@gnsx/three 0.185.16 → 0.186.1

package/examples/jsm/loaders/PCDLoader.js

@@ -269,7 +269,7 @@ class PCDLoader extends Loader {
 
 			// remove comments
 
-			PCDheader.str = PCDheader.str.replace( /#.*/gi, '' );
+			PCDheader.str = PCDheader.str.replace( /^#.*/gm, '' );
 
 			// parse
 

package/examples/jsm/loaders/SPLATLoader.js

@@ -0,0 +1,139 @@
+import {
+	FileLoader,
+	Loader
+} from '@gnsx/three';
+
+import { createGaussianSplatGeometry, writeCovariance } from '../utils/GaussianSplatUtils.js';
+
+const ROW_SIZE_BYTES = 32;
+
+/**
+ * A loader for standard fixed-width Gaussian splat `.splat` files.
+ *
+ * This loader decodes the format into `BufferGeometry` for use with
+ * `GaussianSplat`. Each 32-byte row stores center, scale, color and
+ * rotation data for one splat.
+ *
+ * ```js
+ * const loader = new SPLATLoader();
+ * const data = await loader.loadAsync( './models/gsplat/example.splat' );
+ * scene.add( new GaussianSplat( data ) );
+ * ```
+ *
+ * @augments Loader
+ * @three_import import { SPLATLoader } from 'three/addons/loaders/SPLATLoader.js';
+ */
+class SPLATLoader extends Loader {
+
+	/**
+	 * Constructs a new Gaussian splat loader.
+	 *
+	 * @param {LoadingManager} [manager] - The loading manager.
+	 */
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	/**
+	 * Starts loading from the given URL and passes the loaded splat data to
+	 * the `onLoad()` callback.
+	 *
+	 * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI.
+	 * @param {function(BufferGeometry)} onLoad - Executed when the loading process has been finished.
+	 * @param {onProgressCallback} onProgress - Executed while the loading is in progress.
+	 * @param {onErrorCallback} onError - Executed when errors occur.
+	 */
+	load( url, onLoad, onProgress, onError ) {
+
+		const scope = this;
+
+		const loader = new FileLoader( this.manager );
+		loader.setPath( this.path );
+		loader.setResponseType( 'arraybuffer' );
+		loader.setRequestHeader( this.requestHeader );
+		loader.setWithCredentials( this.withCredentials );
+		loader.load( url, function ( buffer ) {
+
+			try {
+
+				onLoad( scope.parse( buffer ) );
+
+			} catch ( e ) {
+
+				if ( onError ) {
+
+					onError( e );
+
+				} else {
+
+					console.error( e );
+
+				}
+
+				scope.manager.itemError( url );
+
+			}
+
+		}, onProgress, onError );
+
+	}
+
+	/**
+	 * Parses the given fixed-width `.splat` data.
+	 *
+	 * @param {ArrayBuffer} buffer - The raw `.splat` file as an array buffer.
+	 * @return {BufferGeometry} The parsed splat geometry.
+	 */
+	parse( buffer ) {
+
+		if ( buffer.byteLength % ROW_SIZE_BYTES !== 0 ) {
+
+			throw new Error( 'THREE.SPLATLoader: Invalid .splat byte length.' );
+
+		}
+
+		const count = buffer.byteLength / ROW_SIZE_BYTES;
+		const centers = new Float32Array( count * 3 );
+		const covariances = new Float32Array( count * 6 );
+		const colors = new Uint8Array( count * 4 );
+		const view = new DataView( buffer );
+		const bytes = new Uint8Array( buffer );
+
+		for ( let i = 0; i < count; i ++ ) {
+
+			const rowOffset = i * ROW_SIZE_BYTES;
+			const i3 = i * 3;
+			const i4 = i * 4;
+
+			centers[ i3 ] = view.getFloat32( rowOffset, true );
+			centers[ i3 + 1 ] = view.getFloat32( rowOffset + 4, true );
+			centers[ i3 + 2 ] = view.getFloat32( rowOffset + 8, true );
+
+			const sx = view.getFloat32( rowOffset + 12, true );
+			const sy = view.getFloat32( rowOffset + 16, true );
+			const sz = view.getFloat32( rowOffset + 20, true );
+
+			colors[ i4 ] = bytes[ rowOffset + 24 ];
+			colors[ i4 + 1 ] = bytes[ rowOffset + 25 ];
+			colors[ i4 + 2 ] = bytes[ rowOffset + 26 ];
+			colors[ i4 + 3 ] = bytes[ rowOffset + 27 ];
+
+			// Standard .splat stores quaternion bytes as w, x, y, z.
