@nebula-spatial/viewer 0.4.2 → 0.4.3

package/dist/session-DhZXy40-.js

@@ -0,0 +1,653 @@
+var ce = Object.defineProperty;
+var fe = (s, e, o) => e in s ? ce(s, e, { enumerable: !0, configurable: !0, writable: !0, value: o }) : s[e] = o;
+var F = (s, e, o) => fe(s, typeof e != "symbol" ? e + "" : e, o);
+import { d as re, S as k } from "./stage-BKqg5vNe.js";
+import { LineBasicMaterial as me, WireframeGeometry as de, LineSegments as he, EdgesGeometry as V, Vector3 as Z, Group as K, MeshStandardMaterial as pe, Mesh as ge, PlaneGeometry as _e, BoxGeometry as ne, SphereGeometry as H, Matrix4 as be, CylinderGeometry as ie, CapsuleGeometry as ae, BufferGeometry as X, BufferAttribute as N } from "three";
+function Q(s, e, o) {
+  if (e.throwIfAborted(), s instanceof Error && (s.name === "AbortError" || ["E_ABORTED", "E_SUPERSEDED"].includes(String(s.code)))) throw s;
+  const t = s && typeof s == "object" && "code" in s && typeof s.code == "string" ? s.code : "E_PHYSICS_INITIALIZE", r = s instanceof Error ? s.message : String(s);
+  return { code: t, source: o, message: `无法启用物理仿真（${o}）：${r}` };
+}
+class x {
+  constructor(e, o) {
+    F(this, "root");
+    F(this, "bodies", /* @__PURE__ */ new Map());
+    F(this, "disposed", !1);
+    this.runtime = e, this.root = o.root;
+    const t = e.mujoco, r = e.model;
+    for (const [l, u] of o.bindings) {
+      const f = t.mj_name2id(r, t.mjtObj.mjOBJ_BODY.value, l);
+      if (f < 0) throw ee(`Physics body missing for visual link: ${l}`, "E_SIMULATION_BIND");
+      u.userData.bodyId = f, this.bodies.set(f, u);
+    }
+    if (this.bodies.size !== o.expectedLinkCount) throw ee("Visual body binding count mismatch.", "E_SIMULATION_BIND");
+    this.sync();
+  }
+  sync() {
+    if (this.disposed || !this.runtime.data) return;
+    const { xpos: e, xquat: o } = this.runtime.data;
+    for (const [t, r] of this.bodies) {
+      const l = t * 3, u = t * 4;
+      r.position.set(e[l], e[l + 1], e[l + 2]), r.quaternion.set(o[u + 1], o[u + 2], o[u + 3], o[u]);
+    }
+    this.root.updateMatrixWorld(!0);
+  }
+  dispose() {
+    this.disposed || (this.disposed = !0, this.bodies.clear(), re(this.root));
+  }
+}
+function ee(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+class ye {
+  constructor(e) {
+    F(this, "entries", /* @__PURE__ */ new Map());
+    F(this, "objectUrls", /* @__PURE__ */ new Map());
+    this.source = e;
+    const o = e.original;
+    if (we(o))
+      for (const t of o.files) this.entries.set(O(t.path), t.file);
+    else typeof Blob < "u" && o instanceof Blob ? this.entries.set(e.entryPath ?? e.filename ?? "asset", o) : o instanceof ArrayBuffer ? this.entries.set(e.entryPath ?? e.filename ?? "asset", new Blob([o])) : typeof o == "object" && o !== null && "kind" in o && o.kind === "buffer" && this.entries.set(e.entryPath ?? e.filename ?? "asset", new Blob([o.buffer]));
+  }
+  paths() {
+    return [...this.entries.keys()];
+  }
+  hasLocalFiles() {
+    return this.entries.size > 0;
+  }
+  put(e, o) {
+    this.entries.set(O(e), o);
+  }
+  asSourceRecord(e = "") {
+    const o = O(e), t = o ? `${o}/` : "", r = {};
+    for (const [l, u] of this.entries)
+      (!t || l.startsWith(t)) && (r[t ? l.slice(t.length) : l] = u);
+    return r;
+  }
+  resolve(e, o = "") {
+    const t = this.find(e, o);
+    if (t) return t;
+    const r = O(o).split("/").slice(0, -1).join("/");
+    if (this.source.url) return O(`${r}/${e.replace(/^package:\/\//, "")}`);
+    throw P(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+  }
