three-usd-robot 0.7.0 → 0.8.1

package/dist/chunk-IYKPVUZ2.js

@@ -0,0 +1,406 @@
+// src/parser/ast.ts
+var Quat = class _Quat {
+  constructor(real, imaginary) {
+    this.real = real;
+    this.imaginary = imaginary;
+  }
+  real;
+  imaginary;
+  /** Components in Three.js order `[x, y, z, w]`. */
+  toXYZW() {
+    return [this.imaginary[0], this.imaginary[1], this.imaginary[2], this.real];
+  }
+  static identity() {
+    return new _Quat(1, [0, 0, 0]);
+  }
+};
+var UsdMatrix = class _UsdMatrix {
+  constructor(values, dim) {
+    this.values = values;
+    this.dim = dim;
+  }
+  values;
+  dim;
+  static identity4() {
+    return new _UsdMatrix([
+      1,
+      0,
+      0,
+      0,
+      0,
+      1,
+      0,
+      0,
+      0,
+      0,
+      1,
+      0,
+      0,
+      0,
+      0,
+      1
+    ], 4);
+  }
+};
+var AssetPath = class {
+  constructor(path) {
+    this.path = path;
+  }
+  path;
+};
+
+// src/kinematics/transforms.ts
+var DEG2RAD = Math.PI / 180;
+var RAD2DEG = 180 / Math.PI;
+function identity4() {
+  return [
+    1,
+    0,
+    0,
+    0,
+    0,
+    1,
+    0,
+    0,
+    0,
+    0,
+    1,
+    0,
+    0,
+    0,
+    0,
+    1
+  ];
+}
+function multiply(a, b) {
+  const a11 = a[0], a21 = a[1], a31 = a[2], a41 = a[3];
+  const a12 = a[4], a22 = a[5], a32 = a[6], a42 = a[7];
+  const a13 = a[8], a23 = a[9], a33 = a[10], a43 = a[11];
+  const a14 = a[12], a24 = a[13], a34 = a[14], a44 = a[15];
+  const b11 = b[0], b21 = b[1], b31 = b[2], b41 = b[3];
+  const b12 = b[4], b22 = b[5], b32 = b[6], b42 = b[7];
+  const b13 = b[8], b23 = b[9], b33 = b[10], b43 = b[11];
+  const b14 = b[12], b24 = b[13], b34 = b[14], b44 = b[15];
+  return [
+    a11 * b11 + a12 * b21 + a13 * b31 + a14 * b41,
+    a21 * b11 + a22 * b21 + a23 * b31 + a24 * b41,
+    a31 * b11 + a32 * b21 + a33 * b31 + a34 * b41,
+    a41 * b11 + a42 * b21 + a43 * b31 + a44 * b41,
+    a11 * b12 + a12 * b22 + a13 * b32 + a14 * b42,
+    a21 * b12 + a22 * b22 + a23 * b32 + a24 * b42,
+    a31 * b12 + a32 * b22 + a33 * b32 + a34 * b42,
+    a41 * b12 + a42 * b22 + a43 * b32 + a44 * b42,
+    a11 * b13 + a12 * b23 + a13 * b33 + a14 * b43,
+    a21 * b13 + a22 * b23 + a23 * b33 + a24 * b43,
+    a31 * b13 + a32 * b23 + a33 * b33 + a34 * b43,
+    a41 * b13 + a42 * b23 + a43 * b33 + a44 * b43,
+    a11 * b14 + a12 * b24 + a13 * b34 + a14 * b44,
+    a21 * b14 + a22 * b24 + a23 * b34 + a24 * b44,
+    a31 * b14 + a32 * b24 + a33 * b34 + a34 * b44,
+    a41 * b14 + a42 * b24 + a43 * b34 + a44 * b44
+  ];
+}
+function multiplyAll(matrices) {
+  let m = identity4();
+  for (const next of matrices) m = multiply(m, next);
+  return m;
+}
+function invert(m) {
+  const n11 = m[0], n21 = m[1], n31 = m[2], n41 = m[3];
+  const n12 = m[4], n22 = m[5], n32 = m[6], n42 = m[7];
+  const n13 = m[8], n23 = m[9], n33 = m[10], n43 = m[11];
+  const n14 = m[12], n24 = m[13], n34 = m[14], n44 = m[15];
