@konitif/viewer-3d 0.284.1

package/dist/renderer/CameraController.js

@@ -0,0 +1,469 @@
+import { Object3D, OrthographicCamera, PerspectiveCamera, Quaternion, Vector3 } from 'three';
+const ROBOT_VIEWER_CONTROLS_SETTLING_FRAMES = 10;
+const ROBOT_VIEWER_ORTHOGRAPHIC_GROUND_MARGIN = 0.02;
+/**
+ * Re-expresses a preset offset authored around the normalized simulated robot
+ * in the orientation of another visual incarnation. Positions stay anchored
+ * by semantic robot objects; this helper only carries the viewing direction.
+ */
+export function resolveRelativeRobotCameraOffset(offset, referenceOrientation, activeOrientation) {
+    const relativeOrientation = activeOrientation
+        .clone()
+        .multiply(referenceOrientation.clone().invert());
+    return offset.clone().applyQuaternion(relativeOrientation);
+}
+/** Shared temporal curve for camera, incarnation placement and opacity. */
+export function easeViewerTransition(progress) {
+    const t = Math.min(1, Math.max(0, Number.isFinite(progress) ? progress : 0));
+    // Quintic smootherstep keeps velocity and acceleration continuous at both
+    // ends. This is especially visible when a REAL incarnation fades in while
+    // the comparison layout and camera focus move at the same time.
+    return t * t * t * (t * (t * 6 - 15) + 10);
+}
+/**
+ * Applies a camera-local arcball step around a stable focus point.
+ *
+ * Both the camera offset and its tangent up vector are transported by the
+ * same quaternions. Unlike a world-up spherical orbit, this representation
+ * has no polar singularity and can cross the top or bottom of the sphere
+ * without clamping or snapping.
+ */
+export function resolveQuaternionCameraOrbitPose(position, target, up, deltaYawRadians, deltaPitchRadians) {
+    const offset = position.clone().sub(target);
+    if (offset.lengthSq() <= 0.000001) {
+        return null;
+    }
+    const forward = offset.clone().negate().normalize();
+    const transportedUp = up.clone().sub(forward.clone().multiplyScalar(up.dot(forward)));
+    if (transportedUp.lengthSq() <= 0.000001) {
+        const fallbackUp = Math.abs(forward.y) < 0.95
+            ? new Vector3(0, 1, 0)
+            : new Vector3(1, 0, 0);
+        transportedUp.copy(fallbackUp).sub(forward.clone().multiplyScalar(fallbackUp.dot(forward)));
+    }
+    transportedUp.normalize();
+    const right = new Vector3().crossVectors(forward, transportedUp).normalize();
+    const yawRotation = new Quaternion().setFromAxisAngle(transportedUp, -deltaYawRadians);
+    offset.applyQuaternion(yawRotation);
+    right.applyQuaternion(yawRotation).normalize();
+    transportedUp.applyQuaternion(yawRotation).normalize();
+    const pitchRotation = new Quaternion().setFromAxisAngle(right, deltaPitchRadians);
+    offset.applyQuaternion(pitchRotation);
+    transportedUp.applyQuaternion(pitchRotation).normalize();
+    return {
+        position: target.clone().add(offset),
+        up: transportedUp
+    };
+}
+/** Applies a classic spherical orbit around the immutable world Y axis. */
+export function resolveWorldUpCameraOrbitPose(position, target, deltaYawRadians, deltaPitchRadians, minimumPolarAngleRadians = 0.01) {
+    const offset = position.clone().sub(target);
+    const radius = offset.length();
+    if (radius <= 0.000001) {
+        return null;
+    }
+    const minimumPolarAngle = Math.min(Math.PI / 4, Math.max(0.001, Number.isFinite(minimumPolarAngleRadians) ? minimumPolarAngleRadians : 0));
+    const theta = Math.atan2(offset.x, offset.z) - deltaYawRadians;
+    const currentPolarAngle = Math.acos(Math.min(1, Math.max(-1, offset.y / radius)));
+    const polarAngle = Math.min(Math.PI - minimumPolarAngle, Math.max(minimumPolarAngle, currentPolarAngle + deltaPitchRadians));
+    const horizontalRadius = Math.sin(polarAngle) * radius;
+    return {
+        position: target.clone().add(new Vector3(Math.sin(theta) * horizontalRadius, Math.cos(polarAngle) * radius, Math.cos(theta) * horizontalRadius)),
+        up: new Vector3(0, 1, 0)
+    };
+}
+/**
+ * Reconciles an unrestricted arcball pose with a world-up orbit frame.
