@wandelbots/wandelbots-js-react-components 5.4.2 → 5.5.0-pr.fix-esm-extensions.590.0a9a3ff

package/dist/3d.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const r=require("./components/3d-viewport/collider/CollisionSceneRenderer.cjs"),o=require("./components/3d-viewport/PresetEnvironment.cjs"),t=require("./components/3d-viewport/SafetyZonesRenderer.cjs"),n=require("./components/3d-viewport/TrajectoryRenderer.cjs"),i=require("./components/RobotCard.cjs"),u=require("./components/robots/AxisConfig.cjs"),s=require("./components/robots/LinearAxis.cjs"),e=require("./components/robots/manufacturerHomePositions.cjs"),a=require("./components/robots/Robot.cjs"),d=require("./components/robots/robotModelLogic.cjs"),c=require("./components/robots/SupportedLinearAxis.cjs"),R=require("./components/robots/SupportedRobot.cjs"),l=require("./components/robots/MotionGroupVisualizer.cjs");exports.CollisionSceneRenderer=r.default;exports.PresetEnvironment=o.PresetEnvironment;exports.SafetyZonesRenderer=t.SafetyZonesRenderer;exports.TrajectoryRenderer=n.TrajectoryRenderer;exports.RobotCard=i.RobotCard;exports.defaultAxisConfig=u.defaultAxisConfig;exports.LinearAxis=s.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;exports.Robot=a.Robot;exports.defaultGetModel=d.defaultGetModel;exports.SupportedLinearAxis=c.SupportedLinearAxis;exports.SupportedRobot=R.SupportedRobot;exports.MotionGroupVisualizer=l.MotionGroupVisualizer;
+//# sourceMappingURL=3d.cjs.map

package/dist/3d.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"3d.cjs","sources":[],"sourcesContent":[],"names":[],"mappings":""}

package/dist/3d.js

@@ -0,0 +1,31 @@
+import { default as e } from "./components/3d-viewport/collider/CollisionSceneRenderer.js";
+import { PresetEnvironment as f } from "./components/3d-viewport/PresetEnvironment.js";
+import { SafetyZonesRenderer as x } from "./components/3d-viewport/SafetyZonesRenderer.js";
+import { TrajectoryRenderer as n } from "./components/3d-viewport/TrajectoryRenderer.js";
+import { RobotCard as i } from "./components/RobotCard.js";
+import { defaultAxisConfig as u } from "./components/robots/AxisConfig.js";
+import { LinearAxis as s } from "./components/robots/LinearAxis.js";
+import { MANUFACTURER_HOME_CONFIGS as C, extractManufacturer as A, getDefaultHomeConfig as M } from "./components/robots/manufacturerHomePositions.js";
+import { Robot as c } from "./components/robots/Robot.js";
+import { defaultGetModel as g } from "./components/robots/robotModelLogic.js";
+import { SupportedLinearAxis as G } from "./components/robots/SupportedLinearAxis.js";
+import { SupportedRobot as F } from "./components/robots/SupportedRobot.js";
+import { MotionGroupVisualizer as L } from "./components/robots/MotionGroupVisualizer.js";
+export {
+  e as CollisionSceneRenderer,
+  s as LinearAxis,
+  C as MANUFACTURER_HOME_CONFIGS,
+  L as MotionGroupVisualizer,
+  f as PresetEnvironment,
+  c as Robot,
+  i as RobotCard,
+  x as SafetyZonesRenderer,
+  G as SupportedLinearAxis,
+  F as SupportedRobot,
+  n as TrajectoryRenderer,
+  u as defaultAxisConfig,
+  g as defaultGetModel,
+  A as extractManufacturer,
+  M as getDefaultHomeConfig
+};
+//# sourceMappingURL=3d.js.map

package/dist/3d.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"3d.js","sources":[],"sourcesContent":[],"names":[],"mappings":";;;;;;;;;;;;;"}

package/dist/components/3d-viewport/CoordinateSystemTransform.d.ts

@@ -8,4 +8,5 @@ export declare const CoordinateSystemTransform: ({ coordinateSystem, children, }
     coordinateSystem?: CoordinateSystem;
     children: ReactNode;
 }) => import("react/jsx-runtime").JSX.Element;
+export default CoordinateSystemTransform;
 //# sourceMappingURL=CoordinateSystemTransform.d.ts.map

package/dist/components/3d-viewport/CoordinateSystemTransform.d.ts.map

@@ -1 +1 @@
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package/dist/components/3d-viewport/PresetEnvironment.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const t=require("react/jsx-runtime"),i=require("@react-three/drei");function r(){return t.jsx(i.Environment,{children:t.jsx(s,{})})}function s({positions:n=[2,0,2,0,2,0,2,0]}){return t.jsxs(t.Fragment,{children:[t.jsx(i.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),t.jsx("group",{rotation:[0,.5,0],children:t.jsx("group",{children:n.map((o,e)=>t.jsx(i.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[o,4,e*4],scale:[3,1,1]},e))})}),t.jsx(i.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),t.jsx(i.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),t.jsx(i.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),t.jsx(i.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),t.jsx(i.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}exports.PresetEnvironment=r;exports.default=r;
+//# sourceMappingURL=PresetEnvironment.cjs.map

package/dist/components/3d-viewport/PresetEnvironment.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"PresetEnvironment.cjs","sources":["../../../src/components/3d-viewport/PresetEnvironment.tsx"],"sourcesContent":["import { Environment, Lightformer } from \"@react-three/drei\"\n\n/**\n * Renders a preset environment for the 3D scene.\n * This component wraps the scene with an `Environment` component\n * and builds a lightmap build with `Lightformers`.\n */\nexport function PresetEnvironment() {\n  return (\n    <Environment>\n      <Lightformers />\n    </Environment>\n  )\n}\n\nfunction Lightformers({ positions = [2, 0, 2, 0, 2, 0, 2, 0] }) {\n  return (\n    <>\n      {/* Ceiling */}\n      <Lightformer\n        intensity={5}\n        rotation-x={Math.PI / 2}\n        position={[0, 5, -9]}\n        scale={[10, 10, 1]}\n      />\n      <group rotation={[0, 0.5, 0]}>\n        <group>\n          {positions.map((x, i) => (\n            <Lightformer\n              // biome-ignore lint/suspicious/noArrayIndexKey: pre-biome code\n              key={i}\n              form=\"circle\"\n              intensity={5}\n              rotation={[Math.PI / 2, 0, 0]}\n              position={[x, 4, i * 4]}\n              scale={[3, 1, 1]}\n            />\n          ))}\n        </group>\n      </group>\n      {/* Sides */}\n      <Lightformer\n        intensity={40}\n        rotation-y={Math.PI / 2}\n        position={[-5, 1, -1]}\n        scale={[20, 0.1, 1]}\n      />\n      <Lightformer\n        intensity={20}\n        rotation-y={-Math.PI}\n        position={[-5, -2, -1]}\n        scale={[20, 0.1, 1]}\n      />\n\n      <Lightformer\n        rotation-y={Math.PI / 2}\n        position={[-5, -1, -1]}\n        scale={[20, 0.5, 1]}\n        intensity={5}\n      />\n      <Lightformer\n        rotation-y={-Math.PI / 2}\n        position={[10, 1, 0]}\n        scale={[20, 1, 1]}\n        intensity={10}\n      />\n\n      {/* Key */}\n      <Lightformer\n        form=\"ring\"\n        color=\"white\"\n        intensity={5}\n        scale={10}\n        position={[-15, 4, -18]}\n        target={[0, 0, 0]}\n      />\n    </>\n  )\n}\n\nexport default PresetEnvironment\n"],"names":["PresetEnvironment","jsx","Environment","Lightformers","positions","jsxs","Fragment","Lightformer","x","i"],"mappings":"gLAOO,SAASA,GAAoB,CAClC,OACEC,EAAAA,IAACC,EAAAA,YAAA,CACC,SAAAD,EAAAA,IAACE,EAAA,CAAA,CAAa,EAChB,CAEJ,CAEA,SAASA,EAAa,CAAE,UAAAC,EAAY,CAAC,EAAG,EAAG,EAAG,EAAG,EAAG,EAAG,EAAG,CAAC,GAAK,CAC9D,OACEC,EAAAA,KAAAC,WAAA,CAEE,SAAA,CAAAL,EAAAA,IAACM,EAAAA,YAAA,CACC,UAAW,EACX,aAAY,KAAK,GAAK,EACtB,SAAU,CAAC,EAAG,EAAG,EAAE,EACnB,MAAO,CAAC,GAAI,GAAI,CAAC,CAAA,CAAA,EAEnBN,EAAAA,IAAC,QAAA,CAAM,SAAU,CAAC,EAAG,GAAK,CAAC,EACzB,SAAAA,EAAAA,IAAC,QAAA,CACE,SAAAG,EAAU,IAAI,CAACI,EAAGC,IACjBR,EAAAA,IAACM,EAAAA,YAAA,CAGC,KAAK,SACL,UAAW,EACX,SAAU,CAAC,KAAK,GAAK,EAAG,EAAG,CAAC,EAC5B,SAAU,CAACC,EAAG,EAAGC,EAAI,CAAC,EACtB,MAAO,CAAC,EAAG,EAAG,CAAC,CAAA,EALVA,CAAA,CAOR,EACH,CAAA,CACF,EAEAR,EAAAA,IAACM,EAAAA,YAAA,CACC,UAAW,GACX,aAAY,KAAK,GAAK,EACtB,SAAU,CAAC,GAAI,EAAG,EAAE,EACpB,MAAO,CAAC,GAAI,GAAK,CAAC,CAAA,CAAA,EAEpBN,EAAAA,IAACM,EAAAA,YAAA,CACC,UAAW,GACX,aAAY,CAAC,KAAK,GAClB,SAAU,CAAC,GAAI,GAAI,EAAE,EACrB,MAAO,CAAC,GAAI,GAAK,CAAC,CAAA,CAAA,EAGpBN,EAAAA,IAACM,EAAAA,YAAA,CACC,aAAY,KAAK,GAAK,EACtB,SAAU,CAAC,GAAI,GAAI,EAAE,EACrB,MAAO,CAAC,GAAI,GAAK,CAAC,EAClB,UAAW,CAAA,CAAA,EAEbN,EAAAA,IAACM,EAAAA,YAAA,CACC,aAAY,CAAC,KAAK,GAAK,EACvB,SAAU,CAAC,GAAI,EAAG,CAAC,EACnB,MAAO,CAAC,GAAI,EAAG,CAAC,EAChB,UAAW,EAAA,CAAA,EAIbN,EAAAA,IAACM,EAAAA,YAAA,CACC,KAAK,OACL,MAAM,QACN,UAAW,EACX,MAAO,GACP,SAAU,CAAC,IAAK,EAAG,GAAG,EACtB,OAAQ,CAAC,EAAG,EAAG,CAAC,CAAA,CAAA,CAClB,EACF,CAEJ"}

