@nebula-spatial/viewer 0.4.4 → 0.4.5

package/dist/session-DNyPmQOW.js

@@ -0,0 +1,795 @@
+var je = Object.defineProperty;
+var Se = (s, e, o) => e in s ? je(s, e, { enumerable: !0, configurable: !0, writable: !0, value: o }) : s[e] = o;
+var N = (s, e, o) => Se(s, typeof e != "symbol" ? e + "" : e, o);
+import { d as x, S as H } from "./stage-BPiGudYP.js";
+import { LineBasicMaterial as Me, WireframeGeometry as ve, LineSegments as Oe, EdgesGeometry as W, Vector3 as ie, Color as Ae, LinearSRGBColorSpace as Ge, SRGBColorSpace as he, MeshPhysicalMaterial as Ce, Float32BufferAttribute as q, DataTexture as Pe, RGBAFormat as Re, UnsignedByteType as Le, NoColorSpace as Te, RepeatWrapping as Ue, LinearFilter as Fe, LinearMipmapLinearFilter as Ne, BufferGeometry as Q, Group as ae, Mesh as le, PlaneGeometry as _e, BoxGeometry as ge, SphereGeometry as X, Matrix4 as De, CylinderGeometry as ye, CapsuleGeometry as be, BufferAttribute as Y } from "three";
+function ue(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 ce {
+  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 [l, n] of o.bindings) {
+      const u = t.mj_name2id(r, t.mjtObj.mjOBJ_BODY.value, l);
+      if (u < 0) throw fe(`Physics body missing for visual link: ${l}`, "E_SIMULATION_BIND");
+      this.links.set(l, n), n.userData.bodyId = u, this.bodies.set(u, n);
+    }
+    if (this.bodies.size !== o.expectedLinkCount) throw fe("Visual body binding count mismatch.", "E_SIMULATION_BIND");
+    this.sync();
+  }
+  objectForLink(e) {
+    return this.links.get(e) ?? null;
+  }
+  bodyPoses() {
+    return new Map([...this.bodies.values()].map((e) => [e.name, { position: e.position.clone(), quaternion: e.quaternion.clone() }]));
+  }
+  sync() {
+    if (this.disposed || !this.runtime.data) return;
+    const { xpos: e, xquat: o } = this.runtime.data;
+    for (const [t, r] of this.bodies) {
+      const l = t * 3, n = t * 4;
+      r.position.set(e[l], e[l + 1], e[l + 2]), r.quaternion.set(o[n + 1], o[n + 2], o[n + 3], o[n]);
+    }
+    this.root.updateMatrixWorld(!0);
+  }
+  dispose() {
+    this.disposed || (this.disposed = !0, this.bodies.clear(), this.links.clear(), x(this.root));
+  }
+}
+function fe(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+class Ie {
+  constructor(e) {
+    N(this, "entries", /* @__PURE__ */ new Map());
+    N(this, "objectUrls", /* @__PURE__ */ new Map());
+    this.source = e;
+    const o = e.original;
+    if ($e(o))
+      for (const t of o.files) this.entries.set(R(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(R(e), o);
+  }
+  asSourceRecord(e = "") {
+    const o = R(e), t = o ? `${o}/` : "", r = {};
+    for (const [l, n] of this.entries)
+      (!t || l.startsWith(t)) && (r[t ? l.slice(t.length) : l] = n);
+    return r;
+  }
+  resolve(e, o = "") {
+    const t = this.find(e, o);
+    if (t) return t;
+    const r = R(o).split("/").slice(0, -1).join("/");
+    if (this.source.url) return R(`${r}/${e.replace(/^package:\/\//, "")}`);
+    throw D(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+  }
+  find(e, o = "") {
+    const t = R(e.replace(/^package:\/\//, "")), r = R(o).split("/").slice(0, -1).join("/");
+    for (const n of [R(`${r}/${e.replace(/^package:\/\//, "")}`), t])
+      if (this.entries.has(n)) return n;
+    const l = this.paths().filter(
+      (n) => n === t || n.endsWith(`/${t}`) || t.endsWith(`/${n}`)
+    );
+    return l.length === 1 ? l[0] : null;
+  }
+  async text(e) {
+    await this.ensure(e);
+    const o = this.entries.get(this.resolve(e));
+    if (!o) throw D(`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 D(`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 D(`Simulation resource not found: ${e}`, "E_ASSET_RESOURCE_NOT_FOUND");
+    return t;
+  }
+  async ensure(e) {
+    const o = R(e);
+    if (this.entries.has(o)) return;
+    const t = await this.source.resolve(o);
+    if (!/^https?:\/\//i.test(t) && !/^blob:/i.test(t))
+      throw D(`Simulation resource not found: ${e}. Upload the complete asset folder or provide a resourceResolver/baseUrl.`, "E_ASSET_RESOURCE_NOT_FOUND");