+  const t11 = n23 * n34 * n42 - n24 * n33 * n42 + n24 * n32 * n43 - n22 * n34 * n43 - n23 * n32 * n44 + n22 * n33 * n44;
+  const t12 = n14 * n33 * n42 - n13 * n34 * n42 - n14 * n32 * n43 + n12 * n34 * n43 + n13 * n32 * n44 - n12 * n33 * n44;
+  const t13 = n13 * n24 * n42 - n14 * n23 * n42 + n14 * n22 * n43 - n12 * n24 * n43 - n13 * n22 * n44 + n12 * n23 * n44;
+  const t14 = n14 * n23 * n32 - n13 * n24 * n32 - n14 * n22 * n33 + n12 * n24 * n33 + n13 * n22 * n34 - n12 * n23 * n34;
+  const det = n11 * t11 + n21 * t12 + n31 * t13 + n41 * t14;
+  if (det === 0) throw new Error("cannot invert a singular matrix");
+  const idet = 1 / det;
+  return [
+    t11 * idet,
+    (n24 * n33 * n41 - n23 * n34 * n41 - n24 * n31 * n43 + n21 * n34 * n43 + n23 * n31 * n44 - n21 * n33 * n44) * idet,
+    (n22 * n34 * n41 - n24 * n32 * n41 + n24 * n31 * n42 - n21 * n34 * n42 - n22 * n31 * n44 + n21 * n32 * n44) * idet,
+    (n23 * n32 * n41 - n22 * n33 * n41 - n23 * n31 * n42 + n21 * n33 * n42 + n22 * n31 * n43 - n21 * n32 * n43) * idet,
+    t12 * idet,
+    (n13 * n34 * n41 - n14 * n33 * n41 + n14 * n31 * n43 - n11 * n34 * n43 - n13 * n31 * n44 + n11 * n33 * n44) * idet,
+    (n14 * n32 * n41 - n12 * n34 * n41 - n14 * n31 * n42 + n11 * n34 * n42 + n12 * n31 * n44 - n11 * n32 * n44) * idet,
+    (n12 * n33 * n41 - n13 * n32 * n41 + n13 * n31 * n42 - n11 * n33 * n42 - n12 * n31 * n43 + n11 * n32 * n43) * idet,
+    t13 * idet,
+    (n14 * n23 * n41 - n13 * n24 * n41 - n14 * n21 * n43 + n11 * n24 * n43 + n13 * n21 * n44 - n11 * n23 * n44) * idet,
+    (n12 * n24 * n41 - n14 * n22 * n41 + n14 * n21 * n42 - n11 * n24 * n42 - n12 * n21 * n44 + n11 * n22 * n44) * idet,
+    (n13 * n22 * n41 - n12 * n23 * n41 - n13 * n21 * n42 + n11 * n23 * n42 + n12 * n21 * n43 - n11 * n22 * n43) * idet,
+    t14 * idet,
+    (n13 * n24 * n31 - n14 * n23 * n31 + n14 * n21 * n33 - n11 * n24 * n33 - n13 * n21 * n34 + n11 * n23 * n34) * idet,
+    (n14 * n22 * n31 - n12 * n24 * n31 - n14 * n21 * n32 + n11 * n24 * n32 + n12 * n21 * n34 - n11 * n22 * n34) * idet,
+    (n12 * n23 * n31 - n13 * n22 * n31 + n13 * n21 * n32 - n11 * n23 * n32 - n12 * n21 * n33 + n11 * n22 * n33) * idet
+  ];
+}
+function makeTranslation([x, y, z]) {
+  return [
+    1,
+    0,
+    0,
+    0,
+    0,
+    1,
+    0,
+    0,
+    0,
+    0,
+    1,
+    0,
+    x,
+    y,
+    z,
+    1
+  ];
+}
+function makeScale([x, y, z]) {
+  return [
+    x,
+    0,
+    0,
+    0,
+    0,
+    y,
+    0,
+    0,
+    0,
+    0,
+    z,
+    0,
+    0,
+    0,
+    0,
+    1
+  ];
+}
+function makeRotationX(rad) {
+  const c = Math.cos(rad);
+  const s = Math.sin(rad);
+  return [
+    1,
+    0,
+    0,
+    0,
+    0,
+    c,
+    s,
+    0,
+    0,
+    -s,
+    c,
+    0,
+    0,
+    0,
+    0,
+    1
+  ];
+}
+function makeRotationY(rad) {
+  const c = Math.cos(rad);
+  const s = Math.sin(rad);
+  return [
+    c,
+    0,
+    -s,
+    0,
+    0,
+    1,
+    0,
+    0,
+    s,
+    0,
+    c,
+    0,
+    0,
