mujoco-react 12.1.0 → 12.1.2

package/dist/onnx.d.ts

@@ -1,5 +1,5 @@
 import * as ort from 'onnxruntime-web';
-import { P as PolicyActionChunk } from './types-CSi3fIVs.js';
+import { P as PolicyActionChunk } from './types-BvMb-EIC.js';
 import 'react';
 import '@react-three/fiber';
 import 'three';

package/dist/spark.d.ts

@@ -1,6 +1,6 @@
 import * as react_jsx_runtime from 'react/jsx-runtime';
 import * as _sparkjsdev_spark from '@sparkjsdev/spark';
-import { S as SplatEnvironmentProps, a as PairedSplatEnvironmentConfig, b as SceneConfig, c as SplatEnvironmentReadiness, V as VisualScenarioConfig } from './types-CSi3fIVs.js';
+import { S as SplatEnvironmentProps, a as PairedSplatEnvironmentConfig, b as SceneConfig, c as SplatEnvironmentReadiness, V as VisualScenarioConfig } from './types-BvMb-EIC.js';
 import 'react';
 import '@react-three/fiber';
 import 'three';

package/dist/spark.js

@@ -1,4 +1,4 @@
-import { useSplatSceneConfig, useSplatEnvironment, SplatEnvironment, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY } from './chunk-XD3AY7XZ.js';
+import { useSplatSceneConfig, useSplatEnvironment, SplatEnvironment, CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY } from './chunk-CV6LBHC4.js';
 import { useThree } from '@react-three/fiber';
 import { useMemo, useState, useEffect, useCallback, useRef } from 'react';
 import * as THREE from 'three';
@@ -182,7 +182,7 @@ function SparkSplatEnvironment({
 }) {
   const groupRef = useRef(null);
   const sparkRef = useRef(null);
-  const captureSparkRef = useRef(null);
+  const captureSparkRef = useRef(/* @__PURE__ */ new Map());
   const meshRef = useRef(null);
   const hiddenMeshesRef = useRef([]);
   const onStatusChangeRef = useRef(onStatusChange);
@@ -238,8 +238,10 @@ function SparkSplatEnvironment({
       hiddenMeshesRef.current = [];
     }
     function disposeCaptureSpark() {
-      safelyDisposeSparkResource(captureSparkRef.current?.renderer);
-      captureSparkRef.current = null;
+      for (const capture of captureSparkRef.current.values()) {
+        safelyDisposeSparkResource(capture.renderer);
+      }
+      captureSparkRef.current.clear();
     }
     async function loadSplat() {
       if (!metadata.src) {
@@ -264,21 +266,28 @@ function SparkSplatEnvironment({
           ...resolvedRenderTuning
         });
         spark.userData[CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY] = async ({
+          withCaptureState,
+          renderMode,
           scene,
           camera,
           width,
           height
         }) => {
-          let captureSpark = captureSparkRef.current;
+          let captureSpark = captureSparkRef.current.get(renderMode);
           if (!captureSpark || captureSpark.width !== width || captureSpark.height !== height) {
-            disposeCaptureSpark();
+            safelyDisposeSparkResource(captureSpark?.renderer);
             captureSpark = {
               renderer: new sparkModule.SparkRenderer({
                 renderer: gl,
-                autoUpdate: false,
-                lodSplatScale: resolvedCaptureTuning.lodSplatScale,
-                lodRenderScale: resolvedCaptureTuning.lodRenderScale,
-                minSortIntervalMs: resolvedCaptureTuning.minSortIntervalMs,
+                // Preview uses Spark's change detection and background sorting;
+                // forced update() regenerates even an unchanged static scene.
+                autoUpdate: renderMode === "preview",
+                preUpdate: false,
+                ...renderMode === "preview" ? resolvedRenderTuning : {
+                  lodSplatScale: resolvedCaptureTuning.lodSplatScale,
+                  lodRenderScale: resolvedCaptureTuning.lodRenderScale,
+                  minSortIntervalMs: resolvedCaptureTuning.minSortIntervalMs
+                },
                 target: {
                   width,
                   height
@@ -287,7 +296,7 @@ function SparkSplatEnvironment({
               width,
               height
             };
-            captureSparkRef.current = captureSpark;
+            captureSparkRef.current.set(renderMode, captureSpark);
           }
           const captureRenderer = captureSpark.renderer;
           const maxWarmupFrames = Math.max(
@@ -297,11 +306,11 @@ function SparkSplatEnvironment({
           let pixels;
           for (let attempt = 0; attempt < maxWarmupFrames; attempt += 1) {
             captureRenderer.renderSize.set(width, height);
-            await captureRenderer.update({ scene, camera });
-            pixels = await captureRenderer.renderReadTarget({
-              scene,
-              camera
-            });
+            if (renderMode === "snapshot") {
+              await captureRenderer.update({ scene, camera });
+            }
+            withCaptureState(() => captureRenderer.renderTarget({ scene, camera }));
+            pixels = await captureRenderer.readTarget();
             if (captureRenderer.activeSplats > 0 && !isMostlyBlankCapture(pixels, resolvedCaptureTuning)) {
               break;
             }

