@operato/scene-urdf 10.0.0-beta.2 → 10.0.0-beta.22

package/dist/real-object-urdf.js

@@ -0,0 +1,527 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * URDF (Unified Robot Description Format) 지원 RealObject.
+ * RealObjectGLTF와 동일한 캐시/레이스/placeholder 패턴을 따른다.
+ *
+ * 차이점: GLTF는 노드/애니메이션이 주된 바인딩 대상이지만, URDF는 "joint"가
+ * 1급 시민이다. state.joints에 이름→라디안(또는 prismatic의 경우 거리) 맵을
+ * 두어 외부 센서값 등을 연결할 수 있도록 한다.
+ *
+ * 좌표계: URDF는 Z-up, things-scene의 3D는 Y-up. 로드 후 루트 그룹에 1회만
+ * -PI/2 X축 회전을 적용하여 변환한다. 내부 조인트 축은 원본 그대로 유지.
+ */
+import * as THREE from 'three';
+import URDFLoader from 'urdf-loader';
+import { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader.js';
+import { MTLLoader } from 'three/examples/jsm/loaders/MTLLoader.js';
+import { warn } from '@hatiolab/things-scene';
+import { RealObjectExternalModel } from '@hatiolab/things-scene';
+import { RealObjectGLTF } from '@hatiolab/things-scene';
+import { createJointController } from './joint-controller.js';
+const X_NEG_PI_HALF = -Math.PI / 2;
+export class RealObjectURDF extends RealObjectExternalModel {
+    get _formatLabel() { return 'urdf'; }
+    get _placeholderColor() { return 0x1976d2; }
+    // URDF 파싱 결과 캐시 — 동일 URL 재파싱 방지. clone()으로 복제 사용.
+    static _urdfCache = new Map();
+    // 탑뷰 스냅샷 캐시 (2D 렌더 폴백)
+    static _topViewCache = new Map();
+    /**
+     * URDF를 로드한다 (동일 URL 캐시).
+     * mesh 로더는 STL/DAE(내장) + OBJ(MTL 연동) + GLB(확장)를 지원한다.
+     *
+     * URDFLoader.loadAsync는 URDF XML 파싱 직후 resolve하지만 mesh(STL/DAE/GLB)는
+     * 비동기로 뒤늦게 attach된다. robot.clone() 시점에 mesh가 아직 없으면 클론된
+     * 트리엔 visual이 비게 되고 원본에만 mesh가 붙는다. 전용 LoadingManager의
+     * onLoad를 사용해 URDF + 모든 mesh가 완료된 후 resolve한다.
+     *
+     * `packages` 옵션을 통해 ROS `package://<pkg>/<rel>` prefix 해석을 설정할 수
+     * 있다 (예: `{ a1_description: 'https://.../robots/a1_description' }`).
+     */
+    static loadURDF(url, packages) {
+        // 동일 URL이라도 packages 설정이 다르면 다른 캐시 엔트리.
+        const cacheKey = packages && Object.keys(packages).length > 0
+            ? `${url}|${JSON.stringify(packages)}`
+            : url;
+        let cached = RealObjectURDF._urdfCache.get(cacheKey);
+        if (!cached) {
+            cached = new Promise((resolve, reject) => {
+                const manager = new THREE.LoadingManager();
+                const loader = new URDFLoader(manager);
+                if (packages) {
+                    loader.packages = packages;
+                }
+                loader.loadMeshCb = ((path, mgr, done) => {
+                    if (/\.(glb|gltf)$/i.test(path)) {
+                        // GLB는 별도 시스템 — manager 추적에서 벗어나므로 명시적으로 track.
+                        mgr.itemStart(path);
+                        RealObjectGLTF.loadGLTF(path).then(gltf => { done(gltf.scene.clone()); mgr.itemEnd(path); }, err => { done(null, err); mgr.itemError(path); mgr.itemEnd(path); });
+                    }
+                    else if (/\.obj$/i.test(path)) {
+                        // OBJ는 urdf-loader 내장 defaultMeshLoader가 지원하지 않음.
+                        // 연관된 .mtl(재질) 파일이 있으면 MTLLoader로 먼저 로드하여 색상/텍스처
+                        // 적용, 없으면 OBJLoader만 폴백.
+                        //
+                        // LoadingManager 정합성: 외부 path로만 itemStart/itemEnd를 1회씩
+                        // 기록한다. 내부 MTLLoader/OBJLoader는 manager 주입 없이 생성하여
+                        // 서브-아이템으로 카운트되지 않게 함 — 그렇지 않으면 MTL 404 직후
+                        // 일시적으로 pending=0이 되어 manager.onLoad가 조기 발화하고
+                        // 최종 로봇이 빈 상태로 resolve되는 레이스가 발생.
