@operato/scene-urdf 10.0.0-beta.1 → 10.0.0-beta.19

package/dist/elements/urdf-viewer-element.js

@@ -1,414 +0,0 @@
-import * as THREE from 'three';
-import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
-import URDFLoader from 'urdf-loader/src/URDFLoader.js';
-import { XacroLoader } from 'xacro-parser';
-// urdf-viewer element
-// Loads and displays a 3D view of a URDF-formatted robot
-// Events
-// urdf-change: Fires when the URDF has finished loading and getting processed
-// urdf-processed: Fires when the URDF has finished loading and getting processed
-// geometry-loaded: Fires when all the geometry has been fully loaded
-// ignore-limits-change: Fires when the 'ignore-limits' attribute changes
-// angle-change: Fires when an angle changes
-export default class URDFViewerElement extends HTMLElement {
-    static get observedAttributes() {
-        return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'no-auto-recenter'];
-    }
-    get package() {
-        return this.getAttribute('package') || '';
-    }
-    set package(val) {
-        this.setAttribute('package', val);
-    }
-    get urdf() {
-        return this.getAttribute('urdf') || '';
-    }
-    set urdf(val) {
-        this.setAttribute('urdf', val);
-    }
-    get ignoreLimits() {
-        return this.hasAttribute('ignore-limits') || false;
-    }
-    set ignoreLimits(val) {
-        val ? this.setAttribute('ignore-limits', String(val)) : this.removeAttribute('ignore-limits');
-    }
-    get up() {
-        return this.getAttribute('up') || '+Z';
-    }
-    set up(val) {
-        this.setAttribute('up', val);
-    }
-    get displayShadow() {
-        return this.hasAttribute('display-shadow') || false;
-    }
-    set displayShadow(val) {
-        val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow');
-    }
-    get ambientColor() {
-        return this.getAttribute('ambient-color') || '#455A64';
-    }
-    set ambientColor(val) {
-        val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color');
-    }
-    get noAutoRecenter() {
-        return this.hasAttribute('no-auto-recenter') || false;
-    }
-    set noAutoRecenter(val) {
-        val ? this.setAttribute('no-auto-recenter', String(true)) : this.removeAttribute('no-auto-recenter');
-    }
-    get jointValues() {
-        const values = {};
-        if (this.robot) {
-            for (const name in this.robot.joints) {
-                const joint = this.robot.joints[name];
-                values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue];
-            }
-        }
-        return values;
-    }
-    set jointValues(val) {
-        this.setJointValues(val);
-    }
-    get angles() {
-        return this.jointValues;
-    }
-    set angles(v) {
-        this.jointValues = v;
-    }
-    robot;
-    controls;
-    scene;
-    camera;
-    world;
-    renderer;
-    plane;
-    directionalLight;
-    ambientLight;
-    _prevload;
-    _requestId = 0;
-    _dirty = true;
-    _loadScheduled = false;
-    loadMeshFunc;
-    urlModifierFunc;
-    /* Lifecycle Functions */
-    constructor() {
-        super();
-        const scene = new THREE.Scene();
-        const ambientLight = new THREE.HemisphereLight(this.ambientColor, '#000');
-        ambientLight.groundColor.lerp(ambientLight.color, 0.5);
-        ambientLight.intensity = 0.5;
-        ambientLight.position.set(0, 1, 0);
-        scene.add(ambientLight);
-        // Light setup
-        const dirLight = new THREE.DirectionalLight(0xffffff);
-        dirLight.position.set(4, 10, 1);
-        dirLight.shadow.mapSize.width = 2048;
-        dirLight.shadow.mapSize.height = 2048;
-        dirLight.shadow.normalBias = 0.001;
-        dirLight.castShadow = true;
-        scene.add(dirLight);
-        scene.add(dirLight.target);
-        // Renderer setup
-        const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
-        renderer.setClearColor(0xffffff);
-        renderer.setClearAlpha(0);
-        renderer.shadowMap.enabled = true;
-        renderer.shadowMap.type = THREE.PCFSoftShadowMap;
-        renderer.outputColorSpace = THREE.SRGBColorSpace;
-        // Camera setup
-        const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000);
-        camera.position.z = -10;
-        // World setup
-        const world = new THREE.Object3D();
-        scene.add(world);
-        const plane = new THREE.Mesh(new THREE.PlaneGeometry(40, 40), new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 }));
-        plane.rotation.x = -Math.PI / 2;
-        plane.position.y = -0.5;
-        plane.receiveShadow = true;
-        plane.scale.set(10, 10, 10);
-        scene.add(plane);
-        // Controls setup
-        const controls = new OrbitControls(camera, renderer.domElement);
-        controls.rotateSpeed = 2.0;
-        controls.zoomSpeed = 5;
-        controls.panSpeed = 2;
-        controls.enableZoom = true;
-        controls.enableDamping = false;
-        controls.maxDistance = 50;
-        controls.minDistance = 0.25;
-        controls.addEventListener('change', () => this.recenter());
-        this.scene = scene;
-        this.world = world;
-        this.renderer = renderer;
-        this.camera = camera;
-        this.controls = controls;
-        this.plane = plane;
-        this.directionalLight = dirLight;
-        this.ambientLight = ambientLight;
-        this._setUp(this.up);
-    }
-    connectedCallback() {
-        if (!this.querySelector('canvas')) {
-            var canvas = this.renderer.domElement;
-            canvas.style.display = 'block';
-            canvas.style.width = '100%';
-            canvas.style.height = '100%';
-            this.appendChild(canvas);
-        }
-        requestAnimationFrame(() => this.recenter());
-    }
-    disconnectedCallback() { }
-    attributeChangedCallback(attr, oldval, newval) {
-        this.recenter();
-        switch (attr) {
-            case 'package':
-            case 'urdf': {
-                this._scheduleLoad();
-                break;
-            }
-            case 'up': {
-                this._setUp(this.up);
-                break;
-            }
-            case 'ambient-color': {
-                this.ambientLight.color.set(this.ambientColor);
-                this.ambientLight.groundColor.set('#000').lerp(this.ambientLight.color, 0.5);
-                break;
-            }
-            case 'ignore-limits': {
-                this._setIgnoreLimits(this.ignoreLimits, true);
-                break;
-            }
-        }
-    }
-    /* Public API */
-    updateSize() {
-        const r = this.renderer;
-        const w = this.clientWidth;
-        const h = this.clientHeight;
-        const currsize = r.getSize(new THREE.Vector2());
-        if (currsize.width !== w || currsize.height !== h) {
-            this.recenter();
-        }
-        r.setPixelRatio(window.devicePixelRatio);
-        r.setSize(w, h, false);
-        this.camera.aspect = w / h;
-        this.camera.updateProjectionMatrix();
-    }
-    redraw() {
-        if (this.parentNode && this._dirty) {
-            this._dirty = false;
-            try {
-                this.updateSize();
-                if (!this.noAutoRecenter) {
-                    this._updateEnvironment();
-                }
-                this.renderer.render(this.scene, this.camera);
-                // update controls after the environment in
-                // case the controls are retargeted
-                this.controls.update();
-            }
-            catch (err) {
-                console.error(err);
-            }
-            finally {
-                this._dirty = true;
-            }
-        }
-    }
-    recenter() {
-        this._updateEnvironment();
-        this.redraw();
-    }
-    // Set the joint with jointName to
-    // angle in degrees
-    setJointValue(jointName, ...values) {
-        if (!this.robot)
-            return;
-        if (!this.robot.joints[jointName])
-            return;
-        if (this.robot.joints[jointName].setJointValue(values[0], values[1], values[2])) {
-            this.redraw();
-            this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }));
-        }
-    }
-    setJointValues(values) {
-        for (const name in values)
-            this.setJointValue(name, values[name]);
-    }
-    /* Private Functions */
-    // Updates the position of the plane to be at the
-    // lowest point below the robot and focuses the
-    // camera on the center of the scene
-    _updateEnvironment() {
-        if (!this.robot)
-            return;
-        this.world.updateMatrixWorld();
-        const bbox = new THREE.Box3();
-        bbox.setFromObject(this.robot);
-        const center = bbox.getCenter(new THREE.Vector3());
-        this.controls.target.y = center.y;
-        this.plane.position.y = bbox.min.y - 1e-3;
-        const dirLight = this.directionalLight;
-        dirLight.castShadow = this.displayShadow;
-        if (this.displayShadow) {
-            // Update the shadow camera rendering bounds to encapsulate the
-            // model. We use the bounding sphere of the bounding box for
-            // simplicity -- this could be a tighter fit.
-            const sphere = bbox.getBoundingSphere(new THREE.Sphere());
-            const minmax = sphere.radius;
-            const cam = dirLight.shadow.camera;
-            cam.left = cam.bottom = -minmax;
-            cam.right = cam.top = minmax;
-            // Update the camera to focus on the center of the model so the
-            // shadow can encapsulate it
-            const offset = dirLight.position.clone().sub(dirLight.target.position);
-            dirLight.target.position.copy(center);
-            dirLight.position.copy(center).add(offset);
-            cam.updateProjectionMatrix();
-        }
-    }
-    _scheduleLoad() {
-        // if our current model is already what's being requested
-        // or has been loaded then early out
-        if (this._prevload === `${this.package}|${this.urdf}`)
-            return;
-        this._prevload = `${this.package}|${this.urdf}`;
-        // if we're already waiting on a load then early out
-        if (this._loadScheduled)
-            return;
-        this._loadScheduled = true;
-        if (this.robot) {
-            this.robot.traverse((c) => c.dispose && c.dispose());
-            this.robot.parent.remove(this.robot);
-            delete this.robot;
-        }
-        requestAnimationFrame(() => {
-            this._loadUrdf(this.package, this.urdf);
-            this._loadScheduled = false;
-        });
-    }
-    // Watch the package and urdf field and load the robot model.
-    // This should _only_ be called from _scheduleLoad because that
-    // ensures the that current robot has been removed
-    _loadUrdf(pkg, urdf) {
-        this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }));
-        if (urdf) {
-            // Keep track of this request and make
-            // sure it doesn't get overwritten by
-            // a subsequent one
-            this._requestId++;
-            const requestId = this._requestId;
-            const updateMaterials = (mesh) => {
-                mesh.traverse(c => {
-                    if (c.isMesh) {
-                        c.castShadow = true;
-                        c.receiveShadow = true;
-                        if (c.material) {
-                            const mats = (Array.isArray(c.material) ? c.material : [c.material]).map((m) => {
-                                if (m instanceof THREE.MeshBasicMaterial) {
-                                    m = new THREE.MeshPhongMaterial();
-                                }
-                                // FIXME THREE.GammaEncoding is removed at v136
-                                // if (m.map) {
-                                //   m.map.encoding = THREE.GammaEncoding
-                                // }
-                                return m;
-                            });
-                            c.material = mats.length === 1 ? mats[0] : mats;
-                        }
-                    }
-                });
-            };
-            if (pkg.includes(':') && pkg.split(':')[1].substring(0, 2) !== '//') {
-                // E.g. pkg = "pkg_name: path/to/pkg_name, pk2: path2/to/pk2"}
-                // Convert pkg(s) into a map. E.g.
-                // { "pkg_name": "path/to/pkg_name",
-                //   "pk2":      "path2/to/pk2"      }
-                pkg = pkg.split(',').reduce((map, value) => {
-                    const split = value.split(/:/).filter(x => !!x);
-                    const pkgName = split.shift().trim();
-                    const pkgPath = split.join(':').trim();
-                    map[pkgName] = pkgPath;
-                    return map;
-                }, {});
-            }
-            let robot;
-            const manager = new THREE.LoadingManager();
-            manager.onLoad = () => {
-                // If another request has come in to load a new
-                // robot, then ignore this one
-                if (this._requestId !== requestId) {
-                    robot.traverse(c => c.dispose && c.dispose());
-                    return;
-                }
-                this.robot = robot;
-                this.world.add(robot);
-                updateMaterials(robot);
-                this._setIgnoreLimits(this.ignoreLimits);
-                this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }));
-                this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }));
-                this.recenter();
-            };
-            if (this.urlModifierFunc) {
-                manager.setURLModifier(this.urlModifierFunc);
-            }
-            const checkXacro = /[.]/.exec(urdf) ? /[^.]+$/.exec(urdf) : undefined;
-            if (checkXacro && checkXacro[0] === 'xacro') {
-                const xacroLoader = new XacroLoader();
-                try {
-                    xacroLoader.load(urdf, xml => {
-                        const loader = new URDFLoader(manager);
-                        loader.packages = pkg;
-                        loader.loadMeshCb = this.loadMeshFunc;
-                        loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
-                        robot = loader.parse(xml);
-                    }, err => {
-                        console.error('xacroloader error: ', err);
-                    });
-                }
-                catch (error) {
-                    console.error(error);
-                }
-            }
-            else {
-                const loader = new URDFLoader(manager);
-                loader.packages = pkg;
-                loader.loadMeshCb = this.loadMeshFunc;
-                loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' };
-                loader.load(urdf, model => (robot = model));
-            }
-        }
-    }
-    // Watch the coordinate frame and update the
-    // rotation of the scene to match
-    _setUp(up) {
-        if (!up)
-            up = '+Z';
-        up = up.toUpperCase();
-        const sign = up.replace(/[^-+]/g, '')[0] || '+';
-        const axis = up.replace(/[^XYZ]/gi, '')[0] || 'Z';
-        const PI = Math.PI;
-        const HALFPI = PI / 2;
-        if (axis === 'X')
-            this.world.rotation.set(0, 0, sign === '+' ? HALFPI : -HALFPI);
-        if (axis === 'Z')
-            this.world.rotation.set(sign === '+' ? -HALFPI : HALFPI, 0, 0);
-        if (axis === 'Y')
-            this.world.rotation.set(sign === '+' ? 0 : PI, 0, 0);
-    }
-    // Updates the current robot's angles to ignore
-    // joint limits or not
-    _setIgnoreLimits(ignore, dispatch = false) {
-        if (this.robot) {
-            Object.values(this.robot.joints).forEach(joint => {
-                joint.ignoreLimits = ignore;
-                joint.setJointValue(joint.jointValue[0], joint.jointValue[1], joint.jointValue[2]);
-            });
-        }
-        if (dispatch) {
-            this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }));
-        }
-    }
-}
-//# sourceMappingURL=urdf-viewer-element.js.map

