@nebula-spatial/viewer 0.4.1 → 0.4.3

package/dist/usd-session-zyj46Bcg.js

@@ -0,0 +1,1192 @@
+import { n as ot, c as rt, a as ie, b as it, d as at, p as ct, S as Te } from "./session-DhZXy40-.js";
+import { DataTexture as Oe, UnsignedByteType as Me, RGBAFormat as Ce, NoColorSpace as De, Mesh as ne, Float32BufferAttribute as lt, SRGBColorSpace as Le, MeshStandardMaterial as ut, MeshPhysicalMaterial as pt, TextureLoader as dt, RepeatWrapping as ft, MirroredRepeatWrapping as ht, ClampToEdgeWrapping as mt, Color as yt, Group as le, Vector3 as I, Quaternion as V, Matrix4 as H, Box3 as ue, Sphere as St, SphereGeometry as gt, BoxGeometry as _t } from "three";
+import { ConvexGeometry as Ut } from "three/examples/jsm/geometries/ConvexGeometry.js";
+import { buildUSDScene as wt, USDLoader as Et } from "@openusd-wasm/three-loader";
+import { PXR as bt } from "@openusd-wasm/pxr";
+import { d as Ye } from "./stage-BKqg5vNe.js";
+function Dt(e) {
+  if (!e) return;
+  if (typeof window > "u") return { baseURL: e };
+  const t = new URL(e, document.baseURI).href, n = new URL("openusd_pxr_wasm.js", t.endsWith("/") ? t : `${t}/`);
+  if (n.origin === window.location.origin) return { baseURL: t };
+  const s = new Blob([`import ${JSON.stringify(n.href)};
+`], { type: "text/javascript" });
+  return {
+    baseURL: t,
+    // pxr 0.0.13 sets mainScriptUrlOrBlob itself; its public preRun hook runs
+    // before OpenUSD initializes and lazily spawns its pthread workers.
+    preRun: [(o) => {
+      o.mainScriptUrlOrBlob = s;
+    }]
+  };
+}
+function xt(e, t, n = 1, s = 0) {
+  var h;
+  const o = e.image, p = (o == null ? void 0 : o.naturalWidth) || (o == null ? void 0 : o.width), i = (o == null ? void 0 : o.naturalHeight) || (o == null ? void 0 : o.height);
+  if (!Number.isInteger(p) || !Number.isInteger(i) || p <= 0 || i <= 0) throw new Error("Texture has no decoded pixels");
+  let a;
+  if (e instanceof Oe) {
+    if (e.type !== Me || e.format !== Ce || ((h = o.data) == null ? void 0 : h.length) !== p * i * 4) throw new Error("Unsupported scalar pixel format");
+    a = o.data;
+  } else {
+    const l = document.createElement("canvas");
+    l.width = p, l.height = i;
+    const y = l.getContext("2d", { willReadFrequently: !0 });
+    if (!y) throw new Error("Scalar conversion requires a 2D canvas");
+    y.drawImage(o, 0, 0), a = y.getImageData(0, 0, p, i).data;
+  }
+  const r = new Uint8Array(p * i * 4), u = "rgba".indexOf(t);
+  for (let l = 0; l < r.length; l += 4) {
+    const y = Math.round(255 * Math.min(1, Math.max(0, a[l + u] / 255 * n + s)));
+    r[l] = r[l + 1] = r[l + 2] = y, r[l + 3] = 255;
+  }
+  const c = new Oe(r, p, i, Ce, Me);
+  return c.wrapS = e.wrapS, c.wrapT = e.wrapT, c.offset.copy(e.offset), c.repeat.copy(e.repeat), c.center.copy(e.center), c.rotation = e.rotation, c.matrix.copy(e.matrix), c.matrixAutoUpdate = e.matrixAutoUpdate, c.channel = e.channel, c.flipY = e.flipY, c.minFilter = e.minFilter, c.magFilter = e.magFilter, c.anisotropy = e.anisotropy, c.generateMipmaps = e.generateMipmaps, c.colorSpace = De, c.needsUpdate = !0, c;
+}
+function vt(e, t, n, s = [], o = !1) {
+  if (e.some((u) => !Number.isInteger(u) || u < 0) || e.reduce((u, c) => u + c, 0) !== t.length || s.some((u) => !Number.isInteger(u) || u < 0 || u >= e.length))
+    throw new Error("Invalid authored face topology");
+  const p = [], i = [], a = new Set(s);
+  let r = 0;
+  if (e.forEach((u, c) => {
+    if (!a.has(c)) for (let h = 1; h < u - 1; h++)
+      p.push(r, r + (o ? h + 1 : h), r + (o ? h : h + 1)), i.push(c);
+    r += u;
+  }), p.length !== n.length || p.some((u, c) => t[u] !== n[c]))
+    throw new Error("Authored polygon/loader corner correspondence unavailable");
+  return { corners: p, faces: i };
+}
+function At(e, t, n) {
+  if (t.length !== n || t.some((o) => !Number.isInteger(o) || o < 0 || o >= e.length))
+    throw new Error("Invalid faceVarying UV indices");
+  const s = t.flatMap((o) => e[o]);
+  if (s.length !== n * 2 || !s.every(Number.isFinite)) throw new Error("Invalid UV values");
+  return s;
+}
+function Pt(e, t) {
+  const n = Array(e).fill(0);
+  for (const s of t) for (const o of s.faces) {
+    if (!Number.isInteger(o) || o < 0 || o >= e || n[o] !== 0)
+      throw new Error("Invalid or overlapping material subset faces");
+    n[o] = s.slot;
+  }
+  return n;
+}
+function It(e, t, n, s) {
+  if (!e.stage) return;
+  const o = e.stage, p = e.pxr, i = p.Usd.TimeCode.Default(), a = (u, c) => t.warnings.push({
+    code: "USD_VISUAL_TOPOLOGY_UNSUPPORTED",
+    source: "usd-visual",
+    message: `USD ${u} 的部分视觉拓扑未能安全补齐，未确认部分保留 Loader 输出：${String(c)}`
+  }), r = (u, c) => {
+    const h = u.GetAttribute(c);
+    try {
+      return h.IsValid() ? h.Get(i) : null;
+    } finally {
+      h.delete();
+    }
+  };
+  try {
+    for (const u of e.data.elements) {
+      const c = e.index.objectsByPath.get(u.path);
+      if (!(c instanceof ne)) continue;
+      const h = new p.Sdf.Path(u.path), l = o.GetPrimAtPath(h);
+      let y = [];
+      try {
+        if (l.GetTypeName() !== "Mesh") continue;
+        y = l.GetChildren();
+        const m = y.filter((g) => g.GetTypeName() === "GeomSubset" && r(g, "familyName") === "materialBind"), S = l.GetAttribute("primvars:st");
+        let N = null, U = null;
+        try {
+          n(u.material) && S.IsValid() && S.GetMetadata("interpolation") === "faceVarying" && (U = r(l, "primvars:st:indices"), U && (N = S.Get(i)));
+        } finally {
+          S.delete();
+        }
+        const E = m.length > 0 && !Array.isArray(c.material) && c.geometry.groups.length === 0;
+        if (!N && !E) continue;
+        const b = r(l, "faceVertexCounts"), w = r(l, "faceVertexIndices");
+        if (!b || !w || c.geometry.index) throw new Error("Authored face topology unavailable");
+        const P = vt(
+          b,
+          w,
+          u.geometry.pointIndices ?? [],
+          r(l, "holeIndices") ?? [],
+          r(l, "orientation") === "leftHanded"
+        );
+        if (c.geometry.getAttribute("position").count !== P.corners.length)
+          throw new Error("Loader geometry corner count mismatch");
+        if (N && U) {
+          const g = At(N, U, w.length), A = P.corners.flatMap((M) => [g[M * 2], g[M * 2 + 1]]), C = c.geometry.getAttribute("uv");
+          (!C || C.array.length !== A.length || A.some((M, _) => Math.abs(M - C.array[_]) > 1e-6)) && (c.geometry.setAttribute("uv", new lt(A, 2)), u.geometry.uvs = A);
+        }
+        if (!E) continue;
+        const x = m.map((g) => {
+          if (r(g, "elementType") !== "face") throw new Error("Non-face material subset");
+          const A = p.UsdShade.ComputeBoundMaterialPath(g), C = (A == null ? void 0 : A.resolvedTargetPath) || (A == null ? void 0 : A.materialPath);
+          if (!C || !e.index.materialsByPath.has(C)) throw new Error("Unresolved subset material");
+          const M = r(g, "indices");