+                        mgr.itemStart(path);
+                        const finishOk = (mesh) => { done(mesh); mgr.itemEnd(path); };
+                        const finishErr = (err) => { done(null, err); mgr.itemError(path); mgr.itemEnd(path); };
+                        const lastSlash = path.lastIndexOf('/');
+                        const baseUrl = lastSlash >= 0 ? path.substring(0, lastSlash + 1) : '';
+                        const mtlName = path.substring(lastSlash + 1).replace(/\.obj$/i, '.mtl');
+                        const loadObjOnly = () => {
+                            new OBJLoader().load(path, group => finishOk(group), undefined, err => finishErr(err));
+                        };
+                        new MTLLoader().setResourcePath(baseUrl).setPath(baseUrl).load(mtlName, materials => {
+                            materials.preload();
+                            new OBJLoader().setMaterials(materials).load(path, group => finishOk(group), undefined, err => finishErr(err));
+                        }, undefined, () => {
+                            // MTL 로드 실패 시 OBJ만 로드 (정상 시나리오 — MTL 없는 OBJ도 있음)
+                            loadObjOnly();
+                        });
+                    }
+                    else {
+                        // STL/DAE는 urdf-loader 내장 디폴트로 폴백 (manager 자동 추적)
+                        ;
+                        loader.defaultMeshLoader(path, mgr, done);
+                    }
+                });
+                let robotResult;
+                manager.onLoad = () => {
+                    if (robotResult)
+                        resolve(robotResult);
+                    else
+                        reject(new Error('URDF load completed but no robot result'));
+                };
+                manager.onError = (failedUrl) => {
+                    // 개별 에러는 로그로만 남김 — 전체 로드는 그래도 완료되도록
+                    // (일부 mesh 실패 시 나머지라도 보이게)
+                    warn('URDFLoader: resource load error', failedUrl);
+                };
+                loader.load(url, robot => { robotResult = robot; }, undefined, err => reject(err));
+            }).catch(err => {
+                RealObjectURDF._urdfCache.delete(cacheKey);
+                throw err;
+            });
+            RealObjectURDF._urdfCache.set(cacheKey, cached);
+        }
+        return cached;
+    }
+    /** 모든 캐시 비움 (보드 전환 시 호출) */
+    static flushCache() {
+        RealObjectURDF._urdfCache.clear();
+        RealObjectURDF._topViewCache.clear();
+    }
+    static getTopViewCache(source) {
+        return RealObjectURDF._topViewCache.get(source);
+    }
+    static setTopViewCache(source, canvas) {
+        RealObjectURDF._topViewCache.set(source, canvas);
+    }
+    // --- 인스턴스 상태 ---
+    _robot;
+    // 조인트 인덱스 + 메타 (로드 후 외부에서 구독 가능)
+    _jointIndex = new Map();
+    _jointMeta = new Map();
+    // 원본 조인트 값 — reset을 위해 보존
+    _jointOriginals = new Map();
+    // 자동 애니메이션 (sine 모드) 상태
+    _animRaf;
+    _animStartTime = 0;
+    // Joint controller (physics mode) 상태
+    _controller;
+    _ctrlRaf;
+    _ctrlLastTime = 0;
+    get robot() {
+        return this._robot;
+    }
+    /** 로드된 조인트 메타 리스트 (property panel 등이 참조) */
+    get jointMeta() {
+        return Array.from(this._jointMeta.values());
+    }
+    get jointNames() {
+        return Array.from(this._jointIndex.keys());
+    }
+    _loadExternal(url) {
+        const packages = this.component.state.packages;
+        return RealObjectURDF.loadURDF(url, packages);
+    }
+    _onLoaded(robot) {
+        if (this.component.state.loadError) {
+            this.component.setState({ loadError: undefined });
+        }
+        // 캐시의 robot은 공유 참조이므로 clone하여 독립 인스턴스 구성.
+        // urdf-loader의 URDFRobot는 Object3D를 상속하므로 Object3D.clone()이 안전하게 동작.
+        const cloned = robot.clone();
+        // 섀도우 캐스팅
+        cloned.traverse(child => {
+            if (child.isMesh) {
+                child.castShadow = true;
+            }
+        });
+        // clear()는 object3d.userData를 리셋하므로 pending 후 재설정.
+        this.clear();
+        this.object3d.userData.context = this;
+        this._robot = cloned;
+        // 좌표계 변환: URDF(Z-up) → three(Y-up).
+        // 사용자가 state.upAxis = 'y' 로 지정하면 변환 생략.
+        this.pivot = new THREE.Object3D();
+        const upAxis = this.component.state.upAxis;
+        if (upAxis !== 'y') {
+            this.pivot.rotation.x = X_NEG_PI_HALF;
+        }
+        // URDF는 기본 meter 단위. state.unitScale로 에디터 단위로 환산.
+        const unitScale = this._resolveUnitScale();
+        if (unitScale !== 1) {
+            this.pivot.scale.setScalar(unitScale);
+        }
+        this.pivot.add(cloned);
+        // URDF의 base_link는 관행상 z=0이 바닥(floor origin). things-scene는 center
+        // origin이므로, components3D 그룹(= -geometricOffsetY만큼 shift된 바닥 기준
+        // subgroup)에 pivot을 넣어 로봇이 컴포넌트 바닥면에 서도록 한다.
+        this.components3D.add(this.pivot);
+        // 조인트 인덱스/메타 구축
+        this._buildJointIndex(cloned);
+        // bounding box 계산 후 updateDimension으로 크기 반영
+        const box = new THREE.Box3().setFromObject(this.pivot);
+        this._objectSize = box.getSize(new THREE.Vector3());
+        this.updateDimension();
+        // 자동 placement 정렬: URDF의 base_link 원점이 로봇 기하의 최저점이 아닐 때
+        // (Nao/minitaur/quadrotor는 torso/중심 기준) 로봇 일부가 컴포넌트 범위를
+        // 벗어나는 것을 방지. 씬의 placement 모드에 따라 정렬 기준이 다르다.
+        //   - floor:    로봇 최저점 → 컴포넌트 바닥면
+        //   - inverted: 로봇 최상점 → 컴포넌트 천장면 (매달림)
+        //   - space:    정렬 없음 (중심 원점 유지)
+        // state.floorAlign === false 로 비활성화 가능.
+        if (this.component.state.floorAlign !== false) {
+            const placement = this.scenePlacement;
+            if (placement !== 'space') {
+                this.components3D.updateMatrixWorld(true);
+                const worldBox = new THREE.Box3().setFromObject(this.pivot);
+                if (isFinite(worldBox.min.y) && isFinite(worldBox.max.y)) {
+                    if (placement === 'inverted') {
+                        const localMax = this.components3D.worldToLocal(worldBox.max.clone());
+                        if (localMax.y > 0) {
+                            this.pivot.position.y -= localMax.y;
+                        }
+                    }
+                    else {
+                        // floor (기본)
+                        const localMin = this.components3D.worldToLocal(worldBox.min.clone());
+                        if (localMin.y < 0) {
+                            this.pivot.position.y -= localMin.y;
+                        }
+                    }
+                }
+            }
+        }
+        // 컨트롤러 초기화 (state.physics 설정된 경우)
+        const physicsMode = this.component.state.physics;
+        if (physicsMode && physicsMode !== 'none') {
+            this._setupController(physicsMode);
+        }
+        // 초기 joint 상태 적용
+        const jointStates = this.component.state.joints;
+        if (jointStates) {
+            this._dispatchJointStates(jointStates);
+        }
+        // 자동 애니메이션 시작 (state.autoAnimate === 'sine'인 경우)
+        if (this.component.state.autoAnimate === 'sine') {
+            this._startAutoAnimate();
+        }
+        // 탑뷰 스냅샷
+        const source = this.component.state.src;
+        if (source && !RealObjectURDF._topViewCache.has(source)) {
+            try {
+                const canvas = RealObjectGLTF.renderTopView(this.pivot);
+                RealObjectURDF._topViewCache.set(source, canvas);
+                this.component._topViewSnapshot = canvas;
+            }
+            catch {
+                // 스냅샷 실패는 치명적이지 않음
+            }
+        }
+        else if (source) {
+            ;
+            this.component._topViewSnapshot = RealObjectURDF._topViewCache.get(source);
+        }
+    }
+    _resolveUnitScale() {
+        const s = this.component.state.unitScale;
+        if (typeof s === 'number' && s > 0)
+            return s;
+        // 기본: URDF meter → 에디터 mm 스케일 1000
+        return 1000;
+    }
+    /**
+     * 조인트 트리를 순회하며 인덱스와 메타를 구축한다.
