three-usd-robot 0.2.0

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Files changed (19) hide show
  1. package/LICENSE +21 -0
  2. package/README.md +107 -0
  3. package/dist/ThreeUsdRobot-lMZHW-it.d.ts +121 -0
  4. package/dist/buildKinematicTree-2fg6ZN8m.d.ts +283 -0
  5. package/dist/chunk-XCP5GZPY.js +2685 -0
  6. package/dist/chunk-XCP5GZPY.js.map +1 -0
  7. package/dist/core.d.ts +464 -0
  8. package/dist/core.js +3 -0
  9. package/dist/core.js.map +1 -0
  10. package/dist/extras.d.ts +50 -0
  11. package/dist/extras.js +35 -0
  12. package/dist/extras.js.map +1 -0
  13. package/dist/helpers.d.ts +39 -0
  14. package/dist/helpers.js +92 -0
  15. package/dist/helpers.js.map +1 -0
  16. package/dist/index.d.ts +89 -0
  17. package/dist/index.js +493 -0
  18. package/dist/index.js.map +1 -0
  19. package/package.json +75 -0
package/dist/chunk-XCP5GZPY.js.map ADDED
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Empty if typeless. */\n typeName: string;\n name: string;\n metadata: MetadataMap;\n properties: PropertySpec[];\n children: PrimSpec[];\n /** 1-based source line of the prim declaration (for diagnostics). */\n line: number;\n};\n\nexport type PropertySpec = AttributeSpec | RelationshipSpec;\n\nexport type AttributeSpec = {\n kind: \"attribute\";\n name: string;\n /** USD type name without the `[]` suffix, e.g. `float3`, `token`, `quatf`. */\n typeName: string;\n isArray: boolean;\n variability: Variability;\n custom: boolean;\n /** Default (time-independent) value, if authored. */\n value?: UsdValue;\n /** Time samples keyed by time code, if authored as `{ t: v, ... }`. */\n timeSamples?: Map<number, UsdValue>;\n /** Connection target paths (`attr.connect = <path>`), if authored. */\n connections?: SdfPath[];\n metadata: MetadataMap;\n line: number;\n};\n\nexport type RelationshipSpec = {\n kind: \"relationship\";\n name: string;\n custom: boolean;\n listOp: ListOp;\n /** Target paths; empty when authored as `None`. */\n targets: SdfPath[];\n metadata: MetadataMap;\n line: number;\n};\n","import type { Token, TokenType } from \"./tokenize.js\";\n\nexport class ParseError extends Error {\n constructor(\n message: string,\n readonly line: number,\n readonly col: number,\n ) {\n super(`USDA parse error (line ${line}:${col}): ${message}`);\n this.name = \"ParseError\";\n }\n}\n\n/** Cursor over a token stream with lookahead and typed consumption helpers. */\nexport class TokenReader {\n private pos = 0;\n\n constructor(private readonly tokens: Token[]) {}\n\n peek(ahead = 0): Token {\n return this.tokens[Math.min(this.pos + ahead, this.tokens.length - 1)]!;\n }\n\n next(): Token {\n const t = this.tokens[this.pos]!;\n if (this.pos < this.tokens.length - 1) this.pos++;\n return t;\n }\n\n atEnd(): boolean {\n return this.peek().type === \"eof\";\n }\n\n is(type: TokenType, ahead = 0): boolean {\n return this.peek(ahead).type === type;\n }\n\n /** True when the lookahead token is an identifier with the given text. */\n isIdent(value: string, ahead = 0): boolean {\n const t = this.peek(ahead);\n return t.type === \"ident\" && t.value === value;\n }\n\n expect(type: TokenType): Token {\n const t = this.peek();\n if (t.type !== type) {\n throw new ParseError(\n `expected ${type} but found ${t.type} ${JSON.stringify(t.value)}`,\n t.line,\n t.col,\n );\n }\n return this.next();\n }\n\n /** Consume an identifier token (any value) and return its text. */\n expectIdent(): string {\n return this.expect(\"ident\").value;\n }\n\n /** Consume the given token type if present; return whether it was consumed. */\n accept(type: TokenType): boolean {\n if (this.is(type)) {\n this.next();\n return true;\n }\n return false;\n }\n\n /** Consume an identifier with the exact text if present. */\n acceptIdent(value: string): boolean {\n if (this.isIdent(value)) {\n this.next();\n return true;\n }\n return false;\n }\n\n error(message: string): ParseError {\n const t = this.peek();\n return new ParseError(message, t.line, t.col);\n }\n}\n","/**\n * Tokenizer for the USDA (ASCII USD) format.\n *\n * Produces a flat token stream consumed by `parseUsda`. Comments (`#...`) are\n * stripped. Paths (`<...>`) and asset paths (`@...@` / `@@@...@@@`) are scanned\n * as whole tokens because their interior characters are otherwise significant.\n */\n\nexport type TokenType =\n | \"lbrace\" // {\n | \"rbrace\" // }\n | \"lparen\" // (\n | \"rparen\" // )\n | \"lbracket\" // [\n | \"rbracket\" // ]\n | \"equals\" // =\n | \"comma\" // ,\n | \"colon\" // : (only as a standalone separator, e.g. timeSamples key)\n | \"dot\" // . (e.g. attr.connect)\n | \"number\"\n | \"string\"\n | \"ident\"\n | \"path\" // <...>\n | \"asset\" // @...@\n | \"eof\";\n\nexport type Token = {\n type: TokenType;\n /** Raw lexeme / decoded value. For `number` this is the original text. */\n value: string;\n /** Decoded numeric value for `number` tokens. */\n num?: number;\n /** 1-based line number where the token starts. */\n line: number;\n col: number;\n};\n\nexport class TokenizeError extends Error {\n constructor(\n message: string,\n readonly line: number,\n readonly col: number,\n ) {\n super(`USDA tokenize error (line ${line}:${col}): ${message}`);\n this.name = \"TokenizeError\";\n }\n}\n\nconst IDENT_START = /[A-Za-z_]/;\nconst IDENT_CONT = /[A-Za-z0-9_:]/;\n// Matches a numeric literal incl. scientific notation; sign handled by caller.\nconst NUMBER_RE = /^[-+]?(?:\\d+\\.?\\d*|\\.\\d+)(?:[eE][-+]?\\d+)?/;\nconst INF_NAN_RE = /^[-+]?(?:inf|nan)\\b/i;\n\nexport function tokenize(src: string): Token[] {\n const tokens: Token[] = [];\n let i = 0;\n let line = 1;\n let lineStart = 0;\n const n = src.length;\n\n const col = () => i - lineStart + 1;\n const push = (type: TokenType, value: string, startCol: number, num?: number) => {\n tokens.push(\n num === undefined\n ? { type, value, line, col: startCol }\n : { type, value, num, line, col: startCol },\n );\n };\n\n while (i < n) {\n const c = src[i]!;\n\n // Newlines\n if (c === \"\\n\") {\n i++;\n line++;\n lineStart = i;\n continue;\n }\n // Whitespace (incl. CR, tabs)\n if (c === \" \" || c === \"\\t\" || c === \"\\r\" || c === \"\\f\" || c === \"\\v\") {\n i++;\n continue;\n }\n // Line comment\n if (c === \"#\") {\n while (i < n && src[i] !== \"\\n\") i++;\n continue;\n }\n\n const startCol = col();\n\n // Single-char punctuation\n const punct = PUNCT[c];\n if (punct) {\n push(punct, c, startCol);\n i++;\n continue;\n }\n\n // Triple-quoted string \"\"\" ... \"\"\"\n if (c === '\"' && src[i + 1] === '\"' && src[i + 2] === '\"') {\n const { value, advanced } = readTripleString(src, i, line, startCol);\n push(\"string\", value, startCol);\n i = advanced;\n continue;\n }\n // Regular string\n if (c === '\"' || c === \"'\") {\n const { value, advanced } = readString(src, i, c, line, startCol);\n push(\"string\", value, startCol);\n i = advanced;\n continue;\n }\n\n // Asset path: @@@ ... @@@ (allows interior @) or @ ... @\n if (c === \"@\") {\n const triple = src[i + 1] === \"@\" && src[i + 2] === \"@\";\n const { value, advanced } = readAsset(src, i, triple, line, startCol);\n push(\"asset\", value, startCol);\n i = advanced;\n continue;\n }\n\n // Namespace path: < ... >\n if (c === \"<\") {\n const { value, advanced } = readPath(src, i, line, startCol);\n push(\"path\", value, startCol);\n i = advanced;\n continue;\n }\n\n // inf / nan / -inf etc. as numbers\n const infMatch = INF_NAN_RE.exec(src.slice(i));\n if (infMatch) {\n const text = infMatch[0];\n const lower = text.toLowerCase();\n const num = lower.includes(\"nan\")\n ? Number.NaN\n : lower.startsWith(\"-\")\n ? Number.NEGATIVE_INFINITY\n : Number.POSITIVE_INFINITY;\n push(\"number\", text, startCol, num);\n i += text.length;\n continue;\n }\n\n // Numbers (also handles leading sign). A bare `-`/`+` not followed by a\n // digit/dot falls through to ident handling (there are no such USDA tokens,\n // so this becomes an error below).\n if (\n /[0-9]/.test(c) ||\n ((c === \"-\" || c === \"+\" || c === \".\") && /[0-9.]/.test(src[i + 1] ?? \"\"))\n ) {\n const m = NUMBER_RE.exec(src.slice(i));\n if (m) {\n const text = m[0];\n push(\"number\", text, startCol, Number(text));\n i += text.length;\n continue;\n }\n }\n\n // Dot (e.g. attr.connect) — only reached when not part of a number.\n if (c === \".\") {\n push(\"dot\", \".\", startCol);\n i++;\n continue;\n }\n\n // Identifiers / keywords (incl. namespaced names with ':')\n if (IDENT_START.test(c)) {\n const start = i;\n i++;\n while (i < n && IDENT_CONT.test(src[i]!)) i++;\n push(\"ident\", src.slice(start, i), startCol);\n continue;\n }\n\n throw new TokenizeError(`unexpected character ${JSON.stringify(c)}`, line, startCol);\n }\n\n tokens.push({ type: \"eof\", value: \"\", line, col: col() });\n return tokens;\n}\n\nconst PUNCT: Record<string, TokenType | undefined> = {\n \"{\": \"lbrace\",\n \"}\": \"rbrace\",\n \"(\": \"lparen\",\n \")\": \"rparen\",\n \"[\": \"lbracket\",\n \"]\": \"rbracket\",\n \"=\": \"equals\",\n \",\": \"comma\",\n \":\": \"colon\",\n};\n\nfunction readString(\n src: string,\n start: number,\n quote: string,\n line: number,\n startCol: number,\n): { value: string; advanced: number } {\n let i = start + 1;\n let out = \"\";\n while (i < src.length) {\n const ch = src[i]!;\n if (ch === \"\\\\\") {\n const next = src[i + 1];\n out += ESCAPES[next ?? \"\"] ?? next ?? \"\";\n i += 2;\n continue;\n }\n if (ch === quote) {\n return { value: out, advanced: i + 1 };\n }\n if (ch === \"\\n\") break;\n out += ch;\n i++;\n }\n throw new TokenizeError(\"unterminated string literal\", line, startCol);\n}\n\nfunction readTripleString(\n src: string,\n start: number,\n line: number,\n startCol: number,\n): { value: string; advanced: number } {\n let i = start + 3;\n let out = \"\";\n while (i < src.length) {\n if (src[i] === '\"' && src[i + 1] === '\"' && src[i + 2] === '\"') {\n return { value: out, advanced: i + 3 };\n }\n out += src[i];\n i++;\n }\n throw new TokenizeError(\"unterminated triple-quoted string\", line, startCol);\n}\n\nfunction readAsset(\n src: string,\n start: number,\n triple: boolean,\n line: number,\n startCol: number,\n): { value: string; advanced: number } {\n const delimLen = triple ? 3 : 1;\n let i = start + delimLen;\n let out = \"\";\n while (i < src.length) {\n if (triple) {\n if (src[i] === \"@\" && src[i + 1] === \"@\" && src[i + 2] === \"@\") {\n return { value: out, advanced: i + 3 };\n }\n } else if (src[i] === \"@\") {\n return { value: out, advanced: i + 1 };\n }\n if (src[i] === \"\\n\") break;\n out += src[i];\n i++;\n }\n throw new TokenizeError(\"unterminated asset path\", line, startCol);\n}\n\nfunction readPath(\n src: string,\n start: number,\n line: number,\n startCol: number,\n): { value: string; advanced: number } {\n let i = start + 1;\n let out = \"\";\n while (i < src.length) {\n if (src[i] === \">\") {\n return { value: out, advanced: i + 1 };\n }\n if (src[i] === \"\\n\") break;\n out += src[i];\n i++;\n }\n throw new TokenizeError(\"unterminated path <...>\", line, startCol);\n}\n\nconst ESCAPES: Record<string, string> = {\n n: \"\\n\",\n t: \"\\t\",\n r: \"\\r\",\n '\"': '\"',\n \"'\": \"'\",\n \"\\\\\": \"\\\\\",\n};\n","/**\n * Parses USDA value literals from a token stream and coerces them into the\n * typed {@link UsdValue} model (tuples → `Vec*`, `(w,x,y,z)` → {@link Quat},\n * nested tuples → {@link UsdMatrix}, etc.).\n */\n\nimport {\n AssetPath,\n Quat,\n type SdfPath,\n UsdMatrix,\n type UsdValue,\n type Vec2,\n type Vec3,\n type Vec4,\n} from \"./ast.js\";\nimport type { TokenReader } from \"./reader.js\";\n\n/** Untyped literal as parsed from tokens, before type-name coercion. */\nexport type RawValue =\n | { t: \"scalar\"; v: number | boolean | string | null }\n | { t: \"asset\"; v: AssetPath }\n | { t: \"path\"; v: SdfPath }\n | { t: \"tuple\"; items: RawValue[] }\n | { t: \"array\"; items: RawValue[] };\n\n/** Parse one literal (scalar, tuple `( )`, array `[ ]`, asset, or path). */\nexport function parseLiteral(r: TokenReader): RawValue {\n const t = r.peek();\n switch (t.type) {\n case \"number\":\n r.next();\n return { t: \"scalar\", v: t.num ?? Number(t.value) };\n case \"string\":\n r.next();\n return { t: \"scalar\", v: t.value };\n case \"asset\":\n r.next();\n return { t: \"asset\", v: new AssetPath(t.value) };\n case \"path\":\n r.next();\n return { t: \"path\", v: t.value };\n case \"ident\": {\n r.next();\n if (t.value === \"true\") return { t: \"scalar\", v: true };\n if (t.value === \"false\") return { t: \"scalar\", v: false };\n if (t.value === \"None\" || t.value === \"none\") return { t: \"scalar\", v: null };\n // Bare identifier value (rare; e.g. a token authored unquoted).\n return { t: \"scalar\", v: t.value };\n }\n case \"lparen\":\n return parseGroup(r, \"lparen\", \"rparen\", \"tuple\");\n case \"lbracket\":\n return parseGroup(r, \"lbracket\", \"rbracket\", \"array\");\n default:\n throw r.error(`unexpected token ${t.type} ${JSON.stringify(t.value)} while parsing a value`);\n }\n}\n\nfunction parseGroup(\n r: TokenReader,\n open: \"lparen\" | \"lbracket\",\n close: \"rparen\" | \"rbracket\",\n kind: \"tuple\" | \"array\",\n): RawValue {\n r.expect(open);\n const items: RawValue[] = [];\n while (!r.is(close) && !r.atEnd()) {\n items.push(parseLiteral(r));\n if (!r.accept(\"comma\")) break;\n }\n r.expect(close);\n return { t: kind, items };\n}\n\n/** Parse a literal and coerce it to the declared USD type. */\nexport function parseTypedValue(r: TokenReader, typeName: string, isArray: boolean): UsdValue {\n return coerceValue(typeName, isArray, parseLiteral(r));\n}\n\n/** Coerce a raw literal into a {@link UsdValue} for the given declared type. */\nexport function coerceValue(typeName: string, isArray: boolean, raw: RawValue): UsdValue {\n if (raw.t === \"scalar\" && raw.v === null) return null; // `None`\n\n if (isArray) {\n if (raw.t !