+          if (!Array.isArray(M)) throw new Error("Missing subset face indices");
+          return { materialPath: C, faces: M };
+        }), f = [...new Set(x.map((g) => g.materialPath))], v = Pt(b.length, x.map((g) => ({ faces: g.faces, slot: f.indexOf(g.materialPath) + 1 }))), O = P.faces.map((g) => v[g]), d = [c.material];
+        try {
+          for (const g of f) d.push(s(u, g));
+        } catch (g) {
+          for (const A of d.slice(1)) A.dispose();
+          throw g;
+        }
+        c.material = d;
+        for (let g = 0; g < O.length; ) {
+          let A = g + 1;
+          for (; A < O.length && O[A] === O[g]; ) A++;
+          c.geometry.addGroup(g * 3, (A - g) * 3, O[g]), g = A;
+        }
+      } catch (m) {
+        a(u.path, m);
+      } finally {
+        for (const m of y) m.delete();
+        l.delete(), h.delete();
+      }
+    }
+  } finally {
+    i.delete();
+  }
+}
+const Rt = /* @__PURE__ */ new Set(["png", "jpg", "jpeg", "webp", "avif", "gif", "bmp"]), Nt = /^(?:UsdPreviewSurface|ND_UsdPreviewSurface_surfaceshader)$/i, $t = /(?:standard.?surface|principled|openpbr|adobe.?standard.?material)/i;
+async function Tt(e, t) {
+  var p;
+  It(e, t.diagnostics, (i) => {
+    if (!i) return !0;
+    const a = e.index.materialsByPath.get(i), r = a && ye(a);
+    return !!r && pe(r) && Fe(r, /* @__PURE__ */ new Set());
+  }, (i, a) => {
+    const r = e.data.view.prims.find((y) => y.path === i.path);
+    if (!r) throw new Error(`Missing view prim: ${i.path}`);
+    const u = e.index.materialsByPath.get(a), c = ye(u), l = wt({
+      ...e.data,
+      elements: [{ ...i, material: a }],
+      view: { ...e.data.view, prims: [{ ...r, parentPath: null }] },
+      animations: [],
+      lights: [],
+      skels: { ...e.data.skels, bindings: [], skeletons: [], animations: [] }
+    }, {
+      convertZUp: !1,
+      loadLights: !1,
+      loadTextures: !c,
+      sourcePath: t.sourcePath,
+      textureResolver: (y) => {
+        for (const m of [y.resolvedPath, y.path, y.url]) {
+          if (!m) continue;
+          const S = t.files.objectUrlIfPresent(m, t.entryDirectory ?? "");
+          if (S) return S;
+        }
+        return null;
+      }
+    }).index.objectsByPath.get(i.path);
+    if (l.geometry.dispose(), Array.isArray(l.material)) throw new Error("Unexpected scratch material array");
+    return l.material;
+  });
+  const n = Mt(e), s = [];
+  for (const [i, a] of n) {
+    const r = e.index.materialsByPath.get(i);
+    if (!r) continue;
+    const u = a[0], c = ae(a.flatMap((f) => jt(f.userData.usdMaterialDiagnostics))), h = xe(u.userData.usdSurfaceShaderId);
+    if (h && (Nt.test(h) || $t.test(h))) {
+      const f = await Ot(r, a, c, t);
+      s.push({
+        materialPath: i,
+        sourceShaderId: h,
+        action: f.applied.length ? "augmented" : "preserved",
+        fidelity: c.some((v) => !f.resolved.includes(v)) ? "bounded-approximation" : "native",
+        appliedInputs: f.applied,
+        unsupportedNodes: [],
+        resources: f.resources,
+        loaderDiagnostics: c,
+        resolvedLoaderDiagnostics: f.resolved
+      });
+      continue;
+    }
+    const l = ye(r);
+    if (!l) {
+      const f = je(e, i);
+      s.push({
+        materialPath: i,
+        sourceShaderId: null,
+        action: "fallback",
+        fidelity: f ? "authored-fallback" : "default-fallback",
+        appliedInputs: [],
+        unsupportedNodes: ae(r.shaders.map((v) => v.id).filter(Je)),
+        resources: [],
+        loaderDiagnostics: c
+      });
+      continue;
+    }
+    const y = [], m = [], S = /* @__PURE__ */ new Set(), N = Lt(a, l, y);
+    let U = !1;
+    if (pe(l)) {
+      const f = de(Y(l, ["diffuse_texture"]));
+      if (f) {
+        const v = await Ue(f, t);
+        if (m.push(v.report), v.url && Fe(l, S) && a.every((O) => Q(O) && !O.map)) {
+          let O = null;
+          try {
+            O = await (t.createTexture ?? Ee)(v.url, Le);
+          } catch (d) {
+            if (d instanceof Error && d.name === "AbortError") throw d;
+            m[m.length - 1] = { path: f, status: "decode-failed" };
+          }
+          if (O) {
+            for (const d of a)
+              Q(d) && (d.map = O, d.color.set(16777215), d.needsUpdate = !0, U = !0);
+            U ? y.push("diffuse_texture") : O.dispose();
+          }
+        }
+      }
+      Ct(l, S);
+    }
+    const E = q(l, "diffuseColor") ?? q(l, "baseColor");
+    let b = !1;
+    if (E) {
+      const f = te(r, E);
+      if (f && He(f)) {
+        const v = Bt(f);
+        if (v) {
+          const O = await Ue(v.path, t);
+          m.push(O.report);
+          const d = q(f, "manifold");
+          d && S.add(((p = te(r, d)) == null ? void 0 : p.id) ?? d.path);
+          const g = Object.keys(f.inputs).filter((M) => !["inputs:filename", "inputs:resultRGB", "inputs:linearize"].includes(M)), A = f.inputs["inputs:linearize"], C = A === 0 || A === 1;
+          if (C || S.add("PxrTexture.colorSpace"), g.length > 0 && !d && S.add("PxrTexture.controls"), O.url && !d && g.length === 0 && C && E.outputName === "resultRGB" && a.every((M) => Q(M) && !M.map)) {
+            let M = null;
+            try {
+              M = await (t.createTexture ?? Ee)(O.url, A === 1 ? Le : De);
+            } catch (_) {
+              if (_ instanceof Error && _.name === "AbortError") throw _;
+              m[m.length - 1] = { path: v.path, status: "decode-failed" };
+            }
+            if (M) {
+              for (const _ of a)
+                Q(_) && (_.map = M, _.color.set(16777215), _.needsUpdate = !0, b = !0);
+              b ? y.push("diffuseColor.texture") : M.dispose();
+            }
+          }
+        } else
+          S.add(f.id ?? f.path);
+      } else f ? S.add(f.id ?? f.path) : S.add(E.path);
+    }
+    Ft(r, l, S);
+    const w = N || b || U ? "augmented" : "fallback", P = je(e, i), x = w === "augmented" ? "bounded-approximation" : P ? "authored-fallback" : "default-fallback";
+    qe(t.diagnostics, i, l, y, S, m, w), s.push({
+      materialPath: i,
+      sourceShaderId: We(l),
+      action: w,
+      fidelity: x,
+      appliedInputs: ae(y),
+      unsupportedNodes: [...S],
+      resources: m,
+      loaderDiagnostics: c
+    });
+  }
+  const o = s.filter((i) => i.loaderDiagnostics.some(
+    (a) => {
+      var r;
+      return !((r = i.resolvedLoaderDiagnostics) != null && r.includes(a)) && !(i.action === "augmented" && a === `Material ${i.materialPath} has no supported surface shader.`);
+    }
+  ));
+  return o.length > 0 && t.diagnostics.droppedFeatures.push({
+    code: "USD_VISUAL_LOADER_DIAGNOSTIC",
+    message: `${o.length} 个 USD 材质仍有尚未被视觉适配层消解的 Loader 限制；具体材质和原始诊断见 visualAdaptation 报告。`,
+    source: "usd-visual"
+  }), Object.freeze({
+    schemaVersion: 1,
+    materials: s,
+    summary: Object.freeze({
+      preserved: s.filter((i) => i.action === "preserved").length,
