three-usd-robot 0.10.0 → 0.12.0

package/dist/{chunk-NFKK5LJK.js → chunk-6W4LQVEQ.js}

@@ -1,4 +1,6 @@
-import { Quat, multiply, makeTranslation, makeRotationFromQuat, identity4, invert, makeEuler, DEG2RAD, makeRotationZ, makeRotationY, makeRotationX, fromUsdMatrix, makeScale, RAD2DEG, AssetPath, UsdMatrix } from './chunk-IYKPVUZ2.js';
+import { multiply, makeTranslation, makeRotationFromQuat, identity4, invert, makeEuler, DEG2RAD, makeRotationZ, makeRotationY, makeRotationX, fromUsdMatrix, makeScale, RAD2DEG } from './chunk-YGJ23CG3.js';
+import { parseMdl, joinPosix } from './chunk-PPPRB6KE.js';
+import { Quat, AssetPath, UsdMatrix } from './chunk-JGIVJXBU.js';
 import { unzipSync } from 'fflate';
 
 // src/schemas/usdGeom.ts
@@ -282,254 +284,6 @@ function asMatrix(v, where) {
   throw new Error(`${where}: expected a matrix`);
 }
 
-// src/three/MaterialBinding.ts
-var DIFFUSE_INPUTS = [
-  "inputs:diffuseColor",
-  // UsdPreviewSurface
-  "inputs:diffuse_color_constant",
-  // OmniPBR
-  "inputs:diffuse_tint",
-  "inputs:base_color",
-  "inputs:baseColor"
-];
-var OPACITY_INPUTS = ["inputs:opacity", "inputs:opacity_constant"];
-var OPACITY_THRESHOLD_INPUTS = ["inputs:opacityThreshold", "inputs:opacity_threshold"];
-var METALLIC_INPUTS = ["inputs:metallic", "inputs:metallic_constant"];
-var ROUGHNESS_INPUTS = ["inputs:roughness", "inputs:reflection_roughness_constant"];
-var EMISSIVE_INPUTS = ["inputs:emissiveColor", "inputs:emissive_color"];
-var SURFACE_OUTPUTS = ["outputs:surface", "outputs:mdl:surface"];
-var TEXTURE_LOOKUPS = {
-  color: {
-    surface: ["inputs:diffuseColor"],
-    direct: ["inputs:diffuse_texture", "inputs:diffuse_color_texture"]
-  },
-  opacity: {
-    surface: ["inputs:opacity"],
-    direct: ["inputs:opacity_texture", "inputs:opacity_color_texture"]
-  },
-  normal: {
-    surface: ["inputs:normal"],
-    direct: ["inputs:normalmap_texture", "inputs:normal_texture"]
-  },
-  roughness: {
-    surface: ["inputs:roughness"],
-    direct: ["inputs:reflectionroughness_texture", "inputs:roughness_texture"]
-  },
-  metalness: {
-    surface: ["inputs:metallic"],
-    direct: ["inputs:metallic_texture"]
-  },
-  occlusion: {
-    surface: ["inputs:occlusion"],
-    direct: ["inputs:ao_texture", "inputs:occlusion_texture"]
-  },
-  emissive: {
-    surface: ["inputs:emissiveColor"],
-    direct: ["inputs:emissive_color_texture", "inputs:emissive_mask_texture"]
-  }
-};
-function resolveBoundMaterial(stage, prim) {
-  const materialPath = findBinding(prim);
-  if (!materialPath) return void 0;
-  const material = stage.GetPrimAtPath(materialPath);
-  if (!material) return void 0;
-  const shader = findSurfaceShader(material);
-  if (!shader) return void 0;
-  const result = { name: material.GetName() };
-  const color = firstColor(shader, DIFFUSE_INPUTS);
-  if (color) result.color = color;
-  const opacity = firstNumber(shader, OPACITY_INPUTS);
-  if (opacity !== void 0) result.opacity = opacity;
-  const opacityThreshold = firstNumber(shader, OPACITY_THRESHOLD_INPUTS);
-  if (opacityThreshold !== void 0) result.opacityThreshold = opacityThreshold;
-  const metalness = firstNumber(shader, METALLIC_INPUTS);
-  if (metalness !== void 0) result.metalness = metalness;
-  const roughness = firstNumber(shader, ROUGHNESS_INPUTS);
-  if (roughness !== void 0) result.roughness = roughness;
-  const emissive = firstColor(shader, EMISSIVE_INPUTS);
-  if (emissive && shader.GetAttribute("inputs:enable_emission").Get() !== false) {
-    result.emissiveColor = emissive;
-    const intensity = firstNumber(shader, ["inputs:emissive_intensity"]);
-    if (intensity !== void 0) result.emissiveIntensity = intensity;
-  }
-  const ior = firstNumber(shader, ["inputs:ior"]);
-  if (ior !== void 0) result.ior = ior;
-  const clearcoat = firstNumber(shader, ["inputs:clearcoat"]);
-  if (clearcoat !== void 0) result.clearcoat = clearcoat;
-  const clearcoatRoughness = firstNumber(shader, ["inputs:clearcoatRoughness"]);
