@nebula-spatial/viewer 0.4.3 → 0.4.4

package/dist/session-Cz6qHYMc.js

@@ -0,0 +1,676 @@
+var he = Object.defineProperty;
+var ge = (s, e, o) => e in s ? he(s, e, { enumerable: !0, configurable: !0, writable: !0, value: o }) : s[e] = o;
+var N = (s, e, o) => ge(s, typeof e != "symbol" ? e + "" : e, o);
+import { d as ue, S as V } from "./stage-D113SHD8.js";
+import { LineBasicMaterial as _e, WireframeGeometry as ye, LineSegments as be, EdgesGeometry as H, Vector3 as te, Group as oe, MeshStandardMaterial as we, Mesh as Ee, PlaneGeometry as Se, BoxGeometry as ce, SphereGeometry as J, Matrix4 as je, CylinderGeometry as fe, CapsuleGeometry as de, BufferGeometry as Y, BufferAttribute as U } from "three";
+function se(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 re {
+  constructor(e, o) {
+    N(this, "root");
+    N(this, "bodies", /* @__PURE__ */ new Map());
+    N(this, "links", /* @__PURE__ */ new Map());
+    N(this, "disposed", !1);
+    this.runtime = e, this.root = o.root;
+    const t = e.mujoco, r = e.model;
+    for (const [i, a] of o.bindings) {
+      const f = t.mj_name2id(r, t.mjtObj.mjOBJ_BODY.value, i);
+      if (f < 0) throw ne(`Physics body missing for visual link: ${i}`, "E_SIMULATION_BIND");
+      this.links.set(i, a), a.userData.bodyId = f, this.bodies.set(f, a);
+    }
+    if (this.bodies.size !== o.expectedLinkCount) throw ne("Visual body binding count mismatch.", "E_SIMULATION_BIND");
+    this.sync();
+  }
+  objectForLink(e) {
+    return this.links.get(e) ?? null;
+  }
+  bodyPoses() {
+    return new Map([...this.bodies.values()].map((e) => [e.name, { position: e.position.clone(), quaternion: e.quaternion.clone() }]));
+  }
+  sync() {
+    if (this.disposed || !this.runtime.data) return;
+    const { xpos: e, xquat: o } = this.runtime.data;
+    for (const [t, r] of this.bodies) {
+      const i = t * 3, a = t * 4;
+      r.position.set(e[i], e[i + 1], e[i + 2]), r.quaternion.set(o[a + 1], o[a + 2], o[a + 3], o[a]);
+    }
+    this.root.updateMatrixWorld(!0);
+  }
+  dispose() {
+    this.disposed || (this.disposed = !0, this.bodies.clear(), this.links.clear(), ue(this.root));
+  }
+}
+function ne(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+class ve {
+  constructor(e) {
+    N(this, "entries", /* @__PURE__ */ new Map());
+    N(this, "objectUrls", /* @__PURE__ */ new Map());
+    this.source = e;
+    const o = e.original;
+    if (Ae(o))
+      for (const t of o.files) this.entries.set(C(t.path), t.file);
+    else typeof Blob < "u" && o instanceof Blob ? this.entries.set(e.entryPath ?? e.filename ?? "asset", o) : o instanceof ArrayBuffer ? this.entries.set(e.entryPath ?? e.filename ?? "asset", new Blob([o])) : typeof o == "object" && o !== null && "kind" in o && o.kind === "buffer" && this.entries.set(e.entryPath ?? e.filename ?? "asset", new Blob([o.buffer]));
+  }
+  paths() {
+    return [...this.entries.keys()];
+  }
+  hasLocalFiles() {
+    return this.entries.size > 0;
+  }
+  put(e, o) {
+    this.entries.set(C(e), o);
+  }
+  asSourceRecord(e = "") {
+    const o = C(e), t = o ? `${o}/` : "", r = {};
+    for (const [i, a] of this.entries)
+      (!t || i.startsWith(t)) && (r[t ? i.slice(t.length) : i] = a);
+    return r;
+  }
+  resolve(e, o = "") {
+    const t = this.find(e, o);
+    if (t) return t;
+    const r = C(o).split("/").slice(0, -1).join("/");
