three-usd-robot 0.13.0 → 0.14.0

package/dist/chunk-WQRP5IDJ.js.map

@@ -0,0 +1 @@
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* Shared placement machinery for binding non-gprim stage prims (lights M25,\n * cameras M27) into an already-built {@link ThreeUsdRobot} hierarchy: find the\n * deepest ancestor that owns a Three.js object — a link frame, a mirrored\n * scenery group, a gprim — and accumulate the local transform chain from it.\n */\n\nimport type * as THREE from \"three\";\nimport { type Mat4, identity4, multiply } from \"../kinematics/transforms.js\";\nimport type { Prim } from \"../usd/Prim.js\";\nimport { computeLocalTransform, computeWorldTransform } from \"../usd/xformOps.js\";\nimport type { ThreeUsdRobot } from \"./ThreeUsdRobot.js\";\n\n/**\n * Index `primPath → object` over everything already bound: scenery groups and\n * gprims register through `userData.primPath`, links by their own prim path.\n */\nexport function collectAnchors(robot3d: ThreeUsdRobot): Map<string, THREE.Object3D> {\n  const anchors = new Map<string, THREE.Object3D>();\n  robot3d.traverse((object) => {\n    const path = (object.userData as { primPath?: unknown }).primPath;\n    if (typeof path === \"string\" && !anchors.has(path)) anchors.set(path, object);\n  });\n  for (const [path, link] of robot3d.getLinkObjectsByPath()) anchors.set(path, link);\n  return anchors;\n}\n\n/** The deepest ancestor prim that already has a Three.js object to anchor to. */\nexport function findAnchor(\n  prim: Prim,\n  anchors: Map<string, THREE.Object3D>,\n): { object: THREE.Object3D; prim: Prim } | null {\n  for (let p = prim.GetParent(); p && !p.IsPseudoRoot(); p = p.GetParent()) {\n    const object = anchors.get(p.GetPath());\n    if (object) return { object, prim: p };\n  }\n  return null;\n}\n\n/**\n * Accumulated local transform from `anchorPrim` (exclusive) down to `prim`\n * (inclusive); from the stage root when `anchorPrim` is `null`.\n */\nexport function transformFrom(anchorPrim: Prim | null, prim: Prim): Mat4 {\n  const stop = anchorPrim?.GetPath();\n  const chain: Prim[] = [];\n  for (\n    let p: Prim | null = prim;\n    p && !p.IsPseudoRoot() && p.GetPath() !== stop;\n    p = p.GetParent()\n  ) {\n    chain.push(p);\n  }\n  chain.reverse();\n  let m = identity4();\n  for (const link of chain) m = multiply(m, computeLocalTransform(link).matrix);\n  return m;\n}\n\n/** Uniform-ish world scale at `prim`: root normalization × the prim chain's scale. */\nexport function worldScaleOf(prim: Prim, rootScale: number): number {\n  const m = computeWorldTransform(prim);\n  const sx = Math.hypot(m[0]!, m[1]!, m[2]!);\n  const sy = Math.hypot(m[4]!, m[5]!, m[6]!);\n  const sz = Math.hypot(m[8]!, m[9]!, m[10]!);\n  return rootScale * ((sx + sy + sz) / 3);\n}\n\n/**\n * Place `object` under the anchor's Three.js object (or the robot root) by\n * its accumulated USD local transform — the shared attach step of the light\n * and camera binders.\n */\nexport function attachAtPrim(\n  object: THREE.Object3D,\n  prim: Prim,\n  anchors: Map<string, THREE.Object3D>,\n  robot3d: ThreeUsdRobot,\n): void {\n  const anchor = findAnchor(prim, anchors);\n  object.matrixAutoUpdate = false;\n  object.matrix.fromArray(transformFrom(anchor?.prim ?? null, prim));\n  object.matrixWorldNeedsUpdate = true;\n  (anchor?.object ?? robot3d).add(object);\n}\n","/**\n * Binds `UsdGeomCamera` prims to Three.js cameras and attaches them into the\n * robot's hierarchy (M27).\n *\n * USD and Three.js share the same camera frame (−Z forward, +Y up), so a\n * camera places with its prim transform alone — under its link object when it\n * is mounted on the robot (a wrist or sensor camera follows the joints), else\n * under the mirrored scenery groups or the root. Focal length and apertures\n * are millimeters on a film back; clipping range and focus distance are stage\n * units and get the same world normalization as everything else.\n */\n\nimport * as THREE from \"three\";\nimport { isNonVisualPurpose } from \"../schemas/usdGeom.js\";\nimport {\n  type CameraDescription,\n  isCamera,\n  readCameraDescription,\n} from \"../schemas/usdGeomCamera.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport type { ThreeUsdRobot } from \"./ThreeUsdRobot.js\";\nimport { attachAtPrim, collectAnchors, worldScaleOf } from \"./stageAnchors.js\";\n\n/** A bound USD camera — perspective or orthographic. */\nexport type UsdBoundCamera = THREE.PerspectiveCamera | THREE.OrthographicCamera;\n\nexport type BindCamerasOptions = {\n  /** Receives fidelity diagnostics. */\n  onWarn?: (message: string) => void;\n};\n\n/**\n * Traverse the stage and bind every `Camera` prim. Call after mesh binding so\n * cameras anchor into the existing hierarchy. Cameras with\n * `visibility = \"invisible\"` or a guide/proxy purpose are skipped. Each\n * result carries `userData.primPath` and `userData.usdCamera` (its\n * {@link CameraDescription}).\n */\nexport function bindCameras(\n  stage: Stage,\n  robot3d: ThreeUsdRobot,\n  options: BindCamerasOptions = {},\n): UsdBoundCamera[] {\n  const cameras: UsdBoundCamera[] = [];\n  const anchors = collectAnchors(robot3d);\n  const rootScale = robot3d.scale.x || 1;\n\n  for (const prim of stage.Traverse()) {\n    if (!isCamera(prim)) continue;\n    if (prim.GetAttribute(\"visibility\").Get() === \"invisible\") continue;\n    if (isNonVisualPurpose(prim)) continue;\n    const desc = readCameraDescription(prim);\n    if (!desc) continue;\n\n    const worldScale = worldScaleOf(prim, rootScale);\n    const camera = createThreeCamera(desc, worldScale, options.onWarn);\n\n    camera.name = desc.name;\n    camera.userData.kind = \"camera\";\n    camera.userData.primPath = desc.primPath;\n    camera.userData.usdCamera = desc;\n    camera.userData.usdCameraWorldScale = worldScale;\n\n    attachAtPrim(camera, prim, anchors, robot3d);\n    cameras.push(camera);\n  }\n  return cameras;\n}\n\nfunction createThreeCamera(\n  desc: CameraDescription,\n  worldScale: number,\n  onWarn: ((message: string) => void) | undefined,\n): UsdBoundCamera {\n  const near = Math.max(desc.clippingRange[0] * worldScale, 1e-5);\n  const far = Math.max(desc.clippingRange[1] * worldScale, near + 1e-5);\n\n  if (desc.projection === \"orthographic\") {\n    // Orthographic apertures are tenths of a stage unit (GfCamera).\n    const halfWidth = (desc.horizontalAperture / 10 / 2) * worldScale;\n    const halfHeight = (desc.verticalAperture / 10 / 2) * worldScale;\n    return new THREE.OrthographicCamera(-halfWidth, halfWidth, halfHeight, -halfHeight, near, far);\n  }\n\n  const camera = new THREE.PerspectiveCamera(\n    THREE.MathUtils.radToDeg(2 * Math.atan(desc.verticalAperture / (2 * desc.focalLength))),\n    desc.horizontalAperture / desc.verticalAperture,\n    near,\n    far,\n  );\n  // Film metrics for consumers that think in lens terms (mm).\n  camera.filmGauge = desc.horizontalAperture;\n  camera.filmOffset = desc.horizontalApertureOffset;\n  if (desc.verticalApertureOffset !== 0) {\n    onWarn?.(\n      `Camera ${desc.primPath} authors a verticalApertureOffset; Three.js has no vertical film offset — ignored`,\n    );\n  }\n  if (desc.focusDistance > 0) camera.focus = desc.focusDistance * worldScale;\n  camera.updateProjectionMatrix();\n  return camera;\n}\n\n/**\n * `UsdRender` aspect-ratio conform policies: how a camera's fixed aperture\n * meets a viewport of a different aspect. `expandAperture` (the USD default)\n * always shows at least the authored view; `cropAperture` never shows more;\n * the `adjust*` policies pin one axis outright.\n */\nexport type AspectConformPolicy =\n  | \"expandAperture\"\n  | \"cropAperture\"\n  | \"adjustApertureWidth\"\n  | \"adjustApertureHeight\";\n\n/**\n * Fit a bound USD camera to a viewport aspect ratio (width / height) and\n * update its projection. Call on resize, or before rendering through a camera\n * from {@link ThreeUsdRobot.cameras}. Cameras without USD metadata just get\n * the aspect applied.\n */\nexport function conformCameraAspect(\n  camera: UsdBoundCamera,\n  viewportAspect: number,\n  policy: AspectConformPolicy = \"expandAperture\",\n): void {\n  const desc = camera.userData.usdCamera as CameraDescription | undefined;\n\n  if ((camera as THREE.OrthographicCamera).isOrthographicCamera) {\n    const ortho = camera as THREE.OrthographicCamera;\n    const worldScale = (camera.userData.usdCameraWorldScale as number | undefined) ?? 1;\n    const halfWidth = desc ? (desc.horizontalAperture / 10 / 2) * worldScale : ortho.right;\n    const halfHeight = desc ? (desc.verticalAperture / 10 / 2) * worldScale : ortho.top;\n    if (widthFollows(policy, viewportAspect, halfWidth / halfHeight)) {\n      ortho.top = halfHeight;\n      ortho.bottom = -halfHeight;\n      ortho.right = halfHeight * viewportAspect;\n      ortho.left = -ortho.right;\n    } else {\n      ortho.right = halfWidth;\n      ortho.left = -halfWidth;\n      ortho.top = halfWidth / viewportAspect;\n      ortho.bottom = -ortho.top;\n    }\n    ortho.updateProjectionMatrix();\n    return;\n  }\n\n  const persp = camera as THREE.PerspectiveCamera;\n  persp.aspect = viewportAspect;\n  if (desc) {\n    const vFov = 2 * Math.atan(desc.verticalAperture / (2 * desc.focalLength));\n    const hFov = 2 * Math.atan(desc.horizontalAperture / (2 * desc.focalLength));\n    const apertureAspect = desc.horizontalAperture / desc.verticalAperture;\n    persp.fov = THREE.MathUtils.radToDeg(\n      widthFollows(policy, viewportAspect, apertureAspect)\n        ? vFov // keep the vertical view; width follows the viewport\n        : 2 * Math.atan(Math.tan(hFov / 2) / viewportAspect), // keep the horizontal view\n    );\n  }\n  persp.updateProjectionMatrix();\n}\n\n/** True when the policy keeps the vertical extent and lets width follow. */\nfunction widthFollows(\n  policy: AspectConformPolicy,\n  viewportAspect: number,\n  apertureAspect: number,\n): boolean {\n  switch (policy) {\n    case \"adjustApertureWidth\":\n      return true;\n    case \"adjustApertureHeight\":\n      return false;\n    case \"expandAperture\":\n      return viewportAspect >= apertureAspect;\n    case \"cropAperture\":\n      return viewportAspect < apertureAspect;\n  }\n}\n","/**\n * Binds UsdLux light prims to Three.js lights and attaches them into the\n * robot's hierarchy (M25).\n *\n * Placement mirrors the gprim binding: a light under a link prim parents to\n * that link's object (so a wrist lamp moves with the joint chain), anything\n * else parents to the deepest already-mirrored ancestor — a scenery group from\n * `bindSceneMeshes` — or the robot root, positioned by its accumulated local\n * transform. Up-axis and unit normalization then apply at the root as usual.\n *\n * DomeLights create no Three.js light: they are collected on\n * {@link ThreeUsdRobot.domeLights}, to be applied as the scene environment by\n * `applyUsdEnvironment` from `three-usd-robot/rendering` (M26).\n */\n\nimport * as THREE from \"three\";\nimport { isNonVisualPurpose } from \"../schemas/usdGeom.js\";\nimport {\n  type LightDescription,\n  getLightKind,\n  isUnsupportedLight,\n  readLightDescription,\n} from \"../schemas/usdLux.js\";\nimport type { Prim } from \"../usd/Prim.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport { computeWorldTransform } from \"../usd/xformOps.js\";\nimport type { ThreeUsdRobot } from \"./ThreeUsdRobot.js\";\nimport { attachAtPrim, collectAnchors, worldScaleOf } from \"./stageAnchors.js\";\n\nexport type BindLightsOptions = {\n  /**\n   * Multiplies every light's effective emission (`intensity × 2^exposure`).\n   * Default `1` — the authored UsdLux value passes through unchanged. Stages\n   * authored in Omniverse/RTX photometric units (intensities in the thousands)\n   * typically want `0.001` to land in Three.js's exposure-1 range; see\n   * docs/lighting.md.\n   */\n  lightIntensityScale?: number;\n  /**\n   * Configure shadow casting: `castShadow` per the light's ShadowAPI, with the\n   * shadow camera fitted to the scene bounds. Default `false` here — the\n   * loader defaults it on.\n   */\n  shadows?: boolean;\n  /** Receives fidelity diagnostics (unsupported/approximated light types). */\n  onWarn?: (message: string) => void;\n};\n\n/** Result of {@link bindLights}. */\nexport type BoundLights = {\n  /**\n   * The Three.js lights created, already attached to the hierarchy. Each\n   * carries `userData.primPath` and `userData.usdLight` (its\n   * {@link LightDescription}).\n   */\n  lights: THREE.Light[];\n  /** DomeLights parsed but not realized — apply via `applyUsdEnvironment` (M26). */\n  domes: LightDescription[];\n};\n\n/**\n * Traverse the stage and bind every supported UsdLux light. Call after mesh\n * binding so lights can anchor to the mirrored scenery groups and shadow\n * cameras can fit the scene bounds. Lights with `visibility = \"invisible\"` or\n * a guide/proxy purpose are skipped.\n */\nexport function bindLights(\n  stage: Stage,\n  robot3d: ThreeUsdRobot,\n  options: BindLightsOptions = {},\n): BoundLights {\n  const intensityScale = options.lightIntensityScale ?? 1;\n  const shadows = options.shadows ?? false;\n  const lights: THREE.Light[] = [];\n  const domes: LightDescription[] = [];\n\n  const warned = new Set<string>();\n  const warnOnce = (key: string, message: string) => {\n    if (warned.has(key)) return;\n    warned.add(key);\n    options.onWarn?.(message);\n  };\n\n  // The deepest already-bound ancestor (scenery group, gprim, link frame)\n  // anchors each light so it inherits that subtree's motion.\n  const anchors = collectAnchors(robot3d);\n\n  const rootScale = robot3d.scale.x || 1;\n  let metrics: { center: THREE.Vector3; radius: number } | null = null;\n  const sceneMetrics = () => {\n    if (!metrics) {\n      // Lights carry no geometry, so bounds are the meshes bound before us —\n      // in the normalized (post-root) world, i.e. meters.