function fig_replay(name)
%FIG_REPLAY  回放画布（点运动图）：世界视图 + 事件流水 + 虚拟时间轴。
%   name: 'replay_q3' 或 'replay_q4'，对应 docs/figures/.data/<name>.mat。
%   本图是唯一保留自定义画布版式的图：三个区互不重叠，图例置于世界视图下方。

    if nargin < 1
        name = 'replay_q3';
    end
    S = fig_style();
    D = load_data(S, name);
    H = geom_helpers();
    fig = figure('Color', 'w', 'Visible', 'off', 'Position', [100 100 1040 660]);

    c_path   = [0.35 0.35 0.35];
    c_ray    = pick_color(S, 'primary');
    c_solved = pick_color(S, 'success');
    c_unsolv = pick_color(S, 'accent');
    c_head   = pick_color(S, 'violet');

    % ---------------- 世界视图 ----------------
    ax = axes(fig, 'Position', [0.075 0.40 0.49 0.56]);
    hold(ax, 'on');
    H.circle(ax, [0 0], D.omega_r, pick_color(S, 'primary'), 1.2, '-');
    h_path = plot(ax, D.path(:, 1), D.path(:, 2), 'Color', c_path, 'LineWidth', 0.9);
    h_ray = plot(ax, nan, nan, 'Color', c_ray, 'LineWidth', 0.8);
    for i = 1:size(D.rays, 1)
        p0 = D.rays(i, 1:2);
        p1 = p0 + D.rays(i, 3:4);
        plot(ax, [p0(1) p1(1)], [p0(2) p1(2)], 'Color', c_ray, 'LineWidth', 0.8);
    end
    h_disk = gobjects(0);
    for i = 1:size(D.half_disks, 1)
        disk = squeeze(D.half_disks(i, :, :));
        h_disk(end + 1) = patch(ax, 'XData', disk(:, 1), 'YData', disk(:, 2), ...
                                'FaceColor', c_head, 'FaceAlpha', 0.10, ...
                                'EdgeColor', c_head, 'LineWidth', 0.8); %#ok<AGROW>
    end
    for i = 1:size(D.headings, 1)
        p0 = D.headings(i, 1:2);
        p1 = p0 + D.headings(i, 3:4);
        H.arrow(ax, p0, p1, c_head);
    end
    solved = D.truth_solved > 0.5;
    h_solved = plot(ax, D.truth(solved, 1), D.truth(solved, 2), 'o', ...
                    'MarkerSize', 6, 'MarkerFaceColor', c_solved, 'MarkerEdgeColor', 'none');
    h_unsolv = plot(ax, D.truth(~solved, 1), D.truth(~solved, 2), 'o', ...
                    'MarkerSize', 6, 'MarkerFaceColor', c_unsolv, 'MarkerEdgeColor', 'none');
    label_color = repmat(c_unsolv, size(D.truth, 1), 1);
    label_color(solved, :) = repmat(c_solved, nnz(solved), 1);
    H.label_points(ax, D.truth, D.truth_labels, label_color);
    plot(ax, D.clears(D.clears(:, 3) > 0.5, 1), D.clears(D.clears(:, 3) > 0.5, 2), ...
         'x', 'MarkerSize', 7, 'LineWidth', 1.4, 'Color', c_solved);
    plot(ax, D.clears(D.clears(:, 3) <= 0.5, 1), D.clears(D.clears(:, 3) <= 0.5, 2), ...
         'o', 'MarkerSize', 6, 'MarkerEdgeColor', 'k', 'MarkerFaceColor', 'none');
    hold(ax, 'off');
    axis(ax, 'equal');
    xlim(ax, [-D.half, D.half]);
    ylim(ax, [-D.half, D.half]);
    xlabel(ax, 'x / m');
    ylabel(ax, 'y / m');
    hleg = [h_path, h_ray];
    if ~isempty(h_disk)
        hleg(end + 1) = h_disk(1);
    end
    hleg = [hleg, h_solved, h_unsolv];
    legend(ax, hleg, D.legend, 'Location', 'southoutside', 'Orientation', 'horizontal');

    % ---------------- 事件流水 ----------------
    ex = axes(fig, 'Position', [0.625 0.40 0.345 0.56], ...
              'XLim', [0 1], 'YLim', [0 1], 'Visible', 'off');
    hold(ex, 'on');
    cols = [0.00 0.34 1.00];
    align = {'left', 'left', 'right'};
    head = {'动作', '参数', 't / s'};
    for j = 1:3
        text(ex, cols(j), 0.97, head{j}, 'FontWeight', 'bold', ...
             'HorizontalAlignment', align{j});
    end
    for i = 1:size(D.events, 1)
        y = 0.90 - (i - 1) * 0.088;
        for j = 1:3
            text(ex, cols(j), y, D.events{i, j}, 'HorizontalAlignment', align{j}, ...
                 'Interpreter', 'none');
        end
    end
    hold(ex, 'off');

    % ---------------- 虚拟时间轴 ----------------
    tx = axes(fig, 'Position', [0.075 0.155 0.90 0.125]);
    hold(tx, 'on');
    rectangle(tx, 'Position', [0 0.34 D.total_s 0.32], ...
              'FaceColor', pick_color(S, 'primary'), 'FaceAlpha', 0.12, ...
              'EdgeColor', 'none');
    for i = 1:size(D.marks, 1)
        t = D.marks(i, 1);
        if D.marks(i, 3) > 0.5
            plot(tx, [t t], [0.05 0.95], 'Color', c_solved, 'LineWidth', 1.0);
        elseif D.marks(i, 2) > 0.5
            plot(tx, [t t], [0.22 0.78], 'Color', c_unsolv, 'LineWidth', 0.8);
        end
    end
    hold(tx, 'off');
    xlim(tx, [0 D.total_s]);
    ylim(tx, [0 1]);
    set(tx, 'YTick', []);
    xlabel(tx, '虚拟时间 t / s');

    fig_save(fig, S, D.out_png{1});
end