mujoco-react 0.3.0 → 1.0.0

package/dist/index.js

@@ -1,6 +1,6 @@
 import loadMujoco from 'mujoco-js';
 import { createContext, forwardRef, useEffect, useContext, useState, useRef, useCallback, useMemo } from 'react';
-import { jsx, jsxs, Fragment } from 'react/jsx-runtime';
+import { jsx, jsxs } from 'react/jsx-runtime';
 import { Canvas, useThree, useFrame } from '@react-three/fiber';
 import * as THREE11 from 'three';
 import { PivotControls } from '@react-three/drei';
@@ -225,8 +225,6 @@ async function loadScene(mujoco, config, onProgress) {
   onProgress?.("Loading model...");
   const mjModel = mujoco.MjModel.loadFromXML(`/working/${config.sceneFile}`);
   const mjData = new mujoco.MjData(mjModel);
-  const siteId = findSiteByName(mjModel, config.tcpSiteName ?? "tcp");
-  const gripperId = findActuatorByName(mjModel, config.gripperActuatorName ?? "gripper");
   if (config.homeJoints) {
     const homeCount = Math.min(config.homeJoints.length, mjModel.nu);
     for (let i = 0; i < homeCount; i++) {
@@ -238,7 +236,7 @@ async function loadScene(mujoco, config, onProgress) {
     }
   }
   mujoco.mj_forward(mjModel, mjData);
-  return { mjModel, mjData, siteId, gripperId };
+  return { mjModel, mjData };
 }
 function scanDependencies(xmlString, currentFile, parser, downloaded, queue) {
   const xmlDoc = parser.parseFromString(xmlString, "text/xml");
@@ -372,7 +370,6 @@ function MujocoSimProvider({
   substeps,
   paused,
   speed,
-  interpolate,
   children
 }) {
   const { gl, camera } = useThree();
@@ -384,12 +381,8 @@ function MujocoSimProvider({
   const pausedRef = useRef(paused ?? false);
   const speedRef = useRef(speed ?? 1);
   const substepsRef = useRef(substeps ?? 1);
-  const interpolateRef = useRef(interpolate ?? false);
   const stepsToRunRef = useRef(0);
   const loadGenRef = useRef(0);
-  useRef(null);
-  useRef(null);
-  useRef(0);
   const onSelectionRef = useRef(onSelection);
   onSelectionRef.current = onSelection;
   const onStepRef = useRef(onStep);
@@ -407,9 +400,6 @@ function MujocoSimProvider({
   useEffect(() => {
     substepsRef.current = substeps ?? 1;
   }, [substeps]);
-  useEffect(() => {
-    interpolateRef.current = interpolate ?? false;
-  }, [interpolate]);
   useEffect(() => {
     if (!gravity) return;
     const model = mjModelRef.current;
@@ -477,7 +467,7 @@ function MujocoSimProvider({
       }
     }
   }, [status]);
-  useFrame(() => {
+  useFrame((_state, delta) => {
     const model = mjModelRef.current;
     const data = mjDataRef.current;
     if (!model || !data) return;
@@ -497,7 +487,8 @@ function MujocoSimProvider({
       stepsToRunRef.current = 0;
     } else {
       const startSimTime = data.time;
-      const frameTime = 1 / 60 * speedRef.current;
+      const clampedDelta = Math.min(delta, 1 / 15);
+      const frameTime = clampedDelta * speedRef.current;
       while (data.time - startSimTime < frameTime) {
         for (let s = 0; s < numSubsteps; s++) {
           mujoco.mj_step(model, data);
@@ -1113,15 +1104,12 @@ var MujocoCanvas = forwardRef(
     onError,
     onStep,
     onSelection,
-    // Declarative physics config (spec 1.1)
+    // Declarative physics config
     gravity,
     timestep,
     substeps,
     paused,
     speed,
-    interpolate,
-    gravityCompensation,
