@nebula-spatial/viewer 0.3.0 → 0.4.0

package/dist/usd-session-Dcd20Z6G.js

@@ -0,0 +1,522 @@
+import { Group as ot, Mesh as at, Vector3 as _, Quaternion as j, Matrix4 as X, Box3 as ht } from "three";
+import { USDLoader as It } from "@openusd-wasm/three-loader";
+import { PXR as $t } from "@openusd-wasm/pxr";
+import { c as Rt, a as xt, b as At, d as Nt, S as Mt } from "./session-B_UiRctl.js";
+import { d as _t } from "./stage-BxROW_dP.js";
+async function ee(t, e, n) {
+  var w;
+  Bt();
+  const s = n.hasLocalFiles(), d = t.entryPath ?? t.filename ?? "asset.usd", S = s ? d : await zt(t, d), l = s ? n.getBlob(d) : await Gt(t), r = d.split("/").pop() || "asset.usd", i = d.split("/").slice(0, -1).join("/"), y = e.options.openUsdBaseUrl ? { baseURL: e.options.openUsdBaseUrl } : void 0, p = t.hasResourceResolver && !s ? await new $t().load(y) : void 0;
+  p && await Ht(p, t, l, r, n);
+  const g = new It({
+    convertZUp: !1,
+    loadLights: !1,
+    preserveStage: !0,
+    ...p ? { pxr: p } : y ? { pxrOptions: y } : {}
+  });
+  let c = null, I = null, u = null, D = null;
+  try {
+    if (c = await g.parseAsync(l, {
+      sourcePath: S,
+      fileName: r,
+      files: s || t.hasResourceResolver ? n.asSourceRecord(i) : void 0,
+      // A local package is the complete browser-visible file set. Resolving it
+      // through fetch would both hide missing uploads and accept SPA fallback
+      // responses as binary USD layers.
+      autoResolveAssets: !s && !t.hasResourceResolver,
+      // USD layer references are authoritative; disable directory guessing because SPA fallback pages may be returned as HTTP 200.
+      assetSearchRoots: [],
+      textureResolver: s || t.hasResourceResolver ? (a) => {
+        for (const $ of [a.resolvedPath, a.path, a.url])
+          if ($) {
+            const L = n.objectUrlIfPresent($, i);
+            if (L) return L;
+          }
+        return null;
+      } : void 0,
+      preserveStage: !0
+    }), e.signal.aborted) throw Ut();
+    const b = Yt(c);
+    c.scene.scale.multiplyScalar(b.metersPerUnit), c.data.stage.upAxis.toUpperCase() === "Y" && c.scene.quaternion.setFromAxisAngle(new _(1, 0, 0), Math.PI / 2), c.scene.updateMatrixWorld(!0);
+    const A = c.data.physics.rigidBodies.filter((a) => a.enabled), M = c.data.joints.filter((a) => a.enabled), O = At();
+    A.some((a) => a.startsAsleep === !0) && O.droppedFeatures.push({ code: "E_USD_STARTS_ASLEEP", message: "USD startsAsleep 无法在 MuJoCo 初始化阶段保证完全等价，已按正常初始状态加载。", source: "usd-physics" });
+    const R = Nt({
+      id: S,
+      name: S.split("/").pop() ?? S,
+      source: { format: "usd", uri: S },
+      links: A.map((a) => ({ id: a.path, name: a.name, visuals: [], collisions: [] })),
+      joints: M.flatMap((a) => a.body0 && a.body1 ? [{
+        id: a.path,
+        type: a.jointType,
+        parent: a.body0,
+        child: a.body1,
+        origin: { position: a.localPos1.map(($) => $ * b.metersPerUnit), rotationRpy: [0, 0, 0] },
+        axis: gt(a.axis).applyQuaternion(H(a.localRot1 ?? [1, 0, 0, 0])).toArray(),
+        ...Number.isFinite(a.lowerLimit) && Number.isFinite(a.upperLimit) ? { limits: {
+          lower: a.lowerLimit * (a.jointType === "revolute" ? Math.PI / 180 : b.metersPerUnit),
+          upper: a.upperLimit * (a.jointType === "revolute" ? Math.PI / 180 : b.metersPerUnit)
+        } } : {}
+      }] : []),
+      diagnostics: O,
+      extension: { rigidBodyCount: A.length, jointCount: M.length }