+     * fixed 조인트는 조작 대상이 아니므로 메타에서 제외하되 인덱스에는 남긴다.
+     */
+    _buildJointIndex(robot) {
+        this._jointIndex.clear();
+        this._jointMeta.clear();
+        this._jointOriginals.clear();
+        const joints = robot.joints || {};
+        for (const [name, joint] of Object.entries(joints)) {
+            this._jointIndex.set(name, joint);
+            this._jointOriginals.set(name, joint.angle || 0);
+            if (joint.jointType === 'fixed')
+                continue;
+            this._jointMeta.set(name, {
+                name,
+                type: joint.jointType,
+                axis: { x: joint.axis.x, y: joint.axis.y, z: joint.axis.z },
+                limit: { ...joint.limit }
+            });
+        }
+    }
+    /**
+     * state.joints 변경을 적절한 경로로 디스패치한다.
+     *   - controller가 활성이면 setTargets (controller가 스무딩/물리 적용)
+     *   - 없으면 즉시 적용 (direct 모드, 기본)
+     */
+    _dispatchJointStates(states) {
+        if (this._controller) {
+            const targets = {};
+            for (const [name, raw] of Object.entries(states)) {
+                const v = typeof raw === 'number' ? raw : Number(raw?.value);
+                if (Number.isFinite(v))
+                    targets[name] = v;
+            }
+            this._controller.setTargets(targets);
+            return;
+        }
+        this._applyJointStates(states);
+    }
+    /**
+     * Controller를 인스턴스화하고 setup + tick 루프 시작.
+     * 이미 활성 중이면 먼저 해제.
+     */
+    _setupController(mode) {
+        this._disposeController();
+        const ctrl = createJointController(mode);
+        if (!ctrl) {
+            warn(`URDFObject: unknown physics mode '${mode}'`);
+            return;
+        }
+        if (!this._robot)
+            return;
+        ctrl.setup({ robot: this._robot, joints: this._jointIndex, jointMeta: this._jointMeta });
+        this._controller = ctrl;
+        // 현재 state.joints를 초기 타겟으로 설정
+        const s = this.component.state.joints;
+        if (s) {
+            const targets = {};
+            for (const [name, raw] of Object.entries(s)) {
+                const v = typeof raw === 'number' ? raw : Number(raw?.value);
+                if (Number.isFinite(v))
+                    targets[name] = v;
+            }
+            ctrl.setTargets(targets);
+        }
+        this._ctrlLastTime = performance.now();
+        const tick = () => {
+            if (!this._controller) {
+                this._ctrlRaf = undefined;
+                return;
+            }
+            const now = performance.now();
+            const dt = (now - this._ctrlLastTime) / 1000;
+            this._ctrlLastTime = now;
+            const changed = this._controller.tick(dt);
+            if (changed) {
+                this.component?.invalidate?.();
+            }
+            this._ctrlRaf = requestAnimationFrame(tick);
+        };
+        this._ctrlRaf = requestAnimationFrame(tick);
+    }
+    _disposeController() {
+        if (this._ctrlRaf != null) {
+            cancelAnimationFrame(this._ctrlRaf);
+            this._ctrlRaf = undefined;
+        }
+        if (this._controller) {
+            this._controller.dispose();
+            this._controller = undefined;
+        }
+    }
+    /**
+     * state.joints 맵을 순회하며 각 조인트 값을 적용한다 (direct 모드).
+     * 값은 숫자 또는 { value: number } 형식 모두 허용 (유연성).
+     *
+     * joint transform 변경 후 component.invalidate()로 재렌더를 요청한다.
+     * 표준 경로: invalidate → Layer.throttle_render → rAF __draw__ → trigger('redraw')
+     * → ThreeCapability.animate → renderThreeD.
+     */
+    _applyJointStates(states) {
+        if (!this._robot)
+            return;
+        let changed = false;
+        for (const [name, raw] of Object.entries(states)) {
+            const joint = this._jointIndex.get(name);
+            if (!joint || joint.jointType === 'fixed')
+                continue;
+            const value = typeof raw === 'number' ? raw : raw?.value;
+            if (typeof value !== 'number' || !isFinite(value))
+                continue;
+            joint.setJointValue(value);
+            changed = true;
+        }
+        if (changed) {
+            this.component?.invalidate?.();
+        }
+    }
+    /**
+     * 자동 sine 애니메이션 시작.
+     * 각 non-fixed 조인트를 limit 범위 내에서 sine 스윙. 조인트 순서에 따라
+     * frequency와 phase를 약간씩 다르게 해 동기화를 피하고 유기적 움직임을 만든다.
+     *
+     * state.joints를 건드리지 않고 joint.setJointValue만 직접 호출 — state 변경
+     * cascade를 피해 성능을 유지하고, 슬라이더가 있는 경우에도 state와 시각이
+     * 분리되어 표시됨 (활성 시 state는 의미 없음).