+  find(e, o = "") {
+    const t = O(e.replace(/^package:\/\//, "")), r = O(o).split("/").slice(0, -1).join("/");
+    for (const u of [O(`${r}/${e.replace(/^package:\/\//, "")}`), t])
+      if (this.entries.has(u)) return u;
+    const l = this.paths().filter(
+      (u) => u === t || u.endsWith(`/${t}`) || t.endsWith(`/${u}`)
+    );
+    return l.length === 1 ? l[0] : null;
+  }
+  async text(e) {
+    await this.ensure(e);
+    const o = this.entries.get(this.resolve(e));
+    if (!o) throw P(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+    return o.text();
+  }
+  async bytes(e) {
+    await this.ensure(e);
+    const o = this.entries.get(this.resolve(e));
+    if (!o) throw P(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+    return new Uint8Array(await o.arrayBuffer());
+  }
+  getBlob(e) {
+    const o = this.resolve(e), t = this.entries.get(o);
+    if (!t) throw P(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+    return t;
+  }
+  async ensure(e) {
+    const o = O(e);
+    if (this.entries.has(o)) return;
+    const t = await this.source.resolve(o);
+    if (!/^https?:\/\//i.test(t) && !/^blob:/i.test(t))
+      throw P(`Simulation resource not found: ${e}. Upload the complete asset folder or provide a resourceResolver/baseUrl.`, "E_ASSET_RESOURCE_NOT_FOUND");
+    const r = await fetch(t, { signal: this.source.signal });
+    if (!r.ok) throw P(`Simulation resource request failed (${r.status}): ${t}`, r.status === 401 || r.status === 403 ? "E_ASSET_AUTH" : "E_ASSET_FETCH");
+    const l = await r.blob();
+    this.source.signal.throwIfAborted(), this.entries.set(o, l);
+  }
+  objectUrl(e) {
+    const o = this.resolve(e);
+    let t = this.objectUrls.get(o);
+    return t || (t = URL.createObjectURL(this.getBlob(o)), this.objectUrls.set(o, t)), t;
+  }
+  objectUrlIfPresent(e, o = "") {
+    const t = O(o), r = t ? `${t}/` : "", l = O(e), u = r ? this.paths().filter((n) => {
+      if (!n.startsWith(r)) return !1;
+      const a = n.slice(r.length);
+      return a === l || l.endsWith(`/${a}`);
+    }) : [], f = u.length === 1 ? u[0] : this.find(e);
+    return f ? this.objectUrl(f) : null;
+  }
+  dispose() {
+    for (const e of this.objectUrls.values()) URL.revokeObjectURL(e);
+    this.objectUrls.clear(), this.entries.clear();
+  }
+}
+async function Ee(s, e) {
+  if (e.hasLocalFiles()) return e.text(s.entryPath ?? s.filename ?? e.paths()[0]);
+  const o = await fetch(s.url ?? await s.resolve(s.entryPath ?? ""), { signal: s.signal });
+  if (!o.ok) throw P(`Simulation asset request failed: ${o.status}`, "E_ASSET_FETCH");
+  return o.text();
+}
+function Qe(s) {
+  return O(s);
+}
+function O(s) {
+  const e = [];
+  for (const o of s.replaceAll("\\", "/").split("/"))
+    !o || o === "." || (o === ".." && e.length && e.at(-1) !== ".." ? e.pop() : e.push(o));
+  return e.join("/");
+}
+function we(s) {
+  return typeof s == "object" && s !== null && "kind" in s && s.kind === "files";
+}
+function P(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+function Se() {
+  return { errors: [], warnings: [], approximations: [], droppedFeatures: [] };
+}
+function je(s) {
+  const e = Object.freeze({ schemaVersion: 1, ...s });
+  return Oe(e), e;
+}
+function Oe(s) {
+  if (!s.id.trim() || !s.name.trim()) throw z("Asset IR id and name are required.", "E_ASSET_IR_INVALID");
+  if (s.source.format !== "usd" && s.links.length === 0) throw z("Asset IR requires at least one link.", "E_ASSET_IR_INVALID");
