrp
   typedef boost::archive::detail::common_iarchive<Archive>
@@ -366,20 +441,19 @@ public:
   // class_name_type can't be handled here as it depends upon the
   // char type used by the stream.  So require the derived implementation.
   // derived in this case is xml_iarchive_impl or base ..
+  // Note: using base::load_override covers all basic_xml_iarchive overloads
+  // transitively, so a separate 'using basic_xml_iarchive::load_override'
+  // is redundant and creates ambiguity with clang.
   using base::load_override;
 
   void load_override(const char *str) {
-    //        StringReader sr(basic_text_iprimitive::is);
+    // StringReader sr(basic_text_iprimitive::is);
-    //        sr >> str;
+    // sr >> str;
   }
 
-  ~xml_iarchive() {};
+  virtual ~xml_iarchive() {}
 };
 
-// typedef boost::archive::detail::polymorphic_iarchive_route<
-// boost::archive::xml_iarchive_impl<xml_iarchive>
-//> polymorphic_xml_iarchive;
-
 template <class ArchiveImpl>
 struct polymorphic_iarchive_route
     : boost::archive::detail::polymorphic_iarchive_route<ArchiveImpl> {
@@ -389,31 +463,39 @@ struct polymorphic_iarchive_route
 class polymorphic_xml_iarchive
     : public polymorphic_iarchive_route<
           boost::archive::xml_iarchive_impl<xml_iarchive>> {
-  // give serialization implementation access to this class
-  //    friend class boost::archive::detail::interface_iarchive<Archive>;
-  //    friend class boost::archive::basic_xml_iarchive<Archive>;
-  //    friend class boost::archive::load_access;
 public:
-  virtual void load_override(const char *str) { ; }
+  virtual void load_override(const char *str) {}
 };
 
 class xml_oarchive : public boost::archive::xml_oarchive_impl<xml_oarchive> {
   typedef xml_oarchive Archive;
   typedef boost::archive::xml_oarchive_impl<Archive> base;
 
+  unsigned int m_flags;
+
   // give serialization implementation access to this class
   friend class boost::archive::detail::interface_oarchive<Archive>;
   friend class boost::archive::basic_xml_oarchive<Archive>;
   friend class boost::archive::save_access;
-
 public:
   xml_oarchive(std::ostream &os, unsigned int flags = 0)
-      : boost::archive::xml_oarchive_impl<xml_oarchive>(os, flags) {}
+      : boost::archive::xml_oarchive_impl<xml_oarchive>(
+            os, flags | boost::archive::no_header), m_flags(flags) {
+    if (0 == (flags & boost::archive::no_header)) {
+      this->This()->put(
+          "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"yes\" ?>\n");
+      this->This()->put("<!DOCTYPE ulib_serialization>\n");
+      this->This()->put("<ulib_serialization signature=\"serialization::archive\" ");
+      this->write_attribute("version", (const char *)ULIB_SERIALIZATION_VERSION);
+      this->This()->put(">\n");
+    }
+  }
 
-  // example of implementing save_override for const char* //
+  virtual ~xml_oarchive() {
-  //    void save_override(const char *t, int) {
+    if (0 == (m_flags & boost::archive::no_header)) {
-  //        std::cout << "found char: " << t << "\n";
+      this->This()->put("</ulib_serialization>\n");
-  //    }
+    }
+  }
 
   using basic_xml_oarchive::save_override;
 
@@ -433,10 +515,8 @@ public:
 
   void save_override(const char *str) {
     // Do not save any human decoration string //
-    //        basic_text_oprimitive::save(str);
+    // basic_text_oprimitive::save(str);
   }
-
-  ~xml_oarchive() {}
 };
 
 // typedef boost::archive::detail::polymorphic_oarchive_route<
@@ -471,15 +551,11 @@ public:
     sr >> str;
   }
 
-  ~text_iarchive() {};
+  virtual ~text_iarchive() {}
 };
 
 typedef text_iarchive naked_text_iarchive;
 
-// typedef boost::archive::detail::polymorphic_iarchive_route<
-// naked_text_iarchive
-//> polymorphic_text_iarchive;
-
 class text_oarchive : public boost::archive::text_oarchive_impl<text_oarchive> {
   typedef text_oarchive Archive;
   typedef boost::archive::text_oarchive_impl<Archive> base;
@@ -497,13 +573,9 @@ public:
 
   void save_override(const char *str) { basic_text_oprimitive::save(str); }
 
-  ~text_oarchive() {}
+  virtual ~text_oarchive() {}
 };
 
-// typedef boost::archive::detail::polymorphic_oarchive_route<
-// boost::archive::text_oarchive_impl<text_oarchive>
-//> polymorphic_text_oarchive;
-
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
@@ -540,7 +612,7 @@ public:
     sr >> str;
   }
 
-  ~hrt_iarchive() {};
+  virtual ~hrt_iarchive() {}
 };
 
 class hrt_oarchive : public boost::archive::text_oarchive_impl<hrt_oarchive> {
@@ -576,7 +648,7 @@ public:
     *this << "\n";
   }
 
-  ~hrt_oarchive() {}
+  virtual ~hrt_oarchive() {}
 };
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -605,17 +677,9 @@ public:
   }
 
   template <class T> void save_override(const T &t) {
-    base::save_override(boost::serialization::make_nvp(NULL, t));
+    base::save_override(boost::serialization::make_nvp(nullptr, t));
   }
 
-  // activate this if you want to trap non nvp objects //
-  //    template<class T>
-  //    void save_override(T & t)
-  //    {
-  //        BOOST_MPL_ASSERT((boost::serialization::is_wrapper< T >));
-  //        //        this->detail_common_oarchive::save_override(t);
-  //    }
-
   template <class T> void save_override(const boost::serialization::nvp<T> &t) {
     base::save_override(t);
   }
@@ -640,11 +704,9 @@ public:
   log_archive(std::ostream &os, unsigned int flags = 0)
       : boost::archive::xml_oarchive_impl<log_archive>(
             os, flags | boost::archive::no_header) {}
-};
 
-// typedef boost::archive::detail::polymorphic_oarchive_route<
+  virtual ~log_archive() {}
-// boost::archive::xml_oarchive_impl<log_archive>
+};
-//> polymorphic_log_archive;
 
 } // namespace Archive
 
@@ -658,10 +720,4 @@ ULIB_SERIALIZATION_REGISTER_ARCHIVE(uLib::Archive::hrt_iarchive)
 ULIB_SERIALIZATION_REGISTER_ARCHIVE(uLib::Archive::hrt_oarchive)
 ULIB_SERIALIZATION_REGISTER_ARCHIVE(uLib::Archive::log_archive)
 
-// ULIB_SERIALIZATION_REGISTER_ARCHIVE(uLib::Archive::polymorphic_xml_iarchive)
-// ULIB_SERIALIZATION_REGISTER_ARCHIVE(uLib::Archive::polymorphic_xml_oarchive)
-// ULIB_SERIALIZATION_REGISTER_ARCHIVE(uLib::Archive::polymorphic_text_iarchive)
-// ULIB_SERIALIZATION_REGISTER_ARCHIVE(uLib::Archive::polymorphic_text_oarchive)
-// ULIB_SERIALIZATION_REGISTER_ARCHIVE(uLib::Archive::polymorphic_log_archive)
-
 #endif // U_CORE_ARCHIVES_H

src/Core/CMakeLists.txt

@@ -21,6 +21,7 @@ set(HEADERS
     StringReader.h 
     Threads.h
     Monitor.h
+    Property.h
     Types.h 
     Uuid.h 
     Vector.h
@@ -58,6 +59,7 @@ if(USE_CUDA)
 endif()
 
 target_link_libraries(${libname} ${LIBRARIES})
+target_compile_definitions(${libname} PUBLIC ULIB_SERIALIZATION_VERSION="${PROJECT_VERSION}")
 
 install(TARGETS ${libname}
         EXPORT "uLibTargets"

src/Core/Debug.h

@@ -38,6 +38,76 @@
 #include <boost/any.hpp>
 
 
+
+/**
+ * @file Debug.h
+ * @brief Unified Debugging and Monitoring System for uLib.
+ *
+ * # Debug System Documentation
+ *
+ * The `Debug` system provides a flexible, adapter-based mechanism for monitoring
+ * and outputting internal variables and states without hardcoding output logic
+ * into core classes. 
+ *
+ * ## Architecture
+ * 
+ * The system follows an adapter pattern:
+ * 
+ * - **`DebugAdapterInterface`**: The base interface for all output targets. 
+ *   Subclasses define how primitive types and strings are handled (e.g., printing 
+ *   to `std::cout`, writing to a log file, or updating a real-time UI widget).
+ *
+ * - **`Debug` Class**: The central registry. It stores:
+ *   1.  A list of "Adapters" (`DebugAdapterInterface`).
+ *   2.  A list of "Items" to monitor. Each item is a reference to a variable 
+ *       associated with a name.
+ *
+ * - **Type Safety**: Although variables are stored using `boost::any` (type erasure), 
+ *   the system automatically preserves the original type information via 
+ *   internal template adapters (`AnyCastAdapter`), ensuring that the correct 
+ *   overload of the adapter interface is called.
+ *
+ * ## Core Components
+ * 
+ * | Component | Description |
+ * | :--- | :--- |
+ * | `Debug` | The main controller used to add adapters and register variables. |
+ * | `DebugAdapterInterface` | Virtual base for creating new output methods. |
+ * | `DebugAdapterText` | A simple built-in adapter for `std::ostream` output. |
+ *
+ * ## How to Use
+ *
+ * ### 1. Initialize the Debug Object
+ * ```cpp
+ * uLib::Debug dbg;
+ * ```
+ *
+ * ### 2. Add an Adapter
+ * ```cpp
+ * uLib::DebugAdapterText console(std::cout);
+ * dbg.AddAdapter(console);
+ * ```
+ *
+ * ### 3. Register Variables to Monitor
+ * Use the `operator()` to bind a variable by reference.
+ * ```cpp
+ * int frameCount = 0;
+ * std::string state = "Initializing";
+ * dbg("Frames", frameCount);
+ * dbg("Status", state);
+ * ```
+ *
+ * ### 4. Update
+ * Call `Update()` periodically (e.g., once per frame) to push the current 
+ * values of all registered variables to all connected adapters.
+ * ```cpp
+ * while(running) {
+ *    frameCount++;
+ *    dbg.Update(); // This triggers the output
+ * }
+ * ```
+ */
+
 namespace uLib {
 
 
@@ -107,7 +177,6 @@ public:
 
 
 
-
 class Debug {
     typedef detail::DebugAdapterInterface AdapterInterface;
     typedef SmartPointer<detail::DebugAdapterInterface> Adapter;

src/Core/Object.cpp

@@ -65,10 +65,19 @@ public:
   std::vector<Slot> slov;
   std::vector<PropertyBase*> m_Properties;
   std::vector<PropertyBase*> m_DynamicProperties;
+  std::vector<PropertyBase*> m_DisplayProperties;
   bool m_SignalsBlocked;
 };
 
 // Implementations of Property methods
+void Object::RegisterDisplayProperty(PropertyBase* prop) {
+    if (prop) d->m_DisplayProperties.push_back(prop);
+}
+
+const std::vector<PropertyBase*>& Object::GetDisplayProperties() const {
+    return d->m_DisplayProperties;
+}
+
 void Object::RegisterProperty(PropertyBase* prop) {
     if (prop) {
         d->m_Properties.push_back(prop);
@@ -79,6 +88,7 @@ void Object::RegisterDynamicProperty(PropertyBase* prop) {
     if (prop) {
         for (auto* existing : d->m_DynamicProperties) {
             if (existing == prop) return;
+            if (existing->GetQualifiedName() == prop->GetQualifiedName()) return;
         }
         d->m_DynamicProperties.push_back(prop);
     }
@@ -90,38 +100,21 @@ const std::vector<PropertyBase*>& Object::GetProperties() const {
 
 PropertyBase* Object::GetProperty(const std::string& name) const {
     for (auto* p : d->m_Properties) {
-        if (p->GetName() == name) return p;
+        if (p->GetName() == name || p->GetQualifiedName() == name) return p;
     }
     for (auto* p : d->m_DynamicProperties) {
-        if (p->GetName() == name) return p;
+        if (p->GetName() == name || p->GetQualifiedName() == name) return p;
     }
     return nullptr;
 }
 
-// In Object.h, the template serialize needs to be updated to call property serialization.
+void Object::NotifyPropertiesUpdated() {
-// However, since Object::serialize is a template in the header, we might need a helper here.
+    for (auto* p : d->m_Properties) p->Updated();
-
+    for (auto* p : d->m_DynamicProperties) p->Updated();
-template <class ArchiveT>
-void Object::serialize(ArchiveT &ar, const unsigned int version) {
-    ar & boost::serialization::make_nvp("InstanceName", d->m_InstanceName);
-    for (auto* prop : d->m_Properties) {
-        prop->serialize(ar, version);
-    }
 }
 
 void Object::Updated() { ULIB_SIGNAL_EMIT(Object::Updated); }
-
+void Object::PropertyUpdated() { ULIB_SIGNAL_EMIT(Object::PropertyUpdated); }
-template <class ArchiveT>
-void Object::save_override(ArchiveT &ar, const unsigned int version) {}
-
-// Explicitly instantiate for all uLib archives
-template void Object::serialize(Archive::xml_oarchive &, const unsigned int);
-template void Object::serialize(Archive::xml_iarchive &, const unsigned int);
-template void Object::serialize(Archive::text_oarchive &, const unsigned int);
-template void Object::serialize(Archive::text_iarchive &, const unsigned int);
-template void Object::serialize(Archive::hrt_oarchive &, const unsigned int);
-template void Object::serialize(Archive::hrt_iarchive &, const unsigned int);
-template void Object::serialize(Archive::log_archive &, const unsigned int);
 
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////

src/Core/Object.h

@@ -52,6 +52,7 @@ class polymorphic_oarchive;
 namespace uLib {
 
 class PropertyBase;
+class ObjectsContext;
 
 class Version {
 public:
@@ -77,7 +78,8 @@ public:
   Object(const Object &copy);
   virtual ~Object();
 
-  virtual const char * GetClassName() const { return "Object"; }
+  virtual const char * GetClassName() const { return type_name(); }
+  virtual const char * type_name() const { return "Object"; }
 
   const std::string& GetInstanceName() const;
   void SetInstanceName(const std::string& name);
@@ -90,17 +92,25 @@ public:
 
   ////////////////////////////////////////////////////////////////////////////
   // PROPERTIES //
-  void RegisterProperty(PropertyBase* prop);
+  virtual void RegisterProperty(PropertyBase* property);
-  void RegisterDynamicProperty(PropertyBase* prop);
+  virtual void RegisterDynamicProperty(PropertyBase* property);
-  const std::vector<PropertyBase*>& GetProperties() const;
+  virtual void RegisterDisplayProperty(PropertyBase* property);
+  virtual const std::vector<PropertyBase*>& GetProperties() const;
+  virtual const std::vector<PropertyBase*>& GetDisplayProperties() const;
   PropertyBase* GetProperty(const std::string& name) const;
 
+  /** @brief Sends an Updated signal for all properties of this object. useful for real-time UI refresh. */
+  void NotifyPropertiesUpdated();
+
   ////////////////////////////////////////////////////////////////////////////
   // PARAMETERS //
 
   // FIXX !!!
   virtual void DeepCopy(const Object &copy);
 
+  /** @brief Returns a nested context for children objects, if any. */
+  virtual ObjectsContext* GetChildren() { return nullptr; }
+
   ////////////////////////////////////////////////////////////////////////////
   // SERIALIZATION //
 
@@ -116,7 +126,7 @@ public:
   virtual void serialize(Archive::log_archive & ar, const unsigned int version) {}
 
   template <class ArchiveT>
-  void save_override(ArchiveT &ar, const unsigned int version);
+  void save_override(ArchiveT &ar, const unsigned int version) {}
 
   void SaveConfig(std::ostream &os, int version = 0);
   void LoadConfig(std::istream &is, int version = 0);
@@ -129,6 +139,7 @@ public:
 
   signals:
   virtual void Updated();
+  virtual void PropertyUpdated();
 
   // Qt4 style connector //
   static bool connect(const Object *ob1, const char *signal_name,

src/Core/ObjectsContext.h

@@ -9,12 +9,13 @@ namespace uLib {
 /**
  * @brief ObjectsContext represents a collection of Object instances.
  */
-class ObjectsContext : public Object {
+class ObjectsContext : virtual public Object {
 public:
     ObjectsContext();
     virtual ~ObjectsContext();
 
-    virtual const char * GetClassName() const { return "ObjectsContext"; }
+    uLibTypeMacro(ObjectsContext, Object)
+    virtual ObjectsContext* GetChildren() override { return this; }
 
     /**
      * @brief Adds an object to the context.

src/Core/Property.h

@@ -2,17 +2,26 @@
 #define U_CORE_PROPERTY_H
 
 #include <string>
+#include <vector>
 #include <sstream>
 #include <typeinfo>
-#include <typeindex> // Added
+#include <typeindex>
 #include <boost/serialization/nvp.hpp>
 #include <boost/lexical_cast.hpp>
+#include <boost/type_traits/is_class.hpp>
+#include <boost/mpl/bool.hpp>
+#include <set>
+#include <boost/type_traits/is_base_of.hpp>
 #include "Core/Archives.h"
 #include "Core/Signal.h"
 #include "Core/Object.h"
 
 namespace uLib {
 
+namespace Archive {
+class property_register_archive;
+}
+
 /**
  * @brief Base class for properties to allow runtime listing and identification.
  */
@@ -22,26 +31,42 @@ public:
   virtual const std::string& GetName() const = 0;
   virtual const char* GetTypeName() const = 0;
   virtual std::string GetValueAsString() const = 0;
-  virtual std::type_index GetTypeIndex() const = 0; // Added
+  virtual std::type_index GetTypeIndex() const = 0;
   virtual const std::string& GetUnits() const = 0;
   virtual void SetUnits(const std::string& units) = 0;
   virtual const std::vector<std::string>& GetEnumLabels() const {
       static std::vector<std::string> empty;
       return empty;
   }
+  virtual const std::string& GetGroup() const = 0;
+  virtual void SetGroup(const std::string& group) = 0;
+
+  virtual bool HasRange() const { return false; }
+  virtual double GetMin() const { return 0; }
+  virtual double GetMax() const { return 0; }
+  virtual bool HasDefault() const { return false; }
+  virtual std::string GetDefaultValueAsString() const { return ""; }
+  virtual bool IsReadOnly() const = 0;
+
+  std::string GetQualifiedName() const {
+      if (GetGroup().empty()) return GetName();
+      return GetGroup() + "." + GetName();
+  }
 
   // Signal support
   signals:
   virtual void Updated() override { ULIB_SIGNAL_EMIT(PropertyBase::Updated); }
 
   // Serialization support for different uLib archives
-  virtual void serialize(Archive::xml_oarchive & ar, const unsigned int version) = 0;
+  virtual void serialize(Archive::xml_oarchive & ar, const unsigned int version) override = 0;
-  virtual void serialize(Archive::xml_iarchive & ar, const unsigned int version) = 0;
+  virtual void serialize(Archive::xml_iarchive & ar, const unsigned int version) override = 0;
-  virtual void serialize(Archive::text_oarchive & ar, const unsigned int version) = 0;
+  virtual void serialize(Archive::text_oarchive & ar, const unsigned int version) override = 0;
-  virtual void serialize(Archive::text_iarchive & ar, const unsigned int version) = 0;
+  virtual void serialize(Archive::text_iarchive & ar, const unsigned int version) override = 0;
-  virtual void serialize(Archive::hrt_oarchive & ar, const unsigned int version) = 0;
+  virtual void serialize(Archive::hrt_oarchive & ar, const unsigned int version) override = 0;
-  virtual void serialize(Archive::hrt_iarchive & ar, const unsigned int version) = 0;
+  virtual void serialize(Archive::hrt_iarchive & ar, const unsigned int version) override = 0;
-  virtual void serialize(Archive::log_archive & ar, const unsigned int version) = 0;
+  virtual void serialize(Archive::log_archive & ar, const unsigned int version) override = 0;
+  
+  virtual void serialize(Archive::property_register_archive & ar, const unsigned int v) = 0;
 };
 
 /**
@@ -50,25 +75,19 @@ public:
 template <typename T>
 class Property : public PropertyBase {
 public:
-  // PROXY: Use an existing variable as back-end storage
+  Property(Object* owner, const std::string& name, T* valuePtr, const std::string& units = "", const std::string& group = "")
-  Property(Object* owner, const std::string& name, T* valuePtr, const std::string& units = "")
+    : m_owner(owner), m_name(name), m_units(units), m_group(group), m_value(valuePtr), m_own(false),
-    : m_owner(owner), m_name(name), m_units(units), m_value(valuePtr), m_own(false) {
+      m_HasRange(false), m_HasDefault(false), m_ReadOnly(false) {
-      if (m_owner) {
+      if (m_owner) m_owner->RegisterProperty(this);
-          m_owner->RegisterProperty(this);
-      }
   }
 
-  // MANAGED: Create and own internal storage
+  Property(Object* owner, const std::string& name, const T& defaultValue = T(), const std::string& units = "", const std::string& group = "")
-  Property(Object* owner, const std::string& name, const T& defaultValue = T(), const std::string& units = "")
+    : m_owner(owner), m_name(name), m_units(units), m_group(group), m_value(new T(defaultValue)), m_own(true),
-    : m_owner(owner), m_name(name), m_units(units), m_value(new T(defaultValue)), m_own(true) {
+      m_HasRange(false), m_HasDefault(true), m_Default(defaultValue), m_ReadOnly(false) {
-      if (m_owner) {
+      if (m_owner) m_owner->RegisterProperty(this);
-          m_owner->RegisterProperty(this);
-      }
   }
 
-  virtual ~Property() {
+  virtual ~Property() { if (m_own) delete m_value; }
-      if (m_own) delete m_value;
-  }
 
   // Identification
   virtual const std::string& GetName() const override { return m_name; }
@@ -76,166 +95,247 @@ public:
   virtual std::type_index GetTypeIndex() const override { return std::type_index(typeid(T)); }
   virtual const std::string& GetUnits() const override { return m_units; }
   virtual void SetUnits(const std::string& units) override { m_units = units; }
+  virtual const std::string& GetGroup() const override { return m_group; }
+  virtual void SetGroup(const std::string& group) override { m_group = group; }
 
-  
   std::string GetValueAsString() const override {
-      try {
+      try { return boost::lexical_cast<std::string>(*m_value); }
-          return boost::lexical_cast<std::string>(*m_value);
+      catch (...) { std::stringstream ss; ss << *m_value; return ss.str(); }
-      } catch (const boost::bad_lexical_cast&) {
-          std::stringstream ss;
-          ss << *m_value;
-          return ss.str();
-      }
   }
 
   // Accessors
   const T& Get() const { return *m_value; }
   void Set(const T& value) {
-    if (*m_value != value) {
+    T val = value;
-      *m_value = value;
+    if constexpr (std::is_arithmetic<T>::value) {
+      if (m_HasRange) { if (val < m_Min) val = m_Min; if (val > m_Max) val = m_Max; }
+    }
+    if (*m_value != val) {
+      *m_value = val;
       ULIB_SIGNAL_EMIT(Property<T>::PropertyChanged);
       this->Updated();
       if (m_owner) m_owner->Updated();
     }
   }
 
-  // Operators for seamless usage
+  void SetRange(const T& min, const T& max) { m_Min = min; m_Max = max; m_HasRange = true; }
-  operator const T&() const { return *m_value; }
+  void SetDefault(const T& def) { m_Default = def; m_HasDefault = true; }
-  Property& operator=(const T& value) {
+  void SetReadOnly(bool ro) { m_ReadOnly = ro; }
-    Set(value);
+
-    return *this;
+  virtual bool IsReadOnly() const override { return m_ReadOnly; }
+  virtual bool HasRange() const override { return m_HasRange; }
+  virtual double GetMin() const override { return m_HasRange ? convert_to_double(m_Min) : 0.0; }
+  virtual double GetMax() const override { return m_HasRange ? convert_to_double(m_Max) : 0.0; }
+  
+  const T& GetMinTyped() const { return m_Min; }
+  const T& GetMaxTyped() const { return m_Max; }
+
+  virtual bool HasDefault() const override { return m_HasDefault; }
+  virtual std::string GetDefaultValueAsString() const override {
+      try { return boost::lexical_cast<std::string>(m_Default); } catch (...) { return ""; }
   }
 