+    });
+    if (A.length === 0) {
+      const a = yt(c), $ = c.scene, L = c;
+      return u = { root: $, sync() {
+      }, dispose() {
+        L.dispose();
+      } }, c = null, st(R, u, !1, () => {
+      }, void 0, void 0, a);
+    }
+    let P;
+    try {
+      P = Ct(c, A.map((a) => a.path), b), (w = P.massOverrides) != null && w.length && O.approximations.push({ code: "USD_INFERRED_INERTIA", message: "保留显式总质量；惯量按碰撞几何的密度分布推导并同比缩放，重叠体积会重复计入。", source: "usd-physics" });
+    } catch (a) {
+      if (!vt(a)) throw a;
+      const $ = Tt(a);
+      O.droppedFeatures.push($);
+      const L = yt(c), G = c.scene, f = c;
+      return u = { root: G, sync() {
+      }, dispose() {
+        f.dispose();
+      } }, c = null, st(R, u, !1, () => {
+      }, void 0, $, L);
+    }
+    const x = D = Lt(c, A.map((a) => a.path)), { MujocoRuntime: K } = await import("./mujoco-runtime-s85kwjo7.js");
+    if (I = new K(), await I.initialize(P, e.options.mujocoBaseUrl), e.signal.aborted) throw Ut();
+    u = new Mt(I, x), D = null;
+    const o = c, E = I, N = u;
+    return c = null, I = null, u = null, st(R, N, !0, () => {
+      E.dispose(), o.dispose();
+    }, E);
+  } catch (b) {
+    throw D && _t(D.root), u == null || u.dispose(), I == null || I.dispose(), c == null || c.dispose(), b;
+  }
+}
+function st(t, e, n, s, d, S, l) {
+  let r = !1;
+  return {
+    asset: t,
+    binding: e,
+    hasPhysics: n,
+    runtime: d,
+    fallback: S,
+    collision: l,
+    step(i) {
+      if (!d) return !1;
+      const y = d.step(i);
+      return y && e.sync(), y;
+    },
+    reset() {
+      d == null || d.reset(), e.sync();
+    },
+    dispose() {
+      r || (r = !0, l == null || l.dispose(), e.dispose(), s());
+    }
+  };
+}
+const Ot = /* @__PURE__ */ new Set([
+  "E_USD_PHYSICS_UNSUPPORTED",
+  "E_USD_UNBAKED_BODY_SCALE",
+  "E_USD_INVALID_JOINT_REFERENCE",
+  "E_USD_UNSUPPORTED_JOINT",
+  "E_USD_MULTIPLE_PARENTS",
+  "E_USD_JOINT_CYCLE",
+  "E_USD_UNSUPPORTED_DRIVE",
+  "E_USD_INVALID_MASS",
+  "E_USD_PARTIAL_INERTIA",
+  "E_USD_MISSING_COLLISION_GEOMETRY",
+  "E_USD_UNREACHABLE_BODIES",
+  "E_USD_MULTIPLE_PHYSICS_SCENES",
+  "E_USD_NONUNIFORM_RADIAL_SCALE",
+  "E_USD_UNSUPPORTED_GEOMETRY",
+  "E_USD_CONSTRAINED_INITIAL_VELOCITY",
+  "E_USD_UNSUPPORTED_APPROXIMATION"
+]);
+function vt(t) {
+  const e = Et(t);
+  return e !== null && Ot.has(e);
+}
+function Tt(t) {
+  const e = Et(t) ?? "E_USD_PHYSICS_UNSUPPORTED", n = t instanceof Error ? t.message : String(t);
+  return {
+    code: e,
+    message: `USD 视觉场景已加载，但物理语义无法可靠映射，已降级为仅视觉预览。${n ? ` ${n}` : ""}`,
+    source: "usd-physics"
+  };
+}
+function Et(t) {
+  if (!t || typeof t != "object" || !("code" in t)) return null;
+  const e = t.code;
+  return typeof e == "string" ? e : null;
+}
+function Lt(t, e) {
+  t.scene.updateMatrixWorld(!0);
+  const n = new ot();
+  n.name = "USD simulation";
+  const s = /* @__PURE__ */ new Map(), d = /* @__PURE__ */ new Map();
+  for (const l of e) {
+    const r = t.index.objectsByPath.get(l);
+    if (!r) throw h(`USD rigid body node is missing: ${l}`, "E_USD_PHYSICS_UNSUPPORTED");
+    const i = new ot();
+    i.name = l, n.add(i), s.set(l, i);
+    const y = new _(), p = new j();
+    r.matrixWorld.decompose(y, p, new _()), d.set(l, new X().compose(y, p, new _(1, 1, 1)));
+  }
+  const S = [];
+  t.scene.traverse((l) => {
+    var p;
+    if (!(l instanceof at)) return;
+    let r = l, i, y = !0;