+      augmented: s.filter((i) => i.action === "augmented").length,
+      fallback: s.filter((i) => i.action === "fallback").length,
+      missingResources: s.flatMap((i) => i.resources).filter((i) => i.status === "missing").length,
+      unsupportedResources: s.flatMap((i) => i.resources).filter((i) => i.status === "unsupported-format").length
+    })
+  });
+}
+async function Ot(e, t, n, s) {
+  var x;
+  const o = { applied: [], resolved: [], resources: [] }, p = xe((x = t[0]) == null ? void 0 : x.userData.usdSurfaceShaderPath), i = e.shaders.find((f) => f.path === p) ?? e.shaders.find((f) => f.id === "UsdPreviewSurface");
+  if (!i || i.id !== "UsdPreviewSurface") return o;
+  const a = q(i, "roughness");
+  if (!a || !a.outputName || !["r", "g", "b", "a"].includes(a.outputName)) return o;
+  const r = te(e, a);
+  if (!r || r.id !== "UsdUVTexture") return o;
+  const u = `Texture output ${a.outputName} from ${r.path} cannot be mapped to Three.js roughness without channel repacking.`;
+  if (!n.includes(u) || Y(r, ["sourceColorSpace"]) !== "raw") return o;
+  const c = q(r, "st");
+  if (c) {
+    const f = te(e, c);
+    if ((f == null ? void 0 : f.id) !== "UsdPrimvarReader_float2" || Y(f, ["varname"]) !== "st") return o;
+  } else if (r.inputs["inputs:st"] !== void 0) return o;
+  const h = "rgba".indexOf(a.outputName);
+  function l(f, v) {
+    if (q(r, f)) return null;
+    const O = r.inputs[`inputs:${f}`];
+    return O === void 0 ? v : Array.isArray(O) && O.length === 4 && O.every(Number.isFinite) ? O[h] : null;
+  }
+  const y = l("scale", 1), m = l("bias", 0);
+  if (y === null || m === null) return o;
+  function S(f) {
+    if (q(r, f)) return null;
+    const v = r.inputs[`inputs:${f}`];
+    return v === "repeat" ? ft : v === "mirror" ? ht : v === "clamp" ? mt : null;
+  }
+  const N = S("wrapS"), U = S("wrapT");
+  if (N === null || U === null) return o;
+  const E = de(Y(r, ["file"]));
+  if (!E) return o;
+  const b = t.filter(Q);
+  if (!b.length) return o;
+  if (b.every((f) => {
+    var v;
+    return ((v = f.roughnessMap) == null ? void 0 : v.userData.usdResolvedChannelDiagnostic) === u;
+  }))
+    return o.applied.push(`roughness.texture.${a.outputName}->g`), o.resolved.push(u), o;
+  if (b.some((f) => f.roughnessMap !== null)) return o;
+  const w = await Ue(E, s);
+  o.resources.push(w.report);
+  let P = null;
+  if (w.url)
+    try {
+      P = await (s.createTexture ?? Ee)(w.url, De);
+      const f = xt(P, a.outputName, y, m);
+      f.wrapS = N, f.wrapT = U, f.userData.usdResolvedChannelDiagnostic = u;
+      for (const v of b)
+        v.roughnessMap = f, v.roughness = 1, v.needsUpdate = !0;
+      o.applied.push(`roughness.texture.${a.outputName}->g`), o.resolved.push(u);
+    } catch (f) {
+      if (f instanceof Error && f.name === "AbortError") throw f;
+      o.resources[0] = { path: E, status: "decode-failed" };
+    } finally {
+      P == null || P.dispose();
+    }
+  return qe(s.diagnostics, e.path, i, [], /* @__PURE__ */ new Set(), o.resources, "preserved"), o;
+}
+function Mt(e) {
+  const t = /* @__PURE__ */ new Map(), n = /* @__PURE__ */ new Set();
+  return e.scene.traverse((s) => {
+    if (s instanceof ne)
+      for (const o of Array.isArray(s.material) ? s.material : [s.material]) {
+        if (n.has(o)) continue;
+        n.add(o);
+        const p = xe(o.userData.usdMaterialPath);
+        if (!p) continue;
+        const i = t.get(p);
+        i ? i.push(o) : t.set(p, [o]);
+      }
+  }), t;
+}
+function ye(e) {
+  const t = e.shaders.filter((n) => /^PxrSurface$/i.test(n.id ?? "") || pe(n));
+  return t.length === 1 ? t[0] : null;
+}
+function pe(e) {
+  var n;
+  const t = de(e.inputs["info:mdl:sourceAsset"]);
+  return ((n = t == null ? void 0 : t.replaceAll("\\", "/").split("/").at(-1)) == null ? void 0 : n.toLowerCase()) === "omnipbr.mdl";
+}
+function We(e) {
+  return pe(e) ? "OmniPBR" : e.id;
+}
+function Fe(e, t) {
+  const n = Ve(e, "texture_scale", [1, 1]), s = Ve(e, "texture_translate", [0, 0]), o = ee(e, ["texture_rotate"]) ?? 0, p = Xe(e, ["project_uvw"], !1), i = ee(e, ["uv_space_index"]) ?? 0, a = !p && i === 0 && n[0] === 1 && n[1] === 1 && s[0] === 0 && s[1] === 0 && o === 0;
+  return a || t.add("OmniPBR.uvTransform"), a;
+}
+function Ct(e, t) {
+  const n = /* @__PURE__ */ new Set([
+    "inputs:diffuse_color_constant",
+    "inputs:diffuse_texture",
+    "inputs:reflection_roughness_constant",
+    "inputs:metallic_constant",
+    "inputs:opacity_constant",
+    "inputs:enable_opacity",
+    "inputs:enable_emission",
+    "inputs:emissive_color",
+    "inputs:emissive_intensity",
+    "inputs:texture_scale",
+    "inputs:texture_translate",
+    "inputs:texture_rotate",
+    "inputs:project_uvw",
+    "inputs:uv_space_index",
+    "info:mdl:sourceAsset"
+  ]), s = /* @__PURE__ */ new Set(["inputs:opacity_mode", "inputs:opacity_threshold", "inputs:enable_opacity_texture"]);
+  for (const o of Object.keys(e.inputs))
+    !n.has(o) && !s.has(o) && t.add(`OmniPBR.${o.replace(/^inputs:/, "")}`);
+}
+function Lt(e, t, n) {
+  let s = !1;
+  const o = Be(t, ["diffuseColor", "baseColor", "base_color", "diffuse_color_constant"]), p = ee(t, ["roughness", "specularRoughness", "specular_roughness", "reflection_roughness_constant"]), i = ee(t, ["metallic", "metalness", "metallicFactor", "metallic_constant"]), a = ee(t, ["opacity", "presence", "opacity_constant"]), u = Xe(t, ["enable_emission"], !0) ? Be(t, ["emissiveColor", "emissionColor", "emission_color", "emissive_color"]) : null;
+  for (const c of e)
+    Q(c) && (o && (c.color.copy(o), s = !0), p !== null && (c.roughness = Se(p), s = !0), i !== null && (c.metalness = Se(i), s = !0), a !== null && (c.opacity = Se(a), c.transparent = c.opacity < 1, c.depthWrite = c.opacity >= 1, s = !0), u && (c.emissive.copy(u), s = !0), s && (c.needsUpdate = !0));
+  return o && n.push("diffuseColor.constant"), p !== null && n.push("roughness.constant"), i !== null && n.push("metalness.constant"), a !== null && n.push("opacity.constant"), u && n.push("emissiveColor.constant"), s;
+}
+function Ft(e, t, n) {
+  const s = /* @__PURE__ */ new Set(), o = (p) => {
+    if (s.has(p.path)) return;
+    s.add(p.path);
+    const i = te(e, p);
+    if (!i) {
+      n.add(p.path);
+      return;
+    }
+    if (!He(i)) {
+      n.add(i.id ?? i.path);
+      for (const [a, r] of Object.entries(i.inputs)) {
+        if (!a.endsWith(".resolvedConnect") && !a.endsWith(".connect")) continue;
+        const u = we(r);
+        u && o(u);
+      }
+    }
+  };
+  for (const [p, i] of Object.entries(t.inputs)) {
+    if (!p.endsWith(".resolvedConnect") && !p.endsWith(".connect") || /(?:diffuseColor|baseColor)/i.test(p)) continue;
+    const a = we(i);
+    a && o(a);
+  }
+}
+async function Ue(e, t) {
+  const n = ot(t.entryDirectory ? `${t.entryDirectory}/${e}` : e);
+  let s = t.files.find(e, t.entryDirectory ?? "") ?? t.files.find(n);
+  if (!s)
+    try {