\n      const box = new THREE.Box3().setFromObject(robot3d);\n      const sphere = new THREE.Sphere();\n      if (!box.isEmpty()) box.getBoundingSphere(sphere);\n      metrics = { center: sphere.center.clone(), radius: Math.max(sphere.radius, 0.5) };\n    }\n    return metrics;\n  };\n\n  for (const prim of stage.Traverse()) {\n    if (isUnsupportedLight(prim)) {\n      warnOnce(\n        prim.GetTypeName(),\n        `${prim.GetTypeName()} lights are not supported yet; skipping (e.g. ${prim.GetPath()})`,\n      );\n      continue;\n    }\n    if (!getLightKind(prim)) continue;\n    if (prim.GetAttribute(\"visibility\").Get() === \"invisible\") continue;\n    if (isNonVisualPurpose(prim)) continue;\n\n    const desc = readLightDescription(prim);\n    if (!desc) continue;\n\n    if (desc.kind === \"dome\") {\n      domes.push(desc);\n      warnOnce(\n        \"DomeLight\",\n        `DomeLight ${desc.primPath} is surfaced on robot.domeLights — apply it as the scene environment with applyUsdEnvironment from three-usd-robot/rendering`,\n      );\n      continue;\n    }\n\n    const light = createThreeLight(desc, worldScaleOf(prim, rootScale), intensityScale, warnOnce);\n    if (!light) continue;\n\n    light.name = desc.name;\n    light.userData.kind = \"light\";\n    light.userData.primPath = desc.primPath;\n    light.userData.usdLight = desc;\n\n    attachAtPrim(light, prim, anchors, robot3d);\n\n    if (shadows) configureShadow(light, desc, prim, rootScale, robot3d, sceneMetrics);\n    lights.push(light);\n  }\n\n  return { lights, domes };\n}\n\n/** UsdLux lights emit along their local −Z; Three.js directional/spot lights\n * aim at a `target` object, so one is parented inside the light at (0, 0, −1). */\nfunction aimAlongMinusZ(light: THREE.DirectionalLight | THREE.SpotLight): void {\n  const target = new THREE.Object3D();\n  target.name = \"target\";\n  target.position.set(0, 0, -1);\n  light.add(target);\n  light.target = target;\n}\n\n/**\n * Realize a (non-dome) light description as a Three.js light. `worldScale`\n * converts authored emitter sizes (stage units under the prim's accumulated\n * scale — stock Isaac rooms scale their light prims) into world meters, which\n * `RectAreaLight` sizes require because Three.js ignores ancestor scale there.\n */\nfunction createThreeLight(\n  desc: LightDescription,\n  worldScale: number,\n  intensityScale: number,\n  warnOnce: (key: string, message: string) => void,\n): THREE.Light | null {\n  const color = new THREE.Color(desc.color[0], desc.color[1], desc.color[2]);\n  const intensity = desc.intensity * intensityScale;\n\n  switch (desc.kind) {\n    case \"distant\": {\n      const light = new THREE.DirectionalLight(color, intensity);\n      aimAlongMinusZ(light);\n      return light;\n    }\n    case \"sphere\": {\n      if (desc.cone) {\n        const angle = THREE.MathUtils.degToRad(Math.min(desc.cone.angleDeg, 89.9));\n        const penumbra = Math.min(Math.max(desc.cone.softness, 0), 1);\n        const light = new THREE.SpotLight(color, intensity, 0, angle, penumbra);\n        aimAlongMinusZ(light);\n        return light;\n      }\n      return new THREE.PointLight(color, intensity);\n    }\n    case \"rect\": {\n      const width = (desc.width ?? 1) * worldScale;\n      const height = (desc.height ?? 1) * worldScale;\n      return new THREE.RectAreaLight(color, intensity, width, height);\n    }\n    case \"disk\": {\n      // Square area light matched to the disk: side 2r, emission scaled by the\n      // disk/square area ratio (π/4) so total output stays comparable.\n      const side = 2 * (desc.radius ?? 0.5) * worldScale;\n      return new THREE.RectAreaLight(color, intensity * (Math.PI / 4), side, side);\n    }\n    case \"cylinder\":\n      warnOnce(\n        \"CylinderLight\",\n        `CylinderLight has no Three.js equivalent; approximating as a point light (e.g. ${desc.primPath})`,\n      );\n      return new THREE.PointLight(color, intensity);\n    case \"dome\":\n      return null; // collected by the caller\n  }\n}\n\n/**\n * Enable and fit shadows. Directional and spot lights cast per ShadowAPI\n * (`shadow:enable` defaults on); point lights only when `shadow:enable` is\n * explicitly authored `true` — a point shadow renders six cube faces, too\n * expensive to switch on for every stock ceiling light. RectAreaLight cannot\n * cast shadows in Three.js.\n */\nfunction configureShadow(\n  light: THREE.Light,\n  desc: LightDescription,\n  prim: Prim,\n  rootScale: number,\n  robot3d: ThreeUsdRobot,\n  sceneMetrics: () => { center: THREE.Vector3; radius: number },\n): void {\n  const directionalOrSpot =\n    (light as THREE.DirectionalLight).isDirectionalLight || (light as THREE.SpotLight).isSpotLight;\n  const cast = directionalOrSpot\n    ? desc.shadowEnabled\n    : (light as THREE.PointLight).isPointLight && desc.shadowAuthored && desc.shadowEnabled;\n  if (!cast) return;\n\n  const { center, radius } = sceneMetrics();\n  // Light position in the normalized world (stage world × root scale/rotation);\n  // good enough to range the shadow camera even for link-mounted lights.\n  const m = computeWorldTransform(prim);\n  const position = new THREE.Vector3(m[12], m[13], m[14])\n    .multiplyScalar(rootScale)\n    .applyQuaternion(robot3d.quaternion);\n  const distance = position.distanceTo(center);\n\n  light.castShadow = true;\n\n  if ((light as THREE.DirectionalLight).isDirectionalLight) {\n    const shadow = (light as THREE.DirectionalLight).shadow;\n    shadow.normalBias = 0.02 * radius;\n    const camera = shadow.camera;\n    const extent = radius * 1.5;\n    camera.left = -extent;\n    camera.right = extent;\n    camera.top = extent;\n    camera.bottom = -extent;\n    // Negative near keeps geometry behind a light placed inside the scene\n    // (distant lights often sit at the origin) inside the ortho frustum.\n    camera.near = distance - 2.5 * radius;\n    camera.far = distance + 2.5 * radius;\n    camera.updateProjectionMatrix();\n    shadow.mapSize.set(2048, 2048);\n  } else if ((light as THREE.SpotLight).isSpotLight) {\n    const shadow = (light as THREE.SpotLight).shadow;\n    shadow.normalBias = 0.02 * radius;\n    shadow.camera.near = radius / 100;\n    shadow.camera.far = distance + 2.5 * radius;\n    shadow.camera.updateProjectionMatrix();\n    shadow.mapSize.set(1024, 1024);\n  } else {\n    const shadow = (light as THREE.PointLight).shadow;\n    shadow.normalBias = 0.02 * radius;\n    shadow.camera.near = radius / 100;\n    shadow.camera.far = Math.max(4 * radius, distance + 2 * radius);\n    shadow.camera.updateProjectionMatrix();\n    shadow.mapSize.set(512, 512);\n  }\n}\n","/**\n * Binds renderable gprims — `UsdGeom.Mesh` plus the parametric solids (`Cube` /\n * `Sphere` / `Cylinder` / `Capsule` / `Cone`) — to Three.js geometry and\n * attaches them under the robot's link objects.\n *\n * Meshes are triangulated with a simple fan. Primvars (`st` UV sets, `normals`,\n * `displayColor`) resolve with USD interpolation semantics — `:indices`\n * de-referencing, vertex vs faceVarying (de-indexed) layouts, multiple UV\n * channels. Solids tessellate from their schema attributes. Geometry is left\n * in stage units; the global `metersPerUnit` scale is applied at the root in M9.\n */\n\nimport * as THREE from \"three\";\nimport { type Mat4, identity4, multiply } from \"../kinematics/transforms.js\";\nimport type { Vec2, Vec3 } from \"../parser/ast.js\";\nimport type { RobotDescription } from \"../robot/RobotDescription.js\";\nimport {\n  type MaterialSubset,\n  getMaterialSubsets,\n  isNonVisualPurpose,\n  isRenderableGprim,\n} from \"../schemas/usdGeom.js\";\nimport { COLLISION_API } from \"../schemas/usdPhysics.js\";\nimport type { Prim } from \"../usd/Prim.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport type { MdlModuleProvider } from \"../usd/mdl/parseMdl.js\";\nimport { computeLocalTransform } from \"../usd/xformOps.js\";\nimport {\n  type ResolveMaterialOptions,\n  type ResolvedTexture,\n  resolveBoundMaterial,\n} from \"./MaterialBinding.js\";\nimport type { TextureProvider } from \"./TextureBinding.js\";\nimport type { ThreeUsdRobot } from \"./ThreeUsdRobot.js\";\n\nexport type MeshKind = \"visual\" | \"collision\";\n\n/**\n * Replaces material creation for mesh-like gprims (`Mesh` and the parametric\n * solids). Return `null` to fall back to the default `UsdShade` resolution —\n * the hook that lets the optional `three-usd-robot/nodes` entry build TSL\n * `NodeMaterial`s without the core depending on `three/webgpu` (M22).\n */\nexport type MaterialFactory = (prim: Prim, stage: Stage) => THREE.Material | null;\n\nconst DEFAULT_COLOR = 0x9a9a9a;\n\nexport type BindMeshesOptions = {\n  loadVisuals?: boolean;\n  loadCollisions?: boolean;\n  /** Resolves diffuse texture asset paths to `THREE.Texture` (M-tex). */\n  textureProvider?: TextureProvider;\n  /** Render `BasisCurves` with authored `widths` as tube meshes (M18). */\n  curveTubes?: boolean;\n  /** Receives fidelity diagnostics (channel-packing mismatches, M19). */\n  onWarn?: (message: string) => void;\n  /** Parsed `.mdl` modules for MDL material family/value resolution (M20). */\n  mdl?: MdlModuleProvider;\n  /** Overrides material creation for mesh-like gprims (M22). */\n  materialFactory?: MaterialFactory;\n  /** Flag visual meshes `castShadow` / `receiveShadow` (M25). */\n  shadows?: boolean;\n};\n\n/** Interpolation domain of a resolved primvar (UsdGeom tokens; `varying` ⇒ `vertex`). */\ntype PrimvarInterpolation = \"constant\" | \"uniform\" | \"vertex\" | \"faceVarying\";\n\ntype ResolvedPrimvar = {\n  /** Tuples after `primvars:<name>:indices` de-referencing. */\n  values: number[][];\n  interpolation: PrimvarInterpolation;\n};\n\n/** Element counts of the interpolation domains on a mesh. */\ntype MeshLens = { points: number; faceVertices: number; faces: number };\n\n/**\n * Read a primvar (or a bare attribute like `normals`): applies the paired\n * `:indices` array, then resolves the interpolation — authored metadata\n * first, else inferred from the value count. Data too short for its domain\n * degrades to constant instead of producing a broken attribute.\n */\nfunction readPrimvar(\n  meshPrim: Prim,\n  attrName: string,\n  isTuple: (v: unknown) => boolean,\n  lens: MeshLens,\n): ResolvedPrimvar | null {\n  const attr = meshPrim.GetAttribute(attrName);\n  const raw = attr.Get();\n  if (!isTuple(raw) || (raw as number[][]).length === 0) return null;\n  const base = raw as number[][];\n  let values = base;\n  const idx = meshPrim.GetAttribute(`${attrName}:indices`).Get();\n  if (isNumberArray(idx)) values = idx.map((i) => base[i] ?? base[0]!);\n\n  const authored = attr.GetMetadata(\"interpolation\");\n  let interpolation: PrimvarInterpolation;\n  if (authored === \"varying\")\n    interpolation = \"vertex\"; // ≡ vertex on polygon meshes\n  else if (\n    authored === \"constant\" ||\n    authored === \"uniform\" ||\n    authored === \"vertex\" ||\n    authored === \"faceVarying\"\n  ) {\n    interpolation = authored;\n  } else if (values.length === lens.points && lens.points > 0) interpolation = \"vertex\";\n  else if (values.length === lens.faceVertices && lens.faceVertices > 0)\n    interpolation = \"faceVarying\";\n  else if (values.length === lens.faces && lens.faces > 0) interpolation = \"uniform\";\n  else interpolation = \"constant\";\n\n  const needed =\n    interpolation === \"vertex\"\n      ? lens.points\n      : interpolation === \"faceVarying\"\n        ? lens.faceVertices\n        : interpolation === \"uniform\"\n          ? lens.faces\n          : 1;\n  if (values.length < needed) interpolation = \"constant\";\n  return { values, interpolation };\n}\n\n/**\n * UV-set primvar names authored on a mesh — `\"st\"` first (three's `uv`\n * attribute / channel 0), extras sorted (`uv1`, `uv2`, …). The geometry and\n * material builders both derive the channel mapping from this order.\n */\n/** UV-capable primvar value types (pxr spells it `texCoord2f`, assets vary). */\nconst UV_TYPE_NAMES: ReadonlySet<string> = new Set([\"texcoord2f\", \"float2\"]);\n\nfunction meshUvSetNames(meshPrim: Prim): string[] {\n  const sets: string[] = [];\n  for (const attr of meshPrim.GetAttributes()) {\n    const name = attr.GetName();\n    if (!name.startsWith(\"primvars:\") || name.endsWith(\":indices\")) continue;\n    if (!attr.IsArray()) continue;\n    if (!UV_TYPE_NAMES.has(attr.GetTypeName().toLowerCase())) continue;\n    sets.push(name.slice(\"primvars:\".length));\n  }\n  sets.sort((a, b) => (a === \"st\" ? -1 : b === \"st\" ? 1 : a < b ? -1 : 1));\n  return sets;\n}\n\nfunction uvAttrName(index: number): string {\n  return index === 0 ? \"uv\" : `uv${index}`;\n}\n\nfunction meshLens(meshPrim: Prim): MeshLens {\n  const points = meshPrim.GetAttribute(\"points\").Get();\n  const counts = meshPrim.GetAttribute(\"faceVertexCounts\").Get();\n  const indices = meshPrim.GetAttribute(\"faceVertexIndices\").Get();\n  const hasTopology = isNumberArray(counts) && isNumberArray(indices);\n  return {\n    points: isVec3Array(points) ? points.length : 0,\n    faceVertices: hasTopology ? (indices as number[]).length : 0,\n    faces: hasTopology ? (counts as number[]).length : 0,\n  };\n}\n\n/** The mesh's `primvars:displayColor`, resolved — shared by geometry & material. */\nfunction displayColorPrimvar(meshPrim: Prim): ResolvedPrimvar | null {\n  return readPrimvar(meshPrim, \"primvars:displayColor\", isVec3Array, meshLens(meshPrim));\n}\n\n/**\n * Build a `BufferGeometry` from a Mesh prim, or `null` if it has no points.\n *\n * Primvars resolve with full interpolation semantics (M19): `:indices` arrays\n * are de-referenced, vertex-interpolated `st` sets / `normals` /\n * `displayColor` bind onto the shared vertices, and any faceVarying primvar\n * (or per-face color) switches the mesh to a de-indexed layout where every\n * face corner owns its vertex. Extra UV sets become `uv1`, `uv2`, … in\n * {@link meshUvSetNames} order.\n *\n * When the mesh carries `materialBind` face subsets, the triangles are ordered\n * subset by subset and a geometry group is added for each — so the mesh can be\n * drawn with one material per subset (see {@link buildMeshMaterials}). Group\n * order matches {@link getMaterialSubsets}, with any unassigned faces last.\n */\nexport function buildMeshGeometry(meshPrim: Prim): THREE.BufferGeometry | null {\n  const points = meshPrim.GetAttribute(\"points\").Get();\n  if (!isVec3Array(points) || points.length === 0) return null;\n\n  const countsRaw = meshPrim.GetAttribute(\"faceVertexCounts\").Get();\n  const indicesRaw = meshPrim.GetAttribute(\"faceVertexIndices\").Get();\n  const counts = isNumberArray(countsRaw) ? countsRaw : null;\n  const indices = isNumberArray(indicesRaw) ? indicesRaw : null;\n  const lens: MeshLens = {\n    points: points.length,\n    faceVertices: counts && indices ? indices.length : 0,\n    faces: counts && indices ? counts.length : 0,\n  };\n\n  const uvSets = meshUvSetNames(meshPrim).map((set) =>\n    readPrimvar(meshPrim, `primvars:${set}`, isVec2Array, lens),\n  );\n  const normals =\n    readPrimvar(meshPrim, \"primvars:normals\", isVec3Array, lens) ??\n    readPrimvar(meshPrim, \"normals\", isVec3Array, lens);\n  const color = displayColorPrimvar(meshPrim);\n\n  // Face-varying data (or per-face color) cannot live on shared vertices.\n  const expand =\n    counts !== null &&\n    indices !