== \"array\") {\n throw new TypeError(`expected an array literal for ${typeName}[] but got ${raw.t}`);\n }\n return raw.items.map((item) => coerceScalar(typeName, item));\n }\n return coerceScalar(typeName, raw);\n}\n\nfunction coerceScalar(typeName: string, raw: RawValue): UsdValue {\n // Quaternions: (real, i, j, k)\n if (QUAT_TYPES.has(typeName)) {\n const nums = expectNumberTuple(raw, 4, typeName);\n return new Quat(nums[0]!, [nums[1]!, nums[2]!, nums[3]!]);\n }\n // Matrices: tuple of row tuples → flat row-major.\n if (typeName === \"matrix4d\" || typeName === \"matrix4f\" || typeName === \"frame4d\") {\n return flattenMatrix(raw, 4, typeName);\n }\n if (typeName === \"matrix3d\" || typeName === \"matrix3f\") {\n return flattenMatrix(raw, 3, typeName);\n }\n // Fixed-width numeric vectors.\n const dim = VEC_DIM[typeName];\n if (dim !== undefined) {\n const nums = expectNumberTuple(raw, dim, typeName);\n return nums as Vec2 | Vec3 | Vec4;\n }\n // Asset paths.\n if (typeName === \"asset\") {\n if (raw.t === \"asset\") return raw.v;\n if (raw.t === \"scalar\" && typeof raw.v === \"string\") return new AssetPath(raw.v);\n throw new TypeError(`expected an asset path for ${typeName}`);\n }\n // Path-valued (rare as attribute, used for connections/relationship targets).\n if (raw.t === \"path\") return raw.v;\n\n // Scalars: bool / ints / floats / string / token.\n if (raw.t !== \"scalar\") {\n // A tuple/array reached a scalar slot — surface the raw numbers so callers\n // can still inspect it rather than silently dropping data.\n if (raw.t === \"tuple\") return raw.items.map((it) => coerceScalar(typeName, it));\n throw new TypeError(`expected a scalar for ${typeName} but got ${raw.t}`);\n }\n const v = raw.v;\n if (typeName === \"bool\") {\n if (typeof v === \"boolean\") return v;\n if (v === 1 || v === 0) return v === 1;\n }\n return v;\n}\n\nfunction expectNumberTuple(raw: RawValue, dim: number, typeName: string): number[] {\n if (raw.t !== \"tuple\") {\n throw new TypeError(`expected a ${dim}-tuple for ${typeName} but got ${raw.t}`);\n }\n if (raw.items.length !== dim) {\n throw new TypeError(`expected ${dim} components for ${typeName} but got ${raw.items.length}`);\n }\n return raw.items.map((it) => {\n if (it.t !== \"scalar\" || typeof it.v !== \"number\") {\n throw new TypeError(`expected a number component for ${typeName}`);\n }\n return it.v;\n });\n}\n\nfunction flattenMatrix(raw: RawValue, dim: 3 | 4, typeName: string): UsdMatrix {\n if (raw.t !== \"tuple\" || raw.items.length !== dim) {\n throw new TypeError(`expected ${dim} rows for ${typeName}`);\n }\n const values: number[] = [];\n for (const row of raw.items) {\n values.push(...expectNumberTuple(row, dim, typeName));\n }\n return new UsdMatrix(values, dim);\n}\n\n/** Coerce a raw literal without a declared type (used for metadata values). */\nexport function rawToUsdValue(raw: RawValue): UsdValue {\n switch (raw.t) {\n case \"scalar\":\n return raw.v;\n case \"asset\":\n return raw.v;\n case \"path\":\n return raw.v;\n case \"tuple\":\n case \"array\":\n return raw.items.map(rawToUsdValue);\n }\n}\n\nconst QUAT_TYPES = new Set([\"quatf\", \"quatd\", \"quath\"]);\n\nconst VEC_DIM: Record<string, 2 | 3 | 4> = {\n float2: 2,\n double2: 2,\n half2: 2,\n int2: 2,\n texCoord2f: 2,\n texCoord2d: 2,\n texCoord2h: 2,\n float3: 3,\n double3: 3,\n half3: 3,\n int3: 3,\n point3f: 3,\n point3d: 3,\n point3h: 3,\n normal3f: 3,\n normal3d: 3,\n normal3h: 3,\n vector3f: 3,\n vector3d: 3,\n vector3h: 3,\n color3f: 3,\n color3d: 3,\n color3h: 3,\n texCoord3f: 3,\n float4: 4,\n double4: 4,\n half4: 4,\n int4: 4,\n color4f: 4,\n color4d: 4,\n color4h: 4,\n};\n","/**\n * Recursive-descent parser for the USDA (ASCII USD) format.\n *\n * Scope (M1): prims (`def`/`over`/`class`), nested prims, attributes\n * (`uniform`/`custom`/array/connections/time samples), relationships (with\n * list-op qualifiers), and layer/prim/property metadata blocks. References,\n * payloads and variant sets are tolerated as metadata but not resolved (M8/M10).\n */\n\nimport type {\n AttributeSpec,\n CompositionArc,\n ListOp,\n MetadataMap,\n PrimSpec,\n PropertySpec,\n RelationshipSpec,\n SdfPath,\n Specifier,\n UsdDictionary,\n UsdValue,\n UsdaFile,\n Variability,\n} from \"./ast.js\";\nimport { AssetPath } from \"./ast.js\";\nimport { TokenReader } from \"./reader.js\";\nimport { tokenize } from \"./tokenize.js\";\nimport { parseLiteral, parseTypedValue, rawToUsdValue } from \"./valueParser.js\";\n\nconst SPECIFIERS = new Set([\"def\", \"over\", \"class\"]);\nconst LIST_OPS = new Set<ListOp>([\"prepend\", \"append\", \"add\", \"delete\", \"reorder\"]);\nconst MAGIC_RE = /^\\s*#usda\\s+(\\S+)/;\n\nexport function parseUsda(text: string): UsdaFile {\n const magic = MAGIC_RE.exec(text);\n const version = magic?.[1] ?? \"1.0\";\n\n const r = new TokenReader(tokenize(text));\n\n // Optional layer metadata block immediately after the magic line.\n const metadata = r.is(\"lparen\") ? parseMetadataBlock(r) : {};\n\n const prims: PrimSpec[] = [];\n while (!r.atEnd()) {\n prims.push(parsePrim(r));\n }\n return { version, metadata, prims };\n}\n\n// ---------------------------------------------------------------------------\n// Prims\n// ---------------------------------------------------------------------------\n\nfunction parsePrim(r: TokenReader): PrimSpec {\n const head = r.peek();\n const specifier = r.expectIdent();\n if (!SPECIFIERS.has(specifier)) {\n throw r.error(\n `expected a prim specifier (def/over/class) but found ${JSON.stringify(specifier)}`,\n );\n }\n\n // Optional schema type name, then the (quoted) prim name.\n let typeName = \"\";\n if (r.is(\"ident\")) typeName = r.expectIdent();\n const name = r.expect(\"string\").value;\n\n const metadata = r.is(\"lparen\") ? parseMetadataBlock(r) : {};\n\n const properties: PropertySpec[] = [];\n const children: PrimSpec[] = [];\n r.expect(\"lbrace\");\n while (!r.is(\"rbrace\") && !r.atEnd()) {\n if (r.is(\"ident\") && SPECIFIERS.has(r.peek().value)) {\n children.push(parsePrim(r));\n } else {\n properties.push(parseProperty(r));\n }\n }\n r.expect(\"rbrace\");\n\n return {\n specifier: specifier as Specifier,\n typeName,\n name,\n metadata,\n properties,\n children,\n line: head.line,\n };\n}\n\n// ---------------------------------------------------------------------------\n// Properties (attributes & relationships)\n// ---------------------------------------------------------------------------\n\nfunction parseProperty(r: TokenReader): PropertySpec {\n const line = r.peek().line;\n let custom = false;\n let variability: Variability = \"varying\";\n let listOp: ListOp = \"explicit\";\n\n // Leading qualifiers, in any order.\n for (;;) {\n if (r.acceptIdent(\"custom\")) {\n custom = true;\n } else if (r.acceptIdent(\"uniform\")) {\n variability = \"uniform\";\n } else if (r.acceptIdent(\"varying\")) {\n variability = \"varying\";\n } else if (r.is(\"ident\") && LIST_OPS.has(r.peek().value as ListOp)) {\n listOp = r.expectIdent() as ListOp;\n } else {\n break;\n }\n }\n\n if (r.isIdent(\"rel\")) {\n r.next();\n return parseRelationship(r, custom, listOp, line);\n }\n return parseAttribute(r, custom, variability, line);\n}\n\nfunction parseAttribute(\n r: TokenReader,\n custom: boolean,\n variability: Variability,\n line: number,\n): AttributeSpec {\n const typeName = r.expectIdent();\n let isArray = false;\n if (r.accept(\"lbracket\")) {\n r.expect(\"rbracket\");\n isArray = true;\n }\n const name = r.expectIdent();\n\n const attr: AttributeSpec = {\n kind: \"attribute\",\n name,\n typeName,\n isArray,\n variability,\n custom,\n metadata: {},\n line,\n };\n\n // `.connect` / `.timeSamples` suffix, or a default value.\n if (r.accept(\"dot\")) {\n const suffix = r.expectIdent();\n r.expect(\"equals\");\n if (suffix === \"connect\") {\n attr.connections = parseTargetList(r);\n } else if (suffix === \"timeSamples\") {\n attr.timeSamples = parseTimeSamples(r, typeName, isArray);\n } else {\n throw r.error(`unsupported attribute qualifier .${suffix}`);\n }\n } else if (r.accept(\"equals\")) {\n if (r.is(\"lbrace\")) {\n attr.timeSamples = parseTimeSamples(r, typeName, isArray);\n } else {\n attr.value = parseTypedValue(r, typeName, isArray);\n }\n }\n\n if (r.is(\"lparen\")) attr.metadata = parseMetadataBlock(r);\n return attr;\n}\n\nfunction parseRelationship(\n r: TokenReader,\n custom: boolean,\n listOp: ListOp,\n line: number,\n): RelationshipSpec {\n const name = r.expectIdent();\n let targets: SdfPath[] = [];\n if (r.accept(\"equals\")) {\n targets = parseTargetList(r);\n }\n const metadata = r.is(\"lparen\") ? parseMetadataBlock(r) : {};\n return { kind: \"relationship\", name, custom, listOp, targets, metadata, line };\n}\n\n/** Parse `None`, a single `<path>`, or a `[<path>, ...]` list of targets. */\nfunction parseTargetList(r: TokenReader): SdfPath[] {\n if (r.acceptIdent(\"None\") || r.acceptIdent(\"none\")) return [];\n if (r.is(\"path\")) return [r.next().value];\n if (r.accept(\"lbracket\")) {\n const targets: SdfPath[] = [];\n while (!r.is(\"rbracket\") && !r.atEnd()) {\n targets.push(r.expect(\"path\").value);\n if (!r.accept(\"comma\")) break;\n }\n r.expect(\"rbracket\");\n return targets;\n }\n throw r.error(\"expected a relationship/connection target path\");\n}\n\nfunction parseTimeSamples(\n r: TokenReader,\n typeName: string,\n isArray: boolean,\n): Map<number, UsdValue> {\n r.expect(\"lbrace\");\n const samples = new Map<number, UsdValue>();\n while (!r.is(\"rbrace\") && !r.atEnd()) {\n const time = r.expect(\"number\").num ?? Number(r.peek().value);\n r.expect(\"colon\");\n samples.set(time, parseTypedValue(r, typeName, isArray));\n if (!r.accept(\"comma\")) break;\n }\n r.expect(\"rbrace\");\n return samples;\n}\n\n// ---------------------------------------------------------------------------\n// Metadata\n// ---------------------------------------------------------------------------\n\nfunction parseMetadataBlock(r: TokenReader): MetadataMap {\n r.expect(\"lparen\");\n const meta: MetadataMap = {};\n while (!r.is(\"rparen\") && !r.atEnd()) {\n // A bare string is the prim/layer documentation.\n if (r.is(\"string\") && !r.is(\"equals\", 1)) {\n meta.doc = r.next().value;\n continue;\n }\n\n // Optional list-op qualifier before the key.\n if (r.is(\"ident\") && LIST_OPS.has(r.peek().value as ListOp)) r.next();\n\n const key = r.expectIdent();\n r.expect(\"equals\");\n meta[key] = parseMetadataValue(r);\n }\n r.expect(\"rparen\");\n return meta;\n}\n\nfunction parseMetadataValue(r: TokenReader): UsdValue {\n if (r.is(\"lbrace\")) return parseDictionary(r);\n if (r.is(\"lbracket\")) return parseMetadataList(r);\n\n const raw = parseLiteral(r);\n // Composition arc: `@asset@</PrimPath>` (single reference/payload form).\n if (raw.t === \"asset\" && r.is(\"path\")) {\n const arc: CompositionArc = { assetPath: raw.v, primPath: r.next().value };\n return arc;\n }\n if (raw.t === \"asset\") {\n return raw.v; // bare asset path\n }\n return rawToUsdValue(raw);\n}\n\n/**\n * Parse a bracketed metadata list. Elements may be composition arcs\n * (`@asset@` optionally followed by `</PrimPath>`), bare assets, or plain\n * scalars (e.g. `apiSchemas = [\"A\", \"B\"]`).\n */\nfunction parseMetadataList(r: TokenReader): UsdValue {\n r.expect(\"lbracket\");\n const items: UsdValue[] = [];\n while (!r.is(\"rbracket\") && !r.atEnd()) {\n if (r.is(\"asset\")) {\n const assetPath = new AssetPath(r.next().value);\n if (r.is(\"path\")) {\n const arc: CompositionArc = { assetPath, primPath: r.next().value };\n items.push(arc);\n } else {\n items.push(assetPath);\n }\n } else {\n items.push(rawToUsdValue(parseLiteral(r)));\n }\n if (!r.accept(\"comma\")) break;\n }\n r.expect(\"rbracket\");\n return items;\n}\n\nfunction parseDictionary(r: TokenReader): UsdDictionary {\n r.expect(\"lbrace\");\n const dict: UsdDictionary = {};\n while (!r.is(\"rbrace\") && !r.atEnd()) {\n // Entry: `TYPE[opt][] KEY = VALUE`. Skip the type token and optional `[]`.\n r.expectIdent();\n if (r.accept(\"lbracket\")) r.expect(\"rbracket\");\n const key = r.is(\"string\") ? r.next().value : r.expectIdent();\n r.expect(\"equals\");\n dict[key] = parseMetadataValue(r);\n }\n r.expect(\"rbrace\");\n return dict;\n}\n","/** Split a (possibly namespaced) property name into namespace and base name. */\nexport function splitName(name: string): { namespace: string; baseName: string } {\n const idx = name.lastIndexOf(\":\");\n if (idx === -1) return { namespace: \"\", baseName: name };\n return { namespace: name.slice(0, idx), baseName: name.slice(idx + 1) };\n}\n","import type {\n AttributeSpec,\n RelationshipSpec,\n SdfPath,\n UsdValue,\n Variability,\n} from \"../parser/ast.js\";\nimport type { Prim } from \"./Prim.js\";\nimport { splitName } from \"./names.js\";\n\n/**\n * A typed attribute on a prim (`UsdAttribute`-like).\n *\n * Mirrors the pxr USD API: `GetAttribute` always returns an `Attribute` object;\n * call {@link Attribute.IsValid} to check whether the attribute is actually\n * authored on the prim.\n */\nexport class Attribute {\n constructor(\n private readonly _prim: Prim,\n private readonly _name: string,\n private readonly _spec: AttributeSpec | null,\n ) {}\n\n IsValid(): boolean {\n return this._spec !