@nebula-spatial/viewer 0.4.3 → 0.4.5

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@nebula-spatial/viewer",
-  "version": "0.4.3",
+  "version": "0.4.5",
   "description": "Read-only Three.js viewer facade",
   "license": "ISC",
   "engines": {
@@ -12,6 +12,7 @@
     "README.md",
     "CHANGELOG.md",
     "FBX-MATERIAL-CONVERSION.md",
+    "USD-VISUAL-MATERIAL-SUPPORT.md",
     "package.json"
   ],
   "main": "./dist/index.js",
@@ -40,7 +41,9 @@
     "@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",
+    "xacro-parser": "0.3.11"
   },
   "peerDependencies": {
     "three": "0.182.0"

package/dist/mjcf-visual--X39MVO9.js

@@ -1,63 +0,0 @@
-import { Group as A, Euler as C, BoxGeometry as E, SphereGeometry as F, CylinderGeometry as x, CapsuleGeometry as J, PlaneGeometry as q, MeshStandardMaterial as G, Mesh as z } from "three";
-import { d as S } from "./stage-BKqg5vNe.js";
-function v(d) {
-  const f = d.extension.documents, l = new A();
-  l.name = d.name;
-  try {
-    if (f.size !== 1) throw new Error("MJCF 独立预览暂不支持 include");
-    const c = [...f.values()][0];
-    if (c.querySelector("default, include, attach, replicate, composite, flexcomp, skin, hfield, plugin")) throw new Error("MJCF 独立预览包含尚不支持的继承、组合或扩展语义");
-    const n = c.querySelector("compiler");
-    if ((n == null ? void 0 : n.getAttribute("coordinate")) === "global" || n != null && n.hasAttribute("eulerseq")) throw new Error("MJCF 独立预览不支持此坐标设置");
-    const w = (n == null ? void 0 : n.getAttribute("angle")) === "radian" ? 1 : Math.PI / 180, b = (a, u) => {
-      const e = a ? a.trim().split(/\s+/).map(Number) : u;
-      if (e.some((o) => !Number.isFinite(o))) throw new Error("MJCF 视觉坐标无效");
-      return e;
-    }, m = (a, u, e) => {
-      const o = b(a, u);
-      if (o.length !== e) throw new Error(`MJCF 视觉变换需要 ${e} 个分量`);
-      return o;
-    }, p = (a, u) => {
-      for (const e of a.children) {
-        if (!["body", "geom"].includes(e.tagName)) continue;
-        if (["class", "childclass", "fromto", "axisangle", "xyaxes", "zaxis"].some((r) => e.hasAttribute(r))) throw new Error("MJCF 独立预览不支持此变换或默认类");
-        const o = new A();
-        if (o.name = e.getAttribute("name") ?? e.tagName, o.position.fromArray(m(e.getAttribute("pos"), [0, 0, 0], 3)), e.hasAttribute("quat")) {
-          const r = m(e.getAttribute("quat"), [1, 0, 0, 0], 4);
-          if (Math.hypot(...r) === 0) throw new Error("MJCF 视觉四元数不能为零");
-          o.quaternion.set(r[1], r[2], r[3], r[0]).normalize();
-        } else {
-          const r = m(e.getAttribute("euler"), [0, 0, 0], 3);
-          o.quaternion.setFromEuler(new C(r[0] * w, r[1] * w, r[2] * w, "XYZ"));
-        }
-        if (u.add(o), e.tagName === "body") {
-          p(e, o);
-          continue;
-        }
-        const s = e.getAttribute("type") ?? (e.hasAttribute("mesh") ? "mesh" : "sphere"), t = b(e.getAttribute("size"), []);
-        if (e.hasAttribute("material") || t.length === 0) throw new Error("MJCF 独立预览缺少可直接解析的几何或材质");
-        const y = { box: 3, sphere: 1, cylinder: 2, capsule: 2, plane: 3 }[s];
-        if (y && (t.length < y || t.some((r) => s === "plane" ? r < 0 : r <= 0)))
-          throw new Error(`MJCF geom ${s} 的尺寸缺失或无效`);
-        let i;
-        if (s === "box") i = new E(2 * t[0], 2 * t[1], 2 * t[2]);
-        else if (s === "sphere") i = new F(t[0]);
-        else if (s === "cylinder")
-          i = new x(t[0], t[0], 2 * t[1]), i.rotateX(Math.PI / 2);
-        else if (s === "capsule")
-          i = new J(t[0], 2 * t[1]), i.rotateX(Math.PI / 2);
-        else if (s === "plane") i = new q(2 * (t[0] || 5), 2 * (t[1] || 5));
-        else throw new Error(`MJCF 独立预览暂不支持 geom ${s}`);
-        const h = m(e.getAttribute("rgba"), [0.5, 0.5, 0.5, 1], 4), M = new G({ opacity: h[3], transparent: h[3] < 1 });
-        M.color.setRGB(h[0], h[1], h[2]), o.add(new z(i, M));
-      }
-    }, g = c.querySelector("worldbody");
-    if (!g) throw new Error("MJCF 缺少 worldbody");
-    return p(g, l), l.updateMatrixWorld(!0), l;
-  } catch (c) {
-    throw S(l), c;
-  }
-}
-export {
-  v as compileMjcfPreview
-};

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
-};