+			const qw = ( bytes[ rowOffset + 28 ] - 128 ) / 128;
+			const qx = ( bytes[ rowOffset + 29 ] - 128 ) / 128;
+			const qy = ( bytes[ rowOffset + 30 ] - 128 ) / 128;
+			const qz = ( bytes[ rowOffset + 31 ] - 128 ) / 128;
+
+			writeCovariance( covariances, i * 6, sx, sy, sz, qx, qy, qz, qw );
+
+		}
+
+		return createGaussianSplatGeometry( centers, covariances, colors );
+
+	}
+
+}
+
+export { SPLATLoader };

package/examples/jsm/loaders/SPZLoader.js

@@ -0,0 +1,561 @@
+import {
+	DataUtils,
+	FileLoader,
+	Loader
+} from '@gnsx/three';
+
+import { gunzipSync } from '../libs/fflate.module.js';
+import { ZSTDDecoder } from '../libs/zstddec.module.js';
+import { SH_BAND_COMPONENTS, SH_BAND_WORDS, SH_C0, createGaussianSplatGeometry, createPackedSphericalHarmonicsBand, writeCovariance } from '../utils/GaussianSplatUtils.js';
+
+const SPZ_MAGIC = 0x5053474e;
+const HEADER_SIZE_BYTES = 16;
+const SPZ_COLOR_SCALE = SH_C0 / 0.15;
+const FLAG_LOD = 0x80;
+const FLAG_HAS_EXTENSIONS = 0x02;
+const MAX_SUPPORTED_SH_DEGREE = 3;
+const SH_DEGREE_TO_VECTORS = [ 0, 3, 8, 15, 24 ];
+
+let _zstd;
+
+// Scales and colors are stored as single bytes, so all 256 possible outputs
+// of their decode functions can be precomputed once.
+const SCALE_LUT = new Float32Array( 256 );
+const COLOR_LUT = new Uint8ClampedArray( 256 );
+
+for ( let i = 0; i < 256; i ++ ) {
+
+	SCALE_LUT[ i ] = Math.exp( i / 16 - 10 );
+	COLOR_LUT[ i ] = ( ( i / 255 - 0.5 ) * SPZ_COLOR_SCALE + 0.5 ) * 255;
+
+}
+
+// Quaternion components are 10-bit sign-magnitude values (bit 9 is the sign,
+// bits 0-8 are the magnitude scaled to [0, 1/sqrt(2)]), so all 1024 possible
+// decoded values can be precomputed, avoiding an unpredictable sign branch in
+// the hot loop.
+const QUAT_COMPONENT_LUT = new Float64Array( 1024 );
+
+for ( let i = 0; i < 1024; i ++ ) {
+
+	const value = Math.SQRT1_2 * ( ( i & 511 ) / 511 );
+	QUAT_COMPONENT_LUT[ i ] = ( i & 512 ) !== 0 ? - value : value;
+
+}
+
+const _quaternion = [ 0, 0, 0, 0 ];
+
+/**
+ * A loader for compressed Gaussian splat `.spz` files.
+ *
+ * This loader decodes the format into `BufferGeometry` for use with
+ * `GaussianSplat`. Higher-order spherical harmonics are exposed as optional
+ * `sphericalHarmonics1` through `sphericalHarmonics3` packed uint32 geometry
+ * attributes (`SH_BAND_WORDS[ degree ]` words per splat). Coefficients use the
+ * clamped-byte encoding `( value - 128 ) / 128`, four bytes per word.
+ *
+ * ```js
+ * const loader = new SPZLoader();
+ * const data = await loader.loadAsync( './models/gsplat/example.spz' );
+ * scene.add( new GaussianSplat( data ) );
+ * ```
+ *
+ * @augments Loader
+ * @three_import import { SPZLoader } from 'three/addons/loaders/SPZLoader.js';
+ */
+class SPZLoader extends Loader {
+
+	/**
+	 * Constructs a new Gaussian splat SPZ loader.
