@holoscript/core 6.0.4 → 6.1.2

package/dist/{chunk-EQV4R3EV.cjs → chunk-V73NPPTM.cjs}

@@ -1,17 +1,19 @@
 'use strict';
 
-var chunkLXJ4667L_cjs = require('./chunk-LXJ4667L.cjs');
-var chunkBF2235SI_cjs = require('./chunk-BF2235SI.cjs');
-var platform = require('@holoscript/platform');
+var chunkHGVXZDSK_cjs = require('./chunk-HGVXZDSK.cjs');
+var chunkRMHC2VG7_cjs = require('./chunk-RMHC2VG7.cjs');
+var ans = require('@holoscript/core-types/ans');
 
 // src/compiler/USDPhysicsCompiler.ts
-chunkBF2235SI_cjs.init_CompilerBase();
-chunkLXJ4667L_cjs.init_DomainBlockCompilerMixin();
-var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
+chunkRMHC2VG7_cjs.init_CompilerBase();
+chunkHGVXZDSK_cjs.init_DomainBlockCompilerMixin();
+var USDPhysicsCompiler = class extends chunkRMHC2VG7_cjs.CompilerBase {
   constructor(options = {}) {
     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 = [];
@@ -32,11 +34,14 @@ var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.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() {
-    return platform.ANSCapabilityPath.USD;
+    return ans.ANSCapabilityPath.USD;
   }
   // ===========================================================================
   // HELPER METHODS
@@ -208,6 +213,7 @@ var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
    */
   compile(composition, agentToken, outputPath) {
     this.validateCompilerAccess(agentToken, outputPath);
+    this.compositionName = this.sanitizeName(composition.name);
     this.lines = [];
     this.prims = [];
     this.joints = [];
@@ -223,6 +229,10 @@ var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
     this.emit(`)
 {`);
     this.indentLevel++;
+    if (this.options.embedSemanticAST) {
+      this.emitSemanticCustomData(composition);
+      this.emitBlank();
+    }
     if (this.options.includePhysicsScene) {
       this.emitPhysicsScene();
       this.emitBlank();
@@ -250,34 +260,34 @@ var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
     if (domainBlocks.length > 0) {
       this.emitBlank();
       this.emit(`# === v4.2 Domain Blocks ===`);
-      const compiled = chunkLXJ4667L_cjs.compileDomainBlocks(
+      const compiled = chunkHGVXZDSK_cjs.compileDomainBlocks(
         domainBlocks,
         {
           material: (block) => {
-            const mat = chunkLXJ4667L_cjs.compileMaterialBlock(block);
-            return chunkLXJ4667L_cjs.materialToUSD(mat);
+            const mat = chunkHGVXZDSK_cjs.compileMaterialBlock(block);
+            return chunkHGVXZDSK_cjs.materialToUSD(mat);
           },
           physics: (block) => {
-            const phys = chunkLXJ4667L_cjs.compilePhysicsBlock(block);
-            const urdf = chunkLXJ4667L_cjs.physicsToURDF(phys);
+            const phys = chunkHGVXZDSK_cjs.compilePhysicsBlock(block);
+            const urdf = chunkHGVXZDSK_cjs.physicsToURDF(phys);
             return `# Physics: ${phys.keyword} "${phys.name || ""}"
 ` + urdf.split("\n").map((l) => `# URDF: ${l}`).join("\n");
           },
           vfx: (block) => {
-            const ps = chunkLXJ4667L_cjs.compileParticleBlock(block);
-            return chunkLXJ4667L_cjs.particlesToUSD(ps);
+            const ps = chunkHGVXZDSK_cjs.compileParticleBlock(block);
+            return chunkHGVXZDSK_cjs.particlesToUSD(ps);
           },
           postfx: (block) => {
-            const pp = chunkLXJ4667L_cjs.compilePostProcessingBlock(block);
-            return chunkLXJ4667L_cjs.postProcessingToUSD(pp);
+            const pp = chunkHGVXZDSK_cjs.compilePostProcessingBlock(block);
+            return chunkHGVXZDSK_cjs.postProcessingToUSD(pp);
           },
           audio: (block) => {
-            const audio = chunkLXJ4667L_cjs.compileAudioSourceBlock(block);
-            return chunkLXJ4667L_cjs.audioSourceToUSD(audio);
+            const audio = chunkHGVXZDSK_cjs.compileAudioSourceBlock(block);
+            return chunkHGVXZDSK_cjs.audioSourceToUSD(audio);
           },
           weather: (block) => {
-            const weather = chunkLXJ4667L_cjs.compileWeatherBlock(block);
-            return chunkLXJ4667L_cjs.weatherToUSD(weather);
+            const weather = chunkHGVXZDSK_cjs.compileWeatherBlock(block);
+            return chunkHGVXZDSK_cjs.weatherToUSD(weather);
           }
         },
         (block) => `# Domain block: ${block.domain}/${block.keyword} "${this.escapeStringValue(block.name, "TypeScript")}"`
@@ -297,22 +307,27 @@ var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
   // HEADER EMISSION
   // ===========================================================================
   emitHeader(name) {
