three-usd-robot 0.6.0 → 0.7.0

package/dist/index.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../src/three/exportThreeUsdRobot.ts","../src/three/RobotBuilder.ts"],"names":["isIdentityMat4","THREE2"],"mappings":";;;;;;;AAoCO,SAAS,oBAAA,CACd,UACA,OAAA,EACmB;AACnB,EAAA,MAAM,QAAA,GAAW,QAAA,CAAS,YAAA,CAAa,UAAU,CAAA;AACjD,EAAA,IAAI,CAAC,QAAA,IAAY,QAAA,CAAS,KAAA,KAAU,GAAG,OAAO,IAAA;AAE9C,EAAA,MAAM,SAAiB,EAAC;AACxB,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,QAAA,CAAS,OAAO,CAAA,EAAA,EAAK;AACvC,IAAA,MAAA,CAAO,IAAA,CAAK,CAAC,QAAA,CAAS,IAAA,CAAK,CAAC,CAAA,EAAG,QAAA,CAAS,IAAA,CAAK,CAAC,CAAA,EAAG,QAAA,CAAS,IAAA,CAAK,CAAC,CAAC,CAAC,CAAA;AAAA,EACpE;AAEA,EAAA,MAAM,KAAA,GAAQ,SAAS,QAAA,EAAS;AAChC,EAAA,IAAI,iBAAA,GAAoB,KAAA,GACpB,KAAA,CAAM,IAAA,CAAK,KAAA,CAAM,KAA0B,CAAA,GAC3C,MAAA,CAAO,GAAA,CAAI,CAAC,CAAA,EAAG,CAAA,KAAM,CAAC,CAAA;AAC1B,EAAA,MAAM,SAAA,GAAY,IAAA,CAAK,KAAA,CAAM,iBAAA,CAAkB,SAAS,CAAC,CAAA;AACzD,EAAA,IAAI,SAAA,KAAc,GAAG,OAAO,IAAA;AAC5B,EAAA,iBAAA,GAAoB,iBAAA,CAAkB,KAAA,CAAM,CAAA,EAAG,SAAA,GAAY,CAAC,CAAA;AAE5D,EAAA,MAAM,IAAA,GAAmB;AAAA,IACvB,MAAM,OAAA,CAAQ,IAAA;AAAA,IACd,IAAA,EAAM,QAAQ,IAAA,IAAQ,QAAA;AAAA,IACtB,MAAA;AAAA,IACA,kBAAkB,IAAI,KAAA,CAAM,SAAS,CAAA,CAAE,KAAK,CAAC,CAAA;AAAA,IAC7C;AAAA,GACF;AAEA,EAAA,MAAM,MAAA,GAAS,QAAA,CAAS,YAAA,CAAa,QAAQ,CAAA;AAC7C,EAAA,IAAI,MAAA,IAAU,MAAA,CAAO,KAAA,KAAU,QAAA,CAAS,KAAA,EAAO;AAC7C,IAAA,MAAM,UAAkB,EAAC;AACzB,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,MAAA,CAAO,OAAO,CAAA,EAAA,EAAK;AACrC,MAAA,OAAA,CAAQ,IAAA,CAAK,CAAC,MAAA,CAAO,IAAA,CAAK,CAAC,CAAA,EAAG,MAAA,CAAO,IAAA,CAAK,CAAC,CAAA,EAAG,MAAA,CAAO,IAAA,CAAK,CAAC,CAAC,CAAC,CAAA;AAAA,IAC/D;AACA,IAAA,IAAA,CAAK,OAAA,GAAU,OAAA;AAAA,EACjB;AACA,EAAA,MAAM,EAAA,GAAK,QAAA,CAAS,YAAA,CAAa,IAAI,CAAA;AACrC,EAAA,IAAI,EAAA,IAAM,EAAA,CAAG,KAAA,KAAU,QAAA,CAAS,KAAA,EAAO;AACrC,IAAA,MAAM,KAAa,EAAC;AACpB,IAAA,KAAA,IAAS,IAAI,CAAA,EAAG,CAAA,GAAI,EAAA,CAAG,KAAA,EAAO,KAAK,EAAA,CAAG,IAAA,CAAK,CAAC,EAAA,CAAG,KAAK,CAAC,CAAA,EAAG,GAAG,IAAA,CAAK,CAAC,CAAC,CAAC,CAAA;AACnE,IAAA,IAAA,CAAK,EAAA,GAAK,EAAA;AAAA,EACZ;AAEA,EAAA,IAAI,OAAA,CAAQ,aAAa,CAAC,cAAA,CAAe,QAAQ,SAAS,CAAA,EAAG,IAAA,CAAK,SAAA,GAAY,OAAA,CAAQ,SAAA;AACtF,EAAA,IAAI,OAAA,CAAQ,QAAA,EAAU,IAAA,CAAK,QAAA,GAAW,OAAA,CAAQ,QAAA;AAC9C,EAAA,IAAI,OAAA,CAAQ,WAAA,EAAa,IAAA,CAAK,WAAA,GAAc,IAAA;AAC5C,EAAA,OAAO,IAAA;AACT;AAOO,SAAS,wBAAA,CACd,QAAA,EACA,IAAA,EACA,MAAA,EAC4B;AAC5B,EAAA,MAAM,GAAA,GAAM,QAAA;AACZ,EAAA,IAAI,CAAC,IAAI,sBAAA,EAAwB;AAC/B,IAAA,MAAA,GAAS,CAAA,UAAA,EAAa,IAAI,CAAA,kEAAA,CAAoE,CAAA;AAC9F,IAAA,OAAO,MAAA;AAAA,EACT;AACA,EAAA,IACE,GAAA,CAAI,GAAA,IACJ,GAAA,CAAI,SAAA,IACJ,GAAA,CAAI,YAAA,IACJ,GAAA,CAAI,YAAA,IACJ,GAAA,CAAI,KAAA,IACJ,GAAA,CAAI,WAAA,IACJ,IAAI,QAAA,EACJ;AACA,IAAA,MAAA;AAAA,MACE,aAAa,IAAI,CAAA,sGAAA;AAAA,KACnB;AAAA,EACF;AAEA,EAAA,MAAM,GAAA,GAAsB;AAAA,IAC1B,IAAA;AAAA,IACA,YAAA,EAAc,CAAC,GAAA,CAAI,KAAA,CAAM,CAAA,EAAG,IAAI,KAAA,CAAM,CAAA,EAAG,GAAA,CAAI,KAAA,CAAM,CAAC,CAAA;AAAA,IACpD,UAAU,GAAA,CAAI,SAAA;AAAA,IACd,WAAW,GAAA,CAAI;AAAA,GACjB;AACA,EAAA,IAAI,IAAI,WAAA,IAAe,GAAA,CAAI,UAAU,CAAA,EAAG,GAAA,CAAI,UAAU,GAAA,CAAI,OAAA;AAC1D,EAAA,IAAI,GAAA,CAAI,QAAA,CAAS,CAAA,GAAI,CAAA,IAAK,GAAA,CAAI,QAAA,CAAS,CAAA,GAAI,CAAA,IAAK,GAAA,CAAI,QAAA,CAAS,CAAA,GAAI,CAAA,EAAG;AAClE,IAAA,GAAA,CAAI,aAAA,GAAgB,CAAC,GAAA,CAAI,QAAA,CAAS,CAAA,EAAG,IAAI,QAAA,CAAS,CAAA,EAAG,GAAA,CAAI,QAAA,CAAS,CAAC,CAAA;AAAA,EACrE;AACA,EAAA,OAAO,GAAA;AACT;AAOO,SAAS,qBAAA,CACd,OACA,MAAA,EACuB;AACvB,EAAA,MAAM,aAAA,uBAAoB,GAAA,EAAgD;AAC1E,EAAA,IAAI,MAAA,GAAS,CAAA;AACb,EAAA,MAAM,eAAA,GAAkB,CAAC,QAAA,KAAyD;AAChF,IAAA,IAAI,CAAC,aAAA,CAAc,GAAA,CAAI,QAAQ,CAAA,EAAG;AAChC,MAAA,MAAM,IAAA,GAAO,QAAA,CAAS,IAAA,IAAQ,CAAA,SAAA,EAAY,MAAA,EAAQ,CAAA,CAAA;AAClD,MAAA,aAAA,CAAc,IAAI,QAAA,EAAU,wBAAA,CAAyB,QAAA,EAAU,IAAA,EAAM,MAAM,CAAC,CAAA;AAAA,IAC9E;AACA,IAAA,OAAO,aAAA,CAAc,IAAI,QAAQ,CAAA;AAAA,EACnC,CAAA;AAEA,EAAA,OAAO,CAAC,OAAA,KAAY;AAClB,IAAA,MAAM,OAAA,GAAU,KAAA,CAAM,aAAA,CAAc,OAAO,CAAA;AAC3C,IAAA,IAAI,CAAC,OAAA,EAAS,OAAO,EAAC;AAEtB,IAAA,MAAM,MAAoB,EAAC;AAC3B,IAAA,KAAA,MAAW,QAAA,IAAY,QAAQ,QAAA,EAAU;AACvC,MAAA,MAAM,OAAA,GAAU,QAAA;AAChB,MAAA,IAAI,CAAC,QAAQ,MAAA,EAAQ;AACrB,MAAA,MAAM,QAAA,GAAW,KAAA,CAAM,OAAA,CAAQ,OAAA,CAAQ,QAAQ,IAAI,OAAA,CAAQ,QAAA,CAAS,CAAC,CAAA,GAAI,OAAA,CAAQ,QAAA;AACjF,MAAA,IAAI,KAAA,CAAM,QAAQ,OAAA,CAAQ,QAAQ,KAAK,OAAA,CAAQ,QAAA,CAAS,SAAS,CAAA,EAAG;AAClE,QAAA,MAAA,GAAS,CAAA,MAAA,EAAS,OAAA,CAAQ,IAAI,CAAA,yDAAA,CAA2D,CAAA;AAAA,MAC3F;AACA,MAAA,MAAM,cAAA,GAAiB,QAAA,GAAW,eAAA,CAAgB,QAAQ,CAAA,GAAI,MAAA;AAC9D,MAAA,MAAM,IAAA,GAAO,oBAAA,CAAqB,OAAA,CAAQ,QAAA,EAAU;AAAA,QAClD,IAAA,EAAM,QAAQ,IAAA,IAAQ,MAAA;AAAA,QACtB,IAAA,EAAM,OAAA,CAAQ,QAAA,CAAS,IAAA,KAAS,cAAc,WAAA,GAAc,QAAA;AAAA,QAC5D,SAAA,EAAW,CAAC,GAAG,OAAA,CAAQ,OAAO,QAAQ,CAAA;AAAA,QACtC,GAAI,cAAA,GAAiB,EAAE,QAAA,EAAU,cAAA,KAAmB,EAAC;AAAA,QACrD,WAAA,EAAa,UAAU,IAAA,KAAe,KAAA,CAAA;AAAA,OACvC,CAAA;AACD,MAAA,IAAI,IAAA,EAAM,GAAA,CAAI,IAAA,CAAK,IAAI,CAAA;AAAA,IACzB;AACA,IAAA,OAAO,GAAA;AAAA,EACT,CAAA;AACF;AAQO,SAAS,mBAAA,CACd,KAAA,EACA,OAAA,GAAsC,EAAC,EAC7B;AACV,EAAA,MAAM,EAAE,KAAA,EAAO,GAAG,IAAA,EAAK,GAAI,OAAA;AAC3B,EAAA,MAAM,QAAA,GAAW,QACb,qBAAA,CAAsB,KAAK,IAC3B,qBAAA,CAAsB,KAAA,EAAO,QAAQ,MAAM,CAAA;AAC/C,EAAA,OAAO,gBAAgB,KAAA,CAAM,KAAA,EAAO,EAAE,GAAG,IAAA,EAAM,UAAU,CAAA;AAC3D;AAEA,SAAS,eAAe,CAAA,EAAkB;AACxC,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,EAAA,EAAI,CAAA,EAAA,EAAK;AAC3B,IAAA,IAAI,CAAA,CAAE,CAAC,CAAA,MAAO,CAAA,GAAI,MAAM,CAAA,GAAI,CAAA,GAAI,IAAI,OAAO,KAAA;AAAA,EAC7C;AACA,EAAA,OAAO,IAAA;AACT;;;ACzGO,IAAM,eAAN,MAAmB;AAAA,EACP,SAAA;AAAA,EACA,MAAA;AAAA,EACA,aAAA;AAAA,EACA,gBAAA;AAAA,EACA,IAAA;AAAA,EAEA,KAAA,uBAAY,GAAA,EAG3B;AAAA,EACe,MAAA,uBAAa,GAAA,EAA0B;AAAA,EACvC,aAAA,uBAAoB,GAAA,EAAgD;AAAA,EAC7E,cAAA,GAAiB,CAAA;AAAA,EAEzB,YAAY,OAAA,EAA8B;AACxC,IAAA,IAAA,CAAK,YAAY,OAAA,CAAQ,IAAA;AACzB,IAAA,IAAA,CAAK,MAAA,GAAS,QAAQ,MAAA,IAAU,GAAA;AAChC,IAAA,IAAA,CAAK,aAAA,GAAgB,QAAQ,aAAA,IAAiB,CAAA;AAC9C,IAAA,IAAI,OAAA,CAAQ,gBAAA,KAAqB,MAAA,EAAW,IAAA,CAAK,mBAAmB,OAAA,CAAQ,gBAAA;AAC5E,IAAA,IAAA,CAAK,IAAA,GAAO,OAAA,CAAQ,MAAA,KAAW,MAAM;AAAA,IAAC,CAAA,CAAA;AAAA,EACxC;AAAA,EAEA,QAAQ,OAAA,EAA+B;AACrC,IAAA,IAAI,IAAA,CAAK,KAAA,CAAM,GAAA,CAAI,OAAA,CAAQ,IAAI,CAAA,EAAG;AAChC,MAAA,MAAM,IAAI,KAAA,CAAM,CAAA,oBAAA,EAAuB,OAAA,CAAQ,IAAI,CAAA,oBAAA,CAAsB,CAAA;AAAA,IAC3E;AACA,IAAA,MAAM,KAAA,GAAQ,YAAA,CAAa,OAAA,CAAQ,KAAK,KAAK,SAAA,EAAU;AACvD,IAAA,MAAM,eAAA,GAAkB;AAAA,MACtB,GAAI,QAAQ,sBAAA,KAA2B,MAAA,GACnC,EAAE,aAAA,EAAe,OAAA,CAAQ,sBAAA,EAAuB,GAChD,EAAC;AAAA,MACL,GAAI,QAAQ,eAAA,GAAkB,EAAE,UAAU,OAAA,CAAQ,eAAA,KAAoB;AAAC,KACzE;AACA,IAAA,MAAM,MAAA,GAAS;AAAA,MACb,GAAG,KAAK,YAAA,CAAa,OAAA,CAAQ,WAAW,EAAC,EAAG,OAAO,QAAQ,CAAA;AAAA,MAC3D,GAAG,KAAK,YAAA,CAAa,OAAA,CAAQ,cAAc,EAAC,EAAG,KAAA,EAAO,WAAA,EAAa,eAAe;AAAA,KACpF;AACA,IAAA,IAAA,CAAK,KAAA,CAAM,GAAA,CAAI,OAAA,CAAQ,IAAA,EAAM;AAAA,MAC3B,KAAA;AAAA,MACA,MAAA;AAAA,MACA,GAAI,QAAQ,QAAA,GAAW,EAAE,UAAU,OAAA,CAAQ,QAAA,KAAa;AAAC,KAC1D,CAAA;AACD,IAAA,OAAO,IAAA;AAAA,EACT;AAAA,EAEA,cAAc,OAAA,EAAkE;AAC9E,IAAA,OAAO,IAAA,CAAK,QAAA,CAAS,OAAA,EAAS,OAAO,CAAA;AAAA,EACvC;AAAA,EAEA,iBAAiB,OAAA,EAAgC;AAC/C,IAAA,OAAO,IAAA,CAAK,QAAA,CAAS,UAAA,EAAY,OAAO,CAAA;AAAA,EAC1C;AAAA,EAEA,kBAAkB,OAAA,EAAgC;AAChD,IAAA,OAAO,IAAA,CAAK,QAAA,CAAS,WAAA,EAAa,OAAO,CAAA;AAAA,EAC3C;AAAA,EAEQ,QAAA,CAAS,MAAiB,OAAA,EAAgC;AAChE,IAAA,IAAI,IAAA,CAAK,MAAA,CAAO,GAAA,CAAI,OAAA,CAAQ,IAAI,CAAA,EAAG;AACjC,MAAA,MAAM,IAAI,KAAA,CAAM,CAAA,qBAAA,EAAwB,OAAA,CAAQ,IAAI,CAAA,oBAAA,CAAsB,CAAA;AAAA,IAC5E;AACA,IAAA,MAAM,KAAA,GAAQ,YAAA,CAAa,OAAA,CAAQ,KAAK,CAAA;AACxC,IAAA,IAAA,CAAK,MAAA,CAAO,GAAA,CAAI,OAAA,CAAQ,IAAA,EAAM,EAAE,IAAA,EAAM,OAAA,EAAS,GAAI,KAAA,GAAQ,EAAE,KAAA,EAAM,GAAI,IAAK,CAAA;AAC5E,IAAA,OAAO,IAAA;AAAA,EACT;AAAA;AAAA,EAGA,KAAA,GAA0F;AACxF,IAAA,MAAM,QAAyC,EAAC;AAChD,IAAA,KAAA,MAAW,CAAC,IAAA,EAAM,IAAI,CAAA,IAAK,KAAK,KAAA,EAAO;AACrC,MAAA,KAAA,CAAM,IAAI,CAAA,GAAI;AAAA,QACZ,IAAA;AAAA,QACA,QAAA,EAAU,CAAA,CAAA,EAAI,IAAA,CAAK,SAAS,IAAI,IAAI,CAAA,CAAA;AAAA,QACpC,aAAa,EAAC;AAAA,QACd,GAAI,KAAK,QAAA,GAAW,EAAE,UAAU,IAAA,CAAK,QAAA,KAAa,EAAC;AAAA;AAAA,QAEnD,GAAIA,eAAAA,CAAe,IAAA,CAAK,KAAK,CAAA,GAAI,EAAC,GAAI,EAAE,cAAA,EAAgB,IAAA,CAAK,KAAA;AAAM,OACrE;AAAA,IACF;AAEA,IAAA,MAAM,SAA2C,EAAC;AAClD,IAAA,KAAA,MAAW,CAAC,IAAA,EAAM,OAAO,CAAA,IAAK,KAAK,MAAA,EAAQ;AACzC,MAAA,MAAM,EAAE,SAAQ,GAAI,OAAA;AACpB,MAAA,MAAM,MAAA,GAAS,QAAQ,MAAA,IAAU,EAAA;AACjC,MAAA,IAAI,WAAW,EAAA,IAAM,CAAC,KAAK,KAAA,CAAM,GAAA,CAAI,MAAM,CAAA,EAAG;AAC5C,QAAA,MAAM,IAAI,KAAA,CAAM,CAAA,qBAAA,EAAwB,IAAI,CAAA,6BAAA,EAAgC,MAAM,CAAA,CAAA,CAAG,CAAA;AAAA,MACvF;AACA,MAAA,MAAM,SAAA,GAAY,IAAA,CAAK,KAAA,CAAM,GAAA,CAAI,QAAQ,KAAK,CAAA;AAC9C,MAAA,IAAI,CAAC,SAAA,EAAW;AACd,QAAA,MAAM,IAAI,KAAA;AAAA,UACR,CAAA,qBAAA,EAAwB,IAAI,CAAA,4BAAA,EAA+B,OAAA,CAAQ,KAAK,CAAA,CAAA;AAAA,SAC1E;AAAA,MACF;AAEA,MAAA,MAAM,UAAA,GAAa,OAAA,CAAQ,KAAA,IAAS,SAAA,CAAU,KAAA;AAC9C,MAAA,MAAM,WAAA,GAAc,WAAW,EAAA,GAAK,SAAA,KAAc,IAAA,CAAK,KAAA,CAAM,GAAA,CAAI,MAAM,CAAA,CAAG,KAAA;AAC1E,MAAA,MAAM,OAAO,eAAA,CAAgB,OAAA,CAAQ,MAAM,OAAA,CAAQ,KAAA,EAAO,QAAQ,KAAK,CAAA;AAEvE,MAAA,MAAA,CAAO,IAAI,CAAA,GAAI;AAAA,QACb,IAAA;AAAA,QACA,QAAA,EAAU,CAAA,CAAA,EAAI,IAAA,CAAK,SAAS,