+	 *
+	 * @param {LoadingManager} [manager] - The loading manager.
+	 */
+	constructor( manager ) {
+
+		super( manager );
+
+	}
+
+	/**
+	 * Starts loading from the given URL and passes the loaded splat data to
+	 * the `onLoad()` callback.
+	 *
+	 * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI.
+	 * @param {function(BufferGeometry)} onLoad - Executed when the loading process has been finished.
+	 * @param {onProgressCallback} onProgress - Executed while the loading is in progress.
+	 * @param {onErrorCallback} onError - Executed when errors occur.
+	 */
+	load( url, onLoad, onProgress, onError ) {
+
+		const scope = this;
+
+		const loader = new FileLoader( this.manager );
+		loader.setPath( this.path );
+		loader.setResponseType( 'arraybuffer' );
+		loader.setRequestHeader( this.requestHeader );
+		loader.setWithCredentials( this.withCredentials );
+		loader.load( url, function ( buffer ) {
+
+			scope.parse( buffer, onLoad, function ( e ) {
+
+				if ( onError ) {
+
+					onError( e );
+
+				} else {
+
+					console.error( e );
+
+				}
+
+				scope.manager.itemError( url );
+
+			} );
+
+		}, onProgress, onError );
+
+	}
+
+	/**
+	 * Decompresses and parses the given `.spz` data.
+	 *
+	 * @param {ArrayBuffer} buffer - The raw SPZ file as an array buffer.
+	 * @param {function(BufferGeometry)} [onLoad] - Executed when the parsing process has been finished.
+	 * @param {onErrorCallback} [onError] - Executed when errors occur.
+	 * @return {BufferGeometry|Promise<BufferGeometry>|undefined} The parsed splat geometry, or a promise for SPZ v4 data.
+	 */
+	parse( buffer, onLoad, onError ) {
+
+		try {
+
+			if ( buffer.byteLength >= 8 ) {
+
+				const view = new DataView( buffer );
+				const magic = view.getUint32( 0, true );
+				const version = view.getUint32( 4, true );
+
+				if ( magic === SPZ_MAGIC ) {
+
+					if ( version !== 4 ) {
+
+						throw new Error( `THREE.SPZLoader: SPZ version ${ version } is not supported.` );
+
+					}
+
+					const promise = getZSTDDecoder()
+						.then( ( zstd ) => this.parseRawSPZV4( new Uint8Array( buffer ), zstd ) );
+
+					if ( onLoad !== undefined ) {
+
+						promise.then( onLoad ).catch( onError );
+
+					}
+
+					return promise;
+
+				}
+
+			}
+
+			const decompressed = gunzipSync( new Uint8Array( buffer ) );
+			const data = this.parseRawSPZ( decompressed );
+
+			if ( onLoad !== undefined ) onLoad( data );
+
+			return data;
+
+		} catch ( e ) {
+
+			if ( onError !== undefined ) {
+
+				onError( e );
+				return;
+
+			}
+
+			throw e;
+
+		}
+
+	}
+
+	/**
+	 * Parses raw SPZ data after gzip decompression.
+	 *
+	 * @param {Uint8Array} bytes - The decompressed SPZ data.
+	 * @return {BufferGeometry} The parsed splat geometry.
+	 */
+	parseRawSPZ( bytes ) {
+
+		if ( bytes.byteLength < HEADER_SIZE_BYTES ) {
+
+			throw new Error( 'THREE.SPZLoader: Invalid SPZ header.' );
+
+		}
+
+		const view = new DataView( bytes.buffer, bytes.byteOffset, bytes.byteLength );
+		const magic = view.getUint32( 0, true );
+		const version = view.getUint32( 4, true );
+		const count = view.getUint32( 8, true );
+		const storedShDegree = view.getUint8( 12 );
+		const fractionalBits = view.getUint8( 13 );
+		const flags = view.getUint8( 14 );
+
+		if ( magic !== SPZ_MAGIC ) {
+
+			throw new Error( 'THREE.SPZLoader: Invalid SPZ magic.' );
+
+		}
+
+		if ( version < 1 || version > 3 ) {
+
+			throw new Error( `THREE.SPZLoader: SPZ version ${ version } is not supported.` );
+
+		}
+
+		if ( storedShDegree >= SH_DEGREE_TO_VECTORS.length ) {
+
+			throw new Error( `THREE.SPZLoader: Unsupported SPZ spherical harmonics degree ${ storedShDegree }.` );
+
+		}
+
+		// Data beyond the supported degree is still present in the file and
+		// accounted for below, it's just not decoded into an attribute.