+ * The viewing position is preserved unless it sits inside the small polar
+ * singularity where OrbitControls cannot derive a stable azimuth.
+ */
+export function resolveWorldUpCameraPose(position, target, currentUp, minimumPolarAngleRadians = Math.PI / 36) {
+    const worldUp = new Vector3(0, 1, 0);
+    const offset = position.clone().sub(target);
+    const distance = offset.length();
+    if (distance <= 0.000001) {
+        return { position: position.clone(), up: worldUp };
+    }
+    const direction = offset.clone().multiplyScalar(1 / distance);
+    const minimumPolarAngle = Math.min(Math.PI / 4, Math.max(0.001, Number.isFinite(minimumPolarAngleRadians) ? minimumPolarAngleRadians : 0));
+    const polarAngle = Math.acos(Math.min(1, Math.max(-1, direction.dot(worldUp))));
+    const clampedPolarAngle = Math.min(Math.PI - minimumPolarAngle, Math.max(minimumPolarAngle, polarAngle));
+    if (Math.abs(clampedPolarAngle - polarAngle) <= 0.000001) {
+        return { position: position.clone(), up: worldUp };
+    }
+    const horizontalDirection = direction.clone().setY(0);
+    if (horizontalDirection.lengthSq() <= 0.000001) {
+        horizontalDirection.copy(currentUp).setY(0);
+    }
+    if (horizontalDirection.lengthSq() <= 0.000001) {
+        horizontalDirection.set(0, 0, 1);
+    }
+    horizontalDirection.normalize();
+    const correctedOffset = horizontalDirection
+        .multiplyScalar(Math.sin(clampedPolarAngle) * distance)
+        .addScaledVector(worldUp, Math.cos(clampedPolarAngle) * distance);
+    return {
+        position: target.clone().add(correctedOffset),
+        up: worldUp
+    };
+}
+/**
+ * Projects one camera pose from a robot incarnation frame into another.
+ * Translating and rotating the complete pose preserves the chosen framing,
+ * zoom distance and semantic focus instead of snapping to a scene axis.
+ */
+export function resolveRobotCameraFocusPose(position, target, up, from, to) {
+    const relativeOrientation = to.orientation
+        .clone()
+        .multiply(from.orientation.clone().invert());
+    const projectPoint = (point) => point.clone().sub(from.anchor).applyQuaternion(relativeOrientation).add(to.anchor);
+    return {
+        position: projectPoint(position),
+        target: projectPoint(target),
+        up: up.clone().applyQuaternion(relativeOrientation).normalize()
+    };
+}
+/**
+ * Keeps the lower orthographic view rays above the support plane.
+ *
+ * Contrary to a perspective camera, orthographic rays start at different
+ * world-space heights. With a shallow ISO framing, the bottom rays can start
+ * below the floor and therefore never meet it, exposing a hard horizontal
+ * background cut even when the ground mesh itself is very large.