+    if (this.source.url) return C(`${r}/${e.replace(/^package:\/\//, "")}`);
+    throw T(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+  }
+  find(e, o = "") {
+    const t = C(e.replace(/^package:\/\//, "")), r = C(o).split("/").slice(0, -1).join("/");
+    for (const a of [C(`${r}/${e.replace(/^package:\/\//, "")}`), t])
+      if (this.entries.has(a)) return a;
+    const i = this.paths().filter(
+      (a) => a === t || a.endsWith(`/${t}`) || t.endsWith(`/${a}`)
+    );
+    return i.length === 1 ? i[0] : null;
+  }
+  async text(e) {
+    await this.ensure(e);
+    const o = this.entries.get(this.resolve(e));
+    if (!o) throw T(`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 T(`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 T(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+    return t;
+  }
+  async ensure(e) {
+    const o = C(e);
+    if (this.entries.has(o)) return;
+    const t = await this.source.resolve(o);
+    if (!/^https?:\/\//i.test(t) && !/^blob:/i.test(t))
+      throw T(`Simulation resource not found: ${e}. Upload the complete asset folder or provide a resourceResolver/baseUrl.`, "E_ASSET_RESOURCE_NOT_FOUND");
+    const r = await fetch(t, { signal: this.source.signal });
+    if (!r.ok) throw T(`Simulation resource request failed (${r.status}): ${t}`, r.status === 401 || r.status === 403 ? "E_ASSET_AUTH" : "E_ASSET_FETCH");
+    const i = await r.blob();
+    this.source.signal.throwIfAborted(), this.entries.set(o, i);
+  }
+  objectUrl(e) {
+    const o = this.resolve(e);
+    let t = this.objectUrls.get(o);
+    return t || (t = URL.createObjectURL(this.getBlob(o)), this.objectUrls.set(o, t)), t;
+  }
+  objectUrlIfPresent(e, o = "") {
+    const t = C(o), r = t ? `${t}/` : "", i = C(e), a = r ? this.paths().filter((n) => {
+      if (!n.startsWith(r)) return !1;
+      const l = n.slice(r.length);
+      return l === i || i.endsWith(`/${l}`);
+    }) : [], f = a.length === 1 ? a[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 Oe(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 T(`Simulation asset request failed: ${o.status}`, "E_ASSET_FETCH");
+  return o.text();
+}
+function st(s) {
+  return C(s);
+}
+function C(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 Ae(s) {
+  return typeof s == "object" && s !== null && "kind" in s && s.kind === "files";
+}
+function T(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+function Me() {
+  return { errors: [], warnings: [], approximations: [], droppedFeatures: [] };
+}
+function Ge(s, e = {}) {
+  const o = Object.freeze({ schemaVersion: 1, ...s });
+  return Ce(o, e), o;
+}
+function Ce(s, e = {}) {
+  if (!s.id.trim() || !s.name.trim()) throw q("Asset IR id and name are required.", "E_ASSET_IR_INVALID");
+  if (s.source.format !== "usd" && s.links.length === 0) throw q("Asset IR requires at least one link.", "E_ASSET_IR_INVALID");
+  const o = /* @__PURE__ */ new Set();
+  for (const r of s.links) {
+    if (!r.id || o.has(r.id)) throw q(`Invalid or duplicate link: ${r.id}`, "E_ASSET_IR_INVALID");
+    o.add(r.id);
+  }
+  const t = /* @__PURE__ */ new Set();
+  for (const r of s.joints) {
+    if (!r.id || t.has(r.id) || !e.allowInvalidGraph && (!o.has(r.parent) || !o.has(r.child)))
+      throw q(`Invalid joint: ${r.id}`, "E_ASSET_IR_INVALID");
+    t.add(r.id);