+		const shDegree = Math.min( storedShDegree, MAX_SUPPORTED_SH_DEGREE );
+
+		const positionsSize = count * 3 * ( version === 1 ? 2 : 3 );
+		const rotationsSize = count * ( version === 3 ? 4 : 3 );
+		const shSize = count * SH_DEGREE_TO_VECTORS[ storedShDegree ] * 3;
+		const lodSize = ( flags & FLAG_LOD ) !== 0 ? count * 6 : 0;
+		const expectedSize = HEADER_SIZE_BYTES + positionsSize + count + count * 3 + count * 3 + rotationsSize + shSize + lodSize;
+
+		if ( bytes.byteLength !== expectedSize ) {
+
+			throw new Error( 'THREE.SPZLoader: Invalid SPZ byte length.' );
+
+		}
+
+		let offset = HEADER_SIZE_BYTES;
+		const positions = bytes.subarray( offset, offset + positionsSize );
+		offset += positionsSize;
+		const alphas = bytes.subarray( offset, offset + count );
+		offset += count;
+		const colors = bytes.subarray( offset, offset + count * 3 );
+		offset += count * 3;
+		const scales = bytes.subarray( offset, offset + count * 3 );
+		offset += count * 3;
+		const rotations = bytes.subarray( offset, offset + rotationsSize );
+		offset += rotationsSize;
+		const sphericalHarmonics = bytes.subarray( offset, offset + shSize );
+
+		return parseSPZAttributes( {
+			positions,
+			alphas,
+			colors,
+			scales,
+			rotations,
+			sphericalHarmonics,
+			count,
+			version,
+			fractionalBits,
+			shDegree,
+			storedShDegree
+		} );
+
+	}
+
+	/**
+	 * Parses raw SPZ v4 data.
+	 *
+	 * @param {Uint8Array} bytes - The raw SPZ v4 data.
+	 * @param {ZSTDDecoder} zstd - The initialized ZSTD decoder.
+	 * @return {BufferGeometry} The parsed splat geometry.
+	 */
+	parseRawSPZV4( bytes, zstd ) {
+
+		const view = new DataView( bytes.buffer, bytes.byteOffset, bytes.byteLength );
+		const count = view.getUint32( 8, true );
+		const storedShDegree = view.getUint8( 12 );
+		const shDegree = Math.min( storedShDegree, MAX_SUPPORTED_SH_DEGREE );
+		const fractionalBits = view.getUint8( 13 );
+		const flags = view.getUint8( 14 );
+		const numStreams = view.getUint8( 15 );
+		const tocByteOffset = view.getUint32( 16, true );
+
+		if ( ( flags & FLAG_HAS_EXTENSIONS ) !== 0 ) {
+
+			console.warn( 'THREE.SPZLoader: SPZ vendor extensions are not supported and will be skipped.' );
+
+		}
+
+		const positionsSize = count * 3 * 3;
+		const rotationsSize = count * 4;
+		const shSize = count * SH_DEGREE_TO_VECTORS[ storedShDegree ] * 3;
+		const streamSizes = [ positionsSize, count, count * 3, count * 3, rotationsSize, shSize ];
+		const toc = [];
+		let compressedOffset = tocByteOffset + numStreams * 16;
+
+		for ( let i = 0; i < numStreams; i ++ ) {
+
+			const entryOffset = tocByteOffset + i * 16;
+			const compressedSize = Number( view.getBigUint64( entryOffset, true ) );
+			toc.push( {
+				compressedOffset,
+				compressedSize
+			} );
+			compressedOffset += compressedSize;
+
+		}
+
+		const streams = [];
+		let streamIndex = 0;
+
+		for ( let i = 0; i < streamSizes.length; i ++ ) {
+
+			const streamSize = streamSizes[ i ];
+
+			if ( streamSize === 0 ) {
+
+				streams.push( new Uint8Array() );
+				continue;
+
+			}
+
+			const stream = toc[ streamIndex ++ ];
