three-usd-robot 0.14.0 → 0.14.1

package/dist/rendering.js

@@ -84,8 +84,16 @@ function finishDataTexture(texture, colorSpace) {
   return texture;
 }
 function colorTexture(color) {
-  const data = new Float32Array([color[0], color[1], color[2], 1]);
-  const texture = new THREE.DataTexture(data, 1, 1, THREE.RGBAFormat, THREE.FloatType);
+  const width = 64;
+  const height = 32;
+  const data = new Float32Array(width * height * 4);
+  for (let i = 0; i < width * height; i++) {
+    data[i * 4] = color[0];
+    data[i * 4 + 1] = color[1];
+    data[i * 4 + 2] = color[2];
+    data[i * 4 + 3] = 1;
+  }
+  const texture = new THREE.DataTexture(data, width, height, THREE.RGBAFormat, THREE.FloatType);
   return finishDataTexture(texture, THREE.LinearSRGBColorSpace);
 }
 function domeRotation(robot, dome) {

package/dist/rendering.js.map

@@ -1 +1 @@
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* DomeLight → image-based environment lighting (M26).\n *\n * A `DomeLight` is not a discrete light: it is the scene's environment. This\n * module fetches the dome's texture through the robot's captured asset context\n * (so relative CDN paths and `.usdz`-embedded images both work), decodes\n * `.hdr` / `.exr` (via three's addons loaders) or LDR images into an\n * equirectangular texture, and applies it as `scene.environment` — three\n * prefilters equirectangular environments internally, no PMREM setup needed.\n *\n * Orientation: three.js expects the equirect pole along +Y. The dome's pole\n * follows `poleAxis` (`DomeLight_1`) or, for the original `DomeLight` schema,\n * the stage up-axis — composed with the dome prim's own rotation and the\n * loader's up-axis normalization into `scene.environmentRotation` (three\n * r162+; skipped with a warning on older peers when it matters).\n */\n\nimport * as THREE from \"three\";\nimport { EXRLoader } from \"three/addons/loaders/EXRLoader.js\";\nimport { RGBELoader } from \"three/addons/loaders/RGBELoader.js\";\nimport type { LightDescription } from \"../schemas/usdLux.js\";\nimport type { ThreeUsdRobot } from \"../three/ThreeUsdRobot.js\";\nimport { computeWorldTransform } from \"../usd/xformOps.js\";\n\nexport type ApplyUsdEnvironmentOptions = {\n  /** Also show the environment as `scene.background` (default `false`). */\n  background?: boolean;\n  /**\n   * Multiplies the dome's authored emission (`intensity × 2^exposure`) into\n   * `scene.environmentIntensity`. Defaults to the `lightIntensityScale` the\n   * robot was loaded with, so the environment stays in balance with the bound\n   * lights (see docs/lighting.md).\n   */\n  intensityScale?: number;\n  /** The dome to apply when the stage has several (default: the first). */\n  dome?: LightDescription;\n  /** Receives fallback/compatibility diagnostics. */\n  onWarn?: (message: string) => void;\n};\n\n/** What {@link applyUsdEnvironment} applied to the scene. */\nexport type UsdEnvironment = {\n  dome: LightDescription;\n  /** The environment texture — equirectangular HDR/LDR, or 1×1 dome color. */\n  texture: THREE.Texture;\n  /** Environment orientation applied (identity when unsupported by the peer). */\n  rotation: THREE.Euler;\n  /** Effective emission written to `scene.environmentIntensity`. */\n  intensity: number;\n};\n\n/**\n * Realize the stage's DomeLight as the scene environment. Resolves the dome's\n * texture (falling back to a uniform texture of the dome color when it has\n * none, or when it cannot be fetched or decoded) and sets\n * `scene.environment(+Rotation/+Intensity)` — and, with\n * `options.background`, the matching background properties. Returns `null`\n * when the robot has no DomeLight; the scene is left untouched.