@nebula-spatial/viewer 0.4.3 → 0.4.4

package/dist/{usd-session-zyj46Bcg.js → usd-session-CmSdkRw9.js}

@@ -1,9 +1,9 @@
-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 { n as ot, c as rt, a as ie, b as it, d as at, p as ct, S as Te } from "./session-Cz6qHYMc.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";
+import { d as Ye } from "./stage-D113SHD8.js";
 function Dt(e) {
   if (!e) return;
   if (typeof window > "u") return { baseURL: e };
@@ -651,7 +651,7 @@ async function dn(e, t, n) {
     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");
+      const { MujocoRuntime: _ } = await import("./mujoco-runtime-C29PXDOl.js");
       y = new _(), await y.initialize(v, t.options.mujocoBaseUrl), t.signal.throwIfAborted();
     } catch (_) {
       const L = ct(_, t.signal, "usd-physics");

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@nebula-spatial/viewer",
-  "version": "0.4.3",
+  "version": "0.4.4",
   "description": "Read-only Three.js viewer facade",
   "license": "ISC",
   "engines": {
@@ -40,7 +40,8 @@
     "@mujoco/mujoco": "^3.12.0",
     "@nebula-spatial/cad-loader": "^0.3.0",
     "@openusd-wasm/pxr": "0.0.13",
-    "@openusd-wasm/three-loader": "^0.0.13"
+    "@openusd-wasm/three-loader": "^0.0.13",
+    "three-mesh-bvh": "^0.9.5"
   },
   "peerDependencies": {
     "three": "0.182.0"