+    for (; r; ) {
+      y && (y = r.visible);
+      const g = (p = r.userData.usd) == null ? void 0 : p.path;
+      !i && g && s.has(g) && (i = g), r = r.parent;
+    }
+    y && S.push([l, i]);
+  });
+  for (const [l, r] of S) {
+    const i = l.clone(!1);
+    i.geometry = l.geometry.clone(), i.material = Array.isArray(l.material) ? l.material.map((y) => y.clone()) : l.material.clone(), i.matrix.copy(r ? d.get(r) : new X()).invert().multiply(l.matrixWorld), i.matrix.decompose(i.position, i.quaternion, i.scale), (r ? s.get(r) : n).add(i);
+  }
+  return { root: n, bindings: s, expectedLinkCount: s.size };
+}
+function yt(t) {
+  t.scene.updateMatrixWorld(!0);
+  const e = new ot();
+  e.name = "USD authored collisions";
+  const n = Rt(), s = /* @__PURE__ */ new Set();
+  for (const S of t.data.physics.colliders) {
+    if (!S.enabled) continue;
+    const l = t.index.objectsByPath.get(S.path);
+    l && l.traverse((r) => {
+      if (!(r instanceof at) || s.has(r)) return;
+      s.add(r);
+      const i = xt(r.geometry, n);
+      i.name = `Collision:${S.path}`, i.matrixAutoUpdate = !1, i.matrix.copy(r.matrixWorld), i.renderOrder = 9, i.userData.usdColliderPath = S.path, e.add(i);
+    });
+  }
+  if (e.children.length === 0) {
+    n.dispose();
+    return;
+  }
+  e.visible = !1;
+  let d = !1;
+  return {
+    root: e,
+    sync() {
+    },
+    dispose() {
+      d || (d = !0, e.removeFromParent(), _t(e));
+    }
+  };
+}
+function Ct(t, e, n) {
+  t.scene.updateMatrixWorld(!0);
+  const s = [], d = [], S = [], l = [], r = [], i = [], y = [], { metersPerUnit: p, kilogramsPerUnit: g } = n, c = new Map(e.map((o) => {
+    const E = t.index.rigidBodiesByPath.get(o);
+    if (!E) throw h(`USD rigid body metadata is missing: ${o}`, "E_USD_PHYSICS_UNSUPPORTED");
+    return [o, E];
+  })), I = /* @__PURE__ */ new Map();
+  for (const o of c.keys()) {
+    const E = t.index.objectsByPath.get(o);
+    if (!E) throw h(`USD rigid body node is missing: ${o}`, "E_USD_PHYSICS_UNSUPPORTED");
+    const N = new _(), a = new j(), $ = new _();
+    if (E.matrixWorld.decompose(N, a, $), $.clone().divideScalar(p).toArray().some((G) => Math.abs(Math.abs(G) - 1) > 1e-5))
+      throw h(`USD rigid body has unbaked scale: ${o}`, "E_USD_UNBAKED_BODY_SCALE");
+    I.set(o, new X().compose(N, a, new _(1, 1, 1)));
+  }
+  const u = /* @__PURE__ */ new Map();
+  for (const o of t.data.joints.filter((E) => E.enabled)) {
+    if (!o.body1 || !c.has(o.body1) || o.body0 && !c.has(o.body0))
+      throw h(`USD joint references an unknown rigid body: ${o.path}`, "E_USD_INVALID_JOINT_REFERENCE");
+    if (!["fixed", "revolute", "prismatic"].includes(o.jointType))
+      throw h(`Unsupported USD joint type ${o.jointType}: ${o.path}`, "E_USD_UNSUPPORTED_JOINT");
+    if (u.has(o.body1)) throw h(`USD rigid body has multiple parent joints: ${o.body1}`, "E_USD_MULTIPLE_PARENTS");
+    u.set(o.body1, o), o.body0 && o.collisionEnabled !== !0 && S.push(`<exclude body1="${V(o.body0)}" body2="${V(o.body1)}"/>`);
+  }
+  let D = 0;
+  const w = /* @__PURE__ */ new Set(), b = (o, E = new X()) => {
+    var ct, lt, ut, dt, pt;
+    if (w.has(o)) throw h(`USD joint graph contains a cycle at ${o}`, "E_USD_JOINT_CYCLE");
+    w.add(o);
+    const N = c.get(o), a = I.get(o), $ = E.clone().invert().multiply(a), L = new _(), G = new j();
+    $.decompose(L, G, new _());
+    const f = u.get(o), z = [`<body name="${V(o)}" pos="${T(L.toArray())}" quat="${k(G)}">`];