\n */\nexport async function applyUsdEnvironment(\n  robot: ThreeUsdRobot,\n  scene: THREE.Scene,\n  options: ApplyUsdEnvironmentOptions = {},\n): Promise<UsdEnvironment | null> {\n  const dome = options.dome ?? robot.domeLights[0];\n  if (!dome) return null;\n  const onWarn = options.onWarn;\n\n  let texture: THREE.Texture | null = null;\n  if (dome.textureFile) {\n    if (\n      dome.textureFormat &&\n      dome.textureFormat !== \"latlong\" &&\n      dome.textureFormat !== \"automatic\"\n    ) {\n      onWarn?.(\n        `DomeLight texture:format \"${dome.textureFormat}\" is not supported; sampling it as latlong (equirectangular)`,\n      );\n    }\n    try {\n      texture = await loadDomeTexture(robot, dome.textureFile);\n    } catch (err) {\n      onWarn?.(\n        `DomeLight texture ${dome.textureFile} could not be loaded (${(err as Error).message}); falling back to the dome color`,\n      );\n    }\n  }\n  texture ??= colorTexture(dome.color);\n\n  const intensity = dome.intensity * (options.intensityScale ?? robot.lightIntensityScale ?? 1);\n  const rotation = domeRotation(robot, dome);\n\n  scene.environment = texture;\n  setSceneEuler(scene, \"environmentRotation\", rotation, onWarn);\n  setSceneNumber(scene, \"environmentIntensity\", intensity, onWarn);\n  if (options.background) {\n    scene.background = texture;\n    setSceneEuler(scene, \"backgroundRotation\", rotation, undefined);\n    setSceneNumber(scene, \"backgroundIntensity\", intensity, undefined);\n  }\n  return { dome, texture, rotation, intensity };\n}\n\n/**\n * Fetch and decode the dome image through the robot's asset context: `.hdr`\n * (Radiance RGBE) and `.exr` decode to float data textures; anything else\n * decodes as an LDR image (browser only). The result is equirect-mapped.\n */\nasync function loadDomeTexture(robot: ThreeUsdRobot, assetPath: string): Promise<THREE.Texture> {\n  const context = robot.assetContext;\n  if (!context) {\n    throw new Error(\"robot carries no asset context (was it built by ThreeUsdRobotLoader?)\");\n  }\n  const url = context.resolver.resolve(assetPath, context.baseUrl);\n  const bytes = context.resolver.fetchBytes\n    ? await context.resolver.fetchBytes(url)\n    : new TextEncoder().encode(await context.resolver.fetchText(url));\n\n  if (/\\.hdr$/i.test(url)) {\n    const texData = new RGBELoader().parse(toArrayBuffer(bytes));\n    const texture = new THREE.DataTexture(\n      texData.data as unknown as BufferSource,\n      texData.width,\n      texData.height,\n      THREE.RGBAFormat,\n      texData.type,\n    );\n    texture.flipY = true; // Radiance scanlines run top-down\n    return finishDataTexture(texture, THREE.LinearSRGBColorSpace);\n  }\n  if (/\\.exr$/i.test(url)) {\n    const texData = new EXRLoader().parse(toArrayBuffer(bytes));\n    const texture = new THREE.DataTexture(\n      texData.data as unknown as BufferSource,\n      texData.width,\n      texData.height,\n      texData.format,\n      texData.type,\n    );\n    texture.flipY = false; // EXR rows decode bottom-up already\n    return finishDataTexture(texture, texData.colorSpace);\n  }\n\n  const texture = new THREE.Texture(await decodeImage(bytes, url));\n  texture.colorSpace = THREE.SRGBColorSpace;\n  texture.mapping = THREE.EquirectangularReflectionMapping;\n  texture.needsUpdate = true;\n  return texture;\n}\n\nfunction finishDataTexture(texture: THREE.DataTexture, colorSpace: string): THREE.Texture {\n  texture.colorSpace = colorSpace;\n  texture.magFilter = THREE.LinearFilter;\n  texture.minFilter = THREE.LinearFilter;\n  texture.generateMipmaps = false;\n  texture.mapping = THREE.EquirectangularReflectionMapping;\n  texture.needsUpdate = true;\n  return texture;\n}\n\n/** 1×1 float environment of the dome's (linear) color — a uniform sky. */\nfunction colorTexture(color: [number, number, number]): THREE.Texture {\n  const data = new Float32Array([color[0], color[1], color[2], 1]);\n  const texture = new THREE.DataTexture(data, 1, 1, THREE.RGBAFormat, THREE.FloatType);\n  return finishDataTexture(texture, THREE.LinearSRGBColorSpace);\n}\n\n/**\n * Environment orientation: (root up-axis normalization) × (dome prim's stage\n * rotation) × (pole correction from three's +Y-pole equirect convention to\n * the dome's pole axis).\n */\nfunction domeRotation(robot: ThreeUsdRobot, dome: LightDescription): THREE.Euler {\n  const q = robot.quaternion.clone();\n\n  const prim = robot.stage?.GetPrimAtPath(dome.primPath);\n  if (prim) {\n    const world = new THREE.Matrix4().fromArray(computeWorldTransform(prim));\n    const rotation = new THREE.Matrix4().extractRotation(world); // drops the prim chain's scale\n    q.multiply(new THREE.Quaternion().setFromRotationMatrix(rotation));\n  }\n\n  // DomeLight_1 authors poleAxis; the original schema follows the stage up-axis.\n  const pole = dome.poleAxis === \"Y\" || dome.poleAxis === \"Z\" ? dome.poleAxis : robot.robot.upAxis;\n  if (pole === \"Z\") {\n    q.multiply(new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(1, 0, 0), Math.PI / 2));\n  }\n  return new THREE.Euler().setFromQuaternion(q);\n}\n\n/** Set a Scene Euler property when the installed three has it (r162+). */\nfunction setSceneEuler(\n  scene: THREE.Scene,\n  name: \"environmentRotation\" | \"backgroundRotation\",\n  rotation: THREE.Euler,\n  onWarn: ((message: string) => void) | undefined,\n): void {\n  if (name in scene) {\n    scene[name].copy(rotation);\n  } else if (Math.abs(rotation.x) + Math.abs(rotation.y) + Math.abs(rotation.z) > 1e-6) {\n    onWarn?.(`this three.js has no Scene.${name} (added r162); the dome orientation is dropped`);\n  }\n}\n\n/** Set a Scene number property when the installed three has it (r163+). */\nfunction setSceneNumber(\n  scene: THREE.Scene,\n  name: \"environmentIntensity\" | \"backgroundIntensity\",\n  value: number,\n  onWarn: ((message: string) => void) | undefined,\n): void {\n  if (name in scene) {\n    scene[name] = value;\n  } else if (Math.abs(value - 1) > 1e-6) {\n    onWarn?.(`this three.js has no Scene.${name} (added r163); the dome intensity is dropped`);\n  }\n}\n\n/** `RGBELoader.parse` wants an ArrayBuffer aligned to the data. */\nfunction toArrayBuffer(bytes: Uint8Array): ArrayBuffer {\n  if (bytes.byteOffset === 0 && bytes.byteLength === bytes.buffer.byteLength) {\n    return bytes.buffer as ArrayBuffer;\n  }\n  return bytes.slice().buffer as ArrayBuffer;\n}\n\n/** Decode LDR image bytes via a blob URL (browser environments). */\nfunction decodeImage(bytes: Uint8Array, url: string): Promise<HTMLImageElement> {\n  if (typeof Image === \"undefined\") {\n    return Promise.reject(new Error(\"LDR dome textures need a browser image decoder\"));\n  }\n  const mime = /\\.jpe?g$/i.test(url)\n    ? \"image/jpeg\"\n    : /\\.webp$/i.test(url)\n      ? \"image/webp\"\n      : \"image/png\";\n  const blob = new Blob([bytes as unknown as BlobPart], { type: mime });\n  const objectUrl = URL.createObjectURL(blob);\n  return new Promise<HTMLImageElement>((resolve, reject) => {\n    const img = new Image();\n    img.onload = () => {\n      URL.revokeObjectURL(objectUrl);\n      resolve(img);\n    };\n    img.onerror = () => {\n      URL.revokeObjectURL(objectUrl);\n      reject(new Error(`failed to decode dome texture: ${url}`));\n    };\n    img.src = objectUrl;\n  });\n}\n","/**\n * One-call renderer defaults (M28) — the settings every USD viewer built on\n * this library ends up wanting: filmic tone mapping (USD lights and HDRI\n * domes are HDR values; three's default `NoToneMapping` clips them), soft\n * shadow maps (the loader pre-flags meshes and lights, M25), and optionally\n * an exposure — either a plain multiplier or a `UsdGeomCamera` description,\n * whose USD 24.11 linear exposure scale is applied (M27).