+  }
+}
+function q(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+async function Ie(s, e, o) {
+  var n;
+  const t = /* @__PURE__ */ new Map(), r = /* @__PURE__ */ new Set(), i = /* @__PURE__ */ new Set(), a = async (l, c) => {
+    if (i.has(l)) throw W(`MJCF include cycle: ${l}`, "E_MJCF_INCLUDE_CYCLE");
+    i.add(l);
+    const g = Fe(c, l);
+    t.set(l, g);
+    for (const _ of g.querySelectorAll("worldbody body[name]")) r.add(_.getAttribute("name"));
+    for (const _ of g.querySelectorAll("include[file]")) {
+      const S = o.resolve(_.getAttribute("file"), l);
+      await a(S, await o.text(S));
+    }
+    i.delete(l);
+  };
+  await a(e, s);
+  const f = (n = t.get(e)) == null ? void 0 : n.querySelector("mujoco");
+  if (!f || r.size === 0) throw W("MJCF requires a mujoco root and at least one named body.", "E_MJCF_PARSE");
+  return Ge({
+    id: f.getAttribute("model") || e,
+    name: f.getAttribute("model") || e,
+    source: { format: "mjcf", uri: e },
+    links: [...r].map((l) => ({ id: l, name: l, visuals: [], collisions: [] })),
+    joints: [],
+    diagnostics: Me(),
+    extension: { files: o, xml: s, documents: t }
+  });
+}
+async function Le(s) {
+  const e = s.extension.files, o = s.source.uri, t = o.split("/").slice(0, -1).join("/"), r = /* @__PURE__ */ new Map(), i = s.extension.documents;
+  for (const [n, l] of i) {
+    const c = l.querySelector("compiler");
+    for (const g of l.querySelectorAll("asset [file]")) {
+      const _ = (c == null ? void 0 : c.getAttribute(g.tagName === "texture" ? "texturedir" : "meshdir")) ?? (c == null ? void 0 : c.getAttribute("assetdir")) ?? "", S = e.resolve(`${_}/${g.getAttribute("file")}`, n);
+      await e.bytes(S);
+    }
+  }
+  for (const n of Re(e.paths(), i)) {
+    if (n === o) continue;
+    const l = t && n.startsWith(`${t}/`) ? n.slice(t.length + 1) : n;
+    r.set(l, await e.bytes(n));
+  }
+  const a = s.extension.xml;
+  return { format: "mjcf", xml: Pe(i) ? De(a) : a, files: r };
+}
+function Pe(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 De(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>${e}</worldbody></mujoco>`);
+}
+function Re(s, e) {
+  const o = (f) => f.replaceAll("\\", "/").split("/").pop() ?? "", t = /* @__PURE__ */ new Map();
+  for (const f of s) {
+    const n = o(f), l = t.get(n) ?? [];
+    l.push(f), t.set(n, l);
+  }
+  const r = new Set(e.keys()), i = /* @__PURE__ */ new Set(["include", "mesh", "texture", "hfield", "skin"]), a = /* @__PURE__ */ new Set(["fileleft", "fileright", "fileup", "filedown", "filefront", "fileback"]);
+  for (const f of e.values()) {
+    if (f.querySelector("plugin, extension, model, attach")) return s;
+    for (const n of f.querySelectorAll("*"))
+      for (const l of n.attributes) {
+        if (!l.name.startsWith("file")) continue;
+        if (l.name === "file") {
+          if (!i.has(n.tagName)) return s;
+        } else if (!(n.tagName === "texture" && a.has(l.name)))
+          return s;
+        if (!l.value) continue;
+        const c = t.get(o(l.value));
+        if (!c) return s;
+        for (const g of c) r.add(g);
+      }
+  }
+  return s.filter((f) => r.has(f));
+}
+function Fe(s, e) {
+  const o = new DOMParser().parseFromString(s, "application/xml"), t = o.querySelector("parsererror");