+    const r = await fetch(t, { signal: this.source.signal });
+    if (!r.ok) throw D(`Simulation resource request failed (${r.status}): ${t}`, r.status === 401 || r.status === 403 ? "E_ASSET_AUTH" : "E_ASSET_FETCH");
+    const l = await r.blob();
+    this.source.signal.throwIfAborted(), this.entries.set(o, l);
+  }
+  objectUrl(e) {
+    const o = this.resolve(e);
+    let t = this.objectUrls.get(o);
+    return t || (t = URL.createObjectURL(this.getBlob(o)), this.objectUrls.set(o, t)), t;
+  }
+  objectUrlIfPresent(e, o = "") {
+    const t = R(o), r = t ? `${t}/` : "", l = R(e), n = r ? this.paths().filter((i) => {
+      if (!i.startsWith(r)) return !1;
+      const a = i.slice(r.length);
+      return a === l || l.endsWith(`/${a}`);
+    }) : [], u = n.length === 1 ? n[0] : this.find(e);
+    return u ? this.objectUrl(u) : null;
+  }
+  dispose() {
+    for (const e of this.objectUrls.values()) URL.revokeObjectURL(e);
+    this.objectUrls.clear(), this.entries.clear();
+  }
+}
+async function Be(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 D(`Simulation asset request failed: ${o.status}`, "E_ASSET_FETCH");
+  return o.text();
+}
+function wt(s) {
+  return R(s);
+}
+function R(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 $e(s) {
+  return typeof s == "object" && s !== null && "kind" in s && s.kind === "files";
+}
+function D(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+function ke() {
+  return { errors: [], warnings: [], approximations: [], droppedFeatures: [] };
+}
+function ze(s, e = {}) {
+  const o = Object.freeze({ schemaVersion: 1, ...s });
+  return qe(o, e), o;
+}
+function qe(s, e = {}) {
+  if (!s.id.trim() || !s.name.trim()) throw k("Asset IR id and name are required.", "E_ASSET_IR_INVALID");
+  if (s.source.format !== "usd" && s.links.length === 0) throw k("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 k(`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 k(`Invalid joint: ${r.id}`, "E_ASSET_IR_INVALID");
+    t.add(r.id);
+  }
+}
+function k(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+async function xe(s, e, o) {
+  var i;
+  const t = /* @__PURE__ */ new Map(), r = /* @__PURE__ */ new Set(), l = /* @__PURE__ */ new Set(), n = async (a, c) => {
+    if (l.has(a)) throw Z(`MJCF include cycle: ${a}`, "E_MJCF_INCLUDE_CYCLE");
+    l.add(a);
+    const b = Xe(c, a);
+    t.set(a, b);
+    for (const O of b.querySelectorAll("worldbody body[name]")) r.add(O.getAttribute("name"));
+    for (const O of b.querySelectorAll("include[file]")) {
+      const E = o.resolve(O.getAttribute("file"), a);
+      await n(E, await o.text(E));
+    }
+    l.delete(a);
+  };
+  await n(e, s);
+  const u = (i = t.get(e)) == null ? void 0 : i.querySelector("mujoco");
+  if (!u || r.size === 0) throw Z("MJCF requires a mujoco root and at least one named body.", "E_MJCF_PARSE");
+  return ze({
+    id: u.getAttribute("model") || e,
+    name: u.getAttribute("model") || e,
+    source: { format: "mjcf", uri: e },
+    links: [...r].map((a) => ({ id: a, name: a, visuals: [], collisions: [] })),
+    joints: [],
+    diagnostics: ke(),
+    extension: { files: o, xml: s, documents: t }
+  });
+}
+async function Ve(s) {
+  const e = s.extension.files, o = s.source.uri, t = o.split("/").slice(0, -1).join("/"), r = /* @__PURE__ */ new Map(), l = s.extension.documents;
+  for (const [i, a] of l) {
+    const c = a.querySelector("compiler");
+    for (const b of a.querySelectorAll("asset [file]")) {
+      const O = (c == null ? void 0 : c.getAttribute(b.tagName === "texture" ? "texturedir" : "meshdir")) ?? (c == null ? void 0 : c.getAttribute("assetdir")) ?? "", E = e.resolve(`${O}/${b.getAttribute("file")}`, i);
+      await e.bytes(E);
+    }
+  }
+  for (const i of We(e.paths(), l)) {
+    if (i === o) continue;
+    const a = t && i.startsWith(`${t}/`) ? i.slice(t.length + 1) : i;
+    r.set(a, await e.bytes(i));
+  }
+  const n = s.extension.xml;
+  return { format: "mjcf", xml: Je(l) ? He(n) : n, files: r };
+}
