@simarena/viewport 0.0.1-alpha.0 → 0.0.1-alpha.1

package/src/compiler/threejs/index.ts

@@ -1,389 +0,0 @@
-import * as THREE from 'three';
-import { STLLoader } from 'three/addons/loaders/STLLoader.js';
-import { OBJLoader } from 'three/addons/loaders/OBJLoader.js';
-import { MTLLoader } from 'three/addons/loaders/MTLLoader.js';
-import type { SceneDoc, DocEntity, MaterialDef, MeshDef, TextureDef, LightComponent, CameraComponent } from '@simarena/format';
-import type { Geom } from '@simarena/format';
-import type { Vec3, Vec4 } from '@simarena/format';
-
-const stlLoader = new STLLoader();
-const geoCache = new Map<string, THREE.BufferGeometry>();
-
-async function loadSTL(url: string): Promise<THREE.BufferGeometry> {
-	const hit = geoCache.get(url);
-	if (hit) return hit.clone();
-	const geo = await stlLoader.loadAsync(url);
-	geo.computeVertexNormals();
-	geoCache.set(url, geo);
-	return geo.clone();
-}
-
-const objGroupCache = new Map<string, THREE.Group>();
-const mtlCreatorCache = new Map<string, MTLLoader.MaterialCreator | null>();
-
-async function loadMTL(url: string): Promise<MTLLoader.MaterialCreator | null> {
-	if (mtlCreatorCache.has(url)) return mtlCreatorCache.get(url)!;
-	try {
-		const dir = url.substring(0, url.lastIndexOf('/') + 1);
-		const loader = new MTLLoader();
-		loader.setResourcePath(dir);
-		const creator = await loader.loadAsync(url);
-		creator.preload();
-		mtlCreatorCache.set(url, creator);
-		return creator;
-	} catch {
-		mtlCreatorCache.set(url, null);
-		return null;
-	}
-}
-
-const texLoader = new THREE.TextureLoader();
-const texCache = new Map<string, THREE.Texture>();
-
-async function loadTex(url: string): Promise<THREE.Texture> {
-	const hit = texCache.get(url);
-	if (hit) return hit;
-	const tex = await texLoader.loadAsync(url);
-	tex.colorSpace = THREE.SRGBColorSpace;
-	texCache.set(url, tex);
-	return tex;
-}
-
-async function loadOBJGroup(url: string): Promise<THREE.Group> {
-	const mtlUrl = url.replace(/\.(obj|OBJ)$/, '.mtl');
-	const creator = await loadMTL(mtlUrl);
-	const cacheKey = url + (creator ? ':mtl' : '');
-	const hit = objGroupCache.get(cacheKey);
-	if (hit) return hit.clone() as THREE.Group;
-
-	const loader = new OBJLoader();
-	if (creator) loader.setMaterials(creator);
-	const grp = await loader.loadAsync(url);
-
-	grp.traverse((c) => {
-		if (c instanceof THREE.Mesh) {
-			const old = (Array.isArray(c.material) ? c.material[0] : c.material) as THREE.MeshPhongMaterial;
-			c.material = new THREE.MeshStandardMaterial({
-				map: old?.map ?? null,
-				color: old?.map ? new THREE.Color(1, 1, 1) : (old?.color ?? new THREE.Color(0xaaaaaa)),
-				metalness: 0.0,
-				roughness: 0.8
-			});
-			c.castShadow = true;
-			c.receiveShadow = true;
-		}
-	});
-	objGroupCache.set(cacheKey, grp);
-	return grp.clone() as THREE.Group;
-}
-
-function stdMat(color?: string, opacity?: number): THREE.MeshStandardMaterial {
-	const c = color ? new THREE.Color(color) : new THREE.Color(0x6b7280);
-	const a = opacity ?? 1;
-	return new THREE.MeshStandardMaterial({ color: c, transparent: a < 1, opacity: a, metalness: 0.1, roughness: 0.6 });
-}
-
-function renderGeoms(entity: DocEntity, all: Geom[]): Geom[] {
-	if (!entity.visual) return all;
-	if (!entity.visual.groups?.length) return all;
-	return all.filter(g => entity.visual!.groups!.includes(g.group ?? ''));
-}
-