+  if (t) throw W(`MJCF XML parse failed (${e}): ${t.textContent ?? ""}`, "E_MJCF_PARSE");
+  return o;
+}
+function W(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+const Ne = 1476466, Te = 0.72, Ue = 20, $e = 1;
+function ke() {
+  return new _e({
+    color: Ne,
+    transparent: !0,
+    opacity: Te,
+    depthTest: !1
+  });
+}
+function qe(s, e, o = "feature") {
+  const t = o === "mesh" ? new ye(s) : ze(s), r = new be(t, e);
+  return r.renderOrder = 9, r;
+}
+function ze(s) {
+  let e = new H(s, Ue);
+  return ie(s, e) || (e.dispose(), e = new H(s, $e)), ie(s, e) || (e.dispose(), e = new H(s, 0)), e;
+}
+const Be = 256, Ve = 0.5;
+function ie(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 < Be) return !0;
+  s.computeBoundingBox(), e.computeBoundingBox();
+  const r = (f = s.boundingBox) == null ? void 0 : f.getSize(new te()), i = (n = e.boundingBox) == null ? void 0 : n.getSize(new te());
+  if (!r || !i) return !1;
+  const a = r.length();
+  return !Number.isFinite(a) || a <= 0 ? !0 : i.length() / a >= Ve;
+}
+const ae = 0.68;
+function He(s, e) {
+  if (e < 0) return ae;
+  const o = s.mat_roughness[e];
+  if (o >= 0) return o;
+  const t = s.mat_shininess[e];
+  return !Number.isFinite(t) || t <= 0 ? ae : Math.sqrt(2 / (t + 2));
+}
+function Je(s, e) {
+  if (e < 0) return 0;
+  const o = s.mat_metallic[e];
+  return Number.isFinite(o) && o >= 0 ? o : 0;
+}
+function le(s, e = !1, o) {
+  const t = s.model, r = s.mujoco, i = new oe();
+  i.name = "MuJoCo scene";
+  const a = /* @__PURE__ */ new Map(), f = /* @__PURE__ */ new Map();
+  for (let n = 1; n < t.nbody; n += 1) {
+    const l = r.mj_id2name(t, r.mjtObj.mjOBJ_BODY.value, n);
+    if (!l) continue;
+    const c = new oe();
+    c.name = l, c.userData.bodyId = n, a.set(n, c), f.set(l, c), i.add(c);
+  }
+  if (e && a.set(0, i), e) {
+    const n = ke();
+    let l = 0;
+    for (let c = 0; c < t.ngeom; c += 1) {
+      const g = r.mj_id2name(t, r.mjtObj.mjOBJ_GEOM.value, c);
+      if (g === "__viewer_default_ground__" || !Ye(t, c)) continue;
+      const _ = a.get(t.geom_bodyid[c]), S = We(s, c);
+      if (!_) continue;
+      if (!S) {
+        o == null || o.droppedFeatures.push({
+          code: "E_MJCF_COLLISION_DEBUG_GEOMETRY_UNAVAILABLE",
+          message: `MJCF geom ${g ?? `#${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 h = Xe(s, c) ? "mesh" : "feature", y = qe(S, n, h);
+      S.dispose(), y.userData.geomId = c, l += 1;
+      const b = c * 3, w = c * 4;
+      y.position.fromArray(t.geom_pos, b), y.quaternion.set(t.geom_quat[w + 1], t.geom_quat[w + 2], t.geom_quat[w + 3], t.geom_quat[w]), _.add(y);
+    }
+    l === 0 && n.dispose();
+  } else
+    for (let n = 0; n < t.ngeom; n += 1) {
+      if (t.geom_group[n] > 2) continue;
+      const l = a.get(t.geom_bodyid[n]), c = Qe(s, n);
+      if (!l || !c) continue;
+      const g = n * 4, _ = t.geom_matid[n], S = new we({
+        opacity: t.geom_rgba[g + 3],
+        transparent: t.geom_rgba[g + 3] < 1,
+        roughness: He(t, _),
+        metalness: Je(t, _)
+      });
+      if (S.color.setRGB(t.geom_rgba[g], t.geom_rgba[g + 1], t.geom_rgba[g + 2]), _ >= 0 && [0.5, 0.5, 0.5, 1].every((w, O) => t.geom_rgba[g + O] === w)) {
+        const w = _ * 4;
+        S.color.setRGB(t.mat_rgba[w], t.mat_rgba[w + 1], t.mat_rgba[w + 2]), S.opacity = t.mat_rgba[w + 3], S.transparent = S.opacity < 1;