+ */
+export function resolveOrthographicGroundCoveragePose(position, target, up, viewHeight, floorY = 0, margin = ROBOT_VIEWER_ORTHOGRAPHIC_GROUND_MARGIN) {
+    const nextPosition = position.clone();
+    const nextTarget = target.clone();
+    const forward = target.clone().sub(position);
+    if (!Number.isFinite(viewHeight) ||
+        viewHeight <= 0 ||
+        forward.lengthSq() <= 0.000001) {
+        return { position: nextPosition, target: nextTarget, lift: 0 };
+    }
+    forward.normalize();
+    // A camera that does not look down cannot reveal a horizontal support
+    // plane. Do not invent a displacement for that unrelated framing case.
+    if (forward.y >= -0.000001) {
+        return { position: nextPosition, target: nextTarget, lift: 0 };
+    }
+    const cameraRight = new Vector3().crossVectors(forward, up);
+    if (cameraRight.lengthSq() <= 0.000001) {
+        return { position: nextPosition, target: nextTarget, lift: 0 };
+    }
+    cameraRight.normalize();
+    const cameraUp = new Vector3().crossVectors(cameraRight, forward).normalize();
+    const lowerRayOriginY = position.y - cameraUp.y * viewHeight * 0.5;
+    const lift = Math.max(0, floorY + Math.max(0, margin) - lowerRayOriginY);
+    if (lift > 0) {
+        // Translate position and target together: the ISO orientation and scale
+        // remain unchanged while the robot gains the missing foreground floor.
+        nextPosition.y += lift;
+        nextTarget.y += lift;
+    }
+    return { position: nextPosition, target: nextTarget, lift };
+}
+export class CameraController {
+    host;
+    cameraTransitionFrame = 0;
+    cameraTransitionOnCancel = null;
+    constructor(host) {
+        this.host = host;
+    }
+    setCameraPose(position, target = this.host.getOptions().cameraTarget, up) {
+        this.cancelCameraTransition();
+        const nextPosition = new Vector3(position.x, position.y, position.z);
+        const nextTarget = new Vector3(target.x, target.y, target.z);
+        const nextUp = up ? new Vector3(up.x, up.y, up.z) : undefined;
+        this.applyCameraPoseImmediate(nextPosition, nextTarget, nextUp);
+    }
+    orbitCameraBy(deltaYawRadians, deltaPitchRadians) {
+        const options = this.host.getOptions();
+        const camera = this.host.getCamera();
+        const target = this.host.controls?.target.clone() ?? new Vector3(options.cameraTarget.x, options.cameraTarget.y, options.cameraTarget.z);
+        const pose = resolveQuaternionCameraOrbitPose(camera.position, target, camera.up, deltaYawRadians, deltaPitchRadians);
+        if (!pose) {
+            return;
+        }
+        this.cancelCameraTransition();
+        this.host.setControlsSettlingFrames(ROBOT_VIEWER_CONTROLS_SETTLING_FRAMES);
+        this.applyCameraPoseImmediate(pose.position, target, pose.up);
+    }
+    worldUpOrbitCameraBy(deltaYawRadians, deltaPitchRadians) {
+        const options = this.host.getOptions();
+        const camera = this.host.getCamera();
+        const target = this.host.controls?.target.clone() ??