-  if (clearcoatRoughness !== void 0) result.clearcoatRoughness = clearcoatRoughness;
-  if (shader.GetAttribute("inputs:useSpecularWorkflow").Get() === 1) {
-    const specular = firstColor(shader, ["inputs:specularColor"]);
-    if (specular) result.specularColor = specular;
-  }
-  const colorTex = findTexture(shader, TEXTURE_LOOKUPS.color);
-  if (colorTex !== void 0) result.colorTexture = colorTex;
-  const opacityTex = findTexture(shader, TEXTURE_LOOKUPS.opacity);
-  if (opacityTex !== void 0) result.opacityTexture = opacityTex;
-  const normal = findTexture(shader, TEXTURE_LOOKUPS.normal);
-  if (normal !== void 0) result.normalTexture = normal;
-  const roughTex = findTexture(shader, TEXTURE_LOOKUPS.roughness);
-  if (roughTex !== void 0) result.roughnessTexture = roughTex;
-  const metalTex = findTexture(shader, TEXTURE_LOOKUPS.metalness);
-  if (metalTex !== void 0) result.metalnessTexture = metalTex;
-  const aoTex = findTexture(shader, TEXTURE_LOOKUPS.occlusion);
-  if (aoTex !== void 0) result.occlusionTexture = aoTex;
-  const emissiveTex = findTexture(shader, TEXTURE_LOOKUPS.emissive);
-  if (emissiveTex !== void 0) result.emissiveTexture = emissiveTex;
-  const ormFile = shader.GetAttribute("inputs:ORM_texture").Get();
-  if (shader.GetAttribute("inputs:enable_ORM_texture").Get() === true && ormFile instanceof AssetPath && ormFile.path) {
-    const transform = mdlTextureTransform(shader);
-    const orm = { path: ormFile.path, ...transform ? { transform } : {} };
-    result.occlusionTexture = { ...orm, outputChannel: "r" };
-    result.roughnessTexture = { ...orm, outputChannel: "g" };
-    result.metalnessTexture = { ...orm, outputChannel: "b" };
-  }
-  return result;
-}
-function findTexture(shader, lookup) {
-  for (const name of lookup.direct) {
-    const v = shader.GetAttribute(name).Get();
-    if (v instanceof AssetPath && v.path) {
-      const transform = mdlTextureTransform(shader);
-      return { path: v.path, ...transform ? { transform } : {} };
-    }
-  }
-  for (const name of lookup.surface) {
-    const conn = shader.GetAttribute(name).GetConnections()[0];
-    if (!conn) continue;
-    const texPrim = shader.GetStage().GetPrimAtPath(conn.split(".")[0]);
-    if (!texPrim) continue;
-    const file = texPrim.GetAttribute("inputs:file").Get();
-    if (file instanceof AssetPath && file.path) {
-      const tex = readUvTexture(texPrim, file.path);
-      const channel = outputChannelOf(conn);
-      if (channel) tex.outputChannel = channel;
-      return tex;
-    }
-  }
-  return void 0;
-}
-function outputChannelOf(connection) {
-  const m = /\.outputs:(\w+)$/.exec(connection);
-  switch (m?.[1]) {
-    case "r":
-    case "g":
-    case "b":
-    case "a":
-      return m[1];
-    case "rgb":
-    case "rgba":
-      return "rgb";
-    default:
-      return void 0;
-  }
-}
-function mdlTextureTransform(shader) {
-  const transform = {};
-  const translation = numArray(shader, "inputs:texture_translate", 2);
-  if (translation) transform.translation = translation;
-  const scale = numArray(shader, "inputs:texture_scale", 2);
-  if (scale) transform.scale = scale;
-  const rotation = shader.GetAttribute("inputs:texture_rotate").Get();
-  if (typeof rotation === "number") transform.rotation = rotation;
-  return Object.keys(transform).length > 0 ? transform : void 0;
-}
-var WRAP_VALUES = /* @__PURE__ */ new Set(["repeat", "clamp", "mirror", "black"]);
-function readUvTexture(texPrim, path) {
-  const tex = { path };
-  const wrapS = texPrim.GetAttribute("inputs:wrapS").Get();
-  if (typeof wrapS === "string" && WRAP_VALUES.has(wrapS)) tex.wrapS = wrapS;
-  const wrapT = texPrim.GetAttribute("inputs:wrapT").Get();
-  if (typeof wrapT === "string" && WRAP_VALUES.has(wrapT)) tex.wrapT = wrapT;
-  const scale = numArray(texPrim, "inputs:scale", 4);
-  if (scale) tex.scale = scale;
-  const bias = numArray(texPrim, "inputs:bias", 4);
-  if (bias) tex.bias = bias;