package/dist/mujoco-runtime-s85kwjo7.js

@@ -1,208 +0,0 @@
-var E = Object.defineProperty;
-var M = (r, t, i) => t in r ? E(r, t, { enumerable: !0, configurable: !0, writable: !0, value: i }) : r[t] = i;
-var p = (r, t, i) => M(r, typeof t != "symbol" ? t + "" : t, i);
-import T from "@mujoco/mujoco";
-import I from "@mujoco/mujoco/mujoco.wasm?url";
-let w = 0;
-function F(r, t) {
-  const i = `/viewer-simulation-${++w}`;
-  r.mkdir(i);
-  const n = /* @__PURE__ */ new Set([i]), o = /* @__PURE__ */ new Set(), a = (e, s) => {
-    const c = e.replaceAll("\\", "/").split("/");
-    if (c[0] === "" || c.some((u) => u === ".." || u.includes(":"))) throw b(`Invalid package path: ${e}`, "E_SIMULATION_PATH");
-    const l = c.filter((u) => u && u !== ".");
-    if (!l.length) throw b("Package path is empty.", "E_SIMULATION_PATH");
-    let m = i;
-    for (const u of l.slice(0, -1))
-      m += `/${u}`, n.has(m) || (r.mkdir(m), n.add(m));
-    const d = `${i}/${l.join("/")}`;
-    return r.writeFile(d, s), o.add(d), d;
-  }, h = () => {
-    for (const e of o) r.unlink(e);
-    o.clear();
-    for (const e of [...n].reverse()) r.rmdir(e);
-    n.clear();
-  };
-  try {
-    for (const [e, s] of t) a(e, s);
-    return { writeEntry: (e) => a("__viewer_entry.xml", e), dispose: h };
-  } catch (e) {
-    throw h(), e;
-  }
-}
-function b(r, t) {
-  return Object.assign(new Error(r), { code: t });
-}
-function O({
-  target: r,
-  point: t,
-  velocity: i,
-  stiffness: n,
-  damping: o,
-  maxForce: a,
-  strength: h
-}) {
-  const e = [
-    n * (r[0] - t[0]) - o * i[0],
-    n * (r[1] - t[1]) - o * i[1],
-    n * (r[2] - t[2]) - o * i[2]
-  ], s = Math.hypot(e[0], e[1], e[2]), c = a * h;
-  if (s > c && s > 0) {
-    const l = c / s;
-    e[0] *= l, e[1] *= l, e[2] *= l;
-  }
-  return e;
-}
-const f = 1 / 240, A = 0.05, v = 80, x = 1.15, g = 3.5, y = 14;
-class C {
-  constructor() {
-    p(this, "mujoco", null);
-    p(this, "model", null);
-    p(this, "data", null);
-    p(this, "grab", null);
-    p(this, "lastGrabForce", [0, 0, 0]);
-    p(this, "velocityBuffer", new Float64Array(6));
-    p(this, "initialControls", []);
-    p(this, "accumulator", 0);
-    p(this, "initialVelocities", []);
-  }
-  async initialize(t, i) {
-    var h;
-    this.mujoco ?? (this.mujoco = await T({ locateFile: (e) => e.endsWith(".wasm") ? i ? new URL(e, i).href : I : e }));
-    const n = F(this.mujoco.FS, t.files);
-    let o = null, a = null;
-    try {
-      o = this.mujoco.MjModel.from_xml_path(n.writeEntry(t.xml));
-      for (const e of t.massOverrides ?? []) {
-        const s = this.mujoco.mj_name2id(o, this.mujoco.mjtObj.mjOBJ_BODY.value, e.body);
-        if (s <= 0 || !Number.isFinite(e.mass) || e.mass <= 0 || !(o.body_mass[s] > 0)) throw new Error(`Invalid mass override: ${e.body}`);
-        const c = e.mass / o.body_mass[s];
-        o.body_mass[s] = e.mass;
-        for (let l = 0; l < 3; l++) o.body_inertia[s * 3 + l] *= c;
-      }
-      a = new this.mujoco.MjData(o), (h = t.massOverrides) != null && h.length && this.mujoco.mj_setConst(o, a), o.opt.timestep = f, this.applyInitialControls(a, t.initialControls), this.applyInitialVelocities(o, a, t.initialVelocities), this.mujoco.mj_forward(o, a);
-    } catch (e) {
-      throw a == null || a.delete(), o == null || o.delete(), _(e, "E_MUJOCO_INITIALIZE");
-    } finally {
-      n.dispose();
-    }
-    this.disposeModel(), this.model = o, this.data = a, this.initialControls = t.initialControls ?? [], this.initialVelocities = t.initialVelocities ?? [], this.accumulator = 0;
-  }
-  beginGrab({
-    bodyId: t,
-    localPoint: i,
-    target: n,
-    stiffness: o = v,
-    damping: a,
-    maxForce: h,
-    dampingRatio: e = x,
-    maxTargetSpeed: s = g,
-    targetResponse: c = y
-  }) {
-    var j;
-    const l = Math.max(((j = this.model) == null ? void 0 : j.body_mass[t]) ?? 1, 1e-3), m = a ?? 2 * Math.sqrt(o * l) * e, d = h ?? Math.max(120, l * 60), u = [n[0], n[1], n[2]];
-    this.grab = {
-      bodyId: t,
-      localPoint: [i[0], i[1], i[2]],
