@nebula-spatial/viewer 0.4.2 → 0.4.3

package/dist/session-B-qVl3Yy.js

@@ -1,761 +0,0 @@
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-  })), c = [...n.querySelectorAll("joint")].map((i) => {
-    var f;
-    const s = i.querySelector("limit"), m = i.querySelector("dynamics"), b = m ? F(m.getAttribute("damping"), 0) : 0, h = m ? F(m.getAttribute("friction"), 0) : 0, p = m && (b > 0 || h > 0) ? { damping: b, friction: h } : void 0;
-    return {
-      id: I(i, "name"),
-      type: i.getAttribute("type") ?? "fixed",
-      parent: I(i.querySelector("parent"), "link"),
-      child: I(i.querySelector("child"), "link"),
-      origin: V(i),
-      axis: C(((f = i.querySelector("axis")) == null ? void 0 : f.getAttribute("xyz")) ?? null, [1, 0, 0]),
-      ...s ? { limits: { lower: F(s.getAttribute("lower"), 0), upper: F(s.getAttribute("upper"), 0) } } : {},
-      ...p ? { dynamics: p } : {}
-    };
-  });
-  return n.querySelector("transmission, gazebo") && l.droppedFeatures.push({ code: "UNSUPPORTED_URDF_EXTENSION", message: "URDF transmission/gazebo extensions are not compiled." }), _e({ id: n.getAttribute("name") || e, name: n.getAttribute("name") || e, source: { format: "urdf", uri: e }, links: u, joints: c, diagnostics: l, extension: { files: t } });
-}
-function he(o) {
-  const e = new k(), t = new ge().setFromEuler(new J(...o.rotationRpy, "XYZ"));
-  return e.compose(new T().fromArray(o.position), t, new T(1, 1, 1));
-}
-function ee(o) {
-  if (o.type === "continuous" || !o.limits) return 0;
-  const { lower: e, upper: t } = o.limits;
-  return !Number.isFinite(e) || !Number.isFinite(t) ? 0 : Ue.clamp(0, e, t);
-}
-function ot(o) {
-  let e;
-  if (o.type === "box")
-    e = [o.size[0] / 2, o.size[1] / 2, o.size[2] / 2];
-  else if (o.type === "sphere")
-    e = [o.radius, o.radius, o.radius];
-  else if (o.type === "cylinder")
-    e = [o.radius, o.radius, o.length / 2];
-  else
-    return null;
-  const t = [];
-  for (const r of [-e[0], e[0]])
-    for (const n of [-e[1], e[1]])
-      for (const l of [-e[2], e[2]])
-        t.push(new T(r, n, l));
-  return t;
-}
-function st(o, e, t) {
-  let r = 0;
-  const n = new Map(o.links.map((s) => [s.id, s])), l = (s) => {
-    let m = 1 / 0;
-    const b = (h, p) => {
-      const f = n.get(h);
-      if (f) {
-        for (const a of f.collisions) {
-          const d = ot(a.geometry);
-          if (!d) {
-            s && (r += 1);
-            continue;
-          }
-          const _ = p.clone().multiply(he(a.origin));
-          for (const y of d)
-            m = Math.min(m, y.applyMatrix4(_).z);
-        }
-        for (const a of t.get(h) ?? []) {
-          const d = p.clone().multiply(he(a.origin)), _ = s ? ee(a) : 0;
-          _ && a.type === "revolute" ? d.multiply(new k().makeRotationAxis(new T().fromArray(a.axis).normalize(), _)) : _ && a.type === "prismatic" && d.multiply(new k().makeTranslation(a.axis[0] * _, a.axis[1] * _, a.axis[2] * _)), b(a.child, d);
-        }
-      }
-    };
-    return b(e, new k()), m;
-  }, u = l(!0), c = l(!1), i = Math.min(u, c);
-  return r && o.diagnostics.warnings.push({
-    code: "GROUNDING_IGNORED_MESH_COLLIDERS",
-    message: `自动落地忽略了 ${r} 个网格碰撞体`
-  }), Number.isFinite(i) ? Math.max(0, 0.015 - i) : 0;
-}
-async function nt(o) {
-  const e = o.extension.files, t = /* @__PURE__ */ new Map(), r = new Set(o.joints.map((a) => a.child));