+  const e = /* @__PURE__ */ new Set();
+  for (const t of s.links) {
+    if (!t.id || e.has(t.id)) throw z(`Invalid or duplicate link: ${t.id}`, "E_ASSET_IR_INVALID");
+    e.add(t.id);
+  }
+  const o = /* @__PURE__ */ new Set();
+  for (const t of s.joints) {
+    if (!t.id || o.has(t.id) || !e.has(t.parent) || !e.has(t.child))
+      throw z(`Invalid joint: ${t.id}`, "E_ASSET_IR_INVALID");
+    o.add(t.id);
+  }
+}
+function z(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+async function ve(s, e, o) {
+  var n;
+  const t = /* @__PURE__ */ new Map(), r = /* @__PURE__ */ new Set(), l = /* @__PURE__ */ new Set(), u = async (a, c) => {
+    if (l.has(a)) throw J(`MJCF include cycle: ${a}`, "E_MJCF_INCLUDE_CYCLE");
+    l.add(a);
+    const p = Ie(c, a);
+    t.set(a, p);
+    for (const _ of p.querySelectorAll("worldbody body[name]")) r.add(_.getAttribute("name"));
+    for (const _ of p.querySelectorAll("include[file]")) {
+      const y = o.resolve(_.getAttribute("file"), a);
+      await u(y, await o.text(y));
+    }
+    l.delete(a);
+  };
+  await u(e, s);
+  const f = (n = t.get(e)) == null ? void 0 : n.querySelector("mujoco");
+  if (!f || r.size === 0) throw J("MJCF requires a mujoco root and at least one named body.", "E_MJCF_PARSE");
+  return je({
+    id: f.getAttribute("model") || e,
+    name: f.getAttribute("model") || e,
+    source: { format: "mjcf", uri: e },
+    links: [...r].map((a) => ({ id: a, name: a, visuals: [], collisions: [] })),
+    joints: [],
+    diagnostics: Se(),
+    extension: { files: o, xml: s, documents: t }
+  });
+}
+async function Ae(s) {
+  const e = s.extension.files, o = s.source.uri, t = o.split("/").slice(0, -1).join("/"), r = /* @__PURE__ */ new Map(), l = s.extension.documents;
+  for (const [n, a] of l) {
+    const c = a.querySelector("compiler");
+    for (const p of a.querySelectorAll("asset [file]")) {
+      const _ = (c == null ? void 0 : c.getAttribute(p.tagName === "texture" ? "texturedir" : "meshdir")) ?? (c == null ? void 0 : c.getAttribute("assetdir")) ?? "", y = e.resolve(`${_}/${p.getAttribute("file")}`, n);
+      await e.bytes(y);
+    }
+  }
+  for (const n of Ce(e.paths(), l)) {
+    if (n === o) continue;
+    const a = t && n.startsWith(`${t}/`) ? n.slice(t.length + 1) : n;
+    r.set(a, await e.bytes(n));
+  }
+  const u = s.extension.xml;
+  return { format: "mjcf", xml: Me(l) ? Ge(u) : u, files: r };
+}
+function Me(s) {
+  return s.size === 0 || ![...s.values()].some((o) => o.querySelector("freejoint, actuator") ? !0 : [...o.querySelectorAll("joint")].some(
+    (t) => (t.getAttribute("type") ?? "hinge").toLowerCase() !== "fixed"
+  )) ? !1 : ![...s.values()].some(
+    (o) => [...o.querySelectorAll("worldbody geom")].some((t) => {
+      var r;
+      return ((r = t.getAttribute("type")) == null ? void 0 : r.toLowerCase()) === "plane";
+    })
+  );
+}
+function Ge(s) {
+  const e = '<geom name="__viewer_default_ground__" type="plane" size="5 5 0.1" contype="1" conaffinity="1" friction="0.8 0.01 0.0002"/>';
+  return /<worldbody\b[^>]*>/i.test(s) ? s.replace(/(<worldbody\b[^>]*>)/i, `$1${e}`) : s.replace(/<\/mujoco\s*>/i, `<worldbody>${e}</worldbody></mujoco>`);
+}
+function Ce(s, e) {
+  const o = (f) => f.replaceAll("\\", "/").split("/").pop() ?? "", t = /* @__PURE__ */ new Map();
+  for (const f of s) {
+    const n = o(f), a = t.get(n) ?? [];
+    a.push(f), t.set(n, a);
+  }
+  const r = new Set(e.keys()), l = /* @__PURE__ */ new Set(["include", "mesh", "texture", "hfield", "skin"]), u = /* @__PURE__ */ new Set(["fileleft", "fileright", "fileup", "filedown", "filefront", "fileback"]);