== null &&\n    ([...uvSets, normals].some((p) => p?.interpolation === \"faceVarying\") ||\n      color?.interpolation === \"faceVarying\" ||\n      color?.interpolation === \"uniform\");\n\n  return expand\n    ? buildExpandedGeometry(meshPrim, points, counts!, indices!, uvSets, normals, color)\n    : buildIndexedGeometry(meshPrim, points, counts, indices, uvSets, normals, color);\n}\n\n/** Shared-vertex (indexed) layout: all primvars are per-vertex or absent. */\nfunction buildIndexedGeometry(\n  meshPrim: Prim,\n  points: Vec3[],\n  counts: number[] | null,\n  indices: number[] | null,\n  uvSets: (ResolvedPrimvar | null)[],\n  normals: ResolvedPrimvar | null,\n  color: ResolvedPrimvar | null,\n): THREE.BufferGeometry {\n  const geometry = new THREE.BufferGeometry();\n  geometry.setAttribute(\"position\", new THREE.Float32BufferAttribute(flat3(points), 3));\n\n  if (counts && indices) {\n    const subsets = getMaterialSubsets(meshPrim);\n    if (subsets.length > 0) {\n      geometry.setIndex(triangulateBySubset(geometry, counts, indices, subsets));\n    } else {\n      geometry.setIndex(triangulate(counts, indices));\n    }\n  } else if (indices) {\n    geometry.setIndex(indices.slice());\n  }\n\n  if (normals?.interpolation === \"vertex\") {\n    geometry.setAttribute(\n      \"normal\",\n      new THREE.Float32BufferAttribute(flat3(normals.values.slice(0, points.length) as Vec3[]), 3),\n    );\n  } else {\n    geometry.computeVertexNormals();\n  }\n  for (const [i, uv] of uvSets.entries()) {\n    if (uv?.interpolation !== \"vertex\") continue;\n    geometry.setAttribute(\n      uvAttrName(i),\n      new THREE.Float32BufferAttribute(flat2(uv.values.slice(0, points.length) as Vec2[]), 2),\n    );\n  }\n  if (color?.interpolation === \"vertex\") {\n    geometry.setAttribute(\n      \"color\",\n      new THREE.Float32BufferAttribute(flat3(color.values.slice(0, points.length) as Vec3[]), 3),\n    );\n  }\n  return geometry;\n}\n\n/**\n * De-indexed layout for faceVarying primvars: triangulate to face-corner\n * \"slots\", then emit one vertex per corner, sampling each primvar in its own\n * interpolation domain. Subset groups carry over in corner units.\n */\nfunction buildExpandedGeometry(\n  meshPrim: Prim,\n  points: Vec3[],\n  counts: number[],\n  indices: number[],\n  uvSets: (ResolvedPrimvar | null)[],\n  normals: ResolvedPrimvar | null,\n  color: ResolvedPrimvar | null,\n): THREE.BufferGeometry {\n  const { slots, faces, groups } = triangulateToSlots(counts, getMaterialSubsets(meshPrim));\n\n  const sample = (p: ResolvedPrimvar, corner: number): number[] => {\n    switch (p.interpolation) {\n      case \"faceVarying\":\n        return p.values[slots[corner]!] ?? p.values[0]!;\n      case \"vertex\":\n        return p.values[indices[slots[corner]!]!] ?? p.values[0]!;\n      case \"uniform\":\n        return p.values[faces[corner]!] ?? p.values[0]!;\n      default:\n        return p.values[0]!;\n    }\n  };\n\n  const geometry = new THREE.BufferGeometry();\n  const position = new Array<number>(slots.length * 3);\n  for (let c = 0; c < slots.length; c++) {\n    const v = points[indices[slots[c]!]!] ?? [0, 0, 0];\n    position[c * 3] = v[0];\n    position[c * 3 + 1] = v[1];\n    position[c * 3 + 2] = v[2];\n  }\n  geometry.setAttribute(\"position\", new THREE.Float32BufferAttribute(position, 3));\n\n  for (const [i, uv] of uvSets.entries()) {\n    if (!uv || uv.interpolation === \"constant\") continue;\n    const out = new Array<number>(slots.length * 2);\n    for (let c = 0; c < slots.length; c++) {\n      const t = sample(uv, c);\n      out[c * 2] = t[0] ?? 0;\n      out[c * 2 + 1] = t[1] ?? 0;\n    }\n    geometry.setAttribute(uvAttrName(i), new THREE.Float32BufferAttribute(out, 2));\n  }\n\n  const emitVec3 = (p: ResolvedPrimvar, name: string) => {\n    const out = new Array<number>(slots.length * 3);\n    for (let c = 0; c < slots.length; c++) {\n      const t = sample(p, c);\n      out[c * 3] = t[0] ?? 0;\n      out[c * 3 + 1] = t[1] ?? 0;\n      out[c * 3 + 2] = t[2] ?? 0;\n    }\n    geometry.setAttribute(name, new THREE.Float32BufferAttribute(out, 3));\n  };\n  if (normals && normals.interpolation !== \"constant\") emitVec3(normals, \"normal\");\n  else geometry.computeVertexNormals();\n  if (color && color.interpolation !== \"constant\") emitVec3(color, \"color\");\n\n  for (const g of groups) geometry.addGroup(g.start, g.count, g.materialIndex);\n  return geometry;\n}\n\n/**\n * Triangulate faces into corner-slot triples (subset by subset, unassigned\n * faces last — the ordering contract of {@link triangulateBySubset}), keeping\n * the owning face of every corner and the subset group ranges.\n */\nfunction triangulateToSlots(\n  faceVertexCounts: number[],\n  subsets: MaterialSubset[],\n): {\n  slots: number[];\n  faces: number[];\n  groups: { start: number; count: number; materialIndex: number }[];\n} {\n  const faceStart: number[] = [];\n  let offset = 0;\n  for (const count of faceVertexCounts) {\n    faceStart.push(offset);\n    offset += count;\n  }\n\n  const slots: number[] = [];\n  const faces: number[] = [];\n  const emit = (face: number) => {\n    const start = faceStart[face]!;\n    const count = faceVertexCounts[face]!;\n    for (let k = 2; k < count; k++) {\n      slots.push(start, start + k - 1, start + k);\n      faces.push(face, face, face);\n    }\n  };\n\n  const groups: { start: number; count: number; materialIndex: number }[] = [];\n  if (subsets.length === 0) {\n    for (let face = 0; face < faceVertexCounts.length; face++) emit(face);\n    return { slots, faces, groups };\n  }\n\n  const claimed = new Uint8Array(faceVertexCounts.length);\n  for (const [index, subset] of subsets.entries()) {\n    const begin = slots.length;\n    for (const face of subset.faces) {\n      if (face < 0 || face >= faceVertexCounts.length || claimed[face]) continue;\n      claimed[face] = 1;\n      emit(face);\n    }\n    if (slots.length > begin) {\n      groups.push({ start: begin, count: slots.length - begin, materialIndex: index });\n    }\n  }\n  const begin = slots.length;\n  for (let face = 0; face < faceVertexCounts.length; face++) {\n    if (!claimed[face]) emit(face);\n  }\n  if (slots.length > begin) {\n    groups.push({ start: begin, count: slots.length - begin, materialIndex: subsets.length });\n  }\n  return { slots, faces, groups };\n}\n\n/**\n * Build geometry for any renderable gprim: `Mesh` via {@link buildMeshGeometry},\n * parametric solids from their schema attributes. Solids follow UsdGeom\n * semantics — sizes in stage units, centered at the origin, `axis` (default\n * `\"Z\"`) along the spine, and a capsule's `height` spans only its cylindrical\n * section. Returns `null` for unsupported prim types.\n */\nexport function buildGprimGeometry(prim: Prim): THREE.BufferGeometry | null {\n  switch (prim.GetTypeName()) {\n    case \"Mesh\":\n      return buildMeshGeometry(prim);\n    case \"Cube\": {\n      const size = getNumber(prim, \"size\") ?? 2;\n      return new THREE.BoxGeometry(size, size, size);\n    }\n    case \"Sphere\":\n      return new THREE.SphereGeometry(getNumber(prim, \"radius\") ?? 1, 32, 16);\n    case \"Cylinder\": {\n      const radius = getNumber(prim, \"radius\") ?? 1;\n      const height = getNumber(prim, \"height\") ?? 2;\n      return orientSpine(new THREE.CylinderGeometry(radius, radius, height, 32), prim);\n    }\n    case \"Capsule\": {\n      const radius = getNumber(prim, \"radius\") ?? 0.5;\n      const height = getNumber(prim, \"height\") ?? 1;\n      return orientSpine(new THREE.CapsuleGeometry(radius, height, 8, 32), prim);\n    }\n    case \"Cone\": {\n      const radius = getNumber(prim, \"radius\") ?? 1;\n      const height = getNumber(prim, \"height\") ?? 2;\n      return orientSpine(new THREE.ConeGeometry(radius, height, 32), prim);\n    }\n    default:\n      return null;\n  }\n}\n\nexport type BuildGprimOptions = {\n  /** Resolves texture asset paths for mesh materials. */\n  textureProvider?: TextureProvider;\n  /**\n   * Render `BasisCurves` that author `widths` as tube meshes instead of\n   * 1-px lines (default `false`).\n   */\n  curveTubes?: boolean;\n  /** Receives fidelity diagnostics (channel-packing mismatches, M19). */\n  onWarn?: (message: string) => void;\n  /** Parsed `.mdl` modules for MDL material family/value resolution (M20). */\n  mdl?: MdlModuleProvider;\n  /** Overrides material creation for mesh-like gprims (M22). */\n  materialFactory?: MaterialFactory;\n  /**\n   * Flag mesh-like gprims `castShadow` / `receiveShadow` (M25). Free until a\n   * renderer enables shadow maps; fully transparent / transmissive meshes\n   * still receive but do not cast (Three.js shadows would be opaque black).\n   */\n  shadows?: boolean;\n};\n\n/**\n * Build a renderable `THREE.Object3D` for any supported gprim (M18):\n * `Mesh` and the parametric solids become a `THREE.Mesh` (via\n * {@link buildGprimGeometry} + {@link buildMeshMaterials}), `Points` a\n * `THREE.Points`, and `BasisCurves` a `THREE.Group` holding one line — or,\n * with {@link BuildGprimOptions.curveTubes}, one tube mesh — per curve.\n * Returns `null` for unsupported prim types and degenerate geometry.\n */\nexport function buildGprimObject(\n  prim: Prim,\n  stage?: Stage,\n  options: BuildGprimOptions = {},\n): THREE.Object3D | null {\n  switch (prim.GetTypeName()) {\n    case \"Points\":\n      return buildPointsObject(prim, stage, options.mdl);\n    case \"BasisCurves\":\n      return buildBasisCurvesObject(prim, stage, options.curveTubes ?? false, options.mdl);\n    default: {\n      const geometry = buildGprimGeometry(prim);\n      if (!geometry) return null;\n      // The factory (M22) replaces the whole material; `null` means \"not mine\".\n      const custom = stage && options.materialFactory ? options.materialFactory(prim, stage) : null;\n      const mesh = new THREE.Mesh(\n        geometry,\n        custom ??\n          buildMeshMaterials(prim, stage, options.textureProvider, options.onWarn, options.mdl),\n      );\n      if (options.shadows) applyShadowFlags(mesh);\n      return mesh;\n    }\n  }\n}\n\n/**\n * Mark a mesh for shadow rendering (M25): it always receives; it casts unless\n * every material slot is transparent or transmissive — Three.js shadow maps\n * render such a mesh as an opaque blocker, which reads worse than no shadow.\n */\nfunction applyShadowFlags(mesh: THREE.Mesh): void {\n  mesh.receiveShadow = true;\n  const materials = Array.isArray(mesh.material) ? mesh.material : [mesh.material];\n  mesh.castShadow = materials.some((material) => {\n    const transmission = (material as THREE.MeshPhysicalMaterial).transmission ?? 0;\n    return !material.transparent && transmission === 0;\n  });\n}\n\n/**\n * Flat color/opacity for point/curve materials — the same priority as meshes:\n * bound `UsdShade` diffuse → constant `primvars:displayColor` → default gray.\n */\nfunction resolveFlatColor(\n  prim: Prim,\n  stage?: Stage,\n  mdl?: MdlModuleProvider,\n): { color: THREE.Color; opacity: number; name?: string } {\n  const color = new THREE.Color(DEFAULT_COLOR);\n  const bound = stage ? resolveBoundMaterial(stage, prim, mdl ? { mdl } : {}) : undefined;\n  if (bound?.color) {\n    color.setRGB(bound.color[0], bound.color[1], bound.color[2]);\n  } else {\n    const displayColor = prim.GetAttribute(\"primvars:displayColor\").Get();\n    if (isVec3Array(displayColor) && displayColor[0]) {\n      color.setRGB(displayColor[0][0], displayColor[0][1], displayColor[0][2]);\n    }\n  }\n  const result: { color: THREE.Color; opacity: number; name?: string } = {\n    color,\n    opacity: bound?.opacity ?? 1,\n  };\n  if (bound?.name) result.name = bound.name;\n  return result;\n}\n\n/** Mean of an authored `widths` array (USD widths are world-space diameters). */\nfunction meanWidth(prim: Prim): number | undefined {\n  const widths = prim.GetAttribute(\"widths\").Get();\n  if (!isNumberArray(widths) || widths.length === 0) return undefined;\n  return widths.reduce((a, b) => a + b, 0) / widths.length;\n}\n\n/**\n * `Points` → `THREE.Points`. Per-point `primvars:displayColor` becomes vertex\n * colors; `widths` (diameters) have no per-point equivalent in\n * `PointsMaterial`, so their mean becomes the world-space point size. Without\n * widths, points draw as fixed 3-px dots.\n */\nfunction buildPointsObject(\n  prim: Prim,\n  stage?: Stage,\n  mdl?: MdlModuleProvider,\n): THREE.Points | null {\n  const points = prim.GetAttribute(\"points\").Get();\n  if (!isVec3Array(points) || points.length === 0) return null;\n\n  const geometry = new THREE.BufferGeometry();\n  geometry.setAttribute(\"position\", new THREE.Float32BufferAttribute(flat3(points), 3));\n\n  const flat = resolveFlatColor(prim, stage, mdl);\n  const material = new THREE.PointsMaterial({ color: flat.color });\n  if (flat.opacity < 1) {\n    material.transparent = true;\n    material.opacity = flat.opacity;\n  }\n  if (flat.name) material.name = flat.name;\n\n  const displayColor = prim.GetAttribute(\"primvars:displayColor\").Get();\n  if (isVec3Array(displayColor) && displayColor.length === points.length && points.length > 1) {\n    geometry.setAttribute(\"color\", new THREE.Float32BufferAttribute(flat3(displayColor), 3));\n    material.vertexColors = true;\n    material.color.set(0xffffff); // let the vertex colors drive\n  }\n\n  const width = meanWidth(prim);\n  if (width !== undefined && width > 0) {\n    material.size = width;\n    material.sizeAttenuation = true;\n  } else {\n    material.size = 3;\n    material.sizeAttenuation = false;\n  }\n  return new THREE.Points(geometry, material);\n}\n\n/** Polyline samples per cubic curve segment. */\nconst CURVE_DIVISIONS = 8;\n\n/**\n * Uniform cubic basis matrices, rows weighting `[t³, t², t, 1]` —\n * `p(t) = [t³ t² t 1] · M · [P0 P1 P2 P3]ᵀ` (RenderMan/USD conventions).\n */\nconst CUBIC_BASES: Record<string, { m: number[][]; vstep: number }> = {\n  // biome-ignore format: keep matrix layout readable\n  bezier: {\n    m: [\n      [-1, 3, -3, 1],\n      [3, -6, 3, 0],\n      [-3, 3, 0, 0],\n      [1, 0, 0, 0],\n    ],\n    vstep: 3,\n  },\n  // biome-ignore format: keep matrix layout readable\n  bspline: {\n    m: [\n      [-1 / 6, 3 / 6, -3 / 6, 1 / 6],\n      [3 / 6, -6 / 6, 3 / 6, 0],\n      [-3 / 6, 0, 3 / 6, 0],\n      [1 / 6, 4 / 6, 1 / 6, 0],\n    ],\n    vstep: 1,\n  },\n  // biome-ignore format: keep matrix layout readable\n  catmullRom: {\n    m: [\n      [-1 / 2, 3 / 2, -3 / 2, 1 / 2],\n      [2 / 2, -5 / 2, 4 / 2, -1 / 2],\n      [-1 / 2, 0, 1 / 2, 0],\n      [0, 2 / 2, 0, 0],\n    ],\n    vstep: 1,\n  },\n};\n\n/**\n * Sample one cubic curve into a polyline. Periodic curves wrap their control\n * points and omit the closing sample (the caller closes with a `LineLoop`);\n * nonperiodic curves include both endpoints. Returns `null` when there are\n * too few CVs for a single segment.