@holoscript/core 6.0.4 → 6.1.2

package/dist/{chunk-SDAMZIRE.js → chunk-MSMIFMBL.js}

@@ -1,6 +1,6 @@
-import { init_DomainBlockCompilerMixin, compileDomainBlocks, compileWeatherBlock, weatherToUSD, compileAudioSourceBlock, audioSourceToUSD, compilePostProcessingBlock, postProcessingToUSD, compileParticleBlock, particlesToUSD, compilePhysicsBlock, physicsToURDF, compileMaterialBlock, materialToUSD } from './chunk-YQK5JNFK.js';
-import { init_CompilerBase, CompilerBase } from './chunk-6XSERL6L.js';
-import { ANSCapabilityPath } from '@holoscript/platform';
+import { init_DomainBlockCompilerMixin, compileDomainBlocks, compileWeatherBlock, weatherToUSD, compileAudioSourceBlock, audioSourceToUSD, compilePostProcessingBlock, postProcessingToUSD, compileParticleBlock, particlesToUSD, compilePhysicsBlock, physicsToURDF, compileMaterialBlock, materialToUSD } from './chunk-W55Z7QIX.js';
+import { init_CompilerBase, CompilerBase } from './chunk-QTPMJRGS.js';
+import { ANSCapabilityPath } from '@holoscript/core-types/ans';
 