+  for (const f of e.values()) {
+    if (f.querySelector("plugin, extension, model, attach")) return s;
+    for (const n of f.querySelectorAll("*"))
+      for (const a of n.attributes) {
+        if (!a.name.startsWith("file")) continue;
+        if (a.name === "file") {
+          if (!l.has(n.tagName)) return s;
+        } else if (!(n.tagName === "texture" && u.has(a.name)))
+          return s;
+        if (!a.value) continue;
+        const c = t.get(o(a.value));
+        if (!c) return s;
+        for (const p of c) r.add(p);
+      }
+  }
+  return s.filter((f) => r.has(f));
+}
+function Ie(s, e) {
+  const o = new DOMParser().parseFromString(s, "application/xml"), t = o.querySelector("parsererror");
+  if (t) throw J(`MJCF XML parse failed (${e}): ${t.textContent ?? ""}`, "E_MJCF_PARSE");
+  return o;
+}
+function J(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+const Pe = 1476466, Le = 0.72, De = 20, Fe = 1;
+function Re() {
+  return new me({
+    color: Pe,
+    transparent: !0,
+    opacity: Le,
+    depthTest: !1
+  });
+}
+function Ne(s, e, o = "feature") {
+  const t = o === "mesh" ? new de(s) : Ue(s), r = new he(t, e);
+  return r.renderOrder = 9, r;
+}
+function Ue(s) {
+  let e = new V(s, De);
+  return te(s, e) || (e.dispose(), e = new V(s, Fe)), te(s, e) || (e.dispose(), e = new V(s, 0)), e;
+}
+const Te = 256, $e = 0.5;
+function te(s, e) {
+  var f, n;
+  const o = e.getAttribute("position");
+  if (!o || o.count === 0) return !1;
+  const t = s.getAttribute("position");
+  if (!t || t.count < Te) return !0;
+  s.computeBoundingBox(), e.computeBoundingBox();
+  const r = (f = s.boundingBox) == null ? void 0 : f.getSize(new Z()), l = (n = e.boundingBox) == null ? void 0 : n.getSize(new Z());
+  if (!r || !l) return !1;
+  const u = r.length();
+  return !Number.isFinite(u) || u <= 0 ? !0 : l.length() / u >= $e;
+}
+const oe = 0.68;
+function ke(s, e) {
+  if (e < 0) return oe;
+  const o = s.mat_roughness[e];
+  if (o >= 0) return o;
+  const t = s.mat_shininess[e];
+  return !Number.isFinite(t) || t <= 0 ? oe : Math.sqrt(2 / (t + 2));
+}
+function ze(s, e) {
+  if (e < 0) return 0;
+  const o = s.mat_metallic[e];
+  return Number.isFinite(o) && o >= 0 ? o : 0;
+}
+function se(s, e = !1, o) {
+  const t = s.model, r = s.mujoco, l = new K();
+  l.name = "MuJoCo scene";
+  const u = /* @__PURE__ */ new Map(), f = /* @__PURE__ */ new Map();
+  for (let n = 1; n < t.nbody; n += 1) {
+    const a = r.mj_id2name(t, r.mjtObj.mjOBJ_BODY.value, n);
+    if (!a) continue;
+    const c = new K();
+    c.name = a, c.userData.bodyId = n, u.set(n, c), f.set(a, c), l.add(c);
+  }
+  if (e && u.set(0, l), e) {
+    const n = Re();
+    let a = 0;
+    for (let c = 0; c < t.ngeom; c += 1) {
+      const p = r.mj_id2name(t, r.mjtObj.mjOBJ_GEOM.value, c);
+      if (p === "__viewer_default_ground__" || !Ve(t, c)) continue;
+      const _ = u.get(t.geom_bodyid[c]), y = Be(s, c);
+      if (!_) continue;
+      if (!y) {
+        o == null || o.droppedFeatures.push({
+          code: "E_MJCF_COLLISION_DEBUG_GEOMETRY_UNAVAILABLE",
+          message: `MJCF geom ${p ?? `#${c}`} 的 compiled type=${t.geom_type[c]} 无法准确还原为碰撞线框。`,
+          source: "mjcf-collision-debug"
+        });
+        continue;
+      }
+      const g = qe(s, c) ? "mesh" : "feature", i = Ne(y, n, g);
+      y.dispose(), i.userData.geomId = c, a += 1;
+      const m = c * 3, E = c * 4;