-  // Signals
+  // Operators
+  operator const T&() const { return *m_value; }
+  Property& operator=(const T& value) { Set(value); return *this; }
+
   signals:
   virtual void PropertyChanged() { ULIB_SIGNAL_EMIT(Property<T>::PropertyChanged); }
 
+private:
+  template <typename U>
+  static double convert_to_double(const U& val) {
+    return convert_to_double_impl(val, typename std::is_arithmetic<U>::type());
+  }
+  template <typename U>
+  static double convert_to_double_impl(const U& val, std::true_type) { return (double)val; }
+  template <typename U>
+  static double convert_to_double_impl(const U& val, std::false_type) { return 0.0; }
+
+public:
   // Serialization
   template <class ArchiveT>
-  void serialize_impl(ArchiveT & ar, const unsigned int version) {
+  void serialize_helper(ArchiveT & ar, const unsigned int version) {
-    ar & boost::serialization::make_nvp(m_name.c_str(), *m_value);
+    ar & boost::serialization::make_hrp(m_name.c_str(), *m_value, m_units.c_str());
   }
 
-  void serialize(Archive::xml_oarchive & ar, const unsigned int v) override { serialize_impl(ar, v); }
+  virtual void serialize(Archive::xml_oarchive & ar, const unsigned int v) override { serialize_helper(ar, v); }
-  void serialize(Archive::xml_iarchive & ar, const unsigned int v) override { serialize_impl(ar, v); }
+  virtual void serialize(Archive::xml_iarchive & ar, const unsigned int v) override { serialize_helper(ar, v); }
-  void serialize(Archive::text_oarchive & ar, const unsigned int v) override { serialize_impl(ar, v); }
+  virtual void serialize(Archive::text_oarchive & ar, const unsigned int v) override { serialize_helper(ar, v); }
-  void serialize(Archive::text_iarchive & ar, const unsigned int v) override { serialize_impl(ar, v); }
+  virtual void serialize(Archive::text_iarchive & ar, const unsigned int v) override { serialize_helper(ar, v); }
-  void serialize(Archive::hrt_oarchive & ar, const unsigned int v) override { serialize_impl(ar, v); }
+  virtual void serialize(Archive::hrt_oarchive & ar, const unsigned int v) override { serialize_helper(ar, v); }
-  void serialize(Archive::hrt_iarchive & ar, const unsigned int v) override { serialize_impl(ar, v); }
+  virtual void serialize(Archive::hrt_iarchive & ar, const unsigned int v) override { serialize_helper(ar, v); }
-  void serialize(Archive::log_archive & ar, const unsigned int v) override { serialize_impl(ar, v); }
+  virtual void serialize(Archive::log_archive & ar, const unsigned int v) override { serialize_helper(ar, v); }
+  
+  virtual void serialize(Archive::property_register_archive & ar, const unsigned int v) override;
 
-private:
+  virtual void Updated() override { PropertyBase::Updated(); this->PropertyChanged(); }
+
+protected:
   std::string m_name;
   std::string m_units;
+  std::string m_group;
   T* m_value;
   bool m_own;
   Object* m_owner;
+  bool m_HasRange;
+  T m_Min;
+  T m_Max;
+  bool m_HasDefault;
+  T m_Default;
+  bool m_ReadOnly;
 };
 
 /**
- * @brief Conveninent typedefs for common property types.
+ * @brief Property specialized for enumerations.
- */
-typedef Property<std::string> StringProperty;
-typedef Property<int>           IntProperty;
-typedef Property<unsigned int>  UIntProperty;
-typedef Property<long>          LongProperty;
-typedef Property<unsigned long> ULongProperty;
-typedef Property<float>         FloatProperty;
-typedef Property<double>        DoubleProperty;
-typedef Property<Bool_t>      BoolProperty;
-
-/**
- * @brief Property specialized for enumerations, providing labels for GUI representations.
  */
 class EnumProperty : public Property<int> {
 public:
-  EnumProperty(Object* owner, const std::string& name, int* valuePtr, const std::vector<std::string>& labels, const std::string& units = "")
+  EnumProperty(Object* owner, const std::string& name, int* valuePtr, const std::vector<std::string>& labels, const std::string& units = "", const std::string& group = "")
-    : Property<int>(owner, name, valuePtr, units), m_Labels(labels) {}
+    : Property<int>(owner, name, valuePtr, units, group), m_Labels(labels) {}
 
   const std::vector<std::string>& GetEnumLabels() const override { return m_Labels; }
   const char* GetTypeName() const override { return "Enum"; }
   virtual std::type_index GetTypeIndex() const override { return std::type_index(typeid(EnumProperty)); }
 
+  template <class ArchiveT>
+  void serialize_enum_helper(ArchiveT & ar, const unsigned int version) {
+    ar & boost::serialization::make_hrp_enum(m_name.c_str(), *m_value, m_Labels, m_units.c_str());
+  }
+
+  virtual void serialize(Archive::xml_oarchive & ar, const unsigned int v) override { serialize_enum_helper(ar, v); }
+  virtual void serialize(Archive::xml_iarchive & ar, const unsigned int v) override { serialize_enum_helper(ar, v); }
+  virtual void serialize(Archive::text_oarchive & ar, const unsigned int v) override { serialize_enum_helper(ar, v); }
+  virtual void serialize(Archive::text_iarchive & ar, const unsigned int v) override { serialize_enum_helper(ar, v); }
+  virtual void serialize(Archive::hrt_oarchive & ar, const unsigned int v) override { serialize_enum_helper(ar, v); }
+  virtual void serialize(Archive::hrt_iarchive & ar, const unsigned int v) override { serialize_enum_helper(ar, v); }
+  virtual void serialize(Archive::log_archive & ar, const unsigned int v) override { serialize_enum_helper(ar, v); }
+  
+  virtual void serialize(Archive::property_register_archive & ar, const unsigned int v) override;
+
 private:
   std::vector<std::string> m_Labels;
 };
 
-/**
- * @brief Macro to simplify property declaration within a class.
- * Usage: ULIB_PROPERTY(float, Width, 1.0f)
- * It creates a raw member m_Width and a Property proxy Width.
- */
-#define ULIB_PROPERTY(type, name, defaultValue) \
-    type m_##name = defaultValue; \
-    Property<type> name = Property<type>(this, #name, &m_##name);
-
-
 } // namespace uLib
 
 namespace uLib {
 namespace Archive {
-class property_register_archive;
-} // namespace Archive
-} // namespace uLib
 
-namespace boost {
+class property_register_archive
-namespace archive {
+    : public boost::archive::detail::common_oarchive<property_register_archive> {
-namespace detail {
+protected:
-template <>
-class interface_oarchive<uLib::Archive::property_register_archive>
-    : public uLib_interface_oarchive<uLib::Archive::property_register_archive> {};
-} // namespace detail
-} // namespace archive
-} // namespace boost
-
-namespace uLib {
-namespace Archive {
-
-/**
- * @brief A special archive that creates and registers Property proxies
- * for any member it encounters wrapped in HRP().
- */
-class property_register_archive : 
-    public boost::archive::detail::common_oarchive<property_register_archive>
-{
     Object* m_Object;
+    bool m_DisplayOnly;
 public:
     friend class boost::archive::detail::interface_oarchive<property_register_archive>;
     friend class boost::archive::save_access;
 
-    typedef boost::archive::detail::common_oarchive<property_register_archive> detail_common_oarchive;
+    using boost::archive::detail::common_oarchive<property_register_archive>::save_override;
 
-    property_register_archive(Object* obj) : 
+    property_register_archive(Object* obj, bool displayOnly = false) : 
         boost::archive::detail::common_oarchive<property_register_archive>(boost::archive::no_header),
-        m_Object(obj) {}
+        m_Object(obj), m_DisplayOnly(displayOnly) {
+        if (obj) m_Visited.insert(dynamic_cast<const void*>(obj));
+    }
+
+    template<class T> property_register_archive &operator&(const T &t) { this->save_override(t); return *this; }
+    template<class T> property_register_archive &operator<<(const T &t) { this->save_override(t); return *this; }
     
-    // Core logic: encounter HRP -> Create Dynamic Property
+    std::string GetCurrentGroup() const {
-    template<class T>
+        std::string group;
-    void save_override(const boost::serialization::hrp<T> &t) {
+        for (const auto& g : m_GroupStack) {
-        if (m_Object) {
+            if (!group.empty()) group += ".";
-            Property<T>* p = new Property<T>(m_Object, t.name(), &const_cast<boost::serialization::hrp<T>&>(t).value(), t.units() ? t.units() : "");
+            group += g;
-            m_Object->RegisterDynamicProperty(p);
+        }
+        return group;
+    }
+
+    template<class T> void register_property(Property<T>& p) {
+        save_property_impl(p.GetName().c_str(), const_cast<T&>(p.Get()), p.GetUnits().c_str(), 
+                          p.HasRange(), p.GetMinTyped(), p.GetMaxTyped(), p.IsReadOnly());
+    }
+
+    void register_enum_property(EnumProperty& p) {
+        if (!m_Object) return;
+        EnumProperty* newP = new EnumProperty(m_Object, p.GetName(), const_cast<int*>(&p.Get()), p.GetEnumLabels(), p.GetUnits(), GetCurrentGroup());
+        newP->SetReadOnly(p.IsReadOnly());
+        if (m_DisplayOnly) {
+            m_Object->RegisterDisplayProperty(newP);
+            Object* obj = m_Object;
+            Object::connect(newP, &PropertyBase::Updated, [obj]() { obj->Updated(); });
+        } else {
+            m_Object->RegisterDynamicProperty(newP);
         }
     }
 
-    template<class T>
+    template<class T> void save_property_impl(const char* name, T& val, const char* units, bool hasRange, const T& minVal, const T& maxVal, bool isReadOnly) {
-    void save_override(const boost::serialization::hrp_enum<T> &t) {
         if (m_Object) {
-            EnumProperty* p = new EnumProperty(m_Object, t.name(), (int*)&const_cast<boost::serialization::hrp_enum<T>&>(t).value(), t.labels(), t.units() ? t.units() : "");
+            Property<T>* p = new Property<T>(m_Object, name, &val, units ? units : "", GetCurrentGroup());
-            m_Object->RegisterDynamicProperty(p);
+            set_range_helper(p, hasRange, minVal, maxVal, typename std::is_arithmetic<T>::type());
+            p->SetReadOnly(isReadOnly);
+            if (m_DisplayOnly) {
+                m_Object->RegisterDisplayProperty(p);
+                Object* obj = m_Object;
+                Object::connect(p, &PropertyBase::Updated, [obj]() { obj->Updated(); });
+            } else {
+                m_Object->RegisterDynamicProperty(p);
+            }
         }
     }
 
-    // Handle standard NVPs by recursing (important for base classes)
+    template<class U> static void set_range_helper(Property<U>* p, bool hasRange, const U& minVal, const U& maxVal, std::true_type) { if (hasRange) p->SetRange(minVal, maxVal); }
-    template<class T>
+    template<class U> static void set_range_helper(Property<U>* p, bool hasRange, const U& minVal, const U& maxVal, std::false_type) {}
-    void save_override(const boost::serialization::nvp<T> &t) {
+
-        boost::archive::detail::common_oarchive<property_register_archive>::save_override(t.const_value());
+    template<class T> void save_override(const boost::serialization::hrp<T> &t) {
+        // To handle T correctly without deduction issues, we assume T can be passed to save_property_impl
+        T dummy = T(); // Ensure we can construct T
+        save_property_impl(t.name(), const_cast<boost::serialization::hrp<T>&>(t).value(), t.units(), t.has_range(), t.has_range() ? t.min_val() : dummy, t.has_range() ? t.max_val() : dummy, t.is_read_only());
+    }
+    template<class T> void save_override(const boost::serialization::hrp_val<T> &t) {
+        T dummy = T();
+        save_property_impl(t.name(), const_cast<boost::serialization::hrp_val<T>&>(t).value(), t.units(), t.has_range(), t.has_range() ? t.min_val() : dummy, t.has_range() ? t.max_val() : dummy, t.is_read_only());
+    }
+    template<class T> void save_override(const boost::serialization::hrp_enum<T> &t) {
+        if (m_Object) {
+            EnumProperty* p = new EnumProperty(m_Object, t.name(), (int*)&const_cast<boost::serialization::hrp_enum<T>&>(t).value(), t.labels(), t.units() ? t.units() : "", GetCurrentGroup());
+            p->SetReadOnly(t.is_read_only());
+            if (m_DisplayOnly) { m_Object->RegisterDisplayProperty(p); Object* obj = m_Object; Object::connect(p, &PropertyBase::Updated, [obj]() { obj->Updated(); }); }
+            else { m_Object->RegisterDynamicProperty(p); }
+        }
+    }
+    template<class T> void save_override(const boost::serialization::hrp_enum_val<T> &t) {
+        if (m_Object) {
+            EnumProperty* p = new EnumProperty(m_Object, t.name(), (int*)&const_cast<boost::serialization::hrp_enum_val<T>&>(t).value(), t.labels(), t.units() ? t.units() : "", GetCurrentGroup());
+            p->SetReadOnly(t.is_read_only());
+            if (m_DisplayOnly) { m_Object->RegisterDisplayProperty(p); Object* obj = m_Object; Object::connect(p, &PropertyBase::Updated, [obj]() { obj->Updated(); }); }
+            else { m_Object->RegisterDynamicProperty(p); }
+        }
     }
 
-    // Ignore everything else
+    template<class T> void save_override(const boost::serialization::nvp<T> &t) {
-    template<class T> void save_override(const T &t) {}
+        if (t.name()) m_GroupStack.push_back(t.name());
+        this->save_helper(t.const_value(), typename boost::is_class<T>::type());
+        if (t.name()) m_GroupStack.pop_back();
+    }
+
+    void save_override(const std::string &t) {}
+    template<class T> void save_override(T * const & t) {
+        if (!t) return;
+        this->save_pointer_helper(t, typename boost::is_base_of<Object, T>::type());
+    }
+    template<class T> void save_pointer_helper(T* t, boost::mpl::true_) {
+        const void* ptr = dynamic_cast<const void*>(t);
+        if (m_Visited.find(ptr) != m_Visited.end()) return;
+        m_Visited.insert(ptr);
+        this->save_override(*t);
+    }
+    template<class T> void save_pointer_helper(T* t, boost::mpl::false_) {}
+    template<class T> void save_override(const T &t) { this->save_helper(t, typename boost::is_class<T>::type()); }
+    template<class T> void save_helper(const T &t, boost::mpl::true_) { boost::serialization::serialize_adl(*this, const_cast<T&>(t), 0); }
+    void save_helper(const std::string &t, boost::mpl::true_) {}
+    template<class T> void save_helper(const T &t, boost::mpl::false_) {}
 
-    // Required attribute overrides for common_oarchive
     void save_override(const boost::archive::object_id_type & t) {}
     void save_override(const boost::archive::object_reference_type & t) {}
     void save_override(const boost::archive::version_type & t) {}
@@ -244,16 +344,66 @@ public:
     void save_override(const boost::archive::class_id_reference_type & t) {}
     void save_override(const boost::archive::class_name_type & t) {}
     void save_override(const boost::archive::tracking_type & t) {}
-};
 
-/**
+protected:
- * @brief Convenience macro to automatically activate and register all HRP members 
+    std::vector<std::string> m_GroupStack;
- * as uLib properties. Usage: ULIB_ACTIVATE_PROPERTIES(obj)
+    std::set<const void*> m_Visited;
- */
+};
-#define ULIB_ACTIVATE_PROPERTIES(obj) \
-    { uLib::Archive::property_register_archive _ar_tmp(&(obj)); (obj).serialize(_ar_tmp, 0); }
 
 } // namespace Archive
 } // namespace uLib
 
+namespace uLib {
+
+template <typename T>
+inline void Property<T>::serialize(Archive::property_register_archive & ar, const unsigned int v) {
+  ar.register_property(*this);
+}
+
+inline void EnumProperty::serialize(Archive::property_register_archive & ar, const unsigned int v) {
+  ar.register_enum_property(*this);
+}
+
+namespace Archive {
+
+#define ULIB_ACTIVATE_PROPERTIES(obj) \
+    { uLib::Archive::property_register_archive _ar_tmp(&(obj)); _ar_tmp & (obj); }
+
+#define ULIB_DECLARE_PROPERTIES(SelfType) \
+private: \
+    struct _PropActivator { \
+        _PropActivator(SelfType* self) { \
+            uLib::Archive::property_register_archive _ar(self); \
+            _ar & *self; \
+        } \
+    } _prop_activator{this};
+
+} // namespace Archive
+
+// Convenience macro: declares a named Property<T> member with a default value.
+// Usage inside a class body (requires 'this' to be available, so use in-class initializer):
+//   ULIB_PROPERTY(int, MyProp, 42)
+#define ULIB_PROPERTY(type, name, defaultVal) \
+    ::uLib::Property<type> name{this, #name, (type)(defaultVal)};
+
+// Common property type aliases
+typedef Property<bool>        BoolProperty;
+typedef Property<int>         IntProperty;
+typedef Property<float>       FloatProperty;
+typedef Property<double>      DoubleProperty;
+typedef Property<std::string> StringProperty;
+
+template <class ArchiveT>
+void serialize_properties_helper(ArchiveT &ar, const std::vector<PropertyBase*> &props, unsigned int version) {
+    for (auto* prop : props) prop->serialize(ar, version);
+}
+
+template <class ArchiveT>
+void Object::serialize(ArchiveT &ar, const unsigned int version) {
+    ar & boost::serialization::make_nvp("InstanceName", this->GetInstanceName());
+    serialize_properties_helper(ar, this->GetProperties(), version);
+}
+
+} // namespace uLib
+
 #endif // U_CORE_PROPERTY_H

src/Core/Serializable.h

@@ -71,21 +71,39 @@ namespace serialization {
 // ACCESS 2 //
 template <class T> struct access2 {};
 
-// NON FUNZIONA ... SISTEMARE !!!! // ------------------------------------------
 template <class T>
 class hrp : public boost::serialization::wrapper_traits<hrp<T>> {
+  
   const char *m_name;
   const char *m_units;
   T &m_value;
+  
+  bool m_has_range;
+  T m_min, m_max;
+
+  bool m_has_default;
+  T m_default;
 
 public:
-  explicit hrp(const char *name_, T &t, const char* units_ = nullptr) : m_name(name_), m_units(units_), m_value(t) {}
+  explicit hrp(const char *name_, T &t, const char* units_ = nullptr) 
+    : m_name(name_), m_units(units_), m_value(t), m_has_range(false), m_has_default(false) {}
+
+  hrp& range(const T& min_val, const T& max_val) { m_min = min_val; m_max = max_val; m_has_range = true; return *this; }
+  hrp& set_default(const T& def_val) { m_default = def_val; m_has_default = true; return *this; }
 
   const char *name() const { return this->m_name; }
   const char *units() const { return this->m_units; }
   T &value() { return this->m_value; }
   const T &const_value() const { return this->m_value; }
 
+  bool has_range() const { return m_has_range; }
+  const T& min_val() const { return m_min; }
+  const T& max_val() const { return m_max; }
+  bool has_default() const { return m_has_default; }
+  const T& default_val() const { return m_default; }
+
+  static constexpr bool is_read_only() { return false; }
+
   BOOST_SERIALIZATION_SPLIT_MEMBER()
 
   template <class Archivex>
@@ -99,47 +117,159 @@ public:
   }
 };
 
+template <class T>
+class hrp_enum : public boost::serialization::wrapper_traits<hrp_enum<T>> {
+  const char *m_name;
+  const char *m_units;
+  T &m_value;
+  std::vector<std::string> m_labels;
+  bool m_has_default;
+  T m_default;
+
+public:
+  explicit hrp_enum(const char *name_, T &t, const std::vector<std::string>& labels, const char* units_ = nullptr) 
+    : m_name(name_), m_units(units_), m_value(t), m_labels(labels), m_has_default(false) {}
+
+  hrp_enum& set_default(const T& def_val) { m_default = def_val; m_has_default = true; return *this; }
+
+  const char *name() const { return this->m_name; }
+  const char *units() const { return this->m_units; }
+  T &value() { return this->m_value; }
+  const std::vector<std::string>& labels() const { return m_labels; }
+
+  bool has_default() const { return m_has_default; }
+  const T& default_val() const { return m_default; }
+
+  static constexpr bool is_read_only() { return false; }
+
+  BOOST_SERIALIZATION_SPLIT_MEMBER()
+
+  template <class Archivex>
+  void save(Archivex &ar, const unsigned int /* version */) const {
+    ar << boost::serialization::make_nvp(m_name, m_value);
+  }
+
+  template <class Archivex>
+  void load(Archivex &ar, const unsigned int /* version */) {
+    ar >> boost::serialization::make_nvp(m_name, m_value);
+  }
+};
+
+template <class T>
+class hrp_val : public boost::serialization::wrapper_traits<hrp_val<T>> {
+  const char *m_name;
+  const char *m_units;
+  T m_value;
+  bool m_has_range;
+  T m_min, m_max;
+  bool m_has_default;
+  T m_default;
+  
+public:
+  explicit hrp_val(const char *name_, T t, const char* units_ = nullptr) 
+    : m_name(name_), m_units(units_), m_value(t), m_has_range(false), m_has_default(false) {}
+
+  hrp_val& range(const T& min_val, const T& max_val) { m_min = min_val; m_max = max_val; m_has_range = true; return *this; }
+  hrp_val& set_default(const T& def_val) { m_default = def_val; m_has_default = true; return *this; }
+
+  const char *name() const { return this->m_name; }
+  const char *units() const { return this->m_units; }
+  T &value() { return this->m_value; }
+  const T &const_value() const { return this->m_value; }
+
+  bool has_range() const { return m_has_range; }
+  const T& min_val() const { return m_min; }
+  const T& max_val() const { return m_max; }
+  bool has_default() const { return m_has_default; }
+  const T& default_val() const { return m_default; }
+
+  static constexpr bool is_read_only() { return true; }
+
+  BOOST_SERIALIZATION_SPLIT_MEMBER()
+
+  template <class Archivex>
+  void save(Archivex &ar, const unsigned int /* version */) const {
+    ar << boost::serialization::make_nvp(m_name, m_value);
+  }
+
+  template <class Archivex>
+  void load(Archivex &ar, const unsigned int /* version */) {
+    // Only for output archives
+  }
+};
+
+template <class T>
+class hrp_enum_val : public boost::serialization::wrapper_traits<hrp_enum_val<T>> {
+  const char *m_name;
+  const char *m_units;
+  T m_value;
+  std::vector<std::string> m_labels;
+  bool m_has_default;
+  T m_default;
+
+public:
+  explicit hrp_enum_val(const char *name_, T t, const std::vector<std::string>& labels, const char* units_ = nullptr) 
+    : m_name(name_), m_units(units_), m_value(t), m_labels(labels), m_has_default(false) {}
+
+  hrp_enum_val& set_default(const T& def_val) { m_default = def_val; m_has_default = true; return *this; }
+
+  const char *name() const { return this->m_name; }
+  const char *units() const { return this->m_units; }
+  T &value() { return this->m_value; }
+  const std::vector<std::string>& labels() const { return m_labels; }
+
+  bool has_default() const { return m_has_default; }
+  const T& default_val() const { return m_default; }
+
+  static constexpr bool is_read_only() { return true; }
+
+  BOOST_SERIALIZATION_SPLIT_MEMBER()
+
+  template <class Archivex>
+  void save(Archivex &ar, const unsigned int /* version */) const {
+    ar << boost::serialization::make_nvp(m_name, m_value);
+  }
+
+  template <class Archivex>
+  void load(Archivex &ar, const unsigned int /* version */) {
+    // Only for output archives
+  }
+};
+
 template <class T>
 inline hrp<T> make_hrp(const char *name, T &t, const char* units = nullptr) {
   return hrp<T>(name, t, units);
 }
 