\n *\n * Deliberately small: post-processing (AO, SSR, TAA, bloom) stays out of the\n * library — compose three's own passes in your app; the Vite example shows a\n * GTAO setup.\n */\n\nimport * as THREE from \"three\";\nimport { type CameraDescription, computeCameraExposureScale } from \"../schemas/usdGeomCamera.js\";\n\n/** Filmic curve to install. `\"none\"` restores three's linear pass-through. */\nexport type ToneMappingPreset = \"ACES\" | \"AgX\" | \"neutral\" | \"none\";\n\nexport type RenderDefaultsOptions = {\n  /** Default `\"ACES\"`. `\"neutral\"` (Khronos PBR Neutral) needs three r162+. */\n  toneMapping?: ToneMappingPreset;\n  /**\n   * Sets `toneMappingExposure`: a number as-is, or a\n   * {@link CameraDescription} via its linear exposure scale\n   * ({@link computeCameraExposureScale}). Left untouched when omitted.\n   */\n  exposure?: number | CameraDescription;\n  /** Enable `PCFSoftShadowMap` shadow rendering (default `true`). */\n  shadows?: boolean;\n  /** Receives compatibility diagnostics. */\n  onWarn?: (message: string) => void;\n};\n\n/**\n * The renderer surface this helper touches — satisfied by `WebGLRenderer`\n * and `WebGPURenderer` alike, without depending on `three/webgpu` types.\n */\nexport type RenderDefaultsTarget = {\n  toneMapping: THREE.ToneMapping;\n  toneMappingExposure: number;\n  shadowMap: { enabled: boolean; type: THREE.ShadowMapType };\n};\n\n/**\n * Apply viewer defaults to a renderer:\n *\n * ```ts\n * import { applyRenderDefaults } from \"three-usd-robot/rendering\";\n *\n * applyRenderDefaults(renderer); // ACES + soft shadow maps\n * applyRenderDefaults(renderer, { toneMapping: \"AgX\", exposure: robot.cameras[0]?.userData.usdCamera });\n * ```\n *\n * Only ever switches features on or assigns requested values — `shadows:\n * false` skips enabling shadow maps rather than force-disabling them.\n */\nexport function applyRenderDefaults(\n  renderer: RenderDefaultsTarget,\n  options: RenderDefaultsOptions = {},\n): void {\n  renderer.toneMapping = resolveToneMapping(options.toneMapping ?? \"ACES\", options.onWarn);\n  if (options.exposure !== undefined) {\n    renderer.toneMappingExposure =\n      typeof options.exposure === \"number\"\n        ? options.exposure\n        : computeCameraExposureScale(options.exposure);\n  }\n  if (options.shadows ?? true) {\n    renderer.shadowMap.enabled = true;\n    renderer.shadowMap.type = THREE.PCFSoftShadowMap;\n  }\n}\n\nfunction resolveToneMapping(\n  preset: ToneMappingPreset,\n  onWarn: ((message: string) => void) | undefined,\n): THREE.ToneMapping {\n  switch (preset) {\n    case \"none\":\n      return THREE.NoToneMapping;\n    case \"AgX\":\n      return THREE.AgXToneMapping;\n    case \"neutral\": {\n      // Runtime lookup: the peer floor (r160) predates NeutralToneMapping (r162).\n      const neutral = (THREE as Record<string, unknown>).NeutralToneMapping;\n      if (typeof neutral === \"number\") return neutral as THREE.ToneMapping;\n      onWarn?.('this three.js has no NeutralToneMapping (added r162); using \"ACES\" instead');\n      return THREE.ACESFilmicToneMapping;\n    }\n    case \"ACES\":\n      return THREE.ACESFilmicToneMapping;\n  }\n}\n"]}