+    if (!f && !N.kinematicEnabled && z.push("<freejoint/>"), f && [...N.velocity ?? [], ...N.angularVelocity ?? []].some((U) => U !== 0))
+      throw h(`Constrained USD initial velocity cannot be projected reliably: ${o}`, "E_USD_CONSTRAINED_INITIAL_VELOCITY");
+    if (!f && !N.kinematicEnabled) {
+      const U = new _(...N.velocity ?? [0, 0, 0]).multiplyScalar(p).applyQuaternion(t.scene.quaternion), v = new _(...N.angularVelocity ?? [0, 0, 0]).multiplyScalar(Math.PI / 180).applyQuaternion(t.scene.quaternion).applyQuaternion(new j().setFromRotationMatrix(a).invert());
+      y.push({ body: o, velocity: [...U.toArray(), ...v.toArray()] });
+    }
+    if (f && f.jointType !== "fixed") {
+      const U = f.jointType === "revolute" ? "hinge" : "slide", v = gt(f.axis).applyQuaternion(H(f.localRot1 ?? [1, 0, 0, 0])), C = U === "hinge" ? Math.PI / 180 : p, tt = new j().setFromRotationMatrix(E), W = new j().setFromRotationMatrix(a), q = tt.clone().multiply(H(f.localRot0 ?? [1, 0, 0, 0])).invert().multiply(W).multiply(H(f.localRot1 ?? [1, 0, 0, 0]));
+      let Y = 0;
+      if (U === "hinge") {
+        const B = f.axis === "Y" ? q.y : f.axis === "Z" ? q.z : q.x;
+        Y = 2 * Math.atan2(B, q.w), Y = Math.atan2(Math.sin(Y), Math.cos(Y));
+      } else {
+        const B = new _(...f.localPos0).multiplyScalar(p).applyMatrix4(E);
+        Y = new _(...f.localPos1).multiplyScalar(p).applyMatrix4(a).sub(B).dot(v.clone().applyQuaternion(W));
+      }
+      const ft = Number.isFinite(f.lowerLimit) && Number.isFinite(f.upperLimit) && Math.abs(f.lowerLimit) < 1e20 && Math.abs(f.upperLimit) < 1e20, wt = ft && f.lowerLimit < f.upperLimit, Q = g * (U === "slide" ? p : p * p), et = Z(t, f.path, `physxJointAxis:${U === "slide" ? "linear" : "angular"}:dynamicFrictionEffort`), Pt = typeof et == "number" && Number.isFinite(et) ? et * Q : 0;
+      z.push(`<joint name="${V(f.path)}" type="${U}" pos="${T(f.localPos1.map((B) => B * p))}" axis="${T(v.toArray())}" ref="${Y}" ${wt ? `range="${f.lowerLimit * C} ${f.upperLimit * C}"` : 'limited="false"'} frictionloss="${Pt}" armature="0.00001"/>`), ft && f.lowerLimit === f.upperLimit && d.push(`<joint joint1="${V(f.path)}" polycoef="${f.lowerLimit * C - Y} 0 0 0 0"/>`);
+      const F = f.drive;
+      if (F && ((F.stiffness ?? 0) !== 0 || (F.damping ?? 0) !== 0)) {
+        if (F.type === "acceleration") throw h(`Unsupported USD acceleration drive: ${f.path}`, "E_USD_UNSUPPORTED_DRIVE");
+        const B = (F.stiffness ?? 0) * Q / C, nt = (F.damping ?? 0) * Q / C, J = F.maxForce == null ? null : F.maxForce * Q;
+        r.push(`<general joint="${V(f.path)}" gainprm="1" biastype="affine" biasprm="0 ${-B} ${-nt}" ${J != null && Number.isFinite(J) ? `forcelimited="true" forcerange="${-J} ${J}"` : ""}/>`), i.push(B * (F.targetPosition ?? 0) * C + nt * (F.targetVelocity ?? 0) * C);
+      }
+    }
+    const m = N.mass;
+    if ((m == null ? void 0 : m.mass) != null && (!Number.isFinite(m.mass) || m.mass < 0)) throw h(`USD rigid body mass must be finite and non-negative: ${o}`, "E_USD_INVALID_MASS");
+    if ((m == null ? void 0 : m.mass) != null && m.mass > 0 && ((ct = m.centerOfMass) != null && ct.every(Number.isFinite)) && ((lt = m.diagonalInertia) != null && lt.every((U) => Number.isFinite(U) && U > 0)) && ((ut = m.principalAxes) != null && ut.every(Number.isFinite)))