-  for (const a of o.joints) t.set(a.parent, [...t.get(a.parent) ?? [], a]);
-  const n = o.links.filter((a) => !r.has(a.id));
-  if (n.length !== 1) throw D(`URDF requires exactly one root link; found ${n.length}.`, "E_URDF_COMPILE");
-  const l = st(o, n[0].id, t);
-  l > 0 && o.diagnostics.approximations.push({
-    code: "AUTO_GROUNDED_FREE_ROOT",
-    message: `自由根初始高度自动抬升 ${l.toFixed(4)} m`
-  });
-  const u = o.joints.filter((a) => ee(a) !== 0);
-  u.length && o.diagnostics.approximations.push({
-    code: "JOINT_REFERENCE_CLAMPED",
-    message: `${u.length} 个关节的默认参考值已夹到合法限位`
-  });
-  const c = /* @__PURE__ */ new Map(), i = /* @__PURE__ */ new Map(), s = [], m = async (a) => {
-    var g;
-    if (a.type === "box") return `type="box" size="${a.size.map((E) => E / 2).join(" ")}"`;
-    if (a.type === "sphere") return `type="sphere" size="${a.radius}"`;
-    if (a.type === "cylinder") return `type="cylinder" size="${a.radius} ${a.length / 2}"`;
-    const d = (g = a.resourcePath.split(".").pop()) == null ? void 0 : g.toLowerCase();
-    if (d !== "stl" && d !== "obj") return null;
-    const _ = `${a.resourcePath}|${a.scale.join(" ")}`;
-    let y = i.get(_);
-    if (!y) {
-      const E = { name: `mesh_${i.size}`, path: a.resourcePath, scale: a.scale };
-      i.set(_, E), c.set(`${E.name}.${d}`, await e.bytes(a.resourcePath)), y = E;
-    }
-    return `type="mesh" mesh="${y.name}"`;
-  }, b = async (a, d) => {
-    var E, $;
-    const _ = o.links.find((w) => w.id === a), y = [...(d == null ? void 0 : d.origin.position) ?? [0, 0, 0]];
-    d || (y[2] += l);
-    const g = [`<body name="${Q(a)}" pos="${y.join(" ")}" euler="${((d == null ? void 0 : d.origin.rotationRpy) ?? [0, 0, 0]).join(" ")}">`];
-    if (_.inertial) {
-      const { origin: w, mass: v, tensor: S } = _.inertial, R = new fe().setFromMatrix4(new k().makeRotationFromEuler(new J(...w.rotationRpy, "XYZ"))), P = new fe().set(S[0], S[3], S[4], S[3], S[1], S[5], S[4], S[5], S[2]);
-      P.premultiply(R).multiply(R.clone().transpose());
-      const M = P.elements;
-      g.push(`<inertial pos="${w.position.join(" ")}" mass="${v}" fullinertia="${[M[0], M[4], M[8], M[3], M[6], M[7]].join(" ")}"/>`);
-    }
-    if (!d) g.push("<freejoint/>");
-    else if (["fixed", "planar", "floating"].includes(d.type))
-      (d == null ? void 0 : d.type) === "floating" && (g.push("<freejoint/>"), s.push(0, 0, 0, 1, 0, 0, 0));
-    else {
-      const w = d.type === "prismatic" ? "slide" : "hinge", v = d.type !== "continuous" && !!d.limits && Number.isFinite(d.limits.lower) && Number.isFinite(d.limits.upper), S = ee(d);
-      s.push(S);
-      const R = ((E = d.dynamics) == null ? void 0 : E.damping) ?? 0, P = (($ = d.dynamics) == null ? void 0 : $.friction) ?? 0;
-      g.push(`<joint name="${Q(d.id)}" type="${w}" axis="${d.axis.join(" ")}"${v ? ` limited="true" range="${d.limits.lower} ${d.limits.upper}" ref="${S}"` : ""} damping="${R}" frictionloss="${P}"/>`);
-    }
-    for (const w of _.collisions) {
-      const v = await m(w.geometry);
-      v && g.push(`<geom ${v} pos="${w.origin.position.join(" ")}" euler="${w.origin.rotationRpy.join(" ")}" rgba="0.55 0.62 0.59 1"/>`);
-    }
-    for (const w of t.get(a) ?? []) g.push(await b(w.child, w));
-    return g.push("</body>"), g.join("");
-  }, h = await b(n[0].id), p = [...i.values()].map((a) => {
-    var d;
-    return `<mesh name="${a.name}" file="${a.name}.${(d = a.path.split(".").pop()) == null ? void 0 : d.toLowerCase()}" scale="${a.scale.join(" ")}"/>`;