+function Je(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 He(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>${e}</worldbody></mujoco>`);
+}
+function We(s, e) {
+  const o = (u) => u.replaceAll("\\", "/").split("/").pop() ?? "", t = /* @__PURE__ */ new Map();
+  for (const u of s) {
+    const i = o(u), a = t.get(i) ?? [];
+    a.push(u), t.set(i, a);
+  }
+  const r = new Set(e.keys()), l = /* @__PURE__ */ new Set(["include", "mesh", "texture", "hfield", "skin"]), n = /* @__PURE__ */ new Set(["fileleft", "fileright", "fileup", "filedown", "filefront", "fileback"]);
+  for (const u of e.values()) {
+    if (u.querySelector("plugin, extension, model, attach")) return s;
+    for (const i of u.querySelectorAll("*"))
+      for (const a of i.attributes) {
+        if (!a.name.startsWith("file")) continue;
+        if (a.name === "file") {
+          if (!l.has(i.tagName)) return s;
+        } else if (!(i.tagName === "texture" && n.has(a.name)))
+          return s;
+        if (!a.value) continue;
+        const c = t.get(o(a.value));
+        if (!c) return s;
+        for (const b of c) r.add(b);
+      }
+  }
+  return s.filter((u) => r.has(u));
+}
+function Xe(s, e) {
+  const o = new DOMParser().parseFromString(s, "application/xml"), t = o.querySelector("parsererror");
+  if (t) throw Z(`MJCF XML parse failed (${e}): ${t.textContent ?? ""}`, "E_MJCF_PARSE");
+  return o;
+}
+function Z(s, e) {
+  return Object.assign(new Error(s), { code: e });
+}
+const Ye = 1476466, Ze = 0.72, Ke = 20, Qe = 1;
+function et() {
+  return new Me({
+    color: Ye,
+    transparent: !0,
+    opacity: Ze,
+    depthTest: !1
+  });
+}
+function tt(s, e, o = "feature") {
+  const t = o === "mesh" ? new ve(s) : ot(s), r = new Oe(t, e);
+  return r.renderOrder = 9, r;
+}
+function ot(s) {
+  let e = new W(s, Ke);
+  return me(s, e) || (e.dispose(), e = new W(s, Qe)), me(s, e) || (e.dispose(), e = new W(s, 0)), e;
+}
+const st = 256, rt = 0.5;
+function me(s, e) {
+  var u, i;
+  const o = e.getAttribute("position");
+  if (!o || o.count === 0) return !1;
+  const t = s.getAttribute("position");
+  if (!t || t.count < st) return !0;
+  s.computeBoundingBox(), e.computeBoundingBox();
+  const r = (u = s.boundingBox) == null ? void 0 : u.getSize(new ie()), l = (i = e.boundingBox) == null ? void 0 : i.getSize(new ie());
+  if (!r || !l) return !1;
+  const n = r.length();
+  return !Number.isFinite(n) || n <= 0 ? !0 : l.length() / n >= rt;
+}
+const V = 0.5, I = (s, e) => Number.isFinite(s) ? Math.min(1, Math.max(0, s)) : e;
+function de(s, e) {
+  return s !== void 0 && Number.isFinite(s) && s >= 0 ? I(s, V) : e !== void 0 && Number.isFinite(e) && e >= 0 ? 1 - I(e, 0.5) : V;
+}
+function nt(s = {}) {
+  const e = s.color ?? [0.68, 0.72, 0.7, 1], o = new Ae().setRGB(e[0], e[1], e[2], s.colorSpace === "linear" ? Ge : he), t = I(e[3] ?? 1, 1), r = I(s.specular ?? 0.5, 0.5), l = Math.sqrt(0.08 * r);
+  return new Ce({
+    color: o,
+    opacity: t,
+    transparent: t < 1,
+    depthWrite: t === 1,
+    roughness: I(s.roughness ?? V, V),
+    metalness: I(s.metalness ?? 0, 0),
+    // Legacy specular 0.5 corresponds to the standard dielectric response.
+    specularIntensity: r <= 0.5 ? r * 2 : 1,
+    ior: r <= 0.5 ? 1.5 : (1 + l) / (1 - l),
+    emissive: o.clone().multiplyScalar(Math.max(0, s.emission ?? 0)),
+    map: s.map ?? null
+  });
+}
+function it(s, e) {
+  var O, E;
+  const o = [], t = [], r = [], l = s.mesh_vertadr[e], n = s.mesh_faceadr[e], u = s.mesh_normaladr[e], i = s.mesh_texcoordadr[e];
+  let a = u >= 0, c = i >= 0;
+  for (let g = 0; g < s.mesh_facenum[e]; g++) for (let S = 0; S < 3; S++) {
+    const f = (n + g) * 3 + S, _ = (l + s.mesh_face[f]) * 3;
+    o.push(...s.mesh_vert.slice(_, _ + 3));
+    const w = ((O = s.mesh_facenormal) == null ? void 0 : O[f]) ?? -1;
+    u >= 0 && w >= 0 ? t.push(...s.mesh_normal.slice((u + w) * 3, (u + w) * 3 + 3)) : a = !1;
+    const A = ((E = s.mesh_facetexcoord) == null ? void 0 : E[f]) ?? -1;
+    i >= 0 && A >= 0 ? r.push(...s.mesh_texcoord.slice((i + A) * 2, (i + A) * 2 + 2)) : c = !1;
+  }
+  const b = new Q();