+      }
+      const h = new Ee(c, S), y = n * 3, b = n * 4;
+      h.position.fromArray(t.geom_pos, y), h.quaternion.set(t.geom_quat[b + 1], t.geom_quat[b + 2], t.geom_quat[b + 3], t.geom_quat[b]), l.add(h);
+    }
+  return { root: i, bindings: f, expectedLinkCount: f.size };
+}
+function We(s, e) {
+  const o = s.model, t = s.mujoco, r = e * 3, i = o.geom_size[r], a = 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 Se(Math.max(i * 2, 2), Math.max(a * 2, 2), 10, 10);
+  if (n === t.mjtGeom.mjGEOM_BOX.value) return new ce(i * 2, a * 2, f * 2);
+  if (n === t.mjtGeom.mjGEOM_SPHERE.value) return new J(i, 20, 12);
+  if (n === t.mjtGeom.mjGEOM_ELLIPSOID.value) {
+    const l = new J(1, 24, 16);
+    return l.applyMatrix4(new je().makeScale(i, a, f)), l;
+  }
+  if (n === t.mjtGeom.mjGEOM_CYLINDER.value) {
+    const l = new fe(i, i, a * 2, 24);
+    return l.rotateX(Math.PI / 2), l;
+  }
+  if (n === t.mjtGeom.mjGEOM_CAPSULE.value) {
+    const l = new de(i, a * 2, 6, 16);
+    return l.rotateX(Math.PI / 2), l;
+  }
+  return n === t.mjtGeom.mjGEOM_MESH.value ? Ze(s, o.geom_dataid[e]) : n === t.mjtGeom.mjGEOM_HFIELD.value ? Ke(s, o.geom_dataid[e]) : null;
+}
+function Xe(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 Ye(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 Ze(s, e) {
+  const o = s.model, t = o.mesh_graphadr[e];
+  if (t < 0) return null;
+  const r = o.mesh_vertadr[e], i = o.mesh_vertnum[e], a = o.mesh_graph[t], f = o.mesh_graph[t + 1];
+  if (a < 4 || f < 4) return null;
+  const n = t + 2 + 3 * a + 3 * f, l = new Y();
+  return l.setAttribute("position", new U(Float32Array.from(o.mesh_vert.subarray(r * 3, (r + i) * 3)), 3)), l.setIndex(new U(Uint32Array.from(o.mesh_graph.subarray(n, n + f * 3)), 1)), l.computeVertexNormals(), l;
+}
+function Ke(s, e) {
+  const o = s.model, t = o.hfield_nrow[e], r = o.hfield_ncol[e];
+  if (t < 2 || r < 2) return null;
+  const i = o.hfield_adr[e], a = e * 4, f = o.hfield_size[a], n = o.hfield_size[a + 1], l = o.hfield_size[a + 2], c = o.hfield_size[a + 3], g = t * r, _ = [];
+  for (let A = 0; A < t; A += 1) for (let G = 0; G < r; G += 1)
+    _.push(
+      -f + 2 * f * G / (r - 1),
+      -n + 2 * n * A / (t - 1),
+      o.hfield_data[i + A * r + G] * l
+    );
+  const S = [
+    [-f, -n, -c],
+    [f, -n, -c],
+    [-f, n, -c],
+    [f, n, -c]
+  ];
+  for (const A of S) _.push(...A);
+  const h = [];
+  for (let A = 0; A < t - 1; A += 1) for (let G = 0; G < r - 1; G += 1) {
+    const p = A * r + G, E = p + 1, j = p + r, M = j + 1;
+    h.push(p, j, E, E, j, M);
+  }
+  const y = g, b = g + 1, w = g + 2, O = g + 3;
+  h.push(y, b, w, b, O, w);
+  const D = 0, v = r - 1, u = (t - 1) * r, m = t * r - 1;
+  h.push(y, D, b, b, D, v), h.push(w, O, u, O, m, u), h.push(y, w, D, w, u, D), h.push(b, v, O, O, v, m);
+  const I = new Y();
+  return I.setAttribute("position", new U(Float32Array.from(_), 3)), I.setIndex(h), I.computeVertexNormals(), I;
+}
+function Qe(s, e) {
+  const o = s.model, t = s.mujoco, r = e * 3, i = o.geom_size[r], a = 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 ce(i * 2, a * 2, f * 2);
+  if (n === t.mjtGeom.mjGEOM_SPHERE.value) return new J(i, 24, 16);
+  if (n === t.mjtGeom.mjGEOM_CYLINDER.value) {
+    const y = new fe(i, i, a * 2, 24);
+    return y.rotateX(Math.PI / 2), y;
+  }