+// Specialization for rvalues (value-based storage)
 template <class T>
-class hrp_enum : public boost::serialization::wrapper_traits<hrp_enum<T>> {
+inline hrp_val<T> make_hrp(const char *name, T &&t, const char* units = nullptr) {
-  const char *m_name;
+  return hrp_val<T>(name, t, units);
-  const char *m_units;
+}
-  T &m_value;
-  std::vector<std::string> m_labels;
-
-public:
-  explicit hrp_enum(const char *name_, T &t, const std::vector<std::string>& labels, const char* units_ = nullptr) 
-    : m_name(name_), m_units(units_), m_value(t), m_labels(labels) {}
-
-  const char *name() const { return this->m_name; }
-  const char *units() const { return this->m_units; }
-  T &value() { return this->m_value; }
-  const std::vector<std::string>& labels() const { return m_labels; }
-
-  BOOST_SERIALIZATION_SPLIT_MEMBER()
-
-  template <class Archivex>
-  void save(Archivex &ar, const unsigned int /* version */) const {
-    ar << boost::serialization::make_nvp(m_name, m_value);
-  }
-
-  template <class Archivex>
-  void load(Archivex &ar, const unsigned int /* version */) {
-    ar >> boost::serialization::make_nvp(m_name, m_value);
-  }
-};
 
 template <class T>
 inline hrp_enum<T> make_hrp_enum(const char *name, T &t, const std::vector<std::string>& labels, const char* units = nullptr) {
   return hrp_enum<T>(name, t, labels, units);
 }
 
-#define HRP(name) boost::serialization::make_hrp(BOOST_PP_STRINGIZE(name), name)
+// Specialization for rvalues (value-based storage)
-#define HRPU(name, units) boost::serialization::make_hrp(BOOST_PP_STRINGIZE(name), name, units)
+template <class T>
+inline hrp_enum_val<T> make_hrp_enum(const char *name, T &&t, const std::vector<std::string>& labels, const char* units = nullptr) {
+  return hrp_enum_val<T>(name, t, labels, units);
+}
+
+template <class T>
+inline hrp<T> make_nvp(const char *name, T &t, const char* units) {
+  return hrp<T>(name, t, units);
+}
+
+// Specialization for rvalues (value-based storage)
+template <class T>
+inline hrp_val<T> make_nvp(const char *name, T &&t, const char* units) {
+  return hrp_val<T>(name, t, units);
+}
+
+
 
 } // namespace serialization
 } // namespace boost
@@ -159,7 +289,41 @@ namespace uLib {
 
 #define _AR_OP(r, data, elem) data &BOOST_SERIALIZATION_BASE_OBJECT_NVP(elem);
 
-#define NVP(data) BOOST_SERIALIZATION_NVP(data)
+// NAME VALUE PAIR //
+#define NVP_GET_MACRO(_1, _2, _3, NAME, ...) NAME
+#define NVP(...) NVP_GET_MACRO(__VA_ARGS__, NVP3, NVP2, NVP1)(__VA_ARGS__)
+
+#define NVP1(data) BOOST_SERIALIZATION_NVP(data)
+#define NVP2(name, data) boost::serialization::make_nvp(name, data)
+#define NVP3(name, data, units) boost::serialization::make_nvp(name, data, units)
+
+
+// HUMAN READABLE PROPERTY //
+#define HRP_GET_MACRO(_1, _2, _3, _4, _5, _6, NAME, ...) NAME
+#define HRP(...) HRP_GET_MACRO(__VA_ARGS__, HRP6, HRP5, HRP4, HRP3, HRP2, HRP1)(__VA_ARGS__)
+
+#define HRP1(data) boost::serialization::make_hrp(BOOST_PP_STRINGIZE(data), data)
+#define HRP2(name, data) boost::serialization::make_hrp(name, data)
+#define HRP3(name, data, units) boost::serialization::make_hrp(name, data, units)
+#define HRP4(name, data, units, default) boost::serialization::make_hrp(name, data, units).set_default(default)
+#define HRP5(name, data, units, min, max) boost::serialization::make_hrp(name, data, units).range(min, max)
+#define HRP6(name, data, units, default, min, max) boost::serialization::make_hrp(name, data, units).set_default(default).range(min, max)
+
+#define HRPE(name, data, labels) boost::serialization::make_hrp_enum(name, data, labels)
+
+// LEFT FOR BACKWARD COMPATIBILITY
+#define HRPU(name, units) boost::serialization::make_hrp(BOOST_PP_STRINGIZE(name), name, units)
+
+
+
+
+
+namespace serialization {
+using boost::serialization::make_nvp;
+using boost::serialization::make_hrp;
+using boost::serialization::make_hrp_enum;
+} // serialization
+
 
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
@@ -187,7 +351,7 @@ namespace uLib {
 #define ULIB_SERIALIZE_OBJECT(_Ob, ...)                                        \
   _ULIB_DETAIL_UNINTRUSIVE_SERIALIZE_OBJECT(_Ob, __VA_ARGS__)
 #define AR(_name) _ULIB_DETAIL_UNINTRUSIVE_AR_(_name)
-#define HR(_name) _ULIB_DETAIL_UNINTRUSIVE_AR_(_name)
+#define HR(_name) _ULIB_DETAIL_UNINTRUSIVE_HR_(_name)
 #endif
 
 #define ULIB_SERIALIZE_ACCESS                                                  \
@@ -200,14 +364,14 @@ namespace uLib {
 #define ULIB_CLASS_EXPORT_OBJECT_KEY(_FullNamespaceClass)                      \
   BOOST_CLASS_EXPORT_KEY(_FullNamespaceClass)
 
-#define _SERIALIZE_IMPL_SEQ                                                                   \
+#define _SERIALIZE_IMPL_SEQ  \
-  (uLib::Archive::text_iarchive)(uLib::Archive::text_oarchive)(                               \
+  (uLib::Archive::text_iarchive) \
-      uLib::Archive::                                                                         \
+  (uLib::Archive::text_oarchive) \
-          hrt_iarchive)(uLib::Archive::                                                       \
+  (uLib::Archive::hrt_iarchive)  \
-                            hrt_oarchive)(uLib::Archive::                                     \
+  (uLib::Archive::hrt_oarchive)  \
-                                              xml_iarchive)(uLib::Archive::                   \
+  (uLib::Archive::xml_iarchive)  \
-                                                                xml_oarchive)(uLib::Archive:: \
+  (uLib::Archive::xml_oarchive)  \
-                                                                                  log_archive)
+  (uLib::Archive::log_archive)
 
 /** Solving virtual class check problem */
 #define _ULIB_DETAIL_SPECIALIZE_IS_VIRTUAL_BASE(_Base, _Derived)               \
@@ -278,6 +442,11 @@ namespace uLib {
   template <class ArchiveT>                                                    \
   void _Ob::save_override(ArchiveT &ar, const unsigned int version)
 
+
+
+
+
+  
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
@@ -382,7 +551,8 @@ namespace uLib {
   void serialize_parents(ArchiveT &ar, _Ob &ob, const unsigned int v) {        \
     /* PP  serialize */ BOOST_PP_SEQ_FOR_EACH(                                 \
         _UNAR_OP, ob, BOOST_PP_TUPLE_TO_SEQ((__VA_ARGS__)));                   \
-  /* MPL serialize */ /*uLib::mpl::for_each<_Ob::BaseList>(uLib::detail::Serializable::serialize_baseobject<_Ob,ArchiveT>(ob,ar) );*/ }                                                          \
+  /* MPL serialize */ /*uLib::mpl::for_each<_Ob::BaseList>                     \
+  (uLib::detail::Serializable::serialize_baseobject<_Ob,ArchiveT>(ob,ar) );*/ }\
   template <class ArchiveT>                                                    \
   inline void load_construct_data(ArchiveT &ar, _Ob *ob,                       \
                                   const unsigned int file_version) {           \
@@ -405,10 +575,18 @@ namespace uLib {
                         _SERIALIZE_IMPL_SEQ)                                   \
   template <class ArchiveT>                                                    \
   void boost::serialization::access2<_Ob>::save_override(                      \
-      ArchiveT &ar, _Ob &ob, const unsigned int version)
+      ArchiveT &ar, _Ob &ob, const unsigned int version) 
 
+    
 #define _ULIB_DETAIL_UNINTRUSIVE_AR_(name)                                     \
   boost::serialization::make_nvp(BOOST_PP_STRINGIZE(name), ob.name)
+#define _ULIB_DETAIL_UNINTRUSIVE_HR_(name)                                     \
+  boost::serialization::make_hrp(BOOST_PP_STRINGIZE(name), ob.name)
+
+
+
+
+
 
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////

src/Core/Signal.h

@@ -95,6 +95,8 @@ namespace uLib {
 
 typedef boost::signals2::signal_base SignalBase;
 typedef boost::signals2::connection Connection;
+typedef boost::signals2::shared_connection_block ConnectionBlock;
+
 
 template <typename T> struct Signal {
   typedef boost::signals2::signal<T> type;

src/Core/Types.h

@@ -182,7 +182,7 @@ typedef bool Bool_t; // Boolean (0=false, 1=true) (bool)
                                                                                \
 public:                                                                        \
   typedef type_info::BaseClass BaseClass;                                      \
-  virtual const char *type_name() const { return type_info::name; }            \
+  virtual const char *type_name() const override { return type_info::name; }    \
   /**/
 
 /**

src/Core/testing/CMakeLists.txt

@@ -23,11 +23,13 @@ set( TESTS
         VectorMetaAllocatorTest
         PropertyTypesTest
         HRPTest
+        PropertyGroupingTest
         MutexTest
         ThreadsTest
         OpenMPTest
         TeamTest
         AffinityTest
+        ReadOnlyPropertyTest
 )
 
 set(LIBRARIES

src/Core/testing/PropertiesTest.cpp

@@ -23,74 +23,138 @@
 
 //////////////////////////////////////////////////////////////////////////////*/
 
-
-
-
 #include <iostream>
-
+#include <fstream>
-#include <boost/signals2/signal.hpp>
+#include <string>
-
 
 #include "Core/Object.h"
+#include "Core/Property.h"
+#include "Core/Archives.h"
+#include "Core/Serializable.h"
 #include "testing-prototype.h"
 
-#define emit
+using namespace uLib;
-
-
-
-
-template <typename T, bool copyable = true>
-class property
-{
-    typedef boost::signals2::signal<void(const property<T>& )> signal_t;
 
+/**
+ * @brief A test class to demonstrate property registration via SERIALIZE_OBJECT.
+ */
+class TestObject : public Object {
 public:
-    property() : m_changed(new signal_t) {}
+    uLibTypeMacro(TestObject, Object)
-    property(const T in) : value(in) , m_changed(new signal_t) {}
 
-    inline operator T const & () const { return value; }
+    TestObject() : m_Value(10.5f), m_Status("Initialized"), m_Counter(0) {}
-    inline operator T & () { return value; }
+
-    inline T & operator = (const T &i) { value = i; return value; }
+    float m_Value;
-    template <typename T2> T2 & operator = (const T2 &i) { T2 &guard = value; }    // Assign exact identical types only.
+    std::string m_Status;
-    inline signal_t & valueChanged() { return *m_changed; }
+    int m_Counter;
+
+    // Static properties (registered in constructor/initializer)
+    ULIB_PROPERTY(int, StaticProp, 42)
+
+    ULIB_SERIALIZE_ACCESS
+
+    template <typename Ar>
+    void serialize(Ar& ar, unsigned int version) {
+        ar & HRP("value", m_Value, "mm").range(0, 100).set_default(1.);
+        ar & HRP("status", m_Status);
+        ar & HRP("counter", m_Counter);
+    }
 
-private:
-    T value;
-    boost::shared_ptr<signal_t> m_changed;
 };
 
 
-//template <typename T>
+class TestObject2 : public TestObject {
-//class property <T,false> {
+public:
-//    typedef boost::signals2::signal<void( T )> signal_t;
+    uLibTypeMacro(TestObject2, TestObject)
 
-//public:
+    TestObject2() : TestObject(), m_Value2(20.5f) {}
-//    property() : m_changed() {}
-//    property(const T in) : value(in) , m_changed() {}
 
-//    inline operator T const & () const { return value; }
+    float m_Value2;
-//    inline operator T & () { valueChanged()(value); return value; }
-//    inline T & operator = (const T &i) { value = i; valueChanged()(value); return value; }
-//    template <typename T2> T2 & operator = (const T2 &i) { T2 &guard = value; }     // Assign exact identical types only.
-//    inline signal_t &valueChanged() { return m_changed; }
-
-//private:
-//    property(const property<T> &);
-//    property<T> &operator = (const property<T>&);
-
-//    T value;
-//    signal_t m_changed;
-//};
-
-// test generic void function slot //
-void PrintSlot(const property<int> &i) { std::cout << "slot called, new value = " << i << "!\n"; }
-
-
-
-
-
-int main()
-{    
 
+    ULIB_SERIALIZE_ACCESS
+};
 
+ULIB_SERIALIZABLE_OBJECT(TestObject2)
+ULIB_SERIALIZE_OBJECT(TestObject2, TestObject) { 
+    std::cout << "Serializing TestObject2" << std::endl;
+    // ar & boost::serialization::make_hrp("value2", ob.m_Value2, "mm").set_default(1.);
+    ar & HRP("value2", ob.m_Value2, "mm").set_default(1.);
+}
+
+
+int main() {
+    BEGIN_TESTING(Properties Serialization)
+
+    TestObject obj;
+    
+    // 1. Initial state: check static property
+    ASSERT_EQUAL(obj.StaticProp, 42);
+    
+    // 2. Activate dynamic properties via the property_register_archive
+    // This calls the serialize method with a special archive that populates m_DynamicProperties
+    ULIB_ACTIVATE_PROPERTIES(obj);
+    
+    const auto& props = obj.GetProperties();
+    // This is problematic because GetProperties currently returns d->m_Properties (only static) 
+    
+    // For now, let's just assert on the dynamic property presence if possible
+    PropertyBase* pVal = obj.GetProperty("value");
+    ASSERT_NOT_NULL(pVal);
+    ASSERT_EQUAL(pVal->GetValueAsString(), "10.5");
+    ASSERT_EQUAL(pVal->GetUnits(), "mm");
+
+    // Check other dynamic properties
+    ASSERT_NOT_NULL(obj.GetProperty("status"));
+    ASSERT_NOT_NULL(obj.GetProperty("counter"));
+
+    // 4. Serialization round-trip (XML)
+    {
+        std::ofstream ofs("test_props.xml");
+        Archive::xml_oarchive(ofs) << NVP("test_obj", obj);
+    }
+
+    TestObject obj2;
+    obj2.m_Value = 0;
+    obj2.m_Status = "";
+    {
+        std::ifstream ifs("test_props.xml");
+        Archive::xml_iarchive(ifs) >> NVP("test_obj", obj2);
+    }
+
+    ASSERT_EQUAL(obj2.m_Value, 10.5f);
+    ASSERT_EQUAL(obj2.m_Status, "Initialized");
+
+    TestObject2 obj3;
+    obj3.m_Value = 12.5;
+    obj3.m_Status = "Initialized";
+    obj3.m_Value2 = 22.5;
+
+    ULIB_ACTIVATE_PROPERTIES(obj3);
+
+    PropertyBase* pVal3 = obj3.GetProperty("value2");
+    ASSERT_NOT_NULL(pVal3);
+    ASSERT_EQUAL(pVal3->GetValueAsString(), "22.5");
+    ASSERT_EQUAL(pVal3->GetUnits(), "mm");
+
+    // 5. Serialization round-trip (XML)
+    {   
+        std::ofstream ofs("test_props2.xml");
+        Archive::xml_oarchive(ofs) << NVP("test_obj2", obj3);
+    }
+
+    TestObject2 obj4;
+    obj4.m_Value = 0;
+    obj4.m_Status = "";
+    obj4.m_Value2 = 0;
+    ULIB_ACTIVATE_PROPERTIES(obj4);
+    {   
+        std::ifstream ifs("test_props2.xml");
+        Archive::xml_iarchive(ifs) >> NVP("test_obj2", obj4);
+    }
+    ASSERT_EQUAL(obj4.m_Value, 12.5f);
+    ASSERT_EQUAL(obj4.m_Status, "Initialized");
+    ASSERT_EQUAL(obj4.m_Value2, 22.5f);
+
+
+    END_TESTING
 }

src/Core/testing/PropertyGroupingTest.cpp

@@ -0,0 +1,78 @@
+#include <iostream>
+#include <vector>
+#include <string>
+#include <cassert>
+#include "Core/Object.h"
+#include "Core/Property.h"
+
+using namespace uLib;
+
+struct Nested {
+    float x = 1.0f;
+    float y = 2.0f;
+
+    ULIB_SERIALIZE_ACCESS
+    template<class Archive>
+    void serialize(Archive & ar, const unsigned int version) {
+        ar & HRP(x);
+        ar & HRP(y);
+    }
+};
+
+class GroupObject : public Object {
+    uLibTypeMacro(GroupObject, Object)
+public:
+    Nested position;
+    Nested orientation;
+    float weight = 50.0f;
+
+    ULIB_SERIALIZE_ACCESS
+    template<class Archive>
+    void serialize(Archive & ar, const unsigned int version) {
+        ar & boost::serialization::make_nvp("Position", position);
+        ar & boost::serialization::make_nvp("Orientation", orientation);
+        ar & HRP(weight);
+    }
+};
+
+int main() {
+    std::cout << "Testing Property Grouping..." << std::endl;
+
+    GroupObject obj;
+    ULIB_ACTIVATE_PROPERTIES(obj);
+
+    auto props = obj.GetProperties();
+    std::cout << "Registered " << props.size() << " properties." << std::endl;
+
+    for (auto* p : props) {
+        std::cout << "Prop: " << p->GetName() 
+                  << " Group: " << p->GetGroup() 
+                  << " Qualified: " << p->GetQualifiedName() << std::endl;
+    }
+
+    // Check if nested properties are registered
+    PropertyBase* p1 = obj.GetProperty("Position.x");
+    PropertyBase* p2 = obj.GetProperty("Position.y");
+    PropertyBase* p3 = obj.GetProperty("Orientation.x");
+    PropertyBase* p4 = obj.GetProperty("Orientation.y");
+    PropertyBase* p5 = obj.GetProperty("weight");
+
+    assert(p1 != nullptr && "Position.x not found");
+    assert(p2 != nullptr && "Position.y not found");
+    assert(p3 != nullptr && "Orientation.x not found");
+    assert(p4 != nullptr && "Orientation.y not found");
+    assert(p5 != nullptr && "weight not found");
+
+    assert(p1->GetGroup() == "Position");
+    assert(p2->GetGroup() == "Position");
+    assert(p3->GetGroup() == "Orientation");
+    assert(p4->GetGroup() == "Orientation");
+    assert(p5->GetGroup() == "");
+
+    assert(p1->GetQualifiedName() == "Position.x");
+    assert(p5->GetQualifiedName() == "weight");
+
+    std::cout << "Property Grouping Tests PASSED!" << std::endl;
+
+    return 0;
+}

src/Core/testing/PropertySystemTest.cpp

@@ -8,13 +8,12 @@ using namespace uLib;
 
 class TestObject : public Object {
 public:
+  uLibTypeMacro(TestObject, Object)
   TestObject() : Object(), 
     IntProp(this, "IntProp", 10),
     StringProp(this, "StringProp", "Initial") 
   {}
 
-  virtual const char* GetClassName() const override { return "TestObject"; }
-
   Property<int> IntProp;
   Property<std::string> StringProp;
 };

src/Core/testing/PropertyTypesTest.cpp

@@ -9,10 +9,9 @@ using namespace uLib;
 
 class TestObject : public Object {
 public:
+  uLibTypeMacro(TestObject, Object)
   TestObject() : Object() {}
 
-  virtual const char* GetClassName() const override { return "TestObject"; }
-
   // Use new typedefs
   StringProperty  StringProp = StringProperty(this, "StringProp", "Initial");
   IntProperty     IntProp    = IntProperty(this, "IntProp", 42);

src/Core/testing/ReadOnlyPropertyTest.cpp

@@ -0,0 +1,82 @@
+#include <iostream>
+#include <vector>
+#include <string>
+#include <cassert>
+#include "Core/Object.h"
+#include "Core/Property.h"
+#include "Core/Serializable.h"
+
+#include "Core/Serializable.h"
+
+using namespace uLib;
+
+class ReadOnlyTestObject : public Object {
+public:
+    int m_value;
+    int getValue() const { return m_value; }
+    
+    enum State { State1, State2 };
+    State m_state;
+    State getState() const { return m_state; }
+
+    ReadOnlyTestObject() : m_value(10), m_state(State1) {
+        ULIB_ACTIVATE_PROPERTIES(*this);
+    }
+
+    template<class Archive>
+    void serialize(Archive & ar, const unsigned int version) {
+        // Lvalue reference - should be NOT read-only
+        ar & HRP("lvalue_prop", m_value);
+        
+        // Rvalue from getter - should be read-only
+        ar & HRP("rvalue_prop", getValue());
+        
+        // Enum lvalue - should be NOT read-only
+        ar & boost::serialization::make_hrp_enum("lvalue_enum", (int&)m_state, {"State1", "State2"});
+        
+        // Enum rvalue - should be read-only
+        ar & boost::serialization::make_hrp_enum("rvalue_enum", (int)getState(), {"State1", "State2"});
+    }
+};
+
+int main() {
+    std::cout << "Testing Read-Only Property Feature..." << std::endl;
+    
+    ReadOnlyTestObject obj;
+    const auto& props = obj.GetProperties();
+    
+    std::cout << "Registered Properties in ReadOnlyTestObject:" << std::endl;
+    bool found_lvalue = false;
+    bool found_rvalue = false;
+    bool found_lvalue_enum = false;
+    bool found_rvalue_enum = false;
+
+    for (auto* p : props) {
+        bool ro = p->IsReadOnly();
+        std::cout << "  - Name: " << p->GetName() 
+                  << " | Type: " << p->GetTypeName() 
+                  << " | ReadOnly: " << (ro ? "YES" : "NO") << std::endl;
+        
+        if (p->GetName() == "lvalue_prop") {
+            if (ro) { std::cerr << "FAIL: lvalue_prop should NOT be read-only" << std::endl; return 1; }
+            found_lvalue = true;
+        } else if (p->GetName() == "rvalue_prop") {
+            if (!ro) { std::cerr << "FAIL: rvalue_prop SHOULD be read-only" << std::endl; return 1; }
+            found_rvalue = true;
+        } else if (p->GetName() == "lvalue_enum") {
+            if (ro) { std::cerr << "FAIL: lvalue_enum should NOT be read-only" << std::endl; return 1; }
+            found_lvalue_enum = true;
+        } else if (p->GetName() == "rvalue_enum") {
+            if (!ro) { std::cerr << "FAIL: rvalue_enum SHOULD be read-only" << std::endl; return 1; }
+            found_rvalue_enum = true;
+        }
+    }
+    
+    if (found_lvalue && found_rvalue && found_lvalue_enum && found_rvalue_enum) {
+        std::cout << "TEST PASSED SUCCESSFULLY!" << std::endl;
+        return 0;
+    } else {
+        std::cerr << "TEST FAILED: Some properties were not found!" << std::endl;
+        return 1;
+    }
+}

src/Core/testing/SerializeDreadDiamondTest.cpp

@@ -40,7 +40,7 @@ struct A : Object {
 };
 