package/dist/elements/urdf-viewer-element.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"urdf-viewer-element.js","sourceRoot":"","sources":["../../src/elements/urdf-viewer-element.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAC9B,OAAO,EAAE,aAAa,EAAE,MAAM,8CAA8C,CAAA;AAC5E,OAAO,UAAoC,MAAM,+BAA+B,CAAA;AAChF,OAAO,EAAE,WAAW,EAAE,MAAM,cAAc,CAAA;AAE1C,sBAAsB;AACtB,yDAAyD;AAEzD,SAAS;AACT,8EAA8E;AAC9E,iFAAiF;AACjF,qEAAqE;AACrE,yEAAyE;AACzE,4CAA4C;AAC5C,MAAM,CAAC,OAAO,OAAO,iBAAkB,SAAQ,WAAW;IACxD,MAAM,KAAK,kBAAkB;QAC3B,OAAO,CAAC,SAAS,EAAE,MAAM,EAAE,IAAI,EAAE,gBAAgB,EAAE,eAAe,EAAE,eAAe,EAAE,kBAAkB,CAAC,CAAA;IAC1G,CAAC;IAED,IAAI,OAAO;QACT,OAAO,IAAI,CAAC,YAAY,CAAC,SAAS,CAAC,IAAI,EAAE,CAAA;IAC3C,CAAC;IACD,IAAI,OAAO,CAAC,GAAG;QACb,IAAI,CAAC,YAAY,CAAC,SAAS,EAAE,GAAG,CAAC,CAAA;IACnC,CAAC;IAED,IAAI,IAAI;QACN,OAAO,IAAI,CAAC,YAAY,CAAC,MAAM,CAAC,IAAI,EAAE,CAAA;IACxC,CAAC;IACD,IAAI,IAAI,CAAC,GAAG;QACV,IAAI,CAAC,YAAY,CAAC,MAAM,EAAE,GAAG,CAAC,CAAA;IAChC,CAAC;IAED,IAAI,YAAY;QACd,OAAO,IAAI,CAAC,YAAY,CAAC,eAAe,CAAC,IAAI,KAAK,CAAA;IACpD,CAAC;IACD,IAAI,YAAY,CAAC,GAAG;QAClB,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,YAAY,CAAC,eAAe,EAAE,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,eAAe,CAAC,eAAe,CAAC,CAAA;IAC/F,CAAC;IAED,IAAI,EAAE;QACJ,OAAO,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,IAAI,IAAI,CAAA;IACxC,CAAC;IACD,IAAI,EAAE,CAAC,GAAG;QACR,IAAI,CAAC,YAAY,CAAC,IAAI,EAAE,GAAG,CAAC,CAAA;IAC9B,CAAC;IAED,IAAI,aAAa;QACf,OAAO,IAAI,CAAC,YAAY,CAAC,gBAAgB,CAAC,IAAI,KAAK,CAAA;IACrD,CAAC;IACD,IAAI,aAAa,CAAC,GAAG;QACnB,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,YAAY,CAAC,gBAAgB,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,eAAe,CAAC,gBAAgB,CAAC,CAAA;IACxF,CAAC;IAED,IAAI,YAAY;QACd,OAAO,IAAI,CAAC,YAAY,CAAC,eAAe,CAAC,IAAI,SAAS,CAAA;IACxD,CAAC;IACD,IAAI,YAAY,CAAC,GAAG;QAClB,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,YAAY,CAAC,eAAe,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,eAAe,CAAC,eAAe,CAAC,CAAA;IACvF,CAAC;IAED,IAAI,cAAc;QAChB,OAAO,IAAI,CAAC,YAAY,CAAC,kBAAkB,CAAC,IAAI,KAAK,CAAA;IACvD,CAAC;IACD,IAAI,cAAc,CAAC,GAAG;QACpB,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,YAAY,CAAC,kBAAkB,EAAE,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,eAAe,CAAC,kBAAkB,CAAC,CAAA;IACtG,CAAC;IAED,IAAI,WAAW;QACb,MAAM,MAAM,GAAG,EAAS,CAAA;QACxB,IAAI,IAAI,CAAC,KAAK,EAAE,CAAC;YACf,KAAK,MAAM,IAAI,IAAI,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,CAAC;gBACrC,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,IAAI,CAAC,CAAA;gBACrC,MAAM,CAAC,IAAI,CAAC,GAAG,KAAK,CAAC,UAAU,CAAC,MAAM,KAAK,CAAC,CAAC,CAAC,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,KAAK,CAAC,UAAU,CAAC,CAAA;YACpF,CAAC;QACH,CAAC;QAED,OAAO,MAAM,CAAA;IACf,CAAC;IACD,IAAI,WAAW,CAAC,GAAG;QACjB,IAAI,CAAC,cAAc,CAAC,GAAG,CAAC,CAAA;IAC1B,CAAC;IAED,IAAI,MAAM;QACR,OAAO,IAAI,CAAC,WAAW,CAAA;IACzB,CAAC;IACD,IAAI,MAAM,CAAC,CAAC;QACV,IAAI,CAAC,WAAW,GAAG,CAAC,CAAA;IACtB,CAAC;IAED,KAAK,CAAY;IACjB,QAAQ,CAAe;IACvB,KAAK,CAAa;IAClB,MAAM,CAAyB;IAE/B,KAAK,CAAgB;IACrB,QAAQ,CAAqB;IAC7B,KAAK,CAAY;IACjB,gBAAgB,CAAwB;IACxC,YAAY,CAAuB;IAEnC,SAAS,CAAS;IAClB,UAAU,GAAG,CAAC,CAAA;IACd,MAAM,GAAG,IAAI,CAAA;IACb,cAAc,GAAG,KAAK,CAAA;IACtB,YAAY,CAIH;IACT,eAAe,CAA0B;IAEzC,yBAAyB;IACzB;QACE,KAAK,EAAE,CAAA;QAEP,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,KAAK,EAAE,CAAA;QAE/B,MAAM,YAAY,GAAG,IAAI,KAAK,CAAC,eAAe,CAAC,IAAI,CAAC,YAAY,EAAE,MAAM,CAAC,CAAA;QACzE,YAAY,CAAC,WAAW,CAAC,IAAI,CAAC,YAAY,CAAC,KAAK,EAAE,GAAG,CAAC,CAAA;QACtD,YAAY,CAAC,SAAS,GAAG,GAAG,CAAA;QAC5B,YAAY,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAA;QAClC,KAAK,CAAC,GAAG,CAAC,YAAY,CAAC,CAAA;QAEvB,cAAc;QACd,MAAM,QAAQ,GAAG,IAAI,KAAK,CAAC,gBAAgB,CAAC,QAAQ,CAAC,CAAA;QACrD,QAAQ,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,EAAE,EAAE,CAAC,CAAC,CAAA;QAC/B,QAAQ,CAAC,MAAM,CAAC,OAAO,CAAC,KAAK,GAAG,IAAI,CAAA;QACpC,QAAQ,CAAC,MAAM,CAAC,OAAO,CAAC,MAAM,GAAG,IAAI,CAAA;QACrC,QAAQ,CAAC,MAAM,CAAC,UAAU,GAAG,KAAK,CAAA;QAClC,QAAQ,CAAC,UAAU,GAAG,IAAI,CAAA;QAC1B,KAAK,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAA;QACnB,KAAK,CAAC,GAAG,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAA;QAE1B,iBAAiB;QACjB,MAAM,QAAQ,GAAG,IAAI,KAAK,CAAC,aAAa,CAAC,EAAE,SAAS,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,CAAC,CAAA;QAC1E,QAAQ,CAAC,aAAa,CAAC,QAAQ,CAAC,CAAA;QAChC,QAAQ,CAAC,aAAa,CAAC,CAAC,CAAC,CAAA;QACzB,QAAQ,CAAC,SAAS,CAAC,OAAO,GAAG,IAAI,CAAA;QACjC,QAAQ,CAAC,SAAS,CAAC,IAAI,GAAG,KAAK,CAAC,gBAAgB,CAAA;QAChD,QAAQ,CAAC,gBAAgB,GAAG,KAAK,CAAC,cAAc,CAAA;QAEhD,eAAe;QACf,MAAM,MAAM,GAAG,IAAI,KAAK,CAAC,iBAAiB,CAAC,EAAE,EAAE,CAAC,EAAE,GAAG,EAAE,IAAI,CAAC,CAAA;QAC5D,MAAM,CAAC,QAAQ,CAAC,CAAC,GAAG,CAAC,EAAE,CAAA;QAEvB,cAAc;QACd,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,QAAQ,EAAE,CAAA;QAClC,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAA;QAEhB,MAAM,KAAK,GAAG,IAAI,KAAK,CAAC,IAAI,CAC1B,IAAI,KAAK,CAAC,aAAa,CAAC,EAAE,EAAE,EAAE,CAAC,EAC/B,IAAI,KAAK,CAAC,cAAc,CAAC,EAAE,IAAI,EAAE,KAAK,CAAC,UAAU,EAAE,WAAW,EAAE,IAAI,EAAE,OAAO,EAAE,GAAG,EAAE,CAAC,CACtF,CAAA;QACD,KAAK,CAAC,QAAQ,CAAC,CAAC,GAAG,CAAC,IAAI,CAAC,EAAE,GAAG,CAAC,CAAA;QAC/B,KAAK,CAAC,QAAQ,CAAC,CAAC,GAAG,CAAC,GAAG,CAAA;QACvB,KAAK,CAAC,aAAa,GAAG,IAAI,CAAA;QAC1B,KAAK,CAAC,KAAK,CAAC,GAAG,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAA;QAC3B,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAA;QAEhB,iBAAiB;QACjB,MAAM,QAAQ,GAAG,IAAI,aAAa,CAAC,MAAM,EAAE,QAAQ,CAAC,UAAU,CAAC,CAAA;QAC/D,QAAQ,CAAC,WAAW,GAAG,GAAG,CAAA;QAC1B,QAAQ,CAAC,SAAS,GAAG,CAAC,CAAA;QACtB,QAAQ,CAAC,QAAQ,GAAG,CAAC,CAAA;QACrB,QAAQ,CAAC,UAAU,GAAG,IAAI,CAAA;QAC1B,QAAQ,CAAC,aAAa,GAAG,KAAK,CAAA;QAC9B,QAAQ,CAAC,WAAW,GAAG,EAAE,CAAA;QACzB,QAAQ,CAAC,WAAW,GAAG,IAAI,CAAA;QAC3B,QAAQ,CAAC,gBAAgB,CAAC,QAAQ,EAAE,GAAG,EAAE,CAAC,IAAI,CAAC,QAAQ,EAAE,CAAC,CAAA;QAE1D,IAAI,CAAC,KAAK,GAAG,KAAK,CAAA;QAClB,IAAI,CAAC,KAAK,GAAG,KAAK,CAAA;QAClB,IAAI,CAAC,QAAQ,GAAG,QAAQ,CAAA;QACxB,IAAI,CAAC,MAAM,GAAG,MAAM,CAAA;QACpB,IAAI,CAAC,QAAQ,GAAG,QAAQ,CAAA;QACxB,IAAI,CAAC,KAAK,GAAG,KAAK,CAAA;QAClB,IAAI,CAAC,gBAAgB,GAAG,QAAQ,CAAA;QAChC,IAAI,CAAC,YAAY,GAAG,YAAY,CAAA;QAEhC,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAA;IACtB,CAAC;IAED,iBAAiB;QACf,IAAI,CAAC,IAAI,CAAC,aAAa,CAAC,QAAQ,CAAC,EAAE,CAAC;YAClC,IAAI,MAAM,GAAG,IAAI,CAAC,QAAQ,CAAC,UAAU,CAAA;YACrC,MAAM,CAAC,KAAK,CAAC,OAAO,GAAG,OAAO,CAAA;YAC9B,MAAM,CAAC,KAAK,CAAC,KAAK,GAAG,MAAM,CAAA;YAC3B,MAAM,CAAC,KAAK,CAAC,MAAM,GAAG,MAAM,CAAA;