+  return b.setAttribute("position", new q(o, 3)), a && t.length === o.length ? b.setAttribute("normal", new q(t, 3)) : b.computeVertexNormals(), c && r.length === o.length / 3 * 2 && b.setAttribute("uv", new q(r, 2)), b;
+}
+function at(s) {
+  const e = /* @__PURE__ */ new Map();
+  if (!s.model.ntex) return e;
+  const o = s.mujoco, t = s.model, r = new o.MjvScene(t, Math.max(1e3, t.ngeom * 2)), l = new o.MjvOption(), n = new o.MjvPerturb(), u = new o.MjvCamera();
+  try {
+    l.geomgroup.fill(1), o.mjv_updateScene(t, s.data, l, n, u, o.mjtCatBit.mjCAT_ALL.value, r);
+    for (let i = 0; i < r.ngeom; i++) {
+      const a = r.geoms.get(i);
+      try {
+        a.objtype === o.mjtObj.mjOBJ_GEOM.value && e.set(a.objid, a.texuniform !== 0);
+      } finally {
+        a.delete();
+      }
+    }
+    return e;
+  } finally {
+    r.delete(), l.delete(), n.delete(), u.delete();
+  }
+}
+function lt(s, e, o, t, r, l = /* @__PURE__ */ new Map()) {
+  var S;
+  const n = s.model, u = s.mujoco, i = n.geom_matid[e];
+  if (i < 0) return;
+  const a = (f, _) => {
+    r != null && r.droppedFeatures.some((w) => w.code === f && w.source === `material:${i}`) || r == null || r.droppedFeatures.push({ code: f, message: _, source: `material:${i}` });
+  };
+  n.mat_reflectance[i] > 0 && a("MJCF_REFLECTANCE_UNSUPPORTED", "Legacy planar reflection is not reproduced by the PBR material.");
+  const c = u.mjtTextureRole.mjNTEXROLE.value;
+  if (!Array.from(n.mat_texid.slice(i * c, (i + 1) * c)).some((f) => Number(f) >= 0)) return;
+  const E = !(n.geom_type[e] === u.mjtGeom.mjGEOM_MESH.value) || !o.getAttribute("uv"), g = l.get(e);
+  if (g === void 0) throw new Error(`Missing compiled texture projection for geom ${e}`);
+  if (E) {
+    const f = o.getAttribute("position"), _ = [], w = n.geom_size[e * 3] || 1, A = n.geom_size[e * 3 + 1] || w;
+    for (let y = 0; y < f.count; y++) _.push(f.getX(y) / (2 * (g ? 1 : w)), -f.getY(y) / (2 * (g ? 1 : A)));
+    o.setAttribute("uv", new q(_, 2));
+  }
+  for (let f = 0; f < c; f++) {
+    const _ = n.mat_texid[i * c + f];
+    if (_ < 0) continue;
+    if (n.tex_type[_] !== u.mjtTexture.mjTEXTURE_2D.value) {
+      a("MJCF_TEXTURE_PROJECTION_UNSUPPORTED", "Cube/skybox surface textures require a dedicated projection and are not substituted with a 2D map.");
+      continue;
+    }
+    if (f === 0) {
+      a("MJCF_USER_TEXTURE_UNSUPPORTED", "User texture role has no defined PBR material slot.");
+      continue;
+    }
+    const w = n.tex_width[_], A = n.tex_height[_], y = n.tex_nchannel[_];
+    if (![1, 2, 3, 4].includes(y)) {
+      a("MJCF_TEXTURE_CHANNELS_UNSUPPORTED", "Unsupported texture channel count.");
+      continue;
+    }
+    const m = Number(n.tex_adr[_]), d = new Uint8Array(w * A * 4);
+    for (let p = 0; p < w * A; p++) {
+      const j = m + p * y, v = p * 4, G = n.tex_data[j];
+      d[v] = G, d[v + 1] = y >= 3 ? n.tex_data[j + 1] : G, d[v + 2] = y >= 3 ? n.tex_data[j + 2] : G, d[v + 3] = y === 4 ? n.tex_data[j + 3] : y === 2 ? n.tex_data[j + 1] : 255, [2, 3, 4, 6].includes(f) && (d[v] = d[v + 1] = d[v + 2] = G);
+    }
+    const M = new Pe(d, w, A, Re, Le);
+    M.colorSpace = [1, 7, 8].includes(f) && n.tex_colorspace[_] === u.mjtColorSpace.mjCOLORSPACE_SRGB.value ? he : Te, M.wrapS = M.wrapT = Ue, M.magFilter = Fe, M.minFilter = Ne, M.generateMipmaps = !0;
+    const C = n.mat_texrepeat[i * 2], P = n.mat_texrepeat[i * 2 + 1];
+    if (M.repeat.set(C, P), E ? M.offset.set(-0.5, -0.5) : g && M.repeat.set(C * (n.geom_size[e * 3] || 1), P * (n.geom_size[e * 3 + 1] || 1)), M.needsUpdate = !0, f === 1 || f === 8)
+      (S = t.map) == null || S.dispose(), t.map = M, f === 8 && (t.transparent = !0, t.depthWrite = !1);
+    else if (f === 2) t.aoMap = M;
+    else if (f === 3)
+      t.roughnessMap = M, t.roughness = n.mat_roughness[i] >= 0 ? t.roughness : 1;
+    else if (f === 4)
+      t.metalnessMap = M, t.metalness = n.mat_metallic[i] >= 0 ? t.metalness : 1;
+    else if (f === 5) t.normalMap = M;
+    else if (f === 6)
+      t.alphaMap = M, t.transparent = !0, t.depthWrite = !1;