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* DomeLight → image-based environment lighting (M26).\n *\n * A `DomeLight` is not a discrete light: it is the scene's environment. This\n * module fetches the dome's texture through the robot's captured asset context\n * (so relative CDN paths and `.usdz`-embedded images both work), decodes\n * `.hdr` / `.exr` (via three's addons loaders) or LDR images into an\n * equirectangular texture, and applies it as `scene.environment` — three\n * prefilters equirectangular environments internally, no PMREM setup needed.\n *\n * Orientation: three.js expects the equirect pole along +Y. The dome's pole\n * follows `poleAxis` (`DomeLight_1`) or, for the original `DomeLight` schema,\n * the stage up-axis — composed with the dome prim's own rotation and the\n * loader's up-axis normalization into `scene.environmentRotation` (three\n * r162+; skipped with a warning on older peers when it matters).\n */\n\nimport * as THREE from \"three\";\nimport { EXRLoader } from \"three/addons/loaders/EXRLoader.js\";\nimport { RGBELoader } from \"three/addons/loaders/RGBELoader.js\";\nimport type { LightDescription } from \"../schemas/usdLux.js\";\nimport type { ThreeUsdRobot } from \"../three/ThreeUsdRobot.js\";\nimport { computeWorldTransform } from \"../usd/xformOps.js\";\n\nexport type ApplyUsdEnvironmentOptions = {\n  /** Also show the environment as `scene.background` (default `false`). */\n  background?: boolean;\n  /**\n   * Multiplies the dome's authored emission (`intensity × 2^exposure`) into\n   * `scene.environmentIntensity`. Defaults to the `lightIntensityScale` the\n   * robot was loaded with, so the environment stays in balance with the bound\n   * lights (see docs/lighting.md).\n   */\n  intensityScale?: number;\n  /** The dome to apply when the stage has several (default: the first). */\n  dome?: LightDescription;\n  /** Receives fallback/compatibility diagnostics. */\n  onWarn?: (message: string) => void;\n};\n\n/** What {@link applyUsdEnvironment} applied to the scene. */\nexport type UsdEnvironment = {\n  dome: LightDescription;\n  /** The environment texture — equirectangular HDR/LDR, or 1×1 dome color. */\n  texture: THREE.Texture;\n  /** Environment orientation applied (identity when unsupported by the peer). */\n  rotation: THREE.Euler;\n  /** Effective emission written to `scene.environmentIntensity`. */\n  intensity: number;\n};\n\n/**\n * Realize the stage's DomeLight as the scene environment. Resolves the dome's\n * texture (falling back to a uniform texture of the dome color when it has\n * none, or when it cannot be fetched or decoded) and sets\n * `scene.environment(+Rotation/+Intensity)` — and, with\n * `options.background`, the matching background properties. Returns `null`\n * when the robot has no DomeLight; the scene is left untouched.\n */\nexport async function applyUsdEnvironment(\n  robot: ThreeUsdRobot,\n  scene: THREE.Scene,\n  options: ApplyUsdEnvironmentOptions = {},\n): Promise<UsdEnvironment | null> {\n  const dome = options.dome ?? robot.domeLights[0];\n  if (!dome) return null;\n  const onWarn = options.onWarn;\n\n  let texture: THREE.Texture | null = null;\n  if (dome.textureFile) {\n    if (\n      dome.textureFormat &&\n      dome.textureFormat !== \"latlong\" &&\n      dome.textureFormat !== \"automatic\"\n    ) {\n      onWarn?.(\n        `DomeLight texture:format \"${dome.textureFormat}\" is not supported; sampling it as latlong (equirectangular)`,\n      );\n    }\n    try {\n      texture = await loadDomeTexture(robot, dome.textureFile);\n    } catch (err) {\n      onWarn?.