\n */\nfunction sampleCubicCurve(cvs: Vec3[], basisName: string, periodic: boolean): Vec3[] | null {\n  const basis = CUBIC_BASES[basisName] ?? CUBIC_BASES.bezier!;\n  const n = cvs.length;\n  const nseg = periodic ? Math.floor(n / basis.vstep) : Math.floor((n - 4) / basis.vstep) + 1;\n  if (n < 4 || nseg < 1) return null;\n\n  const out: Vec3[] = [];\n  for (let s = 0; s < nseg; s++) {\n    const i0 = s * basis.vstep;\n    const P = [cvs[i0 % n]!, cvs[(i0 + 1) % n]!, cvs[(i0 + 2) % n]!, cvs[(i0 + 3) % n]!];\n    // Segments share boundary points: sample [0, 1) per segment, plus the\n    // final t=1 endpoint only on the last nonperiodic segment.\n    const last = !periodic && s === nseg - 1 ? CURVE_DIVISIONS : CURVE_DIVISIONS - 1;\n    for (let k = 0; k <= last; k++) {\n      const t = k / CURVE_DIVISIONS;\n      const w = [t * t * t, t * t, t, 1];\n      const point: Vec3 = [0, 0, 0];\n      for (let i = 0; i < 4; i++) {\n        let b = 0;\n        for (let j = 0; j < 4; j++) b += w[j]! * basis.m[j]![i]!;\n        point[0] += b * P[i]![0];\n        point[1] += b * P[i]![1];\n        point[2] += b * P[i]![2];\n      }\n      out.push(point);\n    }\n  }\n  return out;\n}\n\n/** A piecewise-linear `CurvePath` through `samples`, for tube tessellation. */\nfunction polylinePath(samples: Vec3[], closed: boolean): THREE.CurvePath<THREE.Vector3> {\n  const path = new THREE.CurvePath<THREE.Vector3>();\n  const vecs = samples.map(([x, y, z]) => new THREE.Vector3(x, y, z));\n  for (let i = 0; i < vecs.length - 1; i++) path.add(new THREE.LineCurve3(vecs[i]!, vecs[i + 1]!));\n  if (closed) path.add(new THREE.LineCurve3(vecs[vecs.length - 1]!, vecs[0]!));\n  return path;\n}\n\n/**\n * `BasisCurves` → a `THREE.Group` with one object per curve. `type=\"linear\"`\n * connects the CVs directly; `type=\"cubic\"` samples the authored `basis`\n * (`bezier` / `bspline` / `catmullRom`, uniform cubic evaluation) at\n * {@link CURVE_DIVISIONS} points per segment. `wrap=\"periodic\"` closes each\n * curve (`THREE.LineLoop`). With `curveTubes` and authored `widths`, curves\n * tessellate into `TubeGeometry` meshes of radius `mean(widths) / 2` instead.\n */\nfunction buildBasisCurvesObject(\n  prim: Prim,\n  stage: Stage | undefined,\n  curveTubes: boolean,\n  mdl?: MdlModuleProvider,\n): THREE.Object3D | null {\n  const points = prim.GetAttribute(\"points\").Get();\n  const counts = prim.GetAttribute(\"curveVertexCounts\").Get();\n  if (!isVec3Array(points) || !isNumberArray(counts) || counts.length === 0) return null;\n\n  const curveType = prim.GetAttribute(\"type\").Get() ?? \"cubic\";\n  const basisName = prim.GetAttribute(\"basis\").Get() ?? \"bezier\";\n  const periodic = prim.GetAttribute(\"wrap\").Get() === \"periodic\";\n\n  const flat = resolveFlatColor(prim, stage, mdl);\n  const width = meanWidth(prim);\n  const asTubes = curveTubes && width !== undefined && width > 0;\n\n  const material = asTubes\n    ? new THREE.MeshStandardMaterial({ color: flat.color, roughness: 0.8, metalness: 0.1 })\n    : new THREE.LineBasicMaterial({ color: flat.color });\n  if (flat.opacity < 1) {\n    material.transparent = true;\n    material.opacity = flat.opacity;\n  }\n  if (flat.name) material.name = flat.name;\n\n  const group = new THREE.Group();\n  let offset = 0;\n  for (const count of counts) {\n    const cvs = points.slice(offset, offset + count);\n    offset += count;\n    const samples =\n      curveType === \"linear\"\n        ? cvs.length >= 2\n          ? cvs\n          : null\n        : sampleCubicCurve(cvs, typeof basisName === \"string\" ? basisName : \"bezier\", periodic);\n    if (!samples || samples.length < 2) continue;\n\n    if (asTubes) {\n      const path = polylinePath(samples, periodic);\n      const geometry = new THREE.TubeGeometry(\n        path,\n        Math.max(samples.length, 2),\n        width / 2,\n        8,\n        periodic,\n      );\n      group.add(new THREE.Mesh(geometry, material));\n    } else {\n      const geometry = new THREE.BufferGeometry();\n      geometry.setAttribute(\"position\", new THREE.Float32BufferAttribute(flat3(samples), 3));\n      group.add(\n        periodic ? new THREE.LineLoop(geometry, material) : new THREE.Line(geometry, material),\n      );\n    }\n  }\n  return group.children.length > 0 ? group : null;\n}\n\nfunction getNumber(prim: Prim, name: string): number | undefined {\n  const v = prim.GetAttribute(name).Get();\n  return typeof v === \"number\" ? v : undefined;\n}\n\n/** Rotate a Y-spined three.js primitive onto the prim's `axis` (USD default `Z`). */\nfunction orientSpine(geometry: THREE.BufferGeometry, prim: Prim): THREE.BufferGeometry {\n  const axis = prim.GetAttribute(\"axis\").Get();\n  if (axis === \"Y\") return geometry;\n  if (axis === \"X\") return geometry.rotateZ(-Math.PI / 2);\n  return geometry.rotateX(Math.PI / 2);\n}\n\n/**\n * Build a material for a gprim. Color priority: bound `UsdShade` material\n * (when `stage` is given) → `primvars:displayColor` → default gray. Textures\n * (via `textures`) become the matching `MeshStandardMaterial` maps — diffuse →\n * `map` (sRGB), plus `normalMap` / `roughnessMap` / `metalnessMap` / `aoMap`\n * (linear data) and emissive `emissiveMap`. Metalness / roughness / opacity /\n * emissive constants come from the bound material when present.\n */\nexport function buildMeshMaterial(\n  meshPrim: Prim,\n  stage?: Stage,\n  textures?: TextureProvider,\n  /** Resolve the material binding from here instead (a `GeomSubset`). */\n  bindingPrim?: Prim,\n  /** Receives fidelity diagnostics (channel-packing mismatches, M19). */\n  onWarn?: (message: string) => void,\n  /** Parsed `.mdl` modules for MDL material family/value resolution (M20). */\n  mdl?: MdlModuleProvider,\n): THREE.Material {\n  const color = new THREE.Color(DEFAULT_COLOR);\n  let opacity = 1;\n  let vertexColors = false;\n\n  const resolveOptions: ResolveMaterialOptions = {\n    ...(mdl ? { mdl } : {}),\n    ...(onWarn ? { onWarn } : {}),\n  };\n  const bound = stage\n    ? resolveBoundMaterial(stage, bindingPrim ?? meshPrim, resolveOptions)\n    : undefined;\n  if (bound?.color) {\n    color.setRGB(bound.color[0], bound.color[1], bound.color[2]);\n  } else {\n    const displayColor = displayColorPrimvar(meshPrim);\n    if (displayColor && displayColor.interpolation !== \"constant\") {\n      // Per-vertex / per-face displayColor → vertex colors; the geometry\n      // builder authors the matching `color` attribute.\n      vertexColors = true;\n      color.setRGB(1, 1, 1);\n    } else if (displayColor?.values[0]) {\n      const [r, g, b] = displayColor.values[0];\n      color.setRGB(r ?? 0, g ?? 0, b ?? 0);\n    }\n  }\n  if (bound?.opacity !== undefined) opacity = bound.opacity;\n\n  // Resolve a channel's `THREE.Texture`, forwarding its wrap modes, UV-set\n  // channel, colorspace, and `UsdTransform2d` (the `UsdUVTexture\n  // .inputs:scale`/`bias` are folded into the material factors below, not the\n  // sampler). `inputs:sourceColorSpace` overrides the per-channel default.\n  const uvSetNames = meshUvSetNames(meshPrim);\n  const tex = (rt: ResolvedTexture | undefined, cs: \"srgb\" | \"linear\") => {\n    if (!rt || !textures) return null;\n    const channel = rt.uvChannel ?? (rt.uvSet ? Math.max(uvSetNames.indexOf(rt.uvSet), 0) : 0);\n    const colorSpace =\n      rt.sourceColorSpace === \"raw\" ? \"linear\" : rt.sourceColorSpace === \"sRGB\" ? \"srgb\" : cs;\n    return textures(rt.path, {\n      colorSpace,\n      ...(rt.wrapS ? { wrapS: rt.wrapS } : {}),\n      ...(rt.wrapT ? { wrapT: rt.wrapT } : {}),\n      ...(rt.transform ? { transform: rt.transform } : {}),\n      ...(channel > 0 ? { channel } : {}),\n    });\n  };\n\n  // three.js samples fixed channels from packed maps (glTF convention). A\n  // network wired to a different single-channel output can't be honoured\n  // without repacking — surface it instead of sampling silently wrong data.\n  if (onWarn) {\n    const packed = [\n      [bound?.roughnessTexture, \"g\", \"roughness\"],\n      [bound?.metalnessTexture, \"b\", \"metalness\"],\n      [bound?.occlusionTexture, \"r\", \"occlusion\"],\n    ] as const;\n    for (const [rt, expected, label] of packed) {\n      const channel = rt?.outputChannel;\n      if (channel && channel !== \"rgb\" && channel !== expected) {\n        onWarn(\n          `${meshPrim.GetPath()}: ${label} reads outputs:${channel}, but three.js samples the \"${expected}\" channel of the map — repack the texture to the glTF ORM layout`,\n        );\n      }\n    }\n  }\n\n  const map = tex(bound?.colorTexture, \"srgb\");\n  // `inputs:scale` on the diffuse texture tints the map; otherwise pass through.\n  if (map) {\n    const s = bound?.colorTexture?.scale;\n    if (s) color.setRGB(s[0], s[1], s[2]);\n    else color.setRGB(1, 1, 1);\n  }\n  const normalMap = tex(bound?.normalTexture, \"linear\");\n  const roughnessMap = tex(bound?.roughnessTexture, \"linear\");\n  const metalnessMap = tex(bound?.metalnessTexture, \"linear\");\n  const aoMap = tex(bound?.occlusionTexture, \"linear\");\n  const emissiveMap = tex(bound?.emissiveTexture, \"srgb\");\n\n  // A scalar map's `inputs:scale[0]` (or an authored constant) becomes three's\n  // factor; three multiplies factor × map, so default to 1 to pass it through.\n  const metalness =\n    bound?.metalness ?? bound?.metalnessTexture?.scale?.[0] ?? (metalnessMap ? 1 : 0.1);\n  const roughness =\n    bound?.roughness ?? bound?.roughnessTexture?.scale?.[0] ?? (roughnessMap ? 1 : 0.8);\n\n  const emissive = new THREE.Color(0x000000);\n  if (bound?.emissiveColor) {\n    emissive.setRGB(bound.emissiveColor[0], bound.emissiveColor[1], bound.emissiveColor[2]);\n  } else if (emissiveMap) {\n    emissive.setRGB(1, 1, 1); // let the map drive emission\n  }\n\n  // Opacity sourcing: a dedicated opacity texture → `alphaMap`; an opacity input\n  // wired to the *same* image as the diffuse map → that map's own alpha channel\n  // (no separate map needed). `opacityThreshold > 0` means alpha clip (a binary\n  // cutout rendered in the opaque pass); otherwise sub-unit alpha blends.\n  const opacityTex = bound?.opacityTexture;\n  const sharesColorMap = !!(opacityTex && opacityTex.path === bound?.colorTexture?.path);\n  const alphaMap = sharesColorMap ? null : tex(opacityTex, \"linear\");\n  const hasAlphaSource = opacity < 1 || sharesColorMap || !!alphaMap;\n  const threshold = bound?.opacityThreshold;\n  const alphaTest = threshold !== undefined && threshold > 0 ? threshold : 0;\n  // Alpha-clip masks render opaque (depth-written, discarded below the cutoff);\n  // only true translucency uses the transparent/blended pass.\n  const transparent = alphaTest === 0 && hasAlphaSource;\n\n  const doubleSided = meshPrim.GetAttribute(\"doubleSided\").Get() === true;\n  const params: THREE.MeshStandardMaterialParameters = {\n    color,\n    metalness,\n    roughness,\n    emissive,\n    transparent,\n    opacity,\n    ...(vertexColors ? { vertexColors: true } : {}),\n    ...(alphaTest > 0 ? { alphaTest } : {}),\n    side: doubleSided ? THREE.DoubleSide : THREE.FrontSide,\n    ...(map ? { map } : {}),\n    ...(alphaMap ? { alphaMap } : {}),\n    ...(normalMap ? { normalMap } : {}),\n    ...(roughnessMap ? { roughnessMap } : {}),\n    ...(metalnessMap ? { metalnessMap } : {}),\n    ...(aoMap ? { aoMap } : {}),\n    ...(emissiveMap ? { emissiveMap } : {}),\n  };\n\n  // UsdPreviewSurface / Omni-MDL physical inputs promote the material (M19 /\n  // M20); plain assets keep getting the cheaper MeshStandardMaterial.\n  const physical =\n    bound !== undefined &&\n    (bound.ior !== undefined ||\n      bound.clearcoat !== undefined ||\n      bound.clearcoatRoughness !== undefined ||\n      bound.specularColor !== undefined ||\n      bound.transmission !== undefined ||\n      bound.clearcoatNormalTexture !== undefined);\n  const material = physical\n    ? new THREE.MeshPhysicalMaterial(params)\n    : new THREE.MeshStandardMaterial(params);\n  if (material instanceof THREE.MeshPhysicalMaterial && bound) {\n    if (bound.ior !== undefined) material.ior = bound.ior;\n    if (bound.clearcoat !== undefined) material.clearcoat = bound.clearcoat;\n    if (bound.clearcoatRoughness !== undefined)\n      material.clearcoatRoughness = bound.clearcoatRoughness;\n    if (bound.specularColor) {\n      material.specularColor.setRGB(\n        bound.specularColor[0],\n        bound.specularColor[1],\n        bound.specularColor[2],\n      );\n    }\n    // OmniGlass (M20): a transmissive dielectric with a refraction volume.\n    if (bound.transmission !== undefined) material.transmission = bound.transmission;\n    if (bound.thickness !== undefined) material.thickness = bound.thickness;\n    const clearcoatNormalMap = tex(bound.clearcoatNormalTexture, \"linear\");\n    if (clearcoatNormalMap) material.clearcoatNormalMap = clearcoatNormalMap;\n  }\n  if (bound?.emissiveIntensity !== undefined) material.emissiveIntensity = bound.emissiveIntensity;\n  // UsdPreviewSurface normal maps author scale (2,2,2,1) / bias (−1,−1,−1,0)\n  // to decode [0,1] → [−1,1]; three does that internally, so scale/2 is the\n  // residual normalScale (the sign carries DirectX-style green flips).\n  if (normalMap && bound?.normalTexture?.scale) {\n    material.normalScale.set(bound.normalTexture.scale[0] / 2, bound.normalTexture.scale[1] / 2);\n  }\n  // Carry the USD material name so re-exports keep it (and dedupe by it).\n  if (bound?.name) material.name = bound.name;\n  return material;\n}\n\n/**\n * Attach visual (and optionally collision) meshes to every link of a built\n * {@link ThreeUsdRobot}. Each mesh is positioned by its transform relative to\n * the owning link prim.\n */\nexport function bindRobotMeshes(\n  stage: Stage,\n  robot3d: ThreeUsdRobot,\n  desc: RobotDescription,\n  options: BindMeshesOptions = {},\n): void {\n  const loadVisuals = options.loadVisuals ?? true;\n  const loadCollisions = options.loadCollisions ?? false;\n  const gprimOptions: BuildGprimOptions = {\n    ...(options.textureProvider ? { textureProvider: options.textureProvider } : {}),\n    ...(options.curveTubes ? { curveTubes: true } : {}),\n    ...(options.onWarn ? { onWarn: options.onWarn } : {}),\n    ...(options.mdl ? { mdl: options.mdl } : {}),\n    ...(options.materialFactory ? { materialFactory: options.materialFactory } : {}),\n    ...(options.shadows ? { shadows: true } : {}),\n  };\n\n  for (const [key, link] of Object.entries(desc.links)) {\n    const linkObj = robot3d.getLinkObject(key);\n    const linkPrim = stage.GetPrimAtPath(link.primPath);\n    if (!linkObj || !linkPrim) continue;\n\n    // A mesh may be both visual and collision; attach it once, as visual.