package/dist/spark.js.map

@@ -1 +1 @@
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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport {\n  useCallback,\n  useEffect,\n  useMemo,\n  useRef,\n  useState,\n} from 'react';\nimport * as THREE from 'three';\nimport {\n  SplatEnvironment,\n  useSplatEnvironment,\n  useSplatSceneConfig,\n} from './components/VisualScenario';\nimport {\n  CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY,\n} from './rendering/cameraFrameCapture';\nimport type {\n  CameraFrameCaptureRenderInput,\n  CameraFrameCaptureRenderResult,\n} from './rendering/cameraFrameCapture';\nimport type {\n  PairedSplatEnvironmentConfig,\n  SceneConfig,\n  SplatEnvironmentProps,\n  SplatEnvironmentReadiness,\n  VisualScenarioConfig,\n} from './types';\n\ntype SparkModule = typeof import('@sparkjsdev/spark');\ntype SparkRendererInstance = InstanceType<SparkModule['SparkRenderer']>;\ntype SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;\ntype SparkDisposable = {\n  dispose?: () => unknown;\n};\ntype SparkCaptureRenderer = {\n  renderer: SparkRendererInstance;\n  width: number;\n  height: number;\n};\ntype SparkWorkerMessage = {\n  reject?: (error: unknown) => void;\n};\ntype SparkWorkerLike = {\n  messages?: Record<string, SparkWorkerMessage>;\n};\ntype SparkResourceWithWorkers = SparkDisposable & {\n  worker?: SparkWorkerLike;\n  sortWorker?: SparkWorkerLike;\n  lodWorker?: SparkWorkerLike;\n};\n\nexport type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';\n\nlet sparkDisposeRejectionHandlerRegistered = false;\n\nexport interface SparkSplatRenderTuning {\n  /** Scale Spark's LoD splat budget for the live viewport. */\n  lodSplatScale?: number;\n  /** Minimum rendered LoD splat size. Higher values trade detail for speed. */\n  lodRenderScale?: number;\n  /** Minimum delay between Spark sort passes for the live viewport. */\n  minSortIntervalMs?: number;\n}\n\nexport interface SparkSplatCaptureTuning extends SparkSplatRenderTuning {\n  /** Maximum animation frames to wait for first-capture Spark warm-up. Default: 4. */\n  maxWarmupFrames?: number;\n  /** Number of pixels sampled when deciding whether a capture is blank. Default: 512. */\n  blankSampleCount?: number;\n  /** Alpha threshold used by the blank-capture detector. Default: 8. */\n  blankAlphaThreshold?: number;\n  /** Minimum visible sampled-pixel ratio before retrying capture. Default: 0.02. */\n  blankVisibleRatio?: number;\n  /** Minimum average sampled RGB sum before retrying capture. Default: 3. */\n  blankAverageColor?: number;\n}\n\ntype ResolvedSparkSplatCaptureTuning = Required<\n  Pick<\n    SparkSplatCaptureTuning,\n    | 'maxWarmupFrames'\n    | 'blankSampleCount'\n    | 'blankAlphaThreshold'\n    | 'blankVisibleRatio'\n    | 'blankAverageColor'\n  >\n> &\n  SparkSplatRenderTuning;\n\nfunction getDefaultLiveRenderTuning(\n  lod: SparkSplatEnvironmentProps['lod']\n): SparkSplatRenderTuning {\n  return {\n    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1 : 0.6,\n    lodRenderScale: lod === false || lod === 'quality' ? undefined : 1.2,\n    minSortIntervalMs: lod === false ? 0 : lod === 'quality' ? 32 : 80,\n  };\n}\n\nfunction getDefaultCaptureTuning(\n  lod: SparkSplatEnvironmentProps['lod']\n): ResolvedSparkSplatCaptureTuning {\n  return {\n    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1.25 : 1.15,\n    lodRenderScale: lod === false ? undefined : 0.6,\n    minSortIntervalMs: 0,\n    maxWarmupFrames: 4,\n    blankSampleCount: 512,\n    blankAlphaThreshold: 8,\n    blankVisibleRatio: 0.02,\n    blankAverageColor: 3,\n  };\n}\n\nfunction resolveRenderTuning(\n  defaults: SparkSplatRenderTuning,\n  tuning: SparkSplatRenderTuning | undefined\n): SparkSplatRenderTuning {\n  return {\n    lodSplatScale: tuning?.lodSplatScale ?? defaults.lodSplatScale,\n    lodRenderScale: tuning?.lodRenderScale ?? defaults.lodRenderScale,\n    minSortIntervalMs: tuning?.minSortIntervalMs ?? defaults.minSortIntervalMs,\n  };\n}\n\nfunction resolveCaptureTuning(\n  lod: SparkSplatEnvironmentProps['lod'],\n  tuning: SparkSplatCaptureTuning | undefined\n): ResolvedSparkSplatCaptureTuning {\n  const defaults = getDefaultCaptureTuning(lod);\n  return {\n    ...resolveRenderTuning(defaults, tuning),\n    maxWarmupFrames: tuning?.maxWarmupFrames ?? defaults.maxWarmupFrames,\n    blankSampleCount: tuning?.blankSampleCount ?? defaults.blankSampleCount,\n    blankAlphaThreshold:\n      tuning?.blankAlphaThreshold ?? defaults.blankAlphaThreshold,\n    blankVisibleRatio: tuning?.blankVisibleRatio ?? defaults.blankVisibleRatio,\n    blankAverageColor: tuning?.blankAverageColor ?? defaults.blankAverageColor,\n  };\n}\n\nfunction waitForNextAnimationFrame() {\n  return new Promise<void>((resolve) => {\n    requestAnimationFrame(() => resolve());\n  });\n}\n\nfunction isMostlyBlankCapture(\n  pixels: Uint8Array,\n  tuning: ResolvedSparkSplatCaptureTuning\n) {\n  const sampleCount = Math.max(1, Math.floor(tuning.blankSampleCount));\n  const stride = Math.max(4, Math.floor(pixels.length / sampleCount / 4) * 4);\n  let sampled = 0;\n  let visible = 0;\n  let colorTotal = 0;\n\n  for (let i = 0; i < pixels.length; i += stride) {\n    const alpha = pixels[i + 3];\n    const color = pixels[i] + pixels[i + 1] + pixels[i + 2];\n    sampled += 1;\n    if (alpha > tuning.blankAlphaThreshold) visible += 1;\n    colorTotal += color;\n  }\n\n  if (sampled === 0) return true;\n  return (\n    visible / sampled < tuning.blankVisibleRatio ||\n    colorTotal / sampled < tuning.blankAverageColor\n  );\n}\n\nexport interface SparkSplatLifecycle {\n  status: SparkSplatStatus;\n  error: Error | null;\n  isLoading: boolean;\n  isReady: boolean;\n  isError: boolean;\n  props: Pick<SparkSplatEnvironmentProps, 'onStatusChange' | 'onError'>;\n  reset: () => void;\n}\n\nexport interface SparkSplatEnvironmentState {\n  environment: PairedSplatEnvironmentConfig | undefined;\n  sceneConfig: SceneConfig;\n  readiness: SplatEnvironmentReadiness;\n  lifecycle: SparkSplatLifecycle;\n  props: Pick<\n    SparkSplatEnvironmentProps,\n    'environment' | 'scenario' | 'src' | 'format' | 'onStatusChange' | 'onError'\n  >;\n  enabled: boolean;\n}\n\nexport interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {\n  /** Enable Spark LoD handling for large splat assets. Default: true. */\n  lod?: boolean | 'quality';\n  /** Tune Spark's live viewport renderer. Defaults favor interactive FPS. */\n  renderTuning?: SparkSplatRenderTuning;\n  /** Tune Spark camera-frame capture. Defaults favor sharper snapshots. */\n  captureTuning?: SparkSplatCaptureTuning;\n  /**\n   * Hide meshes whose names include floor, ground, or plane while the splat is\n   * active. This mirrors the common hybrid-rendering setup where MJCF keeps\n   * collision geometry but the splat owns the visual environment.\n   */\n  hideGroundMeshes?: boolean;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n  onLoad?: (mesh: SparkSplatMeshInstance) => void;\n  onError?: (error: Error) => void;\n}\n\n/**\n * Resolve a visual scenario's paired splat environment, compose its MJCF\n * collision proxy into the MuJoCo scene config, and expose Spark lifecycle\n * props for `<SparkSplatEnvironment />`.\n */\nexport function useSparkSplatEnvironment({\n  sceneConfig,\n  scenario,\n  environment,\n  enabled = true,\n  renderer = 'spark',\n  onError,\n  onStatusChange,\n}: {\n  sceneConfig: SceneConfig;\n  scenario?: VisualScenarioConfig;\n  environment?: PairedSplatEnvironmentConfig;\n  enabled?: boolean;\n  renderer?: 'spark';\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n}): SparkSplatEnvironmentState {\n  const splatScene = useSplatSceneConfig({\n    sceneConfig,\n    scenario,\n    environment,\n    enabled,\n    renderer,\n  });\n  const metadata = useSplatEnvironment({\n    scenario,\n    environment: splatScene.environment,\n    renderer,\n  });\n  const renderEnabled = enabled && Boolean(metadata.src);\n  const readiness = enabled ? metadata.readiness : splatScene.readiness;\n  const lifecycle = useSparkSplatLifecycle({\n    enabled: renderEnabled,\n    onError,\n    onStatusChange,\n  });\n\n  return useMemo(\n    () => ({\n      environment: splatScene.environment,\n      sceneConfig: splatScene.sceneConfig,\n      readiness,\n      lifecycle,\n      props: {\n        environment: splatScene.environment,\n        scenario: enabled ? scenario : undefined,\n        src: enabled ? metadata.src : undefined,\n        format: metadata.format,\n        ...lifecycle.props,\n      },\n      enabled: renderEnabled,\n    }),\n    [enabled, lifecycle, metadata, readiness, renderEnabled, scenario, splatScene]\n  );\n}\n\n/**\n * Tracks Spark 3DGS loading state for UI that wraps `SparkSplatEnvironment`.