+            new Vector3(options.cameraTarget.x, options.cameraTarget.y, options.cameraTarget.z);
+        const pose = resolveWorldUpCameraOrbitPose(camera.position, target, deltaYawRadians, deltaPitchRadians);
+        if (!pose) {
+            return;
+        }
+        this.cancelCameraTransition();
+        this.host.setControlsSettlingFrames(ROBOT_VIEWER_CONTROLS_SETTLING_FRAMES);
+        this.applyCameraPoseImmediate(pose.position, target, pose.up);
+    }
+    getCameraPose() {
+        const options = this.host.getOptions();
+        const camera = this.host.getCamera();
+        const target = this.host.controls?.target.clone() ?? new Vector3(options.cameraTarget.x, options.cameraTarget.y, options.cameraTarget.z);
+        return {
+            position: this.host.serializeCameraVector(camera.position),
+            target: this.host.serializeCameraVector(target),
+            up: this.host.serializeCameraVector(camera.up),
+            quaternion: this.host.serializeCameraQuaternion(camera.quaternion),
+            projection: options.cameraProjection
+        };
+    }
+    resolveEyeRingCameraPose(viewId = 'mixed') {
+        const pose = this.host.resolveEyeRingPose();
+        if (!pose) {
+            return null;
+        }
+        const leftEye = pose.eyes.find((eye) => eye.id === 'left') ?? pose.eyes[0];
+        const rightEye = pose.eyes.find((eye) => eye.id === 'right') ?? pose.eyes[1] ?? leftEye;
+        const target = viewId === 'left'
+            ? leftEye.center.clone()
+            : viewId === 'right'
+                ? rightEye.center.clone()
+                : leftEye.center.clone().add(rightEye.center).multiplyScalar(0.5);
+        const forward = new Vector3(0, 1, 0).applyQuaternion(pose.orientation).normalize();
+        const vertical = new Vector3(1, 0, 0).applyQuaternion(pose.orientation).normalize();
+        const lateral = new Vector3(0, 0, 1).applyQuaternion(pose.orientation).normalize();
+        const distance = viewId === 'mixed' ? 0.18 : 0.135;
+        const sideOffset = viewId === 'left' ? 0.018 : viewId === 'right' ? -0.018 : 0;
+        const position = target
+            .clone()
+            .addScaledVector(forward, distance)
+            .addScaledVector(vertical, pose.radius * 0.35)
+            .addScaledVector(lateral, sideOffset);
+        return {
+            position: this.host.serializeCameraVector(position),
+            target: this.host.serializeCameraVector(target),
+            projection: 'perspective'
+        };
+    }
+    resolveRobotObjectCameraPose(anchorNames, offset, options = {}) {
+        const anchors = Array.isArray(anchorNames[0])
+            ? anchorNames.map((names) => this.host.resolveRobotObject(names)).filter((anchor) => Boolean(anchor))
+            : [this.host.resolveRobotObject(anchorNames)].filter((anchor) => Boolean(anchor));
+        if (anchors.length === 0) {
+            return null;
+        }
+        const target = anchors
+            .reduce((sum, anchor) => sum.add(anchor.getWorldPosition(new Vector3())), new Vector3())
+            .multiplyScalar(1 / anchors.length);
+        const targetOffset = options.targetOffset;
+        if (targetOffset) {
+            target.add(this.host.resolveRobotCameraOffset(new Vector3(targetOffset.x, targetOffset.y, targetOffset.z)));
+        }
+        const position = target
+            .clone()
+            .add(this.host.resolveRobotCameraOffset(new Vector3(offset.x, offset.y, offset.z)));
+        return {
+            position: this.host.serializeCameraVector(position),
+            target: this.host.serializeCameraVector(target),
+            projection: options.projection ?? 'perspective'
+        };
+    }
+    transitionCameraPose(position, target = this.host.getOptions().cameraTarget, durationMs = 420, up, callbacks = {}) {