+    else if (f === 7)
+      t.emissiveMap = M, t.emissive.setRGB(1, 1, 1), y === 4 && a("MJCF_EMISSIVE_EXPOSURE_UNSUPPORTED", "Emissive RGB is preserved; per-pixel exposure weight is not supported.");
+    else if (f === 9) {
+      for (const p of /* @__PURE__ */ new Set([t.aoMap, t.roughnessMap, t.metalnessMap])) p == null || p.dispose();
+      t.aoMap = t.roughnessMap = t.metalnessMap = M, t.roughness = n.mat_roughness[i] >= 0 ? t.roughness : 1, t.metalness = n.mat_metallic[i] >= 0 ? t.metalness : 1;
+    }
+  }
+}
+function ut(s, e) {
+  return e < 0 ? de() : de(s.mat_roughness[e], s.mat_shininess[e]);
+}
+function ct(s, e) {
+  if (e < 0) return 0;
+  const o = s.mat_metallic[e];
+  return Number.isFinite(o) && o >= 0 ? o : 0;
+}
+function pe(s, e = !1, o) {
+  const t = s.model, r = s.mujoco, l = new ae();
+  l.name = "MuJoCo scene";
+  const n = /* @__PURE__ */ new Map(), u = /* @__PURE__ */ new Map();
+  for (let i = 1; i < t.nbody; i += 1) {
+    const a = r.mj_id2name(t, r.mjtObj.mjOBJ_BODY.value, i);
+    if (!a) continue;
+    const c = new ae();
+    c.name = a, c.userData.bodyId = i, n.set(i, c), u.set(a, c), l.add(c);
+  }
+  try {
+    if (n.set(0, l), e) {
+      const i = et();
+      let a = 0;
+      for (let c = 0; c < t.ngeom; c += 1) {
+        const b = r.mj_id2name(t, r.mjtObj.mjOBJ_GEOM.value, c);
+        if (b === "__viewer_default_ground__" || !dt(t, c)) continue;
+        const O = n.get(t.geom_bodyid[c]), E = ft(s, c);
+        if (!O) continue;
+        if (!E) {
+          o == null || o.droppedFeatures.push({
+            code: "E_MJCF_COLLISION_DEBUG_GEOMETRY_UNAVAILABLE",
+            message: `MJCF geom ${b ?? `#${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 g = mt(s, c) ? "mesh" : "feature", S = tt(E, i, g);
+        E.dispose(), S.userData.geomId = c, a += 1;
+        const f = c * 3, _ = c * 4;
+        S.position.fromArray(t.geom_pos, f), S.quaternion.set(t.geom_quat[_ + 1], t.geom_quat[_ + 2], t.geom_quat[_ + 3], t.geom_quat[_]), O.add(S);
+      }
+      a === 0 && i.dispose();
+    } else {
+      const i = at(s);
+      for (let a = 0; a < t.ngeom; a += 1) {
+        if (t.geom_group[a] > 2 || r.mj_id2name(t, r.mjtObj.mjOBJ_GEOM.value, a) === "__viewer_default_ground__") continue;
+        const c = n.get(t.geom_bodyid[a]), b = _t(s, a);
+        if (!c || !b) continue;
+        const O = a * 4, E = t.geom_matid[a], g = Array.from(t.geom_rgba.slice(O, O + 4));
+        E >= 0 && [0.5, 0.5, 0.5, 1].every((A, y) => g[y] === A) && g.splice(0, 4, ...Array.from(t.mat_rgba.slice(E * 4, E * 4 + 4)));
+        const S = nt({
+          color: g,
+          roughness: ut(t, E),
+          metalness: ct(t, E),
+          specular: E >= 0 ? t.mat_specular[E] : void 0,
+          emission: E >= 0 ? t.mat_emission[E] : void 0
+        });
+        try {
+          lt(s, a, b, S, o, i);
+        } catch (A) {
+          throw x(new le(b, S)), A;
+        }
+        const f = new le(b, S), _ = a * 3, w = a * 4;
+        t.geom_bodyid[a] === 0 && t.geom_type[a] === r.mjtGeom.mjGEOM_PLANE.value && (f.userData.excludeFromSimulationFit = !0), f.position.fromArray(t.geom_pos, _), f.quaternion.set(t.geom_quat[w + 1], t.geom_quat[w + 2], t.geom_quat[w + 3], t.geom_quat[w]), c.add(f);
+      }
+    }
+    return { root: l, bindings: u, expectedLinkCount: u.size };
+  } catch (i) {
+    throw x(l), i;
+  }
+}
+function ft(s, e) {
+  const o = s.model, t = s.mujoco, r = e * 3, l = o.geom_size[r], n = o.geom_size[r + 1], u = o.geom_size[r + 2], i = o.geom_type[e];
+  if (i === t.mjtGeom.mjGEOM_PLANE.value) return new _e(Math.max(l * 2, 2), Math.max(n * 2, 2), 10, 10);
+  if (i === t.mjtGeom.mjGEOM_BOX.value) return new ge(l * 2, n * 2, u * 2);
+  if (i === t.mjtGeom.mjGEOM_SPHERE.value) return new X(l, 20, 12);
+  if (i === t.mjtGeom.mjGEOM_ELLIPSOID.value) {
+    const a = new X(1, 24, 16);
+    return a.applyMatrix4(new De().makeScale(l, n, u)), a;
+  }
+  if (i === t.mjtGeom.mjGEOM_CYLINDER.value) {
+    const a = new ye(l, l, n * 2, 24);
+    return a.rotateX(Math.PI / 2), a;
+  }