\n *\n * Use the returned `props` with `<SparkSplatEnvironment {...lifecycle.props} />`\n * to avoid repeating status/error state in app code.\n */\nexport function useSparkSplatLifecycle({\n  enabled = true,\n  initialStatus,\n  onError,\n  onStatusChange,\n}: {\n  enabled?: boolean;\n  initialStatus?: SparkSplatStatus;\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n} = {}): SparkSplatLifecycle {\n  const [status, setStatus] = useState<SparkSplatStatus>(\n    initialStatus ?? (enabled ? 'loading' : 'idle')\n  );\n  const [error, setError] = useState<Error | null>(null);\n\n  useEffect(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  const handleStatusChange = useCallback(\n    (nextStatus: SparkSplatStatus) => {\n      setStatus(nextStatus);\n      if (nextStatus !== 'error') {\n        setError(null);\n      }\n      onStatusChange?.(nextStatus);\n    },\n    [onStatusChange]\n  );\n\n  const handleError = useCallback(\n    (nextError: Error) => {\n      setError(nextError);\n      setStatus('error');\n      onError?.(nextError);\n    },\n    [onError]\n  );\n\n  const reset = useCallback(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  return useMemo(\n    () => ({\n      status,\n      error,\n      isLoading: status === 'loading',\n      isReady: status === 'ready',\n      isError: status === 'error',\n      props: {\n        onStatusChange: handleStatusChange,\n        onError: handleError,\n      },\n      reset,\n    }),\n    [error, handleError, handleStatusChange, reset, status]\n  );\n}\n\n/**\n * Optional SparkJS-backed Gaussian splat renderer for React Three Fiber scenes.\n *\n * Import from `mujoco-react/spark` and install `@sparkjsdev/spark` in the app\n * that uses it. The core `mujoco-react` entrypoint does not depend on Spark.\n */\nexport function SparkSplatEnvironment({\n  environment,\n  scenario,\n  renderer = 'spark',\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  showPlaceholder,\n  children,\n  lod = true,\n  renderTuning,\n  captureTuning,\n  hideGroundMeshes = false,\n  onStatusChange,\n  onLoad,\n  onError,\n  ...groupProps\n}: SparkSplatEnvironmentProps) {\n  const groupRef = useRef<THREE.Group>(null);\n  const sparkRef = useRef<SparkRendererInstance | null>(null);\n  const captureSparkRef = useRef<SparkCaptureRenderer | null>(null);\n  const meshRef = useRef<SparkSplatMeshInstance | null>(null);\n  const hiddenMeshesRef = useRef<THREE.Mesh[]>([]);\n  const onStatusChangeRef = useRef(onStatusChange);\n  const onLoadRef = useRef(onLoad);\n  const onErrorRef = useRef(onError);\n  const [status, setStatus] = useState<SparkSplatStatus>('idle');\n  const { gl, invalidate } = useThree();\n  onStatusChangeRef.current = onStatusChange;\n  onLoadRef.current = onLoad;\n  onErrorRef.current = onError;\n\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n  const resolvedRenderTuning = useMemo(\n    () => resolveRenderTuning(getDefaultLiveRenderTuning(lod), renderTuning),\n    [\n      lod,\n      renderTuning?.lodRenderScale,\n      renderTuning?.lodSplatScale,\n      renderTuning?.minSortIntervalMs,\n    ]\n  );\n  const resolvedCaptureTuning = useMemo(\n    () => resolveCaptureTuning(lod, captureTuning),\n    [\n      captureTuning?.blankAlphaThreshold,\n      captureTuning?.blankAverageColor,\n      captureTuning?.blankSampleCount,\n      captureTuning?.blankVisibleRatio,\n      captureTuning?.lodRenderScale,\n      captureTuning?.lodSplatScale,\n      captureTuning?.maxWarmupFrames,\n      captureTuning?.minSortIntervalMs,\n      lod,\n    ]\n  );\n\n  useEffect(() => {\n    let disposed = false;\n    ensureSparkDisposeRejectionHandler();\n\n    function setLifecycleStatus(nextStatus: SparkSplatStatus) {\n      setStatus(nextStatus);\n      onStatusChangeRef.current?.(nextStatus);\n    }\n\n    function restoreHiddenMeshes() {\n      for (const mesh of hiddenMeshesRef.current) {\n        mesh.visible = true;\n      }\n      hiddenMeshesRef.current = [];\n    }\n\n    function disposeCaptureSpark() {\n      safelyDisposeSparkResource(captureSparkRef.current?.renderer);\n      captureSparkRef.current = null;\n    }\n\n    async function loadSplat() {\n      if (!metadata.src) {\n        setLifecycleStatus('idle');\n        return;\n      }\n\n      if (metadata.format !== 'spz') {\n        const unsupportedFormatError = new Error(\n          `SparkSplatEnvironment only supports .spz assets; received \"${metadata.format}\".`\n        );\n        setLifecycleStatus('error');\n        onErrorRef.current?.(unsupportedFormatError);\n        return;\n      }\n\n      setLifecycleStatus('loading');\n\n      try {\n        const sparkModule = await import('@sparkjsdev/spark');\n        if (disposed || !groupRef.current) return;\n\n        const spark = new sparkModule.SparkRenderer({\n          renderer: gl,\n          onDirty: invalidate,\n          ...resolvedRenderTuning,\n        });\n        spark.userData[CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY] = async ({\n          scene,\n          camera,\n          width,\n          height,\n        }: CameraFrameCaptureRenderInput): Promise<CameraFrameCaptureRenderResult> => {\n          let captureSpark = captureSparkRef.current;\n          if (\n            !captureSpark ||\n            captureSpark.width !== width ||\n            captureSpark.height !== height\n          ) {\n            disposeCaptureSpark();\n            captureSpark = {\n              renderer: new sparkModule.SparkRenderer({\n                renderer: gl,\n                autoUpdate: false,\n                lodSplatScale: resolvedCaptureTuning.lodSplatScale,\n                lodRenderScale: resolvedCaptureTuning.lodRenderScale,\n                minSortIntervalMs: resolvedCaptureTuning.minSortIntervalMs,\n                target: {\n                  width,\n                  height,\n                },\n              }),\n              width,\n              height,\n            };\n            captureSparkRef.current = captureSpark;\n          }\n\n          const captureRenderer = captureSpark.renderer;\n          const maxWarmupFrames = Math.max(\n            1,\n            Math.floor(resolvedCaptureTuning.maxWarmupFrames)\n          );\n          let pixels: Uint8Array | undefined;\n          for (let attempt = 0; attempt < maxWarmupFrames; attempt += 1) {\n            captureRenderer.renderSize.set(width, height);\n            await captureRenderer.update({ scene, camera });\n            pixels = await captureRenderer.renderReadTarget({\n              scene,\n              camera,\n            });\n            if (\n              captureRenderer.activeSplats > 0 &&\n              !isMostlyBlankCapture(pixels, resolvedCaptureTuning)\n            ) {\n              break;\n            }\n            if (attempt < maxWarmupFrames - 1) {\n              await waitForNextAnimationFrame();\n            }\n          }\n          if (!pixels) {\n            throw new Error('Spark camera frame capture did not produce pixels.');\n          }\n          return { pixels, width, height, flipY: true };\n        };\n        const mesh = new sparkModule.SplatMesh({\n          url: metadata.src,\n          lod,\n        });\n        mesh.name = 'GaussianSplatMesh';\n\n        groupRef.current.add(spark);\n        groupRef.current.add(mesh);\n        sparkRef.current = spark;\n        meshRef.current = mesh;\n\n        if (hideGroundMeshes && groupRef.current.parent) {\n          groupRef.current.parent.traverse((object) => {\n            if (\n              !(object instanceof THREE.Mesh) ||\n              object === (mesh as unknown as THREE.Object3D)\n            ) {\n              return;\n            }\n            const name = object.name.toLowerCase();\n            if (\n              name.includes('floor') ||\n              name.includes('ground') ||\n              name.includes('plane')\n            ) {\n              object.visible = false;\n              hiddenMeshesRef.current.push(object);\n            }\n          });\n        }\n\n        await mesh.initialized;\n        if (disposed) return;\n        setLifecycleStatus('ready');\n        onLoadRef.current?.(mesh);\n        invalidate();\n      } catch (error) {\n        const normalizedError =\n          error instanceof Error ? error : new Error(String(error));\n        setLifecycleStatus('error');\n        onErrorRef.current?.