@holoscript/core 6.0.4 → 6.1.2

package/dist/{chunk-UERJ3YJV.js → chunk-S5IFXW6E.js}

@@ -1,7 +1,7 @@
-import { init_DomainBlockCompilerMixin, compileDomainBlocks, compileWeatherBlock, compileAudioSourceBlock, compilePhysicsBlock, physicsToSDF, compileMaterialBlock, materialToSDF } from './chunk-YQK5JNFK.js';
-import { init_CompilerBase, CompilerBase } from './chunk-6XSERL6L.js';
-import { __export, __esm } from './chunk-2CWOLHTE.js';
-import { ANSCapabilityPath } from '@holoscript/platform';
+import { init_DomainBlockCompilerMixin, compileDomainBlocks, compileWeatherBlock, compileAudioSourceBlock, compilePhysicsBlock, physicsToSDF, compileMaterialBlock, materialToSDF } from './chunk-W55Z7QIX.js';
+import { init_CompilerBase, CompilerBase } from './chunk-QTPMJRGS.js';
+import { __export, __esm } from './chunk-OL46QLBJ.js';
+import { ANSCapabilityPath } from '@holoscript/core-types/ans';
 
 // src/compiler/SDFCompiler.ts
 var SDFCompiler_exports = {};
@@ -23,6 +23,7 @@ var init_SDFCompiler = __esm({
         this.options = {
           worldName: options.worldName || "holoscript_world",
           sdfVersion: options.sdfVersion || "1.8",
+          gazeboVersion: options.gazeboVersion ?? "classic",
           includePhysics: options.includePhysics ?? true,
           physicsEngine: options.physicsEngine || "ode",
           realTimeFactor: options.realTimeFactor ?? 1,
@@ -50,6 +51,9 @@ var init_SDFCompiler = __esm({
         if (this.options.includePhysics) {
           this.emitPhysics();
         }
+        if (this.options.gazeboVersion === "harmonic") {
+          this.emitGzSimPlugins();
+        }
         if (this.options.includeScene) {
           this.emitScene(composition.environment);
         }
@@ -71,6 +75,14 @@ var init_SDFCompiler = __esm({
           }
         }
         this.emitSDFDomainBlocks(composition);
+        if (composition.objects) {
+          for (const obj of composition.objects) {
+            const parent = this.extractParent(obj);
+            if (parent) {
+              this.emitJoint(obj, parent);
+            }
+          }
+        }
         this.indentLevel--;
         this.emit("</world>");
         this.indentLevel--;
@@ -189,6 +201,60 @@ ${layers}`;
         this.emit("</scene>");
         this.emit("");
       }
+      emitGzSimPlugins() {
+        this.emit("<!-- gz-sim system plugins (Harmonic) -->");
+        this.emit(`<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system">`);
+        this.indentLevel++;
+        this.emit(`<engine>${this.options.physicsEngine}</engine>`);
+        this.indentLevel--;
+        this.emit("</plugin>");
+        this.emit(`<plugin name="gz::sim::systems::Sensors" filename="gz-sim-sensors-system">`);
+        this.indentLevel++;
+        this.emit("<render_engine>ogre2</render_engine>");
+        this.indentLevel--;
+        this.emit("</plugin>");
+        this.emit('<plugin name="gz::sim::systems::SceneBroadcaster" filename="gz-sim-scene-broadcaster-system" />');
+        this.emit('<plugin name="gz::sim::systems::Contact" filename="gz-sim-contact-system" />');
+        this.emit('<plugin name="gz::sim::systems::Imu" filename="gz-sim-imu-system" />');
+        this.emit('<plugin name="gz::sim::systems::JointStatePublisher" filename="gz-sim-joint-state-publisher-system" />');
+        this.emit("");
+      }
+      calculateInertia(geometry, mass, scale) {
+        switch (geometry) {
+          case "sphere": {
+            const r = scale / 2;
+            const i = 2 / 5 * mass * r * r;
+            return { ixx: i, ixy: 0, ixz: 0, iyy: i, iyz: 0, izz: i };
+          }
+          case "cylinder": {
+            const r = scale / 2;
+            const l = scale;
+            const ixx = mass * (3 * r * r + l * l) / 12;
+            const iyy = ixx;
+            const izz = mass * r * r / 2;
+            return { ixx, ixy: 0, ixz: 0, iyy, iyz: 0, izz };
+          }
+          case "capsule": {
+            const r = scale / 3;
+            const l = scale;
+            const ixx = mass * (3 * r * r + l * l) / 12;
+            const iyy = ixx;
+            const izz = mass * r * r / 2;