package/dist/components/3d-viewport/PresetEnvironment.d.ts

@@ -4,4 +4,5 @@
  * and builds a lightmap build with `Lightformers`.
  */
 export declare function PresetEnvironment(): import("react/jsx-runtime").JSX.Element;
+export default PresetEnvironment;
 //# sourceMappingURL=PresetEnvironment.d.ts.map

package/dist/components/3d-viewport/PresetEnvironment.d.ts.map

@@ -1 +1 @@
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package/dist/components/3d-viewport/PresetEnvironment.js

@@ -0,0 +1,81 @@
+import { jsx as t, jsxs as e, Fragment as s } from "react/jsx-runtime";
+import { Environment as a, Lightformer as i } from "@react-three/drei";
+function p() {
+  return /* @__PURE__ */ t(a, { children: /* @__PURE__ */ t(c, {}) });
+}
+function c({ positions: o = [2, 0, 2, 0, 2, 0, 2, 0] }) {
+  return /* @__PURE__ */ e(s, { children: [
+    /* @__PURE__ */ t(
+      i,
+      {
+        intensity: 5,
+        "rotation-x": Math.PI / 2,
+        position: [0, 5, -9],
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+      }
+    ),
+    /* @__PURE__ */ t("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ t("group", { children: o.map((r, n) => /* @__PURE__ */ t(
+      i,
+      {
+        form: "circle",
+        intensity: 5,
+        rotation: [Math.PI / 2, 0, 0],
+        position: [r, 4, n * 4],
+        scale: [3, 1, 1]
+      },
+      n
+    )) }) }),
+    /* @__PURE__ */ t(
+      i,
+      {
+        intensity: 40,
+        "rotation-y": Math.PI / 2,
+        position: [-5, 1, -1],
+        scale: [20, 0.1, 1]
+      }
+    ),
+    /* @__PURE__ */ t(
+      i,
+      {
+        intensity: 20,
+        "rotation-y": -Math.PI,
+        position: [-5, -2, -1],
+        scale: [20, 0.1, 1]
+      }
+    ),
+    /* @__PURE__ */ t(
+      i,
+      {
+        "rotation-y": Math.PI / 2,
+        position: [-5, -1, -1],
+        scale: [20, 0.5, 1],
+        intensity: 5
+      }
+    ),
+    /* @__PURE__ */ t(
+      i,
+      {
+        "rotation-y": -Math.PI / 2,
+        position: [10, 1, 0],
+        scale: [20, 1, 1],
+        intensity: 10
+      }
+    ),
+    /* @__PURE__ */ t(
+      i,
+      {
+        form: "ring",
+        color: "white",
+        intensity: 5,
+        scale: 10,
+        position: [-15, 4, -18],
+        target: [0, 0, 0]
+      }
+    )
+  ] });
+}
+export {
+  p as PresetEnvironment,
+  p as default
+};
+//# sourceMappingURL=PresetEnvironment.js.map

package/dist/components/3d-viewport/PresetEnvironment.js.map

@@ -0,0 +1 @@
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package/dist/components/3d-viewport/SafetyZonesRenderer.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const o=require("react/jsx-runtime"),O=require("react"),R=require("three"),g=require("three-stdlib"),y=require("../utils/converters.cjs");function T(r){const p=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(r){for(const i in r)if(i!=="default"){const l=Object.getOwnPropertyDescriptor(r,i);Object.defineProperty(p,i,l.get?l:{enumerable:!0,get:()=>r[i]})}}return p.default=r,Object.freeze(p)}const n=T(R);function b({safetyZones:r,dhParameters:p,...i}){const l={attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0},d=y.dhParametersToPlaneSize(p??[]),_=(u,e)=>{var f,m;if(!((f=e==null?void 0:e.pose)!=null&&f.position)||!((m=e==null?void 0:e.pose)!=null&&m.orientation))return null;const x=new n.Vector3(e.pose.position[0]/1e3,e.pose.position[1]/1e3,e.pose.position[2]/1e3),S=new n.Vector3(e.pose.orientation[0],e.pose.orientation[1],e.pose.orientation[2]);let c;const v=e.shape.shape_type==="plane"?{...l,side:n.DoubleSide}:{...l,side:n.FrontSide};switch(e.shape.shape_type){case"plane":c=o.jsx("planeGeometry",{args:[d,d]});break;case"sphere":{const t=(e==null?void 0:e.shape).radius/1e3;c=o.jsx("sphereGeometry",{args:[t]});break}case"capsule":{const t=(e==null?void 0:e.shape).radius/1e3,s=(e==null?void 0:e.shape).cylinder_height/1e3;c=o.jsx("capsuleGeometry",{args:[t,s]});break}case"convex_hull":{const t=(e==null?void 0:e.shape).vertices.map(a=>new n.Vector3(a[0]/1e3,a[1]/1e3,a[2]/1e3)),s=y.verticesToCoplanarity(t);if(s.isCoplanar&&s.normal){const h=new n.Vector3().addVectors(t[0],s.normal.multiplyScalar(1e-4));t.push(h)}try{c=o.jsx("primitive",{object:new g.ConvexGeometry(t),attach:"geometry"})}catch(a){return console.log("Error creating ConvexGeometry:",a),null}break}case"rectangular_capsule":{const t=e.shape,s=t.radius/1e3,a=t.sphere_center_distance_x/1e3,h=t.sphere_center_distance_y/1e3,w=s*2;c=o.jsx("primitive",{object:new g.RoundedBoxGeometry(a,h,w,2,s),attach:"geometry"});break}default:console.warn("Unsupported safety zone shape type:",e.shape.shape_type),c=null}return o.jsxs("mesh",{renderOrder:u,position:x,quaternion:y.orientationToQuaternion(S),children:[c,o.jsx("meshStandardMaterial",{...v,polygonOffsetFactor:-u})]},`safety-zone-${e.shape.shape_type}-${u}`)},j=O.useMemo(()=>Object.values(r??{}).map((u,e)=>_(e,u)),[r,d]);return o.jsx("group",{...i,children:j})}exports.SafetyZonesRenderer=b;exports.default=b;
+//# sourceMappingURL=SafetyZonesRenderer.cjs.map