YAE5B,IAAI,CAAC,WAAW,CAAC,MAAM,CAAC,CAAA;QAC1B,CAAC;QAED,qBAAqB,CAAC,GAAG,EAAE,CAAC,IAAI,CAAC,QAAQ,EAAE,CAAC,CAAA;IAC9C,CAAC;IAED,oBAAoB,KAAI,CAAC;IAEzB,wBAAwB,CAAC,IAAY,EAAE,MAAW,EAAE,MAAW;QAC7D,IAAI,CAAC,QAAQ,EAAE,CAAA;QAEf,QAAQ,IAAI,EAAE,CAAC;YACb,KAAK,SAAS,CAAC;YACf,KAAK,MAAM,CAAC,CAAC,CAAC;gBACZ,IAAI,CAAC,aAAa,EAAE,CAAA;gBACpB,MAAK;YACP,CAAC;YAED,KAAK,IAAI,CAAC,CAAC,CAAC;gBACV,IAAI,CAAC,MAAM,CAAC,IAAI,CAAC,EAAE,CAAC,CAAA;gBACpB,MAAK;YACP,CAAC;YAED,KAAK,eAAe,CAAC,CAAC,CAAC;gBACrB,IAAI,CAAC,YAAY,CAAC,KAAK,CAAC,GAAG,CAAC,IAAI,CAAC,YAAY,CAAC,CAAA;gBAC9C,IAAI,CAAC,YAAY,CAAC,WAAW,CAAC,GAAG,CAAC,MAAM,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,YAAY,CAAC,KAAK,EAAE,GAAG,CAAC,CAAA;gBAC5E,MAAK;YACP,CAAC;YAED,KAAK,eAAe,CAAC,CAAC,CAAC;gBACrB,IAAI,CAAC,gBAAgB,CAAC,IAAI,CAAC,YAAY,EAAE,IAAI,CAAC,CAAA;gBAC9C,MAAK;YACP,CAAC;QACH,CAAC;IACH,CAAC;IAED,gBAAgB;IAChB,UAAU;QACR,MAAM,CAAC,GAAG,IAAI,CAAC,QAAQ,CAAA;QACvB,MAAM,CAAC,GAAG,IAAI,CAAC,WAAW,CAAA;QAC1B,MAAM,CAAC,GAAG,IAAI,CAAC,YAAY,CAAA;QAE3B,MAAM,QAAQ,GAAG,CAAC,CAAC,OAAO,CAAC,IAAI,KAAK,CAAC,OAAO,EAAE,CAAC,CAAA;QAE/C,IAAI,QAAQ,CAAC,KAAK,KAAK,CAAC,IAAI,QAAQ,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YAClD,IAAI,CAAC,QAAQ,EAAE,CAAA;QACjB,CAAC;QAED,CAAC,CAAC,aAAa,CAAC,MAAM,CAAC,gBAAgB,CAAC,CAAA;QACxC,CAAC,CAAC,OAAO,CAAC,CAAC,EAAE,CAAC,EAAE,KAAK,CAAC,CAAA;QAEtB,IAAI,CAAC,MAAM,CAAC,MAAM,GAAG,CAAC,GAAG,CAAC,CAAA;QAC1B,IAAI,CAAC,MAAM,CAAC,sBAAsB,EAAE,CAAA;IACtC,CAAC;IAED,MAAM;QACJ,IAAI,IAAI,CAAC,UAAU,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YACnC,IAAI,CAAC,MAAM,GAAG,KAAK,CAAA;YACnB,IAAI,CAAC;gBACH,IAAI,CAAC,UAAU,EAAE,CAAA;gBAEjB,IAAI,CAAC,IAAI,CAAC,cAAc,EAAE,CAAC;oBACzB,IAAI,CAAC,kBAAkB,EAAE,CAAA;gBAC3B,CAAC;gBAED,IAAI,CAAC,QAAQ,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,EAAE,IAAI,CAAC,MAAM,CAAC,CAAA;gBAE7C,2CAA2C;gBAC3C,mCAAmC;gBACnC,IAAI,CAAC,QAAQ,CAAC,MAAM,EAAE,CAAA;YACxB,CAAC;YAAC,OAAO,GAAG,EAAE,CAAC;gBACb,OAAO,CAAC,KAAK,CAAC,GAAG,CAAC,CAAA;YACpB,CAAC;oBAAS,CAAC;gBACT,IAAI,CAAC,MAAM,GAAG,IAAI,CAAA;YACpB,CAAC;QACH,CAAC;IACH,CAAC;IAED,QAAQ;QACN,IAAI,CAAC,kBAAkB,EAAE,CAAA;QACzB,IAAI,CAAC,MAAM,EAAE,CAAA;IACf,CAAC;IAED,kCAAkC;IAClC,mBAAmB;IACnB,aAAa,CAAC,SAAiB,EAAE,GAAG,MAAgB;QAClD,IAAI,CAAC,IAAI,CAAC,KAAK;YAAE,OAAM;QACvB,IAAI,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,SAAS,CAAC;YAAE,OAAM;QAEzC,IAAI,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,SAAS,CAAC,CAAC,aAAa,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,EAAE,MAAM,CAAC,CAAC,CAAC,CAAQ,EAAE,CAAC;YACvF,IAAI,CAAC,MAAM,EAAE,CAAA;YACb,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,cAAc,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,MAAM,EAAE,SAAS,EAAE,CAAC,CAAC,CAAA;QAC7G,CAAC;IACH,CAAC;IAED,cAAc,CAAC,MAAgB;QAC7B,KAAK,MAAM,IAAI,IAAI,MAAM;YAAE,IAAI,CAAC,aAAa,CAAC,IAAI,EAAE,MAAM,CAAC,IAAI,CAAC,CAAC,CAAA;IACnE,CAAC;IAED,uBAAuB;IACvB,iDAAiD;IACjD,+CAA+C;IAC/C,oCAAoC;IACpC,kBAAkB;QAChB,IAAI,CAAC,IAAI,CAAC,KAAK;YAAE,OAAM;QAEvB,IAAI,CAAC,KAAK,CAAC,iBAAiB,EAAE,CAAA;QAE9B,MAAM,IAAI,GAAG,IAAI,KAAK,CAAC,IAAI,EAAE,CAAA;QAC7B,IAAI,CAAC,aAAa,CAAC,IAAI,CAAC,KAAK,CAAC,CAAA;QAE9B,MAAM,MAAM,GAAG,IAAI,CAAC,SAAS,CAAC,IAAI,KAAK,CAAC,OAAO,EAAE,CAAC,CAAA;QAClD,IAAI,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC,GAAG,MAAM,CAAC,CAAC,CAAA;QACjC,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,GAAG,IAAI,CAAA;QAEzC,MAAM,QAAQ,GAAG,IAAI,CAAC,gBAAgB,CAAA;QACtC,QAAQ,CAAC,UAAU,GAAG,IAAI,CAAC,aAAa,CAAA;QAExC,IAAI,IAAI,CAAC,aAAa,EAAE,CAAC;YACvB,+DAA+D;YAC/D,4DAA4D;YAC5D,6CAA6C;YAC7C,MAAM,MAAM,GAAG,IAAI,CAAC,iBAAiB,CAAC,IAAI,KAAK,CAAC,MAAM,EAAE,CAAC,CAAA;YACzD,MAAM,MAAM,GAAG,MAAM,CAAC,MAAM,CAAA;YAC5B,MAAM,GAAG,GAAG,QAAQ,CAAC,MAAM,CAAC,MAAM,CAAA;YAClC,GAAG,CAAC,IAAI,GAAG,GAAG,CAAC,MAAM,GAAG,CAAC,MAAM,CAAA;YAC/B,GAAG,CAAC,KAAK,GAAG,GAAG,CAAC,GAAG,GAAG,MAAM,CAAA;YAE5B,+DAA+D;YAC/D,4BAA4B;YAC5B,MAAM,MAAM,GAAG,QAAQ,CAAC,QAAQ,CAAC,KAAK,EAAE,CAAC,GAAG,CAAC,QAAQ,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAA;YACtE,QAAQ,CAAC,MAAM,CAAC,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CAAA;YACrC,QAAQ,CAAC,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,GAAG,CAAC,MAAM,CAAC,CAAA;YAE1C,GAAG,CAAC,sBAAsB,EAAE,CAAA;QAC9B,CAAC;IACH,CAAC;IAED,aAAa;QACX,yDAAyD;QACzD,oCAAoC;QACpC,IAAI,IAAI,CAAC,SAAS,KAAK,GAAG,IAAI,CAAC,OAAO,IAAI,IAAI,CAAC,IAAI,EAAE;YAAE,OAAM;QAC7D,IAAI,CAAC,SAAS,GAAG,GAAG,IAAI,CAAC,OAAO,IAAI,IAAI,CAAC,IAAI,EAAE,CAAA;QAE/C,oDAAoD;QACpD,IAAI,IAAI,CAAC,cAAc;YAAE,OAAM;QAC/B,IAAI,CAAC,cAAc,GAAG,IAAI,CAAA;QAE1B,IAAI,IAAI,CAAC,KAAK,EAAE,CAAC;YACf,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAM,EAAE,EAAE,CAAC,CAAC,CAAC,OAAO,IAAI,CAAC,CAAC,OAAO,EAAE,CAAC,CAAA;YACzD,IAAI,CAAC,KAAK,CAAC,MAAO,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,CAAA;YACrC,OAAO,IAAI,CAAC,KAAK,CAAA;QACnB,CAAC;QAED,qBAAqB,CAAC,GAAG,EAAE;YACzB,IAAI,CAAC,SAAS,CAAC,IAAI,CAAC,OAAO,EAAE,IAAI,CAAC,IAAI,CAAC,CAAA;YACvC,IAAI,CAAC,cAAc,GAAG,KAAK,CAAA;QAC7B,CAAC,CAAC,CAAA;IACJ,CAAC;IAED,6DAA6D;IAC7D,+DAA+D;IAC/D,kDAAkD;IAClD,SAAS,CAAC,GAAW,EAAE,IAAY;QACjC,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,aAAa,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAA;QAEvG,IAAI,IAAI,EAAE,CAAC;YACT,sCAAsC;YACtC,qCAAqC;YACrC,mBAAmB;YACnB,IAAI,CAAC,UAAU,EAAE,CAAA;YACjB,MAAM,SAAS,GAAG,IAAI,CAAC,UAAU,CAAA;YAEjC,MAAM,eAAe,GAAG,CAAC,IAAe,EAAE,EAAE;gBAC1C,IAAI,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE;oBAChB,IAAK,CAAS,CAAC,MAAM,EAAE,CAAC;wBACtB,CAAC,CAAC,UAAU,GAAG,IAAI,CAAA;wBACnB,CAAC,CAAC,aAAa,GAAG,IAAI,CAAA;wBAEtB,IAAK,CAAS,CAAC,QAAQ,EAAE,CAAC;4BACxB,MAAM,IAAI,GAAG,CAAC,KAAK,CAAC,OAAO,CAAE,CAAS,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAE,CAAS,CAAC,QAAQ,CAAC,CAAC,CAAC,CAAE,CAAS,CAAC,QAAQ,CAAC,CAAC,CAAC,GAAG,CACjG,CAAC,CAAM,EAAE,EAAE;gCACT,IAAI,CAAC,YAAY,KAAK,CAAC,iBAAiB,EAAE,CAAC;oCACzC,CAAC,GAAG,IAAI,KAAK,CAAC,iBAAiB,EAAE,CAAA;gCACnC,CAAC;gCAED,+CAA+C;gCAC/C,eAAe;gCACf,yCAAyC;gCACzC,IAAI;gCAEJ,OAAO,CAAC,CAAA;4BACV,CAAC,CACF,CAEA;4BAAC,CAAS,CAAC,QAAQ,GAAG,IAAI,CAAC,MAAM,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,IAAI,CAAA;wBAC3D,CAAC;oBACH,CAAC;gBACH,CAAC,CAAC,CAAA;YACJ,CAAC,CAAA;YAED,IAAI,GAAG,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,SAAS,CAAC,CAAC,EAAE,CAAC,CAAC,KAAK,IAAI,EAAE,CAAC;gBACpE,8DAA8D;gBAE9D,kCAAkC;gBAClC,oCAAoC;gBACpC,sCAAsC;gBAEtC,GAAG,GAAG,GAAG,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC,CAAC,GAAQ,EAAE,KAAa,EAAE,EAAE