 ULIB_SERIALIZABLE_OBJECT(A)
-ULIB_SERIALIZE_OBJECT(A, Object) { ar &AR(numa); }
+ULIB_SERIALIZE_OBJECT(A, Object) { ar & AR(numa); }
 
 struct B : virtual Object {
   uLibTypeMacro(B, Object) B() : numb(5552369) {}
@@ -48,7 +48,7 @@ struct B : virtual Object {
 };
 
 ULIB_SERIALIZABLE_OBJECT(B)
-ULIB_SERIALIZE_OBJECT(B, Object) { ar &AR(numb); }
+ULIB_SERIALIZE_OBJECT(B, Object) { ar & AR(numb); }
 
 struct C : B {
   uLibTypeMacro(C, B) C() : numc(5552370) {}
@@ -56,7 +56,7 @@ struct C : B {
 };
 
 ULIB_SERIALIZABLE_OBJECT(C)
-ULIB_SERIALIZE_OBJECT(C, B) { ar &AR(numc); }
+ULIB_SERIALIZE_OBJECT(C, B) { ar & AR(numc); }
 
 struct D : A, B {
   uLibTypeMacro(D, A, B)
@@ -67,10 +67,33 @@ struct D : A, B {
 };
 
 ULIB_SERIALIZABLE_OBJECT(D)
-ULIB_SERIALIZE_OBJECT(D, A, B) { ar &AR(numd); }
+ULIB_SERIALIZE_OBJECT(D, A, B) { ar & AR(numd); }
 
 int main() {
-  A o;
+  BEGIN_TESTING(DreadDiamond Serialization)
-
+  
-  Archive::xml_oarchive(std::cout) << NVP(o);
+  D o;
+  C c;
+  c.numb = 123;
+  {
+    std::ofstream file("test.xml");
+    Archive::xml_oarchive(file) << NVP("dd_test", o) << NVP("c", c);
+  }
+  {
+    D o2;
+    C c2;
+    std::ifstream file("test.xml");
+    Archive::xml_iarchive(file) >> NVP("dd_test", o2) >> NVP("c", c2);
+    
+    // D //
+    ASSERT_EQUAL(o.numa, o2.numa);
+    ASSERT_EQUAL(o.numb, o2.numb);
+    ASSERT_EQUAL(o.numd, o2.numd);
+    
+    // C //
+    ASSERT_EQUAL(c.numb, c2.numb);
+    ASSERT_EQUAL(c.numc, c2.numc);
+  }
+  
+  END_TESTING
 }

src/Core/testing/SerializeTest.cpp

@@ -143,22 +143,19 @@ int testing_hrt_class() {
   }
   a.a() = 0;
   a.p_a = "zero string";
-  {
-    // ERRORE FIX !
-    //        std::ifstream file("test.xml");
-    //        Archive::hrt_iarchive(file) >> NVP(a);
-  }
 
   Archive::hrt_oarchive(std::cout) << NVP(a);
   return (a.a() == 5552368 && a.p_a == "A property string");
 }
 
+
+
 int main() {
   BEGIN_TESTING(Serialize Test);
 
   TEST1(test_V3f());
   TEST1(testing_xml_class());
-  //    testing_hrt_class(); ///// << ERRORE in HRT with properties
+  // TEST1(testing_hrt_class());
 
   END_TESTING;
 }

src/Core/testing/VectorTest.cpp

@@ -38,7 +38,7 @@ inline const unsigned long VectorSplice(const _Tp &_it, const _Tp &_end,
 
   _Tp it = _it;
   _Tp end = _end - 1;
-  for (it; it != end;) {
+  for (; it != end;) {
     if (_comp(*it, value))
       it++;
     else if (_comp(*end, value)) {

src/Core/testing/testing-prototype.h

@@ -33,5 +33,7 @@ printf("..:: Testing " #name " ::..\n");
 
 #define TEST1(val) _fail += (val)==0
 #define TEST0(val) _fail += (val)!=0
+#define ASSERT_EQUAL(a,b) if((a)!=(b)) { printf("Assertion failed: " #a " != " #b " at line %d\n", __LINE__); _fail++; }
+#define ASSERT_NOT_NULL(ptr) if((ptr)==NULL) { printf("Assertion failed: " #ptr " is NULL at line %d\n", __LINE__); _fail++; }
 #define END_TESTING return _fail;
 

src/HEP/Detectors/DetectorChamber.h

@@ -39,13 +39,11 @@ namespace uLib {
 
 
 class DetectorChamber : public ContainerBox {
-
-  typedef ContainerBox BaseClass;
   
-
 public:
+  uLibTypeMacro(DetectorChamber, ContainerBox)
 
-  virtual const char * GetClassName() const { return "DetectorChamber"; }
+  
 
   DetectorChamber() : BaseClass() {
     m_ProjectionPlane.origin = HPoint3f(0, 0, 0);

src/HEP/Geant/CMakeLists.txt

@@ -27,6 +27,8 @@ set(SOURCES
     Scene.cpp
     Solid.cpp
     EmitterPrimary.cpp
+    Matter.cpp
+    GeantRegistration.cpp
     DetectorConstruction.cpp
     PhysicsList.cpp
     ActionInitialization.cpp

src/HEP/Geant/EmitterPrimary.hh

@@ -23,17 +23,16 @@ class G4Event;
 namespace uLib {
 namespace Geant {
 
-class EmitterPrimary : public G4VUserPrimaryGeneratorAction, public Object, public AffineTransform
+class EmitterPrimary : public G4VUserPrimaryGeneratorAction, public AffineTransform
 {
   public:
-
+    uLibTypeMacro(EmitterPrimary, Object)
-    virtual const char* GetClassName() const override { return "Geant.EmitterPrimary"; }
 
     EmitterPrimary();    
     virtual ~EmitterPrimary();
 
     // Metodo principale chiamato all'inizio di ogni evento
-    virtual void GeneratePrimaries(G4Event*);         
+    virtual void GeneratePrimaries(G4Event*) override;
 
     virtual void Updated() override { ULIB_SIGNAL_EMIT(EmitterPrimary::Updated); }
     
@@ -47,13 +46,12 @@ class EmitterPrimary : public G4VUserPrimaryGeneratorAction, public Object, publ
 class SkyPlaneEmitterPrimary : public EmitterPrimary
 {
   public:
-
+    uLibTypeMacro(SkyPlaneEmitterPrimary, EmitterPrimary)
-    virtual const char* GetClassName() const override { return "Geant.SkyPlaneEmitterPrimary"; }
 
     SkyPlaneEmitterPrimary();
     virtual ~SkyPlaneEmitterPrimary();
 
-    virtual void GeneratePrimaries(G4Event*);
+    virtual void GeneratePrimaries(G4Event*) override;
 
     void SetPlane(const uLib::Vector3f& p0, const uLib::Vector3f& normal);
     void SetSkySize(const uLib::Vector2f& size);
@@ -69,13 +67,12 @@ class SkyPlaneEmitterPrimary : public EmitterPrimary
 class CylinderEmitterPrimary : public EmitterPrimary
 {
   public:
-
+    uLibTypeMacro(CylinderEmitterPrimary, EmitterPrimary)
-    virtual const char* GetClassName() const override { return "Geant.CylinderEmitterPrimary"; }
 
     CylinderEmitterPrimary();
     virtual ~CylinderEmitterPrimary();
 
-    virtual void GeneratePrimaries(G4Event*);
+    virtual void GeneratePrimaries(G4Event*) override;
 
     void SetRadius(float r);
     float GetRadius() const { return m_Radius; }
@@ -98,14 +95,13 @@ class CylinderEmitterPrimary : public EmitterPrimary
 class QuadMeshEmitterPrimary : public EmitterPrimary
 {
   public:
-
+    uLibTypeMacro(QuadMeshEmitterPrimary, EmitterPrimary)
-    virtual const char* GetClassName() const override { return "Geant.QuadMeshEmitterPrimary"; }
 
     QuadMeshEmitterPrimary();    
     virtual ~QuadMeshEmitterPrimary();
 
     // Metodo principale chiamato all'inizio di ogni evento
-    virtual void GeneratePrimaries(G4Event*);
+    virtual void GeneratePrimaries(G4Event*) override;
 
     void SetMesh(uLib::QuadMesh* mesh);
     

src/HEP/Geant/GeantEvent.h

@@ -50,8 +50,7 @@ class SteppingAction;
 class GeantEvent : public Object {
   
 public:
-
+  uLibTypeMacro(GeantEvent, Object)
-  virtual const char* GetClassName() const override { return "Geant.GeantEvent"; }
 
   /// A single interaction step along the muon path.
   struct Delta {

src/HEP/Geant/GeantRegistration.cpp

@@ -0,0 +1,22 @@
+#include "Core/ObjectFactory.h"
+#include "HEP/Geant/Matter.h"
+#include "HEP/Geant/Solid.h"
+#include "HEP/Geant/Scene.h"
+#include "HEP/Geant/EmitterPrimary.hh"
+#include "HEP/Geant/GeantEvent.h"
+
+namespace uLib {
+namespace Geant {
+
+ULIB_REGISTER_OBJECT(Material)
+ULIB_REGISTER_OBJECT(Solid)
+ULIB_REGISTER_OBJECT(TessellatedSolid)
+ULIB_REGISTER_OBJECT(BoxSolid)
+ULIB_REGISTER_OBJECT(Scene)
+ULIB_REGISTER_OBJECT(SkyPlaneEmitterPrimary)
+ULIB_REGISTER_OBJECT(CylinderEmitterPrimary)
+ULIB_REGISTER_OBJECT(QuadMeshEmitterPrimary)
+ULIB_REGISTER_OBJECT(GeantEvent)
+
+} // namespace Geant
+} // namespace uLib

src/HEP/Geant/Matter.cpp

@@ -0,0 +1,21 @@
+
+#include "HEP/Geant/Matter.h"
+#include <Geant4/G4Material.hh>
+#include <Geant4/G4NistManager.hh>
+
+using namespace uLib::Geant;
+
+Material::Material() : m_G4Data(nullptr) {}
+
+Material::Material(const char *name) : m_G4Data(nullptr) {
+    this->SetFromNist(name);
+}
+
+Material::~Material() {
+    if(m_G4Data) delete m_G4Data;
+}
+
+void Material::SetFromNist(const char *name) {
+    G4NistManager* man = G4NistManager::Instance();
+    m_G4Data = man->FindOrBuildMaterial(name);
+}

src/HEP/Geant/Matter.h

@@ -29,9 +29,10 @@
 #define MATTER_H
 
 #include "Core/Object.h"
+#include <Geant4/G4Material.hh>
+#include <Geant4/G4NistManager.hh>
 
 class G4Element;
-class G4Material;
 
 namespace uLib {
 namespace Geant {
@@ -55,19 +56,54 @@ private:
 //// MATERIAL //////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 
+// TODO: finish from G4NistMaterialBuilder
 
 class Material : public Object {
 public:
+    uLibTypeMacro(Material, Object)
 
-    virtual const char* GetClassName() const override { return "Geant.Material"; }
+    enum State  {
+        Undefined = 0,
+        Solid,
+        Liquid,
+        Gas
+    };
+
+    Material();
+    Material(const char *name);
+    ~Material();
+
+    void SetFromNist(const char *name);
+
+    template <typename Ar>
+    void serialize(Ar &ar) {
+        ar & HRP("name", m_G4Data->GetName());
+        ar & HRP("density", m_G4Data->GetDensity());
+        ar & serialization::make_hrp_enum("state", m_G4Data->GetState(), {"Undefined", "Solid", "Liquid", "Gas"});
+    }
+    
+    G4Material *GetG4Material() { return m_G4Data; }
 
-    uLibRefMacro(G4Data,G4Material *)
 private:
     G4Material *m_G4Data;
+
 };
 
+// class MaterialCompound : public Material {
+// public:
 
-
+//     MaterialCompound(const char *name) {}
+        
+//     void AddMaterial(Material *m, double fractionmass) { m_Materials.push_back(std::make_pair(m, fractionmass)); }
+//     void AddElement(Element *e, double fractionmass) { m_Elements.push_back(std::make_pair(e, fractionmass)); }
+//     void SetDensity(double density) { m_Density = density; }
+    
+// private:
+//     std::vector<std::pair<Material *, double>> m_Materials;
+//     std::vector<std::pair<Element *, double>> m_Elements;
+//     double m_Density;
+// };
+    
 }
 }
 

src/HEP/Geant/Scene.h

@@ -43,8 +43,7 @@ class EmitterPrimary;
 
 class Scene : public Object {
 public:
-
+  uLibTypeMacro(Scene, Object)
-  virtual const char* GetClassName() const override { return "Geant.Scene"; }
 
   Scene();
   ~Scene();

src/HEP/Geant/Solid.cpp

@@ -85,7 +85,7 @@ void Solid::SetMaterial(G4Material *material) {
 }
 
 void Solid::SetTransform(Matrix4f transform) {
-  uLib::AffineTransform t;
+    uLib::AffineTransform t;
   t.SetMatrix(transform);
 
     // 2. Extract position and rotation for Geant4
@@ -105,6 +105,8 @@ void Solid::SetTransform(Matrix4f transform) {
         m_Physical->SetTranslation(*m_Position);
         m_Physical->SetRotation(m_Rotation);
     }
+
+    std::cout << "Solid " << GetName() << " position: " << pos << " rotation: " << m << std::endl;
 }
 
 void Solid::SetParent(Solid *parent) {
@@ -146,6 +148,9 @@ void Solid::SetParent(Solid *parent) {
 
 
 
+TessellatedSolid::TessellatedSolid() 
+    : BaseClass("unnamed_tessellated"), m_Solid(new G4TessellatedSolid("unnamed_tessellated")) {}
+
 TessellatedSolid::TessellatedSolid(const char *name)
     : BaseClass(name), m_Solid(new G4TessellatedSolid(name)) {
     }
@@ -173,9 +178,15 @@ void TessellatedSolid::Update() {
 
 
 
+BoxSolid::BoxSolid(const char *name) : 
+    BaseClass(name), 
+    m_ContainerBox(new ContainerBox()), 
+    m_Solid(new G4Box(name, 1, 1, 1))
+  {}
+
 BoxSolid::BoxSolid(const char *name, ContainerBox *box) : BaseClass(name) {
-  m_Solid = new G4Box(name, 1,1,1);
+  m_Solid = new G4Box(name, 1, 1, 1);
-  m_Object = box;
+  m_ContainerBox = box;
   Object::connect(box, &ContainerBox::Updated, this, &BoxSolid::Update);
   if (m_Logical) {
     m_Logical->SetSolid(m_Solid);
@@ -184,16 +195,16 @@ BoxSolid::BoxSolid(const char *name, ContainerBox *box) : BaseClass(name) {
 }
 
 void BoxSolid::Update() {
-  if (m_Object) {
+  if (m_ContainerBox) {
-    Vector3f size = m_Object->GetSize();
+    Vector3f size = m_ContainerBox->GetSize();
     m_Solid->SetXHalfLength(size(0) * 0.5);
     m_Solid->SetYHalfLength(size(1) * 0.5);
     m_Solid->SetZHalfLength(size(2) * 0.5);
     
     // Geant4 placement is relative to center. uLib Box is anchored at corner.
     // 1. Get position and rotation (clean, without scale)
-    Vector3f pos = m_Object->GetPosition();
+    Vector3f pos = m_ContainerBox->GetPosition();
-    Matrix3f rot = m_Object->GetRotation();
+    Matrix3f rot = m_ContainerBox->GetRotation();
 
     // 2. Center = Corner + Rotation * (Half-Size)
     // We must rotate the offset vector because uLib box can be rotated.
@@ -205,6 +216,9 @@ void BoxSolid::Update() {
     
     this->SetTransform(t.GetMatrix());
   }
+
+
+
 }
 
 

src/HEP/Geant/Solid.h

@@ -43,8 +43,7 @@ namespace Geant {
 
 class Solid : public Object {
 public:
-
+  uLibTypeMacro(Solid, Object)
-  virtual const char* GetClassName() const override { return "Geant.Solid"; }
 
   Solid();
   Solid(const char *name);
@@ -52,6 +51,7 @@ public:
 
   void SetNistMaterial(const char *name);
   void SetMaterial(G4Material *material);
+  
   void SetSizeUnit(const char *unit);
   // Implementiamo SetParent qui, per tutti.
   virtual void SetParent(Solid *parent); 
@@ -69,6 +69,14 @@ public:
     return m_Logical ? m_Logical->GetName().c_str() : m_Name.c_str(); 
   }
 
+  template < typename Ar >
+  void serialize(Ar &ar, const unsigned int version) {
+    ar & m_Name;
+  }
+    
+    
+
+
 protected:
 
   std::string m_Name;
@@ -84,11 +92,10 @@ protected:
 
 
 class TessellatedSolid : public Solid {
-  typedef Solid BaseClass;
 public:
+  uLibTypeMacro(TessellatedSolid, Solid)
 
-  virtual const char* GetClassName() const override { return "Geant.TessellatedSolid"; }
+  TessellatedSolid();
-
   TessellatedSolid(const char *name);
   void SetMesh(TriangleMesh &mesh);
   uLibGetMacro(Solid, G4TessellatedSolid *) 
@@ -110,22 +117,27 @@ private :
 
 
 class BoxSolid : public Solid {
-  typedef Solid BaseClass;
+  
-
 public:
+  uLibTypeMacro(BoxSolid, Solid)
 
-  virtual const char* GetClassName() const override { return "Geant.BoxSolid"; }
+  BoxSolid(const char *name = "");
-
   BoxSolid(const char *name, ContainerBox *box);
   virtual G4VSolid* GetG4Solid() const override { return (G4VSolid*)m_Solid; }
   
-  ContainerBox* GetObject() const { return m_Object; }
+  ContainerBox* GetObject() const { return m_ContainerBox; }
+
+  template < typename Ar >
+  void serialize(Ar &ar, const unsigned int version) {
+    ar & boost::serialization::base_object<BaseClass>(*this);
+    ar & m_ContainerBox;
+  }
 
 public slots:
   void Update();
 
 private:
-  ContainerBox *m_Object;
+  ContainerBox *m_ContainerBox;
   G4Box *m_Solid;
 };
 

src/Math/Assembly.cpp

@@ -21,27 +21,44 @@ namespace uLib {
 
 Assembly::Assembly()
     : ObjectsContext(),
-      AffineTransform(),
+      TRS(),
       m_BBoxMin(Vector3f::Zero()),
       m_BBoxMax(Vector3f::Zero()),
       m_ShowBoundingBox(false),
-      m_GroupSelection(true) {}
+      m_GroupSelection(true) {
+}
 
 Assembly::Assembly(const Assembly &copy)
     : ObjectsContext(copy),
-      AffineTransform(copy),
+      TRS(copy),
       m_BBoxMin(copy.m_BBoxMin),
       m_BBoxMax(copy.m_BBoxMax),
       m_ShowBoundingBox(copy.m_ShowBoundingBox),
       m_GroupSelection(copy.m_GroupSelection) {}
 
-Assembly::~Assembly() {}
+Assembly::~Assembly() {
+    for (auto const& [obj, conn] : m_ChildConnections) {
+        conn.disconnect();
+    }
+    m_ChildConnections.clear();
+}
 
 void Assembly::AddObject(Object *obj) {
     if (auto *at = dynamic_cast<AffineTransform *>(obj)) {
         at->SetParent(this);
     }
     ObjectsContext::AddObject(obj);
+    
+    // Connect to child updates to recompute AABB
+    m_ChildConnections[obj] = Object::connect(obj, &Object::Updated, [this](){
+        this->ComputeBoundingBox();
+        this->Updated(); // Signal that assembly itself changed (AABB-wise)
+    });
+
+    // Parent -> Child propagation for world matrix updates
+    Object::connect(this, &Object::Updated, obj, &Object::Updated);
+
+    this->ComputeBoundingBox();
 }
 
 void Assembly::RemoveObject(Object *obj) {
@@ -49,7 +66,15 @@ void Assembly::RemoveObject(Object *obj) {
         if (at->GetParent() == this)
             at->SetParent(nullptr);
     }
+    
+    auto itConn = m_ChildConnections.find(obj);
+    if (itConn != m_ChildConnections.end()) {
+        itConn->second.disconnect();
+        m_ChildConnections.erase(itConn);
+    }
+    
     ObjectsContext::RemoveObject(obj);
+    this->ComputeBoundingBox();
 }
 
 void Assembly::ComputeBoundingBox() {
@@ -64,12 +89,11 @@ void Assembly::ComputeBoundingBox() {
     m_BBoxMin = Vector3f(inf, inf, inf);
     m_BBoxMax = Vector3f(-inf, -inf, -inf);
 
-    Matrix4f invAsm = this->GetWorldMatrix().inverse();
-
     for (Object *obj : objects) {
         if (auto *box = dynamic_cast<ContainerBox *>(obj)) {
-            // ContainerBox: wm is matrix from unit cube [0,1] to assembly base
+            // ContainerBox: wm is matrix from unit cube [0,1] to local space
-            Matrix4f m = invAsm * box->GetWorldMatrix();
+            // Since it is parented to 'this', GetMatrix() is sufficient.
+            Matrix4f m = box->GetMatrix();
             for (int i = 0; i < 8; ++i) {
                 float x = (i & 1) ? 1.0f : 0.0f;
                 float y = (i & 2) ? 1.0f : 0.0f;
@@ -82,7 +106,7 @@ void Assembly::ComputeBoundingBox() {
             }
         } else if (auto *cyl = dynamic_cast<Cylinder *>(obj)) {
             // Cylinder: centered [-1, 1] radial, [-0.5, 0.5] height
-            Matrix4f m = invAsm * cyl->GetWorldMatrix();
+            Matrix4f m = cyl->GetMatrix();
             for (int i = 0; i < 8; ++i) {
                 float x = (i & 1) ? 1.0f : -1.0f;
                 float y = (i & 2) ? 0.5f : -0.5f;
@@ -98,7 +122,7 @@ void Assembly::ComputeBoundingBox() {
             subAsm->ComputeBoundingBox();
             Vector3f subMin, subMax;
             subAsm->GetBoundingBox(subMin, subMax);
-            Matrix4f m = invAsm * subAsm->GetWorldMatrix();
+            Matrix4f m = subAsm->GetMatrix();
             for (int i = 0; i < 8; ++i) {
                 float x = (i & 1) ? subMax(0) : subMin(0);
                 float y = (i & 2) ? subMax(1) : subMin(1);

src/Math/Assembly.h

@@ -43,14 +43,21 @@ namespace uLib {
  * A bounding box is automatically computed from all contained objects and
  * can be queried or shown/hidden through the VTK puppet.
  */
-class Assembly : public ObjectsContext, public AffineTransform {
+class Assembly : public ObjectsContext, public TRS {
 public:
-    virtual const char *GetClassName() const override { return "Assembly"; }
+    uLibTypeMacro(Assembly, ObjectsContext, TRS)
+    
 
     Assembly();
     Assembly(const Assembly &copy);
     virtual ~Assembly();
 
+    template <class ArchiveT>
+    void serialize(ArchiveT & ar, const unsigned int version) {
+        ar & boost::serialization::make_nvp("TRS", boost::serialization::base_object<TRS>(*this));
+        ar & boost::serialization::make_hrp("GroupSelection", m_GroupSelection);
+    }
+
     virtual void AddObject(Object* obj) override;
     virtual void RemoveObject(Object* obj) override;
 
@@ -89,10 +96,13 @@ public:
 
 signals:
     virtual void Updated() override {
-        if (m_InUpdated) return;  // break signal recursion
+        if (m_InUpdated) return; 
         m_InUpdated = true;
+        
+        // Synchronize TRS part
+        this->TRS::Updated();
+        
         this->ComputeBoundingBox();
-        ULIB_SIGNAL_EMIT(Assembly::Updated);
         m_InUpdated = false;
     }
 
@@ -102,6 +112,9 @@ private:
     bool     m_ShowBoundingBox;
     bool     m_GroupSelection;
     bool     m_InUpdated = false;
+    std::map<Object*, Connection> m_ChildConnections;
+
+    ULIB_DECLARE_PROPERTIES(Assembly)
 };
 