== null;\n }\n\n GetPrim(): Prim {\n return this._prim;\n }\n\n GetName(): string {\n return this._name;\n }\n\n GetBaseName(): string {\n return splitName(this._name).baseName;\n }\n\n GetNamespace(): string {\n return splitName(this._name).namespace;\n }\n\n /** Scalar type name (without the `[]` suffix); pair with {@link IsArray}. */\n GetTypeName(): string {\n return this._spec?.typeName ?? \"\";\n }\n\n IsArray(): boolean {\n return this._spec?.isArray ?? false;\n }\n\n GetVariability(): Variability {\n return this._spec?.variability ?? \"varying\";\n }\n\n IsCustom(): boolean {\n return this._spec?.custom ?? false;\n }\n\n /** True if a default value or any time sample is authored. */\n HasValue(): boolean {\n return this.HasAuthoredValue();\n }\n\n HasAuthoredValue(): boolean {\n if (!this._spec) return false;\n return this._spec.value !== undefined || (this._spec.timeSamples?.size ?? 0) > 0;\n }\n\n /**\n * Resolve the attribute value. With no `time`, returns the default value (or\n * the earliest time sample if only samples are authored). With a `time`,\n * returns the exact sample if present, else the default, else the earliest\n * sample. Returns `undefined` when nothing is authored.\n */\n Get(time?: number): UsdValue | undefined {\n const spec = this._spec;\n if (!spec) return undefined;\n if (time !== undefined && spec.timeSamples?.has(time)) {\n return spec.timeSamples.get(time);\n }\n if (spec.value !== undefined) return spec.value;\n if (spec.timeSamples && spec.timeSamples.size > 0) {\n const firstKey = [...spec.timeSamples.keys()].sort((a, b) => a - b)[0]!;\n return spec.timeSamples.get(firstKey);\n }\n return undefined;\n }\n\n GetTimeSamples(): Map<number, UsdValue> {\n return this._spec?.timeSamples ?? new Map();\n }\n\n GetConnections(): SdfPath[] {\n return this._spec?.connections ?? [];\n }\n}\n\n/** A relationship on a prim (`UsdRelationship`-like). */\nexport class Relationship {\n constructor(\n private readonly _prim: Prim,\n private readonly _name: string,\n private readonly _spec: RelationshipSpec | null,\n ) {}\n\n IsValid(): boolean {\n return this._spec !== null;\n }\n\n GetPrim(): Prim {\n return this._prim;\n }\n\n GetName(): string {\n return this._name;\n }\n\n GetBaseName(): string {\n return splitName(this._name).baseName;\n }\n\n GetNamespace(): string {\n return splitName(this._name).namespace;\n }\n\n IsCustom(): boolean {\n return this._spec?.custom ?? false;\n }\n\n GetTargets(): SdfPath[] {\n return this._spec?.targets ?? [];\n }\n}\n","import type { MetadataMap, PrimSpec, UsdValue, UsdaFile } from \"../parser/ast.js\";\n\n/** A parsed USDA layer (`SdfLayer`-like, read-only). */\nexport class Layer {\n constructor(private readonly _file: UsdaFile) {}\n\n GetVersion(): string {\n return this._file.version;\n }\n\n GetPseudoRootMetadata(): MetadataMap {\n return this._file.metadata;\n }\n\n GetMetadata(key: string): UsdValue | undefined {\n return this._file.metadata[key];\n }\n\n GetDefaultPrimName(): string | undefined {\n const v = this._file.metadata.defaultPrim;\n return typeof v === \"string\" ? v : undefined;\n }\n\n GetRootPrimSpecs(): PrimSpec[] {\n return this._file.prims;\n }\n}\n","import type {\n AttributeSpec,\n MetadataMap,\n PrimSpec,\n RelationshipSpec,\n Specifier,\n UsdValue,\n} from \"../parser/ast.js\";\nimport { Attribute, Relationship } from \"./Attribute.js\";\nimport type { Stage } from \"./Stage.js\";\n\n/**\n * A composed prim on a {@link Stage} (`UsdPrim`-like).\n *\n * The pseudo-root (path `/`) is represented by a Prim with a `null` spec; its\n * children are the stage's root prims.\n */\nexport class Prim {\n private readonly _children: Prim[] = [];\n private _attributes?: Map<string, AttributeSpec>;\n private _relationships?: Map<string, RelationshipSpec>;\n\n constructor(\n private readonly _stage: Stage,\n private readonly _spec: PrimSpec | null,\n private readonly _path: string,\n private readonly _parent: Prim | null,\n ) {}\n\n /** @internal Used by {@link Stage} while building the prim tree. */\n _addChild(child: Prim): void {\n this._children.push(child);\n }\n\n GetStage(): Stage {\n return this._stage;\n }\n\n IsValid(): boolean {\n return true;\n }\n\n IsPseudoRoot(): boolean {\n return this._spec === null;\n }\n\n GetName(): string {\n return this._spec?.name ?? \"\";\n }\n\n GetPath(): string {\n return this._path;\n }\n\n GetTypeName(): string {\n return this._spec?.typeName ?? \"\";\n }\n\n GetSpecifier(): Specifier | null {\n return this._spec?.specifier ?? null;\n }\n\n GetParent(): Prim | null {\n return this._parent;\n }\n\n GetChildren(): Prim[] {\n return this._children;\n }\n\n GetChild(name: string): Prim | null {\n return this._children.find((c) => c.GetName() === name) ?? null;\n }\n\n // -- Attributes ----------------------------------------------------------\n\n private attrMap(): Map<string, AttributeSpec> {\n if (!this._attributes) {\n this._attributes = new Map();\n for (const p of this._spec?.properties ?? []) {\n if (p.kind === \"attribute\") this._attributes.set(p.name, p);\n }\n }\n return this._attributes;\n }\n\n /** Always returns an Attribute; check {@link Attribute.IsValid}. */\n GetAttribute(name: string): Attribute {\n return new Attribute(this, name, this.attrMap().get(name) ?? null);\n }\n\n HasAttribute(name: string): boolean {\n return this.attrMap().has(name);\n }\n\n GetAttributes(): Attribute[] {\n return [...this.attrMap().values()].map((spec) => new Attribute(this, spec.name, spec));\n }\n\n // -- Relationships -------------------------------------------------------\n\n private relMap(): Map<string, RelationshipSpec> {\n if (!this._relationships) {\n this._relationships = new Map();\n for (const p of this._spec?.properties ?? []) {\n if (p.kind === \"relationship\") this._relationships.set(p.name, p);\n }\n }\n return this._relationships;\n }\n\n /** Always returns a Relationship; check {@link Relationship.IsValid}. */\n GetRelationship(name: string): Relationship {\n return new Relationship(this, name, this.relMap().get(name) ?? null);\n }\n\n HasRelationship(name: string): boolean {\n return this.relMap().has(name);\n }\n\n GetRelationships(): Relationship[] {\n return [...this.relMap().values()].map((spec) => new Relationship(this, spec.name, spec));\n }\n\n // -- Metadata / schemas --------------------------------------------------\n\n GetMetadata(key: string): UsdValue | undefined {\n return this._spec?.metadata[key];\n }\n\n GetAllMetadata(): MetadataMap {\n return this._spec?.metadata ?? {};\n }\n\n /** Applied API schema names from `apiSchemas` (e.g. `PhysicsArticulationRootAPI`). */\n GetAppliedSchemas(): string[] {\n const raw = this._spec?.metadata.apiSchemas;\n if (!Array.isArray(raw)) return [];\n const out: string[] = [];\n for (const v of raw) {\n if (typeof v === \"string\") out.push(v);\n }\n return out;\n }\n\n /**\n * Whether the given API schema is applied. Matches the bare schema name as\n * well as multi-apply instances (e.g. `HasAPI(\"PhysicsDriveAPI\")` is true for\n * an applied `PhysicsDriveAPI:angular`).\n */\n HasAPI(schemaName: string): boolean {\n return this.GetAppliedSchemas().some((s) => s === schemaName || s.startsWith(`${schemaName}:`));\n }\n}\n","import type { PrimSpec, UsdValue, UsdaFile } from \"../parser/ast.js\";\nimport { parseUsda } from \"../parser/parseUsda.js\";\nimport { Layer } from \"./Layer.js\";\nimport { Prim } from \"./Prim.js\";\n\n/** OpenUSD's fallback stage linear unit when `metersPerUnit` is unauthored. */\nexport const DEFAULT_METERS_PER_UNIT = 0.01;\n\nexport type UpAxis = \"Y\" | \"Z\";\n\n/**\n * A composed USD stage (`UsdStage`-like) backed by a single in-memory USDA\n * layer. Multi-layer composition (sublayers / references / payloads) arrives in\n * M8; for now a stage wraps exactly one parsed layer.\n */\nexport class Stage {\n private readonly _layer: Layer;\n private readonly _byPath = new Map<string, Prim>();\n private readonly _pseudoRoot: Prim;\n\n private constructor(file: UsdaFile) {\n this._layer = new Layer(file);\n this._pseudoRoot = new Prim(this, null, \"/\", null);\n this._byPath.set(\"/\", this._pseudoRoot);\n for (const spec of file.prims) this.buildPrim(spec, this._pseudoRoot);\n }\n\n /** Parse and open a stage from USDA source text. */\n static OpenFromString(usda: string): Stage {\n return new Stage(parseUsda(usda));\n }\n\n /** Open a stage from an already-parsed layer. */\n static OpenFromFile(file: UsdaFile): Stage {\n return new Stage(file);\n }\n\n private buildPrim(spec: PrimSpec, parent: Prim): void {\n const path = parent.IsPseudoRoot() ? `/${spec.name}` : `${parent.GetPath()}/${spec.name}`;\n const prim = new Prim(this, spec, path, parent);\n this._byPath.set(path, prim);\n parent._addChild(prim);\n for (const child of spec.children) this.buildPrim(child, prim);\n }\n\n GetRootLayer(): Layer {\n return this._layer;\n }\n\n GetPseudoRoot(): Prim {\n return this._pseudoRoot;\n }\n\n /** Returns the prim at the absolute path, or `null` if none exists. */\n GetPrimAtPath(path: string): Prim | null {\n return this._byPath.get(path) ?? null;\n }\n\n /** The stage's default prim (from layer `defaultPrim` metadata), if any. */\n GetDefaultPrim(): Prim | null {\n const name = this._layer.GetDefaultPrimName();\n return name ? this.GetPrimAtPath(`/${name}`) : null;\n }\n\n /** Depth-first traversal of all prims (excludes the pseudo-root). */\n Traverse(): Prim[] {\n const out: Prim[] = [];\n const visit = (prim: Prim) => {\n for (const child of prim.GetChildren()) {\n out.push(child);\n visit(child);\n }\n };\n visit(this._pseudoRoot);\n return out;\n }\n\n GetMetadata(key: string): UsdValue | undefined {\n return this._layer.GetMetadata(key);\n }\n\n /** Stage up axis (`upAxis` metadata); defaults to `\"Y\"` per OpenUSD. */\n GetUpAxis(): UpAxis {\n return this._layer.GetMetadata(\"upAxis\") === \"Z\" ? \"Z\" : \"Y\";\n }\n\n /** Stage linear unit (`metersPerUnit` metadata); defaults to {@link DEFAULT_METERS_PER_UNIT}. */\n GetMetersPerUnit(): number {\n const v = this._layer.GetMetadata(\"metersPerUnit\");\n return typeof v === \"number\" ? v : DEFAULT_METERS_PER_UNIT;\n }\n}\n","/**\n * Resolves USD asset paths (from references / payloads / sublayers) to URLs and\n * fetches their text. Composition (`composition.ts`) is I/O-agnostic and goes\n * through an {@link AssetResolver}, so the same engine works in the browser, in\n * Node, or against an in-memory file map in tests.\n */\n\nexport interface AssetResolver {\n /** Resolve an authored asset path against the layer's base URL to an absolute key. */\n resolve(assetPath: string, baseUrl: string): string;\n /** Fetch the text of a resolved asset; rejects if it cannot be read. */\n fetchText(url: string): Promise<string>;\n /** Fetch the raw bytes of a resolved asset (for binary USDC / USDZ). Optional. */\n fetchBytes?(url: string): Promise<Uint8Array>;\n}\n\n/** URL-based resolver using the global `fetch` (browser / Node 18+). */\nexport class DefaultAssetResolver implements AssetResolver {\n resolve(assetPath: string, baseUrl: string): string {\n try {\n return new URL(assetPath, baseUrl || undefined).href;\n } catch {\n return joinPosix(baseUrl, assetPath);\n }\n }\n\n async fetchText(url: string): Promise<string> {\n const res = await fetch(url);\n if (!res.ok) throw new Error(`${res.status} ${res.statusText}`);\n return res.text();\n }\n\n async fetchBytes(url: string): Promise<Uint8Array> {\n const res = await fetch(url);\n if (!res.ok) throw new Error(`${res.status} ${res.statusText}`);\n return new Uint8Array(await res.arrayBuffer());\n }\n}\n\n/** Resolver over an in-memory `{ path: contents }` map, with posix-style joins. */\nexport function createMemoryResolver(files: Record<string, string>): AssetResolver {\n return {\n resolve(assetPath, baseUrl) {\n return joinPosix(baseUrl, assetPath);\n },\n fetchText(url) {\n const text = files[url];\n if (text === undefined) return Promise.reject(new Error(`asset not found: ${url}`));\n return Promise.resolve(text);\n },\n };\n}\n\n/** Resolve `rel` against `baseUrl` using posix semantics, normalizing `.`/`..`. */\nexport function joinPosix(baseUrl: string, rel: string): string {\n if (rel.startsWith(\"/\")) return normalizePosix(rel);\n const dir = baseUrl.slice(0, baseUrl.lastIndexOf(\"/\") + 1);\n return normalizePosix(dir + rel);\n}\n\nfunction normalizePosix(path: string): string {\n const isAbsolute = path.startsWith(\"/\");\n const out: string[] = [];\n for (const part of path.split(\"/\")) {\n if (part === \"\" || part === \".\") continue;\n if (part === \"..\") out.pop();\n else out.push(part);\n }\n return (isAbsolute ? \"/\" : \"\") + out.join(\"/\");\n}\n","/**\n * Minimal USD composition: flattens references, payloads and sublayers into a\n * single {@link UsdaFile} so the rest of the pipeline keeps working on one layer.\n *\n * Scope (M8): the arcs robots actually use. References and payloads pull a prim\n * subtree from another asset (weaker than local opinions); sublayers overlay a\n * weaker layer stack. Inherits / variants / specializes are out of scope (M10).\n * This is not a full LIVRPS implementation — it is a pragmatic flattener.\n */\n\nimport {\n AssetPath,\n type AttributeSpec,\n type CompositionArc,\n type MetadataMap,\n type PrimSpec,\n type PropertySpec,\n type UsdValue,\n type UsdaFile,\n} from \"../parser/ast.js\";\nimport { parseUsda } from \"../parser/parseUsda.js\";\nimport type { AssetResolver } from \"./AssetResolver.js\";\n\nexport type ComposeOptions = {\n onWarn?: (message: string) => void;\n /** Guard against pathological recursion (default 64). */\n maxDepth?: number;\n};\n\n/** Composition-arc metadata keys that pull external prim content. */\nconst ARC_KEYS = [\"references\", \"payload\", \"payloads\"] as const;\n\n/**\n * Parse and fully compose a layer: resolve its sublayers and every prim's\n * references/payloads (recursively), returning a flattened layer. Unresolvable\n * arcs are reported via `onWarn` and skipped.