 // src/compiler/USDPhysicsCompiler.ts
 init_CompilerBase();
@@ -10,6 +10,8 @@ var USDPhysicsCompiler = class extends CompilerBase {
     super();
     this.compilerName = "USDPhysicsCompiler";
     this.lines = [];
+    /** Root composition name, set during compile() for USD path resolution. */
+    this.compositionName = "World";
     this.indentLevel = 0;
     this.prims = [];
     this.joints = [];
@@ -30,7 +32,10 @@ var USDPhysicsCompiler = class extends CompilerBase {
       defaultStaticFriction: options.defaultStaticFriction ?? 0.5,
       defaultDynamicFriction: options.defaultDynamicFriction ?? 0.5,
       defaultRestitution: options.defaultRestitution ?? 0.1,
-      enableArticulation: options.enableArticulation ?? true
+      enableArticulation: options.enableArticulation ?? true,
+      targetContext: options.targetContext ?? "isaac_sim",
+      embedSemanticAST: options.embedSemanticAST ?? true,
+      provenanceHash: options.provenanceHash ?? ""
     };
   }
   getRequiredCapability() {
@@ -206,6 +211,7 @@ var USDPhysicsCompiler = class extends CompilerBase {
    */
   compile(composition, agentToken, outputPath) {
     this.validateCompilerAccess(agentToken, outputPath);
+    this.compositionName = this.sanitizeName(composition.name);
     this.lines = [];
     this.prims = [];
     this.joints = [];
@@ -221,6 +227,10 @@ var USDPhysicsCompiler = class extends CompilerBase {
     this.emit(`)
 {`);
     this.indentLevel++;
+    if (this.options.embedSemanticAST) {
+      this.emitSemanticCustomData(composition);
+      this.emitBlank();
+    }
     if (this.options.includePhysicsScene) {
       this.emitPhysicsScene();
       this.emitBlank();
@@ -295,22 +305,27 @@ var USDPhysicsCompiler = class extends CompilerBase {
   // HEADER EMISSION
   // ===========================================================================
   emitHeader(name) {
+    const runtimeLabel = this.options.targetContext === "isaac_sim" ? "NVIDIA Isaac Sim / Isaac Lab" : this.options.targetContext === "omniverse" ? "NVIDIA Omniverse" : "Generic USD Runtime";
     this.emit(`#usda 1.0`);
     this.emit(`(`);
     this.indentLevel++;
     this.emit(`defaultPrim = "${this.sanitizeName(name)}"`);
-    this.emit(`doc = "Generated by HoloScript USDPhysicsCompiler for NVIDIA Isaac Sim"`);
+    this.emit(`doc = "Generated by HoloScript USDPhysicsCompiler for ${runtimeLabel}"`);
     this.emit(`metersPerUnit = ${this.options.metersPerUnit}`);
     this.emit(`upAxis = "${this.options.upAxis}"`);
     this.emit(`timeCodesPerSecond = ${this.options.timeCodesPerSecond}`);
     this.emit(`customLayerData = {`);
     this.indentLevel++;
-    this.emit(`string generator = "HoloScript v3.0"`);
-    this.emit(`string targetRuntime = "Isaac Sim / Omniverse"`);
+    this.emit(`string generator = "HoloScript v6.0"`);
+    this.emit(`string targetRuntime = "${runtimeLabel}"`);
+    this.emit(`string holoscript:targetContext = "${this.options.targetContext}"`);
     this.indentLevel--;
     this.emit(`}`);
     this.indentLevel--;
     this.emit(`)`);
+    if (this.options.provenanceHash) {
+      this.emit(`# Provenance Hash: ${this.options.provenanceHash}`);
+    }
   }
   // ===========================================================================
   // PHYSICS SCENE
@@ -428,10 +443,18 @@ var USDPhysicsCompiler = class extends CompilerBase {
         `double3 xformOp:translate = (${prim.translation[0]}, ${prim.translation[1]}, ${prim.translation[2]})`
       );
     }
+    const useEulerRotation = this.options.targetContext === "isaac_sim";
     if (prim.rotation && !this.isIdentityQuaternion(prim.rotation)) {
-      this.emit(
-        `quatd xformOp:orient = (${prim.rotation[3]}, ${prim.rotation[0]}, ${prim.rotation[1]}, ${prim.rotation[2]})`
-      );
+      if (useEulerRotation) {
+        const euler = this.quaternionToEulerDegrees(prim.rotation);
+        this.emit(
+          `float3 xformOp:rotateXYZ = (${euler[0].toFixed(4)}, ${euler[1].toFixed(4)}, ${euler[2].toFixed(4)})`
+        );
+      } else {
+        this.emit(
+          `quatd xformOp:orient = (${prim.rotation[3]}, ${prim.rotation[0]}, ${prim.rotation[1]}, ${prim.rotation[2]})`
+        );
+      }
     }
     if (prim.scale && !this.isUniformScale(prim.scale)) {
       this.emit(`double3 xformOp:scale = (${prim.scale[0]}, ${prim.scale[1]}, ${prim.scale[2]})`);
@@ -440,7 +463,9 @@ var USDPhysicsCompiler = class extends CompilerBase {
     if (hasTransform) {
       const ops = [];
       if (prim.translation) ops.push('"xformOp:translate"');
-      if (prim.rotation && !this.isIdentityQuaternion(prim.rotation)) ops.push('"xformOp:orient"');
+      if (prim.rotation && !this.isIdentityQuaternion(prim.rotation)) {
+        ops.push(useEulerRotation ? '"xformOp:rotateXYZ"' : '"xformOp:orient"');
+      }
       if (prim.scale && !this.isUniformScale(prim.scale)) ops.push('"xformOp:scale"');
       this.emit(`uniform token[] xformOpOrder = [${ops.join(", ")}]`);
     }
@@ -487,6 +512,20 @@ var USDPhysicsCompiler = class extends CompilerBase {
         this.emitBlank();
         this.emit(`# PhysicsCollisionAPI`);
         this.emit(`bool physics:collisionEnabled = ${api.collisionEnabled}`);
+        if (api.collisionShape) {
+          this.emit(`token physics:collisionShape = "${api.collisionShape}"`);
+        }
+        if (api.collisionSize) {
+          this.emit(
+            `float3 physics:collisionSize = (${api.collisionSize[0]}, ${api.collisionSize[1]}, ${api.collisionSize[2]})`
+          );
+        }
+        if (api.collisionRadius !== void 0) {
+          this.emit(`float physics:collisionRadius = ${api.collisionRadius}`);
+        }
+        if (api.collisionHeight !== void 0) {
+          this.emit(`float physics:collisionHeight = ${api.collisionHeight}`);
+        }
         break;
       case "PhysicsMassAPI":
         this.emitBlank();
