three-usd-robot 0.13.0 → 0.13.1

package/dist/{chunk-FUVHAORT.js → chunk-J6ZQWQ2C.js}

@@ -156,27 +156,35 @@ function getJointDrive(prim, kind) {
 function getJointStatePosition(prim, kind) {
   return readNumber(prim, `state:${kind}:physics:position`);
 }
-function getJointMimic(prim) {
+function physxMimicDof(type, axis) {
+  if (type === "fixed") return void 0;
+  return `${type === "prismatic" ? "trans" : "rot"}${axis}`;
+}
+function getJointMimic(prim, dof) {
   if (prim.HasAPI(NEWTON_MIMIC_API)) {
     if (prim.GetAttribute("newton:mimicEnabled").Get() === false) return void 0;
-    const referencePath = prim.GetRelationship("newton:mimicJoint").GetTargets()[0];
-    if (referencePath === void 0) return void 0;
+    const referencePath2 = prim.GetRelationship("newton:mimicJoint").GetTargets()[0];
+    if (referencePath2 === void 0) return void 0;
     return {
-      referencePath,
+      referencePath: referencePath2,
       multiplier: readNumber(prim, "newton:mimicCoef1") ?? 1,
       offset: readNumber(prim, "newton:mimicCoef0") ?? 0
     };
   }
-  for (const instance of physxMimicInstances(prim)) {
-    const referencePath = prim.GetRelationship(`physxMimicJoint:${instance}:referenceJoint`).GetTargets()[0];
-    if (referencePath === void 0) continue;
-    const gearing = readNumber(prim, `physxMimicJoint:${instance}:gearing`) ?? 1;
-    const offset = readNumber(prim, `physxMimicJoint:${instance}:offset`) ?? 0;
-    return { referencePath, multiplier: -gearing, offset: -offset };
-  }
-  return void 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 physxMimicInstances(prim) {
+function getPhysxMimicDofs(prim) {
   const out = /* @__PURE__ */ new Set();
   for (const schema of prim.GetAppliedSchemas()) {
     if (schema.startsWith(`${PHYSX_MIMIC_API}:`)) out.add(schema.slice(PHYSX_MIMIC_API.length + 1));
@@ -578,16 +586,37 @@ function buildJoint(prim, linkKeyByPath, jointKeyByPath, warn) {
     });
     joint.valueSamples = { times, values };
   }
-  const mimic = getJointMimic(prim);
+  const dof = physxMimicDof(type, joint.axis);
+  const mimic = getJointMimic(prim, dof);
   if (mimic) {
-    joint.mimic = {
-      joint: jointKeyByPath.get(mimic.referencePath) ?? mimic.referencePath,
-      multiplier: mimic.multiplier,
-      offset: jointValueToSI(angular, mimic.offset)
-    };
+    const leaderDof = jointDof(prim, mimic.referencePath);
+    if (mimic.referenceDof !== void 0 && leaderDof !== void 0 && mimic.referenceDof !== leaderDof) {
+      warn(
+        `${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;
@@ -3409,5 +3438,5 @@ function openUsdz(bytes) {
 }
 
 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-FUVHAORT.js.map
-//# sourceMappingURL=chunk-FUVHAORT.js.map
+//# sourceMappingURL=chunk-J6ZQWQ2C.js.map
+//# sourceMappingURL=chunk-J6ZQWQ2C.js.map