(normalizedError);\n      }\n    }\n\n    void loadSplat();\n\n    return () => {\n      disposed = true;\n      restoreHiddenMeshes();\n\n      if (meshRef.current) {\n        groupRef.current?.remove(meshRef.current);\n        safelyDisposeSparkResource(meshRef.current);\n        meshRef.current = null;\n      }\n\n      if (sparkRef.current) {\n        groupRef.current?.remove(sparkRef.current);\n        safelyDisposeSparkResource(sparkRef.current);\n        sparkRef.current = null;\n      }\n\n      disposeCaptureSpark();\n    };\n  }, [\n    gl,\n    hideGroundMeshes,\n    invalidate,\n    lod,\n    metadata.format,\n    metadata.src,\n    resolvedCaptureTuning.blankAlphaThreshold,\n    resolvedCaptureTuning.blankAverageColor,\n    resolvedCaptureTuning.blankSampleCount,\n    resolvedCaptureTuning.blankVisibleRatio,\n    resolvedCaptureTuning.lodRenderScale,\n    resolvedCaptureTuning.lodSplatScale,\n    resolvedCaptureTuning.maxWarmupFrames,\n    resolvedCaptureTuning.minSortIntervalMs,\n    resolvedRenderTuning.lodRenderScale,\n    resolvedRenderTuning.lodSplatScale,\n    resolvedRenderTuning.minSortIntervalMs,\n  ]);\n\n  return (\n    <SplatEnvironment\n      {...groupProps}\n      environment={environment}\n      scenario={scenario}\n      renderer={renderer}\n      src={metadata.src}\n      format={metadata.format}\n      collisionProxyMetadata={metadata.collisionProxy}\n      collisionProxy={collisionProxy}\n      showPlaceholder={showPlaceholder ?? status !== 'ready'}\n    >\n      <group ref={groupRef} />\n      {children}\n    </SplatEnvironment>\n  );\n}\n\nfunction safelyDisposeSparkResource(\n  resource: SparkDisposable | null | undefined\n) {\n  if (!resource) return;\n  try {\n    silenceSparkWorkerTerminateRejections(resource);\n    const result = resource.dispose?.();\n    if (isPromiseLike(result)) {\n      void Promise.resolve(result).catch(handleSparkDisposeError);\n    }\n  } catch (error) {\n    handleSparkDisposeError(error);\n  }\n}\n\nfunction isPromiseLike(value: unknown): value is PromiseLike<unknown> {\n  return (\n    typeof value === 'object' &&\n    value !== null &&\n    'then' in value &&\n    typeof (value as { then?: unknown }).then === 'function'\n  );\n}\n\nfunction silenceSparkWorkerTerminateRejections(resource: SparkDisposable) {\n  const workers = getSparkWorkers(resource);\n  for (const worker of workers) {\n    if (!worker.messages) continue;\n\n    for (const message of Object.values(worker.messages)) {\n      const reject = message.reject;\n      if (!reject) continue;\n\n      message.reject = (error: unknown) => {\n        if (!isSparkWorkerTerminateError(error)) {\n          reject(error);\n        }\n      };\n    }\n  }\n}\n\nfunction getSparkWorkers(resource: SparkDisposable): SparkWorkerLike[] {\n  const sparkResource = resource as SparkResourceWithWorkers;\n  return [\n    sparkResource.worker,\n    sparkResource.sortWorker,\n    sparkResource.lodWorker,\n  ].filter((worker): worker is SparkWorkerLike => Boolean(worker));\n}\n\nfunction handleSparkDisposeError(error: unknown) {\n  if (\n    error instanceof Error &&\n    error.message.toLowerCase().includes('worker terminate')\n  ) {\n    return;\n  }\n\n  console.warn('[mujoco-react] Spark resource disposal failed.', error);\n}\n\nfunction ensureSparkDisposeRejectionHandler() {\n  if (\n    sparkDisposeRejectionHandlerRegistered ||\n    typeof window === 'undefined' ||\n    typeof window.addEventListener !== 'function'\n  ) {\n    return;\n  }\n\n  sparkDisposeRejectionHandlerRegistered = true;\n  window.addEventListener('unhandledrejection', (event) => {\n    if (isSparkWorkerTerminateError(event.reason)) {\n      event.preventDefault();\n    }\n  });\n}\n\nfunction isSparkWorkerTerminateError(reason: unknown) {\n  return (\n    reason instanceof Error &&\n    reason.message.toLowerCase().includes('worker terminate')\n  );\n}\n"]}
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* @license\n * SPDX-License-Identifier: Apache-2.0\n */\n\nimport { useThree } from '@react-three/fiber';\nimport {\n  useCallback,\n  useEffect,\n  useMemo,\n  useRef,\n  useState,\n} from 'react';\nimport * as THREE from 'three';\nimport {\n  SplatEnvironment,\n  useSplatEnvironment,\n  useSplatSceneConfig,\n} from './components/VisualScenario';\nimport {\n  CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY,\n} from './rendering/cameraFrameCapture';\nimport type {\n  CameraFrameCaptureRenderInput,\n  CameraFrameCaptureRenderResult,\n} from './rendering/cameraFrameCapture';\nimport type {\n  PairedSplatEnvironmentConfig,\n  SceneConfig,\n  SplatEnvironmentProps,\n  SplatEnvironmentReadiness,\n  VisualScenarioConfig,\n} from './types';\n\ntype SparkModule = typeof import('@sparkjsdev/spark');\ntype SparkRendererInstance = InstanceType<SparkModule['SparkRenderer']>;\ntype SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;\ntype SparkDisposable = {\n  dispose?: () => unknown;\n};\ntype SparkCaptureRenderer = {\n  renderer: SparkRendererInstance;\n  width: number;\n  height: number;\n};\ntype SparkWorkerMessage = {\n  reject?: (error: unknown) => void;\n};\ntype SparkWorkerLike = {\n  messages?: Record<string, SparkWorkerMessage>;\n};\ntype SparkResourceWithWorkers = SparkDisposable & {\n  worker?: SparkWorkerLike;\n  sortWorker?: SparkWorkerLike;\n  lodWorker?: SparkWorkerLike;\n};\n\nexport type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';\n\nlet sparkDisposeRejectionHandlerRegistered = false;\n\nexport interface SparkSplatRenderTuning {\n  /** Scale Spark's LoD splat budget for the live viewport. */\n  lodSplatScale?: number;\n  /** Minimum rendered LoD splat size. Higher values trade detail for speed. */\n  lodRenderScale?: number;\n  /** Minimum delay between Spark sort passes for the live viewport. */\n  minSortIntervalMs?: number;\n}\n\nexport interface SparkSplatCaptureTuning extends SparkSplatRenderTuning {\n  /** Maximum animation frames to wait for first-capture Spark warm-up. Default: 4. */\n  maxWarmupFrames?: number;\n  /** Number of pixels sampled when deciding whether a capture is blank. Default: 512. */\n  blankSampleCount?: number;\n  /** Alpha threshold used by the blank-capture detector. Default: 8. */\n  blankAlphaThreshold?: number;\n  /** Minimum visible sampled-pixel ratio before retrying capture. Default: 0.02. */\n  blankVisibleRatio?: number;\n  /** Minimum average sampled RGB sum before retrying capture. Default: 3. */\n  blankAverageColor?: number;\n}\n\ntype ResolvedSparkSplatCaptureTuning = Required<\n  Pick<\n    SparkSplatCaptureTuning,\n    | 'maxWarmupFrames'\n    | 'blankSampleCount'\n    | 'blankAlphaThreshold'\n    | 'blankVisibleRatio'\n    | 'blankAverageColor'\n  >\n> &\n  SparkSplatRenderTuning;\n\nfunction getDefaultLiveRenderTuning(\n  lod: SparkSplatEnvironmentProps['lod']\n): SparkSplatRenderTuning {\n  return {\n    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1 : 0.6,\n    lodRenderScale: lod === false || lod === 'quality' ? undefined : 1.2,\n    minSortIntervalMs: lod === false ? 0 : lod === 'quality' ? 32 : 80,\n  };\n}\n\nfunction getDefaultCaptureTuning(\n  lod: SparkSplatEnvironmentProps['lod']\n): ResolvedSparkSplatCaptureTuning {\n  return {\n    lodSplatScale: lod === false ? undefined : lod === 'quality' ? 