@nebula-spatial/viewer 0.4.4 → 0.4.5

package/dist/usd-session-JDfuDgWv.js

@@ -0,0 +1,1907 @@
+import { Mesh as te, FrontSide as _t, DoubleSide as gt, MeshPhysicalMaterial as ie, DataTexture as Xe, UnsignedByteType as He, RGBAFormat as qe, NoColorSpace as K, Float32BufferAttribute as St, SRGBColorSpace as Je, RepeatWrapping as q, Color as st, MeshStandardMaterial as ze, TextureLoader as wt, MirroredRepeatWrapping as rt, ClampToEdgeWrapping as ot, Group as Ie, Vector3 as T, Quaternion as ee, Matrix4 as pe, Box3 as Me, Sphere as Ut, SphereGeometry as bt, BoxGeometry as Et } from "three";
+import { n as xt, c as vt, a as Ae, b as Dt, d as Pt, p as At, S as Qe } from "./session-DNyPmQOW.js";
+import { ConvexGeometry as Rt } from "three/examples/jsm/geometries/ConvexGeometry.js";
+import { buildUSDScene as Ot, USDLoader as It } from "@openusd-wasm/three-loader";
+import { PXR as Mt } from "@openusd-wasm/pxr";
+import { d as at } from "./stage-BPiGudYP.js";
+function Tt(e) {
+  var a, h;
+  const t = e.stage;
+  if (!t || !((h = (a = e.pxr) == null ? void 0 : a.Sdf) != null && h.Path)) return;
+  const n = /* @__PURE__ */ new Map(), o = (f) => {
+    if (!f || f === "/") return "default";
+    const d = n.get(f);
+    if (d !== void 0) return d;
+    const i = new e.pxr.Sdf.Path(f), r = t.GetPrimAtPath(i), s = r.GetAttribute("purpose"), u = e.pxr.Usd.TimeCode.Default();
+    let p;
+    try {
+      s.IsValid() && s.HasAuthoredValue() && (p = String(s.Get(u)));
+    } finally {
+      u.delete(), s.delete(), r.delete(), i.delete();
+    }
+    const y = p ?? o(f.slice(0, f.lastIndexOf("/")));
+    return n.set(f, y), y;
+  };
+  e.scene.traverse((f) => {
+    var s, u;
+    if (!(f instanceof te)) return;
+    let d = f, i;
+    for (; d && !i; )
+      i = (s = d.userData.usd) == null ? void 0 : s.path, d = d.parent;
+    if (!i) return;
+    const r = o(i) === "guide";
+    f.userData.usdPurposeExcluded = r, r ? ((u = f.userData).usdPurposeLayerMask ?? (u.usdPurposeLayerMask = f.layers.mask), f.layers.disableAll()) : f.userData.usdPurposeLayerMask !== void 0 && (f.layers.mask = f.userData.usdPurposeLayerMask, delete f.userData.usdPurposeLayerMask);
+  });
+}
+function Nt(e) {
+  if (!e) return;
+  if (typeof window > "u") return { baseURL: e };
+  const t = new URL(e, document.baseURI).href, n = new URL("openusd_pxr_wasm.js", t.endsWith("/") ? t : `${t}/`);
+  if (n.origin === window.location.origin) return { baseURL: t };
+  const o = new Blob([`import ${JSON.stringify(n.href)};
+`], { type: "text/javascript" });
+  return {
+    baseURL: t,
+    // pxr 0.0.13 sets mainScriptUrlOrBlob itself; its public preRun hook runs
+    // before OpenUSD initializes and lazily spawns its pthread workers.
+    preRun: [(a) => {
+      a.mainScriptUrlOrBlob = o;
+    }]
+  };
+}
+function $t(e) {
+  var d, i;
+  const t = e.stage, n = e.pxr;
+  if (!t || !((d = n == null ? void 0 : n.Sdf) != null && d.Path) || !((i = n == null ? void 0 : n.Usd) != null && i.TimeCode)) return;
+  const o = n.Usd.TimeCode.Default(), a = /* @__PURE__ */ new Map(), h = /* @__PURE__ */ new Set(), f = (r) => {
+    let s, u, p;
+    try {
+      if (s = new n.Sdf.Path(r), u = t.GetPrimAtPath(s), !u.IsValid() || (p = u.GetAttribute("doubleSided"), !p.IsValid() || typeof p.HasAuthoredValue != "function")) return "unknown";
+      if (!p.HasAuthoredValue()) return;
+      const y = p.Get(o);
+      return typeof y == "boolean" ? y : "unknown";
+    } catch {
+      return "unknown";
+    } finally {
+      p == null || p.delete(), u == null || u.delete(), s == null || s.delete();
+    }
+  };
+  try {
+    e.scene.traverse((r) => {
+      var l;
+      if (!(r instanceof te)) return;
+      const s = (l = r.userData.usd) == null ? void 0 : l.path;
+      if (typeof s != "string") return;
+      const u = f(s);
+      if (u === "unknown") return;
+      const p = u === !1 ? _t : gt, y = (c) => {
+        if (!(c instanceof ie) || c.transmission <= 0 || c.metalness !== 0 || c.side === p) return c;
+        let w = a.get(c);
+        w || (w = /* @__PURE__ */ new Map(), a.set(c, w));
+        let g = w.get(p);
+        return g || (g = c.clone(), g.side = p, g.needsUpdate = !0, g.userData.usdGlassSidePolicy = u === !1 ? "authored-false" : u === !0 ? "authored-true" : "viewer-default-double", w.set(p, g)), h.add(c), g;
+      };
+      if (Array.isArray(r.material)) {
+        const c = r.material, w = c.map(y);
+        w.some((g, m) => g !== c[m]) && (r.material = w);
+      } else {
+        const c = y(r.material);
+        c !== r.material && (r.material = c);
+      }
+    }), e.scene.traverse((r) => {
+      if (r instanceof te) for (const s of Array.isArray(r.material) ? r.material : [r.material]) h.delete(s);
+    });
+    for (const r of h) r.dispose();
+  } finally {
+    o.delete();
+  }
+}
+function Ct(e, t) {
+  if (!e.stage || t.shaders.length) return null;
+  const n = e.stage, o = e.pxr, a = o.Usd.TimeCode.Default(), h = (i, r) => {
+    const s = new o.Sdf.Path(i), u = n.GetPrimAtPath(s);
+    try {
+      if (!u.IsValid()) throw new Error("Missing prim");
+      return r(u);
+    } finally {
+      u.delete(), s.delete();
+    }
+  }, f = (i) => {
+    const r = i.GetConnections();
+    try {
+      return r.map((s) => typeof s == "string" ? s : s.GetString());
+    } finally {
+      for (const s of r) typeof s != "string" && s.delete();
+    }
+  }, d = (i, r = /* @__PURE__ */ new Set()) => {
+    if (r.has(i) || r.size >= 32) throw new Error("Cyclic material input");
+    r.add(i);
+    const s = i.lastIndexOf(".");
+    if (s < 0 || !i.slice(s + 1).startsWith("inputs:")) throw new Error("Not a constant input");
+    return h(i.slice(0, s), (u) => {
+      const p = u.GetAttribute(i.slice(s + 1));
+      try {
+        if (!p.IsValid()) throw new Error("Missing material input");
+        const y = f(p);
+        if (y.length > 1) throw new Error("Ambiguous material input");
+        const l = y.length ? d(y[0], r) : p.Get(a);
+        if (l == null) throw new Error("Unauthored material input");
+        return l;
+      } finally {
+        p.delete();
+      }
+    });
+  };
+  try {
+    return h(t.path, (i) => {
+      if (!i.IsInstance()) return null;
+      const r = i.GetAttribute("outputs:surface");
+      let s;
+      try {
+        if (!r.IsValid()) return null;
+        s = f(r);
+      } finally {
+        r.delete();
+      }
+      if (s.length !== 1 || !s[0].endsWith(".outputs:surface")) return null;
+      const u = s[0].slice(0, -16);
+      return h(u, (p) => {
+        const y = p.GetAttribute("info:id");
+        try {
+          if (y.Get(a) !== "UsdPreviewSurface") return null;
+        } finally {
+          y.delete();
+        }
+        const l = {}, c = p.GetAttributes();
+        try {
+          for (const g of c) {
+            const m = String(g.GetName());
+            m.startsWith("inputs:") && (l[m] = d(`${u}.${m}`));
+          }
+        } finally {
+          for (const g of c) g.delete();
+        }
+        return { ...t, shaders: [{ path: u, id: "UsdPreviewSurface", inputs: l }] };
+      });
+    });
+  } catch {
+    return null;
+  } finally {
+    a.delete();
+  }
+}
+function de(e, t, n = 1, o = 0) {
+  var u;
+  const a = e.image, h = (a == null ? void 0 : a.naturalWidth) || (a == null ? void 0 : a.width), f = (a == null ? void 0 : a.naturalHeight) || (a == null ? void 0 : a.height);
+  if (!Number.isInteger(h) || !Number.isInteger(f) || h <= 0 || f <= 0) throw new Error("Texture has no decoded pixels");
+  let d;
+  if (e instanceof Xe) {
+    if (e.type !== He || e.format !== qe || ((u = a.data) == null ? void 0 : u.length) !== h * f * 4) throw new Error("Unsupported scalar pixel format");
+    d = a.data;
+  } else {
+    const p = document.createElement("canvas");
+    p.width = h, p.height = f;
+    const y = p.getContext("2d", { willReadFrequently: !0 });
+    if (!y) throw new Error("Scalar conversion requires a 2D canvas");
+    y.drawImage(a, 0, 0), d = y.getImageData(0, 0, h, f).data;
+  }
+  const i = new Uint8Array(h * f * 4), r = "rgba".indexOf(t);
+  for (let p = 0; p < i.length; p += 4) {
+    const y = d[p], l = d[p + 1], c = d[p + 2];
+    if (t === "grayscale" && (y !== l || l !== c)) throw new Error("Non-grayscale scalar image needs an explicit mono convention");
+    const w = t === "average" ? (y + l + c) / 3 : t === "maximum" ? Math.max(y, l, c) : t === "grayscale" ? y : d[p + r], g = Math.round(255 * Math.min(1, Math.max(0, w / 255 * n + o)));
+    i[p] = i[p + 1] = i[p + 2] = g, i[p + 3] = 255;
+  }
+  const s = new Xe(i, h, f, qe, He);
+  return s.wrapS = e.wrapS, s.wrapT = e.wrapT, s.offset.copy(e.offset), s.repeat.copy(e.repeat), s.center.copy(e.center), s.rotation = e.rotation, s.matrix.copy(e.matrix), s.matrixAutoUpdate = e.matrixAutoUpdate, s.channel = e.channel, s.flipY = e.flipY, s.minFilter = e.minFilter, s.magFilter = e.magFilter, s.anisotropy = e.anisotropy, s.generateMipmaps = e.generateMipmaps, s.colorSpace = K, s.needsUpdate = !0, s;
+}
+function Lt(e, t, n, o = [], a = !1) {
+  if (e.some((r) => !Number.isInteger(r) || r < 0) || e.reduce((r, s) => r + s, 0) !== t.length || o.some((r) => !Number.isInteger(r) || r < 0 || r >= e.length))
+    throw new Error("Invalid authored face topology");
+  const h = [], f = [], d = new Set(o);
+  let i = 0;
+  if (e.forEach((r, s) => {
+    if (!d.has(s)) for (let u = 1; u < r - 1; u++)
+      h.push(i, i + (a ? u + 1 : u), i + (a ? u : u + 1)), f.push(s);
+    i += r;
+  }), h.length !== n.length || h.some((r, s) => t[r] !== n[s]))
+    throw new Error("Authored polygon/loader corner correspondence unavailable");
+  return { corners: h, faces: f };
+}
+function Gt(e, t, n) {
+  if (t.length !== n || t.some((a) => !Number.isInteger(a) || a < 0 || a >= e.length))
+    throw new Error("Invalid faceVarying UV indices");
+  const o = t.flatMap((a) => e[a]);
+  if (o.length !== n * 2 || !o.every(Number.isFinite)) throw new Error("Invalid UV values");
+  return o;
+}
+function Ft(e, t) {
+  const n = Array(e).fill(0);
+  for (const o of t) for (const a of o.faces) {
+    if (!Number.isInteger(a) || a < 0 || a >= e || n[a] !== 0)
+      throw new Error("Invalid or overlapping material subset faces");
+    n[a] = o.slot;
+  }
+  return n;
+}
+function Bt(e, t, n, o) {
+  if (!e.stage) return;
+  const a = e.stage, h = e.pxr, f = h.Usd.TimeCode.Default(), d = (r, s) => t.warnings.push({
+    code: "USD_VISUAL_TOPOLOGY_UNSUPPORTED",
+    source: "usd-visual",
+    message: `USD ${r} 的部分视觉拓扑未能安全补齐，未确认部分保留 Loader 输出：${String(s)}`
+  }), i = (r, s) => {
+    const u = r.GetAttribute(s);
+    try {
+      return u.IsValid() ? u.Get(f) : null;
+    } finally {
+      u.delete();
+    }
+  };
+  try {
+    for (const r of e.data.elements) {
+      const s = e.index.objectsByPath.get(r.path);
+      if (!(s instanceof te)) continue;
+      const u = new h.Sdf.Path(r.path), p = a.GetPrimAtPath(u);
+      let y = [];
+      try {
+        if (p.GetTypeName() !== "Mesh") continue;
+        y = p.GetChildren();
+        const l = y.filter((b) => b.GetTypeName() === "GeomSubset" && i(b, "familyName") === "materialBind"), c = p.GetAttribute("primvars:st");
+        let w = null, g = null;
+        try {
+          n(r.material) && c.IsValid() && c.GetMetadata("interpolation") === "faceVarying" && (g = i(p, "primvars:st:indices"), g && (w = c.Get(f)));
+        } finally {
+          c.delete();
+        }
+        const m = l.length > 0 && !Array.isArray(s.material) && s.geometry.groups.length === 0;
+        if (!w && !m) continue;
+        const U = i(p, "faceVertexCounts"), E = i(p, "faceVertexIndices");
+        if (!U || !E || s.geometry.index) throw new Error("Authored face topology unavailable");
+        const M = Lt(
+          U,
+          E,
+          r.geometry.pointIndices ?? [],
+          i(p, "holeIndices") ?? [],
+          i(p, "orientation") === "leftHanded"
+        );
+        if (s.geometry.getAttribute("position").count !== M.corners.length)
+          throw new Error("Loader geometry corner count mismatch");
+        if (w && g) {
+          const b = Gt(w, g, E.length), A = M.corners.flatMap((W) => [b[W * 2], b[W * 2 + 1]]), L = s.geometry.getAttribute("uv");
