three-usd-robot 0.12.0 → 0.13.1

package/dist/{chunk-6W4LQVEQ.js → chunk-J6ZQWQ2C.js}

@@ -99,6 +99,8 @@ var COLLISION_API = "PhysicsCollisionAPI";
 var MASS_API = "PhysicsMassAPI";
 var MESH_COLLISION_API = "PhysicsMeshCollisionAPI";
 var PHYSICS_MATERIAL_API = "PhysicsMaterialAPI";
+var NEWTON_MIMIC_API = "NewtonMimicAPI";
+var PHYSX_MIMIC_API = "PhysxMimicJointAPI";
 function getJointType(prim) {
   return JOINT_TYPE_BY_SCHEMA[prim.GetTypeName()] ?? null;
 }
@@ -154,6 +156,45 @@ function getJointDrive(prim, kind) {
 function getJointStatePosition(prim, kind) {
   return readNumber(prim, `state:${kind}:physics:position`);
 }
+function physxMimicDof(type, axis) {
+  if (type === "fixed") return void 0;
+  return `${type === "prismatic" ? "trans" : "rot"}${axis}`;
+}
+function getJointMimic(prim, dof) {
+  if (prim.HasAPI(NEWTON_MIMIC_API)) {
+    if (prim.GetAttribute("newton:mimicEnabled").Get() === false) return void 0;
+    const referencePath2 = prim.GetRelationship("newton:mimicJoint").GetTargets()[0];
+    if (referencePath2 === void 0) return void 0;
+    return {
+      referencePath: referencePath2,
+      multiplier: readNumber(prim, "newton:mimicCoef1") ?? 1,
+      offset: readNumber(prim, "newton:mimicCoef0") ?? 0
+    };
+  }
+  if (dof === void 0) return void 0;
+  const referencePath = prim.GetRelationship(`physxMimicJoint:${dof}:referenceJoint`).GetTargets()[0];
+  if (referencePath === void 0) return void 0;
+  const gearing = readNumber(prim, `physxMimicJoint:${dof}:gearing`) ?? 1;
+  const offset = readNumber(prim, `physxMimicJoint:${dof}:offset`) ?? 0;
+  const referenceDof = prim.GetAttribute(`physxMimicJoint:${dof}:referenceJointAxis`).Get();
+  return {
+    referencePath,
+    multiplier: -gearing,
+    offset: -offset,
+    ...typeof referenceDof === "string" ? { referenceDof } : {}
+  };
+}
+function getPhysxMimicDofs(prim) {
+  const out = /* @__PURE__ */ new Set();
+  for (const schema of prim.GetAppliedSchemas()) {
+    if (schema.startsWith(`${PHYSX_MIMIC_API}:`)) out.add(schema.slice(PHYSX_MIMIC_API.length + 1));
+  }
+  for (const relationship of prim.GetRelationships()) {
+    const match = /^physxMimicJoint:([^:]+):referenceJoint$/.exec(relationship.GetName());
+    if (match) out.add(match[1]);
+  }
+  return [...out];
+}
 function getMassProperties(prim) {
   const out = {};
   const mass = readNumber(prim, "physics:mass");
@@ -441,9 +482,10 @@ function extractRobotDescription(stage, options = {}) {
   const joints = {};
   const jointKeyByPath = buildKeyMap(jointPrims.map((p) => p.GetPath()));
   for (const jp of jointPrims) {
-    const joint = buildJoint(jp, linkKeyByPath, warn);
+    const joint = buildJoint(jp, linkKeyByPath, jointKeyByPath, warn);
     if (joint) joints[jointKeyByPath.get(jp.GetPath())] = joint;
   }
+  dropInvalidMimics(joints, warn);
   const name = options.robotName ?? stage.GetDefaultPrim()?.GetName() ?? stage.GetPseudoRoot().GetChildren()[0]?.GetName() ?? "robot";
   const robot = {
     name,
@@ -494,7 +536,7 @@ function isIdentityMat4(m) {
   }
   return true;
 }
-function buildJoint(prim, linkKeyByPath, warn) {
+function buildJoint(prim, linkKeyByPath, jointKeyByPath, warn) {
   const base = getJointType(prim);
   if (!base) return null;
   const path = prim.GetPath();
@@ -544,8 +586,57 @@ function buildJoint(prim, linkKeyByPath, warn) {
     });
     joint.valueSamples = { times, values };
   }
+  const dof = physxMimicDof(type, joint.axis);
+  const mimic = getJointMimic(prim, dof);
+  if (mimic) {
+    const leaderDof = jointDof(prim, mimic.referencePath);
+    if (mimic.referenceDof !== void 0 && leaderDof !== void 0 && mimic.referenceDof !== leaderDof) {
+      warn(
+        `${path}: mimic reads "${mimic.referencePath}" on \`${mimic.referenceDof}\`, which is not the dof it moves about (\`${leaderDof}\`); ignoring`
+      );
+    } else {
+      joint.mimic = {
+        joint: jointKeyByPath.get(mimic.referencePath) ?? mimic.referencePath,
+        multiplier: mimic.multiplier,
+        offset: jointValueToSI(angular, mimic.offset)
+      };
+    }
+  } else if (dof !== void 0) {
+    const authored = getPhysxMimicDofs(prim).filter((d) => d !== dof);
+    if (authored.length > 0) {
+      warn(
+        `${path}: mimic authored on \`${authored.join("`, `")}\` but the joint moves about \`${dof}\`; ignoring`
+      );
+    }
+  }
   return joint;
 }
+function jointDof(from, path) {
+  const prim = from.GetStage().GetPrimAtPath(path);
+  if (!prim) return void 0;
+  const type = getJointType(prim);
+  return type ? physxMimicDof(type, getJointAxis(prim)) : void 0;
+}
+function dropInvalidMimics(joints, warn) {
+  for (const [key, joint] of Object.entries(joints)) {
+    const mimic = joint.mimic;
+    if (!mimic) continue;
+    const leader = joints[mimic.joint];
+    let reason = null;
+    if (!leader) reason = `references unknown joint "${mimic.joint}"`;
+    else if (mimic.joint === key) reason = "references itself";
+    else if (joint.type === "fixed" || leader.type === "fixed") {
+      reason = "connects a fixed joint (inert)";
+    } else if (driveKindFor(joint.type) !== driveKindFor(leader.type)) {
+      reason = `couples a ${joint.type} joint to a ${leader.type} leader`;
+    }
+    if (reason) {
+      warn(`${joint.primPath}: mimic ${reason}; ignoring`);
+      const { mimic: _dropped, ...rest } = joint;
+      joints[key] = rest;
+    }
+  }
+}
 function buildKeyMap(paths) {
   const leafCounts = /* @__PURE__ */ new Map();
   for (const p of paths) {
@@ -3346,6 +3437,6 @@ function openUsdz(bytes) {
   return { rootEntry, resolver };
 }
 
-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
+export { ARTICULATION_ROOT_API, Attribute, COLLISION_API, CrateReader, DEFAULT_METERS_PER_UNIT, Layer, MASS_API, MESH_COLLISION_API, NEWTON_MIMIC_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-J6ZQWQ2C.js.map
+//# sourceMappingURL=chunk-J6ZQWQ2C.js.map