-    mjcfLights,
     children,
     ...canvasProps
   }, ref) {
@@ -1149,12 +1137,34 @@ var MujocoCanvas = forwardRef(
         substeps,
         paused,
         speed,
-        interpolate,
         children
       }
     ) });
   }
 );
+var MujocoPhysics = forwardRef(
+  function MujocoPhysics2({ onError, children, ...props }, ref) {
+    const { mujoco, status: wasmStatus, error: wasmError } = useMujoco();
+    useEffect(() => {
+      if (wasmStatus === "error" && onError) {
+        onError(new Error(wasmError ?? "WASM load failed"));
+      }
+    }, [wasmStatus, wasmError, onError]);
+    if (wasmStatus === "error" || wasmStatus === "loading" || !mujoco) {
+      return null;
+    }
+    return /* @__PURE__ */ jsx(
+      MujocoSimProvider,
+      {
+        mujoco,
+        apiRef: ref,
+        onError,
+        ...props,
+        children
+      }
+    );
+  }
+);
 function shallowEqual(a, b) {
   const keysA = Object.keys(a);
   const keysB = Object.keys(b);
@@ -1881,7 +1891,7 @@ var GeomBuilder = class {
     return null;
   }
 };
-function SceneRenderer() {
+function SceneRenderer(props) {
   const { mjModelRef, mjDataRef, mujocoRef, onSelectionRef, status } = useMujocoSim();
   const groupRef = useRef(null);
   const bodyRefs = useRef([]);
@@ -1938,8 +1948,10 @@ function SceneRenderer() {
   return /* @__PURE__ */ jsx(
     "group",
     {
+      ...props,
       ref: groupRef,
       onDoubleClick: (e) => {
+        if (typeof props.onDoubleClick === "function") props.onDoubleClick(e);
         e.stopPropagation();
         let obj = e.object;
         while (obj && obj.userData.bodyID === void 0 && obj.parent) {
@@ -2057,7 +2069,8 @@ function ContactMarkers({
   maxContacts = 100,
   radius = 8e-3,
   color = "#22d3ee",
-  visible = true
+  visible = true,
+  ...groupProps
 } = {}) {
   const { mjDataRef, status } = useMujocoSim();
   const meshRef = useRef(null);
@@ -2085,10 +2098,10 @@ function ContactMarkers({
     mesh.instanceMatrix.needsUpdate = true;
   });
   if (status !== "ready") return null;
-  return /* @__PURE__ */ jsxs("instancedMesh", { ref: meshRef, args: [void 0, void 0, maxContacts], frustumCulled: false, renderOrder: 999, children: [
+  return /* @__PURE__ */ jsx("group", { ...groupProps, children: /* @__PURE__ */ jsxs("instancedMesh", { ref: meshRef, args: [void 0, void 0, maxContacts], frustumCulled: false, renderOrder: 999, children: [
     /* @__PURE__ */ jsx("sphereGeometry", { args: [radius, 8, 8] }),
     /* @__PURE__ */ jsx("meshBasicMaterial", { color, depthTest: false })
-  ] });
+  ] }) });
 }
 var _force = new Float64Array(3);
 var _torque = new Float64Array(3);
@@ -2100,7 +2113,8 @@ var _raycaster = new THREE11.Raycaster();
 var _mouse = new THREE11.Vector2();
 function DragInteraction({
   stiffness = 250,
-  showArrow = true
+  showArrow = true,
+  ...groupProps
 }) {
   const { mjDataRef, mujocoRef, mjModelRef, status } = useMujocoSim();
   const { gl, camera, scene, controls } = useThree();
@@ -2257,7 +2271,7 @@ function DragInteraction({
     }
   });
   if (status !== "ready") return null;
-  return /* @__PURE__ */ jsx("group", { ref: groupRef });
+  return /* @__PURE__ */ jsx("group", { ...groupProps, ref: groupRef });
 }
 function useSceneLights(intensity = 1) {
   const { mjModelRef, status } = useMujocoSim();