+          (!L || L.array.length !== A.length || A.some((W, v) => Math.abs(W - L.array[v]) > 1e-6)) && (s.geometry.setAttribute("uv", new St(A, 2)), r.geometry.uvs = A);
+        }
+        if (!m) continue;
+        const R = l.map((b) => {
+          if (i(b, "elementType") !== "face") throw new Error("Non-face material subset");
+          const A = h.UsdShade.ComputeBoundMaterialPath(b), L = (A == null ? void 0 : A.resolvedTargetPath) || (A == null ? void 0 : A.materialPath);
+          if (!L || !e.index.materialsByPath.has(L)) throw new Error("Unresolved subset material");
+          const W = i(b, "indices");
+          if (!Array.isArray(W)) throw new Error("Missing subset face indices");
+          return { materialPath: L, faces: W };
+        }), D = [...new Set(R.map((b) => b.materialPath))], P = Ft(U.length, R.map((b) => ({ faces: b.faces, slot: D.indexOf(b.materialPath) + 1 }))), C = M.faces.map((b) => P[b]), _ = [s.material];
+        try {
+          for (const b of D) _.push(o(r, b));
+        } catch (b) {
+          for (const A of _.slice(1)) A.dispose();
+          throw b;
+        }
+        s.material = _;
+        for (let b = 0; b < C.length; ) {
+          let A = b + 1;
+          for (; A < C.length && C[A] === C[b]; ) A++;
+          s.geometry.addGroup(b * 3, (A - b) * 3, C[b]), b = A;
+        }
+      } catch (l) {
+        d(r.path, l);
+      } finally {
+        for (const l of y) l.delete();
+        p.delete(), u.delete();
+      }
+    }
+  } finally {
+    f.delete();
+  }
+}
+const Vt = /* @__PURE__ */ new Set(["png", "jpg", "jpeg", "webp", "avif", "gif", "bmp"]), Te = /^(?:UsdPreviewSurface|ND_UsdPreviewSurface_surfaceshader)$/i, kt = /(?:standard.?surface|principled|openpbr|adobe.?standard.?material)/i;
+async function Wt(e, t) {
+  var i;
+  const n = /* @__PURE__ */ new Set();
+  for (const r of e.data.materials) {
+    const s = Ct(e, r);
+    s && (r.shaders = s.shaders, e.index.materialsByPath.set(r.path, r), n.add(r.path));
+  }
+  const o = (r, s) => {
+    const u = e.data.view.prims.find((w) => w.path === r.path);
+    if (!u) throw new Error(`Missing view prim: ${r.path}`);
+    const p = e.index.materialsByPath.get(s), y = Le(p), c = Ot({
+      ...e.data,
+      elements: [{ ...r, material: s }],
+      view: { ...e.data.view, prims: [{ ...u, parentPath: null }] },
+      animations: [],
+      lights: [],
+      skels: { ...e.data.skels, bindings: [], skeletons: [], animations: [] }
+    }, {
+      convertZUp: !1,
+      loadLights: !1,
+      loadTextures: !y,
+      sourcePath: t.sourcePath,
+      textureResolver: (w) => {
+        for (const g of [w.resolvedPath, w.path, w.url]) {
+          if (!g) continue;
+          const m = t.files.objectUrlIfPresent(g, t.entryDirectory ?? "");
+          if (m) return m;
+        }
+        return null;
+      }
+    }).index.objectsByPath.get(r.path);
+    if (c.geometry.dispose(), Array.isArray(c.material)) throw new Error("Unexpected scratch material array");
+    return c.material;
+  }, a = /* @__PURE__ */ new Set();
+  for (const r of e.data.elements) {
+    const s = e.index.objectsByPath.get(r.path);
+    if (!(s instanceof te)) continue;
+    const u = (p) => {
+      const y = me(p.userData.usdMaterialPath);
+      if (!y || !n.has(y) || p.userData.usdSurfaceShaderId) return p;
+      const l = o(r, y), c = `Material ${y} has no supported surface shader.`;
+      return l.userData.usdInstanceResolvedDiagnostics = [c], l.userData.usdMaterialDiagnostics = we([
+        ...Re(p.userData.usdMaterialDiagnostics),
+        ...Re(l.userData.usdMaterialDiagnostics)
+      ]), a.add(p), l;
+    };
+    if (Array.isArray(s.material)) {
+      const p = s.material.map(u);
+      p.some((y, l) => y !== s.material[l]) && (s.material = p);
+    } else s.material = u(s.material);
+  }
+  e.scene.traverse((r) => {
+    if (r instanceof te) for (const s of Array.isArray(r.material) ? r.material : [r.material]) a.delete(s);
+  });
+  for (const r of a) r.dispose();
+  Bt(e, t.diagnostics, (r) => {
+    if (!r) return !0;
+    const s = e.index.materialsByPath.get(r), u = s && Le(s);
+    return !!u && xe(u) && ue(u, /* @__PURE__ */ new Set());
+  }, o);
+  const h = Ht(e), f = [];
+  for (const [r, s] of h) {
+    const u = e.index.materialsByPath.get(r);
+    if (!u) continue;
+    const p = s[0], y = we(s.flatMap((_) => Re(_.userData.usdMaterialDiagnostics))), l = me(p.userData.usdSurfaceShaderId);
+    if (l && (Te.test(l) || kt.test(l))) {
+      const _ = await Xt(u, s, y, t), b = await Yt(u, s, t);
+      _.applied.push(...b.applied), _.resources.push(...b.resources);
+      const A = b.applied.length ? { applied: [], unsupported: [], bounded: !0 } : Te.test(l) ? zt(e, u, s, t) : jt(u, s, t);
+      _.applied.push(...A.applied);
+      const L = we(s.flatMap((W) => Re(W.userData.usdInstanceResolvedDiagnostics)));
+      _.resolved.push(...L), L.length && _.applied.push("instance.surface.constants"), f.push({
+        materialPath: r,
+        sourceShaderId: l,
+        action: _.applied.length ? "augmented" : "preserved",
+        fidelity: A.bounded || y.some((W) => !_.resolved.includes(W)) ? "bounded-approximation" : "native",
+        appliedInputs: _.applied,
+        unsupportedNodes: A.unsupported,
+        resources: _.resources,
+        loaderDiagnostics: y,
+        resolvedLoaderDiagnostics: _.resolved
+      });
+      continue;
+    }
+    const c = Le(u);
+    if (!c) {
+      const _ = Ze(e, r), b = u.shaders.map((A) => J(A.inputs["info:mdl:sourceAsset"])).filter(ke);
+      for (const A of b) t.diagnostics.droppedFeatures.push({ code: "USD_VISUAL_SHADER_NODE_UNSUPPORTED", source: "usd-visual", message: `USD 材质 ${r} 使用尚未支持的 MDL 材质 ${A}；保留现有结果，未生成替代内容。` });
+      f.push({
+        materialPath: r,
+        sourceShaderId: b[0] ?? null,
+        action: "fallback",
+        fidelity: _ ? "authored-fallback" : "default-fallback",
+        appliedInputs: [],
+        unsupportedNodes: we(u.shaders.map((A) => A.id).filter(ke)),
+        resources: [],
+        loaderDiagnostics: y
+      });
+      continue;
+    }
+    if (je(c)) {
+      const _ = qt(e, s, c), b = _.applied.length ? await Qt(s, c, _, t) : [];
+      _.applied.length && b.push(...await Jt(s, c, _, t)), Be(t.diagnostics, r, c, _.applied, _.unsupported, b, _.applied.length ? "augmented" : "fallback"), f.push({
+        materialPath: r,
+        sourceShaderId: "OmniGlass",
+        action: _.applied.length ? "augmented" : "fallback",
+        fidelity: "bounded-approximation",
+        appliedInputs: _.applied,
+        unsupportedNodes: [..._.unsupported],
+        resources: b,
+        loaderDiagnostics: y
+      });
+      continue;
+    }
+    const w = [], g = [], m = /* @__PURE__ */ new Set(), U = en(s, c, w);
+    let E = !1;
+    if (xe(c)) {
+      const _ = J(O(c, ["diffuse_texture"]));
+      if (_) {
+        const S = await re(_, t);
+        if (g.push(S.report), S.url && ue(c, m) && s.every((I) => Y(I) && !I.map)) {
+          let I = null;
+          try {
+            I = await (t.createTexture ?? oe)(S.url, Je);
+          } catch (x) {
+            if (x instanceof Error && x.name === "AbortError") throw x;
+            g[g.length - 1] = { path: _, status: "decode-failed" };
+          }
+          if (I) {
+            for (const x of s)
+              Y(x) && (x.map = I, x.color.set(16777215), x.needsUpdate = !0, E = !0);
+            E ? w.push("diffuse_texture") : I.dispose();
+          }
+        }
+      }
+      const b = ae(c, ["enable_ORM_texture"], !1);
+      if (b) {
+        const S = J(O(c, ["ORM_texture"])), I = N(c, ["reflection_roughness_texture_influence"]) ?? 0, x = N(c, ["metallic_texture_influence"]) ?? 0;
+        N(c, ["ao_to_diffuse"]);
+        const Q = O(c, ["ORM_texture_colorspace"]);
+        if (Q !== void 0 && Q !== "raw") m.add("OmniPBR.ORM_texture_colorspace");
+        else if (I || x)
+          if (!S) m.add("OmniPBR.ORM_texture_missing");
+          else {
+            const k = await re(S, t);
+            if (g.push(k.report), k.url && ue(c, m)) {
+              let j = null, X = !1;
+              try {
+                j = await (t.createTexture ?? oe)(k.url, K), j.colorSpace = K, j.wrapS = q, j.wrapT = q;
+                const V = [
+                  {
+                    slot: "roughnessMap",
+                    scalar: "roughness",
+                    channel: "g",
+                    influence: I,
+                    constant: N(c, ["reflection_roughness_constant"]) ?? 0.5
+                  },
+                  {
+                    slot: "metalnessMap",
+                    scalar: "metalness",
+                    channel: "b",
+                    influence: x,
+                    constant: N(c, ["metallic_constant"]) ?? 0
+                  }
+                ];
+                for (const G of V) {
+                  if (!Number.isFinite(G.influence) || G.influence < 0 || G.influence > 1 || G.constant < 0 || G.constant > 1) {
+                    m.add(`OmniPBR.${G.scalar}_ORM_range`);
+                    continue;
+                  }
+                  const ce = s.filter(Y).filter((F) => !F[G.slot]);
+                  if (ce.length) {
+                    if (G.influence === 0) {
+                      for (const F of ce) F[G.scalar] = G.constant;
+                      continue;
+                    }
+                    try {
+                      const F = G.influence === 1 ? j : de(
+                        j,
+                        G.channel,
+                        G.influence,
+                        G.constant * (1 - G.influence)
+                      );
+                      for (const H of ce)
+                        H[G.slot] = F, H[G.scalar] = 1, H.needsUpdate = !0;
+                      F === j && (X = !0), w.push(`${G.scalar}.ORM.${G.channel}`, `ORM.${G.scalar}.influence=${G.influence}`), E = !0;
+                    } catch {
+                      m.add(`OmniPBR.${G.scalar}_ORM_conversion`);
+                    }
+                  }
+                }
+                E && w.push("ORM_texture");
+              } catch (V) {
+                if (V instanceof Error && V.name === "AbortError") throw V;
+                g[g.length - 1] = { path: S, status: "decode-failed" };
+              } finally {
+                X || j == null || j.dispose();
+              }
+            }
+          }
+      }
+      if (!b && ue(c, m))
+        for (const S of [
+          { file: "reflectionroughness_texture", weight: "reflection_roughness_texture_influence", constant: "reflection_roughness_constant", fallback: 0.5, map: "roughnessMap", scalar: "roughness" },
+          { file: "metallic_texture", weight: "metallic_texture_influence", constant: "metallic_constant", fallback: 0, map: "metalnessMap", scalar: "metalness" }
+        ]) {
+          const I = N(c, [S.weight]) ?? 0;
+          if (I === 0) continue;
+          if (I < 0 || I > 1) {
+            m.add(`OmniPBR.${S.weight}`);
+            continue;
+          }
+          const x = J(O(c, [S.file]));
+          if (!x) continue;
+          const Q = O(c, [`${S.file}_colorspace`]);
+          if (Q !== void 0 && Q !== "raw") {
+            m.add(`OmniPBR.${S.file}_colorspace`);
+            continue;
+          }
+          const k = await re(x, t);
+          g.push(k.report);
+          const j = s.filter(Y).filter((V) => !V[S.map]);
+          if (!k.url || !j.length) continue;
+          let X = null;
+          try {
+            X = await (t.createTexture ?? oe)(k.url, K);
+            const V = N(c, [S.constant]) ?? S.fallback, G = de(X, "grayscale", I, V * (1 - I));
+            G.wrapS = q, G.wrapT = q;
+            for (const ce of j)
+              ce[S.map] = G, ce[S.scalar] = 1, ce.needsUpdate = !0;
+            w.push(S.file), E = !0;
+          } catch (V) {
+            if (V instanceof Error && V.name === "AbortError") throw V;
+            m.add(`OmniPBR.${S.file}_conversion`);
+          } finally {
+            X == null || X.dispose();
+          }
+        }