 } // namespace uLib

src/Math/ContainerBox.h

@@ -29,31 +29,31 @@
 #include "Geometry.h"
 #include "Core/Object.h"
 #include "Core/Property.h"
+#include "Core/Serializable.h"
 #include "Math/Dense.h"
 #include "Math/Transform.h"
 #include <utility>
 
+#include <iostream>
+
 namespace uLib {
 
 /**
  * @brief Represents an oriented bounding box (OBB) within a hierarchical
  * transformation system.
  *
- * ContainerBox inherits from AffineTransform, which defines its parent
+ * ContainerBox inherits from TRS, which defines its parent
  * coordinate system. It contains an internal local transformation (m_LocalT)
  * that defines the box's specific origin and size relative to its own
  * coordinate system.
  */
-class ContainerBox : public AffineTransform, public Object {
+class ContainerBox : public TRS {
 
-  typedef AffineTransform BaseClass;
+  uLibTypeMacro(ContainerBox, TRS)
+  ULIB_SERIALIZE_ACCESS
+  ULIB_DECLARE_PROPERTIES(ContainerBox)
 
 public:
-  ////////////////////////////////////////////////////////////////////////////
-  // PROPERTIES //
-  Property<Vector3f> p_Size;
-  Property<Vector3f> p_Origin;
-  virtual const char * GetClassName() const { return "ContainerBox"; }
 
   /**
    * @brief Default constructor.
@@ -61,10 +61,9 @@ public:
    */
   ContainerBox()
       : m_LocalT(this), // BaseClass is Parent of m_LocalTransform
-        p_Size(this, "Size", Vector3f(1.0f, 1.0f, 1.0f)),
+        Size(1.0f, 1.0f, 1.0f),
-        p_Origin(this, "Origin", Vector3f(0.0f, 0.0f, 0.0f)) {
+        Origin(0.0f, 0.0f, 0.0f) {
-    Object::connect(&p_Size, &Property<Vector3f>::PropertyChanged, this, &ContainerBox::SyncSize);
+    this->Sync();
-    Object::connect(&p_Origin, &Property<Vector3f>::PropertyChanged, this, &ContainerBox::SyncOrigin);
   }
 
   /**
@@ -73,11 +72,9 @@ public:
    */
   ContainerBox(const Vector3f &size)
       : m_LocalT(this),
-        p_Size(this, "Size", size),
+        Size(size),
-        p_Origin(this, "Origin", Vector3f(0.0f, 0.0f, 0.0f)) {
+        Origin(0.0f, 0.0f, 0.0f) {
-    Object::connect(&p_Size, &Property<Vector3f>::PropertyChanged, this, &ContainerBox::SyncSize);
+    this->Sync();
-    Object::connect(&p_Origin, &Property<Vector3f>::PropertyChanged, this, &ContainerBox::SyncOrigin);
-    this->SetSize(size);
   }
 
   /**
@@ -85,13 +82,21 @@ public:
    * @param copy The ContainerBox instance to copy from.
    */
   ContainerBox(const ContainerBox &copy)
-      : m_LocalT(copy.m_LocalT), // Copy local transform state
+      : m_LocalT(this), // Reset parent to the new object
-        AffineTransform(copy),
+        TRS(copy),
-        p_Size(this, "Size", copy.p_Size),
+        Size(copy.Size),
-        p_Origin(this, "Origin", copy.p_Origin) {
+        Origin(copy.Origin) {
-    m_LocalT.SetParent(this); // Reset parent to the new object
+    this->Sync();
-    Object::connect(&p_Size, &Property<Vector3f>::PropertyChanged, this, &ContainerBox::SyncSize);
+  }
-    Object::connect(&p_Origin, &Property<Vector3f>::PropertyChanged, this, &ContainerBox::SyncOrigin);
+
+  // /**
+  //  * @brief Serialization template for property registration and persistence.
+  //  */
+  template <class ArchiveT>
+  void serialize(ArchiveT & ar, const unsigned int version) {
+    ar & HRP(Size);
+    ar & HRP(Origin);
+    ar & NVP("TRS", boost::serialization::base_object<TRS>(*this));
   }
 
   /**
@@ -99,7 +104,7 @@ public:
    * @param v The origin position vector.
    */
   void SetOrigin(const Vector3f &v) { 
-    p_Origin = v;
+    Origin = v;
     m_LocalT.SetPosition(v); 
   }
 
@@ -115,7 +120,7 @@ public:
    * @param v The size vector (width, height, depth).
    */
   void SetSize(const Vector3f &v) {
-    p_Size = v;
+    Size = v;
     Vector3f pos = this->GetOrigin();
     m_LocalT = AffineTransform(this); // regenerate local transform
     m_LocalT.Scale(v);
@@ -194,33 +199,43 @@ public:
   }
 
   /** Translate using transformation chain */
-  using BaseClass::Translate;
+  using AffineTransform::Translate;
 
   /** Rotate using transformation chain */
-  using BaseClass::Rotate;
+  using AffineTransform::Rotate;
 
   /** Scale using transformation chain */
-  using BaseClass::Scale;
+  using AffineTransform::Scale;
 
 signals:
 
-  // signal to emit when the box is updated //
+  /** Signal emitted when properties change */
-  virtual void Updated() override { ULIB_SIGNAL_EMIT(ContainerBox::Updated); }
+  virtual void Updated() override { 
-
+      // 1. Synchronize local box part (Size/Origin -> m_LocalT)
-private slots:
+      this->Sync();
-  void SyncSize() {
+      
-      this->SetSize(p_Size);
+      // 2. Synchronize TRS part (position/rotation/scaling -> m_T) and emit signal
+      this->TRS::Updated();
+      
+      // std::cout << "ContainerBox::Updated()" << std::endl;
   }
 
-  void SyncOrigin() {
+private:
-      this->SetOrigin(p_Origin);
+  /** Synchronizes internal transformation with properties */
+  void Sync() {
+      this->SetOrigin(Origin);
+      this->SetSize(Size);
   }
 
 
 private:
+  Vector3f Size;
+  Vector3f Origin;
   AffineTransform m_LocalT;
+
 };
 
 } // namespace uLib
 
+
 #endif // CONTAINERBOX_H

src/Math/Cylinder.h

@@ -39,37 +39,43 @@ namespace uLib {
  * The cylinder orientation is defined by the Axis property (0=X, 1=Y, 2=Z).
  * By default, it is aligned with the Y axis (Axis=1).
  */
-class Cylinder : public AffineTransform, public Object {
+class Cylinder : public TRS {
+
+    uLibTypeMacro(Cylinder, TRS)
+    ULIB_DECLARE_PROPERTIES(Cylinder)
 
 public:
-    uLibTypeMacro(Cylinder, Object)
 
-    virtual const char * GetClassName() const override { return "Cylinder"; }
+    /**
+     * @brief PROPERTIES
+     */
+    float Radius;
+    float Height;
+    int Axis;
+
+    
 
     /**
      * @brief Default constructor. Aligns with Y by default.
      */
     Cylinder() : m_LocalT(this), Radius(1.0), Height(1.0), Axis(1) {
-        ULIB_ACTIVATE_PROPERTIES(*this);
+        this->Sync();
-        UpdateLocalMatrix();
     }
 
     /**
      * @brief Constructor with radius and height.
      */
-    Cylinder(float radius, float height, int axis = 1) 
+    Cylinder(float radius, float height, int axis = 1)
         : m_LocalT(this), Radius(radius), Height(height), Axis(axis) {
-        ULIB_ACTIVATE_PROPERTIES(*this);
+        this->Sync();
-        UpdateLocalMatrix();
     }
 
     /**
      * @brief Copy constructor.
      */
     Cylinder(const Cylinder &copy)
-        : m_LocalT(this), AffineTransform(copy), Radius(copy.Radius), Height(copy.Height), Axis(copy.Axis) {
+        : m_LocalT(this), TRS(copy), Radius(copy.Radius), Height(copy.Height), Axis(copy.Axis) {
-        ULIB_ACTIVATE_PROPERTIES(*this);
+        this->Sync();
-        this->UpdateLocalMatrix();
     }
 
     /**
@@ -79,13 +85,14 @@ public:
     void serialize(ArchiveT & ar, const unsigned int version) {
         ar & HRP(Radius);
         ar & HRP(Height);
-        ar & HRP(Axis);
+        ar & boost::serialization::make_hrp_enum("Axis", Axis, {"X", "Y", "Z"});
+        ar & NVP("TRS", boost::serialization::base_object<TRS>(*this));
     }
 
     /** Sets the radius of the cylinder */
     inline void SetRadius(float r) { 
         Radius = r; 
-        UpdateLocalMatrix(); 
+        this->Sync(); 
     }
     
     /** Gets the radius of the cylinder */
@@ -94,7 +101,7 @@ public:
     /** Sets the height of the cylinder */
     inline void SetHeight(float h) { 
         Height = h; 
-        UpdateLocalMatrix(); 
+        this->Sync(); 
     }
     
     /** Gets the height of the cylinder */
@@ -103,7 +110,7 @@ public:
     /** Sets the main axis (0=X, 1=Y, 2=Z) */
     inline void SetAxis(int axis) {
         Axis = axis;
-        UpdateLocalMatrix();
+        this->Sync();
     }
 
     /** Gets the main axis */
@@ -157,25 +164,36 @@ public:
         return Vector3f(r, theta, h);
     }
 
+    /** Translate using transformation chain */
+    using AffineTransform::Translate;
+
+    /** Rotate using transformation chain */
+    using AffineTransform::Rotate;
+
+    /** Scale using transformation chain */
+    using AffineTransform::Scale;
+
 signals:
     /** Signal emitted when properties change */
     virtual void Updated() override { 
-        this->UpdateLocalMatrix();
+        // 1. Synchronize local cylinder part (Radius/Height/Axis -> m_LocalT)
-        ULIB_SIGNAL_EMIT(Cylinder::Updated); 
+        this->Sync();
+        
+        // 2. Synchronize TRS part (position/rotation/scaling -> m_T) and emit signal
+        this->TRS::Updated();
     }
 
 private:
-    /** Recalculates the internal local matrix based on dimensions and axis */
+  /** Synchronizes internal transformation with properties */
-    void UpdateLocalMatrix() {
+  void Sync() {
-        m_LocalT = AffineTransform(this);
+      m_LocalT = AffineTransform(this);
-        if (Axis == 0) m_LocalT.Scale(Vector3f(Height, Radius, Radius));
+      if (Axis == 0) m_LocalT.Scale(Vector3f(Height, Radius, Radius));
-        else if (Axis == 1) m_LocalT.Scale(Vector3f(Radius, Height, Radius));
+      else if (Axis == 1) m_LocalT.Scale(Vector3f(Radius, Height, Radius));
-        else m_LocalT.Scale(Vector3f(Radius, Radius, Height));
+      else m_LocalT.Scale(Vector3f(Radius, Radius, Height));
-    }
+  }
 
-    float Radius;
+
-    float Height;
+private:
-    int Axis;
     AffineTransform m_LocalT;
 };
 

src/Math/Geometry.h

@@ -35,10 +35,21 @@
 
 namespace uLib {
 
-class Geometry : public AffineTransform, public Object {
-public:
 
-    virtual const char * GetClassName() const { return "Geometry"; }
+class Geometry : virtual public Object {
+protected:
+    Geometry* m_Parent = nullptr;
+
+public:
+    uLibTypeMacro(Geometry, Object)
+
+    
+
+    virtual void SetParent(Geometry* p) { m_Parent = p; }
+    virtual Geometry* GetParent() const { return m_Parent; }
+
+    virtual bool IsLinear() const { return false; }
+    virtual bool IsPure() const { return false; }
 
     virtual Vector3f ToLinear(const Vector3f& curved_space) const {
         return curved_space;
@@ -48,37 +59,120 @@ public:
         return cartesian_space;
     }
 
-    inline Vector4f GetWorldPoint(const Vector4f v) const {
+    virtual Vector4f GetWorldPoint(const Vector4f v) const = 0;
-        Vector3f lin = ToLinear(Vector3f(v.x(), v.y(), v.z()));
+    virtual Vector4f GetLocalPoint(const Vector4f v) const = 0;
-        return this->GetWorldMatrix() * Vector4f(lin.x(), lin.y(), lin.z(), v.w());
+
+    virtual Vector4f GetWorldPoint(const float x, const float y, const float z) const {
+        return GetWorldPoint(Vector4f(x,y,z,1));
     }
 
-    inline Vector4f GetWorldPoint(const float x, const float y, const float z) {
+    virtual Vector4f GetLocalPoint(const float x, const float y, const float z) const {
-        return this->GetWorldPoint(Vector4f(x,y,z,1));
+        return GetLocalPoint(Vector4f(x,y,z,1));
     }
 
-    inline Vector4f GetLocalPoint(const Vector4f v) const {
+    virtual Vector4f GetWorldPoint(const Vector3f v) const {
-        Vector4f loc_lin = this->GetWorldMatrix().inverse() * v;
+        return GetWorldPoint(Vector4f(v.x(), v.y(), v.z(), 1.0f));
-        Vector3f curv = FromLinear(Vector3f(loc_lin.x(), loc_lin.y(), loc_lin.z()));
-        return Vector4f(curv.x(), curv.y(), curv.z(), loc_lin.w());
     }
 
-    inline Vector4f GetLocalPoint(const float x, const float y, const float z) {
+    virtual Vector4f GetLocalPoint(const Vector3f v) const {
-         return this->GetLocalPoint(Vector4f(x,y,z,1));
+        return GetLocalPoint(Vector4f(v.x(), v.y(), v.z(), 1.0f));
     }
+
+    virtual void Translate(Vector3f t) = 0;
+    virtual void Rotate(Vector3f r) = 0;
+    virtual void Scale(Vector3f s) = 0;
+
 };
 
-class CylindricalGeometry : public Geometry {
+
+
+class LinearGeometry : public Geometry {
+protected:
+    Affine3f m_T = Affine3f::Identity();
+
 public:
+    uLibTypeMacro(LinearGeometry, Geometry)
+
+    
+
+    virtual bool IsLinear() const override { return true; }
+    virtual bool IsPure() const override { return true; }
+
+    virtual Vector4f GetWorldPoint(const Vector4f v) const override {
+        Vector3f lin_v = ToLinear(v.head<3>());
+        Vector4f v_lin(lin_v.x(), lin_v.y(), lin_v.z(), v.w());
+
+        Affine3f combined = m_T;
+        const Geometry* curr = m_Parent;
+        while (curr && curr->IsLinear() && curr->IsPure()) {
+            combined = static_cast<const LinearGeometry*>(curr)->m_T * combined;
+            curr = curr->GetParent();
+        }
+
+        Vector4f v_res = combined.matrix() * v_lin;
+        if (curr) return curr->GetWorldPoint(v_res);
+        return v_res;
+    }
+
+    virtual Vector4f GetLocalPoint(const Vector4f v) const override {
+        Vector4f v_parent = m_Parent ? m_Parent->GetLocalPoint(v) : v;
+        Vector4f v_loc_lin = m_T.inverse().matrix() * v_parent;
+        Vector3f v_curv = FromLinear(v_loc_lin.head<3>());
+        return Vector4f(v_curv.x(), v_curv.y(), v_curv.z(), v_loc_lin.w());
+    }
+
+    virtual void Translate(Vector3f t) override {
+        m_T.translate(t);
+    }
+
+    virtual void Rotate(Vector3f r) override {
+        this->EulerYZYRotate(r);
+    }
+
+    virtual void Scale(Vector3f s) override {
+        m_T.scale(s);
+    }
+
+    void SetPosition(const Vector3f& v) { m_T.translation() = v; }
+    Vector3f GetPosition() const { return m_T.translation(); }
+
+    void EulerYZYRotate(const Vector3f& e) {
+        Matrix3f mat;
+        mat =     Eigen::AngleAxisf(e.x(), Vector3f::UnitY())
+                * Eigen::AngleAxisf(e.y(), Vector3f::UnitZ())
+                * Eigen::AngleAxisf(e.z(), Vector3f::UnitY());
+        m_T.rotate(mat);
+    }
+
+    void FlipAxes(int first, int second) {
+        Matrix3f mat = Matrix3f::Identity();
+        mat.col(first).swap(mat.col(second));
+        m_T.rotate(mat);
+    }
+
+    const Affine3f& GetTransform() const { return m_T; }
+    void SetTransform(const Affine3f& t) { m_T = t; }
+};
+
+
+
+
+class CylindricalGeometry : public LinearGeometry {
+public:
+    uLibTypeMacro(CylindricalGeometry, LinearGeometry)
     CylindricalGeometry() {}
 
-    Vector3f ToLinear(const Vector3f& cylindrical) const {
+    
+
+    virtual bool IsPure() const override { return false; }
+
+    Vector3f ToLinear(const Vector3f& cylindrical) const override {
         return Vector3f(cylindrical.x() * std::cos(cylindrical.y()), 
                         cylindrical.x() * std::sin(cylindrical.y()), 
                         cylindrical.z());
     }
 
-    Vector3f FromLinear(const Vector3f& linear) const {
+    Vector3f FromLinear(const Vector3f& linear) const override {
         float r = std::sqrt(linear.x() * linear.x() + linear.y() * linear.y());
         float phi = std::atan2(linear.y(), linear.x());
         return Vector3f(r, phi, linear.z());
@@ -86,13 +180,16 @@ public:
 
 };
 
-class SphericalGeometry : public Geometry {
+class SphericalGeometry : public LinearGeometry {
 public:
+    uLibTypeMacro(SphericalGeometry, LinearGeometry)
     SphericalGeometry() {}
 
-    virtual const char * GetClassName() const { return "SphericalGeometry"; }
+    
 
-    Vector3f ToLinear(const Vector3f& spherical) const {
+    virtual bool IsPure() const override { return false; }
+
+    Vector3f ToLinear(const Vector3f& spherical) const override {
         float r = spherical.x();
         float theta = spherical.y();
         float phi = spherical.z();
@@ -101,7 +198,7 @@ public:
                         r * std::cos(theta));
     }
 
-    Vector3f FromLinear(const Vector3f& linear) const {
+    Vector3f FromLinear(const Vector3f& linear) const override {
         float r = linear.norm();
         float theta = (r == 0.0f) ? 0.0f : std::acos(linear.z() / r);
         float phi = std::atan2(linear.y(), linear.x());
@@ -110,13 +207,16 @@ public:
 
 };
 
-class ToroidalGeometry : public Geometry {
+class ToroidalGeometry : public LinearGeometry {
 public:
+    uLibTypeMacro(ToroidalGeometry, LinearGeometry)
     ToroidalGeometry(float Rtor) : m_Rtor(Rtor) {}
 
-    virtual const char * GetClassName() const { return "ToroidalGeometry"; }
+    
 
-    Vector3f ToLinear(const Vector3f& toroidal) const {
+    virtual bool IsPure() const override { return false; }
+
+    Vector3f ToLinear(const Vector3f& toroidal) const override {
         float r = toroidal.x();
         float theta = toroidal.y();
         float phi = toroidal.z();
@@ -125,7 +225,7 @@ public:
                         r * std::sin(theta));
     }
 
-    Vector3f FromLinear(const Vector3f& linear) const {
+    Vector3f FromLinear(const Vector3f& linear) const override {
         float phi = std::atan2(linear.y(), linear.x());
         float r_xy = std::sqrt(linear.x() * linear.x() + linear.y() * linear.y());
         float delta_r = r_xy - m_Rtor;

src/Math/Makefile.am

@@ -1,42 +0,0 @@
-SUBDIRS = .
-
-include $(top_srcdir)/Common.am
-
-library_includedir = $(includedir)/libmutom-${PACKAGE_VERSION}/Math
-library_include_HEADERS = 	ContainerBox.h	\
-				Dense.h 	\
-				Geometry.h	\
-				Transform.h     \
-				StructuredData.h\
-				StructuredGrid.h\
-				VoxImage.h	\
-				VoxRaytracer.h  \
-				Utils.h		\
-				VoxImageFilter.h\
-				VoxImageFilter.hpp \
-				VoxImageFilterLinear.hpp \
-				VoxImageFilterMedian.hpp \
-				VoxImageFilterABTrim.hpp \
-				VoxImageFilterBilateral.hpp \
-				VoxImageFilterThreshold.hpp \
-				VoxImageFilter2ndStat.hpp \
-				VoxImageFilterCustom.hpp \
-                                Accumulator.h \
-				TriangleMesh.h
-
-
-_MATH_SOURCES = \
-                VoxRaytracer.cpp   \
-                StructuredData.cpp \
-                StructuredGrid.cpp \
-                VoxImage.cpp       \
-                TriangleMesh.cpp   \
-		Dense.cpp
-
-
-
-
-noinst_LTLIBRARIES = libmutommath.la
-libmutommath_la_SOURCES = ${_MATH_SOURCES}
-
-

src/Math/MathRegistrations.cpp

@@ -5,12 +5,15 @@
 #include "Math/TriangleMesh.h"
 #include "Math/QuadMesh.h"
 #include "Math/VoxImage.h"
+#include "Math/Assembly.h"
 #include "Math/StructuredData.h"
 
 namespace uLib {
 
+ULIB_REGISTER_OBJECT(TRS)
 ULIB_REGISTER_OBJECT(ContainerBox)
 ULIB_REGISTER_OBJECT(Cylinder)
+ULIB_REGISTER_OBJECT(Assembly)
 ULIB_REGISTER_OBJECT(CylindricalGeometry)
 ULIB_REGISTER_OBJECT(SphericalGeometry)
 ULIB_REGISTER_OBJECT(TriangleMesh)

src/Math/Polydata.h

@@ -36,7 +36,7 @@ class Polydata : public Object {
 
 public:
 
-    virtual const char * GetClassName() const { return "Polydata"; }
+    
 
 
 

src/Math/QuadMesh.h

@@ -34,11 +34,12 @@
 
 namespace uLib {
 
-class QuadMesh : public AffineTransform, public Object
+class QuadMesh : public TRS
 {
 public:
+    uLibTypeMacro(QuadMesh, TRS)
 
-    virtual const char * GetClassName() const { return "QuadMesh"; }
+    
 
     void PrintSelf(std::ostream &o);
 

src/Math/Transform.h

@@ -50,27 +50,49 @@
 #define U_TRANSFORM_H
 
 #include <Eigen/Geometry>
+#include "Math/Units.h"
 #include "Math/Dense.h"
 
 
 namespace uLib {
 
+
+
+using Eigen::Isometry3f;
+using Eigen::Isometry3d;
+
+using Eigen::Affine3f;
+using Eigen::Affine3d;
+
+using Eigen::Projective3f;
+using Eigen::Projective3d;
+
+
+
+
+
+
+
 ////////////////////////////////////////////////////////////////////////////////
 /////////  AFFINE TRANSFORM  WRAPPER  //////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 
-class AffineTransform {
+
+
+class AffineTransform : virtual public Object {
+public:
+    uLibTypeMacro(AffineTransform, Object)
 protected:
-    Eigen::Affine3f  m_T;
+
+    Affine3f  m_T;
     AffineTransform *m_Parent;
+
 public:
     AffineTransform() :
         m_T(Matrix4f::Identity()),
         m_Parent(NULL)
     {}
 
-    virtual ~AffineTransform() {}
-
     AffineTransform(AffineTransform *parent) :
         m_T(Matrix4f::Identity()),
         m_Parent(parent)
@@ -81,14 +103,15 @@ public:
         m_Parent(copy.m_Parent)
     {}
 
-    Eigen::Affine3f& GetTransform() { return m_T; }
+    Affine3f& GetTransform() { return m_T; }
 
     AffineTransform *GetParent() const { return this->m_Parent; }
 
     void SetParent(AffineTransform *name) { this->m_Parent = name; }
 
-    void SetMatrix (Matrix4f mat) { m_T.matrix() = mat; }
+    void SetMatrix (const Matrix4f &mat) { m_T.matrix() = mat; }
-    Matrix4f GetMatrix() const { return m_T.matrix(); }
+    Matrix4f& GetMatrix () { return m_T.matrix(); }
+    const Matrix4f& GetMatrix () const { return m_T.matrix(); }
 