\n    const visualSet = new Set(link.visualPrims);\n\n    if (loadVisuals) {\n      for (const meshPath of link.visualPrims) {\n        attachGprim(stage, linkPrim, meshPath, linkObj, \"visual\", gprimOptions);\n      }\n    }\n    if (loadCollisions) {\n      for (const meshPath of link.collisionPrims ?? []) {\n        if (loadVisuals && visualSet.has(meshPath)) continue;\n        attachGprim(stage, linkPrim, meshPath, linkObj, \"collision\", gprimOptions);\n      }\n    }\n  }\n}\n\n/**\n * Attach the gprims that belong to no link — the static scenery of a cell that\n * also contains robots. The authored prim hierarchy is mirrored with\n * `THREE.Group` nodes (each carrying `userData.primPath` and its prim's local\n * transform), so grouped scenery — a pallet and its cartons, a fence and its\n * wires — stays one movable subtree. World placements are unchanged, and the\n * loader's up-axis and unit normalization still applies at the robot root.\n * Collision-only and guide/proxy prims are skipped.\n */\nexport function bindSceneMeshes(\n  stage: Stage,\n  robot3d: ThreeUsdRobot,\n  desc: RobotDescription,\n  options: {\n    textureProvider?: TextureProvider;\n    curveTubes?: boolean;\n    onWarn?: (message: string) => void;\n    mdl?: MdlModuleProvider;\n    materialFactory?: MaterialFactory;\n    shadows?: boolean;\n  } = {},\n): number {\n  const owned = new Set<string>();\n  for (const link of Object.values(desc.links)) {\n    for (const path of link.visualPrims) owned.add(path);\n    for (const path of link.collisionPrims ?? []) owned.add(path);\n    owned.add(link.primPath);\n  }\n\n  // Ancestor prims materialize lazily, so subtrees with nothing renderable\n  // produce no empty groups. Meshes register too: gprims can nest.\n  const nodes = new Map<string, THREE.Object3D>();\n  const containerFor = (prim: Prim): THREE.Object3D => {\n    const parent = prim.GetParent();\n    if (!parent || parent.IsPseudoRoot()) return robot3d;\n    let node = nodes.get(parent.GetPath());\n    if (!node) {\n      node = new THREE.Group();\n      node.name = parent.GetName();\n      node.userData.kind = \"scene\";\n      node.userData.primPath = parent.GetPath();\n      placeAtLocal(node, parent);\n      containerFor(parent).add(node);\n      nodes.set(parent.GetPath(), node);\n    }\n    return node;\n  };\n\n  const gprimOptions: BuildGprimOptions = {\n    ...(options.textureProvider ? { textureProvider: options.textureProvider } : {}),\n    ...(options.curveTubes ? { curveTubes: true } : {}),\n    ...(options.onWarn ? { onWarn: options.onWarn } : {}),\n    ...(options.mdl ? { mdl: options.mdl } : {}),\n    ...(options.materialFactory ? { materialFactory: options.materialFactory } : {}),\n    ...(options.shadows ? { shadows: true } : {}),\n  };\n\n  let attached = 0;\n  for (const prim of stage.Traverse()) {\n    if (!isRenderableGprim(prim) || owned.has(prim.GetPath())) continue;\n    if (prim.HasAPI(COLLISION_API) || isNonVisualPurpose(prim)) continue;\n    // Skip gprims under a link (already bound relative to their link).\n    if ([...owned].some((path) => prim.GetPath().startsWith(`${path}/`))) continue;\n\n    const object = buildGprimObject(prim, stage, gprimOptions);\n    if (!object) continue;\n    object.name = prim.GetName();\n    object.userData.kind = \"scene\";\n    object.userData.primPath = prim.GetPath();\n    placeAtLocal(object, prim);\n    containerFor(prim).add(object);\n    nodes.set(prim.GetPath(), object);\n    attached++;\n  }\n  return attached;\n}\n\n/** Fix `object` at its prim's local transform (scenery is static). */\nfunction placeAtLocal(object: THREE.Object3D, prim: Prim): void {\n  object.matrixAutoUpdate = false;\n  object.matrix.fromArray(computeLocalTransform(prim).matrix);\n  object.matrixWorldNeedsUpdate = true;\n}\n\n/**\n * Materials for a mesh: one per `materialBind` face subset (matching the\n * geometry groups {@link buildMeshGeometry} adds) plus a trailing fallback for\n * faces no subset claims. A mesh without subsets gets a single material.\n */\nexport function buildMeshMaterials(\n  meshPrim: Prim,\n  stage?: Stage,\n  textures?: TextureProvider,\n  onWarn?: (message: string) => void,\n  mdl?: MdlModuleProvider,\n): THREE.Material | THREE.Material[] {\n  const subsets = stage ? getMaterialSubsets(meshPrim) : [];\n  if (subsets.length === 0)\n    return buildMeshMaterial(meshPrim, stage, textures, undefined, onWarn, mdl);\n  return [\n    ...subsets.map((s) => buildMeshMaterial(meshPrim, stage, textures, s.prim, onWarn, mdl)),\n    buildMeshMaterial(meshPrim, stage, textures, undefined, onWarn, mdl),\n  ];\n}\n\nfunction attachGprim(\n  stage: Stage,\n  linkPrim: Prim,\n  meshPath: string,\n  parent: THREE.Object3D,\n  kind: MeshKind,\n  options: BuildGprimOptions,\n): void {\n  const meshPrim = stage.GetPrimAtPath(meshPath);\n  if (!meshPrim) return;\n  const object = buildGprimObject(meshPrim, stage, options);\n  if (!object) return;\n\n  object.name = meshPrim.GetName();\n  object.userData.kind = kind;\n  object.userData.primPath = meshPath;\n  // Collision gprims are loaded hidden; reveal via `robot.showCollision = true`.\n  // They stay out of shadow passes even when revealed.\n  if (kind === \"collision\") {\n    object.visible = false;\n    object.castShadow = false;\n    object.receiveShadow = false;\n  }\n  object.matrixAutoUpdate = false;\n  object.matrix.fromArray(relativeTransform(linkPrim, meshPrim));\n  object.matrixWorldNeedsUpdate = true;\n  parent.add(object);\n}\n\n/** Accumulated local transform from `linkPrim` (exclusive) down to `meshPrim` (inclusive). */\nfunction relativeTransform(linkPrim: Prim, meshPrim: Prim): Mat4 {\n  const chain: Prim[] = [];\n  let p: Prim | null = meshPrim;\n  const stop = linkPrim.GetPath();\n  while (p && p.GetPath() !== stop) {\n    chain.push(p);\n    p = p.GetParent();\n  }\n  chain.reverse(); // top-most (just under link) → mesh\n\n  let m = identity4();\n  for (const prim of chain) {\n    m = multiply(m, computeLocalTransform(prim).matrix);\n  }\n  return m;\n}\n\n// --- triangulation & typed-array helpers -----------------------------------\n\n/** Fan-triangulate USD polygon faces into a flat triangle index list. */\nfunction triangulate(faceVertexCounts: number[], faceVertexIndices: number[]): number[] {\n  const tris: number[] = [];\n  let offset = 0;\n  for (const count of faceVertexCounts) {\n    for (let k = 2; k < count; k++) {\n      tris.push(\n        faceVertexIndices[offset]!,\n        faceVertexIndices[offset + k - 1]!,\n        faceVertexIndices[offset + k]!,\n      );\n    }\n    offset += count;\n  }\n  return tris;\n}\n\n/**\n * Triangulate subset by subset so each subset owns a contiguous run of the\n * index buffer, and register that run as a geometry group.\n */\nfunction triangulateBySubset(\n  geometry: THREE.BufferGeometry,\n  faceVertexCounts: number[],\n  faceVertexIndices: number[],\n  subsets: MaterialSubset[],\n): number[] {\n  const faceStart: number[] = [];\n  let offset = 0;\n  for (const count of faceVertexCounts) {\n    faceStart.push(offset);\n    offset += count;\n  }\n\n  const tris: number[] = [];\n  const emit = (face: number) => {\n    const start = faceStart[face]!;\n    const count = faceVertexCounts[face]!;\n    for (let k = 2; k < count; k++) {\n      tris.push(\n        faceVertexIndices[start]!,\n        faceVertexIndices[start + k - 1]!,\n        faceVertexIndices[start + k]!,\n      );\n    }\n  };\n\n  const claimed = new Uint8Array(faceVertexCounts.length);\n  subsets.forEach((subset, index) => {\n    const begin = tris.length;\n    for (const face of subset.faces) {\n      if (face < 0 || face >= faceVertexCounts.length || claimed[face]) continue;\n      claimed[face] = 1;\n      emit(face);\n    }\n    if (tris.length > begin) geometry.addGroup(begin, tris.length - begin, index);\n  });\n\n  const begin = tris.length;\n  for (let face = 0; face < faceVertexCounts.length; face++) {\n    if (!claimed[face]) emit(face);\n  }\n  if (tris.length > begin) geometry.addGroup(begin, tris.length - begin, subsets.length);\n\n  return tris;\n}\n\nfunction flat3(v: Vec3[]): number[] {\n  const out = new Array<number>(v.length * 3);\n  for (let i = 0; i < v.length; i++) {\n    out[i * 3] = v[i]![0];\n    out[i * 3 + 1] = v[i]![1];\n    out[i * 3 + 2] = v[i]![2];\n  }\n  return out;\n}\n\nfunction flat2(v: Vec2[]): number[] {\n  const out = new Array<number>(v.length * 2);\n  for (let i = 0; i < v.length; i++) {\n    out[i * 2] = v[i]![0];\n    out[i * 2 + 1] = v[i]![1];\n  }\n  return out;\n}\n\nfunction isNumberArray(v: unknown): v is number[] {\n  return Array.isArray(v) && v.every((n) => typeof n === \"number\");\n}\n\nfunction isVec3Array(v: unknown): v is Vec3[] {\n  return Array.isArray(v) && v.every((e) => Array.isArray(e) && e.length === 3);\n}\n\nfunction isVec2Array(v: unknown): v is Vec2[] {\n  return Array.isArray(v) && v.every((e) => Array.isArray(e) && e.length === 2);\n}\n","/**\n * Loads texture image assets referenced by `UsdShade` materials.\n *\n * A {@link TextureProvider} maps an authored asset path (plus sampler/transform\n * options) to a `THREE.Texture`. The default provider fetches the image **bytes**\n * through the {@link AssetResolver} and decodes them via a blob URL — so it works\n * uniformly for textures served over HTTP and for images embedded inside a\n * `.usdz` package (whose resolver serves zip entries, not real URLs). Decoded\n * images are cached per resolved URL and shared across every texture that uses\n * them; each `THREE.Texture` carries its own color space / wrap / transform.\n */\n\nimport * as THREE from \"three\";\nimport type { AssetResolver } from \"../usd/AssetResolver.js\";\nimport type { TextureTransform, TextureWrap } from \"./MaterialBinding.js\";\n\n/**\n * Color space to interpret a texture in. Color/albedo and emissive maps are\n * `\"srgb\"`; data maps (normal, roughness, metalness, occlusion) are `\"linear\"`.\n */\nexport type TextureColorSpace = \"srgb\" | \"linear\";\n\n/** Per-use sampler state applied to the returned `THREE.Texture`. */\nexport type TextureOptions = {\n  /** Defaults to `\"srgb\"`. */\n  colorSpace?: TextureColorSpace;\n  wrapS?: TextureWrap;\n  wrapT?: TextureWrap;\n  transform?: TextureTransform;\n  /** UV channel index (0 = `uv`, 1 = `uv1`, …) for multi-UV-set meshes. */\n  channel?: number;\n};\n\n/** Resolve an authored texture asset path to a `THREE.Texture` (or `null`). */\nexport type TextureProvider = (assetPath: string, options?: TextureOptions) => THREE.Texture | null;\n\nconst DEG2RAD = Math.PI / 180;\n\n/**\n * A {@link TextureProvider} backed by the {@link AssetResolver}, resolving paths\n * against `baseUrl`. Image bytes are fetched once per URL (works for HTTP and\n * `.usdz` entries alike) and the decoded image is shared; each call returns a\n * distinct `THREE.Texture` carrying the requested color space / wrap / transform.\n *\n * `<UDIM>` paths resolve to their first tile (1001) with a one-time `onWarn`\n * diagnostic — full UDIM sets are out of scope (M26).\n */\nexport function createTextureProvider(\n  resolver: AssetResolver,\n  baseUrl: string,\n  onWarn?: (message: string) => void,\n): TextureProvider {\n  const images = new Map<string, Promise<TexImageSource>>();\n  let warnedUdim = false;\n\n  const imageFor = (url: string): Promise<TexImageSource> => {\n    let p = images.get(url);\n    if (!p) {\n      p = loadImage(resolver, url);\n      images.set(url, p);\n    }\n    return p;\n  };\n\n  return (assetPath: string, options: TextureOptions = {}) => {\n    let path = assetPath;\n    if (/<UDIM>/i.test(path)) {\n      path = path.replace(/<UDIM>/gi, \"1001\");\n      if (!warnedUdim) {\n        warnedUdim = true;\n        onWarn?.(`UDIM texture sets are not supported; using tile 1001 only (e.g. ${path})`);\n      }\n    }\n    let url: string;\n    try {\n      url = resolver.resolve(path, baseUrl);\n    } catch {\n      return null;\n    }\n\n    const texture = new THREE.Texture();\n    texture.colorSpace =\n      options.colorSpace === \"linear\" ? THREE.NoColorSpace : THREE.SRGBColorSpace;\n    texture.wrapS = toThreeWrap(options.wrapS);\n    texture.wrapT = toThreeWrap(options.wrapT);\n    if (options.channel !== undefined) texture.channel = options.channel;\n    applyTransform(texture, options.transform);\n\n    imageFor(url)\n      .then((image) => {\n        texture.image = image;\n        texture.needsUpdate = true;\n      })\n      .catch(() => {\n        /* leave the texture blank if the image can't be decoded */\n      });\n    return texture;\n  };\n}\n\n/**\n * Fetch image bytes through the resolver and decode them via a blob URL into an\n * `HTMLImageElement` (so three's default `flipY = true` orients USD's bottom-left\n * `st` origin correctly, matching the prior `TextureLoader` HTTP path).\n */\nasync function loadImage(resolver: AssetResolver, url: string): Promise<TexImageSource> {\n  const bytes = resolver.fetchBytes\n    ? await resolver.fetchBytes(url)\n    : new TextEncoder().encode(await resolver.fetchText(url));\n  const blob = new Blob([bytes as BlobPart], { type: mimeOf(url) });\n  const objectUrl = URL.createObjectURL(blob);\n  try {\n    return await new Promise<HTMLImageElement>((resolve, reject) => {\n      const img = new Image();\n      img.onload = () => resolve(img);\n      img.onerror = () => reject(new Error(`failed to decode texture: ${url}`));\n      img.src = objectUrl;\n    });\n  } finally {\n    // The decoded image keeps its pixels; the blob URL can be released.\n    URL.revokeObjectURL(objectUrl);\n  }\n}\n\nfunction toThreeWrap(wrap: TextureWrap | undefined): THREE.Wrapping {\n  switch (wrap) {\n    case \"clamp\":\n    case \"black\": // three has no border color; clamp is the closest mode\n      return THREE.ClampToEdgeWrapping;\n    case \"mirror\":\n      return THREE.MirroredRepeatWrapping;\n    default:\n      return THREE.RepeatWrapping;\n  }\n}\n\n/** Map a `UsdTransform2d` onto a texture's offset / repeat / rotation. */\nfunction applyTransform(texture: THREE.Texture, t: TextureTransform | undefined): void {\n  if (!t) return;\n  if (t.scale) texture.repeat.set(t.scale[0], t.scale[1]);\n  if (t.translation) texture.offset.set(t.translation[0], t.translation[1]);\n  if (t.rotation !