+      const A = ae(c, ["enable_opacity"], !1), L = N(c, ["opacity_threshold"]) ?? 0;
+      if (A && L >= 0 && ae(c, ["enable_opacity_texture"], !1) && ue(c, m)) {
+        const S = J(O(c, ["opacity_texture"])), I = O(c, ["opacity_mode"]) ?? 1, x = I === 0 || I === "mono_alpha" ? "a" : I === 1 || I === "mono_average" ? "average" : I === 3 || I === "mono_maximum" ? "maximum" : null, Q = O(c, ["opacity_texture_colorspace"]);
+        if (Q !== void 0 && Q !== "raw") m.add("OmniPBR.opacity_texture_colorspace");
+        else if (!x) m.add("OmniPBR.opacity_mode");
+        else if (!S) m.add("OmniPBR.opacity_texture_missing");
+        else {
+          const k = await re(S, t);
+          g.push(k.report);
+          const j = s.filter(Y).filter((V) => !V.alphaMap);
+          let X = null;
+          if (k.url && j.length) try {
+            X = await (t.createTexture ?? oe)(k.url, K);
+            const V = de(X, x);
+            V.wrapS = q, V.wrapT = q;
+            for (const G of j)
+              G.alphaMap = V, G.opacity = 1, G.alphaTest = Math.max(0, L), G.transparent = L === 0, G.depthWrite = L > 0, G.needsUpdate = !0;
+            w.push("opacity_texture"), E = !0;
+          } catch (V) {
+            if (V instanceof Error && V.name === "AbortError") throw V;
+            g[g.length - 1] = { path: S, status: "decode-failed" };
+          } finally {
+            X == null || X.dispose();
+          }
+        }
+      }
+      const v = Ne(c, ["diffuse_tint"]);
+      if (v) {
+        for (const S of s)
+          Y(S) && (S.map ? S.color.copy(v) : S.color.copy(Ne(c, ["diffuse_color_constant"]) ?? new st(0.2, 0.2, 0.2)).multiply(v), S.needsUpdate = !0);
+        w.push("diffuse_tint"), E = !0;
+      }
+      const z = J(O(c, ["normalmap_texture"]));
+      if (z) {
+        const S = await re(z, t);
+        g.push(S.report);
+        const I = O(c, ["normalmap_texture_colorspace"]), x = N(c, ["bump_factor"]) ?? 1;
+        if (I !== void 0 && I !== "raw") m.add("OmniPBR.normalmap_texture_colorspace");
+        else if (!Number.isFinite(x) || x < 0) m.add("OmniPBR.bump_factor");
+        else if (S.url && ue(c, m)) {
+          const Q = s.filter(Y).filter((k) => !k.normalMap);
+          if (Q.length)
+            try {
+              const k = await (t.createTexture ?? oe)(S.url, K);
+              k.colorSpace = K, k.wrapS = q, k.wrapT = q;
+              for (const j of Q)
+                j.normalMap = k, j.normalScale.set(
+                  x * (ae(c, ["flip_tangent_u"], !1) ? -1 : 1),
+                  x * (ae(c, ["flip_tangent_v"], !0) ? -1 : 1)
+                ), j.needsUpdate = !0;
+              w.push("normalmap_texture", "normal.tangent_convention"), E = !0;
+            } catch (k) {
+              if (k instanceof Error && k.name === "AbortError") throw k;
+              g[g.length - 1] = { path: z, status: "decode-failed" };
+            }
+        }
+      }
+      Zt(c, m), E = await Kt(s, c, w, m, g, t) || E;
+    }
+    const M = B(c, "diffuseColor") ?? B(c, "baseColor");
+    let R = !1;
+    if (M) {
+      const _ = he(u, M);
+      if (_ && ct(_)) {
+        const b = nn(_);
+        if (b) {
+          const A = await re(b.path, t);
+          g.push(A.report);
+          const L = B(_, "manifold");
+          L && m.add(((i = he(u, L)) == null ? void 0 : i.id) ?? L.path);
+          const W = Object.keys(_.inputs).filter((S) => !["inputs:filename", "inputs:resultRGB", "inputs:linearize"].includes(S)), v = _.inputs["inputs:linearize"], z = v === 0 || v === 1;
+          if (z || m.add("PxrTexture.colorSpace"), W.length > 0 && !L && m.add("PxrTexture.controls"), A.url && !L && W.length === 0 && z && M.outputName === "resultRGB" && s.every((S) => Y(S) && !S.map)) {
+            let S = null;
+            try {
+              S = await (t.createTexture ?? oe)(A.url, v === 1 ? Je : K);
+            } catch (I) {
+              if (I instanceof Error && I.name === "AbortError") throw I;
+              g[g.length - 1] = { path: b.path, status: "decode-failed" };
+            }
+            if (S) {
+              for (const I of s)
+                Y(I) && (I.map = S, I.color.set(16777215), I.needsUpdate = !0, R = !0);
+              R ? w.push("diffuseColor.texture") : S.dispose();
+            }
+          }
+        } else
+          m.add(_.id ?? _.path);
+      } else _ ? m.add(_.id ?? _.path) : m.add(M.path);
+    }
+    tn(u, c, m);
+    const D = U || R || E ? "augmented" : "fallback", P = Ze(e, r), C = D === "augmented" ? "bounded-approximation" : P ? "authored-fallback" : "default-fallback";
+    Be(t.diagnostics, r, c, w, m, g, D), f.push({
+      materialPath: r,
+      sourceShaderId: it(c),
+      action: D,
+      fidelity: C,
+      appliedInputs: we(w),
+      unsupportedNodes: [...m],
+      resources: g,
+      loaderDiagnostics: y
+    });
+  }
+  $t(e);
+  const d = f.filter((r) => r.loaderDiagnostics.some(
+    (s) => {
+      var u;
+      return !((u = r.resolvedLoaderDiagnostics) != null && u.includes(s)) && !(r.action === "augmented" && s === `Material ${r.materialPath} has no supported surface shader.`);
+    }
+  ));
+  return d.length > 0 && t.diagnostics.droppedFeatures.push({
+    code: "USD_VISUAL_LOADER_DIAGNOSTIC",
+    message: `${d.length} 个 USD 材质仍有尚未被视觉适配层消解的 Loader 限制；具体材质和原始诊断见 visualAdaptation 报告。`,
+    source: "usd-visual"
+  }), Object.freeze({
+    schemaVersion: 1,
+    materials: f,
+    summary: Object.freeze({
+      preserved: f.filter((r) => r.action === "preserved").length,
+      augmented: f.filter((r) => r.action === "augmented").length,
+      fallback: f.filter((r) => r.action === "fallback").length,
+      missingResources: f.flatMap((r) => r.resources).filter((r) => r.status === "missing").length,
+      unsupportedResources: f.flatMap((r) => r.resources).filter((r) => r.status === "unsupported-format").length
+    })
+  });
+}
+function zt(e, t, n, o) {
+  var y;
+  const a = { applied: [], unsupported: [], bounded: !1 }, h = me((y = n[0]) == null ? void 0 : y.userData.usdSurfaceShaderPath), f = t.shaders.filter((l) => Te.test(l.id ?? "")), d = h ? f.find((l) => l.path === h) : f.length === 1 ? f[0] : void 0;
+  if (!d) return a;
+  const i = N(d, ["opacity"]), r = O(d, ["opacityMode"]) ?? "transparent", s = N(d, ["opacityThreshold"]) ?? 0, u = (l) => (a.bounded = !0, a.unsupported.push(l), o.diagnostics.droppedFeatures.push({
+    code: "USD_VISUAL_PREVIEW_TRANSPARENCY_UNSUPPORTED",
+    source: "usd-visual",
+    message: `USD 材质 ${t.path} 的 ${l} 未完成透明适配，保留 Loader 输出；未生成替代内容。`
+  }), a);
+  if (B(d, "opacity") || B(d, "opacityThreshold") || B(d, "opacityMode")) return u("connected opacity/threshold/mode");
+  if (s > 0 || r === "presence") {
+    if (n.some((c) => !Y(c) || c.alphaMap || c.map)) return u("textured coverage/cutout");
+    const l = Ee(i ?? 1);
+    for (const c of n)
+      c.opacity = s > 0 ? l >= s ? 1 : 0 : l, c.alphaTest = s > 0 ? 0.5 : 0, c.transparent = s === 0 && l < 1, c.depthWrite = !c.transparent, c instanceof ie && (c.transmission = 0), c.needsUpdate = !0;
+    return a.applied.push(s > 0 ? "PreviewSurface.cutout.constant" : "PreviewSurface.presence.constant"), a;
+  }
+  if (r !== "transparent") return u(`opacityMode=${String(r)}`);
+  if (i === null || i >= 1) return a;
+  if (!B(d, "metallic") && N(d, ["metallic"]) === 1 && !B(d, "useSpecularWorkflow") && [void 0, !1, 0].includes(O(d, ["useSpecularWorkflow"]))) {
+    if (n.some((l) => !Y(l) || l.alphaMap || l.map || l.metalnessMap || l.alphaTest > 0)) return u("textured metal transparency");
+    for (const l of n)
+      Y(l) && (l.opacity = 1, l.transparent = !1, l.depthWrite = !0, l.metalness = 1, l instanceof ie && (l.transmission = 0), l.needsUpdate = !0);
+    return a.applied.push("PreviewSurface.transparent.pure-metal"), a;
+  }
+  if (B(d, "metallic") || B(d, "useSpecularWorkflow") || B(d, "ior") || (N(d, ["metallic"]) ?? 0) !== 0 || ![void 0, !1, 0].includes(O(d, ["useSpecularWorkflow"]))) return u("non-dielectric or connected transparency");
+  if (n.some((l) => !Y(l) || l.alphaMap || l.map || l.metalnessMap || l.alphaTest > 0)) return u("textured or non-standard transparency");
+  const p = /* @__PURE__ */ new Map();
+  for (const l of n) {
+    if (!Y(l)) continue;
+    const c = l instanceof ie ? l : new ie();
+    c !== l && (ze.prototype.copy.call(c, l), c.defines = { STANDARD: "", PHYSICAL: "" }, p.set(l, c)), c.opacity = 1, c.transparent = !1, c.transmission = 1 - Ee(i), c.ior = N(d, ["ior"]) ?? 1.5, c.depthWrite = !0, c.needsUpdate = !0;
+  }
+  if (p.size) {
+    e.scene.traverse((l) => {
+      l instanceof te && (l.material = Array.isArray(l.material) ? l.material.map((c) => p.get(c) ?? c) : p.get(l.material) ?? l.material);
+    }), n.forEach((l, c) => {
+      n[c] = p.get(l) ?? l;
+    });
+    for (const l of p.keys()) l.dispose();
+  }
+  return a.applied.push("PreviewSurface.transparent.constant-dielectric"), a.bounded = !0, o.diagnostics.approximations.push({
+    code: "USD_VISUAL_PREVIEW_TRANSMISSION_APPROXIMATION",
+    source: "usd-visual",
+    message: `USD 材质 ${t.path} 的常量介质透明已映射为实时透射；保留表面反射；Three.js 透射与反射共用粗糙度，不等同于 PreviewSurface 的零粗糙度透射。不推断壁厚或体积吸收，不保证多层折射与路径追踪等价。`
+  }), a;
+}
+function jt(e, t, n) {
+  var s;
+  const o = { applied: [], unsupported: [], bounded: !1 }, a = me((s = t[0]) == null ? void 0 : s.userData.usdSurfaceShaderPath), h = e.shaders.filter((u) => u.id === "ND_standard_surface_surfaceshader"), f = a ? h.find((u) => u.path === a) : h.length === 1 ? h[0] : void 0;
+  if (!f) return o;
+  const d = (u) => {
+    o.bounded = !0, o.unsupported.push(u), n.diagnostics.droppedFeatures.push({
+      code: "USD_VISUAL_MATERIALX_TRANSPARENCY_UNSUPPORTED",
+      source: "usd-visual",
+      message: `USD 材质 ${e.path} 的 MaterialX ${u} 尚未完整适配；不猜测厚度或生成替代内容。`
+    });
+  }, i = O(f, ["opacity"]);
+  if (B(f, "opacity")) d("connected opacity");
+  else if (Array.isArray(i) && i.length === 3 && i.every((u) => typeof u == "number" && Number.isFinite(u)))
+    if (i[0] !== i[1] || i[1] !== i[2]) d("colored opacity");
+    else if (t.some((u) => !Y(u) || u.alphaMap || u.map)) d("textured coverage");
+    else {
+      const u = Ee(i[0]);
+      for (const p of t)
+        p.opacity = u, p.transparent = u < 1, p.depthWrite = u === 1, p.needsUpdate = !0;
+      o.applied.push("MaterialX.opacity.achromatic-constant");
+    }
+  const r = N(f, ["transmission"]) ?? 0;
+  return B(f, "transmission") && d("connected transmission"), r > 0 && (o.bounded = !0, Array.isArray(i) && i.some((u) => typeof u == "number" && u > 0 && u < 1) && d("fractional coverage + transmission compositing"), ae(f, ["thin_walled"], !1) ? n.diagnostics.approximations.push({
+    code: "USD_VISUAL_MATERIALX_TRANSMISSION_APPROXIMATION",
+    source: "usd-visual",
+    message: `USD 材质 ${e.path} 的 MaterialX 薄壁透射使用 Loader 的实时近似；并非完整 MaterialX 着色器执行。`
+  }) : d("solid transmission / absorption path length")), o;
+}
+async function Yt(e, t, n) {
+  var D;
+  const o = { applied: [], resources: [] }, a = me((D = t[0]) == null ? void 0 : D.userData.usdSurfaceShaderPath), h = e.shaders.filter((P) => Te.test(P.id ?? "")), f = a ? h.find((P) => P.path === a) : h.length === 1 ? h[0] : void 0;
+  if (!f || B(f, "opacityThreshold") || B(f, "opacityMode")) return o;
+  const d = N(f, ["opacityThreshold"]) ?? 0;
+  if (d <= 0 && O(f, ["opacityMode"]) !== "presence") return o;
+  const i = B(f, "opacity");
+  if (!(i != null && i.outputName) || !["r", "g", "b", "a"].includes(i.outputName)) return o;
+  const r = he(e, i);
+  if (!r || r.id !== "UsdUVTexture" || O(r, ["sourceColorSpace"]) !== "raw") return o;
+  const s = B(r, "st"), u = s && he(e, s);
+  if (!u || u.id !== "UsdPrimvarReader_float2" || O(u, ["varname"]) !== "st" || t.some((P) => !Y(P) || P.map)) return o;
+  const p = "rgba".indexOf(i.outputName), y = (P, C) => {
+    if (B(r, P)) return null;
+    const _ = r.inputs[`inputs:${P}`];
+    return _ === void 0 ? C : Array.isArray(_) && _.length === 4 && _.every(Number.isFinite) ? _[p] : null;
+  }, l = y("scale", 1), c = y("bias", 0);
+  if (l === null || c === null) return o;
+  const w = (P) => {
+    const C = O(r, [P]);