1.25 : 1.15,\n    lodRenderScale: lod === false ? undefined : 0.6,\n    minSortIntervalMs: 0,\n    maxWarmupFrames: 4,\n    blankSampleCount: 512,\n    blankAlphaThreshold: 8,\n    blankVisibleRatio: 0.02,\n    blankAverageColor: 3,\n  };\n}\n\nfunction resolveRenderTuning(\n  defaults: SparkSplatRenderTuning,\n  tuning: SparkSplatRenderTuning | undefined\n): SparkSplatRenderTuning {\n  return {\n    lodSplatScale: tuning?.lodSplatScale ?? defaults.lodSplatScale,\n    lodRenderScale: tuning?.lodRenderScale ?? defaults.lodRenderScale,\n    minSortIntervalMs: tuning?.minSortIntervalMs ?? defaults.minSortIntervalMs,\n  };\n}\n\nfunction resolveCaptureTuning(\n  lod: SparkSplatEnvironmentProps['lod'],\n  tuning: SparkSplatCaptureTuning | undefined\n): ResolvedSparkSplatCaptureTuning {\n  const defaults = getDefaultCaptureTuning(lod);\n  return {\n    ...resolveRenderTuning(defaults, tuning),\n    maxWarmupFrames: tuning?.maxWarmupFrames ?? defaults.maxWarmupFrames,\n    blankSampleCount: tuning?.blankSampleCount ?? defaults.blankSampleCount,\n    blankAlphaThreshold:\n      tuning?.blankAlphaThreshold ?? defaults.blankAlphaThreshold,\n    blankVisibleRatio: tuning?.blankVisibleRatio ?? defaults.blankVisibleRatio,\n    blankAverageColor: tuning?.blankAverageColor ?? defaults.blankAverageColor,\n  };\n}\n\nfunction waitForNextAnimationFrame() {\n  return new Promise<void>((resolve) => {\n    requestAnimationFrame(() => resolve());\n  });\n}\n\nfunction isMostlyBlankCapture(\n  pixels: Uint8Array,\n  tuning: ResolvedSparkSplatCaptureTuning\n) {\n  const sampleCount = Math.max(1, Math.floor(tuning.blankSampleCount));\n  const stride = Math.max(4, Math.floor(pixels.length / sampleCount / 4) * 4);\n  let sampled = 0;\n  let visible = 0;\n  let colorTotal = 0;\n\n  for (let i = 0; i < pixels.length; i += stride) {\n    const alpha = pixels[i + 3];\n    const color = pixels[i] + pixels[i + 1] + pixels[i + 2];\n    sampled += 1;\n    if (alpha > tuning.blankAlphaThreshold) visible += 1;\n    colorTotal += color;\n  }\n\n  if (sampled === 0) return true;\n  return (\n    visible / sampled < tuning.blankVisibleRatio ||\n    colorTotal / sampled < tuning.blankAverageColor\n  );\n}\n\nexport interface SparkSplatLifecycle {\n  status: SparkSplatStatus;\n  error: Error | null;\n  isLoading: boolean;\n  isReady: boolean;\n  isError: boolean;\n  props: Pick<SparkSplatEnvironmentProps, 'onStatusChange' | 'onError'>;\n  reset: () => void;\n}\n\nexport interface SparkSplatEnvironmentState {\n  environment: PairedSplatEnvironmentConfig | undefined;\n  sceneConfig: SceneConfig;\n  readiness: SplatEnvironmentReadiness;\n  lifecycle: SparkSplatLifecycle;\n  props: Pick<\n    SparkSplatEnvironmentProps,\n    'environment' | 'scenario' | 'src' | 'format' | 'onStatusChange' | 'onError'\n  >;\n  enabled: boolean;\n}\n\nexport interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {\n  /** Enable Spark LoD handling for large splat assets. Default: true. */\n  lod?: boolean | 'quality';\n  /** Tune Spark's live viewport renderer. Defaults favor interactive FPS. */\n  renderTuning?: SparkSplatRenderTuning;\n  /** Tune Spark camera-frame capture. Defaults favor sharper snapshots. */\n  captureTuning?: SparkSplatCaptureTuning;\n  /**\n   * Hide meshes whose names include floor, ground, or plane while the splat is\n   * active. This mirrors the common hybrid-rendering setup where MJCF keeps\n   * collision geometry but the splat owns the visual environment.\n   */\n  hideGroundMeshes?: boolean;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n  onLoad?: (mesh: SparkSplatMeshInstance) => void;\n  onError?: (error: Error) => void;\n}\n\n/**\n * Resolve a visual scenario's paired splat environment, compose its MJCF\n * collision proxy into the MuJoCo scene config, and expose Spark lifecycle\n * props for `<SparkSplatEnvironment />`.\n */\nexport function useSparkSplatEnvironment({\n  sceneConfig,\n  scenario,\n  environment,\n  enabled = true,\n  renderer = 'spark',\n  onError,\n  onStatusChange,\n}: {\n  sceneConfig: SceneConfig;\n  scenario?: VisualScenarioConfig;\n  environment?: PairedSplatEnvironmentConfig;\n  enabled?: boolean;\n  renderer?: 'spark';\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n}): SparkSplatEnvironmentState {\n  const splatScene = useSplatSceneConfig({\n    sceneConfig,\n    scenario,\n    environment,\n    enabled,\n    renderer,\n  });\n  const metadata = useSplatEnvironment({\n    scenario,\n    environment: splatScene.environment,\n    renderer,\n  });\n  const renderEnabled = enabled && Boolean(metadata.src);\n  const readiness = enabled ? metadata.readiness : splatScene.readiness;\n  const lifecycle = useSparkSplatLifecycle({\n    enabled: renderEnabled,\n    onError,\n    onStatusChange,\n  });\n\n  return useMemo(\n    () => ({\n      environment: splatScene.environment,\n      sceneConfig: splatScene.sceneConfig,\n      readiness,\n      lifecycle,\n      props: {\n        environment: splatScene.environment,\n        scenario: enabled ? scenario : undefined,\n        src: enabled ? metadata.src : undefined,\n        format: metadata.format,\n        ...lifecycle.props,\n      },\n      enabled: renderEnabled,\n    }),\n    [enabled, lifecycle, metadata, readiness, renderEnabled, scenario, splatScene]\n  );\n}\n\n/**\n * Tracks Spark 3DGS loading state for UI that wraps `SparkSplatEnvironment`.\n *\n * Use the returned `props` with `<SparkSplatEnvironment {...lifecycle.props} />`\n * to avoid repeating status/error state in app code.\n */\nexport function useSparkSplatLifecycle({\n  enabled = true,\n  initialStatus,\n  onError,\n  onStatusChange,\n}: {\n  enabled?: boolean;\n  initialStatus?: SparkSplatStatus;\n  onError?: (error: Error) => void;\n  onStatusChange?: (status: SparkSplatStatus) => void;\n} = {}): SparkSplatLifecycle {\n  const [status, setStatus] = useState<SparkSplatStatus>(\n    initialStatus ?? (enabled ? 'loading' : 'idle')\n  );\n  const [error, setError] = useState<Error | null>(null);\n\n  useEffect(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  const handleStatusChange = useCallback(\n    (nextStatus: SparkSplatStatus) => {\n      setStatus(nextStatus);\n      if (nextStatus !== 'error') {\n        setError(null);\n      }\n      onStatusChange?.(nextStatus);\n    },\n    [onStatusChange]\n  );\n\n  const handleError = useCallback(\n    (nextError: Error) => {\n      setError(nextError);\n      setStatus('error');\n      onError?.(nextError);\n    },\n    [onError]\n  );\n\n  const reset = useCallback(() => {\n    setStatus(enabled ? initialStatus ?? 'loading' : 'idle');\n    setError(null);\n  }, [enabled, initialStatus]);\n\n  return useMemo(\n    () => ({\n      status,\n      error,\n      isLoading: status === 'loading',\n      isReady: status === 'ready',\n      isError: status === 'error',\n      props: {\n        onStatusChange: handleStatusChange,\n        onError: handleError,\n      },\n      reset,\n    }),\n    [error, handleError, handleStatusChange, reset, status]\n  );\n}\n\n/**\n * Optional SparkJS-backed Gaussian splat renderer for React Three Fiber scenes.\n *\n * Import from `mujoco-react/spark` and install `@sparkjsdev/spark` in the app\n * that uses it. The core `mujoco-react` entrypoint does not depend on Spark.\n */\nexport function SparkSplatEnvironment({\n  environment,\n  scenario,\n  renderer = 'spark',\n  src,\n  format,\n  collisionProxy,\n  collisionProxyMetadata,\n  showPlaceholder,\n  children,\n  lod = true,\n  renderTuning,\n  captureTuning,\n  hideGroundMeshes = false,\n  onStatusChange,\n  onLoad,\n  onError,\n  ...groupProps\n}: SparkSplatEnvironmentProps) {\n  const groupRef = useRef<THREE.Group>(null);\n  const sparkRef = useRef<SparkRendererInstance | null>(null);\n  const captureSparkRef = useRef(new Map<'snapshot' | 'preview', SparkCaptureRenderer>());\n  const meshRef = useRef<SparkSplatMeshInstance | null>(null);\n  const hiddenMeshesRef = useRef<THREE.Mesh[]>([]);\n  const onStatusChangeRef = useRef(onStatusChange);\n  const onLoadRef = useRef(onLoad);\n  const onErrorRef = useRef(onError);\n  const [status, setStatus] = useState<SparkSplatStatus>('idle');\n  const { gl, invalidate } = useThree();\n  onStatusChangeRef.current = onStatusChange;\n  onLoadRef.current = onLoad;\n  onErrorRef.current = onError;\n\n  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n  const resolvedRenderTuning = useMemo(\n    () => resolveRenderTuning(getDefaultLiveRenderTuning(lod), renderTuning),\n    [\n      lod,\n      renderTuning?.lodRenderScale,\n      renderTuning?.lodSplatScale,\n      renderTuning?.minSortIntervalMs,\n    ]\n  );\n  const resolvedCaptureTuning = useMemo(\n    () => resolveCaptureTuning(lod, captureTuning),\n    [\n      captureTuning?.blankAlphaThreshold,\n      captureTuning?.blankAverageColor,\n      captureTuning?.blankSampleCount,\n      captureTuning?.blankVisibleRatio,\n      captureTuning?.lodRenderScale,\n      captureTuning?.lodSplatScale,\n      captureTuning?.maxWarmupFrames,\n      captureTuning?.minSortIntervalMs,\n      lod,\n    ]\n  );\n\n  useEffect(() => {\n    let disposed = false;\n    ensureSparkDisposeRejectionHandler();\n\n    function setLifecycleStatus(nextStatus: SparkSplatStatus) {\n      setStatus(nextStatus);\n      onStatusChangeRef.current?.(nextStatus);\n    }\n\n    function restoreHiddenMeshes() {\n      for (const mesh of hiddenMeshesRef.current) {\n        mesh.visible = true;\n      }\n      hiddenMeshesRef.current = [];\n    }\n\n    function disposeCaptureSpark() {\n      for (const capture of captureSparkRef.current.values()) {\n        safelyDisposeSparkResource(capture.renderer);\n      }\n      captureSparkRef.current.clear();\n    }\n\n    async function loadSplat() {\n      if (!metadata.src) {\n        setLifecycleStatus('idle');\n        return;\n      }\n\n      if (metadata.format !