+            return { ixx, ixy: 0, ixz: 0, iyy, iyz: 0, izz };
+          }
+          case "box":
+          case "cube":
+          default: {
+            const w = scale;
+            const h = scale;
+            const d = scale;
+            const ixx = mass * (h * h + d * d) / 12;
+            const iyy = mass * (w * w + d * d) / 12;
+            const izz = mass * (w * w + h * h) / 12;
+            return { ixx, ixy: 0, ixz: 0, iyy, iyz: 0, izz };
+          }
+        }
+      }
       emitGroundPlane() {
         this.emit('<model name="ground_plane">');
         this.indentLevel++;
@@ -309,14 +375,20 @@ ${layers}`;
         this.indentLevel++;
         if (!isStatic) {
           const mass = this.extractMass(obj) || 1;
+          const geometry = this.extractGeometry(obj);
+          const scale = this.extractScale(obj);
+          const inertia = this.calculateInertia(geometry, mass, scale);
           this.emit("<inertial>");
           this.indentLevel++;
           this.emit(`<mass>${mass}</mass>`);
           this.emit("<inertia>");
           this.indentLevel++;
-          this.emit(`<ixx>${mass * 0.1}</ixx><ixy>0</ixy><ixz>0</ixz>`);
-          this.emit(`<iyy>${mass * 0.1}</iyy><iyz>0</iyz>`);
-          this.emit(`<izz>${mass * 0.1}</izz>`);
+          this.emit(`<ixx>${inertia.ixx.toExponential(6)}</ixx>`);
+          this.emit(`<ixy>${inertia.ixy.toExponential(6)}</ixy>`);
+          this.emit(`<ixz>${inertia.ixz.toExponential(6)}</ixz>`);
+          this.emit(`<iyy>${inertia.iyy.toExponential(6)}</iyy>`);
+          this.emit(`<iyz>${inertia.iyz.toExponential(6)}</iyz>`);
+          this.emit(`<izz>${inertia.izz.toExponential(6)}</izz>`);
           this.indentLevel--;
           this.emit("</inertia>");
           this.indentLevel--;
@@ -438,6 +510,8 @@ ${layers}`;
         return colorProp ? this.getStringValue(colorProp.value) : void 0;
       }
       extractMass(obj) {
+        const massProp = obj.properties.find((p) => p.key === "mass");
+        if (massProp && typeof massProp.value === "number") return massProp.value;
         const physicsProp = obj.properties.find((p) => p.key === "physics");
         if (physicsProp && typeof physicsProp.value === "object" && !Array.isArray(physicsProp.value)) {
           const massEntry = physicsProp.value.mass;
@@ -445,6 +519,36 @@ ${layers}`;
         }
         return void 0;
       }
+      extractGeometry(obj) {
+        const geometryProp = obj.properties.find((p) => p.key === "geometry");
+        return geometryProp ? this.getStringValue(geometryProp.value) : "box";
+      }
+      extractParent(obj) {
+        const parentProp = obj.properties.find((p) => p.key === "parent");
+        return parentProp ? this.getStringValue(parentProp.value) : void 0;
+      }
+      emitJoint(obj, parentName) {
+        const jointTypeProp = obj.properties.find((p) => p.key === "joint_type");
+        const jointType = jointTypeProp ? this.getStringValue(jointTypeProp.value) : "fixed";
+        const name = this.sanitizeName(obj.name);
+        const parent = this.sanitizeName(parentName);
+        this.emit(`<joint name="${name}_joint" type="${jointType}">`);
+        this.indentLevel++;
+        this.emit(`<parent>${parent}</parent>`);
+        this.emit(`<child>${name}</child>`);
+        const axisProp = obj.properties.find((p) => p.key === "axis");
+        if (axisProp && Array.isArray(axisProp.value)) {
+          const axis = axisProp.value.map((v) => Number(v) || 0).join(" ");
+          this.emit(`<axis>`);
+          this.indentLevel++;
+          this.emit(`<xyz>${axis}</xyz>`);
+          this.indentLevel--;
+          this.emit(`</axis>`);
+        }
+        this.indentLevel--;
+        this.emit("</joint>");
+        this.emit("");
+      }
       mapLightType(type) {
         switch (type) {
           case "point":
@@ -500,5 +604,5 @@ ${layers}`;
 });
 
 export { SDFCompiler, SDFCompiler_default, SDFCompiler_exports, init_SDFCompiler };
-//# sourceMappingURL=chunk-UERJ3YJV.js.map
-//# sourceMappingURL=chunk-UERJ3YJV.js.map
+//# sourceMappingURL=chunk-S5IFXW6E.js.map
+//# sourceMappingURL=chunk-S5IFXW6E.js.map