\n */\nexport async function composeLayer(\n text: string,\n baseUrl: string,\n resolver: AssetResolver,\n options: ComposeOptions = {},\n stack: ReadonlySet<string> = new Set(),\n): Promise<UsdaFile> {\n const warn = options.onWarn ?? (() => {});\n const file = parseUsda(text);\n\n // Sublayers (weaker than this layer). Listed strongest-first; fold weakest-up.\n let weak: PrimSpec[] = [];\n const subLayers = toArcs(file.metadata.subLayers);\n for (let i = subLayers.length - 1; i >= 0; i--) {\n const sub = await loadComposedFile(subLayers[i]!, baseUrl, resolver, options, stack, warn);\n if (sub) weak = mergePrimLists(weak, sub.prims);\n }\n\n // Resolve each root prim's arcs.\n const resolved: PrimSpec[] = [];\n for (const prim of file.prims) {\n resolved.push(await resolvePrimArcs(prim, baseUrl, resolver, options, stack, warn));\n }\n\n const prims = weak.length > 0 ? mergePrimLists(weak, resolved) : resolved;\n return { version: file.version, metadata: stripKeys(file.metadata, [\"subLayers\"]), prims };\n}\n\nasync function resolvePrimArcs(\n spec: PrimSpec,\n baseUrl: string,\n resolver: AssetResolver,\n options: ComposeOptions,\n stack: ReadonlySet<string>,\n warn: (m: string) => void,\n): Promise<PrimSpec> {\n // Resolve local children first (they belong to this layer's base URL).\n const children: PrimSpec[] = [];\n for (const child of spec.children) {\n children.push(await resolvePrimArcs(child, baseUrl, resolver, options, stack, warn));\n }\n const local: PrimSpec = { ...spec, children, metadata: stripKeys(spec.metadata, ARC_KEYS) };\n\n const arcs = ARC_KEYS.flatMap((k) => toArcs(spec.metadata[k]));\n if (arcs.length === 0) return local;\n\n // Compose referenced prims (strongest-first), all weaker than local opinions.\n let base: PrimSpec | null = null;\n for (const arc of arcs) {\n const target = await loadReferencedPrim(arc, baseUrl, resolver, options, stack, warn);\n if (!target) continue;\n base = base ? mergePrim(target, base) : target;\n }\n return base ? mergePrim(base, local) : local;\n}\n\nasync function loadReferencedPrim(\n arc: CompositionArc,\n baseUrl: string,\n resolver: AssetResolver,\n options: ComposeOptions,\n stack: ReadonlySet<string>,\n warn: (m: string) => void,\n): Promise<PrimSpec | null> {\n if (!arc.assetPath) {\n warn(`internal references (no asset path) are not supported yet: <${arc.primPath ?? \"?\"}>`);\n return null;\n }\n const composed = await loadComposedFile(arc, baseUrl, resolver, options, stack, warn);\n if (!composed) return null;\n\n const target = arc.primPath\n ? findPrimByPath(composed, arc.primPath)\n : defaultPrim(composed, warn);\n if (!target) {\n warn(`reference target ${arc.primPath ?? \"(defaultPrim)\"} not found in ${arc.assetPath.path}`);\n return null;\n }\n return target;\n}\n\n/** Resolve, fetch and fully compose the file an arc points at (with cycle/depth guards). */\nasync function loadComposedFile(\n arc: CompositionArc,\n baseUrl: string,\n resolver: AssetResolver,\n options: ComposeOptions,\n stack: ReadonlySet<string>,\n warn: (m: string) => void,\n): Promise<UsdaFile | null> {\n if (!arc.assetPath) return null;\n const url = resolver.resolve(arc.assetPath.path, baseUrl);\n\n if (stack.has(url)) {\n warn(`composition cycle detected at ${url}; skipping`);\n return null;\n }\n if (stack.size >= (options.maxDepth ?? 64)) {\n warn(`composition exceeded max depth at ${url}; skipping`);\n return null;\n }\n\n let text: string;\n try {\n text = await resolver.fetchText(url);\n } catch (err) {\n warn(`cannot resolve \"${arc.assetPath.path}\" -> ${url}: ${(err as Error).message}`);\n return null;\n }\n return composeLayer(text, url, resolver, options, new Set([...stack, url]));\n}\n\n// --- merge (weaker `base` under stronger `over`) ---------------------------\n\nfunction mergePrim(base: PrimSpec, over: PrimSpec): PrimSpec {\n return {\n // `over` (def) wins; a pure `over` opinion keeps the base's specifier.\n specifier: over.specifier === \"over\" ? base.specifier : over.specifier,\n typeName: over.typeName || base.typeName,\n name: over.name,\n metadata: mergeMetadata(base.metadata, over.metadata),\n properties: mergeProperties(base.properties, over.properties),\n children: mergePrimLists(base.children, over.children),\n line: over.line,\n };\n}\n\nfunction mergePrimLists(base: PrimSpec[], over: PrimSpec[]): PrimSpec[] {\n const byName = new Map<string, PrimSpec>();\n for (const p of base) byName.set(p.name, p);\n for (const p of over) {\n const existing = byName.get(p.name);\n byName.set(p.name, existing ? mergePrim(existing, p) : p);\n }\n return [...byName.values()];\n}\n\nfunction mergeProperties(base: PropertySpec[], over: PropertySpec[]): PropertySpec[] {\n const byName = new Map<string, PropertySpec>();\n for (const p of base) byName.set(p.name, p);\n for (const p of over) {\n const existing = byName.get(p.name);\n byName.set(p.name, existing ? mergeProperty(existing, p) : p);\n }\n return [...byName.values()];\n}\n\nfunction mergeProperty(base: PropertySpec, over: PropertySpec): PropertySpec {\n if (base.kind !== over.kind) return over; // kind change: stronger wins outright\n if (base.kind === \"attribute\" && over.kind === \"attribute\") {\n const merged: AttributeSpec = {\n ...over,\n typeName: over.typeName || base.typeName,\n metadata: mergeMetadata(base.metadata, over.metadata),\n };\n const value = over.value !== undefined ? over.value : base.value;\n if (value !== undefined) merged.value = value;\n const timeSamples = over.timeSamples ?? base.timeSamples;\n if (timeSamples) merged.timeSamples = timeSamples;\n const connections = over.connections ?? base.connections;\n if (connections) merged.connections = connections;\n return merged;\n }\n if (base.kind === \"relationship\" && over.kind === \"relationship\") {\n return {\n ...over,\n targets: over.targets.length > 0 ? over.targets : base.targets,\n metadata: mergeMetadata(base.metadata, over.metadata),\n };\n }\n return over;\n}\n\nfunction mergeMetadata(base: MetadataMap, over: MetadataMap): MetadataMap {\n const merged: MetadataMap = { ...base, ...over };\n // apiSchemas accumulate (union, base order first).\n const a = base.apiSchemas;\n const b = over.apiSchemas;\n if (Array.isArray(a) || Array.isArray(b)) {\n const seen = new Set<UsdValue>();\n const union: UsdValue[] = [];\n for (const v of [...(Array.isArray(a) ? a : []), ...(Array.isArray(b) ? b : [])]) {\n if (!seen.has(v)) {\n seen.add(v);\n union.push(v);\n }\n }\n merged.apiSchemas = union;\n }\n return merged;\n}\n\n// --- lookups & helpers -----------------------------------------------------\n\nfunction findPrimByPath(file: UsdaFile, path: string): PrimSpec | null {\n const segments = path.split(\"/\").filter(Boolean);\n let level = file.prims;\n let found: PrimSpec | null = null;\n for (const seg of segments) {\n found = level.find((p) => p.name === seg) ?? null;\n if (!found) return null;\n level = found.children;\n }\n return found;\n}\n\nfunction defaultPrim(file: UsdaFile, warn: (m: string) => void): PrimSpec | null {\n const name = file.metadata.defaultPrim;\n if (typeof name === \"string\") {\n return file.prims.find((p) => p.name === name) ?? null;\n }\n const first = file.prims[0];\n if (first) warn(`referenced layer has no defaultPrim; using first root prim \"${first.name}\"`);\n return first ?? null;\n}\n\n/** Normalize references/payloads/sublayers metadata into a list of arcs. */\nfunction toArcs(value: UsdValue | undefined): CompositionArc[] {\n if (value === undefined) return [];\n const list = Array.isArray(value) ? value : [value];\n const arcs: CompositionArc[] = [];\n for (const v of list) {\n if (v instanceof AssetPath) arcs.push({ assetPath: v });\n else if (v && typeof v === \"object\" && \"assetPath\" in v) arcs.push(v as CompositionArc);\n }\n return arcs;\n}\n\nfunction stripKeys(meta: MetadataMap, keys: readonly string[]): MetadataMap {\n const out: MetadataMap = {};\n for (const [k, v] of Object.entries(meta)) {\n if (!keys.includes(k)) out[k] = v;\n }\n return out;\n}\n","/**\n * USDZ (zipped USD package) support.\n *\n * A `.usdz` is an uncompressed zip whose entries are USD layers + textures.\n * {@link openUsdz} unzips it (via `fflate`) and returns the root layer entry\n * plus an {@link AssetResolver} that serves the package's other entries, so\n * references inside the package resolve through the normal composition path.\n * USDC (binary crate) entries are not decodable yet (M10).\n */\n\nimport { unzipSync } from \"fflate\";\nimport { type AssetResolver, joinPosix } from \"./AssetResolver.js\";\n\nconst USD_ENTRY = /\\.(usda|usdc|usd)$/i;\n\nexport type UsdzPackage = {\n /** Archive path of the root layer to open. */\n rootEntry: string;\n /** Resolver over the package's entries. */\n resolver: AssetResolver;\n};\n\n/** Unzip a `.usdz` package and build a resolver over its entries. */\nexport function openUsdz(bytes: Uint8Array): UsdzPackage {\n const entries = unzipSync(bytes);\n const names = Object.keys(entries);\n const rootEntry = names.find((n) => USD_ENTRY.test(n)) ?? names[0];\n if (!rootEntry) throw new Error(\"usdz package contains no entries\");\n\n const decoder = new TextDecoder();\n const resolver: AssetResolver = {\n resolve(assetPath, baseUrl) {\n return joinPosix(baseUrl, assetPath);\n },\n fetchText(url) {\n const data = entries[url] ?? entries[url.replace(/^\\/+/, \"\")];\n if (!data) return Promise.reject(new Error(`not found in usdz: ${url}`));\n if (/\\.usdc$/i.test(url)) {\n return Promise.reject(\n new Error(`USDC (binary crate) entries are not supported yet (M10): ${url}`),\n );\n }\n return Promise.resolve(decoder.decode(data));\n },\n };\n\n return { rootEntry, resolver };\n}\n","/**\n * LZ4 block decompression and the OpenUSD `TfFastCompression` wrapper used by\n * the USDC (crate) format. Pure TypeScript — no LZ4 dependency.\n */\n\n/** OpenUSD's per-chunk limit; buffers above it are split (`TfFastCompression`). */\nconst MAX_CHUNK_INPUT = 0x7e000000;\n\n/**\n * Decompress a raw LZ4 block from `src` into `dst`. `dst` must be sized to the\n * known decompressed length. Returns the number of bytes written.\n */\nexport function lz4DecompressBlock(src: Uint8Array, dst: Uint8Array): number {\n let s = 0;\n let d = 0;\n const n = src.length;\n\n while (s < n) {\n const token = src[s++]!;\n\n // Literals.\n let literals = token >> 4;\n if (literals === 0xf) {\n let add: number;\n do {\n add = src[s++]!;\n literals += add;\n } while (add === 0xff);\n }\n for (let i = 0; i < literals; i++) dst[d++] = src[s++]!;\n\n if (s >= n) break; // last sequence: literals only\n\n // Match.\n const offset = src[s++]! | (src[s++]! << 8);\n let matchLen = token & 0xf;\n if (matchLen === 0xf) {\n let add: number;\n do {\n add = src[s++]!;\n matchLen += add;\n } while (add === 0xff);\n }\n matchLen += 4;\n\n let m = d - offset;\n for (let i = 0; i < matchLen; i++) dst[d++] = dst[m++]!;\n }\n return d;\n}\n\n/**\n * Decompress a buffer produced by OpenUSD's `TfFastCompression`, given the known\n * decompressed size.\n *\n * Layout: 1 byte = number of *whole* `MAX_CHUNK_INPUT`-sized chunks (almost\n * always 0), each prefixed by an `int32` compressed size, then a final partial\n * chunk (the remainder) as a plain LZ4 block with no size prefix.\n */\nexport function fastDecompress(src: Uint8Array, decompressedSize: number): Uint8Array {\n const out = new Uint8Array(decompressedSize);\n const view = new DataView(src.buffer, src.byteOffset, src.byteLength);\n\n const numWholeChunks = src[0]!;\n let s = 1;\n let d = 0;\n for (let c = 0; c < numWholeChunks; c++) {\n const chunkCompressedSize = view.getInt32(s, true);\n s += 4;\n lz4DecompressBlock(\n src.subarray(s, s + chunkCompressedSize),\n out.subarray(d, d + MAX_CHUNK_INPUT),\n );\n s += chunkCompressedSize;\n d += MAX_CHUNK_INPUT;\n }\n if (d < decompressedSize) {\n lz4DecompressBlock(src.subarray(s), out.subarray(d));\n }\n return out;\n}\n","/**\n * OpenUSD `Usd_IntegerCompression` decoder (32-bit).\n *\n * The encoded buffer (itself wrapped by {@link fastDecompress}) is:\n * [commonDelta : int32] [codes : 2 bits/int] [variable-width deltas]\n * Values are **delta-encoded**: each entry's stored value is a signed delta from\n * the previous integrated value (`out[i] = prev += delta`), and the 2-bit code\n * selects the delta source — 0 = the common delta, 1/2/3 = a 1/2/4-byte signed\n * delta. Integration keeps \"unsigned\" arrays (path/field/spec indexes)\n * non-negative even though the deltas are signed.