-  }).join(""), f = `<keyframe><key name="home" qpos="0 0 ${l} 1 0 0 0 ${s.join(" ")}"/></keyframe>`;
-  return {
-    format: "mjcf",
-    files: c,
-    xml: `<mujoco model="${Q(o.name)}"><compiler angle="radian" autolimits="true"/><option gravity="0 0 -9.81"/><asset>${p}</asset><worldbody><geom name="__viewer_default_ground__" type="plane" size="5 5 0.1" contype="1" conaffinity="1" friction="0.8 0.01 0.0002"/>${h}</worldbody>${f}</mujoco>`
-  };
-}
-async function it(o) {
-  const e = o.extension.files, t = new z();
-  t.name = o.name;
-  const r = /* @__PURE__ */ new Map();
-  for (const n of o.links) {
-    const l = new z();
-    l.name = n.id, r.set(n.id, l), t.add(l);
-    for (const u of n.visuals) {
-      const c = await at(u, e), i = new z();
-      i.position.fromArray(u.origin.position), i.quaternion.setFromEuler(new J(...u.origin.rotationRpy, "XYZ")), i.add(c), l.add(i);
-    }
-  }
-  return { root: t, bindings: r, expectedLinkCount: o.links.length };
-}
-async function at(o, e) {
-  var u, c, i;
-  const t = new ye({ color: o.color ? void 0 : 11385011, opacity: ((u = o.color) == null ? void 0 : u[3]) ?? 1, transparent: (((c = o.color) == null ? void 0 : c[3]) ?? 1) < 1 });
-  o.color && t.color.setRGB(o.color[0], o.color[1], o.color[2]);
-  const r = o.geometry;
-  if (r.type === "box") return new N(new X(...r.size), t);
-  if (r.type === "sphere") return new N(new te(r.radius, 24, 16), t);
-  if (r.type === "cylinder") {
-    const s = new N(new re(r.radius, r.radius, r.length, 24), t);
-    return s.quaternion.copy(new ge().setFromEuler(new J(Math.PI / 2, 0, 0))), s;
-  }
-  const n = (i = r.resourcePath.split(".").pop()) == null ? void 0 : i.toLowerCase();
-  await e.ensure(r.resourcePath);
-  let l;
-  if (n === "stl") l = new N(new Ge().parse(await e.getBlob(r.resourcePath).arrayBuffer()), t);
-  else if (n === "obj")
-    l = new qe().parse(await e.getBlob(r.resourcePath).text()), l.traverse((s) => {
-      "material" in s && (s.material = t);
-    });
-  else if (n === "gltf" || n === "glb") {
-    const s = new Fe();
-    s.setURLModifier((m) => {
-      try {
-        return e.objectUrl(e.resolve(m, r.resourcePath));
-      } catch {
-        return m;
-      }
-    }), l = (await new De(s).parseAsync(await e.getBlob(r.resourcePath).arrayBuffer(), "")).scene;
-  } else throw D(`Unsupported URDF visual mesh: .${n ?? ""}`, "E_URDF_VISUAL");
-  return l.scale.fromArray(r.scale), l;
-}
-function lt(o, e) {
-  const t = new DOMParser().parseFromString(o, "application/xml"), r = t.querySelector("parsererror");
-  if (r) throw D(`${e} XML parse failed: ${r.textContent ?? ""}`, `E_${e}_PARSE`);
-  return t;
-}
-function I(o, e) {
-  const t = o == null ? void 0 : o.getAttribute(e);
-  if (!t) throw D(`Missing ${e}.`, "E_URDF_PARSE");
-  return t;
-}
-function F(o, e) {
-  const t = Number(o);
-  return Number.isFinite(t) ? t : e;
-}
-function Q(o) {
-  return o.replaceAll("&", "&amp;").replaceAll('"', "&quot;").replaceAll("<", "&lt;").replaceAll(">", "&gt;");
-}
-function D(o, e) {
-  return Object.assign(new Error(o), { code: e });
-}
-function ut(o) {
-  var l;
-  const e = o.querySelector("inertial");
-  if (!e) return;
-  const t = e.querySelector("inertia"), r = Number((l = e.querySelector("mass")) == null ? void 0 : l.getAttribute("value")), n = ["ixx", "iyy", "izz", "ixy", "ixz", "iyz"].map((u) => Number(t == null ? void 0 : t.getAttribute(u)));