+      i.position.fromArray(t.geom_pos, m), i.quaternion.set(t.geom_quat[E + 1], t.geom_quat[E + 2], t.geom_quat[E + 3], t.geom_quat[E]), _.add(i);
+    }
+    a === 0 && n.dispose();
+  } else
+    for (let n = 0; n < t.ngeom; n += 1) {
+      if (t.geom_group[n] > 2) continue;
+      const a = u.get(t.geom_bodyid[n]), c = We(s, n);
+      if (!a || !c) continue;
+      const p = n * 4, _ = t.geom_matid[n], y = new pe({
+        opacity: t.geom_rgba[p + 3],
+        transparent: t.geom_rgba[p + 3] < 1,
+        roughness: ke(t, _),
+        metalness: ze(t, _)
+      });
+      if (y.color.setRGB(t.geom_rgba[p], t.geom_rgba[p + 1], t.geom_rgba[p + 2]), _ >= 0 && [0.5, 0.5, 0.5, 1].every((E, A) => t.geom_rgba[p + A] === E)) {
+        const E = _ * 4;
+        y.color.setRGB(t.mat_rgba[E], t.mat_rgba[E + 1], t.mat_rgba[E + 2]), y.opacity = t.mat_rgba[E + 3], y.transparent = y.opacity < 1;
+      }
+      const g = new ge(c, y), i = n * 3, m = n * 4;
+      g.position.fromArray(t.geom_pos, i), g.quaternion.set(t.geom_quat[m + 1], t.geom_quat[m + 2], t.geom_quat[m + 3], t.geom_quat[m]), a.add(g);
+    }
+  return { root: l, bindings: f, expectedLinkCount: f.size };
+}
+function Be(s, e) {
+  const o = s.model, t = s.mujoco, r = e * 3, l = o.geom_size[r], u = o.geom_size[r + 1], f = o.geom_size[r + 2], n = o.geom_type[e];
+  if (n === t.mjtGeom.mjGEOM_PLANE.value) return new _e(Math.max(l * 2, 2), Math.max(u * 2, 2), 10, 10);
+  if (n === t.mjtGeom.mjGEOM_BOX.value) return new ne(l * 2, u * 2, f * 2);
+  if (n === t.mjtGeom.mjGEOM_SPHERE.value) return new H(l, 20, 12);
+  if (n === t.mjtGeom.mjGEOM_ELLIPSOID.value) {
+    const a = new H(1, 24, 16);
+    return a.applyMatrix4(new be().makeScale(l, u, f)), a;
+  }
+  if (n === t.mjtGeom.mjGEOM_CYLINDER.value) {
+    const a = new ie(l, l, u * 2, 24);
+    return a.rotateX(Math.PI / 2), a;
+  }
+  if (n === t.mjtGeom.mjGEOM_CAPSULE.value) {
+    const a = new ae(l, u * 2, 6, 16);
+    return a.rotateX(Math.PI / 2), a;
+  }
+  return n === t.mjtGeom.mjGEOM_MESH.value ? He(s, o.geom_dataid[e]) : n === t.mjtGeom.mjGEOM_HFIELD.value ? Je(s, o.geom_dataid[e]) : null;
+}
+function qe(s, e) {
+  const o = s.model.geom_type[e];
+  return o === s.mujoco.mjtGeom.mjGEOM_MESH.value || o === s.mujoco.mjtGeom.mjGEOM_HFIELD.value;
+}
+function Ve(s, e) {
+  if (s.geom_contype[e] !== 0 || s.geom_conaffinity[e] !== 0) return !0;
+  for (let o = 0; o < s.npair; o += 1) if (s.pair_geom1[o] === e || s.pair_geom2[o] === e) return !0;
+  return !1;
+}
+function He(s, e) {
+  const o = s.model, t = o.mesh_graphadr[e];
+  if (t < 0) return null;
+  const r = o.mesh_vertadr[e], l = o.mesh_vertnum[e], u = o.mesh_graph[t], f = o.mesh_graph[t + 1];
+  if (u < 4 || f < 4) return null;
+  const n = t + 2 + 3 * u + 3 * f, a = new X();
+  return a.setAttribute("position", new N(Float32Array.from(o.mesh_vert.subarray(r * 3, (r + l) * 3)), 3)), a.setIndex(new N(Uint32Array.from(o.mesh_graph.subarray(n, n + f * 3)), 1)), a.computeVertexNormals(), a;
+}
+function Je(s, e) {
+  const o = s.model, t = o.hfield_nrow[e], r = o.hfield_ncol[e];
+  if (t < 2 || r < 2) return null;
+  const l = o.hfield_adr[e], u = e * 4, f = o.hfield_size[u], n = o.hfield_size[u + 1], a = o.hfield_size[u + 2], c = o.hfield_size[u + 3], p = t * r, _ = [];
+  for (let w = 0; w < t; w += 1) for (let v = 0; v < r; v += 1)
+    _.push(
+      -f + 2 * f * v / (r - 1),
+      -n + 2 * n * w / (t - 1),
+      o.hfield_data[l + w * r + v] * a
+    );
+  const y = [
+    [-f, -n, -c],
+    [f, -n, -c],
+    [-f, n, -c],