\n */\n\nimport { fastDecompress } from \"./lz4.js\";\n\n/** Decode `numInts` 32-bit integers from a `TfFastCompression`-wrapped buffer. */\nexport function decodeIntegers32(compressed: Uint8Array, numInts: number): number[] {\n if (numInts === 0) return [];\n\n const codeBytes = Math.ceil(numInts / 4);\n const worstCase = 4 + codeBytes + numInts * 4;\n const encoded = fastDecompress(compressed, worstCase);\n const view = new DataView(encoded.buffer, encoded.byteOffset, encoded.byteLength);\n\n const commonDelta = view.getInt32(0, true);\n const codesStart = 4;\n let p = codesStart + codeBytes;\n\n const out = new Array<number>(numInts);\n let prev = 0;\n for (let i = 0; i < numInts; i++) {\n const code = (encoded[codesStart + (i >> 2)]! >> ((i & 3) * 2)) & 0x3;\n let delta: number;\n if (code === 0) {\n delta = commonDelta;\n } else if (code === 1) {\n delta = view.getInt8(p);\n p += 1;\n } else if (code === 2) {\n delta = view.getInt16(p, true);\n p += 2;\n } else {\n delta = view.getInt32(p, true);\n p += 4;\n }\n prev += delta;\n out[i] = prev;\n }\n return out;\n}\n","/** OpenUSD crate `TypeEnum` values (`crateDataTypes.h` order). */\nexport const CrateType = {\n Invalid: 0,\n Bool: 1,\n UChar: 2,\n Int: 3,\n UInt: 4,\n Int64: 5,\n UInt64: 6,\n Half: 7,\n Float: 8,\n Double: 9,\n String: 10,\n Token: 11,\n AssetPath: 12,\n Matrix2d: 13,\n Matrix3d: 14,\n Matrix4d: 15,\n Quatd: 16,\n Quatf: 17,\n Quath: 18,\n Vec2d: 19,\n Vec2f: 20,\n Vec2h: 21,\n Vec2i: 22,\n Vec3d: 23,\n Vec3f: 24,\n Vec3h: 25,\n Vec3i: 26,\n Vec4d: 27,\n Vec4f: 28,\n Vec4h: 29,\n Vec4i: 30,\n Dictionary: 31,\n TokenListOp: 32,\n StringListOp: 33,\n PathListOp: 34,\n ReferenceListOp: 35,\n IntListOp: 36,\n Int64ListOp: 37,\n UIntListOp: 38,\n UInt64ListOp: 39,\n PathVector: 40,\n TokenVector: 41,\n Specifier: 42,\n Permission: 43,\n Variability: 44,\n VariantSelectionMap: 45,\n TimeSamples: 46,\n Payload: 47,\n DoubleVector: 48,\n LayerOffsetVector: 49,\n StringVector: 50,\n ValueBlock: 51,\n Value: 52,\n UnregisteredValue: 53,\n UnregisteredValueListOp: 54,\n PayloadListOp: 55,\n TimeCode: 56,\n} as const;\n\n/** `_ListOpHeader` bit flags. */\nexport const ListOpBits = {\n IsExplicit: 1 << 0,\n HasExplicit: 1 << 1,\n HasAdded: 1 << 2,\n HasDeleted: 1 << 3,\n HasOrdered: 1 << 4,\n HasPrepended: 1 << 5,\n HasAppended: 1 << 6,\n} as const;\n\n/** Decompose a packed `ValueRep` uint64. */\nexport function decodeRepBits(rep: bigint): {\n isArray: boolean;\n isInlined: boolean;\n isCompressed: boolean;\n type: number;\n payload: bigint;\n} {\n return {\n isArray: (rep & (1n << 63n)) !== 0n,\n isInlined: (rep & (1n << 62n)) !== 0n,\n isCompressed: (rep & (1n << 61n)) !== 0n,\n type: Number((rep >> 48n) & 0xffn),\n payload: rep & ((1n << 48n) - 1n),\n };\n}\n\n/** Half-precision float → number. */\nexport function halfToFloat(h: number): number {\n const sign = (h & 0x8000) >> 15;\n const exp = (h & 0x7c00) >> 10;\n const frac = h & 0x03ff;\n let value: number;\n if (exp === 0) value = frac / 1024;\n else if (exp === 0x1f) value = frac ? Number.NaN : Number.POSITIVE_INFINITY;\n else return (sign ? -1 : 1) * 2 ** (exp - 15) * (1 + frac / 1024);\n return (sign ? -1 : 1) * (exp === 0 ? 2 ** -14 * value : value);\n}\n","/**\n * Reader for the OpenUSD binary \"crate\" format (`.usdc` / binary `.usd`).\n *\n * Built incrementally (M10): bootstrap header + table of contents + the TOKENS\n * section first; STRINGS/FIELDS/FIELDSETS/PATHS/SPECS and value reps follow.\n * References pxr `Usd/crateFile.cpp`. This is a from-scratch TS reader — not a\n * binding to OpenUSD.\n */\n\nimport { AssetPath, Quat, UsdMatrix, type UsdValue, type Vec3 } from \"../../parser/ast.js\";\nimport { decodeIntegers32 } from \"./integerCompression.js\";\nimport { fastDecompress } from \"./lz4.js\";\nimport { CrateType, ListOpBits, decodeRepBits, halfToFloat } from \"./valueTypes.js\";\n\nconst MAGIC = \"PXR-USDC\";\n\n/** Scratch view for reinterpreting inlined float/double bits. */\nconst scratch = new DataView(new ArrayBuffer(8));\n\n/** Sentinel separating entries in the FIELDSETS array (max uint32 → -1 signed). */\nconst FIELDSET_END = -1;\n\nexport type CrateSection = {\n name: string;\n start: number;\n size: number;\n};\n\nexport type CrateField = {\n /** Field name (token index). */\n nameIndex: number;\n /** Packed `ValueRep` (decoded in M10c). */\n rep: bigint;\n};\n\nexport type CrateSpec = {\n pathIndex: number;\n fieldSetIndex: number;\n specType: number;\n};\n\nexport class CrateReader {\n readonly version: readonly [number, number, number];\n readonly view: DataView;\n private readonly bytes: Uint8Array;\n private readonly sections = new Map<string, CrateSection>();\n\n private _tokens?: string[];\n private _strings?: number[];\n private _fields?: CrateField[];\n private _fieldSets?: number[];\n private _paths?: string[];\n private _specs?: CrateSpec[];\n\n constructor(bytes: Uint8Array) {\n this.bytes = bytes;\n this.view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);\n\n const magic = asciiAt(bytes, 0, 8);\n if (magic !== MAGIC) {\n throw new Error(`not a USDC crate file (magic ${JSON.stringify(magic)})`);\n }\n this.version = [bytes[8] ?? 0, bytes[9] ?? 0, bytes[10] ?? 0];\n\n const tocOffset = this.u64(16);\n this.readToc(tocOffset);\n }\n\n /** True if `bytes` begins with the crate magic. */\n static isCrate(bytes: Uint8Array): boolean {\n return asciiAt(bytes, 0, 8) === MAGIC;\n }\n\n getSection(name: string): CrateSection | undefined {\n return this.sections.get(name);\n }\n\n /** Read a little-endian uint64 as a JS number (safe for crate-sized files). */\n u64(offset: number): number {\n return Number(this.view.getBigUint64(offset, true));\n }\n\n i64(offset: number): bigint {\n return this.view.getBigInt64(offset, true);\n }\n\n private readToc(offset: number): void {\n const count = this.u64(offset);\n let p = offset + 8;\n for (let i = 0; i < count; i++) {\n const name = asciiAt(this.bytes, p, 16).replace(/\\0+$/, \"\");\n const start = this.u64(p + 16);\n const size = this.u64(p + 24);\n this.sections.set(name, { name, start, size });\n p += 32;\n }\n }\n\n // --- TOKENS -------------------------------------------------------------\n\n getTokens(): string[] {\n if (!this._tokens) this._tokens = this.readTokens();\n return this._tokens;\n }\n\n getToken(index: number): string {\n return this.getTokens()[index] ?? \"\";\n }\n\n private readTokens(): string[] {\n const section = this.sections.get(\"TOKENS\");\n if (!section) return [];\n let p = section.start;\n const numTokens = this.u64(p);\n p += 8;\n const uncompressedSize = this.u64(p);\n p += 8;\n const compressedSize = this.u64(p);\n p += 8;\n\n const compressed = this.bytes.subarray(p, p + compressedSize);\n const buffer = fastDecompress(compressed, uncompressedSize);\n\n // Null-separated UTF-8 strings.\n const tokens: string[] = [];\n const decoder = new TextDecoder();\n let start = 0;\n for (let i = 0; i < buffer.length && tokens.length < numTokens; i++) {\n if (buffer[i] === 0) {\n tokens.push(decoder.decode(buffer.subarray(start, i)));\n start = i + 1;\n }\n }\n return tokens;\n }\n\n // --- STRINGS ------------------------------------------------------------\n\n /** String values are token indices. */\n getStrings(): number[] {\n if (!this._strings) this._strings = this.readStrings();\n return this._strings;\n }\n\n private readStrings(): number[] {\n const section = this.sections.get(\"STRINGS\");\n if (!section) return [];\n const count = this.u64(section.start);\n const out = new Array<number>(count);\n let p = section.start + 8;\n for (let i = 0; i < count; i++) {\n out[i] = this.view.getUint32(p, true);\n p += 4;\n }\n return out;\n }\n\n /** Read a `TfFastCompression`-wrapped, delta+integer-compressed array of `count` ints. */\n private readCompressedInts(p: number, count: number): { values: number[]; next: number } {\n const compressedSize = this.u64(p);\n const dataStart = p + 8;\n const buf = this.bytes.subarray(dataStart, dataStart + compressedSize);\n return { values: decodeIntegers32(buf, count), next: dataStart + compressedSize };\n }\n\n // --- FIELDS -------------------------------------------------------------\n\n getFields(): CrateField[] {\n if (!this._fields) this._fields = this.readFields();\n return this._fields;\n }\n\n private readFields(): CrateField[] {\n const section = this.sections.get(\"FIELDS\");\n if (!section) return [];\n let p = section.start;\n const numFields = this.u64(p);\n p += 8;\n\n const names = this.readCompressedInts(p, numFields);\n p = names.next;\n\n // Reps: a TfFastCompression-wrapped contiguous array of uint64.\n const repsCompressedSize = this.u64(p);\n p += 8;\n const repsBuf = this.bytes.subarray(p, p + repsCompressedSize);\n const repBytes = fastDecompress(repsBuf, numFields * 8);\n const repView = new DataView(repBytes.buffer, repBytes.byteOffset, repBytes.byteLength);\n\n const fields = new Array<CrateField>(numFields);\n for (let i = 0; i < numFields; i++) {\n fields[i] = { nameIndex: names.values[i]!, rep: repView.getBigUint64(i * 8, true) };\n }\n return fields;\n }\n\n // --- FIELDSETS ----------------------------------------------------------\n\n getFieldSets(): number[] {\n if (!this._fieldSets) this._fieldSets = this.readFieldSets();\n return this._fieldSets;\n }\n\n private readFieldSets(): number[] {\n const section = this.sections.get(\"FIELDSETS\");\n if (!section) return [];\n const numFieldSets = this.u64(section.start);\n return this.readCompressedInts(section.start + 8, numFieldSets).values;\n }\n\n /** The field indices of the field set starting at `index` (until the sentinel). */\n getFieldSet(index: number): number[] {\n const all = this.getFieldSets();\n const out: number[] = [];\n for (let i = index; i < all.length && all[i] !== FIELDSET_END; i++) {\n out.push(all[i]!);\n }\n return out;\n }\n\n // --- PATHS --------------------------------------------------------------\n\n getPaths(): string[] {\n if (!this._paths) this._paths = this.readPaths();\n return this._paths;\n }\n\n private readPaths(): string[] {\n const section = this.sections.get(\"PATHS\");\n if (!section) return [];\n let p = section.start;\n const numPaths = this.u64(p);\n p += 8;\n // pxr writes the count again before the compressed arrays.\n const numEncoded = this.u64(p);\n p += 8;\n\n const pathIndexes = this.readCompressedInts(p, numEncoded);\n p = pathIndexes.next;\n const elementTokenIndexes = this.readCompressedInts(p, numEncoded);\n p = elementTokenIndexes.next;\n const jumps = this.readCompressedInts(p, numEncoded);\n\n const paths = new Array<string>(numPaths).fill(\"\");\n this.buildPaths(pathIndexes.values, elementTokenIndexes.values, jumps.values, 0, \"\", paths);\n return paths;\n }\n\n /** Reconstruct path strings from the compressed path tree (pxr `_BuildDecompressedPathsImpl`). */\n private buildPaths(\n pathIndexes: number[],\n elementTokenIndexes: number[],\n jumps: number[],\n startIndex: number,\n parentPath: string,\n paths: string[],\n ): void {\n let curIndex = startIndex;\n let parent = parentPath;\n let hasChild = false;\n let hasSibling = false;\n do {\n const thisIndex = curIndex++;\n const pathIdx = pathIndexes[thisIndex]!;\n if (parent === \"\") {\n paths[pathIdx] = \"/\";\n parent = \"/\";\n } else {\n let tokenIndex = elementTokenIndexes[thisIndex]!;\n const isProperty = tokenIndex < 0;\n if (tokenIndex < 0) tokenIndex = -tokenIndex;\n const elem = this.getToken(tokenIndex);\n paths[pathIdx] = appendElement(parent, elem, isProperty);\n }\n\n const jump = jumps[thisIndex]!;\n hasChild = jump > 0 || jump === -1;\n hasSibling = jump >= 0;\n\n if (hasChild) {\n if (hasSibling) {\n this.buildPaths(pathIndexes, elementTokenIndexes, jumps, thisIndex + jump, parent, paths);\n }\n parent = paths[pathIdx]!;\n }\n } while (hasChild || hasSibling);\n }\n\n // --- SPECS --------------------------------------------------------------\n\n getSpecs(): CrateSpec[] {\n if (!this._specs) this._specs = this.readSpecs();\n return this._specs;\n }\n\n private readSpecs(): CrateSpec[] {\n const section = this.sections.get(\"SPECS\");\n if (!section) return [];\n let p = section.start;\n const numSpecs = this.u64(p);\n p += 8;\n\n const pathIndexes = this.readCompressedInts(p, numSpecs);\n p = pathIndexes.next;\n const fieldSetIndexes = this.readCompressedInts(p, numSpecs);\n p = fieldSetIndexes.next;\n const specTypes = this.readCompressedInts(p, numSpecs);\n\n const specs = new Array<CrateSpec>(numSpecs);\n for (let i = 0; i < numSpecs; i++) {\n specs[i] = {\n pathIndex: pathIndexes.values[i]!,\n fieldSetIndex: fieldSetIndexes.values[i]!,\n specType: specTypes.values[i]!,\n };\n }\n return specs;\n }\n\n // --- Values -------------------------------------------------------------\n\n /** Decode a `ValueRep` into a {@link UsdValue} (or `undefined` if unsupported). */\n getValue(rep: bigint): UsdValue | undefined {\n const b = decodeRepBits(rep);\n if (b.isArray) return this.readArray(b.type, Number(b.payload), b.isCompressed);\n if (b.isInlined) return this.readInlined(b.type, b.payload);\n return this.readScalar(b.type, Number(b.payload));\n }\n\n private readInlined(type: number, payload: bigint): UsdValue | undefined {\n const low = Number(payload & 0xffffffffn);\n switch (type) {\n case CrateType.Bool:\n return payload !== 0n;\n case CrateType.UChar:\n return low & 0xff;\n case CrateType.Int:\n case CrateType.Int64:\n return low | 0;\n case CrateType.UInt:\n case CrateType.UInt64:\n return low >>> 0;\n case CrateType.Half:\n return halfToFloat(low & 0xffff);\n case CrateType.Float:\n case CrateType.Double:\n // Inlined floats and doubles both store float32 bits in the low word.\n scratch.setUint32(0, low >>> 0, true);\n return scratch.getFloat32(0, true);\n case CrateType.Token:\n return this.getToken(low);\n case CrateType.String:\n return this.getToken(this.getStrings()[low] ?? 0);\n case CrateType.AssetPath:\n return new AssetPath(this.getToken(low));\n case CrateType.Specifier:\n case CrateType.Permission:\n case CrateType.Variability:\n return low;\n default:\n return undefined;\n }\n }\n\n private readScalar(type: number, off: number): UsdValue | undefined {\n const v = this.view;\n switch (type) {\n case CrateType.Float:\n return v.getFloat32(off, true);\n case CrateType.Double:\n return v.getFloat64(off, true);\n case CrateType.Half:\n return halfToFloat(v.getUint16(off, true));\n case CrateType.Int:\n return v.getInt32(off, true);\n case CrateType.UInt:\n return v.getUint32(off, true);\n case CrateType.Token:\n return this.getToken(v.getUint32(off, true));\n case CrateType.String:\n return this.getToken(this.getStrings()[v.getUint32(off, true)] ?? 