+      z.push(`<inertial mass="${m.mass * g}" pos="${T(m.centerOfMass.map((U) => U * p))}" quat="${k(H(m.principalAxes))}" diaginertia="${T(m.diagonalInertia.map((U) => U * g * p * p))}"/>`);
+    else {
+      if ((dt = m == null ? void 0 : m.diagonalInertia) != null && dt.some((U) => U > 0))
+        throw h(`USD rigid body has incomplete explicit inertia: ${o}`, "E_USD_PARTIAL_INERTIA");
+      if ((m == null ? void 0 : m.mass) != null && m.mass > 0) {
+        if ((pt = m.centerOfMass) != null && pt.every(Number.isFinite) && m.centerOfMass.some((U) => U !== 0)) throw h(`Custom center of mass requires explicit inertia: ${o}`, "E_USD_PARTIAL_INERTIA");
+        l.push({ body: o, mass: m.mass * g });
+      }
+    }
+    const rt = t.data.physics.colliders.filter((U) => U.enabled && U.bodyPath === o);
+    if (!rt.length) throw h(`USD rigid body has no authored collision geometry: ${o}`, "E_USD_MISSING_COLLISION_GEOMETRY");
+    for (const U of rt) {
+      const v = t.data.physics.materials.find((Y) => Y.path === U.material), C = (m == null ? void 0 : m.density) != null && m.density > 0 ? m.density : v == null ? void 0 : v.density, tt = C != null && C > 0 ? C * g / p ** 3 : 1e3, W = (v == null ? void 0 : v.dynamicFriction) ?? 0.4, q = `density="${tt}" group="3" contype="1" conaffinity="1" friction="${W} 0.01 0.0002"`;
+      z.push(mt(t, U, o, a, D++, s, q));
+    }
+    for (const [U, v] of u) v.body0 === o && z.push(b(U, a));
+    return z.push("</body>"), z.join("");
+  }, A = t.data.physics.colliders.filter((o) => o.enabled && !o.bodyPath), M = A.map((o) => {
+    const E = t.data.physics.materials.find((L) => L.path === o.material), N = (E == null ? void 0 : E.density) != null && E.density > 0 ? E.density * g / p ** 3 : 1e3, a = (E == null ? void 0 : E.dynamicFriction) ?? 0.4, $ = `density="${N}" group="3" contype="1" conaffinity="1" friction="${a} 0.01 0.0002"`;
+    return mt(t, o, "", new X(), D++, s, $);
+  }).join(""), O = Ft(t, e, A) ? `<geom name="__viewer_default_ground__" type="plane" pos="0 0 ${jt(t, e)}" size="1 1 0.1" group="3" contype="1" conaffinity="1" friction="0.8 0.01 0.0002"/>` : "", P = [...c.keys()].filter((o) => {
+    var E;
+    return !((E = u.get(o)) != null && E.body0);
+  }).map((o) => b(o)).join("");
+  if (w.size !== c.size) throw h("USD joint graph contains unreachable bodies or a cycle.", "E_USD_UNREACHABLE_BODIES");
+  if (t.data.physics.scenes.length > 1) throw h("Multiple USD PhysicsScene prims are not supported.", "E_USD_MULTIPLE_PHYSICS_SCENES");
+  const x = t.data.physics.scenes[0], K = x != null && x.gravityDirection && x.gravityMagnitude != null && x.gravityMagnitude >= 0 ? new _(...x.gravityDirection).normalize().multiplyScalar(x.gravityMagnitude * p).applyQuaternion(t.scene.quaternion) : new _(0, 0, -9.81);
+  return {
+    format: "mjcf",
+    files: /* @__PURE__ */ new Map(),
+    initialControls: i,
+    initialVelocities: y,
+    massOverrides: l,
+    xml: `<mujoco><compiler angle="radian" autolimits="true"/><option integrator="implicitfast" gravity="${T(K.toArray())}"><flag filterparent="disable"/></option><default><geom margin="0.0015" solref="0.004 1"/></default>${s.length ? `<asset>${s.join("")}</asset>` : ""}<worldbody>${O}${M}${P}</worldbody>${S.length ? `<contact>${S.join("")}</contact>` : ""}${d.length ? `<equality>${d.join("")}</equality>` : ""}${r.length ? `<actuator>${r.join("")}</actuator>` : ""}</mujoco>`
+  };
+}
+function Ft(t, e, n = t.data.physics.colliders.filter((s) => s.enabled && !s.bodyPath)) {
