@holoscript/core 6.0.3 → 6.1.1

package/dist/{chunk-3FYZOR7S.cjs → chunk-ZDSYWBIE.cjs}

@@ -11,46 +11,46 @@ function vec3NormalizeInPlace(v) {
   return len;
 }
 function vec3Normalize(v) {
-  const len = Math.sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
-  if (len === 0) return { x: 0, y: 0, z: 0 };
-  return { x: v.x / len, y: v.y / len, z: v.z / len };
+  const len = Math.sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
+  if (len === 0) return [0, 0, 0];
+  return [v[0] / len, v[1] / len, v[2] / len];
 }
 function vec3Length(v) {
-  return Math.sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
+  return Math.sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
 }
 function vec3Cross(a, b) {
-  return {
-    x: a.y * b.z - a.z * b.y,
-    y: a.z * b.x - a.x * b.z,
-    z: a.x * b.y - a.y * b.x
-  };
+  return [
+    a[1] * b[2] - a[2] * b[1],
+    a[2] * b[0] - a[0] * b[2],
+    a[0] * b[1] - a[1] * b[0]
+  ];
 }
 function vec3CrossArray(a, b) {
   return [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];
 }
 function vec3Sub(a, b) {
-  return { x: a.x - b.x, y: a.y - b.y, z: a.z - b.z };
+  return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
 }
 function vec3SubArray(a, b) {
   return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
 }
 function vec3Add(a, b) {
-  return { x: a.x + b.x, y: a.y + b.y, z: a.z + b.z };
+  return [a[0] + b[0], a[1] + b[1], a[2] + b[2]];
 }
 function vec3Scale(v, s) {
-  return { x: v.x * s, y: v.y * s, z: v.z * s };
+  return [v[0] * s, v[1] * s, v[2] * s];
 }
 function vec3ScaleArray(v, s) {
   return [v[0] * s, v[1] * s, v[2] * s];
 }
 function vec3Distance(a, b) {
-  const dx = b.x - a.x;
-  const dy = b.y - a.y;
-  const dz = b.z - a.z;
+  const dx = b[0] - a[0];
+  const dy = b[1] - a[1];
+  const dz = b[2] - a[2];
   return Math.sqrt(dx * dx + dy * dy + dz * dz);
 }
 function vec3Dot(a, b) {
-  return a.x * b.x + a.y * b.y + a.z * b.z;
+  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
 }
 
 exports.vec3Add = vec3Add;
@@ -65,5 +65,5 @@ exports.vec3Scale = vec3Scale;
 exports.vec3ScaleArray = vec3ScaleArray;
 exports.vec3Sub = vec3Sub;
 exports.vec3SubArray = vec3SubArray;
-//# sourceMappingURL=chunk-3FYZOR7S.cjs.map
-//# sourceMappingURL=chunk-3FYZOR7S.cjs.map
+//# sourceMappingURL=chunk-ZDSYWBIE.cjs.map
+//# sourceMappingURL=chunk-ZDSYWBIE.cjs.map

package/dist/{chunk-CQDOF3G7.cjs → chunk-ZKSS47EV.cjs}

@@ -1,21 +1,26 @@
 'use strict';
 
-var chunkHHS6FMOU_cjs = require('./chunk-HHS6FMOU.cjs');
-var chunkQHVVVN47_cjs = require('./chunk-QHVVVN47.cjs');
-var chunkEGIZHYJP_cjs = require('./chunk-EGIZHYJP.cjs');
+var chunkHGVXZDSK_cjs = require('./chunk-HGVXZDSK.cjs');
+var chunkRMHC2VG7_cjs = require('./chunk-RMHC2VG7.cjs');
+var chunkHCCQLAA4_cjs = require('./chunk-HCCQLAA4.cjs');
+var ans = require('@holoscript/core-types/ans');
 