     Matrix4f GetWorldMatrix() const
     {
@@ -96,26 +119,32 @@ public:
         else return  m_Parent->GetWorldMatrix() * m_T.matrix(); // T = B * A //
     }
 
-    void SetPosition(const Vector3f v) { this->m_T.translation() = v; }
+    void SetWorldMatrix(const Matrix4f &mat)
+    {
+        if(!m_Parent) m_T.matrix() = mat;
+        else m_T.matrix() = m_Parent->GetWorldMatrix().inverse() * mat;
+    }
+
+    void SetPosition(const Vector3f &v) { this->m_T.translation() = v; }
 
     Vector3f GetPosition() const { return this->m_T.translation(); }
 
-    void SetRotation(const Matrix3f m) { this->m_T.linear() = m; }
+    void SetRotation(const Matrix3f &m) { this->m_T.linear() = m; }
 
     Matrix3f GetRotation() const { return this->m_T.rotation(); }
 
-    void Translate(const Vector3f v) { this->m_T.translate(v); }
+    void Translate(const Vector3f &v) { this->m_T.translate(v); }
 
-    void Scale(const Vector3f v) { this->m_T.scale(v); }
+    void Scale(const Vector3f &v) { this->m_T.scale(v); }
 
     Vector3f GetScale() const { 
-        return Vector3f(m_T.linear().col(0).norm(), 
+        return Vector3f(this->m_T.linear().col(0).norm(),
-                        m_T.linear().col(1).norm(), 
+                        this->m_T.linear().col(1).norm(),
-                        m_T.linear().col(2).norm()); 
+                        this->m_T.linear().col(2).norm());
     }
 
 
-    void Rotate(const Matrix3f m) { this->m_T.rotate(m); }
+    void Rotate(const Matrix3f &m) { this->m_T.rotate(m); }
 
     void Rotate(const float angle, Vector3f axis)
     {
@@ -129,12 +158,12 @@ public:
         Rotate(angle,euler_axis);
     }
 
-    void PreRotate(const Matrix3f m) { this->m_T.prerotate(m); }
+    void PreRotate(const Matrix3f &m) { this->m_T.prerotate(m); }
 
-    void QuaternionRotate(const Vector4f q)
+    void QuaternionRotate(const Vector4f &q)
     { this->m_T.rotate(Eigen::Quaternion<float>(q)); }
 
-    void EulerYZYRotate(const Vector3f e) {
+    void EulerYZYRotate(const Vector3f &e) {
         Matrix3f mat;
         mat =     Eigen::AngleAxisf(e.x(), Vector3f::UnitY())
                 * Eigen::AngleAxisf(e.y(), Vector3f::UnitZ())
@@ -152,8 +181,124 @@ public:
 
 
 
+////////////////////////////////////////////////////////////////////////////////
+/////////  TRS PARAMETERS  /////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+typedef Eigen::Affine3f AffineMatrix;
+
+class TRS : public AffineTransform {
+
+    uLibTypeMacro(TRS, AffineTransform)
+    ULIB_SERIALIZE_ACCESS
+    // ULIB_DECLARE_PROPERTIES(TRS)
+
+public:
+
+    Vector3f position = Vector3f::Zero();
+    Vector3f rotation = Vector3f::Zero();
+    Vector3f scaling  = Vector3f::Ones();
+
+    TRS() = default;
+
+    TRS(const class AffineTransform& at) {
+        this->FromMatrix(at.GetMatrix());
+    }
+
+    TRS(const Matrix4f& mat) {
+        this->FromMatrix(mat);
+    }
+
+    void FromMatrix(const Matrix4f& mat) {
+        this->position = mat.block<3,1>(0,3);
+        
+        Matrix3f linear = mat.block<3,3>(0,0);
+        this->scaling(0) = linear.col(0).norm();
+        this->scaling(1) = linear.col(1).norm();
+        this->scaling(2) = linear.col(2).norm();
+        
+        Matrix3f rot = linear;
+        if (this->scaling(0) > 1e-6) rot.col(0) /= this->scaling(0);
+        if (this->scaling(1) > 1e-6) rot.col(1) /= this->scaling(1);
+        if (this->scaling(2) > 1e-6) rot.col(2) /= this->scaling(2);
+        
+        Vector3f euler = rot.eulerAngles(2, 1, 0); 
+        this->rotation = Vector3f(euler(2), euler(1), euler(0));
+        
+        this->SetMatrix(mat);
+        this->NotifyPropertiesUpdated();
+    }
+
+    void SetPosition(const Vector3f &v) { 
+        position = v; 
+        this->AffineTransform::SetPosition(v); 
+    }
+    
+    void SetRotation(const Vector3f &v) { 
+        rotation = v; 
+        this->SyncMatrix(); 
+    }
+    
+    void SetOrientation(const Vector3f &v) { SetRotation(v); }
+    
+    void SetScale(const Vector3f &v) { 
+        scaling = v; 
+        this->SyncMatrix(); 
+    }
+
+    void SyncMatrix() {
+        this->GetTransform() = GetAffineMatrix();
+    }
+
+    void Updated() override {
+        this->SyncMatrix();
+        this->NotifyPropertiesUpdated();
+        this->AffineTransform::Updated();
+    }
+
+    template <class ArchiveT>
+    void serialize(ArchiveT & ar, const unsigned int version) {
+        ar & HRPU(position, "mm");
+        ar & HRPU(rotation, "rad"); 
+        ar & HRP(scaling);
+    }
+    
+
+    AffineMatrix GetAffineMatrix() const {
+        AffineMatrix m = AffineMatrix::Identity();
+        m.translate(position);
+        m.rotate(Eigen::AngleAxisf(rotation.z(), Vector3f::UnitZ()));
+        m.rotate(Eigen::AngleAxisf(rotation.y(), Vector3f::UnitY()));
+        m.rotate(Eigen::AngleAxisf(rotation.x(), Vector3f::UnitX()));
+        m.scale(scaling);
+        return m;
+    }
+
+    Matrix4f GetMatrix() const {
+        return this->GetAffineMatrix().matrix();
+    }
+
+
+    
+    
+};
+
+
+
+
+
+inline std::ostream& operator<<(std::ostream& os, const TRS& trs) {
+    os << trs.position << " " << trs.rotation << " " << trs.scaling;
+    return os;
 }
 
+inline std::istream& operator>>(std::istream& is, TRS& trs) {
+    is >> trs.position >> trs.rotation >> trs.scaling;
+    return is;
+}
+
+} // uLib
+
 
 
 #endif//U_TRANSFORM_H

src/Math/TriangleMesh.h

@@ -37,11 +37,12 @@
 
 namespace uLib {
 
-class TriangleMesh : public AffineTransform, public Object
+class TriangleMesh : public TRS
 {
 public:
+    uLibTypeMacro(TriangleMesh, TRS)
 
-    virtual const char * GetClassName() const { return "TriangleMesh"; }
+    
 
     void PrintSelf(std::ostream &o);
 

src/Math/Units.h

@@ -13,41 +13,41 @@ namespace uLib {
   using namespace CLHEP;
 
   inline namespace literals {
-    constexpr double operator"" _m(long double v) { return static_cast<double>(v) * CLHEP::meter; }
+    constexpr double operator""_m(long double v) { return static_cast<double>(v) * CLHEP::meter; }
-    constexpr double operator"" _cm(long double v) { return static_cast<double>(v) * CLHEP::centimeter; }
+    constexpr double operator""_cm(long double v) { return static_cast<double>(v) * CLHEP::centimeter; }
-    constexpr double operator"" _mm(long double v) { return static_cast<double>(v) * CLHEP::millimeter; }
+    constexpr double operator""_mm(long double v) { return static_cast<double>(v) * CLHEP::millimeter; }
-    constexpr double operator"" _um(long double v) { return static_cast<double>(v) * CLHEP::micrometer; }
+    constexpr double operator""_um(long double v) { return static_cast<double>(v) * CLHEP::micrometer; }
-    constexpr double operator"" _nm(long double v) { return static_cast<double>(v) * CLHEP::nanometer; }
+    constexpr double operator""_nm(long double v) { return static_cast<double>(v) * CLHEP::nanometer; }
-    constexpr double operator"" _km(long double v) { return static_cast<double>(v) * CLHEP::kilometer; }
+    constexpr double operator""_km(long double v) { return static_cast<double>(v) * CLHEP::kilometer; }
 
-    constexpr double operator"" _m(unsigned long long v) { return static_cast<double>(v) * CLHEP::meter; }
+    constexpr double operator""_m(unsigned long long v) { return static_cast<double>(v) * CLHEP::meter; }
-    constexpr double operator"" _cm(unsigned long long v) { return static_cast<double>(v) * CLHEP::centimeter; }
+    constexpr double operator""_cm(unsigned long long v) { return static_cast<double>(v) * CLHEP::centimeter; }
-    constexpr double operator"" _mm(unsigned long long v) { return static_cast<double>(v) * CLHEP::millimeter; }
+    constexpr double operator""_mm(unsigned long long v) { return static_cast<double>(v) * CLHEP::millimeter; }
-    constexpr double operator"" _um(unsigned long long v) { return static_cast<double>(v) * CLHEP::micrometer; }
+    constexpr double operator""_um(unsigned long long v) { return static_cast<double>(v) * CLHEP::micrometer; }
-    constexpr double operator"" _nm(unsigned long long v) { return static_cast<double>(v) * CLHEP::nanometer; }
+    constexpr double operator""_nm(unsigned long long v) { return static_cast<double>(v) * CLHEP::nanometer; }
-    constexpr double operator"" _km(unsigned long long v) { return static_cast<double>(v) * CLHEP::kilometer; }
+    constexpr double operator""_km(unsigned long long v) { return static_cast<double>(v) * CLHEP::kilometer; }
 
-    constexpr double operator"" _deg(long double v) { return static_cast<double>(v) * CLHEP::degree; }
+    constexpr double operator""_deg(long double v) { return static_cast<double>(v) * CLHEP::degree; }
-    constexpr double operator"" _rad(long double v) { return static_cast<double>(v) * CLHEP::radian; }
+    constexpr double operator""_rad(long double v) { return static_cast<double>(v) * CLHEP::radian; }
-    constexpr double operator"" _deg(unsigned long long v) { return static_cast<double>(v) * CLHEP::degree; }
+    constexpr double operator""_deg(unsigned long long v) { return static_cast<double>(v) * CLHEP::degree; }
-    constexpr double operator"" _rad(unsigned long long v) { return static_cast<double>(v) * CLHEP::radian; }
+    constexpr double operator""_rad(unsigned long long v) { return static_cast<double>(v) * CLHEP::radian; }
 
-    constexpr double operator"" _ns(long double v) { return static_cast<double>(v) * CLHEP::nanosecond; }
+    constexpr double operator""_ns(long double v) { return static_cast<double>(v) * CLHEP::nanosecond; }
-    constexpr double operator"" _s(long double v) { return static_cast<double>(v) * CLHEP::second; }
+    constexpr double operator""_s(long double v) { return static_cast<double>(v) * CLHEP::second; }
-    constexpr double operator"" _ms(long double v) { return static_cast<double>(v) * CLHEP::millisecond; }
+    constexpr double operator""_ms(long double v) { return static_cast<double>(v) * CLHEP::millisecond; }
-    constexpr double operator"" _ns(unsigned long long v) { return static_cast<double>(v) * CLHEP::nanosecond; }
+    constexpr double operator""_ns(unsigned long long v) { return static_cast<double>(v) * CLHEP::nanosecond; }
-    constexpr double operator"" _s(unsigned long long v) { return static_cast<double>(v) * CLHEP::second; }
+    constexpr double operator""_s(unsigned long long v) { return static_cast<double>(v) * CLHEP::second; }
-    constexpr double operator"" _ms(unsigned long long v) { return static_cast<double>(v) * CLHEP::millisecond; }
+    constexpr double operator""_ms(unsigned long long v) { return static_cast<double>(v) * CLHEP::millisecond; }
 
-    constexpr double operator"" _MeV(long double v) { return static_cast<double>(v) * CLHEP::megaelectronvolt; }
+    constexpr double operator""_MeV(long double v) { return static_cast<double>(v) * CLHEP::megaelectronvolt; }
-    constexpr double operator"" _eV(long double v) { return static_cast<double>(v) * CLHEP::electronvolt; }
+    constexpr double operator""_eV(long double v) { return static_cast<double>(v) * CLHEP::electronvolt; }
-    constexpr double operator"" _keV(long double v) { return static_cast<double>(v) * CLHEP::kiloelectronvolt; }
+    constexpr double operator""_keV(long double v) { return static_cast<double>(v) * CLHEP::kiloelectronvolt; }
-    constexpr double operator"" _GeV(long double v) { return static_cast<double>(v) * CLHEP::gigaelectronvolt; }
+    constexpr double operator""_GeV(long double v) { return static_cast<double>(v) * CLHEP::gigaelectronvolt; }
-    constexpr double operator"" _TeV(long double v) { return static_cast<double>(v) * CLHEP::teraelectronvolt; }
+    constexpr double operator""_TeV(long double v) { return static_cast<double>(v) * CLHEP::teraelectronvolt; }
-    constexpr double operator"" _MeV(unsigned long long v) { return static_cast<double>(v) * CLHEP::megaelectronvolt; }
+    constexpr double operator""_MeV(unsigned long long v) { return static_cast<double>(v) * CLHEP::megaelectronvolt; }
-    constexpr double operator"" _eV(unsigned long long v) { return static_cast<double>(v) * CLHEP::electronvolt; }
+    constexpr double operator""_eV(unsigned long long v) { return static_cast<double>(v) * CLHEP::electronvolt; }
-    constexpr double operator"" _keV(unsigned long long v) { return static_cast<double>(v) * CLHEP::kiloelectronvolt; }
+    constexpr double operator""_keV(unsigned long long v) { return static_cast<double>(v) * CLHEP::kiloelectronvolt; }
-    constexpr double operator"" _GeV(unsigned long long v) { return static_cast<double>(v) * CLHEP::gigaelectronvolt; }
+    constexpr double operator""_GeV(unsigned long long v) { return static_cast<double>(v) * CLHEP::gigaelectronvolt; }
   }
 }
 

src/Math/VoxImage.h

@@ -47,7 +47,7 @@ namespace Abstract {
 class VoxImage : public uLib::StructuredGrid {
 public:
 
-  virtual const char * GetClassName() const { return "VoxImage"; }
+  
 
   typedef uLib::StructuredGrid BaseClass;
 

src/Math/VoxImageFilter.h

@@ -61,7 +61,7 @@ class VoxImageFilter : public Abstract::VoxImageFilter, public Object {
 
 public:
 
-  virtual const char * GetClassName() const { return "VoxImageFilter"; }
+  
 
   VoxImageFilter(const Vector3i &size);
 

src/Math/VoxImageFilter.hpp

@@ -98,15 +98,14 @@ template <typename T> void Kernel<T>::PrintSelf(std::ostream &o) const {
 
 ////////////////////////////////////////////////////////////////////////////////
 
-#define _TPL_ template <typename VoxelT, typename AlgorithmT>
-#define _TPLT_ VoxelT, AlgorithmT
 
-_TPL_
+
-VoxImageFilter<_TPLT_>::VoxImageFilter(const Vector3i &size)
+template <typename VoxelT, typename AlgorithmT>
+VoxImageFilter<VoxelT, AlgorithmT>::VoxImageFilter(const Vector3i &size)
     : m_KernelData(size), t_Algoritm(static_cast<AlgorithmT *>(this)) {}
 
-_TPL_
+template <typename VoxelT, typename AlgorithmT>
-void VoxImageFilter<_TPLT_>::Run() {
+void VoxImageFilter<VoxelT, AlgorithmT>::Run() {
   VoxImage<VoxelT> buffer = *m_Image;
 #pragma omp parallel for
   for (int i = 0; i < m_Image->Data().size(); ++i)
@@ -114,8 +113,8 @@ void VoxImageFilter<_TPLT_>::Run() {
 #pragma omp barrier
 }
 
-_TPL_
+template <typename VoxelT, typename AlgorithmT>
-void VoxImageFilter<_TPLT_>::SetKernelOffset() {
+void VoxImageFilter<VoxelT, AlgorithmT>::SetKernelOffset() {
   Vector3i id(0, 0, 0);
   for (int z = 0; z < m_KernelData.GetDims()(2); ++z) {
     for (int x = 0; x < m_KernelData.GetDims()(0); ++x) {
@@ -127,8 +126,8 @@ void VoxImageFilter<_TPLT_>::SetKernelOffset() {
   }
 }
 
-_TPL_
+template <typename VoxelT, typename AlgorithmT>
-float VoxImageFilter<_TPLT_>::Distance2(const Vector3i &v) {
+float VoxImageFilter<VoxelT, AlgorithmT>::Distance2(const Vector3i &v) {
   Vector3i tmp = v;
   const Vector3i &dim = this->m_KernelData.GetDims();
   Vector3i center = dim / 2;
@@ -140,8 +139,8 @@ float VoxImageFilter<_TPLT_>::Distance2(const Vector3i &v) {
                  0.25 * (3 - (dim(0) % 2) - (dim(1) % 2) - (dim(2) % 2)));
 }
 
-_TPL_
+template <typename VoxelT, typename AlgorithmT>
-void VoxImageFilter<_TPLT_>::SetKernelNumericXZY(
+void VoxImageFilter<VoxelT, AlgorithmT>::SetKernelNumericXZY(
     const std::vector<float> &numeric) {
   // set data order //
   StructuredData::Order order = m_KernelData.GetDataOrder();
@@ -159,8 +158,8 @@ void VoxImageFilter<_TPLT_>::SetKernelNumericXZY(
   // m_KernelData.SetDataOrder(order);
 }
 
-_TPL_
+template <typename VoxelT, typename AlgorithmT>
-void VoxImageFilter<_TPLT_>::SetKernelSpherical(float (*shape)(float)) {
+void VoxImageFilter<VoxelT, AlgorithmT>::SetKernelSpherical(float (*shape)(float)) {
   Vector3i id;
   for (int y = 0; y < m_KernelData.GetDims()(1); ++y) {
     for (int z = 0; z < m_KernelData.GetDims()(2); ++z) {
@@ -172,8 +171,8 @@ void VoxImageFilter<_TPLT_>::SetKernelSpherical(float (*shape)(float)) {
   }
 }
 
-_TPL_ template <class ShapeT>
+template <typename VoxelT, typename AlgorithmT> template <class ShapeT>
-void VoxImageFilter<_TPLT_>::SetKernelSpherical(ShapeT shape) {
+void VoxImageFilter<VoxelT, AlgorithmT>::SetKernelSpherical(ShapeT shape) {
   Interface::IsA<ShapeT, Interface::VoxImageFilterShape>();
   Vector3i id;
   for (int y = 0; y < m_KernelData.GetDims()(1); ++y) {
@@ -186,8 +185,8 @@ void VoxImageFilter<_TPLT_>::SetKernelSpherical(ShapeT shape) {
   }
 }
 
-_TPL_
+template <typename VoxelT, typename AlgorithmT>
-void VoxImageFilter<_TPLT_>::SetKernelWeightFunction(
+void VoxImageFilter<VoxelT, AlgorithmT>::SetKernelWeightFunction(
     float (*shape)(const Vector3f &)) {
   const Vector3i &dim = m_KernelData.GetDims();
   Vector3i id;
@@ -207,8 +206,8 @@ void VoxImageFilter<_TPLT_>::SetKernelWeightFunction(
   }
 }
 
-_TPL_ template <class ShapeT>
+template <typename VoxelT, typename AlgorithmT> template <class ShapeT>
-void VoxImageFilter<_TPLT_>::SetKernelWeightFunction(ShapeT shape) {
+void VoxImageFilter<VoxelT, AlgorithmT>::SetKernelWeightFunction(ShapeT shape) {
   Interface::IsA<ShapeT, Interface::VoxImageFilterShape>();
   const Vector3i &dim = m_KernelData.GetDims();
   Vector3i id;
@@ -228,14 +227,14 @@ void VoxImageFilter<_TPLT_>::SetKernelWeightFunction(ShapeT shape) {
   }
 }
 
-_TPL_
+template <typename VoxelT, typename AlgorithmT>
-void VoxImageFilter<_TPLT_>::SetImage(Abstract::VoxImage *image) {
+void VoxImageFilter<VoxelT, AlgorithmT>::SetImage(Abstract::VoxImage *image) {
   this->m_Image = reinterpret_cast<VoxImage<VoxelT> *>(image);
   this->SetKernelOffset();
 }
 
-_TPL_
+template <typename VoxelT, typename AlgorithmT>
-float VoxImageFilter<_TPLT_>::Convolve(const VoxImage<VoxelT> &buffer,
+float VoxImageFilter<VoxelT, AlgorithmT>::Convolve(const VoxImage<VoxelT> &buffer,
                                        int index) {
   const DataAllocator<VoxelT> &vbuf = buffer.ConstData();
   const DataAllocator<VoxelT> &vker = m_KernelData.ConstData();
@@ -252,8 +251,8 @@ float VoxImageFilter<_TPLT_>::Convolve(const VoxImage<VoxelT> &buffer,
   return conv / ksum;
 }
 
-#undef _TPLT_
+
-#undef _TPL_
+
 
 } // namespace uLib
 

src/Math/testing/GeometryTest.cpp

@@ -53,7 +53,7 @@ int main()
   ///////////////// GEOMETRY TESTING ///////////////////////////////////////////
   //////////////////////////////////////////////////////////////////////////////
 
-  Geometry Geo;
+  LinearGeometry Geo;
 
   Geo.SetPosition(Vector3f(1,1,1));
   Geo.EulerYZYRotate(Vector3f(0,0,0));
@@ -77,7 +77,7 @@ int main()
 
   Geo.EulerYZYRotate(Vector3f(0,0,M_PI_2));
   wp = Geo.GetWorldPoint(HPoint3f(1,1,1));
-  //  std::cout << "Geometry matrix\n" << Geo.GetTransform() << "\n";
+  //  std::cout << "Geometry matrix\n" << Geo.GetTransform().matrix() << "\n";
   //  std::cout << "World 1,1,1 coords\n" << wp << "\n";
   TEST0( Vector4f0(wp - HPoint3f(0,2,2)) );
 
@@ -122,6 +122,27 @@ int main()
     TEST0( Vector4f0(recovered.homogeneous() - tor_pt.homogeneous()) );
   }
 
+  // PARENT GEOMETRY TESTING
+  {
+    LinearGeometry parent;
+    parent.Translate(Vector3f(10, 0, 0));
+
+    LinearGeometry child;
+    child.SetParent(&parent);
+    child.Translate(Vector3f(0, 5, 0));
+
+    HPoint3f wp = child.GetWorldPoint(HPoint3f(1, 1, 1));
+    TEST0( Vector4f0(wp - HPoint3f(11, 6, 1)) );
+
+    CylindricalGeometry cparent;
+    LinearGeometry grandchild;
+    grandchild.SetParent(&cparent);
+    grandchild.Translate(Vector3f(1, 0, 0)); 
+
+    HPoint3f gp = grandchild.GetWorldPoint(HPoint3f(1, M_PI_2, 0));
+    TEST0( Vector4f0(gp - HPoint3f(0, 2, 0)) );
+  }
+
   END_TESTING;
 }
 

src/Math/testing/testing-prototype.h

@@ -31,8 +31,10 @@
 static int _fail = 0;                      \
 printf("..:: Testing " #name " ::..\n");
 
-#define TEST1(val) if ((val)==0) { printf("Assertion failed: %s != 0\n", #val); _fail++; }
+#define TEST1(val) _fail += (val)==0
-#define TEST0(val) if ((val)!=0) { printf("Assertion failed: %s != 0\n", #val); _fail++; }
+#define TEST0(val) _fail += (val)!=0
+#define ASSERT_EQUAL(a,b) if((a)!=(b)) { printf("Assertion failed: " #a " != " #b " at line %d\n", __LINE__); _fail++; }
+#define ASSERT_NOT_NULL(ptr) if((ptr)==NULL) { printf("Assertion failed: " #ptr " is NULL at line %d\n", __LINE__); _fail++; }
 #define END_TESTING return _fail;
 