+    [f, n, -c]
+  ];
+  for (const w of y) _.push(...w);
+  const g = [];
+  for (let w = 0; w < t - 1; w += 1) for (let v = 0; v < r - 1; v += 1) {
+    const L = w * r + v, R = L + 1, D = L + r, U = D + 1;
+    g.push(L, D, R, R, D, U);
+  }
+  const i = p, m = p + 1, E = p + 2, A = p + 3;
+  g.push(i, m, E, m, A, E);
+  const M = 0, h = r - 1, b = (t - 1) * r, S = t * r - 1;
+  g.push(i, M, m, m, M, h), g.push(E, A, b, A, S, b), g.push(i, E, M, E, b, M), g.push(m, h, A, A, h, S);
+  const j = new X();
+  return j.setAttribute("position", new N(Float32Array.from(_), 3)), j.setIndex(g), j.computeVertexNormals(), j;
+}
+function We(s, e) {
+  const o = s.model, t = s.mujoco, r = e * 3, l = o.geom_size[r], u = o.geom_size[r + 1], f = o.geom_size[r + 2], n = o.geom_type[e];
+  if (n === t.mjtGeom.mjGEOM_BOX.value) return new ne(l * 2, u * 2, f * 2);
+  if (n === t.mjtGeom.mjGEOM_SPHERE.value) return new H(l, 24, 16);
+  if (n === t.mjtGeom.mjGEOM_CYLINDER.value) {
+    const i = new ie(l, l, u * 2, 24);
+    return i.rotateX(Math.PI / 2), i;
+  }
+  if (n === t.mjtGeom.mjGEOM_CAPSULE.value) {
+    const i = new ae(l, u * 2, 6, 16);
+    return i.rotateX(Math.PI / 2), i;
+  }
+  if (n !== t.mjtGeom.mjGEOM_MESH.value) return null;
+  const a = o.geom_dataid[e], c = o.mesh_vertadr[a], p = o.mesh_vertnum[a], _ = o.mesh_faceadr[a], y = o.mesh_facenum[a], g = new X();
+  return g.setAttribute("position", new N(Float32Array.from(o.mesh_vert.subarray(c * 3, (c + p) * 3)), 3)), g.setIndex(new N(Uint32Array.from(o.mesh_face.subarray(_ * 3, (_ + y) * 3)), 1)), g.computeVertexNormals(), g;
+}
+function Xe(s, e) {
+  const o = new ye(s);
+  let t = null, r = null, l = null, u = null, f = null, n = !1, a = !0, c = !1, p = null, _ = null, y, g = null, i = null, m = null;
+  const E = (h, b) => {
+    var j;
+    const S = Q(h, e.signal, `${e.format}:${b}`);
+    a = !1, c = !1, _ = { ...S, stage: b };
+    try {
+      i == null || i.endGrab();
+    } catch {
+    }
+    (j = e.reportSessionState) == null || j.call(e), e.reportError(h, { fatal: !1, stage: b, code: S.code });
+  }, A = () => {
+    n = !0, a = !1;
+  }, M = (async () => {
+    var h, b, S, j, w, v, L, R, D, U;
+    try {
+      const G = e.format;
+      if (G === "usd" || G === "usda" || G === "usdc" || G === "usdz") {
+        (h = e.reportProgress) == null || h.call(e, "usd", "正在解析 USD 场景与物理刚体...");
+        const d = await (await import("./usd-session-zyj46Bcg.js")).loadUsdSimulation(s, e, o);
+        if (n || e.signal.aborted)
+          throw d.dispose(), W();
+        g = d.asset, r = d.binding, l = d.dispose, u = d.hasPhysics ? d.step : null, f = d.reset, a = d.hasPhysics, c = d.hasPhysics, p = d.fallback ? { ...d.fallback, stage: "physics-fallback" } : d.visualWarning ? { ...d.visualWarning, stage: "visual-adaptation" } : null, (b = e.reportProgress) == null || b.call(e, "stage", "正在构建三维场景与环境光影..."), i = new k(r.root, e.options.simulationTheme, d.runtime), d.runtime && (t = d.runtime), m = d.collision ?? null, m && (m.root.visible = !1, i.attachAuxiliary(m.root));
+        return;
+      }
+      if (G === "urdf") {
+        (S = e.reportProgress) == null || S.call(e, "urdf", "正在解析 URDF 场景与运动学结构...");
+        const d = await (await import("./urdf-session-C_LAfkkM.js")).loadUrdfSimulation(s, e, o);
+        if (n || e.signal.aborted)
+          throw d.dispose(), W();