+      await t.files.ensure(n), s = t.files.find(n) ?? t.files.find(e, t.entryDirectory ?? "");
+    } catch (o) {
+      const p = o == null ? void 0 : o.code;
+      if (o instanceof Error && o.name === "AbortError" || p === "E_ASSET_AUTH") throw o;
+      const i = p === "E_ASSET_RESOURCE_NOT_FOUND" || /\((404|410)\)/.test(String(o));
+      return { report: { path: e, status: i ? "missing" : "unresolved" }, url: null };
+    }
+  return s ? Rt.has(Vt(e)) ? { report: { path: e, status: "available" }, url: t.files.objectUrl(s) } : { report: { path: e, status: "unsupported-format" }, url: null } : { report: { path: e, status: "unresolved" }, url: null };
+}
+function qe(e, t, n, s, o, p, i) {
+  i === "augmented" && e.approximations.push({
+    code: "USD_VISUAL_MATERIAL_AUGMENTED",
+    message: `USD 材质 ${t}（${We(n) ?? "renderer-specific shader"}）已通过视觉适配层映射资产明确提供的输入：${ae(s).join(", ")}。这是有限范围的材质映射，不保证与原渲染器完全等价；原始 Loader 诊断保留在 visualAdaptation 报告中。`,
+    source: "usd-visual"
+  });
+  for (const a of p)
+    a.status === "missing" && e.warnings.push({
+      code: "USD_VISUAL_RESOURCE_MISSING",
+      message: `USD 材质资源缺失：${a.path}（${t}）。未生成替代内容。`,
+      source: "usd-visual"
+    }), a.status === "unsupported-format" && e.droppedFeatures.push({
+      code: "USD_VISUAL_TEXTURE_FORMAT_UNSUPPORTED",
+      message: `USD 材质纹理格式无法由浏览器直接消费：${a.path}（${t}）。需要离线确定性转码。`,
+      source: "usd-visual"
+    }), a.status === "decode-failed" && e.warnings.push({
+      code: "USD_VISUAL_TEXTURE_DECODE_FAILED",
+      message: `USD 纹理解码失败：${a.path}（${t}）。保留原材质。`,
+      source: "usd-visual"
+    }), a.status === "unresolved" && e.warnings.push({
+      code: "USD_VISUAL_RESOURCE_UNRESOLVED",
+      message: `无法确认 USD 材质资源是否可用：${a.path}（${t}）。未生成替代内容。`,
+      source: "usd-visual"
+    });
+  for (const a of o) e.droppedFeatures.push({
+    code: "USD_VISUAL_SHADER_NODE_UNSUPPORTED",
+    message: `USD 材质节点 ${a} 无法映射为浏览器材质（${t}）。未生成替代内容。`,
+    source: "usd-visual"
+  });
+}
+function Bt(e) {
+  const t = Y(e, ["filename", "file"]), n = de(t);
+  return n ? { shader: e, path: n } : null;
+}
+function q(e, t) {
+  return we(e.inputs[`inputs:${t}.resolvedConnect`] ?? e.inputs[`inputs:${t}.connect`]);
+}
+function we(e) {
+  const t = Array.isArray(e) ? e[0] : e;
+  if (typeof t != "string") return null;
+  const n = /^(.*?)(?:\.outputs:([^/]+))?$/.exec(t);
+  return n ? { path: n[1], outputName: n[2] ?? null } : null;
+}
+function te(e, t) {
+  return e.shaders.find((n) => n.path === t.path) ?? null;
+}
+function He(e) {
+  return e.id === "PxrTexture";
+}
+function Q(e) {
+  return e instanceof ut || e instanceof pt;
+}
+async function Ee(e, t) {
+  const n = await new dt().loadAsync(e);
+  return n.colorSpace = t, n.flipY = !0, n;
+}
+function Be(e, t) {
+  const n = Y(e, t);
+  if (!Array.isArray(n) || n.length < 3) return null;
+  const s = n.slice(0, 3);
+  return s.every((o) => typeof o == "number" && Number.isFinite(o)) ? new yt(s[0], s[1], s[2]) : null;
+}
+function Xe(e, t, n) {
+  const s = Y(e, t);
+  return typeof s == "boolean" ? s : n;
+}
+function Ve(e, t, n) {
+  const s = Y(e, [t]);
+  return Array.isArray(s) && s.length >= 2 && s.slice(0, 2).every((o) => typeof o == "number" && Number.isFinite(o)) ? [s[0], s[1]] : n;
+}
+function ee(e, t) {
+  const n = Y(e, t), s = typeof n == "number" ? n : Number.NaN;
+  return Number.isFinite(s) ? s : null;
+}
+function Y(e, t) {
+  for (const n of t) {
+    if (q(e, n)) return;
+    const s = e.inputs[`inputs:${n}`];
+    if (s !== void 0) return s;
+  }
+}
+function de(e) {
+  if (typeof e == "string") return e;
+  if (!e || typeof e != "object") return null;
+  for (const t of ["path", "resolvedPath", "url"]) {
+    const n = e[t];
+    if (typeof n == "string" && n) return n;
+  }
+  return null;
+}
+function je(e, t) {
+  return e.data.elements.some((n) => n.material === t && n.geometry.displayColor !== null);
+}
+function Vt(e) {
+  var t, n;
+  return ((n = (t = e.split(/[?#]/, 1)[0]) == null ? void 0 : t.split(".").pop()) == null ? void 0 : n.toLowerCase()) ?? "";
+}
+function Se(e) {
+  return Math.min(1, Math.max(0, e));
+}
+function jt(e) {
+  return Array.isArray(e) ? e.filter(Je) : [];
+}
+function xe(e) {
+  return typeof e == "string" && e ? e : null;
+}
+function Je(e) {
+  return typeof e == "string" && e.length > 0;
+}
+function ae(e) {
+  return [...new Set(e)];
+}
+async function dn(e, t, n) {
+  var N;
+  Jt();
+  const s = n.hasLocalFiles(), o = e.entryPath ?? e.filename ?? "asset.usd", p = s ? o : await Qt(e, o), i = s ? n.getBlob(o) : await Zt(e), a = o.split("/").pop() || "asset.usd", r = o.split("/").slice(0, -1).join("/"), u = Dt(t.options.openUsdBaseUrl), c = e.hasResourceResolver && !s ? await new bt().load(u) : void 0;
+  c && await nn(c, e, i, a, n);
+  const h = new Et({
+    convertZUp: !1,
+    loadLights: !1,
+    preserveStage: !0,
+    ...c ? { pxr: c } : u ? { pxrOptions: u } : {}
+  });
+  let l = null, y = null, m = null, S = null;
+  try {
+    if (l = await h.parseAsync(i, {
+      sourcePath: p,
+      fileName: a,
+      files: s || e.hasResourceResolver ? n.asSourceRecord(r) : 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 && !e.hasResourceResolver,
+      // USD layer references are authoritative; disable directory guessing because SPA fallback pages may be returned as HTTP 200.
+      assetSearchRoots: [],
+      textureResolver: s || e.hasResourceResolver ? (_) => {
+        for (const L of [_.resolvedPath, _.path, _.url])
+          if (L) {
+            const D = n.objectUrlIfPresent(L, r);
+            if (D) return D;
+          }
+        return null;
+      } : void 0,
+      preserveStage: !0
+    }), t.signal.aborted) throw _e();
+    const U = Xt(l);
+    l.scene.scale.multiplyScalar(U.metersPerUnit), l.data.stage.upAxis.toUpperCase() === "Y" && l.scene.quaternion.setFromAxisAngle(new I(1, 0, 0), Math.PI / 2), l.scene.updateMatrixWorld(!0);
+    const E = l.data.physics.rigidBodies.filter((_) => _.enabled), b = Ze(l, E.map((_) => _.path)), w = it(), P = await Tt(l, {
+      files: n,
+      entryDirectory: r,
+      sourcePath: p,
+      isLocalPackage: s,
+      diagnostics: w
+    });
+    if (t.signal.aborted) throw _e();
+    const x = Gt(w);
+    E.some((_) => _.startsAsleep === !0) && w.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 f = at({
+      id: p,
+      name: p.split("/").pop() ?? p,
+      source: { format: "usd", uri: p },
+      links: E.map((_) => ({ id: _.path, name: _.name, visuals: [], collisions: [] })),
+      joints: b.flatMap((_) => _.body0 && _.body1 ? [{
+        id: _.path,
+        type: _.jointType,
+        parent: _.body0,
+        child: _.body1,
+        origin: { position: _.localPos1.map((L) => L * U.metersPerUnit), rotationRpy: [0, 0, 0] },
+        axis: Ke(_.axis).applyQuaternion(Z(_.localRot1 ?? [1, 0, 0, 0])).toArray(),
+        ...Number.isFinite(_.lowerLimit) && Number.isFinite(_.upperLimit) ? { limits: {