 #define ASSERT_EQ(a, b) if ((a) != (b)) { printf("Assertion failed: %s != %s\n", #a, #b); _fail++; }

src/Python/math_bindings.cpp

@@ -162,6 +162,12 @@ void init_math(py::module_ &m) {
       .def_readwrite("direction_error", &HError3f::direction_error);
 
   // 3. Dynamic Vectors (uLib::Vector)
+  py::class_<TRS, AffineTransform, std::shared_ptr<TRS>>(m, "TRS")
+      .def(py::init<>())
+      .def_readwrite("position", &TRS::position)
+      .def_readwrite("rotation", &TRS::rotation)
+      .def_readwrite("scaling", &TRS::scaling);
+
   py::bind_vector<uLib::Vector<Scalari>>(m, "Vector_i")
       .def("MoveToVRAM", &uLib::Vector<Scalari>::MoveToVRAM)
       .def("MoveToRAM", &uLib::Vector<Scalari>::MoveToRAM);
@@ -268,7 +274,7 @@ void init_math(py::module_ &m) {
 
   // 5. Core Math Structures
   py::class_<AffineTransform, std::shared_ptr<AffineTransform>>(m,
-                                                              "AffineTransform")
+                                                               "AffineTransform")
       .def(py::init<>())
       .def("GetWorldMatrix", &AffineTransform::GetWorldMatrix)
       .def("SetPosition", &AffineTransform::SetPosition)
@@ -278,23 +284,46 @@ void init_math(py::module_ &m) {
       .def("SetRotation", &AffineTransform::SetRotation)
       .def("GetRotation", &AffineTransform::GetRotation)
       .def("Rotate",
-           py::overload_cast<const Matrix3f>(&AffineTransform::Rotate))
+           py::overload_cast<const Matrix3f&>(&AffineTransform::Rotate))
       .def("Rotate",
            py::overload_cast<float, Vector3f>(&AffineTransform::Rotate))
       .def("Rotate", py::overload_cast<Vector3f>(&AffineTransform::Rotate))
       .def("EulerYZYRotate", &AffineTransform::EulerYZYRotate)
-      .def("FlipAxes", &AffineTransform::FlipAxes);
+      .def("FlipAxes", &AffineTransform::FlipAxes)
+      .def("SetWorldMatrix", &AffineTransform::SetWorldMatrix);
 
-  py::class_<Geometry, AffineTransform, std::shared_ptr<Geometry>>(m, "Geometry")
+  py::class_<TRS, AffineTransform, std::shared_ptr<TRS>>(m, "TRS")
       .def(py::init<>())
-      .def("GetWorldPoint", py::overload_cast<const Vector4f>(
+      .def(py::init<const Matrix4f &>())
-                                &Geometry::GetWorldPoint, py::const_))
+      .def_readwrite("position", &TRS::position)
-      .def("GetWorldPoint",
+      .def_readwrite("rotation", &TRS::rotation)
-           py::overload_cast<float, float, float>(&Geometry::GetWorldPoint))
+      .def_readwrite("scaling", &TRS::scaling)
-      .def("GetLocalPoint", py::overload_cast<const Vector4f>(
+      .def("SetPosition", &TRS::SetPosition)
-                                &Geometry::GetLocalPoint, py::const_))
+      .def("SetRotation", &TRS::SetRotation)
-      .def("GetLocalPoint",
+      .def("SetOrientation", &TRS::SetOrientation)
-           py::overload_cast<float, float, float>(&Geometry::GetLocalPoint));
+      .def("SetScale", &TRS::SetScale)
+      .def("FromMatrix", &TRS::FromMatrix)
+      .def("GetMatrix", &TRS::GetMatrix);
+
+  py::class_<Geometry, Object, std::shared_ptr<Geometry>>(m, "Geometry")
+      .def("GetParent", &Geometry::GetParent)
+      .def("SetParent", &Geometry::SetParent)
+      .def("GetWorldPoint", py::overload_cast<const Vector4f>(&Geometry::GetWorldPoint, py::const_))
+      .def("GetWorldPoint", py::overload_cast<float, float, float>(&Geometry::GetWorldPoint, py::const_))
+      .def("GetLocalPoint", py::overload_cast<const Vector4f>(&Geometry::GetLocalPoint, py::const_))
+      .def("GetLocalPoint", py::overload_cast<float, float, float>(&Geometry::GetLocalPoint, py::const_));
+
+  py::class_<LinearGeometry, Geometry, std::shared_ptr<LinearGeometry>>(m, "LinearGeometry")
+      .def(py::init<>())
+      .def("Translate", &LinearGeometry::Translate)
+      .def("Rotate", &LinearGeometry::Rotate)
+      .def("Scale", &LinearGeometry::Scale)
+      .def("SetPosition", &LinearGeometry::SetPosition)
+      .def("GetPosition", &LinearGeometry::GetPosition)
+      .def("EulerYZYRotate", &LinearGeometry::EulerYZYRotate)
+      .def("FlipAxes", &LinearGeometry::FlipAxes)
+      .def("GetTransform", &LinearGeometry::GetTransform)
+      .def("SetTransform", &LinearGeometry::SetTransform);
 
   py::class_<ContainerBox, AffineTransform, Object, std::shared_ptr<ContainerBox>>(
       m, "ContainerBox")
@@ -427,7 +456,7 @@ void init_math(py::module_ &m) {
       .def("__getitem__",
            py::overload_cast<const Vector3i &>(&VoxImage<Voxel>::operator[]));
 
-  py::class_<TriangleMesh>(m, "TriangleMesh")
+  py::class_<TriangleMesh, TRS, std::shared_ptr<TriangleMesh>>(m, "TriangleMesh")
       .def(py::init<>())
       .def("AddPoint", &TriangleMesh::AddPoint)
       .def("AddTriangle",
@@ -439,7 +468,7 @@ void init_math(py::module_ &m) {
       .def("GetTriangle", &TriangleMesh::GetTriangle)
       .def("GetNormal", &TriangleMesh::GetNormal);
 
-  py::class_<QuadMesh>(m, "QuadMesh")
+  py::class_<QuadMesh, TRS, std::shared_ptr<QuadMesh>>(m, "QuadMesh")
       .def(py::init<>())
       .def("AddPoint", &QuadMesh::AddPoint)
       .def("AddQuad",

src/Vtk/CMakeLists.txt

@@ -3,7 +3,6 @@ set(HEADERS uLibVtkInterface.h
             vtkHandlerWidget.h
             vtkQViewport.h
             vtkViewport.h
-            vtkPolydata.h
             vtkObjectsContext.h
             )
 
@@ -12,7 +11,6 @@ set(SOURCES uLibVtkInterface.cxx
             vtkHandlerWidget.cpp
             vtkQViewport.cpp
             vtkViewport.cpp
-            vtkPolydata.cpp
             vtkObjectsContext.cpp
             )
 
@@ -39,6 +37,8 @@ list(APPEND HEADERS ${HEP_GEANT_HEADERS})
 set(LIBRARIES Eigen3::Eigen
               ${ROOT_LIBRARIES}
               ${VTK_LIBRARIES}
+              VTK::ImagingHybrid
+              VTK::ImagingSources
               ${PACKAGE_LIBPREFIX}Math
               ${PACKAGE_LIBPREFIX}Detectors
               ${PACKAGE_LIBPREFIX}Geant)
@@ -58,7 +58,7 @@ set_target_properties(${libname} PROPERTIES
                        AUTOMOC ON
                        AUTOUIC ON
                        AUTORCC ON)
-target_link_libraries(${libname} ${LIBRARIES} Qt6::Widgets)
+target_link_libraries(${libname} PUBLIC ${LIBRARIES} Qt6::Widgets)
 
 install(TARGETS ${libname}
         EXPORT "uLibTargets"

src/Vtk/HEP/Detectors/vtkDetectorChamber.cxx

@@ -64,7 +64,7 @@ vtkDetectorChamber::vtkDetectorChamber(DetectorChamber *content)
   
   this->SetProp(m_PlaneActor);
   
-  this->contentUpdate();
+  this->Update();
 }
 
 vtkDetectorChamber::~vtkDetectorChamber() {
@@ -76,8 +76,8 @@ DetectorChamber *vtkDetectorChamber::GetContent() {
   return static_cast<DetectorChamber *>(m_Content);
 }
 
-void vtkDetectorChamber::contentUpdate() {
+void vtkDetectorChamber::Update() {
-  this->BaseClass::contentUpdate();
+  this->BaseClass::Update();
 
   if (!m_Content) return;
   DetectorChamber *c = this->GetContent();

src/Vtk/HEP/Detectors/vtkDetectorChamber.h

@@ -56,7 +56,7 @@ public:
 
   Content *GetContent();
 
-  virtual void contentUpdate() override;
+  virtual void Update() override;
 
 protected:
   vtkActor *m_PlaneActor;

src/Vtk/HEP/Detectors/vtkMuonEvent.h

@@ -45,7 +45,7 @@
 
 #include "HEP/Detectors/MuonEvent.h"
 #include "Vtk/uLibVtkInterface.h"
-#include "Vtk/vtkPolydata.h"
+#include "Vtk/Math/vtkPolydata.h"
 
 namespace uLib {
 namespace Vtk {

src/Vtk/HEP/Detectors/vtkMuonScatter.cxx

@@ -40,20 +40,21 @@ namespace Vtk {
 vtkMuonScatter::vtkMuonScatter(MuonScatter &content)
     : m_Content(&content), m_LineIn(vtkLineSource::New()),
       m_LineOut(vtkLineSource::New()), m_PolyData(vtkPolyData::New()),
-      m_SpherePoca(NULL) {
+      m_SpherePoca(NULL), m_Asm(vtkAssembly::New()) {
   InstallPipe();
 }
 
 vtkMuonScatter::vtkMuonScatter(const MuonScatter &content)
     : m_Content(const_cast<MuonScatter *>(&content)),
       m_LineIn(vtkLineSource::New()), m_LineOut(vtkLineSource::New()),
-      m_PolyData(vtkPolyData::New()), m_SpherePoca(NULL) {
+      m_PolyData(vtkPolyData::New()), m_SpherePoca(NULL), m_Asm(vtkAssembly::New()) {
   InstallPipe();
 }
 
 vtkMuonScatter::~vtkMuonScatter() {
   m_LineIn->Delete();
   m_LineOut->Delete();
+  m_Asm->Delete();
   if (m_SpherePoca)
     m_SpherePoca->Delete();
 }
@@ -87,13 +88,15 @@ void vtkMuonScatter::InstallPipe() {
   mapper->SetInputConnection(m_LineIn->GetOutputPort());
   vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
   actor->SetMapper(mapper);
-  this->SetProp(actor);
+  m_Asm->AddPart(actor);
 
   mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
   mapper->SetInputConnection(m_LineOut->GetOutputPort());
   actor = vtkSmartPointer<vtkActor>::New();
   actor->SetMapper(mapper);
-  this->SetProp(actor);
+  m_Asm->AddPart(actor);
+
+  this->SetProp(m_Asm);
 }
 
 vtkPolyData *vtkMuonScatter::GetPolyData() const {
@@ -123,7 +126,7 @@ void vtkMuonScatter::AddPocaPoint(HPoint3f poca) {
   mapper->SetInputConnection(m_SpherePoca->GetOutputPort());
   vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
   actor->SetMapper(mapper);
-  this->SetProp(actor);
+  m_Asm->AddPart(actor);
 }
 
 HPoint3f vtkMuonScatter::GetPocaPoint() {

src/Vtk/HEP/Detectors/vtkMuonScatter.h

@@ -27,6 +27,7 @@
 #define VTKMUONSCATTER_H
 
 #include <vtkActor.h>
+#include <vtkAssembly.h>
 #include <vtkAppendPolyData.h>
 #include <vtkLineSource.h>
 #include <vtkPolyDataMapper.h>
@@ -46,7 +47,7 @@
 
 #include "HEP/Detectors/MuonScatter.h"
 #include "Vtk/uLibVtkInterface.h"
-#include "Vtk/vtkPolydata.h"
+#include "Vtk/Math/vtkPolydata.h"
 
 class vtkRenderWindowInteractor;
 
@@ -85,6 +86,7 @@ private:
   vtkLineSource *m_LineOut;
   vtkSphereSource *m_SpherePoca;
   vtkPolyData *m_PolyData;
+  vtkAssembly *m_Asm;
 };
 
 } // namespace Vtk

src/Vtk/HEP/Geant/testing/vtkSolidsTest.cpp

@@ -61,8 +61,8 @@ int main(int argc, char** argv) {
     vtkTess.AddToViewer(viewer);
 
     // Color them differently
-    vtkActor::SafeDownCast(vtkBox.GetProp())->GetProperty()->SetColor(0.8, 0.2, 0.2); // Redish box
+    vtkBox.SetColor(0.8, 0.2, 0.2);  // Redish box
-    vtkActor::SafeDownCast(vtkTess.GetProp())->GetProperty()->SetColor(0.2, 0.8, 0.2); // Greenish tess
+    vtkTess.SetColor(0.2, 0.8, 0.2); // Greenish tess
     
     // Position tessellated solid away from box
     Matrix4f trans = Matrix4f::Identity();

src/Vtk/HEP/Geant/vtkBoxSolid.cpp

@@ -10,48 +10,75 @@
 //////////////////////////////////////////////////////////////////////////////*/
 
 #include "vtkBoxSolid.h"
+#include "Core/Monitor.h"
 #include <vtkCubeSource.h>
 #include <vtkPolyDataMapper.h>
 #include <vtkActor.h>
+#include <vtkProperty.h>
+#include <vtkAssembly.h>
+#include <vtkTransform.h>
+#include <vtkMatrix4x4.h>
+#include <Geant4/G4VPhysicalVolume.hh>
+#include "Vtk/Math/vtkDense.h"
 
 namespace uLib {
 namespace Vtk {
 
 vtkBoxSolid::vtkBoxSolid(Geant::BoxSolid *content)
     : vtkGeantSolid(content), m_BoxContent(content) {
-  // Re-run Update for box-specific pipe
+  this->InstallPipe();
+ 
+  // Connect the model's Updated event to updateTransform to ensure VTK sync
+  m_UpdateConnection = Object::connect(m_BoxContent, &uLib::Object::Updated, this, &vtkBoxSolid::Update);
+
+  // Initial sync
   this->Update();
 }
 
-vtkBoxSolid::~vtkBoxSolid() {}
+vtkBoxSolid::~vtkBoxSolid() {
+}
 
 void vtkBoxSolid::Update() {
+  ConnectionBlock blocker(m_UpdateConnection);
   this->UpdateGeometry();
-  this->UpdateTransform();
+  // Ensure base Puppet properties (color, opacity, etc) and transform are applied
+  this->Puppet::Update();
+}
+
+void vtkBoxSolid::SyncFromVtk() {
+  this->Puppet::SyncFromVtk();
+  if (auto* proxy = vtkProp3D::SafeDownCast(this->GetProxyProp())) {
+      if (vtkMatrix4x4* mat = proxy->GetUserMatrix()) {
+          m_BoxContent->SetTransform(VtkToMatrix4f(mat));
+      }
+  }
 }
 
 void vtkBoxSolid::UpdateGeometry() {
-  if (!m_BoxContent || !m_BoxContent->GetObject()) {
+  // Sync geometry from G4VSolid provided by vtkGeantSolid (tessellation)
-    // Fallback to base tessellation if no model object
+  vtkGeantSolid::UpdateGeometry();
-    vtkGeantSolid::UpdateGeometry();
+}
-    return;
-  }
 
-  // Use the underlying ContainerBox for precise geometry
+void vtkBoxSolid::UpdateTransform() {
-  Vector3f size = m_BoxContent->GetObject()->GetSize();
+  // Take transform from Puppet base (which uses GetContent() -> ContainerBox TRS)
-  
+  this->Puppet::Update();
-  vtkNew<vtkCubeSource> cube;
+}
-  cube->SetXLength(size(0));
-  cube->SetYLength(size(1));
-  cube->SetZLength(size(2));
-  cube->Update();
 
-  vtkPolyData *poly = GetPolyData();
+void vtkBoxSolid::serialize_display(uLib::Archive::display_properties_archive &ar,
-  if (poly) {
+                                    const unsigned int version) {
-      poly->ShallowCopy(cube->GetOutput());
+  // Expose Geant solid properties and underlying Box/TRS properties
-      poly->Modified();
+  this->Puppet::serialize_display(ar, version);
+  if (m_BoxContent) {
+    ar & NVP("Box", *m_BoxContent);
+    if (m_BoxContent->GetObject()) {
+      ar & NVP("Container", *m_BoxContent->GetObject());
+    }
   }
 }
 
+void vtkBoxSolid::InstallPipe() {
+  vtkGeantSolid::InstallPipe();
+}
+
 } // namespace Vtk
 } // namespace uLib

src/Vtk/HEP/Geant/vtkBoxSolid.h

@@ -26,8 +26,15 @@
 #ifndef U_VTKBOXSOLID_H
 #define U_VTKBOXSOLID_H
 
+#include "Core/Types.h"
+#include "Core/Property.h"
+#include "Core/Serializable.h"
+
 #include "vtkGeantSolid.h"
 
+class vtkCubeSource;
+class vtkActor;
+
 namespace uLib {
 namespace Vtk {
 
@@ -35,15 +42,36 @@ namespace Vtk {
  * @brief VTK Puppet for visualizing a Geant::BoxSolid.
  */
 class vtkBoxSolid : public vtkGeantSolid {
+  uLibTypeMacro(vtkBoxSolid, uLib::Vtk::vtkGeantSolid)
+
 public:
   vtkBoxSolid(Geant::BoxSolid *content);
   virtual ~vtkBoxSolid();
 
   virtual void Update() override;
   virtual void UpdateGeometry() override;
+  virtual void UpdateTransform() override;
+  virtual void SyncFromVtk() override;
+
+  virtual uLib::Object *GetContent() const override { 
+    return m_BoxContent ? (::uLib::Object*)m_BoxContent->GetObject() : nullptr; 
+  }
+
+  virtual void serialize_display(uLib::Archive::display_properties_archive &ar,
+                                 const unsigned int version = 0) override;
+
+  template <typename Ar>
+  void serialize(Ar &ar, const unsigned int version) {
+    ar & NVP("BoxSolid", *m_BoxContent);
+  }
 
 protected:
+  virtual void InstallPipe() override;
+
   Geant::BoxSolid *m_BoxContent;
+  uLib::Connection m_UpdateConnection;
+
+  ULIB_DECLARE_PROPERTIES(vtkBoxSolid)
 };
 
 } // namespace Vtk

src/Vtk/HEP/Geant/vtkGeantEvent.h

@@ -28,7 +28,7 @@
 
 #include "HEP/Geant/GeantEvent.h"
 #include "uLibVtkInterface.h"
-#include "vtkPolydata.h"
+#include "Vtk/Math/vtkPolydata.h"
 #include <vtkActor.h>
 
 namespace uLib {
@@ -43,7 +43,7 @@ public:
 
   virtual class vtkPolyData *GetPolyData() const override;
 
-  virtual void Update();
+  virtual void Update() override;
 
 protected:
   virtual void InstallPipe();

src/Vtk/HEP/Geant/vtkGeantSolid.cpp

@@ -82,6 +82,7 @@ void vtkGeantSolid::UpdateGeometry() {
   int nVertices = polyhedron->GetNoVertices();
   for (int i = 1; i <= nVertices; ++i) {
     G4Point3D vtx = polyhedron->GetVertex(i);
+    
     points->InsertNextPoint(vtx.x(), vtx.y(), vtx.z());
   }
 

src/Vtk/HEP/Geant/vtkGeantSolid.h

@@ -28,7 +28,7 @@
 
 #include "HEP/Geant/Solid.h"
 #include "uLibVtkInterface.h"
-#include "vtkPolydata.h"
+#include "Vtk/Math/vtkPolydata.h"
 
 class vtkActor;
 

src/Vtk/HEP/MuonTomography/vtkMuonContainerScattering.cpp

@@ -25,27 +25,11 @@
 
 
 
-#ifndef U_VTKULIBPROP_H
+#ifdef HAVE_CONFIG_H
-#define U_VTKULIBPROP_H
+#include "config.h"
+#endif
 
-class vtkProp;
+#include <Vtk/vtkMuonContainerScattering.h>
-
-namespace uLib {
-namespace Abstract {
-
-class uLibVtkProp {
-public:
-    virtual vtkProp *GetProp() = 0;
-
-protected:
-    ~uLibVtkProp() {}
-};
 
 
-
+// TO BE CONTINUED //
-
-}
-
-}
-
-#endif // VTKULIBPROP_H

src/Vtk/HEP/MuonTomography/vtkMuonContainerScattering.h

@@ -0,0 +1,74 @@
+/*//////////////////////////////////////////////////////////////////////////////
+// CMT Cosmic Muon Tomography project //////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+
+  Copyright (c) 2014, Universita' degli Studi di Padova, INFN sez. di Padova
+  All rights reserved
+
+  Authors: Andrea Rigoni Garola < andrea.rigoni@pd.infn.it >
+
+  ------------------------------------------------------------------
+  This library is free software;  you  can  redistribute  it  and/or
+  modify it  under the  terms  of  the  GNU  Lesser  General  Public
+  License as published  by  the  Free  Software  Foundation;  either
+  version 3.0 of the License, or (at your option) any later version.
+
+  This library is  distributed in  the hope that it will  be useful,
+  but  WITHOUT ANY WARRANTY;  without  even  the implied warranty of
+  MERCHANTABILITY  or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of  the GNU Lesser General  Public
+  License along with this library.
+
+//////////////////////////////////////////////////////////////////////////////*/
+
+
+
+#ifndef VTKMUONCONTAINERSCATTERING_H
+#define VTKMUONCONTAINERSCATTERING_H
+
+
+
+#include "Math/Dense.h"
+
+#include "uLibVtkInterface.h"
+#include "Detectors/MuonScatter.h"
+
+class vtkRenderWindowInteractor;
+
+namespace uLib {
+
+class vtkMuonContainerScattering : public Abstract::uLibVtkPolydata {
+    typedef MuonScatter Content;
+public:
+    vtkMuonContainerScattering(const MuonScatter &content);
+    ~vtkMuonScatter();
+
+    Content& GetContent();
+
+    void PrintSelf(std::ostream &o) const;
+
+    virtual vtkProp *GetProp();
+
+    virtual vtkPolyData* GetPolyData() const;
+
+    void AddPocaPoint(HPoint3f poca);
+
+    HPoint3f GetPocaPoint();
+
+    void vtkStartInteractive();
+
+protected:
+    void ConnectInteractor(vtkRenderWindowInteractor *interactor);
+
+private:
+    void InstallPipe();
+
+};
+
+
+}
+
+
+#endif // VTKMUONCONTAINERSCATTERING_H

src/Vtk/HEP/MuonTomography/vtkVoxRaytracerRepresentation.cpp

@@ -50,6 +50,7 @@ vtkVoxRaytracerRepresentation::vtkVoxRaytracerRepresentation(Content &content)
       m_RayRepresentation(vtkAppendPolyData::New()),
       m_RayRepresentationActor(vtkActor::New()),
       m_Transform(vtkTransform::New()),
+      m_Asm(vtkAssembly::New()),
       m_HasMuon(false), m_HasPoca(false) {
   default_radius = content.GetImage()->GetSpacing()(0) / 4;
   m_Sphere1->SetRadius(default_radius);
@@ -313,20 +314,19 @@ void vtkVoxRaytracerRepresentation::InstallPipe() {
 
   vtkSmartPointer<vtkPolyDataMapper> mapper =
       vtkSmartPointer<vtkPolyDataMapper>::New();
-
   mapper->SetInputConnection(append->GetOutputPort());
 
   vtkSmartPointer<vtkActor> actor = vtkActor::New();
   actor->SetMapper(mapper);
   actor->GetProperty()->SetColor(0.6, 0.6, 1);
-  this->SetProp(actor);
+  m_Asm->AddPart(actor);
 
   mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
   mapper->SetInputConnection(m_RayLine->GetOutputPort());
 
   m_RayLineActor->SetMapper(mapper);
   m_RayLineActor->GetProperty()->SetColor(1, 0, 0);
-  this->SetProp(m_RayLineActor);
+  m_Asm->AddPart(m_RayLineActor);
 
   vtkSmartPointer<vtkTransformPolyDataFilter> polyfilter =
       vtkSmartPointer<vtkTransformPolyDataFilter>::New();
@@ -343,7 +343,9 @@ void vtkVoxRaytracerRepresentation::InstallPipe() {
   vra->GetProperty()->SetEdgeVisibility(true);
   vra->GetProperty()->SetColor(0.5, 0.5, 0.5);
 