== 'spz') {\n        const unsupportedFormatError = new Error(\n          `SparkSplatEnvironment only supports .spz assets; received \"${metadata.format}\".`\n        );\n        setLifecycleStatus('error');\n        onErrorRef.current?.(unsupportedFormatError);\n        return;\n      }\n\n      setLifecycleStatus('loading');\n\n      try {\n        const sparkModule = await import('@sparkjsdev/spark');\n        if (disposed || !groupRef.current) return;\n\n        const spark = new sparkModule.SparkRenderer({\n          renderer: gl,\n          onDirty: invalidate,\n          ...resolvedRenderTuning,\n        });\n        spark.userData[CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY] = async ({\n          withCaptureState,\n          renderMode,\n          scene,\n          camera,\n          width,\n          height,\n        }: CameraFrameCaptureRenderInput): Promise<CameraFrameCaptureRenderResult> => {\n          let captureSpark = captureSparkRef.current.get(renderMode);\n          if (\n            !captureSpark ||\n            captureSpark.width !== width ||\n            captureSpark.height !== height\n          ) {\n            safelyDisposeSparkResource(captureSpark?.renderer);\n            captureSpark = {\n              renderer: new sparkModule.SparkRenderer({\n                renderer: gl,\n                // Preview uses Spark's change detection and background sorting;\n                // forced update() regenerates even an unchanged static scene.\n                autoUpdate: renderMode === 'preview',\n                preUpdate: false,\n                ...(renderMode === 'preview' ? resolvedRenderTuning : {\n                  lodSplatScale: resolvedCaptureTuning.lodSplatScale,\n                  lodRenderScale: resolvedCaptureTuning.lodRenderScale,\n                  minSortIntervalMs: resolvedCaptureTuning.minSortIntervalMs,\n                }),\n                target: {\n                  width,\n                  height,\n                },\n              }),\n              width,\n              height,\n            };\n            captureSparkRef.current.set(renderMode, captureSpark);\n          }\n\n          const captureRenderer = captureSpark.renderer;\n          const maxWarmupFrames = Math.max(\n            1,\n            Math.floor(resolvedCaptureTuning.maxWarmupFrames)\n          );\n          let pixels: Uint8Array | undefined;\n          for (let attempt = 0; attempt < maxWarmupFrames; attempt += 1) {\n            captureRenderer.renderSize.set(width, height);\n            if (renderMode === 'snapshot') {\n              await captureRenderer.update({ scene, camera });\n            }\n            withCaptureState(() => captureRenderer.renderTarget({ scene, camera }));\n            pixels = await captureRenderer.readTarget();\n            if (\n              captureRenderer.activeSplats > 0 &&\n              !isMostlyBlankCapture(pixels, resolvedCaptureTuning)\n            ) {\n              break;\n            }\n            if (attempt < maxWarmupFrames - 1) {\n              await waitForNextAnimationFrame();\n            }\n          }\n          if (!pixels) {\n            throw new Error('Spark camera frame capture did not produce pixels.');\n          }\n          return { pixels, width, height, flipY: true };\n        };\n        const mesh = new sparkModule.SplatMesh({\n          url: metadata.src,\n          lod,\n        });\n        mesh.name = 'GaussianSplatMesh';\n\n        groupRef.current.add(spark);\n        groupRef.current.add(mesh);\n        sparkRef.current = spark;\n        meshRef.current = mesh;\n\n        if (hideGroundMeshes && groupRef.current.parent) {\n          groupRef.current.parent.traverse((object) => {\n            if (\n              !(object instanceof THREE.Mesh) ||\n              object === (mesh as unknown as THREE.Object3D)\n            ) {\n              return;\n            }\n            const name = object.name.toLowerCase();\n            if (\n              name.includes('floor') ||\n              name.includes('ground') ||\n              name.includes('plane')\n            ) {\n              object.visible = false;\n              hiddenMeshesRef.current.push(object);\n            }\n          });\n        }\n\n        await mesh.initialized;\n        if (disposed) return;\n        setLifecycleStatus('ready');\n        onLoadRef.current?.(mesh);\n        invalidate();\n      } catch (error) {\n        const normalizedError =\n          error instanceof Error ? error : new Error(String(error));\n        setLifecycleStatus('error');\n        onErrorRef.current?.(normalizedError);\n      }\n    }\n\n    void loadSplat();\n\n    return () => {\n      disposed = true;\n      restoreHiddenMeshes();\n\n      if (meshRef.current) {\n        groupRef.current?.remove(meshRef.current);\n        safelyDisposeSparkResource(meshRef.current);\n        meshRef.current = null;\n      }\n\n      if (sparkRef.current) {\n        groupRef.current?.remove(sparkRef.current);\n        safelyDisposeSparkResource(sparkRef.current);\n        sparkRef.current = null;\n      }\n\n      disposeCaptureSpark();\n    };\n  }, [\n    gl,\n    hideGroundMeshes,\n    invalidate,\n    lod,\n    metadata.format,\n    metadata.src,\n    resolvedCaptureTuning.blankAlphaThreshold,\n    resolvedCaptureTuning.blankAverageColor,\n    resolvedCaptureTuning.blankSampleCount,\n    resolvedCaptureTuning.blankVisibleRatio,\n    resolvedCaptureTuning.lodRenderScale,\n    resolvedCaptureTuning.lodSplatScale,\n    resolvedCaptureTuning.maxWarmupFrames,\n    resolvedCaptureTuning.minSortIntervalMs,\n    resolvedRenderTuning.lodRenderScale,\n    resolvedRenderTuning.lodSplatScale,\n    resolvedRenderTuning.minSortIntervalMs,\n  ]);\n\n  return (\n    <SplatEnvironment\n      {...groupProps}\n      environment={environment}\n      scenario={scenario}\n      renderer={renderer}\n      src={metadata.src}\n      format={metadata.format}\n      collisionProxyMetadata={metadata.collisionProxy}\n      collisionProxy={collisionProxy}\n      showPlaceholder={showPlaceholder ?? status !== 'ready'}\n    >\n      <group ref={groupRef} />\n      {children}\n    </SplatEnvironment>\n  );\n}\n\nfunction safelyDisposeSparkResource(\n  resource: SparkDisposable | null | undefined\n) {\n  if (!resource) return;\n  try {\n    silenceSparkWorkerTerminateRejections(resource);\n    const result = resource.dispose?.();\n    if (isPromiseLike(result)) {\n      void Promise.resolve(result).catch(handleSparkDisposeError);\n    }\n  } catch (error) {\n    handleSparkDisposeError(error);\n  }\n}\n\nfunction isPromiseLike(value: unknown): value is PromiseLike<unknown> {\n  return (\n    typeof value === 'object' &&\n    value !== null &&\n    'then' in value &&\n    typeof (value as { then?: unknown }).then === 'function'\n  );\n}\n\nfunction silenceSparkWorkerTerminateRejections(resource: SparkDisposable) {\n  const workers = getSparkWorkers(resource);\n  for (const worker of workers) {\n    if (!worker.messages) continue;\n\n    for (const message of Object.values(worker.messages)) {\n      const reject = message.reject;\n      if (!reject) continue;\n\n      message.reject = (error: unknown) => {\n        if (!isSparkWorkerTerminateError(error)) {\n          reject(error);\n        }\n      };\n    }\n  }\n}\n\nfunction getSparkWorkers(resource: SparkDisposable): SparkWorkerLike[] {\n  const sparkResource = resource as SparkResourceWithWorkers;\n  return [\n    sparkResource.worker,\n    sparkResource.sortWorker,\n    sparkResource.lodWorker,\n  ].filter((worker): worker is SparkWorkerLike => Boolean(worker));\n}\n\nfunction handleSparkDisposeError(error: unknown) {\n  if (\n    error instanceof Error &&\n    error.message.toLowerCase().includes('worker terminate')\n  ) {\n    return;\n  }\n\n  console.warn('[mujoco-react] Spark resource disposal failed.', error);\n}\n\nfunction ensureSparkDisposeRejectionHandler() {\n  if (\n    sparkDisposeRejectionHandlerRegistered ||\n    typeof window === 'undefined' ||\n    typeof window.addEventListener !== 'function'\n  ) {\n    return;\n  }\n\n  sparkDisposeRejectionHandlerRegistered = true;\n  window.addEventListener('unhandledrejection', (event) => {\n    if (isSparkWorkerTerminateError(event.reason)) {\n      event.preventDefault();\n    }\n  });\n}\n\nfunction isSparkWorkerTerminateError(reason: unknown) {\n  return (\n    reason instanceof Error &&\n    reason.message.toLowerCase().includes('worker terminate')\n  );\n}\n"]}