-  const sourceColorSpace = texPrim.GetAttribute("inputs:sourceColorSpace").Get();
-  if (sourceColorSpace === "raw" || sourceColorSpace === "sRGB" || sourceColorSpace === "auto") {
-    tex.sourceColorSpace = sourceColorSpace;
-  }
-  const st = readStChain(texPrim);
-  if (st.transform) tex.transform = st.transform;
-  if (st.uvSet) tex.uvSet = st.uvSet;
-  return tex;
-}
-function connectedPrim(prim, input) {
-  const conn = prim.GetAttribute(input).GetConnections()[0];
-  if (!conn) return null;
-  return prim.GetStage().GetPrimAtPath(conn.split(".")[0]);
-}
-function readStChain(texPrim) {
-  const out = {};
-  let node = connectedPrim(texPrim, "inputs:st");
-  if (node && node.GetAttribute("info:id").Get() === "UsdTransform2d") {
-    const transform = {};
-    const translation = numArray(node, "inputs:translation", 2);
-    if (translation) transform.translation = translation;
-    const scale = numArray(node, "inputs:scale", 2);
-    if (scale) transform.scale = scale;
-    const rotation = node.GetAttribute("inputs:rotation").Get();
-    if (typeof rotation === "number") transform.rotation = rotation;
-    if (Object.keys(transform).length > 0) out.transform = transform;
-    node = connectedPrim(node, "inputs:in");
-  }
-  if (node && node.GetAttribute("info:id").Get() === "UsdPrimvarReader_float2") {
-    const varname = node.GetAttribute("inputs:varname").Get();
-    if (typeof varname === "string" && varname.length > 0) out.uvSet = varname;
-  }
-  return out;
-}
-function numArray(prim, name, length) {
-  const v = prim.GetAttribute(name).Get();
-  if (Array.isArray(v) && v.length >= length && v.every((n) => typeof n === "number")) {
-    return v.slice(0, length);
-  }
-  return void 0;
-}
-function findBinding(prim) {
-  let chosen;
-  let p = prim;
-  while (p) {
-    for (const name of ["material:binding:preview", "material:binding"]) {
-      const rel = p.GetRelationship(name);
-      const target = rel.GetTargets()[0];
-      if (!target) continue;
-      const stronger = rel.GetMetadata("bindMaterialAs") === "strongerThanDescendants";
-      if (chosen === void 0 || stronger) chosen = target;
-      break;
-    }
-    p = p.GetParent();
-  }
-  return chosen;
-}
-function findSurfaceShader(material) {
-  for (const out of SURFACE_OUTPUTS) {
-    const conn = material.GetAttribute(out).GetConnections()[0];
-    if (conn) {
-      const shaderPath = conn.split(".")[0];
-      const shader = material.GetStage().GetPrimAtPath(shaderPath);
-      if (shader) return shader;
-    }
-  }
-  return material.GetChildren().find((c) => c.GetTypeName() === "Shader") ?? void 0;
-}
-function firstColor(shader, names) {
-  for (const name of names) {
-    const v = shader.GetAttribute(name).Get();
-    if (Array.isArray(v) && v.length >= 3 && v.every((n) => typeof n === "number")) {
-      return [v[0], v[1], v[2]];
-    }
-  }
-  return void 0;
-}
-function firstNumber(shader, names) {
-  for (const name of names) {
-    const v = shader.GetAttribute(name).Get();
-    if (typeof v === "number") return v;
-  }
-  return void 0;
-}
-
 // src/robot/buildKinematicTree.ts
 var WORLD = "";
 function buildKinematicTree(robot, options = {}) {
@@ -810,61 +564,6 @@ function leafName(path) {
   return parts[parts.length - 1] ?? path;
 }
 
-// src/usd/AssetResolver.ts
-var DefaultAssetResolver = class {
-  resolve(assetPath, baseUrl) {
-    try {
-      return new URL(assetPath, baseUrl || void 0).href;
-    } catch {
-      return joinPosix(baseUrl, assetPath);
-    }
-  }
-  async fetchText(url) {
-    const res = await fetch(url);
-    if (!res.ok) throw new Error(`${res.status} ${res.statusText}`);
-    return res.text();
-  }
-  async fetchBytes(url) {
-    const res = await fetch(url);
-    if (!res.ok) throw new Error(`${res.status} ${res.statusText}`);
-    return new Uint8Array(await res.arrayBuffer());
-  }
-};
-function createMemoryResolver(files) {
-  const decoder = new TextDecoder();
-  const encoder = new TextEncoder();