+    0,
+    0,
+    1
+  ];
+}
+function makeRotationZ(rad) {
+  const c = Math.cos(rad);
+  const s = Math.sin(rad);
+  return [
+    c,
+    s,
+    0,
+    0,
+    -s,
+    c,
+    0,
+    0,
+    0,
+    0,
+    1,
+    0,
+    0,
+    0,
+    0,
+    1
+  ];
+}
+function makeRotationFromQuat(q) {
+  let x = q.imaginary[0];
+  let y = q.imaginary[1];
+  let z = q.imaginary[2];
+  let w = q.real;
+  const len = Math.hypot(x, y, z, w);
+  if (len > 0 && Math.abs(len - 1) > 1e-9) {
+    x /= len;
+    y /= len;
+    z /= len;
+    w /= len;
+  }
+  const x2 = x + x, y2 = y + y, z2 = z + z;
+  const xx = x * x2, xy = x * y2, xz = x * z2;
+  const yy = y * y2, yz = y * z2, zz = z * z2;
+  const wx = w * x2, wy = w * y2, wz = w * z2;
+  return [
+    1 - (yy + zz),
+    xy + wz,
+    xz - wy,
+    0,
+    xy - wz,
+    1 - (xx + zz),
+    yz + wx,
+    0,
+    xz + wy,
+    yz - wx,
+    1 - (xx + yy),
+    0,
+    0,
+    0,
+    0,
+    1
+  ];
+}
+function makeEuler(angles, order) {
+  const perAxis = {
+    X: makeRotationX(angles[0]),
+    Y: makeRotationY(angles[1]),
+    Z: makeRotationZ(angles[2])
+  };
+  let m = identity4();
+  for (let i = order.length - 1; i >= 0; i--) {
+    const axis = perAxis[order[i]];
+    if (!axis)
+      throw new Error(
+        `invalid euler axis ${JSON.stringify(order[i])} in order ${JSON.stringify(order)}`
+      );
+    m = multiply(m, axis);
+  }
+  return m;
+}
+function fromUsdMatrix(m) {
+  if (m.dim !== 4 || m.values.length !== 16) {
+    throw new Error(`expected a 4x4 matrix but got dim=${m.dim}, length=${m.values.length}`);
+  }
+  return [...m.values];
+}
+function getTranslation(m) {
+  return [m[12], m[13], m[14]];
+}
+function toUsdMatrix(m) {
+  if (m.length !== 16) {
+    throw new Error(`expected 16 matrix elements but got ${m.length}`);
+  }
+  return new UsdMatrix([...m], 4);
+}
+function decomposeRigid(m) {
+  const position = [m[12], m[13], m[14]];
+  const b0 = [m[0], m[1], m[2]];
+  const b1 = [m[4], m[5], m[6]];
+  const b2 = [m[8], m[9], m[10]];
+  const EPS = 1e-6;
+  const rigid = Math.abs(norm(b0) - 1) < EPS && Math.abs(norm(b1) - 1) < EPS && Math.abs(norm(b2) - 1) < EPS && Math.abs(dot(b0, b1)) < EPS && Math.abs(dot(b1, b2)) < EPS && Math.abs(dot(b0, b2)) < EPS && dot(cross(b0, b1), b2) > 0;
+  const c0 = normalizeVec(b0);
+  const c1 = normalizeVec(subVec(b1, scaleVec(c0, dot(c0, b1))));
+  const c2 = cross(c0, c1);
+  const r11 = c0[0], r12 = c1[0], r13 = c2[0];
+  const r21 = c0[1], r22 = c1[1], r23 = c2[1];
+  const r31 = c0[2], r32 = c1[2], r33 = c2[2];
+  const trace = r11 + r22 + r33;
+  let w;
+  let x;
+  let y;
+  let z;
+  if (trace > 0) {
+    const s = 0.5 / Math.sqrt(trace + 1);
+    w = 0.25 / s;
+    x = (r32 - r23) * s;
+    y = (r13 - r31) * s;
+    z = (r21 - r12) * s;
+  } else if (r11 > r22 && r11 > r33) {
+    const s = 2 * Math.sqrt(1 + r11 - r22 - r33);
+    w = (r32 - r23) / s;
+    x = 0.25 * s;
+    y = (r12 + r21) / s;