-function buildGeo(g: Geom): THREE.BufferGeometry | null {
-	switch (g.type) {
-		case 'box': {
-			const [w, h, d] = g.size;
-			return new THREE.BoxGeometry(w, h, d);
-		}
-		case 'sphere': return new THREE.SphereGeometry(g.radius, 32, 32);
-		case 'cylinder': {
-			const geo = new THREE.CylinderGeometry(g.radius, g.radius, g.height, 32);
-			geo.rotateX(Math.PI / 2);
-			return geo;
-		}
-		case 'capsule': {
-			const geo = new THREE.CapsuleGeometry(g.radius, g.height, 16, 32);
-			geo.rotateX(Math.PI / 2);
-			return geo;
-		}
-		case 'plane': {
-			const [w, d] = g.size ?? [10, 10];
-			return new THREE.PlaneGeometry(w * 2, d * 2);
-		}
-		default: return null;
-	}
-}
-
-function applyT(
-	obj: THREE.Object3D,
-	t?: { pos?: Vec3; rot?: Vec3; quat?: Vec4; scale?: number }
-): void {
-	if (!t) return;
-	if (t.pos) obj.position.set(t.pos[0], t.pos[1], t.pos[2]);
-	if (t.quat) {
-		const [w, x, y, z] = t.quat;
-		obj.quaternion.set(x, y, z, w).normalize();
-	} else if (t.rot) {
-		const D = Math.PI / 180;
-		obj.rotation.set(t.rot[0] * D, t.rot[1] * D, t.rot[2] * D);
-	}
-	if (t.scale !== undefined) obj.scale.setScalar(t.scale);
-}
-
-function resolveMat(g: Geom, matMap: Map<string, MaterialDef>): THREE.MeshStandardMaterial {
-	const opacity = g.opacity ?? 1;
-	if (g.material && matMap.has(g.material)) {
-		const def = matMap.get(g.material)!;
-		if (def.rgba) {
-			const alpha = g.opacity ?? def.rgba[3] ?? 1;
-			return new THREE.MeshStandardMaterial({
-				color: new THREE.Color(def.rgba[0], def.rgba[1], def.rgba[2]),
-				transparent: alpha < 1, opacity: alpha,
-				metalness: def.metalness ?? 0.1, roughness: def.roughness ?? 0.6
-			});
-		}
-		if (def.color) return stdMat(def.color, opacity);
-	}
-	if (g.color) return stdMat(g.color, opacity);
-	return new THREE.MeshStandardMaterial({ color: 0x888888, metalness: 0.1, roughness: 0.6 });
-}
-
-export function buildLightComponent(lc: LightComponent): THREE.Light | null {
-	const color = lc.color ? new THREE.Color(lc.color) : new THREE.Color(0xffffff);
-	const intensity = lc.intensity ?? 1;
-	switch (lc.type) {
-		case 'point': {
-			const l = new THREE.PointLight(color, intensity, lc.range ?? 0);
-			l.castShadow = lc.castShadow ?? false;
-			return l;
-		}
-		case 'directional': {
-			const l = new THREE.DirectionalLight(color, intensity);
-			if (lc.dir) l.position.set(-lc.dir[0], -lc.dir[1], -lc.dir[2]).normalize().multiplyScalar(5);
-			l.castShadow = lc.castShadow ?? false;
-			return l;
-		}
-		case 'spot': {
-			const l = new THREE.SpotLight(color, intensity, lc.range ?? 0, lc.angle ? lc.angle * Math.PI / 180 : Math.PI / 6);
-			l.castShadow = lc.castShadow ?? false;
-			return l;
-		}
-		case 'ambient': return new THREE.AmbientLight(color, intensity);
-		case 'hemisphere': {
-			const g = lc.groundColor ? new THREE.Color(lc.groundColor) : new THREE.Color(0x545454);
-			return new THREE.HemisphereLight(color, g, intensity);
-		}
-		default: return null;
-	}
-}
-
-function buildMeshUrlMap(meshes: MeshDef[], basePath: string): Map<string, string> {
-	const map = new Map<string, string>();
-	for (const m of meshes) {
-		const url = m.file.startsWith('/') || m.file.startsWith('http') ? m.file : basePath + m.file;
-		map.set(m.name, url);
-	}
-	return map;
-}
-
-function buildMatMap(materials: MaterialDef[]): Map<string, MaterialDef> {