0);\n case CrateType.AssetPath:\n return new AssetPath(this.getToken(v.getUint32(off, true)));\n case CrateType.Vec2f:\n return this.readFloat32s(off, 2);\n case CrateType.Vec3f:\n return this.readFloat32s(off, 3);\n case CrateType.Vec4f:\n return this.readFloat32s(off, 4);\n case CrateType.Vec2d:\n return this.readFloat64s(off, 2);\n case CrateType.Vec3d:\n return this.readFloat64s(off, 3);\n case CrateType.Vec4d:\n return this.readFloat64s(off, 4);\n case CrateType.Quatf: {\n const q = this.readFloat32s(off, 4);\n return new Quat(q[3]!, [q[0]!, q[1]!, q[2]!]);\n }\n case CrateType.Quatd: {\n const q = this.readFloat64s(off, 4);\n return new Quat(q[3]!, [q[0]!, q[1]!, q[2]!]);\n }\n case CrateType.Matrix4d:\n return new UsdMatrix(this.readFloat64s(off, 16), 4);\n case CrateType.Matrix3d:\n return new UsdMatrix(this.readFloat64s(off, 9), 3);\n case CrateType.TokenListOp:\n case CrateType.IntListOp:\n return this.readListOp(off, \"token\");\n case CrateType.PathListOp:\n return this.readListOp(off, \"path\");\n case CrateType.TokenVector:\n return this.readIndexVector(off, \"token\").items;\n case CrateType.PathVector:\n return this.readIndexVector(off, \"path\").items;\n default:\n return undefined;\n }\n }\n\n private readArray(type: number, off: number, compressed: boolean): UsdValue | undefined {\n if (off === 0) return []; // inlined empty array\n const count = this.u64(off);\n let p = off + 8;\n\n if (compressed) {\n const compressedSize = this.u64(p);\n p += 8;\n return decodeIntegers32(this.bytes.subarray(p, p + compressedSize), count);\n }\n\n const v = this.view;\n switch (type) {\n case CrateType.Int:\n case CrateType.UInt: {\n const out = new Array<number>(count);\n for (let i = 0; i < count; i++) out[i] = v.getInt32(p + i * 4, true);\n return out;\n }\n case CrateType.Float: {\n const out = new Array<number>(count);\n for (let i = 0; i < count; i++) out[i] = v.getFloat32(p + i * 4, true);\n return out;\n }\n case CrateType.Token: {\n const out = new Array<string>(count);\n for (let i = 0; i < count; i++) out[i] = this.getToken(v.getUint32(p + i * 4, true));\n return out;\n }\n case CrateType.Vec3f:\n return this.readVec3fArray(p, count, false);\n case CrateType.Vec3d:\n return this.readVec3fArray(p, count, true);\n default:\n return undefined;\n }\n }\n\n private readFloat32s(off: number, n: number): number[] {\n const out = new Array<number>(n);\n for (let i = 0; i < n; i++) out[i] = this.view.getFloat32(off + i * 4, true);\n return out;\n }\n\n private readFloat64s(off: number, n: number): number[] {\n const out = new Array<number>(n);\n for (let i = 0; i < n; i++) out[i] = this.view.getFloat64(off + i * 8, true);\n return out;\n }\n\n private readVec3fArray(off: number, count: number, double: boolean): Vec3[] {\n const out = new Array<Vec3>(count);\n const stride = double ? 24 : 12;\n for (let i = 0; i < count; i++) {\n const o = off + i * stride;\n out[i] = double\n ? [\n this.view.getFloat64(o, true),\n this.view.getFloat64(o + 8, true),\n this.view.getFloat64(o + 16, true),\n ]\n : [\n this.view.getFloat32(o, true),\n this.view.getFloat32(o + 4, true),\n this.view.getFloat32(o + 8, true),\n ];\n }\n return out;\n }\n\n /** Read a `[u64 count][count × uint32|int32 index]` vector → resolved strings. */\n private readIndexVector(off: number, kind: \"token\" | \"path\"): { items: string[]; next: number } {\n const count = this.u64(off);\n let p = off + 8;\n const items = new Array<string>(count);\n for (let i = 0; i < count; i++) {\n const idx = this.view.getInt32(p, true);\n items[i] = kind === \"token\" ? this.getToken(idx) : (this.getPaths()[idx] ?? \"\");\n p += 4;\n }\n return { items, next: p };\n }\n\n /** Read an SdfListOp; returns the effective (explicit ∪ prepended ∪ added ∪ appended) items. */\n private readListOp(off: number, kind: \"token\" | \"path\"): string[] {\n const bits = this.bytes[off]!;\n let p = off + 1;\n const explicit: string[] = [];\n const prepended: string[] = [];\n const added: string[] = [];\n const appended: string[] = [];\n const read = (target: string[]) => {\n const r = this.readIndexVector(p, kind);\n target.push(...r.items);\n p = r.next;\n };\n if (bits & ListOpBits.HasExplicit) read(explicit);\n if (bits & ListOpBits.HasAdded) read(added);\n if (bits & ListOpBits.HasPrepended) read(prepended);\n if (bits & ListOpBits.HasAppended) read(appended);\n // (deleted / ordered are read for cursor correctness but ignored)\n if (bits & ListOpBits.HasDeleted) read([]);\n if (bits & ListOpBits.HasOrdered) read([]);\n return [...explicit, ...prepended, ...added, ...appended];\n }\n}\n\n/** Append a prim child (`/elem`) or property (`.elem`) to a path. */\nfunction appendElement(parent: string, elem: string, isProperty: boolean): string {\n if (isProperty) return `${parent}.${elem}`;\n if (elem.startsWith(\"{\")) return `${parent}${elem}`; // variant selection\n return parent === \"/\" ? `/${elem}` : `${parent}/${elem}`;\n}\n\nfunction asciiAt(bytes: Uint8Array, offset: number, length: number): string {\n let out = \"\";\n for (let i = 0; i < length; i++) {\n const c = bytes[offset + i];\n if (c === undefined) break;\n out += String.fromCharCode(c);\n }\n return out;\n}\n","/**\n * Bridges a parsed crate ({@link CrateReader}) into the in-memory {@link UsdaFile}\n * AST, so the rest of the pipeline (Stage / composition / extractor / runtime)\n * works on binary `.usd` exactly like ASCII `.usda`.\n */\n\nimport type {\n AttributeSpec,\n MetadataMap,\n PrimSpec,\n RelationshipSpec,\n Specifier,\n UsdValue,\n UsdaFile,\n} from \"../../parser/ast.js\";\nimport type { CrateReader } from \"./CrateReader.js\";\nimport { decodeRepBits } from \"./valueTypes.js\";\n\n// SdfSpecType values.\nconst SPEC_PRIM = 6;\nconst SPEC_PSEUDO_ROOT = 7;\nconst SPEC_ATTRIBUTE = 1;\nconst SPEC_RELATIONSHIP = 8;\n\nconst SPECIFIERS: Specifier[] = [\"def\", \"over\", \"class\"];\n\nexport function crateToUsdaFile(crate: CrateReader): UsdaFile {\n const paths = crate.getPaths();\n const specs = crate.getSpecs();\n const fields = crate.getFields();\n\n const fieldsOf = (fieldSetIndex: number): Map<string, bigint> => {\n const map = new Map<string, bigint>();\n for (const fi of crate.getFieldSet(fieldSetIndex)) {\n const f = fields[fi];\n if (f) map.set(crate.getToken(f.nameIndex), f.rep);\n }\n return map;\n };\n\n const primByPath = new Map<string, PrimSpec>();\n const rootPrims: PrimSpec[] = [];\n let layerMetadata: MetadataMap = {};\n\n // Pass 1: create prim specs.\n for (const spec of specs) {\n const path = paths[spec.pathIndex] ?? \"\";\n if (spec.specType === SPEC_PSEUDO_ROOT) {\n layerMetadata = buildLayerMetadata(crate, fieldsOf(spec.fieldSetIndex));\n continue;\n }\n if (spec.specType !== SPEC_PRIM) continue;\n\n const fm = fieldsOf(spec.fieldSetIndex);\n primByPath.set(path, {\n specifier: SPECIFIERS[asNumber(crate, fm.get(\"specifier\")) ?? 0] ?? \"def\",\n typeName: asString(crate, fm.get(\"typeName\")) ?? \"\",\n name: leaf(path),\n metadata: buildPrimMetadata(crate, fm),\n properties: [],\n children: [],\n line: 0,\n });\n }\n\n // Pass 2: attributes & relationships.\n for (const spec of specs) {\n if (spec.specType !== SPEC_ATTRIBUTE && spec.specType !== SPEC_RELATIONSHIP) continue;\n const split = splitProperty(paths[spec.pathIndex] ?? \"\");\n if (!split) continue;\n const prim = primByPath.get(split.primPath);\n if (!prim) continue;\n\n const fm = fieldsOf(spec.fieldSetIndex);\n prim.properties.push(\n spec.specType === SPEC_ATTRIBUTE\n ? buildAttribute(crate, split.propName, fm)\n : buildRelationship(crate, split.propName, fm),\n );\n }\n\n // Pass 3: link prims into a tree.\n for (const [path, prim] of primByPath) {\n const parentPath = parentOf(path);\n if (parentPath === \"/\") rootPrims.push(prim);\n else primByPath.get(parentPath)?.children.push(prim);\n }\n\n return { version: crate.version.join(\".\"), metadata: layerMetadata, prims: rootPrims };\n}\n\nfunction buildAttribute(crate: CrateReader, name: string, fm: Map<string, bigint>): AttributeSpec {\n const defaultRep = fm.get(\"default\");\n const attr: AttributeSpec = {\n kind: \"attribute\",\n name,\n typeName: asString(crate, fm.get(\"typeName\")) ?? \"\",\n isArray: defaultRep !== undefined ? decodeRepBits(defaultRep).isArray : false,\n variability: asNumber(crate, fm.get(\"variability\")) === 1 ? \"uniform\" : \"varying\",\n custom: false,\n metadata: {},\n line: 0,\n };\n if (defaultRep !== undefined) {\n const value = crate.getValue(defaultRep);\n if (value !== undefined) attr.value = value;\n }\n return attr;\n}\n\nfunction buildRelationship(\n crate: CrateReader,\n name: string,\n fm: Map<string, bigint>,\n): RelationshipSpec {\n const targetsValue = fm.has(\"targetPaths\") ? crate.getValue(fm.get(\"targetPaths\")!) : undefined;\n const targets = Array.isArray(targetsValue)\n ? (targetsValue.filter((t) => typeof t === \"string\") as string[])\n : [];\n return {\n kind: \"relationship\",\n name,\n custom: false,\n listOp: \"explicit\",\n targets,\n metadata: {},\n line: 0,\n };\n}\n\nfunction buildPrimMetadata(crate: CrateReader, fm: Map<string, bigint>): MetadataMap {\n const meta: MetadataMap = {};\n const apiSchemas = fm.has(\"apiSchemas\") ? crate.getValue(fm.get(\"apiSchemas\")!) : undefined;\n if (Array.isArray(apiSchemas)) meta.apiSchemas = apiSchemas as UsdValue[];\n const kind = asString(crate, fm.get(\"kind\"));\n if (kind !== undefined) meta.kind = kind;\n return meta;\n}\n\nfunction buildLayerMetadata(crate: CrateReader, fm: Map<string, bigint>): MetadataMap {\n const meta: MetadataMap = {};\n const upAxis = asString(crate, fm.get(\"upAxis\"));\n if (upAxis !== undefined) meta.upAxis = upAxis;\n const defaultPrim = asString(crate, fm.get(\"defaultPrim\"));\n if (defaultPrim !== undefined) meta.defaultPrim = defaultPrim;\n const metersPerUnit = asNumber(crate, fm.get(\"metersPerUnit\"));\n if (metersPerUnit !== undefined) meta.metersPerUnit = metersPerUnit;\n return meta;\n}\n\nfunction asString(crate: CrateReader, rep: bigint | undefined): string | undefined {\n if (rep === undefined) return undefined;\n const v = crate.getValue(rep);\n return typeof v === \"string\" ? v : undefined;\n}\n\nfunction asNumber(crate: CrateReader, rep: bigint | undefined): number | undefined {\n if (rep === undefined) return undefined;\n const v = crate.getValue(rep);\n return typeof v === \"number\" ? v : undefined;\n}\n\n/** `/a/b.attr` → `{ primPath: \"/a/b\", propName: \"attr\" }`; `null` for non-property paths. */\nfunction splitProperty(path: string): { primPath: string; propName: string } | null {\n const slash = path.lastIndexOf(\"/\");\n const dot = path.indexOf(\".\", slash < 0 ? 0 : slash);\n if (dot === -1) return null;\n // Skip relationship-target / connection sub-paths (contain brackets).\n if (path.includes(\"[\")) return null;\n return { primPath: path.slice(0, dot), propName: path.slice(dot + 1) };\n}\n\nfunction parentOf(path: string): string {\n const i = path.lastIndexOf(\"/\");\n return i <= 0 ? \"/\" : path.slice(0, i);\n}\n\nfunction leaf(path: string): string {\n return path.slice(path.lastIndexOf(\"/\") + 1);\n}\n","/**\n * Minimal 4×4 matrix math, Three.js-independent.\n *\n * ## Convention\n *\n * A {@link Mat4} is a flat 16-element array in **column-major** order — the\n * exact layout of `THREE.Matrix4.elements`, so a `Mat4` can be handed to\n * `matrix4.fromArray(m)` with no transposition. Transforms use the\n * column-vector convention `v' = M · v`; the translation lives at indices\n * `[12, 13, 14]`.\n *\n * Conveniently, OpenUSD stores `GfMatrix4d` **row-major** with a row-vector\n * convention (`v' = v · M`). The two raw 16-number arrays for the *same*\n * transform are therefore bit-identical, which is why {@link fromUsdMatrix} is\n * a plain copy. See the module test for a worked example.