+        this.cancelCameraTransition();
+        this.cameraTransitionOnCancel = callbacks.onCancel ?? null;
+        const options = this.host.getOptions();
+        const fromPosition = this.host.getCamera().position.clone();
+        const fromTarget = this.host.controls?.target.clone() ?? new Vector3(options.cameraTarget.x, options.cameraTarget.y, options.cameraTarget.z);
+        const toPosition = new Vector3(position.x, position.y, position.z);
+        const toTarget = new Vector3(target.x, target.y, target.z);
+        const toUp = up ? new Vector3(up.x, up.y, up.z) : undefined;
+        const fromUp = this.host.getCamera().up.clone().normalize();
+        const upRotation = toUp
+            ? new Quaternion().setFromUnitVectors(fromUp, toUp.clone().normalize())
+            : null;
+        const currentPosition = new Vector3();
+        const currentTarget = new Vector3();
+        const currentUp = new Vector3();
+        const currentUpRotation = new Quaternion();
+        const duration = Math.max(0, durationMs);
+        if (duration <= 0 || typeof requestAnimationFrame === 'undefined') {
+            this.applyCameraPoseImmediate(toPosition, toTarget, toUp);
+            this.cameraTransitionOnCancel = null;
+            callbacks.onComplete?.();
+            return;
+        }
+        const startedAt = performance.now();
+        this.host.setCameraTransitionActive(true);
+        const step = (now) => {
+            if (this.host.isDestroyed()) {
+                this.cameraTransitionFrame = 0;
+                this.cameraTransitionOnCancel = null;
+                this.host.setCameraTransitionActive(false);
+                return;
+            }
+            const progress = Math.min(1, Math.max(0, (now - startedAt) / duration));
+            const eased = easeViewerTransition(progress);
+            currentPosition.lerpVectors(fromPosition, toPosition, eased);
+            currentTarget.lerpVectors(fromTarget, toTarget, eased);
+            const interpolatedUp = upRotation
+                ? currentUp
+                    .copy(fromUp)
+                    .applyQuaternion(currentUpRotation.identity().slerp(upRotation, eased))
+                    .normalize()
+                : undefined;
+            this.applyCameraPoseImmediate(currentPosition, currentTarget, interpolatedUp);
+            if (progress < 1) {
+                this.cameraTransitionFrame = requestAnimationFrame(step);
+                return;
+            }
+            this.cameraTransitionFrame = 0;
+            this.cameraTransitionOnCancel = null;
+            this.host.setCameraTransitionActive(false);
+            callbacks.onComplete?.();
+        };
+        this.cameraTransitionFrame = requestAnimationFrame(step);
+    }
+    transitionRobotCameraFocus(from, to, durationMs = 420) {
+        const camera = this.host.getCamera();
+        const options = this.host.getOptions();
+        const target = this.host.controls?.target.clone() ??
+            new Vector3(options.cameraTarget.x, options.cameraTarget.y, options.cameraTarget.z);
+        const pose = resolveRobotCameraFocusPose(camera.position, target, camera.up, from, to);
+        this.transitionCameraPose(this.host.serializeCameraVector(pose.position), this.host.serializeCameraVector(pose.target), durationMs, this.host.serializeCameraVector(pose.up));
+    }
+    /**
+     * Re-aims the camera at another incarnation while keeping its world position
+     * and up vector fixed. This avoids composing a camera dolly with the robot
+     * comparison layout tween during REAL connection.
+     */
+    transitionRobotCameraFocusTargetOnly(from, to, durationMs = 420, delayMs = 0) {
+        const camera = this.host.getCamera();
+        const options = this.host.getOptions();
+        const target = this.host.controls?.target.clone() ??