-	const map = new Map<string, MaterialDef>();
-	for (const m of materials) map.set(m.name, m);
-	return map;
-}
-
-function buildTextureUrlMap(textures: TextureDef[], basePath: string): Map<string, string> {
-	const map = new Map<string, string>();
-	for (const t of textures) {
-		const url = t.file.startsWith('/') || t.file.startsWith('http') ? t.file : basePath + t.file;
-		map.set(t.name, url);
-	}
-	return map;
-}
-
-interface BuildCtx {
-	bodies: Map<string, THREE.Object3D>;
-	entityRoots: Map<string, THREE.Object3D>;
-	meshUrls: Map<string, string>;
-	textureUrls: Map<string, string>;
-	materials: Map<string, MaterialDef>;
-	threeScene: THREE.Scene;
-	deferredParents: Array<{ group: THREE.Group; parentPath: string }>;
-}
-
-async function applyTexture(mat: THREE.MeshStandardMaterial, g: Geom, ctx: BuildCtx): Promise<void> {
-	if (!g.material) return;
-	const def = ctx.materials.get(g.material);
-	if (!def?.map) return;
-	const texUrl = ctx.textureUrls.get(def.map);
-	if (!texUrl) return;
-	try {
-		mat.map = await loadTex(texUrl);
-		mat.color.set(0xffffff);
-		mat.needsUpdate = true;
-	} catch { /* skip */ }
-}
-
-async function buildGeom(g: Geom, parent: THREE.Group, ctx: BuildCtx): Promise<void> {
-	if (g.type === 'mesh') {
-		const url = ctx.meshUrls.get(g.mesh);
-		if (!url) { console.warn(`[threejs] mesh not in catalog: "${g.mesh}"`); return; }
-		try {
-			if (/\.(obj|OBJ)$/.test(url)) {
-				const grp = await loadOBJGroup(url);
-				if (g.material || g.color) {
-					const mat = resolveMat(g, ctx.materials);
-					await applyTexture(mat, g, ctx);
-					grp.traverse((c) => { if (c instanceof THREE.Mesh) { c.material = mat.clone(); c.castShadow = true; c.receiveShadow = true; } });
-				} else {
-					grp.traverse((c) => { if (c instanceof THREE.Mesh) { c.castShadow = true; c.receiveShadow = true; } });
-				}
-				applyT(grp, { pos: g.pos, rot: g.rot, quat: g.quat });
-				parent.add(grp);
-			} else {
-				const mat = resolveMat(g, ctx.materials);
-				await applyTexture(mat, g, ctx);
-				const geo = await loadSTL(url);
-				geo.computeVertexNormals();
-				const mesh = new THREE.Mesh(geo, mat);
-				mesh.castShadow = true; mesh.receiveShadow = true;
-				applyT(mesh, { pos: g.pos, rot: g.rot, quat: g.quat });
-				parent.add(mesh);
-			}
-		} catch (e) { console.error(`[threejs] failed to load mesh "${g.mesh}" from ${url}`, e); }
-	} else {
-		const geo = buildGeo(g);
-		if (!geo) return;
-		const mat = resolveMat(g, ctx.materials);
-		await applyTexture(mat, g, ctx);
-		geo.computeVertexNormals();
-		const mesh = new THREE.Mesh(geo, mat);
-		mesh.castShadow = true; mesh.receiveShadow = true;
-		applyT(mesh, { pos: g.pos, rot: g.rot, quat: g.quat });
-		parent.add(mesh);
-	}
-}
-
-function buildCameraIcon(cc: CameraComponent, parent: THREE.Group): void {
-	const mat = new THREE.MeshStandardMaterial({ color: 0x00bcd4, metalness: 0.3, roughness: 0.5 });
-	const body = new THREE.Mesh(new THREE.BoxGeometry(0.10, 0.065, 0.075), mat);
-	body.castShadow = true;
-
-	const lensMat = new THREE.MeshStandardMaterial({ color: 0x007a9e });
-	const lens = new THREE.Mesh(new THREE.CylinderGeometry(0.03, 0.02, 0.05, 8), lensMat);
-	lens.rotation.x = Math.PI / 2;
-	lens.position.z = 0.06;
-
-	const fov = (cc.fov ?? 50) * Math.PI / 180;
-	const aspect = (cc.resolution?.[0] ?? 256) / (cc.resolution?.[1] ?? 256);