-  if (!(r > 0) || n.some((u) => !Number.isFinite(u))) throw D("Invalid URDF inertia.", "E_URDF_PARSE");
-  return { origin: V(e), mass: r, tensor: n };
-}
-function ct(o, e) {
-  const t = new Ce(o);
-  let r = null, n = null, l = null, u = null, c = null, i = !1, s = !0, m = !1, b = null, h, p = null, f = null, a = null;
-  const d = () => {
-    i = !0, s = !1;
-  }, _ = (async () => {
-    var y, g, E, $, w, v, S, R, P, M, oe, se;
-    try {
-      const O = e.format;
-      if (O === "usd" || O === "usda" || O === "usdc" || O === "usdz") {
-        (y = e.reportProgress) == null || y.call(e, "usd", "正在解析 USD 场景与物理刚体...");
-        const j = await (await import("./usd-session-DCuV_H-Y.js")).loadUsdSimulation(o, e, t);
-        if (i || e.signal.aborted)
-          throw j.dispose(), Ee();
-        p = j.asset, n = j.binding, l = j.dispose, u = j.hasPhysics ? j.step : null, c = j.reset, s = j.hasPhysics, m = j.hasPhysics, b = j.fallback ? { ...j.fallback, stage: "physics-fallback" } : null, (g = e.reportProgress) == null || g.call(e, "stage", "正在构建三维场景与环境光影..."), f = new ue(n.root, e.options.simulationTheme, j.runtime), j.runtime ? (r = j.runtime, a = new Y(r, Z(r, !0))) : a = j.collision ?? null, a && (a.root.visible = !1, f.attachAuxiliary(a.root));
-        return;
-      }
-      let L = o.entryPath ?? o.filename;
-      if (!L && O === "mjcf") {
-        const ie = t.paths().filter((j) => j.toLowerCase().endsWith(".xml"));
-        for (const j of ["scene.xml", "model.xml", "main.xml"]) {
-          const ae = ie.find((le) => le.toLowerCase().endsWith(`/${j}`) || le.toLowerCase() === j);
-          if (ae) {
-            L = ae;
-            break;
-          }
-        }
-      }
-      L ?? (L = O === "urdf" ? "asset.urdf" : "asset.xml"), (E = e.reportProgress) == null || E.call(e, "fetch", "正在读取模型描述与依赖资源...");
-      const { MujocoRuntime: je } = await import("./mujoco-runtime-s85kwjo7.js");
-      r = new je();
-      const ne = await Le(o, t);
-      G(i, e.signal);
-      let B, H;
-      O === "urdf" ? (($ = e.reportProgress) == null || $.call(e, "parse", "正在解析 URDF 结构与连杆..."), p = rt(ne, L, t), (w = e.reportProgress) == null || w.call(e, "compile", "正在编译物理碰撞体与惯性矩阵..."), B = await nt(p), G(i, e.signal), (v = e.reportProgress) == null || v.call(e, "runtime", "正在初始化物理内核..."), await r.initialize(B, e.options.mujocoBaseUrl), m = !0, G(i, e.signal), (S = e.reportProgress) == null || S.call(e, "visual", "正在构建视觉渲染网格..."), H = await it(p)) : ((R = e.reportProgress) == null || R.call(e, "parse", "正在解析 MJCF 场景与连杆..."), p = await ze(ne, L, t), (P = e.reportProgress) == null || P.call(e, "compile", "正在编译物理模型与参数..."), B = await ke(p), G(i, e.signal), (M = e.reportProgress) == null || M.call(e, "runtime", "正在初始化物理内核..."), await r.initialize(B, e.options.mujocoBaseUrl), m = !0, G(i, e.signal), (oe = e.reportProgress) == null || oe.call(e, "visual", "正在构建视觉渲染网格..."), H = Z(r)), G(i, e.signal), (se = e.reportProgress) == null || se.call(e, "stage", "正在构建三维场景与环境光影..."), n = new Y(r, H), f = new ue(n.root, e.options.simulationTheme, r), a = new Y(r, Z(r, !0)), a.root.visible = !1, f.attachAuxiliary(a.root);
-    } catch (O) {
-      throw f == null || f.dispose(), f = null, n == null || n.dispose(), n = null, r == null || r.dispose(), t.dispose(), O;
-    }
-  })();
-  return _.catch(() => {
-  }), {
-    id: `simulation-${Math.random().toString(36).slice(2)}`,