+            new Vector3(options.cameraTarget.x, options.cameraTarget.y, options.cameraTarget.z);
+        const pose = resolveRobotCameraFocusPose(camera.position, target, camera.up, from, to);
+        this.transitionCameraTargetFixed(pose.target, durationMs, delayMs);
+    }
+    transitionCameraTargetFixed(target, durationMs, delayMs) {
+        this.cancelCameraTransition();
+        const camera = this.host.getCamera();
+        const fixedPosition = camera.position.clone();
+        const fixedUp = camera.up.clone().normalize();
+        const fromTarget = this.host.controls?.target.clone() ?? new Vector3();
+        const currentTarget = new Vector3();
+        const duration = Math.max(0, durationMs);
+        const delay = Math.max(0, delayMs);
+        if ((duration <= 0 && delay <= 0) || typeof requestAnimationFrame === 'undefined') {
+            this.host.controls.target.copy(target);
+            this.host.controls.update();
+            this.host.applyCameraPose(fixedPosition, target, fixedUp);
+            this.host.requestRender();
+            return;
+        }
+        const startedAt = performance.now();
+        this.host.setCameraTransitionActive(true);
+        const step = (now) => {
+            if (this.host.isDestroyed()) {
+                this.cameraTransitionFrame = 0;
+                this.host.setCameraTransitionActive(false);
+                return;
+            }
+            const elapsed = now - startedAt;
+            const progress = Math.min(1, Math.max(0, (elapsed - delay) / Math.max(1, duration)));
+            currentTarget.lerpVectors(fromTarget, target, easeViewerTransition(progress));
+            this.host.controls.target.copy(currentTarget);
+            this.host.applyCameraPose(fixedPosition, currentTarget, fixedUp);
+            this.host.requestRender();
+            if (elapsed < delay + duration) {
+                this.cameraTransitionFrame = requestAnimationFrame(step);
+                return;
+            }
+            this.cameraTransitionFrame = 0;
+            this.host.setCameraTransitionActive(false);
+            this.host.controls.target.copy(target);
+            this.host.controls.update();
+            this.host.applyCameraPose(fixedPosition, target, fixedUp);
+            this.host.requestRender();
+        };
+        this.cameraTransitionFrame = requestAnimationFrame(step);
+    }
+    cancelCameraTransition() {
+        const onCancel = this.cameraTransitionOnCancel;
+        this.cameraTransitionOnCancel = null;
+        if (this.cameraTransitionFrame === 0 || typeof cancelAnimationFrame === 'undefined') {
+            this.cameraTransitionFrame = 0;
+            onCancel?.();
+            return;
+        }
+        cancelAnimationFrame(this.cameraTransitionFrame);
+        this.cameraTransitionFrame = 0;
+        this.host.setCameraTransitionActive(false);
+        onCancel?.();
+    }
+    applyCameraPoseImmediate(position, target, up) {
+        const viewHeight = this.host.resolveOrthographicViewHeightFromPerspectiveDistance(position.distanceTo(target));
+        this.host.setOrthographicViewHeight(viewHeight);
+        const pose = this.resolveProjectionPose(position, target, up, viewHeight);
+        this.host.applyCameraPose(pose.position, pose.target, up);
+        this.host.updateCameraProjectionForViewport();
+        this.host.controls?.target.copy(pose.target);
+        this.host.controls?.update();
+        this.host.requestRender();
+    }
+    setCameraProjection(cameraProjection) {
+        const options = this.host.getOptions();
+        if (options.cameraProjection === cameraProjection) {
+            return;
+        }
+        this.cancelCameraTransition();
+        const camera = this.host.getCamera();
+        const position = camera.position.clone();
+        const target = this.host.controls?.target.clone() ?? new Vector3(options.cameraTarget.x, options.cameraTarget.y, options.cameraTarget.z);
+        const viewHeight = this.host.resolveOrthographicViewHeightFromPerspectiveDistance(position.distanceTo(target));
+        if (cameraProjection === 'iso')
+            this.host.setOrthographicViewHeight(viewHeight);
+        const currentUp = camera.up.clone();
+        const pose = cameraProjection === 'iso'