+  if (!e.length || n.some((r) => r.typeName.toLowerCase().includes("plane"))) return !1;
+  const s = it(t, t.data.physics.colliders.filter(
+    (r) => r.enabled && r.bodyPath && e.includes(r.bodyPath)
+  ));
+  if (s.isEmpty()) return n.length === 0;
+  const d = Math.max(s.max.x - s.min.x, 1e-6), S = Math.max(s.max.y - s.min.y, 1e-6), l = Math.max(d, S, s.max.z - s.min.z) * 0.05;
+  return !n.some((r) => {
+    const i = it(t, [r]);
+    if (i.isEmpty()) return !1;
+    const y = i.max.x >= s.min.x && i.min.x <= s.max.x, p = i.max.y >= s.min.y && i.min.y <= s.max.y;
+    return y && p && i.max.z <= s.min.z + l;
+  });
+}
+function jt(t, e) {
+  const n = it(t, t.data.physics.colliders.filter(
+    (d) => d.enabled && d.bodyPath && e.includes(d.bodyPath)
+  )), s = n.isEmpty() ? 0 : n.min.z;
+  return Number.isFinite(s) ? String(s) : "0";
+}
+function it(t, e) {
+  const n = new ht();
+  for (const s of e) {
+    const d = t.index.objectsByPath.get(s.path);
+    d && n.union(new ht().setFromObject(d));
+  }
+  return n;
+}
+function gt(t) {
+  return t === "Y" ? new _(0, 1, 0) : t === "Z" ? new _(0, 0, 1) : new _(1, 0, 0);
+}
+function mt(t, e, n, s, d, S, l) {
+  const r = t.index.objectsByPath.get(e.path);
+  if (!r) throw h(`USD collider node is missing: ${e.path}`, "E_USD_MISSING_COLLISION_GEOMETRY");
+  const i = s.clone().invert().multiply(r.matrixWorld), y = new _(), p = new j(), g = new _();
+  i.decompose(y, p, g);
+  const c = e.typeName.replace(/^UsdGeom/, "").toLowerCase(), I = (u, D) => {
+    const w = Z(t, e.path, u);
+    return typeof w == "number" ? w : D;
+  };
+  if (c.includes("cube")) {
+    const u = Math.abs(I("size", 2)) / 2;
+    return `<geom type="box" pos="${T(y.toArray())}" quat="${k(p)}" size="${T([Math.abs(g.x) * u, Math.abs(g.y) * u, Math.abs(g.z) * u])}" ${l}/>`;
+  }
+  if (c.includes("plane")) {
+    if (n) throw h(`USD plane collider requires a static world owner: ${e.path}`, "E_USD_UNSUPPORTED_GEOMETRY");
+    const u = String(Z(t, e.path, "axis") ?? "Z").toUpperCase(), w = { X: new _(1, 0, 0), Y: new _(0, 1, 0), Z: new _(0, 0, 1) }[u];
+    if (!w) throw h(`Unsupported USD plane axis: ${u}`, "E_USD_UNSUPPORTED_GEOMETRY");
+    const b = p.clone().multiply(new j().setFromUnitVectors(new _(0, 0, 1), w));
+    return `<geom type="plane" pos="${T(y.toArray())}" quat="${k(b)}" size="1 1 0.1" ${l}/>`;
+  }
+  if (c.includes("cone"))
+    throw h(`MuJoCo has no analytic cone geom; a validated mesh conversion is required: ${e.path}`, "E_USD_UNSUPPORTED_GEOMETRY");
+  if (c.includes("sphere")) {
+    const u = [Math.abs(g.x), Math.abs(g.y), Math.abs(g.z)];
+    if (Math.max(...u) - Math.min(...u) > 1e-6) throw h(`USD sphere collider does not support non-uniform scale: ${e.path}`, "E_USD_NONUNIFORM_RADIAL_SCALE");
+    return `<geom type="sphere" pos="${T(y.toArray())}" quat="${k(p)}" size="${u[0] * I("radius", 1)}" ${l}/>`;
+  }
+  if (c.includes("cylinder") || c.includes("capsule")) {
+    const u = String(Z(t, e.path, "axis") ?? "Z").toUpperCase(), D = { X: 0, Y: 1, Z: 2 }[u];
+    if (D === void 0) throw h(`Unsupported USD collider axis: ${u}`, "E_USD_UNSUPPORTED_GEOMETRY");
+    const w = [Math.abs(g.x), Math.abs(g.y), Math.abs(g.z)], b = w.filter((P, x) => x !== D);
+    if (Math.abs(b[0] - b[1]) > 1e-6) throw h(`USD ${e.typeName} collider does not support non-uniform radial scale: ${e.path}`, "E_USD_NONUNIFORM_RADIAL_SCALE");