+    const runtimeLabel = this.options.targetContext === "isaac_sim" ? "NVIDIA Isaac Sim / Isaac Lab" : this.options.targetContext === "omniverse" ? "NVIDIA Omniverse" : "Generic USD Runtime";
     this.emit(`#usda 1.0`);
     this.emit(`(`);
     this.indentLevel++;
     this.emit(`defaultPrim = "${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: ${this.options.provenanceHash}`);
+    }
   }
   // ===========================================================================
   // PHYSICS SCENE
@@ -430,10 +445,18 @@ var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
         `double3 xformOp:translate = (${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]}, ${prim.scale[2]})`);
@@ -442,7 +465,9 @@ var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
     if (hasTransform) {
       const ops = [];
       if (prim.translation) ops.push('"xformOp:translate"');
-      if (prim.rotation && !this.isIdentityQuaternion(prim.rotation)) ops.push('"xformOp:orient"');
+      if (prim.rotation && !this.isIdentityQuaternion(prim.rotation)) {
+        ops.push(useEulerRotation ? '"xformOp:rotateXYZ"' : '"xformOp:orient"');
+      }
       if (prim.scale && !this.isUniformScale(prim.scale)) ops.push('"xformOp:scale"');
       this.emit(`uniform token[] xformOpOrder = [${ops.join(", ")}]`);
     }
@@ -489,6 +514,20 @@ var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.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 = ${api.collisionHeight}`);
+        }
         break;
       case "PhysicsMassAPI":
         this.emitBlank();
@@ -657,10 +696,23 @@ var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
       });
     }
     if (hasCollider || hasPhysics) {
-      apis.push({
+      const collisionApi = {
         type: "PhysicsCollisionAPI",
         collisionEnabled: true
-      });
+      };
+      if (geometry && geometry.type !== "Reference") {
+        collisionApi.collisionShape = geometry.type;
+        if (geometry.size) {
+          collisionApi.collisionSize = geometry.size;
+        }
+        if (geometry.radius !== void 0) {
+          collisionApi.collisionRadius = geometry.radius;
+        }
+        if (geometry.type === "Cylinder" || geometry.type === "Capsule" || geometry.type === "Cone") {
+          collisionApi.collisionHeight = scale[1];
+        }
+      }
+      apis.push(collisionApi);
     }
     if (hasPhysics) {
       const mass = physicsConfig.mass ?? this.options.defaultMass;
@@ -677,13 +729,16 @@ var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
     }
     if (jointConfig) {
       const jointType = this.mapJointType(String(jointConfig.type || "fixed"));
-      const parentBody = String(jointConfig.connectedBody || "base_link");
+      const rawParentBody = String(jointConfig.connectedBody || "");
+      const articulationRoot = `/${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/${name}`,
+        body0: body0Path,
+        body1: body1Path,
         axis
       };
       if (jointConfig.lowerLimit !== void 0 || jointConfig.upperLimit !== void 0) {
@@ -744,6 +799,68 @@ var USDPhysicsCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
     prims.push(groupPrim);
     return prims;
   }
+  // ===========================================================================
+  // SEMANTIC AST EMBEDDING (Metaverse Standards Forum interoperability)
+  // ===========================================================================
+  /**
+   * Emit a `customData` block on the root Xform carrying a compact
+   * representation of the HoloScript semantic AST.
+   *
+   * This enables downstream consumers (Omniverse extensions, Isaac Lab
+   * pipelines, or any USD-aware tool) to read the original behavioral
+   * intent without needing a HoloScript parser.
+   *
+   * The payload follows the MSF 3D Asset Interoperability WG recommendation
+   * of placing behavioral metadata in `customData` (USD) or `extras` (glTF).
+   */
+  emitSemanticCustomData(composition) {
+    this.emit(`# HoloScript Semantic AST (MSF Interoperability)`);
+    this.emit(`customData = {`);
+    this.indentLevel++;
+    this.emit(`string holoscript:version = "6.0"`);
+    this.emit(`string holoscript:compositionName = "${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);
@@ -765,5 +882,5 @@ function compileForIsaacSim(composition, options) {
 exports.USDPhysicsCompiler = USDPhysicsCompiler;
 exports.compileForIsaacSim = compileForIsaacSim;
 exports.compileToUSDPhysics = compileToUSDPhysics;
-//# sourceMappingURL=chunk-EQV4R3EV.cjs.map
-//# sourceMappingURL=chunk-EQV4R3EV.cjs.map
+//# sourceMappingURL=chunk-V73NPPTM.cjs.map
+//# sourceMappingURL=chunk-V73NPPTM.cjs.map