IAAI,IAAI,CAAA,CAAA;AAAA,QACpC,IAAA;AAAA,QACA,MAAA;AAAA,QACA,OAAO,OAAA,CAAQ,KAAA;AAAA,QACf,IAAA,EAAM,QAAQ,IAAA,IAAQ,GAAA;AAAA,QACtB,WAAA,EAAa,QAAA,CAAS,MAAA,CAAO,WAAW,GAAG,UAAU,CAAA;AAAA,QACrD,aAAa,QAAA,CAAS,MAAA,CAAO,SAAA,CAAU,KAAK,GAAG,UAAU,CAAA;AAAA,QACzD,GAAI,QAAQ,KAAA,KAAU,MAAA,GAAY,EAAE,KAAA,EAAO,OAAA,CAAQ,KAAA,EAAM,GAAI,EAAC;AAAA,QAC9D,GAAI,QAAQ,KAAA,KAAU,MAAA,GAAY,EAAE,KAAA,EAAO,OAAA,CAAQ,KAAA,EAAM,GAAI,EAAC;AAAA,QAC9D,GAAI,QAAQ,YAAA,KAAiB,MAAA,GAAY,EAAE,YAAA,EAAc,OAAA,CAAQ,YAAA,EAAa,GAAI,EAAC;AAAA,QACnF,GAAI,QAAQ,KAAA,GAAQ,EAAE,OAAO,OAAA,CAAQ,KAAA,KAAU;AAAC,OAClD;AAAA,IACF;AAEA,IAAA,IAAI,IAAA,CAAK,qBAAqB,MAAA,IAAa,CAAC,KAAK,KAAA,CAAM,GAAA,CAAI,IAAA,CAAK,gBAAgB,CAAA,EAAG;AACjF,MAAA,MAAM,IAAI,KAAA,CAAM,CAAA,gCAAA,EAAmC,IAAA,CAAK,gBAAgB,CAAA,eAAA,CAAiB,CAAA;AAAA,IAC3F;AAEA,IAAA,MAAM,IAAA,GAAyB;AAAA,MAC7B,MAAM,IAAA,CAAK,SAAA;AAAA,MACX,QAAA,EAAU,EAAA;AAAA,MACV,KAAA;AAAA,MACA,MAAA;AAAA,MACA,QAAQ,IAAA,CAAK,MAAA;AAAA,MACb,eAAe,IAAA,CAAK,aAAA;AAAA,MACpB,GAAI,IAAA,CAAK,gBAAA,KAAqB,MAAA,GAC1B,EAAE,iBAAA,EAAmB,CAAC,IAAA,CAAK,gBAAgB,CAAA,EAAE,GAC7C;AAAC,KACP;AAEA,IAAA,MAAM,OAAO,kBAAA,CAAmB,IAAA,EAAM,EAAE,MAAA,EAAQ,IAAA,CAAK,MAAM,CAAA;AAC3D,IAAA,IAAA,CAAK,WAAW,IAAA,CAAK,IAAA;AACrB,IAAA,IAAI,KAAK,UAAA,CAAW,MAAA,GAAS,CAAA,EAAG,IAAA,CAAK,aAAa,IAAA,CAAK,UAAA;AACvD,IAAA,IAAI,KAAK,QAAA,CAAS,MAAA,GAAS,CAAA,EAAG,IAAA,CAAK,WAAW,IAAA,CAAK,QAAA;AAEnD,IAAA,MAAM,SAAS,IAAA,CAAK,KAAA;AACpB,IAAA,MAAM,QAAA,GAAkC,CAAC,OAAA,KAAY,MAAA,CAAO,IAAI,OAAO,CAAA,EAAG,UAAU,EAAC;AACrF,IAAA,OAAO,EAAE,IAAA,EAAM,QAAA,EAAU,IAAA,EAAK;AAAA,EAChC;AAAA;AAAA,EAGA,MAAA,CAAO,OAAA,GAAgD,EAAC,EAAa;AACnE,IAAA,MAAM,EAAE,IAAA,EAAM,QAAA,EAAS,GAAI,KAAK,KAAA,EAAM;AACtC,IAAA,OAAO,eAAA,CAAgB,MAAM,EAAE,MAAA,EAAQ,KAAK,IAAA,EAAM,GAAG,OAAA,EAAS,QAAA,EAAU,CAAA;AAAA,EAC1E;AAAA;AAAA,EAGQ,aACN,KAAA,EACA,SAAA,EACA,IAAA,EACA,eAAA,GAGI,EAAC,EACS;AACd,IAAA,MAAM,WAAA,GAAc,OAAO,SAAS,CAAA;AACpC,IAAA,MAAM,MAAoB,EAAC;AAC3B,IAAA,KAAA,MAAW,QAAQ,KAAA,EAAO;AACxB,MAAA,IAAA,CAAK,iBAAA,CAAkB,MAAM,IAAI,CAAA;AACjC,MAAA,IAAA,CAAK,QAAA,CAAS,CAAC,GAAA,KAAQ;AACrB,QAAA,MAAM,OAAA,GAAU,GAAA;AAChB,QAAA,IAAI,CAAC,QAAQ,MAAA,EAAQ;AACrB,QAAA,MAAM,QAAA,GAAW,KAAA,CAAM,OAAA,CAAQ,OAAA,CAAQ,QAAQ,IAAI,OAAA,CAAQ,QAAA,CAAS,CAAC,CAAA,GAAI,OAAA,CAAQ,QAAA;AACjF,QAAA,IAAI,KAAA,CAAM,QAAQ,OAAA,CAAQ,QAAQ,KAAK,OAAA,CAAQ,QAAA,CAAS,SAAS,CAAA,EAAG;AAClE,UAAA,IAAA,CAAK,IAAA;AAAA,YACH,CAAA,MAAA,EAAS,QAAQ,IAAI,CAAA,yDAAA;AAAA,WACvB;AAAA,QACF;AACA,QAAA,MAAM,cAAA,GAAiB,QAAA,GAAW,IAAA,CAAK,eAAA,CAAgB,QAAQ,CAAA,GAAI,MAAA;AACnE,QAAA,MAAM,IAAA,GAAO,oBAAA,CAAqB,OAAA,CAAQ,QAAA,EAAU;AAAA,UAClD,IAAA,EAAM,QAAQ,IAAA,IAAQ,MAAA;AAAA,UACtB,IAAA;AAAA,UACA,SAAA,EAAW,SAAS,WAAA,EAAa,CAAC,GAAG,OAAA,CAAQ,WAAA,CAAY,QAAQ,CAAC,CAAA;AAAA,UAClE,GAAI,cAAA,GAAiB,EAAE,QAAA,EAAU,cAAA,KAAmB,EAAC;AAAA,UACrD,WAAA,EAAa,UAAU,IAAA,KAAeC,KAAA,CAAA;AAAA,SACvC,CAAA;AACD,QAAA,IAAI,IAAA,EAAM;AACR,UAAA,IAAI,SAAS,WAAA,EAAa;AACxB,YAAA,IAAI,eAAA,CAAgB,kBAAkB,MAAA,EAAW;AAC/C,cAAA,IAAA,CAAK,yBAAyB,eAAA,CAAgB,aAAA;AAAA,YAChD;AACA,YAAA,IAAI,eAAA,CAAgB,QAAA,EAAU,IAAA,CAAK,eAAA,GAAkB,eAAA,CAAgB,QAAA;AAAA,UACvE;AACA,UAAA,GAAA,CAAI,KAAK,IAAI,CAAA;AAAA,QACf,CAAA,MAAO;AACL,UAAA,IAAA,CAAK,IAAA,CAAK,CAAA,MAAA,EAAS,OAAA,CAAQ,IAAI,CAAA,gCAAA,CAAkC,CAAA;AAAA,QACnE;AAAA,MACF,CAAC,CAAA;AAAA,IACH;AACA,IAAA,OAAO,GAAA;AAAA,EACT;AAAA,EAEQ,gBAAgB,QAAA,EAAsD;AAC5E,IAAA,IAAI,CAAC,IAAA,CAAK,aAAA,CAAc,GAAA,CAAI,QAAQ,CAAA,EAAG;AACrC,MAAA,MAAM,IAAA,GAAO,QAAA,CAAS,IAAA,IAAQ,CAAA,SAAA,EAAY,KAAK,cAAA,EAAgB,CAAA,CAAA;AAC/D,MAAA,IAAA,CAAK,aAAA,CAAc,IAAI,QAAA,EAAU,wBAAA,CAAyB,UAAU,IAAA,EAAM,IAAA,CAAK,IAAI,CAAC,CAAA;AAAA,IACtF;AACA,IAAA,OAAO,IAAA,CAAK,aAAA,CAAc,GAAA,CAAI,QAAQ,CAAA;AAAA,EACxC;AACF;AAEA,SAASD,gBAAe,CAAA,EAAkB;AACxC,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,EAAA,EAAI,CAAA,EAAA,EAAK;AAC3B,IAAA,IAAI,CAAA,CAAE,CAAC,CAAA,MAAO,CAAA,GAAI,MAAM,CAAA,GAAI,CAAA,GAAI,IAAI,OAAO,KAAA;AAAA,EAC7C;AACA,EAAA,OAAO,IAAA;AACT;AAGA,SAAS,aAAa,KAAA,EAAiD;AACrE,EAAA,IAAI,CAAC,OAAO,OAAO,MAAA;AACnB,EAAA,IAAK,MAAyB,UAAA,EAAY;AACxC,IAAA,MAAM,GAAA,GAAM,KAAA;AACZ,IAAA,GAAA,CAAI,iBAAA,CAAkB,MAAM,KAAK,CAAA;AACjC,IAAA,OAAO,CAAC,GAAG,GAAA,CAAI,WAAA,CAAY,QAAQ,CAAA;AAAA,EACrC;AACA,EAAA,OAAO,CAAC,GAAI,KAAA,CAAwB,QAAQ,CAAA;AAC9C","file":"index.js","sourcesContent":["/**\n * Three.js-side export (M14).\n *\n * Converts `BufferGeometry` / `MeshStandardMaterial` into the plain\n * {@link ExportMesh} data the exporter consumes, harvests the meshes attached\n * under a loaded robot's links, and re-exports a {@link ThreeUsdRobot} as a\n * USDA AST. Texture maps are not carried yet (M15) — constants only.\n */\n\nimport * as THREE from \"three\";\nimport type {\n  ExportMaterial,\n  ExportMesh,\n  RobotGeometryProvider,\n} from \"../export/GeometryProvider.js\";\nimport { stageGeometryProvider } from \"../export/GeometryProvider.js\";\nimport { type ExportRobotOptions, exportRobotUsda } from \"../export/exportRobot.js\";\nimport type { Mat4 } from \"../kinematics/transforms.js\";\nimport type { UsdaFile, Vec2, Vec3 } from \"../parser/ast.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport type { ThreeUsdRobot } from \"./ThreeUsdRobot.js\";\n\nexport type GeometryToExportMeshOptions = {\n  name: string;\n  kind?: \"visual\" | \"collision\";\n  /** Transform relative to the link frame (column-major); identity when omitted. */\n  transform?: Mat4;\n  material?: ExportMaterial;\n  doubleSided?: boolean;\n};\n\n/**\n * Convert a triangle `BufferGeometry` into exportable mesh data. Non-indexed\n * geometry becomes sequential triangles; a trailing partial triangle (or the\n * absence of a position attribute) returns `null`.\n */\nexport function geometryToExportMesh(\n  geometry: THREE.BufferGeometry,\n  options: GeometryToExportMeshOptions,\n): ExportMesh | null {\n  const position = geometry.getAttribute(\"position\");\n  if (!position || position.count === 0) return null;\n\n  const points: Vec3[] = [];\n  for (let i = 0; i < position.count; i++) {\n    points.push([position.getX(i), position.getY(i), position.getZ(i)]);\n  }\n\n  const index = geometry.getIndex();\n  let faceVertexIndices = index\n    ? Array.from(index.array as ArrayLike<number>)\n    : points.map((_, i) => i);\n  const triangles = Math.floor(faceVertexIndices.length / 3);\n  if (triangles === 0) return null;\n  faceVertexIndices = faceVertexIndices.slice(0, triangles * 3);\n\n  const mesh: ExportMesh = {\n    name: options.name,\n    kind: options.kind ?? \"visual\",\n    points,\n    faceVertexCounts: new Array(triangles).fill(3),\n    faceVertexIndices,\n  };\n\n  const normal = geometry.getAttribute(\"normal\");\n  if (normal && normal.count === position.count) {\n    const normals: Vec3[] = [];\n    for (let i = 0; i < normal.count; i++) {\n      normals.push([normal.getX(i), normal.getY(i), normal.getZ(i)]);\n    }\n    mesh.normals = normals;\n  }\n  const uv = geometry.getAttribute(\"uv\");\n  if (uv && uv.count === position.count) {\n    const st: Vec2[] = [];\n    for (let i = 0; i < uv.count; i++) st.push([uv.getX(i), uv.getY(i)]);\n    mesh.st = st;\n  }\n\n  if (options.transform && !isIdentityMat4(options.transform)) mesh.transform = options.transform;\n  if (options.material) mesh.material = options.material;\n  if (options.doubleSided) mesh.doubleSided = true;\n  return mesh;\n}\n\n/**\n * Extract constant PBR parameters from a Three.js material. Only\n * `MeshStandardMaterial` maps onto `UsdPreviewSurface`; anything else returns\n * `undefined` (with a warning). Texture maps are reported but not carried.\n */\nexport function materialToExportMaterial(\n  material: THREE.Material,\n  name: string,\n  onWarn?: (message: string) => void,\n): ExportMaterial | undefined {\n  const std = material as THREE.MeshStandardMaterial;\n  if (!std.isMeshStandardMaterial) {\n    onWarn?.(`material \"${name}\": only MeshStandardMaterial exports to UsdPreviewSurface; skipped`);\n    return undefined;\n  }\n  if (\n    std.map ||\n    std.normalMap ||\n    std.roughnessMap ||\n    std.metalnessMap ||\n    std.aoMap ||\n    std.emissiveMap ||\n    std.alphaMap\n  ) {\n    onWarn?.(\n      `material \"${name}\": texture maps are not carried from Three.js materials (image extraction is app-side); constants only`,\n    );\n  }\n\n  const out: ExportMaterial = {\n    name,\n    diffuseColor: [std.color.r, std.color.g, std.color.b],\n    metallic: std.metalness,\n    roughness: std.roughness,\n  };\n  if (std.transparent && std.opacity < 1) out.opacity = std.opacity;\n  if (std.emissive.r > 0 || std.emissive.g > 0 || std.emissive.b > 0) {\n    out.emissiveColor = [std.emissive.r, std.emissive.g, std.emissive.b];\n  }\n  return out;\n}\n\n/**\n * Provider over the meshes `bindRobotMeshes` attached under each link of a\n * loaded robot (direct children tagged `userData.kind`), with their link-local\n * transforms and materials.