+			const compressed = bytes.subarray( stream.compressedOffset, stream.compressedOffset + stream.compressedSize );
+			streams.push( zstd.decode( compressed, streamSize ) );
+
+		}
+
+		return parseSPZAttributes( {
+			positions: streams[ 0 ],
+			alphas: streams[ 1 ],
+			colors: streams[ 2 ],
+			scales: streams[ 3 ],
+			rotations: streams[ 4 ],
+			sphericalHarmonics: streams[ 5 ],
+			count,
+			version: 4,
+			fractionalBits,
+			shDegree,
+			storedShDegree
+		} );
+
+	}
+
+}
+
+function getZSTDDecoder() {
+
+	if ( _zstd === undefined ) {
+
+		const decoder = new ZSTDDecoder();
+		_zstd = decoder.init().then( () => decoder ).catch( ( e ) => {
+
+			_zstd = undefined;
+			throw e;
+
+		} );
+
+	}
+
+	return _zstd;
+
+}
+
+function parseSPZAttributes( {
+	positions,
+	alphas,
+	colors,
+	scales,
+	rotations,
+	sphericalHarmonics,
+	count,
+	version,
+	fractionalBits,
+	shDegree,
+	storedShDegree
+} ) {
+
+	const centers = new Float32Array( count * 3 );
+	const covariances = new Float32Array( count * 6 );
+	const colorBytes = new Uint8ClampedArray( count * 4 );
+	const sphericalHarmonicsBands = {};
+
+	readCenters( positions, centers, 0, count, version, fractionalBits );
+
+	// The hot loop below avoids per-splat DataView reads by indexing into an
+	// aligned Uint32Array. When the rotation section is already 4-byte aligned
+	// (e.g. a freshly decoded ZSTD stream) it's read in place; otherwise it's
+	// copied into a new, aligned buffer first.
+	const packedRotations = version >= 3 ?
+		( rotations.byteOffset % 4 === 0 ?
+			new Uint32Array( rotations.buffer, rotations.byteOffset, count ) :
+			new Uint32Array( rotations.buffer.slice( rotations.byteOffset, rotations.byteOffset + count * 4 ) ) ) :
+		null;
+
+	const quaternion = _quaternion;
+
+	for ( let i = 0; i < count; i ++ ) {
+
+		const i3 = i * 3;
+		const i4 = i * 4;
+		const sx = SCALE_LUT[ scales[ i3 ] ];
+		const sy = SCALE_LUT[ scales[ i3 + 1 ] ];
+		const sz = SCALE_LUT[ scales[ i3 + 2 ] ];
+
+		if ( version >= 3 ) {
+
+			readSmallestThreeQuaternion( packedRotations[ i ], quaternion );
+
+		} else {
+
+			readXYZQuaternion( rotations, i3, quaternion );
+
+		}
+
+		writeCovariance( covariances, i * 6, sx, sy, sz, quaternion[ 0 ], quaternion[ 1 ], quaternion[ 2 ], quaternion[ 3 ] );
+
+		colorBytes[ i4 ] = COLOR_LUT[ colors[ i3 ] ];
+		colorBytes[ i4 + 1 ] = COLOR_LUT[ colors[ i3 + 1 ] ];
+		colorBytes[ i4 + 2 ] = COLOR_LUT[ colors[ i3 + 2 ] ];
+		colorBytes[ i4 + 3 ] = alphas[ i ];
+
+	}
+
+	readSphericalHarmonics( sphericalHarmonics, 0, count, shDegree, sphericalHarmonicsBands, storedShDegree );
+
+	return createGaussianSplatGeometry( centers, covariances, colorBytes, sphericalHarmonicsBands );
+
+}
+
+function readSphericalHarmonics( bytes, offset, count, degree, sphericalHarmonics, storedDegree = degree ) {
+
+	if ( degree === 0 ) return;
+
+	const bands = [];
+
+	for ( let band = 1; band <= degree; band ++ ) {
+
+		const packed = createPackedSphericalHarmonicsBand( count, band );
+		sphericalHarmonics[ `sh${ band }` ] = packed.packed;
+		bands.push( {