+          lower: _.lowerLimit * (_.jointType === "revolute" ? Math.PI / 180 : U.metersPerUnit),
+          upper: _.upperLimit * (_.jointType === "revolute" ? Math.PI / 180 : U.metersPerUnit)
+        } } : {}
+      }] : []),
+      diagnostics: w,
+      extension: { rigidBodyCount: E.length, jointCount: b.length, visualAdaptation: P }
+    });
+    if (E.length === 0) {
+      const _ = Ge(l, w), L = l.scene, D = l;
+      return m = { root: L, sync() {
+      }, dispose() {
+        D.dispose();
+      } }, l = null, ge(f, m, !1, () => {
+      }, void 0, void 0, _, x);
+    }
+    let v;
+    try {
+      v = Wt(l, E.map((L) => L.path), U, b), (N = v.massOverrides) != null && N.length && w.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" });
+      const { MujocoRuntime: _ } = await import("./mujoco-runtime-s85kwjo7.js");
+      y = new _(), await y.initialize(v, t.options.mujocoBaseUrl), t.signal.throwIfAborted();
+    } catch (_) {
+      const L = ct(_, t.signal, "usd-physics");
+      y == null || y.dispose(), y = null, w.droppedFeatures.push(L);
+      const D = Ge(l, w), k = l.scene, $ = l;
+      return m = { root: k, sync() {
+      }, dispose() {
+        $.dispose();
+      } }, l = null, ge(f, m, !1, () => {
+      }, void 0, L, D, x);
+    }
+    const O = S = Yt(l, E.map((_) => _.path));
+    if (t.signal.aborted) throw _e();
+    m = new Te(y, O);
+    const d = Qe(l, E.map((_) => _.path), w), g = d ? new Te(y, d) : void 0;
+    S = null;
+    const A = l, C = y, M = m;
+    return l = null, y = null, m = null, ge(f, M, !0, () => {
+      C.dispose(), A.dispose();
+    }, C, void 0, g, x);
+  } catch (U) {
+    throw S && Ye(S.root), m == null || m.dispose(), y == null || y.dispose(), l == null || l.dispose(), U;
+  }
+}
+function Gt(e) {
+  const t = [
+    "USD_VISUAL_RESOURCE_MISSING",
+    "USD_VISUAL_TEXTURE_FORMAT_UNSUPPORTED",
+    "USD_VISUAL_RESOURCE_UNRESOLVED",
+    "USD_VISUAL_TEXTURE_DECODE_FAILED",
+    "USD_VISUAL_SHADER_NODE_UNSUPPORTED",
+    "USD_VISUAL_LOADER_DIAGNOSTIC",
+    "USD_VISUAL_TOPOLOGY_UNSUPPORTED"
+  ], n = [...e.warnings, ...e.droppedFeatures, ...e.approximations];
+  for (const s of t) {
+    const o = n.find((p) => p.code === s);
+    if (o) return o;
+  }
+}
+function ge(e, t, n, s, o, p, i, a) {
+  let r = !1;
+  return {
+    asset: e,
+    binding: t,
+    hasPhysics: n,
+    runtime: o,
+    fallback: p,
+    visualWarning: a,
+    collision: i,
+    step(u) {
+      if (!o) return !1;
+      const c = o.step(u);
+      return c && t.sync(), c;
+    },
+    reset() {
+      o == null || o.reset(), t.sync();
+    },
+    dispose() {
+      r || (r = !0, i == null || i.dispose(), t.dispose(), s());
+    }
+  };
+}
+const kt = /* @__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 fn(e) {
+  const t = zt(e);
+  return t !== null && kt.has(t);
+}
+function zt(e) {
+  if (!e || typeof e != "object" || !("code" in e)) return null;
+  const t = e.code;
+  return typeof t == "string" ? t : null;
+}
+function Yt(e, t) {
+  e.scene.updateMatrixWorld(!0);
+  const n = new le();
+  n.name = "USD simulation";
+  const s = /* @__PURE__ */ new Map(), o = /* @__PURE__ */ new Map();
+  for (const i of t) {
+    const a = e.index.objectsByPath.get(i);
+    if (!a) throw R(`USD rigid body node is missing: ${i}`, "E_USD_PHYSICS_UNSUPPORTED");
+    const r = new le();
+    r.name = i, n.add(r), s.set(i, r);
+    const u = new I(), c = new V();
+    a.matrixWorld.decompose(u, c, new I()), o.set(i, new H().compose(u, c, new I(1, 1, 1)));
+  }
+  const p = [];
+  e.scene.traverse((i) => {
+    var c;
+    if (!(i instanceof ne)) return;
+    let a = i, r, u = !0;
+    for (; a; ) {
+      u && (u = a.visible);
+      const h = (c = a.userData.usd) == null ? void 0 : c.path;
+      !r && h && s.has(h) && (r = h), a = a.parent;
+    }
+    u && p.push([i, r]);
+  });
+  for (const [i, a] of p) {
+    const r = i.clone(!1);
+    r.geometry = i.geometry.clone(), r.material = Array.isArray(i.material) ? i.material.map((u) => u.clone()) : i.material.clone(), r.matrix.copy(a ? o.get(a) : new H()).invert().multiply(i.matrixWorld), r.matrix.decompose(r.position, r.quaternion, r.scale), (a ? s.get(a) : n).add(r);
+  }
+  return { root: n, bindings: s, expectedLinkCount: s.size };
+}
+function Qe(e, t, n) {
+  e.scene.updateMatrixWorld(!0);
+  const s = new le();
+  s.name = "USD authored collisions";
+  const o = rt(), p = /* @__PURE__ */ new Map(), i = /* @__PURE__ */ new Map();
+  for (const r of t) {
+    const u = e.index.objectsByPath.get(r);
+    if (!u) continue;
+    const c = new I(), h = new V();
+    u.matrixWorld.decompose(c, h, new I()), i.set(r, new H().compose(c, h, new I(1, 1, 1)));
+    const l = new le();
+    l.name = r, l.position.copy(c), l.quaternion.copy(h), p.set(r, l), s.add(l);
+  }
+  let a = 0;
+  for (const r of e.data.physics.colliders) {
+    if (!r.enabled) continue;
+    const u = e.index.objectsByPath.get(r.path);
+    if (!u) continue;
+    const c = r.bodyPath && p.has(r.bodyPath) ? r.bodyPath : null, h = c ? p.get(c) : s, l = c ? i.get(c) : new H(), y = [];
+    if (u.traverse((U) => {
+      U instanceof ne && y.push(U);
+    }), y.length === 0) continue;
+    const m = String(r.typeName ?? u.type).toLowerCase(), S = m.includes("mesh") ? r.approximation ?? "none" : null;
+    if (S === "convexDecomposition" || S === "meshSimplification") {
+      n == null || n.droppedFeatures.push({
+        code: "E_USD_COLLISION_DEBUG_APPROXIMATION_UNAVAILABLE",
+        message: `USD collider ${r.path} 使用 ${S}，但资产未提供可唯一还原的最终代理几何。`,
+        source: "usd-collision-debug"
+      });
+      continue;
+    }
+    if (m.includes("mesh") && S !== "none") {
+      const U = [], E = l.clone().invert();
+      for (const b of y) {
+        const w = E.clone().multiply(b.matrixWorld), P = b.geometry.getAttribute("position");
+        for (let x = 0; x < P.count; x += 1) U.push(new I().fromBufferAttribute(P, x).applyMatrix4(w));
+      }
+      if (U.length >= 4 && S === "convexHull") {
+        const b = new Ut(U), w = ie(b, o, "mesh");
+        b.dispose(), w.name = `Collision:${r.path}`, w.userData.usdColliderPath = r.path, h.add(w), a += 1;
+      } else if (U.length > 0 && S === "boundingSphere") {
+        const w = new ue().setFromPoints(U).getBoundingSphere(new St()), P = new gt(w.radius, 24, 16);
+        P.translate(w.center.x, w.center.y, w.center.z);
+        const x = ie(P, o, "feature");
+        P.dispose(), x.name = `Collision:${r.path}`, x.userData.usdColliderPath = r.path, h.add(x), a += 1;
+      } else if (U.length > 0 && S === "boundingCube") {
+        const b = new ue().setFromPoints(U), w = b.getSize(new I()), P = b.getCenter(new I()), x = new _t(w.x, w.y, w.z);
+        x.translate(P.x, P.y, P.z);
+        const f = ie(x, o, "feature");
+        x.dispose(), f.name = `Collision:${r.path}`, f.userData.usdColliderPath = r.path, h.add(f), a += 1;