package/dist/components/3d-viewport/SafetyZonesRenderer.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"SafetyZonesRenderer.cjs","sources":["../../../src/components/3d-viewport/SafetyZonesRenderer.tsx"],"sourcesContent":["import type { ThreeElements } from \"@react-three/fiber\"\nimport { useMemo } from \"react\"\nimport * as THREE from \"three\"\nimport { ConvexGeometry, RoundedBoxGeometry } from \"three-stdlib\"\n\nimport type {\n  Capsule,\n  Collider,\n  ConvexHull,\n  DHParameter,\n  MotionGroupDescription,\n  RectangularCapsule,\n  Sphere,\n} from \"@wandelbots/nova-js/v2\"\n\nimport {\n  dhParametersToPlaneSize,\n  orientationToQuaternion,\n  verticesToCoplanarity,\n} from \"../utils/converters\"\n\nexport type SafetyZonesRendererProps = {\n  safetyZones: MotionGroupDescription[\"safety_zones\"]\n  dhParameters?: DHParameter[]\n} & ThreeElements[\"group\"]\n\nexport function SafetyZonesRenderer({\n  safetyZones,\n  dhParameters,\n  ...props\n}: SafetyZonesRendererProps) {\n  /**\n   * Common material properties for safety zone meshes\n   */\n  const safetyZoneMaterialProps = {\n    attach: \"material\" as const,\n    color: \"#009f4d\",\n    opacity: 0.2,\n    depthTest: false,\n    depthWrite: false,\n    transparent: true,\n    polygonOffset: true,\n  }\n\n  /**\n   * Plane size for the plane safety zones, returns the reach distance\n   * of the robot\n   */\n  const planeSize = dhParametersToPlaneSize(dhParameters ?? [])\n\n  /**\n   * Helper function to render plane, sphere, and capsule meshes\n   * @param id number\n   * @param zone Collider\n   */\n  const renderMesh = (id: number, zone: Collider) => {\n    if (!zone?.pose?.position || !zone?.pose?.orientation) {\n      return null\n    }\n\n    const position = new THREE.Vector3(\n      zone.pose.position[0] / 1000,\n      zone.pose.position[1] / 1000,\n      zone.pose.position[2] / 1000,\n    )\n    const orientation = new THREE.Vector3(\n      zone.pose.orientation[0],\n      zone.pose.orientation[1],\n      zone.pose.orientation[2],\n    )\n\n    let geometry: React.ReactElement | null\n\n    const materialProps =\n      zone.shape.shape_type === \"plane\"\n        ? { ...safetyZoneMaterialProps, side: THREE.DoubleSide }\n        : { ...safetyZoneMaterialProps, side: THREE.FrontSide }\n\n    switch (zone.shape.shape_type) {\n      /**\n       * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)\n       */\n      case \"plane\":\n        geometry = <planeGeometry args={[planeSize, planeSize]} />\n        break\n\n      /**\n       * Sphere shape\n       */\n      case \"sphere\": {\n        const radius = (zone?.shape as Sphere).radius / 1000\n        geometry = <sphereGeometry args={[radius]} />\n        break\n      }\n\n      /**\n       * Capsule shape\n       */\n      case \"capsule\": {\n        const capsuleRadius = (zone?.shape as Capsule).radius / 1000\n        const height = (zone?.shape as Capsule).cylinder_height / 1000\n        geometry = <capsuleGeometry args={[capsuleRadius, height]} />\n        break\n      }\n\n      /**\n       * Convex hull, checks at first if the vertices are coplanar - if yes, adds a small offset for\n       * renderer to be able to visualize the convex hull.\n       */\n      case \"convex_hull\": {\n        const vertices = (zone?.shape as ConvexHull).vertices.map(\n          (v) => new THREE.Vector3(v[0] / 1000, v[1] / 1000, v[2] / 1000),\n        )\n        // Check if the vertices are on the same plane\n        const coplanarityResult = verticesToCoplanarity(vertices)\n        if (coplanarityResult.isCoplanar && coplanarityResult.normal) {\n          const offset = 0.0001\n          const newVertex = new THREE.Vector3().addVectors(\n            vertices[0],\n            coplanarityResult.normal.multiplyScalar(offset),\n          )\n          vertices.push(newVertex)\n        }\n        try {\n          geometry = (\n            <primitive\n              object={new ConvexGeometry(vertices)}\n              attach=\"geometry\"\n            />\n          )\n        } catch (error) {\n          console.log(\"Error creating ConvexGeometry:\", error)\n          return null\n        }\n        break\n      }\n\n      /**\n       * Convex hull around four spheres. Sphere center points in x/y-plane,\n       * offset by either combination \"+/- sizeX\" or \"+/- sizeY\".\n       * Alternative description: Rectangle in x/y-plane with a 3D padding (source: nova-api docs)\n       *\n       * Basically a rounded box with a rectangular cross-section.\n       */\n      case \"rectangular_capsule\": {\n        const shape = zone.shape as RectangularCapsule\n        const rcRadius = shape.radius / 1000\n        const width = shape.sphere_center_distance_x / 1000\n        const height = shape.sphere_center_distance_y / 1000\n        const depth = rcRadius * 2\n\n        geometry = (\n          <primitive\n            object={new RoundedBoxGeometry(width, height, depth, 2, rcRadius)}\n            attach=\"geometry\"\n          />\n        )\n        break\n      }\n\n      default: {\n        console.warn(\n          \"Unsupported safety zone shape type:\",\n          zone.shape.shape_type,\n        )\n        geometry = null\n      }\n    }\n\n    return (\n      <mesh\n        key={`safety-zone-${zone.shape.shape_type}-${id}`}\n        renderOrder={id}\n        position={position}\n        quaternion={orientationToQuaternion(orientation)}\n      >\n        {geometry}\n        <meshStandardMaterial {...materialProps} polygonOffsetFactor={-id} />\n      </mesh>\n    )\n  }\n\n  /**\n   * Helper variable render safety zones\n   */\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  const renderedSafetyZones = useMemo(() => {\n    return Object.values(safetyZones ?? {}).map(\n      (zone: Collider, index: number) => {\n        return renderMesh(index, zone)\n      },\n    )\n  }, [safetyZones, planeSize])\n\n  return <group {...props}>{renderedSafetyZones}</group>\n}\n\nexport default SafetyZonesRenderer\n"],"names":["SafetyZonesRenderer","safetyZones","dhParameters","props","safetyZoneMaterialProps","planeSize","dhParametersToPlaneSize","renderMesh","id","zone","_a","_b","position","THREE","orientation","geometry","materialProps","radius","jsx","capsuleRadius","height","vertices","v","coplanarityResult","verticesToCoplanarity","newVertex","ConvexGeometry","error","shape","rcRadius","width","depth","RoundedBoxGeometry","jsxs","orientationToQuaternion","renderedSafetyZones","useMemo","index"],"mappings":"ghBA0BO,SAASA,EAAoB,CAClC,YAAAC,EACA,aAAAC,EACA,GAAGC,CACL,EAA6B,CAI3B,MAAMC,EAA0B,CAC9B,OAAQ,WACR,MAAO,UACP,QAAS,GACT,UAAW,GACX,WAAY,GACZ,YAAa,GACb,cAAe,EAAA,EAOXC,EAAYC,EAAAA,wBAAwBJ,GAAgB,EAAE,EAOtDK,EAAa,CAACC,EAAYC,IAAmB,SACjD,GAAI,GAACC,EAAAD,GAAA,YAAAA,EAAM,OAAN,MAAAC,EAAY,WAAY,GAACC,EAAAF,GAAA,YAAAA,EAAM,OAAN,MAAAE,EAAY,aACxC,OAAO,KAGT,MAAMC,EAAW,IAAIC,EAAM,QACzBJ,EAAK,KAAK,SAAS,CAAC,EAAI,IACxBA,EAAK,KAAK,SAAS,CAAC,EAAI,IACxBA,EAAK,KAAK,SAAS,CAAC,EAAI,GAAA,EAEpBK,EAAc,IAAID,EAAM,QAC5BJ,EAAK,KAAK,YAAY,CAAC,EACvBA,EAAK,KAAK,YAAY,CAAC,EACvBA,EAAK,KAAK,YAAY,CAAC,CAAA,EAGzB,IAAIM,EAEJ,MAAMC,EACJP,EAAK,MAAM,aAAe,QACtB,CAAE,GAAGL,EAAyB,KAAMS,EAAM,YAC1C,CAAE,GAAGT,EAAyB,KAAMS,EAAM,SAAA,EAEhD,OAAQJ,EAAK,MAAM,WAAA,CAIjB,IAAK,QACHM,QAAY,gBAAA,CAAc,KAAM,CAACV,EAAWA,CAAS,EAAG,EACxD,MAKF,IAAK,SAAU,CACb,MAAMY,GAAUR,GAAA,YAAAA,EAAM,OAAiB,OAAS,IAChDM,EAAWG,EAAAA,IAAC,iBAAA,CAAe,KAAM,CAACD,CAAM,EAAG,EAC3C,KACF,CAKA,IAAK,UAAW,CACd,MAAME,GAAiBV,GAAA,YAAAA,EAAM,OAAkB,OAAS,IAClDW,GAAUX,GAAA,YAAAA,EAAM,OAAkB,gBAAkB,IAC1DM,QAAY,kBAAA,CAAgB,KAAM,CAACI,EAAeC,CAAM,EAAG,EAC3D,KACF,CAMA,IAAK,cAAe,CAClB,MAAMC,GAAYZ,GAAA,YAAAA,EAAM,OAAqB,SAAS,IACnDa,GAAM,IAAIT,EAAM,QAAQS,EAAE,CAAC,EAAI,IAAMA,EAAE,CAAC,EAAI,IAAMA,EAAE,CAAC,EAAI,GAAI,CAAA,EAG1DC,EAAoBC,EAAAA,sBAAsBH,CAAQ,EACxD,GAAIE,EAAkB,YAAcA,EAAkB,OAAQ,CAE5D,MAAME,EAAY,IAAIZ,EAAM,QAAA,EAAU,WACpCQ,EAAS,CAAC,EACVE,EAAkB,OAAO,eAAe,IAAM,CAAA,EAEhDF,EAAS,KAAKI,CAAS,CACzB,CACA,GAAI,CACFV,EACEG,EAAAA,IAAC,YAAA,CACC,OAAQ,IAAIQ,EAAAA,eAAeL,CAAQ,EACnC,OAAO,UAAA,CAAA,CAGb,OAASM,EAAO,CACd,eAAQ,IAAI,iCAAkCA,CAAK,EAC5C,IACT,CACA,KACF,CASA,IAAK,sBAAuB,CAC1B,MAAMC,EAAQnB,EAAK,MACboB,EAAWD,EAAM,OAAS,IAC1BE,EAAQF,EAAM,yBAA2B,IACzCR,EAASQ,EAAM,yBAA2B,IAC1CG,EAAQF,EAAW,EAEzBd,EACEG,EAAAA,IAAC,YAAA,CACC,OAAQ,IAAIc,EAAAA,mBAAmBF,EAAOV,EAAQW,EAAO,EAAGF,CAAQ,EAChE,OAAO,UAAA,CAAA,EAGX,KACF,CAEA,QACE,QAAQ,KACN,sCACApB,EAAK,MAAM,UAAA,EAEbM,EAAW,IACb,CAGF,OACEkB,EAAAA,KAAC,OAAA,CAEC,YAAazB,EACb,SAAAI,EACA,WAAYsB,EAAAA,wBAAwBpB,CAAW,EAE9C,SAAA,CAAAC,QACA,uBAAA,CAAsB,GAAGC,EAAe,oBAAqB,CAACR,CAAA,CAAI,CAAA,CAAA,EAN9D,eAAeC,EAAK,MAAM,UAAU,IAAID,CAAE,EAAA,CASrD,EAMM2B,EAAsBC,EAAAA,QAAQ,IAC3B,OAAO,OAAOnC,GAAe,CAAA,CAAE,EAAE,IACtC,CAACQ,EAAgB4B,IACR9B,EAAW8B,EAAO5B,CAAI,CAC/B,EAED,CAACR,EAAaI,CAAS,CAAC,EAE3B,OAAOa,EAAAA,IAAC,QAAA,CAAO,GAAGf,EAAQ,SAAAgC,EAAoB,CAChD"}