+    z = (r13 + r31) / s;
+  } else if (r22 > r33) {
+    const s = 2 * Math.sqrt(1 + r22 - r11 - r33);
+    w = (r13 - r31) / s;
+    x = (r12 + r21) / s;
+    y = 0.25 * s;
+    z = (r23 + r32) / s;
+  } else {
+    const s = 2 * Math.sqrt(1 + r33 - r11 - r22);
+    w = (r21 - r12) / s;
+    x = (r13 + r31) / s;
+    y = (r23 + r32) / s;
+    z = 0.25 * s;
+  }
+  return { position, orientation: new Quat(w, [x, y, z]), rigid };
+}
+function dot(a, b) {
+  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+function norm(v) {
+  return Math.hypot(v[0], v[1], v[2]);
+}
+function subVec(a, b) {
+  return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];
+}
+function scaleVec(v, s) {
+  return [v[0] * s, v[1] * s, v[2] * s];
+}
+function normalizeVec(v) {
+  const n = norm(v);
+  return n > 0 ? scaleVec(v, 1 / n) : [1, 0, 0];
+}
+function cross(a, b) {
+  return [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];
+}
+
+// src/kinematics/sampling.ts
+function interpolate(channel, t) {
+  const { times, values } = channel;
+  const n = times.length;
+  if (n === 0) return 0;
+  if (t <= times[0]) return values[0];
+  if (t >= times[n - 1]) return values[n - 1];
+  let lo = 0;
+  let hi = n - 1;
+  while (lo < hi) {
+    const mid = lo + hi >> 1;
+    if (times[mid] <= t) lo = mid + 1;
+    else hi = mid;
+  }
+  const i = lo - 1;
+  const t0 = times[i];
+  const t1 = times[i + 1];
+  const span = t1 - t0;
+  const f = span > 0 ? (t - t0) / span : 0;
+  return values[i] + (values[i + 1] - values[i]) * f;
+}
+function channelFromSamples(samples) {
+  const times = [...samples.keys()].sort((a, b) => a - b);
+  const values = times.map((t) => samples.get(t) ?? 0);
+  return { times, values };
+}
+
+export { AssetPath, DEG2RAD, Quat, RAD2DEG, UsdMatrix, channelFromSamples, decomposeRigid, fromUsdMatrix, getTranslation, identity4, interpolate, invert, makeEuler, makeRotationFromQuat, makeRotationX, makeRotationY, makeRotationZ, makeScale, makeTranslation, multiply, multiplyAll, toUsdMatrix };
+//# sourceMappingURL=chunk-IYKPVUZ2.js.map
+//# sourceMappingURL=chunk-IYKPVUZ2.js.map

package/dist/chunk-IYKPVUZ2.js.map

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* AST and value types for the USDA (ASCII USD) format.\n *\n * The parser (`parseUsda`) produces a {@link UsdaFile}. The USD-conformant\n * runtime layer (`usd/Stage.ts` etc.) wraps this AST to expose a pxr-USD-style\n * API (`GetPrimAtPath`, `GetAttribute`, `Get`, `GetTargets`, ...).\n */\n\n// ---------------------------------------------------------------------------\n// Value types\n// ---------------------------------------------------------------------------\n\n/** Fixed-length numeric tuples, mirroring `GfVec2/3/4`. */\nexport type Vec2 = [number, number];\nexport type Vec3 = [number, number, number];\nexport type Vec4 = [number, number, number, number];\n\n/**\n * A quaternion, mirroring `GfQuatf/d/h`.