mujoco-react 8.9.2 → 8.11.0

package/dist/spark.d.ts

@@ -0,0 +1,53 @@
+import * as react_jsx_runtime from 'react/jsx-runtime';
+import * as _sparkjsdev_spark from '@sparkjsdev/spark';
+import { l as SplatEnvironmentProps } from './types-BmneHLBM.js';
+import 'react';
+import '@react-three/fiber';
+import 'three';
+
+type SparkModule = typeof _sparkjsdev_spark;
+type SparkSplatMeshInstance = InstanceType<SparkModule['SplatMesh']>;
+type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';
+interface SparkSplatLifecycle {
+    status: SparkSplatStatus;
+    error: Error | null;
+    isLoading: boolean;
+    isReady: boolean;
+    isError: boolean;
+    props: Pick<SparkSplatEnvironmentProps, 'onStatusChange' | 'onError'>;
+    reset: () => void;
+}
+interface SparkSplatEnvironmentProps extends SplatEnvironmentProps {
+    /** Enable Spark LoD handling for large splat assets. Default: true. */
+    lod?: boolean | 'quality';
+    /**
+     * Hide meshes whose names include floor, ground, or plane while the splat is
+     * active. This mirrors the common hybrid-rendering setup where MJCF keeps
+     * collision geometry but the splat owns the visual environment.
+     */
+    hideGroundMeshes?: boolean;
+    onStatusChange?: (status: SparkSplatStatus) => void;
+    onLoad?: (mesh: SparkSplatMeshInstance) => void;
+    onError?: (error: Error) => void;
+}
+/**
+ * Tracks Spark 3DGS loading state for UI that wraps `SparkSplatEnvironment`.
+ *
+ * Use the returned `props` with `<SparkSplatEnvironment {...lifecycle.props} />`
+ * to avoid repeating status/error state in app code.
+ */
+declare function useSparkSplatLifecycle({ enabled, initialStatus, onError, onStatusChange, }?: {
+    enabled?: boolean;
+    initialStatus?: SparkSplatStatus;
+    onError?: (error: Error) => void;
+    onStatusChange?: (status: SparkSplatStatus) => void;
+}): SparkSplatLifecycle;
+/**
+ * Optional SparkJS-backed Gaussian splat renderer for React Three Fiber scenes.
+ *
+ * Import from `mujoco-react/spark` and install `@sparkjsdev/spark` in the app
+ * that uses it. The core `mujoco-react` entrypoint does not depend on Spark.
+ */
+declare function SparkSplatEnvironment({ environment, scenario, renderer, src, format, collisionProxy, collisionProxyMetadata, showPlaceholder, children, lod, hideGroundMeshes, onStatusChange, onLoad, onError, ...groupProps }: SparkSplatEnvironmentProps): react_jsx_runtime.JSX.Element;
+
+export { SparkSplatEnvironment, type SparkSplatEnvironmentProps, type SparkSplatLifecycle, type SparkSplatStatus, useSparkSplatLifecycle };