+    const A = new _(...{ X: [1, 0, 0], Y: [0, 1, 0], Z: [0, 0, 1] }[u]), M = p.clone().multiply(new j().setFromUnitVectors(new _(0, 0, 1), A)), O = I("radius", 1) * b[0], R = I("height", 2) * w[D] / 2;
+    return `<geom type="${c.includes("capsule") ? "capsule" : "cylinder"}" pos="${T(y.toArray())}" quat="${k(M)}" size="${O} ${R}" ${l}/>`;
+  }
+  if (c.includes("mesh")) {
+    if (e.approximation && !["none", "convexHull"].includes(e.approximation)) throw h(`USD mesh approximation cannot be mapped exactly: ${e.path}`, "E_USD_UNSUPPORTED_APPROXIMATION");
+    const u = [];
+    if (r.traverse((M) => {
+      M instanceof at && u.push(M);
+    }), !u.length) throw h(`USD collider has no mesh geometry: ${e.path}`, "E_USD_MISSING_COLLISION_GEOMETRY");
+    const D = [], w = [];
+    let b = 0;
+    for (const M of u) {
+      const O = M.geometry.getAttribute("position");
+      for (let P = 0; P < O.count; P++) {
+        const x = new _().fromBufferAttribute(O, P).applyMatrix4(s.clone().invert().multiply(M.matrixWorld));
+        D.push(x.x, x.y, x.z);
+      }
+      const R = M.geometry.index;
+      for (let P = 0; P < (R ? R.count : O.count); P += 3) w.push(b + (R ? R.getX(P) : P), b + (R ? R.getX(P + 1) : P + 1), b + (R ? R.getX(P + 2) : P + 2));
+      b += O.count;
+    }
+    const A = `collision_${d}`;
+    return S.push(`<mesh name="${A}" vertex="${T(D)}" face="${T(w)}"/>`), `<geom type="mesh" mesh="${A}" ${l}/>`;
+  }
+  throw h(`Unsupported USD collider geometry: ${e.typeName}`, "E_USD_UNSUPPORTED_GEOMETRY");
+}
+function Yt(t) {
+  const e = t.stage.GetPseudoRoot();
+  try {
+    const n = Number(e.GetMetadata("metersPerUnit") ?? 0.01), s = Number(e.GetMetadata("kilogramsPerUnit") ?? 1);
+    if (!Number.isFinite(n) || n <= 0) throw h("USD metersPerUnit must be finite and positive.", "E_USD_INVALID_UNITS");
+    if (!Number.isFinite(s) || s <= 0) throw h("USD kilogramsPerUnit must be finite and positive.", "E_USD_INVALID_UNITS");
+    return { metersPerUnit: n, kilogramsPerUnit: s };
+  } finally {
+    e.delete();
+  }
+}
+function H(t) {
+  const [e = 1, n = 0, s = 0, d = 0] = t;
+  return new j(n, s, d, e).normalize();
+}
+function T(t) {
+  return t.join(" ");
+}
+function k(t) {
+  return `${t.w} ${t.x} ${t.y} ${t.z}`;
+}
+function Z(t, e, n) {
+  var i, y;
+  const s = t.stage;
+  if (!s || !((y = (i = t.pxr) == null ? void 0 : i.Sdf) != null && y.Path)) return null;
+  const d = new t.pxr.Sdf.Path(e), S = s.GetPrimAtPath(d), l = S.GetAttribute(n), r = t.pxr.Usd.TimeCode.Default();
+  try {
+    return l.IsValid() ? l.Get(r) : null;
+  } finally {
+    r.delete(), l.delete(), S.delete(), d.delete();
+  }
+}
+function Bt() {
+  if (!globalThis.isSecureContext) throw h("OpenUSD requires a secure context.", "E_USD_SECURE_CONTEXT_REQUIRED");
+  if (!globalThis.crossOriginIsolated) throw h("OpenUSD requires COOP/COEP cross-origin isolation.", "E_USD_CROSS_ORIGIN_ISOLATION_REQUIRED");
+}
+async function zt(t, e) {
+  var n;
+  if (t.url)
+    try {
+      return new URL(t.url, ((n = globalThis.location) == null ? void 0 : n.href) ?? t.baseUrl ?? void 0).href;
+    } catch {
+      return t.url;
+    }
+  return t.resolve(e);
+}
+async function Gt(t) {
+  const e = t.url ?? await t.resolve(t.entryPath ?? ""), n = await fetch(e, { signal: t.signal });
+  if (!n.ok) throw h(`USD request failed (${n.status}): ${e}`, n.status === 401 || n.status === 403 ? "E_ASSET_AUTH" : "E_ASSET_FETCH");
+  return n.blob();
+}
+const qt = /* @__PURE__ */ new Set(["usd", "usda", "usdc"]), St = 1024, Vt = 8;