+    return C === "repeat" ? q : C === "mirror" ? rt : C === "clamp" ? ot : null;
+  }, g = w("wrapS"), m = w("wrapT"), U = J(O(r, ["file"]));
+  if (!U || g === null || m === null) return o;
+  const E = JSON.stringify([r.path, i.outputName, l, c, g, m, d]);
+  if (t.every((P) => {
+    var C;
+    return Y(P) && ((C = P.alphaMap) == null ? void 0 : C.userData.usdCoverageConversionKey) === E;
+  }))
+    return o.applied.push(`PreviewSurface.opacity.texture.${i.outputName}->g`), o.resources.push({ path: U, status: "available" }), o;
+  const M = await re(U, n);
+  o.resources.push(M.report);
+  let R = null;
+  try {
+    if (!M.url) return o;
+    R = await (n.createTexture ?? oe)(M.url, K);
+    const P = de(R, i.outputName, l, c);
+    P.wrapS = g, P.wrapT = m, P.userData.usdCoverageConversionKey = E;
+    for (const C of t)
+      Y(C) && (C.alphaMap = P, C.opacity = 1, C.alphaTest = d > 0 ? d : 0, C.transparent = d <= 0, C.depthWrite = d > 0, C instanceof ie && (C.transmission = 0), C.needsUpdate = !0);
+    o.applied.push(`PreviewSurface.opacity.texture.${i.outputName}->g`), n.diagnostics.approximations.push({
+      code: "USD_VISUAL_COVERAGE_TEXTURE_APPROXIMATION",
+      source: "usd-visual",
+      message: `USD 材质 ${e.path} 的透明遮罩已按源通道转换；采用 8 位纹理重排，阈值边缘与过滤结果不保证跨渲染器逐像素一致。`
+    });
+  } catch (P) {
+    if (P instanceof Error && P.name === "AbortError") throw P;
+    o.resources[0] = { path: U, status: "decode-failed" };
+  } finally {
+    R == null || R.dispose();
+  }
+  return o;
+}
+async function Xt(e, t, n, o) {
+  var R;
+  const a = { applied: [], resolved: [], resources: [] }, h = me((R = t[0]) == null ? void 0 : R.userData.usdSurfaceShaderPath), f = e.shaders.find((D) => D.path === h) ?? e.shaders.find((D) => D.id === "UsdPreviewSurface");
+  if (!f || f.id !== "UsdPreviewSurface") return a;
+  const d = B(f, "roughness");
+  if (!d || !d.outputName || !["r", "g", "b", "a"].includes(d.outputName)) return a;
+  const i = he(e, d);
+  if (!i || i.id !== "UsdUVTexture") return a;
+  const r = `Texture output ${d.outputName} from ${i.path} cannot be mapped to Three.js roughness without channel repacking.`;
+  if (!n.includes(r) || O(i, ["sourceColorSpace"]) !== "raw") return a;
+  const s = B(i, "st");
+  if (s) {
+    const D = he(e, s);
+    if ((D == null ? void 0 : D.id) !== "UsdPrimvarReader_float2" || O(D, ["varname"]) !== "st") return a;
+  } else if (i.inputs["inputs:st"] !== void 0) return a;
+  const u = "rgba".indexOf(d.outputName);
+  function p(D, P) {
+    if (B(i, D)) return null;
+    const C = i.inputs[`inputs:${D}`];
+    return C === void 0 ? P : Array.isArray(C) && C.length === 4 && C.every(Number.isFinite) ? C[u] : null;
+  }
+  const y = p("scale", 1), l = p("bias", 0);
+  if (y === null || l === null) return a;
+  function c(D) {
+    if (B(i, D)) return null;
+    const P = i.inputs[`inputs:${D}`];
+    return P === "repeat" ? q : P === "mirror" ? rt : P === "clamp" ? ot : null;
+  }
+  const w = c("wrapS"), g = c("wrapT");
+  if (w === null || g === null) return a;
+  const m = J(O(i, ["file"]));
+  if (!m) return a;
+  const U = t.filter(Y);
+  if (!U.length) return a;
+  if (U.every((D) => {
+    var P;
+    return ((P = D.roughnessMap) == null ? void 0 : P.userData.usdResolvedChannelDiagnostic) === r;
+  }))
+    return a.applied.push(`roughness.texture.${d.outputName}->g`), a.resolved.push(r), a;
+  if (U.some((D) => D.roughnessMap !== null)) return a;
+  const E = await re(m, o);
+  a.resources.push(E.report);
+  let M = null;
+  if (E.url)
+    try {
+      M = await (o.createTexture ?? oe)(E.url, K);
+      const D = de(M, d.outputName, y, l);
+      D.wrapS = w, D.wrapT = g, D.userData.usdResolvedChannelDiagnostic = r;
+      for (const P of U)
+        P.roughnessMap = D, P.roughness = 1, P.needsUpdate = !0;
+      a.applied.push(`roughness.texture.${d.outputName}->g`), a.resolved.push(r);
+    } catch (D) {
+      if (D instanceof Error && D.name === "AbortError") throw D;
+      a.resources[0] = { path: m, status: "decode-failed" };
+    } finally {
+      M == null || M.dispose();
+    }
+  return Be(o.diagnostics, e.path, f, [], /* @__PURE__ */ new Set(), a.resources, "preserved"), a;
+}
+function Ht(e) {
+  const t = /* @__PURE__ */ new Map(), n = /* @__PURE__ */ new Set();
+  return e.scene.traverse((o) => {
+    if (o instanceof te)
+      for (const a of Array.isArray(o.material) ? o.material : [o.material]) {
+        if (n.has(a)) continue;
+        n.add(a);
+        const h = me(a.userData.usdMaterialPath);
+        if (!h) continue;
+        const f = t.get(h);
+        f ? f.push(a) : t.set(h, [a]);
+      }
+  }), t;
+}
+function Le(e) {
+  const t = e.shaders.filter((n) => /^PxrSurface$/i.test(n.id ?? "") || xe(n) || je(n));
+  return t.length === 1 ? t[0] : null;
+}
+function je(e) {
+  var o;
+  const t = J(e.inputs["info:mdl:sourceAsset"]), n = e.inputs["info:mdl:sourceAsset:subIdentifier"];
+  return ((o = t == null ? void 0 : t.replaceAll("\\", "/").split("/").at(-1)) == null ? void 0 : o.toLowerCase()) === "omniglass.mdl" && (n === void 0 || n === "OmniGlass");
+}
+function qt(e, t, n) {
+  const o = { applied: [], unsupported: /* @__PURE__ */ new Set() }, a = /* @__PURE__ */ new Set(["glass_color", "glass_ior", "frosting_roughness", "thin_walled", "reflection_color", "enable_opacity", "cutout_opacity", "opacity_constant", "opacity_threshold"]);
+  for (const [m, U] of Object.entries(n.inputs)) {
+    if (!m.startsWith("inputs:")) continue;
+    const E = m.slice(7);
+    a.has(E) || ["glass_color_texture", "roughness_texture", "normalmap_texture"].includes(E) && !J(U) || o.unsupported.add(`OmniGlass.${E}`);
+  }
+  const h = (m) => (o.unsupported.add(`OmniGlass.${m}`), o);
+  for (const m of a) if (B(n, m)) return h(`${m}.connection`);
+  const f = N(n, ["glass_ior"]) ?? 1.491, d = N(n, ["frosting_roughness"]) ?? 0, i = O(n, ["thin_walled"]) ?? !1, r = O(n, ["glass_color"]) ?? [1, 1, 1], s = O(n, ["reflection_color"]) ?? [1, 1, 1];
+  if (!Array.isArray(s) || s.length !== 3 || !s.every((m) => typeof m == "number" && Number.isFinite(m) && m >= 0 && m <= 1)) return h("reflection_color.range");
+  if (O(n, ["glass_ior"]) !== void 0 && N(n, ["glass_ior"]) === null || f < 1 || f > 2.333) return h("glass_ior.range");
+  if (O(n, ["frosting_roughness"]) !== void 0 && N(n, ["frosting_roughness"]) === null || d < 0 || d > 1) return h("frosting_roughness.range");
+  if (typeof i != "boolean") return h("thin_walled.type");
+  if (!Array.isArray(r) || r.length !== 3 || !r.every((m) => typeof m == "number" && Number.isFinite(m) && m >= 0 && m <= 1)) return h("glass_color.range");
+  if (t.some((m) => !Y(m))) return h("non-standard-loader-material");
+  if (t.some((m) => Y(m) && (m.map || m.alphaMap || m.roughnessMap || m.metalnessMap))) return h("existing-loader-texture-semantics");
+  i || o.unsupported.add("OmniGlass.solid_volume_absorption"), i && r.some((m) => m !== 1) && o.unsupported.add("OmniGlass.tint_reflection_coupling"), !i && r.some((m) => m !== 1) && o.unsupported.add("OmniGlass.glass_color.volume");
+  const u = O(n, ["enable_opacity"]) ?? !1;
+  if (typeof u != "boolean") return h("enable_opacity.type");
+  const p = N(n, ["cutout_opacity"]), y = N(n, ["opacity_constant"]);
+  if (u && p !== null && y !== null && Math.abs(p - y) > 1e-6) return h("opacity.alias-conflict");
+  for (const m of ["cutout_opacity", "opacity_constant", "opacity_threshold"]) if (u && O(n, [m]) !== void 0 && N(n, [m]) === null) return h(`${m}.type`);
+  const l = u ? p ?? y ?? 1 : 1, c = u ? N(n, ["opacity_threshold"]) ?? 0 : 0;
+  if (l < 0 || l > 1 || c < 0 || c > 1) return h("opacity.range");
+  if (u && (J(O(n, ["opacity_texture"])) || B(n, "opacity_texture"))) return h("opacity_texture");
+  const w = c > 0 ? l >= c ? 1 : 0 : l, g = /* @__PURE__ */ new Map();
+  for (const m of t) {
+    const U = m instanceof ie ? m : new ie();
+    U !== m && (ze.prototype.copy.call(U, m), U.defines = { STANDARD: "", PHYSICAL: "" }, g.set(m, U)), U.color.setRGB(...i ? r : [1, 1, 1]), U.specularColor.setRGB(...s), U.metalness = 0, U.roughness = d, U.ior = f, U.opacity = w, U.transparent = c === 0 && w < 1, U.alphaTest = c > 0 ? 0.5 : 0, U.transmission = 1, U.thickness = 0, U.depthWrite = !U.transparent, U.attenuationColor.setRGB(1, 1, 1), U.attenuationDistance = 1 / 0, U.needsUpdate = !0;
+  }
+  e.scene.traverse((m) => {
+    m instanceof te && (m.material = Array.isArray(m.material) ? m.material.map((U) => g.get(U) ?? U) : g.get(m.material) ?? m.material);
+  }), t.forEach((m, U) => {
+    t[U] = g.get(m) ?? m;
+  });
+  for (const m of g.keys()) m.dispose();
+  return o.applied.push("OmniGlass.reflection_color.specular-approximation", "OmniGlass.glass_ior", "OmniGlass.frosting_roughness", "OmniGlass.surface_transmission"), u && o.applied.push("OmniGlass.opacity.constant-coverage"), w > 0 && w < 1 && o.unsupported.add("OmniGlass.fractional_coverage_transmission_compositing"), i && o.applied.push("OmniGlass.thin_walled", "OmniGlass.glass_color.surface-approximation"), o;
+}
+async function Jt(e, t, n, o) {
+  const a = [], h = ["normalmap_texture", "normalmap_texture_colorspace", "bump_factor", "flip_tangent_u", "flip_tangent_v"], f = () => h.forEach((c) => n.unsupported.delete(`OmniGlass.${c}`));
+  if (h.some((c) => B(t, c))) return a;
+  const d = J(O(t, ["normalmap_texture"]));
+  if (!d)
+    return f(), a;
+  const i = N(t, ["bump_factor"]) ?? 1;
+  if (O(t, ["bump_factor"]) !== void 0 && N(t, ["bump_factor"]) === null || i < 0) return a;
+  if (i === 0)
+    return f(), a;
+  const r = O(t, ["flip_tangent_u"]) ?? !1, s = O(t, ["flip_tangent_v"]) ?? !0;
+  if (typeof r != "boolean" || typeof s != "boolean" || O(t, ["normalmap_texture_colorspace"]) !== "raw" || ["project_uvw", "world_or_object", "uv_space_index", "texture_scale", "texture_translate", "texture_rotate"].some((c) => B(t, c)) || !ue(t, /* @__PURE__ */ new Set())) return a;
+  const p = e.filter((c) => c instanceof ie);
+  if (!p.length || p.some((c) => c.normalMap))
+    return n.unsupported.add("OmniGlass.existing_normalMap"), a;
+  const y = await re(d, o);
+  if (a.push(y.report), !y.url) return a;
+  let l = null;
+  try {
+    l = await (o.createTexture ?? oe)(y.url, K), l.colorSpace = K, l.wrapS = q, l.wrapT = q, l.channel = 0;
+    for (const c of p)
+      c.normalMap = l, c.normalScale.set(i * (r ? -1 : 1), i * (s ? -1 : 1)), c.needsUpdate = !0;
+    f(), n.applied.push("OmniGlass.normalmap_texture", "OmniGlass.normal.tangent_convention"), l = null;
+  } catch (c) {
+    if (c instanceof Error && c.name === "AbortError") throw c;
+    a[0] = { path: d, status: "decode-failed" };
+  } finally {
+    l == null || l.dispose();
+  }
+  return a;
+}
+async function Qt(e, t, n, o) {
+  const a = [], h = J(O(t, ["roughness_texture"]));
+  if (!h) return a;
+  const f = N(t, ["roughness_texture_influence"]) ?? 1;
+  if (B(t, "roughness_texture_influence") || f < 0 || f > 1 || O(t, ["roughness_texture_influence"]) !== void 0 && N(t, ["roughness_texture_influence"]) === null) return a;
+  if (f === 0)
+    return n.unsupported.delete("OmniGlass.roughness_texture"), n.unsupported.delete("OmniGlass.roughness_texture_influence"), a;
+  if (O(t, ["roughness_texture_colorspace"]) !== "raw" || ["project_uvw", "uv_space_index", "texture_scale", "texture_translate", "texture_rotate"].some((u) => B(t, u)) || !ue(t, /* @__PURE__ */ new Set())) return a;
+  const r = await re(h, o);
+  if (a.push(r.report), !r.url) return a;
+  let s = null;
+  try {
+    s = await (o.createTexture ?? oe)(r.url, K);
+    const u = N(t, ["frosting_roughness"]) ?? 0, p = de(s, "grayscale", f, u * (1 - f));
+    p.wrapS = q, p.wrapT = q;
+    for (const y of e) y instanceof ie && (y.roughnessMap = p, y.roughness = 1, y.needsUpdate = !0);
+    n.applied.push("OmniGlass.roughness_texture.grayscale-linear-blend");
+    for (const y of ["roughness_texture", "roughness_texture_influence", "roughness_texture_colorspace"]) n.unsupported.delete(`OmniGlass.${y}`);
+  } catch (u) {
+    if (u instanceof Error && u.name === "AbortError") throw u;
+    n.unsupported.add("OmniGlass.roughness_texture.pixel-conversion");
+  } finally {
+    s == null || s.dispose();