== undefined) {\n    texture.rotation = t.rotation * DEG2RAD;\n    texture.center.set(0, 0); // UsdTransform2d rotates about the origin\n  }\n}\n\nfunction mimeOf(url: string): string {\n  if (/\\.jpe?g$/i.test(url)) return \"image/jpeg\";\n  if (/\\.webp$/i.test(url)) return \"image/webp\";\n  return \"image/png\";\n}\n","import type { RobotDescription } from \"../robot/RobotDescription.js\";\nimport { extractRobotDescription } from \"../robot/RobotExtractor.js\";\nimport { buildKinematicTree } from \"../robot/buildKinematicTree.js\";\nimport { isUnsupportedGprim } from \"../schemas/usdGeom.js\";\nimport { type AssetResolver, DefaultAssetResolver } from \"../usd/AssetResolver.js\";\nimport { Stage } from \"../usd/Stage.js\";\nimport { type BinarySource, type UsdSource, toBytes } from \"../usd/bytes.js\";\nimport { composeFile, composeLayer } from \"../usd/composition.js\";\nimport { CrateReader } from \"../usd/crate/CrateReader.js\";\nimport { crateToUsdaFile } from \"../usd/crate/toUsdaFile.js\";\nimport { loadMdlModules } from \"../usd/mdl/loadMdlModules.js\";\nimport { isZip, openUsdz } from \"../usd/usdz.js\";\nimport { bindCameras } from \"./CameraBinding.js\";\nimport { bindLights } from \"./LightBinding.js\";\nimport { type MaterialFactory, bindRobotMeshes, bindSceneMeshes } from \"./MeshBinding.js\";\nimport { createTextureProvider } from \"./TextureBinding.js\";\nimport { ThreeUsdRobot, type ThreeUsdRobotOptions, type WorldUpAxis } from \"./ThreeUsdRobot.js\";\n\nexport type ThreeUsdRobotLoaderOptions = {\n  /** Resolver for references / payloads / sublayers (default {@link DefaultAssetResolver}). */\n  assetResolver?: AssetResolver;\n  /** Render visual meshes (M6). */\n  loadVisuals?: boolean;\n  /** Render collision meshes (M6). */\n  loadCollisions?: boolean;\n  /**\n   * Also render gprims that belong to no link — the static scenery of a cell\n   * that contains robots (floor, guarding, racking, …). Placed by their\n   * authored stage transform. Default `false`; a stage with no articulation at\n   * all (a pure static scene) defaults to `true` so it renders out of the box.\n   */\n  loadSceneGeometry?: boolean;\n  /** Load diffuse textures referenced by materials (default `true`). */\n  loadTextures?: boolean;\n  /**\n   * Bind `UsdLux` lights into the hierarchy (M25, default `true`) — even when\n   * scene geometry is off, since they light the robot. Bound lights land on\n   * {@link ThreeUsdRobot.lights}; DomeLights on {@link ThreeUsdRobot.domeLights}.\n   */\n  loadLights?: boolean;\n  /**\n   * Bind `UsdGeomCamera` prims into the hierarchy (M27, default `true`) —\n   * they land on {@link ThreeUsdRobot.cameras}, link-mounted sensor cameras\n   * following the joints.\n   */\n  loadCameras?: boolean;\n  /**\n   * Multiplies every light's authored emission (`intensity × 2^exposure`,\n   * default `1`). Stages authored in Omniverse/RTX photometric units\n   * (intensities in the thousands) typically want `0.001` to land in\n   * Three.js's exposure-1 range; see docs/lighting.md.\n   */\n  lightIntensityScale?: number;\n  /**\n   * Flag meshes `castShadow` / `receiveShadow` and configure light shadows per\n   * `ShadowAPI` (M25, default `true`). Costs nothing until a renderer enables\n   * shadow maps.\n   */\n  shadows?: boolean;\n  /**\n   * Render `BasisCurves` that author `widths` as tube meshes instead of\n   * 1-px lines (default `false`, M18).\n   */\n  curveTubes?: boolean;\n  /**\n   * Target world up-axis. Any stage (Y-up or Z-up) is normalized into this\n   * convention: `\"Y\"` for a standard three.js scene (the default behavior),\n   * `\"Z\"` for a robotics-style Z-up world, `\"keep\"` to leave the authored\n   * orientation. Takes precedence over {@link upAxisConversion}.\n   */\n  worldUp?: WorldUpAxis;\n  /**\n   * Legacy up-axis correction (M9). Default `\"auto\"` ≡ `worldUp: \"Y\"`.\n   * @deprecated Use {@link worldUp}.\n   */\n  upAxisConversion?: \"auto\" | \"Y\" | \"Z\" | \"none\";\n  /** Extra uniform scale multiplied with `metersPerUnit` (M9). */\n  unitScale?: number;\n  /** Clamp `setJointValue` to authored limits (default `true`). */\n  clampJointLimits?: boolean;\n  /** Seed joints from drive targets / joint state (M9). */\n  applyDriveTargetsAsInitialPose?: boolean;\n  /**\n   * Diagnose {@link ThreeUsdRobot.setLinkTransforms} poses against the joint\n   * constraints and warn once per baked session past tolerance (default\n   * 1 mm anchor / 0.01 rad axis).\n   */\n  debugBakedTransforms?: ThreeUsdRobotOptions[\"debugBakedTransforms\"];\n  /** Override the robot name. */\n  robotName?: string;\n  /** Receives non-fatal load diagnostics. */\n  onWarn?: (message: string) => void;\n  /**\n   * Overrides material creation for mesh-like gprims (M22) — e.g. the TSL\n   * MaterialX factory from `three-usd-robot/nodes`. Return `null` per prim to\n   * keep the default `UsdShade` resolution.\n   */\n  materialFactory?: MaterialFactory;\n};\n\n/** A composed stage plus the context needed to bind its meshes and textures. */\ntype OpenedStage = { stage: Stage; baseUrl: string; resolver: AssetResolver };\n\n/**\n * Loads Isaac Sim / OpenUSD robot assets into a controllable {@link ThreeUsdRobot}.\n *\n * Assets load by URL ({@link loadAsync}) or from in-memory content\n * ({@link parse} — USDA text, `ArrayBuffer`, typed array, or `Blob`/`File`).\n * Composition (references / payloads / sublayers, M8) is resolved through an\n * {@link AssetResolver}. Mesh rendering is M6; unit / up-axis / initial-pose\n * handling is M9; USDC and variants are M10.\n */\nexport class ThreeUsdRobotLoader {\n  readonly options: ThreeUsdRobotLoaderOptions;\n\n  constructor(options: ThreeUsdRobotLoaderOptions = {}) {\n    this.options = options;\n  }\n\n  private get resolver(): AssetResolver {\n    return this.options.assetResolver ?? new DefaultAssetResolver();\n  }\n\n  /**\n   * Fetch an asset by URL and build the robot. `.usdz` packages are unzipped and\n   * composed from their entries; everything else is sniffed for the zip / crate\n   * magic and parsed as USDZ, binary USDC, or USDA text.\n   */\n  async loadAsync(url: string): Promise<ThreeUsdRobot> {\n    const bytes = await this.fetchRootBytes(url);\n    // Extension first: sniffing only sees offset 0, the extension also covers\n    // zip archives with a prefix (fflate reads the central directory anyway).\n    if (/\\.usdz$/i.test(url)) return this.parseUsdz(bytes);\n    return this.parse(bytes, url);\n  }\n\n  private async fetchRootBytes(url: string): Promise<Uint8Array> {\n    const resolver = this.resolver;\n    if (resolver.fetchBytes) return resolver.fetchBytes(url);\n    return new TextEncoder().encode(await resolver.fetchText(url));\n  }\n\n  /**\n   * Build a robot from in-memory content — no fetch involved. Accepts USDA\n   * source text, or an `ArrayBuffer` / typed array / `Blob` (e.g. a dropped\n   * `File`) holding USDA text, a binary crate, or a `.usdz` package; binary\n   * input is sniffed for the zip / crate magic. `baseUrl` anchors relative\n   * references, payloads, and texture paths of non-package input.\n   */\n  async parse(data: UsdSource, baseUrl = \"\"): Promise<ThreeUsdRobot> {\n    return this.buildFromStage(await this.openSource(data, baseUrl));\n  }\n\n  /** Build a robot from a `.usdz` package (bytes, `ArrayBuffer`, or `Blob`). */\n  async parseUsdz(data: BinarySource): Promise<ThreeUsdRobot> {\n    return this.buildFromStage(await this.openUsdzStage(await toBytes(data)));\n  }\n\n  /** Build a robot from a binary crate (`.usdc` / binary `.usd`). */\n  async parseCrate(data: BinarySource, baseUrl = \"\"): Promise<ThreeUsdRobot> {\n    const stage = await this.composeStageFromBytes(await toBytes(data), baseUrl, this.resolver);\n    return this.buildFromStage({ stage, baseUrl, resolver: this.resolver });\n  }\n\n  /**\n   * Parse + compose in-memory content (same formats as {@link parse}) into the\n   * Three.js-independent robot IR.\n   */\n  async parseRobotDescription(data: UsdSource, baseUrl = \"\"): Promise<RobotDescription> {\n    const { stage } = await this.openSource(data, baseUrl);\n    return extractRobotDescription(stage, this.extractOptions());\n  }\n\n  /** Sniff in-memory content (text / zip / crate) and compose it into a stage. */\n  private async openSource(data: UsdSource, baseUrl: string): Promise<OpenedStage> {\n    const resolver = this.resolver;\n    if (typeof data === \"string\") {\n      return { stage: await this.composeStage(data, baseUrl, resolver), baseUrl, resolver };\n    }\n    const bytes = await toBytes(data);\n    if (isZip(bytes)) return this.openUsdzStage(bytes);\n    const stage = CrateReader.isCrate(bytes)\n      ? await this.composeStageFromBytes(bytes, baseUrl, resolver)\n      : await this.composeStage(new TextDecoder().decode(bytes), baseUrl, resolver);\n    return { stage, baseUrl, resolver };\n  }\n\n  private async openUsdzStage(bytes: Uint8Array): Promise<OpenedStage> {\n    const pkg = openUsdz(bytes);\n    // The root layer of a usdz is typically binary USDC — sniff, don't assume text.\n    const rootBytes = await pkg.resolver.fetchBytes(pkg.rootEntry);\n    const stage = await this.composeStageFromBytes(rootBytes, pkg.rootEntry, pkg.resolver);\n    return { stage, baseUrl: pkg.rootEntry, resolver: pkg.resolver };\n  }\n\n  private async buildFromStage({ stage, baseUrl, resolver }: OpenedStage): Promise<ThreeUsdRobot> {\n    const robot = extractRobotDescription(stage, this.extractOptions());\n    const tree = buildKinematicTree(robot);\n    const robot3d = new ThreeUsdRobot(robot, tree, this.robotOptions());\n    robot3d.stage = stage;\n    // For deferred asset fetches (M26): dome HDRIs load through the same\n    // resolver, so relative CDN paths and `.usdz` entries keep working.\n    robot3d.assetContext = { resolver, baseUrl };\n    if (this.options.lightIntensityScale !== undefined) {\n      robot3d.lightIntensityScale = this.options.lightIntensityScale;\n    }\n\n    const loadVisuals = this.options.loadVisuals ?? true;\n    const loadCollisions = this.options.loadCollisions ?? false;\n    // A stage with no articulation at all is a pure static scene; default to\n    // drawing its geometry — otherwise the load would be silently empty.\n    const isStaticScene =\n      Object.keys(robot.links).length === 0 && Object.keys(robot.joints).length === 0;\n    if (isStaticScene && this.options.loadSceneGeometry === undefined) {\n      this.options.onWarn?.(\n        \"no articulation found (0 links / 0 joints); rendering the stage as static scene geometry\",\n      );\n    }\n    const loadScene = this.options.loadSceneGeometry ?? isStaticScene;\n    const shadows = this.options.shadows ?? true;\n    const onWarn = this.options.onWarn;\n    if (loadVisuals || loadCollisions || loadScene) {\n      const textureProvider =\n        (this.options.loadTextures ?? true)\n          ? createTextureProvider(resolver, baseUrl, onWarn)\n          : undefined;\n      const curveTubes = this.options.curveTubes ?? false;\n      const materialFactory = this.options.materialFactory;\n      // Prefetch referenced `.mdl` modules (M20) — wrapper materials often\n      // carry the whole look while the USD shader authors no inputs at all.\n      const mdl = await loadMdlModules(stage, resolver, baseUrl);\n      if (loadVisuals || loadCollisions) {\n        bindRobotMeshes(stage, robot3d, robot, {\n          loadVisuals,\n          loadCollisions,\n          ...(textureProvider ? { textureProvider } : {}),\n          ...(curveTubes ? { curveTubes } : {}),\n          ...(onWarn ? { onWarn } : {}),\n          ...(mdl ? { mdl } : {}),\n          ...(materialFactory ? { materialFactory } : {}),\n          ...(shadows ? { shadows } : {}),\n        });\n      }\n      if (loadScene) {\n        bindSceneMeshes(stage, robot3d, robot, {\n          ...(textureProvider ? { textureProvider } : {}),\n          ...(curveTubes ? { curveTubes } : {}),\n          ...(onWarn ? { onWarn } : {}),\n          ...(mdl ? { mdl } : {}),\n          ...(materialFactory ? { materialFactory } : {}),\n          ...(shadows ? { shadows } : {}),\n        });\n      }\n      this.warnUnsupportedGprims(stage);\n    }\n    if (this.options.loadLights ?? true) {\n      // After mesh binding: lights anchor to the mirrored scenery groups and\n      // shadow cameras fit the bound geometry (M25).\n      const bound = bindLights(stage, robot3d, {\n        ...(this.options.lightIntensityScale !== undefined\n          ? { lightIntensityScale: this.options.lightIntensityScale }\n          : {}),\n        ...(shadows ? { shadows } : {}),\n        ...(onWarn ? { onWarn } : {}),\n      });\n      robot3d.lights = bound.lights;\n      robot3d.domeLights = bound.domes;\n    }\n    if (this.options.loadCameras ?? true) {\n      robot3d.cameras = bindCameras(stage, robot3d, {\n        ...(onWarn ? { onWarn } : {}),\n      });\n    }\n    return robot3d;\n  }\n\n  /** Surface recognized-but-unrenderable gprim schemas instead of silence (M18). */\n  private warnUnsupportedGprims(stage: Stage): void {\n    const firstByType = new Map<string, string>();\n    for (const prim of stage.Traverse()) {\n      const type = prim.GetTypeName();\n      if (isUnsupportedGprim(prim) && !firstByType.has(type)) {\n        firstByType.set(type, prim.GetPath());\n      }\n    }\n    for (const [type, path] of firstByType) {\n      this.options.onWarn?.(`${type} gprims are not supported yet; skipping (e.g. ${path})`);\n    }\n  }\n\n  private async composeStage(\n    text: string,\n    baseUrl: string,\n    resolver: AssetResolver,\n  ): Promise<Stage> {\n    const composeOptions = this.options.onWarn ? { onWarn: this.options.onWarn } : {};\n    return Stage.OpenFromFile(await composeLayer(text, baseUrl, resolver, composeOptions));\n  }\n\n  /** Compose a layer from raw bytes, sniffing binary crate vs USDA text. */\n  private async composeStageFromBytes(\n    bytes: Uint8Array,\n    baseUrl: string,\n    resolver: AssetResolver,\n  ): Promise<Stage> {\n    const composeOptions = this.options.onWarn ? { onWarn: this.options.onWarn } : {};\n    const composed = CrateReader.isCrate(bytes)\n      ? await composeFile(\n          crateToUsdaFile(new CrateReader(bytes)),\n          baseUrl,\n          resolver,\n          composeOptions,\n        )\n      : await composeLayer(new TextDecoder().decode(bytes), baseUrl, resolver, composeOptions);\n    return Stage.OpenFromFile(composed);\n  }\n\n  private robotOptions(): ThreeUsdRobotOptions {\n    return {\n      ...(this.options.worldUp\n        ? { worldUp: this.options.worldUp }\n        : { upAxisConversion: this.options.upAxisConversion ?? \"auto\" }),\n      ...(this.options.clampJointLimits !== undefined\n        ? { clampJointLimits: this.options.clampJointLimits }\n        : {}),\n      ...(this.options.unitScale !== undefined ? { unitScale: this.options.unitScale } : {}),\n      ...(this.options.applyDriveTargetsAsInitialPose !== undefined\n        ? { applyInitialPose: this.options.applyDriveTargetsAsInitialPose }\n        : {}),\n      ...(this.options.debugBakedTransforms !== undefined\n        ? { debugBakedTransforms: this.options.debugBakedTransforms }\n        : {}),\n    };\n  }\n\n  private extractOptions(): { robotName?: string; onWarn?: (message: string) => void } {\n    return {\n      ...(this.options.robotName !== undefined ? { robotName: this.options.robotName } : {}),\n      ...(this.options.onWarn !== undefined ? { onWarn: this.options.onWarn } : {}),\n    };\n  }\n}\n"]}

