DHCP Server settings page, at bottom of page use the MAC address of the computer needing a static IP to make sure that the MAC address of the computer always pull the same IP from your LAN DHCP.
In NAT rules create 1:1 rule to point public IP to the LAN IP assigned to the computer above.
Add WAN firewall rule to allow traffic coming in on the public IP to reach computer LAN IP.
If the MAC address changes you will need to update the DHCP server rule to reflect the new MAC address.
Someone else may have a different/better way of doing what you need. I have only been testing with m0n0wall for a few days but the above works for me.
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