@nebula-spatial/viewer 0.4.4 → 0.4.5

package/dist/session-Cz6qHYMc.js

@@ -1,676 +0,0 @@
-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) {
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-      this.links.set(i, a), a.userData.bodyId = f, this.bodies.set(f, a);
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-    this.sync();
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-  objectForLink(e) {
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-  bodyPoses() {
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-    }
-    this.root.updateMatrixWorld(!0);
-  }
-  dispose() {
-    this.disposed || (this.disposed = !0, this.bodies.clear(), this.links.clear(), ue(this.root));
-  }
-}
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-    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() {
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-  }
-  hasLocalFiles() {
-    return this.entries.size > 0;
-  }
-  put(e, o) {
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-  asSourceRecord(e = "") {
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-    for (const [i, a] of this.entries)
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-    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: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
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-  find(e, o = "") {
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-    for (const a of [C(`${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}`)
-    );
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-    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());
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-  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;
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-  async ensure(e) {
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-    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}): ${t}`, r.status === 401 || r.status === 403 ? "E_ASSET_AUTH" : "E_ASSET_FETCH");
-    const i = await r.blob();
-    this.source.signal.throwIfAborted(), this.entries.set(o, i);
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-  objectUrl(e) {
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-    let t = this.objectUrls.get(o);
-    return t || (t = URL.createObjectURL(this.getBlob(o)), this.objectUrls.set(o, t)), t;
-  }
-  objectUrlIfPresent(e, o = "") {
-    const t = C(o), r = t ? `${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}`);
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-    return f ? this.objectUrl(f) : null;
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-  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) {
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-  return e.join("/");
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-}
-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");
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-      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 });
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-    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]")) {
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-      await a(S, await o.text(S));
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-    i.delete(l);
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-  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(),
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-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"
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-function De(s) {
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-    transparent: !0,
-    opacity: Te,
-    depthTest: !1
-  });
-}
-function qe(s, e, o = "feature") {
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-  return r.renderOrder = 9, r;
-}
-function ze(s) {
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-}
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-  return !Number.isFinite(t) || t <= 0 ? ae : Math.sqrt(2 / (t + 2));
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-function Je(s, e) {
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-}
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-    }
-  return { root: i, bindings: f, expectedLinkCount: f.size };
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-function We(s, e) {
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-  return !1;
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-}
-function Ke(s, e) {
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-  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 = [
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-    [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
-};