+  if (n === t.mjtGeom.mjGEOM_CAPSULE.value) {
+    const y = new de(i, a * 2, 6, 16);
+    return y.rotateX(Math.PI / 2), y;
+  }
+  if (n !== t.mjtGeom.mjGEOM_MESH.value) return null;
+  const l = o.geom_dataid[e], c = o.mesh_vertadr[l], g = o.mesh_vertnum[l], _ = o.mesh_faceadr[l], S = o.mesh_facenum[l], h = new Y();
+  return h.setAttribute("position", new U(Float32Array.from(o.mesh_vert.subarray(c * 3, (c + g) * 3)), 3)), h.setIndex(new U(Uint32Array.from(o.mesh_face.subarray(_ * 3, (_ + S) * 3)), 1)), h.computeVertexNormals(), h;
+}
+function xe(s, e) {
+  const o = new ve(s);
+  let t = null, r = null, i = null, a = null, f = null, n = null, l = null, c = null, g = null, _ = null, S = null, h = !1, y = !0, b = !1, w = null, O = null, D, v = null, u = null, m = null;
+  const I = (p, E) => {
+    var M;
+    const j = se(p, e.signal, `${e.format}:${E}`);
+    y = !1, b = !1, O = { ...j, stage: E };
+    try {
+      u == null || u.endGrab();
+    } catch {
+    }
+    (M = e.reportSessionState) == null || M.call(e), e.reportError(p, { fatal: !1, stage: E, code: j.code });
+  }, A = () => {
+    h = !0, y = !1;
+  }, G = (async () => {
+    var p, E, j, M, L, Z, K, Q, x;
+    try {
+      const P = e.format;
+      if (P === "usd" || P === "usda" || P === "usdc" || P === "usdz") {
+        (p = e.reportProgress) == null || p.call(e, "usd", "正在解析 USD 场景与物理刚体...");
+        const d = await (await import("./usd-session-CmSdkRw9.js")).loadUsdSimulation(s, e, o);
+        if (h || e.signal.aborted)
+          throw d.dispose(), X();
+        v = d.asset, r = d.binding, i = d.dispose, a = d.hasPhysics ? d.step : null, f = d.reset, y = d.hasPhysics, b = d.hasPhysics, w = d.fallback ? { ...d.fallback, stage: "physics-fallback" } : d.visualWarning ? { ...d.visualWarning, stage: "visual-adaptation" } : null, (E = e.reportProgress) == null || E.call(e, "stage", "正在构建三维场景与环境光影..."), u = new V(r.root, e.options.simulationTheme, d.runtime), d.runtime && (t = d.runtime), m = d.collision ?? null, m && (m.root.visible = !1, u.attachAuxiliary(m.root));
+        return;
+      }
+      if (P === "urdf") {
+        (j = e.reportProgress) == null || j.call(e, "urdf", "正在解析 URDF 场景与运动学结构...");
+        const d = await (await import("./urdf-session-AP-cMuwd.js")).loadUrdfSimulation(s, e, o);
+        if (h || e.signal.aborted)
+          throw d.dispose(), X();
+        v = d.asset, u = d.stage, g = d.inspection, i = d.dispose, a = d.step, f = d.reset, n = d.play, l = d.pause, c = d.isPlaying, _ = () => d.capabilities, S = () => d.physics, y = !1, b = !1, w = d.warning ?? null;
+        return;
+      }
+      let $ = s.entryPath ?? s.filename;
+      if (!$ && P === "mjcf") {
+        const R = o.paths().filter((d) => d.toLowerCase().endsWith(".xml"));
+        for (const d of ["scene.xml", "model.xml", "main.xml"]) {
+          const k = R.find((F) => F.toLowerCase().endsWith(`/${d}`) || F.toLowerCase() === d);
+          if (k) {
+            $ = k;
+            break;
+          }
+        }
+      }
+      $ ?? ($ = "asset.xml"), (M = e.reportProgress) == null || M.call(e, "fetch", "正在读取模型描述与依赖资源...");
+      const me = await Oe(s, o);
+      z(h, e.signal), (L = e.reportProgress) == null || L.call(e, "parse", "正在解析 MJCF 场景与连杆..."), v = await Ie(me, $, o);
+      try {
+        (Z = e.reportProgress) == null || Z.call(e, "compile", "正在编译物理模型与参数...");