\n *\n * USDA authors quats as `(w, x, y, z)` — real part first. We keep the real and\n * imaginary parts explicit so downstream code never has to guess the component\n * order (Three.js, by contrast, uses `(x, y, z, w)`).\n */\nexport class Quat {\n  constructor(\n    readonly real: number,\n    readonly imaginary: Vec3,\n  ) {}\n\n  /** Components in Three.js order `[x, y, z, w]`. */\n  toXYZW(): Vec4 {\n    return [this.imaginary[0], this.imaginary[1], this.imaginary[2], this.real];\n  }\n\n  static identity(): Quat {\n    return new Quat(1, [0, 0, 0]);\n  }\n}\n\n/**\n * A square matrix (`GfMatrix3d`/`GfMatrix4d`), stored flat in **row-major**\n * order exactly as authored in USD (USD matrices are row-major).\n */\nexport class UsdMatrix {\n  constructor(\n    readonly values: number[],\n    readonly dim: 3 | 4,\n  ) {}\n\n  static identity4(): UsdMatrix {\n    // biome-ignore format: keep matrix layout readable\n    return new UsdMatrix([\n      1, 0, 0, 0,\n      0, 1, 0, 0,\n      0, 0, 1, 0,\n      0, 0, 0, 1,\n    ], 4);\n  }\n}\n\n/** An asset reference (`SdfAssetPath`), e.g. `@./meshes/link0.usd@`. */\nexport class AssetPath {\n  constructor(readonly path: string) {}\n}\n\n/**\n * A namespace path into a stage (`SdfPath`), e.g. `/World/robot/link0` or a\n * property path `/World/robot.xformOp:translate`. Stored as the authored\n * string; relationship/connection resolution happens in the runtime layer.\n */\nexport type SdfPath = string;\n\n/** A reference / payload composition arc as authored (resolved in M8). */\nexport type CompositionArc = {\n  assetPath?: AssetPath;\n  primPath?: SdfPath;\n};\n\n/** Any value an attribute or metadatum can hold. */\nexport type UsdValue =\n  | number\n  | boolean\n  | string\n  | null\n  | Vec2\n  | Vec3\n  | Vec4\n  | Quat\n  | UsdMatrix\n  | AssetPath\n  | SdfPath\n  | CompositionArc\n  | UsdValue[]\n  | UsdDictionary;\n\n/** A nested metadata dictionary (`customData`, `assetInfo`, ...). */\nexport type UsdDictionary = { [key: string]: UsdValue };\n\n// ---------------------------------------------------------------------------\n// AST nodes\n// ---------------------------------------------------------------------------\n\nexport type Specifier = \"def\" | \"over\" | \"class\";\n\nexport type Variability = \"varying\" | \"uniform\";\n\n/** List-editing qualifier on relationships and list-op metadata. */\nexport type ListOp = \"explicit\" | \"prepend\" | \"append\" | \"add\" | \"delete\" | \"reorder\";\n\nexport type MetadataMap = { [key: string]: UsdValue };\n\n/** A parsed `.usda` layer. */\nexport type UsdaFile = {\n  /** Version from the `#usda X.Y` magic line. */\n  version: string;\n  /** Layer-level metadata (`defaultPrim`, `upAxis`, `metersPerUnit`, ...). */\n  metadata: MetadataMap;\n  /** Root prims, in authored order. */\n  prims: PrimSpec[];\n};\n\nexport type PrimSpec = {\n  specifier: Specifier;\n  /** Schema type, e.g. `Xform`, `Mesh`, `PhysicsRevoluteJoint`. Empty if