 // src/compiler/URDFCompiler.ts
 var URDFCompiler_exports = {};
-chunkEGIZHYJP_cjs.__export(URDFCompiler_exports, {
+chunkHCCQLAA4_cjs.__export(URDFCompiler_exports, {
   URDFCompiler: () => exports.URDFCompiler,
   compileForGazebo: () => compileForGazebo,
   compileForIsaacSim: () => compileForIsaacSim,
   compileForROS2: () => compileForROS2,
   compileToURDF: () => compileToURDF,
+  createURDFCompiler: () => createURDFCompiler,
   default: () => exports.URDFCompiler_default,
   generateControllersYaml: () => generateControllersYaml,
   generateROS2LaunchFile: () => generateROS2LaunchFile
 });
+function createURDFCompiler(options) {
+  return new exports.URDFCompiler(options);
+}
 function compileToURDF(composition, options) {
   const compiler = new exports.URDFCompiler(options);
   return compiler.compile(composition);
@@ -198,12 +203,11 @@ function generateControllersYaml(robotName, jointNames, options) {
   return lines.join("\n");
 }
 exports.URDFCompiler = void 0; exports.URDFCompiler_default = void 0;
-var init_URDFCompiler = chunkEGIZHYJP_cjs.__esm({
+var init_URDFCompiler = chunkHCCQLAA4_cjs.__esm({
   "src/compiler/URDFCompiler.ts"() {
-    chunkQHVVVN47_cjs.init_CompilerBase();
-    chunkQHVVVN47_cjs.init_ANSNamespace();
-    chunkHHS6FMOU_cjs.init_DomainBlockCompilerMixin();
-    exports.URDFCompiler = class extends chunkQHVVVN47_cjs.CompilerBase {
+    chunkRMHC2VG7_cjs.init_CompilerBase();
+    chunkHGVXZDSK_cjs.init_DomainBlockCompilerMixin();
+    exports.URDFCompiler = class extends chunkRMHC2VG7_cjs.CompilerBase {
       constructor(options = {}) {
         super();
         this.compilerName = "URDFCompiler";
@@ -244,7 +248,7 @@ var init_URDFCompiler = chunkEGIZHYJP_cjs.__esm({
         };
       }
       getRequiredCapability() {
-        return chunkQHVVVN47_cjs.ANSCapabilityPath.URDF;
+        return ans.ANSCapabilityPath.URDF;
       }
       // ===========================================================================
       // HELPER METHODS
@@ -556,11 +560,11 @@ var init_URDFCompiler = chunkEGIZHYJP_cjs.__esm({
         if (domainBlocks.length === 0) return;
         this.emitBlank();
         this.emit("<!-- v4.2 Domain Blocks -->");
-        const compiled = chunkHHS6FMOU_cjs.compileDomainBlocks(
+        const compiled = chunkHGVXZDSK_cjs.compileDomainBlocks(
           domainBlocks,
           {
             material: (block) => {
-              const mat = chunkHHS6FMOU_cjs.compileMaterialBlock(block);
+              const mat = chunkHGVXZDSK_cjs.compileMaterialBlock(block);
               const lines = [];
               lines.push(
                 `<material name="${this.escapeStringValue(mat.name, "TypeScript")}">`
@@ -581,15 +585,15 @@ var init_URDFCompiler = chunkEGIZHYJP_cjs.__esm({
               return lines.join("\n");
             },
             physics: (block) => {
-              const phys = chunkHHS6FMOU_cjs.compilePhysicsBlock(block);
-              return chunkHHS6FMOU_cjs.physicsToURDF(phys);
+              const phys = chunkHGVXZDSK_cjs.compilePhysicsBlock(block);
+              return chunkHGVXZDSK_cjs.physicsToURDF(phys);
             },
             audio: (block) => {
-              const audio = chunkHHS6FMOU_cjs.compileAudioSourceBlock(block);
+              const audio = chunkHGVXZDSK_cjs.compileAudioSourceBlock(block);
               return `<!-- Audio: ${this.escapeStringValue(audio.name, "TypeScript")} (${audio.keyword}) clip="${audio.properties.clip || ""}" volume="${audio.properties.volume ?? 1}" -->`;
             },
             weather: (block) => {
-              const weather = chunkHHS6FMOU_cjs.compileWeatherBlock(block);
+              const weather = chunkHGVXZDSK_cjs.compileWeatherBlock(block);
               return `<!-- Weather: ${weather.keyword} "${weather.name || ""}" layers: ${weather.layers.map((l) => l.type).join(", ")} -->`;
             }
           },
@@ -692,7 +696,7 @@ var init_URDFCompiler = chunkEGIZHYJP_cjs.__esm({
           }
           if (jointConfig.axis) {
             const axis = jointConfig.axis;
-            joint.axis = [axis.x ?? 0, axis.y ?? 0, axis.z ?? 1];
+            joint.axis = Array.isArray(axis) ? [axis[0] ?? 0, axis[1] ?? 0, axis[2] ?? 1] : [axis[0] ?? 0, axis[1] ?? 0, axis[2] ?? 1];
           }
           if (jointConfig.limits && (joint.type === "revolute" || joint.type === "prismatic")) {
             const limitsConfig = jointConfig.limits;
@@ -1397,8 +1401,9 @@ exports.compileForGazebo = compileForGazebo;
 exports.compileForIsaacSim = compileForIsaacSim;
 exports.compileForROS2 = compileForROS2;
 exports.compileToURDF = compileToURDF;
+exports.createURDFCompiler = createURDFCompiler;
 exports.generateControllersYaml = generateControllersYaml;
 exports.generateROS2LaunchFile = generateROS2LaunchFile;
 exports.init_URDFCompiler = init_URDFCompiler;
-//# sourceMappingURL=chunk-CQDOF3G7.cjs.map
-//# sourceMappingURL=chunk-CQDOF3G7.cjs.map
+//# sourceMappingURL=chunk-ZKSS47EV.cjs.map
+//# sourceMappingURL=chunk-ZKSS47EV.cjs.map