+  if (i === t.mjtGeom.mjGEOM_CAPSULE.value) {
+    const a = new be(l, n * 2, 6, 16);
+    return a.rotateX(Math.PI / 2), a;
+  }
+  return i === t.mjtGeom.mjGEOM_MESH.value ? pt(s, o.geom_dataid[e]) : i === t.mjtGeom.mjGEOM_HFIELD.value ? ht(s, o.geom_dataid[e]) : null;
+}
+function mt(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 dt(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 pt(s, e) {
+  const o = s.model, t = o.mesh_graphadr[e];
+  if (t < 0) return null;
+  const r = o.mesh_vertadr[e], l = o.mesh_vertnum[e], n = o.mesh_graph[t], u = o.mesh_graph[t + 1];
+  if (n < 4 || u < 4) return null;
+  const i = t + 2 + 3 * n + 3 * u, a = new Q();
+  return a.setAttribute("position", new Y(Float32Array.from(o.mesh_vert.subarray(r * 3, (r + l) * 3)), 3)), a.setIndex(new Y(Uint32Array.from(o.mesh_graph.subarray(i, i + u * 3)), 1)), a.computeVertexNormals(), a;
+}
+function ht(s, e) {
+  const o = s.model, t = o.hfield_nrow[e], r = o.hfield_ncol[e];
+  if (t < 2 || r < 2) return null;
+  const l = o.hfield_adr[e], n = e * 4, u = o.hfield_size[n], i = o.hfield_size[n + 1], a = o.hfield_size[n + 2], c = o.hfield_size[n + 3], b = t * r, O = [];
+  for (let C = 0; C < t; C += 1) for (let P = 0; P < r; P += 1)
+    O.push(
+      -u + 2 * u * P / (r - 1),
+      -i + 2 * i * C / (t - 1),
+      o.hfield_data[l + C * r + P] * a
+    );
+  const E = [
+    [-u, -i, -c],
+    [u, -i, -c],
+    [-u, i, -c],
+    [u, i, -c]
+  ];
+  for (const C of E) O.push(...C);
+  const g = [];
+  for (let C = 0; C < t - 1; C += 1) for (let P = 0; P < r - 1; P += 1) {
+    const p = C * r + P, j = p + 1, v = p + r, G = v + 1;
+    g.push(p, v, j, j, v, G);
+  }
+  const S = b, f = b + 1, _ = b + 2, w = b + 3;
+  g.push(S, f, _, f, w, _);
+  const A = 0, y = r - 1, m = (t - 1) * r, d = t * r - 1;
+  g.push(S, A, f, f, A, y), g.push(_, w, m, w, d, m), g.push(S, _, A, _, m, A), g.push(f, y, w, w, y, d);
+  const M = new Q();
+  return M.setAttribute("position", new Y(Float32Array.from(O), 3)), M.setIndex(g), M.computeVertexNormals(), M;
+}
+function _t(s, e) {
+  const o = s.model, t = s.mujoco, r = e * 3, l = o.geom_size[r], n = o.geom_size[r + 1], u = o.geom_size[r + 2], i = o.geom_type[e];
+  if (i === t.mjtGeom.mjGEOM_PLANE.value) return new _e((l || 5) * 2, (n || 5) * 2);
+  if (i === t.mjtGeom.mjGEOM_BOX.value) return new ge(l * 2, n * 2, u * 2);
+  if (i === t.mjtGeom.mjGEOM_SPHERE.value) return new X(l, 24, 16);
+  if (i === t.mjtGeom.mjGEOM_CYLINDER.value) {
+    const a = new ye(l, l, n * 2, 24);
+    return a.rotateX(Math.PI / 2), a;
+  }
+  if (i === t.mjtGeom.mjGEOM_CAPSULE.value) {
+    const a = new be(l, n * 2, 6, 16);
+    return a.rotateX(Math.PI / 2), a;
+  }
+  return i !== t.mjtGeom.mjGEOM_MESH.value ? null : it(o, o.geom_dataid[e]);
+}
+function gt(s, e) {
+  const o = new Ie(s);
+  let t = null, r = null, l = null, n = null, u = null, i = null, a = null, c = null, b = null, O = null, E = null, g = !1, S = !0, f = !1, _ = null, w = null, A, y = null, m = null, d = null;
+  const M = (p, j) => {
+    var G;
+    const v = ue(p, e.signal, `${e.format}:${j}`);
+    S = !1, f = !1, w = { ...v, stage: j };
+    try {
+      m == null || m.endGrab();
+    } catch {
+    }
+    (G = e.reportSessionState) == null || G.call(e), e.reportError(p, { fatal: !1, stage: j, code: v.code });
+  }, C = () => {
+    g = !0, S = !1;
+  }, P = (async () => {
+    var p, j, v, G, U, ee, te, oe, se;
+    try {
+      const L = e.format;
+      if (L === "usd" || L === "usda" || L === "usdc" || L === "usdz") {
+        (p = e.reportProgress) == null || p.call(e, "usd", "正在解析 USD 场景与物理刚体...");
+        const h = await (await import("./usd-session-JDfuDgWv.js")).loadUsdSimulation(s, e, o);
+        if (g || e.signal.aborted)
+          throw h.dispose(), K();
+        y = h.asset, r = h.binding, l = h.dispose, n = h.hasPhysics ? h.step : null, u = h.reset, S = h.hasPhysics, f = h.hasPhysics, _ = h.fallback ? { ...h.fallback, stage: "physics-fallback" } : h.visualWarning ? { ...h.visualWarning, stage: "visual-adaptation" } : null, (j = e.reportProgress) == null || j.call(e, "stage", "正在构建三维场景与环境光影..."), m = new H(r.root, e.options.simulationTheme, h.runtime), h.runtime && (t = h.runtime), d = h.collision ?? null, d && (d.root.visible = !1, m.attachAuxiliary(d.root));