+        g = d.asset, r = d.binding, l = d.dispose, u = d.hasPhysics ? d.step : null, f = d.reset, a = d.hasPhysics, c = d.hasPhysics, p = d.fallback ? { ...d.fallback, stage: "physics-fallback" } : null, (j = e.reportProgress) == null || j.call(e, "stage", "正在构建三维场景与环境光影..."), i = new k(r.root, e.options.simulationTheme, d.runtime), d.runtime && (t = d.runtime), m = d.collision ?? null, m && (m.root.visible = !1, i.attachAuxiliary(m.root));
+        return;
+      }
+      let T = s.entryPath ?? s.filename;
+      if (!T && G === "mjcf") {
+        const C = o.paths().filter((d) => d.toLowerCase().endsWith(".xml"));
+        for (const d of ["scene.xml", "model.xml", "main.xml"]) {
+          const $ = C.find((I) => I.toLowerCase().endsWith(`/${d}`) || I.toLowerCase() === d);
+          if ($) {
+            T = $;
+            break;
+          }
+        }
+      }
+      T ?? (T = "asset.xml"), (w = e.reportProgress) == null || w.call(e, "fetch", "正在读取模型描述与依赖资源...");
+      const le = await Ee(s, o);
+      B(n, e.signal), (v = e.reportProgress) == null || v.call(e, "parse", "正在解析 MJCF 场景与连杆..."), g = await ve(le, T, o);
+      try {
+        (L = e.reportProgress) == null || L.call(e, "compile", "正在编译物理模型与参数...");
+        const C = await Ae(g);
+        B(n, e.signal), (R = e.reportProgress) == null || R.call(e, "runtime", "正在初始化物理内核...");
+        const { MujocoRuntime: d } = await import("./mujoco-runtime-s85kwjo7.js");
+        t = new d(), await t.initialize(C, e.options.mujocoBaseUrl);
+      } catch (C) {
+        const d = Q(C, e.signal, "mjcf-physics");
+        t == null || t.dispose(), t = null;
+        const { compileMjcfPreview: $ } = await import("./mjcf-visual--X39MVO9.js");
+        let I;
+        try {
+          I = $(g);
+        } catch (q) {
+          throw new Error(`${d.message}；独立视觉预览也不可用：${q instanceof Error ? q.message : String(q)}`);
+        }
+        r = { root: I, sync() {
+        }, dispose() {
+          re(I);
+        } }, p = { ...d, stage: "physics-fallback" }, i = new k(I, e.options.simulationTheme), a = !1;
+        return;
+      }
+      c = !0, B(n, e.signal), (D = e.reportProgress) == null || D.call(e, "visual", "正在构建视觉渲染网格...");
+      const ue = se(t);
+      B(n, e.signal), (U = e.reportProgress) == null || U.call(e, "stage", "正在构建三维场景与环境光影..."), r = new x(t, ue), i = new k(r.root, e.options.simulationTheme, t);
+      const Y = se(t, !0, g.diagnostics);
+      Y.root.children.length > 0 ? (m = new x(t, Y), m.root.visible = !1) : m = null, m && i.attachAuxiliary(m.root);
+    } catch (G) {
+      throw i == null || i.dispose(), i = null, l ? (l(), l = null) : (m == null || m.dispose(), r == null || r.dispose(), t == null || t.dispose()), m = null, r = null, t = null, o.dispose(), G;
+    }
+  })();
+  return M.catch(() => {
+  }), {
+    id: `simulation-${Math.random().toString(36).slice(2)}`,
+    opened: M,
+    get root() {
+      return (i == null ? void 0 : i.root) ?? null;
+    },
+    getFitBounds() {
+      return (i == null ? void 0 : i.getModelBounds()) ?? null;
+    },
+    beforeRender(h, b, S) {
+      return i == null ? void 0 : i.beforeRender(h, b, S);
+    },
+    get capabilities() {
+      return { canPlay: c, canPause: c, canReset: c, hasPhysics: c, canToggleGround: !0, canToggleCollision: m !== null };
+    },
+    get warning() {
+      return p;
+    },
+    get physics() {
+      return _ ? { status: "unavailable", issue: _ } : c ? { status: "ready" } : (p == null ? void 0 : p.stage) === "physics-fallback" ? { status: "unavailable", issue: p } : { status: "not-authored" };
+    },
+    setTheme(h) {
+      i == null || i.setTheme(h);