+let kt = 0;
+async function Ht(t, e, n, s, d) {
+  const S = `/tmp/viewer-usd-resolver/${++kt}`;
+  t.FS.createDir(S);
+  const l = [{ path: bt(s), blob: n, depth: 0 }], r = /* @__PURE__ */ new Set();
+  try {
+    for (; l.length > 0; ) {
+      e.signal.throwIfAborted();
+      const i = l.shift();
+      if (r.has(i.path) || i.depth > Vt) continue;
+      if (r.size >= St) throw h(`USD dependency limit exceeded (${St}).`, "E_ASSET_RESOURCE_LIMIT");
+      r.add(i.path);
+      const y = `${S}/${i.path}`;
+      t.FS.createDir(y.split("/").slice(0, -1).join("/")), t.FS.writeFile(y, new Uint8Array(await i.blob.arrayBuffer()));
+      const p = t.UsdUtils.ExtractSanitizedExternalReferences(y);
+      for (const g of p) {
+        const c = Xt(i.path, g);
+        if (!c || r.has(c)) continue;
+        const I = await e.resolve(c), u = await fetch(I, { signal: e.signal });
+        if (!u.ok) {
+          const w = u.status === 401 || u.status === 403 ? "E_ASSET_AUTH" : "E_ASSET_FETCH";
+          throw h(`USD dependency request failed (${u.status}): ${c}`, w);
+        }
+        const D = await u.blob();
+        d.put(c, D), qt.has(Wt(c)) && l.push({ path: c, blob: D, depth: i.depth + 1 });
+      }
+    }
+  } finally {
+    Dt(t, S);
+  }
+}
+function Xt(t, e) {
+  if (!e || /^(?:data|blob):/i.test(e)) return null;
+  if (/^[a-z][a-z0-9+.-]*:/i.test(e) || e.startsWith("/")) return e;
+  const n = t.split("/").slice(0, -1).join("/");
+  return bt(n ? `${n}/${e}` : e);
+}
+function bt(t) {
+  const e = [];
+  for (const n of t.replaceAll("\\", "/").split("/"))
+    !n || n === "." || (n === ".." ? e.pop() : e.push(n));
+  return e.join("/");
+}
+function Wt(t) {
+  var e, n;
+  return ((n = (e = t.split(/[?#]/, 1)[0]) == null ? void 0 : e.split(".").pop()) == null ? void 0 : n.toLowerCase()) ?? "";
+}
+function Dt(t, e) {
+  if (t.FS.exists(e)) {
+    for (const n of t.FS.listDir(e))
+      n.isDir ? Dt(t, n.path) : t.FS.deleteFile(n.path);
+    t.FS.deleteDir(e);
+  }
+}
+function V(t) {
+  return t.replaceAll("&", "&amp;").replaceAll('"', "&quot;").replaceAll("<", "&lt;").replaceAll(">", "&gt;");
+}
+function h(t, e) {
+  return Object.assign(new Error(t), { code: e });
+}
+function Ut() {
+  return Object.assign(new Error("USD load aborted."), { name: "AbortError", code: "E_ABORTED" });
+}
+export {
+  yt as compileUsdCollisionOverlay,
+  Ct as compileUsdPhysics,
+  Lt as compileUsdVisual,
+  vt as isUsdPhysicsFallbackEligible,
+  ee as loadUsdSimulation,
+  Ht as resolveUsdResourcePackage,
+  Ft as shouldInjectUsdDefaultGround
+};

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@nebula-spatial/viewer",
-  "version": "0.3.0",
+  "version": "0.4.0",
   "description": "Read-only Three.js viewer facade",
   "license": "ISC",
   "engines": {
@@ -36,18 +36,21 @@
     "prepack": "npm run build"
   },
   "dependencies": {
-    "@nebula-spatial/cad-loader": "^0.3.0"
+    "@mujoco/mujoco": "^3.12.0",
+    "@nebula-spatial/cad-loader": "^0.3.0",
+    "@openusd-wasm/pxr": "0.0.13",
+    "@openusd-wasm/three-loader": "^0.0.13"
   },
   "peerDependencies": {
     "three": "0.182.0"
   },
   "devDependencies": {
-    "@types/node": "^25.6.0",
     "@types/jsdom": "^27.0.0",
+    "@types/node": "^25.6.0",
     "@types/three": "0.182.0",
+    "jsdom": "^29.0.2",
     "three": "0.182.0",
     "typescript": "^5.6.3",
-    "jsdom": "^29.0.2",
     "vite": "^5.4.10",
     "vitest": "^2.1.8"
   }