(\n        `DomeLight texture ${dome.textureFile} could not be loaded (${(err as Error).message}); falling back to the dome color`,\n      );\n    }\n  }\n  texture ??= colorTexture(dome.color);\n\n  const intensity = dome.intensity * (options.intensityScale ?? robot.lightIntensityScale ?? 1);\n  const rotation = domeRotation(robot, dome);\n\n  scene.environment = texture;\n  setSceneEuler(scene, \"environmentRotation\", rotation, onWarn);\n  setSceneNumber(scene, \"environmentIntensity\", intensity, onWarn);\n  if (options.background) {\n    scene.background = texture;\n    setSceneEuler(scene, \"backgroundRotation\", rotation, undefined);\n    setSceneNumber(scene, \"backgroundIntensity\", intensity, undefined);\n  }\n  return { dome, texture, rotation, intensity };\n}\n\n/**\n * Fetch and decode the dome image through the robot's asset context: `.hdr`\n * (Radiance RGBE) and `.exr` decode to float data textures; anything else\n * decodes as an LDR image (browser only). The result is equirect-mapped.\n */\nasync function loadDomeTexture(robot: ThreeUsdRobot, assetPath: string): Promise<THREE.Texture> {\n  const context = robot.assetContext;\n  if (!context) {\n    throw new Error(\"robot carries no asset context (was it built by ThreeUsdRobotLoader?)\");\n  }\n  const url = context.resolver.resolve(assetPath, context.baseUrl);\n  const bytes = context.resolver.fetchBytes\n    ? await context.resolver.fetchBytes(url)\n    : new TextEncoder().encode(await context.resolver.fetchText(url));\n\n  if (/\\.hdr$/i.test(url)) {\n    const texData = new RGBELoader().parse(toArrayBuffer(bytes));\n    const texture = new THREE.DataTexture(\n      texData.data as unknown as BufferSource,\n      texData.width,\n      texData.height,\n      THREE.RGBAFormat,\n      texData.type,\n    );\n    texture.flipY = true; // Radiance scanlines run top-down\n    return finishDataTexture(texture, THREE.LinearSRGBColorSpace);\n  }\n  if (/\\.exr$/i.test(url)) {\n    const texData = new EXRLoader().parse(toArrayBuffer(bytes));\n    const texture = new THREE.DataTexture(\n      texData.data as unknown as BufferSource,\n      texData.width,\n      texData.height,\n      texData.format,\n      texData.type,\n    );\n    texture.flipY = false; // EXR rows decode bottom-up already\n    return finishDataTexture(texture, texData.colorSpace);\n  }\n\n  const texture = new THREE.Texture(await decodeImage(bytes, url));\n  texture.colorSpace = THREE.SRGBColorSpace;\n  texture.mapping = THREE.EquirectangularReflectionMapping;\n  texture.needsUpdate = true;\n  return texture;\n}\n\nfunction finishDataTexture(texture: THREE.DataTexture, colorSpace: string): THREE.Texture {\n  texture.colorSpace = colorSpace;\n  texture.magFilter = THREE.LinearFilter;\n  texture.minFilter = THREE.LinearFilter;\n  texture.generateMipmaps = false;\n  texture.mapping = THREE.EquirectangularReflectionMapping;\n  texture.needsUpdate = true;\n  return texture;\n}\n\n/**\n * Small float equirect filled with the dome's (linear) color — a uniform sky.\n * Deliberately not 1×1: three's PMREM prefilter sizes its cubemap from the\n * equirect width (width / 4), and a degenerate size breaks the shader of\n * every environment-lit material (`useProgram: program not valid`).\n */\nfunction colorTexture(color: [number, number, number]): THREE.Texture {\n  const width = 64;\n  const height = 32;\n  const data = new Float32Array(width * height * 4);\n  for (let i = 0; i < width * height; i++) {\n    data[i * 4] = color[0];\n    data[i * 4 + 1] = color[1];\n    data[i * 4 + 2] = color[2];\n    data[i * 4 + 3] = 1;\n  }\n  const texture = new THREE.DataTexture(data, width, height, THREE.RGBAFormat, THREE.FloatType);\n  return finishDataTexture(texture, THREE.LinearSRGBColorSpace);\n}\n\n/**\n * Environment orientation: (root up-axis normalization) × (dome prim's stage\n * rotation) × (pole correction from three's +Y-pole equirect convention to\n * the dome's pole axis).