+            ? resolveOrthographicGroundCoveragePose(position, target, currentUp, viewHeight)
+            : { position, target, lift: 0 };
+        options.cameraProjection = cameraProjection;
+        this.host.applyCameraPose(pose.position, pose.target, currentUp);
+        this.host.setCamera(cameraProjection === 'iso' ? this.host.orthographicCamera : this.host.perspectiveCamera);
+        this.host.updateCameraProjectionForViewport();
+        this.host.syncPostProcessingCamera();
+        if (this.host.controls) {
+            this.host.controls.target.copy(pose.target);
+            this.host.setControlsCamera(this.host.getCamera());
+            this.host.controls.update();
+        }
+        this.host.requestRender();
+    }
+    handleControlsStart() {
+        this.cancelCameraTransition();
+        this.host.setControlsActive(true);
+        this.host.setControlsSettlingFrames(ROBOT_VIEWER_CONTROLS_SETTLING_FRAMES);
+        this.host.requestRender();
+    }
+    handleControlsChange() {
+        this.host.setControlsSettlingFrames(ROBOT_VIEWER_CONTROLS_SETTLING_FRAMES);
+        this.host.requestRender();
+    }
+    handleControlsEnd() {
+        this.host.setControlsActive(false);
+        this.host.setControlsSettlingFrames(ROBOT_VIEWER_CONTROLS_SETTLING_FRAMES);
+        const options = this.host.getOptions();
+        if (options.cameraProjection === 'iso') {
+            const camera = this.host.getCamera();
+            const target = this.host.controls.target.clone();
+            const pose = resolveOrthographicGroundCoveragePose(camera.position, target, camera.up, this.host.getOrthographicViewHeight());
+            if (pose.lift > 0) {
+                this.host.applyCameraPose(pose.position, pose.target, camera.up);
+                this.host.controls.target.copy(pose.target);
+                this.host.controls.update();
+            }
+        }
+        this.host.requestRender();
+    }
+    resolveProjectionPose(position, target, up, viewHeight) {
+        return this.host.getOptions().cameraProjection === 'iso'
+            ? resolveOrthographicGroundCoveragePose(position, target, up ?? this.host.getCamera().up, viewHeight)
+            : { position, target, lift: 0 };
+    }
+}
+//# sourceMappingURL=CameraController.js.map

package/dist/renderer/CameraController.js.map

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package/dist/renderer/NavigationPhysicsObservation.d.ts

@@ -0,0 +1,25 @@
+import type { BodyTransform } from '@konitif/physics';
+import { Matrix4 } from 'three';
+export type Viewer3DNavigationSupportStatus = 'supported' | 'marginal' | 'unavailable';
+export interface Viewer3DNavigationPhysicsObservation {
+    forwardM: number;
+    leftM: number;
+    yawRad: number;
+    observedAtSeconds: number;
+    provenance: 'physics-simulation';
+    simulationMode: 'kinematic-root';
+    rootBodyName: string;
+    support: {
+        status: Viewer3DNavigationSupportStatus;
+        evidenceKind: 'ground-proximity';
+        activeContactIds: readonly string[];
+        candidateContactIds: readonly string[];
+    };
+}
+export declare function resolveViewer3DNavigationPhysicsObservation(input: {
+    bodyTransforms: readonly BodyTransform[];
+    simulatedTimeSeconds: number;
+    defaultSceneYawRadians?: number;
+    rootAlignmentMatrix?: Matrix4;
+}): Viewer3DNavigationPhysicsObservation | null;
+//# sourceMappingURL=NavigationPhysicsObservation.d.ts.map

package/dist/renderer/NavigationPhysicsObservation.d.ts.map

@@ -0,0 +1 @@
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package/dist/renderer/NavigationPhysicsObservation.js

@@ -0,0 +1,81 @@
+import { Matrix4, Quaternion, Vector3 } from 'three';
+import { createViewerPhysicsFrameQuaternion } from './physics/ViewerPhysicsFrame.js';
+const SUPPORT_BAND_METERS = 0.035;
+export function resolveViewer3DNavigationPhysicsObservation(input) {
+    const root = input.bodyTransforms.find((transform) => transform.metadata?.visualRoot === true) ?? null;
+    if (!root || !isFiniteTransform(root))
+        return null;
+    // Invalid defaults use the same explicit convention as an absent default.
+    // A finite observed yaw still takes priority in resolveCoordinateRotation.