;oBACtD,MAAM,KAAK,GAAG,KAAK,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC,CAAC,CAAA;oBAC/C,MAAM,OAAO,GAAG,KAAK,CAAC,KAAK,EAAG,CAAC,IAAI,EAAE,CAAA;oBACrC,MAAM,OAAO,GAAG,KAAK,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,EAAE,CAAA;oBACtC,GAAG,CAAC,OAAO,CAAC,GAAG,OAAO,CAAA;oBAEtB,OAAO,GAAG,CAAA;gBACZ,CAAC,EAAE,EAAS,CAAC,CAAA;YACf,CAAC;YAED,IAAI,KAAgB,CAAA;YACpB,MAAM,OAAO,GAAG,IAAI,KAAK,CAAC,cAAc,EAAE,CAAA;YAC1C,OAAO,CAAC,MAAM,GAAG,GAAG,EAAE;gBACpB,+CAA+C;gBAC/C,8BAA8B;gBAC9B,IAAI,IAAI,CAAC,UAAU,KAAK,SAAS,EAAE,CAAC;oBAClC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC,EAAE,CAAE,CAAS,CAAC,OAAO,IAAK,CAAS,CAAC,OAAO,EAAE,CAAC,CAAA;oBAC/D,OAAM;gBACR,CAAC;gBAED,IAAI,CAAC,KAAK,GAAG,KAAK,CAAA;gBAElB,IAAI,CAAC,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,CAAA;gBACrB,eAAe,CAAC,KAAK,CAAC,CAAA;gBAEtB,IAAI,CAAC,gBAAgB,CAAC,IAAI,CAAC,YAAY,CAAC,CAAA;gBAExC,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,gBAAgB,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAA;gBAC1G,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,iBAAiB,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAA;gBAE3G,IAAI,CAAC,QAAQ,EAAE,CAAA;YACjB,CAAC,CAAA;YAED,IAAI,IAAI,CAAC,eAAe,EAAE,CAAC;gBACzB,OAAO,CAAC,cAAc,CAAC,IAAI,CAAC,eAAe,CAAC,CAAA;YAC9C,CAAC;YAED,MAAM,UAAU,GAAG,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,QAAQ,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC,CAAC,CAAC,SAAS,CAAA;YAErE,IAAI,UAAU,IAAI,UAAU,CAAC,CAAC,CAAC,KAAK,OAAO,EAAE,CAAC;gBAC5C,MAAM,WAAW,GAAG,IAAI,WAAW,EAAE,CAAA;gBACrC,IAAI,CAAC;oBACH,WAAW,CAAC,IAAI,CACd,IAAI,EACJ,GAAG,CAAC,EAAE;wBACJ,MAAM,MAAM,GAAG,IAAI,UAAU,CAAC,OAAO,CAAC,CAAA;wBACtC,MAAM,CAAC,QAAQ,GAAG,GAAG,CAAA;wBACrB,MAAM,CAAC,UAAU,GAAG,IAAI,CAAC,YAAa,CAAA;wBACtC,MAAM,CAAC,YAAY,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,WAAW,EAAE,aAAa,EAAE,CAAA;wBAClE,KAAK,GAAG,MAAM,CAAC,KAAK,CAAC,GAAG,CAAC,CAAA;oBAC3B,CAAC,EACD,GAAG,CAAC,EAAE;wBACJ,OAAO,CAAC,KAAK,CAAC,qBAAqB,EAAE,GAAG,CAAC,CAAA;oBAC3C,CAAC,CACF,CAAA;gBACH,CAAC;gBAAC,OAAO,KAAK,EAAE,CAAC;oBACf,OAAO,CAAC,KAAK,CAAC,KAAK,CAAC,CAAA;gBACtB,CAAC;YACH,CAAC;iBAAM,CAAC;gBACN,MAAM,MAAM,GAAG,IAAI,UAAU,CAAC,OAAO,CAAC,CAAA;gBACtC,MAAM,CAAC,QAAQ,GAAG,GAAG,CAAA;gBACrB,MAAM,CAAC,UAAU,GAAG,IAAI,CAAC,YAAa,CAAA;gBACtC,MAAM,CAAC,YAAY,GAAG,EAAE,IAAI,EAAE,MAAM,EAAE,WAAW,EAAE,aAAa,EAAE,CAAA;gBAClE,MAAM,CAAC,IAAI,CAAC,IAAI,EAAE,KAAK,CAAC,EAAE,CAAC,CAAC,KAAK,GAAG,KAAK,CAAC,CAAC,CAAA;YAC7C,CAAC;QACH,CAAC;IACH,CAAC;IAED,4CAA4C;IAC5C,iCAAiC;IACjC,MAAM,CAAC,EAAU;QACf,IAAI,CAAC,EAAE;YAAE,EAAE,GAAG,IAAI,CAAA;QAClB,EAAE,GAAG,EAAE,CAAC,WAAW,EAAE,CAAA;QACrB,MAAM,IAAI,GAAG,EAAE,CAAC,OAAO,CAAC,QAAQ,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,IAAI,GAAG,CAAA;QAC/C,MAAM,IAAI,GAAG,EAAE,CAAC,OAAO,CAAC,UAAU,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,IAAI,GAAG,CAAA;QAEjD,MAAM,EAAE,GAAG,IAAI,CAAC,EAAE,CAAA;QAClB,MAAM,MAAM,GAAG,EAAE,GAAG,CAAC,CAAA;QACrB,IAAI,IAAI,KAAK,GAAG;YAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,EAAE,IAAI,KAAK,GAAG,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,CAAA;QAChF,IAAI,IAAI,KAAK,GAAG;YAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,MAAM,CAAC,CAAC,CAAC,MAAM,EAAE,CAAC,EAAE,CAAC,CAAC,CAAA;QAChF,IAAI,IAAI,KAAK,GAAG;YAAE,IAAI,CAAC,KAAK,CAAC,QAAQ,CAAC,GAAG,CAAC,IAAI,KAAK,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC,EAAE,CAAC,CAAC,CAAA;IACxE,CAAC;IAED,+CAA+C;IAC/C,sBAAsB;IACtB,gBAAgB,CAAC,MAAe,EAAE,QAAQ,GAAG,KAAK;QAChD,IAAI,IAAI,CAAC,KAAK,EAAE,CAAC;YACf,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,OAAO,CAAC,KAAK,CAAC,EAAE;gBAC/C,KAAK,CAAC,YAAY,GAAG,MAAM,CAAA;gBAC3B,KAAK,CAAC,aAAa,CAAC,KAAK,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,UAAU,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,UAAU,CAAC,CAAC,CAAC,CAAC,CAAA;YACpF,CAAC,CAAC,CAAA;QACJ,CAAC;QAED,IAAI,QAAQ,EAAE,CAAC;YACb,IAAI,CAAC,aAAa,CAAC,IAAI,WAAW,CAAC,sBAAsB,EAAE,EAAE,OAAO,EAAE,IAAI,EAAE,UAAU,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,CAAC,CAAC,CAAA;QAClH,CAAC;IACH,CAAC;CACF","sourcesContent":["import * as THREE from 'three'\nimport { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js'\nimport URDFLoader, { URDFJoint, URDFRobot } from 'urdf-loader/src/URDFLoader.js'\nimport { XacroLoader } from 'xacro-parser'\n\n// urdf-viewer element\n// Loads and displays a 3D view of a URDF-formatted robot\n\n// Events\n// urdf-change: Fires when the URDF has finished loading and getting processed\n// urdf-processed: Fires when the URDF has finished loading and getting processed\n// geometry-loaded: Fires when all the geometry has been fully loaded\n// ignore-limits-change: Fires when the 'ignore-limits' attribute changes\n// angle-change: Fires when an angle changes\nexport default class URDFViewerElement extends HTMLElement {\n  static get observedAttributes() {\n    return ['package', 'urdf', 'up', 'display-shadow', 'ambient-color', 'ignore-limits', 'no-auto-recenter']\n  }\n\n  get package() {\n    return this.getAttribute('package') || ''\n  }\n  set package(val) {\n    this.setAttribute('package', val)\n  }\n\n  get urdf() {\n    return this.getAttribute('urdf') || ''\n  }\n  set urdf(val) {\n    this.setAttribute('urdf', val)\n  }\n\n  get ignoreLimits() {\n    return this.hasAttribute('ignore-limits') || false\n  }\n  set ignoreLimits(val) {\n    val ? this.setAttribute('ignore-limits', String(val)) : this.removeAttribute('ignore-limits')\n  }\n\n  get up() {\n    return this.getAttribute('up') || '+Z'\n  }\n  set up(val) {\n    this.setAttribute('up', val)\n  }\n\n  get displayShadow() {\n    return this.hasAttribute('display-shadow') || false\n  }\n  set displayShadow(val) {\n    val ? this.setAttribute('display-shadow', '') : this.removeAttribute('display-shadow')\n  }\n\n  get ambientColor() {\n    return this.getAttribute('ambient-color') || '#455A64'\n  }\n  set ambientColor(val) {\n    val ? this.setAttribute('ambient-color', val) : this.removeAttribute('ambient-color')\n  }\n\n  get noAutoRecenter() {\n    return this.hasAttribute('no-auto-recenter') || false\n  }\n  set noAutoRecenter(val) {\n    val ? this.setAttribute('no-auto-recenter', String(true)) : this.removeAttribute('no-auto-recenter')\n  }\n\n  get jointValues() {\n    const values = {} as any\n    if (this.robot) {\n      for (const name in this.robot.joints) {\n        const joint = this.robot.joints[name]\n        