\n */\nexport function threeGeometryProvider(\n  robot: ThreeUsdRobot,\n  onWarn?: (message: string) => void,\n): RobotGeometryProvider {\n  const materialNames = new Map<THREE.Material, ExportMaterial | undefined>();\n  let autoId = 0;\n  const convertMaterial = (material: THREE.Material): ExportMaterial | undefined => {\n    if (!materialNames.has(material)) {\n      const name = material.name || `Material_${autoId++}`;\n      materialNames.set(material, materialToExportMaterial(material, name, onWarn));\n    }\n    return materialNames.get(material);\n  };\n\n  return (linkKey) => {\n    const linkObj = robot.getLinkObject(linkKey);\n    if (!linkObj) return [];\n\n    const out: ExportMesh[] = [];\n    for (const childObj of linkObj.children) {\n      const meshObj = childObj as THREE.Mesh;\n      if (!meshObj.isMesh) continue;\n      const material = Array.isArray(meshObj.material) ? meshObj.material[0] : meshObj.material;\n      if (Array.isArray(meshObj.material) && meshObj.material.length > 1) {\n        onWarn?.(`mesh \"${meshObj.name}\": multi-material meshes export their first material only`);\n      }\n      const exportMaterial = material ? convertMaterial(material) : undefined;\n      const mesh = geometryToExportMesh(meshObj.geometry, {\n        name: meshObj.name || \"mesh\",\n        kind: meshObj.userData.kind === \"collision\" ? \"collision\" : \"visual\",\n        transform: [...meshObj.matrix.elements],\n        ...(exportMaterial ? { material: exportMaterial } : {}),\n        doubleSided: material?.side === THREE.DoubleSide,\n      });\n      if (mesh) out.push(mesh);\n    }\n    return out;\n  };\n}\n\nexport type ExportThreeUsdRobotOptions = Omit<ExportRobotOptions, \"geometry\"> & {\n  /** Re-read mesh data from the source stage instead of the Three.js scene. */\n  stage?: Stage;\n};\n\n/** Export a loaded robot back to a USDA AST (pass the result to `serializeUsda`). */\nexport function exportThreeUsdRobot(\n  robot: ThreeUsdRobot,\n  options: ExportThreeUsdRobotOptions = {},\n): UsdaFile {\n  const { stage, ...rest } = options;\n  const geometry = stage\n    ? stageGeometryProvider(stage)\n    : threeGeometryProvider(robot, options.onWarn);\n  return exportRobotUsda(robot.robot, { ...rest, geometry });\n}\n\nfunction isIdentityMat4(m: Mat4): boolean {\n  for (let i = 0; i < 16; i++) {\n    if (m[i] !== (i % 5 === 0 ? 1 : 0)) return false;\n  }\n  return true;\n}\n","/**\n * Authoring API (M14): assemble a robot from Three.js objects and export it.\n *\n * Links and joints are declared by name. Every joint takes **one** world-space\n * frame; both body-local joint frames derive from it —\n * `frame0 = linkWorld(parent)⁻¹ · frame`, `frame1 = linkWorld(child)⁻¹ · frame`\n * — so the arrangement at build time is the robot's zero pose. Values are SI\n * (radians / stage linear units); the exporter converts to authored units on\n * write. World matrices are captured at `addLink`/`add*Joint` time.\n */\n\nimport * as THREE from \"three\";\nimport type {\n  CollisionApproximation,\n  ExportMaterial,\n  ExportMesh,\n  ExportPhysicsMaterial,\n  RobotGeometryProvider,\n} from \"../export/GeometryProvider.js\";\nimport { type ExportRobotOptions, exportRobotUsda } from \"../export/exportRobot.js\";\nimport { type Mat4, identity4, invert, multiply } from \"../kinematics/transforms.js\";\nimport type { UsdaFile } from \"../parser/ast.js\";\nimport type {\n  Axis,\n  JointDescription,\n  JointDriveDescription,\n  JointType,\n  LinkDescription,\n  LinkInertialDescription,\n  RobotDescription,\n} from \"../robot/RobotDescription.js\";\nimport { type KinematicTree, buildKinematicTree } from \"../robot/buildKinematicTree.js\";\nimport { refineJointType } from \"../robot/normalize.js\";\nimport { geometryToExportMesh, materialToExportMaterial } from \"./exportThreeUsdRobot.js\";\n\n/** A world-space frame: a matrix, or an object whose `matrixWorld` is used. */\nexport type WorldFrame = THREE.Matrix4 | THREE.Object3D;\n\nexport type RobotBuilderOptions = {\n  name: string;\n  /** Stage up axis; defaults to `\"Z\"` (Isaac Sim convention). */\n  upAxis?: \"Y\" | \"Z\";\n  /** Stage linear unit; defaults to `1` (meters). */\n  metersPerUnit?: number;\n  /** Link to flag with `PhysicsArticulationRootAPI` (default: the container prim). */\n  articulationRoot?: string;\n  onWarn?: (message: string) => void;\n};\n\nexport type AddLinkOptions = {\n  name: string;\n  /** Link frame in world space at build pose (default identity). */\n  frame?: WorldFrame;\n  /** Objects whose `THREE.Mesh` descendants become the link's visual meshes. */\n  visuals?: THREE.Object3D[];\n  /** Objects whose `THREE.Mesh` descendants become collision meshes. */\n  collisions?: THREE.Object3D[];\n  /** Mass properties, exported as `PhysicsMassAPI` (M16). */\n  inertial?: LinkInertialDescription;\n  /** `physics:approximation` applied to this link's collision meshes (M16). */\n  collisionApproximation?: CollisionApproximation;\n  /** Physics material bound to this link's collision meshes (M16). */\n  physicsMaterial?: ExportPhysicsMaterial;\n};\n\nexport type AddJointOptions = {\n  name: string;\n  /** Parent link name; omit to fix the child to the world. */\n  parent?: string;\n  child: string;\n  /** Joint frame in world space (default: the child link's frame). */\n  frame?: WorldFrame;\n  /** Rotation / sliding axis token in the joint frame (default `\"X\"`). */\n  axis?: Axis;\n  /** Limits in SI: radians (revolute) or stage linear units (prismatic). */\n  lower?: number;\n  upper?: number;\n  /** Initial joint value in SI, exported as `PhysicsJointStateAPI`. */\n  initialValue?: number;\n  drive?: JointDriveDescription;\n};\n\ntype PendingJoint = {\n  type: JointType;\n  options: AddJointOptions;\n  /** Joint frame world matrix captured at add time (undefined → child frame). */\n  world?: Mat4;\n};\n\nexport class RobotBuilder {\n  private readonly robotName: string;\n  private readonly upAxis: \"Y\" | \"Z\";\n  private readonly metersPerUnit: number;\n  private readonly articulationRoot?: string;\n  private readonly warn: (message: string) => void;\n\n  private readonly links = new Map<\n    string,\n    { world: Mat4; meshes: ExportMesh[]; inertial?: LinkInertialDescription }\n  >();\n  private readonly joints = new Map<string, PendingJoint>();\n  private readonly materialCache = new Map<THREE.Material, ExportMaterial | undefined>();\n  private materialAutoId = 0;\n\n  constructor(options: RobotBuilderOptions) {\n    this.robotName = options.name;\n    this.upAxis = options.upAxis ?? \"Z\";\n    this.metersPerUnit = options.metersPerUnit ?? 1;\n    if (options.articulationRoot !== undefined) this.articulationRoot = options.articulationRoot;\n    this.warn = options.onWarn ?? (() => {});\n  }\n\n  addLink(options: AddLinkOptions): this {\n    if (this.links.has(options.name)) {\n      throw new Error(`RobotBuilder: link \"${options.name}\" is already defined`);\n    }\n    const world = resolveFrame(options.frame) ?? identity4();\n    const collisionExtras = {\n      ...(options.collisionApproximation !== undefined\n        ? { approximation: options.collisionApproximation }\n        : {}),\n      ...(options.physicsMaterial ? { material: options.physicsMaterial } : {}),\n    };\n    const meshes = [\n      ...this.gatherMeshes(options.visuals ?? [], world, \"visual\"),\n      ...this.gatherMeshes(options.collisions ?? [], world, \"collision\", collisionExtras),\n    ];\n    this.links.set(options.name, {\n      world,\n      meshes,\n      ...(options.inertial ? { inertial: options.inertial } : {}),\n    });\n    return this;\n  }\n\n  addFixedJoint(options: Omit<AddJointOptions, \"axis\" | \"lower\" | \"upper\">): this {\n    return this.addJoint(\"fixed\", options);\n  }\n\n  addRevoluteJoint(options: AddJointOptions): this {\n    return this.addJoint(\"revolute\", options);\n  }\n\n  addPrismaticJoint(options: AddJointOptions): this {\n    return this.addJoint(\"prismatic\", options);\n  }\n\n  private addJoint(type: JointType, options: AddJointOptions): this {\n    if (this.joints.has(options.name)) {\n      throw new Error(`RobotBuilder: joint \"${options.name}\" is already defined`);\n    }\n    const world = resolveFrame(options.frame);\n    this.joints.set(options.name, { type, options, ...(world ? { world } : {}) });\n    return this;\n  }\n\n  /** Assemble the IR + geometry provider (validates the kinematic graph). */\n  build(): { desc: RobotDescription; geometry: RobotGeometryProvider; tree: KinematicTree } {\n    const links: Record<string, LinkDescription> = {};\n    for (const [name, link] of this.links) {\n      links[name] = {\n        name,\n        primPath: `/${this.robotName}/${name}`,\n        visualPrims: [],\n        ...(link.inertial ? { inertial: link.inertial } : {}),\n        // Authored placement, so links no joint reaches keep their build pose.