\n */\n\nimport type { Quat, UsdMatrix, Vec3 } from \"../parser/ast.js\";\n\n/** Column-major 4×4 matrix (Three.js `elements` layout). */\nexport type Mat4 = number[];\n\nexport const DEG2RAD = Math.PI / 180;\nexport const RAD2DEG = 180 / Math.PI;\n\nexport function identity4(): Mat4 {\n // biome-ignore format: matrix layout\n return [\n 1, 0, 0, 0,\n 0, 1, 0, 0,\n 0, 0, 1, 0,\n 0, 0, 0, 1,\n ];\n}\n\n/** Matrix product `a · b` (column-major), matching `THREE.Matrix4.multiplyMatrices`. */\nexport function multiply(a: Mat4, b: Mat4): Mat4 {\n const a11 = a[0]!,\n a21 = a[1]!,\n a31 = a[2]!,\n a41 = a[3]!;\n const a12 = a[4]!,\n a22 = a[5]!,\n a32 = a[6]!,\n a42 = a[7]!;\n const a13 = a[8]!,\n a23 = a[9]!,\n a33 = a[10]!,\n a43 = a[11]!;\n const a14 = a[12]!,\n a24 = a[13]!,\n a34 = a[14]!,\n a44 = a[15]!;\n\n const b11 = b[0]!,\n b21 = b[1]!,\n b31 = b[2]!,\n b41 = b[3]!;\n const b12 = b[4]!,\n b22 = b[5]!,\n b32 = b[6]!,\n b42 = b[7]!;\n const b13 = b[8]!,\n b23 = b[9]!,\n b33 = b[10]!,\n b43 = b[11]!;\n const b14 = b[12]!,\n b24 = b[13]!,\n b34 = b[14]!,\n b44 = b[15]!;\n\n return [\n a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41,\n a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41,\n a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41,\n a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41,\n\n a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42,\n a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42,\n a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42,\n a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42,\n\n a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43,\n a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43,\n a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43,\n a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43,\n\n a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44,\n a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44,\n a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44,\n a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44,\n ];\n}\n\n/** Product of a list of matrices, left-to-right (`m[0] · m[1] · …`). */\nexport function multiplyAll(matrices: Mat4[]): Mat4 {\n let m = identity4();\n for (const next of matrices) m = multiply(m, next);\n return m;\n}\n\n/** Inverse (column-major), matching `THREE.Matrix4.invert`. Throws if singular. */\nexport function invert(m: Mat4): Mat4 {\n const n11 = m[0]!,\n n21 = m[1]!,\n n31 = m[2]!,\n n41 = m[3]!;\n const n12 = m[4]!,\n n22 = m[5]!,\n n32 = m[6]!,\n n42 = m[7]!;\n const n13 = m[8]!,\n n23 = m[9]!,\n n33 = m[10]!,\n n43 = m[11]!;\n const n14 = m[12]!,\n n24 = m[13]!,\n n34 = m[14]!,\n n44 = m[15]!;\n\n const t11 =\n n23 * n34 * n42 -\n n24 * n33 * n42 +\n n24 * n32 * n43 -\n n22 * n34 * n43 -\n n23 * n32 * n44 +\n n22 * n33 * n44;\n const t12 =\n n14 * n33 * n42 -\n n13 * n34 * n42 -\n n14 * n32 * n43 +\n n12 * n34 * n43 +\n n13 * n32 * n44 -\n n12 * n33 * n44;\n const t13 =\n n13 * n24 * n42 -\n n14 * n23 * n42 +\n n14 * n22 * n43 -\n n12 * n24 * n43 -\n n13 * n22 * n44 +\n n12 * n23 * n44;\n const t14 =\n n14 * n23 * n32 -\n n13 * n24 * n32 -\n n14 * n22 * n33 +\n n12 * n24 * n33 +\n n13 * n22 * n34 -\n n12 * n23 * n34;\n\n const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;\n if (det === 0) throw new Error(\"cannot invert a singular matrix\");\n const idet = 1 / det;\n\n return [\n t11 * idet,\n (n24 * n33 * n41 -\n n23 * n34 * n41 -\n n24 * n31 * n43 +\n n21 * n34 * n43 +\n n23 * n31 * n44 -\n n21 * n33 * n44) *\n idet,\n (n22 * n34 * n41 -\n n24 * n32 * n41 +\n n24 * n31 * n42 -\n n21 * n34 * n42 -\n n22 * n31 * n44 +\n n21 * n32 * n44) *\n idet,\n (n23 * n32 * n41 -\n n22 * n33 * n41 -\n n23 * n31 * n42 +\n n21 * n33 * n42 +\n n22 * n31 * n43 -\n n21 * n32 * n43) *\n idet,\n\n t12 * idet,\n (n13 * n34 * n41 -\n n14 * n33 * n41 +\n n14 * n31 * n43 -\n n11 * n34 * n43 -\n n13 * n31 * n44 +\n n11 * n33 * n44) *\n idet,\n (n14 * n32 * n41 -\n n12 * n34 * n41 -\n n14 * n31 * n42 +\n n11 * n34 * n42 +\n n12 * n31 * n44 -\n n11 * n32 * n44) *\n idet,\n (n12 * n33 * n41 -\n n13 * n32 * n41 +\n n13 * n31 * n42 -\n n11 * n33 * n42 -\n n12 * n31 * n43 +\n n11 * n32 * n43) *\n idet,\n\n t13 * idet,\n (n14 * n23 * n41 -\n n13 * n24 * n41 -\n n14 * n21 * n43 +\n n11 * n24 * n43 +\n n13 * n21 * n44 -\n n11 * n23 * n44) *\n idet,\n (n12 * n24 * n41 -\n n14 * n22 * n41 +\n n14 * n21 * n42 -\n n11 * n24 * n42 -\n n12 * n21 * n44 +\n n11 * n22 * n44) *\n idet,\n (n13 * n22 * n41 -\n n12 * n23 * n41 -\n n13 * n21 * n42 +\n n11 * n23 * n42 +\n n12 * n21 * n43 -\n n11 * n22 * n43) *\n idet,\n\n t14 * idet,\n (n13 * n24 * n31 -\n n14 * n23 * n31 +\n n14 * n21 * n33 -\n n11 * n24 * n33 -\n n13 * n21 * n34 +\n n11 * n23 * n34) *\n idet,\n (n14 * n22 * n31 -\n n12 * n24 * n31 -\n n14 * n21 * n32 +\n n11 * n24 * n32 +\n n12 * n21 * n34 -\n n11 * n22 * n34) *\n idet,\n (n12 * n23 * n31 -\n n13 * n22 * n31 +\n n13 * n21 * n32 -\n n11 * n23 * n32 -\n n12 * n21 * n33 +\n n11 * n22 * n33) *\n idet,\n ];\n}\n\nexport function makeTranslation([x, y, z]: Vec3): Mat4 {\n // biome-ignore format: matrix layout\n return [\n 1, 0, 0, 0,\n 0, 1, 0, 0,\n 0, 0, 1, 0,\n x, y, z, 1,\n ];\n}\n\nexport function makeScale([x, y, z]: Vec3): Mat4 {\n // biome-ignore format: matrix layout\n return [\n x, 0, 0, 0,\n 0, y, 0, 0,\n 0, 0, z, 0,\n 0, 0, 0, 1,\n ];\n}\n\nexport function makeRotationX(rad: number): Mat4 {\n const c = Math.cos(rad);\n const s = Math.sin(rad);\n // biome-ignore format: matrix layout\n return [\n 1, 0, 0, 0,\n 0, c, s, 0,\n 0, -s, c, 0,\n 0, 0, 0, 1,\n ];\n}\n\nexport function makeRotationY(rad: number): Mat4 {\n const c = Math.cos(rad);\n const s = Math.sin(rad);\n // biome-ignore format: matrix layout\n return [\n c, 0, -s, 0,\n 0, 1, 0, 0,\n s, 0, c, 0,\n 0, 0, 0, 1,\n ];\n}\n\nexport function makeRotationZ(rad: number): Mat4 {\n const c = Math.cos(rad);\n const s = Math.sin(rad);\n // biome-ignore format: matrix layout\n return [\n c, s, 0, 0,\n -s, c, 0, 0,\n 0, 0, 1, 0,\n 0, 0, 0, 1,\n ];\n}\n\n/** Rotation matrix from a (normalized) quaternion, matching `THREE.Matrix4.compose`. */\nexport function makeRotationFromQuat(q: Quat): Mat4 {\n let x = q.imaginary[0];\n let y = q.imaginary[1];\n let z = q.imaginary[2];\n let w = q.real;\n const len = Math.hypot(x, y, z, w);\n if (len > 0 && Math.abs(len - 1) > 1e-9) {\n x /= len;\n y /= len;\n z /= len;\n w /= len;\n }\n\n const x2 = x + x,\n y2 = y + y,\n z2 = z + z;\n const xx = x * x2,\n xy = x * y2,\n xz = x * z2;\n const yy = y * y2,\n yz = y * z2,\n zz = z * z2;\n const wx = w * x2,\n wy = w * y2,\n wz = w * z2;\n\n // biome-ignore format: matrix layout\n return [\n 1 - (yy + zz), xy + wz, xz - wy, 0,\n xy - wz, 1 - (xx + zz), yz + wx, 0,\n xz + wy, yz - wx, 1 - (xx + yy), 0,\n 0, 0, 0, 1,\n ];\n}\n\n/**\n * Euler rotation matrix for the given axis order (e.g. `\"XYZ\"`), with per-axis\n * angles in **radians** indexed by axis (`angles[0]`=X, `[1]`=Y, `[2]`=Z).\n *\n * Follows OpenUSD's `rotate<ORDER>` semantics: the first listed axis is applied\n * first to the geometry, so `\"XYZ\"` yields `Rz · Ry · Rx` in column-vector form.\n */\nexport function makeEuler(angles: Vec3, order: string): Mat4 {\n const perAxis: Record<string, Mat4> = {\n X: makeRotationX(angles[0]),\n Y: makeRotationY(angles[1]),\n Z: makeRotationZ(angles[2]),\n };\n let m = identity4();\n for (let i = order.length - 1; i >= 0; i--) {\n const axis = perAxis[order[i]!];\n if (!axis)\n throw new Error(\n `invalid euler axis ${JSON.stringify(order[i])} in order ${JSON.stringify(order)}`,\n );\n m = multiply(m, axis);\n }\n return m;\n}\n\n/**\n * Copy a USD matrix into a {@link Mat4}. USD's row-major storage is identical to\n * Three.js column-major elements for the same transform (see module docs), so\n * this is a straight copy after a dimension check.\n */\nexport function fromUsdMatrix(m: UsdMatrix): Mat4 {\n if (m.dim !== 4 || m.values.length !== 16) {\n throw new Error(`expected a 4x4 matrix but got dim=${m.dim}, length=${m.values.length}`);\n }\n return [...m.values];\n}\n\n/** Extract the translation component `[x, y, z]` from a {@link Mat4}. */\nexport function getTranslation(m: Mat4): Vec3 {\n return [m[12]!, m[13]!, m[14]!];\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 */\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 const attr = prim.GetAttribute(opName);\n if (!attr.IsValid()) {\n throw new Error(`${prim.GetPath()}: xformOpOrder references missing op \"${opName}\"`);\n }\n\n // No resolvable value (e.g. time-sampled only — M10 reads defaults) → identity.\n const opValue = attr.Get();\n if (opValue === undefined) continue;\n\n let opMatrix = opMatrixFor(parseOpType(opName), opValue, `${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","/** UsdGeom schema helpers (type checks and geometry gathering). */\n\nimport type { Prim } from \"../usd/Prim.js\";\n\nexport function isXform(prim: Prim): boolean {\n return prim.GetTypeName() === \"Xform\";\n}\n\nexport function isScope(prim: Prim): boolean {\n return prim.GetTypeName() === \"Scope\";\n}\n\nexport function isMesh(prim: Prim): boolean {\n return prim.GetTypeName() === \"Mesh\";\n}\n\n/** `UsdGeomImageable.purpose` token; defaults to `\"default\"`. */\nexport function getPurpose(prim: Prim): string {\n const v = prim.GetAttribute(\"purpose\").Get();\n return typeof v === \"string\" ? v : \"default\";\n}\n\n/** Purposes that should not render as visual geometry (treated as collision/guide). */\nexport function isNonVisualPurpose(prim: Prim): boolean {\n const p = getPurpose(prim);\n return p === \"guide\" || p === \"proxy\";\n}\n\n/** Depth-first iterator over all descendant prims (excluding `prim` itself). */\nexport function* iterDescendants(prim: Prim): Generator<Prim> {\n for (const child of prim.GetChildren()) {\n yield child;\n yield* iterDescendants(child);\n }\n}\n\n/** Collect the prim paths of all Mesh descendants of a link prim. */\nexport function gatherMeshDescendants(prim: Prim): string[] {\n const paths: string[] = [];\n for (const d of iterDescendants(prim)) {\n if (isMesh(d)) paths.push(d.GetPath());\n }\n return paths;\n}\n","/**\n * UsdPhysics schema helpers for robot extraction.\n *\n * Reads the joint/body attributes that matter for kinematics. Values are\n * returned as authored (degrees for revolute limits, stage units for lengths);\n * SI normalization happens in `robot/normalize.ts`.\n */\n\nimport {\n type Mat4,\n makeRotationFromQuat,\n makeTranslation,\n multiply,\n} from \"../kinematics/transforms.js\";\nimport { Quat, type SdfPath, type Vec3 } from \"../parser/ast.js\";\nimport type { Axis, JointType } from \"../robot/RobotDescription.js\";\nimport type { Prim } from \"../usd/Prim.js\";\n\nconst JOINT_TYPE_BY_SCHEMA: Record<string, JointType> = {\n PhysicsFixedJoint: \"fixed\",\n PhysicsRevoluteJoint: \"revolute\",\n PhysicsPrismaticJoint: \"prismatic\",\n};\n\nexport const ARTICULATION_ROOT_API = \"PhysicsArticulationRootAPI\";\nexport const RIGID_BODY_API = \"PhysicsRigidBodyAPI\";\nexport const COLLISION_API = \"PhysicsCollisionAPI\";\n\n/** Base joint type from the prim's schema type, or `null` if not a joint. */\nexport function getJointType(prim: Prim): JointType | null {\n return JOINT_TYPE_BY_SCHEMA[prim.GetTypeName()] ?? null;\n}\n\n/** Resolve `physics:body0` / `physics:body1` target paths (first target each). */\nexport function getJointBodies(prim: Prim): { body0?: SdfPath; body1?: SdfPath } {\n const body0 = prim.GetRelationship(\"physics:body0\").GetTargets()[0];\n const body1 = prim.GetRelationship(\"physics:body1\").GetTargets()[0];\n return {\n ...(body0 !== undefined ? { body0 } : {}),\n ...(body1 !== undefined ? { body1 } : {}),\n };\n}\n\n/** Joint axis token (`physics:axis`); defaults to `\"X\"` per UsdPhysics. */\nexport function getJointAxis(prim: Prim): Axis {\n const v = prim.GetAttribute(\"physics:axis\").Get();\n return v === \"Y\" || v === \"Z\" ? v : \"X\";\n}\n\n/** Raw joint limits as authored (degrees for revolute; `undefined` if unauthored). */\nexport function getJointLimits(prim: Prim): { lower?: number; upper?: number } {\n const lower = readNumber(prim, \"physics:lowerLimit\");\n const upper = readNumber(prim, \"physics:upperLimit\");\n return {\n ...(lower !== undefined ? { lower } : {}),\n ...(upper !== undefined ? { upper } : {}),\n };\n}\n\n/**\n * The joint frame relative to body `index` (0 or 1), as a column-major matrix\n * `T(localPos) · R(localRot)`. Missing components default to identity.\n */\nexport function getJointLocalFrame(prim: Prim, index: 0 | 1): Mat4 {\n const pos = readVec3(prim, `physics:localPos${index}`, [0, 0, 0]);\n const rot = readQuat(prim, `physics:localRot${index}`, Quat.identity());\n return multiply(makeTranslation(pos), makeRotationFromQuat(rot));\n}\n\nexport function hasArticulationRootAPI(prim: Prim): boolean {\n return prim.HasAPI(ARTICULATION_ROOT_API);\n}\n\nexport function hasRigidBodyAPI(prim: Prim): boolean {\n return prim.HasAPI(RIGID_BODY_API);\n}\n\nexport function hasCollisionAPI(prim: Prim): boolean {\n return prim.HasAPI(COLLISION_API);\n}\n\n/** Drive instance name for a joint type (`angular` for revolute, `linear` otherwise). */\nexport function driveKindFor(type: JointType): \"angular\" | \"linear\" {\n return type === \"prismatic\" ? \"linear\" : \"angular\";\n}\n\n/** Read `UsdPhysicsDriveAPI` parameters for the given instance, as authored. */\nexport function getJointDrive(\n prim: Prim,\n kind: \"angular\" | \"linear\",\n): { targetPosition?: number; stiffness?: number; damping?: number; maxForce?: number } {\n const targetPosition = readNumber(prim, `drive:${kind}:physics:targetPosition`);\n const stiffness = readNumber(prim, `drive:${kind}:physics:stiffness`);\n const damping = readNumber(prim, `drive:${kind}:physics:damping`);\n const maxForce = readNumber(prim, `drive:${kind}:physics:maxForce`);\n return {\n ...(targetPosition !== undefined ? { targetPosition } : {}),\n ...(stiffness !== undefined ? { stiffness } : {}),\n ...(damping !== undefined ? { damping } : {}),\n ...(maxForce !== undefined ? { maxForce } : {}),\n };\n}\n\n/** Read `PhysicsJointStateAPI` position for the given instance, as authored. */\nexport function getJointStatePosition(prim: Prim, kind: \"angular\" | \"linear\"): number | undefined {\n return readNumber(prim, `state:${kind}:physics:position`);\n}\n\n// --- typed readers ---------------------------------------------------------\n\nfunction readNumber(prim: Prim, name: string): number | undefined {\n const v = prim.GetAttribute(name).Get();\n return typeof v === \"number\" ? v : undefined;\n}\n\nfunction readVec3(prim: Prim, name: string, def: Vec3): Vec3 {\n const v = prim.GetAttribute(name).Get();\n if (Array.isArray(v) && v.length === 3 && v.every((n) => typeof n === \"number\")) {\n return v as Vec3;\n }\n return def;\n}\n\nfunction readQuat(prim: Prim, name: string, def: Quat): Quat {\n const v = prim.GetAttribute(name).Get();\n return v instanceof Quat ? v : def;\n}\n","/**\n * Builds a kinematic spanning tree from a {@link RobotDescription}.\n *\n * USD physics joints form a directed graph (parent `body0` → child `body1`,\n * with an empty `body0` meaning \"fixed to world\"). Three.js needs a tree, so we\n * pick a root, breadth-first walk the real (link→link) edges, and drop any edge\n * that would revisit a link — those are recorded as {@link KinematicTree.loopJoints}\n * (closed chains / parallel mechanisms) rather than silently corrupting the tree.