package/dist/components/3d-viewport/SafetyZonesRenderer.d.ts

@@ -5,4 +5,5 @@ export type SafetyZonesRendererProps = {
     dhParameters?: DHParameter[];
 } & ThreeElements["group"];
 export declare function SafetyZonesRenderer({ safetyZones, dhParameters, ...props }: SafetyZonesRendererProps): import("react/jsx-runtime").JSX.Element;
+export default SafetyZonesRenderer;
 //# sourceMappingURL=SafetyZonesRenderer.d.ts.map

package/dist/components/3d-viewport/SafetyZonesRenderer.d.ts.map

@@ -1 +1 @@
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package/dist/components/3d-viewport/SafetyZonesRenderer.js

@@ -0,0 +1,131 @@
+import { jsx as o, jsxs as S } from "react/jsx-runtime";
+import { useMemo as v } from "react";
+import * as i from "three";
+import { RoundedBoxGeometry as G, ConvexGeometry as R } from "three-stdlib";
+import { dhParametersToPlaneSize as V, verticesToCoplanarity as j, orientationToQuaternion as k } from "../utils/converters.js";
+function P({
+  safetyZones: l,
+  dhParameters: m,
+  ...y
+}) {
+  const h = {
+    attach: "material",
+    color: "#009f4d",
+    opacity: 0.2,
+    depthTest: !1,
+    depthWrite: !1,
+    transparent: !0,
+    polygonOffset: !0
+  }, c = V(m ?? []), f = (p, e) => {
+    var u, d;
+    if (!((u = e == null ? void 0 : e.pose) != null && u.position) || !((d = e == null ? void 0 : e.pose) != null && d.orientation))
+      return null;
+    const _ = new i.Vector3(
+      e.pose.position[0] / 1e3,
+      e.pose.position[1] / 1e3,
+      e.pose.position[2] / 1e3
+    ), w = new i.Vector3(
+      e.pose.orientation[0],
+      e.pose.orientation[1],
+      e.pose.orientation[2]
+    );
+    let a;
+    const b = e.shape.shape_type === "plane" ? { ...h, side: i.DoubleSide } : { ...h, side: i.FrontSide };
+    switch (e.shape.shape_type) {
+      /**
+       * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)
+       */
+      case "plane":
+        a = /* @__PURE__ */ o("planeGeometry", { args: [c, c] });
+        break;
+      /**
+       * Sphere shape
+       */
+      case "sphere": {
+        const t = (e == null ? void 0 : e.shape).radius / 1e3;
+        a = /* @__PURE__ */ o("sphereGeometry", { args: [t] });
+        break;
+      }
+      /**
+       * Capsule shape
+       */
+      case "capsule": {
+        const t = (e == null ? void 0 : e.shape).radius / 1e3, r = (e == null ? void 0 : e.shape).cylinder_height / 1e3;
+        a = /* @__PURE__ */ o("capsuleGeometry", { args: [t, r] });
+        break;
+      }
+      /**
+       * Convex hull, checks at first if the vertices are coplanar - if yes, adds a small offset for
+       * renderer to be able to visualize the convex hull.
+       */
+      case "convex_hull": {
+        const t = (e == null ? void 0 : e.shape).vertices.map(
+          (s) => new i.Vector3(s[0] / 1e3, s[1] / 1e3, s[2] / 1e3)
+        ), r = j(t);
+        if (r.isCoplanar && r.normal) {
+          const n = new i.Vector3().addVectors(
+            t[0],
+            r.normal.multiplyScalar(1e-4)
+          );
+          t.push(n);
+        }
+        try {
+          a = /* @__PURE__ */ o(
+            "primitive",
+            {
+              object: new R(t),
+              attach: "geometry"
+            }
+          );
+        } catch (s) {
+          return console.log("Error creating ConvexGeometry:", s), null;
+        }
+        break;
+      }
+      /**
+       * Convex hull around four spheres. Sphere center points in x/y-plane,
+       * offset by either combination "+/- sizeX" or "+/- sizeY".
+       * Alternative description: Rectangle in x/y-plane with a 3D padding (source: nova-api docs)
+       *
+       * Basically a rounded box with a rectangular cross-section.
+       */
+      case "rectangular_capsule": {
+        const t = e.shape, r = t.radius / 1e3, s = t.sphere_center_distance_x / 1e3, n = t.sphere_center_distance_y / 1e3, x = r * 2;
+        a = /* @__PURE__ */ o(
+          "primitive",
+          {
+            object: new G(s, n, x, 2, r),
+            attach: "geometry"
+          }
+        );
+        break;
+      }
+      default:
+        console.warn(
+          "Unsupported safety zone shape type:",
+          e.shape.shape_type
+        ), a = null;
+    }
+    return /* @__PURE__ */ S(
+      "mesh",
+      {
+        renderOrder: p,
+        position: _,
+        quaternion: k(w),
+        children: [
+          a,
+          /* @__PURE__ */ o("meshStandardMaterial", { ...b, polygonOffsetFactor: -p })
+        ]
+      },
+      `safety-zone-${e.shape.shape_type}-${p}`
+    );
+  }, g = v(() => Object.values(l ?? {}).map(
+    (p, e) => f(e, p)
+  ), [l, c]);
+  return /* @__PURE__ */ o("group", { ...y, children: g });
+}
+export {
+  P as SafetyZonesRenderer,
+  P as default
+};
+//# sourceMappingURL=SafetyZonesRenderer.js.map