\n        ...(isIdentityMat4(link.world) ? {} : { worldTransform: link.world }),\n      };\n    }\n\n    const joints: Record<string, JointDescription> = {};\n    for (const [name, pending] of this.joints) {\n      const { options } = pending;\n      const parent = options.parent ?? \"\";\n      if (parent !== \"\" && !this.links.has(parent)) {\n        throw new Error(`RobotBuilder: joint \"${name}\" references unknown parent \"${parent}\"`);\n      }\n      const childLink = this.links.get(options.child);\n      if (!childLink) {\n        throw new Error(\n          `RobotBuilder: joint \"${name}\" references unknown child \"${options.child}\"`,\n        );\n      }\n\n      const jointWorld = pending.world ?? childLink.world;\n      const parentWorld = parent === \"\" ? identity4() : this.links.get(parent)!.world;\n      const type = refineJointType(pending.type, options.lower, options.upper);\n\n      joints[name] = {\n        name,\n        primPath: `/${this.robotName}/${name}`,\n        type,\n        parent,\n        child: options.child,\n        axis: options.axis ?? \"X\",\n        jointFrame0: multiply(invert(parentWorld), jointWorld),\n        jointFrame1: multiply(invert(childLink.world), jointWorld),\n        ...(options.lower !== undefined ? { lower: options.lower } : {}),\n        ...(options.upper !== undefined ? { upper: options.upper } : {}),\n        ...(options.initialValue !== undefined ? { initialValue: options.initialValue } : {}),\n        ...(options.drive ? { drive: options.drive } : {}),\n      };\n    }\n\n    if (this.articulationRoot !== undefined && !this.links.has(this.articulationRoot)) {\n      throw new Error(`RobotBuilder: articulationRoot \"${this.articulationRoot}\" is not a link`);\n    }\n\n    const desc: RobotDescription = {\n      name: this.robotName,\n      rootLink: \"\",\n      links,\n      joints,\n      upAxis: this.upAxis,\n      metersPerUnit: this.metersPerUnit,\n      ...(this.articulationRoot !== undefined\n        ? { articulationRoots: [this.articulationRoot] }\n        : {}),\n    };\n\n    const tree = buildKinematicTree(desc, { onWarn: this.warn });\n    desc.rootLink = tree.root;\n    if (tree.loopJoints.length > 0) desc.loopJoints = tree.loopJoints;\n    if (tree.warnings.length > 0) desc.warnings = tree.warnings;\n\n    const byLink = this.links;\n    const geometry: RobotGeometryProvider = (linkKey) => byLink.get(linkKey)?.meshes ?? [];\n    return { desc, geometry, tree };\n  }\n\n  /** Build and export in one step (pass the result to `serializeUsda`). */\n  toUsda(options: Omit<ExportRobotOptions, \"geometry\"> = {}): UsdaFile {\n    const { desc, geometry } = this.build();\n    return exportRobotUsda(desc, { onWarn: this.warn, ...options, geometry });\n  }\n\n  /** Collect `THREE.Mesh` descendants of `roots` as link-relative export meshes. */\n  private gatherMeshes(\n    roots: THREE.Object3D[],\n    linkWorld: Mat4,\n    kind: \"visual\" | \"collision\",\n    collisionExtras: {\n      approximation?: CollisionApproximation;\n      material?: ExportPhysicsMaterial;\n    } = {},\n  ): ExportMesh[] {\n    const linkInverse = invert(linkWorld);\n    const out: ExportMesh[] = [];\n    for (const root of roots) {\n      root.updateWorldMatrix(true, true);\n      root.traverse((obj) => {\n        const meshObj = obj as THREE.Mesh;\n        if (!meshObj.isMesh) return;\n        const material = Array.isArray(meshObj.material) ? meshObj.material[0] : meshObj.material;\n        if (Array.isArray(meshObj.material) && meshObj.material.length > 1) {\n          this.warn(\n            `mesh \"${meshObj.name}\": multi-material meshes export their first material only`,\n          );\n        }\n        const exportMaterial = material ? this.convertMaterial(material) : undefined;\n        const mesh = geometryToExportMesh(meshObj.geometry, {\n          name: meshObj.name || \"mesh\",\n          kind,\n          transform: multiply(linkInverse, [...meshObj.matrixWorld.elements]),\n          ...(exportMaterial ? { material: exportMaterial } : {}),\n          doubleSided: material?.side === THREE.DoubleSide,\n        });\n        if (mesh) {\n          if (kind === \"collision\") {\n            if (collisionExtras.approximation !== undefined) {\n              mesh.collisionApproximation = collisionExtras.approximation;\n            }\n            if (collisionExtras.material) mesh.physicsMaterial = collisionExtras.material;\n          }\n          out.push(mesh);\n        } else {\n          this.warn(`mesh \"${meshObj.name}\": no triangle geometry; skipped`);\n        }\n      });\n    }\n    return out;\n  }\n\n  private convertMaterial(material: THREE.Material): ExportMaterial | undefined {\n    if (!this.materialCache.has(material)) {\n      const name = material.name || `Material_${this.materialAutoId++}`;\n      this.materialCache.set(material, materialToExportMaterial(material, name, this.warn));\n    }\n    return this.materialCache.get(material);\n  }\n}\n\nfunction isIdentityMat4(m: Mat4): boolean {\n  for (let i = 0; i < 16; i++) {\n    if (m[i] !== (i % 5 === 0 ? 1 : 0)) return false;\n  }\n  return true;\n}\n\n/** World matrix of a frame argument (`matrixWorld` refreshed for objects). */\nfunction resolveFrame(frame: WorldFrame | undefined): Mat4 | undefined {\n  if (!frame) return undefined;\n  if ((frame as THREE.Object3D).isObject3D) {\n    const obj = frame as THREE.Object3D;\n    obj.updateWorldMatrix(true, false);\n    return [...obj.matrixWorld.elements];\n  }\n  return [...(frame as THREE.Matrix4).elements];\n}\n"]}
+{"version":3,"sources":["../src/three/exportThreeUsdRobot.ts","../src/three/RobotBuilder.ts"],"names":["material","exportMaterial","mesh","isIdentityMat4","THREE2"],"mappings":";;;;;;;AAyCO,SAAS,oBAAA,CACd,UACA,OAAA,EACmB;AACnB,EAAA,MAAM,QAAA,GAAW,QAAA,CAAS,YAAA,CAAa,UAAU,CAAA;AACjD,EAAA,IAAI,CAAC,QAAA,IAAY,QAAA,CAAS,KAAA,KAAU,GAAG,OAAO,IAAA;AAE9C,EAAA,MAAM,KAAA,GAAQ,SAAS,QAAA,EAAS;AAChC,EAAA,MAAM,MAAM,KAAA,GACR,KAAA,CAAM,IAAA,CAAK,KAAA,CAAM,KAA0B,CAAA,GAC3C,KAAA,CAAM,IAAA,CAAK,EAAE,QAAQ,QAAA,CAAS,KAAA,IAAS,CAAC,CAAA,EAAG,MAAM,CAAC,CAAA;AACtD,EAAA,MAAM,KAAA,GAAQ,OAAA,CAAQ,KAAA,GAClB,GAAA,CAAI,MAAM,OAAA,CAAQ,KAAA,CAAM,KAAA,EAAO,OAAA,CAAQ,KAAA,CAAM,KAAA,GAAQ,OAAA,CAAQ,KAAA,CAAM,KAAK,CAAA,GACxE,GAAA;AACJ,EAAA,MAAM,SAAA,GAAY,IAAA,CAAK,KAAA,CAAM,KAAA,CAAM,SAAS,CAAC,CAAA;AAC7C,EAAA,IAAI,SAAA,KAAc,GAAG,OAAO,IAAA;AAE5B,EAAA,MAAM,MAAA,GAAS,QAAA,CAAS,YAAA,CAAa,QAAQ,CAAA;AAC7C,EAAA,MAAM,EAAA,GAAK,QAAA,CAAS,YAAA,CAAa,IAAI,CAAA;AACrC,EAAA,MAAM,aAAa,CAAC,CAAC,MAAA,IAAU,MAAA,CAAO,UAAU,QAAA,CAAS,KAAA;AACzD,EAAA,MAAM,QAAQ,CAAC,CAAC,EAAA,IAAM,EAAA,CAAG,UAAU,QAAA,CAAS,KAAA;AAE5C,EAAA,MAAM,SAAiB,EAAC;AACxB,EAAA,MAAM,UAAkB,EAAC;AACzB,EAAA,MAAM,KAAa,EAAC;AACpB,EAAA,IAAI,iBAAA;AAEJ,EAAA,IAAI,QAAQ,KAAA,EAAO;AAEjB,IAAA,MAAM,KAAA,uBAAY,GAAA,EAAoB;AACtC,IAAA,iBAAA,GAAoB,EAAC;AACrB,IAAA,KAAA,MAAW,UAAU,KAAA,CAAM,KAAA,CAAM,CAAA,EAAG,SAAA,GAAY,CAAC,CAAA,EAAG;AAClD,MAAA,IAAI,MAAA,GAAS,KAAA,CAAM,GAAA,CAAI,MAAM,CAAA;AAC7B,MAAA,IAAI,WAAW,MAAA,EAAW;AACxB,QAAA,MAAA,GAAS,MAAA,CAAO,MAAA;AAChB,QAAA,KAAA,CAAM,GAAA,CAAI,QAAQ,MAAM,CAAA;AACxB,QAAA,MAAA,CAAO,IAAA,CAAK,CAAC,QAAA,CAAS,IAAA,CAAK,MAAM,CAAA,EAAG,QAAA,CAAS,IAAA,CAAK,MAAM,CAAA,EAAG,QAAA,CAAS,IAAA,CAAK,MAAM,CAAC,CAAC,CAAA;AACjF,QAAA,IAAI,UAAA;AACF,UAAA,OAAA,CAAQ,IAAA,CAAK,CAAC,MAAA,CAAO,IAAA,CAAK,MAAM,CAAA,EAAG,MAAA,CAAO,IAAA,CAAK,MAAM,CAAA,EAAG,MAAA,CAAO,IAAA,CAAK,MAAM,CAAC,CAAC,CAAA;AAC9E,QAAA,IAAI,KAAA,EAAO,EAAA,CAAG,IAAA,CAAK,CAAC,EAAA,CAAG,IAAA,CAAK,MAAM,CAAA,EAAG,EAAA,CAAG,IAAA,CAAK,MAAM,CAAC,CAAC,CAAA;AAAA,MACvD;AACA,MAAA,iBAAA,CAAkB,KAAK,MAAM,CAAA;AAAA,IAC/B;AAAA,EACF,CAAA,MAAO;AACL,IAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,QAAA,CAAS,OAAO,CAAA,EAAA,EAAK;AACvC,MAAA,MAAA,CAAO,IAAA,CAAK,CAAC,QAAA,CAAS,IAAA,CAAK,CAAC,CAAA,EAAG,QAAA,CAAS,IAAA,CAAK,CAAC,CAAA,EAAG,QAAA,CAAS,IAAA,CAAK,CAAC,CAAC,CAAC,CAAA;AAClE,MAAA,IAAI,YAAY,OAAA,CAAQ,IAAA,CAAK,CAAC,MAAA,CAAO,KAAK,CAAC,CAAA,EAAG,MAAA,CAAO,IAAA,CAAK,CAAC,CAAA,EAAG,MAAA,CAAO,IAAA,CAAK,CAAC,CAAC,CAAC,CAAA;AAC7E,MAAA,IAAI,KAAA,EAAO,EAAA,CAAG,IAAA,CAAK,CAAC,EAAA,CAAG,IAAA,CAAK,CAAC,CAAA,EAAG,EAAA,CAAG,IAAA,CAAK,CAAC,CAAC,CAAC,CAAA;AAAA,IAC7C;AACA,IAAA,iBAAA,GAAoB,KAAA,CAAM,KAAA,CAAM,CAAA,EAAG,SAAA,GAAY,CAAC,CAAA;AAAA,EAClD;AAEA,EAAA,MAAM,IAAA,GAAmB;AAAA,IACvB,MAAM,OAAA,CAAQ,IAAA;AAAA,IACd,IAAA,EAAM,QAAQ,IAAA,IAAQ,QAAA;AAAA,IACtB,MAAA;AAAA,IACA,kBAAkB,IAAI,KAAA,CAAM,SAAS,CAAA,CAAE,KAAK,CAAC,CAAA;AAAA,IAC7C;AAAA,GACF;AACA,EAAA,IAAI,UAAA,OAAiB,OAAA,GAAU,OAAA;AAC/B,EAAA,IAAI,KAAA,OAAY,EAAA,GAAK,EAAA;AAErB,EAAA,IAAI,OAAA,CAAQ,aAAa,CAAC,cAAA,CAAe,QAAQ,SAAS,CAAA,EAAG,IAAA,CAAK,SAAA,GAAY,OAAA,CAAQ,SAAA;AACtF,EAAA,IAAI,OAAA,CAAQ,QAAA,EAAU,IAAA,CAAK,QAAA,GAAW,OAAA,CAAQ,QAAA;AAC9C,EAAA,IAAI,OAAA,CAAQ,WAAA,EAAa,IAAA,CAAK,WAAA,GAAc,IAAA;AAC5C,EAAA,OAAO,IAAA;AACT;AAOO,SAAS,wBAAA,CACd,QAAA,EACA,IAAA,EACA,MAAA,EAC4B;AAC5B,EAAA,MAAM,GAAA,GAAM,QAAA;AACZ,EAAA,IAAI,CAAC,IAAI,sBAAA,EAAwB;AAC/B,IAAA,MAAA,GAAS,CAAA,UAAA,EAAa,IAAI,CAAA,kEAAA,CAAoE,CAAA;AAC9F,IAAA,OAAO,MAAA;AAAA,EACT;AACA,EAAA,IACE,GAAA,CAAI,GAAA,IACJ,GAAA,CAAI,SAAA,IACJ,GAAA,CAAI,YAAA,IACJ,GAAA,CAAI,YAAA,IACJ,GAAA,CAAI,KAAA,IACJ,GAAA,CAAI,WAAA,IACJ,IAAI,QAAA,EACJ;AACA,IAAA,MAAA;AAAA,MACE,aAAa,IAAI,CAAA,sGAAA;AAAA,KACnB;AAAA,EACF;AAEA,EAAA,MAAM,GAAA,GAAsB;AAAA,IAC1B,IAAA;AAAA,IACA,YAAA,EAAc,CAAC,GAAA,CAAI,KAAA,CAAM,CAAA,EAAG,IAAI,KAAA,CAAM,CAAA,EAAG,GAAA,CAAI,KAAA,CAAM,CAAC,CAAA;AAAA,IACpD,UAAU,GAAA,CAAI,SAAA;AAAA,IACd,WAAW,GAAA,CAAI;AAAA,GACjB;AACA,EAAA,IAAI,IAAI,WAAA,IAAe,GAAA,CAAI,UAAU,CAAA,EAAG,GAAA,CAAI,UAAU,GAAA,CAAI,OAAA;AAC1D,EAAA,IAAI,GAAA,CAAI,QAAA,CAAS,CAAA,GAAI,CAAA,IAAK,GAAA,CAAI,QAAA,CAAS,CAAA,GAAI,CAAA,IAAK,GAAA,CAAI,QAAA,CAAS,CAAA,GAAI,CAAA,EAAG;AAClE,IAAA,GAAA,CAAI,aAAA,GAAgB,CAAC,GAAA,CAAI,QAAA,CAAS,CAAA,EAAG,IAAI,QAAA,CAAS,CAAA,EAAG,GAAA,CAAI,QAAA,CAAS,CAAC,CAAA;AAAA,EACrE;AACA,EAAA,OAAO,GAAA;AACT;AAOO,SAAS,qBAAA,CACd,OACA,MAAA,EACuB;AACvB,EAAA,MAAM,aAAA,uBAAoB,GAAA,EAAgD;AAC1E,EAAA,IAAI,MAAA,GAAS,CAAA;AACb,EAAA,MAAM,eAAA,GAAkB,CAAC,QAAA,KAAyD;AAChF,IAAA,IAAI,CAAC,aAAA,CAAc,GAAA,CAAI,QAAQ,CAAA,EAAG;AAChC,MAAA,MAAM,IAAA,GAAO,QAAA,CAAS,IAAA,IAAQ,CAAA,SAAA,EAAY,MAAA,EAAQ,CAAA,CAAA;AAClD,MAAA,aAAA,CAAc,IAAI,QAAA,EAAU,wBAAA,CAAyB,QAAA,EAAU,IAAA,EAAM,MAAM,CAAC,CAAA;AAAA,IAC9E;AACA,IAAA,OAAO,aAAA,CAAc,IAAI,QAAQ,CAAA;AAAA,EACnC,CAAA;AAEA,EAAA,OAAO,CAAC,OAAA,KAAY;AAClB,IAAA,MAAM,OAAA,GAAU,KAAA,CAAM,aAAA,CAAc,OAAO,CAAA;AAC3C,IAAA,IAAI,CAAC,OAAA,EAAS,OAAO,EAAC;AAEtB,IAAA,MAAM,MAAoB,EAAC;AAC3B,IAAA,KAAA,MAAW,QAAA,IAAY,QAAQ,QAAA,EAAU;AACvC,MAAA,MAAM,OAAA,GAAU,QAAA;AAChB,MAAA,IAAI,CAAC,QAAQ,MAAA,EAAQ;AACrB,MAAA,MAAM,IAAA,GAAO,OAAA,CAAQ,QAAA,CAAS,IAAA,KAAS,cAAc,WAAA,GAAc,QAAA;AACnE,MAAA,MAAM,SAAA,GAAY,CAAC,GAAG,OAAA,CAAQ,OAAO,QAAQ,CAAA;AAC7C,MAAA,MAAM,QAAA,GAAW,QAAQ,IAAA,IAAQ,MAAA;AACjC,MAAA,MAAM,SAAA,GAAY,KAAA,CAAM,OAAA,CAAQ,OAAA,CAAQ,QAAQ,IAAI,OAAA,CAAQ,QAAA,GAAW,CAAC,OAAA,CAAQ,QAAQ,CAAA;AACxF,MAAA,MAAM,MAAA,GAAS,QAAQ,QAAA,CAAS,MAAA;AAIhC,MAAA,IAAI,SAAA,CAAU,MAAA,GAAS,CAAA,IAAK,MAAA,CAAO,SAAS,CAAA,EAAG;AAC7C,QAAA,KAAA,MAAW,CAAC,CAAA,EAAG,KAAK,CAAA,IAAK,MAAA,CAAO,SAAQ,EAAG;AACzC,UAAA,MAAMA,SAAAA,GAAW,SAAA,CAAU,KAAA,CAAM,aAAA,IAAiB,CAAC,CAAA;AACnD,UAAA,MAAMC,eAAAA,GAAiBD,SAAAA,GAAW,eAAA,CAAgBA,SAAQ,CAAA,GAAI,MAAA;AAC9D,UAAA,MAAME,KAAAA,GAAO,oBAAA,CAAqB,OAAA,CAAQ,QAAA,EAAU;AAAA,YAClD,MAAM,CAAA,EAAG,QAAQ,CAAA,CAAA,EAAIF,SAAAA,EAAU,QAAQ,CAAC,CAAA,CAAA;AAAA,YACxC,IAAA;AAAA,YACA,SAAA;AAAA,YACA,OAAO,EAAE,KAAA,EAAO,MAAM,KAAA,EAAO,KAAA,EAAO,MAAM,KAAA,EAAM;AAAA,YAChD,GAAIC,eAAAA,GAAiB,EAAE,QAAA,EAAUA,eAAAA,KAAmB,EAAC;AAAA,YACrD,WAAA,EAAaD,WAAU,IAAA,KAAe,KAAA,CAAA;AAAA,WACvC,CAAA;AACD,UAAA,IAAIE,KAAAA,EAAM,GAAA,CAAI,IAAA,CAAKA,KAAI,CAAA;AAAA,QACzB;AACA,QAAA;AAAA,MACF;AAEA,MAAA,MAAM,QAAA,GAAW,UAAU,CAAC,CAAA;AAC5B,MAAA,MAAM,cAAA,GAAiB,QAAA,GAAW,eAAA,CAAgB,QAAQ,CAAA,GAAI,MAAA;AAC9D,MAAA,MAAM,IAAA,GAAO,oBAAA,CAAqB,OAAA,CAAQ,QAAA,EAAU;AAAA,QAClD,IAAA,EAAM,QAAA;AAAA,QACN,IAAA;AAAA,QACA,SAAA;AAAA,QACA,GAAI,cAAA,GAAiB,EAAE,QAAA,EAAU,cAAA,KAAmB,EAAC;AAAA,QACrD,WAAA,EAAa,UAAU,IAAA,KAAe,KAAA,CAAA;AAAA,OACvC,CAAA;AACD,MAAA,IAAI,IAAA,EAAM,GAAA,CAAI,IAAA,CAAK,IAAI,CAAA;AAAA,IACzB;AACA,IAAA,OAAO,GAAA;AAAA,EACT,CAAA;AACF;AAQO,SAAS,mBAAA,CACd,KAAA,EACA,OAAA,GAAsC,EAAC,EAC7B;AACV,EAAA,MAAM,EAAE,KAAA,EAAO,GAAG,IAAA,EAAK,GAAI,OAAA;AAC3B,EAAA,MAAM,QAAA,GAAW,QACb,qBAAA,CAAsB,KAAK,IAC3B,qBAAA,CAAsB,KAAA,EAAO,QAAQ,MAAM,CAAA;AAC/C,EAAA,OAAO,gBAAgB,KAAA,CAAM,KAAA,EAAO,EAAE,GAAG,IAAA,EAAM,UAAU,CAAA;AAC3D;AAEA,SAAS,eAAe,CAAA,EAAkB;AACxC,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,EAAA,EAAI,CAAA,EAAA,EAAK;AAC3B,IAAA,IAAI,CAAA,CAAE,CAAC,CAAA,MAAO,CAAA,GAAI,MAAM,CAAA,GAAI,CAAA,GAAI,IAAI,OAAO,KAAA;AAAA,EAC7C;AACA,EAAA,OAAO,IAAA;AACT;;;ACvJO,IAAM,eAAN,MAAmB;AAAA,EACP,SAAA;AAAA,EACA,MAAA;AAAA,EACA,aAAA;AAAA,EACA,gBAAA;AAAA,EACA,IAAA;AAAA,EAEA,KAAA,uBAAY,GAAA,EAG3B;AAAA,EACe,MAAA,uBAAa,GAAA,EAA0B;AAAA,EACvC,aAAA,uBAAoB,GAAA,EAAgD;AAAA,EAC7E,cAAA,GAAiB,CAAA;AAAA,EAEzB,YAAY,OAAA,EAA8B;AACxC,IAAA,IAAA,CAAK,YAAY,OAAA,CAAQ,IAAA;AACzB,IAAA,IAAA,CAAK,MAAA,GAAS,QAAQ,MAAA,IAAU,GAAA;AAChC,IAAA,IAAA,CAAK,aAAA,GAAgB,QAAQ,aAAA,IAAiB,CAAA;AAC9C,IAAA,IAAI,OAAA,CAAQ,gBAAA,KAAqB,MAAA,EAAW,IAAA,CAAK,mBAAmB,OAAA,CAAQ,gBAAA;AAC5E,IAAA,IAAA,CAAK,IAAA,GAAO,OAAA,CAAQ,MAAA,KAAW,MAAM;AAAA,IAAC,CAAA,CAAA;AAAA,EACxC;AAAA,EAEA,QAAQ,OAAA,EAA+B;AACrC,IAAA,IAAI,IAAA,CAAK,KAAA,CAAM,GAAA,CAAI,OAAA,CAAQ,IAAI,CAAA,EAAG;AAChC,MAAA,MAAM,IAAI,KAAA,CAAM,CAAA,oBAAA,EAAuB,OAAA,CAAQ,IAAI,CAAA,oBAAA,CAAsB,CAAA;AAAA,IAC3E;AACA,IAAA,MAAM,KAAA,GAAQ,YAAA,CAAa,OAAA,CAAQ,KAAK,KAAK,SAAA,EAAU;AACvD,IAAA,MAAM,eAAA,GAAkB;AAAA,MACtB,GAAI,QAAQ,sBAAA,KAA2B,MAAA,GACnC,EAAE,aAAA,EAAe,OAAA,CAAQ,sBAAA,EAAuB,GAChD,EAAC;AAAA,MACL,GAAI,QAAQ,eAAA,GAAkB,EAAE,UAAU,OAAA,CAAQ,eAAA,KAAoB;AAAC,KACzE;AACA,IAAA,MAAM,MAAA,GAAS;AAAA,MACb,GAAG,KAAK,YAAA,CAAa,OAAA,CAAQ,WAAW,EAAC,EAAG,OAAO,QAAQ,CAAA;AAAA,MAC3D,GAAG,KAAK,YAAA,CAAa,OAAA,CAAQ,cAAc,EAAC,EAAG,KAAA,EAAO,WAAA,EAAa,eAAe;AAAA,KACpF;AACA,IAAA,IAAA,CAAK,KAAA,CAAM,GAAA,CAAI,OAAA,CAAQ,IAAA,EAAM;AAAA,MAC3B,KAAA;AAAA,MACA,MAAA;AAAA,MACA,GAAI,QAAQ,QAAA,GAAW,EAAE,UAAU,OAAA,CAAQ,QAAA,KAAa;AAAC,KAC1D,CAAA;AACD,IAAA,OAAO,IAAA;AAAA,EACT;AAAA,EAEA,cAAc,OAAA,EAAkE;AAC9E,IAAA,OAAO,IAAA,CAAK,QAAA,CAAS,OAAA,EAAS,OAAO,CAAA;AAAA,EACvC;AAAA,EAEA,iBAAiB,OAAA,EAAgC;AAC/C,IAAA,OAAO,IAAA,CAAK,QAAA,CAAS,UAAA,EAAY,OAAO,CAAA;AAAA,EAC1C;AAAA,EAEA,kBAAkB,OAAA,EAAgC;AAChD,IAAA,OAAO,IAAA,CAAK,QAAA,CAAS,WAAA,EAAa,OAAO,CAAA;AAAA,EAC3C;AAAA,EAEQ,QAAA,CAAS,MAAiB,OAAA,EAAgC;AAChE,IAAA,IAAI,IAAA,CAAK,MAAA,CAAO,GAAA,CAAI,OAAA,CAAQ,IAAI,CAAA,EAAG;AACjC,MAAA,MAAM,IAAI,KAAA,CAAM,CAAA,qBAAA,EAAwB,OAAA,CAAQ,IAAI,CAAA,oBAAA,CAAsB,CAAA;AAAA,IAC5E;AACA,IAAA,MAAM,KAAA,GAAQ,YAAA,CAAa,OAAA,CAAQ,KAAK,CAAA;AACxC,IAAA,IAAA,CAAK,MAAA,CAAO,GAAA,CAAI,OAAA,CAAQ,IAAA,EAAM,EAAE,IAAA,EAAM,OAAA,EAAS,GAAI,KAAA,GAAQ,EAAE,KAAA,EAAM,GAAI,IAAK,CAAA;AAC5E,IAAA,OAAO,IAAA;AAAA,EACT;AAAA;AAAA,EAGA,KAAA,GAA0F;AACxF,IAAA,MAAM,QAAyC,EAAC;AAChD,IAAA,KAAA,MAAW,CAAC,IAAA,EAAM,IAAI,CAAA,IAAK,KAAK,KAAA,EAAO;AACrC,MAAA,KAAA,CAAM,IAAI,CAAA,GAAI;AAAA,QACZ,IAAA;AAAA,QACA,QAAA,EAAU,CAAA,CAAA,EAAI,IAAA,CAAK,SAAS,IAAI,IAAI,CAAA,CAAA;AAAA,QACpC,aAAa,EAAC;AAAA,QACd,GAAI,KAAK,QAAA,GAAW,EAAE,UAAU,IAAA,CAAK,QAAA,KAAa,EAAC;AAAA;AAAA,QAEnD,GAAIC,eAAAA,CAAe,IAAA,CAAK,KAAK,CAAA,GAAI,EAAC,GAAI,EAAE,cAAA,EAAgB,IAAA,CAAK,KAAA;AAAM,OACrE;AAAA,IACF;AAEA,IAAA,MAAM,SAA2C,EAAC;AAClD,IAAA,KAAA,MAAW,CAAC,IAAA,EAAM,OAAO,CAAA,IAAK,KAAK,MAAA,EAAQ;AACzC,MAAA,MAAM,EAAE,SAAQ,GAAI,OAAA;AACpB,MAAA,MAAM,MAAA,GAAS,QAAQ,MAAA,IAAU,EAAA;AACjC,MAAA,IAAI,WAAW,EAAA,IAAM,CAAC,KAAK,KAAA,CAAM,GAAA,CAAI,MAAM,CAAA,EAAG;AAC5C,QAAA,MAAM,IAAI,KAAA,CAAM,CAAA,qBAAA,EAAwB,IAAI,CAAA,6BAAA,EAAgC,MAAM,CAAA,CAAA,CAAG,CAAA;AAAA,MACvF;AACA,MAAA,MAAM,SAAA,GAAY,IAAA,CAAK,KAAA,CAAM,GAAA,CAAI,QAAQ,KAAK,CAAA;AAC9C,MAAA,IAAI,CAAC,SAAA,EAAW;AACd,QAAA,MAAM,IAAI,KAAA;AAAA,UACR,CAAA,qBAAA,EAAwB,IAAI,CAAA,4BAAA,EAA+B,OAAA,CAAQ,KAAK,CAAA,CAAA;AAAA,SAC1E;AAAA,MACF;AAEA,MAAA,MAAM,UAAA,GAAa,OAAA,CAAQ,KAAA,IAAS,SAAA,CAAU,KAAA;AAC9C,MAAA,MAAM,WAAA,GAAc,WAAW,EAAA,GAAK,SAAA,KAAc,IAAA,CAAK,KAAA,CAAM,GAAA,CAAI,MAAM,CAAA,CAAG,KAAA;AAC1E,MAAA,MAAM,OAAO,eAAA,CAAgB,OAAA,CAAQ,MAAM,OAAA,CAAQ,KAAA,EAAO,QAAQ,KAAK,CAAA;AAEvE,MAAA,MAAA,CAAO,IAAI,CAAA,GAAI;AAAA,QACb,IAAA;AAAA,QACA,QAAA,EAAU,CAAA,CAAA,EAAI,IAAA,CAAK,SAAS,IAAI,IAAI,CAAA,CAAA;AAAA,QACpC,IAAA;AAAA,QACA,MAAA;AAAA,QACA,OAAO,OAAA,CAAQ,KAAA;AAAA,QACf,IAAA,EAAM,QAAQ,IAAA,IAAQ,GAAA;AAAA,QACtB,WAAA,EAAa,QAAA,CAAS,MAAA,CAAO,WAAW,GAAG,UAAU,CAAA;AAAA,QACrD,aAAa,QAAA,CAAS,MAAA,CAAO,SAAA,CAAU,KAAK,GAAG,UAAU,CAAA;AAAA,QACzD,GAAI,QAAQ,KAAA,KAAU,MAAA,GAAY,EAAE,KAAA,EAAO,OAAA,CAAQ,KAAA,EAAM,GAAI,EAAC;AAAA,QAC9D,GAAI,QAAQ,KAAA,KAAU,MAAA,GAAY,EAAE,KAAA,EAAO,OAAA,CAAQ,KAAA,EAAM,GAAI,EAAC;AAAA,QAC9D,GAAI,QAAQ,YAAA,KAAiB,MAAA,GAAY,EAAE,YAAA,EAAc,OAAA,CAAQ,YAAA,EAAa,GAAI,EAAC;AAAA,QACnF,GAAI,QAAQ,KAAA,GAAQ,EAAE,OAAO,OAAA,CAAQ,KAAA,KAAU;AAAC,OAClD;AAAA,IACF;AAEA,IAAA,IAAI,IAAA,CAAK,qBAAqB,MAAA,IAAa,CAAC,KAAK,KAAA,CAAM,GAAA,CAAI,IAAA,CAAK,gBAAgB,CAAA,EAAG;AACjF,MAAA,MAAM,IAAI,KAAA,CAAM,CAAA,gCAAA,EAAmC,IAAA,CAAK,gBAAgB,CAAA,eAAA,CAAiB,CAAA;AAAA,IAC3F;AAEA,IAAA,MAAM,IAAA,GAAyB;AAAA,MAC7B,MAAM,IAAA,CAAK,SAAA;AAAA,MACX,QAAA,EAAU,EAAA;AAAA,MACV,KAAA;AAAA,MACA,MAAA;AAAA,MACA,QAAQ,IAAA,CAAK,MAAA;AAAA,MACb,eAAe,IAAA,CAAK,aAAA;AAAA,MACpB,GAAI,IAAA,CAAK,gBAAA,KAAqB,MAAA,GAC1B,EAAE,iBAAA,EAAmB,CAAC,IAAA,CAAK,gBAAgB,CAAA,EAAE,GAC7C;AAAC,KACP;AAEA,IAAA,MAAM,OAAO,kBAAA,CAAmB,IAAA,EAAM,EAAE,MAAA,EAAQ,IAAA,CAAK,MAAM,CAAA;AAC3D,IAAA,IAAA,CAAK,WAAW,IAAA,CAAK,IAAA;AACrB,IAAA,IAAI,KAAK,UAAA,CAAW,MAAA,GAAS,CAAA,EAAG,IAAA,CAAK,aAAa,IAAA,CAAK,UAAA;AACvD,IAAA,IAAI,KAAK,QAAA,CAAS,MAAA,GAAS,CAAA,EAAG,IAAA,CAAK,WAAW,IAAA,CAAK,QAAA;AAEnD,IAAA,MAAM,SAAS,IAAA,CAAK,KAAA;AACpB,IAAA,MAAM,QAAA,GAAkC,CAAC,OAAA,KAAY,MAAA,CAAO,IAAI,OAAO,CAAA,EAAG,UAAU,EAAC;AACrF,IAAA,OAAO,EAAE,IAAA,EAAM,QAAA,EAAU,IAAA,EAAK;AAAA,EAChC;AAAA;AAAA,EAGA,MAAA,CAAO,OAAA,GAAgD,EAAC,EAAa;AACnE,IAAA,MAAM,EAAE,IAAA,EAAM,QAAA,EAAS,GAAI,KAAK,KAAA,EAAM;AACtC,IAAA,OAAO,eAAA,CAAgB,MAAM,EAAE,MAAA,EAAQ,KAAK,IAAA,EAAM,GAAG,OAAA,EAAS,QAAA,EAAU,CAAA;AAAA,EAC1E;AAAA;AAAA,EAGQ,aACN,KAAA,EACA,SAAA,EACA,IAAA,EACA,eAAA,GAGI,EAAC,EACS;AACd,IAAA,MAAM,WAAA,GAAc,OAAO,SAAS,CAAA;AACpC,IAAA,MAAM,MAAoB,EAAC;AAC3B,IAAA,KAAA,MAAW,QAAQ,KAAA,EAAO;AACxB,MAAA,IAAA,CAAK,iBAAA,CAAkB,MAAM,IAAI,CAAA;AACjC,MAAA,IAAA,CAAK,QAAA,CAAS,CAAC,GAAA,KAAQ;AACrB,QAAA,MAAM,OAAA,GAAU,GAAA;AAChB,QAAA,IAAI,CAAC,QAAQ,MAAA,EAAQ;AACrB,QAAA,MAAM,QAAA,GAAW,KAAA,CAAM,OAAA,CAAQ,OAAA,CAAQ,QAAQ,IAAI,OAAA,CAAQ,QAAA,CAAS,CAAC,CAAA,GAAI,OAAA,CAAQ,QAAA;AACjF,QAAA,IAAI,KAAA,CAAM,QAAQ,OAAA,CAAQ,QAAQ,KAAK,OAAA,CAAQ,QAAA,CAAS,SAAS,CAAA,EAAG;AAClE,UAAA,IAAA,CAAK,IAAA;AAAA,YACH,CAAA,MAAA,EAAS,QAAQ,IAAI,CAAA,yDAAA;AAAA,WACvB;AAAA,QACF;AACA,QAAA,MAAM,cAAA,GAAiB,QAAA,GAAW,IAAA,CAAK,eAAA,CAAgB,QAAQ,CAAA,GAAI,MAAA;AACnE,QAAA,MAAM,IAAA,GAAO,oBAAA,CAAqB,OAAA,CAAQ,QAAA,EAAU;AAAA,UAClD,IAAA,EAAM,QAAQ,IAAA,IAAQ,MAAA;AAAA,UACtB,IAAA;AAAA,UACA,SAAA,EAAW,SAAS,WAAA,EAAa,CAAC,GAAG,OAAA,CAAQ,WAAA,CAAY,QAAQ,CAAC,CAAA;AAAA,UAClE,GAAI,cAAA,GAAiB,EAAE,QAAA,EAAU,cAAA,KAAmB,EAAC;AAAA,UACrD,WAAA,EAAa,UAAU,IAAA,KAAeC,KAAA,CAAA;AAAA,SACvC,CAAA;AACD,QAAA,IAAI,IAAA,EAAM;AACR,UAAA,IAAI,SAAS,WAAA,EAAa;AACxB,YAAA,IAAI,eAAA,CAAgB,kBAAkB,MAAA,EAAW;AAC/C,cAAA,IAAA,CAAK,yBAAyB,eAAA,CAAgB,aAAA;AAAA,YAChD;AACA,YAAA,IAAI,eAAA,CAAgB,QAAA,EAAU,IAAA,CAAK,eAAA,GAAkB,eAAA,CAAgB,QAAA;AAAA,UACvE;AACA,UAAA,GAAA,CAAI,KAAK,IAAI,CAAA;AAAA,QACf,CAAA,MAAO;AACL,UAAA,IAAA,CAAK,IAAA,CAAK,CAAA,MAAA,EAAS,OAAA,CAAQ,IAAI,CAAA,gCAAA,CAAkC,CAAA;AAAA,QACnE;AAAA,MACF,CAAC,CAAA;AAAA,IACH;AACA,IAAA,OAAO,GAAA;AAAA,EACT;AAAA,EAEQ,gBAAgB,QAAA,EAAsD;AAC5E,IAAA,IAAI,CAAC,IAAA,CAAK,aAAA,CAAc,GAAA,CAAI,QAAQ,CAAA,EAAG;AACrC,MAAA,MAAM,IAAA,GAAO,QAAA,CAAS,IAAA,IAAQ,CAAA,SAAA,EAAY,KAAK,cAAA,EAAgB,CAAA,CAAA;AAC/D,MAAA,IAAA,CAAK,aAAA,CAAc,IAAI,QAAA,EAAU,wBAAA,CAAyB,UAAU,IAAA,EAAM,IAAA,CAAK,IAAI,CAAC,CAAA;AAAA,IACtF;AACA,IAAA,OAAO,IAAA,CAAK,aAAA,CAAc,GAAA,CAAI,QAAQ,CAAA;AAAA,EACxC;AACF;AAEA,SAASD,gBAAe,CAAA,EAAkB;AACxC,EAAA,KAAA,IAAS,CAAA,GAAI,CAAA,EAAG,CAAA,GAAI,EAAA,EAAI,CAAA,EAAA,EAAK;AAC3B,IAAA,IAAI,CAAA,CAAE,CAAC,CAAA,MAAO,CAAA,GAAI,MAAM,CAAA,GAAI,CAAA,GAAI,IAAI,OAAO,KAAA;AAAA,EAC7C;AACA,EAAA,OAAO,IAAA;AACT;AAGA,SAAS,aAAa,KAAA,EAAiD;AACrE,EAAA,IAAI,CAAC,OAAO,OAAO,MAAA;AACnB,EAAA,IAAK,MAAyB,UAAA,EAAY;AACxC,IAAA,MAAM,GAAA,GAAM,KAAA;AACZ,IAAA,GAAA,CAAI,iBAAA,CAAkB,MAAM,KAAK,CAAA;AACjC,IAAA,OAAO,CAAC,GAAG,GAAA,CAAI,WAAA,CAAY,QAAQ,CAAA;AAAA,EACrC;AACA,EAAA,OAAO,CAAC,GAAI,KAAA,CAAwB,QAAQ,CAAA;AAC9C","file":"index.js","sourcesContent":["/**\n * Three.js-side export (M14).\n *\n * Converts `BufferGeometry` / `MeshStandardMaterial` into the plain\n * {@link ExportMesh} data the exporter consumes, harvests the meshes attached\n * under a loaded robot's links, and re-exports a {@link ThreeUsdRobot} as a\n * USDA AST. Texture maps are not carried yet (M15) — constants only.\n */\n\nimport * as THREE from \"three\";\nimport type {\n  ExportMaterial,\n  ExportMesh,\n  RobotGeometryProvider,\n} from \"../export/GeometryProvider.js\";\nimport { stageGeometryProvider } from \"../export/GeometryProvider.js\";\nimport { type ExportRobotOptions, exportRobotUsda } from \"../export/exportRobot.js\";\nimport type { Mat4 } from \"../kinematics/transforms.js\";\nimport type { UsdaFile, Vec2, Vec3 } from \"../parser/ast.js\";\nimport type { Stage } from \"../usd/Stage.js\";\nimport type { ThreeUsdRobot } from \"./ThreeUsdRobot.js\";\n\nexport type GeometryToExportMeshOptions = {\n  name: string;\n  kind?: \"visual\" | \"collision\";\n  /** Transform relative to the link frame (column-major); identity when omitted. */\n  transform?: Mat4;\n  material?: ExportMaterial;\n  doubleSided?: boolean;\n  /**\n   * Export only this slice of the index buffer — a `BufferGeometry` group, as\n   * used by multi-material meshes. Vertices are re-indexed onto the slice.\n   */\n  group?: { start: number; count: number };\n};\n\n/**\n * Convert a triangle `BufferGeometry` into exportable mesh data. Non-indexed\n * geometry becomes sequential triangles; a trailing partial triangle (or the\n * absence of a position attribute) returns `null`.\n */\nexport function geometryToExportMesh(\n  geometry: THREE.BufferGeometry,\n  options: GeometryToExportMeshOptions,\n): ExportMesh | null {\n  const position = geometry.getAttribute(\"position\");\n  if (!position || position.count === 0) return null;\n\n  const index = geometry.getIndex();\n  const all = index\n    ? Array.from(index.array as ArrayLike<number>)\n    : Array.from({ length: position.count }, (_, i) => i);\n  const slice = options.group\n    ? all.slice(options.group.start, options.group.start + options.group.count)\n    : all;\n  const triangles = Math.floor(slice.length / 3);\n  if (triangles === 0) return null;\n\n  const normal = geometry.getAttribute(\"normal\");\n  const uv = geometry.getAttribute(\"uv\");\n  const hasNormals = !!normal && normal.count === position.count;\n  const hasUv = !!uv && uv.count === position.count;\n\n  const points: Vec3[] = [];\n  const normals: Vec3[] = [];\n  const st: Vec2[] = [];\n  let faceVertexIndices: number[];\n\n  if (options.group) {\n    // Re-index onto just the vertices this group touches.\n    const remap = new Map<number, number>();\n    faceVertexIndices = [];\n    for (const vertex of slice.slice(0, triangles * 3)) {\n      let mapped = remap.get(vertex);\n      if (mapped === undefined) {\n        mapped = points.length;\n        remap.set(vertex, mapped);\n        points.push([position.getX(vertex), position.getY(vertex), position.getZ(vertex)]);\n        if (hasNormals)\n          normals.push([normal.getX(vertex), normal.getY(vertex), normal.getZ(vertex)]);\n        if (hasUv) st.push([uv.getX(vertex), uv.getY(vertex)]);\n      }\n      faceVertexIndices.push(mapped);\n    }\n  } else {\n    for (let i = 0; i < position.count; i++) {\n      points.push([position.getX(i), position.getY(i), position.getZ(i)]);\n      if (hasNormals) normals.push([normal.getX(i), normal.getY(i), normal.getZ(i)]);\n      if (hasUv) st.push([uv.getX(i), uv.getY(i)]);\n    }\n    faceVertexIndices = slice.slice(0, triangles * 3);\n  }\n\n  const mesh: ExportMesh = {\n    name: options.name,\n    kind: options.kind ?? \"visual\",\n    points,\n    faceVertexCounts: new Array(triangles).fill(3),\n    faceVertexIndices,\n  };\n  if (hasNormals) mesh.normals = normals;\n  if (hasUv) mesh.st = st;\n\n  if (options.transform && !isIdentityMat4(options.transform)) mesh.transform = options.transform;\n  if (options.material) mesh.material = options.material;\n  if (options.doubleSided) mesh.doubleSided = true;\n  return mesh;\n}\n\n/**\n * Extract constant PBR parameters from a Three.js material. Only\n * `MeshStandardMaterial` maps onto `UsdPreviewSurface`; anything else returns\n * `undefined` (with a warning). Texture maps are reported but not carried.\n */\nexport function materialToExportMaterial(\n  material: THREE.Material,\n  name: string,\n  onWarn?: (message: string) => void,\n): ExportMaterial | undefined {\n  const std = material as THREE.MeshStandardMaterial;\n  if (!std.isMeshStandardMaterial) {\n    onWarn?.(`material \"${name}\": only MeshStandardMaterial exports to UsdPreviewSurface; skipped`);\n    return undefined;\n  }\n  if (\n    std.map ||\n    std.normalMap ||\n    std.roughnessMap ||\n    std.metalnessMap ||\n    std.aoMap ||\n    std.emissiveMap ||\n    std.alphaMap\n  ) {\n    onWarn?.(\n      `material \"${name}\": texture maps are not carried from Three.js materials (image extraction is app-side); constants only`,\n    );\n  }\n\n  const out: ExportMaterial = {\n    name,\n    diffuseColor: [std.color.r, std.color.g, std.color.b],\n    metallic: std.metalness,\n    roughness: std.roughness,\n  };\n  if (std.transparent && std.opacity < 1) out.opacity = std.opacity;\n  if (std.emissive.r > 0 || std.emissive.g > 0 || std.emissive.b > 0) {\n    out.emissiveColor = [std.emissive.r, std.emissive.g, std.emissive.b];\n  }\n  return out;\n}\n\n/**\n * Provider over the meshes `bindRobotMeshes` attached under each link of a\n * loaded robot (direct children tagged `userData.kind`), with their link-local\n * transforms and materials.