values[name] = joint.jointValue.length === 1 ? joint.angle : [...joint.jointValue]\n      }\n    }\n\n    return values\n  }\n  set jointValues(val) {\n    this.setJointValues(val)\n  }\n\n  get angles() {\n    return this.jointValues\n  }\n  set angles(v) {\n    this.jointValues = v\n  }\n\n  robot?: URDFRobot\n  controls: OrbitControls\n  scene: THREE.Scene\n  camera: THREE.PerspectiveCamera\n\n  world: THREE.Object3D\n  renderer: THREE.WebGLRenderer\n  plane: THREE.Mesh\n  directionalLight: THREE.DirectionalLight\n  ambientLight: THREE.HemisphereLight\n\n  _prevload?: string\n  _requestId = 0\n  _dirty = true\n  _loadScheduled = false\n  loadMeshFunc?: (\n    url: string,\n    manager: THREE.LoadingManager,\n    onLoad: (mesh: THREE.Object3D, err?: Error) => void\n  ) => void\n  urlModifierFunc?: (url: string) => string\n\n  /* Lifecycle Functions */\n  constructor() {\n    super()\n\n    const scene = new THREE.Scene()\n\n    const ambientLight = new THREE.HemisphereLight(this.ambientColor, '#000')\n    ambientLight.groundColor.lerp(ambientLight.color, 0.5)\n    ambientLight.intensity = 0.5\n    ambientLight.position.set(0, 1, 0)\n    scene.add(ambientLight)\n\n    // Light setup\n    const dirLight = new THREE.DirectionalLight(0xffffff)\n    dirLight.position.set(4, 10, 1)\n    dirLight.shadow.mapSize.width = 2048\n    dirLight.shadow.mapSize.height = 2048\n    dirLight.shadow.normalBias = 0.001\n    dirLight.castShadow = true\n    scene.add(dirLight)\n    scene.add(dirLight.target)\n\n    // Renderer setup\n    const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true })\n    renderer.setClearColor(0xffffff)\n    renderer.setClearAlpha(0)\n    renderer.shadowMap.enabled = true\n    renderer.shadowMap.type = THREE.PCFSoftShadowMap\n    renderer.outputColorSpace = THREE.SRGBColorSpace\n\n    // Camera setup\n    const camera = new THREE.PerspectiveCamera(75, 1, 0.1, 1000)\n    camera.position.z = -10\n\n    // World setup\n    const world = new THREE.Object3D()\n    scene.add(world)\n\n    const plane = new THREE.Mesh(\n      new THREE.PlaneGeometry(40, 40),\n      new THREE.ShadowMaterial({ side: THREE.DoubleSide, transparent: true, opacity: 0.5 })\n    )\n    plane.rotation.x = -Math.PI / 2\n    plane.position.y = -0.5\n    plane.receiveShadow = true\n    plane.scale.set(10, 10, 10)\n    scene.add(plane)\n\n    // Controls setup\n    const controls = new OrbitControls(camera, renderer.domElement)\n    controls.rotateSpeed = 2.0\n    controls.zoomSpeed = 5\n    controls.panSpeed = 2\n    controls.enableZoom = true\n    controls.enableDamping = false\n    controls.maxDistance = 50\n    controls.minDistance = 0.25\n    controls.addEventListener('change', () => this.recenter())\n\n    this.scene = scene\n    this.world = world\n    this.renderer = renderer\n    this.camera = camera\n    this.controls = controls\n    this.plane = plane\n    this.directionalLight = dirLight\n    this.ambientLight = ambientLight\n\n    this._setUp(this.up)\n  }\n\n  connectedCallback() {\n    if (!this.querySelector('canvas')) {\n      var canvas = this.renderer.domElement\n      canvas.style.display = 'block'\n      canvas.style.width = '100%'\n      canvas.style.height = '100%'\n\n      this.appendChild(canvas)\n    }\n\n    requestAnimationFrame(() => this.recenter())\n  }\n\n  disconnectedCallback() {}\n\n  attributeChangedCallback(attr: string, oldval: any, newval: any) {\n    this.recenter()\n\n    switch (attr) {\n      case 'package':\n      case 'urdf': {\n        this._scheduleLoad()\n        break\n      }\n\n      case 'up': {\n        this._setUp(this.up)\n        break\n      }\n\n      case 'ambient-color': {\n        this.ambientLight.color.set(this.ambientColor)\n        this.ambientLight.groundColor.set('#000').lerp(this.ambientLight.color, 0.5)\n        break\n      }\n\n      case 'ignore-limits': {\n        this._setIgnoreLimits(this.ignoreLimits, true)\n        break\n      }\n    }\n  }\n\n  /* Public API */\n  updateSize() {\n    const r = this.renderer\n    const w = this.clientWidth\n    const h = this.clientHeight\n\n    const currsize = r.getSize(new THREE.Vector2())\n\n    if (currsize.width !== w || currsize.height !== h) {\n      this.recenter()\n    }\n\n    r.setPixelRatio(window.devicePixelRatio)\n    r.setSize(w, h, false)\n\n    this.camera.aspect = w / h\n    this.camera.updateProjectionMatrix()\n  }\n\n  redraw() {\n    if (this.parentNode && this._dirty) {\n      this._dirty = false\n      try {\n        this.updateSize()\n\n        if (!this.noAutoRecenter) {\n          this._updateEnvironment()\n        }\n\n        this.renderer.render(this.scene, this.camera)\n\n        // update controls after the environment in\n        // case the controls are retargeted\n        this.controls.update()\n      } catch (err) {\n        console.error(err)\n      } finally {\n        this._dirty = true\n      }\n    }\n  }\n\n  recenter() {\n    this._updateEnvironment()\n    this.redraw()\n  }\n\n  // Set the joint with jointName to\n  // angle in degrees\n  setJointValue(jointName: string, ...values: Number[]) {\n    if (!this.robot) return\n    if (!this.robot.joints[jointName]) return\n\n    if (this.robot.joints[jointName].setJointValue(values[0], values[1], values[2]) as any) {\n      this.redraw()\n      this.dispatchEvent(new CustomEvent('angle-change', { bubbles: true, cancelable: true, detail: jointName }))\n    }\n  }\n\n  setJointValues(values: Number[]) {\n    for (const name in values) this.setJointValue(name, values[name])\n  }\n\n  /* Private Functions */\n  // Updates the position of the plane to be at the\n  // lowest point below the robot and focuses the\n  // camera on the center of the scene\n  _updateEnvironment() {\n    if (!this.robot) return\n\n    this.world.updateMatrixWorld()\n\n    const bbox = new THREE.Box3()\n    bbox.setFromObject(this.robot)\n\n    const center = bbox.getCenter(new THREE.Vector3())\n    this.controls.target.y = center.y\n    this.plane.position.y = bbox.min.y - 1e-3\n\n    const dirLight = this.directionalLight\n    dirLight.castShadow = this.displayShadow\n\n    if (this.displayShadow) {\n      // Update the shadow camera rendering bounds to encapsulate the\n      // model. We use the bounding sphere of the bounding box for\n      // simplicity -- this could be a tighter fit.