package/dist/spark.js

@@ -0,0 +1,235 @@
+import { useSplatEnvironment, SplatEnvironment } from './chunk-SEWQULWO.js';
+import { useThree } from '@react-three/fiber';
+import { useState, useEffect, useCallback, useMemo, useRef } from 'react';
+import * as THREE from 'three';
+import { jsxs, jsx } from 'react/jsx-runtime';
+
+function useSparkSplatLifecycle({
+  enabled = true,
+  initialStatus,
+  onError,
+  onStatusChange
+} = {}) {
+  const [status, setStatus] = useState(
+    initialStatus ?? (enabled ? "loading" : "idle")
+  );
+  const [error, setError] = useState(null);
+  useEffect(() => {
+    setStatus(enabled ? initialStatus ?? "loading" : "idle");
+    setError(null);
+  }, [enabled, initialStatus]);
+  const handleStatusChange = useCallback(
+    (nextStatus) => {
+      setStatus(nextStatus);
+      if (nextStatus !== "error") {
+        setError(null);
+      }
+      onStatusChange?.(nextStatus);
+    },
+    [onStatusChange]
+  );
+  const handleError = useCallback(
+    (nextError) => {
+      setError(nextError);
+      setStatus("error");
+      onError?.(nextError);
+    },
+    [onError]
+  );
+  const reset = useCallback(() => {
+    setStatus(enabled ? initialStatus ?? "loading" : "idle");
+    setError(null);
+  }, [enabled, initialStatus]);
+  return useMemo(
+    () => ({
+      status,
+      error,
+      isLoading: status === "loading",
+      isReady: status === "ready",
+      isError: status === "error",
+      props: {
+        onStatusChange: handleStatusChange,
+        onError: handleError
+      },
+      reset
+    }),
+    [error, handleError, handleStatusChange, reset, status]
+  );
+}
+function SparkSplatEnvironment({
+  environment,
+  scenario,
+  renderer = "spark",
+  src,
+  format,
+  collisionProxy,
+  collisionProxyMetadata,
+  showPlaceholder,
+  children,
+  lod = true,
+  hideGroundMeshes = false,
+  onStatusChange,
+  onLoad,
+  onError,
+  ...groupProps
+}) {
+  const groupRef = useRef(null);
+  const sparkRef = useRef(null);
+  const meshRef = useRef(null);
+  const hiddenMeshesRef = useRef([]);
+  const onStatusChangeRef = useRef(onStatusChange);
+  const onLoadRef = useRef(onLoad);
+  const onErrorRef = useRef(onError);
+  const [status, setStatus] = useState("idle");
+  const { gl, invalidate } = useThree();
+  const metadata = useSplatEnvironment({
+    environment,
+    scenario,
+    renderer,
+    src,
+    format,
+    collisionProxy: collisionProxyMetadata
+  });
+  useEffect(() => {
+    onStatusChangeRef.current = onStatusChange;
+  }, [onStatusChange]);
+  useEffect(() => {
+    onLoadRef.current = onLoad;
+  }, [onLoad]);
+  useEffect(() => {
+    onErrorRef.current = onError;
+  }, [onError]);
+  useEffect(() => {
+    let disposed = false;
+    function setLifecycleStatus(nextStatus) {
+      setStatus(nextStatus);
+      onStatusChangeRef.current?.(nextStatus);
+    }
+    function restoreHiddenMeshes() {
+      for (const mesh of hiddenMeshesRef.current) {
+        mesh.visible = true;
+      }
+      hiddenMeshesRef.current = [];
+    }
+    async function loadSplat() {
+      if (!metadata.src) {
+        setLifecycleStatus("idle");
+        return;
+      }
+      if (metadata.format !== "spz") {
+        const unsupportedFormatError = new Error(
+          `SparkSplatEnvironment only supports .spz assets; received "${metadata.format}".`
+        );
+        setLifecycleStatus("error");
+        onErrorRef.current?.(unsupportedFormatError);
+        return;
+      }
+      setLifecycleStatus("loading");
+      try {
+        const sparkModule = await import('@sparkjsdev/spark');
+        if (disposed || !groupRef.current) return;
+        const spark = new sparkModule.SparkRenderer({
+          renderer: gl,
+          onDirty: invalidate
+        });
+        const mesh = new sparkModule.SplatMesh({
+          url: metadata.src,
+          lod
+        });
+        mesh.name = "GaussianSplatMesh";
+        groupRef.current.add(spark);
+        groupRef.current.add(mesh);
+        sparkRef.current = spark;
+        meshRef.current = mesh;
+        if (hideGroundMeshes && groupRef.current.parent) {
+          groupRef.current.parent.traverse((object) => {
+            if (!(object instanceof THREE.Mesh) || object === mesh) {
+              return;