\n */\nfunction domeRotation(robot: ThreeUsdRobot, dome: LightDescription): THREE.Euler {\n  const q = robot.quaternion.clone();\n\n  const prim = robot.stage?.GetPrimAtPath(dome.primPath);\n  if (prim) {\n    const world = new THREE.Matrix4().fromArray(computeWorldTransform(prim));\n    const rotation = new THREE.Matrix4().extractRotation(world); // drops the prim chain's scale\n    q.multiply(new THREE.Quaternion().setFromRotationMatrix(rotation));\n  }\n\n  // DomeLight_1 authors poleAxis; the original schema follows the stage up-axis.\n  const pole = dome.poleAxis === \"Y\" || dome.poleAxis === \"Z\" ? dome.poleAxis : robot.robot.upAxis;\n  if (pole === \"Z\") {\n    q.multiply(new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(1, 0, 0), Math.PI / 2));\n  }\n  return new THREE.Euler().setFromQuaternion(q);\n}\n\n/** Set a Scene Euler property when the installed three has it (r162+). */\nfunction setSceneEuler(\n  scene: THREE.Scene,\n  name: \"environmentRotation\" | \"backgroundRotation\",\n  rotation: THREE.Euler,\n  onWarn: ((message: string) => void) | undefined,\n): void {\n  if (name in scene) {\n    scene[name].copy(rotation);\n  } else if (Math.abs(rotation.x) + Math.abs(rotation.y) + Math.abs(rotation.z) > 1e-6) {\n    onWarn?.(`this three.js has no Scene.${name} (added r162); the dome orientation is dropped`);\n  }\n}\n\n/** Set a Scene number property when the installed three has it (r163+). */\nfunction setSceneNumber(\n  scene: THREE.Scene,\n  name: \"environmentIntensity\" | \"backgroundIntensity\",\n  value: number,\n  onWarn: ((message: string) => void) | undefined,\n): void {\n  if (name in scene) {\n    scene[name] = value;\n  } else if (Math.abs(value - 1) > 1e-6) {\n    onWarn?.(`this three.js has no Scene.${name} (added r163); the dome intensity is dropped`);\n  }\n}\n\n/** `RGBELoader.parse` wants an ArrayBuffer aligned to the data. */\nfunction toArrayBuffer(bytes: Uint8Array): ArrayBuffer {\n  if (bytes.byteOffset === 0 && bytes.byteLength === bytes.buffer.byteLength) {\n    return bytes.buffer as ArrayBuffer;\n  }\n  return bytes.slice().buffer as ArrayBuffer;\n}\n\n/** Decode LDR image bytes via a blob URL (browser environments). */\nfunction decodeImage(bytes: Uint8Array, url: string): Promise<HTMLImageElement> {\n  if (typeof Image === \"undefined\") {\n    return Promise.reject(new Error(\"LDR dome textures need a browser image decoder\"));\n  }\n  const mime = /\\.jpe?g$/i.test(url)\n    ? \"image/jpeg\"\n    : /\\.webp$/i.test(url)\n      ? \"image/webp\"\n      : \"image/png\";\n  const blob = new Blob([bytes as unknown as BlobPart], { type: mime });\n  const objectUrl = URL.createObjectURL(blob);\n  return new Promise<HTMLImageElement>((resolve, reject) => {\n    const img = new Image();\n    img.onload = () => {\n      URL.revokeObjectURL(objectUrl);\n      resolve(img);\n    };\n    img.onerror = () => {\n      URL.revokeObjectURL(objectUrl);\n      reject(new Error(`failed to decode dome texture: ${url}`));\n    };\n    img.src = objectUrl;\n  });\n}\n","/**\n * One-call renderer defaults (M28) — the settings every USD viewer built on\n * this library ends up wanting: filmic tone mapping (USD lights and HDRI\n * domes are HDR values; three's default `NoToneMapping` clips them), soft\n * shadow maps (the loader pre-flags meshes and lights, M25), and optionally\n * an exposure — either a plain multiplier or a `UsdGeomCamera` description,\n * whose USD 24.11 linear exposure scale is applied (M27).