package/dist/components/3d-viewport/SafetyZonesRenderer.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"SafetyZonesRenderer.js","sources":["../../../src/components/3d-viewport/SafetyZonesRenderer.tsx"],"sourcesContent":["import type { ThreeElements } from \"@react-three/fiber\"\nimport { useMemo } from \"react\"\nimport * as THREE from \"three\"\nimport { ConvexGeometry, RoundedBoxGeometry } from \"three-stdlib\"\n\nimport type {\n  Capsule,\n  Collider,\n  ConvexHull,\n  DHParameter,\n  MotionGroupDescription,\n  RectangularCapsule,\n  Sphere,\n} from \"@wandelbots/nova-js/v2\"\n\nimport {\n  dhParametersToPlaneSize,\n  orientationToQuaternion,\n  verticesToCoplanarity,\n} from \"../utils/converters\"\n\nexport type SafetyZonesRendererProps = {\n  safetyZones: MotionGroupDescription[\"safety_zones\"]\n  dhParameters?: DHParameter[]\n} & ThreeElements[\"group\"]\n\nexport function SafetyZonesRenderer({\n  safetyZones,\n  dhParameters,\n  ...props\n}: SafetyZonesRendererProps) {\n  /**\n   * Common material properties for safety zone meshes\n   */\n  const safetyZoneMaterialProps = {\n    attach: \"material\" as const,\n    color: \"#009f4d\",\n    opacity: 0.2,\n    depthTest: false,\n    depthWrite: false,\n    transparent: true,\n    polygonOffset: true,\n  }\n\n  /**\n   * Plane size for the plane safety zones, returns the reach distance\n   * of the robot\n   */\n  const planeSize = dhParametersToPlaneSize(dhParameters ?? [])\n\n  /**\n   * Helper function to render plane, sphere, and capsule meshes\n   * @param id number\n   * @param zone Collider\n   */\n  const renderMesh = (id: number, zone: Collider) => {\n    if (!zone?.pose?.position || !zone?.pose?.orientation) {\n      return null\n    }\n\n    const position = new THREE.Vector3(\n      zone.pose.position[0] / 1000,\n      zone.pose.position[1] / 1000,\n      zone.pose.position[2] / 1000,\n    )\n    const orientation = new THREE.Vector3(\n      zone.pose.orientation[0],\n      zone.pose.orientation[1],\n      zone.pose.orientation[2],\n    )\n\n    let geometry: React.ReactElement | null\n\n    const materialProps =\n      zone.shape.shape_type === \"plane\"\n        ? { ...safetyZoneMaterialProps, side: THREE.DoubleSide }\n        : { ...safetyZoneMaterialProps, side: THREE.FrontSide }\n\n    switch (zone.shape.shape_type) {\n      /**\n       * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)\n       */\n      case \"plane\":\n        geometry = <planeGeometry args={[planeSize, planeSize]} />\n        break\n\n      /**\n       * Sphere shape\n       */\n      case \"sphere\": {\n        const radius = (zone?.shape as Sphere).radius / 1000\n        geometry = <sphereGeometry args={[radius]} />\n        break\n      }\n\n      /**\n       * Capsule shape\n       */\n      case \"capsule\": {\n        const capsuleRadius = (zone?.shape as Capsule).radius / 1000\n        const height = (zone?.shape as Capsule).cylinder_height / 1000\n        geometry = <capsuleGeometry args={[capsuleRadius, height]} />\n        break\n      }\n\n      /**\n       * Convex hull, checks at first if the vertices are coplanar - if yes, adds a small offset for\n       * renderer to be able to visualize the convex hull.\n       */\n      case \"convex_hull\": {\n        const vertices = (zone?.shape as ConvexHull).vertices.map(\n          (v) => new THREE.Vector3(v[0] / 1000, v[1] / 1000, v[2] / 1000),\n        )\n        // Check if the vertices are on the same plane\n        const coplanarityResult = verticesToCoplanarity(vertices)\n        if (coplanarityResult.isCoplanar && coplanarityResult.normal) {\n          const offset = 0.0001\n          const newVertex = new THREE.Vector3().addVectors(\n            vertices[0],\n            coplanarityResult.normal.multiplyScalar(offset),\n          )\n          vertices.push(newVertex)\n        }\n        try {\n          geometry = (\n            <primitive\n              object={new ConvexGeometry(vertices)}\n              attach=\"geometry\"\n            />\n          )\n        } catch (error) {\n          console.log(\"Error creating ConvexGeometry:\", error)\n          return null\n        }\n        break\n      }\n\n      /**\n       * Convex hull around four spheres. Sphere center points in x/y-plane,\n       * offset by either combination \"+/- sizeX\" or \"+/- sizeY\".\n       * Alternative description: Rectangle in x/y-plane with a 3D padding (source: nova-api docs)\n       *\n       * Basically a rounded box with a rectangular cross-section.\n       */\n      case \"rectangular_capsule\": {\n        const shape = zone.shape as RectangularCapsule\n        const rcRadius = shape.radius / 1000\n        const width = shape.sphere_center_distance_x / 1000\n        const height = shape.sphere_center_distance_y / 1000\n        const depth = rcRadius * 2\n\n        geometry = (\n          <primitive\n            object={new RoundedBoxGeometry(width, height, depth, 2, rcRadius)}\n            attach=\"geometry\"\n          />\n        )\n        break\n      }\n\n      default: {\n        console.warn(\n          \"Unsupported safety zone shape type:\",\n          zone.shape.shape_type,\n        )\n        geometry = null\n      }\n    }\n\n    return (\n      <mesh\n        key={`safety-zone-${zone.shape.shape_type}-${id}`}\n        renderOrder={id}\n        position={position}\n        quaternion={orientationToQuaternion(orientation)}\n      >\n        {geometry}\n        <meshStandardMaterial {...materialProps} polygonOffsetFactor={-id} />\n      </mesh>\n    )\n  }\n\n  /**\n   * Helper variable render safety zones\n   */\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  const renderedSafetyZones = useMemo(() => {\n    return Object.values(safetyZones ?? 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package/dist/components/3d-viewport/TrajectoryRenderer.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const s=require("react/jsx-runtime"),c=require("@react-three/drei"),f=require("three");function a(e){const i=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const n in e)if(n!=="default"){const t=Object.getOwnPropertyDescriptor(e,n);Object.defineProperty(i,n,t.get?t:{enumerable:!0,get:()=>e[n]})}}return i.default=e,Object.freeze(i)}const d=a(f);function l({trajectory:e,...i}){const n=(e==null?void 0:e.map(t=>{if(t.position&&t.position.length>=3){const[r,o,u]=t.position;if(Number.isFinite(r)&&Number.isFinite(o)&&Number.isFinite(u))return new d.Vector3(r/1e3,u/1e3,-o/1e3)}return null}).filter(t=>t!==null))||[];return s.jsx("group",{...i,children:n.length>0&&s.jsx(c.Line,{points:n,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}exports.TrajectoryRenderer=l;exports.default=l;
+//# sourceMappingURL=TrajectoryRenderer.cjs.map