+      } else ["convexHull", "boundingSphere", "boundingCube"].includes(String(S)) || n == null || n.droppedFeatures.push({
+        code: "E_USD_COLLISION_DEBUG_APPROXIMATION_UNAVAILABLE",
+        message: `USD collider ${r.path} 使用未知 approximation=${S}。`,
+        source: "usd-collision-debug"
+      });
+      continue;
+    }
+    const N = m.includes("mesh") ? "mesh" : "feature";
+    for (const U of y) {
+      const E = ie(U.geometry, o, N);
+      E.name = `Collision:${r.path}`, E.matrixAutoUpdate = !1, E.matrix.copy(l).invert().multiply(U.matrixWorld), E.userData.usdColliderPath = r.path, h.add(E), a += 1;
+    }
+  }
+  if (a === 0) {
+    o.dispose();
+    return;
+  }
+  return { root: s, bindings: p, expectedLinkCount: p.size };
+}
+function Ge(e, t) {
+  const n = Qe(e, [], t);
+  if (n)
+    return n.root.visible = !1, { root: n.root, sync() {
+    }, dispose() {
+      n.root.removeFromParent(), Ye(n.root);
+    } };
+}
+function Ze(e, t) {
+  e.scene.updateMatrixWorld(!0);
+  const n = new Set(t);
+  return e.data.joints.filter((s) => s.enabled).map((s) => {
+    const o = { ...s };
+    for (const p of [0, 1]) {
+      const i = p === 0 ? "body0" : "body1", a = p === 0 ? "localPos0" : "localPos1", r = p === 0 ? "localRot0" : "localRot1", u = s[i];
+      if (!u) continue;
+      let c = u;
+      for (; c && !e.index.rigidBodiesByPath.has(c); )
+        c = c.slice(0, c.lastIndexOf("/"));
+      if (!c || !n.has(c))
+        throw R(`USD joint references an unknown or disabled rigid body: ${s.path} (${u})`, "E_USD_INVALID_JOINT_REFERENCE");
+      if (c === u) continue;
+      const h = e.index.objectsByPath.get(u), l = e.index.objectsByPath.get(c);
+      if (!h || !l)
+        throw R(`USD joint target node is missing: ${s.path} (${u})`, "E_USD_INVALID_JOINT_REFERENCE");
+      const y = l.matrixWorld.clone().invert().multiply(h.matrixWorld), m = new I(), S = new V(), N = new I();
+      y.decompose(m, S, N);
+      const U = new H().compose(m, S, new I(1, 1, 1));
+      if (y.elements.some((b, w) => Math.abs(b - U.elements[w]) > 1e-5))
+        throw R(`USD joint target has unsupported scale or shear: ${s.path} (${u})`, "E_USD_PHYSICS_UNSUPPORTED");
+      o[i] = c, o[a] = new I(...s[a]).applyMatrix4(y).toArray();
+      const E = S.multiply(Z(s[r] ?? [1, 0, 0, 0])).normalize();
+      o[r] = [E.w, E.x, E.y, E.z];
+    }
+    return o;
+  });
+}
+function Wt(e, t, n, s = Ze(e, t)) {
+  e.scene.updateMatrixWorld(!0);
+  const o = [], p = [], i = [], a = [], r = [], u = [], c = [], { metersPerUnit: h, kilogramsPerUnit: l } = n, y = new Map(t.map((d) => {
+    const g = e.index.rigidBodiesByPath.get(d);
+    if (!g) throw R(`USD rigid body metadata is missing: ${d}`, "E_USD_PHYSICS_UNSUPPORTED");
+    return [d, g];
+  })), m = /* @__PURE__ */ new Map();
+  for (const d of y.keys()) {
+    const g = e.index.objectsByPath.get(d);
+    if (!g) throw R(`USD rigid body node is missing: ${d}`, "E_USD_PHYSICS_UNSUPPORTED");
+    const A = new I(), C = new V(), M = new I();
+    if (g.matrixWorld.decompose(A, C, M), M.clone().divideScalar(h).toArray().some((L) => Math.abs(Math.abs(L) - 1) > 1e-5))
+      throw R(`USD rigid body has unbaked scale: ${d}`, "E_USD_UNBAKED_BODY_SCALE");
+    m.set(d, new H().compose(A, C, new I(1, 1, 1)));
+  }
+  const S = /* @__PURE__ */ new Map();
+  for (const d of s) {
+    if (!d.body1 || !y.has(d.body1) || d.body0 && !y.has(d.body0))
+      throw R(`USD joint references an unknown rigid body: ${d.path}`, "E_USD_INVALID_JOINT_REFERENCE");
+    if (!["fixed", "revolute", "prismatic"].includes(d.jointType))
+      throw R(`Unsupported USD joint type ${d.jointType}: ${d.path}`, "E_USD_UNSUPPORTED_JOINT");
+    if (S.has(d.body1)) throw R(`USD rigid body has multiple parent joints: ${d.body1}`, "E_USD_MULTIPLE_PARENTS");
+    S.set(d.body1, d), d.body0 && d.collisionEnabled !== !0 && i.push(`<exclude body1="${J(d.body0)}" body2="${J(d.body1)}"/>`);
+  }
+  let N = 0;
+  const U = /* @__PURE__ */ new Set(), E = (d, g = new H()) => {
+    var Ae, Pe, Ie, Re, Ne;
+    if (U.has(d)) throw R(`USD joint graph contains a cycle at ${d}`, "E_USD_JOINT_CYCLE");
+    U.add(d);
+    const A = y.get(d), C = m.get(d), M = g.clone().invert().multiply(C), _ = new I(), L = new V();
+    M.decompose(_, L, new I());
+    const D = S.get(d), k = [`<body name="${J(d)}" pos="${B(_.toArray())}" quat="${K(L)}">`];
+    if (!D && !A.kinematicEnabled && k.push("<freejoint/>"), D && [...A.velocity ?? [], ...A.angularVelocity ?? []].some((T) => T !== 0))
+      throw R(`Constrained USD initial velocity cannot be projected reliably: ${d}`, "E_USD_CONSTRAINED_INITIAL_VELOCITY");
+    if (!D && !A.kinematicEnabled) {
+      const T = new I(...A.velocity ?? [0, 0, 0]).multiplyScalar(h).applyQuaternion(e.scene.quaternion), F = new I(...A.angularVelocity ?? [0, 0, 0]).multiplyScalar(Math.PI / 180).applyQuaternion(e.scene.quaternion).applyQuaternion(new V().setFromRotationMatrix(C).invert());
+      c.push({ body: d, velocity: [...T.toArray(), ...F.toArray()] });
+    }
+    if (D && D.jointType !== "fixed") {
+      const T = D.jointType === "revolute" ? "hinge" : "slide", F = Ke(D.axis).applyQuaternion(Z(D.localRot1 ?? [1, 0, 0, 0])), j = T === "hinge" ? Math.PI / 180 : h, fe = new V().setFromRotationMatrix(g), se = new V().setFromRotationMatrix(C), X = fe.clone().multiply(Z(D.localRot0 ?? [1, 0, 0, 0])).invert().multiply(se).multiply(Z(D.localRot1 ?? [1, 0, 0, 0]));
+      let z = 0;
+      if (T === "hinge") {
+        const W = D.axis === "Y" ? X.y : D.axis === "Z" ? X.z : X.x;
+        z = 2 * Math.atan2(W, X.w), z = Math.atan2(Math.sin(z), Math.cos(z));
+      } else {
+        const W = new I(...D.localPos0).multiplyScalar(h).applyMatrix4(g);
+        z = new I(...D.localPos1).multiplyScalar(h).applyMatrix4(C).sub(W).dot(F.clone().applyQuaternion(se));
+      }
+      const $e = Number.isFinite(D.lowerLimit) && Number.isFinite(D.upperLimit) && Math.abs(D.lowerLimit) < 1e20 && Math.abs(D.upperLimit) < 1e20, nt = $e && D.lowerLimit < D.upperLimit, oe = l * (T === "slide" ? h : h * h), he = ce(e, D.path, `physxJointAxis:${T === "slide" ? "linear" : "angular"}:dynamicFrictionEffort`), st = typeof he == "number" && Number.isFinite(he) ? he * oe : 0;
+      k.push(`<joint name="${J(D.path)}" type="${T}" pos="${B(D.localPos1.map((W) => W * h))}" axis="${B(F.toArray())}" ref="${z}" ${nt ? `range="${D.lowerLimit * j} ${D.upperLimit * j}"` : 'limited="false"'} frictionloss="${st}" armature="0.00001"/>`), $e && D.lowerLimit === D.upperLimit && p.push(`<joint joint1="${J(D.path)}" polycoef="${D.lowerLimit * j - z} 0 0 0 0"/>`);
+      const G = D.drive;
+      if (G && ((G.stiffness ?? 0) !== 0 || (G.damping ?? 0) !== 0)) {
+        if (G.type === "acceleration") throw R(`Unsupported USD acceleration drive: ${D.path}`, "E_USD_UNSUPPORTED_DRIVE");
+        const W = (G.stiffness ?? 0) * oe / j, me = (G.damping ?? 0) * oe / j, re = G.maxForce == null ? null : G.maxForce * oe;