+			bytes: packed.bytes,
+			components: SH_BAND_COMPONENTS[ band ],
+			stride: SH_BAND_WORDS[ band ] * 4
+		} );
+
+	}
+
+	const sourceStride = SH_DEGREE_TO_VECTORS[ storedDegree ] * 3;
+
+	for ( let i = 0; i < count; i ++ ) {
+
+		const sourceOffset = offset + i * sourceStride;
+		let bandOffset = sourceOffset;
+
+		for ( let bandIndex = 0; bandIndex < bands.length; bandIndex ++ ) {
+
+			const band = bands[ bandIndex ];
+			const targetOffset = i * band.stride;
+
+			for ( let j = 0; j < band.components; j ++ ) {
+
+				band.bytes[ targetOffset + j ] = bytes[ bandOffset ++ ];
+
+			}
+
+		}
+
+	}
+
+}
+
+function readCenters( bytes, centers, offset, count, version, fractionalBits ) {
+
+	if ( version === 1 ) {
+
+		for ( let i = 0; i < count; i ++ ) {
+
+			const i3 = i * 3;
+			const rowOffset = offset + i3 * 2;
+
+			centers[ i3 ] = DataUtils.fromHalfFloat( bytes[ rowOffset ] | ( bytes[ rowOffset + 1 ] << 8 ) );
+			centers[ i3 + 1 ] = DataUtils.fromHalfFloat( bytes[ rowOffset + 2 ] | ( bytes[ rowOffset + 3 ] << 8 ) );
+			centers[ i3 + 2 ] = DataUtils.fromHalfFloat( bytes[ rowOffset + 4 ] | ( bytes[ rowOffset + 5 ] << 8 ) );
+
+		}
+
+		return;
+
+	}
+
+	const fixedScale = 1 / ( 1 << fractionalBits );
+
+	for ( let i = 0; i < count; i ++ ) {
+
+		const i3 = i * 3;
+		const rowOffset = offset + i * 9;
+
+		centers[ i3 ] = readInt24( bytes, rowOffset ) * fixedScale;
+		centers[ i3 + 1 ] = readInt24( bytes, rowOffset + 3 ) * fixedScale;
+		centers[ i3 + 2 ] = readInt24( bytes, rowOffset + 6 ) * fixedScale;
+
+	}
+
+}
+
+function readInt24( bytes, offset ) {
+
+	// The left shift by 8 followed by an arithmetic right shift sign-extends
+	// the 24-bit value.
+	return ( ( bytes[ offset ] << 8 ) | ( bytes[ offset + 1 ] << 16 ) | ( bytes[ offset + 2 ] << 24 ) ) >> 8;
+
+}
+
+function readXYZQuaternion( bytes, offset, target ) {
+
+	const qx = bytes[ offset ] / 127.5 - 1;
+	const qy = bytes[ offset + 1 ] / 127.5 - 1;
+	const qz = bytes[ offset + 2 ] / 127.5 - 1;
+
+	target[ 0 ] = qx;
+	target[ 1 ] = qy;
+	target[ 2 ] = qz;
+	target[ 3 ] = Math.sqrt( Math.max( 0, 1 - qx * qx - qy * qy - qz * qz ) );
+
+}
+
+function readSmallestThreeQuaternion( packed, target ) {
+
+	const largestIndex = packed >>> 30;
+
+	// The three smallest components are packed from the lowest bits upward,
+	// filling the non-largest indices in descending order: the low 10 bits go
+	// to the highest remaining index, the top 10 bits to the lowest.
+	const a = QUAT_COMPONENT_LUT[ packed & 1023 ];
+	const b = QUAT_COMPONENT_LUT[ ( packed >>> 10 ) & 1023 ];
+	const c = QUAT_COMPONENT_LUT[ ( packed >>> 20 ) & 1023 ];
+
+	switch ( largestIndex ) {
+
+		case 0:
+			target[ 1 ] = c; target[ 2 ] = b; target[ 3 ] = a;
+			break;
+		case 1:
+			target[ 0 ] = c; target[ 2 ] = b; target[ 3 ] = a;
+			break;
+		case 2:
+			target[ 0 ] = c; target[ 1 ] = b; target[ 3 ] = a;
+			break;
+		default:
+			target[ 0 ] = c; target[ 1 ] = b; target[ 2 ] = a;
+			break;
+
+	}
+
+	target[ largestIndex ] = Math.sqrt( Math.max( 0, 1 - ( a * a + b * b + c * c ) ) );
+
+}
+
+export { SPZLoader };