@@ -655,10 +694,23 @@ var USDPhysicsCompiler = class extends CompilerBase {
       });
     }
     if (hasCollider || hasPhysics) {
-      apis.push({
+      const collisionApi = {
         type: "PhysicsCollisionAPI",
         collisionEnabled: true
-      });
+      };
+      if (geometry && geometry.type !== "Reference") {
+        collisionApi.collisionShape = geometry.type;
+        if (geometry.size) {
+          collisionApi.collisionSize = geometry.size;
+        }
+        if (geometry.radius !== void 0) {
+          collisionApi.collisionRadius = geometry.radius;
+        }
+        if (geometry.type === "Cylinder" || geometry.type === "Capsule" || geometry.type === "Cone") {
+          collisionApi.collisionHeight = scale[1];
+        }
+      }
+      apis.push(collisionApi);
     }
     if (hasPhysics) {
       const mass = physicsConfig.mass ?? this.options.defaultMass;
@@ -675,13 +727,16 @@ var USDPhysicsCompiler = class extends CompilerBase {
     }
     if (jointConfig) {
       const jointType = this.mapJointType(String(jointConfig.type || "fixed"));
-      const parentBody = String(jointConfig.connectedBody || "base_link");
+      const rawParentBody = String(jointConfig.connectedBody || "");
+      const articulationRoot = `/${this.compositionName}`;
+      const body0Path = rawParentBody ? rawParentBody.startsWith("/") ? rawParentBody : `${articulationRoot}/${this.sanitizeName(rawParentBody)}` : articulationRoot;
+      const body1Path = `/${this.compositionName}/${this.sanitizeName(name)}`;
       const axis = this.mapAxis(jointConfig.axis);
       const joint = {
         type: "PhysicsJoint",
         jointType,
-        body0: parentBody,
-        body1: `RobotArticulation/${name}`,
+        body0: body0Path,
+        body1: body1Path,
         axis
       };
       if (jointConfig.lowerLimit !== void 0 || jointConfig.upperLimit !== void 0) {
@@ -742,6 +797,68 @@ var USDPhysicsCompiler = class extends CompilerBase {
     prims.push(groupPrim);
     return prims;
   }
+  // ===========================================================================
+  // SEMANTIC AST EMBEDDING (Metaverse Standards Forum interoperability)
+  // ===========================================================================
+  /**
+   * Emit a `customData` block on the root Xform carrying a compact
+   * representation of the HoloScript semantic AST.
+   *
+   * This enables downstream consumers (Omniverse extensions, Isaac Lab
+   * pipelines, or any USD-aware tool) to read the original behavioral
+   * intent without needing a HoloScript parser.
+   *
+   * The payload follows the MSF 3D Asset Interoperability WG recommendation
+   * of placing behavioral metadata in `customData` (USD) or `extras` (glTF).
+   */
+  emitSemanticCustomData(composition) {
+    this.emit(`# HoloScript Semantic AST (MSF Interoperability)`);
+    this.emit(`customData = {`);
+    this.indentLevel++;
+    this.emit(`string holoscript:version = "6.0"`);
+    this.emit(`string holoscript:compositionName = "${this.escapeStringValue(composition.name, "USD")}"`);
+    const objectNames = (composition.objects || []).map((o) => o.name);
+    if (objectNames.length > 0) {
+      const namesStr = objectNames.map((n) => `"${this.escapeStringValue(n, "USD")}"`).join(", ");
+      this.emit(`string[] holoscript:objects = [${namesStr}]`);
+    }
+    const allTraits = /* @__PURE__ */ new Set();
+    for (const obj of composition.objects || []) {
+      for (const trait of obj.traits || []) {
+        const tName = typeof trait === "string" ? trait : trait.name;
+        allTraits.add(tName);
+      }
+    }
+    if (allTraits.size > 0) {
+      const traitsStr = [...allTraits].map((t) => `"${this.escapeStringValue(t, "USD")}"`).join(", ");
+      this.emit(`string[] holoscript:traits = [${traitsStr}]`);
+    }
+    const groupNames = (composition.spatialGroups || []).map((g) => g.name);
+    if (groupNames.length > 0) {
+      const groupsStr = groupNames.map((n) => `"${this.escapeStringValue(n, "USD")}"`).join(", ");
+      this.emit(`string[] holoscript:spatialGroups = [${groupsStr}]`);
+    }
+    this.emit(`string holoscript:targetContext = "${this.options.targetContext}"`);
+    this.indentLevel--;
+    this.emit(`}`);
+  }
+  /**
+   * Convert a quaternion (x, y, z, w) back to Euler angles in degrees.
+   * Used when targetContext === 'isaac_sim' requires rotateXYZ ops.
+   */
+  quaternionToEulerDegrees(q) {
+    const [x, y, z, w] = q;
+    const RAD2DEG = 180 / Math.PI;
+    const sinr_cosp = 2 * (w * x + y * z);
+    const cosr_cosp = 1 - 2 * (x * x + y * y);
+    const roll = Math.atan2(sinr_cosp, cosr_cosp) * RAD2DEG;
+    const sinp = 2 * (w * y - z * x);
+    const pitch = Math.abs(sinp) >= 1 ? Math.sign(sinp) * 90 : Math.asin(sinp) * RAD2DEG;
+    const siny_cosp = 2 * (w * z + x * y);
+    const cosy_cosp = 1 - 2 * (y * y + z * z);
+    const yaw = Math.atan2(siny_cosp, cosy_cosp) * RAD2DEG;
+    return [roll, pitch, yaw];
+  }
 };
 function compileToUSDPhysics(composition, options) {
   const compiler = new USDPhysicsCompiler(options);
@@ -761,5 +878,5 @@ function compileForIsaacSim(composition, options) {
 }
 
 export { USDPhysicsCompiler, compileForIsaacSim, compileToUSDPhysics };
-//# sourceMappingURL=chunk-SDAMZIRE.js.map
-//# sourceMappingURL=chunk-SDAMZIRE.js.map
+//# sourceMappingURL=chunk-MSMIFMBL.js.map
+//# sourceMappingURL=chunk-MSMIFMBL.js.map

package/dist/{chunk-56IF4NTA.js → chunk-MXFUTKCO.js}

@@ -9,48 +9,48 @@ 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];
 }
 
 export { vec3Add, vec3Cross, vec3CrossArray, vec3Distance, vec3Dot, vec3Length, vec3Normalize, vec3NormalizeInPlace, vec3Scale, vec3ScaleArray, vec3Sub, vec3SubArray };
-//# sourceMappingURL=chunk-56IF4NTA.js.map
-//# sourceMappingURL=chunk-56IF4NTA.js.map
+//# sourceMappingURL=chunk-MXFUTKCO.js.map
+//# sourceMappingURL=chunk-MXFUTKCO.js.map