+  }
+  return a;
+}
+function xe(e) {
+  var n;
+  const t = J(e.inputs["info:mdl:sourceAsset"]);
+  return ((n = t == null ? void 0 : t.replaceAll("\\", "/").split("/").at(-1)) == null ? void 0 : n.toLowerCase()) === "omnipbr.mdl";
+}
+function it(e) {
+  return xe(e) ? "OmniPBR" : je(e) ? "OmniGlass" : e.id;
+}
+function ue(e, t) {
+  const n = Ke(e, "texture_scale", [1, 1]), o = Ke(e, "texture_translate", [0, 0]), a = N(e, ["texture_rotate"]) ?? 0, h = ae(e, ["project_uvw"], !1), f = N(e, ["uv_space_index"]) ?? 0, d = !h && f === 0 && n[0] === 1 && n[1] === 1 && o[0] === 0 && o[1] === 0 && a === 0;
+  return d || t.add("OmniPBR.uvTransform"), d;
+}
+async function Kt(e, t, n, o, a, h) {
+  const f = () => {
+    for (const y of ["ao_texture", "ao_texture_colorspace", "ao_to_diffuse"]) o.delete(`OmniPBR.${y}`);
+  };
+  if (B(t, "ao_to_diffuse"))
+    return o.add("OmniPBR.ao_to_diffuse.connection"), !1;
+  const d = N(t, ["ao_to_diffuse"]) ?? 0;
+  if (O(t, ["ao_to_diffuse"]) !== void 0 && N(t, ["ao_to_diffuse"]) === null || d < 0 || d > 1)
+    return o.add("OmniPBR.ao_to_diffuse.range"), !1;
+  if (d === 0)
+    return f(), !1;
+  if (B(t, "enable_ORM_texture"))
+    return o.add("OmniPBR.enable_ORM_texture.connection"), !1;
+  const i = ae(t, ["enable_ORM_texture"], !1), r = i ? "ORM_texture" : "ao_texture";
+  if (B(t, r))
+    return o.add(`OmniPBR.${r}.connection`), !1;
+  const s = J(O(t, [r]));
+  if (!s)
+    return f(), !1;
+  if (O(t, [`${r}_colorspace`]) !== "raw")
+    return o.add(`OmniPBR.${r}_colorspace`), !1;
+  if (!ue(t, o)) return !1;
+  const u = await re(s, h);
+  if (a.push(u.report), !u.url) return !1;
+  let p = null;
+  try {
+    p = await (h.createTexture ?? oe)(u.url, K);
+    const y = de(p, i ? "r" : "grayscale");
+    y.wrapS = q, y.wrapT = q, y.channel = 0;
+    const l = e.filter(Y).filter((c) => !c.aoMap);
+    if (!l.length)
+      return y.dispose(), o.add("OmniPBR.existing_aoMap"), !1;
+    for (const c of l)
+      c.aoMap = y, c.aoMapIntensity = d, c.needsUpdate = !0;
+    return f(), n.push(i ? "OmniPBR.ORM.r.aoMap" : "OmniPBR.ao_texture.aoMap"), h.diagnostics.approximations.push({ code: "USD_VISUAL_AO_LIGHTING_APPROXIMATION", source: "usd-visual", message: `USD 材质 AO 已映射为 Three.js 间接光遮蔽（${t.path}）；并非 OmniPBR 对漫反射贴图的等价调制。` }), !0;
+  } catch (y) {
+    if (y instanceof Error && y.name === "AbortError") throw y;
+    return o.add(`OmniPBR.${r}.pixel-conversion`), !1;
+  } finally {
+    p == null || p.dispose();
+  }
+}
+function Zt(e, t) {
+  const n = /* @__PURE__ */ new Set([
+    "inputs:diffuse_color_constant",
+    "inputs:diffuse_texture",
+    "inputs:reflection_roughness_constant",
+    "inputs:metallic_constant",
+    "inputs:opacity_constant",
+    "inputs:enable_opacity",
+    "inputs:enable_emission",
+    "inputs:emissive_color",
+    "inputs:emissive_intensity",
+    "inputs:texture_scale",
+    "inputs:texture_translate",
+    "inputs:texture_rotate",
+    "inputs:project_uvw",
+    "inputs:uv_space_index",
+    "info:mdl:sourceAsset",
+    "inputs:enable_ORM_texture",
+    "inputs:ORM_texture",
+    "inputs:metallic_texture_influence",
+    "inputs:reflection_roughness_texture_influence",
+    "inputs:ao_to_diffuse",
+    "inputs:diffuse_tint",
+    "inputs:normalmap_texture",
+    "inputs:bump_factor",
+    "inputs:flip_tangent_u",
+    "inputs:flip_tangent_v",
+    "inputs:reflectionroughness_texture",
+    "inputs:metallic_texture",
+    "inputs:opacity_texture"
+  ]);
+  (N(e, ["specular_level"]) ?? 0.5) !== 0.5 && t.add("OmniPBR.specular_level"), n.add("inputs:specular_level");
+  const o = /* @__PURE__ */ new Set(["inputs:opacity_mode", "inputs:opacity_threshold", "inputs:enable_opacity_texture"]);
+  ae(e, ["enable_emission"], !1) && t.add("OmniPBR.emission_radiometric_equivalence");
+  const a = {
+    "inputs:albedo_desaturation": 0,
+    "inputs:albedo_add": 0,
+    "inputs:albedo_brightness": 1,
+    "inputs:world_or_object": !1
+  };
+  for (const h of Object.keys(e.inputs))
+    h in a && e.inputs[h] === a[h] || !n.has(h) && !o.has(h) && t.add(`OmniPBR.${h.replace(/^inputs:/, "")}`);
+}
+function en(e, t, n) {
+  let o = !1;
+  const a = xe(t), h = Ne(t, ["diffuseColor", "baseColor", "base_color", "diffuse_color_constant"]), f = N(t, ["roughness", "specularRoughness", "specular_roughness", "reflection_roughness_constant"]) ?? (a ? 0.5 : null), d = N(t, ["metallic", "metalness", "metallicFactor", "metallic_constant"]) ?? (a ? 0 : null), i = N(t, ["opacity_threshold"]) ?? 0, r = ae(t, ["enable_opacity"], !1) && i >= 0, s = N(t, ["opacity", "presence", "opacity_constant"]) ?? (a ? 1 : null), u = a ? r ? i > 0 ? s >= i ? 1 : 0 : s : 1 : s, p = ae(t, ["enable_emission"], !a), y = p ? Ne(t, ["emissiveColor", "emissionColor", "emission_color", "emissive_color"]) : null;
+  for (const l of e)
+    Y(l) && (h && (l.color.copy(h), o = !0), f !== null && (l.roughness = Ee(f), o = !0), d !== null && (l.metalness = Ee(d), o = !0), u !== null && (l.opacity = Ee(u), l.transparent = l.opacity < 1, l.depthWrite = l.opacity >= 1, o = !0), a && !p && (l.emissive.setRGB(0, 0, 0), l.emissiveIntensity = 0), y && (l.emissive.copy(y), a && (l.emissiveIntensity = Math.max(0, N(t, ["emissive_intensity"]) ?? 40)), o = !0), o && (l.needsUpdate = !0));
+  return h && n.push("diffuseColor.constant"), f !== null && n.push("roughness.constant"), d !== null && n.push("metalness.constant"), u !== null && n.push("opacity.constant"), y && n.push("emissiveColor.constant"), o;
+}
+function tn(e, t, n) {
+  const o = /* @__PURE__ */ new Set(), a = (h) => {
+    if (o.has(h.path)) return;
+    o.add(h.path);
+    const f = he(e, h);
+    if (!f) {
+      n.add(h.path);
+      return;
+    }
+    if (!ct(f)) {
+      n.add(f.id ?? f.path);
+      for (const [d, i] of Object.entries(f.inputs)) {
+        if (!d.endsWith(".resolvedConnect") && !d.endsWith(".connect")) continue;
+        const r = Ve(i);
+        r && a(r);
+      }
+    }
+  };
+  for (const [h, f] of Object.entries(t.inputs)) {
+    if (!h.endsWith(".resolvedConnect") && !h.endsWith(".connect") || /(?:diffuseColor|baseColor)/i.test(h)) continue;
+    const d = Ve(f);
+    d && a(d);
+  }
+}
+async function re(e, t) {
+  const n = xt(t.entryDirectory ? `${t.entryDirectory}/${e}` : e);
+  let o = t.files.find(e, t.entryDirectory ?? "") ?? t.files.find(n);
+  if (!o)
+    try {
+      await t.files.ensure(n), o = t.files.find(n) ?? t.files.find(e, t.entryDirectory ?? "");
+    } catch (a) {
+      const h = a == null ? void 0 : a.code;
+      if (a instanceof Error && a.name === "AbortError" || h === "E_ASSET_AUTH") throw a;
+      const f = h === "E_ASSET_RESOURCE_NOT_FOUND" || /\((404|410)\)/.test(String(a));
+      return { report: { path: e, status: f ? "missing" : "unresolved" }, url: null };
+    }
+  return o ? Vt.has(sn(e)) ? { report: { path: e, status: "available" }, url: t.files.objectUrl(o) } : { report: { path: e, status: "unsupported-format" }, url: null } : { report: { path: e, status: "unresolved" }, url: null };
+}
+function Be(e, t, n, o, a, h, f) {
+  f === "augmented" && e.approximations.push({
+    code: "USD_VISUAL_MATERIAL_AUGMENTED",
+    message: `USD 材质 ${t}（${it(n) ?? "renderer-specific shader"}）已通过视觉适配层映射资产明确提供的输入：${we(o).join(", ")}。这是有限范围的材质映射，不保证与原渲染器完全等价；原始 Loader 诊断保留在 visualAdaptation 报告中。`,
+    source: "usd-visual"
+  });
+  for (const i of h)
+    i.status === "missing" && e.warnings.push({
+      code: "USD_VISUAL_RESOURCE_MISSING",
+      message: `USD 材质资源缺失：${i.path}（${t}）。未生成替代内容。`,
+      source: "usd-visual"
+    }), i.status === "unsupported-format" && e.droppedFeatures.push({
+      code: "USD_VISUAL_TEXTURE_FORMAT_UNSUPPORTED",
+      message: `USD 材质纹理格式无法由浏览器直接消费：${i.path}（${t}）。需要离线确定性转码。`,
+      source: "usd-visual"
+    }), i.status === "decode-failed" && e.warnings.push({
+      code: "USD_VISUAL_TEXTURE_DECODE_FAILED",
+      message: `USD 纹理解码失败：${i.path}（${t}）。保留原材质。`,
+      source: "usd-visual"
+    }), i.status === "unresolved" && e.warnings.push({
+      code: "USD_VISUAL_RESOURCE_UNRESOLVED",
+      message: `无法确认 USD 材质资源是否可用：${i.path}（${t}）。未生成替代内容。`,
+      source: "usd-visual"
+    });
+  const d = {
+    "OmniGlass.solid_volume_absorption": "实体玻璃目前仅渲染表面透射：缺少可靠的内部光程，未实现体积吸收。未推断或生成壁厚",
+    "OmniGlass.glass_color.volume": "源玻璃颜色用于体积吸收，当前未还原该体积颜色；未用表面染色替代",
+    "OmniGlass.depth": "源 depth 是体积吸收缩放，不能直接当作 Three.js 壁厚或衰减距离；此输入尚未映射",
+    "OmniGlass.fractional_coverage_transmission_compositing": "覆盖率与透射参数已映射，但其组合使用实时合成近似，不保证与 MDL 渲染等价",
+    "OmniGlass.tint_reflection_coupling": "薄壁玻璃颜色已作表面近似，其反射与透射颜色响应不保证与 MDL 等价"
+  };
+  for (const i of a) e.droppedFeatures.push({
+    code: "USD_VISUAL_SHADER_NODE_UNSUPPORTED",
+    message: d[i] ? `USD 材质 ${t}：${d[i]}。` : `USD 材质功能或节点 ${i} 尚未完成浏览器适配（${t}）。未生成替代内容。`,
+    source: "usd-visual"
+  });
+}
+function nn(e) {
+  const t = O(e, ["filename", "file"]), n = J(t);
+  return n ? { shader: e, path: n } : null;
+}
+function B(e, t) {
+  return Ve(e.inputs[`inputs:${t}.resolvedConnect`] ?? e.inputs[`inputs:${t}.connect`]);
+}
+function Ve(e) {
+  const t = Array.isArray(e) ? e[0] : e;
+  if (typeof t != "string") return null;
+  const n = /^(.*?)(?:\.outputs:([^/]+))?$/.exec(t);
+  return n ? { path: n[1], outputName: n[2] ?? null } : null;
+}
+function he(e, t) {
+  return e.shaders.find((n) => n.path === t.path) ?? null;
+}
+function ct(e) {
+  return e.id === "PxrTexture";
+}
+function Y(e) {
+  return e instanceof ze || e instanceof ie;
+}
+async function oe(e, t) {
+  const n = await new wt().loadAsync(e);
+  return n.colorSpace = t, n.flipY = !0, n;
+}
+function Ne(e, t) {
+  const n = O(e, t);
+  if (!Array.isArray(n) || n.length < 3) return null;
+  const o = n.slice(0, 3);
+  return o.every((a) => typeof a == "number" && Number.isFinite(a)) ? new st(o[0], o[1], o[2]) : null;
+}
+function ae(e, t, n) {
+  const o = O(e, t);
+  return typeof o == "boolean" ? o : n;
+}
+function Ke(e, t, n) {
+  const o = O(e, [t]);
+  return Array.isArray(o) && o.length >= 2 && o.slice(0, 2).every((a) => typeof a == "number" && Number.isFinite(a)) ? [o[0], o[1]] : n;
+}
+function N(e, t) {
+  const n = O(e, t), o = typeof n == "number" ? n : Number.NaN;
+  return Number.isFinite(o) ? o : null;
+}
+function O(e, t) {
+  for (const n of t) {
+    if (B(e, n)) return;
+    const o = e.inputs[`inputs:${n}`];
+    if (o !== void 0) return o;
+  }
+}
+function J(e) {
+  if (typeof e == "string") return e;
+  if (!e || typeof e != "object") return null;
+  for (const t of ["path", "resolvedPath", "url"]) {
+    const n = e[t];
+    if (typeof n == "string" && n) return n;
+  }
+  return null;
+}
+function Ze(e, t) {
+  return e.data.elements.some((n) => n.material === t && n.geometry.displayColor !== null);
+}
+function sn(e) {
+  var t, n;
+  return ((n = (t = e.split(/[?#]/, 1)[0]) == null ? void 0 : t.split(".").pop()) == null ? void 0 : n.toLowerCase()) ?? "";
+}
+function Ee(e) {
+  return Math.min(1, Math.max(0, e));
+}
+function Re(e) {
+  return Array.isArray(e) ? e.filter(ke) : [];
+}
+function me(e) {
+  return typeof e == "string" && e ? e : null;
+}
+function ke(e) {
+  return typeof e == "string" && e.length > 0;
+}
+function we(e) {
+  return [...new Set(e)];
+}
+async function On(e, t, n) {
+  var w;
+  mn();
+  const o = n.hasLocalFiles(), a = e.entryPath ?? e.filename ?? "asset.usd", h = o ? a : await yn(e, a), f = o ? n.getBlob(a) : await _n(e), d = a.split("/").pop() || "asset.usd", i = a.split("/").slice(0, -1).join("/"), r = Nt(t.options.openUsdBaseUrl), s = e.hasResourceResolver && !o ? await new Mt().load(r) : void 0;
+  s && await Un(s, e, f, d, n);
+  const u = new It({
+    convertZUp: !1,
+    loadLights: !1,
+    preserveStage: !0,
+    ...s ? { pxr: s } : r ? { pxrOptions: r } : {}
+  });
+  let p = null, y = null, l = null, c = null;
+  try {
+    if (p = await u.parseAsync(f, {
+      sourcePath: h,
+      fileName: d,
+      files: o || e.hasResourceResolver ? n.asSourceRecord(i) : void 0,
+      // A local package is the complete browser-visible file set. Resolving it
+      // through fetch would both hide missing uploads and accept SPA fallback
+      // responses as binary USD layers.