-  return {
-    resolve(assetPath, baseUrl) {
-      return joinPosix(baseUrl, assetPath);
-    },
-    fetchText(url) {
-      const v = files[url];
-      if (v === void 0) return Promise.reject(new Error(`asset not found: ${url}`));
-      return Promise.resolve(typeof v === "string" ? v : decoder.decode(v));
-    },
-    fetchBytes(url) {
-      const v = files[url];
-      if (v === void 0) return Promise.reject(new Error(`asset not found: ${url}`));
-      return Promise.resolve(typeof v === "string" ? encoder.encode(v) : v);
-    }
-  };
-}
-function joinPosix(baseUrl, rel) {
-  if (rel.startsWith("/")) return normalizePosix(rel);
-  const dir = baseUrl.slice(0, baseUrl.lastIndexOf("/") + 1);
-  return normalizePosix(dir + rel);
-}
-function normalizePosix(path) {
-  const isAbsolute = path.startsWith("/");
-  const out = [];
-  for (const part of path.split("/")) {
-    if (part === "" || part === ".") continue;
-    if (part === "..") out.pop();
-    else out.push(part);
-  }
-  return (isAbsolute ? "/" : "") + out.join("/");
-}
-
 // src/parser/reader.ts
 var ParseError = class extends Error {
   constructor(message, line, col) {
@@ -3584,6 +3283,33 @@ function stripKeys(meta, keys) {
   }
   return out;
 }
+
+// src/usd/mdl/loadMdlModules.ts
+function collectMdlAssetPaths(stage) {
+  const paths = /* @__PURE__ */ new Set();
+  for (const prim of stage.Traverse()) {
+    if (prim.GetTypeName() !== "Shader") continue;
+    const asset = prim.GetAttribute("info:mdl:sourceAsset").Get();
+    if (asset instanceof AssetPath && asset.path) paths.add(asset.path);
+  }
+  return [...paths];
+}
+async function loadMdlModules(stage, resolver, baseUrl) {
+  const paths = collectMdlAssetPaths(stage);
+  if (paths.length === 0) return void 0;
+  const modules = /* @__PURE__ */ new Map();
+  await Promise.all(
+    paths.map(async (path) => {
+      try {
+        const module = parseMdl(await resolver.fetchText(resolver.resolve(path, baseUrl)));
+        if (module.materials.size > 0) modules.set(path, module);
+      } catch {
+      }
+    })
+  );
+  if (modules.size === 0) return void 0;
+  return (assetPath) => modules.get(assetPath);
+}
 var USD_ENTRY = /\.(usda|usdc|usd)$/i;
 function isZip(bytes) {
   if (bytes.length < 4 || bytes[0] !== 80 || bytes[1] !== 75) return false;
@@ -3620,6 +3346,6 @@ function openUsdz(bytes) {
   return { rootEntry, resolver };
 }
 
-export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, DefaultAssetResolver, Layer, MASS_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, ParseError, Prim, RIGID_BODY_API, Relationship, Stage, TokenizeError, buildKinematicTree, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, createMemoryResolver, driveKindFor, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, getMaterialSubsets, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isMesh, isNonVisualPurpose, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, joinPosix, jointValueFromSI, jointValueToSI, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, resolveBoundMaterial, serializeUsda, toBytes, tokenize };
-//# sourceMappingURL=chunk-NFKK5LJK.js.map
-//# sourceMappingURL=chunk-NFKK5LJK.js.map
+export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, Layer, MASS_API, MESH_COLLISION_API, PHYSICS_MATERIAL_API, ParseError, Prim, RIGID_BODY_API, Relationship, Stage, TokenizeError, buildKinematicTree, collectMdlAssetPaths, composeFile, composeLayer, computeLocalTransform, computeWorldTransform, crateToUsdaFile, driveKindFor, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getMassProperties, getMaterialSubsets, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isMesh, isNonVisualPurpose, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, jointValueFromSI, jointValueToSI, loadMdlModules, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, serializeUsda, toBytes, tokenize };
+//# sourceMappingURL=chunk-6W4LQVEQ.js.map
+//# sourceMappingURL=chunk-6W4LQVEQ.js.map