\n *\n * Deliberately small: post-processing (AO, SSR, TAA, bloom) stays out of the\n * library — compose three's own passes in your app; the Vite example shows a\n * GTAO setup.\n */\n\nimport * as THREE from \"three\";\nimport { type CameraDescription, computeCameraExposureScale } from \"../schemas/usdGeomCamera.js\";\n\n/** Filmic curve to install. `\"none\"` restores three's linear pass-through. */\nexport type ToneMappingPreset = \"ACES\" | \"AgX\" | \"neutral\" | \"none\";\n\nexport type RenderDefaultsOptions = {\n  /** Default `\"ACES\"`. `\"neutral\"` (Khronos PBR Neutral) needs three r162+. */\n  toneMapping?: ToneMappingPreset;\n  /**\n   * Sets `toneMappingExposure`: a number as-is, or a\n   * {@link CameraDescription} via its linear exposure scale\n   * ({@link computeCameraExposureScale}). Left untouched when omitted.\n   */\n  exposure?: number | CameraDescription;\n  /** Enable `PCFSoftShadowMap` shadow rendering (default `true`). */\n  shadows?: boolean;\n  /** Receives compatibility diagnostics. */\n  onWarn?: (message: string) => void;\n};\n\n/**\n * The renderer surface this helper touches — satisfied by `WebGLRenderer`\n * and `WebGPURenderer` alike, without depending on `three/webgpu` types.\n */\nexport type RenderDefaultsTarget = {\n  toneMapping: THREE.ToneMapping;\n  toneMappingExposure: number;\n  shadowMap: { enabled: boolean; type: THREE.ShadowMapType };\n};\n\n/**\n * Apply viewer defaults to a renderer:\n *\n * ```ts\n * import { applyRenderDefaults } from \"three-usd-robot/rendering\";\n *\n * applyRenderDefaults(renderer); // ACES + soft shadow maps\n * applyRenderDefaults(renderer, { toneMapping: \"AgX\", exposure: robot.cameras[0]?.userData.usdCamera });\n * ```\n *\n * Only ever switches features on or assigns requested values — `shadows:\n * false` skips enabling shadow maps rather than force-disabling them.\n */\nexport function applyRenderDefaults(\n  renderer: RenderDefaultsTarget,\n  options: RenderDefaultsOptions = {},\n): void {\n  renderer.toneMapping = resolveToneMapping(options.toneMapping ?? \"ACES\", options.onWarn);\n  if (options.exposure !== undefined) {\n    renderer.toneMappingExposure =\n      typeof options.exposure === \"number\"\n        ? options.exposure\n        : computeCameraExposureScale(options.exposure);\n  }\n  if (options.shadows ?? true) {\n    renderer.shadowMap.enabled = true;\n    renderer.shadowMap.type = THREE.PCFSoftShadowMap;\n  }\n}\n\nfunction resolveToneMapping(\n  preset: ToneMappingPreset,\n  onWarn: ((message: string) => void) | undefined,\n): THREE.ToneMapping {\n  switch (preset) {\n    case \"none\":\n      return THREE.NoToneMapping;\n    case \"AgX\":\n      return THREE.AgXToneMapping;\n    case \"neutral\": {\n      // Runtime lookup: the peer floor (r160) predates NeutralToneMapping (r162).\n      const neutral = (THREE as Record<string, unknown>).NeutralToneMapping;\n      if (typeof neutral === \"number\") return neutral as THREE.ToneMapping;\n      onWarn?.('this three.js has no NeutralToneMapping (added r162); using \"ACES\" instead');\n      return THREE.ACESFilmicToneMapping;\n    }\n    case \"ACES\":\n      return THREE.ACESFilmicToneMapping;\n  }\n}\n"]}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "three-usd-robot",
-  "version": "0.14.0",
+  "version": "0.14.1",
   "description": "Kinematic OpenUSD robot loader for Three.js — load Isaac Sim / OpenUSD robot assets, extract joints and links, and control articulations in the browser.",
   "type": "module",
   "license": "MIT",