-	const near = cc.near ?? 0.1;
-	const far = Math.min(cc.far ?? 100, 2);
-	const hNear = Math.tan(fov / 2) * near;
-	const wNear = hNear * aspect;
-	const hFar  = Math.tan(fov / 2) * far;
-	const wFar  = hFar * aspect;
-
-	const pts = [
-		new THREE.Vector3(-wNear, -hNear, near), new THREE.Vector3( wNear, -hNear, near),
-		new THREE.Vector3( wNear, -hNear, near), new THREE.Vector3( wNear,  hNear, near),
-		new THREE.Vector3( wNear,  hNear, near), new THREE.Vector3(-wNear,  hNear, near),
-		new THREE.Vector3(-wNear,  hNear, near), new THREE.Vector3(-wNear, -hNear, near),
-		new THREE.Vector3(-wFar, -hFar, far), new THREE.Vector3( wFar, -hFar, far),
-		new THREE.Vector3( wFar, -hFar, far), new THREE.Vector3( wFar,  hFar, far),
-		new THREE.Vector3( wFar,  hFar, far), new THREE.Vector3(-wFar,  hFar, far),
-		new THREE.Vector3(-wFar,  hFar, far), new THREE.Vector3(-wFar, -hFar, far),
-		new THREE.Vector3(0, 0, 0), new THREE.Vector3(-wFar, -hFar, far),
-		new THREE.Vector3(0, 0, 0), new THREE.Vector3( wFar, -hFar, far),
-		new THREE.Vector3(0, 0, 0), new THREE.Vector3( wFar,  hFar, far),
-		new THREE.Vector3(0, 0, 0), new THREE.Vector3(-wFar,  hFar, far),
-	];
-	const geo = new THREE.BufferGeometry().setFromPoints(pts);
-	const lines = new THREE.LineSegments(geo, new THREE.LineBasicMaterial({ color: 0x00bcd4, opacity: 0.6, transparent: true }));
-	lines.userData['isCameraIcon'] = true;
-
-	parent.add(body);
-	parent.add(lens);
-	parent.add(lines);
-}
-
-async function buildEntity(entity: DocEntity, parentObject: THREE.Object3D, ctx: BuildCtx): Promise<void> {
-	const grp = new THREE.Group();
-	grp.name = entity.name;
-	applyT(grp, entity.transform);
-	ctx.bodies.set(entity.name, grp);
-
-	const parentRef = entity.relation?.parent;
-	if (parentRef) {
-		ctx.deferredParents.push({ group: grp, parentPath: parentRef });
-	} else {
-		parentObject.add(grp);
-	}
-
-	for (const g of renderGeoms(entity, entity.geoms ?? [])) await buildGeom(g, grp, ctx);
-
-	if (entity.light) {
-		const l = buildLightComponent(entity.light);
-		if (l) {
-			if (entity.transform?.pos) l.position.set(...entity.transform.pos);
-			grp.add(l);
-		}
-	}
-
-	if (entity.camera) {
-		buildCameraIcon(entity.camera, grp);
-	}
-}
-
-export interface ViewerScene {
-	bodies: Map<string, THREE.Object3D>;
-	entityRoots: Map<string, THREE.Object3D>;
-}
-
-export async function buildScene(doc: SceneDoc, threeScene: THREE.Scene, basePath = ''): Promise<ViewerScene> {
-	const bodies = new Map<string, THREE.Object3D>();
-	const entityRoots = new Map<string, THREE.Object3D>();
-	const deferredParents: Array<{ group: THREE.Group; parentPath: string }> = [];
-
-	const ctx: BuildCtx = {
-		bodies, entityRoots,
-		meshUrls: buildMeshUrlMap(doc.meshes ?? [], basePath),
-		textureUrls: buildTextureUrlMap(doc.textures ?? [], basePath),
-		materials: buildMatMap(doc.materials ?? []),
-		threeScene, deferredParents
-	};
-
-	for (const entity of doc.scene ?? []) {
-		await buildEntity(entity, threeScene, ctx);
-		if (!entity.relation) {
-			const root = bodies.get(entity.name);
-			if (root) entityRoots.set(entity.name, root);
-		}
-	}
-
-	for (const { group, parentPath } of deferredParents) {
-		const target = bodies.get(parentPath);
-		if (target) {
-			group.removeFromParent();
-			target.add(group);
-		} else {
-			console.warn(`[threejs] parent ref unresolved: "${parentPath}" for "${group.name}"`);