+    },
+    setGroundVisible(h) {
+      i == null || i.setGroundVisible(h);
+    },
+    getGroundVisible() {
+      return (i == null ? void 0 : i.getGroundVisible()) ?? !0;
+    },
+    presentation: { preferredViewMode: "3d", interactionMode: "simulation", uiProfile: "simulation", fitPolicy: "fit-on-ready" },
+    beginDispose: A,
+    setCollisionVisible(h) {
+      if (n || !m) throw new Error("This asset has no collision display.");
+      m.root.visible = h;
+    },
+    getVisualDiagnostics() {
+      return n || !g || g.source.format !== "usd" ? null : structuredClone({ report: g.extension.visualAdaptation, diagnostics: g.diagnostics });
+    },
+    getPhysicsProperties() {
+      if (n || !c || !(t != null && t.model) || !t.mujoco) return null;
+      const h = t.model, b = t.mujoco;
+      return structuredClone({
+        units: { length: "m", mass: "kg", time: "s" },
+        timestep: h.opt.timestep,
+        gravity: Array.from(h.opt.gravity),
+        bodyCount: h.nbody - 1,
+        jointCount: h.njnt,
+        geomCount: h.ngeom,
+        bodies: Array.from({ length: h.nbody - 1 }, (S, j) => {
+          const w = j + 1;
+          return { id: w, name: b.mj_id2name(h, b.mjtObj.mjOBJ_BODY.value, w), mass: h.body_mass[w], inertia: Array.from(h.body_inertia.slice(w * 3, w * 3 + 3)) };
+        }),
+        diagnostics: g == null ? void 0 : g.diagnostics
+      });
+    },
+    get update() {
+      return t != null && t.model || u ? (h) => {
+        if (n || !c || !a || !r) return !1;
+        try {
+          if (u) {
+            const S = u(h);
+            return S && (m == null || m.sync()), S;
+          }
+          const b = t.step(h);
+          return b && (r.sync(), m == null || m.sync(), i == null || i.updateForceLine()), b;
+        } catch (b) {
+          return E(b, "step"), !1;
+        }
+      } : void 0;
+    },
+    play() {
+      !n && c && (a = !0);
+    },
+    pause() {
+      a = !1;
+    },
+    reset() {
+      if (!(n || !c || !r))
+        try {
+          f ? f() : (t == null || t.reset(), r.sync()), m == null || m.sync(), i == null || i.updateForceLine();
+        } catch (h) {
+          E(h, "reset");
+        }
+    },
+    beginGrab(h, b, S) {
+      if (!c || n) return !1;
+      try {
+        return (i == null ? void 0 : i.beginGrab(h, b, S)) ?? !1;
+      } catch (j) {
+        return E(j, "grab"), !1;
+      }
+    },
+    moveGrab(h, b, S) {
+      if (!(!c || n))
+        try {
+          i == null || i.moveGrab(h, b, S);
+        } catch (j) {
+          E(j, "grab");
+        }
+    },
+    endGrab() {
+      i == null || i.endGrab();
+    },
+    dispose() {
+      return A(), y ?? (y = M.catch(() => {
+      }).then(() => {
+        i == null || i.dispose(), i = null, m == null || m.root.removeFromParent(), m == null || m.dispose(), m = null, l ? (l(), l = null, r = null) : (r == null || r.dispose(), r = null, t == null || t.dispose()), o.dispose(), g = null, u = null, f = null, c = !1, p = null;
+      })), y;
+    }
+  };
+}
+function B(s, e) {
+  if (s || e.aborted) throw W();
+}
+function W() {
+  return Object.assign(new Error("Simulation load aborted."), { name: "AbortError", code: "E_ABORTED" });
+}
+const xe = /* @__PURE__ */ Object.freeze(/* @__PURE__ */ Object.defineProperty({
+  __proto__: null,
+  createSimulationSession: Xe
+}, Symbol.toStringTag, { value: "Module" }));
+export {
+  x as S,
+  Ne as a,
+  Se as b,
+  Re as c,
+  je as d,
+  Qe as n,
+  Q as p,
+  Ee as r,
+  xe as s
+};