package/dist/{types-CSi3fIVs.d.ts → types-BvMb-EIC.d.ts}

@@ -1501,6 +1501,11 @@ interface CameraFrameRenderIsolationOptions {
     cache?: boolean;
 }
 interface CameraFrameCaptureOptions {
+    /** Snapshot (default) waits for splat preparation. Preview reuses the latest
+     * sorted splats while updating in the background for responsive live motion.
+     * useCameraStream defaults to preview; policy/dataset captures stay snapshot.
+     */
+    renderMode?: 'snapshot' | 'preview';
     /** Existing Three camera to clone before applying pose overrides. */
     camera?: THREE.Camera;
     /** Named MuJoCo `<camera>` to render from when available in the loaded model. */

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "mujoco-react",
-  "version": "12.1.0",
+  "version": "12.1.2",
   "description": "Composable React Three Fiber building blocks for MuJoCo WASM simulations",
   "type": "module",
   "main": "./dist/index.js",
@@ -66,7 +66,7 @@
     "build": "tsup",
     "dev": "tsup --watch",
     "typecheck": "tsc --noEmit",
-    "test:runtime": "tsup --config tests/tsup.config.ts && node --test .test-dist/runtime.js .test-dist/simulation-runtime.js"
+    "test:runtime": "tsup --config tests/tsup.config.ts && node --test .test-dist/runtime.js .test-dist/simulation-runtime.js .test-dist/camera-capture.js"
   },
   "peerDependencies": {
     "@react-three/drei": ">=9",

package/src/hooks/useCameraStream.ts

@@ -88,7 +88,7 @@ export function useCameraStream(
 
     inFlightRef.current = true;
     session
-      .captureAsync(api.resolveCameraCaptureOptions(opts))
+      .captureAsync(api.resolveCameraCaptureOptions({ ...opts, renderMode: opts.renderMode ?? 'preview' }))
       .then((frame) => {
         const canvas = canvasRef.current;
         if (!mountedRef.current || !canvas) return;

package/src/rendering/cameraFrameCapture.ts

@@ -78,6 +78,12 @@ export const CAPTURE_EXCLUDE_KEY =
   'mujoco.capture.exclude';
 
 export type CameraFrameCaptureRenderInput = {
+  renderMode: 'snapshot' | 'preview';
+  /** Apply capture visibility/visual overrides only for a synchronous render.
+   * Async adapters must wrap each render after awaiting preparation, and await
+   * readback outside this scope so the interactive viewport stays untouched.
+   */
+  withCaptureState: (render: () => void) => void;
   renderer: THREE.WebGLRenderer;
   scene: THREE.Scene;
   camera: THREE.Camera;
@@ -688,29 +694,17 @@ export function createCameraFrameCaptureSession(
     return captureOptions;
   }
 
-  function renderCaptureToTarget(
-    captureOptions: CameraFrameCaptureOptions,
-    readback: () => void
-  ) {
+  function withCaptureState(captureOptions: CameraFrameCaptureOptions, render: () => void) {
     const previousState = saveRendererState(sessionRenderer);
-    const previousSceneState = applyCaptureVisualOverrides(
-      sessionRenderer,
-      scene,
-      captureOptions
-    );
+    const previousSceneState = applyCaptureVisualOverrides(sessionRenderer, scene, captureOptions);
     const hidden = [
       ...hideExcludedCaptureObjects(scene),
       ...hideCaptureGeomGroups(scene, captureOptions),
     ];
-
-    runCapturePreRenderHooks(scene);
-    scene.updateMatrixWorld(true);
     try {
+      runCapturePreRenderHooks(scene);
+      scene.updateMatrixWorld(true);
       sessionRenderer.xr.enabled = false;
-      sessionRenderer.setRenderTarget(target);
-      sessionRenderer.setViewport(0, 0, width, height);
-      sessionRenderer.setScissor(0, 0, width, height);
-      sessionRenderer.setScissorTest(false);
       if (captureOptions.background !== undefined) {
         sessionRenderer.setClearColor(
           new THREE.Color(captureOptions.background),
@@ -719,9 +713,7 @@ export function createCameraFrameCaptureSession(
       } else if (captureOptions.backgroundAlpha !== undefined) {
         sessionRenderer.setClearColor(previousState.clearColor, captureOptions.backgroundAlpha);
       }
-      sessionRenderer.clear();
-      sessionRenderer.render(scene, camera);
-      readback();
+      render();
     } finally {
       restoreObjectVisibility(hidden);
       if (previousSceneState) restoreSceneVisualState(scene, previousSceneState);
@@ -729,6 +721,21 @@ export function createCameraFrameCaptureSession(
     }
   }
 
+  function renderCaptureToTarget(
+    captureOptions: CameraFrameCaptureOptions,
+    readback: () => void
+  ) {
+    withCaptureState(captureOptions, () => {
+      sessionRenderer.setRenderTarget(target);
+      sessionRenderer.setViewport(0, 0, width, height);
+      sessionRenderer.setScissor(0, 0, width, height);
+      sessionRenderer.setScissorTest(false);
+      sessionRenderer.clear();
+      sessionRenderer.render(scene, camera);
+      readback();
+    });
+  }
+
   function renderPreparedCapture(captureOptions: CameraFrameCaptureOptions) {
     renderCaptureToTarget(captureOptions, () => {
       readRenderTargetToCanvas(
@@ -802,63 +809,35 @@ export function createCameraFrameCaptureSession(
     scene.updateMatrixWorld(true);
     const captureRenderer = getCaptureRenderer(scene);
     if (captureRenderer) {
-      const previousState = saveRendererState(sessionRenderer);
-      const previousSceneState = applyCaptureVisualOverrides(
-        sessionRenderer,
-        scene,
-        captureOptions
-      );
-      const hidden = [
-        ...hideExcludedCaptureObjects(scene),
-        ...hideCaptureGeomGroups(scene, captureOptions),
-      ];
-      try {
-        sessionRenderer.xr.enabled = false;
-        if (captureOptions.background !== undefined) {
-          sessionRenderer.setClearColor(
-            new THREE.Color(captureOptions.background),
-            captureOptions.backgroundAlpha ?? previousState.clearAlpha
-          );
-        } else if (captureOptions.backgroundAlpha !== undefined) {
-          sessionRenderer.setClearColor(previousState.clearColor, captureOptions.backgroundAlpha);
-        }
-        const captureResult = await captureRenderer({
+      let pending: ReturnType<CameraFrameCaptureRender>;
+      const renderWithCaptureState = (render: () => void) => withCaptureState(captureOptions, render);
+      // Preserve synchronous adapters while restoring shared state before any
+      // asynchronous preparation/readback yields to the viewer's next frame.
+      renderWithCaptureState(() => {
+        pending = captureRenderer({
           renderer: sessionRenderer,
           scene,
           camera,
           target,
           width,
           height,
+          withCaptureState: renderWithCaptureState,
+          renderMode: captureOptions.renderMode ?? 'snapshot',
         });
-        if (captureResult) {
-          const captureWidth = captureResult.width ?? width;
-          const captureHeight = captureResult.height ?? height;
-          if (captureWidth !== width || captureHeight !== height) {
-            throw new Error(
-              'Camera frame capture renderer returned unexpected dimensions.'
-            );
-          }
-          readPixelsToCanvas(
-            captureResult.pixels,
-            drawContext,
-            imageData,
-            width,
-            height,
-            captureResult.flipY ?? true,
-            captureResult.flipX ?? captureOptions.flipX ?? false
-          );
-          return {
-            canvas,
-            camera,
-            width,
-            height,
-            source: getCameraFrameCaptureSource(captureOptions),
-          };
+      });
+      const captureResult = await pending;
+      if (captureResult) {
+        const captureWidth = captureResult.width ?? width;
+        const captureHeight = captureResult.height ?? height;
+        if (captureWidth !== width || captureHeight !== height) {
+          throw new Error('Camera frame capture renderer returned unexpected dimensions.');
         }
-      } finally {
-        restoreObjectVisibility(hidden);
-        if (previousSceneState) restoreSceneVisualState(scene, previousSceneState);
-        restoreRendererState(sessionRenderer, previousState);
+        readPixelsToCanvas(
+          captureResult.pixels, drawContext, imageData, width, height,
+          captureResult.flipY ?? true,
+          captureResult.flipX ?? captureOptions.flipX ?? false
+        );
+        return { canvas, camera, width, height, source: getCameraFrameCaptureSource(captureOptions) };
       }
     }
     let readback: Promise<unknown> | undefined;