+     */
+    _startAutoAnimate() {
+        if (this._animRaf != null)
+            return;
+        if (!this._robot || this._jointMeta.size === 0)
+            return;
+        this._animStartTime = performance.now();
+        const TWO_PI = Math.PI * 2;
+        const tick = () => {
+            if (!this._robot) {
+                this._animRaf = undefined;
+                return;
+            }
+            const t = (performance.now() - this._animStartTime) / 1000;
+            let i = 0;
+            let changed = false;
+            for (const [name, meta] of this._jointMeta) {
+                const joint = this._jointIndex.get(name);
+                if (!joint)
+                    continue;
+                const mid = (meta.limit.upper + meta.limit.lower) / 2;
+                const amp = (meta.limit.upper - meta.limit.lower) / 2;
+                // 조인트별로 frequency와 phase 약간씩 다르게 (0.15 ~ 0.4 Hz 범위)
+                const freq = 0.15 + (i % 6) * 0.05;
+                const phase = i * 0.73;
+                const value = mid + amp * Math.sin(t * freq * TWO_PI + phase);
+                joint.setJointValue(value);
+                changed = true;
+                i++;
+            }
+            if (changed) {
+                this.component?.invalidate?.();
+            }
+            this._animRaf = requestAnimationFrame(tick);
+        };
+        this._animRaf = requestAnimationFrame(tick);
+    }
+    _stopAutoAnimate() {
+        if (this._animRaf != null) {
+            cancelAnimationFrame(this._animRaf);
+            this._animRaf = undefined;
+        }
+    }
+    /**
+     * 모든 조인트를 원본 값으로 복원한다.
+     */
+    _resetAllJoints() {
+        if (!this._robot)
+            return;
+        for (const [name, orig] of this._jointOriginals) {
+            const joint = this._jointIndex.get(name);
+            if (joint && joint.jointType !== 'fixed') {
+                joint.setJointValue(orig);
+            }
+        }
+    }
+    // --- 라이프사이클 ---
+    clear() {
+        this._stopAutoAnimate();
+        this._disposeController();
+        this._jointIndex.clear();
+        this._jointMeta.clear();
+        this._jointOriginals.clear();
+        this._robot = undefined;
+        return super.clear();
+    }
+    updateDimension() {
+        if (!this.pivot)
+            return;
+        const { width = 1, height = 1, depth = 1 } = this.component.state;
+        const { x = 1, y = 1, z = 1 } = this._objectSize || {};
+        // URDF는 관절 기반 로봇의 비율을 유지해야 하므로 uniform scale을 적용한다.
+        // 세 축 각각의 비율 중 가장 작은 값(best-fit)을 사용해 로봇이 컴포넌트의
+        // bounding box 안에 왜곡 없이 맞춰지도록 한다.
+        const unit = this._resolveUnitScale();
+        const baseX = x || 1;
+        const baseY = y || 1;
+        const baseZ = z || 1;
+        const upAxis = this.component.state.upAxis;
+        const rotated = upAxis !== 'y';
+        const rX = width / baseX;
+        const rY = (rotated ? depth : height) / baseY;
+        const rZ = (rotated ? height : depth) / baseZ;
+        const ratio = Math.min(rX, rY, rZ);
+        this.pivot.scale.setScalar(ratio * unit);
+        this.component.invalidate();
+    }
+    onchange(after, before) {
+        super.onchange(after, before);
+        if ('src' in after) {
+            this.updateSource();
+            return;
+        }
+        if ('joints' in after) {
+            // 사용자가 joint를 직접 조작하면 자동 애니메이션이 이를 즉시 덮어써
+            // 의도를 상쇄하므로, 자동 애니메이션을 우선 중지한다.
+            if (this._animRaf != null) {
+                this._stopAutoAnimate();
+                this._component.setState({ autoAnimate: 'none' });
+            }
+            const jointStates = after.joints;
+            if (this._controller) {
+                // controller 모드: 타겟만 갱신. 이전 값 리셋은 controller가 연속 감쇠로
+                // 알아서 수렴하므로 불필요.
+                if (jointStates && Object.keys(jointStates).length > 0) {
+                    this._dispatchJointStates(jointStates);
+                }
+            }
+            else {
+                // direct 모드: 전체 reset 후 명시된 값만 재적용 (sparse state 지원).
+                this._resetAllJoints();
+                if (jointStates && Object.keys(jointStates).length > 0) {
+                    this._applyJointStates(jointStates);
+                }
+            }
+        }
+        if ('autoAnimate' in after) {
+            if (after.autoAnimate === 'sine') {
+                this._startAutoAnimate();
+            }
+            else {
+                this._stopAutoAnimate();
+            }
+        }
+        if ('physics' in after) {
+            const mode = after.physics;
+            if (mode && mode !== 'none') {
+                this._setupController(mode);
+            }
+            else {
+                this._disposeController();
+            }
+        }
+        if ('upAxis' in after || 'unitScale' in after || 'packages' in after) {
+            // 좌표/스케일/패키지 매핑 변경은 pivot 재구성이 필요하므로 전체 재빌드
+            this.build();
+        }
+    }
+}
+//# sourceMappingURL=real-object-urdf.js.map

package/dist/real-object-urdf.js.map

@@ -0,0 +1 @@