+        return;
+      }
+      if (L === "urdf" || L === "xacro") {
+        (v = e.reportProgress) == null || v.call(e, "urdf", "正在解析 URDF 场景与运动学结构...");
+        const h = await (await import("./urdf-session-CuIZOiCF.js")).loadUrdfSimulation(s, e, o);
+        if (g || e.signal.aborted)
+          throw h.dispose(), K();
+        y = h.asset, m = h.stage, b = h.inspection, l = h.dispose, n = h.step, u = h.reset, i = h.play, a = h.pause, c = h.isPlaying, O = () => h.capabilities, E = () => h.physics, S = !1, f = !1, _ = h.warning ?? null;
+        return;
+      }
+      let B = s.entryPath ?? s.filename;
+      if (!B && L === "mjcf") {
+        const T = o.paths().filter((h) => h.toLowerCase().endsWith(".xml"));
+        for (const h of ["scene.xml", "model.xml", "main.xml"]) {
+          const $ = T.find((F) => F.toLowerCase().endsWith(`/${h}`) || F.toLowerCase() === h);
+          if ($) {
+            B = $;
+            break;
+          }
+        }
+      }
+      B ?? (B = "asset.xml"), (G = e.reportProgress) == null || G.call(e, "fetch", "正在读取模型描述与依赖资源...");
+      const Ee = await Be(s, o);
+      z(g, e.signal), (U = e.reportProgress) == null || U.call(e, "parse", "正在解析 MJCF 场景与连杆..."), y = await xe(Ee, B, o);
+      try {
+        (ee = e.reportProgress) == null || ee.call(e, "compile", "正在编译物理模型与参数...");
+        const T = await Ve(y);
+        z(g, e.signal), (te = e.reportProgress) == null || te.call(e, "runtime", "正在初始化物理内核...");
+        const { MujocoRuntime: h } = await import("./mujoco-runtime-C29PXDOl.js");
+        t = new h(), await t.initialize(T, e.options.mujocoBaseUrl);
+      } catch (T) {
+        const h = ue(T, e.signal, "mjcf-physics");
+        t == null || t.dispose(), t = null;
+        const { compileMjcfPreview: $ } = await import("./mjcf-visual-6_RqDf4z.js");
+        let F;
+        try {
+          F = $(y);
+        } catch (J) {
+          throw new Error(`${h.message}；独立视觉预览也不可用：${J instanceof Error ? J.message : String(J)}`);
+        }
+        r = { root: F, sync() {
+        }, dispose() {
+          x(F);
+        } }, _ = { ...h, stage: "physics-fallback" }, m = new H(F, e.options.simulationTheme), S = !1;
+        return;
+      }
+      f = !0, z(g, e.signal), (oe = e.reportProgress) == null || oe.call(e, "visual", "正在构建视觉渲染网格...");
+      const we = pe(t, !1, y.diagnostics), re = y.diagnostics.droppedFeatures.find((T) => T.code.startsWith("MJCF_"));
+      re && (_ = { ...re, stage: "visual-material" }), z(g, e.signal), (se = e.reportProgress) == null || se.call(e, "stage", "正在构建三维场景与环境光影..."), r = new ce(t, we), m = new H(r.root, e.options.simulationTheme, t);
+      const ne = pe(t, !0, y.diagnostics);
+      ne.root.children.length > 0 ? (d = new ce(t, ne), d.root.visible = !1) : d = null, d && m.attachAuxiliary(d.root);
+    } catch (L) {
+      throw m == null || m.dispose(), m = null, l ? (l(), l = null) : (d == null || d.dispose(), r == null || r.dispose(), t == null || t.dispose()), d = null, r = null, t = null, o.dispose(), L;
+    }
+  })();
+  return P.catch(() => {
+  }), {
+    id: `simulation-${Math.random().toString(36).slice(2)}`,
+    get autoPlay() {
+      return e.format === "urdf" || e.format === "xacro" ? !1 : void 0;
+    },
+    get inspection() {
+      return b;
+    },
+    isPlaying() {
+      return (c == null ? void 0 : c()) ?? S;
+    },
+    opened: P,
+    get root() {
+      return (m == null ? void 0 : m.root) ?? null;
+    },
+    getFitBounds() {
+      return (m == null ? void 0 : m.getModelBounds()) ?? null;
+    },
+    beforeRender(p, j, v) {
+      return m == null ? void 0 : m.beforeRender(p, j, v);
+    },
+    get capabilities() {
+      return w ? { canPlay: !1, canPause: !1, canReset: !1, hasPhysics: !1, canToggleGround: !0, canToggleCollision: d !== null } : (O == null ? void 0 : O()) ?? { canPlay: f, canPause: f, canReset: f, hasPhysics: f, canToggleGround: !0, canToggleCollision: d !== null };