\n      const sphere = bbox.getBoundingSphere(new THREE.Sphere())\n      const minmax = sphere.radius\n      const cam = dirLight.shadow.camera\n      cam.left = cam.bottom = -minmax\n      cam.right = cam.top = minmax\n\n      // Update the camera to focus on the center of the model so the\n      // shadow can encapsulate it\n      const offset = dirLight.position.clone().sub(dirLight.target.position)\n      dirLight.target.position.copy(center)\n      dirLight.position.copy(center).add(offset)\n\n      cam.updateProjectionMatrix()\n    }\n  }\n\n  _scheduleLoad() {\n    // if our current model is already what's being requested\n    // or has been loaded then early out\n    if (this._prevload === `${this.package}|${this.urdf}`) return\n    this._prevload = `${this.package}|${this.urdf}`\n\n    // if we're already waiting on a load then early out\n    if (this._loadScheduled) return\n    this._loadScheduled = true\n\n    if (this.robot) {\n      this.robot.traverse((c: any) => c.dispose && c.dispose())\n      this.robot.parent!.remove(this.robot)\n      delete this.robot\n    }\n\n    requestAnimationFrame(() => {\n      this._loadUrdf(this.package, this.urdf)\n      this._loadScheduled = false\n    })\n  }\n\n  // Watch the package and urdf field and load the robot model.\n  // This should _only_ be called from _scheduleLoad because that\n  // ensures the that current robot has been removed\n  _loadUrdf(pkg: string, urdf: string) {\n    this.dispatchEvent(new CustomEvent('urdf-change', { bubbles: true, cancelable: true, composed: true }))\n\n    if (urdf) {\n      // Keep track of this request and make\n      // sure it doesn't get overwritten by\n      // a subsequent one\n      this._requestId++\n      const requestId = this._requestId\n\n      const updateMaterials = (mesh: URDFRobot) => {\n        mesh.traverse(c => {\n          if ((c as any).isMesh) {\n            c.castShadow = true\n            c.receiveShadow = true\n\n            if ((c as any).material) {\n              const mats = (Array.isArray((c as any).material) ? (c as any).material : [(c as any).material]).map(\n                (m: any) => {\n                  if (m instanceof THREE.MeshBasicMaterial) {\n                    m = new THREE.MeshPhongMaterial()\n                  }\n\n                  // FIXME THREE.GammaEncoding is removed at v136\n                  // if (m.map) {\n                  //   m.map.encoding = THREE.GammaEncoding\n                  // }\n\n                  return m\n                }\n              )\n\n              ;(c as any).material = mats.length === 1 ? mats[0] : mats\n            }\n          }\n        })\n      }\n\n      if (pkg.includes(':') && pkg.split(':')[1].substring(0, 2) !== '//') {\n        // E.g. pkg = \"pkg_name: path/to/pkg_name, pk2: path2/to/pk2\"}\n\n        // Convert pkg(s) into a map. E.g.\n        // { \"pkg_name\": \"path/to/pkg_name\",\n        //   \"pk2\":      \"path2/to/pk2\"      }\n\n        pkg = pkg.split(',').reduce((map: any, value: string) => {\n          const split = value.split(/:/).filter(x => !!x)\n          const pkgName = split.shift()!.trim()\n          const pkgPath = split.join(':').trim()\n          map[pkgName] = pkgPath\n\n          return map\n        }, {} as any)\n      }\n\n      let robot: URDFRobot\n      const manager = new THREE.LoadingManager()\n      manager.onLoad = () => {\n        // If another request has come in to load a new\n        // robot, then ignore this one\n        if (this._requestId !== requestId) {\n          robot.traverse(c => (c as any).dispose && (c as any).dispose())\n          return\n        }\n\n        this.robot = robot\n\n        this.world.add(robot)\n        updateMaterials(robot)\n\n        this._setIgnoreLimits(this.ignoreLimits)\n\n        this.dispatchEvent(new CustomEvent('urdf-processed', { bubbles: true, cancelable: true, composed: true }))\n        this.dispatchEvent(new CustomEvent('geometry-loaded', { bubbles: true, cancelable: true, composed: true }))\n\n        this.recenter()\n      }\n\n      if (this.urlModifierFunc) {\n        manager.setURLModifier(this.urlModifierFunc)\n      }\n\n      const checkXacro = /[.]/.exec(urdf) ? /[^.]+$/.exec(urdf) : undefined\n\n      if (checkXacro && checkXacro[0] === 'xacro') {\n        const xacroLoader = new XacroLoader()\n        try {\n          xacroLoader.load(\n            urdf,\n            xml => {\n              const loader = new URDFLoader(manager)\n              loader.packages = pkg\n              loader.loadMeshCb = this.loadMeshFunc!\n              loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' }\n              robot = loader.parse(xml)\n            },\n            err => {\n              console.error('xacroloader error: ', err)\n            }\n          )\n        } catch (error) {\n          console.error(error)\n        }\n      } else {\n        const loader = new URDFLoader(manager)\n        loader.packages = pkg\n        loader.loadMeshCb = this.loadMeshFunc!\n        loader.fetchOptions = { mode: 'cors', credentials: 'same-origin' }\n        loader.load(urdf, model => (robot = model))\n      }\n    }\n  }\n\n  // Watch the coordinate frame and update the\n  // rotation of the scene to match\n  _setUp(up: string) {\n    if (!up) up = '+Z'\n    up = up.toUpperCase()\n    const sign = up.replace(/[^-+]/g, '')[0] || '+'\n    const axis = up.replace(/[^XYZ]/gi, '')[0] || 'Z'\n\n    const PI = Math.PI\n    const HALFPI = PI / 2\n    if (axis === 'X') this.world.rotation.set(0, 0, sign === '+' ? HALFPI : -HALFPI)\n    if (axis === 'Z') this.world.rotation.set(sign === '+' ? -HALFPI : HALFPI, 0, 0)\n    if (axis === 'Y') this.world.rotation.set(sign === '+' ? 0 : PI, 0, 0)\n  }\n\n  // Updates the current robot's angles to ignore\n  // joint limits or not\n  _setIgnoreLimits(ignore: boolean, dispatch = false) {\n    if (this.robot) {\n      Object.values(this.robot.joints).forEach(joint => {\n        joint.ignoreLimits = ignore\n        joint.setJointValue(joint.jointValue[0], joint.jointValue[1], joint.jointValue[2])\n      })\n    }\n\n    if (dispatch) {\n      this.dispatchEvent(new CustomEvent('ignore-limits-change', { bubbles: true, cancelable: true, composed: true }))\n    }\n  }\n}\n"]}