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* Copyright © HatioLab Inc. All rights reserved.\n *\n * URDF (Unified Robot Description Format) 지원 RealObject.\n * RealObjectGLTF와 동일한 캐시/레이스/placeholder 패턴을 따른다.\n *\n * 차이점: GLTF는 노드/애니메이션이 주된 바인딩 대상이지만, URDF는 \"joint\"가\n * 1급 시민이다. state.joints에 이름→라디안(또는 prismatic의 경우 거리) 맵을\n * 두어 외부 센서값 등을 연결할 수 있도록 한다.\n *\n * 좌표계: URDF는 Z-up, things-scene의 3D는 Y-up. 로드 후 루트 그룹에 1회만\n * -PI/2 X축 회전을 적용하여 변환한다. 내부 조인트 축은 원본 그대로 유지.\n */\n\nimport * as THREE from 'three'\nimport URDFLoader from 'urdf-loader'\nimport type { URDFRobot, URDFJoint } from 'urdf-loader'\nimport { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader.js'\nimport { MTLLoader } from 'three/examples/jsm/loaders/MTLLoader.js'\n\nimport { warn } from '@hatiolab/things-scene'\nimport type { Properties } from '@hatiolab/things-scene'\n\nimport { RealObjectExternalModel } from '@hatiolab/things-scene'\nimport { RealObjectGLTF } from '@hatiolab/things-scene'\n\nimport { createJointController, type JointController } from './joint-controller.js'\n\nexport interface URDFJointState {\n  /** revolute/continuous: 라디안. prismatic: 거리(URDF 단위). */\n  value?: number\n}\n\nexport interface URDFJointMeta {\n  name: string\n  type: 'fixed' | 'continuous' | 'revolute' | 'planar' | 'prismatic' | 'floating'\n  axis: { x: number; y: number; z: number }\n  limit: { lower: number; upper: number; effort: number; velocity: number }\n}\n\nconst X_NEG_PI_HALF = -Math.PI / 2\n\nexport class RealObjectURDF extends RealObjectExternalModel<URDFRobot> {\n  protected get _formatLabel() { return 'urdf' }\n  protected get _placeholderColor() { return 0x1976d2 }\n  // URDF 파싱 결과 캐시 — 동일 URL 재파싱 방지. clone()으로 복제 사용.\n  private static _urdfCache = new Map<string, Promise<URDFRobot>>()\n\n  // 탑뷰 스냅샷 캐시 (2D 렌더 폴백)\n  private static _topViewCache = new Map<string, HTMLCanvasElement>()\n\n  /**\n   * URDF를 로드한다 (동일 URL 캐시).\n   * mesh 로더는 STL/DAE(내장) + OBJ(MTL 연동) + GLB(확장)를 지원한다.\n   *\n   * URDFLoader.loadAsync는 URDF XML 파싱 직후 resolve하지만 mesh(STL/DAE/GLB)는\n   * 비동기로 뒤늦게 attach된다. robot.clone() 시점에 mesh가 아직 없으면 클론된\n   * 트리엔 visual이 비게 되고 원본에만 mesh가 붙는다. 전용 LoadingManager의\n   * onLoad를 사용해 URDF + 모든 mesh가 완료된 후 resolve한다.\n   *\n   * `packages` 옵션을 통해 ROS `package://<pkg>/<rel>` prefix 해석을 설정할 수\n   * 있다 (예: `{ a1_description: 'https://.../robots/a1_description' }`).\n   */\n  static loadURDF(url: string, packages?: Record<string, string>): Promise<URDFRobot> {\n    // 동일 URL이라도 packages 설정이 다르면 다른 캐시 엔트리.\n    const cacheKey = packages && Object.keys(packages).length > 0\n      ? `${url}|${JSON.stringify(packages)}`\n      : url\n    let cached = RealObjectURDF._urdfCache.get(cacheKey)\n    if (!cached) {\n      cached = new Promise<URDFRobot>((resolve, reject) => {\n        const manager = new THREE.LoadingManager()\n        const loader = new URDFLoader(manager)\n        if (packages) {\n          loader.packages = packages\n        }\n\n        loader.loadMeshCb = ((path: string, mgr: THREE.LoadingManager, done: (mesh: any, err?: Error) => void) => {\n          if (/\\.(glb|gltf)$/i.test(path)) {\n            // GLB는 별도 시스템 — manager 추적에서 벗어나므로 명시적으로 track.\n            mgr.itemStart(path)\n            RealObjectGLTF.loadGLTF(path).then(\n              gltf => { done(gltf.scene.clone()); mgr.itemEnd(path) },\n              err => { done(null, err); mgr.itemError(path); mgr.itemEnd(path) }\n            )\n          } else if (/\\.obj$/i.test(path)) {\n            // OBJ는 urdf-loader 내장 defaultMeshLoader가 지원하지 않음.\n            // 연관된 .mtl(재질) 파일이 있으면 MTLLoader로 먼저 로드하여 색상/텍스처\n            // 적용, 없으면 OBJLoader만 폴백.\n            //\n            // LoadingManager 정합성: 외부 path로만 itemStart/itemEnd를 1회씩\n            // 기록한다. 내부 MTLLoader/OBJLoader는 manager 주입 없이 생성하여\n            // 서브-아이템으로 카운트되지 않게 함 — 그렇지 않으면 MTL 404 직후\n            // 일시적으로 pending=0이 되어 manager.onLoad가 조기 발화하고\n            // 최종 로봇이 빈 상태로 resolve되는 레이스가 발생.\n            mgr.itemStart(path)\n            const finishOk = (mesh: any) => { done(mesh); mgr.itemEnd(path) }\n            const finishErr = (err: Error) => { done(null, err); mgr.itemError(path); mgr.itemEnd(path) }\n\n            const lastSlash = path.lastIndexOf('/')\n            const baseUrl = lastSlash >= 0 ? path.substring(0, lastSlash + 1) : ''\n            const mtlName = path.substring(lastSlash + 1).replace(/\\.obj$/i, '.mtl')\n\n            const loadObjOnly = () => {\n              new OBJLoader().load(\n                path,\n                group => finishOk(group),\n                undefined,\n                err => finishErr(err as Error)\n              )\n            }\n            new MTLLoader().setResourcePath(baseUrl).setPath(baseUrl).load(\n              mtlName,\n              materials => {\n                materials.preload()\n                new OBJLoader().setMaterials(materials).load(\n                  path,\n                  group => finishOk(group),\n                  undefined,\n                  err => finishErr(err as Error)\n                )\n              },\n              undefined,\n              () => {\n                // MTL 로드 실패 시 OBJ만 로드 (정상 시나리오 — MTL 없는 OBJ도 있음)\n                loadObjOnly()\n              }\n            )\n          } else {\n            // STL/DAE는 urdf-loader 내장 디폴트로 폴백 (manager 자동 추적)\n            ;(loader as any).defaultMeshLoader(path, mgr, done)\n          }\n        }) as any\n\n        let robotResult: URDFRobot | undefined\n\n        manager.onLoad = () => {\n          if (robotResult) resolve(robotResult)\n          else reject(new Error('URDF load completed but no robot result'))\n        }\n        manager.onError = (failedUrl: string) => {\n          // 개별 에러는 로그로만 남김 — 전체 로드는 그래도 완료되도록\n          // (일부 mesh 실패 시 나머지라도 보이게)\n          warn('URDFLoader: resource load error', failedUrl)\n        }\n\n        loader.load(\n          url,\n          robot => { robotResult = robot },\n          undefined,\n          err => reject(err)\n        )\n      }).catch(err => {\n        RealObjectURDF._urdfCache.delete(cacheKey)\n        throw err\n      })\n      RealObjectURDF._urdfCache.set(cacheKey, cached)\n    }\n    return cached\n  }\n\n  /** 모든 캐시 비움 (보드 전환 시 호출) */\n  static flushCache() {\n    RealObjectURDF._urdfCache.clear()\n    RealObjectURDF._topViewCache.clear()\n  }\n\n  static getTopViewCache(source: string): HTMLCanvasElement | undefined {\n    return RealObjectURDF._topViewCache.get(source)\n  }\n\n  static setTopViewCache(source: string, canvas: HTMLCanvasElement) {\n    RealObjectURDF._topViewCache.set(source, canvas)\n  }\n\n  // --- 인스턴스 상태 ---\n\n  private _robot?: URDFRobot\n\n  // 조인트 인덱스 + 메타 (로드 후 외부에서 구독 가능)\n  private _jointIndex = new Map<string, URDFJoint>()\n  private _jointMeta = new Map<string, URDFJointMeta>()\n\n  // 원본 조인트 값 — reset을 위해 보존\n  private _jointOriginals = new Map<string, number>()\n\n  // 자동 애니메이션 (sine 모드) 상태\n  private _animRaf?: number\n  private _animStartTime = 0\n\n  // Joint controller (physics mode) 상태\n  private _controller?: JointController\n  private _ctrlRaf?: number\n  private _ctrlLastTime = 0\n\n  get robot(): URDFRobot | undefined {\n    return this._robot\n  }\n\n  /** 로드된 조인트 메타 리스트 (property panel 등이 참조) */\n  get jointMeta(): URDFJointMeta[] {\n    return Array.from(this._jointMeta.values())\n  }\n\n  get jointNames(): string[] {\n    return Array.from(this._jointIndex.keys())\n  }\n\n  protected _loadExternal(url: string): Promise<URDFRobot> {\n    const packages = this.component.state.packages as Record<string, string> | undefined\n    return RealObjectURDF.loadURDF(url, packages)\n  }\n\n  protected _onLoaded(robot: URDFRobot) {\n    if (this.component.state.loadError) {\n      this.component.setState({ loadError: undefined })\n    }\n\n    // 캐시의 robot은 공유 참조이므로 clone하여 독립 인스턴스 구성.\n    // urdf-loader의 URDFRobot는 Object3D를 상속하므로 Object3D.clone()이 안전하게 동작.\n    const cloned = robot.clone() as URDFRobot\n\n    // 섀도우 캐스팅\n    cloned.traverse(child => {\n      if ((child as THREE.Mesh).isMesh) {\n        child.castShadow = true\n      }\n    })\n\n    // clear()는 object3d.userData를 리셋하므로 pending 후 재설정.\n    this.clear()\n    this.object3d.userData.context = this\n\n    this._robot = cloned\n\n    // 좌표계 변환: URDF(Z-up) → three(Y-up).\n    // 사용자가 state.upAxis = 'y' 로 지정하면 변환 생략.\n    this.pivot = new THREE.Object3D()\n    const upAxis = this.component.state.upAxis\n    if (upAxis !== 'y') {\n      this.pivot.rotation.x = X_NEG_PI_HALF\n    }\n\n    // URDF는 기본 meter 단위. state.unitScale로 에디터 단위로 환산.\n    const unitScale = this._resolveUnitScale()\n    if (unitScale !== 1) {\n      this.pivot.scale.setScalar(unitScale)\n    }\n\n    this.pivot.add(cloned)\n    // URDF의 base_link는 관행상 z=0이 바닥(floor origin). things-scene는 center\n    // origin이므로, components3D 그룹(= -geometricOffsetY만큼 shift된 바닥 기준\n    // subgroup)에 pivot을 넣어 로봇이 컴포넌트 바닥면에 서도록 한다.\n    this.components3D.add(this.pivot)\n\n    // 조인트 인덱스/메타 구축\n    this._buildJointIndex(cloned)\n\n    // bounding box 계산 후 updateDimension으로 크기 반영\n    const box = new THREE.Box3().setFromObject(this.pivot)\n    this._objectSize = box.getSize(new THREE.Vector3())\n\n    this.updateDimension()\n\n    // 자동 placement 정렬: URDF의 base_link 원점이 로봇 기하의 최저점이 아닐 때\n    // (Nao/minitaur/quadrotor는 torso/중심 기준) 로봇 일부가 컴포넌트 범위를\n    // 벗어나는 것을 방지. 씬의 placement 모드에 따라 정렬 기준이 다르다.\n    //   - floor:    로봇 최저점 → 컴포넌트 바닥면\n    //   - inverted: 로봇 최상점 → 컴포넌트 천장면 (매달림)\n    //   - space:    정렬 없음 (중심 원점 유지)\n    // state.floorAlign === false 로 비활성화 가능.\n    if (this.component.state.floorAlign !== false) {\n      const placement = this.scenePlacement\n      if (placement !== 'space') {\n        this.components3D.updateMatrixWorld(true)\n        const worldBox = new THREE.Box3().setFromObject(this.pivot)\n        if (isFinite(worldBox.min.y) && isFinite(worldBox.max.y)) {\n          if (placement === 'inverted') {\n            const localMax = this.components3D.worldToLocal(worldBox.max.clone())\n            if (localMax.y > 0) {\n              this.pivot.position.y -= localMax.y\n            }\n          } else {\n            // floor (기본)\n            const localMin = this.components3D.worldToLocal(worldBox.min.clone())\n            if (localMin.y < 0) {\n              this.pivot.position.y -= localMin.y\n            }\n          }\n        }\n      }\n    }\n\n    // 컨트롤러 초기화 (state.physics 설정된 경우)\n    const physicsMode = this.component.state.physics as string | undefined\n    if (physicsMode && physicsMode !