\n */\n\nimport type { RobotDescription } from \"./RobotDescription.js\";\n\n/** Sentinel parent for a world-fixed joint (`body0` empty). */\nconst WORLD = \"\";\n\nexport type TreeEdge = {\n /** Joint key connecting this node to the child. */\n joint: string;\n /** Child link key. */\n child: string;\n};\n\nexport type KinematicNode = {\n link: string;\n /** Parent link key, or `null` for the root. */\n parent: string | null;\n /** Joint key to the parent, or `null` for the root. */\n jointToParent: string | null;\n children: TreeEdge[];\n /** Distance from the root (root = 0). */\n depth: number;\n};\n\nexport type KinematicTree = {\n root: string;\n /** World-fixed joint attaching the root to the world frame, if any. */\n rootJoint: string | null;\n nodes: Record<string, KinematicNode>;\n /** Link keys in breadth-first order (parents before children). */\n order: string[];\n /** Joints dropped from the tree to break closed loops. */\n loopJoints: string[];\n /** Links not reachable from the root. */\n isolatedLinks: string[];\n warnings: string[];\n};\n\nexport type BuildTreeOptions = {\n onWarn?: (message: string) => void;\n};\n\nexport function buildKinematicTree(\n robot: RobotDescription,\n options: BuildTreeOptions = {},\n): KinematicTree {\n const warnings: string[] = [];\n const warn = (m: string) => {\n warnings.push(m);\n options.onWarn?.(m);\n };\n\n const links = new Set(Object.keys(robot.links));\n\n // Real (link→link) edges, world-fixed attachments, and in-degrees.\n const outgoing = new Map<string, TreeEdge[]>();\n const worldJointByChild = new Map<string, string>();\n const inRealDegree = new Map<string, number>();\n\n for (const [jointKey, joint] of Object.entries(robot.joints)) {\n if (!links.has(joint.child)) {\n warn(`joint \"${jointKey}\": child link \"${joint.child}\" is unknown; skipping edge`);\n continue;\n }\n if (joint.parent === WORLD) {\n if (worldJointByChild.has(joint.child)) {\n warn(`link \"${joint.child}\" is fixed to world by multiple joints; keeping \"${jointKey}\"`);\n }\n worldJointByChild.set(joint.child, jointKey);\n continue;\n }\n if (!links.has(joint.parent)) {\n warn(`joint \"${jointKey}\": parent link \"${joint.parent}\" is unknown; skipping edge`);\n continue;\n }\n const edges = outgoing.get(joint.parent) ?? [];\n edges.push({ joint: jointKey, child: joint.child });\n outgoing.set(joint.parent, edges);\n inRealDegree.set(joint.child, (inRealDegree.get(joint.child) ?? 0) + 1);\n }\n\n const root = chooseRoot(links, inRealDegree, worldJointByChild, robot, warn);\n\n // Breadth-first spanning tree.\n const nodes: Record<string, KinematicNode> = {};\n const order: string[] = [];\n const loopJoints: string[] = [];\n const visited = new Set<string>();\n\n if (root !== \"\") {\n nodes[root] = { link: root, parent: null, jointToParent: null, children: [], depth: 0 };\n visited.add(root);\n order.push(root);\n const queue = [root];\n\n while (queue.length > 0) {\n const cur = queue.shift()!;\n const edges = [...(outgoing.get(cur) ?? [])].sort((a, b) => a.joint.localeCompare(b.joint));\n for (const edge of edges) {\n if (visited.has(edge.child)) {\n loopJoints.push(edge.joint); // revisiting a link closes a loop\n continue;\n }\n visited.add(edge.child);\n nodes[edge.child] = {\n link: edge.child,\n parent: cur,\n jointToParent: edge.joint,\n children: [],\n depth: nodes[cur]!.depth + 1,\n };\n nodes[cur]!.children.push(edge);\n order.push(edge.child);\n queue.push(edge.child);\n }\n }\n }\n\n const isolatedLinks = [...links].filter((l) => !visited.has(l)).sort();\n if (isolatedLinks.length > 0) {\n warn(\n `${isolatedLinks.length} link(s) not reachable from root \"${root}\": ${isolatedLinks.join(\", \")}`,\n );\n }\n if (loopJoints.length > 0) {\n warn(`closed loop(s) detected; dropped joints from tree: ${loopJoints.sort().join(\", \")}`);\n }\n\n return {\n root,\n rootJoint: worldJointByChild.get(root) ?? null,\n nodes,\n order,\n loopJoints: loopJoints.sort(),\n isolatedLinks,\n warnings,\n };\n}\n\n/**\n * Pick the root link. Priority: a link flagged with `PhysicsArticulationRootAPI`,\n * then a world-fixed link, then any link with no real parent. Falls back to the\n * lexicographically-first link if every link has a parent (a full cycle).\n */\nfunction chooseRoot(\n links: Set<string>,\n inRealDegree: Map<string, number>,\n worldJointByChild: Map<string, string>,\n robot: RobotDescription,\n warn: (m: string) => void,\n): string {\n if (links.size === 0) return \"\";\n\n const candidates = [...links].filter((l) => (inRealDegree.get(l) ?? 0) === 0).sort();\n\n if (candidates.length === 0) {\n const fallback = [...links].sort()[0]!;\n warn(`no root candidate (every link has a parent — likely a full cycle); using \"${fallback}\"`);\n return fallback;\n }\n\n const articulation = (robot.articulationRoots ?? []).filter((a) => candidates.includes(a));\n const worldFixed = candidates.filter((c) => worldJointByChild.has(c));\n const chosen = articulation[0] ?? worldFixed[0] ?? candidates[0]!;\n\n if (candidates.length > 1) {\n warn(`multiple root candidates (${candidates.join(\", \")}); using \"${chosen}\"`);\n }\n return chosen;\n}\n","/** SI normalization for joint values. */\n\nimport { DEG2RAD } from \"../kinematics/transforms.js\";\nimport type { JointType } from \"./RobotDescription.js\";\n\nconst isFinite_ = (x: number | undefined): x is number => x !== undefined && Number.isFinite(x);\n\n/**\n * Normalize raw joint limits to SI: revolute/continuous degrees → radians;\n * prismatic kept in stage linear units (global metersPerUnit scaling is applied\n * at the root in M9). Non-finite or unauthored limits become `undefined`.\n */\nexport function normalizeJointLimits(\n type: JointType,\n rawLower: number | undefined,\n rawUpper: number | undefined,\n): { lower?: number; upper?: number } {\n const angular = type === \"revolute\" || type === \"continuous\";\n const conv = (x: number | undefined): number | undefined => {\n if (!isFinite_(x)) return undefined;\n return angular ? x * DEG2RAD : x;\n };\n const lower = conv(rawLower);\n const upper = conv(rawUpper);\n return {\n ...(lower !== undefined ? { lower } : {}),\n ...(upper !== undefined ? { upper } : {}),\n };\n}\n\n/** Convert an authored joint value to SI (angular degrees → radians). */\nexport function jointValueToSI(angular: boolean, raw: number): number {\n return angular ? raw * DEG2RAD : raw;\n}\n\n/**\n * A revolute joint with no finite limits is a continuous (unbounded) joint.\n * Returns the refined joint type.\n */\nexport function refineJointType(\n base: JointType,\n lower: number | undefined,\n upper: number | undefined,\n): JointType {\n if (base === \"revolute\" && lower === undefined && upper === undefined) return \"continuous\";\n return base;\n}\n","/**\n * Extracts a {@link RobotDescription} from a USD {@link Stage}.\n *\n * Collects links (rigid bodies / joint-referenced prims) and the\n * Fixed/Revolute/Prismatic joints connecting them, resolves `body0`/`body1` to\n * link keys, and normalizes limits to SI. The authoritative root link and\n * closed-loop detection come from {@link buildKinematicTree} (M4), whose result\n * is written back into `rootLink` / `loopJoints`.\n */\n\nimport { gatherMeshDescendants, isNonVisualPurpose } from \"../schemas/usdGeom.js\";\nimport {\n driveKindFor,\n getJointAxis,\n getJointBodies,\n getJointDrive,\n getJointLimits,\n getJointLocalFrame,\n getJointStatePosition,\n getJointType,\n hasArticulationRootAPI,\n hasCollisionAPI,\n hasRigidBodyAPI,\n} from \"../schemas/usdPhysics.js\";\nimport type { Prim } from \"../usd/Prim.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport type {\n JointDescription,\n JointDriveDescription,\n LinkDescription,\n RobotDescription,\n} from \"./RobotDescription.js\";\nimport { buildKinematicTree } from \"./buildKinematicTree.js\";\nimport { jointValueToSI, normalizeJointLimits, refineJointType } from \"./normalize.js\";\n\nexport type ExtractOptions = {\n /** Override the robot name (defaults to the stage default prim or first root prim). */\n robotName?: string;\n /** Receives non-fatal diagnostics; also collected into `RobotDescription.warnings`. */\n onWarn?: (message: string) => void;\n};\n\n/** World sentinel for a joint parent (fixed to world, `body0` empty). */\nconst WORLD = \"\";\n\nexport function extractRobotDescription(\n stage: Stage,\n options: ExtractOptions = {},\n): RobotDescription {\n const warnings: string[] = [];\n const warn = (m: string) => {\n warnings.push(m);\n options.onWarn?.(m);\n };\n\n // 1. Find joint prims.\n const jointPrims = stage.Traverse().filter((p) => getJointType(p) !== null);\n\n // 2. Collect link prim paths: joint-referenced bodies + rigid bodies.\n const linkPaths = new Set<string>();\n for (const jp of jointPrims) {\n const { body0, body1 } = getJointBodies(jp);\n if (body0) linkPaths.add(body0);\n if (body1) linkPaths.add(body1);\n }\n for (const p of stage.Traverse()) {\n if (hasRigidBodyAPI(p)) linkPaths.add(p.GetPath());\n }\n\n // 3. Choose stable keys (leaf name when unique, else full path).\n const linkKeyByPath = buildKeyMap([...linkPaths]);\n\n // 4. Build link descriptions; note articulation-root links.\n const links: Record<string, LinkDescription> = {};\n const articulationRoots: string[] = [];\n for (const path of linkPaths) {\n const key = linkKeyByPath.get(path)!;\n const prim = stage.GetPrimAtPath(path);\n links[key] = buildLink(path, prim);\n if (prim && hasArticulationRootAPI(prim)) articulationRoots.push(key);\n }\n\n // 5. Build joint descriptions.\n const joints: Record<string, JointDescription> = {};\n const jointKeyByPath = buildKeyMap(jointPrims.map((p) => p.GetPath()));\n for (const jp of jointPrims) {\n const joint = buildJoint(jp, linkKeyByPath, warn);\n if (joint) joints[jointKeyByPath.get(jp.GetPath())!] = joint;\n }\n\n const name =\n options.robotName ??\n stage.GetDefaultPrim()?.GetName() ??\n stage.GetPseudoRoot().GetChildren()[0]?.GetName() ??\n \"robot\";\n\n const robot: RobotDescription = {\n name,\n rootLink: \"\",\n links,\n joints,\n upAxis: stage.GetUpAxis(),\n metersPerUnit: stage.GetMetersPerUnit(),\n ...(articulationRoots.length ? { articulationRoots } : {}),\n };\n\n // 6. Build the spanning tree to set the authoritative root + loop joints.\n const tree = buildKinematicTree(robot, { onWarn: warn });\n robot.rootLink = tree.root;\n if (tree.loopJoints.length) robot.loopJoints = tree.loopJoints;\n if (warnings.length) robot.warnings = warnings;\n\n return robot;\n}\n\nfunction buildLink(path: string, prim: Prim | null): LinkDescription {\n const name = leafName(path);\n if (!prim) return { name, primPath: path, visualPrims: [] };\n\n // Classify each mesh: collision (collision API, or guide/proxy purpose) vs visual.\n const visualPrims: string[] = [];\n const collisionPrims: string[] = [];\n for (const meshPath of gatherMeshDescendants(prim)) {\n const mp = prim.GetStage().GetPrimAtPath(meshPath);\n if (mp && (hasCollisionAPI(mp) || isNonVisualPurpose(mp))) collisionPrims.push(meshPath);\n else visualPrims.push(meshPath);\n }\n return {\n name,\n primPath: path,\n visualPrims,\n ...(collisionPrims.length ? { collisionPrims } : {}),\n };\n}\n\nfunction buildJoint(\n prim: Prim,\n linkKeyByPath: Map<string, string>,\n warn: (m: string) => void,\n): JointDescription | null {\n const base = getJointType(prim);\n if (!base) return null;\n\n const path = prim.GetPath();\n const { body0, body1 } = getJointBodies(prim);\n if (!body1) {\n warn(`${path}: joint has no physics:body1 target; skipping`);\n return null;\n }\n\n const parent = body0 ? (linkKeyByPath.get(body0) ?? body0) : WORLD;\n const child = linkKeyByPath.get(body1) ?? body1;\n\n const raw = getJointLimits(prim);\n const { lower, upper } = normalizeJointLimits(base, raw.lower, raw.upper);\n const type = refineJointType(base, lower, upper);\n\n const joint: JointDescription = {\n name: leafName(path),\n primPath: path,\n type,\n parent,\n child,\n axis: getJointAxis(prim),\n jointFrame0: getJointLocalFrame(prim, 0),\n jointFrame1: getJointLocalFrame(prim, 1),\n ...(lower !== undefined ? { lower } : {}),\n ...(upper !== undefined ? { upper } : {}),\n };\n\n // Initial pose + drive (read here; applied as initial pose in M9).\n const kind = driveKindFor(type);\n const angular = kind === \"angular\";\n const drive = getJointDrive(prim, kind);\n const statePos = getJointStatePosition(prim, kind);\n\n const initialValue =\n statePos !== undefined\n ? jointValueToSI(angular, statePos)\n : drive.targetPosition !== undefined\n ? jointValueToSI(angular, drive.targetPosition)\n : undefined;\n if (initialValue !== undefined) joint.initialValue = initialValue;\n\n const driveDesc: JointDriveDescription = {\n ...(drive.targetPosition !== undefined\n ? { targetPosition: jointValueToSI(angular, drive.targetPosition) }\n : {}),\n ...(drive.stiffness !== undefined ? { stiffness: drive.stiffness } : {}),\n ...(drive.damping !== undefined ? { damping: drive.damping } : {}),\n ...(drive.maxForce !== undefined ? { maxForce: drive.maxForce } : {}),\n };\n if (Object.keys(driveDesc).length > 0) joint.drive = driveDesc;\n\n return joint;\n}\n\n/** Map each path to a stable key: leaf name when unique, else the full path. */\nfunction buildKeyMap(paths: string[]): Map<string, string> {\n const leafCounts = new Map<string, number>();\n for (const p of paths) {\n const leaf = leafName(p);\n leafCounts.set(leaf, (leafCounts.get(leaf) ?? 0) + 1);\n }\n const map = new Map<string, string>();\n for (const p of paths) {\n const leaf = leafName(p);\n map.set(p, leafCounts.get(leaf) === 1 ? leaf : p);\n }\n return map;\n}\n\nfunction leafName(path: string): string {\n const parts = path.split(\"/\").filter(Boolean);\n return parts[parts.length - 1] ?? path;\n}\n"]}