package/dist/templates/urdf-controller.js

@@ -1,16 +0,0 @@
-const icon = new URL('../../icons/urdf-controller.png', import.meta.url).href;
-export default {
-    type: 'urdf-controller',
-    description: 'urdf-controller',
-    group: '3D',
-    /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|IoT|3D|warehouse|form|etc */
-    icon,
-    model: {
-        type: 'urdf-controller',
-        left: 10,
-        top: 10,
-        width: 300,
-        height: 120
-    }
-};
-//# sourceMappingURL=urdf-controller.js.map

package/dist/templates/urdf-controller.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"urdf-controller.js","sourceRoot":"","sources":["../../src/templates/urdf-controller.ts"],"names":[],"mappings":"AAAA,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,iCAAiC,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAA;AAE7E,eAAe;IACb,IAAI,EAAE,iBAAiB;IACvB,WAAW,EAAE,iBAAiB;IAC9B,KAAK,EAAE,IAAI;IACX,gGAAgG;IAChG,IAAI;IACJ,KAAK,EAAE;QACL,IAAI,EAAE,iBAAiB;QACvB,IAAI,EAAE,EAAE;QACR,GAAG,EAAE,EAAE;QACP,KAAK,EAAE,GAAG;QACV,MAAM,EAAE,GAAG;KACZ;CACF,CAAA","sourcesContent":["const icon = new URL('../../icons/urdf-controller.png', import.meta.url).href\n\nexport default {\n  type: 'urdf-controller',\n  description: 'urdf-controller',\n  group: '3D',\n  /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|IoT|3D|warehouse|form|etc */\n  icon,\n  model: {\n    type: 'urdf-controller',\n    left: 10,\n    top: 10,\n    width: 300,\n    height: 120\n  }\n}\n"]}

package/dist/templates/urdf-viewer.d.ts

@@ -1,14 +0,0 @@
-declare const _default: {
-    type: string;
-    description: string;
-    group: string;
-    icon: string;
-    model: {
-        type: string;
-        left: number;
-        top: number;
-        width: number;
-        height: number;
-    };
-};
-export default _default;

package/dist/templates/urdf-viewer.js

@@ -1,16 +0,0 @@
-const icon = new URL('../../icons/urdf-viewer.png', import.meta.url).href;
-export default {
-    type: 'urdf-viewer',
-    description: 'urdf-viewer',
-    group: '3D',
-    /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|IoT|3D|warehouse|form|etc */
-    icon,
-    model: {
-        type: 'urdf-viewer',
-        left: 10,
-        top: 10,
-        width: 300,
-        height: 200
-    }
-};
-//# sourceMappingURL=urdf-viewer.js.map

package/dist/templates/urdf-viewer.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"urdf-viewer.js","sourceRoot":"","sources":["../../src/templates/urdf-viewer.ts"],"names":[],"mappings":"AAAA,MAAM,IAAI,GAAG,IAAI,GAAG,CAAC,6BAA6B,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,IAAI,CAAA;AAEzE,eAAe;IACb,IAAI,EAAE,aAAa;IACnB,WAAW,EAAE,aAAa;IAC1B,KAAK,EAAE,IAAI;IACX,gGAAgG;IAChG,IAAI;IACJ,KAAK,EAAE;QACL,IAAI,EAAE,aAAa;QACnB,IAAI,EAAE,EAAE;QACR,GAAG,EAAE,EAAE;QACP,KAAK,EAAE,GAAG;QACV,MAAM,EAAE,GAAG;KACZ;CACF,CAAA","sourcesContent":["const icon = new URL('../../icons/urdf-viewer.png', import.meta.url).href\n\nexport default {\n  type: 'urdf-viewer',\n  description: 'urdf-viewer',\n  group: '3D',\n  /* line|shape|textAndMedia|chartAndGauge|table|container|dataSource|IoT|3D|warehouse|form|etc */\n  icon,\n  model: {\n    type: 'urdf-viewer',\n    left: 10,\n    top: 10,\n    width: 300,\n    height: 200\n  }\n}\n"]}