+        r.push(`<general joint="${J(D.path)}" gainprm="1" biastype="affine" biasprm="0 ${-W} ${-me}" ${re != null && Number.isFinite(re) ? `forcelimited="true" forcerange="${-re} ${re}"` : ""}/>`), u.push(W * (G.targetPosition ?? 0) * j + me * (G.targetVelocity ?? 0) * j);
+      }
+    }
+    const $ = A.mass;
+    if (($ == null ? void 0 : $.mass) != null && (!Number.isFinite($.mass) || $.mass < 0)) throw R(`USD rigid body mass must be finite and non-negative: ${d}`, "E_USD_INVALID_MASS");
+    if (($ == null ? void 0 : $.mass) != null && $.mass > 0 && ((Ae = $.centerOfMass) != null && Ae.every(Number.isFinite)) && ((Pe = $.diagonalInertia) != null && Pe.every((T) => Number.isFinite(T) && T > 0)) && ((Ie = $.principalAxes) != null && Ie.every(Number.isFinite)))
+      k.push(`<inertial mass="${$.mass * l}" pos="${B($.centerOfMass.map((T) => T * h))}" quat="${K(Z($.principalAxes))}" diaginertia="${B($.diagonalInertia.map((T) => T * l * h * h))}"/>`);
+    else {
+      if ((Re = $ == null ? void 0 : $.diagonalInertia) != null && Re.some((T) => T > 0))
+        throw R(`USD rigid body has incomplete explicit inertia: ${d}`, "E_USD_PARTIAL_INERTIA");
+      if (($ == null ? void 0 : $.mass) != null && $.mass > 0) {
+        if ((Ne = $.centerOfMass) != null && Ne.every(Number.isFinite) && $.centerOfMass.some((T) => T !== 0)) throw R(`Custom center of mass requires explicit inertia: ${d}`, "E_USD_PARTIAL_INERTIA");
+        a.push({ body: d, mass: $.mass * l });
+      }
+    }
+    const ve = e.data.physics.colliders.filter((T) => T.enabled && T.bodyPath === d);
+    if (!ve.length) throw R(`USD rigid body has no authored collision geometry: ${d}`, "E_USD_MISSING_COLLISION_GEOMETRY");
+    for (const T of ve) {
+      const F = e.data.physics.materials.find((z) => z.path === T.material), j = ($ == null ? void 0 : $.density) != null && $.density > 0 ? $.density : F == null ? void 0 : F.density, fe = j != null && j > 0 ? j * l / h ** 3 : 1e3, se = (F == null ? void 0 : F.dynamicFriction) ?? 0.4, X = `density="${fe}" group="3" contype="1" conaffinity="1" friction="${se} 0.01 0.0002"`;
+      k.push(ke(e, T, d, C, N++, o, X));
+    }
+    for (const [T, F] of S) F.body0 === d && k.push(E(T, C));
+    return k.push("</body>"), k.join("");
+  }, b = e.data.physics.colliders.filter((d) => d.enabled && !d.bodyPath), w = b.map((d) => {
+    const g = e.data.physics.materials.find((_) => _.path === d.material), A = (g == null ? void 0 : g.density) != null && g.density > 0 ? g.density * l / h ** 3 : 1e3, C = (g == null ? void 0 : g.dynamicFriction) ?? 0.4, M = `density="${A}" group="3" contype="1" conaffinity="1" friction="${C} 0.01 0.0002"`;
+    return ke(e, d, "", new H(), N++, o, M);
+  }).join(""), P = qt(e, t, b) ? `<geom name="__viewer_default_ground__" type="plane" pos="0 0 ${Ht(e, t)}" size="1 1 0.1" group="3" contype="1" conaffinity="1" friction="0.8 0.01 0.0002"/>` : "", f = [...y.keys()].filter((d) => {
+    var g;
+    return !((g = S.get(d)) != null && g.body0);
+  }).map((d) => E(d)).join("");
+  if (U.size !== y.size) throw R("USD joint graph contains unreachable bodies or a cycle.", "E_USD_UNREACHABLE_BODIES");
+  if (e.data.physics.scenes.length > 1) throw R("Multiple USD PhysicsScene prims are not supported.", "E_USD_MULTIPLE_PHYSICS_SCENES");
+  const v = e.data.physics.scenes[0], O = v != null && v.gravityDirection && v.gravityMagnitude != null && v.gravityMagnitude >= 0 ? new I(...v.gravityDirection).normalize().multiplyScalar(v.gravityMagnitude * h).applyQuaternion(e.scene.quaternion) : new I(0, 0, -9.81);
+  return {
+    format: "mjcf",
+    files: /* @__PURE__ */ new Map(),
+    initialControls: u,
+    initialVelocities: c,
+    massOverrides: a,
+    xml: `<mujoco><compiler angle="radian" autolimits="true"/><option integrator="implicitfast" gravity="${B(O.toArray())}"><flag filterparent="disable"/></option><default><geom margin="0.0015" solref="0.004 1"/></default>${o.length ? `<asset>${o.join("")}</asset>` : ""}<worldbody>${P}${w}${f}</worldbody>${i.length ? `<contact>${i.join("")}</contact>` : ""}${p.length ? `<equality>${p.join("")}</equality>` : ""}${r.length ? `<actuator>${r.join("")}</actuator>` : ""}</mujoco>`
+  };
+}
+function qt(e, t, n = e.data.physics.colliders.filter((s) => s.enabled && !s.bodyPath)) {
+  if (!t.length || n.some((a) => a.typeName.toLowerCase().includes("plane"))) return !1;
+  const s = be(e, e.data.physics.colliders.filter(
+    (a) => a.enabled && a.bodyPath && t.includes(a.bodyPath)
+  ));
+  if (s.isEmpty()) return n.length === 0;
+  const o = Math.max(s.max.x - s.min.x, 1e-6), p = Math.max(s.max.y - s.min.y, 1e-6), i = Math.max(o, p, s.max.z - s.min.z) * 0.05;
+  return !n.some((a) => {
+    const r = be(e, [a]);
+    if (r.isEmpty()) return !1;
+    const u = r.max.x >= s.min.x && r.min.x <= s.max.x, c = r.max.y >= s.min.y && r.min.y <= s.max.y;
+    return u && c && r.max.z <= s.min.z + i;
+  });
+}
+function Ht(e, t) {
+  const n = be(e, e.data.physics.colliders.filter(
+    (o) => o.enabled && o.bodyPath && t.includes(o.bodyPath)
+  )), s = n.isEmpty() ? 0 : n.min.z;
+  return Number.isFinite(s) ? String(s) : "0";
+}
+function be(e, t) {
+  const n = new ue();
+  for (const s of t) {
+    const o = e.index.objectsByPath.get(s.path);
+    o && n.union(new ue().setFromObject(o));
+  }
+  return n;
+}
+function Ke(e) {
+  return e === "Y" ? new I(0, 1, 0) : e === "Z" ? new I(0, 0, 1) : new I(1, 0, 0);
+}
+function ke(e, t, n, s, o, p, i) {
+  const a = e.index.objectsByPath.get(t.path);
+  if (!a) throw R(`USD collider node is missing: ${t.path}`, "E_USD_MISSING_COLLISION_GEOMETRY");
+  const r = s.clone().invert().multiply(a.matrixWorld), u = new I(), c = new V(), h = new I();
+  r.decompose(u, c, h);
+  const l = t.typeName.replace(/^UsdGeom/, "").toLowerCase(), y = (m, S) => {
+    const N = ce(e, t.path, m);
+    return typeof N == "number" ? N : S;
+  };
+  if (l.includes("cube")) {
+    const m = Math.abs(y("size", 2)) / 2;
+    return `<geom type="box" pos="${B(u.toArray())}" quat="${K(c)}" size="${B([Math.abs(h.x) * m, Math.abs(h.y) * m, Math.abs(h.z) * m])}" ${i}/>`;
+  }
+  if (l.includes("plane")) {
+    if (n) throw R(`USD plane collider requires a static world owner: ${t.path}`, "E_USD_UNSUPPORTED_GEOMETRY");
+    const m = String(ce(e, t.path, "axis") ?? "Z").toUpperCase(), N = { X: new I(1, 0, 0), Y: new I(0, 1, 0), Z: new I(0, 0, 1) }[m];
+    if (!N) throw R(`Unsupported USD plane axis: ${m}`, "E_USD_UNSUPPORTED_GEOMETRY");
+    const U = c.clone().multiply(new V().setFromUnitVectors(new I(0, 0, 1), N));
+    return `<geom type="plane" pos="${B(u.toArray())}" quat="${K(U)}" size="1 1 0.1" ${i}/>`;
+  }
+  if (l.includes("cone"))
+    throw R(`MuJoCo has no analytic cone geom; a validated mesh conversion is required: ${t.path}`, "E_USD_UNSUPPORTED_GEOMETRY");
+  if (l.includes("sphere")) {
+    const m = [Math.abs(h.x), Math.abs(h.y), Math.abs(h.z)];
