@nebula-spatial/viewer 0.4.3 → 0.4.4

package/dist/session-DhZXy40-.js

@@ -1,653 +0,0 @@
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-  const M = 0, h = r - 1, b = (t - 1) * r, S = t * r - 1;
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-  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;
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-        (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);
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-        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
-};