package/dist/urdf-controller.d.ts

@@ -1,15 +0,0 @@
-import { ComponentNature, HTMLOverlayContainer } from '@hatiolab/things-scene';
-import './elements/urdf-controller-element.js';
-import URDFControllerElement from './elements/urdf-controller-element.js';
-import UrdfViewer from './urdf-viewer.js';
-export default class UrdfController extends HTMLOverlayContainer {
-    _reference?: UrdfViewer;
-    static get nature(): ComponentNature;
-    oncreate_element(controller: URDFControllerElement): void;
-    dispose(): void;
-    setElementProperties(controller: URDFControllerElement): void;
-    reposition(): void;
-    get tagName(): string;
-    get reference(): UrdfViewer | undefined;
-    set reference(reference: UrdfViewer | undefined);
-}

package/dist/urdf-controller.js

@@ -1,70 +0,0 @@
-/*
- * Copyright © HatioLab Inc. All rights reserved.
- */
-import { __decorate } from "tslib";
-const NATURE = {
-    mutable: false,
-    resizable: true,
-    rotatable: true,
-    properties: [
-        {
-            type: 'id-input',
-            label: 'urdf-reference',
-            name: 'reference',
-            property: {
-                component: 'urdf-viewer'
-            }
-        }
-    ]
-};
-import { HTMLOverlayContainer, sceneComponent } from '@hatiolab/things-scene';
-import './elements/urdf-controller-element.js';
-let UrdfController = class UrdfController extends HTMLOverlayContainer {
-    _reference;
-    static get nature() {
-        return NATURE;
-    }
-    oncreate_element(controller) { }
-    dispose() {
-        super.dispose();
-    }
-    /*
-     * 컴포넌트의 생성 또는 속성 변화 시에 호출되며,
-     * 그에 따른 html element의 반영이 필요한 부분을 구현한다.
-     *
-     * ThingsComponent state => HTML element properties
-     */
-    setElementProperties(controller) {
-        var reference = this.reference;
-        controller.viewer = reference ? reference.element : undefined;
-    }
-    /*
-     * 컴포넌트가 ready 상태가 되거나, 컴포넌트의 속성이 변화될 시 setElementProperties 뒤에 호출된다.
-     * 변화에 따른 기본적인 html 속성이 super.reposition()에서 진행되고, 그 밖의 작업이 필요할 때, 오버라이드 한다.
-     */
-    reposition() {
-        super.reposition();
-    }
-    get tagName() {
-        return 'urdf-controller';
-    }
-    get reference() {
-        var { reference } = this.state;
-        if (!reference) {
-            return;
-        }
-        if (!this._reference) {
-            this._reference = this.root.findById?.(reference);
-        }
-        return this._reference;
-    }
-    set reference(reference) {
-        delete this._reference;
-        this.setState('reference', reference);
-    }
-};
-UrdfController = __decorate([
-    sceneComponent('urdf-controller')
-], UrdfController);
-export default UrdfController;
-//# sourceMappingURL=urdf-controller.js.map

package/dist/urdf-controller.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"urdf-controller.js","sourceRoot":"","sources":["../src/urdf-controller.ts"],"names":[],"mappings":"AAAA;;GAEG;;AAEH,MAAM,MAAM,GAAoB;IAC9B,OAAO,EAAE,KAAK;IACd,SAAS,EAAE,IAAI;IACf,SAAS,EAAE,IAAI;IACf,UAAU,EAAE;QACV;YACE,IAAI,EAAE,UAAU;YAChB,KAAK,EAAE,gBAAgB;YACvB,IAAI,EAAE,WAAW;YACjB,QAAQ,EAAE;gBACR,SAAS,EAAE,aAAa;aACzB;SACF;KACF;CACF,CAAA;AAED,OAAO,EAA8B,oBAAoB,EAAE,cAAc,EAAE,MAAM,wBAAwB,CAAA;AACzG,OAAO,uCAAuC,CAAA;AAM/B,IAAM,cAAc,GAApB,MAAM,cAAe,SAAQ,oBAAoB;IAC9D,UAAU,CAAa;IAEvB,MAAM,KAAK,MAAM;QACf,OAAO,MAAM,CAAA;IACf,CAAC;IAED,gBAAgB,CAAC,UAAiC,IAAG,CAAC;IAEtD,OAAO;QACL,KAAK,CAAC,OAAO,EAAE,CAAA;IACjB,CAAC;IAED;;;;;OAKG;IACH,oBAAoB,CAAC,UAAiC;QACpD,IAAI,SAAS,GAAG,IAAI,CAAC,SAAS,CAAA;QAC9B,UAAU,CAAC,MAAM,GAAG,SAAS,CAAC,CAAC,CAAE,SAAS,CAAC,OAAkC,CAAC,CAAC,CAAC,SAAS,CAAA;IAC3F,CAAC;IAED;;;OAGG;IACH,UAAU;QACR,KAAK,CAAC,UAAU,EAAE,CAAA;IACpB,CAAC;IAED,IAAI,OAAO;QACT,OAAO,iBAAiB,CAAA;IAC1B,CAAC;IAED,IAAI,SAAS;QACX,IAAI,EAAE,SAAS,EAAE,GAAG,IAAI,CAAC,KAAK,CAAA;QAC9B,IAAI,CAAC,SAAS,EAAE,CAAC;YACf,OAAM;QACR,CAAC;QAED,IAAI,CAAC,IAAI,CAAC,UAAU,EAAE,CAAC;YACrB,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,IAAI,CAAC,QAAQ,EAAE,CAAC,SAAS,CAAe,CAAA;QACjE,CAAC;QAED,OAAO,IAAI,CAAC,UAAU,CAAA;IACxB,CAAC;IAED,IAAI,SAAS,CAAC,SAAS;QACrB,OAAO,IAAI,CAAC,UAAU,CAAA;QACtB,IAAI,CAAC,QAAQ,CAAC,WAAW,EAAE,SAAS,CAAC,CAAA;IACvC,CAAC;CACF,CAAA;AArDoB,cAAc;IADlC,cAAc,CAAC,iBAAiB,CAAC;GACb,cAAc,CAqDlC;eArDoB,cAAc","sourcesContent":["/*\n * Copyright © HatioLab Inc. All rights reserved.\n */\n\nconst NATURE: ComponentNature = {\n  mutable: false,\n  resizable: true,\n  rotatable: true,\n  properties: [\n    {\n      type: 'id-input',\n      label: 'urdf-reference',\n      name: 'reference',\n      property: {\n        component: 'urdf-viewer'\n      }\n    }\n  ]\n}\n\nimport { Component, ComponentNature, HTMLOverlayContainer, sceneComponent } from '@hatiolab/things-scene'\nimport './elements/urdf-controller-element.js'\nimport URDFControllerElement from './elements/urdf-controller-element.js'\nimport URDFManipulatorElement from './elements/urdf-manipulator-element.js'\nimport UrdfViewer from './urdf-viewer.js'\n\n@sceneComponent('urdf-controller')\nexport default class UrdfController extends HTMLOverlayContainer {\n  _reference?: UrdfViewer\n\n  static get nature() {\n    return NATURE\n  }\n\n  oncreate_element(controller: URDFControllerElement) {}\n\n  dispose() {\n    super.dispose()\n  }\n\n  /*\n   * 컴포넌트의 생성 또는 속성 변화 시에 호출되며,\n   * 그에 따른 html element의 반영이 필요한 부분을 구현한다.\n   *\n   * ThingsComponent state => HTML element properties\n   */\n  setElementProperties(controller: URDFControllerElement) {\n    var reference = this.reference\n    controller.viewer = reference ? (reference.element as URDFManipulatorElement) : undefined\n  }\n\n  /*\n   * 컴포넌트가 ready 상태가 되거나, 컴포넌트의 속성이 변화될 시 setElementProperties 뒤에 호출된다.\n   * 변화에 따른 기본적인 html 속성이 super.reposition()에서 진행되고, 그 밖의 작업이 필요할 때, 오버라이드 한다.\n   */\n  reposition() {\n    super.reposition()\n  }\n\n  get tagName() {\n    return 'urdf-controller'\n  }\n\n  get reference() {\n    var { reference } = this.state\n    if (!reference) {\n      return\n    }\n\n    if (!this._reference) {\n      this._reference = this.root.findById?.(reference) as UrdfViewer\n    }\n\n    return this._reference\n  }\n\n  set reference(reference) {\n    delete this._reference\n    this.setState('reference', reference)\n  }\n}\n"]}

package/dist/urdf-viewer.d.ts

@@ -1,16 +0,0 @@
-import { HTMLOverlayElement, Properties, ComponentNature } from '@hatiolab/things-scene';
-import './elements/urdf-manipulator-element.js';
-import URDFManipulatorElement from './elements/urdf-manipulator-element.js';
-export default class UrdfViewer extends HTMLOverlayElement {
-    static get nature(): ComponentNature;
-    oncreate_element(element: URDFManipulatorElement): void;
-    dispose(): void;
-    setElementProperties(element: URDFManipulatorElement): void;
-    reposition(): void;
-    get tagName(): string;
-    get angles(): any;
-    set angles(angles: any);
-    get highlightColor(): string;
-    set highlightColor(highlightColor: string);
-    onchange(after: Properties, before: Properties): void;
-}