-  this->SetProp(vra);
+  m_Asm->AddPart(vra);
+  
+  this->SetProp(m_Asm);
 }
 
 } // namespace Vtk

src/Vtk/HEP/MuonTomography/vtkVoxRaytracerRepresentation.h

@@ -107,6 +107,7 @@ private:
   bool m_HasPoca;
 
   Scalarf default_radius;
+  vtkSmartPointer<vtkAssembly> m_Asm;
   vtkAppendPolyData *m_RayLine;
   vtkActor *m_RayLineActor;
   vtkActor *m_RayRepresentationActor;

src/Vtk/Math/CMakeLists.txt

@@ -11,6 +11,7 @@ set(MATH_SOURCES
     ${CMAKE_CURRENT_SOURCE_DIR}/vtkContainerBox.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/vtkCylinder.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/vtkAssembly.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/vtkPolydata.cpp
     PARENT_SCOPE)
 
 set(MATH_HEADERS
@@ -22,6 +23,7 @@ set(MATH_HEADERS
     ${CMAKE_CURRENT_SOURCE_DIR}/vtkContainerBox.h
     ${CMAKE_CURRENT_SOURCE_DIR}/vtkCylinder.h
     ${CMAKE_CURRENT_SOURCE_DIR}/vtkAssembly.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/vtkPolydata.h
     PARENT_SCOPE)
 
 if(BUILD_TESTING)

src/Vtk/Math/testing/testing-prototype.h

@@ -36,6 +36,8 @@ printf("..:: Testing " #name " ::..\n");
 
 #define TEST1(val) _fail += (val)==0
 #define TEST0(val) _fail += (val)!=0
+#define ASSERT_EQUAL(a,b) if((a)!=(b)) { printf("Assertion failed: " #a " != " #b " at line %d\n", __LINE__); _fail++; }
+#define ASSERT_NOT_NULL(ptr) if((ptr)==NULL) { printf("Assertion failed: " #ptr " is NULL at line %d\n", __LINE__); _fail++; }
 #define END_TESTING return _fail;
 
 

src/Vtk/Math/vtkAssembly.cpp

@@ -35,12 +35,11 @@ Assembly::Assembly(uLib::Assembly *content)
       m_ChildContext(nullptr),
       m_BBoxActor(nullptr),
       m_VtkAsm(nullptr),
-      m_InUpdate(false),
+      m_InUpdate(false) {
-      m_BlockUpdate(false) {
     this->InstallPipe();
     if (m_Content) {
         Object::connect(m_Content, &uLib::Assembly::Updated,
-                        this, &Assembly::contentUpdate);
+                        this, &Assembly::Update);
     }
 }
 
@@ -54,6 +53,7 @@ Assembly::~Assembly() {
 void Assembly::InstallPipe() {
     // 1. Create the VTK library assembly that groups everything
     m_VtkAsm = ::vtkAssembly::New();
+    m_VtkAsm->PickableOff();
     this->SetProp(m_VtkAsm);
 
     // 2. Create the bounding-box wireframe actor
@@ -70,6 +70,7 @@ void Assembly::InstallPipe() {
     m_BBoxActor->GetProperty()->SetColor(1.0, 0.85, 0.0);   // gold wireframe
     m_BBoxActor->GetProperty()->SetLineWidth(1.5);
     m_BBoxActor->GetProperty()->SetOpacity(0.6);
+    m_BBoxActor->PickableOff();
     m_BBoxActor->SetVisibility(m_Content ? m_Content->GetShowBoundingBox() : false);
 
     m_VtkAsm->AddPart(m_BBoxActor);
@@ -77,71 +78,57 @@ void Assembly::InstallPipe() {
     // 3. Build a child-objects context (auto-creates puppets for each child)
     if (m_Content) {
         m_ChildContext = new vtkObjectsContext(m_Content);
-        // The vtkObjectsContext's own prop is already a ::vtkAssembly;
+        // Link the children context's assembly into our group assembly
-        // nest it inside ours so everything moves together.
+        if (auto* childProp = vtkProp3D::SafeDownCast(m_ChildContext->GetProp())) {
-        if (auto *childProp = vtkProp3D::SafeDownCast(m_ChildContext->GetProp()))
             m_VtkAsm->AddPart(childProp);
+        }
     }
 
-    // 4. Apply initial transform
+    // 4. Force initial visual sync
-    this->UpdateTransform();
+    this->Update();
-    this->UpdateBoundingBox();
-}
-
-// ------------------------------------------------------------------ //
-void Assembly::contentUpdate() {
-    if (m_InUpdate) return;
-    m_InUpdate = true;
-
-    this->UpdateTransform();
-    this->UpdateBoundingBox();
-    if (m_ChildContext)
-        m_ChildContext->Update();
-
-    m_BlockUpdate = true;
-    Puppet::Update();
-    m_InUpdate = false;
 }
 
 // ------------------------------------------------------------------ //
 void Assembly::Update() {
     if (m_InUpdate) return;
-    if (!m_Content || !m_VtkAsm) return;
+    m_InUpdate = true;
-
+    
-    if (m_BlockUpdate) {
+    if (m_Content && m_VtkAsm) {
-        m_BlockUpdate = false;
+        // Apply world matrix from the assembly content
-        return;
+        vtkNew<vtkMatrix4x4> m;
+        Matrix4fToVtk(m_Content->GetMatrix(), m);
+        m_VtkAsm->SetUserMatrix(m);
+        m_VtkAsm->Modified();
     }
 
+    this->Puppet::Update();
+    this->UpdateBoundingBox();
+    if (m_ChildContext)
+        m_ChildContext->Update();
+    m_InUpdate = false;
+}
+
+void Assembly::SyncFromVtk() {
+    if (m_InUpdate) return;
+    if (!m_Content || !m_VtkAsm) return;
+
     m_InUpdate = true;
 
-    // Pull VTK transform back into the uLib model
+    // VTK -> Model: Update world matrix (accounting for model parents)
-    vtkMatrix4x4* vmat = m_VtkAsm->GetUserMatrix();
+    if (vtkProp3D* proxy = this->GetProxyProp()) {
-    if (vmat) {
+        m_Content->SetWorldMatrix(VtkToMatrix4f(proxy->GetUserMatrix()));
-        Matrix4f transform = VtkToMatrix4f(vmat);
+        m_Content->FromMatrix(m_Content->GetMatrix());
-        m_Content->SetMatrix(transform);
     }
 
     this->UpdateBoundingBox();
     if (m_ChildContext)
-        m_ChildContext->Update();
+        m_ChildContext->SyncFromVtk();
 
     m_Content->Updated(); // Notify change in model
 
     m_InUpdate = false;
 }
 
-// ------------------------------------------------------------------ //
-void Assembly::UpdateTransform() {
-    if (!m_Content || !m_VtkAsm) return;
-
-    Matrix4f mat = m_Content->GetMatrix();
-    vtkNew<vtkMatrix4x4> vmat;
-    Matrix4fToVtk(mat, vmat);
-    m_VtkAsm->SetUserMatrix(vmat);
-    m_VtkAsm->Modified();
-}
-
 // ------------------------------------------------------------------ //
 void Assembly::UpdateBoundingBox() {
     if (!m_Content || !m_BBoxActor) return;

src/Vtk/Math/vtkAssembly.h

@@ -36,7 +36,7 @@ class vtkObjectsContext; // forward
  */
 class Assembly : public Puppet {
 public:
-    virtual const char *GetClassName() const override { return "Vtk.Assembly"; }
+    uLibTypeMacro(Assembly, Puppet)
 
     Assembly(uLib::Assembly *content);
     virtual ~Assembly();
@@ -44,16 +44,20 @@ public:
     /** @brief Updates the VTK representation from the model (model→VTK). */
     virtual void Update() override;
 
-    virtual uLib::Object* GetContent() const override { return (uLib::Object*)m_Content; }
+    /** @brief Synchronizes the model from the VTK representation (VTK→model). */
+    virtual void SyncFromVtk() override;
 
-    /** @brief Called when the model signals an update (model→VTK push). */
+    virtual uLib::Object* GetContent() const override { return (uLib::Object*)m_Content; }
-    void contentUpdate();
+    virtual uLib::ObjectsContext* GetChildren() override { return (uLib::ObjectsContext*)m_Content; }
+
+    /**
+     * @brief Returns the puppet managing child objects.
+     */
 
     /** @brief Returns the puppet managing child objects. */
     vtkObjectsContext *GetChildrenContext() const;
 
 private:
-    void UpdateTransform();
     void UpdateBoundingBox();
     void InstallPipe();
 
@@ -62,7 +66,6 @@ private:
     vtkActor           *m_BBoxActor;
     ::vtkAssembly      *m_VtkAsm; // VTK library assembly — NOT this class
     bool                m_InUpdate;    // re-entrancy guard
-    bool                m_BlockUpdate; // block feedback from contentUpdate→Update
 };
 
 } // namespace Vtk

src/Vtk/Math/vtkContainerBox.cpp

@@ -48,18 +48,29 @@ namespace uLib {
 namespace Vtk {
 
 struct ContainerBoxData {
-  vtkSmartPointer<vtkActor> m_Cube;
+  vtkSmartPointer<vtkActor>     m_Cube;
-  vtkSmartPointer<vtkActor> m_Axes;
+  vtkSmartPointer<vtkActor>     m_Axes;
+  vtkSmartPointer<vtkAssembly>  m_VtkAsm;
+  vtkSmartPointer<vtkMatrix4x4> m_Affine;
+  uLib::Connection              m_UpdateSignal;
 
-  ContainerBoxData() : m_Cube(vtkSmartPointer<vtkActor>::New()), m_Axes(vtkSmartPointer<vtkActor>::New()) {}
+
+  ContainerBoxData() : m_Cube(vtkSmartPointer<vtkActor>::New()), 
+                       m_Axes(vtkSmartPointer<vtkActor>::New()), 
+                       m_VtkAsm(vtkSmartPointer<vtkAssembly>::New()),
+                       m_Affine(vtkSmartPointer<vtkMatrix4x4>::New()) {}
   ~ContainerBoxData() {
   }
 };
 
+
+
+
+
 vtkContainerBox::vtkContainerBox(vtkContainerBox::Content *content)
     : d(new ContainerBoxData()), m_Content(content) {
   this->InstallPipe();
-  Object::connect(m_Content, &Content::Updated, this, &vtkContainerBox::contentUpdate);
+  d->m_UpdateSignal = Object::connect(m_Content, &uLib::Object::Updated, this, &vtkContainerBox::Update);
 }
 
 vtkContainerBox::~vtkContainerBox() {
@@ -72,63 +83,50 @@ vtkPolyData *vtkContainerBox::GetPolyData() const {
 }
 
 
-void vtkContainerBox::contentUpdate() {
-  RecursiveMutex::ScopedLock lock(this->m_UpdateMutex);
-  if (!m_Content)
-    return;
-
-  vtkProp3D* root = vtkProp3D::SafeDownCast(this->GetProp());
-  if (!root) return;
-
-  vtkMatrix4x4* vmat = root->GetUserMatrix();
-  if (!vmat) {
-    // Should have been set in InstallPipe, but let's be safe
-    vtkNew<vtkMatrix4x4> mat;
-    root->SetUserMatrix(mat);
-    vmat = mat;
-  }
-
-  d->m_Cube->SetUserMatrix(nullptr);
-  d->m_Axes->SetUserMatrix(nullptr);
-
-  Matrix4f transform = m_Content->GetMatrix();
-  Matrix4fToVtk(transform, vmat);
-
-  root->Modified();
-  m_BlockUpdate = true;
-  Puppet::Update();
-}
-
-
 void vtkContainerBox::Update() {
   RecursiveMutex::ScopedLock lock(this->m_UpdateMutex);
   if (!m_Content) return;
-  
+
-  if (m_BlockUpdate) {
+  vtkProp3D* root = vtkProp3D::SafeDownCast(this->GetProp());
-    m_BlockUpdate = false;
+  if (root) {
-    return;
+      // Apply local full matrix (TRS * LocalBox) so that nested assemblies work correctly
+      Matrix4f fullLocal = m_Content->GetMatrix() * m_Content->GetLocalMatrix();
+      vtkNew<vtkMatrix4x4> m;
+      Matrix4fToVtk(fullLocal, m);
+      root->SetUserMatrix(m);
+      root->Modified();
   }
 
-  // Use Targeted Blocking: only block the feedback connection to this puppet
+  // Delegate rest of update (appearance, render, etc)
-  // boost::signals2::shared_connection_block block(m_Connection);
+  ConnectionBlock blocker(d->m_UpdateSignal);
+  this->Puppet::Update();
+}
 
-  vtkProp3D* assembly = vtkProp3D::SafeDownCast(this->GetProp());
-  if (!assembly) return;
 
-  vtkMatrix4x4* vmat = assembly->GetUserMatrix();
+void vtkContainerBox::SyncFromVtk() {
-  if (!vmat) return;
+  RecursiveMutex::ScopedLock lock(this->m_UpdateMutex);
-  
+  if (!m_Content) return;
-  Matrix4f transform = VtkToMatrix4f(vmat);
 
-  // Update uLib model's affine transform
+  vtkProp3D* root = this->GetProxyProp();
-  // if (m_Content->GetParent()) {
+  if (!root) return;
-  //   Matrix4f localT = m_Content->GetParent()->GetWorldMatrix().inverse() * transform;
+
-  //   m_Content->SetMatrix(localT);
+  // VTK -> Model: Extract new world TRS from proxy, which matches the model's TRS center
-  // } else {
+  vtkMatrix4x4* rootMat = root->GetUserMatrix();
-  m_Content->SetMatrix(transform);
+  // if (rootMat) {
+  //     std::cout << "[vtkContainerBox::SyncFromVtk] Read Proxy UserMatrix:" << std::endl;
+  //     rootMat->Print(std::cout);
   // }
+  
+  Matrix4f vtkWorld = VtkToMatrix4f(rootMat);
+  
+  // Synchronize TRS property members from the updated local matrix
+  m_Content->FromMatrix(vtkWorld);
 
-  m_Content->Updated(); // Notify change
+  // std::cout << "[vtkContainerBox::SyncFromVtk] New Model WorldMatrix:" << std::endl << m_Content->GetWorldMatrix() << std::endl;
+
+  // Since we modified the model, notify observers, but block the loop back to VTK
+  // ConnectionBlock blocker(d->m_UpdateSignal);
+  m_Content->Updated();
 }
 
 
@@ -170,15 +168,16 @@ void vtkContainerBox::InstallPipe() {
   mapper->SetInputConnection(axes->GetOutputPort());
   mapper->Update();
   
-  this->SetProp(d->m_Cube);
+  d->m_VtkAsm->AddPart(d->m_Cube);
-  this->SetProp(d->m_Axes);
+  d->m_VtkAsm->AddPart(d->m_Axes);
+  this->SetProp(d->m_VtkAsm);
   
-  vtkProp3D* root = vtkProp3D::SafeDownCast(this->GetProp());
+  vtkProp3D* root = d->m_VtkAsm;
   if (root) {
-      vtkNew<vtkMatrix4x4> vmat;
+      d->m_Affine = Matrix4fToVtk(m_Content->GetMatrix());
-      Matrix4fToVtk(c->GetMatrix(), vmat);
+      root->SetUserMatrix(d->m_Affine);
-      root->SetUserMatrix(vmat);
   }
+  this->Update();
 }
 
 } // namespace Vtk

src/Vtk/Math/vtkContainerBox.h

@@ -29,7 +29,6 @@
 #include "Math/ContainerBox.h"
 #include "uLibVtkInterface.h"
 #include "vtkPolydata.h"
-#include <boost/signals2/connection.hpp>
 
 class vtkActor;
 
@@ -39,17 +38,25 @@ namespace Vtk {
 struct ContainerBoxData;
 
 class vtkContainerBox : public Puppet, public Polydata {
+  
+  uLibTypeMacro(vtkContainerBox, Puppet, Polydata)
   typedef ContainerBox Content;
-
+  
 public:
   vtkContainerBox(Content *content);
   ~vtkContainerBox();
 
-  virtual class vtkPolyData *GetPolyData() const;
+  virtual class vtkPolyData *GetPolyData() const override;
 
-  virtual void contentUpdate();
+  /**
+   * @brief Updates the VTK representation from the internal state.
+   */
+  virtual void Update() override;
 
-  virtual void Update();
+  /**
+   * @brief Synchronizes the model from the VTK representation (VTK→model).
+   */
+  virtual void SyncFromVtk() override;
 
   virtual uLib::Object* GetContent() const override { return (uLib::Object*)m_Content; }
 
@@ -57,8 +64,9 @@ protected:
   virtual void InstallPipe();
 
   struct ContainerBoxData *d;
-  Content                 *m_Content;
+  ContainerBox            *m_Content;
-  bool                     m_BlockUpdate = false;
+  
+  ULIB_DECLARE_PROPERTIES(vtkContainerBox)
 };
 
 } // namespace Vtk

src/Vtk/Math/vtkCylinder.cpp

@@ -40,7 +40,7 @@ namespace Vtk {
 vtkCylinder::vtkCylinder(vtkCylinder::Content *content)
     : m_Content(content), m_Actor(nullptr), m_VtkAsm(nullptr) {
   this->InstallPipe();
-  Object::connect(m_Content, &Content::Updated, this, &vtkCylinder::contentUpdate);
+  m_UpdateSignal = Object::connect(m_Content, &uLib::Object::Updated, this, &vtkCylinder::Update);
 }
 
 vtkCylinder::~vtkCylinder() {
@@ -48,58 +48,56 @@ vtkCylinder::~vtkCylinder() {
   if (m_VtkAsm) m_VtkAsm->Delete();
 }
 
-void vtkCylinder::contentUpdate() {
+void vtkCylinder::Update() {
   if (!m_Content)
     return;
 
   vtkProp3D* root = vtkProp3D::SafeDownCast(this->GetProp());
-  if (!root) return;
+  if (root) {
+      // 1. Placement handled specifically from content (use TRS GetMatrix, not World)
+      vtkNew<vtkMatrix4x4> m;
+      Matrix4fToVtk(m_Content->GetMatrix(), m);
+      root->SetUserMatrix(m);
 
-  // 1. Placement (Position/Rotation/Model-level Scale) goes to the root prop
+      // 2. Shape-local properties (Radius, Height, Axis alignment) go to the internal actor
-  vtkMatrix4x4* vmat = root->GetUserMatrix();
+      // These are relative to the root assembly
-  if (!vmat) {
+      vtkTransform* alignment = vtkTransform::SafeDownCast(m_Actor->GetUserTransform());
-    vtkNew<vtkMatrix4x4> mat;
+      if (alignment) {
-    root->SetUserMatrix(mat);
+          alignment->Identity();
-    vmat = mat;
+          alignment->PostMultiply();
-  }
+          
-  Matrix4f transform = m_Content->GetMatrix();
+          // Initial source is centered Y-cylinder (Radial XZ [-1,1], Height Y [-0.5, 0.5])
-  Matrix4fToVtk(transform, vmat);
+          // Apply Radius and Height scaling
+          alignment->Scale(m_Content->GetRadius(), m_Content->GetHeight(), m_Content->GetRadius());
 
-  // 2. Shape-local properties (Radius, Height, Axis alignment) go to the internal actor
+          // Apply Axis alignment
-  vtkTransform* alignment = vtkTransform::SafeDownCast(m_Actor->GetUserTransform());
+          int axis = m_Content->GetAxis();
-  if (alignment) {
+          if (axis == 0) alignment->RotateZ(-90);      // Y -> X
-      alignment->Identity();
+          else if (axis == 1) ;                        // Y -> Y (identity)
-      alignment->PostMultiply();
+          else if (axis == 2) alignment->RotateX(90);  // Y -> Z
-      
+      }
-      // Initial source is centered Y-cylinder (Radial XZ [-1,1], Height Y [-0.5, 0.5])
-      // Apply Radius and Height scaling
-      alignment->Scale(m_Content->GetRadius(), m_Content->GetHeight(), m_Content->GetRadius());
 
-      // Apply Axis alignment
+      root->Modified();
-      int axis = m_Content->GetAxis();
-      if (axis == 0) alignment->RotateZ(-90); // Y -> X
-      else if (axis == 1) ;                   // Y -> Y (identity)
-      else if (axis == 2) alignment->RotateX(90);  // Y -> Z
   }
 
-  root->Modified();
+  // Delegate rest of update (appearance, render, etc)
-  Puppet::Update();
+  ConnectionBlock blocker(m_UpdateSignal);
+  this->Puppet::Update();
 }
 
-void vtkCylinder::Update() {
+void vtkCylinder::SyncFromVtk() {
   if (!m_Content) return;
-
+  
-  vtkProp3D* root = vtkProp3D::SafeDownCast(this->GetProp());
+  vtkProp3D* root = this->GetProxyProp();
   if (!root) return;
 
-  vtkMatrix4x4* vmat = root->GetUserMatrix();
+  // VTK -> Model: Extract new world TRS from proxy
-  if (!vmat) return;
+  vtkMatrix4x4* rootMat = root->GetUserMatrix();  
+  Matrix4f vtkWorld = VtkToMatrix4f(rootMat);
   
-  // Pull the placement matrix directly from VTK
+  // Directly sync model from the world matrix
-  Matrix4f transform = VtkToMatrix4f(vmat);
+  m_Content->FromMatrix(vtkWorld);
-  m_Content->SetMatrix(transform);
+  m_Content->Updated(); 
-
-  m_Content->Updated();
 }
 
 void vtkCylinder::InstallPipe() {
@@ -126,7 +124,7 @@ void vtkCylinder::InstallPipe() {
 
   m_VtkAsm->AddPart(m_Actor);
 
-  this->contentUpdate();
+  this->Update();
 }
 
 } // namespace Vtk

src/Vtk/Math/vtkCylinder.h

@@ -48,11 +48,11 @@ public:
   vtkCylinder(Content *content);
   virtual ~vtkCylinder();
 
-  /** Synchronizes the VTK actor with the uLib model matrix */
+  /** Synchronizes the VTK actor with the uLib model matrix and vice-versa */
-  virtual void contentUpdate();
+  virtual void Update() override;
 
-  /** Synchronizes the uLib model matrix with the VTK actor (e.g., after UI manipulation) */
+  /** Synchronizes the uLib model matrix with the VTK actor specifically for gizmo interactions */
-  virtual void Update();
+  virtual void SyncFromVtk() override;
 
   virtual uLib::Object* GetContent() const override { return (uLib::Object*)m_Content; }
 
@@ -63,6 +63,7 @@ protected:
   vtkActor *m_Actor;
   ::vtkAssembly *m_VtkAsm;
   Content *m_Content;
+  uLib::Connection m_UpdateSignal;
 };
 
 } // namespace Vtk

src/Vtk/Math/vtkQuadMesh.h

@@ -28,7 +28,7 @@
 
 #include "Math/QuadMesh.h"
 #include "Vtk/uLibVtkInterface.h"
-#include "Vtk/vtkPolydata.h"
+#include "Vtk/Math/vtkPolydata.h"
 
 class vtkPolyData;
 class vtkActor;