-			threeScene.add(group);
-		}
-	}
-
-	return { bodies, entityRoots };
-}
-
-export function createGeomMesh(g: Geom, color?: string): THREE.Mesh | null {
-	const geo = buildGeo(g);
-	if (!geo) return null;
-	geo.computeVertexNormals();
-	const mat = new THREE.MeshStandardMaterial({
-		color: color ?? g.color ?? '#6b7280',
-		roughness: 0.6, metalness: 0.1
-	});
-	const mesh = new THREE.Mesh(geo, mat);
-	mesh.castShadow = true;
-	mesh.receiveShadow = true;
-	return mesh;
-}

package/src/parser/threejs/index.ts

@@ -1,84 +0,0 @@
-import * as THREE from 'three';
-import type { SceneDoc, DocEntity, Physics, Joint } from '@simarena/format';
-import type { Vec3, Geom } from '@simarena/format';
-
-export type PrimitiveKind = 'box' | 'sphere' | 'cylinder' | 'capsule' | 'plane';
-
-export interface ThreeEntity {
-	name: string;
-	obj: THREE.Object3D;
-	kind: 'primitive' | 'robot';
-	geom?: PrimitiveKind;
-	size?: Vec3;
-	color?: string;
-	asset?: string;
-	physics?: { dynamic?: boolean; mass?: number; friction?: number };
-	joint?: { type: 'free' | 'hinge' | 'slide' | 'fixed' };
-}
-
-export interface ParseOptions {
-	name?: string;
-	gravity?: Vec3;
-	timestep?: number;
-	substeps?: number;
-}
-
-function buildGeom(kind: PrimitiveKind | undefined, size: Vec3, color?: string): Geom {
-	const [a, b, c] = size;
-	switch (kind) {
-		case 'sphere':   return { type: 'sphere', radius: a, color, group: 'default' };
-		case 'cylinder': return { type: 'cylinder', radius: a, height: b, color, group: 'default' };
-		case 'capsule':  return { type: 'capsule', radius: a, height: b, color, group: 'default' };
-		case 'plane':    return { type: 'plane', size: [a, b], color, group: 'default' };
-		default:         return { type: 'box', size: [a, b, c] as Vec3, color, group: 'default' };
-	}
-}
-
-export function parseThreeScene(entities: ThreeEntity[], opts: ParseOptions = {}): SceneDoc {
-	const scene: DocEntity[] = entities.map(e => {
-		const pos = e.obj.position.toArray() as Vec3;
-		const q = e.obj.quaternion;
-		const hasRot = Math.abs(q.x) + Math.abs(q.y) + Math.abs(q.z) > 1e-6;
-		const quat = hasRot ? [q.w, q.x, q.y, q.z] as [number,number,number,number] : undefined;
-		const transform = { pos, ...(quat ? { quat } : {}) };
-
-		if (e.kind === 'robot' && e.asset) {
-			const scl = (e.obj.scale.x + e.obj.scale.y + e.obj.scale.z) / 3;
-			return {
-				name: e.name,
-				asset: e.asset,
-				transform: { ...transform, ...(Math.abs(scl - 1) > 0.001 ? { scale: scl } : {}) }
-			} satisfies DocEntity;
-		}
-
-		const dyn = e.physics?.dynamic ?? false;
-		const physics: Physics = {
-			dynamic: dyn,
-			...(e.physics?.mass !== undefined ? { mass: e.physics.mass } : {}),
-			...(e.physics?.friction !== undefined ? { friction: e.physics.friction } : {})
-		};
-		const joint: Joint | undefined = e.joint
-			? { type: e.joint.type }
-			: dyn ? { type: 'free' } : undefined;
-
-		return {
-			name: e.name,
-			transform,
-			geoms: [buildGeom(e.geom, e.size ?? [0.1, 0.1, 0.1], e.color)],
-			physics,
-			collider: {},
-			...(joint ? { joint } : {})
-		} satisfies DocEntity;
-	});
-
-	return {
-		_format: 'simarena/scene@1.0',
-		name: opts.name ?? 'Untitled Scene',
-		sim: {
-			timestep: opts.timestep ?? 0.002,
-			gravity: opts.gravity ?? [0, 0, -9.81],
-			substeps: opts.substeps ?? 4
-		},
-		scene
-	};
-}