package/dist/components/3d-viewport/TrajectoryRenderer.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"TrajectoryRenderer.cjs","sources":["../../../src/components/3d-viewport/TrajectoryRenderer.tsx"],"sourcesContent":["import { Line } from \"@react-three/drei\"\nimport type { Pose } from \"@wandelbots/nova-js/v2\"\nimport * as THREE from \"three\"\n\nexport type TrajectoryRendererProps = {\n  trajectory: Pose[]\n} & React.JSX.IntrinsicElements[\"group\"]\n\nexport function TrajectoryRenderer({\n  trajectory,\n  ...props\n}: TrajectoryRendererProps) {\n  const points =\n    trajectory\n      ?.map((pose: Pose) => {\n        if (pose.position && pose.position.length >= 3) {\n          const [x, y, z] = pose.position\n          if (Number.isFinite(x) && Number.isFinite(y) && Number.isFinite(z)) {\n            return new THREE.Vector3(x / 1000, z / 1000, -y / 1000)\n          }\n        }\n        return null\n      })\n      .filter((point): point is THREE.Vector3 => point !== null) || []\n\n  return (\n    <group {...props}>\n      {points.length > 0 && (\n        <Line\n          points={points}\n          lineWidth={3}\n          polygonOffset={true}\n          polygonOffsetFactor={10}\n          polygonOffsetUnits={10}\n        />\n      )}\n    </group>\n  )\n}\n\nexport default TrajectoryRenderer\n"],"names":["TrajectoryRenderer","trajectory","props","points","pose","x","y","z","THREE","point","jsx","Line"],"mappings":"6dAQO,SAASA,EAAmB,CACjC,WAAAC,EACA,GAAGC,CACL,EAA4B,CAC1B,MAAMC,GACJF,GAAA,YAAAA,EACI,IAAKG,GAAe,CACpB,GAAIA,EAAK,UAAYA,EAAK,SAAS,QAAU,EAAG,CAC9C,KAAM,CAACC,EAAGC,EAAGC,CAAC,EAAIH,EAAK,SACvB,GAAI,OAAO,SAASC,CAAC,GAAK,OAAO,SAASC,CAAC,GAAK,OAAO,SAASC,CAAC,EAC/D,OAAO,IAAIC,EAAM,QAAQH,EAAI,IAAME,EAAI,IAAM,CAACD,EAAI,GAAI,CAE1D,CACA,OAAO,IACT,GACC,OAAQG,GAAkCA,IAAU,QAAS,CAAA,EAElE,aACG,QAAA,CAAO,GAAGP,EACR,SAAAC,EAAO,OAAS,GACfO,EAAAA,IAACC,EAAAA,KAAA,CACC,OAAAR,EACA,UAAW,EACX,cAAe,GACf,oBAAqB,GACrB,mBAAoB,EAAA,CAAA,EAG1B,CAEJ"}

package/dist/components/3d-viewport/TrajectoryRenderer.d.ts

@@ -3,4 +3,5 @@ export type TrajectoryRendererProps = {
     trajectory: Pose[];
 } & React.JSX.IntrinsicElements["group"];
 export declare function TrajectoryRenderer({ trajectory, ...props }: TrajectoryRendererProps): import("react/jsx-runtime").JSX.Element;
+export default TrajectoryRenderer;
 //# sourceMappingURL=TrajectoryRenderer.d.ts.map

package/dist/components/3d-viewport/TrajectoryRenderer.d.ts.map

@@ -1 +1 @@
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package/dist/components/3d-viewport/TrajectoryRenderer.js

@@ -0,0 +1,31 @@
+import { jsx as f } from "react/jsx-runtime";
+import { Line as l } from "@react-three/drei";
+import * as u from "three";
+function g({
+  trajectory: n,
+  ...s
+}) {
+  const e = (n == null ? void 0 : n.map((i) => {
+    if (i.position && i.position.length >= 3) {
+      const [t, o, r] = i.position;
+      if (Number.isFinite(t) && Number.isFinite(o) && Number.isFinite(r))
+        return new u.Vector3(t / 1e3, r / 1e3, -o / 1e3);
+    }
+    return null;
+  }).filter((i) => i !== null)) || [];
+  return /* @__PURE__ */ f("group", { ...s, children: e.length > 0 && /* @__PURE__ */ f(
+    l,
+    {
+      points: e,
+      lineWidth: 3,
+      polygonOffset: !0,
+      polygonOffsetFactor: 10,
+      polygonOffsetUnits: 10
+    }
+  ) });
+}
+export {
+  g as TrajectoryRenderer,
+  g as default
+};
+//# sourceMappingURL=TrajectoryRenderer.js.map

package/dist/components/3d-viewport/TrajectoryRenderer.js.map

@@ -0,0 +1 @@
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package/dist/components/3d-viewport/collider/ColliderCollection.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const n=require("react/jsx-runtime"),o=require("./ColliderElement.cjs");function s({name:r,colliders:u,meshChildrenProvider:i,...l}){return n.jsx("group",{name:r,...l,children:Object.entries(u).map(([e,t])=>n.jsx(o.default,{name:e,collider:t,children:i(e,t)},e))})}exports.default=s;
+//# sourceMappingURL=ColliderCollection.cjs.map

package/dist/components/3d-viewport/collider/ColliderCollection.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"ColliderCollection.cjs","sources":["../../../../src/components/3d-viewport/collider/ColliderCollection.tsx"],"sourcesContent":["import type { ThreeElements } from \"@react-three/fiber\"\nimport type { Collider } from \"@wandelbots/nova-js/v2\"\nimport ColliderElement from \"./ColliderElement\"\n\nexport type MeshChildrenProvider = (\n  key: string,\n  collider: Collider,\n) => React.ReactNode\n\ntype ColliderCollectionProps = {\n  name?: string\n  colliders: Record<string, Collider>\n  meshChildrenProvider: MeshChildrenProvider\n} & ThreeElements[\"group\"]\n\nexport default function ColliderCollection({\n  name,\n  colliders,\n  meshChildrenProvider,\n  ...props\n}: ColliderCollectionProps) {\n  return (\n    <group name={name} {...props}>\n      {Object.entries(colliders).map(([colliderKey, collider]) => (\n        <ColliderElement\n          key={colliderKey}\n          name={colliderKey}\n          collider={collider}\n        >\n          {meshChildrenProvider(colliderKey, collider)}\n        </ColliderElement>\n      ))}\n    </group>\n  )\n}\n"],"names":["ColliderCollection","name","colliders","meshChildrenProvider","props","jsx","colliderKey","collider","ColliderElement"],"mappings":"oLAeA,SAAwBA,EAAmB,CACzC,KAAAC,EACA,UAAAC,EACA,qBAAAC,EACA,GAAGC,CACL,EAA4B,CAC1B,OACEC,EAAAA,IAAC,QAAA,CAAM,KAAAJ,EAAa,GAAGG,EACpB,SAAA,OAAO,QAAQF,CAAS,EAAE,IAAI,CAAC,CAACI,EAAaC,CAAQ,IACpDF,EAAAA,IAACG,EAAAA,QAAA,CAEC,KAAMF,EACN,SAAAC,EAEC,SAAAJ,EAAqBG,EAAaC,CAAQ,CAAA,EAJtCD,CAAA,CAMR,EACH,CAEJ"}

package/dist/components/3d-viewport/collider/ColliderCollection.js

@@ -0,0 +1,22 @@
+import { jsx as e } from "react/jsx-runtime";
+import p from "./ColliderElement.js";
+function l({
+  name: n,
+  colliders: o,
+  meshChildrenProvider: m,
+  ...i
+}) {
+  return /* @__PURE__ */ e("group", { name: n, ...i, children: Object.entries(o).map(([r, t]) => /* @__PURE__ */ e(
+    p,
+    {
+      name: r,
+      collider: t,
+      children: m(r, t)
+    },
+    r
+  )) });
+}
+export {
+  l as default
+};
+//# sourceMappingURL=ColliderCollection.js.map

package/dist/components/3d-viewport/collider/ColliderCollection.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ColliderCollection.js","sources":["../../../../src/components/3d-viewport/collider/ColliderCollection.tsx"],"sourcesContent":["import type { ThreeElements } from \"@react-three/fiber\"\nimport type { Collider } from \"@wandelbots/nova-js/v2\"\nimport ColliderElement from \"./ColliderElement\"\n\nexport type MeshChildrenProvider = (\n  key: string,\n  collider: Collider,\n) => React.ReactNode\n\ntype ColliderCollectionProps = {\n  name?: string\n  colliders: Record<string, Collider>\n  meshChildrenProvider: MeshChildrenProvider\n} & ThreeElements[\"group\"]\n\nexport default function ColliderCollection({\n  name,\n  colliders,\n  meshChildrenProvider,\n  ...props\n}: ColliderCollectionProps) {\n  return (\n    <group name={name} {...props}>\n      {Object.entries(colliders).map(([colliderKey, collider]) => (\n        <ColliderElement\n          key={colliderKey}\n          name={colliderKey}\n          collider={collider}\n        >\n          {meshChildrenProvider(colliderKey, collider)}\n        </ColliderElement>\n      ))}\n    </group>\n  )\n}\n"],"names":["ColliderCollection","name","colliders","meshChildrenProvider","props","jsx","colliderKey","collider","ColliderElement"],"mappings":";;AAeA,SAAwBA,EAAmB;AAAA,EACzC,MAAAC;AAAA,EACA,WAAAC;AAAA,EACA,sBAAAC;AAAA,EACA,GAAGC;AACL,GAA4B;AAC1B,SACE,gBAAAC,EAAC,SAAA,EAAM,MAAAJ,GAAa,GAAGG,GACpB,UAAA,OAAO,QAAQF,CAAS,EAAE,IAAI,CAAC,CAACI,GAAaC,CAAQ,MACpD,gBAAAF;AAAA,IAACG;AAAA,IAAA;AAAA,MAEC,MAAMF;AAAA,MACN,UAAAC;AAAA,MAEC,UAAAJ,EAAqBG,GAAaC,CAAQ;AAAA,IAAA;AAAA,IAJtCD;AAAA,EAAA,CAMR,GACH;AAEJ;"}