@@ -2378,7 +2392,8 @@ function Debug({
   showContacts = false,
   showCOM = false,
   showInertia = false,
-  showTendons = false
+  showTendons = false,
+  ...groupProps
 }) {
   const { mjModelRef, mjDataRef, status } = useMujocoSim();
   const { scene } = useThree();
@@ -2641,7 +2656,7 @@ function Debug({
     }
   });
   if (status !== "ready") return null;
-  return /* @__PURE__ */ jsxs(Fragment, { children: [
+  return /* @__PURE__ */ jsxs("group", { ...groupProps, children: [
     /* @__PURE__ */ jsx("group", { ref: groupRef }),
     showContacts && /* @__PURE__ */ jsx("group", { ref: contactGroupRef })
   ] });
@@ -2649,7 +2664,7 @@ function Debug({
 var DEFAULT_TENDON_COLOR = new THREE11.Color(0.3, 0.3, 0.8);
 var DEFAULT_TENDON_WIDTH = 2e-3;
 new THREE11.Vector3();
-function TendonRenderer() {
+function TendonRenderer(props) {
   const { mjModelRef, mjDataRef, status } = useMujocoSim();
   const groupRef = useRef(null);
   const meshesRef = useRef([]);
@@ -2751,9 +2766,9 @@ function TendonRenderer() {
     }
   });
   if (status !== "ready") return null;
-  return /* @__PURE__ */ jsx("group", { ref: groupRef });
+  return /* @__PURE__ */ jsx("group", { ...props, ref: groupRef });
 }
-function FlexRenderer() {
+function FlexRenderer(props) {
   const { mjModelRef, mjDataRef, status } = useMujocoSim();
   const groupRef = useRef(null);
   const meshesRef = useRef([]);
@@ -2817,7 +2832,7 @@ function FlexRenderer() {
     }
   });
   if (status !== "ready") return null;
-  return /* @__PURE__ */ jsx("group", { ref: groupRef });
+  return /* @__PURE__ */ jsx("group", { ...props, ref: groupRef });
 }
 var geomNameCacheByModel = /* @__PURE__ */ new WeakMap();
 function getGeomNameCached(model, geomId) {
@@ -3889,6 +3904,6 @@ function useCameraAnimation() {
  * useCameraAnimation — composable camera animation hook.
  */
 
-export { ContactListener, ContactMarkers, Debug, DragInteraction, FlexRenderer, IkController, IkGizmo, MujocoCanvas, MujocoProvider, MujocoSimProvider, SceneLights, SceneRenderer, SelectionHighlight, TendonRenderer, TrajectoryPlayer, createController, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getContact, getName, loadScene, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useGamepad, useGravityCompensation, useIk, useJointState, useKeyboardTeleop, useMujoco, useMujocoSim, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder };
+export { ContactListener, ContactMarkers, Debug, DragInteraction, FlexRenderer, IkController, IkGizmo, MujocoCanvas, MujocoPhysics, MujocoProvider, MujocoSimProvider, SceneLights, SceneRenderer, SelectionHighlight, TendonRenderer, TrajectoryPlayer, createController, findActuatorByName, findBodyByName, findGeomByName, findJointByName, findKeyframeByName, findSensorByName, findSiteByName, findTendonByName, getContact, getName, loadScene, useActuators, useAfterPhysicsStep, useBeforePhysicsStep, useBodyState, useCameraAnimation, useContactEvents, useContacts, useCtrl, useCtrlNoise, useGamepad, useGravityCompensation, useIk, useJointState, useKeyboardTeleop, useMujoco, useMujocoSim, usePolicy, useSceneLights, useSelectionHighlight, useSensor, useSensors, useSitePosition, useTrajectoryPlayer, useTrajectoryRecorder, useVideoRecorder };
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