== 'none') {\n      this._setupController(physicsMode)\n    }\n\n    // 초기 joint 상태 적용\n    const jointStates = this.component.state.joints as Record<string, URDFJointState | number> | undefined\n    if (jointStates) {\n      this._dispatchJointStates(jointStates)\n    }\n\n    // 자동 애니메이션 시작 (state.autoAnimate === 'sine'인 경우)\n    if (this.component.state.autoAnimate === 'sine') {\n      this._startAutoAnimate()\n    }\n\n    // 탑뷰 스냅샷\n    const source = this.component.state.src as string\n    if (source && !RealObjectURDF._topViewCache.has(source)) {\n      try {\n        const canvas = RealObjectGLTF.renderTopView(this.pivot)\n        RealObjectURDF._topViewCache.set(source, canvas)\n        ;(this.component as any)._topViewSnapshot = canvas\n      } catch {\n        // 스냅샷 실패는 치명적이지 않음\n      }\n    } else if (source) {\n      ;(this.component as any)._topViewSnapshot = RealObjectURDF._topViewCache.get(source)\n    }\n  }\n\n  private _resolveUnitScale(): number {\n    const s = this.component.state.unitScale\n    if (typeof s === 'number' && s > 0) return s\n    // 기본: URDF meter → 에디터 mm 스케일 1000\n    return 1000\n  }\n\n  /**\n   * 조인트 트리를 순회하며 인덱스와 메타를 구축한다.\n   * fixed 조인트는 조작 대상이 아니므로 메타에서 제외하되 인덱스에는 남긴다.\n   */\n  private _buildJointIndex(robot: URDFRobot) {\n    this._jointIndex.clear()\n    this._jointMeta.clear()\n    this._jointOriginals.clear()\n\n    const joints = robot.joints || {}\n    for (const [name, joint] of Object.entries(joints)) {\n      this._jointIndex.set(name, joint)\n      this._jointOriginals.set(name, joint.angle || 0)\n\n      if (joint.jointType === 'fixed') continue\n\n      this._jointMeta.set(name, {\n        name,\n        type: joint.jointType,\n        axis: { x: joint.axis.x, y: joint.axis.y, z: joint.axis.z },\n        limit: { ...joint.limit }\n      })\n    }\n  }\n\n  /**\n   * state.joints 변경을 적절한 경로로 디스패치한다.\n   *   - controller가 활성이면 setTargets (controller가 스무딩/물리 적용)\n   *   - 없으면 즉시 적용 (direct 모드, 기본)\n   */\n  private _dispatchJointStates(states: Record<string, URDFJointState | number>) {\n    if (this._controller) {\n      const targets: Record<string, number> = {}\n      for (const [name, raw] of Object.entries(states)) {\n        const v = typeof raw === 'number' ? raw : Number((raw as { value?: number } | null)?.value)\n        if (Number.isFinite(v)) targets[name] = v\n      }\n      this._controller.setTargets(targets)\n      return\n    }\n    this._applyJointStates(states)\n  }\n\n  /**\n   * Controller를 인스턴스화하고 setup + tick 루프 시작.\n   * 이미 활성 중이면 먼저 해제.\n   */\n  private _setupController(mode: string) {\n    this._disposeController()\n    const ctrl = createJointController(mode)\n    if (!ctrl) {\n      warn(`URDFObject: unknown physics mode '${mode}'`)\n      return\n    }\n    if (!this._robot) return\n\n    ctrl.setup({ robot: this._robot, joints: this._jointIndex, jointMeta: this._jointMeta })\n    this._controller = ctrl\n\n    // 현재 state.joints를 초기 타겟으로 설정\n    const s = this.component.state.joints as Record<string, URDFJointState | number> | undefined\n    if (s) {\n      const targets: Record<string, number> = {}\n      for (const [name, raw] of Object.entries(s)) {\n        const v = typeof raw === 'number' ? raw : Number((raw as { value?: number } | null)?.value)\n        if (Number.isFinite(v)) targets[name] = v\n      }\n      ctrl.setTargets(targets)\n    }\n\n    this._ctrlLastTime = performance.now()\n    const tick = () => {\n      if (!this._controller) {\n        this._ctrlRaf = undefined\n        return\n      }\n      const now = performance.now()\n      const dt = (now - this._ctrlLastTime) / 1000\n      this._ctrlLastTime = now\n      const changed = this._controller.tick(dt)\n      if (changed) {\n        this.component?.invalidate?.()\n      }\n      this._ctrlRaf = requestAnimationFrame(tick)\n    }\n    this._ctrlRaf = requestAnimationFrame(tick)\n  }\n\n  private _disposeController() {\n    if (this._ctrlRaf != null) {\n      cancelAnimationFrame(this._ctrlRaf)\n      this._ctrlRaf = undefined\n    }\n    if (this._controller) {\n      this._controller.dispose()\n      this._controller = undefined\n    }\n  }\n\n  /**\n   * state.joints 맵을 순회하며 각 조인트 값을 적용한다 (direct 모드).\n   * 값은 숫자 또는 { value: number } 형식 모두 허용 (유연성).\n   *\n   * joint transform 변경 후 component.invalidate()로 재렌더를 요청한다.\n   * 표준 경로: invalidate → Layer.throttle_render → rAF __draw__ → trigger('redraw')\n   * → ThreeCapability.animate → renderThreeD.\n   */\n  private _applyJointStates(states: Record<string, URDFJointState | number>) {\n    if (!this._robot) return\n\n    let changed = false\n    for (const [name, raw] of Object.entries(states)) {\n      const joint = this._jointIndex.get(name)\n      if (!joint || joint.jointType === 'fixed') continue\n\n      const value = typeof raw === 'number' ? raw : raw?.value\n      if (typeof value !== 'number' || !isFinite(value)) continue\n\n      joint.setJointValue(value)\n      changed = true\n    }\n\n    if (changed) {\n      this.component?.invalidate?.()\n    }\n  }\n\n  /**\n   * 자동 sine 애니메이션 시작.