package/src/runtime/client.ts

@@ -29,7 +29,7 @@ export class RuntimeClient implements SimulationRuntime {
   constructor(
     private worker: WorkerPort,
     private apply: (display: DisplayState) => void,
-    private release: () => void,
+    private release: (restoreViewer: boolean) => void,
     private capture?: (options: PolicyCameraFrameCaptureOptions) => ReturnType<typeof capturePolicyCameraFrames>,
   ) {
     worker.onmessage = event => {
@@ -132,12 +132,12 @@ export class RuntimeClient implements SimulationRuntime {
     return this.exclusive(async () => { await this.request({ kind: 'reset' }); return this.state; });
   }
   async dispose() { await this.cancel(); this.close(); }
-  close(error = new Error('Simulation runtime disposed')) {
+  close(error = new Error('Simulation runtime disposed'), restoreViewer = true) {
     if (this.closed) return;
     this.closed = true; this.generation++;
     this.worker.terminate();
     this.pending?.reject(error); this.pending = null;
-    this.release();
+    this.release(restoreViewer);
   }
 }
 
@@ -172,15 +172,25 @@ export async function attachSimulationRuntime(
     data.time = display.time;
     invalidate();
   };
-  const client = new RuntimeClient(worker, apply, () => {
+  const client = new RuntimeClient(worker, apply, restoreViewer => {
     // Revert partial display frames to the last acknowledged complete state.
-    if (api.mjModelRef.current === model && complete) apply(complete);
-    owners.delete(model);
+    try {
+      if (api.mjModelRef.current === model && complete) {
+        apply(complete);
+        // Native contact/constraint structures cannot be mirrored as typed arrays.
+        // Rebuild once when returning ownership, never on progress frames or unmount.
+        if (restoreViewer) {
+          module.mj_forward(model, data);
+          const state = complete.integration!;
+          module.mj_setState(model, data, Array.from(state.values), state.signature);
+        }
+      }
+    } finally { owners.delete(model); }
   }, async cameras => {
     await waitForDisplay();
     return capturePolicyCameraFrames(api, cameras);
   });
-  owners.set(model, { close: () => client.close(), contacts: () => client.state.contacts });
+  owners.set(model, { close: () => client.close(undefined, false), contacts: () => client.state.contacts });
   try { await client.initialize({ model: binary, state: initialState }); return client; }
   catch (error) { client.close(); throw error; }
 }

package/src/spark.tsx

@@ -373,7 +373,7 @@ export function SparkSplatEnvironment({
 }: SparkSplatEnvironmentProps) {
   const groupRef = useRef<THREE.Group>(null);
   const sparkRef = useRef<SparkRendererInstance | null>(null);
-  const captureSparkRef = useRef<SparkCaptureRenderer | null>(null);
+  const captureSparkRef = useRef(new Map<'snapshot' | 'preview', SparkCaptureRenderer>());
   const meshRef = useRef<SparkSplatMeshInstance | null>(null);
   const hiddenMeshesRef = useRef<THREE.Mesh[]>([]);
   const onStatusChangeRef = useRef(onStatusChange);
@@ -434,8 +434,10 @@ export function SparkSplatEnvironment({
     }
 
     function disposeCaptureSpark() {
-      safelyDisposeSparkResource(captureSparkRef.current?.renderer);
-      captureSparkRef.current = null;
+      for (const capture of captureSparkRef.current.values()) {
+        safelyDisposeSparkResource(capture.renderer);
+      }
+      captureSparkRef.current.clear();
     }
 
     async function loadSplat() {
@@ -465,25 +467,32 @@ export function SparkSplatEnvironment({
           ...resolvedRenderTuning,
         });
         spark.userData[CAMERA_FRAME_CAPTURE_RENDER_USER_DATA_KEY] = async ({
+          withCaptureState,
+          renderMode,
           scene,
           camera,
           width,
           height,
         }: CameraFrameCaptureRenderInput): Promise<CameraFrameCaptureRenderResult> => {
-          let captureSpark = captureSparkRef.current;
+          let captureSpark = captureSparkRef.current.get(renderMode);
           if (
             !captureSpark ||
             captureSpark.width !== width ||
             captureSpark.height !== height
           ) {
-            disposeCaptureSpark();
+            safelyDisposeSparkResource(captureSpark?.renderer);
             captureSpark = {
               renderer: new sparkModule.SparkRenderer({
                 renderer: gl,
-                autoUpdate: false,
-                lodSplatScale: resolvedCaptureTuning.lodSplatScale,
-                lodRenderScale: resolvedCaptureTuning.lodRenderScale,
-                minSortIntervalMs: resolvedCaptureTuning.minSortIntervalMs,
+                // Preview uses Spark's change detection and background sorting;
+                // forced update() regenerates even an unchanged static scene.
+                autoUpdate: renderMode === 'preview',
+                preUpdate: false,
+                ...(renderMode === 'preview' ? resolvedRenderTuning : {
+                  lodSplatScale: resolvedCaptureTuning.lodSplatScale,
+                  lodRenderScale: resolvedCaptureTuning.lodRenderScale,
+                  minSortIntervalMs: resolvedCaptureTuning.minSortIntervalMs,
+                }),
                 target: {
                   width,
                   height,
@@ -492,7 +501,7 @@ export function SparkSplatEnvironment({
               width,
               height,
             };
-            captureSparkRef.current = captureSpark;
+            captureSparkRef.current.set(renderMode, captureSpark);
           }
 
           const captureRenderer = captureSpark.renderer;
@@ -503,11 +512,11 @@ export function SparkSplatEnvironment({
           let pixels: Uint8Array | undefined;
           for (let attempt = 0; attempt < maxWarmupFrames; attempt += 1) {
             captureRenderer.renderSize.set(width, height);
-            await captureRenderer.update({ scene, camera });
-            pixels = await captureRenderer.renderReadTarget({
-              scene,
-              camera,
-            });
+            if (renderMode === 'snapshot') {
+              await captureRenderer.update({ scene, camera });
+            }
+            withCaptureState(() => captureRenderer.renderTarget({ scene, camera }));
+            pixels = await captureRenderer.readTarget();
             if (
               captureRenderer.activeSplats > 0 &&
               !isMostlyBlankCapture(pixels, resolvedCaptureTuning)

package/src/types.ts

@@ -1677,6 +1677,11 @@ export interface CameraFrameRenderIsolationOptions {
 }
 
 export interface CameraFrameCaptureOptions {
+  /** Snapshot (default) waits for splat preparation. Preview reuses the latest
+   * sorted splats while updating in the background for responsive live motion.
+   * useCameraStream defaults to preview; policy/dataset captures stay snapshot.
+   */
+  renderMode?: 'snapshot' | 'preview';
   /** Existing Three camera to clone before applying pose overrides. */
   camera?: THREE.Camera;
   /** Named MuJoCo `<camera>` to render from when available in the loaded model. */