-    opened: _,
-    get root() {
-      return (f == null ? void 0 : f.root) ?? null;
-    },
-    getFitBounds() {
-      return (f == null ? void 0 : f.getModelBounds()) ?? null;
-    },
-    beforeRender(y, g, E) {
-      return f == null ? void 0 : f.beforeRender(y, g, E);
-    },
-    get capabilities() {
-      return { canPlay: m, canPause: m, canReset: m, hasPhysics: m, canToggleGround: !0, canToggleCollision: a !== null };
-    },
-    get warning() {
-      return b;
-    },
-    setTheme(y) {
-      f == null || f.setTheme(y);
-    },
-    setGroundVisible(y) {
-      f == null || f.setGroundVisible(y);
-    },
-    getGroundVisible() {
-      return (f == null ? void 0 : f.getGroundVisible()) ?? !0;
-    },
-    presentation: { preferredViewMode: "3d", interactionMode: "simulation", uiProfile: "simulation", fitPolicy: "fit-on-ready" },
-    beginDispose: d,
-    setCollisionVisible(y) {
-      if (i || !a) throw new Error("This asset has no collision display.");
-      a.root.visible = y;
-    },
-    getPhysicsProperties() {
-      if (i || !(r != null && r.model) || !r.mujoco) return null;
-      const y = r.model, g = r.mujoco;
-      return structuredClone({
-        units: { length: "m", mass: "kg", time: "s" },
-        timestep: y.opt.timestep,
-        gravity: Array.from(y.opt.gravity),
-        bodyCount: y.nbody - 1,
-        jointCount: y.njnt,
-        geomCount: y.ngeom,
-        bodies: Array.from({ length: y.nbody - 1 }, (E, $) => {
-          const w = $ + 1;
-          return { id: w, name: g.mj_id2name(y, g.mjtObj.mjOBJ_BODY.value, w), mass: y.body_mass[w], inertia: Array.from(y.body_inertia.slice(w * 3, w * 3 + 3)) };
-        }),
-        diagnostics: p == null ? void 0 : p.diagnostics
-      });
-    },
-    get update() {
-      return r != null && r.model || u ? (y) => {
-        if (i || !s || !n) return !1;
-        if (u) {
-          const E = u(y);
-          return E && (a == null || a.sync()), E;
-        }
-        const g = r.step(y);
-        return g && (n.sync(), a == null || a.sync(), f == null || f.updateForceLine()), g;
-      } : void 0;
-    },
-    play() {
-      !i && m && (s = !0);
-    },
-    pause() {
-      s = !1;
-    },
-    reset() {
-      i || !n || (c ? c() : (r == null || r.reset(), n.sync()), a == null || a.sync(), f == null || f.updateForceLine());
-    },
-    beginGrab(y, g, E) {
-      return (f == null ? void 0 : f.beginGrab(y, g, E)) ?? !1;
-    },
-    moveGrab(y, g, E) {
-      f == null || f.moveGrab(y, g, E);
-    },
-    endGrab() {
-      f == null || f.endGrab();
-    },
-    dispose() {
-      return d(), h ?? (h = _.catch(() => {
-      }).then(() => {
-        f == null || f.dispose(), f = null, a == null || a.root.removeFromParent(), a == null || a.dispose(), a = null, l ? (l(), l = null, n = null) : (n == null || n.dispose(), n = null, r == null || r.dispose()), t.dispose(), p = null, u = null, c = null, m = !1, b = null;
-      })), h;
-    }
-  };
-}
-function G(o, e) {
-  if (o || e.aborted) throw Ee();
-}
-function Ee() {
-  return Object.assign(new Error("Simulation load aborted."), { name: "AbortError", code: "E_ABORTED" });
-}
-const gt = /* @__PURE__ */ Object.freeze(/* @__PURE__ */ Object.defineProperty({
-  __proto__: null,
-  createSimulationSession: ct
-}, Symbol.toStringTag, { value: "Module" }));
-export {
-  Y as S,
-  Ze as a,
-  we as b,
-  Ye as c,
-  _e as d,
-  gt as s
-};