package/dist/{chunk-27LWW5FU.cjs → chunk-S6YWHCKV.cjs}

@@ -384,11 +384,11 @@ float snoise(vec2 v) {
                       -0.577350269189626, 0.024390243902439);
   vec2 i = floor(v + dot(v, C.yy));
   vec2 x0 = v - i + dot(i, C.xx);
-  vec2 i1 = (x0.x > x0.y) ? vec2(1.0, 0.0) : vec2(0.0, 1.0);
+  vec2 i1 = (x0[0] > x0[1]) ? vec2(1.0, 0.0) : vec2(0.0, 1.0);
   vec4 x12 = x0.xyxy + C.xxzz;
   x12.xy -= i1;
   i = mod289_n(i);
-  vec3 p = permute_n(permute_n(i.y + vec3(0.0, i1.y, 1.0)) + i.x + vec3(0.0, i1.x, 1.0));
+  vec3 p = permute_n(permute_n(i[1] + vec3(0.0, i1[1], 1.0)) + i[0] + vec3(0.0, i1[0], 1.0));
   vec3 m = max(0.5 - vec3(dot(x0,x0), dot(x12.xy,x12.xy), dot(x12.zw,x12.zw)), 0.0);
   m = m*m; m = m*m;
   vec3 x = 2.0 * fract(p * C.www) - 1.0;
@@ -397,7 +397,7 @@ float snoise(vec2 v) {
   vec3 a0 = x - ox;
   m *= 1.79284291400159 - 0.85373472095314 * (a0*a0 + h*h);
   vec3 g;
-  g.x = a0.x * x0.x + h.x * x0.y;
+  g[0] = a0[0] * x0[0] + h[0] * x0[1];
   g.yz = a0.yz * x12.xz + h.yz * x12.yw;
   return 130.0 * dot(m, g);
 }`.trim();
@@ -406,5 +406,5 @@ var NodeToyMapping_default = mapNodeToyToShader;
 exports.NodeToyMapper = NodeToyMapper;
 exports.NodeToyMapping_default = NodeToyMapping_default;
 exports.mapNodeToyToShader = mapNodeToyToShader;
-//# sourceMappingURL=chunk-27LWW5FU.cjs.map
-//# sourceMappingURL=chunk-27LWW5FU.cjs.map
+//# sourceMappingURL=chunk-S6YWHCKV.cjs.map
+//# sourceMappingURL=chunk-S6YWHCKV.cjs.map

package/dist/{chunk-WB4Z63GG.js → chunk-SIEXCILW.js}

@@ -1,4 +1,4 @@
-import { __esm } from './chunk-2CWOLHTE.js';
+import { __esm } from './chunk-OL46QLBJ.js';
 
 // src/traits/constants/mobile/ios-object-capture.ts
 var IOS_OBJECT_CAPTURE_TRAITS;
@@ -225,5 +225,5 @@ var init_roomplan = __esm({
 });
 
 export { AIRPODS_SPATIAL_AUDIO_TRAITS, FACE_TRACKING_TRAITS, IOS_OBJECT_CAPTURE_TRAITS, LIDAR_SCANNER_TRAITS, ROOMPLAN_TRAITS, SHAREPLAY_TRAITS, UWB_POSITIONING_TRAITS, init_airpods_spatial_audio, init_face_tracking, init_ios_object_capture, init_lidar_scanner, init_roomplan, init_shareplay, init_uwb_positioning };
-//# sourceMappingURL=chunk-WB4Z63GG.js.map
-//# sourceMappingURL=chunk-WB4Z63GG.js.map
+//# sourceMappingURL=chunk-SIEXCILW.js.map
+//# sourceMappingURL=chunk-SIEXCILW.js.map

package/dist/{chunk-CLYEIWA5.cjs → chunk-SLU6UPJI.cjs}

@@ -1,5 +1,6 @@
 'use strict';
 
+var chunkE7JP3BS3_cjs = require('./chunk-E7JP3BS3.cjs');
 var path = require('path');
 var fs = require('fs');
 
@@ -25,6 +26,7 @@ var path__namespace = /*#__PURE__*/_interopNamespace(path);
 var fs__namespace = /*#__PURE__*/_interopNamespace(fs);
 
 // src/interop/Interoperability.ts
+chunkE7JP3BS3_cjs.init_safeJsonParse();
 var ModuleResolver = class {
   constructor(basePath = process.cwd()) {
     this.cache = /* @__PURE__ */ new Map();
@@ -79,7 +81,7 @@ var ModuleResolver = class {
       }
       const packageJsonPath = path__namespace.join(nodeModulesPath, "package.json");
       if (fs__namespace.existsSync(packageJsonPath)) {
-        const packageJson = JSON.parse(fs__namespace.readFileSync(packageJsonPath, "utf-8"));
+        const packageJson = chunkE7JP3BS3_cjs.readJson(fs__namespace.readFileSync(packageJsonPath, "utf-8"));
         return this.findModuleFile(path__namespace.join(nodeModulesPath, packageJson.main || "index.js"));
       }
       current = path__namespace.dirname(current);
@@ -404,5 +406,5 @@ exports.ExportImportHandler = ExportImportHandler;
 exports.InteropContext = InteropContext;
 exports.ModuleResolver = ModuleResolver;
 exports.TypeScriptTypeLoader = TypeScriptTypeLoader;
-//# sourceMappingURL=chunk-CLYEIWA5.cjs.map
-//# sourceMappingURL=chunk-CLYEIWA5.cjs.map
+//# sourceMappingURL=chunk-SLU6UPJI.cjs.map
+//# sourceMappingURL=chunk-SLU6UPJI.cjs.map