+            }
+            const name = object.name.toLowerCase();
+            if (name.includes("floor") || name.includes("ground") || name.includes("plane")) {
+              object.visible = false;
+              hiddenMeshesRef.current.push(object);
+            }
+          });
+        }
+        await mesh.initialized;
+        if (disposed) return;
+        setLifecycleStatus("ready");
+        onLoadRef.current?.(mesh);
+        invalidate();
+      } catch (error) {
+        const normalizedError = error instanceof Error ? error : new Error(String(error));
+        setLifecycleStatus("error");
+        onErrorRef.current?.(normalizedError);
+      }
+    }
+    void loadSplat();
+    return () => {
+      disposed = true;
+      restoreHiddenMeshes();
+      if (meshRef.current) {
+        groupRef.current?.remove(meshRef.current);
+        safelyDisposeSparkResource(meshRef.current);
+        meshRef.current = null;
+      }
+      if (sparkRef.current) {
+        groupRef.current?.remove(sparkRef.current);
+        safelyDisposeSparkResource(sparkRef.current);
+        sparkRef.current = null;
+      }
+    };
+  }, [
+    gl,
+    hideGroundMeshes,
+    invalidate,
+    lod,
+    metadata.format,
+    metadata.src
+  ]);
+  return /* @__PURE__ */ jsxs(
+    SplatEnvironment,
+    {
+      ...groupProps,
+      environment,
+      scenario,
+      renderer,
+      src: metadata.src,
+      format: metadata.format,
+      collisionProxyMetadata: metadata.collisionProxy,
+      collisionProxy,
+      showPlaceholder: showPlaceholder ?? status !== "ready",
+      children: [
+        /* @__PURE__ */ jsx("group", { ref: groupRef }),
+        children
+      ]
+    }
+  );
+}
+function safelyDisposeSparkResource(resource) {
+  try {
+    const result = resource.dispose?.();
+    if (isPromiseLike(result)) {
+      void Promise.resolve(result).catch(handleSparkDisposeError);
+    }
+  } catch (error) {
+    handleSparkDisposeError(error);
+  }
+}
+function isPromiseLike(value) {
+  return typeof value === "object" && value !== null && "then" in value && typeof value.then === "function";
+}
+function handleSparkDisposeError(error) {
+  if (error instanceof Error && error.message.toLowerCase().includes("worker terminate")) {
+    return;
+  }
+  console.warn("[mujoco-react] Spark resource disposal failed.", error);
+}
+/**
+ * @license
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+export { SparkSplatEnvironment, useSparkSplatLifecycle };
+//# sourceMappingURL=spark.js.map
+//# sourceMappingURL=spark.js.map

package/dist/spark.js.map

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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} from './components/VisualScenario';\nimport type {\n  SplatEnvironmentProps,\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};\n\nexport type SparkSplatStatus = 'idle' | 'loading' | 'ready' | 'error';\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 SparkSplatEnvironmentProps extends SplatEnvironmentProps {\n  /** Enable Spark LoD handling for large splat assets. Default: true. */\n  lod?: boolean | 'quality';\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 * 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  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 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  const metadata = useSplatEnvironment({\n    environment,\n    scenario,\n    renderer,\n    src,\n    format,\n    collisionProxy: collisionProxyMetadata,\n  });\n\n  useEffect(() => {\n    onStatusChangeRef.current = onStatusChange;\n  }, [onStatusChange]);\n\n  useEffect(() => {\n    onLoadRef.current = onLoad;\n  }, [onLoad]);\n\n  useEffect(() => {\n    onErrorRef.current = onError;\n  }, [onError]);\n\n  useEffect(() => {\n    let disposed = false;\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    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        });\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  }, [\n    gl,\n    hideGroundMeshes,\n    invalidate,\n    lod,\n    metadata.format,\n    metadata.src,\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(resource: SparkDisposable) {\n  try {\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 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"]}