typeless. */\n  typeName: string;\n  name: string;\n  metadata: MetadataMap;\n  properties: PropertySpec[];\n  children: PrimSpec[];\n  /** Authored variant sets (`variantSet \"name\" = { ... }`), if any. */\n  variantSets?: VariantSetMap;\n  /** 1-based source line of the prim declaration (for diagnostics). */\n  line: number;\n};\n\n/** The opinions a single variant contributes when selected. */\nexport type VariantContent = {\n  properties: PropertySpec[];\n  children: PrimSpec[];\n  /**\n   * Metadata authored on the variant itself. Composition arcs live here — the\n   * common \"this variant references another layer\" pattern in Isaac Sim assets.\n   */\n  metadata: MetadataMap;\n};\n\n/** `variantSetName → variantName → content`. */\nexport type VariantSetMap = { [setName: string]: { [variantName: string]: VariantContent } };\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","/**\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 { Quat, UsdMatrix, type 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/** Copy a {@link Mat4} into a USD `matrix4d` — same flat layout (see module docs). */\nexport function toUsdMatrix(m: Mat4): UsdMatrix {\n  if (m.length !== 16) {\n    throw new Error(`expected 16 matrix elements but got ${m.length}`);\n  }\n  return new UsdMatrix([...m], 4);\n}\n\n/**\n * Decompose a rigid transform into translation + orientation (M13 export).\n *\n * The rotation basis is orthonormalized (Gram-Schmidt, right-handed) before\n * quaternion extraction; `rigid` reports whether the input already was rigid\n * within tolerance, so callers can warn that scale/shear/reflection was\n * discarded.\n */\nexport function decomposeRigid(m: Mat4): { position: Vec3; orientation: Quat; rigid: boolean } {\n  const position: Vec3 = [m[12]!, m[13]!, m[14]!];\n\n  // Rotation-block basis columns.\n  const b0: Vec3 = [m[0]!, m[1]!, m[2]!];\n  const b1: Vec3 = [m[4]!, m[5]!, m[6]!];\n  const b2: Vec3 = [m[8]!, m[9]!, m[10]!];\n\n  const EPS = 1e-6;\n  const rigid =\n    Math.abs(norm(b0) - 1) < EPS &&\n    Math.abs(norm(b1) - 1) < EPS &&\n    Math.abs(norm(b2) - 1) < EPS &&\n    Math.abs(dot(b0, b1)) < EPS &&\n    Math.abs(dot(b1, b2)) < EPS &&\n    Math.abs(dot(b0, b2)) < EPS &&\n    dot(cross(b0, b1), b2) > 0; // right-handed (no reflection)\n\n  const c0 = normalizeVec(b0);\n  const c1 = normalizeVec(subVec(b1, scaleVec(c0, dot(c0, b1))));\n  const c2 = cross(c0, c1);\n\n  // Row-major rotation entries from the orthonormal columns.\n  const r11 = c0[0],\n    r12 = c1[0],\n    r13 = c2[0];\n  const r21 = c0[1],\n    r22 = c1[1],\n    r23 = c2[1];\n  const r31 = c0[2],\n    r32 = c1[2],\n    r33 = c2[2];\n\n  // Matrix → quaternion (Shepperd's method, as in THREE.Quaternion.setFromRotationMatrix).