+    if (Math.max(...m) - Math.min(...m) > 1e-6) throw R(`USD sphere collider does not support non-uniform scale: ${t.path}`, "E_USD_NONUNIFORM_RADIAL_SCALE");
+    return `<geom type="sphere" pos="${B(u.toArray())}" quat="${K(c)}" size="${m[0] * y("radius", 1)}" ${i}/>`;
+  }
+  if (l.includes("cylinder") || l.includes("capsule")) {
+    const m = String(ce(e, t.path, "axis") ?? "Z").toUpperCase(), S = { X: 0, Y: 1, Z: 2 }[m];
+    if (S === void 0) throw R(`Unsupported USD collider axis: ${m}`, "E_USD_UNSUPPORTED_GEOMETRY");
+    const N = [Math.abs(h.x), Math.abs(h.y), Math.abs(h.z)], U = N.filter((x, f) => f !== S);
+    if (Math.abs(U[0] - U[1]) > 1e-6) throw R(`USD ${t.typeName} collider does not support non-uniform radial scale: ${t.path}`, "E_USD_NONUNIFORM_RADIAL_SCALE");
+    const E = new I(...{ X: [1, 0, 0], Y: [0, 1, 0], Z: [0, 0, 1] }[m]), b = c.clone().multiply(new V().setFromUnitVectors(new I(0, 0, 1), E)), w = y("radius", 1) * U[0], P = y("height", 2) * N[S] / 2;
+    return `<geom type="${l.includes("capsule") ? "capsule" : "cylinder"}" pos="${B(u.toArray())}" quat="${K(b)}" size="${w} ${P}" ${i}/>`;
+  }
+  if (l.includes("mesh")) {
+    if (t.approximation && !["none", "convexHull"].includes(t.approximation)) throw R(`USD mesh approximation cannot be mapped exactly: ${t.path}`, "E_USD_UNSUPPORTED_APPROXIMATION");
+    const m = [];
+    if (a.traverse((b) => {
+      b instanceof ne && m.push(b);
+    }), !m.length) throw R(`USD collider has no mesh geometry: ${t.path}`, "E_USD_MISSING_COLLISION_GEOMETRY");
+    const S = [], N = [];
+    let U = 0;
+    for (const b of m) {
+      const w = b.geometry.getAttribute("position");
+      for (let x = 0; x < w.count; x++) {
+        const f = new I().fromBufferAttribute(w, x).applyMatrix4(s.clone().invert().multiply(b.matrixWorld));
+        S.push(f.x, f.y, f.z);
+      }
+      const P = b.geometry.index;
+      for (let x = 0; x < (P ? P.count : w.count); x += 3) N.push(U + (P ? P.getX(x) : x), U + (P ? P.getX(x + 1) : x + 1), U + (P ? P.getX(x + 2) : x + 2));
+      U += w.count;
+    }
+    const E = `collision_${o}`;
+    return p.push(`<mesh name="${E}" vertex="${B(S)}" face="${B(N)}"/>`), `<geom type="mesh" mesh="${E}" ${i}/>`;
+  }
+  throw R(`Unsupported USD collider geometry: ${t.typeName}`, "E_USD_UNSUPPORTED_GEOMETRY");
+}
+function Xt(e) {
+  const t = e.stage.GetPseudoRoot();
+  try {
+    const n = Number(t.GetMetadata("metersPerUnit") ?? 0.01), s = Number(t.GetMetadata("kilogramsPerUnit") ?? 1);
+    if (!Number.isFinite(n) || n <= 0) throw R("USD metersPerUnit must be finite and positive.", "E_USD_INVALID_UNITS");
+    if (!Number.isFinite(s) || s <= 0) throw R("USD kilogramsPerUnit must be finite and positive.", "E_USD_INVALID_UNITS");
+    return { metersPerUnit: n, kilogramsPerUnit: s };
+  } finally {
+    t.delete();
+  }
+}
+function Z(e) {
+  const [t = 1, n = 0, s = 0, o = 0] = e;
+  return new V(n, s, o, t).normalize();
+}
+function B(e) {
+  return e.join(" ");
+}
+function K(e) {
+  return `${e.w} ${e.x} ${e.y} ${e.z}`;
+}
+function ce(e, t, n) {
+  var r, u;
+  const s = e.stage;
+  if (!s || !((u = (r = e.pxr) == null ? void 0 : r.Sdf) != null && u.Path)) return null;
+  const o = new e.pxr.Sdf.Path(t), p = s.GetPrimAtPath(o), i = p.GetAttribute(n), a = e.pxr.Usd.TimeCode.Default();
+  try {
+    return i.IsValid() ? i.Get(a) : null;
+  } finally {
+    a.delete(), i.delete(), p.delete(), o.delete();
+  }
+}
+function Jt() {
+  if (!globalThis.isSecureContext) throw R("OpenUSD requires a secure context.", "E_USD_SECURE_CONTEXT_REQUIRED");
+  if (!globalThis.crossOriginIsolated) throw R("OpenUSD requires COOP/COEP cross-origin isolation.", "E_USD_CROSS_ORIGIN_ISOLATION_REQUIRED");
+}
+async function Qt(e, t) {
+  var n;
+  if (e.url)
+    try {
+      return new URL(e.url, ((n = globalThis.location) == null ? void 0 : n.href) ?? e.baseUrl ?? void 0).href;
+    } catch {
+      return e.url;
+    }
+  return e.resolve(t);
+}
+async function Zt(e) {
+  const t = e.url ?? await e.resolve(e.entryPath ?? ""), n = await fetch(t, { signal: e.signal });
+  if (!n.ok) throw R(`USD request failed (${n.status}): ${t}`, n.status === 401 || n.status === 403 ? "E_ASSET_AUTH" : "E_ASSET_FETCH");
+  return n.blob();
+}
+const Kt = /* @__PURE__ */ new Set(["usd", "usda", "usdc"]), ze = 1024, en = 8;
+let tn = 0;
+async function nn(e, t, n, s, o) {
+  const p = `/tmp/viewer-usd-resolver/${++tn}`;
+  e.FS.createDir(p);
+  const i = [{ path: et(s), blob: n, depth: 0 }], a = /* @__PURE__ */ new Set();
+  try {
+    for (; i.length > 0; ) {
+      t.signal.throwIfAborted();
+      const r = i.shift();
+      if (a.has(r.path) || r.depth > en) continue;
+      if (a.size >= ze) throw R(`USD dependency limit exceeded (${ze}).`, "E_ASSET_RESOURCE_LIMIT");
+      a.add(r.path);
+      const u = `${p}/${r.path}`;
+      e.FS.createDir(u.split("/").slice(0, -1).join("/")), e.FS.writeFile(u, new Uint8Array(await r.blob.arrayBuffer()));
+      const c = e.UsdUtils.ExtractSanitizedExternalReferences(u);
+      for (const h of c) {
+        const l = sn(r.path, h);
+        if (!l || a.has(l)) continue;
+        const y = await t.resolve(l), m = await fetch(y, { signal: t.signal });
+        if (!m.ok) {
+          const N = m.status === 401 || m.status === 403 ? "E_ASSET_AUTH" : "E_ASSET_FETCH";
+          throw R(`USD dependency request failed (${m.status}): ${l}`, N);
+        }
+        const S = await m.blob();
+        o.put(l, S), Kt.has(on(l)) && i.push({ path: l, blob: S, depth: r.depth + 1 });
+      }
+    }
+  } finally {
+    tt(e, p);
+  }
+}
+function sn(e, t) {
+  if (!t || /^(?:data|blob):/i.test(t)) return null;
+  if (/^[a-z][a-z0-9+.-]*:/i.test(t) || t.startsWith("/")) return t;
+  const n = e.split("/").slice(0, -1).join("/");
+  return et(n ? `${n}/${t}` : t);
+}
+function et(e) {
+  const t = [];
+  for (const n of e.replaceAll("\\", "/").split("/"))
+    !n || n === "." || (n === ".." ? t.pop() : t.push(n));
+  return t.join("/");
+}
+function on(e) {
+  var t, n;
+  return ((n = (t = e.split(/[?#]/, 1)[0]) == null ? void 0 : t.split(".").pop()) == null ? void 0 : n.toLowerCase()) ?? "";
+}
+function tt(e, t) {
+  if (e.FS.exists(t)) {
+    for (const n of e.FS.listDir(t))
+      n.isDir ? tt(e, n.path) : e.FS.deleteFile(n.path);
+    e.FS.deleteDir(t);
+  }
+}
+function J(e) {
+  return e.replaceAll("&", "&amp;").replaceAll('"', "&quot;").replaceAll("<", "&lt;").replaceAll(">", "&gt;");
+}
+function R(e, t) {
+  return Object.assign(new Error(e), { code: t });
+}
+function _e() {
+  return Object.assign(new Error("USD load aborted."), { name: "AbortError", code: "E_ABORTED" });
+}
+export {
+  Ge as compileUsdCollisionOverlay,
+  Qe as compileUsdCollisionVisual,
+  Wt as compileUsdPhysics,
+  Yt as compileUsdVisual,
+  Gt as firstUsdVisualWarning,
+  fn as isUsdPhysicsFallbackEligible,
+  dn as loadUsdSimulation,
+  Ze as resolveUsdJoints,
+  nn as resolveUsdResourcePackage,
+  qt as shouldInjectUsdDefaultGround
+};