package/dist/components/3d-viewport/collider/ColliderElement.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const a=require("react/jsx-runtime"),c=require("three"),l=require("./colliderShapeToBufferGeometry.cjs");function f(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const o in e)if(o!=="default"){const r=Object.getOwnPropertyDescriptor(e,o);Object.defineProperty(t,o,r.get?r:{enumerable:!0,get:()=>e[o]})}}return t.default=e,Object.freeze(t)}const u=f(c);function p({name:e,collider:t,children:o}){var i,s;const r=((i=t.pose)==null?void 0:i.position)??[0,0,0],n=((s=t.pose)==null?void 0:s.orientation)??[0,0,0];return t.margin&&console.warn(`${e} margin is not supported`),a.jsx("mesh",{name:e,position:new u.Vector3(r[0],r[1],r[2]).divideScalar(1e3),rotation:new u.Euler(n[0],n[1],n[2],"XYZ"),geometry:l.colliderShapeToBufferGeometry(t.shape),children:o})}exports.default=p;
+//# sourceMappingURL=ColliderElement.cjs.map

package/dist/components/3d-viewport/collider/ColliderElement.cjs.map

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+{"version":3,"file":"ColliderElement.cjs","sources":["../../../../src/components/3d-viewport/collider/ColliderElement.tsx"],"sourcesContent":["import type { Collider } from \"@wandelbots/nova-js/v2\"\nimport type React from \"react\"\nimport * as THREE from \"three\"\nimport { colliderShapeToBufferGeometry } from \"./colliderShapeToBufferGeometry\"\n\ntype ColliderElementProps = {\n  name?: string\n  collider: Collider\n  children?: React.ReactNode\n}\n\nexport default function ColliderElement({\n  name,\n  collider,\n  children,\n}: ColliderElementProps) {\n  const position = collider.pose?.position ?? [0, 0, 0]\n  const rotation = collider.pose?.orientation ?? [0, 0, 0]\n  if (collider.margin) {\n    console.warn(`${name} margin is not supported`)\n  }\n  return (\n    <mesh\n      name={name}\n      position={new THREE.Vector3(\n        position[0],\n        position[1],\n        position[2],\n      ).divideScalar(1000)}\n      rotation={new THREE.Euler(rotation[0], rotation[1], rotation[2], \"XYZ\")}\n      geometry={colliderShapeToBufferGeometry(collider.shape)}\n    >\n      {children}\n    </mesh>\n  )\n}\n"],"names":["ColliderElement","name","collider","children","position","_a","rotation","_b","jsx","THREE","colliderShapeToBufferGeometry"],"mappings":"+eAWA,SAAwBA,EAAgB,CACtC,KAAAC,EACA,SAAAC,EACA,SAAAC,CACF,EAAyB,SACvB,MAAMC,IAAWC,EAAAH,EAAS,OAAT,YAAAG,EAAe,WAAY,CAAC,EAAG,EAAG,CAAC,EAC9CC,IAAWC,EAAAL,EAAS,OAAT,YAAAK,EAAe,cAAe,CAAC,EAAG,EAAG,CAAC,EACvD,OAAIL,EAAS,QACX,QAAQ,KAAK,GAAGD,CAAI,0BAA0B,EAG9CO,EAAAA,IAAC,OAAA,CACC,KAAAP,EACA,SAAU,IAAIQ,EAAM,QAClBL,EAAS,CAAC,EACVA,EAAS,CAAC,EACVA,EAAS,CAAC,CAAA,EACV,aAAa,GAAI,EACnB,SAAU,IAAIK,EAAM,MAAMH,EAAS,CAAC,EAAGA,EAAS,CAAC,EAAGA,EAAS,CAAC,EAAG,KAAK,EACtE,SAAUI,EAAAA,8BAA8BR,EAAS,KAAK,EAErD,SAAAC,CAAA,CAAA,CAGP"}

package/dist/components/3d-viewport/collider/ColliderElement.js

@@ -0,0 +1,29 @@
+import { jsx as a } from "react/jsx-runtime";
+import * as s from "three";
+import { colliderShapeToBufferGeometry as m } from "./colliderShapeToBufferGeometry.js";
+function c({
+  name: r,
+  collider: o,
+  children: p
+}) {
+  var i, n;
+  const t = ((i = o.pose) == null ? void 0 : i.position) ?? [0, 0, 0], e = ((n = o.pose) == null ? void 0 : n.orientation) ?? [0, 0, 0];
+  return o.margin && console.warn(`${r} margin is not supported`), /* @__PURE__ */ a(
+    "mesh",
+    {
+      name: r,
+      position: new s.Vector3(
+        t[0],
+        t[1],
+        t[2]
+      ).divideScalar(1e3),
+      rotation: new s.Euler(e[0], e[1], e[2], "XYZ"),
+      geometry: m(o.shape),
+      children: p
+    }
+  );
+}
+export {
+  c as default
+};
+//# sourceMappingURL=ColliderElement.js.map

package/dist/components/3d-viewport/collider/ColliderElement.js.map

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+{"version":3,"file":"ColliderElement.js","sources":["../../../../src/components/3d-viewport/collider/ColliderElement.tsx"],"sourcesContent":["import type { Collider } from \"@wandelbots/nova-js/v2\"\nimport type React from \"react\"\nimport * as THREE from \"three\"\nimport { colliderShapeToBufferGeometry } from \"./colliderShapeToBufferGeometry\"\n\ntype ColliderElementProps = {\n  name?: string\n  collider: Collider\n  children?: React.ReactNode\n}\n\nexport default function ColliderElement({\n  name,\n  collider,\n  children,\n}: ColliderElementProps) {\n  const position = collider.pose?.position ?? [0, 0, 0]\n  const rotation = collider.pose?.orientation ?? [0, 0, 0]\n  if (collider.margin) {\n    console.warn(`${name} margin is not supported`)\n  }\n  return (\n    <mesh\n      name={name}\n      position={new THREE.Vector3(\n        position[0],\n        position[1],\n        position[2],\n      ).divideScalar(1000)}\n      rotation={new THREE.Euler(rotation[0], rotation[1], rotation[2], \"XYZ\")}\n      geometry={colliderShapeToBufferGeometry(collider.shape)}\n    >\n      {children}\n    </mesh>\n  )\n}\n"],"names":["ColliderElement","name","collider","children","position","_a","rotation","_b","jsx","THREE","colliderShapeToBufferGeometry"],"mappings":";;;AAWA,SAAwBA,EAAgB;AAAA,EACtC,MAAAC;AAAA,EACA,UAAAC;AAAA,EACA,UAAAC;AACF,GAAyB;;AACvB,QAAMC,MAAWC,IAAAH,EAAS,SAAT,gBAAAG,EAAe,aAAY,CAAC,GAAG,GAAG,CAAC,GAC9CC,MAAWC,IAAAL,EAAS,SAAT,gBAAAK,EAAe,gBAAe,CAAC,GAAG,GAAG,CAAC;AACvD,SAAIL,EAAS,UACX,QAAQ,KAAK,GAAGD,CAAI,0BAA0B,GAG9C,gBAAAO;AAAA,IAAC;AAAA,IAAA;AAAA,MACC,MAAAP;AAAA,MACA,UAAU,IAAIQ,EAAM;AAAA,QAClBL,EAAS,CAAC;AAAA,QACVA,EAAS,CAAC;AAAA,QACVA,EAAS,CAAC;AAAA,MAAA,EACV,aAAa,GAAI;AAAA,MACnB,UAAU,IAAIK,EAAM,MAAMH,EAAS,CAAC,GAAGA,EAAS,CAAC,GAAGA,EAAS,CAAC,GAAG,KAAK;AAAA,MACtE,UAAUI,EAA8BR,EAAS,KAAK;AAAA,MAErD,UAAAC;AAAA,IAAA;AAAA,EAAA;AAGP;"}

package/dist/components/3d-viewport/collider/CollisionSceneRenderer.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const l=require("react/jsx-runtime"),t=require("./ColliderCollection.cjs");function i({scene:r,meshChildrenProvider:o}){const e=r.colliders;return l.jsx("group",{children:e&&l.jsx(t.default,{meshChildrenProvider:o,colliders:e})})}exports.default=i;
+//# sourceMappingURL=CollisionSceneRenderer.cjs.map