+      autoResolveAssets: !o && !e.hasResourceResolver,
+      // USD layer references are authoritative; disable directory guessing because SPA fallback pages may be returned as HTTP 200.
+      assetSearchRoots: [],
+      textureResolver: o || e.hasResourceResolver ? (v) => {
+        for (const z of [v.resolvedPath, v.path, v.url])
+          if (z) {
+            const S = n.objectUrlIfPresent(z, i);
+            if (S) return S;
+          }
+        return null;
+      } : void 0,
+      preserveStage: !0
+    }), t.signal.aborted) throw Fe();
+    const g = hn(p);
+    p.scene.scale.multiplyScalar(g.metersPerUnit), p.data.stage.upAxis.toUpperCase() === "Y" && p.scene.quaternion.setFromAxisAngle(new T(1, 0, 0), Math.PI / 2), p.scene.updateMatrixWorld(!0);
+    const m = p.data.physics.rigidBodies.filter((v) => v.enabled), U = pt(p, m.map((v) => v.path)), E = Dt(), M = await Wt(p, {
+      files: n,
+      entryDirectory: i,
+      sourcePath: h,
+      isLocalPackage: o,
+      diagnostics: E
+    });
+    if (t.signal.aborted) throw Fe();
+    Tt(p);
+    const R = rn(E);
+    m.some((v) => v.startsAsleep === !0) && E.droppedFeatures.push({ code: "E_USD_STARTS_ASLEEP", message: "USD startsAsleep 无法在 MuJoCo 初始化阶段保证完全等价，已按正常初始状态加载。", source: "usd-physics" });
+    const D = Pt({
+      id: h,
+      name: h.split("/").pop() ?? h,
+      source: { format: "usd", uri: h },
+      links: m.map((v) => ({ id: v.path, name: v.name, visuals: [], collisions: [] })),
+      joints: U.flatMap((v) => v.body0 && v.body1 ? [{
+        id: v.path,
+        type: v.jointType,
+        parent: v.body0,
+        child: v.body1,
+        origin: { position: v.localPos1.map((z) => z * g.metersPerUnit), rotationRpy: [0, 0, 0] },
+        axis: ft(v.axis).applyQuaternion(Ue(v.localRot1 ?? [1, 0, 0, 0])).toArray(),
+        ...Number.isFinite(v.lowerLimit) && Number.isFinite(v.upperLimit) ? { limits: {
+          lower: v.lowerLimit * (v.jointType === "revolute" ? Math.PI / 180 : g.metersPerUnit),
+          upper: v.upperLimit * (v.jointType === "revolute" ? Math.PI / 180 : g.metersPerUnit)
+        } } : {}
+      }] : []),
+      diagnostics: E,
+      extension: { rigidBodyCount: m.length, jointCount: U.length, visualAdaptation: M }
+    });
+    if (m.length === 0) {
+      const v = et(p, E), z = p.scene, S = p;
+      return l = { root: z, sync() {
+      }, dispose() {
+        S.dispose();
+      } }, p = null, Ge(D, l, !1, () => {
+      }, void 0, void 0, v, R);
+    }
+    let P;
+    try {
+      P = pn(p, m.map((z) => z.path), g, U), (w = P.massOverrides) != null && w.length && E.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: v } = await import("./mujoco-runtime-C29PXDOl.js");
+      y = new v(), await y.initialize(P, t.options.mujocoBaseUrl), t.signal.throwIfAborted();
+    } catch (v) {
+      const z = At(v, t.signal, "usd-physics");
+      y == null || y.dispose(), y = null, E.droppedFeatures.push(z);
+      const S = et(p, E), I = p.scene, x = p;
+      return l = { root: I, sync() {
+      }, dispose() {
+        x.dispose();
+      } }, p = null, Ge(D, l, !1, () => {
+      }, void 0, z, S, R);
+    }
+    const C = c = cn(p, m.map((v) => v.path), E);
+    if (t.signal.aborted) throw Fe();
+    l = new Qe(y, C);
+    const _ = ut(p, m.map((v) => v.path), E), b = _ ? new Qe(y, _) : void 0;
+    c = null;
+    const A = p, L = y, W = l;
+    return p = null, y = null, l = null, Ge(D, W, !0, () => {
+      L.dispose(), A.dispose();
+    }, L, void 0, b, R);
+  } catch (g) {
+    throw c && at(c.root), l == null || l.dispose(), y == null || y.dispose(), p == null || p.dispose(), g;
+  }
+}
+function rn(e) {
+  const t = [
+    "USD_VISUAL_RESOURCE_MISSING",
+    "USD_VISUAL_TEXTURE_FORMAT_UNSUPPORTED",
+    "USD_VISUAL_RESOURCE_UNRESOLVED",
+    "USD_VISUAL_TEXTURE_DECODE_FAILED",
+    "USD_VISUAL_SHADER_NODE_UNSUPPORTED",
+    "USD_VISUAL_LOADER_DIAGNOSTIC",
+    "USD_VISUAL_TOPOLOGY_UNSUPPORTED"
+  ], n = [...e.warnings, ...e.droppedFeatures, ...e.approximations];
+  for (const o of t) {
+    const a = n.find((h) => h.code === o);
+    if (a) return a;
+  }
+}
+function Ge(e, t, n, o, a, h, f, d) {
+  let i = !1;
+  return {
+    asset: e,
+    binding: t,
+    hasPhysics: n,
+    runtime: a,
+    fallback: h,
+    visualWarning: d,
+    collision: f,
+    step(r) {
+      if (!a) return !1;
+      const s = a.step(r);
+      return s && t.sync(), s;
+    },
+    reset() {
+      a == null || a.reset(), t.sync();
+    },
+    dispose() {
+      i || (i = !0, f == null || f.dispose(), t.dispose(), o());
+    }
+  };
+}
+const on = /* @__PURE__ */ new Set([
+  "E_USD_PHYSICS_UNSUPPORTED",
+  "E_USD_UNBAKED_BODY_SCALE",
+  "E_USD_INVALID_JOINT_REFERENCE",
+  "E_USD_UNSUPPORTED_JOINT",
+  "E_USD_MULTIPLE_PARENTS",
+  "E_USD_JOINT_CYCLE",
+  "E_USD_UNSUPPORTED_DRIVE",
+  "E_USD_INVALID_MASS",
+  "E_USD_PARTIAL_INERTIA",
+  "E_USD_MISSING_COLLISION_GEOMETRY",
+  "E_USD_UNREACHABLE_BODIES",
+  "E_USD_MULTIPLE_PHYSICS_SCENES",
+  "E_USD_NONUNIFORM_RADIAL_SCALE",
+  "E_USD_UNSUPPORTED_GEOMETRY",
+  "E_USD_CONSTRAINED_INITIAL_VELOCITY",
+  "E_USD_UNSUPPORTED_APPROXIMATION"
+]);
+function In(e) {
+  const t = an(e);
+  return t !== null && on.has(t);
+}
+function an(e) {
+  if (!e || typeof e != "object" || !("code" in e)) return null;
+  const t = e.code;
+  return typeof t == "string" ? t : null;
+}
+function cn(e, t, n) {
+  e.scene.updateMatrixWorld(!0);
+  const o = new Ie();
+  o.name = "USD simulation";
+  const a = /* @__PURE__ */ new Map(), h = /* @__PURE__ */ new Map();
+  for (const i of t) {
+    const r = e.index.objectsByPath.get(i);
+    if (!r) throw $(`USD rigid body node is missing: ${i}`, "E_USD_PHYSICS_UNSUPPORTED");
+    const s = new Ie();
+    s.name = i, o.add(s), a.set(i, s);
+    const u = new T(), p = new ee();
+    r.matrixWorld.decompose(u, p, new T()), h.set(i, new pe().compose(u, p, new T(1, 1, 1)));
+  }
+  const f = ln(e, t, n), d = [];
+  e.scene.traverse((i) => {
+    var y;
+    if (!(i instanceof te) || i.userData.usdPurposeExcluded) return;
+    let r = i, s, u, p = !0;
+    for (; r; ) {
+      p && (p = r.visible);
+      const l = (y = r.userData.usd) == null ? void 0 : y.path;
+      !u && l && (u = l), !s && l && a.has(l) && (s = l), r = r.parent;
+    }
+    !s && u && (s = f.get(lt(u))), p && d.push([i, s]);
+  });
+  for (const [i, r] of d) {
+    const s = i.clone(!1);
+    s.geometry = i.geometry.clone(), s.material = Array.isArray(i.material) ? i.material.map((u) => u.clone()) : i.material.clone(), s.matrix.copy(r ? h.get(r) : new pe()).invert().multiply(i.matrixWorld), s.matrix.decompose(s.position, s.quaternion, s.scale), (r ? a.get(r) : o).add(s);
+  }
+  return { root: o, bindings: a, expectedLinkCount: a.size };
+}
+function ln(e, t, n) {
+  var i, r;
+  const o = /* @__PURE__ */ new Map(), a = /* @__PURE__ */ new Map(), h = e.stage, f = e.pxr;
+  if (!h || !((i = f == null ? void 0 : f.Sdf) != null && i.Path) || !((r = e.data.view) != null && r.prims)) return o;
+  const d = new Set(e.data.view.prims.map((s) => s.path));
+  for (const s of t) {
+    const u = `${s}/Visual/`;
+    for (const p of d) {
+      if (!p.startsWith(u)) continue;
+      const y = h.GetPrimAtPath(new f.Sdf.Path(p));
+      try {
+        const l = y.GetMetadata("references"), c = typeof l == "string" ? l : l == null ? void 0 : l.string;
+        if (c == null) {
+          n == null || n.warnings.push({ code: "USD_VISUAL_REFERENCE_MISSING", message: `刚体视觉节点缺少 reference：${p}`, source: "usd-visual-binding" });
+          continue;
+        }
+        const w = un(c);
+        if (!w) {
+          n == null || n.warnings.push({ code: "USD_VISUAL_REFERENCE_UNRESOLVED", message: `无法解析视觉引用元数据：${p}`, source: "usd-visual-binding" });
+          continue;
+        }
+        if (!w.primPath) continue;
+        const g = lt(w.primPath), m = a.get(g);
+        if (m && m.owner !== s)
+          throw $(`USD visual reference maps to multiple rigid bodies: ${w.primPath} -> ${m.owner}, ${s}`, "E_USD_VISUAL_REFERENCE_AMBIGUOUS");
+        a.set(g, { owner: s, target: w.primPath }), o.set(g, s);
+      } finally {
+        y.delete();
+      }
+    }
+  }
+  return o;
+}
+function un(e) {
+  var n, o;
+  const t = e.match(/SdfReference\(([^,]*),\s*(?:(\/[^,\)]+),\s*)?SdfLayerOffset/);
+  return t ? { identifier: ((n = t[1]) == null ? void 0 : n.trim()) ?? "", primPath: ((o = t[2]) == null ? void 0 : o.trim()) ?? null } : null;
+}
+function lt(e) {
+  const t = e.replaceAll("\\", "/");
+  for (const n of ["/Geometry/", "/Visual/"]) {
+    const o = t.indexOf(n);
+    if (o >= 0) return t.slice(o + n.length);
+  }
+  return t;
+}
+function ut(e, t, n) {
+  e.scene.updateMatrixWorld(!0);
+  const o = new Ie();
+  o.name = "USD authored collisions";
+  const a = vt(), h = /* @__PURE__ */ new Map(), f = /* @__PURE__ */ new Map();
+  for (const i of t) {
+    const r = e.index.objectsByPath.get(i);
+    if (!r) continue;
+    const s = new T(), u = new ee();
+    r.matrixWorld.decompose(s, u, new T()), f.set(i, new pe().compose(s, u, new T(1, 1, 1)));
+    const p = new Ie();
+    p.name = i, p.position.copy(s), p.quaternion.copy(u), h.set(i, p), o.add(p);
+  }
+  let d = 0;
+  for (const i of e.data.physics.colliders) {
+    if (!i.enabled) continue;
+    const r = e.index.objectsByPath.get(i.path);
+    if (!r) continue;
+    const s = i.bodyPath && h.has(i.bodyPath) ? i.bodyPath : null, u = s ? h.get(s) : o, p = s ? f.get(s) : new pe(), y = [];
+    if (r.traverse((g) => {
+      g instanceof te && y.push(g);
+    }), y.length === 0) continue;
+    const l = String(i.typeName ?? r.type).toLowerCase(), c = l.includes("mesh") ? i.approximation ?? "none" : null;
+    if (c === "convexDecomposition" || c === "meshSimplification") {
+      n == null || n.droppedFeatures.push({
+        code: "E_USD_COLLISION_DEBUG_APPROXIMATION_UNAVAILABLE",
+        message: `USD collider ${i.path} 使用 ${c}，但资产未提供可唯一还原的最终代理几何。`,
+        source: "usd-collision-debug"
+      });
+      continue;
+    }
+    if (l.includes("mesh") && c !== "none") {
+      const g = [], m = p.clone().invert();
+      for (const U of y) {
+        const E = m.clone().multiply(U.matrixWorld), M = U.geometry.getAttribute("position");
+        for (let R = 0; R < M.count; R += 1) g.push(new T().fromBufferAttribute(M, R).applyMatrix4(E));
+      }
+      if (g.length >= 4 && c === "convexHull") {
+        const U = new Rt(g), E = Ae(U, a, "mesh");
+        U.dispose(), E.name = `Collision:${i.path}`, E.userData.usdColliderPath = i.path, u.add(E), d += 1;
+      } else if (g.length > 0 && c === "boundingSphere") {
+        const E = new Me().setFromPoints(g).getBoundingSphere(new Ut()), M = new bt(E.radius, 24, 16);
+        M.translate(E.center.x, E.center.y, E.center.z);
+        const R = Ae(M, a, "feature");
+        M.dispose(), R.name = `Collision:${i.path}`, R.userData.usdColliderPath = i.path, u.add(R), d += 1;
+      } else if (g.length > 0 && c === "boundingCube") {
+        const U = new Me().setFromPoints(g), E = U.getSize(new T()), M = U.getCenter(new T()), R = new Et(E.x, E.y, E.z);
+        R.translate(M.x, M.y, M.z);
+        const D = Ae(R, a, "feature");