\n   * 각 non-fixed 조인트를 limit 범위 내에서 sine 스윙. 조인트 순서에 따라\n   * frequency와 phase를 약간씩 다르게 해 동기화를 피하고 유기적 움직임을 만든다.\n   *\n   * state.joints를 건드리지 않고 joint.setJointValue만 직접 호출 — state 변경\n   * cascade를 피해 성능을 유지하고, 슬라이더가 있는 경우에도 state와 시각이\n   * 분리되어 표시됨 (활성 시 state는 의미 없음).\n   */\n  private _startAutoAnimate() {\n    if (this._animRaf != null) return\n    if (!this._robot || this._jointMeta.size === 0) return\n\n    this._animStartTime = performance.now()\n    const TWO_PI = Math.PI * 2\n\n    const tick = () => {\n      if (!this._robot) {\n        this._animRaf = undefined\n        return\n      }\n      const t = (performance.now() - this._animStartTime) / 1000\n\n      let i = 0\n      let changed = false\n      for (const [name, meta] of this._jointMeta) {\n        const joint = this._jointIndex.get(name)\n        if (!joint) continue\n\n        const mid = (meta.limit.upper + meta.limit.lower) / 2\n        const amp = (meta.limit.upper - meta.limit.lower) / 2\n        // 조인트별로 frequency와 phase 약간씩 다르게 (0.15 ~ 0.4 Hz 범위)\n        const freq = 0.15 + (i % 6) * 0.05\n        const phase = i * 0.73\n        const value = mid + amp * Math.sin(t * freq * TWO_PI + phase)\n        joint.setJointValue(value)\n        changed = true\n        i++\n      }\n\n      if (changed) {\n        this.component?.invalidate?.()\n      }\n      this._animRaf = requestAnimationFrame(tick)\n    }\n    this._animRaf = requestAnimationFrame(tick)\n  }\n\n  private _stopAutoAnimate() {\n    if (this._animRaf != null) {\n      cancelAnimationFrame(this._animRaf)\n      this._animRaf = undefined\n    }\n  }\n\n  /**\n   * 모든 조인트를 원본 값으로 복원한다.\n   */\n  private _resetAllJoints() {\n    if (!this._robot) return\n    for (const [name, orig] of this._jointOriginals) {\n      const joint = this._jointIndex.get(name)\n      if (joint && joint.jointType !== 'fixed') {\n        joint.setJointValue(orig)\n      }\n    }\n  }\n\n  // --- 라이프사이클 ---\n\n  clear() {\n    this._stopAutoAnimate()\n    this._disposeController()\n    this._jointIndex.clear()\n    this._jointMeta.clear()\n    this._jointOriginals.clear()\n    this._robot = undefined\n\n    return super.clear()\n  }\n\n  updateDimension() {\n    if (!this.pivot) return\n\n    const { width = 1, height = 1, depth = 1 } = this.component.state\n    const { x = 1, y = 1, z = 1 } = this._objectSize || {}\n\n    // URDF는 관절 기반 로봇의 비율을 유지해야 하므로 uniform scale을 적용한다.\n    // 세 축 각각의 비율 중 가장 작은 값(best-fit)을 사용해 로봇이 컴포넌트의\n    // bounding box 안에 왜곡 없이 맞춰지도록 한다.\n    const unit = this._resolveUnitScale()\n    const baseX = x || 1\n    const baseY = y || 1\n    const baseZ = z || 1\n    const upAxis = this.component.state.upAxis\n    const rotated = upAxis !== 'y'\n\n    const rX = width / baseX\n    const rY = (rotated ? depth : height) / baseY\n    const rZ = (rotated ? height : depth) / baseZ\n    const ratio = Math.min(rX, rY, rZ)\n\n    this.pivot.scale.setScalar(ratio * unit)\n\n    this.component.invalidate()\n  }\n\n  onchange(after: Properties, before: Properties) {\n    super.onchange(after, before)\n\n    if ('src' in after) {\n      this.updateSource()\n      return\n    }\n\n    if ('joints' in after) {\n      // 사용자가 joint를 직접 조작하면 자동 애니메이션이 이를 즉시 덮어써\n      // 의도를 상쇄하므로, 자동 애니메이션을 우선 중지한다.\n      if (this._animRaf != null) {\n        this._stopAutoAnimate()\n        this._component.setState({ autoAnimate: 'none' })\n      }\n      const jointStates = after.joints as Record<string, URDFJointState | number> | undefined\n      if (this._controller) {\n        // controller 모드: 타겟만 갱신. 이전 값 리셋은 controller가 연속 감쇠로\n        // 알아서 수렴하므로 불필요.\n        if (jointStates && Object.keys(jointStates).length > 0) {\n          this._dispatchJointStates(jointStates)\n        }\n      } else {\n        // direct 모드: 전체 reset 후 명시된 값만 재적용 (sparse state 지원).\n        this._resetAllJoints()\n        if (jointStates && Object.keys(jointStates).length > 0) {\n          this._applyJointStates(jointStates)\n        }\n      }\n    }\n\n    if ('autoAnimate' in after) {\n      if (after.autoAnimate === 'sine') {\n        this._startAutoAnimate()\n      } else {\n        this._stopAutoAnimate()\n      }\n    }\n\n    if ('physics' in after) {\n      const mode = after.physics as string | undefined\n      if (mode && mode !== 'none') {\n        this._setupController(mode)\n      } else {\n        this._disposeController()\n      }\n    }\n\n    if ('upAxis' in after || 'unitScale' in after || 'packages' in after) {\n      // 좌표/스케일/패키지 매핑 변경은 pivot 재구성이 필요하므로 전체 재빌드\n      this.build()\n    }\n  }\n}\n"]}

package/dist/smoothing-controller.d.ts

@@ -0,0 +1,15 @@
+import type { JointController, JointControllerContext } from './joint-controller.js';
+export declare class SmoothingController implements JointController {
+    private _joints?;
+    private _current;
+    private _target;
+    private _velocity;
+    /** 응답 주파수 (rad/s). 클수록 빠른 수렴. */
+    omega: number;
+    /** 수렴 판정 임계값. error와 velocity가 모두 이 값 미만이면 그 조인트는 skip. */
+    epsilon: number;
+    setup(ctx: JointControllerContext): void;
+    setTargets(targets: Record<string, number>): void;
+    tick(dt: number): boolean;
+    dispose(): void;
+}