\n  const trace = r11 + r22 + r33;\n  let w: number;\n  let x: number;\n  let y: number;\n  let z: number;\n  if (trace > 0) {\n    const s = 0.5 / Math.sqrt(trace + 1);\n    w = 0.25 / s;\n    x = (r32 - r23) * s;\n    y = (r13 - r31) * s;\n    z = (r21 - r12) * s;\n  } else if (r11 > r22 && r11 > r33) {\n    const s = 2 * Math.sqrt(1 + r11 - r22 - r33);\n    w = (r32 - r23) / s;\n    x = 0.25 * s;\n    y = (r12 + r21) / s;\n    z = (r13 + r31) / s;\n  } else if (r22 > r33) {\n    const s = 2 * Math.sqrt(1 + r22 - r11 - r33);\n    w = (r13 - r31) / s;\n    x = (r12 + r21) / s;\n    y = 0.25 * s;\n    z = (r23 + r32) / s;\n  } else {\n    const s = 2 * Math.sqrt(1 + r33 - r11 - r22);\n    w = (r21 - r12) / s;\n    x = (r13 + r31) / s;\n    y = (r23 + r32) / s;\n    z = 0.25 * s;\n  }\n\n  return { position, orientation: new Quat(w, [x, y, z]), rigid };\n}\n\n// --- small Vec3 helpers for decomposeRigid ---------------------------------\n\nfunction dot(a: Vec3, b: Vec3): number {\n  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];\n}\n\nfunction norm(v: Vec3): number {\n  return Math.hypot(v[0], v[1], v[2]);\n}\n\nfunction subVec(a: Vec3, b: Vec3): Vec3 {\n  return [a[0] - b[0], a[1] - b[1], a[2] - b[2]];\n}\n\nfunction scaleVec(v: Vec3, s: number): Vec3 {\n  return [v[0] * s, v[1] * s, v[2] * s];\n}\n\nfunction normalizeVec(v: Vec3): Vec3 {\n  const n = norm(v);\n  return n > 0 ? scaleVec(v, 1 / n) : [1, 0, 0];\n}\n\nfunction cross(a: Vec3, b: Vec3): Vec3 {\n  return [a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0]];\n}\n","/**\n * Time-sample interpolation for animated values (e.g. joint trajectories).\n *\n * USD time samples are keyed by time code. We linearly interpolate between the\n * two bracketing samples and hold the endpoints outside the authored range\n * (matching USD's held extrapolation).\n */\n\n/** A sorted time-sampled scalar channel. */\nexport type SampleChannel = {\n  /** Sample times, ascending. */\n  times: number[];\n  /** Sample values, parallel to {@link times} (SI units). */\n  values: number[];\n};\n\n/** Linearly sample `channel` at time `t` (held outside the range). */\nexport function interpolate(channel: SampleChannel, t: number): number {\n  const { times, values } = channel;\n  const n = times.length;\n  if (n === 0) return 0;\n  if (t <= times[0]!) return values[0]!;\n  if (t >= times[n - 1]!) return values[n - 1]!;\n\n  // Binary search for the first sample time > t.\n  let lo = 0;\n  let hi = n - 1;\n  while (lo < hi) {\n    const mid = (lo + hi) >> 1;\n    if (times[mid]! <= t) lo = mid + 1;\n    else hi = mid;\n  }\n  const i = lo - 1; // times[i] <= t < times[i+1]\n  const t0 = times[i]!;\n  const t1 = times[i + 1]!;\n  const span = t1 - t0;\n  const f = span > 0 ? (t - t0) / span : 0;\n  return values[i]! + (values[i + 1]! - values[i]!) * f;\n}\n\n/** Build a sorted {@link SampleChannel} from `(time → value)` pairs via `map`. */\nexport function channelFromSamples(samples: Map<number, number>): SampleChannel {\n  const times = [...samples.keys()].sort((a, b) => a - b);\n  const values = times.map((t) => samples.get(t) ?? 0);\n  return { times, values };\n}\n"]}