+        R.dispose(), D.name = `Collision:${i.path}`, D.userData.usdColliderPath = i.path, u.add(D), d += 1;
+      } else ["convexHull", "boundingSphere", "boundingCube"].includes(String(c)) || n == null || n.droppedFeatures.push({
+        code: "E_USD_COLLISION_DEBUG_APPROXIMATION_UNAVAILABLE",
+        message: `USD collider ${i.path} 使用未知 approximation=${c}。`,
+        source: "usd-collision-debug"
+      });
+      continue;
+    }
+    const w = l.includes("mesh") ? "mesh" : "feature";
+    for (const g of y) {
+      const m = Ae(g.geometry, a, w);
+      m.name = `Collision:${i.path}`, m.matrixAutoUpdate = !1, m.matrix.copy(p).invert().multiply(g.matrixWorld), m.userData.usdColliderPath = i.path, u.add(m), d += 1;
+    }
+  }
+  if (d === 0) {
+    a.dispose();
+    return;
+  }
+  return { root: o, bindings: h, expectedLinkCount: h.size };
+}
+function et(e, t) {
+  const n = ut(e, [], t);
+  if (n)
+    return n.root.visible = !1, { root: n.root, sync() {
+    }, dispose() {
+      n.root.removeFromParent(), at(n.root);
+    } };
+}
+function pt(e, t) {
+  e.scene.updateMatrixWorld(!0);
+  const n = new Set(t);
+  return e.data.joints.filter((o) => o.enabled).map((o) => {
+    const a = { ...o };
+    for (const h of [0, 1]) {
+      const f = h === 0 ? "body0" : "body1", d = h === 0 ? "localPos0" : "localPos1", i = h === 0 ? "localRot0" : "localRot1", r = o[f];
+      if (!r) continue;
+      let s = r;
+      for (; s && !e.index.rigidBodiesByPath.has(s); )
+        s = s.slice(0, s.lastIndexOf("/"));
+      if (s && !n.has(s))
+        throw $(`USD joint references an unknown or disabled rigid body: ${o.path} (${r})`, "E_USD_INVALID_JOINT_REFERENCE");
+      const u = e.index.objectsByPath.get(r), p = s ? e.index.objectsByPath.get(s) : e.scene;
+      if (!u || !p)
+        throw $(`USD joint target node is missing: ${o.path} (${r})`, "E_USD_INVALID_JOINT_REFERENCE");
+      if (s === r) continue;
+      const y = p.matrixWorld.clone().invert().multiply(u.matrixWorld), l = new T(), c = new ee(), w = new T();
+      y.decompose(l, c, w);
+      const g = new pe().compose(l, c, new T(1, 1, 1));
+      if (y.elements.some((U, E) => Math.abs(U - g.elements[E]) > 1e-5))
+        throw $(`USD joint target has unsupported scale or shear: ${o.path} (${r})`, "E_USD_PHYSICS_UNSUPPORTED");
+      a[f] = s || null, a[d] = new T(...o[d]).applyMatrix4(y).toArray();
+      const m = c.multiply(Ue(o[i] ?? [1, 0, 0, 0])).normalize();
+      a[i] = [m.w, m.x, m.y, m.z];
+    }
+    return a;
+  });
+}
+function pn(e, t, n, o = pt(e, t)) {
+  e.scene.updateMatrixWorld(!0);
+  const a = [], h = [], f = [], d = [], i = [], r = [], s = [], { metersPerUnit: u, kilogramsPerUnit: p } = n, y = new Map(t.map((_) => {
+    const b = e.index.rigidBodiesByPath.get(_);
+    if (!b) throw $(`USD rigid body metadata is missing: ${_}`, "E_USD_PHYSICS_UNSUPPORTED");
+    return [_, b];
+  })), l = /* @__PURE__ */ new Map();
+  for (const _ of y.keys()) {
+    const b = e.index.objectsByPath.get(_);
+    if (!b) throw $(`USD rigid body node is missing: ${_}`, "E_USD_PHYSICS_UNSUPPORTED");
+    const A = new T(), L = new ee(), W = new T();
+    if (b.matrixWorld.decompose(A, L, W), W.clone().divideScalar(u).toArray().some((z) => Math.abs(Math.abs(z) - 1) > 1e-5))
+      throw $(`USD rigid body has unbaked scale: ${_}`, "E_USD_UNBAKED_BODY_SCALE");
+    l.set(_, new pe().compose(A, L, new T(1, 1, 1)));
+  }
+  const c = /* @__PURE__ */ new Map();
+  for (const _ of o) {
+    if (!_.body1 || !y.has(_.body1) || _.body0 && !y.has(_.body0))
+      throw $(`USD joint references an unknown rigid body: ${_.path}`, "E_USD_INVALID_JOINT_REFERENCE");
+    if (!["fixed", "revolute", "prismatic"].includes(_.jointType))
+      throw $(`Unsupported USD joint type ${_.jointType}: ${_.path}`, "E_USD_UNSUPPORTED_JOINT");
+    if (c.has(_.body1)) throw $(`USD rigid body has multiple parent joints: ${_.body1}`, "E_USD_MULTIPLE_PARENTS");
+    c.set(_.body1, _), _.body0 && _.collisionEnabled !== !0 && f.push(`<exclude body1="${Se(_.body0)}" body2="${Se(_.body1)}"/>`);
+  }
+  let w = 0;
+  const g = /* @__PURE__ */ new Set(), m = (_, b = new pe()) => {
+    var j, X, V, G, ce;
+    if (g.has(_)) throw $(`USD joint graph contains a cycle at ${_}`, "E_USD_JOINT_CYCLE");
+    g.add(_);
+    const A = y.get(_), L = l.get(_), W = b.clone().invert().multiply(L), v = new T(), z = new ee();
+    W.decompose(v, z, new T());
+    const S = c.get(_), I = [`<body name="${Se(_)}" pos="${Z(v.toArray())}" quat="${be(z)}">`];
+    if (!S && !A.kinematicEnabled && I.push("<freejoint/>"), S && [...A.velocity ?? [], ...A.angularVelocity ?? []].some((F) => F !== 0))
+      throw $(`Constrained USD initial velocity cannot be projected reliably: ${_}`, "E_USD_CONSTRAINED_INITIAL_VELOCITY");
+    if (!S && !A.kinematicEnabled) {
+      const F = new T(...A.velocity ?? [0, 0, 0]).multiplyScalar(u).applyQuaternion(e.scene.quaternion), H = new T(...A.angularVelocity ?? [0, 0, 0]).multiplyScalar(Math.PI / 180).applyQuaternion(e.scene.quaternion).applyQuaternion(new ee().setFromRotationMatrix(L).invert());
+      s.push({ body: _, velocity: [...F.toArray(), ...H.toArray()] });
+    }
+    if (S && S.jointType !== "fixed") {
+      const F = S.jointType === "revolute" ? "hinge" : "slide", H = ft(S.axis).applyQuaternion(Ue(S.localRot1 ?? [1, 0, 0, 0])), ne = F === "hinge" ? Math.PI / 180 : u, ye = S.body0 ? b : e.scene.matrixWorld.clone();
+      if (!S.body0) {
+        const se = new T(), ge = new ee();
+        ye.decompose(se, ge, new T()), ye.compose(se, ge, new T(1, 1, 1));
+      }
+      const $e = new ee().setFromRotationMatrix(ye), ve = new ee().setFromRotationMatrix(L), _e = $e.clone().multiply(Ue(S.localRot0 ?? [1, 0, 0, 0])).invert().multiply(ve).multiply(Ue(S.localRot1 ?? [1, 0, 0, 0]));
+      let fe = 0;
+      if (F === "hinge") {
+        const se = S.axis === "Y" ? _e.y : S.axis === "Z" ? _e.z : _e.x;
+        fe = 2 * Math.atan2(se, _e.w), fe = Math.atan2(Math.sin(fe), Math.cos(fe));
+      } else {
+        const se = new T(...S.localPos0).multiplyScalar(u).applyMatrix4(ye);
+        fe = new T(...S.localPos1).multiplyScalar(u).applyMatrix4(L).sub(se).dot(H.clone().applyQuaternion(ve));
+      }
+      const Ye = Number.isFinite(S.lowerLimit) && Number.isFinite(S.upperLimit) && Math.abs(S.lowerLimit) < 1e20 && Math.abs(S.upperLimit) < 1e20, mt = Ye && S.lowerLimit < S.upperLimit, De = p * (F === "slide" ? u : u * u), Ce = Oe(e, S.path, `physxJointAxis:${F === "slide" ? "linear" : "angular"}:dynamicFrictionEffort`), yt = typeof Ce == "number" && Number.isFinite(Ce) ? Ce * De : 0;
+      I.push(`<joint name="${Se(S.path)}" type="${F}" pos="${Z(S.localPos1.map((se) => se * u))}" axis="${Z(H.toArray())}" ref="${fe}" ${mt ? `range="${S.lowerLimit * ne} ${S.upperLimit * ne}"` : 'limited="false"'} frictionloss="${yt}" armature="0.00001"/>`), Ye && S.lowerLimit === S.upperLimit && h.push(`<joint joint1="${Se(S.path)}" polycoef="${S.lowerLimit * ne - fe} 0 0 0 0"/>`);
+      const le = S.drive;
+      if (le && ((le.stiffness ?? 0) !== 0 || (le.damping ?? 0) !== 0)) {
+        if (le.type === "acceleration") throw $(`Unsupported USD acceleration drive: ${S.path}`, "E_USD_UNSUPPORTED_DRIVE");
+        const se = (le.stiffness ?? 0) * De / ne, ge = (le.damping ?? 0) * De / ne, Pe = le.maxForce == null ? null : le.maxForce * De;
+        i.push(`<general joint="${Se(S.path)}" gainprm="1" biastype="affine" biasprm="0 ${-se} ${-ge}" ${Pe != null && Number.isFinite(Pe) ? `forcelimited="true" forcerange="${-Pe} ${Pe}"` : ""}/>`), r.push(se * (le.targetPosition ?? 0) * ne + ge * (le.targetVelocity ?? 0) * ne);
+      }
+    }
+    const x = A.mass;
+    if ((x == null ? void 0 : x.mass) != null && (!Number.isFinite(x.mass) || x.mass < 0)) throw $(`USD rigid body mass must be finite and non-negative: ${_}`, "E_USD_INVALID_MASS");
+    let Q = !1;
+    if ((x == null ? void 0 : x.mass) != null && x.mass > 0 && ((j = x.centerOfMass) == null ? void 0 : j.length) === 3 && x.centerOfMass.every(Number.isFinite) && ((X = x.diagonalInertia) == null ? void 0 : X.length) === 3 && x.diagonalInertia.every((F) => Number.isFinite(F) && F > 0) && ((V = x.principalAxes) == null ? void 0 : V.length) === 4 && x.principalAxes.every(Number.isFinite))
+      Q = !0, I.push(`<inertial mass="${x.mass * p}" pos="${Z(x.centerOfMass.map((F) => F * u))}" quat="${be(Ue(x.principalAxes))}" diaginertia="${Z(x.diagonalInertia.map((F) => F * p * u * u))}"/>`);
+    else {
+      if ((G = x == null ? void 0 : x.diagonalInertia) != null && G.some((F) => F > 0))
+        throw $(`USD rigid body has incomplete explicit inertia: ${_}`, "E_USD_PARTIAL_INERTIA");
+      if ((x == null ? void 0 : x.mass) != null && x.mass > 0) {
+        if ((ce = x.centerOfMass) != null && ce.every(Number.isFinite) && x.centerOfMass.some((F) => F !== 0)) throw $(`Custom center of mass requires explicit inertia: ${_}`, "E_USD_PARTIAL_INERTIA");
+        d.push({ body: _, mass: x.mass * p });
+      }
+    }
+    const k = e.data.physics.colliders.filter((F) => F.enabled && F.bodyPath === _);
+    if (!k.length && !Q) throw $(`USD rigid body has no authored collision geometry: ${_}`, "E_USD_MISSING_COLLISION_GEOMETRY");
+    for (const F of k) {
+      const H = e.data.physics.materials.find((_e) => _e.path === F.material), ne = (x == null ? void 0 : x.density) != null && x.density > 0 ? x.density : H == null ? void 0 : H.density, ye = ne != null && ne > 0 ? ne * p / u ** 3 : 1e3, $e = (H == null ? void 0 : H.dynamicFriction) ?? 0.4, ve = `density="${ye}" group="3" contype="1" conaffinity="1" friction="${$e} 0.01 0.0002"`;
+      I.push(tt(e, F, _, L, w++, a, ve));
+    }
+    for (const [F, H] of c) H.body0 === _ && I.push(m(F, L));
+    return I.push("</body>"), I.join("");
+  }, U = e.data.physics.colliders.filter((_) => _.enabled && !_.bodyPath), E = U.map((_) => {
+    const b = e.data.physics.materials.find((v) => v.path === _.material), A = (b == null ? void 0 : b.density) != null && b.density > 0 ? b.density * p / u ** 3 : 1e3, L = (b == null ? void 0 : b.dynamicFriction) ?? 0.4, W = `density="${A}" group="3" contype="1" conaffinity="1" friction="${L} 0.01 0.0002"`;
+    return tt(e, _, "", new pe(), w++, a, W);
+  }).join(""), M = fn(e, t, U) ? `<geom name="__viewer_default_ground__" type="plane" pos="0 0 ${dn(e, t)}" size="1 1 0.1" group="3" contype="1" conaffinity="1" friction="0.8 0.01 0.0002"/>` : "", D = [...y.keys()].filter((_) => {
+    var b;
+    return !((b = c.get(_)) != null && b.body0);
+  }).map((_) => m(_)).join("");
+  if (g.size !== y.size) throw $("USD joint graph contains unreachable bodies or a cycle.", "E_USD_UNREACHABLE_BODIES");
+  if (e.data.physics.scenes.length > 1) throw $("Multiple USD PhysicsScene prims are not supported.", "E_USD_MULTIPLE_PHYSICS_SCENES");
+  const P = e.data.physics.scenes[0], C = P != null && P.gravityDirection && P.gravityMagnitude != null && P.gravityMagnitude >= 0 ? new T(...P.gravityDirection).normalize().multiplyScalar(P.gravityMagnitude * u).applyQuaternion(e.scene.quaternion) : new T(0, 0, -9.81);
+  return {
+    // Do not inflate contact surfaces across authored clearances. PhysX contactOffset
+    // is not a MuJoCo force-generating margin and must not be copied as one.
