@holoscript/core 6.0.4 → 6.1.2

package/dist/{chunk-7AGYRWKW.cjs → chunk-XFXGA5IW.cjs}

@@ -1,22 +1,22 @@
 'use strict';
 
-var chunkLXJ4667L_cjs = require('./chunk-LXJ4667L.cjs');
-var chunkBF2235SI_cjs = require('./chunk-BF2235SI.cjs');
-var chunk3SAK5KFL_cjs = require('./chunk-3SAK5KFL.cjs');
-var platform = require('@holoscript/platform');
+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/SDFCompiler.ts
 var SDFCompiler_exports = {};
-chunk3SAK5KFL_cjs.__export(SDFCompiler_exports, {
+chunkHCCQLAA4_cjs.__export(SDFCompiler_exports, {
   SDFCompiler: () => exports.SDFCompiler,
   default: () => exports.SDFCompiler_default
 });
 exports.SDFCompiler = void 0; exports.SDFCompiler_default = void 0;
-var init_SDFCompiler = chunk3SAK5KFL_cjs.__esm({
+var init_SDFCompiler = chunkHCCQLAA4_cjs.__esm({
   "src/compiler/SDFCompiler.ts"() {
-    chunkBF2235SI_cjs.init_CompilerBase();
-    chunkLXJ4667L_cjs.init_DomainBlockCompilerMixin();
-    exports.SDFCompiler = class extends chunkBF2235SI_cjs.CompilerBase {
+    chunkRMHC2VG7_cjs.init_CompilerBase();
+    chunkHGVXZDSK_cjs.init_DomainBlockCompilerMixin();
+    exports.SDFCompiler = class extends chunkRMHC2VG7_cjs.CompilerBase {
       constructor(options = {}) {
         super();
         this.compilerName = "SDFCompiler";
@@ -25,6 +25,7 @@ var init_SDFCompiler = chunk3SAK5KFL_cjs.__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,
@@ -33,7 +34,7 @@ var init_SDFCompiler = chunk3SAK5KFL_cjs.__esm({
         };
       }
       getRequiredCapability() {
-        return platform.ANSCapabilityPath.SDF;
+        return ans.ANSCapabilityPath.SDF;
       }
       compile(composition, agentToken, outputPath) {
         this.validateCompilerAccess(agentToken, outputPath);
@@ -52,6 +53,9 @@ var init_SDFCompiler = chunk3SAK5KFL_cjs.__esm({
         if (this.options.includePhysics) {
           this.emitPhysics();
         }
+        if (this.options.gazeboVersion === "harmonic") {
+          this.emitGzSimPlugins();
+        }
         if (this.options.includeScene) {
           this.emitScene(composition.environment);
         }
@@ -73,6 +77,14 @@ var init_SDFCompiler = chunk3SAK5KFL_cjs.__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--;
@@ -84,23 +96,23 @@ var init_SDFCompiler = chunk3SAK5KFL_cjs.__esm({
         if (domainBlocks.length === 0) return;
         this.emit("");
         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.materialToSDF(mat);
+              const mat = chunkHGVXZDSK_cjs.compileMaterialBlock(block);
+              return chunkHGVXZDSK_cjs.materialToSDF(mat);
             },
             physics: (block) => {
-              const phys = chunkLXJ4667L_cjs.compilePhysicsBlock(block);
-              return chunkLXJ4667L_cjs.physicsToSDF(phys);
+              const phys = chunkHGVXZDSK_cjs.compilePhysicsBlock(block);
+              return chunkHGVXZDSK_cjs.physicsToSDF(phys);
             },
             audio: (block) => {
-              const audio = chunkLXJ4667L_cjs.compileAudioSourceBlock(block);
+              const audio = chunkHGVXZDSK_cjs.compileAudioSourceBlock(block);
               return `<!-- Audio: ${this.escapeStringValue(audio.name, "TypeScript")} (${audio.keyword}) clip="${audio.properties.clip || ""}" -->`;
             },
             weather: (block) => {
-              const weather = chunkLXJ4667L_cjs.compileWeatherBlock(block);
+              const weather = chunkHGVXZDSK_cjs.compileWeatherBlock(block);
               const layers = weather.layers.map((l) => `<!-- ${l.type}: ${JSON.stringify(l.properties)} -->`).join("\n");
               return `<!-- Weather: ${weather.keyword} "${weather.name || ""}" -->
 ${layers}`;
@@ -191,6 +203,60 @@ ${layers}`;
         this.emit("</scene>");
         this.emit("");
       }
+      emitGzSimPlugins() {
+        this.emit("<!-- gz-sim system plugins (Harmonic) -->");
+        this.emit(`<plugin name="gz::sim::systems::Physics" filename="gz-sim-physics-system">`);
+        this.indentLevel++;
+        this.emit(`<engine>${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++;
@@ -311,14 +377,20 @@ ${layers}`;
         this.indentLevel++;
         if (!isStatic) {
           const mass = this.extractMass(obj) || 1;
+          const geometry = this.extractGeometry(obj);
+          const scale = this.extractScale(obj);
+          const inertia = this.calculateInertia(geometry, mass, scale);
           this.emit("<inertial>");
           this.indentLevel++;
           this.emit(`<mass>${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--;
@@ -440,6 +512,8 @@ ${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;
@@ -447,6 +521,36 @@ ${layers}`;
         }
         return void 0;
       }
+      extractGeometry(obj) {
+        const geometryProp = obj.properties.find((p) => p.key === "geometry");
+        return geometryProp ? this.getStringValue(geometryProp.value) : "box";
+      }
+      extractParent(obj) {
+        const parentProp = obj.properties.find((p) => p.key === "parent");
+        return parentProp ? this.getStringValue(parentProp.value) : void 0;
+      }
+      emitJoint(obj, parentName) {
+        const jointTypeProp = obj.properties.find((p) => p.key === "joint_type");
+        const jointType = jointTypeProp ? this.getStringValue(jointTypeProp.value) : "fixed";
+        const name = this.sanitizeName(obj.name);
+        const parent = this.sanitizeName(parentName);
+        this.emit(`<joint name="${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":
@@ -503,5 +607,5 @@ ${layers}`;
 