+    const defaultYaw = typeof input.defaultSceneYawRadians === 'number' && Number.isFinite(input.defaultSceneYawRadians)
+        ? input.defaultSceneYawRadians
+        : -Math.PI;
+    const coordinateRotation = resolveCoordinateRotation(root, defaultYaw);
+    const rootProjectionMatrix = new Matrix4().makeRotationFromQuaternion(coordinateRotation).multiply(new Matrix4().compose(new Vector3(root.position.x, root.position.y, root.position.z), new Quaternion(root.rotation.x, root.rotation.y, root.rotation.z, root.rotation.w).normalize(), new Vector3(1, 1, 1)));
+    if (input.rootAlignmentMatrix)
+        rootProjectionMatrix.multiply(input.rootAlignmentMatrix);
+    const rootPosition = new Vector3();
+    const rootRotation = new Quaternion();
+    rootProjectionMatrix.decompose(rootPosition, rootRotation, new Vector3());
+    const forwardDirection = new Vector3(0, 0, 1).applyQuaternion(rootRotation);
+    const supportCandidates = resolveSupportCandidates(input.bodyTransforms, coordinateRotation);
+    const minimumHeight = supportCandidates.reduce((minimum, candidate) => Math.min(minimum, candidate.position.y), Number.POSITIVE_INFINITY);
+    const activeContacts = Number.isFinite(minimumHeight)
+        ? supportCandidates.filter((candidate) => candidate.position.y <= minimumHeight + SUPPORT_BAND_METERS)
+        : [];
+    return {
+        forwardM: rootPosition.z,
+        leftM: rootPosition.x,
+        yawRad: normalizeRadians(Math.atan2(forwardDirection.x, forwardDirection.z)),
+        observedAtSeconds: input.simulatedTimeSeconds,
+        provenance: 'physics-simulation',
+        simulationMode: 'kinematic-root',
+        rootBodyName: root.bodyName,
+        support: {
+            status: activeContacts.length >= 2
+                ? 'supported'
+                : activeContacts.length === 1
+                    ? 'marginal'
+                    : 'unavailable',
+            evidenceKind: 'ground-proximity',
+            activeContactIds: activeContacts.map((candidate) => candidate.bodyName),
+            candidateContactIds: supportCandidates.map((candidate) => candidate.bodyName)
+        }
+    };
+}
+function resolveCoordinateRotation(transform, defaultSceneYawRadians) {
+    const coordinateFrame = transform.metadata?.coordinateFrame;
+    if (coordinateFrame !== 'mujoco-z-up' && coordinateFrame !== 'z-up') {
+        return new Quaternion();
+    }
+    const configuredYaw = transform.metadata?.sceneYawRadians;
+    const sceneYawRadians = typeof configuredYaw === 'number' && Number.isFinite(configuredYaw)
+        ? configuredYaw
+        : defaultSceneYawRadians;
+    return createViewerPhysicsFrameQuaternion(coordinateFrame, sceneYawRadians);
+}
+function resolveSupportCandidates(transforms, coordinateRotation) {
+    const explicitSupport = transforms.filter((transform) => transform.metadata?.support === true && isFiniteTransform(transform));
+    const candidates = explicitSupport.length > 0
+        ? explicitSupport
+        : transforms.filter((transform) => transform.metadata?.contact === true && isFiniteTransform(transform));
+    return candidates.map((transform) => ({
+        bodyName: transform.bodyName,
+        position: new Vector3(transform.position.x, transform.position.y, transform.position.z).applyQuaternion(coordinateRotation)
+    }));
+}
+function isFiniteTransform(transform) {
+    return [
+        transform.position.x,
+        transform.position.y,
+        transform.position.z,
+        transform.rotation.x,
+        transform.rotation.y,
+        transform.rotation.z,
+        transform.rotation.w
+    ].every((value) => typeof value === 'number' && Number.isFinite(value));
+}
+function normalizeRadians(value) {
+    return Math.atan2(Math.sin(value), Math.cos(value));
+}
+//# sourceMappingURL=NavigationPhysicsObservation.js.map

package/dist/renderer/NavigationPhysicsObservation.js.map

@@ -0,0 +1 @@
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