+        const R = await Le(v);
+        z(h, e.signal), (K = e.reportProgress) == null || K.call(e, "runtime", "正在初始化物理内核...");
+        const { MujocoRuntime: d } = await import("./mujoco-runtime-C29PXDOl.js");
+        t = new d(), await t.initialize(R, e.options.mujocoBaseUrl);
+      } catch (R) {
+        const d = se(R, e.signal, "mjcf-physics");
+        t == null || t.dispose(), t = null;
+        const { compileMjcfPreview: k } = await import("./mjcf-visual-M1lmyjvw.js");
+        let F;
+        try {
+          F = k(v);
+        } catch (B) {
+          throw new Error(`${d.message}；独立视觉预览也不可用：${B instanceof Error ? B.message : String(B)}`);
+        }
+        r = { root: F, sync() {
+        }, dispose() {
+          ue(F);
+        } }, w = { ...d, stage: "physics-fallback" }, u = new V(F, e.options.simulationTheme), y = !1;
+        return;
+      }
+      b = !0, z(h, e.signal), (Q = e.reportProgress) == null || Q.call(e, "visual", "正在构建视觉渲染网格...");
+      const pe = le(t);
+      z(h, e.signal), (x = e.reportProgress) == null || x.call(e, "stage", "正在构建三维场景与环境光影..."), r = new re(t, pe), u = new V(r.root, e.options.simulationTheme, t);
+      const ee = le(t, !0, v.diagnostics);
+      ee.root.children.length > 0 ? (m = new re(t, ee), m.root.visible = !1) : m = null, m && u.attachAuxiliary(m.root);
+    } catch (P) {
+      throw u == null || u.dispose(), u = null, i ? (i(), i = null) : (m == null || m.dispose(), r == null || r.dispose(), t == null || t.dispose()), m = null, r = null, t = null, o.dispose(), P;
+    }
+  })();
+  return G.catch(() => {
+  }), {
+    id: `simulation-${Math.random().toString(36).slice(2)}`,
+    get autoPlay() {
+      return e.format === "urdf" ? !1 : void 0;
+    },
+    get inspection() {
+      return g;
+    },
+    isPlaying() {
+      return (c == null ? void 0 : c()) ?? y;
+    },
+    opened: G,
+    get root() {
+      return (u == null ? void 0 : u.root) ?? null;
+    },
+    getFitBounds() {
+      return (u == null ? void 0 : u.getModelBounds()) ?? null;
+    },
+    beforeRender(p, E, j) {
+      return u == null ? void 0 : u.beforeRender(p, E, j);
+    },
+    get capabilities() {
+      return O ? { canPlay: !1, canPause: !1, canReset: !1, hasPhysics: !1, canToggleGround: !0, canToggleCollision: m !== null } : (_ == null ? void 0 : _()) ?? { canPlay: b, canPause: b, canReset: b, hasPhysics: b, canToggleGround: !0, canToggleCollision: m !== null };
+    },
+    get warning() {
+      return w;
+    },
+    get physics() {
+      return O ? { status: "unavailable", issue: O } : S ? S() : b ? { status: "ready" } : (w == null ? void 0 : w.stage) === "physics-fallback" ? { status: "unavailable", issue: w } : { status: "not-authored" };
+    },
+    setTheme(p) {
+      u == null || u.setTheme(p);
+    },
+    setGroundVisible(p) {
+      u == null || u.setGroundVisible(p);
+    },
+    getGroundVisible() {
+      return (u == null ? void 0 : u.getGroundVisible()) ?? !0;
+    },
+    presentation: { preferredViewMode: "3d", interactionMode: "simulation", uiProfile: "simulation", fitPolicy: "fit-on-ready" },
+    beginDispose: A,
+    setCollisionVisible(p) {
+      if (!h) {
+        if (_) {
+          const E = g;
+          E == null || E.setOverlay("collision", p);
+          return;
+        }