\n */\nexport function threeGeometryProvider(\n  robot: ThreeUsdRobot,\n  onWarn?: (message: string) => void,\n): RobotGeometryProvider {\n  const materialNames = new Map<THREE.Material, ExportMaterial | undefined>();\n  let autoId = 0;\n  const convertMaterial = (material: THREE.Material): ExportMaterial | undefined => {\n    if (!materialNames.has(material)) {\n      const name = material.name || `Material_${autoId++}`;\n      materialNames.set(material, materialToExportMaterial(material, name, onWarn));\n    }\n    return materialNames.get(material);\n  };\n\n  return (linkKey) => {\n    const linkObj = robot.getLinkObject(linkKey);\n    if (!linkObj) return [];\n\n    const out: ExportMesh[] = [];\n    for (const childObj of linkObj.children) {\n      const meshObj = childObj as THREE.Mesh;\n      if (!meshObj.isMesh) continue;\n      const kind = meshObj.userData.kind === \"collision\" ? \"collision\" : \"visual\";\n      const transform = [...meshObj.matrix.elements];\n      const baseName = meshObj.name || \"mesh\";\n      const materials = Array.isArray(meshObj.material) ? meshObj.material : [meshObj.material];\n      const groups = meshObj.geometry.groups;\n\n      // A multi-material mesh exports one USD Mesh per geometry group, so each\n      // group keeps its own material instead of collapsing to the first.\n      if (materials.length > 1 && groups.length > 0) {\n        for (const [i, group] of groups.entries()) {\n          const material = materials[group.materialIndex ?? 0];\n          const exportMaterial = material ? convertMaterial(material) : undefined;\n          const mesh = geometryToExportMesh(meshObj.geometry, {\n            name: `${baseName}_${material?.name || i}`,\n            kind,\n            transform,\n            group: { start: group.start, count: group.count },\n            ...(exportMaterial ? { material: exportMaterial } : {}),\n            doubleSided: material?.side === THREE.DoubleSide,\n          });\n          if (mesh) out.push(mesh);\n        }\n        continue;\n      }\n\n      const material = materials[0];\n      const exportMaterial = material ? convertMaterial(material) : undefined;\n      const mesh = geometryToExportMesh(meshObj.geometry, {\n        name: baseName,\n        kind,\n        transform,\n        ...(exportMaterial ? { material: exportMaterial } : {}),\n        doubleSided: material?.side === THREE.DoubleSide,\n      });\n      if (mesh) out.push(mesh);\n    }\n    return out;\n  };\n}\n\nexport type ExportThreeUsdRobotOptions = Omit<ExportRobotOptions, \"geometry\"> & {\n  /** Re-read mesh data from the source stage instead of the Three.js scene. */\n  stage?: Stage;\n};\n\n/** Export a loaded robot back to a USDA AST (pass the result to `serializeUsda`). */\nexport function exportThreeUsdRobot(\n  robot: ThreeUsdRobot,\n  options: ExportThreeUsdRobotOptions = {},\n): UsdaFile {\n  const { stage, ...rest } = options;\n  const geometry = stage\n    ? stageGeometryProvider(stage)\n    : threeGeometryProvider(robot, options.onWarn);\n  return exportRobotUsda(robot.robot, { ...rest, geometry });\n}\n\nfunction isIdentityMat4(m: Mat4): boolean {\n  for (let i = 0; i < 16; i++) {\n    if (m[i] !== (i % 5 === 0 ? 1 : 0)) return false;\n  }\n  return true;\n}\n","/**\n * Authoring API (M14): assemble a robot from Three.js objects and export it.\n *\n * Links and joints are declared by name. Every joint takes **one** world-space\n * frame; both body-local joint frames derive from it —\n * `frame0 = linkWorld(parent)⁻¹ · frame`, `frame1 = linkWorld(child)⁻¹ · frame`\n * — so the arrangement at build time is the robot's zero pose. Values are SI\n * (radians / stage linear units); the exporter converts to authored units on\n * write. World matrices are captured at `addLink`/`add*Joint` time.\n */\n\nimport * as THREE from \"three\";\nimport type {\n  CollisionApproximation,\n  ExportMaterial,\n  ExportMesh,\n  ExportPhysicsMaterial,\n  RobotGeometryProvider,\n} from \"../export/GeometryProvider.js\";\nimport { type ExportRobotOptions, exportRobotUsda } from \"../export/exportRobot.js\";\nimport { type Mat4, identity4, invert, multiply } from \"../kinematics/transforms.js\";\nimport type { UsdaFile } from \"../parser/ast.js\";\nimport type {\n  Axis,\n  JointDescription,\n  JointDriveDescription,\n  JointType,\n  LinkDescription,\n  LinkInertialDescription,\n  RobotDescription,\n} from \"../robot/RobotDescription.js\";\nimport { type KinematicTree, buildKinematicTree } from \"../robot/buildKinematicTree.js\";\nimport { refineJointType } from \"../robot/normalize.js\";\nimport { geometryToExportMesh, materialToExportMaterial } from \"./exportThreeUsdRobot.js\";\n\n/** A world-space frame: a matrix, or an object whose `matrixWorld` is used. */\nexport type WorldFrame = THREE.Matrix4 | THREE.Object3D;\n\nexport type RobotBuilderOptions = {\n  name: string;\n  /** Stage up axis; defaults to `\"Z\"` (Isaac Sim convention). */\n  upAxis?: \"Y\" | \"Z\";\n  /** Stage linear unit; defaults to `1` (meters). */\n  metersPerUnit?: number;\n  /** Link to flag with `PhysicsArticulationRootAPI` (default: the container prim). */\n  articulationRoot?: string;\n  onWarn?: (message: string) => void;\n};\n\nexport type AddLinkOptions = {\n  name: string;\n  /** Link frame in world space at build pose (default identity). */\n  frame?: WorldFrame;\n  /** Objects whose `THREE.Mesh` descendants become the link's visual meshes. */\n  visuals?: THREE.Object3D[];\n  /** Objects whose `THREE.Mesh` descendants become collision meshes. */\n  collisions?: THREE.Object3D[];\n  /** Mass properties, exported as `PhysicsMassAPI` (M16). */\n  inertial?: LinkInertialDescription;\n  /** `physics:approximation` applied to this link's collision meshes (M16). */\n  collisionApproximation?: CollisionApproximation;\n  /** Physics material bound to this link's collision meshes (M16). */\n  physicsMaterial?: ExportPhysicsMaterial;\n};\n\nexport type AddJointOptions = {\n  name: string;\n  /** Parent link name; omit to fix the child to the world. */\n  parent?: string;\n  child: string;\n  /** Joint frame in world space (default: the child link's frame). */\n  frame?: WorldFrame;\n  /** Rotation / sliding axis token in the joint frame (default `\"X\"`). */\n  axis?: Axis;\n  /** Limits in SI: radians (revolute) or stage linear units (prismatic). */\n  lower?: number;\n  upper?: number;\n  /** Initial joint value in SI, exported as `PhysicsJointStateAPI`. */\n  initialValue?: number;\n  drive?: JointDriveDescription;\n};\n\ntype PendingJoint = {\n  type: JointType;\n  options: AddJointOptions;\n  /** Joint frame world matrix captured at add time (undefined → child frame). */\n  world?: Mat4;\n};\n\nexport class RobotBuilder {\n  private readonly robotName: string;\n  private readonly upAxis: \"Y\" | \"Z\";\n  private readonly metersPerUnit: number;\n  private readonly articulationRoot?: string;\n  private readonly warn: (message: string) => void;\n\n  private readonly links = new Map<\n    string,\n    { world: Mat4; meshes: ExportMesh[]; inertial?: LinkInertialDescription }\n  >();\n  private readonly joints = new Map<string, PendingJoint>();\n  private readonly materialCache = new Map<THREE.Material, ExportMaterial | undefined>();\n  private materialAutoId = 0;\n\n  constructor(options: RobotBuilderOptions) {\n    this.robotName = options.name;\n    this.upAxis = options.upAxis ?? \"Z\";\n    this.metersPerUnit = options.metersPerUnit ?? 1;\n    if (options.articulationRoot !== undefined) this.articulationRoot = options.articulationRoot;\n    this.warn = options.onWarn ?? (() => {});\n  }\n\n  addLink(options: AddLinkOptions): this {\n    if (this.links.has(options.name)) {\n      throw new Error(`RobotBuilder: link \"${options.name}\" is already defined`);\n    }\n    const world = resolveFrame(options.frame) ?? identity4();\n    const collisionExtras = {\n      ...(options.collisionApproximation !== undefined\n        ? { approximation: options.collisionApproximation }\n        : {}),\n      ...(options.physicsMaterial ? { material: options.physicsMaterial } : {}),\n    };\n    const meshes = [\n      ...this.gatherMeshes(options.visuals ?? [], world, \"visual\"),\n      ...this.gatherMeshes(options.collisions ?? [], world, \"collision\", collisionExtras),\n    ];\n    this.links.set(options.name, {\n      world,\n      meshes,\n      ...(options.inertial ? { inertial: options.inertial } : {}),\n    });\n    return this;\n  }\n\n  addFixedJoint(options: Omit<AddJointOptions, \"axis\" | \"lower\" | \"upper\">): this {\n    return this.addJoint(\"fixed\", options);\n  }\n\n  addRevoluteJoint(options: AddJointOptions): this {\n    return this.addJoint(\"revolute\", options);\n  }\n\n  addPrismaticJoint(options: AddJointOptions): this {\n    return this.addJoint(\"prismatic\", options);\n  }\n\n  private addJoint(type: JointType, options: AddJointOptions): this {\n    if (this.joints.has(options.name)) {\n      throw new Error(`RobotBuilder: joint \"${options.name}\" is already defined`);\n    }\n    const world = resolveFrame(options.frame);\n    this.joints.set(options.name, { type, options, ...