package/dist/chunk-ZQXYVBQI.js

@@ -0,0 +1,154 @@
+import { identity4, multiply, invert, makeEuler, DEG2RAD, makeRotationZ, makeRotationY, makeRotationX, fromUsdMatrix, makeRotationFromQuat, makeScale, makeTranslation } from './chunk-IAOPNN6V.js';
+
+// src/schemas/usdGeomCamera.ts
+function isCamera(prim) {
+  return prim.GetTypeName() === "Camera";
+}
+function readCameraDescription(prim) {
+  if (!isCamera(prim)) return null;
+  const projection = attrString(prim, "projection");
+  const range = attrVec2(prim, "clippingRange") ?? [1, 1e6];
+  const desc = {
+    primPath: prim.GetPath(),
+    name: prim.GetName(),
+    projection: projection === "orthographic" ? "orthographic" : "perspective",
+    focalLength: attrNumber(prim, "focalLength") ?? 50,
+    horizontalAperture: attrNumber(prim, "horizontalAperture") ?? 20.955,
+    verticalAperture: attrNumber(prim, "verticalAperture") ?? 15.2908,
+    horizontalApertureOffset: attrNumber(prim, "horizontalApertureOffset") ?? 0,
+    verticalApertureOffset: attrNumber(prim, "verticalApertureOffset") ?? 0,
+    clippingRange: [range[0], range[1]],
+    fStop: attrNumber(prim, "fStop") ?? 0,
+    focusDistance: attrNumber(prim, "focusDistance") ?? 0,
+    exposure: attrNumber(prim, "exposure") ?? 0
+  };
+  const iso = attrNumber(prim, "exposure:iso");
+  if (iso !== void 0) desc.exposureIso = iso;
+  const time = attrNumber(prim, "exposure:time");
+  if (time !== void 0) desc.exposureTime = time;
+  const fStop = attrNumber(prim, "exposure:fStop");
+  if (fStop !== void 0) desc.exposureFStop = fStop;
+  const responsivity = attrNumber(prim, "exposure:responsivity");
+  if (responsivity !== void 0) desc.exposureResponsivity = responsivity;
+  return desc;
+}
+function computeCameraExposureScale(camera) {
+  const fStop = camera.exposureFStop ?? 1;
+  return (camera.exposureTime ?? 1) * ((camera.exposureIso ?? 100) / 100) * (camera.exposureResponsivity ?? 1) * 2 ** camera.exposure / (fStop * fStop);
+}
+function attrNumber(prim, name) {
+  const v = prim.GetAttribute(name).Get();
+  return typeof v === "number" ? v : void 0;
+}
+function attrString(prim, name) {
+  const v = prim.GetAttribute(name).Get();
+  return typeof v === "string" ? v : void 0;
+}
+function attrVec2(prim, name) {
+  const v = prim.GetAttribute(name).Get();
+  if (Array.isArray(v) && v.length === 2 && typeof v[0] === "number" && typeof v[1] === "number") {
+    return [v[0], v[1]];
+  }
+  return void 0;
+}
+
+// src/usd/xformOps.ts
+var INVERT_PREFIX = "!invert!";
+var RESET_STACK = "!resetXformStack!";
+var ROTATE_ORDERS = /* @__PURE__ */ new Set([
+  "rotateXYZ",
+  "rotateXZY",
+  "rotateYXZ",
+  "rotateYZX",
+  "rotateZXY",
+  "rotateZYX"
+]);
+function computeWorldTransform(prim) {
+  const chain = [];
+  for (let p = prim; p && !p.IsPseudoRoot(); p = p.GetParent()) chain.push(p);
+  let m = identity4();
+  for (let i = chain.length - 1; i >= 0; i--) {
+    m = multiply(m, computeLocalTransform(chain[i]).matrix);
+  }
+  return m;
+}
+function computeLocalTransform(prim) {
+  const orderAttr = prim.GetAttribute("xformOpOrder");
+  const order = orderAttr.Get();
+  if (!Array.isArray(order)) {
+    return { matrix: identity4(), resetsXformStack: false };
+  }
+  let matrix = identity4();
+  let resetsXformStack = false;
+  for (const entry of order) {
+    if (typeof entry !== "string") continue;
+    if (entry === RESET_STACK) {
+      resetsXformStack = true;
+      continue;
+    }
+    let opName = entry;
+    let doInvert = false;
+    if (opName.startsWith(INVERT_PREFIX)) {
+      doInvert = true;
+      opName = opName.slice(INVERT_PREFIX.length);
+    }
+    const attr = prim.GetAttribute(opName);
+    if (!attr.IsValid()) continue;
+    const opValue = attr.Get();
+    if (opValue === void 0) continue;
+    let opMatrix = opMatrixFor(parseOpType(opName), opValue, `${prim.GetPath()}.${opName}`);
+    if (doInvert) opMatrix = invert(opMatrix);
+    matrix = multiply(matrix, opMatrix);
+  }
+  return { matrix, resetsXformStack };
+}
+function parseOpType(opName) {
+  const body = opName.startsWith("xformOp:") ? opName.slice("xformOp:".length) : opName;
+  return body.split(":")[0] ?? body;
+}
+function opMatrixFor(opType, value, where) {
+  switch (opType) {
+    case "translate":
+      return makeTranslation(asVec3(value, where));
+    case "scale":
+      return makeScale(asVec3(value, where));
+    case "orient":
+      return makeRotationFromQuat(asQuat(value, where));
+    case "transform":
+      return fromUsdMatrix(asMatrix(value, where));
+    case "rotateX":
+      return makeRotationX(asNumber(value, where) * DEG2RAD);
+    case "rotateY":
+      return makeRotationY(asNumber(value, where) * DEG2RAD);
+    case "rotateZ":
+      return makeRotationZ(asNumber(value, where) * DEG2RAD);
+    default:
+      if (ROTATE_ORDERS.has(opType)) {
+        const [x, y, z] = asVec3(value, where);
+        return makeEuler([x * DEG2RAD, y * DEG2RAD, z * DEG2RAD], opType.slice("rotate".length));
+      }
+      throw new Error(`${where}: unsupported xformOp type "${opType}"`);
+  }
+}
+function asVec3(v, where) {
+  if (Array.isArray(v) && v.length === 3 && v.every((n) => typeof n === "number")) {
+    return v;
+  }
+  throw new Error(`${where}: expected a 3-component value`);
+}
+function asNumber(v, where) {
+  if (typeof v === "number") return v;
+  throw new Error(`${where}: expected a number`);
+}
+function asQuat(v, where) {
+  if (v && typeof v === "object" && "real" in v && "imaginary" in v) return v;
+  throw new Error(`${where}: expected a quaternion`);
+}
+function asMatrix(v, where) {
+  if (v && typeof v === "object" && "values" in v && "dim" in v) return v;
+  throw new Error(`${where}: expected a matrix`);
+}
+
+export { computeCameraExposureScale, computeLocalTransform, computeWorldTransform, isCamera, parseOpType, readCameraDescription };
+//# sourceMappingURL=chunk-ZQXYVBQI.js.map
+//# sourceMappingURL=chunk-ZQXYVBQI.js.map