+        if (!m) throw new Error("This asset has no collision display.");
+        m.root.visible = p;
+      }
+    },
+    getVisualDiagnostics() {
+      return h || !v || v.source.format !== "usd" ? null : structuredClone({ report: v.extension.visualAdaptation, diagnostics: v.diagnostics });
+    },
+    getPhysicsProperties() {
+      if (h || !b || !(t != null && t.model) || !t.mujoco) return null;
+      const p = t.model, E = t.mujoco;
+      return structuredClone({
+        units: { length: "m", mass: "kg", time: "s" },
+        timestep: p.opt.timestep,
+        gravity: Array.from(p.opt.gravity),
+        bodyCount: p.nbody - 1,
+        jointCount: p.njnt,
+        geomCount: p.ngeom,
+        bodies: Array.from({ length: p.nbody - 1 }, (j, M) => {
+          const L = M + 1;
+          return { id: L, name: E.mj_id2name(p, E.mjtObj.mjOBJ_BODY.value, L), mass: p.body_mass[L], inertia: Array.from(p.body_inertia.slice(L * 3, L * 3 + 3)) };
+        }),
+        diagnostics: v == null ? void 0 : v.diagnostics
+      });
+    },
+    get update() {
+      return t != null && t.model || a ? (p) => {
+        if (O || h || !((c == null ? void 0 : c()) ?? y) || !r && !a) return !1;
+        try {
+          if (a) {
+            const j = a(p);
+            return j && (m == null || m.sync()), j;
+          }
+          const E = t.step(p);
+          return E && (r.sync(), m == null || m.sync(), u == null || u.updateForceLine()), E;
+        } catch (E) {
+          return I(E, "step"), !1;
+        }
+      } : void 0;
+    },
+    play() {
+      h || O || (n ? (n(), y = (c == null ? void 0 : c()) ?? !1) : b && (y = !0));
+    },
+    pause() {
+      O || (l && l(), y = !1);
+    },
+    reset() {
+      if (!(O || h || !r && !f))
+        try {
+          f ? f() : (t == null || t.reset(), r.sync()), m == null || m.sync(), u == null || u.updateForceLine();
+        } catch (p) {
+          I(p, "reset");
+        }
+    },
+    beginGrab(p, E, j) {
+      if (h || !b && !S) return !1;
+      try {
+        return (u == null ? void 0 : u.beginGrab(p, E, j)) ?? !1;
+      } catch (M) {
+        return I(M, "grab"), !1;
+      }
+    },
+    moveGrab(p, E, j) {
+      if (!(h || !b && !S))
+        try {
+          u == null || u.moveGrab(p, E, j);
+        } catch (M) {
+          I(M, "grab");
+        }
+    },
+    endGrab() {
+      u == null || u.endGrab();
+    },
+    dispose() {
+      return A(), D ?? (D = G.catch(() => {
+      }).then(() => {
+        i ? (i(), i = null, u = null, r = null, m = null) : (u == null || u.dispose(), u = null, m == null || m.root.removeFromParent(), m == null || m.dispose(), m = null, r == null || r.dispose(), r = null, t == null || t.dispose()), o.dispose(), v = null, g = null, a = null, f = null, n = null, l = null, c = null, _ = null, S = null, b = !1, w = null;
+      })), D;
+    }
+  };
+}
+function z(s, e) {
+  if (s || e.aborted) throw X();
+}
+function X() {
+  return Object.assign(new Error("Simulation load aborted."), { name: "AbortError", code: "E_ABORTED" });
+}
+const rt = /* @__PURE__ */ Object.freeze(/* @__PURE__ */ Object.defineProperty({
+  __proto__: null,
+  createSimulationSession: xe
+}, Symbol.toStringTag, { value: "Module" }));
+export {
+  re as S,
+  qe as a,
+  Me as b,
+  ke as c,
+  Ge as d,
+  st as n,
+  se as p,
+  Oe as r,
+  rt as s
+};