(world ? { world } : {}) });\n    return this;\n  }\n\n  /** Assemble the IR + geometry provider (validates the kinematic graph). */\n  build(): { desc: RobotDescription; geometry: RobotGeometryProvider; tree: KinematicTree } {\n    const links: Record<string, LinkDescription> = {};\n    for (const [name, link] of this.links) {\n      links[name] = {\n        name,\n        primPath: `/${this.robotName}/${name}`,\n        visualPrims: [],\n        ...(link.inertial ? { inertial: link.inertial } : {}),\n        // Authored placement, so links no joint reaches keep their build pose.\n        ...(isIdentityMat4(link.world) ? {} : { worldTransform: link.world }),\n      };\n    }\n\n    const joints: Record<string, JointDescription> = {};\n    for (const [name, pending] of this.joints) {\n      const { options } = pending;\n      const parent = options.parent ?? \"\";\n      if (parent !== \"\" && !this.links.has(parent)) {\n        throw new Error(`RobotBuilder: joint \"${name}\" references unknown parent \"${parent}\"`);\n      }\n      const childLink = this.links.get(options.child);\n      if (!childLink) {\n        throw new Error(\n          `RobotBuilder: joint \"${name}\" references unknown child \"${options.child}\"`,\n        );\n      }\n\n      const jointWorld = pending.world ?? childLink.world;\n      const parentWorld = parent === \"\" ? identity4() : this.links.get(parent)!.world;\n      const type = refineJointType(pending.type, options.lower, options.upper);\n\n      joints[name] = {\n        name,\n        primPath: `/${this.robotName}/${name}`,\n        type,\n        parent,\n        child: options.child,\n        axis: options.axis ?? \"X\",\n        jointFrame0: multiply(invert(parentWorld), jointWorld),\n        jointFrame1: multiply(invert(childLink.world), jointWorld),\n        ...(options.lower !== undefined ? { lower: options.lower } : {}),\n        ...(options.upper !== undefined ? { upper: options.upper } : {}),\n        ...(options.initialValue !== undefined ? { initialValue: options.initialValue } : {}),\n        ...(options.drive ? { drive: options.drive } : {}),\n      };\n    }\n\n    if (this.articulationRoot !== undefined && !this.links.has(this.articulationRoot)) {\n      throw new Error(`RobotBuilder: articulationRoot \"${this.articulationRoot}\" is not a link`);\n    }\n\n    const desc: RobotDescription = {\n      name: this.robotName,\n      rootLink: \"\",\n      links,\n      joints,\n      upAxis: this.upAxis,\n      metersPerUnit: this.metersPerUnit,\n      ...(this.articulationRoot !== undefined\n        ? { articulationRoots: [this.articulationRoot] }\n        : {}),\n    };\n\n    const tree = buildKinematicTree(desc, { onWarn: this.warn });\n    desc.rootLink = tree.root;\n    if (tree.loopJoints.length > 0) desc.loopJoints = tree.loopJoints;\n    if (tree.warnings.length > 0) desc.warnings = tree.warnings;\n\n    const byLink = this.links;\n    const geometry: RobotGeometryProvider = (linkKey) => byLink.get(linkKey)?.meshes ?? [];\n    return { desc, geometry, tree };\n  }\n\n  /** Build and export in one step (pass the result to `serializeUsda`). */\n  toUsda(options: Omit<ExportRobotOptions, \"geometry\"> = {}): UsdaFile {\n    const { desc, geometry } = this.build();\n    return exportRobotUsda(desc, { onWarn: this.warn, ...options, geometry });\n  }\n\n  /** Collect `THREE.Mesh` descendants of `roots` as link-relative export meshes. */\n  private gatherMeshes(\n    roots: THREE.Object3D[],\n    linkWorld: Mat4,\n    kind: \"visual\" | \"collision\",\n    collisionExtras: {\n      approximation?: CollisionApproximation;\n      material?: ExportPhysicsMaterial;\n    } = {},\n  ): ExportMesh[] {\n    const linkInverse = invert(linkWorld);\n    const out: ExportMesh[] = [];\n    for (const root of roots) {\n      root.updateWorldMatrix(true, true);\n      root.traverse((obj) => {\n        const meshObj = obj as THREE.Mesh;\n        if (!meshObj.isMesh) return;\n        const material = Array.isArray(meshObj.material) ? meshObj.material[0] : meshObj.material;\n        if (Array.isArray(meshObj.material) && meshObj.material.length > 1) {\n          this.warn(\n            `mesh \"${meshObj.name}\": multi-material meshes export their first material only`,\n          );\n        }\n        const exportMaterial = material ? this.convertMaterial(material) : undefined;\n        const mesh = geometryToExportMesh(meshObj.geometry, {\n          name: meshObj.name || \"mesh\",\n          kind,\n          transform: multiply(linkInverse, [...meshObj.matrixWorld.elements]),\n          ...(exportMaterial ? { material: exportMaterial } : {}),\n          doubleSided: material?.side === THREE.DoubleSide,\n        });\n        if (mesh) {\n          if (kind === \"collision\") {\n            if (collisionExtras.approximation !== undefined) {\n              mesh.collisionApproximation = collisionExtras.approximation;\n            }\n            if (collisionExtras.material) mesh.physicsMaterial = collisionExtras.material;\n          }\n          out.push(mesh);\n        } else {\n          this.warn(`mesh \"${meshObj.name}\": no triangle geometry; skipped`);\n        }\n      });\n    }\n    return out;\n  }\n\n  private convertMaterial(material: THREE.Material): ExportMaterial | undefined {\n    if (!this.materialCache.has(material)) {\n      const name = material.name || `Material_${this.materialAutoId++}`;\n      this.materialCache.set(material, materialToExportMaterial(material, name, this.warn));\n    }\n    return this.materialCache.get(material);\n  }\n}\n\nfunction isIdentityMat4(m: Mat4): boolean {\n  for (let i = 0; i < 16; i++) {\n    if (m[i] !== (i % 5 === 0 ? 1 : 0)) return false;\n  }\n  return true;\n}\n\n/** World matrix of a frame argument (`matrixWorld` refreshed for objects). */\nfunction resolveFrame(frame: WorldFrame | undefined): Mat4 | undefined {\n  if (!frame) return undefined;\n  if ((frame as THREE.Object3D).isObject3D) {\n    const obj = frame as THREE.Object3D;\n    obj.updateWorldMatrix(true, false);\n    return [...obj.matrixWorld.elements];\n  }\n  return [...(frame as THREE.Matrix4).elements];\n}\n"]}

package/dist/react.d.ts

@@ -1,10 +1,10 @@
 import * as _react_three_fiber from '@react-three/fiber';
 import { ThreeElements } from '@react-three/fiber';
 import * as React from 'react';
-import { T as ThreeUsdRobot } from './ThreeUsdRobot-CajXJqYU.js';
-import { T as ThreeUsdRobotLoaderOptions } from './ThreeUsdRobotLoader-DrMMLzo-.js';
+import { T as ThreeUsdRobot } from './ThreeUsdRobot-Ljh4PDVD.js';
+import { T as ThreeUsdRobotLoaderOptions } from './ThreeUsdRobotLoader-BSIVFA48.js';
 import 'three';
-import './buildKinematicTree-wtZPzy0B.js';
+import './buildKinematicTree-Ccd2DIKH.js';
 import './AssetResolver-CpIJNgWZ.js';
 
 /**
@@ -52,7 +52,7 @@ type UsdRobotProps = ForwardedProps & {
  * </Suspense>
  * ```
  */
-declare const UsdRobot: React.ForwardRefExoticComponent<Partial<Pick<_react_three_fiber.PrimitiveProps, "scale" | "position" | "name" | "rotation" | "quaternion" | "visible" | "renderOrder" | "userData" | "onClick" | "onPointerOver" | "onPointerOut" | "onPointerMove">> & {
+declare const UsdRobot: React.ForwardRefExoticComponent<Partial<Pick<_react_three_fiber.PrimitiveProps, "scale" | "name" | "position" | "rotation" | "quaternion" | "visible" | "renderOrder" | "userData" | "onClick" | "onPointerOver" | "onPointerOut" | "onPointerMove">> & {
     /** Asset URL (`.usda` / `.usdc` / binary `.usd` / `.usdz`). */
     url: string;
     /** Loader options (resolver, up-axis, textures, …). */

package/dist/react.js

@@ -1,5 +1,5 @@
-import { ThreeUsdRobotLoader } from './chunk-YVWSO27W.js';
-import './chunk-4MEZM763.js';
+import { ThreeUsdRobotLoader } from './chunk-FL554IS5.js';
+import './chunk-4GPCBXUS.js';
 import { useFrame } from '@react-three/fiber';
 import * as React from 'react';
 import { jsx } from 'react/jsx-runtime';

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "three-usd-robot",
-  "version": "0.6.0",
+  "version": "0.7.0",
   "description": "Kinematic OpenUSD robot loader for Three.js — load Isaac Sim / OpenUSD robot assets, extract joints and links, and control articulations in the browser.",
   "type": "module",
   "license": "MIT",
@@ -56,7 +56,10 @@
     "typecheck": "tsc --noEmit",
     "lint": "biome check .",
     "format": "biome format --write .",
-    "check": "biome check --write ."
+    "check": "biome check --write .",
+    "demo:factory": "tsx scripts/demo-factory.ts",
+    "demo:install": "npm install --prefix examples/vite-joint-slider",
+    "demo:build": "npm run demo:factory && npm run build --prefix examples/vite-joint-slider"
   },
   "peerDependencies": {
     "@react-three/fiber": ">=8",
@@ -87,6 +90,7 @@
     "react-test-renderer": "^18.3.1",
     "three": "^0.171.0",
     "tsup": "^8.3.5",
+    "tsx": "^4.23.1",
     "typescript": "^5.7.2",
     "vitest": "^2.1.8"
   },