+    },
+    get warning() {
+      return _;
+    },
+    get physics() {
+      return w ? { status: "unavailable", issue: w } : E ? E() : f ? { status: "ready" } : (_ == null ? void 0 : _.stage) === "physics-fallback" ? { status: "unavailable", issue: _ } : { status: "not-authored" };
+    },
+    setTheme(p) {
+      m == null || m.setTheme(p);
+    },
+    setGroundVisible(p) {
+      m == null || m.setGroundVisible(p);
+    },
+    getGroundVisible() {
+      return (m == null ? void 0 : m.getGroundVisible()) ?? !0;
+    },
+    presentation: { preferredViewMode: "3d", interactionMode: "simulation", uiProfile: "simulation", fitPolicy: "fit-on-ready" },
+    beginDispose: C,
+    setCollisionVisible(p) {
+      if (!g) {
+        if (O) {
+          const j = b;
+          j == null || j.setOverlay("collision", p);
+          return;
+        }
+        if (!d) throw new Error("This asset has no collision display.");
+        d.root.visible = p;
+      }
+    },
+    getVisualDiagnostics() {
+      return g || !y || y.source.format !== "usd" ? null : structuredClone({ report: y.extension.visualAdaptation, diagnostics: y.diagnostics });
+    },
+    getPhysicsProperties() {
+      if (g || !f || !(t != null && t.model) || !t.mujoco) return null;
+      const p = t.model, j = 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 }, (v, G) => {
+          const U = G + 1;
+          return { id: U, name: j.mj_id2name(p, j.mjtObj.mjOBJ_BODY.value, U), mass: p.body_mass[U], inertia: Array.from(p.body_inertia.slice(U * 3, U * 3 + 3)) };
+        }),
+        diagnostics: y == null ? void 0 : y.diagnostics
+      });
+    },
+    get update() {
+      return t != null && t.model || n ? (p) => {
+        if (w || g || !((c == null ? void 0 : c()) ?? S) || !r && !n) return !1;
+        try {
+          if (n) {
+            const v = n(p);
+            return v && (d == null || d.sync()), v;
+          }
+          const j = t.step(p);
+          return j && (r.sync(), d == null || d.sync(), m == null || m.updateForceLine()), j;
+        } catch (j) {
+          return M(j, "step"), !1;
+        }
+      } : void 0;
+    },
+    play() {
+      g || w || (i ? (i(), S = (c == null ? void 0 : c()) ?? !1) : f && (S = !0));
+    },
+    pause() {
+      w || (a && a(), S = !1);
+    },
+    reset() {
+      if (!(w || g || !r && !u))
+        try {
+          u ? u() : (t == null || t.reset(), r.sync()), d == null || d.sync(), m == null || m.updateForceLine();
+        } catch (p) {
+          M(p, "reset");
+        }
+    },
+    beginGrab(p, j, v) {
+      if (g || !f && !E) return !1;
+      try {
+        return (m == null ? void 0 : m.beginGrab(p, j, v)) ?? !1;
+      } catch (G) {
+        return M(G, "grab"), !1;
+      }
+    },
+    moveGrab(p, j, v) {
+      if (!(g || !f && !E))
+        try {
+          m == null || m.moveGrab(p, j, v);
+        } catch (G) {
+          M(G, "grab");
+        }
+    },
+    endGrab() {
+      m == null || m.endGrab();
+    },
+    dispose() {
+      return C(), A ?? (A = P.catch(() => {
+      }).then(() => {
+        l ? (l(), l = null, m = null, r = null, d = null) : (m == null || m.dispose(), m = null, d == null || d.root.removeFromParent(), d == null || d.dispose(), d = null, r == null || r.dispose(), r = null, t == null || t.dispose()), o.dispose(), y = null, b = null, n = null, u = null, i = null, a = null, c = null, O = null, E = null, f = !1, _ = null;
+      })), A;
+    }
+  };
+}
+function z(s, e) {
+  if (s || e.aborted) throw K();
+}
+function K() {
+  return Object.assign(new Error("Simulation load aborted."), { name: "AbortError", code: "E_ABORTED" });
+}
+const jt = /* @__PURE__ */ Object.freeze(/* @__PURE__ */ Object.defineProperty({
+  __proto__: null,
+  createSimulationSession: gt
+}, Symbol.toStringTag, { value: "Module" }));
+export {
+  ce as S,
+  tt as a,
+  ke as b,
+  et as c,
+  ze as d,
+  nt as e,
+  jt as f,
+  wt as n,
+  ue as p,
+  Be as r,
+  de as s
+};