 exports.SDFCompiler_exports = SDFCompiler_exports;
 exports.init_SDFCompiler = init_SDFCompiler;
-//# sourceMappingURL=chunk-7AGYRWKW.cjs.map
-//# sourceMappingURL=chunk-7AGYRWKW.cjs.map
+//# sourceMappingURL=chunk-XFXGA5IW.cjs.map
+//# sourceMappingURL=chunk-XFXGA5IW.cjs.map

package/dist/{chunk-TQSZUOW5.cjs → chunk-XHIV6326.cjs}

@@ -252,7 +252,7 @@ var AbsorbProcessor = class {
       for (const method of cls.methods) {
         const params = method.params.map((p) => p.name).join(", ");
         lines.push(`  on ${method.name}(${params}) {`);
-        lines.push(`    // TODO: port ${method.name} logic`);
+        lines.push(`    // ABSORB-STUB: port ${method.name} logic`);
         lines.push(`  }`);
       }
       lines.push(`}`);
@@ -265,7 +265,7 @@ var AbsorbProcessor = class {
       lines.push(
         `${asyncPrefix}fn ${fn.name}(${params})${fn.returnType ? ` -> ${fn.returnType}` : ""} {`
       );
-      lines.push(`  // TODO: port ${fn.name} logic from ${result.sourceLanguage}`);
+      lines.push(`  // ABSORB-STUB: port ${fn.name} logic from ${result.sourceLanguage}`);
       lines.push(`}`);
       lines.push("");
     }
@@ -789,5 +789,5 @@ exports.ScriptTestRunner = ScriptTestRunner;
 exports.absorbHandler = absorbHandler;
 exports.hotReloadHandler = hotReloadHandler;
 exports.scriptTestHandler = scriptTestHandler;
-//# sourceMappingURL=chunk-TQSZUOW5.cjs.map
-//# sourceMappingURL=chunk-TQSZUOW5.cjs.map
+//# sourceMappingURL=chunk-XHIV6326.cjs.map
+//# sourceMappingURL=chunk-XHIV6326.cjs.map