package/dist/components/3d-viewport/collider/CollisionSceneRenderer.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"CollisionSceneRenderer.cjs","sources":["../../../../src/components/3d-viewport/collider/CollisionSceneRenderer.tsx"],"sourcesContent":["import type { CollisionSetup } from \"@wandelbots/nova-js/v2\"\nimport ColliderCollection, {\n  type MeshChildrenProvider,\n} from \"./ColliderCollection\"\n\ntype CollisionSceneRendererProps = {\n  scene: CollisionSetup\n  meshChildrenProvider: MeshChildrenProvider\n}\n\nexport default function CollisionSceneRenderer({\n  scene,\n  meshChildrenProvider,\n}: CollisionSceneRendererProps) {\n  const colliders = scene.colliders\n  return (\n    <group>\n      {colliders && (\n        <ColliderCollection\n          meshChildrenProvider={meshChildrenProvider}\n          colliders={colliders}\n        />\n      )}\n    </group>\n  )\n}\n"],"names":["CollisionSceneRenderer","scene","meshChildrenProvider","colliders","jsx","ColliderCollection"],"mappings":"uLAUA,SAAwBA,EAAuB,CAC7C,MAAAC,EACA,qBAAAC,CACF,EAAgC,CAC9B,MAAMC,EAAYF,EAAM,UACxB,OACEG,EAAAA,IAAC,SACE,SAAAD,GACCC,EAAAA,IAACC,EAAAA,QAAA,CACC,qBAAAH,EACA,UAAAC,CAAA,CAAA,EAGN,CAEJ"}

package/dist/components/3d-viewport/collider/CollisionSceneRenderer.js

@@ -0,0 +1,19 @@
+import { jsx as r } from "react/jsx-runtime";
+import i from "./ColliderCollection.js";
+function c({
+  scene: e,
+  meshChildrenProvider: l
+}) {
+  const o = e.colliders;
+  return /* @__PURE__ */ r("group", { children: o && /* @__PURE__ */ r(
+    i,
+    {
+      meshChildrenProvider: l,
+      colliders: o
+    }
+  ) });
+}
+export {
+  c as default
+};
+//# sourceMappingURL=CollisionSceneRenderer.js.map

package/dist/components/3d-viewport/collider/CollisionSceneRenderer.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"CollisionSceneRenderer.js","sources":["../../../../src/components/3d-viewport/collider/CollisionSceneRenderer.tsx"],"sourcesContent":["import type { CollisionSetup } from \"@wandelbots/nova-js/v2\"\nimport ColliderCollection, {\n  type MeshChildrenProvider,\n} from \"./ColliderCollection\"\n\ntype CollisionSceneRendererProps = {\n  scene: CollisionSetup\n  meshChildrenProvider: MeshChildrenProvider\n}\n\nexport default function CollisionSceneRenderer({\n  scene,\n  meshChildrenProvider,\n}: CollisionSceneRendererProps) {\n  const colliders = scene.colliders\n  return (\n    <group>\n      {colliders && (\n        <ColliderCollection\n          meshChildrenProvider={meshChildrenProvider}\n          colliders={colliders}\n        />\n      )}\n    </group>\n  )\n}\n"],"names":["CollisionSceneRenderer","scene","meshChildrenProvider","colliders","jsx","ColliderCollection"],"mappings":";;AAUA,SAAwBA,EAAuB;AAAA,EAC7C,OAAAC;AAAA,EACA,sBAAAC;AACF,GAAgC;AAC9B,QAAMC,IAAYF,EAAM;AACxB,SACE,gBAAAG,EAAC,WACE,UAAAD,KACC,gBAAAC;AAAA,IAACC;AAAA,IAAA;AAAA,MACC,sBAAAH;AAAA,MACA,WAAAC;AAAA,IAAA;AAAA,EAAA,GAGN;AAEJ;"}

package/dist/components/3d-viewport/collider/colliderShapeToBufferGeometry.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const c=require("three"),u=require("three-stdlib");function i(e){const n=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const o=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(n,r,o.get?o:{enumerable:!0,get:()=>e[r]})}}return n.default=e,Object.freeze(n)}const t=i(c);function l(e){switch(e.shape_type){case"convex_hull":return new u.ConvexGeometry(e.vertices.map(r=>new t.Vector3(r[0]/1e3,r[1]/1e3,r[2]/1e3)));case"box":return new t.BoxGeometry(e.size_x/1e3,e.size_y/1e3,e.size_z/1e3);case"sphere":return new t.SphereGeometry(e.radius/1e3);case"capsule":return new t.CapsuleGeometry(e.radius/1e3,e.cylinder_height/1e3);case"cylinder":return new t.CylinderGeometry(e.radius/1e3,e.radius/1e3,e.height/1e3);case"rectangle":return new t.BoxGeometry(e.size_x/1e3,e.size_y/1e3,0);default:return console.warn(`${e.shape_type} is not supported`),new t.BufferGeometry}}exports.colliderShapeToBufferGeometry=l;
+//# sourceMappingURL=colliderShapeToBufferGeometry.cjs.map

package/dist/components/3d-viewport/collider/colliderShapeToBufferGeometry.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"colliderShapeToBufferGeometry.cjs","sources":["../../../../src/components/3d-viewport/collider/colliderShapeToBufferGeometry.ts"],"sourcesContent":["import type { ColliderShape } from \"@wandelbots/nova-js/v2\"\nimport * as THREE from \"three\"\nimport { ConvexGeometry } from \"three-stdlib\"\n\nexport function colliderShapeToBufferGeometry(\n  shape: ColliderShape,\n): THREE.BufferGeometry {\n  const shapeType = shape.shape_type\n  switch (shapeType) {\n    case \"convex_hull\":\n      return new ConvexGeometry(\n        shape.vertices.map(\n          (vertex) =>\n            new THREE.Vector3(\n              vertex[0] / 1000,\n              vertex[1] / 1000,\n              vertex[2] / 1000,\n            ),\n        ),\n      )\n    case \"box\":\n      return new THREE.BoxGeometry(\n        shape.size_x / 1000,\n        shape.size_y / 1000,\n        shape.size_z / 1000,\n      )\n    case \"sphere\":\n      return new THREE.SphereGeometry(shape.radius / 1000)\n    case \"capsule\":\n      return new THREE.CapsuleGeometry(\n        shape.radius / 1000,\n        shape.cylinder_height / 1000,\n      )\n    case \"cylinder\":\n      return new THREE.CylinderGeometry(\n        shape.radius / 1000,\n        shape.radius / 1000,\n        shape.height / 1000,\n      )\n    case \"rectangle\": {\n      return new THREE.BoxGeometry(shape.size_x / 1000, shape.size_y / 1000, 0)\n    }\n    default: {\n      console.warn(`${shape.shape_type} is not supported`)\n      return new THREE.BufferGeometry()\n    }\n  }\n}\n"],"names":["colliderShapeToBufferGeometry","shape","ConvexGeometry","vertex","THREE"],"mappings":"6ZAIO,SAASA,EACdC,EACsB,CAEtB,OADkBA,EAAM,WAChB,CACN,IAAK,cACH,OAAO,IAAIC,EAAAA,eACTD,EAAM,SAAS,IACZE,GACC,IAAIC,EAAM,QACRD,EAAO,CAAC,EAAI,IACZA,EAAO,CAAC,EAAI,IACZA,EAAO,CAAC,EAAI,GAAA,CACd,CACJ,EAEJ,IAAK,MACH,OAAO,IAAIC,EAAM,YACfH,EAAM,OAAS,IACfA,EAAM,OAAS,IACfA,EAAM,OAAS,GAAA,EAEnB,IAAK,SACH,OAAO,IAAIG,EAAM,eAAeH,EAAM,OAAS,GAAI,EACrD,IAAK,UACH,OAAO,IAAIG,EAAM,gBACfH,EAAM,OAAS,IACfA,EAAM,gBAAkB,GAAA,EAE5B,IAAK,WACH,OAAO,IAAIG,EAAM,iBACfH,EAAM,OAAS,IACfA,EAAM,OAAS,IACfA,EAAM,OAAS,GAAA,EAEnB,IAAK,YACH,OAAO,IAAIG,EAAM,YAAYH,EAAM,OAAS,IAAMA,EAAM,OAAS,IAAM,CAAC,EAE1E,QACE,eAAQ,KAAK,GAAGA,EAAM,UAAU,mBAAmB,EAC5C,IAAIG,EAAM,cACnB,CAEJ"}