+    format: "mjcf",
+    files: /* @__PURE__ */ new Map(),
+    initialControls: r,
+    initialVelocities: s,
+    massOverrides: d,
+    xml: `<mujoco><compiler angle="radian" autolimits="true"/><option integrator="implicitfast" gravity="${Z(C.toArray())}"><flag filterparent="disable"/></option><default><geom margin="0" solref="0.004 1"/></default>${a.length ? `<asset>${a.join("")}</asset>` : ""}<worldbody>${M}${E}${D}</worldbody>${f.length ? `<contact>${f.join("")}</contact>` : ""}${h.length ? `<equality>${h.join("")}</equality>` : ""}${i.length ? `<actuator>${i.join("")}</actuator>` : ""}</mujoco>`
+  };
+}
+function fn(e, t, n = e.data.physics.colliders.filter((o) => o.enabled && !o.bodyPath)) {
+  if (!t.length || n.some((d) => d.typeName.toLowerCase().includes("plane"))) return !1;
+  const o = We(e, e.data.physics.colliders.filter(
+    (d) => d.enabled && d.bodyPath && t.includes(d.bodyPath)
+  ));
+  if (o.isEmpty()) return n.length === 0;
+  const a = Math.max(o.max.x - o.min.x, 1e-6), h = Math.max(o.max.y - o.min.y, 1e-6), f = Math.max(a, h, o.max.z - o.min.z) * 0.05;
+  return !n.some((d) => {
+    const i = We(e, [d]);
+    if (i.isEmpty()) return !1;
+    const r = i.max.x >= o.min.x && i.min.x <= o.max.x, s = i.max.y >= o.min.y && i.min.y <= o.max.y;
+    return r && s && i.max.z <= o.min.z + f;
+  });
+}
+function dn(e, t) {
+  const n = We(e, e.data.physics.colliders.filter(
+    (a) => a.enabled && a.bodyPath && t.includes(a.bodyPath)
+  )), o = n.isEmpty() ? 0 : n.min.z;
+  return Number.isFinite(o) ? String(o) : "0";
+}
+function We(e, t) {
+  const n = new Me();
+  for (const o of t) {
+    const a = e.index.objectsByPath.get(o.path);
+    a && n.union(new Me().setFromObject(a));
+  }
+  return n;
+}
+function ft(e) {
+  return e === "Y" ? new T(0, 1, 0) : e === "Z" ? new T(0, 0, 1) : new T(1, 0, 0);
+}
+function tt(e, t, n, o, a, h, f) {
+  const d = e.index.objectsByPath.get(t.path);
+  if (!d) throw $(`USD collider node is missing: ${t.path}`, "E_USD_MISSING_COLLISION_GEOMETRY");
+  const i = o.clone().invert().multiply(d.matrixWorld), r = new T(), s = new ee(), u = new T();
+  i.decompose(r, s, u);
+  const p = t.typeName.replace(/^UsdGeom/, "").toLowerCase(), y = (l, c) => {
+    const w = Oe(e, t.path, l);
+    return typeof w == "number" ? w : c;
+  };
+  if (p.includes("cube")) {
+    const l = Math.abs(y("size", 2)) / 2;
+    return `<geom type="box" pos="${Z(r.toArray())}" quat="${be(s)}" size="${Z([Math.abs(u.x) * l, Math.abs(u.y) * l, Math.abs(u.z) * l])}" ${f}/>`;
+  }
+  if (p.includes("plane")) {
+    if (n) throw $(`USD plane collider requires a static world owner: ${t.path}`, "E_USD_UNSUPPORTED_GEOMETRY");
+    const l = String(Oe(e, t.path, "axis") ?? "Z").toUpperCase(), w = { X: new T(1, 0, 0), Y: new T(0, 1, 0), Z: new T(0, 0, 1) }[l];
+    if (!w) throw $(`Unsupported USD plane axis: ${l}`, "E_USD_UNSUPPORTED_GEOMETRY");
+    const g = s.clone().multiply(new ee().setFromUnitVectors(new T(0, 0, 1), w));
+    return `<geom type="plane" pos="${Z(r.toArray())}" quat="${be(g)}" size="1 1 0.1" ${f}/>`;
+  }
+  if (p.includes("cone"))
+    throw $(`MuJoCo has no analytic cone geom; a validated mesh conversion is required: ${t.path}`, "E_USD_UNSUPPORTED_GEOMETRY");
+  if (p.includes("sphere")) {
+    const l = [Math.abs(u.x), Math.abs(u.y), Math.abs(u.z)];
+    if (Math.max(...l) - Math.min(...l) > 1e-6) throw $(`USD sphere collider does not support non-uniform scale: ${t.path}`, "E_USD_NONUNIFORM_RADIAL_SCALE");
+    return `<geom type="sphere" pos="${Z(r.toArray())}" quat="${be(s)}" size="${l[0] * y("radius", 1)}" ${f}/>`;
+  }
+  if (p.includes("cylinder") || p.includes("capsule")) {
+    const l = String(Oe(e, t.path, "axis") ?? "Z").toUpperCase(), c = { X: 0, Y: 1, Z: 2 }[l];
+    if (c === void 0) throw $(`Unsupported USD collider axis: ${l}`, "E_USD_UNSUPPORTED_GEOMETRY");
+    const w = [Math.abs(u.x), Math.abs(u.y), Math.abs(u.z)], g = w.filter((R, D) => D !== c);
+    if (Math.abs(g[0] - g[1]) > 1e-6) throw $(`USD ${t.typeName} collider does not support non-uniform radial scale: ${t.path}`, "E_USD_NONUNIFORM_RADIAL_SCALE");
+    const m = new T(...{ X: [1, 0, 0], Y: [0, 1, 0], Z: [0, 0, 1] }[l]), U = s.clone().multiply(new ee().setFromUnitVectors(new T(0, 0, 1), m)), E = y("radius", 1) * g[0], M = y("height", 2) * w[c] / 2;
+    return `<geom type="${p.includes("capsule") ? "capsule" : "cylinder"}" pos="${Z(r.toArray())}" quat="${be(U)}" size="${E} ${M}" ${f}/>`;
+  }
+  if (p.includes("mesh")) {
+    if (t.approximation && !["none", "convexHull"].includes(t.approximation)) throw $(`USD mesh approximation cannot be mapped exactly: ${t.path}`, "E_USD_UNSUPPORTED_APPROXIMATION");
+    const l = [];
+    if (d.traverse((U) => {
+      U instanceof te && l.push(U);
+    }), !l.length) throw $(`USD collider has no mesh geometry: ${t.path}`, "E_USD_MISSING_COLLISION_GEOMETRY");
+    const c = [], w = [];
+    let g = 0;
+    for (const U of l) {
+      const E = U.geometry.getAttribute("position");
+      for (let R = 0; R < E.count; R++) {
+        const D = new T().fromBufferAttribute(E, R).applyMatrix4(o.clone().invert().multiply(U.matrixWorld));
+        c.push(D.x, D.y, D.z);
+      }
+      const M = U.geometry.index;
+      for (let R = 0; R < (M ? M.count : E.count); R += 3) w.push(g + (M ? M.getX(R) : R), g + (M ? M.getX(R + 1) : R + 1), g + (M ? M.getX(R + 2) : R + 2));
+      g += E.count;
+    }
+    const m = `collision_${a}`;
+    return h.push(`<mesh name="${m}" vertex="${Z(c)}" face="${Z(w)}"/>`), `<geom type="mesh" mesh="${m}" ${f}/>`;
+  }
+  throw $(`Unsupported USD collider geometry: ${t.typeName}`, "E_USD_UNSUPPORTED_GEOMETRY");
+}
+function hn(e) {
+  const t = e.stage.GetPseudoRoot();
+  try {
+    const n = Number(t.GetMetadata("metersPerUnit") ?? 0.01), o = Number(t.GetMetadata("kilogramsPerUnit") ?? 1);
+    if (!Number.isFinite(n) || n <= 0) throw $("USD metersPerUnit must be finite and positive.", "E_USD_INVALID_UNITS");
+    if (!Number.isFinite(o) || o <= 0) throw $("USD kilogramsPerUnit must be finite and positive.", "E_USD_INVALID_UNITS");
+    return { metersPerUnit: n, kilogramsPerUnit: o };
+  } finally {
+    t.delete();
+  }
+}
+function Ue(e) {
+  const [t = 1, n = 0, o = 0, a = 0] = e;
+  return new ee(n, o, a, t).normalize();
+}
+function Z(e) {
+  return e.join(" ");
+}
+function be(e) {
+  return `${e.w} ${e.x} ${e.y} ${e.z}`;
+}
+function Oe(e, t, n) {
+  var i, r;
+  const o = e.stage;
+  if (!o || !((r = (i = e.pxr) == null ? void 0 : i.Sdf) != null && r.Path)) return null;
+  const a = new e.pxr.Sdf.Path(t), h = o.GetPrimAtPath(a), f = h.GetAttribute(n), d = e.pxr.Usd.TimeCode.Default();
+  try {
+    return f.IsValid() ? f.Get(d) : null;
+  } finally {
+    d.delete(), f.delete(), h.delete(), a.delete();
+  }
+}
+function mn() {
+  if (!globalThis.isSecureContext) throw $("OpenUSD requires a secure context.", "E_USD_SECURE_CONTEXT_REQUIRED");
+  if (!globalThis.crossOriginIsolated) throw $("OpenUSD requires COOP/COEP cross-origin isolation.", "E_USD_CROSS_ORIGIN_ISOLATION_REQUIRED");
+}
+async function yn(e, t) {
+  var n;
+  if (e.url)
+    try {
+      return new URL(e.url, ((n = globalThis.location) == null ? void 0 : n.href) ?? e.baseUrl ?? void 0).href;
+    } catch {
+      return e.url;
+    }
+  return e.resolve(t);
+}
+async function _n(e) {
+  const t = e.url ?? await e.resolve(e.entryPath ?? ""), n = await fetch(t, { signal: e.signal });
+  if (!n.ok) throw $(`USD request failed (${n.status}): ${t}`, n.status === 401 || n.status === 403 ? "E_ASSET_AUTH" : "E_ASSET_FETCH");
+  return n.blob();
+}
+const gn = /* @__PURE__ */ new Set(["usd", "usda", "usdc"]), nt = 1024, Sn = 8;
+let wn = 0;
+async function Un(e, t, n, o, a) {
+  const h = `/tmp/viewer-usd-resolver/${++wn}`;
+  e.FS.createDir(h);
+  const f = [{ path: dt(o), blob: n, depth: 0 }], d = /* @__PURE__ */ new Set();
+  try {
+    for (; f.length > 0; ) {
+      t.signal.throwIfAborted();
+      const i = f.shift();
+      if (d.has(i.path) || i.depth > Sn) continue;
+      if (d.size >= nt) throw $(`USD dependency limit exceeded (${nt}).`, "E_ASSET_RESOURCE_LIMIT");
+      d.add(i.path);
+      const r = `${h}/${i.path}`;
+      e.FS.createDir(r.split("/").slice(0, -1).join("/")), e.FS.writeFile(r, new Uint8Array(await i.blob.arrayBuffer()));
+      const s = e.UsdUtils.ExtractSanitizedExternalReferences(r);
+      for (const u of s) {
+        const p = bn(i.path, u);
+        if (!p || d.has(p)) continue;
+        const y = await t.resolve(p), l = await fetch(y, { signal: t.signal });
+        if (!l.ok) {
+          const w = l.status === 401 || l.status === 403 ? "E_ASSET_AUTH" : "E_ASSET_FETCH";
+          throw $(`USD dependency request failed (${l.status}): ${p}`, w);
+        }
+        const c = await l.blob();
+        a.put(p, c), gn.has(En(p)) && f.push({ path: p, blob: c, depth: i.depth + 1 });
+      }
+    }
+  } finally {
+    ht(e, h);
+  }
+}
+function bn(e, t) {
+  if (!t || /^(?:data|blob):/i.test(t)) return null;
+  if (/^[a-z][a-z0-9+.-]*:/i.test(t) || t.startsWith("/")) return t;
+  const n = e.split("/").slice(0, -1).join("/");
+  return dt(n ? `${n}/${t}` : t);
+}
+function dt(e) {
+  const t = [];
+  for (const n of e.replaceAll("\\", "/").split("/"))
+    !n || n === "." || (n === ".." ? t.pop() : t.push(n));
+  return t.join("/");
+}
+function En(e) {
+  var t, n;
+  return ((n = (t = e.split(/[?#]/, 1)[0]) == null ? void 0 : t.split(".").pop()) == null ? void 0 : n.toLowerCase()) ?? "";
+}
+function ht(e, t) {
+  if (e.FS.exists(t)) {
+    for (const n of e.FS.listDir(t))
+      n.isDir ? ht(e, n.path) : e.FS.deleteFile(n.path);
+    e.FS.deleteDir(t);
+  }
+}
+function Se(e) {
+  return e.replaceAll("&", "&amp;").replaceAll('"', "&quot;").replaceAll("<", "&lt;").replaceAll(">", "&gt;");
+}
+function $(e, t) {
+  return Object.assign(new Error(e), { code: t });
+}
+function Fe() {
+  return Object.assign(new Error("USD load aborted."), { name: "AbortError", code: "E_ABORTED" });
+}
+export {
+  ln as buildUsdVisualReferenceOwners,
+  et as compileUsdCollisionOverlay,
+  ut as compileUsdCollisionVisual,
+  pn as compileUsdPhysics,
+  cn as compileUsdVisual,
+  rn as firstUsdVisualWarning,
+  In as isUsdPhysicsFallbackEligible,
+  On as loadUsdSimulation,
+  un as parseUsdReferenceMetadata,
+  pt as resolveUsdJoints,
+  Un as resolveUsdResourcePackage,
+  fn as shouldInjectUsdDefaultGround
+};