-      target: [...u],
-      requestedTarget: u,
-      stiffness: o,
-      damping: m,
-      maxForce: d,
-      strength: 1,
-      maxTargetSpeed: s,
-      targetResponse: c
-    };
-  }
-  updateGrabTarget(t) {
-    this.grab && (this.grab.requestedTarget = [t[0], t[1], t[2]]);
-  }
-  updateGrabStrength(t) {
-    this.grab && (this.grab.strength = t);
-  }
-  applyGrabForce() {
-    if (!this.grab || !this.model || !this.data || !this.mujoco) return;
-    const { bodyId: t, localPoint: i, target: n, stiffness: o, damping: a, maxForce: h, strength: e } = this.grab, s = this.data.xmat.subarray(t * 9, t * 9 + 9), c = this.data.xpos.subarray(t * 3, t * 3 + 3), l = [
-      c[0] + s[0] * i[0] + s[1] * i[1] + s[2] * i[2],
-      c[1] + s[3] * i[0] + s[4] * i[1] + s[5] * i[2],
-      c[2] + s[6] * i[0] + s[7] * i[1] + s[8] * i[2]
-    ];
-    this.mujoco.mj_objectVelocity(
-      this.model,
-      this.data,
-      this.mujoco.mjtObj.mjOBJ_BODY.value,
-      t,
-      this.velocityBuffer,
-      0
-    );
-    const m = this.velocityBuffer, d = [
-      l[0] - c[0],
-      l[1] - c[1],
-      l[2] - c[2]
-    ], u = [
-      m[3] + m[1] * d[2] - m[2] * d[1],
-      m[4] + m[2] * d[0] - m[0] * d[2],
-      m[5] + m[0] * d[1] - m[1] * d[0]
-    ], j = O({ target: n, point: l, velocity: u, stiffness: o, damping: a, maxForce: h, strength: e });
-    this.lastGrabForce = [...j], this.data.qfrc_applied.fill(0), this.mujoco.mj_applyFT(
-      this.model,
-      this.data,
-      j,
-      [0, 0, 0],
-      l,
-      t,
-      this.data.qfrc_applied
-    );
-  }
-  endGrab() {
-    this.data && this.data.qfrc_applied.fill(0), this.lastGrabForce = [0, 0, 0], this.grab = null;
-  }
-  step(t) {
-    if (!this.mujoco || !this.model || !this.data || t <= 0) return !1;
-    this.accumulator += Math.min(t, A);
-    let i = !1;
-    for (; this.accumulator >= f; )
-      this.updateGrabTargetForStep(), this.applyGrabForce(), this.mujoco.mj_step(this.model, this.data), this.accumulator -= f, i = !0;
-    return i;
-  }
-  updateGrabTargetForStep() {
-    const t = this.grab;
-    if (!t) return;
-    const i = t.requestedTarget ?? t.target, n = (t.maxTargetSpeed ?? g) * Math.max(1, Math.sqrt(t.strength)), o = t.targetResponse ?? y, a = 1 - Math.exp(-o * f), h = n * f;
-    for (let e = 0; e < 3; e++) {
-      const s = i[e] - t.target[e], c = Math.sign(s) * Math.min(Math.abs(s) * a, h);
-      t.target[e] += c;
-    }
-  }
-  reset() {
-    !this.mujoco || !this.model || !this.data || (this.endGrab(), this.mujoco.mj_resetData(this.model, this.data), this.applyInitialControls(this.data, this.initialControls), this.applyInitialVelocities(this.model, this.data, this.initialVelocities), this.mujoco.mj_forward(this.model, this.data), this.accumulator = 0);
-  }
-  dispose() {
-    this.disposeModel(), this.mujoco = null;
-  }
-  applyInitialControls(t, i) {
-    if (i != null && i.length) {
-      if (i.length !== t.ctrl.length) throw _(new Error(`Initial control count ${i.length} does not match MuJoCo actuator count ${t.ctrl.length}.`), "E_MUJOCO_INITIALIZE");
-      t.ctrl.set(i);
-    }
-  }
-  applyInitialVelocities(t, i, n) {
-    for (const o of n ?? []) {
-      const a = this.mujoco.mj_name2id(t, this.mujoco.mjtObj.mjOBJ_BODY.value, o.body), h = a >= 0 ? t.body_jntadr[a] : -1;
-      if (h < 0 || t.jnt_type[h] !== this.mujoco.mjtJoint.mjJNT_FREE.value || o.velocity.length !== 6 || !o.velocity.every(Number.isFinite))
-        throw _(new Error(`Invalid free-body initial velocity: ${o.body}`), "E_MUJOCO_INITIALIZE");
-      i.qvel.set(o.velocity, t.jnt_dofadr[h]);
-    }
-  }
-  disposeModel() {
-    var t, i;
-    this.endGrab(), (t = this.data) == null || t.delete(), (i = this.model) == null || i.delete(), this.data = null, this.model = null, this.initialControls = [], this.initialVelocities = [], this.accumulator = 0;
-  }
-}
-function _(r, t) {
-  const i = r instanceof Error ? r : new Error(String(r));
-  return Object.assign(i, { code: t });
-}
-export {
-  C as MujocoRuntime
-};