package/dist/chunk-ZQXYVBQI.js.map

@@ -0,0 +1 @@
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* UsdGeomCamera schema helpers (M27) — type check, description extraction,\n * and the linear exposure-scale math.\n *\n * Focal length and apertures follow the practical convention of every DCC\n * (Isaac Sim, Blender, usdview): they are millimeters on a virtual film back,\n * regardless of stage units. Clipping range and focus distance are stage\n * units. Orthographic apertures are tenths of a stage unit (GfCamera's\n * `APERTURE_UNIT`), so `aperture / 10` is the view-box size.\n */\n\nimport type { Prim } from \"../usd/Prim.js\";\n\nexport function isCamera(prim: Prim): boolean {\n  return prim.GetTypeName() === \"Camera\";\n}\n\n/** A UsdGeomCamera resolved to plain values (schema fallbacks applied). */\nexport type CameraDescription = {\n  primPath: string;\n  name: string;\n  projection: \"perspective\" | \"orthographic\";\n  /** Millimeters (see module doc). */\n  focalLength: number;\n  horizontalAperture: number;\n  verticalAperture: number;\n  /** Lens shift, millimeters. */\n  horizontalApertureOffset: number;\n  verticalApertureOffset: number;\n  /** Near/far, stage units. */\n  clippingRange: [number, number];\n  /** `0` disables depth of field. */\n  fStop: number;\n  /** Stage units; `0` = unset. */\n  focusDistance: number;\n  /** Exposure compensation, stops (EV). */\n  exposure: number;\n  /** Exposure system (USD 24.11) — authored values only, see {@link computeCameraExposureScale}. */\n  exposureIso?: number;\n  exposureTime?: number;\n  exposureFStop?: number;\n  exposureResponsivity?: number;\n};\n\n/** Resolve a Camera prim into a {@link CameraDescription}, or `null` if not one. */\nexport function readCameraDescription(prim: Prim): CameraDescription | null {\n  if (!isCamera(prim)) return null;\n\n  const projection = attrString(prim, \"projection\");\n  const range = attrVec2(prim, \"clippingRange\") ?? [1, 1000000];\n  const desc: CameraDescription = {\n    primPath: prim.GetPath(),\n    name: prim.GetName(),\n    projection: projection === \"orthographic\" ? \"orthographic\" : \"perspective\",\n    focalLength: attrNumber(prim, \"focalLength\") ?? 50,\n    horizontalAperture: attrNumber(prim, \"horizontalAperture\") ?? 20.955,\n    verticalAperture: attrNumber(prim, \"verticalAperture\") ?? 15.2908,\n    horizontalApertureOffset: attrNumber(prim, \"horizontalApertureOffset\") ?? 0,\n    verticalApertureOffset: attrNumber(prim, \"verticalApertureOffset\") ?? 0,\n    clippingRange: [range[0], range[1]],\n    fStop: attrNumber(prim, \"fStop\") ?? 0,\n    focusDistance: attrNumber(prim, \"focusDistance\") ?? 0,\n    exposure: attrNumber(prim, \"exposure\") ?? 0,\n  };\n  const iso = attrNumber(prim, \"exposure:iso\");\n  if (iso !== undefined) desc.exposureIso = iso;\n  const time = attrNumber(prim, \"exposure:time\");\n  if (time !== undefined) desc.exposureTime = time;\n  const fStop = attrNumber(prim, \"exposure:fStop\");\n  if (fStop !== undefined) desc.exposureFStop = fStop;\n  const responsivity = attrNumber(prim, \"exposure:responsivity\");\n  if (responsivity !== undefined) desc.exposureResponsivity = responsivity;\n  return desc;\n}\n\n/**\n * `UsdGeomCamera::ComputeLinearExposureScale` (USD 24.11):\n * `time × iso/100 × responsivity ÷ fStop² × 2^exposure`. Schema fallbacks\n * make an unauthored camera scale by exactly `2^exposure` (i.e. `1`), so it\n * is safe to feed straight into `renderer.toneMappingExposure` — a stage\n * authored with real photographic values yields a physically small scale that\n * pairs with `lightIntensityScale: 1` raw photometric lighting.\n */\nexport function computeCameraExposureScale(camera: CameraDescription): number {\n  const fStop = camera.exposureFStop ?? 1;\n  return (\n    ((camera.exposureTime ?? 1) *\n      ((camera.exposureIso ?? 100) / 100) *\n      (camera.exposureResponsivity ?? 1) *\n      2 ** camera.exposure) /\n    (fStop * fStop)\n  );\n}\n\nfunction attrNumber(prim: Prim, name: string): number | undefined {\n  const v = prim.GetAttribute(name).Get();\n  return typeof v === \"number\" ? v : undefined;\n}\n\nfunction attrString(prim: Prim, name: string): string | undefined {\n  const v = prim.GetAttribute(name).Get();\n  return typeof v === \"string\" ? v : undefined;\n}\n\nfunction attrVec2(prim: Prim, name: string): [number, number] | undefined {\n  const v = prim.GetAttribute(name).Get();\n  if (Array.isArray(v) && v.length === 2 && typeof v[0] === \"number\" && typeof v[1] === \"number\") {\n    return [v[0], v[1]];\n  }\n  return undefined;\n}\n","/**\n * Resolves a prim's `xformOpOrder` into a single local transform matrix.\n *\n * Supports `translate`, `scale`, `orient` (quat), `transform` (matrix4d),\n * single-axis `rotateX|Y|Z`, and the six `rotate<ORDER>` Euler ops, plus the\n * `!invert!` op prefix and the `!resetXformStack!` sentinel. Rotation op values\n * are in degrees and converted to radians here.\n */\n\nimport {\n  DEG2RAD,\n  type Mat4,\n  fromUsdMatrix,\n  identity4,\n  invert,\n  makeEuler,\n  makeRotationFromQuat,\n  makeRotationX,\n  makeRotationY,\n  makeRotationZ,\n  makeScale,\n  makeTranslation,\n  multiply,\n} from \"../kinematics/transforms.js\";\nimport type { Quat, UsdMatrix, UsdValue, Vec3 } from \"../parser/ast.js\";\nimport type { Prim } from \"./Prim.js\";\n\nconst INVERT_PREFIX = \"!invert!\";\nconst RESET_STACK = \"!resetXformStack!\";\nconst ROTATE_ORDERS = new Set([\n  \"rotateXYZ\",\n  \"rotateXZY\",\n  \"rotateYXZ\",\n  \"rotateYZX\",\n  \"rotateZXY\",\n  \"rotateZYX\",\n]);\n\nexport type ResolvedXform = {\n  /** Local-to-parent transform (column-major {@link Mat4}). */\n  matrix: Mat4;\n  /**\n   * True if `xformOpOrder` began with `!resetXformStack!`, meaning this prim\n   * does not inherit its parent's transform. Honored by FK in M5.\n   */\n  resetsXformStack: boolean;\n};\n\n/**\n * Compute a prim's local transform from its `xformOpOrder`. Returns identity\n * when the prim authors no `xformOpOrder`.\n */\n/**\n * Accumulated transform from the stage root down to `prim` — the prim's world\n * placement as authored (`UsdGeomXformCache::GetLocalToWorldTransform`-like).\n */\nexport function computeWorldTransform(prim: Prim): Mat4 {\n  const chain: Prim[] = [];\n  for (let p: Prim | null = prim; p && !p.IsPseudoRoot(); p = p.GetParent()) chain.push(p);\n  let m = identity4();\n  for (let i = chain.length - 1; i >= 0; i--) {\n    m = multiply(m, computeLocalTransform(chain[i]!).matrix);\n  }\n  return m;\n}\n\nexport function computeLocalTransform(prim: Prim): ResolvedXform {\n  const orderAttr = prim.GetAttribute(\"xformOpOrder\");\n  const order = orderAttr.Get();\n  if (!Array.isArray(order)) {\n    return { matrix: identity4(), resetsXformStack: false };\n  }\n\n  let matrix = identity4();\n  let resetsXformStack = false;\n\n  for (const entry of order) {\n    if (typeof entry !== \"string\") continue;\n    if (entry === RESET_STACK) {\n      resetsXformStack = true;\n      continue;\n    }\n\n    let opName = entry;\n    let doInvert = false;\n    if (opName.startsWith(INVERT_PREFIX)) {\n      doInvert = true;\n      opName = opName.slice(INVERT_PREFIX.length);\n    }\n\n    // A listed op with no authored attribute is malformed, but shipped assets\n    // do contain it (an op removed while the order was left behind). USD treats\n    // the op as identity rather than failing the whole stage, so do the same.\n    const attr = prim.GetAttribute(opName);\n    if (!attr.IsValid()) continue;\n\n    // No resolvable value (e.g. time-sampled only — M10 reads defaults) → identity.\n    const opValue = attr.Get();\n    if (opValue === undefined) continue;\n\n    let opMatrix = opMatrixFor(parseOpType(opName), opValue, `${prim.GetPath()}.${opName}`);\n    if (doInvert) opMatrix = invert(opMatrix);\n    // Post-multiply in list order: M = op0 · op1 · … so the LAST-listed op is\n    // applied first to the geometry (innermost). For [translate, orient, scale]\n    // this yields the usual scale-then-rotate-then-translate.\n    matrix = multiply(matrix, opMatrix);\n  }\n\n  return { matrix, resetsXformStack };\n}\n\n/** Extract the op type token from an op attribute name (`xformOp:translate:pivot` → `translate`). */\nexport function parseOpType(opName: string): string {\n  const body = opName.startsWith(\"xformOp:\") ? opName.slice(\"xformOp:\".length) : opName;\n  return body.split(\":\")[0] ?? body;\n}\n\nfunction opMatrixFor(opType: string, value: UsdValue | undefined, where: string): Mat4 {\n  switch (opType) {\n    case \"translate\":\n      return makeTranslation(asVec3(value, where));\n    case \"scale\":\n      return makeScale(asVec3(value, where));\n    case \"orient\":\n      return makeRotationFromQuat(asQuat(value, where));\n    case \"transform\":\n      return fromUsdMatrix(asMatrix(value, where));\n    case \"rotateX\":\n      return makeRotationX(asNumber(value, where) * DEG2RAD);\n    case \"rotateY\":\n      return makeRotationY(asNumber(value, where) * DEG2RAD);\n    case \"rotateZ\":\n      return makeRotationZ(asNumber(value, where) * DEG2RAD);\n    default:\n      if (ROTATE_ORDERS.has(opType)) {\n        const [x, y, z] = asVec3(value, where);\n        return makeEuler([x * DEG2RAD, y * DEG2RAD, z * DEG2RAD], opType.slice(\"rotate\".length));\n      }\n      throw new Error(`${where}: unsupported xformOp type \"${opType}\"`);\n  }\n}\n\nfunction asVec3(v: UsdValue | undefined, where: string): Vec3 {\n  if (Array.isArray(v) && v.length === 3 && v.every((n) => typeof n === \"number\")) {\n    return v as Vec3;\n  }\n  throw new Error(`${where}: expected a 3-component value`);\n}\n\nfunction asNumber(v: UsdValue | undefined, where: string): number {\n  if (typeof v === \"number\") return v;\n  throw new Error(`${where}: expected a number`);\n}\n\nfunction asQuat(v: UsdValue | undefined, where: string): Quat {\n  if (v && typeof v === \"object\" && \"real\" in v && \"imaginary\" in v) return v as Quat;\n  throw new Error(`${where}: expected a quaternion`);\n}\n\nfunction asMatrix(v: UsdValue | undefined, where: string): UsdMatrix {\n  if (v && typeof v === \"object\" && \"values\" in v && \"dim\" in v) return v as UsdMatrix;\n  throw new Error(`${where}: expected a matrix`);\n}\n"]}

package/dist/core.d.ts

@@ -1,8 +1,9 @@
-import { U as UsdaFile, z as Vec3, y as Vec2, M as Mat4, j as LinkDescription, S as Stage, R as RobotDescription, P as Prim, x as UsdValue, g as JointType, A as Axis, s as SdfPath, L as LinkInertialDescription } from './buildKinematicTree-Q9JOjAjM.js';
-export { a as AssetPath, b as Attribute, c as AttributeSpec, B as BuildTreeOptions, C as CompositionArc, D as DEFAULT_METERS_PER_UNIT, d as DEG2RAD, e as JointDescription, J as JointDriveDescription, f as JointMimicDescription, h as KinematicNode, K as KinematicTree, i as Layer, k as ListOp, l as MetadataMap, m as PrimSpec, n as PropertySpec, Q as Quat, o as RAD2DEG, p as Relationship, q as RelationshipSpec, r as SampleChannel, t as Specifier, T as TreeEdge, u as UpAxis, v as UsdDictionary, w as UsdMatrix, V as Variability, E as Vec4, F as buildKinematicTree, G as channelFromSamples, H as decomposeRigid, I as fromUsdMatrix, N as getTranslation, O as identity4, W as interpolate, X as invert, Y as makeEuler, Z as makeRotationFromQuat, _ as makeRotationX, $ as makeRotationY, a0 as makeRotationZ, a1 as makeScale, a2 as makeTranslation, a3 as multiply, a4 as multiplyAll, a5 as toUsdMatrix } from './buildKinematicTree-Q9JOjAjM.js';
-import { A as AssetResolver, b as MdlModuleProvider } from './parseMdl-vfzBGoMr.js';
-export { D as DefaultAssetResolver, M as MdlMaterialDecl, a as MdlModule, c as MdlTextureValue, d as MdlValue, e as createMemoryResolver, i as isMdlTexture, j as joinPosix, p as parseMdl, f as parseMdlLiteral } from './parseMdl-vfzBGoMr.js';
+import { U as UsdaFile, a as Vec3, V as Vec2, M as Mat4, n as LinkDescription, S as Stage, R as RobotDescription, A as AssetResolver, P as Prim, G as UsdValue, k as JointType, b as Axis, w as SdfPath, c as LinkInertialDescription } from './usdLux-BqQlSOwG.js';
+export { d as AssetPath, e as Attribute, f as AttributeSpec, B as BuildTreeOptions, C as CompositionArc, D as DEFAULT_METERS_PER_UNIT, g as DEG2RAD, h as DefaultAssetResolver, i as JointDescription, J as JointDriveDescription, j as JointMimicDescription, l as KinematicNode, K as KinematicTree, m as Layer, L as LightDescription, o as ListOp, p as MetadataMap, q as PrimSpec, r as PropertySpec, Q as Quat, s as RAD2DEG, t as Relationship, u as RelationshipSpec, v as SampleChannel, x as Specifier, T as TreeEdge, y as UpAxis, z as UsdDictionary, E as UsdLightKind, F as UsdMatrix, H as Variability, I as Vec4, N as buildKinematicTree, O as channelFromSamples, W as colorTemperatureToRgb, X as createMemoryResolver, Y as decomposeRigid, Z as fromUsdMatrix, _ as getLightKind, $ as getTranslation, a0 as identity4, a1 as interpolate, a2 as invert, a3 as isLight, a4 as isUnsupportedLight, a5 as joinPosix, a6 as makeEuler, a7 as makeRotationFromQuat, a8 as makeRotationX, a9 as makeRotationY, aa as makeRotationZ, ab as makeScale, ac as makeTranslation, ad as multiply, ae as multiplyAll, af as readLightDescription, ag as toUsdMatrix } from './usdLux-BqQlSOwG.js';
 export { B as BinarySource, U as UsdSource, t as toBytes } from './bytes-CxGRGry_.js';
+import { M as MdlModuleProvider } from './parseMdl-M862hSal.js';
+export { a as MdlMaterialDecl, b as MdlModule, c as MdlTextureValue, d as MdlValue, i as isMdlTexture, p as parseMdl, e as parseMdlLiteral } from './parseMdl-M862hSal.js';
+export { C as CameraDescription, c as computeCameraExposureScale, i as isCamera, r as readCameraDescription } from './usdGeomCamera-BEsGuz7m.js';
 
 /** Package identity. Kept in one place so every entry point can re-export it. */
 declare const PACKAGE_NAME = "three-usd-robot";

package/dist/core.js

@@ -1,7 +1,9 @@
-export { PACKAGE_NAME, VERSION, exportRobotUsda, stageGeometryProvider, validateRobotDescription, writeUsdz } from './chunk-5ZPHZ5ZH.js';
-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, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isMesh, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isXform, isZip, iterDescendants, jointValueFromSI, jointValueToSI, loadMdlModules, normalizeJointLimits, openUsdz, parseOpType, parseUsda, refineJointType, serializeUsda, toBytes, tokenize } from './chunk-FUVHAORT.js';
-export { DEG2RAD, RAD2DEG, channelFromSamples, decomposeJointRelative, decomposeRigid, fromUsdMatrix, getTranslation, identity4, interpolate, invert, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, nearestAngleBranch, toUsdMatrix } from './chunk-YGJ23CG3.js';
+export { PACKAGE_NAME, VERSION, exportRobotUsda, stageGeometryProvider, validateRobotDescription, writeUsdz } from './chunk-IT5RWB7A.js';
+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, colorTemperatureToRgb, composeFile, composeLayer, crateToUsdaFile, driveKindFor, extractRobotDescription, gatherGprimDescendants, gatherMeshDescendants, getJointAxis, getJointBodies, getJointDrive, getJointLimits, getJointLocalFrame, getJointStatePosition, getJointType, getLightKind, getMassProperties, hasArticulationRootAPI, hasCollisionAPI, hasRigidBodyAPI, isBasisCurves, isLight, isMesh, isPoints, isRenderableGprim, isScope, isSolidGprim, isUnsupportedGprim, isUnsupportedLight, isXform, isZip, iterDescendants, jointValueFromSI, jointValueToSI, loadMdlModules, normalizeJointLimits, openUsdz, parseUsda, readLightDescription, refineJointType, serializeUsda, toBytes, tokenize } from './chunk-KRT4NL3H.js';
+export { channelFromSamples, decomposeJointRelative, interpolate, nearestAngleBranch } from './chunk-ALC7RBKC.js';
 export { DefaultAssetResolver, createMemoryResolver, isMdlTexture, joinPosix, parseMdl, parseMdlLiteral } from './chunk-PPPRB6KE.js';
+export { computeCameraExposureScale, computeLocalTransform, computeWorldTransform, isCamera, parseOpType, readCameraDescription } from './chunk-ZQXYVBQI.js';
+export { DEG2RAD, RAD2DEG, decomposeRigid, fromUsdMatrix, getTranslation, identity4, invert, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, toUsdMatrix } from './chunk-IAOPNN6V.js';
 export { AssetPath, Quat, UsdMatrix } from './chunk-JGIVJXBU.js';
 //# sourceMappingURL=core.js.map
 //# sourceMappingURL=core.js.map

package/dist/extras.d.ts

@@ -1,6 +1,6 @@
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-X1zbpRZo.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-CurQqRqu.js';
 import 'three';
-import './buildKinematicTree-Q9JOjAjM.js';
+import './usdLux-BqQlSOwG.js';
 
 /**
  * `three-usd-robot/extras`

package/dist/helpers.d.ts

@@ -1,6 +1,6 @@
 import * as THREE from 'three';
-import { T as ThreeUsdRobot, J as JointObject } from './ThreeUsdRobot-X1zbpRZo.js';
-import './buildKinematicTree-Q9JOjAjM.js';
+import { T as ThreeUsdRobot, J as JointObject } from './ThreeUsdRobot-CurQqRqu.js';
+import './usdLux-BqQlSOwG.js';
 
 /**
  * Per-link appearance helpers: highlight (tint), material replacement, and